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Two-dimensional image force touch reproducing control method and system based on three-dimensional force sensor

A technology of two-dimensional image and control method, which is applied to the input/output process of instruments, graphic reading, and data processing, etc., which can solve the problems of small degree of freedom and small operating space of force feedback equipment, and achieve high precision, stable operation, easy-to-achieve effects

Active Publication Date: 2011-01-12
HAIAN GASOLINEEUM SCI RES INSTR +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] ② Joystick, this kind of force feedback device usually has a relatively small degree of freedom and a small operating space, and is only suitable for occasions with low functional requirements

Method used

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  • Two-dimensional image force touch reproducing control method and system based on three-dimensional force sensor

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specific Embodiment 1

[0053] A three-dimensional force sensor-based method for controlling tactile reproduction of stone texture images, the main steps of the method are as follows:

[0054] Step 1 initializes the virtual scene;

[0055] Step 2. The operator controls the virtual hand to approach the stone texture image by manipulating the handle at the end of the force-tactile interaction device. Before the virtual hand collides with the texture image, that is, during the process of approaching the texture image, the contact force signal f between the virtual hand and the image is 0 ; If a collision occurs, calculate the contact force signal f between the virtual hand and the image at the collision point according to the contact force model established in the virtual hand and image contact force calculation module,

[0056] The contact force model is established by Gauss filtering the collected stone texture image, using the high-frequency spectrum reflecting texture information as a height map, an...

specific Embodiment 2

[0071] The system of the three-dimensional force sensor-based tactile reproduction control method of stone texture image force is an open closed-loop control system based on PC. This system makes full use of the rich software resources of Windows and various communication interfaces of PC. It has strong portability. Modular design and other features, such as figure 1 It is a block diagram of the overall structure of the control system of the present invention,

[0072] The control system of the force-tactile reproduction method for stone texture images based on three-dimensional force sensors, including: force-tactile interaction equipment, main hand position detection module, virtual hand and main hand position mapping module, collision for judging whether the virtual hand touches the two-dimensional image Detection module, virtual hand and image contact force calculation module, force information output module and image acquisition and display module,

[0073] In this exam...

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Abstract

The invention discloses two-dimensional image force touch reproducing control method and system based on a three-dimensional force sensor. The method is characterized by comprising the following steps of: fixing a three-dimensional force sensor on a handle at the end part of force touch interacting equipment; collecting image contact force output by the force touch interacting equipment in real time; and meanwhile, carrying out closed-loop control on a collected image contact force signal and adjusting the output of the image contact force signal in real time by adopting a proportion control algorithm. The invention adopts a closed-loop feedback control policy, improves the output precision of image contact force and the stability of a control system and reinforces authenticity during man-machine interaction; and in addition, a modularized system structure is adopted by the invention, therefore, the system portability is high.

Description

technical field [0001] The present invention relates to a two-dimensional image force tactile reproduction control method and system based on a three-dimensional force sensor, in particular to a two-dimensional image force tactile reproduction control method and system based on a three-dimensional force sensor for virtual reality human-computer interaction. Background technique [0002] Tactile interaction is the latest technology in the field of human-computer interaction, and it plays an irreplaceable role in the interaction process. People have long been studying the use of force-touch perception to compensate for eye functions, and use a certain force-touch reproduction device to generate force feedback to guide the blind. Perceive the outline of the object and realize the force-tactile expression of vision. [0003] At present, many foreign researchers are conducting research on graphic image expression based on force feedback devices. Fritz and Barner et al. studied h...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06F3/01G06F3/033G06F3/0346
Inventor 宋爱国程盈盈吴涓张小瑞李佳璐
Owner HAIAN GASOLINEEUM SCI RES INSTR
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