技术领域technical field
本发明一种基于力学可视化的虚拟足球运动控制系统，属于虚拟现实技术应用领域。The invention relates to a virtual football control system based on mechanical visualization, which belongs to the application field of virtual reality technology.
背景技术Background technique
随着计算机和信息处理技术的快速发展，促使人们不断改进和完善传统足球训练理论，为足球运动员的训练提供技术上的参考和比赛建议。一些新科技设备的出现和应用在提高运动员们的训练水平方面起到有益的促进作用，比如我们熟知的polar心率表、garmin运动表、足球世界杯球员用于检测运动状态的智能胸围设备等。这些设备能够通过传感器和监控器收集运动员或使用者的实时身体数据，通过传感器网络传输到指定的计算机，为运动生物学分析提供了数据基础，使用者或分析师能够通过电脑软件对使用者或运动员的心率、身体机能等进行比较详细的分析，从而推测出使用者的身体状况和运动状态，进而设计出有针对性的训练方案、康复计划或比赛策略，提高运动员的训练、比赛成绩。With the rapid development of computer and information processing technology, people are constantly improving and perfecting the traditional football training theory, providing technical reference and competition suggestions for the training of football players. The emergence and application of some new technological equipment has played a beneficial role in improving the training level of athletes, such as the well-known polar heart rate monitor, garmin sports watch, and the smart bust equipment used by football World Cup players to detect exercise status. These devices can collect real-time physical data of athletes or users through sensors and monitors, and transmit them to designated computers through sensor networks, providing a data basis for sports biology analysis. Users or analysts can use computer software to analyze user or Athletes' heart rate, physical function, etc. are analyzed in detail, so as to infer the user's physical condition and exercise state, and then design targeted training programs, rehabilitation programs or competition strategies to improve athletes' training and competition performance.
但是目前的足球训练系统的缺点也是很明显的。首先，在现代足球训练和比赛中，往往因为天气、场地、器材、经费等方面的原因，无法让足球训练或比赛随时进行，也容易使一些训练和比赛推迟、甚至取消、无法进行。其次，足球训练、比赛中充满了无法预测的突发事件，现代足球运动中高强度的身体对抗、高难度动作的完成、抢截球中铲球、争抢等危险动作都会给运动员身体造成不同程度的损伤、甚至是永久性的伤害，而现有的足球训练系统无法在真实体现力学行为下保护运动员不受伤害。再次，足球比赛中的很多经典动作，只能通过录像、照片等方式记录，没有其他方式能够再现，不利于足球运动员和研究人员深入研究其内部机理和场景再现；最后，足球是团队的交互活动，也是个体的协调活动的结果，但是每个队员的身体条件和背景经历千差万别，现有的足球训练技术难发掘不同队员的特点，也影响了队员的运动积极性和自信心。因此，开发出一种不受外界环境干扰、避免运动伤害、针对每个球员的新型训练系统是很有必要的。But the shortcoming of present football training system is also obvious. First of all, in modern football training and competitions, it is often impossible to allow football training or competitions to be carried out at any time due to reasons such as weather, venues, equipment, funds, etc. Secondly, football training and competitions are full of unpredictable emergencies. In modern football, dangerous actions such as high-intensity physical confrontation, completion of difficult movements, tackles during interceptions, and scrambles will cause different degrees of physical damage to athletes. Injury, even permanent injury, and the existing football training system can not protect players from injury under the real performance of mechanical behavior. Again, many classic actions in football games can only be recorded by video, photos, etc., and there is no other way to reproduce them, which is not conducive to football players and researchers' in-depth study of its internal mechanism and scene reproduction; finally, football is an interactive activity of the team , is also the result of individual coordination activities, but the physical conditions and background experiences of each player vary widely. It is difficult to discover the characteristics of different players with the existing football training technology, which also affects the enthusiasm and self-confidence of the players. Therefore, it is necessary to develop a new training system that is not disturbed by the external environment, avoids sports injuries, and is aimed at each player.
在国内，随着互联网技术的发展和进步，为开发一种基于力学可视化的虚拟足球运动控制系统提供了条件，但是，目前中国足球的发展长期滞足不前，广大球迷的足球兴趣日趋下降，市场上也很少有一种基于力学可视化的虚拟足球运动控制系统。In China, with the development and progress of Internet technology, it provides conditions for the development of a virtual football control system based on mechanical visualization. There is also rarely a virtual football control system based on mechanics visualization on the market.
发明内容Contents of the invention
为了解决上述技术问题，本发明提供一种基于力学可视化的虚拟足球运动控制系统，运用计算机进行三维动画的制作生成，建立与现实足球训练场地、比赛场地类似的模拟场景，并借助传感装置使用户在视觉、触觉、听觉等感官上与虚拟环境形成交互形成真实的训练感受，适合足球从业人员和研究人员深入研究足球运动的内在规律，在提高用户足球水平的前提能够大幅减少剧烈对抗对用户造成的身体伤害。In order to solve the above-mentioned technical problems, the present invention provides a virtual football control system based on mechanics visualization, which uses a computer to generate a three-dimensional animation, establishes a simulated scene similar to a real football training field and a competition field, and uses a sensing device to make Users interact with the virtual environment in terms of vision, touch, hearing and other senses to form a real training experience. It is suitable for football practitioners and researchers to study the internal laws of football. It can greatly reduce the violent confrontation on the premise of improving the user's football level. bodily injury caused.
