A mixed reality bumper car amusement system

Abstract

This invention discloses a mixed reality bumper car amusement system, including an interactive terminal and a game server. The interactive terminal includes bumper cars that can travel on the field, a real-scene acquisition device connected to the game server, a display device for displaying the real-scene of the field, and a display device for displaying virtual scenes or virtual elements. The bumper cars are equipped with a motion information acquisition device for collecting the position, direction, and movement information of the bumper cars or the players on the bumper cars, as well as a communication device connected to the game server. The game server is used to construct virtual scenes, integrate virtual scenes or virtual elements into real scenes, and convert bumper cars into virtual bumper cars and synchronously map them into the virtual scenes to interact with other virtual bumper cars and virtual elements, and display them through the display device. This invention offers diverse gameplay and greater fun, and can combine real bumper cars with virtual bumper cars, and real bumper cars with bumper car online games.

Description

[Technical Field]

[0001] This invention relates to a mixed reality bumper car amusement system. [Background Technology]

[0002] Bumper cars are a type of motorized amusement ride, typically consisting of bumper cars, a flat track, and surrounding safety barriers. Bumper cars are categorized into: net-covered bumper cars (with an electrified electric grid on the ceiling); non-net-covered bumper cars (electrified via a conductive floor); and battery-powered bumper cars (with built-in batteries that run on a full charge). Professional amusement park bumper cars are made of fiberglass, generally seating a maximum of two people, and include pedals for acceleration and a steering wheel for steering. The current rules of bumper cars are: drivers navigate the car within the track, aiming to complete a loop as quickly as possible, bumping into and knocking aside other cars. When the time is up, the operator shuts off the power. Bumper cars are usually relatively slow, and collisions generally do not cause damage to people or the cars themselves.

[0003] However, the current way of playing bumper cars is that players can only sit in the bumper car and drive it around the bumper car track. Since its inception, it has only had one way of playing, which is monotonous and people have lost interest in bumper cars. [Summary of the Invention]

[0004] The purpose of this invention is to overcome the shortcomings of the existing technology and provide a mixed reality bumper car amusement system that offers diverse gameplay, greater fun, and combines real bumper cars with virtual bumper cars, as well as real bumper cars with online bumper car games.

[0005] The objective of this invention is achieved as follows:

[0006] A mixed reality bumper car amusement system, characterized in that it includes: an interactive terminal and a game server;

[0007] The interactive terminal includes a bumper car that can travel on the field, a real-scene acquisition device connected to the game server for collecting real-scene information, a display device for displaying the real-scene of the field, and a display device for displaying virtual scenes or virtual elements.

[0008] The bumper cars are equipped with motion information collection devices for collecting the location, direction, and movement status of the bumper cars or the players on them, as well as communication devices that connect to the game server.

[0009] The game server includes a game business processing module that can construct virtual scenes based on collected information and convert bumper cars into virtual bumper cars and synchronously map them into the virtual scene for interaction with other virtual bumper cars and virtual elements, as well as a mixed reality processing module that integrates virtual scenes or virtual elements into real scenes.

[0010] The mixed reality bumper car amusement system described above is characterized in that the real-scene acquisition device and the motion information acquisition device can be integrated into one unit.

[0011] The mixed reality bumper car amusement system described above is characterized in that the interactive terminal further includes an interactive main control unit connected to a display device, a real-scene acquisition device, and a motion information acquisition device, respectively, and the interactive main control unit is connected to a game server.

[0012] The mixed reality bumper car amusement system described above is characterized in that the display device can be AR, VR, or MR glasses.

[0013] The mixed reality bumper car amusement system described above is characterized by further including an interactive display mechanism connected to a game server. The interactive display mechanism includes a display screen for displaying the fusion of virtual elements and real scenes in the display field, and a control device for controlling the display screen or the bumper cars on the display screen.

[0014] The mixed reality bumper car amusement system described above is characterized in that the interactive display mechanism further includes a payment device for payment.

[0015] The mixed reality bumper car amusement system described above is characterized in that the interactive display mechanism further includes an interactive display terminal main control unit connected to the display screen, the control device, and the payment device respectively, and the interactive display terminal main control unit is connected to the game server.

[0016] The mixed reality bumper car amusement system described above is characterized in that the interactive terminal further includes a vehicle remote control device, and the game business processing module further includes a vehicle management module that receives control signals from the interactive display mechanism and cooperates with the vehicle remote control device to remotely control the bumper cars.

[0017] The mixed reality bumper car amusement system described above is characterized in that the game server further includes a player service management module for linking the player's real-world identity with their virtual identity.

[0018] The mixed reality bumper car amusement system described above is characterized in that the interactive terminal further includes an interactive device that connects to the game server and remotely controls the bumper cars via a user terminal.

[0019] The mixed reality bumper car amusement system described above is characterized by further including a projection device for projecting virtual scenes onto the bumper car track.

[0020] The mixed reality bumper car amusement system described above is characterized in that the bumper car includes a body, wheels and a steering wheel, and the body is equipped with an on-board control device and a drive device for controlling the bumper car to move forward, a braking device for controlling the bumper car to stop, a steering device for controlling the direction of the bumper car, a remote control device for remote communication, a steering motor, a position acquisition device, a speaker, an image camera, an on-board reader, a motion transfer acquisition device and a display screen, which are respectively connected to the on-board control device.

[0021] A control method for the above-mentioned mixed reality bumper car amusement system, characterized by comprising:

[0022] S1. The real-scene acquisition device collects real-scene data of the venue and transmits it to the game server through a communication device;

[0023] S2, The game service processing module in the game server constructs a virtual scene based on the collected real-world scene data;

[0024] S3. The bumper car motion information collection device collects the position information, direction information, and motion status of the bumper car or the players on the bumper car and transmits them to the game server through a communication device.

