A VR immersive wearable system based on infrared optical motion capture

Abstract

The application provides a VR immersive wearable system based on infrared optical action capture, which comprises a backpack computer and an immersive tactical device; the immersive tactical device is in communication connection with the backpack computer; the immersive tactical device comprises a wearable VR device for feeding back image information, sound information and vibration information of a tactical virtual scene, and an infrared simulation device for receiving actions of a user; a control device is electrically connected with the wearable VR device and the infrared simulation device respectively; the application restores the whole body posture action and gesture of the user in a virtual environment, so that the user can immerseively experience the vibration, sound and picture content in the virtual environment.

Description

[0001] The application relates to the field of distributed combat simulation and virtual reality technology, and particularly relates to a VR immersive wearable system based on infrared optical motion capture.

[0002] In a traditional computer use scene, commonly used input devices are generally keyboards, mice and microphones, and output devices are generally displays and speakers. With the development of virtual reality technology, new demands are put forward for the interaction between users and virtual scenes in order to improve the immersive experience of users in virtual scenes. For example, the following five kinds of interaction devices:

[0003] I. The virtual scene picture is output through the VR glasses, two pictures are respectively rendered by the left and right lenses of the VR glasses, and the user has an immersive experience of being in the virtual scene after the two pictures are superimposed.

[0004] II. The full-body posture action (such as squatting, lying down, crawling, jumping, kicking, throwing, throwing, hitting, etc.) of the user is collected by the infrared optical motion capture system based on the infrared optical motion capture system and restored to the virtual scene, so that the real movement of the user can be 1:1 mapped to the posture action of the collected user, so that other users can observe the posture action of the collected user through the virtual scene, and the user can interact with the virtual scene through the body action, such as pulling and pushing.

[0005] III. The hand gesture of the user is collected by the motion capture glove, such as single-hand representation of numbers one to ten, basic restoration of common hand actions of the user, meeting the interaction demand of the user and the virtual scene, such as grabbing and clicking.

[0006] IV. The vibration module is worn on the force feedback, so that the user can feel the vibration of the front chest, back, both arms and both thighs, so as to improve the immersion when the corresponding body part is injured or touched in the virtual scene.

[0007] V. The audio information is interacted through the stereo earphone and the voice call controller. The stereo earphone can make the user feel the direction and distance of the sound, so that the user can feel the virtual scene more realistically, and the voice call controller can switch the voice channel and trigger the voice input.

[0008] VI. The immersive feeling of throwing equipment interaction is enhanced by the realistic hand grenade trigger.

[0009] Therefore, the current motion interaction, vision, hearing and touch cannot meet the immersive experience of the user.

[0010] Therefore, it is necessary to study a VR immersive wearable system based on infrared optical motion capture to overcome the shortcomings of the prior art, so as to solve or alleviate one or more of the above problems. ​​[Summary of the Invention]

[0011] In view of this, the present invention provides a VR immersive wearable system based on infrared optical motion capture, which restores the user's full-body posture and gestures in a virtual environment, allowing the user to immerse themselves in the vibration, sound and visual content of the virtual environment.

[0012] On one hand, the present invention provides a VR immersive wearable system based on infrared optical motion capture, comprising:

[0013] Backpack-mounted computers and immersive tactical equipment;

[0014] The immersive tactical device is communicatively connected to the backpack computer;

[0015] The immersive tactical device includes:

[0016] Wearable VR devices are used to provide image, sound, and vibration information from tactical virtual battlefields.

[0017] Infrared simulation equipment is used to receive user actions;

[0018] The control device is electrically connected to both the wearable VR device and the infrared simulation device.

[0019] The control device provides real-time feedback of image, sound, and vibration information from the tactical virtual scene via the wearable VR device. During the interactive phase, it receives user actions via the infrared simulation device and feeds these actions back to the backpack computer. Based on these actions, the backpack computer determines the image, sound, and vibration information that the wearable VR device needs to provide to the user and generates control information for the wearable VR device. The backpack computer then sends this control information to the control device, which executes the control information on the wearable VR device.

[0020] As described above and in any possible implementation, a further implementation is provided, wherein the wearable VR device includes:

[0021] The main body of the tactical vest covers the chest and back and is used to provide real-time feedback of vibration information in the tactical virtual scene.

[0022] VR headsets, worn on the head, are used to provide real-time feedback of image and sound information from tactical virtual scenarios;

[0023] VR gloves, worn on the hands, provide real-time feedback on vibration information from tactical virtual environments.

