A visualization method of 3D environment map in virtual reality system

Abstract

The invention discloses a method for visualizing a three-dimensional environmental map in a virtual reality system. The method includes: S1, acquiring and controlling real environment data of an environment where a target locates; S2, constructing a corresponding three-dimensional environmental map according to the real environment data acquired in real time; S3, acquiring updating incremental data of the three-dimensional environmental map at specified period intervals to obtain increment map data; S4, transmitting the increment map data acquired in real time to a control end, and displaying in the virtual reality system to realize visualization of the three-dimensional environmental map. The method is capable of realizing visualization of the three-dimensional environmental map in the virtual reality system and has the advantages of simplicity in realizing method, low realizing cost, small needed communication bandwidth, flexibility in application environments, good realizing effect and the like.

Description

Technical field [0001] The present invention relates to the technical field of virtual reality, in particular to a visualization method of a three-dimensional environment map in a virtual reality system. Background technique [0002] Virtual Reality (VR) technology is widely used in various fields such as rescue and high-risk operations. That is, the operator can remotely control the robot to perform various operations. The operator only needs to control the robot according to the real-time environment where the robot is located. , Without the need for operators to perform on-site operations, high execution efficiency and safety performance. In the remote control process, the operator cannot directly obtain the robot environment information, so he needs to obtain the robot environment information in real time through network data transmission to control the robot to perform corresponding actions. [0003] In order to realize the visualization of robot environment information, curr...

AI Technical Summary

Problems solved by technology

Directly use the display device to display the robot environment video, the operator does not have a strong sense of presence in the third perspective, and usually the network bandwidth of the environment where the robot is located is limited, and the environment video is directly transmitted to the display device through the network, the amount of data is large and the required network The transmission bandwidth is large, and there are often delays and packet loss in the returned video stream, which not only increases the difficulty of the operator's operation, but also easily fatigues the operator;

[0005] 2) Directly use graphics functions to draw, that is, use graphics functions to directly draw real-scene images. The complexity of real scenes is generally relatively high, which includes a large number of irregular surfaces. It is difficult to select parameters for function drawing, and it is difficult to draw accurately. real-world images;

[0006] 3) Use third-party modeling software to model the environment and display the model after exporting, but this method must be based on environmental information. The modeling process is complicated to implement, and the application environment is limited, so it can only be applied to known scenarios. In the application of the unknown environment, it cannot be applied;

This type of method usually needs to be realized by relying on specific equipment and processing methods. The implementation process is complex and the implementation cost is high, and the amount of transmitted data is usually still large, which cannot meet the needs of applications with strict communication bandwidth requirements.

[0008] Chinese patent application CN106131493A discloses a somatosensory control system based on a virtual reality remote on-site intelligent fire-fighting robot, in which the head-mounted reality module receives live video images collected by the robot for 3D visual display, so that the operator can obtain the live robot Live video images, but to directly obtain live video images for 3D visual display, on the one hand, complex visual algorithms are required to realize image 3D video display; Wider network communication bandwidth

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