[0025] S4. The mixed reality processing module in the game server receives the above information collected by the acquisition device and merges the virtual scene or virtual elements with the real scene.

[0026] S5, the game business processing module converts the bumper cars into virtual bumper cars based on the collected information and synchronously maps them into the virtual scene, allowing them to interact with other virtual bumper cars and virtual elements, and display them through a display device to achieve synchronous interaction between real and virtual information.

[0027] The beneficial effects of this invention are:

[0028] The gameplay of this invention includes: 1. In the bumper car area of ​​an amusement park, mixed reality bumper cars are used in a constructed virtual scene, utilizing onboard mixed reality displays or AR, VR, or MR glasses, combined with computer hardware and software technology, to construct a virtual-real integrated racing scene; 2. Playing bumper cars on the track; 3. Interactive gameplay inside and outside the track; 4. Playing bumper cars in an online mobile game; 5. Online and offline competition in the same venue; 6. Bumper car competition between different venues. The gameplay is diverse and more interesting, and it can combine real bumper cars with virtual bumper cars, and real bumper cars with bumper car online games. [Attached Image Description]

[0029] Figure 1 This is a structural diagram of the present invention;

[0030] Figure 2 This is a system structure diagram of the present invention;

[0031] Figure 3 This is a schematic diagram of a usage scenario of the present invention;

[0032] Figure 4 This is a schematic diagram of the second application scenario of the present invention;

[0033] Figure 5 This is a schematic diagram of sparse point cloud reconstruction based on the principle of the 3D reconstruction algorithm of this invention;

[0034] Figure 6 This is a schematic diagram of the feature decomposition principle of the three-dimensional reconstruction algorithm of this invention;

[0035] Figure 7 This is a rendering flowchart illustrating the principle of the 3D reconstruction algorithm of this invention;

[0036] Figure 8 This is a structural diagram of the bumper car of the present invention;

[0037] Figure 9 This is a diagram showing the electrical connections of the bumper car structure of the present invention;

[0038] Figure 10 This is a structural diagram of the go-kart of the present invention;

[0039] Figure 11 This is one of the schematic diagrams of the vehicle positioning and collision algorithm of this invention;

[0040] Figure 12 This is the second schematic diagram of the vehicle positioning and collision algorithm of this invention;

[0041] Figure 13 This is the third schematic diagram of the vehicle positioning and collision algorithm of this invention;

[0042] Figure 14 This is the fourth schematic diagram of the vehicle positioning and collision algorithm of this invention;

[0043] Figure 15 This is the fifth schematic diagram of the vehicle positioning and collision algorithm of this invention;

[0044] Figure 16 This is the sixth schematic diagram of the vehicle positioning and collision algorithm of this invention;

[0045] Figure 17 This is the seventh schematic diagram of the vehicle positioning and collision algorithm of this invention;

[0046] Figure 18 This is a schematic diagram of the system operation flow of the present invention;

[0047] Figure 19 This is a schematic diagram illustrating the bumper car racing gameplay between different venues according to the present invention.

Detailed Implementation Methods

[0048] The present invention will be further described below with reference to the accompanying drawings:

[0049] like Figure 1-4 As shown, a mixed reality bumper car amusement system includes an interactive terminal 1 and a game server 2.

[0050] The interactive terminal includes a bumper car 11 that can travel on the field, a real-scene acquisition device 12 connected to the game server 2 for collecting real-scene information, a display device 13 for displaying the real-scene of the field and for displaying virtual scenes or virtual elements; the bumper car is equipped with a motion information acquisition device 111 for collecting the position information, direction information, and motion status of the bumper car or the players on the bumper car, and a communication device 112 connected to the game server; the real-scene acquisition device, the display device, and the motion information acquisition device are respectively communicatively connected to the main control unit 14 of the interactive terminal.

[0051] The game server contains a game service system that constructs virtual scenes based on collected information. These virtual scenes or elements are then integrated into real-world scenes. Additionally, bumper cars are converted into virtual bumper cars and synchronously mapped into the virtual scene to interact with other virtual bumper cars and elements. The results are displayed via a display device connected to the interactive terminal's main control unit. Specifically, the game service system includes a game business processing module 21 that processes information collected by the acquisition device; and a mixed reality processing module 22 that integrates virtual scenes or elements into real-world scenes. The mixed reality processing module includes both virtual scenes and virtual elements.

[0052] The game processing module and the mixed reality processing module run on a high-performance server. The acquisition device collects the position, orientation, and operational status information of the bumper cars and / or AR / VR / MR glasses. The mixed reality processing module receives this information, converts the real-world scene location into a virtual scene location, and determines the output video content based on the player's display device.

[0053] The principle of the 3D reconstruction algorithm in this case is as follows:

[0054] 1. Multi-view images: There are two scenarios for capturing images:

[0055] 1.1 Independent Objects: When photographing independent objects, multiple perspectives should surround the object being photographed, ideally capturing it from all 360 degrees, and trying to make the center lines of the perspectives of each image intersect on the object being photographed.

[0056] 1.2 Scene Environment: When taking photos of the scene environment, it is not necessary to surround the subject. There should be both close-up and long-distance shots. Close-up shots should be taken continuously, meaning that a sufficient amount of the image should overlap. Long-distance shots should include multiple close-up shots.

[0057] 2. Sparse point cloud reconstruction, such as Figure 5 As shown.

[0058] 2.1 Image Feature Extraction:

[0059] 2.1.1 Searching for Image Locations: Identifying potential feature points that are invariant to scaling, rotation, and translation using the Gaussian differential function; feature points are typically located at the inflection points of edges in the image or at locations where dark areas transition to bright areas and vice versa.

[0060] 2.1.2 Key Feature Point Selection: The selection of key feature points is based on their stability. The more feature points present in a wider range of perspectives, the more stable and critical they are.