[0024] In addition to the aspects described above and any possible implementations, a further implementation is provided in which the wearable VR device further includes:

[0025] The motion capture shoe cover carries the infrared simulation device through the hook surface magic tape, and the motion capture shoe cover is fixed on the ankle;

[0026] The strap type motion capture tactical elbow guard has an inner layer of cloth and sponge material and an outer layer of plastic material shaped hard plate, and the infrared simulation device is fixed on the hard plate, and the strap type motion capture tactical elbow guard is fixed at the elbow joint.

[0027] The buckle type motion capture tactical knee guard has an inner layer of cloth and sponge material and an outer layer of plastic material shaped hard plate, and the infrared simulation device is fixed on the hard plate, and the buckle type motion capture tactical knee guard is fixed at the knee joint.

[0028] As the above-mentioned aspects and any possible implementation, further provided is an implementation, wherein the tactical vest is loaded with a force feedback vibration module, a hand grenade trigger and a pistol trigger, and is also designed with a backpack type computer fixing position and a backpack type computer battery bag, the voice call controller is connected with a VR helmet, the feedback vibration module, the hand grenade trigger and the pistol trigger are all connected with a control device, the backpack type computer fixing position is used for placing a backpack type computer, and the backpack type computer battery bag is used for placing a battery of the backpack type computer.

[0029] As the above-mentioned aspects and any possible implementation, further provided is an implementation, wherein the VR helmet comprises a helmet body, a VR glasses and a voice equipment, the VR glasses are arranged at the front of the helmet body, and the voice equipment is fixed on the VR glasses, the VR glasses are used for feeding back image information of a tactical virtual scene, and the voice equipment is used for feeding back sound information of the tactical virtual scene.

[0030] As the above-mentioned aspects and any possible implementation, further provided is an implementation, wherein the infrared simulation device is composed of a plurality of infrared reflective balls, wherein the full-body posture motion is collected by at least 11 infrared reflective balls on the tactical vest, at least 4 infrared reflective balls on the left and right tactical elbow guards, at least 4 infrared reflective balls on the left and right knee guards, at least 8 infrared reflective balls on the left and right motion capture shoe covers and at least 5 infrared reflective balls on the head as marking points, and the virtual reality scene of the backpack type computer and the virtual reality main system is restored after calculation by the virtual reality main system.

[0031] As the above-mentioned aspects and any possible implementation, further provided is an implementation, wherein the control device comprises but is not limited to a microprocessor.

[0032] As the above-mentioned aspects and any possible implementation, further provided is an implementation, wherein the force feedback vibration module is used for feeding back the bullet hit and touch situation in the virtual reality scene through vibration.

[0033] As the aspect and any possible implementation manner described above, further provided is an implementation manner, the immersive tactical device further comprises a voice call controller, the voice call controller is arranged on the VR glasses, the voice call controller comprises a voice input unit and a voice output unit, and is used for inputting and outputting communication information, and the voice output unit is connected with the voice equipment.

[0034] As the aspect and any possible implementation manner described above, further provided is an implementation manner, the interfaces of the backpack computer are all aviation sockets, used for stable and continuous data transmission and power supply; and the backpack computer is designed with a rubber corner at each corner of the body.

[0035] Compared with the prior art, the present application can obtain the following technical effects:

[0036] The present application solves the problems of scientifically and reasonably restoring the full-body posture and gesture of the wearer in the virtual reality scene of the backpack computer, feeling the vibration feedback in the scene, sending and receiving voice information, carrying the simulated pistol and hand grenade trigger, and clearly and smoothly outputting the virtual scene to the VR glasses, so that the user can obtain immersive experience in all aspects such as motion interaction, vision, hearing and touch.

[0037] Of course, implementing any product of the present application does not necessarily need to achieve all the technical effects described above at the same time. BRIEF DESCRIPTION OF DRAWINGS

[0038] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the embodiments will be briefly introduced as follows. Obviously, the drawings in the following description only some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor on the basis of these drawings.