本发明所采用的技术方案是：The technical scheme adopted in the present invention is:
一种基于力学可视化的虚拟足球运动控制系统，包括用户终端、局域网数据传输网络、客户端计算机、广域网数据传输网络、中央服务器、力学可视化数据库。通过用户终端中输入设备的传感器采集用户的实时状态信息，将采集的数据通过局域网数据传输网络传送到客户端计算机，客户端计算机计算出每个用户的运动状态、位置、生理特征信息，并通过广域网数据传输网络将计算结果实时传输到中央服务器，中央服务器通过用户的输入信息模拟出虚拟世界的场景、球场环境和天气条件，协调运动员之间的配合攻防、球队队形、以及分析是否有运动员犯规、计算足球的飞行轨迹和运动特征，并将这些表述虚拟物体的数据存储到力学可视化数据库中，通过3D可视化建模，从而生成可交互的虚拟足球世界。A virtual football control system based on mechanics visualization includes a user terminal, a local area network data transmission network, a client computer, a wide area network data transmission network, a central server, and a mechanics visualization database. The real-time state information of the user is collected through the sensor of the input device in the user terminal, and the collected data is transmitted to the client computer through the LAN data transmission network. The client computer calculates the motion state, position, and physiological feature information of each user, and passes The wide area network data transmission network transmits the calculation results to the central server in real time. The central server simulates the scene of the virtual world, the court environment and weather conditions through the user's input information, coordinates the offensive and defensive cooperation between the players, the team formation, and analyzes whether there is a problem. Players foul, calculate the flight trajectory and motion characteristics of the football, and store the data representing the virtual objects in the mechanical visualization database, and generate an interactive virtual football world through 3D visualization modeling.
所述用户终端包括输入设备、输出设备，所述输入设备是虚拟现实系统的输入接口，用于检测用户的状态、位置、生理参数，为构建力学可视化环境采集必要的数据；所述输入设备包括数据手套、数据衣、三维定位跟踪设备、摄像头，用来采集并传输用户与中央服务器104交互的输入信息。The user terminal includes an input device and an output device, and the input device is an input interface of a virtual reality system, which is used to detect the user's state, position, and physiological parameters, and collects necessary data for building a mechanical visualization environment; the input device includes Data gloves, data clothes, three-dimensional positioning and tracking equipment, and cameras are used to collect and transmit input information that users interact with the central server 104 .
所述输出设备是虚拟现实系统的输出接口,用于将中央服务器（104）输出信息展现给用户；所述输出设备包括视觉感知设备、听觉感知设备、触觉感知设备，输出设备用于将虚拟世界中各种感知数据和力学数据，转变为人所能感受的多通道刺激信号。The output device is an output interface of the virtual reality system, and is used to display the output information of the central server (104) to the user; the output device includes a visual perception device, an auditory perception device, and a tactile perception device, and the output device is used to display the virtual world All kinds of sensory data and mechanical data are converted into multi-channel stimulation signals that people can feel.
进一步地，多个用户终端能够通过计算机网络将多个用户连接在一起，同时参加一个虚拟空间，共同体验虚拟足球经历。Further, a plurality of user terminals can connect a plurality of users together through a computer network, participate in a virtual space at the same time, and experience a virtual football experience together.
所述局域网数据传输网络，采用ZigBee和WIFI无线网络传输技术，用于将用户终端输入设备采集的数据传输到客户端计算机进行分析与计算；The local area network data transmission network adopts ZigBee and WIFI wireless network transmission technology to transmit the data collected by the user terminal input device to the client computer for analysis and calculation;
客户端计算机接收来自用户终端的输入设备采集的数据，通过这些数据对每个用户的运动信息进行数据处理，计算用户的位置、生理、运动状态信息，并将这些数据通过广域网数据传输网络传输到中央服务器。The client computer receives the data collected from the input device of the user terminal, processes the motion information of each user through these data, calculates the user's position, physiology, and motion state information, and transmits these data to the central server.
所述广域网数据传输网络通过Internet将客户端计算机的数据实时传输到中央服务器，同时将中央服务器的计算结果返回到客户端计算机。The wide area network data transmission network transmits the data of the client computer to the central server in real time through the Internet, and returns the calculation result of the central server to the client computer at the same time.
所述中央服务器是虚拟现实系统的控制中心，主要完成界面绘制、场景渲染以及人物动画等工作，通过用户的输入信息模拟出虚拟世界的场景，协调运动员之间的配合攻防、球队队形、以及分析是否有运动员接触或犯规等，并把计算结果通过用户终端的输出设备反馈给用户，对运动员的训练情况进行可视化处理、分析和统计，对运动员训练全过程进行记录，并可随时调阅和分析。The central server is the control center of the virtual reality system. It mainly completes interface drawing, scene rendering, and character animation. It simulates the scene of the virtual world through the user's input information, and coordinates the cooperation between players in offense and defense, team formation, And analyze whether there is any athlete's contact or foul, etc., and feed back the calculation results to the user through the output device of the user terminal, perform visual processing, analysis and statistics on the athlete's training situation, record the entire process of the athlete's training, and can read it at any time and analysis.
所述力学可视化数据库用来存放整个虚拟世界中所有对象模型的相关信息，以及不同用户虚拟现实交互计算的中间结果，并结合数据可视化技术，以一种更形象、更直观的方式展现不同用户在球场上的交互活动、人体各关节的数据结构及相对运动关系、足球的飞行轨迹与运动特性、足球场地与天气条件的力学特性。The mechanics visualization database is used to store the relevant information of all object models in the entire virtual world, as well as the intermediate results of virtual reality interactive calculations of different users, combined with data visualization technology, to show different users in a more vivid and intuitive way. Interactive activities on the pitch, data structure and relative motion relationship of each joint of the human body, flight trajectory and motion characteristics of football, mechanical characteristics of football field and weather conditions.