[0061] 2.1.3 Direction Determination: Based on the local gradient direction of the image, assign one or more directions to each key feature point.

[0062] 2.1.4 Key Feature Point Description: Within the region surrounding each key feature point, the local gradient of the image is measured. These gradients serve as a description of the key feature point and remain invariant under large changes in shape and illumination.

[0063] 2.2 Feature Matching: This involves matching key feature points between images. Matched feature points are projections of the same 3D feature point onto different 2D images. The specific matching method depends on the feature point description method. For example, bit comparison might be used, where more identical bits indicate a higher probability of feature point matching between different images.

[0064] 2.3. Eigenvalue decomposition yields the rotation matrix R and the translation vector t.

[0065] like Figure 6 As shown, suppose we obtain a pair of paired feature points, p1 and p2, from two images.

[0066] The three-dimensional spatial coordinates of the three-dimensional feature point P are:

[0067] P = [X, Y, Z] T

[0068] Then we have:

[0069] p1 = KP, p2 = K(RP + t)

[0070] Where K is the camera intrinsic parameter matrix, and R, t are the rotation matrix and translation vector of the camera coordinate system for capturing two images. The camera coordinate system is three-dimensional.

[0071] x1 = K -1 p1, x2 = K -1 p2

[0072] Where x1 and x2 are the homogeneous coordinates of the two pixels p1 and p2 on the plane. Substituting into the above equation, we get:

[0073] x2=Rx1+t

[0074] Therefore:

[0075] x T 2t ∧ Rx1 = 0, which means: p T 2K -T t ∧ RK -1 p1 = 0

[0076] Among the symbols ∧ The definition is as follows:

[0077] Let vector t = [t1, t2, t3] T ,but:

[0078] It is called the antisymmetric matrix of vector t.

[0079] Pick:

[0080] E = t ∧ R, F = K -T EK -1 Then we have:

[0081] x T 2Ex1=0, p T 2Fp1=0

[0082] Consider a pair of matching points with homogeneous coordinates: x1 = [u1, v1, 1] T x2 = [u2, v2, 1] T

[0083]

[0084] have:

[0085]

[0086] Since u1, v1, u2, and v2 are known, e1 to e9 can be calculated using multiple pairs of matching points. Similarly, F can also be calculated.

[0087] R and t can be solved using E and F. After setting the camera position of a certain image as the origin, the position and rotation angle of the camera when taking pictures of all images are determined.

[0088] 2.4 Triangulation

[0089] like Figure 6As shown, since p1 = KP and p2 = K(RP + t), where K, R, t, p1, and p2 are all known or calculated, and since p1 and p2 are two-dimensional plane equations, the first two equations are four equations. P is three-dimensional, with three coordinates to be determined. These three coordinates of P can be obtained through linear equations. In practice, O1P and O2P may not intersect due to errors. In this case, the least squares method is used to find the optimal solution, i.e., to calculate the three-dimensional coordinates of point P. All the calculated points P constitute a sparse point cloud, also known as a map. Here, a point cloud refers to a set of three-dimensional points in three-dimensional space, with coordinate attributes of (X, Y, Z).

[0090] 3. Dense point cloud reconstruction

[0091] like Figure 6 As shown, the absolute value of the difference between the x-coordinates of the projections p1 and p2 of a 3D feature point P in two images is called the disparity of P between the two images. A two-dimensional map composed of the disparities corresponding to all pixels in an image is called a disparity map. The Z-coordinate value of point P in the I1 camera coordinate system is the depth of pixel p1, and a two-dimensional map composed of the depths corresponding to all pixels in an image is called a depth map.

[0092] As calculated above, the disparity of the projection points of all 3D feature points (i.e., points in the sparse point cloud) in any two images can be calculated (if the two images have projections of the same 3D points). By expanding the feature points, the disparity of all pixels can be obtained using the PatchMatchStereo algorithm [Bleyer M, Rhemann C, Rother C, PatchMatchStereo - Stereo Matching with Slanted Support Windows, British Machine Vision Conference 2011]. Then, the depth map is obtained according to the following equation:

[0093]

[0094] Z = D

[0095]

[0096]

[0097] Where D is the depth, d is the parallax, B is the baseline length (the baseline is O1O2), f is the focal length (in pixels), x0 and y0 are the pixel coordinates of the image center point, the image coordinate system is two-dimensional and the upper left corner is the origin of the coordinate system.

[0098] This obtains the coordinates (X, Y, Z) of all 3D points in the camera coordinate system. Then, using the R and t values ​​calculated for each image in Section 2.3, the 3D coordinates (X, Y, Z) of all 3D points in the world coordinate system can be calculated. w Y w Z w This refers to dense point clouds.

[0099] 4. Virtual-Real Mapping

[0100] 4.1 Sparse point clouds are used for mapping between real space and virtual space.

[0101] By taking an image in the actual space, the rotation matrix R and translation vector t corresponding to the image can be calculated using the same methods described in 2.1 to 2.3 above. This allows us to know the virtual position and orientation of the camera that took the image in the actual space, thus completing the mapping between the actual space and the virtual space.

[0102] 4.2 Dense point clouds are used for digital twins. Dense point clouds can be displayed in a virtual space.

[0103] 5. Three-dimensional spatial positioning

[0104] By acquiring images of the actual space in real time through a camera, and calculating the rotation matrix R and translation vector t of the camera in real time according to the methods in Sections 2.1 to 2.3 above, the three-dimensional coordinates and three-dimensional angles and poses of the camera in the virtual space can be obtained in real time, thereby realizing the real-time positioning of the camera in three-dimensional space (including actual space and virtual space), including pose.