[0039] Figure 1 It is a front view of a VR immersive wearing system tactical vest based on infrared optical motion capture;

[0040] Figure 2 It is a back view of a VR immersive wearing system tactical vest based on infrared optical motion capture;

[0041] Figure 3 It is a fixed position function schematic diagram of a backpack computer;

[0042] Figure 4 It is a buckle type motion capture tactical knee pad unfolding and buckle completion schematic diagram;

[0043] Figure 5Is the binding tape type action capture tactical elbow deployment and paste complete schematic diagram;

[0044] Figure 6 Is the top interface schematic diagram of the backpack computer;

[0045] Figure 7 Is the bottom interface schematic diagram of the backpack computer;

[0046] Figure 8 Is the voice call controller schematic diagram;

[0047] Figure 9 Is the hand grenade trigger schematic diagram;

[0048] Figure 10 Is the force feedback vibration module schematic diagram;

[0049] Figure 11 Is the star cable schematic diagram;

[0050] Figure 12 Is the action capture glove schematic diagram;

[0051] Figure 13 Is the pistol holster schematic diagram;

[0052] Figure 14 Is the large, medium and small three kinds of small module hanging bag schematic diagram;

[0053] Figure 15 Is the battery schematic diagram of the backpack computer;

[0054] Figure 16 Is the action capture shoe cover front and back schematic diagram;

[0055] Figure 17 Is the VR glasses and the connection mode of the VR glasses and the backpack computer schematic diagram;

[0056] Figure 18 Is a kind of infrared optical action capture based on VR immersive wearable system overall schematic diagram.

CONCRETE IMPLEMENTATION

[0057] In order to better understand the technical scheme of the present application, the embodiments of the present application will be described in detail below with reference to the drawings.

[0058] It should be clear that the described embodiments are only a part of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor belong to the scope of protection of the present application.

[0059] The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the description of the invention and the appended claims, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.

[0060] The present application provides a VR immersive wearable system based on infrared optical motion capture, comprising

[0061] A backpack computer and an immersive tactical device;

[0062] The immersive tactical device is in communication connection with the backpack computer;

[0063] The immersive tactical device comprises:

[0064] A wearable VR device for feeding back image information, sound information and vibration information of a tactical virtual scene;

[0065] An infrared simulation device for receiving the motion of a user;

[0066] A control device in electrical connection with the wearable VR device and the infrared simulation device, respectively;

[0067] The control device feeds back image information, sound information and vibration information of a tactical virtual scene in real time through the wearable VR device, and when entering an interactive link, receives the motion of a user through the infrared simulation device, feeds back the motion to the backpack computer; the backpack computer determines image information, sound information and vibration information that the wearable VR device needs to feed back to the user based on the motion, and generates control information of the wearable VR device; the backpack computer sends the control information to the control device; the control device executes the control information on the wearable VR device.

[0068] As shown in Figure 18 The wearable VR device comprises:

[0069] A tactical vest body for covering the front and back of the chest for feeding back vibration information of a tactical virtual scene in real time;

[0070] A VR helmet for wearing on the head for feeding back image information and sound information of a tactical virtual scene in real time;

[0071] A VR glove for wearing on the hand for feeding back vibration information of a tactical virtual scene in real time.

[0072] As described above, the aspect and any possible implementation form, further provides an implementation form, the wearable VR device further comprises:

[0073] The motion capture shoe cover is fixed on the wrist of the foot by the hook surface magic tape carrying the infrared simulation device.

[0074] The motion capture tactical elbow brace is fixed on the elbow joint, and the inner layer is cloth and sponge material, the outer layer is a plastic material shaped hard plate, and the infrared simulation device is fixed on the hard plate.

[0075] The motion capture tactical knee brace is fixed on the knee joint, and the inner layer is cloth and sponge material, the outer layer is a plastic material shaped hard plate, and the infrared simulation device is fixed on the hard plate.

[0076] The tactical vest is loaded with a force feedback vibration module, a hand grenade trigger and a pistol trigger, and is also designed with a backpack computer fixing position and a backpack computer battery bag, the voice call controller is connected with the VR helmet, the feedback vibration module, the hand grenade trigger and the pistol trigger are all connected with the control device, such as Figure 7 and Figure 8 The backpack computer fixing position is used to place the backpack computer, and the backpack computer battery bag is used to place the battery of the backpack computer.

[0077] The VR helmet includes a helmet body, a VR glasses and a voice equipment, the VR glasses is arranged in front of the helmet body, and the voice equipment is fixed on the VR glasses, the VR glasses is used to feedback the image information of the tactical virtual scene, and the voice equipment is used to feedback the sound information of the tactical virtual scene.

[0078] The infrared simulation device is composed of a plurality of infrared reflective balls, wherein the whole body posture action is collected by at least 11 infrared reflective balls on the tactical vest, at least 4 infrared reflective balls on the left and right tactical elbow braces, at least 4 infrared reflective balls on the left and right knee braces, at least 8 infrared reflective balls on the left and right motion capture shoe covers and at least 5 infrared reflective balls on the head as marking points, and the virtual reality scene of the backpack computer and the virtual reality main system is restored after calculation by the virtual reality main system.