本发明一种基于力学可视化的虚拟足球运动控制系统，主要具有以下优点：A virtual football control system based on mechanics visualization of the present invention mainly has the following advantages:
首先，本发明能够弥补现代足球教学训练、比赛条件的不足。本发明利用虚拟现实系统，不需要占用任何足球训练、比赛场地，不受天气条件、场地、器材等因素的影响，能够确保训练、比赛的随时顺利进行。用户足不出户便可以训练足球技战术，甚至可以在任何时间、任何地点训练，或参加虚拟比赛对抗，还可以让几支球队在同一时间、同一虚拟场地进行比赛，而不会发生冲突，这都是传统的足球训练、比赛技术所无法实现的，也便于缺乏足球场地的学校、单位开展足球训练，提高全民足球水平。First of all, the present invention can make up for the deficiencies of modern football teaching training and competition conditions. The present invention utilizes the virtual reality system, does not need to occupy any football training and competition venues, is not affected by factors such as weather conditions, venues, equipment, etc., and can ensure that training and competitions can be carried out smoothly at any time. Users can train football skills and tactics without leaving home, and can even train at any time and any place, or participate in virtual competitions, and allow several teams to compete at the same time and on the same virtual field without conflicts , which cannot be achieved by traditional football training and competition techniques, and it is also convenient for schools and units lacking football venues to carry out football training and improve the football level of the whole people.
其次，本发明能够避免剧烈的足球训练和对抗所带来的身体伤害。随着现代足球技术的发展，足球的对抗性和竞争性越来越强，技术难度和技术复杂度也越来越高，利用虚拟现实技术可以轻松进行虚拟动作实验，则可以免除用户受伤的顾虑。运动员在虚拟实验环境中，可以放心地去做各种高难度的动作和激烈的争抢而不易受伤，也可以在本系统之外进一步增加保护措施，从而大大减少运动员伤病几率，有助于提高球队在比赛前的战备水平。Secondly, the present invention can avoid physical injury caused by violent football training and confrontation. With the development of modern football technology, football is becoming more and more confrontational and competitive, and the technical difficulty and complexity are getting higher and higher. Using virtual reality technology can easily conduct virtual action experiments, which can avoid the user's concerns about injury . In the virtual experimental environment, athletes can safely do various difficult movements and fierce competition without being easily injured, and further protection measures can be added outside the system, thereby greatly reducing the chance of athletes' injuries and contributing to Improve the team's combat readiness level before the game.
再次，本发明能够提供力学可视化体验。本发明能够详细记录和分析比赛现场的场地、天气、足球、球员等因素的交互影响，通过头盔式显示器、震动传感器等全方位地展示足球运动过程的生物力学行为，具有科学性、交互性、力学可视性等优点，便于足球运动员、教练员和研究人员深入研究各种足球现象的内部机理、生物力学行为和场景再现，并能够结合足球运动实际、生物力学特性和人体运动规律，减少技战术中的错误行为，提高足球训练和比赛的科学性和实效性。Again, the present invention can provide mechanics visualization experience. The present invention can record and analyze in detail the interactive effects of the field, weather, football, players and other factors on the game site, and display the biomechanical behavior of the football process in an all-round way through the helmet-mounted display, vibration sensors, etc., which is scientific, interactive, and The mechanical visibility and other advantages are convenient for football players, coaches and researchers to deeply study the internal mechanism, biomechanical behavior and scene reproduction of various football phenomena, and can combine football practice, biomechanical characteristics and human motion laws to reduce technical problems. Misbehaviors in tactics improve the scientificity and effectiveness of football training and competitions.
最后，本发明能够提供有个性化的训练、比赛方案、和伤病球员康复训练方案。利用本发明的虚拟现实技术，可记录下每个队员的个性特征、生理条件、技术特长等，从而在训练内容、任务、方式方法上提出因材施教的培养方案，根据伤病球员的受伤情况和康复情况制订科学完整的伤病球员术后康复训练计划，充分提高足球运动队、教练员的积极性，培养有个性的球员，使每个队员有更好的发展空间。Finally, the present invention can provide personalized training, game programs, and rehabilitation training programs for injured players. Utilize the virtual reality technology of the present invention, can record down each team member's personality characteristic, physiological condition, technical specialty etc., thus put forward the training scheme of teaching students according to their aptitude in training content, task, method, according to the injury situation and rehabilitation of injured players Formulate a scientific and complete postoperative rehabilitation training plan for injured players, fully improve the enthusiasm of football teams and coaches, cultivate individual players, and enable each player to have a better development space.
附图说明Description of drawings
图1是本发明所述一种基于力学可视化的虚拟足球运动控制系统的系统结构示意图。FIG. 1 is a schematic diagram of the system structure of a virtual football control system based on mechanics visualization according to the present invention.
图2是本发明所述一种基于力学可视化的虚拟足球运动控制系统的多用户终端组网的设计实施例。Fig. 2 is a design embodiment of multi-user terminal networking of a virtual football control system based on mechanics visualization according to the present invention.
图3是本发明所述一种基于力学可视化的虚拟足球运动控制系统的系统工作流程示意图。Fig. 3 is a schematic diagram of the system workflow of a virtual football control system based on mechanics visualization according to the present invention.
具体实施方式detailed description
如图1所示，为本发明实例提供的一种基于力学可视化的虚拟足球运动控制系统的系统结构示意图，包括如下模块：As shown in Figure 1, a kind of system structural diagram based on the virtual football motion control system of mechanics visualization that the example of the present invention provides, comprises following module:
用户终端100、局域网数据传输网络101、客户端计算机102、广域网数据传输网络103、中央服务器104、力学可视化数据库105。User terminal 100 , LAN data transmission network 101 , client computer 102 , wide area network data transmission network 103 , central server 104 , and mechanics visualization database 105 .
用户终端100中输入设备包括数据手套/脚套、数据衣、三维定位跟踪设备、摄像头，其功能是检测用户的状态、位置、生理等参数，为构建力学可视化环境采集必要的数据；并通过数据传输网络发送给中央服务器104进行实时计算，从而实时更新虚拟世界的状态。The input devices in the user terminal 100 include data gloves/foot covers, data clothing, three-dimensional positioning and tracking equipment, and cameras. The transmission network sends to the central server 104 for real-time calculation, thereby updating the state of the virtual world in real time.