[0105] 6. Integration of real and virtual scenes

[0106] When using AR glasses, the system positions the AR glasses and displays a virtual scene on the glasses according to their location. At this time, the virtual scene is aligned with the real scene, and the fusion of the real scene and the virtual scene is achieved directly through optical perspective of the glasses lenses.

[0107] When using an MR helmet display device, the system acquires images of the real scene in real time through a camera and obtains its depth map using the method described in Section 3. After positioning the MR helmet display device, the system displays the virtual scene on the MR helmet according to its position. At this time, the virtual scene is aligned with the real scene. The system compares the actual depth information of the depth map with the content of the virtual scene. If the actual depth is less than the virtual depth, the actual image is displayed; otherwise, the virtual content is displayed.

[0108] 7. Virtual Scene Display Principle

[0109] 3D refers to the representation of all shapes in 3D space, and the use of a coordinate system to calculate their positions. A virtual scene (also called a model) consists of virtual objects, which are described using vertices. A vertex is a point with coordinates in a 3D coordinate system, defined by some optional additional information. Each vertex can contain the following attributes:

[0110] Location: Used to identify (X, Y, Z) in 3D space.

[0111] Color: Includes RGBA, where R, G, and B are red, green, and blue respectively, and A is the alpha channel used to control transparency.

[0112] Normal: Describes the orientation of a vertex.

[0113] Texture: A 2D image used by vertices to decorate the surface of the model; for simplicity, color is used instead.

[0114] 3D rendering workflow: First, it receives the vertex descriptions of the virtual scene, calculates its fragments, and then renders the fragments into pixels and outputs them to the screen, such as... Figure 7 As shown.

[0115] Vertex processing consists of four steps: First, preparing the object in world coordinates, also known as model transformation; second, view transformation, handling the camera's position and orientation; third, projection transformation, also known as perspective transformation, defining the camera settings, including field of view, aspect ratio, and optional near and far clipping parameters; and fourth, viewport transformation, determining the 2D display content. Subsequent rasterization converts the 3D display primitives into a series of fragments. These fragments correspond to a pixel grid, and fragment processing focuses on texture and lighting, calculating the final color values ​​based on given parameters. Textures are 2D images in 3D space that make the model look more realistic; textures are composed of individual texture elements (texels), similar to pixel composition. The colors we see on the screen are the final result of the interaction between lighting and model colors, and textures. In the output merging stage, the processed fragments are transformed into a 2D pixel grid and printed onto the screen pixels.

[0116] 8. Using AR glasses bumper cars as an example, illustrate the practical application of the above principles.

[0117] 8.1 Establishing a sparse point cloud for the parking lot scene

[0118] First, take photos of the actual environment of the bumper car track using a camera (hundreds of photos, the first of which is used to determine the origin of the cloud coordinate system). The photos must be clear, and the content of two adjacent photos should partially overlap. The environment should have a fixed pattern (not just white walls). Then, generate a sparse point cloud following the steps in Sections 2.1 to 2.4 above (to prepare for later localization using this point cloud).

[0119] 8.2. Establishing a virtual scene

[0120] Use 3D modeling software to create a virtual scene, including virtual objects (such as virtual coins, virtual bombs, virtual runways, virtual starry skies, virtual dinosaurs, virtual walls, etc.). Then, put the sparse point cloud created in section 8.1 into the virtual scene. In this way, the fixed objects in the virtual scene and the sparse point cloud have a three-dimensional relative positional relationship.

[0121] 8.3 Implement AR gameplay for bumper cars

[0122] 1. Topology: A bumper car track contains multiple (2-40) bumper cars; each bumper car carries 1-2 visitors, each visitor wears a pair of AR glasses, and each AR glasses has a computing device. The computing device can be placed directly on the AR glasses or connected to the AR glasses via a wire but placed on the bumper car; there is one server in the track, and each AR glasses' computing device contains a client program. All AR glasses' computing devices' clients are connected to the server via a wireless network.

[0123] 2. Images are acquired in real time through the camera on the AR glasses. Using the three-dimensional spatial positioning method in Section 5 and the sparse point cloud established in Section 8.1, the three-dimensional position and three-dimensional pose of the AR glasses are located in real time. The positioning program runs in the computing device of the AR glasses.

[0124] 3. After obtaining its correct positioning and posture, the game 3D engine in the AR glasses computing device correctly displays the virtual scene established in Section 8.2 on the AR glasses in real time (including the display of virtual objects);

[0125] 4. The server can distribute virtual scenes to the computing devices of each AR glasses via a wireless network. The server also synchronizes the status of virtual objects related to the virtual scene in the AR glasses computing devices in real time (such as disappearance, reconstruction, sound effect activation and deactivation, etc.).

[0126] 5. The game management program running in all AR glasses computing devices is the same, and it works with the server to manage the game, such as the collision between bumper cars and virtual objects, and the handling of collisions between bumper cars (e.g., who eats the coins, who hits the bomb, and the corresponding scores).

[0127] If the output device is AR glasses, the mixed reality processing module only returns the video stream of the virtual scene;

[0128] If the output device is an MR eye, the mixed reality processing module returns a video stream that blends the image captured by the bumper car camera with the virtual scene.

