Virtual driving implementation interaction system based on six-degree-of-freedom control platform

Abstract

The invention provides a virtual driving implementation interaction system based on a six-degree-of-freedom control platform, and relates to the technical field of virtual driving. The virtual driving implementation interaction system comprises a six-degree-of-freedom dynamic platform, a display screen and a multimedia server, the display screen is fixedly arranged on the front side of the six-degree-of-freedom dynamic platform, and both the six-degree-of-freedom dynamic platform and the display screen are electrically connected to the multimedia server. The landform and earth surface coverage of the Mars are accurately presented through the three-dimensional scene model, and the project realizes a digitally reconstructed physical world. A user can control the locomotive to explore, and science and technology are perfectly fused with entertainment. Therefore, common users can experience the wonderful feeling of Mars exploration personally, the masses, especially children and planet amateurs are educated and entertained through immersive experience, the masses, especially the children and the planet amateurs can better understand knowledge of Mars exploration and landform knowledge, and the whole process of driving a Mars rover to collect parts and experience Mars exploration is simulated.

Description

Technical Field

[0001] The present invention relates to the technical field of virtual driving, and in particular to a virtual driving implementation interactive system based on a six-degree-of-freedom control platform. Background Art

[0002] In today's exhibition industry, digital self-driving tour exhibits mostly use traditional motor vehicles, combined with virtual driving technology, and the content displayed is mainly the city's characteristic tourist attractions. However, this method is often monotonous and lacks novelty, and cannot attract the audience's continued interest. At the same time, the existing Mars exploration displays mostly use static or two-dimensional display methods, and the audience cannot get an immersive experience. With the continuous deepening of the Mars exploration mission and the growing public interest in scientific exploration, a new type of display system is urgently needed to provide a more realistic, intuitive and immersive experience. Summary of the invention

[0003] 1. Technical issues to be resolved

[0004] In view of the shortcomings of the prior art, the present invention provides a virtual driving implementation interactive system based on a six-degree-of-freedom control platform. The system expresses the Martian topography and landforms through a three-dimensional scene model, and digitally reconstructs the physical world of surface coverage. The system conducts exploration by manipulating a locomotive. The entire project combines technology with entertainment to allow ordinary users to experience the feeling of exploring Mars. Through the immersive experience, the system educates and entertains users, especially children and planet enthusiasts, to understand Mars exploration and topography. The system provides a novel interactive method that enables users to collect parts and experience the Martian exploration process by simulating driving a Mars rover.

[0005] (II) Technical solution

[0006] To achieve the above objectives, the present invention is implemented through the following technical solutions: a virtual driving implementation interactive system based on a six-degree-of-freedom control platform, comprising a six-degree-of-freedom dynamic platform, a display screen and a multimedia server, wherein the display screen is fixedly arranged on the front side of the six-degree-of-freedom dynamic platform, and the six-degree-of-freedom dynamic platform and the display screen are both electrically connected to the multimedia server;

[0007] The six-degree-of-freedom dynamic platform includes a platform motion description system and a dynamic software inverse solution calculation system.

[0008] Preferably, the six-degree-of-freedom dynamic platform includes an upper platform, a lower platform and six retractable electric cylinders. The upper platform, the lower platform and the electric cylinders are connected to each other through a Hooke's joint or a ball joint, so that the upper platform and the lower platform have 6 connection points respectively. The upper platform is a dynamic platform, which performs six-degree-of-freedom movement in space under the drive of the six electric cylinders, and the lower platform is a static platform, which is stationary.

[0009] Preferably, the platform motion description system includes two coordinate systems, namely a moving coordinate system O'X'Y'Z' and a static coordinate system OXYZ; wherein the static coordinate system is fixed on the lower platform, and the origin is the center of the plane where the circumscribed circle of the geometric figure formed by connecting the hinges of the lower platform in sequence; the moving coordinate system is fixed on the upper platform, moves with the upper platform, and its origin is located at the center of the circumscribed circle of the geometric figure formed by connecting the hinges of the upper platform in sequence; when the six-degree-of-freedom motion platform is in the initial working position, the directions of the corresponding coordinate axes in the moving and static coordinate systems are consistent, and the Z axes coincide with each other.