所述数据手套/脚套，分别戴在用户手上、穿在用户脚上。优选地，使用CyberGlove数据手套/脚套，该数据手套/脚套具有22个传感器，传感器分辨率<1度，传感器数据传输速率最高可达120条记录/秒；支持802.11 Wi-Fi无线网络连接；具有USB、micro SD卡,并设有弯曲传感器，弯曲传感器由柔性电路板、力敏元件、弹性封装材料组成，通过导线连接至信号处理电路；在柔性电路板上设有至少两根导线，以力敏材料包覆于柔性电路板大部，再在力敏材料上包覆一层弹性封装材料，柔性电路板留一端在外，以导线与外电路连接。通过手指上的弯曲、扭曲传感器和手掌上的弯度、弧度传感器，确定手及关节的位置和方向，当移动手指时，客户计算机便可以获取手指的动作的信息，从而实现环境中的虚拟手及其对虚拟物体的操控，而且能够把与虚拟物体的接触信息反馈给用户。使操作者以更加直接，更加自然，更加有效的方式与虚拟世界进行交互，大大增强了互动性和沉浸感。The data gloves/foot covers are respectively worn on the user's hand and on the user's foot. Preferably, use CyberGlove data gloves/foot covers, which have 22 sensors, sensor resolution <1 degree, sensor data transmission rate up to 120 records/second; support 802.11 Wi-Fi wireless network connection ;Have a USB, micro SD card, and a bending sensor, the bending sensor is composed of a flexible circuit board, a force-sensitive element, and an elastic packaging material, and is connected to the signal processing circuit through a wire; at least two wires are arranged on the flexible circuit board, The force-sensitive material is used to cover most of the flexible circuit board, and then a layer of elastic packaging material is coated on the force-sensitive material. One end of the flexible circuit board is left outside, and the wire is connected to the external circuit. The position and direction of the hand and joints are determined through the bending and twisting sensors on the fingers and the bending and radian sensors on the palm. When the fingers are moved, the client computer can obtain information about the movements of the fingers, thereby realizing virtual hands and hands in the environment. It controls the virtual object and can feed back the contact information with the virtual object to the user. It enables the operator to interact with the virtual world in a more direct, natural and effective way, greatly enhancing the interactivity and immersion.
所述数据衣，穿在用户身上，优选地，能够对人体大约50多个不同的关节进行测量，包括膝盖、手臂、躯干和脚，可以捕获到用户胸部停球、身体触球、腿触球、脚触球、碰撞等动作，并通过光电转换，使用户身体的运动信息被计算机识别。优选地，能够通过BOOM显示器和数据手套与虚拟现实系统交互。优选地，数据衣由两部分设备组成，数据设备和分析设备。数据设备包括GPS模块、心率带，以及多轴加速仪、陀螺仪等，可以测定运动员在场上的位置、速度、跑动距离、心率变化、冲击负荷、耐力以及疲劳负荷等。分析设备，对同步传输到客户端计算机101的球员数据进行对比和分析，及时了解运动员的身体状态，以便教练进行调整，防止伤病。优选地，分析设备还具有报警装置，运动员一旦超过负荷，软件将报警，同时，教练可以更准确地掌握相应数据，制定或者改进技战术训练。The data clothing, worn on the user, preferably can measure more than 50 different joints of the human body, including knees, arms, torso and feet, and can capture the user's chest stop, body touch, leg touch , foot touch the ball, collision and other actions, and through photoelectric conversion, the movement information of the user's body is recognized by the computer. Preferably, it is possible to interact with the virtual reality system through the BOOM display and the data glove. Preferably, the data suit consists of two parts of equipment, data equipment and analysis equipment. Data equipment includes GPS module, heart rate belt, multi-axis accelerometer, gyroscope, etc., which can measure the position, speed, running distance, heart rate change, impact load, endurance and fatigue load of athletes on the field. The analysis equipment compares and analyzes the player data synchronously transmitted to the client computer 101, so as to keep abreast of the physical condition of the players so that the coach can make adjustments to prevent injuries. Preferably, the analysis equipment also has an alarm device. Once the athlete is overloaded, the software will alarm. At the same time, the coach can more accurately grasp the corresponding data and formulate or improve technical and tactical training.
所述三维定位跟踪设备安装在数据手套和头盔显示器上，设有低频磁场式传感器，低频磁场式传感器的低频磁场是由该中传感器的磁场发射器产生的，该发射器有三个正交的天线组成，在接受器内也安装一个正交天线，它被安装在远处的运动物体上，根据接受器所接受到的磁场，可以计算出接受器相对于发射器的位置和方向，并通过通信电缆把数据传送给客户端计算机101。因此，计算机能间接的跟踪运动物体相对于反射器的位置和方向，并将其数据报告给虚拟现实系统。在虚拟现实系统中通过跟踪用户的头部位置与方位来确定用户的视点与视线方向，从而根据视点位置与视线方向来确定虚拟世界场景的显示。The three-dimensional positioning and tracking device is installed on the data glove and the helmet display, and is provided with a low-frequency magnetic field sensor, and the low-frequency magnetic field of the low-frequency magnetic field sensor is generated by the magnetic field transmitter of the sensor, and the transmitter has three orthogonal antennas Composition, an orthogonal antenna is also installed in the receiver, which is installed on a distant moving object, according to the magnetic field received by the receiver, the position and direction of the receiver relative to the transmitter can be calculated, and through communication The cable transmits the data to the client computer 101 . Therefore, the computer can indirectly track the position and orientation of the moving object relative to the reflector and report its data to the virtual reality system. In the virtual reality system, the user's point of view and line of sight direction are determined by tracking the position and orientation of the user's head, so that the display of the virtual world scene is determined according to the position of the point of view and the direction of line of sight.