[0129] The invention may further include an interactive display mechanism 3 connected to a game server. This interactive display mechanism includes a display screen 31 for integrating virtual elements with the real scene within the display area, and a control device 32 for controlling the display screen or the bumper cars on it. The interactive display mechanism also includes a payment device 33 for payment. The display screen, control device, and payment device are all communicatively connected to the interactive display terminal main control unit 34, and the interactive display terminal main control unit is communicatively connected to the game server to achieve interaction. The display screen is positioned next to the venue and can be a transparent, semi-transparent, or opaque screen. This screen allows for interaction between off-site spectators and game participants. A payment device can be installed on the side of the screen; this device can be a coin slot or a small display screen. By scanning the QR code on the small display screen or inserting coins through the coin slot, the control device can control the display screen or the bumper cars on it. This includes functions such as screen zooming to display a panoramic or close-up view, issuing virtual coins, bombs, or virtual walls, and adding speed boosts, deceleration cards, or armor to selected bumper cars to accelerate, decelerate, or prevent attacks. When an acceleration card is added to a bumper car, the game processing module sends an acceleration command to the car. Upon receiving the command, the bumper car control system controls the car to accelerate continuously for a certain period of time. When a deceleration card is added, the game processing module sends acceleration / deceleration commands to the car. Upon receiving the command, the bumper car control system controls the car to decelerate continuously for a certain period of time. When the display screen is unattended, it can function as a large screen displaying various rankings, real-time battle broadcasts, and scenes from virtual interactions, or providing operation prompts to attract viewer participation.

[0130] The real-scene acquisition device and motion information acquisition device of the present invention can be integrated into one unit. For example, when the interactive device is a non-powered interactive device, the real-time motion state can be mapped to the corresponding virtual interactive device by acquiring the motion image data of the non-powered interactive device, so as to realize synchronous interaction between real and virtual information.

[0131] The display device of the present invention can be AR, VR, or MR glasses, or a transparent or semi-transparent screen, or a VR glasses that integrates camera visual images, or an opaque screen.

[0132] The bumper cars of this invention are physical bumper cars that players can control and ride in. Each physical bumper car can collide with each other. At the same time, the bumper cars can also be bumper cars that collide with real-world scenery, such as go-karts.

[0133] The interactive terminal of this invention also includes an interactive device 16 connected to the game server and remotely controlled via a user terminal 5 to control the bumper cars. This interactive device controls the bumper cars, such as direction and speed, and includes a steering wheel, accelerator pedal, and brake pedal. The real-scene acquisition device includes a camera, a webcam, etc., and the position acquisition device includes a locator. The bumper car motion information acquisition device can be a speed sensor, direction sensor, acceleration sensor, etc., used to collect player status, such as body movements, reaching out arms and legs, forward, backward, left, right, up, down, etc. It also includes a sound acquisition device, such as a microphone, a recording device, etc., an identity information acquisition device, such as a vehicle reader that reads RFID wristband information, etc., and a communication device connected to the game server, such as a 4G / 5G module, a WIFI module, etc.

[0134] Specifically, Example 1 uses a real bumper car structure, such as... Figure 8-9 As shown, a real bumper car is equipped with a drive unit 113 for controlling the forward movement of the bumper car, a braking unit 114 for controlling the stopping of the bumper car, and a steering unit 115 for controlling the direction of the bumper car. It also includes a remote control unit 116, a steering motor 117, a position acquisition device 118, an onboard control unit 119, a drive unit mounting base 1110, a sound acquisition device 1111, a speaker 1112, an image camera 1113 as a real-time data acquisition device, an onboard reader 1114 as a player information acquisition device, a motion tracking acquisition device 111, a display screen 1115 as a display device, a power management module 1116 for power supply, and a processor 1117 for receiving and controlling the operation of each component. The drive unit includes a speed control motor 1118 for controlling the forward movement of the bumper car and a motor drive circuit 1119 for driving the speed control motor. The motor drive circuit is connected to the steering motor, and the braking unit is connected to the brake control coil circuit 1120. The remote control unit is mainly a remote control device added to the steering unit and the drive unit.

[0135] Specifically, Embodiment 2 is a go-kart structure, such as... Figure 10As shown, the go-kart includes a body, wheels, and a steering wheel. The body is equipped with an on-board control device 119 and a drive device 113 for controlling the forward movement of the go-kart, a braking device 114 for controlling the stopping of the go-kart, a steering device 115 for controlling the direction of the go-kart, a remote control device 116 for remote communication, a steering motor 117, a position acquisition device 118, a speaker 1112, an image camera 1113, an on-board reader 1114, a motion tracking device 111, and a display screen 1115.

[0136] The interactive terminal of this invention also includes a vehicle remote control device 15, and the game service processing module further includes a vehicle management module 211 that receives control signals from the interactive display mechanism and works with the vehicle remote control device to remotely control the bumper cars. The bumper cars maintain a long TCP connection with the game service processing module. When off-site and online clients need to control the bumper cars, such as by using acceleration cards or deceleration cards, the game service processing module converts the client's control operations into control commands and sends them to the bumper car's vehicle control device.

[0137] The present invention may also include a projection device 4 for projecting a virtual scene onto a bumper car track. The projection device is a projector, which may be a liquid crystal projector, a digital light processor projector, or a cathode ray tube projector.

[0138] The game processing module of this invention has at least three uses: 1. Determine whether there is a vehicle collision based on vehicle location information. If so, calculate or obtain the location, force, and direction of the collision if an IMU device is involved, calculate the main and the damaged vehicles, and assign different reward scores to the two vehicles according to the gameplay. Also, assign different virtual animation effects to the two vehicles according to the gameplay, scattering different amounts of virtual elements such as coins; 2. Calculate whether virtual elements such as coins or props are encountered based on vehicle location information and movement direction. If so, take corresponding actions according to the virtual elements encountered and the gameplay rules, such as: eating coins or triggering mines; 3. Calculate and record the player's score.

[0139] The algorithm used by the game processing module to determine whether a collision has occurred based on vehicle location is as follows:

[0140] 1. Calculate the distance between vehicles based on their positions. If the distance between vehicles is greater than the collision distance threshold, it is considered that the vehicles have not collided; otherwise, it is considered that the vehicles may collide, and subsequent collision detection steps are performed on the bumper cars that may collide.