[0010] Preferably, according to the positions of the hinge points of the upper platform in the moving coordinate system, their coordinates in the moving coordinate system can be written in the form of homogeneous coordinates:

[0011]

[0012] Where Ai is the coordinate vector of the upper platform hinge in the moving coordinate system;

[0013] Similarly, the coordinates of each hinge point of the lower platform in the static coordinate system can be written in homogeneous coordinate form:

[0014]

[0015] Where Bi is the coordinate vector of the lower platform hinge point in the static coordinate system;

[0016] The position and posture of the moving platform relative to the static platform can be described by the generalized coordinate q. Let q1, q2, q3 be the displacement of the coordinate origin of the moving platform relative to the three coordinate axes in the static coordinate system, and q4, q5, q6 be the attitude angle of the moving coordinate system relative to the static coordinate system; therefore, there is a coordinate transformation matrix between the moving coordinate system and the static coordinate system.

[0017] The moving platform is rotated around the x-axis by angle q4 to obtain the matrix Rx, the y-axis by angle q5 to obtain the matrix Ry, and the z-axis by angle q6 to obtain the matrix Rz. The three matrices are multiplied to obtain the coordinate transformation matrix R from the moving coordinate system to the static coordinate system:

[0018]

[0019] Where q(q1,q2,q3,q4,q5,q6) is the upper platform posture;

[0020] Rx is a separate winding for the dynamic platform

[0021] The matrix obtained by rotating the x-axis by q4; the matrix obtained by rotating the Ry moving platform alone around the y-axis by q5;

[0022] The matrix obtained by rotating the Rz moving platform alone around the z axis by q6; where s represents sin(·) and c represents cos(·);

[0023] The transformation matrix R is written in homogeneous coordinate form as:

[0024]

[0025] Where P is the position of the coordinate origin of the moving platform in the static coordinate system.

[0026] Preferably, the dynamic software inverse solution calculation system includes the following geometric parameters through the mechanical structure of the six-degree-of-freedom platform: the distribution circle radius Ra of the six hinge points of the upper platform, the distribution circle radius Rb of the six hinge points of the lower platform, the distance Da between the shortest sides of the hinge points of the upper platform, the short side spacing Db of the hinge points of the lower platform, and the length 10 of the electric cylinder at the initial position;

[0027] Secondly, the transformation relationship between the length li of the electric cylinder and the coordinates of the upper and lower platform hinge points is:

[0028] li=T·A i'-B i'

[0029] Where li is the length of the electric cylinder;

[0030] Ai' is the homogeneous matrix of the upper platform hinge coordinates;

[0031] Bi' is the homogeneous matrix of the lower platform hinge coordinates;

[0032] T is the homogeneous coordinate form of the transformation matrix;

[0033] The displacement Δli of the electric cylinder can be determined by the distance between the upper and lower hinge points and the initial length l0 of the electric cylinder, that is:

[0034] Δl i=l il 0=ⅡT·Ai'-Bi'Ⅱ-l 0 (i=1,2,3,4,5,6)

[0035] Where l 0 is the initial length of the electric cylinder;

[0036] Therefore, the extension and retraction amount of each of the six electric cylinders can be obtained through the target position q of the upper platform.