[0079] The control device includes but is not limited to a microprocessor. The force feedback vibration module is used to feedback the shooting and touching situation in the virtual reality scene by vibration.

[0080] Aspects and any possible implementation modes as described above, further provide an implementation mode, the immersive tactical device further comprises a voice call controller, the voice call controller is arranged on the VR glasses, the voice call controller comprises a voice input unit and a voice output unit for inputting and outputting communication information, the voice output unit is connected with the voice equipment. The interfaces of the backpack computer are all aviation sockets, which are used for stable and continuous data communication and stable and continuous power supply; the backpack computer is designed with rubber corners at four corners of the body.

[0081] The principles of the present application are as follows:

[0082] The present application uses a set of main tactical vest, a backpack computer, a pair of strap action capture tactical elbow, a pair of buckle action capture tactical knee pad, a pair of action capture shoe cover and a pistol holster, so that the user can obtain immersive experience in all aspects such as motion interaction, vision, hearing and touch.

[0083] The tactical vest is made of camouflage oxford cloth, the front chest part is designed with camouflage oxford cloth and modular lightweight load bearing equipment belt, small module hanging bag is mounted to increase the loading capacity of the front chest, and a pistol holster hanging bag is reserved on the right thigh; the back part is designed with multiple layers, which are composed of breathable mesh, buffer pad, shaped back plate and camouflage oxford cloth, to ensure comfort and highly restore the design of real camouflage vest, the connection between the front chest and the back is designed with U-shaped port, which is convenient for wearing and balancing the front and back load.

[0084] The various interfaces of the backpack computer are all aviation sockets, which are used for stable and continuous data communication and stable and continuous power supply; the backpack computer is designed with rubber corners at four corners as protection, to enhance the anti-drop ability of the backpack computer.

[0085] The inner layer of the strap action capture tactical elbow is cloth and sponge material, to ensure the comfort of wearing, the outer layer is shaped hard plate of plastic material, and two infrared reflective balls are fixed above and on the side of the hard paper plate as marker points of the motion capture system.

[0086] The inner layer of the buckle action capture tactical knee pad is cloth and sponge material, to ensure the comfort of wearing, the outer layer is shaped hard plate of plastic material, and two infrared reflective balls are fixed above and below the hard paper plate as marker points of the motion capture system.

[0087] The action capture shoe cover is made of hook face magic tape material, four infrared reflective balls are placed on the single shoe surface through the hook face magic tape, the reverse side of the shoe cover has an elastic band that can fix the shoe cover on the instep, and the elastic band with hook face magic tape is pasted on the wool surface, so that the shoe cover can be fixed on the wrist.

[0088] The pistol holster has two elastic bands connected with the hook-faced magic tape on one side, which can be fixed on the other side of the loop-faced magic tape after passing through the thigh, and the fixing band on the top of the pistol holster can be adjusted in length by the lock male to adapt to the wearers with different body shapes, and the lock male is locked with the lock female after passing through the band on the tactical vest.

[0089] The present application realizes scientific and reasonable restoration of the full-body posture action and gesture of the wearer in the virtual reality scene of the backpack computer, feels the vibration feedback in the scene, transmits and receives voice information, and improves the interaction immersion with the virtual reality scene through the simulation pistol and hand grenade trigger carried, and clearly and smoothly outputs the virtual scene to the VR glasses.

[0090] The full-body posture action is collected by 11 infrared reflective balls on the tactical vest, 4 infrared reflective balls on the left and right tactical elbow guards, 4 infrared reflective balls on the left and right knee guards, 8 infrared reflective balls on the left and right motion capture shoe covers, and 5 infrared reflective balls on the head as marker points, and is restored to the virtual reality scene of the backpack computer and the virtual reality main system after calculation by the virtual reality main system.

[0091] The gesture is collected by the motion capture gloves connected to the backpack computer through the star-shaped cable, and is restored to the virtual reality scene of the backpack computer through the motion capture gloves software on the backpack computer, and is uploaded to the virtual reality scene of the virtual reality main system.

[0092] The vibration feedback is triggered by the situation of being shot or touched in the virtual reality scene, and the vibration signal is transmitted to the corresponding force feedback vibration module to trigger vibration by the force feedback software of the backpack computer through the star-shaped cable.

[0093] The received voice information is heard through the stereo earphone worn on the VR glasses, and the voice channel is selected by the 3 buttons on the voice communication controller connected to the backpack computer through the star-shaped cable, and the voice is collected by the microphone on the VR glasses.