[0141] 2. Using the parking lot as a planar coordinate system, and taking the current position of the bumper car as its center and the orientation determined by the two most recent position changes, determine the rectangle corresponding to the bumper car on the coordinate system, such as... Figure 11 As shown.

[0142] 3. Then, using the "separation axis theorem," each pair of bumper cars that might collide is checked. First, an edge is taken from the rectangle of the bumper car to be checked, and the vector whose normal vector is perpendicular to it is found. This vector is a "projection axis," such as... Figure 12 As shown.

[0143] 4. Loop through each point of the first bumper car rectangle and project them onto the axis, recording the highest and lowest points projected onto the axis. Figure 13 As shown.

[0144] 5. Perform the same process on the other bumper car that needs to be tested, such as... Figure 14 As shown.

[0145] 6. Obtain the projections of the two bumper car rectangles respectively, and check whether the two projections overlap, such as... Figure 15 As shown.

[0146] If there is a gap between the two "shadows" projected onto the axis, then the two bumper car rectangles do not intersect. If there is no gap, they may be in contact; continue testing until every edge of both bumper car rectangles has been tested. If, after testing every edge, there is no gap, then the two bumper cars are related and have collided.

[0147] The force of the bumper car is a simulated value, equal to the bumper car's speed multiplied by a constant. The speed is calculated by: calculating the displacement based on the two most recent reported positions of the bumper car, and then dividing the displacement by time.

[0148] Without an IMU, the system uses the direction of the bumper car's two most recent movements as its current direction.

[0149] The algorithm for determining the collision location of bumper cars is:

[0150] 1) Divide the bumper car rectangle into 4 equal blocks, labeled 1, 2, 3, and 4. These 1 to 4 blocks correspond to the first to fourth quadrants of a coordinate system with the center of the bumper car rectangle as the origin and the Y-axis representing the current direction of the bumper car. Figure 16 As shown.

[0151] 2) Calculate the distances between the four blocks of the two bumper cars that collided. The point with the smallest distance is taken as the point of collision. Figure 17 As shown.

[0152] The rules for determining who is the primary colliding party and who is the secondary collision party are as follows:

[0153] 1) Calculate the angle between the two bumper cars whose directions collide, using the directions of the two cars as vectors. If the angle is greater than or equal to 90 degrees, the car with the higher speed before the collision is the main collision car, and the car with the lower speed is the collision victim car. If the two cars have the same speed, one of them is randomly selected as the main collision car and the other is the collision victim car.

[0154] 2) If the angle is less than 90 degrees, the vehicle with the smaller collision position number will be the primary collision vehicle and the other will be the secondary collision vehicle. If the collision position numbers are the same, the vehicle with the higher speed will be the primary collision vehicle. If the speeds are also the same, one of them will be randomly selected as the primary collision vehicle.

[0155] The mixed reality processing module of this invention has at least two uses: 1. Adding, modifying, or reducing virtual elements such as gold coins and bombs in the virtual scene based on the results of game business calculations; 2. Rendering virtual scenes and virtual game asset elements in real time according to the player's current position and perspective. If the display device is VR glasses or an opaque screen, it merges each frame of real scene image captured by the camera with each frame of virtual scene image rendered. The fusion is based on the depth of field calculated from the player's viewpoint. If the real scene is closer, the real scene image is selected; if the virtual scene image is closer, the virtual scene image is selected. If the display device is AR glasses or a transparent or semi-transparent screen, it directly outputs the rendered virtual scene image.

[0156] The game service system of this invention also includes a player service management module 23, which is used to associate players' real-world identities with their virtual identities and to present real-world and virtual information. The player management module maintains players' registration information, which includes real-world identity information such as name, WeChat ID, and mobile phone number, as well as virtual information set by the player in the virtual world, such as nickname, profession, role, and appearance. The player management module uses unique real-world identifiers such as mobile phone number and WeChat ID to bind real-world and virtual identities. When players are playing in the virtual world, they appear with each other using virtual identities; when players need to trade with the real world, such as purchasing items, they use their real-world identities.

[0157] The game processing module of this invention includes a collision judgment submodule 212, a collision processing submodule 213, and a game flow submodule 214. The collision judgment submodule determines whether bumper cars have collided; the collision processing submodule handles how to award points and / or reward and / or punish players after a collision; and the game flow submodule manages the game process, procedures, methods, etc. The scoring and reward rules in the game are configured by the operators in the system's backend management system. The collision processing submodule calculates the player's points and rewards for this collision activity based on the collision results and the scoring and reward rules configured in the backend management system, and submits them to the player service management module for storage.

[0158] The mixed reality processing module of this invention includes a virtual scene and virtual element rendering submodule 221, a depth-of-field acquisition submodule 222, and a virtual-real fusion submodule 223. The virtual scene is a digital scene based on a real-world amusement park, overlaid with themed activities. It includes virtual park scenery, virtual amusement rides, virtual service points, virtual shops, and hotels, all based on real-world amusement parks. Through 2D or 3D modeling, and overlaying themed atmospheres, thematic elements, or other elements, the scene experienced by players in the virtual amusement park corresponds to the real-world scene, but is more vivid and interesting.

[0159] The gameplay of this invention includes:

[0160] 1. In the bumper car area of ​​an amusement park, mixed reality bumper cars utilize onboard mixed reality displays, AR, VR, or MR glasses, and computer hardware and software technologies to construct a virtual-real integrated racing environment. For example, players can race in an immersive virtual 3D environment through a head-mounted display, with virtual scenes such as lava, space, or the ocean. When players wear MR glasses and drive mixed reality bumper cars, the head-mounted display shows the mixed reality scene. A positioning and acquisition device transmits the bumper car's position and orientation information to the virtual system, allowing the head-mounted display to accurately show its position and posture. This enables players to add virtual elements to a real-world scene while experiencing realistic collisions.