[0037] Working principle: The experiencer can precisely control the movement posture and speed of the character in the game by manipulating the steering wheel, accelerator, brake and other devices. The motion control software is responsible for performing complex calculation tasks, converting the character's posture information into displacement data of the electric cylinder, and sending it to the motion controller through the Ethernet communication interface. After receiving these control commands, the motion controller executes the corresponding actions and sends motion control commands to the servo drive through the industrial Ethernet bus, thereby realizing the precise and synchronous simulation movement of the six-degree-of-freedom platform. This motion simulation can realistically reproduce the character's movement experience in different road conditions (such as slopes and bumpy roads) and when accelerating, turning, and sliding, enhancing the sense of presence. At the same time, the motion controller will control the operation of the special effects fan according to the speed value to create a realistic wind effect. Through these technical means, the "immersive" and "interactive" characteristics of the virtual environment are realized. If the system has a serious fault and an alarm is issued, if the experiencer cannot use the control button to stop the platform movement in time, the emergency stop device can directly cut off the system power supply to stop the platform from moving immediately to prevent serious accidents such as collision damage.

[0038] (III) Beneficial effects

[0039] The present invention provides a virtual driving implementation interactive system based on a six-degree-of-freedom control platform. It has the following beneficial effects: This interactive system designs a dynamic platform with six degrees of freedom (including three translational degrees of freedom and three rotational degrees of freedom) to simulate the movement of the Mars rover. In order to ensure the freedom and accuracy of the dynamic platform, a high-precision three-dimensional model of the Martian surface was developed, covering the terrain, landforms and environmental features. This enables the dynamic platform to be synchronized with the three-dimensional scene of Mars, ensuring the consistency of the platform movement with the movement of the rover in the scene. Through the three-dimensional scene model, we digitally reconstructed the Martian terrain and explored it by manipulating the locomotive. The entire project perfectly combines technology with entertainment, allowing ordinary users to experience the feeling of Mars exploration in person. Through immersive experience, we aim to educate and entertain users, especially children and planet enthusiasts, to understand Mars exploration and terrain. We provide a novel interactive method that enables users to collect parts and experience the Mars exploration process by simulating driving a Mars rover. At the same time, the control technology of the dynamic platform, with the locomotive as the carrier, cooperates with the game play, and combines motion simulation technology with virtual digital content to simulate the bumps, turns and other complex motion environment actions during the driving process of the Mars rover, providing visitors with an immersive experience. 3D scene modeling and display, by making an interactive 3D virtual environment, combining motion simulation technology, comprehensively utilizing computer graphics systems and various reality and control interface devices, adding content and interactive points that need to be displayed, makes the product experience more realistic and the human-computer communication more friendly. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1It is a schematic diagram of an exhibition item of the present invention;

[0041] Figure 2 It is a schematic diagram of the implementation process of the present invention;

[0042] Figure 3 It is a schematic diagram of the position of the upper and lower platform coordinate systems of the present invention;

[0043] Figure 4 It is a schematic top view of the motion platform of the present invention. DETAILED DESCRIPTION

[0044] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0045] Example:

[0046] like Figure 1 As shown, an embodiment of the present invention provides a virtual driving implementation interactive system based on a six-degree-of-freedom control platform, including a six-degree-of-freedom dynamic platform, a display screen and a multimedia server, wherein the display screen is fixedly arranged on the front side of the six-degree-of-freedom dynamic platform, the six-degree-of-freedom dynamic platform and the display screen are electrically connected to the multimedia server, and the six-degree-of-freedom dynamic platform includes a platform motion description system and a dynamic software inverse solution calculation system;

[0047] Specifically, in the above-mentioned specific embodiments, the digital reconstruction of the physical world of Martian topography and surface cover is expressed through a three-dimensional scene model, and exploration is carried out by operating a locomotive. The entire project combines technology and entertainment to allow ordinary users to experience the feeling of Mars exploration firsthand. Through the immersive experience, it educates and entertains users, especially children and planet enthusiasts, to understand Mars exploration and topography, and provides a novel interactive method that allows users to collect parts and experience the Mars exploration process by simulating driving a Mars rover.