所述摄像头，安装于用户周围,用于获取用户在三维空间中的位置、身体姿态、速度、力度等信息, 优选地，使用品牌: A LINE OF DEFENSE/一号防线，型号: 带云台网络摄像机，可变焦，感光面积: 1/3英寸，有效距离大于30m，镜头大小规格2.8mm。进一步地,所述摄像头由两个以上不同角度摄像头组成阵列，以形成全方位的位置监控；进一步地,所述摄像头与三维定位跟踪设备共同完成用户的跟踪定位，进一步提高足球运行中不同用户的位置定位、争抢球分析、犯规的判断、碰撞计算和球轨迹分析和演化。The camera, installed around the user, is used to obtain information such as the user's position, body posture, speed, and strength in three-dimensional space. Preferably, the brand: A LINE OF DEFENSE/No. 1 defense line is used, and the model: with PTZ network Camera, zoom, photosensitive area: 1/3 inch, effective distance greater than 30m, lens size specification 2.8mm. Further, the camera is composed of more than two cameras with different angles to form an array to form a full range of position monitoring; further, the camera and the three-dimensional positioning and tracking device jointly complete the tracking and positioning of the user, further improving the accuracy of different users in football running. Position positioning, ball scrambling analysis, foul judgment, collision calculation and ball trajectory analysis and evolution.
用户终端100中输出设备包括视觉感知设备、听觉感知设备、触觉感知设备，其功能是将虚拟世界中各种感知信号转变为人能接受的多通道刺激信号。The output devices in the user terminal 100 include visual sensing devices, auditory sensing devices, and tactile sensing devices, whose function is to transform various sensing signals in the virtual world into multi-channel stimulation signals acceptable to humans.
所述视觉感知设备主要是向用户提供立体宽视野的场景显示，并且这种场景的变化会实时改变。视觉感知设备使用的是头盔显示器。头盔式显示器戴在用户头上，优选的，使用VR一体机头盔头戴式3D巨幕影院显示器，四核 A7at1.3GHz CPU；采用MALI400MP2显卡；运行内存1GB；显示屏分辨率为1280x720 ，自带USB接口、3.5MM耳机接口，具有OTG功能；内置传感器，360度头部跟踪无死角。将小型二维显示器所产生的影像藉由光学系统放大，具体而言小型显示器所发射的光线经过凸状透镜使影像因折射产生类似远方效果。利用此效果将近处物体放大至远处观赏而达到所谓的全像视觉。它是一种立体显示设备，安装在头部，并采用机械的方法固定，头与头盔之间不能有相对运动，在头盔显示器上配有空间位置跟踪设备，能实时检测出头部的位置，虚拟现实系统能在头盔显示器的屏幕上显示出反映当前位置的场景图像。The visual perception device mainly provides the user with a three-dimensional wide field of view scene display, and the change of this scene will change in real time. The visual perception device uses a head-mounted display. The helmet-mounted display is worn on the user's head, preferably, using a VR all-in-one helmet-mounted 3D giant screen theater display, quad-core A7at1.3GHz CPU; using MALI400MP2 graphics card; running memory 1GB; display resolution 1280x720, comes with USB interface, 3.5MM headphone interface, with OTG function; built-in sensor, 360-degree head tracking without dead angle. The image generated by the small two-dimensional display is magnified by an optical system. Specifically, the light emitted by the small display passes through a convex lens so that the image is refracted to produce a similar distant effect. Use this effect to zoom in on nearby objects for viewing in the distance to achieve so-called holographic vision. It is a three-dimensional display device installed on the head and fixed by a mechanical method. There can be no relative movement between the head and the helmet. The head-mounted display is equipped with a spatial position tracking device that can detect the position of the head in real time. The virtual reality system can display a scene image reflecting the current location on the screen of the head-mounted display.
所述听觉感知设备的主要功能是提供虚拟世界中的三维真实感声音的输入及播放。听觉感知设备使用的是VRH360耳机，能够帮助分辨声音是从哪个方向传来。VRH360耳机戴在用户耳部，优选地，使用了高磁性能动圈喇叭，能够确保虚拟世界的声音拥有更真实的表现。通过加入新一代DSP芯片，在虚拟现实环境下实现声效和声场定位，灵敏度：-38±3db；耳机阻抗: ≤2.2KΩ 频响范围: 15Hz-25000KHz。并且加入了VIBⅡ代振动芯片，芯片可根据数字声源智能模拟振动效果，让用户耳畔的声音更立体。The main function of the auditory perception device is to provide input and playback of three-dimensional realistic sounds in the virtual world. The auditory perception device uses the VRH360 headset, which can help identify the direction the sound is coming from. The VRH360 headset is worn on the user's ear. Preferably, a high-performance dynamic speaker is used to ensure that the sound in the virtual world has a more realistic performance. By adding a new generation of DSP chips, the sound effect and sound field positioning can be realized in the virtual reality environment, sensitivity: -38±3db; earphone impedance: ≤2.2KΩ frequency response range: 15Hz-25000KHz. In addition, the VIBⅡ generation vibration chip is added, which can intelligently simulate the vibration effect according to the digital sound source, so that the sound in the user's ears is more three-dimensional.