[0161] 2. Gameplay: The gameplay process is as follows: ① Entry: Players select an empty bumper car in the parking lot. After boarding, the onboard RFID reader identifies the RFID tag on the player's wristband and sends it to the game service system; ② Game Start: After the game begins, multiple players drive mixed reality bumper cars in the parking lot, colliding and competing to collect coins. Collisions cause opponents to lose coins, which can then be collected by other players. These virtual items, such as coins, are presented to players through a display system, which can be achieved through various methods such as onboard semi-transparent displays, transparent HUD windshield screens, AR / VR / MR glasses, etc. In addition to virtual items, there are also virtual bumper cars, which are controlled by AI. When a player's car collides with a virtual car, the car's control switch provides feedback to create a realistic collision experience. Player vehicles report their real-time location to the game's processing module via a data collection device. The system maps the reported location to the virtual scene and uses the previously mentioned collision algorithm to calculate whether a collision has occurred with a virtual bumper car. If a collision occurs, a simulated collision command is sent to the bumper car. Upon receiving the command, the bumper car brakes and generates vibration effects to provide players with feedback on the collision experience. ③ Game End: When the set game time expires, the game ends, and the game service system tallies each player's score and displays their ranking.

[0162] 3. In-park and out-of-park interactive gameplay: After completing payment through the payment device, users outside the parking lot become out-of-park players and interact with players in the mixed reality bumper cars inside the parking lot. Out-of-park players can see the virtual elements in the parking lot blending with the real scene through the display terminal. Out-of-park players can also use interactive display mechanisms to place virtual elements into the virtual-real scene. The virtual elements added by out-of-park players will be displayed in their virtual positions through various display terminals, expanding the scope of players participating in the bumper cars and thus promoting the secondary consumption ability of this project.

[0163] The system allows players to place virtual elements into the virtual environment and integrate them into the scene in the following ways:

[0164] 1. An off-site interactive display mechanism presents virtual props that players can choose from.

[0165] 2. Players select items using buttons or touchscreens on the off-site interactive display mechanism, and control the direction keys or drag and drop items directly onto the touchscreen.

[0166] 3. The game engine of the off-site interactive display mechanism calculates the position of the props in the virtual scene based on the position set by the player, and then sends it to the interactive system.

[0167] 4. The game service system displays the items selected by the player in the virtual scene.

[0168] Display screens can also be placed around the parking area. These screens can be transparent, semi-transparent, or opaque, allowing spectators and players to interact with them. Viewers can control the screens or the bumper cars on them, such as zooming in and out to show panoramic or close-up views, dropping virtual coins, virtual bombs, or virtual walls, and adding speed boosts, speed debuffs, or armor to selected bumper cars to make them accelerate, decelerate, or become immune to attacks. When no one is operating the screens, they can function as a large screen displaying rankings, real-time battle broadcasts, and scenes from virtual interactions, or provide operation demonstrations to attract spectators.

[0169] 4. Online mobile mini-games: Online players can log in to the game service system via mobile devices such as smartphones and participate in bumper car mini-games in virtual scenes. Players will see virtual bumper cars controlled by other players and play in virtual scenes. The game scenes are diverse and changeable, and the gameplay can be close to offline gameplay or transcend offline gameplay to become an independent game ecosystem.

[0170] 5. Online and offline competition: This can be seen as a combination of the two gameplay modes mentioned above. Through the combination of computer hardware and software technology, online players can remotely control real bumper cars offline and virtual bumper cars online, and compete on the same stage with players driving real mixed reality bumper cars offline.

[0171] Offline players can see online players' virtual avatars driving real bumper cars, or they can see virtual bumper cars through a display terminal. Online players can see real scenes blended with virtual graphics or purely virtual graphics. This gameplay solves the problem of offline players lacking companions and connects players across various terminals and time periods.

[0172] Before the game starts, online players log in to the game service system and select the real bumper car to be controlled, while offline players bind their selected real bumper cars to their wristbands.

[0173] Once the game starts on-site, online players can remotely control their chosen bumper cars via the game service system and the vehicle's remote control switch on their mobile devices, just like playing a game. Through their mobile devices, they can see a combination of real and virtual images transmitted from the vehicle's camera. Alternatively, they can choose not to remotely control the physical bumper cars and only see a purely virtual screen. In this case, online players will see a virtual game screen displayed based on the positions of other players.

[0174] In this gameplay, players send control commands, position, and attitude data of their bumper cars from their online game clients to the bumper car game service via the network. The bumper car game service forwards this data to the offline players' bumper cars, which then display the position and attitude of the online players' bumper cars in real time on the display terminal. Simultaneously, the offline players' bumper cars report speed, position, and attitude data from their sensors and positioning devices to the bumper car game service. The bumper car amusement service forwards this data to the online players' clients, which then display the position and status of the offline bumper cars. Figure 18 As shown.

[0175] Offline players can see, through interactive terminals or interactive display devices, the real bumper cars that are remotely controlled and the virtual images of the online players riding in them, or purely virtual vehicles and virtual images integrated into the real venue.

[0176] This gameplay combines online and offline elements, allowing online players to remotely experience the excitement and joy of the live game, while on-site players will also have a unique gaming experience due to the participation of remotely controlled, unmanned bumper cars.

[0177] 6. Bumper car racing between different venues: This mode requires at least two real bumper car venues with online and offline gameplay. The two venues will automatically match the overlapping area to ensure that the play area is roughly the same. In addition, the two venues need to be in online play matching mode at the same time. They will be referred to as venue A and venue B below.

[0178] like Figure 19As shown, this gameplay requires the bumper car track to be drawn in terms of shape, side length, and orientation using the system's editor when connected to the platform. When automatically matching the intersection area, the system places two track polygons in the coordinate system with the same orientation, calculates the centroids of the two track shapes, and then arbitrarily translates the centroid of one track polygon to overlap with the centroid of the other polygon. The intersection of the two polygons is then used as the play area.