[0048] The six-degree-of-freedom dynamic platform includes an upper platform, a lower platform and six retractable electric cylinders. The upper platform, the lower platform and the electric cylinders are connected by Hooke's joints or ball joints, so the upper and lower platforms have 6 connection points respectively. The upper platform is a dynamic platform, which performs six-degree-of-freedom motion in space driven by six electric cylinders. The lower platform is a static platform, which is stationary. The platform motion description system includes two coordinate systems, namely the dynamic coordinate system O'X'Y'Z' and the static coordinate system OXYZ; the static coordinate system is fixed on the lower platform, and the origin is the center of the plane where the circumscribed circle of the geometric figure formed by connecting the hinge points of the lower platform in sequence; the dynamic coordinate system is fixed on the upper platform and moves with the upper platform, and its origin is located at the center of the circumscribed circle of the geometric figure formed by connecting the hinge points of the upper platform in sequence; the positions of the upper and lower platform coordinate systems are as follows Figure 2 The distribution diagram of each hinge point on the platform is shown in Figure 3 As shown in the figure, when the six-degree-of-freedom motion platform is in the initial working position, the directions of the corresponding coordinate axes in the dynamic and static coordinate systems are consistent, and the Z axes coincide with each other. According to the positions of the hinges of the upper platform in the dynamic coordinate system, their coordinates in the dynamic coordinate system can be written in the form of homogeneous coordinates:

[0049]

[0050] Where Ai is the coordinate vector of the upper platform hinge in the moving coordinate system;

[0051] Similarly, the coordinates of each hinge point of the lower platform in the static coordinate system can be written in homogeneous coordinate form:

[0052]

[0053] Where Bi is the coordinate vector of the lower platform hinge point in the static coordinate system;

[0054] The position and posture of the moving platform relative to the static platform can be described by the generalized coordinate q. Let q1, q2, q3 be the displacement of the coordinate origin of the moving platform relative to the three coordinate axes in the static coordinate system, and q4, q5, q6 be the attitude angle of the moving coordinate system relative to the static coordinate system; therefore, there is a coordinate transformation matrix between the moving coordinate system and the static coordinate system.

[0055] The moving platform is rotated around the x-axis by angle q4 to obtain the matrix Rx, the y-axis by angle q5 to obtain the matrix Ry, and the z-axis by angle q6 to obtain the matrix Rz. The three matrices are multiplied to obtain the coordinate transformation matrix R from the moving coordinate system to the static coordinate system:

[0056]

[0057] Where q(q1,q2,q3,q4,q5,q6) is the upper platform posture;

[0058] Rx is a separate winding for the dynamic platform

[0059] The matrix obtained by rotating the x-axis by q4; the matrix obtained by rotating the Ry moving platform alone around the y-axis by q5;

[0060] The matrix obtained by rotating the Rz moving platform alone around the z axis by q6; where s represents sin(·) and c represents cos(·);

[0061] The transformation matrix R is written in homogeneous coordinate form as:

[0062]

[0063] Where P is the position of the coordinate origin of the moving platform in the static coordinate system;

[0064] Specifically, in the above specific embodiment, a dynamic platform with six degrees of freedom (three translational degrees of freedom and three rotational degrees of freedom) is designed to simulate the movement of the Mars rover, ensuring the freedom and precision of the dynamic platform, and the range and accuracy of the six-degree-of-freedom dynamic platform.

[0065] The dynamic software inverse calculation system includes the following geometric parameters through the mechanical structure of the six-degree-of-freedom platform: the distribution circle radius Ra of the six hinge points of the upper platform, the distribution circle radius Rb of the six hinge points of the lower platform, the distance between the shortest sides of the hinge points of the upper platform Da, the short side spacing of the hinge points of the lower platform Db, and the length of the electric cylinder at the initial position 10;

[0066] Secondly, the transformation relationship between the length li of the electric cylinder and the coordinates of the upper and lower platform hinge points is:

[0067] li=T·A i'-B i'

[0068] Where li is the length of the electric cylinder;

[0069] Ai' is the homogeneous matrix of the upper platform hinge coordinates;

[0070] Bi' is the homogeneous matrix of the lower platform hinge coordinates;

[0071] T is the homogeneous coordinate form of the transformation matrix;