所述触觉感知设备包括接触反馈和力反馈所产生的感知信息，安装于数据手套/脚套及数据衣上。接触反馈力的大小代表了作用在人皮肤上的作用力，它反映用户触摸的感觉，或者是皮肤上受到压力的感觉；而力反馈是在人的肌肉、关节和筋腱上的力。例如，当手拿起一个玻璃杯子时，通过接触反馈可以感觉到杯子是光滑而坚硬的，而通过力反馈，才能感觉到杯子的重量。触觉感觉设备使用的是充气式接触反馈手套。充气式接触反馈手套是使用小气囊作为传感装置，在手套上有20－30个小气囊放在对应的位置，当发生虚拟接触时，这些小气囊能够通过空气压缩泵的充气和放气而被迅速的加压或减压。同时由计算机中存储的相关力学模式数据来决定各个气囊在不同状态下的气压值，并结合虚拟场景的力学可视化技术，以再现碰触物体时手的触觉感受及其各部位的受力情况。The tactile sensing device includes sensing information generated by contact feedback and force feedback, and is installed on data gloves/foot covers and data clothing. The magnitude of the contact feedback force represents the force acting on the human skin, which reflects the user's feeling of touch, or the feeling of pressure on the skin; while the force feedback is the force on the human muscles, joints and tendons. For example, when you pick up a glass, you can feel that the glass is smooth and hard through contact feedback, and you can feel the weight of the glass through force feedback. The haptic sensory device uses an inflatable touch feedback glove. Inflatable touch feedback gloves use small airbags as sensing devices. There are 20-30 small airbags placed in corresponding positions on the glove. When virtual contact occurs, these small airbags can be inflated and deflated by the air compressor Be rapidly pressurized or depressurized. At the same time, the air pressure value of each airbag in different states is determined by the relevant mechanical model data stored in the computer, combined with the mechanical visualization technology of the virtual scene, to reproduce the tactile feeling of the hand and the force of each part when touching an object.
局域网数据传输网络101分别安装于头部跟踪接收器、手套/脚套、数据衣、头盔式显示器，以及客户端计算机（102）中。优选地，使用ZigBee无线模块和WIFI模块，ZigBee无线模块节点采用TI公司的CC2530作为主控制器芯片。该芯片是用于2.4GHz IEEE 802.15.4、ZigBee和RF4CE应用的一个真正的片上系统解决方案。它结合了领先的RF收发器的优良性能，基于51内核，系统内可编程闪存，8KB RAM和许多其它强大的功能。具有低复杂度、低功耗、低速率、低成本、自组网、高可靠、超视距的特点。WIFI是一种允许电子设备连接到一个无线局域网（WLAN）的技术，优选地，使用2.4G UHF或5G SHF ISM 射频频段；传输速度非常快，可以达到54Mbps，符合所述系统大批量音视频信号处理的需求；由于发射信号功率低于100mw，低于手机发射功率，所以WIFI用于头盔式显示器相对也是最安全健康的。The local area network data transmission network 101 is respectively installed in the head tracking receiver, the glove/foot cover, the data suit, the head-mounted display, and the client computer (102). Preferably, the ZigBee wireless module and the WIFI module are used, and the ZigBee wireless module node adopts CC2530 of TI Company as the main controller chip. The chip is a true system-on-chip solution for 2.4GHz IEEE 802.15.4, ZigBee and RF4CE applications. It combines the excellent performance of a leading RF transceiver based on 51 cores, in-system programmable flash memory, 8KB RAM and many other powerful features. It has the characteristics of low complexity, low power consumption, low speed, low cost, self-organizing network, high reliability, and beyond line-of-sight. WIFI is a technology that allows electronic devices to connect to a wireless local area network (WLAN), preferably using 2.4G UHF or 5G SHF ISM radio frequency band; the transmission speed is very fast and can reach 54Mbps, which is in line with the system's large-scale audio and video signals Processing requirements; Since the transmission signal power is lower than 100mw, which is lower than the transmission power of mobile phones, WIFI is relatively safe and healthy for helmet-mounted displays.
客户端计算机102安装于用户家中，优选的，使用芯片Inter(R) Core(TM) i3-2120 CPU @ 3.30GHz CPU、4GB Memory、2x18.2GB Internal Disk，其主要功能包括汇集所有输入输出用户终端设备，对个人运动状态信息的处理，通过采集到的信息进行加工计算，分析用户此时的运动状态，身体机能等各项数据的分析计算，在计算机中模拟生成用户的动作、位置等虚拟踢球信息即作为实时运动分析，也可为使用后对使用者的生理分析作为基础数据。Client computer 102 is installed in user's home, preferably, uses chip Inter(R) Core(TM) i3-2120 CPU @ 3.30GHz CPU, 4GB Memory, 2x18.2GB Internal Disk, and its main function includes bringing together all input and output user terminals Equipment, processing of personal exercise status information, processing and calculation through the collected information, analyzing the user's current exercise status, analysis and calculation of various data such as physical functions, and simulating and generating virtual kicks such as user's actions and positions in the computer Ball information can be used as real-time sports analysis, and can also be used as basic data for user's physiological analysis after use.
所述客户端计算机102的主要功能包括输入、输出计算，客户端计算机将采集到的信息加工计算后传输，用以模拟生成虚拟现实环境，将实时数据转化为虚拟的可视化的图像环境，转化为虚拟可视化的听觉环境，转化为虚拟可视化的触碰觉环境。The main functions of the client computer 102 include input and output calculations. The client computer processes and calculates the collected information and then transmits it to simulate and generate a virtual reality environment, convert real-time data into a virtual visualized image environment, and convert it into The virtual visual auditory environment is transformed into a virtual visual tactile environment.
广域网数据传输网络103安装于用户家中和足球训练中心，优选地，采用基于Internet网络远程数据传输，传输速率大、频率利用率高、支持多种网络协议；广域网数据传输网络103作为客户端计算机和中央服务器间服务的纽带，采用基于Internet网络远程数据传输具有较高的可靠性、可扩展性、业务的完整性以及较低的系统运行成本。Wide area network data transmission network 103 is installed in user's home and football training center, preferably, adopts based on Internet network remote data transmission, transmission rate is big, frequency utilization rate is high, supports multiple network protocols; Wide area network data transmission network 103 is used as client computer and The link between the central server services, the remote data transmission based on the Internet has high reliability, scalability, business integrity and low system operating costs.