[0179] Steps for calculating the area of ​​the intersection of polygons:

[0180] 1) Establish a table of vertices for the main polygon and the auxiliary polygon;

[0181] 2) Find the foci of the main polygon and the secondary polygon, and insert these intersection points into the two polygon tables in order, and establish bidirectional pointers;

[0182] 3) If there is an ingress point that has not been tracked, perform the following operations.

[0183] 3.1 Select any untracked in-point from the main polygon table as the starting point and output it to the intersection table. If the polygon boundary is the original fixed point, output it to the intersection table. If it is an intersection point, change the tracking direction through bidirectional pointers until the starting point is encountered.

[0184] 3.2 Calculate the intersection area using the following companies from the intersection table:

[0185] set up M is a polygon. i =(x i y i If i = 1, 2, ..., k, then the area of ​​polygon M is...

[0186] like Figure 19 As shown, after a successful match, the initialization process begins. The bumper cars from both venues will travel to the designated locations. This step unifies the positions of the vehicles from the two venues, making it easier for the local vehicles to synchronize with the corresponding bumper cars in other venues during gameplay.

[0187] After initialization, the game begins. The game states of the two tracks are synchronized. When a player in track A is driving, a locally unmanned, remotely controlled empty bumper car in track B will move in sync with the player in track A. Conversely, a similarly remotely controlled empty bumper car will be driving in track A. Therefore, players in tracks A and B can experience real-world collisions and use virtual elements such as coins and other virtual items. Because of the synchronized physical bumper cars, the motion feedback on both tracks is identical.

[0188] In this mode of play, the manned bumper cars report their position, speed, and attitude in real time to the bumper car amusement service of the interactive system. The interactive system then forwards this information to the driverless bumper cars, and the driverless bumper car control system controls the operation of the vehicles according to the data sent by the interactive system.

Claims

1. A mixed reality bumper car amusement system, characterized in that... It includes: Interactive terminal (1) and game server (2); The interactive terminal includes a bumper car (11) that can travel on the field, a real-scene acquisition device (12) connected to the game server for collecting real-scene information, a display device (13) for displaying the real-scene of the field and for displaying virtual scenes or virtual elements. The bumper car is equipped with a motion information acquisition device (111) for collecting the position information, direction information, and motion status of the bumper car or the players on the bumper car, as well as a communication device (112) for connecting to the game server. The game server constructs a virtual scene based on the collected information and a game business processing module (21) for converting bumper cars into virtual bumper cars and synchronously mapping them into the virtual scene, and interacting with other virtual bumper cars and virtual elements, as well as a mixed reality processing module (22) for integrating virtual scenes or virtual elements into real scenes. The game adopts online and offline competition. Offline players see the virtual image of online players driving real bumper cars or see virtual bumper cars through the display terminal. Online players see real scenes integrated with virtual images or purely virtual images. The real-scene acquisition device and the motion information acquisition device are integrated into one unit; the interactive terminal also includes an interactive terminal main control unit (14) that is connected to the display device, the real-scene acquisition device and the motion information acquisition device respectively, and the interactive terminal main control unit is connected to the game server; The display device is AR, VR, or MR glasses; it also includes an interactive display mechanism (3) connected to the game server, the interactive display mechanism includes a display screen (31) for blending virtual elements and real scenes in the display field, and a control device (32) for controlling the display screen or the bumper cars on the display screen; the interactive display mechanism also includes a payment device (33) for payment; the interactive display mechanism also includes an interactive display terminal main control unit (34) connected to the display screen, the control device, and the payment device respectively, the interactive display terminal main control unit is connected to the game server; the interactive terminal also includes a vehicle remote control device (15), and the game business processing module also includes a vehicle management module (211) that receives control signals from the interactive display mechanism and cooperates with the vehicle remote control device to remotely control the bumper cars.

2. The mixed reality bumper car amusement system according to claim 1, characterized in that... The game server also includes a player service management module (23) for linking players’ real-world identities with their virtual identities.

3. The mixed reality bumper car amusement system according to claim 1, characterized in that... The interactive terminal also includes an interactive device (16) that connects to the game server and remotely controls the bumper cars via a user terminal (5).

4. A mixed reality bumper car amusement system according to claim 1, characterized in that... It also includes a projection device (4) for projecting virtual scenes onto the bumper car track.

5. A mixed reality bumper car amusement system according to claim 1, characterized in that... The bumper car (11) includes a body, wheels and a steering wheel. The body is equipped with an on-board control device (119) and a drive device (113) for controlling the bumper car to move forward, a braking device (114) for controlling the bumper car to stop, a steering device (115) for controlling the direction of the bumper car, a remote control device (116) for remote communication, a steering motor (117), a position acquisition device (118), a speaker (1112), an image camera (1113), an on-board reader (1114), a motion transfer acquisition device (111), and a display screen (1115).

6. A control method for a mixed reality bumper car amusement system according to any one of claims 1-5, characterized in that... include S1. The real-scene acquisition device collects real-scene data of the venue and transmits it to the game server through a communication device; S2, The game service processing module in the game server constructs a virtual scene based on the collected real-world scene data; S3. The bumper car motion information collection device collects the position information, direction information, and motion status of the bumper car or the players on the bumper car and transmits them to the game server through a communication device. S4. The mixed reality processing module in the game server receives the above information collected by the acquisition device and merges the virtual scene or virtual elements with the real scene. S5, the game business processing module converts the bumper cars into virtual bumper cars based on the collected information and synchronously maps them into the virtual scene, allowing them to interact with other virtual bumper cars and virtual elements, and display them through a display device to achieve synchronous interaction between real and virtual information.

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