[0072] The displacement Δli of the electric cylinder can be determined by the distance between the upper and lower hinge points and the initial length l0 of the electric cylinder, that is:

[0073] Δl i=l il 0=ⅡT·Ai'-Bi'Ⅱ-l 0 (i=1,2,3,4,5,6)

[0074] Where l 0 is the initial length of the electric cylinder;

[0075] Therefore, the extension and retraction amount of each of the six electric cylinders can be obtained through the target position q of the upper platform;

[0076] Specifically, in the above-mentioned specific embodiments, the dynamic software reverse calculation can calculate and present the vehicle's motion state on the six-degree-of-freedom control platform, such as acceleration, steering, braking, etc., in real time according to the user's operations in virtual driving, thereby enhancing the user's simulation experience and immersion. In addition, through the dynamic software reverse calculation, the user can more intuitively feel the inertia, collision and dynamic feedback during driving, further enhance the interactive experience, and make the user feel as if he is in a real driving environment. The dynamic software reverse calculation can also help the system to more accurately analyze the user's instructions and operations, and improve the system's response speed and accuracy to the user's behavior, so that users can get started more easily and master the virtual driving operation skills more quickly.

[0077] like Figure 1 As shown, the main components of the present invention are a display screen, a dynamic locomotive, and a multimedia server. The user manipulates the six-degree-of-freedom dynamic locomotive driving platform, and under the guidance of the virtual exploration map, collects the parts and brings them back to the rocket as soon as possible within the specified time in the virtual space. By combining three-dimensional scene modeling with the six-degree-of-freedom dynamic locomotive, the six-degree-of-freedom dynamic locomotive can simulate various spatial motion postures and the dynamic change process of postures, providing users with an immersive dynamic virtual scene driving experience. Combining the six-degree-of-freedom dynamic locomotive and three-dimensional scene modeling, an immersive virtual scene driving experience is provided. The six-degree-of-freedom dynamic locomotive driving platform simulates the bumps and turns during the driving process of the Mars rover. Human-computer interaction is achieved through computer graphics systems and control interface devices.

[0078] like Figure 2 As shown, the main implementation process of the present invention includes:

[0079] Construct a three-dimensional digital environment that simulates the surface of Mars. The modeling scene includes a high-precision model of the Martian terrain, landforms, and environmental features;

[0080] A six-degree-of-freedom dynamic locomotive driving platform is installed, which can achieve three degrees of freedom in translation and three degrees of freedom in rotation, and can adjust the control system in conjunction with the three-dimensional Mars scene;

[0081] Design and create interactive interfaces that are easy to understand and use in order to achieve interaction with users;

[0082] Conduct system testing and debugging to ensure display effects and user experience;

[0083] This project perfectly combines technology and entertainment by accurately recreating the topography and physical world of Mars through a 3D scene model. Users can experience the wonders of Mars exploration by controlling the locomotive to explore. This immersive experience is not only educational but also highly entertaining, especially for children and those who are passionate about planetary exploration. It provides a new interactive way for users to collect parts by simulating driving a Mars rover, thus deeply experiencing the whole process of Mars exploration.

[0084] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A virtual driving interactive system based on a six-degree-of-freedom control platform, comprising a six-degree-of-freedom dynamic platform, a display screen and a multimedia server, characterized in that: The display screen is fixedly arranged on the front side of the six-degree-of-freedom dynamic platform, and the six-degree-of-freedom dynamic platform and the display screen are both electrically connected to the multimedia server; The six-degree-of-freedom dynamic platform includes a platform motion description system and a dynamic software inverse solution calculation system.

2. A virtual driving implementation interactive system based on a six-degree-of-freedom control platform according to claim 1, characterized in that: The six-degree-of-freedom dynamic platform includes an upper platform, a lower platform and six retractable electric cylinders. The upper platform, the lower platform and the electric cylinders are connected respectively by a Hooke's joint or a ball joint, so the upper platform and the lower platform have 6 connection points respectively. The upper platform is a dynamic platform, which performs six-degree-of-freedom movement in space under the drive of the six electric cylinders, and the lower platform is a static platform, which is stationary.