中央服务器104安装在运动员训练中心，优选地，采用的是塔式ThinkServerTS140 S1225v3 服务器，其标配CPU数量为1颗，采用的是四核、四线程Intel 至强E3-1200v3 CPU，CPU频率为3.2GHz；Non-ECC UDIMM四通道内存，内存容量4GB；1块1TB 3.5英寸7200转SATA硬盘，硬盘容量1TB；网络控制器为双千兆网卡；8个USB 2.0标准接口，配备有USB键盘、USB鼠标。The central server 104 is installed in the athlete training center. Preferably, what adopts is a tower type ThinkServerTS140 S1225v3 server, and its standard configuration CPU quantity is 1, and what adopted is four-core, four-thread Intel Xeon E3-1200v3 CPU, and the CPU frequency is 3.2 GHz; Non-ECC UDIMM four-channel memory with a memory capacity of 4GB; a 1TB 3.5-inch 7200 rpm SATA hard disk with a capacity of 1TB; the network controller is a dual Gigabit network card; 8 USB 2.0 standard interfaces, equipped with a USB keyboard, USB mouse.
中央服务器104是虚拟世界的主要生成设备，它能够同时实时响应多个用户的输入和请求，并将用户输入的信息实时进行分析计算，计算出运动员的精准踢球位置，和协调多用户踢球，生成虚拟的踢球场景，并通过用户终端100中的输出设备将各种踢球信息反馈给用户。中央服务器104主要功能包括三维视觉通道信号生成与显示，在虚拟现实系统中生成显示所需三维立体、高真实感复杂场景，并能根据视点的变化进行实时绘制。优选地，中央服务器104主要功能包括听觉通道信号生成与显示，该功能支持三维真实感声音生成与播放，所谓三维真实感声音是具有动态方位感、距离感和三维空间效应的声音。The central server 104 is the main generation device of the virtual world. It can respond to the input and request of multiple users in real time at the same time, analyze and calculate the information input by the user in real time, calculate the precise kicking position of the player, and coordinate the kicking of multiple users. , generate a virtual kicking scene, and feed back various kicking information to the user through the output device in the user terminal 100 . The main functions of the central server 104 include the generation and display of 3D visual channel signals, generating and displaying required 3D and high-realistic complex scenes in the virtual reality system, and real-time rendering according to changes in viewpoints. Preferably, the main functions of the central server 104 include the generation and display of auditory channel signals, which support the generation and playback of three-dimensional realistic sounds. The so-called three-dimensional realistic sounds are sounds with dynamic orientation, distance and three-dimensional space effects.
力学可视化数据库105安装在运动员训练中心，与所述的中央服务器104联结在一起，优选地，采用1台Sun E4500服务器作为数据库服务器，数据库建设采用目前主流的数据库技术Oracle 11g，服务器的配置分别为：4x750MHz UltraSPARC CPU、2GB Memory、18.2GBInternal Disk。Sun E4500服务器具有良好的计算性能、稳定性和扩展性，而且它对Oracle等目前主流的数据库运行支持性很好。优选地，具有场景重现和数据备份功能，使用LegatoQUalixHA+多机互为备份运行软件使两台服务器以HA的方式运行。The mechanical visualization database 105 is installed in the athlete training center and is connected with the central server 104. Preferably, a Sun E4500 server is used as the database server. The database construction adopts the current mainstream database technology Oracle 11g, and the server configurations are respectively : 4x750MHz UltraSPARC CPU, 2GB Memory, 18.2GB Internal Disk. The Sun E4500 server has good computing performance, stability and scalability, and it has good support for the operation of Oracle and other mainstream databases. Preferably, it has scene reproduction and data backup functions, and uses LegatoQUalixHA+ multi-machine backup operation software to make the two servers run in HA mode.
力学可视化数据库105主要存放的是整个虚拟世界中所有物体各方面信息。在虚拟世界中含有大量的物体，在数据库中就需要有相应的3D模型。如在显示图像计算时，需要有描述虚拟环境的三维数据库支持。优选地，选用IBM Storwize V3500(2071CU3)磁盘柜，兼容硬盘146GB/300GB 15Krpm、300GB/600GB/900GB 10Krpm、500GB/1TB 7.2Krpm，标配8GB缓存，外接主机通道1Gb iSCSI（可选8Gbps光纤通道），RAID支持RAID 0，1，5，6和10，单机磁盘数量24个，内置硬盘接口SAS，风扇全冗余，热插拔，产品电源全冗余，热插拔，405W，工作温度10-35℃。The mechanical visualization database 105 mainly stores information on all aspects of all objects in the entire virtual world. There are a large number of objects in the virtual world, and corresponding 3D models are required in the database. For example, when displaying image calculations, it is necessary to have the support of a three-dimensional database describing the virtual environment. Preferably, choose IBM Storwize V3500 (2071CU3) disk cabinet, compatible hard disk 146GB/300GB 15Krpm, 300GB/600GB/900GB 10Krpm, 500GB/1TB 7.2Krpm, standard 8GB cache, external host channel 1Gb iSCSI (optional 8Gbps Fiber Channel) , RAID supports RAID 0, 1, 5, 6 and 10, the number of single-machine disks is 24, built-in hard disk interface SAS, fans are fully redundant, hot-swappable, product power supply is fully redundant, hot-swappable, 405W, operating temperature 10- 35°C.