[0094] The hand grenade trigger is connected to the backpack computer through the star-shaped cable, and the signal triggered by the button on the top of the single-click hand grenade trigger is transmitted to the virtual scene on the backpack computer to realize the control of the virtual equipment.

[0095] The tactical vest is made of camouflage oxford cloth, the front chest part is designed with camouflage oxford cloth and modular lightweight load carrying equipment belt, small module bags are hung to increase the loading capacity of the front chest, and a holster bag is reserved on the right thigh; the back part is designed with multiple layers, which is composed of breathable mesh, buffer pad, shaped back plate and camouflage oxford cloth, to ensure comfort and highly restore the real camouflage vest design. The tactical vest is loaded with 6 stress feedback vibration modules, 1 grenade trigger, 1 voice communication controller, 11 infrared reflective balls, designed with a backpack computer fixing position, 2 backpack computer battery bags and 1 pair of motion capture gloves.

[0096] As shown in Figure 3 , when all the straps on the computer fixing position are not fixed, the four corners of the backpack computer can be easily put into the four oxford cloth corner bags, then the upper hook surface Velcro strap is attached to the fuzzy surface Velcro strap, the left hook surface Velcro is attached to the fuzzy surface Velcro through the buckle, the right hook surface Velcro is attached to the fuzzy surface Velcro through the buckle, and the middle hook surface Velcro strap is attached to the fuzzy surface Velcro strap, so that the backpack computer can be stably and reliably fixed.

[0097] Example 1:

[0098] A VR immersive wearable device based on infrared optical motion capture, including a set of main tactical vest (as shown in Figure 1 ), a VR glasses (as shown in Figure 17 ), a pair of strap type motion capture tactical elbow guard (as shown in Figure 5 ), a pair of buckle type motion capture tactical knee guard (as shown in Figure 4 ), a pair of motion capture shoe cover (as shown in Figure 16 ), a holster (as shown in Figure 13 ). The main tactical vest is made of camouflage oxford cloth, the front chest part 115 is designed with camouflage oxford cloth and modular lightweight load carrying equipment belt 013, small module bags are hung to increase the loading capacity of the front chest, and a holster bag 015 is reserved on the right thigh; the back part 117 is designed with multiple layers, which is composed of breathable mesh, buffer pad, shaped back plate and camouflage oxford cloth, to ensure comfort and highly restore the real camouflage vest design. The main tactical vest is loaded with 6 stress feedback vibration modules 001, 002, 003, 004, 005 and 006, 1 grenade trigger 011, 1 voice communication controller 012, 11 infrared reflective balls 014, designed with a backpack computer fixing position 009, 2 backpack computer battery bags 007 and 008, and 1 pair of motion capture gloves as shown in Figure 12 . Except for the battery, a star type cable is used as shown in Figure 11The connection is shown, for unified power supply and signal interaction. The star cable node 901 is fixed by the fixed bandage 016 behind the back, one end has an aviation plug 903, and the other end is connected with the aviation socket interface 406 of the backpack computer through the fixed bandage 016 behind the back. The star cable node 901 has four cables 904, 905, 906 and 907 extending to the four limbs respectively. The left arm cable 904 enters under the left side shoulder magic tape 019 after passing through the bandage 016, and the node 908 of the left arm cable 904 is fixed on the left shoulder elastic bandage 021 after passing through the left side shoulder magic tape 019. The node 908 extends four cables, which are respectively the cable 910 connected with the hand grenade trigger interface 702, the cable 912 connected with the voice communication controller interface 607, the cable 913 connected with the front chest stress feedback vibration module 005, and the spring cable 914 used to adapt to users of different heights and body shapes. The spring cable 914 is fixed on the node 917 after passing through the left shoulder elastic bandage 021 in the opposite direction, and the node 917 has two cables, which are respectively the cable 918 connected with the left arm stress feedback vibration module 004, and the cable 920 connected with the left hand motion capture glove pressure plate interface 925. The cable 920 extends along the arm to the motion capture glove worn on the palm after passing through the left arm elastic bandage 020, and is fixed at the left elbow by the hook magic tape 307, 308 and the wool magic tape 305, 306. The glove and the cable are connected by a pressure plate to ensure the stability of the connection and enhance the overall maintainability. The node 909 on the right arm cable 906 has two cables after passing through the bandage 016, which are respectively the cable 911 connected with the back stress feedback vibration module 006, and the spring cable 915 used to adapt to users of different heights and body shapes.The spring wire 915 is pressed and fixed by the right shoulder magic tape 017 after passing through the bandage 016. The node 916 on the spring wire 915 is fixed by passing through the elastic bandage 018 of the right arm. The node 916 on the spring wire 915 has two cables, which are the cable 919 connected to the right arm stress feedback vibration module 003 and the cable 921 connected to the right hand motion capture glove pressing plate interface 926. The cable 921 passes through the elastic bandage 018 of the right arm, extends along the arm to the motion capture glove worn on the palm, and is fixed by the hook magic tape 307, 308 and the fuzzy magic tape 305, 306 at the right elbow. The glove and the cable are connected by a pressing plate to ensure the stability of the connection and enhance the overall maintainability. The left leg cable 905 passes through the bandage 016 and then passes through the left shoulder magic tape 019. After passing through the left shoulder magic tape 019, it is wound around the one side of the chest of the tactical vest and fixed by a series of fixed bandage buckles 118. The cable has a length allowance, and the socket 922 at the end is connected to the left leg stress feedback vibration module 001. The user can adjust the length in advance to adapt to the wearing needs of different users. Figure 14 and Figure 15As shown, the right leg cable 907 passes through the strap 016, then through the right shoulder magic tape 017, and then passes out of the right shoulder magic tape 017 and is fixed to one side of the front chest of the tactical vest through a series of fixed strap buckles 119. The cable has a length of excess, and the socket 923 at the end is connected to the right leg force feedback vibration module 002. The user can adjust its length in advance to adapt to the wearing needs of different users. When wearing the tactical vest of the VR immersive wearable device based on infrared optical motion capture described in the patent, the head is inserted into the U-shaped opening 116 of the tactical vest, ensuring that the front chest part 115 of the tactical vest is tightly attached to the front chest, and the back part 117 is tightly attached to the back. The hook surface magic tape 112 behind the left side of the backpack computer battery 007 is pulled to the wool surface magic tape 113 at the waist to complete the fixation. The hook surface magic tape 111 behind the right side of the backpack computer battery 008 is pulled to the wool surface magic tape 114 at the waist to complete the fixation. The male lock 109 and the female lock 110 are locked, and the tactical vest is fixed firmly by magic tape and lock, which is very suitable for different body shapes; the hook surface magic tape 106 with elastic hook is wrapped around the left arm and attached to the wool surface magic tape 107, so that the left hand force feedback vibration module 004 is fixed to the left arm; the hook surface magic tape 105 with elastic hook is wrapped around the right arm and attached to the wool surface magic tape 108, so that the right hand force feedback vibration module 003 is fixed to the right arm; the hook surface magic tape 102 with elastic hook is wrapped around the left leg and attached to the wool surface magic tape 103, so that the left leg force feedback vibration module 001 is fixed to the left leg; the hook surface magic tape 101 with elastic hook is wrapped around the right leg and attached to the wool surface magic tape 104, so that the right hand force feedback vibration module 002 is fixed to the right leg; the modular lightweight load equipment belt 013 in front of the chest is designed to cooperate with the hanging bag 1101, 1102 and 1103 to hang small devices on the body, which is convenient to take and place. The hanging bag is made of camouflage oxford cloth, which is reliable in strength and wear-resistant. The hanging bag is reasonably arranged to achieve the use function without constraint to the user's action. The pistol holster 1008 has two elastic straps 1001 and 1002 connected to the hook surface magic tape, which can be fixed to the wool surface magic tape 1003 after wrapping around the thigh. The oxford cloth pistol holster fixing strap 1004 can be adjusted in length by the male lock 1005 to adapt to different body shapes of the wearer. The male lock 1005 is locked with the female lock 1006 after passing through the strap 015. The force feedback vibration module is as shown in Figure 10 As shown, the shell is made of ABS engineering plastic injection molding, with a power-on indicator light 802, and a built-in interface 801 connected to the cable assembly to enhance connection stability. While ensuring its mechanical properties, it is designed to be small and light in size. The hand grenade trigger is as shown in Figure 9As shown, the shell is made of reinforced nylon material processing, the upper shell and the lower shell are designed with buckle, with a trigger button 701, and a cable interface 702. Voice call controller shell is made of ABS engineering plastic CNC processing, the shell is designed with a concave profile, enhance the stability of the external aviation plug interface, with three call keys 601, 602 and 603, that is, the side view of 604, 605 and 606, and with star cable, such as Figure 11 As shown, the cable 911 connected interface 607, through reasonable layout and proofing, optimize the design of man-machine ring, the device is small, light, easy to use. Infrared reflective ball 014 fixed position is designed with wide wool surface, with magic tape bonding design, for different users, increase the adjustability; has the maintainability. When all the straps on the fixed position 009 are not fixed, the four corners 503, 504, 505 and 506 of the backpack computer can be easily put into the four oxford cloth bag corners 014, 015, 016 and 017, then the hook face magic tape strap 018 is pasted with the wool face magic tape strap 019, the hook face magic tape 020 is pasted with the wool face magic tape 021 through the buckle 024, the hook face magic tape strap 023 is pasted with the wool face magic tape strap 022, that is, the backpack computer can be stably and reliably fixed. The backpack computer battery bag 007, 008 is made of oxford cloth, which is reliable in strength and wear-resistant, and can be loaded into the backpack computer battery 1201. The left and right two batteries are connected to the left and right aviation plug interfaces 501 and 502 at the bottom of the backpack computer respectively through the aviation plug 1202 for power supply. Motion capture gloves (such as Figure 12The left and right hands have four infrared reflective balls 927 and 928 respectively, and there are a tablet interface 925 and 926 respectively, which are connected with the star cable 921 and 920 for power supply and signal transmission. There are five infrared reflective balls 1403 on the VR glasses, which are used to locate the position of the wearer's head in the full-body motion capture system. There are two stereo headphones 1401 and 1402, and one microphone 1404. The wearer can receive and collect audio information through the microphone and stereo headphones. The VR glasses are connected to the backpack computer through a high-definition cable 1405, which is extended to 1406. The excess part of the high-definition cable is wound into a circle, and the two ends are fixed by magic tape buckle 023 and magic tape buckle 024 respectively. The end of the high-definition cable 1406 is divided into three cables, two of which are USB protocol cables 1408 and 1409. Cable 1408 connects aviation plug 1411 with USB protocol aviation socket interface 405 of the backpack computer to realize USB data transmission of the VR glasses. Cable 1409 connects aviation plug 1412 with USB protocol aviation socket interface 407 of the backpack computer to supply power to the VR glasses. The other cable is HDMI high-definition protocol cable 1407, which connects aviation plug 1410 with HDMI high-definition protocol aviation socket interface 404 of the backpack computer to realize HDMI data transmission of the VR glasses. Figure 5 The tactical elbow guard has two infrared optical marker reflective points 311 and 312. The two elastic bands of the tactical elbow guard have hook face magic tapes 307 and 308, which are wrapped around the elbow and then passed through the hooks 301 and 302. The hook face magic tapes 309 and 310 are then passed through the hooks 303 and 304 to adjust the tightness. The tactical elbow guard can be fixed on the elbow. Figure 4 The tactical knee guard has two infrared optical marker reflective points 205 and 206, and 207 and 208 in the buckled state. The elastic band of the tactical knee guard has hook face magic tapes 215 and 216, which can freely adjust the tightness. The hooks 209 and 210 are wrapped around the knee and then buckled on the hooks 201 and 202 to fix the tactical knee guard on the knee. The hooks 211 and 212 are buckled on the hooks 203 and 204. Figure 16 The shoe cover has four infrared reflective balls 1301 on the surface of the shoe cover. The shoe cover has an elastic band 1306 on the back to fix the shoe cover on the instep. The elastic band 1304 with hook face magic tape is attached to the surface 1305 to fix the shoe cover on the wrist.