3. The virtual driving implementation interactive system based on a six-degree-of-freedom control platform according to claim 1, characterized in that: The platform motion description system includes two coordinate systems, namely the dynamic coordinate system O'X'Y'Z' and the static coordinate system OXYZ; the static coordinate system is fixed on the lower platform, and the origin is the center of the plane where the circumscribed circle of the geometric figure formed by connecting the hinges of the lower platform in sequence; the motion coordinate system is fixed on the upper platform and moves with the upper platform, and its origin is located at the center of the circumscribed circle of the geometric figure formed by connecting the hinges of the upper platform in sequence; when the six-degree-of-freedom motion platform is in the initial working position, the directions of the corresponding coordinate axes in the dynamic and static coordinate systems are consistent, and the Z axes coincide with each other.

4. The virtual driving implementation interactive system based on a six-degree-of-freedom control platform according to claim 3, characterized in that: According to the positions of the hinge points of the upper platform in the moving coordinate system, their coordinates in the moving coordinate system can be written in homogeneous coordinate form: Where Ai is the coordinate vector of the upper platform hinge in the moving coordinate system; Similarly, the coordinates of each hinge point of the lower platform in the static coordinate system can be written in homogeneous coordinate form: Where Bi is the coordinate vector of the lower platform hinge point in the static coordinate system; The position and posture of the moving platform relative to the static platform can be described by the generalized coordinate q. Let q1, q2, q3 be the displacement of the coordinate origin of the moving platform relative to the three coordinate axes in the static coordinate system, and q4, q5, q6 be the attitude angle of the moving coordinate system relative to the static coordinate system; therefore, there is a coordinate transformation matrix between the moving coordinate system and the static coordinate system. The moving platform is rotated around the x-axis by angle q4 to obtain the matrix Rx, the y-axis by angle q5 to obtain the matrix Ry, and the z-axis by angle q6 to obtain the matrix Rz. The three matrices are multiplied to obtain the coordinate transformation matrix R from the moving coordinate system to the static coordinate system: Where q(q1,q2,q3,q4,q5,q6) is the upper platform posture; Rx is a separate winding for the dynamic platform The matrix obtained by rotating the x-axis by q4; the matrix obtained by rotating the Ry moving platform alone around the y-axis by q5; The matrix obtained by rotating the Rz moving platform alone around the z axis by q6; where s represents sin(·) and c represents cos(·); The transformation matrix R is written in homogeneous coordinate form as: Where P is the position of the coordinate origin of the moving platform in the static coordinate system.

5. The virtual driving implementation interactive system based on a six-degree-of-freedom control platform according to claim 1, characterized in that: The dynamic software inverse calculation system includes the following geometric parameters through the mechanical structure of the six-degree-of-freedom platform: the distribution circle radius Ra of the six hinge points of the upper platform, the distribution circle radius Rb of the six hinge points of the lower platform, the distance Da between the shortest sides of the hinge points of the upper platform, the short side spacing Db of the hinge points of the lower platform, and the length 10 of the electric cylinder at the initial position; Secondly, the transformation relationship between the length li of the electric cylinder and the coordinates of the upper and lower platform hinge points is: li=T·Ai'-Bi' Where li is the length of the electric cylinder; Ai' is the homogeneous matrix of the upper platform hinge coordinates; Bi' is the homogeneous matrix of the lower platform hinge coordinates; T is the homogeneous coordinate form of the transformation matrix; The displacement Δli of the electric cylinder can be determined by the distance between the upper and lower hinge points and the initial length l0 of the electric cylinder, that is: Δli=li-l0=ⅡT·Ai'-Bi'Ⅱ-l0 (i=1,2,3,4,5,6) Where l0 is the initial length of the electric cylinder; Therefore, the extension and retraction amount of each of the six electric cylinders can be obtained through the target position q of the upper platform.

Images