如图2所示，为本发明所述一种基于力学可视化的虚拟足球运动控制系统的多用户终端组网的设计实施例，多个用户终端能够通过数据传输网络联系在一起，用户终端中的输入模块，即头部跟踪接收器，手套/脚套跟踪接收器，身体跟踪接收器等，获取用户的实时状态信息，传入每名用户的客户端计算机，客户端计算机通过三维跟踪系统，三维声音处理系统，三维触觉处理系统，三维足球处理系统等，分别为每个用户计算来自用户终端获取的信息，分别计算出每个用户此时所处的状态，分析出每个用户的运动状态，位置，生理特征等信息，将计算结果实时存储并通过数据传输网络传输到中央服务器。中央服务器首先模拟出虚拟世界的场景，并根据客户端计算机传输过来的各个用户的数据，在场景出虚拟出每个运动员、足球，及必要的声音、图像等。通过协调分析多个运动员之间的配合攻防，球队队形，及是否有运动员犯规等，并查询力学可视化数据库对用户、场景、足球进行三维建模，形成运动员和足球的运行轨迹和力学可视化场景，最后再实时反馈到不同的用户终端，实现多用户的协同训练，甚至虚拟比赛对抗。As shown in Figure 2, it is a design embodiment of the multi-user terminal networking of a virtual football control system based on mechanics visualization described in the present invention, a plurality of user terminals can be connected together through a data transmission network, and the user terminals The input module, namely the head tracking receiver, glove/foot cover tracking receiver, body tracking receiver, etc., obtains the real-time status information of the user and transmits it to each user's client computer. The client computer passes the 3D tracking system, and the 3D The sound processing system, 3D haptic processing system, 3D football processing system, etc. calculate the information obtained from the user terminal for each user, respectively calculate the state of each user at this time, and analyze the motion state of each user, Location, physiological characteristics and other information, the calculation results are stored in real time and transmitted to the central server through the data transmission network. The central server first simulates the scene of the virtual world, and based on the data of each user transmitted from the client computer, virtualizes each athlete, football, and necessary sounds and images in the scene. By coordinating and analyzing the offensive and defensive cooperation among multiple players, the team formation, and whether there are any fouls by players, etc., and querying the mechanical visualization database to perform three-dimensional modeling of users, scenes, and footballs, form the running track and mechanical visualization of athletes and footballs scene, and finally feed back to different user terminals in real time to realize multi-user collaborative training and even virtual competition.
如图3所示，为本发明实例提供的系统工作流程示意图，用户打开用户终端后，系统开始进行虚拟环境初始化并等待用户信息输入，初始化完成后，用户需选择是否开始训练；若用户选择否，则可以对球员模型、足球模型、场地模型、比赛模型、力学可视化模型等一系列模型进行维护；若用户选择开始训练，则系统开始为用户建立虚拟现实模型，并等待用户选择球队模式；在训练模式，多名用户需要确定是否为球队模式，若用户选择否，则用户将开始单人训练模式，在单人训练模式，每名用户可以查阅、学习和模仿各种足球动作，也可以根据历史数据和个人特性选择符合自己特点的有个性化的训练、比赛方案、和伤病球员康复训练方案，并对每种方案的优缺点给出量化评估和参考建议；若用户选择球队训练模式，则系统开始球队训练模式；然后系统等待进一步选择，是否为比赛模式，若用户选择否，则系统开始球队训练模式，并开始场地虚拟现实建模和足球虚拟现实建模，可以为球队推荐多种训练方案供选择，并对每种方案的优缺点给出量化评估和参考建议；若用户选择比赛模式，则系统开始球队比赛与协同计算，并开始场地虚拟现实建模和足球虚拟现实建模；最终系统将计算结果实时传递到虚拟现实终端，为每个用户提供全方位的力学可视化体验，并能在比赛结束时将每次训练或比赛的数据输出形成报表，供进一步研究和探讨。As shown in Figure 3, it is a schematic diagram of the system workflow provided by the example of the present invention. After the user opens the user terminal, the system starts to initialize the virtual environment and waits for user information input. After the initialization is completed, the user needs to choose whether to start training; if the user chooses No , you can maintain a series of models such as player model, football model, field model, game model, and mechanical visualization model; if the user chooses to start training, the system will start to build a virtual reality model for the user, and wait for the user to select the team mode; In the training mode, multiple users need to determine whether it is the team mode. If the user chooses no, the user will start the single training mode. In the single training mode, each user can check, learn and imitate various football moves, and also According to historical data and personal characteristics, you can choose personalized training, game plans, and rehabilitation training plans for injured players that meet your own characteristics, and give quantitative evaluation and reference suggestions for the advantages and disadvantages of each plan; if the user chooses the team In the training mode, the system starts the team training mode; then the system waits for further selection, whether it is a game mode, if the user chooses no, the system starts the team training mode, and starts the field virtual reality modeling and football virtual reality modeling, you can Recommend a variety of training programs for the team to choose from, and give quantitative evaluation and reference suggestions for the advantages and disadvantages of each program; if the user chooses the game mode, the system will start the team game and collaborative calculation, and start the virtual reality modeling of the venue and football virtual reality modeling; the final system transmits the calculation results to the virtual reality terminal in real time, providing each user with a full range of mechanical visualization experience, and can output the data of each training or game into a report at the end of the game for Further research and discussion.
以上实施方式仅适用于说明本发明公开，而并非对本发明公开的限制，有关技术领域的普通技术人员，在不脱离本发明公开的精度和范围的情况下，还可以做出各种变化和变型，因此所有等同的技术方案也属于本发明公开的范畴，本发明公开的专利保护范畴应自权利要求限定。The above embodiments are only suitable for explaining the disclosure of the present invention, rather than limiting the disclosure of the present invention. Those of ordinary skill in the relevant technical fields can also make various changes and modifications without departing from the accuracy and scope of the disclosure of the present invention. , so all equivalent technical solutions also belong to the scope of the disclosure of the present invention, and the patent protection scope of the disclosure of the present invention should be defined from the claims.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610829774.4ACN106310660A (en) | 2016-09-18 | 2016-09-18 | Mechanics-based visual virtual football control system |
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| PB01 | Publication | ||
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