[0099] The application relates to a VR immersive wearable device based on infrared optical action capture, which is used in the field of distributed combat simulation in a man-in-the-loop mode combined with virtual reality technology.

[0100] The above description of the VR immersive wearable system based on infrared optical action capture provided by the embodiment of the application is provided in detail. The above description of the embodiment is only used for helping to understand the method and the core idea of the application; meanwhile, according to the idea of the application, the specific implementation mode and the application range can be changed by the person skilled in the art, and the content of the description should not be understood as the limitation of the application.

[0101] Some terms are used in the description and claims to refer to certain components. It will be understood by those skilled in the art that hardware manufacturers can use different names to refer to the same component. The description and claims of the present application do not distinguish components by name, but by the difference in function of the components. As mentioned throughout the description and claims, "including" and "comprising" are open terms, which should be interpreted as "including but not limited to". "Approximately" means that within an acceptable error range, the person skilled in the art can solve the technical problem within a certain error range, and basically achieve the technical effect. The subsequent description of the specification is a preferred embodiment for implementing the application, and the description is for the purpose of illustrating the general principles of the application, and is not intended to limit the scope of the application. The protection scope of the application is defined by the appended claims.

[0102] It should also be noted that the terms "including", "comprising" or any other variation thereof are intended to cover non-exclusive inclusion, so that the products or systems including a series of elements not only include those elements, but also include other elements not explicitly listed, or include elements inherent to such products or systems. Without more limitations, the element defined by the sentence "including a" does not exclude the presence of other identical elements in the product or system including the element.

[0103] It should be understood that the term "and / or" as used herein merely describes associated objects, and can exist in three forms: A and / or B, A or B, and A and B. In addition, the character " / " generally represents an "or" relationship between the front and rear associated objects.

[0104] The above specification, examples and data provide a complete description of the manufacture and use of the application. Since they fully disclose the application to those skilled in the art, the above description and examples should not be construed as limiting the application, but merely explaining. The scope of the application should be determined by reasonable interpretation of the appended claims, and all changes coming within the equivalent scope of the application are intended to be embraced therein.

Claims

1. A VR immersive wearable system based on infrared optical motion capture, characterized in that, include: Backpack-mounted computers and immersive tactical equipment; The immersive tactical device is communicatively connected to the backpack computer; The immersive tactical device includes: Wearable VR devices are used to provide image, sound, and vibration information from tactical virtual battlefields. Infrared simulation equipment is used to receive user actions; The control device is electrically connected to both the wearable VR device and the infrared simulation device. The control device provides real-time feedback of image, sound, and vibration information from the tactical virtual scene via the wearable VR device. During the interactive phase, the control device receives user actions via the infrared simulation device and feeds these actions back to the backpack computer. Based on these actions, the backpack computer determines the image, sound, and vibration information that the wearable VR device needs to provide to the user and generates control information for the wearable VR device. The backpack computer then sends this control information to the control device, which executes the control information on the wearable VR device. The wearable VR device includes: The main body of the tactical vest covers the chest and back and is used to provide real-time feedback of vibration information in the tactical virtual scene. VR headsets, worn on the head, are used to provide real-time feedback of image and sound information from tactical virtual scenarios; VR gloves, worn on the hands, provide real-time feedback on vibration information in tactical virtual environments; The wearable VR device also includes: Motion capture shoe covers, which use hook and loop fasteners to attach infrared simulation devices, are fixed to the ankle. The strap-on motion capture tactical elbow brace has an inner layer of fabric and sponge and an outer layer of molded rigid plastic plate. The infrared simulation device is fixed on the rigid plate, and the strap-on motion capture tactical elbow brace is fixed at the elbow joint. The snap-on motion capture tactical knee brace has an inner layer of fabric and sponge and an outer layer of molded rigid plastic plate. The infrared simulation device is fixed on the rigid plate, and the snap-on motion capture tactical knee brace is fixed at the knee joint. The tactical vest is equipped with a force feedback vibration module, a grenade trigger, and a pistol trigger. It also features a backpack computer mounting position and a battery holder for the backpack computer. The feedback vibration module, grenade trigger, and pistol trigger are all connected to a control device. The backpack computer mounting position is used to hold the backpack computer, and the battery holder is used to hold the backpack computer's battery. The VR headset includes a headset body, VR glasses, and a voice device. The VR glasses are positioned in front of the headset body, and the voice device is fixed to the VR glasses. The VR glasses are used to provide image information from the tactical virtual scene, and the voice device is used to provide sound information from the tactical virtual scene.

2. The VR immersive wearable system as described in claim 1, characterized in that, The infrared simulation device consists of several infrared reflective spheres. The full-body posture and movements are collected by at least 11 infrared reflective spheres on the tactical vest, at least 4 infrared reflective spheres on the left and right tactical elbow pads, at least 4 infrared reflective spheres on the left and right knee pads, at least 8 infrared reflective spheres on the left and right motion capture shoe covers, and at least 5 infrared reflective spheres on the head as marker points. After being processed by the virtual reality main system, the data is restored to the virtual reality scene of the backpack computer and the virtual reality main system.

3. The VR immersive wearable system as described in claim 2, characterized in that, The control device includes, but is not limited to, a microprocessor.

4. The VR immersive wearable system as described in claim 3, characterized in that, The force feedback vibration module is used to provide feedback on the impact and touch scenarios in the virtual reality scene through vibration.

5. The VR immersive wearable system as described in claim 1, characterized in that, The immersive tactical device also includes a voice communication controller, which is mounted on the VR glasses. The voice communication controller includes a voice input unit and a voice output unit for inputting and outputting communication information. The voice output unit is connected to the voice equipment.

6. The VR immersive wearable system as described in claim 1, characterized in that, The backpack computer has aviation-grade interfaces to ensure stable and uninterrupted data transmission and power supply. The backpack computer also has rubber corner protectors at all four corners of its body.

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