Practical training education control method and system based on virtual reality technology

Abstract

The invention provides a practical training education control method and system based on a virtual reality technology, and the method comprises the steps: recognizing all virtual reality equipment accessed to a practical training service platform, screening two pieces of virtual reality equipment executing an interactive practical training education task from the virtual reality equipment, and carrying out the matching and butt joint of hardware terminals subordinate to the two pieces of virtual reality equipment, linkage processing of hardware terminal detection data is realized; the motion data generated by the user and received by the matched and butted hardware terminal are converted into recognizable motion information, and whether the recognizable motion information generated by the two virtual reality devices conflicts or not is judged by combining the state information of the practical training education virtual reality scene where the two virtual reality devices are jointly located at present; and when a conflict event occurs, practical training education scene display states of the two virtual display devices are adjusted and feedback signals are sent to the hardware terminal, so that mutual interference when different virtual display devices provide virtual reality images for different wearers is avoided.

Description

Technical Field

[0001] The present invention relates to the field of virtual reality interaction, and in particular to a training education control method and system based on virtual reality technology. Background Art

[0002] Practical training courses such as metalworking internships need to provide students with corresponding equipment and venues, especially when it comes to using CNC machine tools to process workpieces, corresponding CNC machine tool equipment needs to be configured. Students usually do not have professional experience in operating CNC machine tools, which can easily lead to students making mistakes when operating CNC machine tools, resulting in accidents. In order to ensure the safety of practical training education, existing technologies use virtual reality equipment to provide students with realistic and highly immersive practical training education virtual reality scenes, which can effectively reduce the cost of practical training education and improve the repeatability and effectiveness of practical training education. However, at present, virtual reality equipment can only provide practical training education virtual reality scenes for a single student, and it is impossible to link and process the practical training education virtual reality scenes viewed by different students and provide timely feedback, and it is impossible to provide different students with a reliable practical training education virtual reality experience. Summary of the invention

[0003] The purpose of the present invention is to provide a training and education control method and system based on virtual reality technology, which identifies all virtual reality devices connected to a training service platform, selects two virtual reality devices that perform interactive training and education tasks, and matches and connects the hardware terminals under the two virtual reality devices to realize the linkage processing of hardware terminal detection data; the matching and connected hardware terminal receives the action data generated by the user and converts it into identifiable action information, and combines the state information of the virtual reality scene of the training and education currently located by the two virtual reality devices to determine whether the identifiable action information generated by the two virtual reality devices conflicts, and performs linkage identification on the actions of different users in the virtual reality scene of the training and education, so as to ensure the safety of the user's training and education operation; and when a conflict occurs, the display state of the training and education scene of the two virtual display devices is adjusted and a feedback signal is sent to the hardware terminal, so as to avoid mutual interference when different virtual display devices provide virtual reality images to different wearers, so as to ensure the independence of the image display of the virtual display device.

[0004] The present invention is achieved through the following technical solutions:

[0005] The training and education control method based on virtual reality technology includes:

[0006] Identify all virtual reality devices connected to the training service platform, and select two virtual reality devices that perform interactive training education tasks; match and connect the hardware terminals of the two virtual reality devices based on the hardware attribute information of the two selected virtual reality devices;

[0007] The hardware terminal matched and connected to the two virtual reality devices receives the action data generated by the corresponding user, and converts the action data into recognizable action information; based on the state information of the practical training education virtual reality scene currently in which the two virtual reality devices are located, it is determined whether the recognizable action information generated by the two virtual reality devices has a conflict event;

[0008] When a conflict event occurs, the display states of the training education scenes of the two virtual reality devices are adjusted and feedback signals are sent to the hardware terminals under the two virtual reality devices; when no conflict event occurs, the information interaction states between the training service platform and the two virtual reality devices are adjusted.

[0009] Optionally, all virtual reality devices connected to the practical training service platform are identified, and two virtual reality devices for performing interactive practical training education tasks are selected; based on the hardware attribute information of the two selected virtual reality devices, hardware terminals under the two virtual reality devices are matched and connected, including:

[0010] Obtaining the practical training education scene loading requests of all virtual reality devices connected to the practical training service platform, identifying the practical training education scene loading requests, and obtaining the practical training education scene attribute information that all virtual reality devices expect to load; based on the practical training education scene attribute information, selecting a corresponding practical training education virtual reality scene from the practical training education scene pool of the practical training service platform;

[0011] Based on the device identity information of all virtual display devices connected to the training service platform, two virtual reality devices are selected to perform the interactive training education task, and the selected training education virtual reality scene is synchronously loaded to the two selected virtual reality devices;

[0012] Based on the device identity information of the six-degree-of-freedom perception gloves configured for each of the two selected virtual reality devices, the six-degree-of-freedom perception gloves configured for each of the two selected virtual reality devices are connected to the same gateway port under the training service platform, thereby achieving matching and docking of the six-degree-of-freedom perception gloves configured for each of the two selected virtual reality devices.

[0013] Optionally, obtaining the action data generated by the corresponding user received by the hardware terminal matched and connected to the two virtual reality devices, and converting the action data into recognizable action information; and judging whether a conflict event occurs in the recognizable action information generated by the two virtual reality devices based on the state information of the practical training education virtual reality scene currently in which the two virtual reality devices are located, comprises:

[0014] Acquire a clock signal generation log of the six-degree-of-freedom perception gloves matched and docked under the two virtual reality devices, analyze the clock signal generation log, and obtain a clock time difference between the six-degree-of-freedom perception gloves matched and docked under the two virtual reality devices; and then perform clock synchronization correction on the six-degree-of-freedom perception gloves matched and docked under the two virtual reality devices based on the clock time difference;

[0015] Acquire the six-degree-of-freedom sensing gloves matched and connected to the two virtual reality devices to detect and obtain the six-degree-of-freedom finger motion data generated by the user wearing the corresponding virtual reality device in the practical training and education virtual reality scene; analyze the six-degree-of-freedom finger motion data to determine the three-dimensional trajectory information of the finger motion of the corresponding user in the practical training and education virtual reality scene;

[0016] Based on the three-dimensional space coordinate transformation information of the practical training education virtual reality scene in which the two virtual reality scenes are currently located, the three-dimensional trajectory information of the finger movements of the users corresponding to the two virtual reality devices in the practical training education virtual reality scene is transformed into the three-dimensional space of the same practical training education virtual reality scene; then, it is determined whether there is a trajectory overlapping interval between the two three-dimensional trajectory information of the finger movements; if so, it is determined that a conflict event occurs between the two three-dimensional trajectory information of the finger movements; otherwise, it is determined that no conflict event occurs between the two three-dimensional trajectory information of the finger movements.

[0017] Optionally, according to characteristic parameters of sensors equipped on the six-degree-of-freedom sensing gloves, dynamic compensation adjustment is performed on the three-dimensional trajectory data generated by the six-degree-of-freedom gloves, including:

[0018] Extracting characteristic parameters of each sensor equipped on the six-degree-of-freedom sensing glove, wherein the characteristic parameters of each sensor include zero drift value, sensitivity and temperature compensation coefficient;

[0019] Obtaining a dynamic compensation coefficient using characteristic parameters of each sensor equipped on the six-degree-of-freedom sensing glove;

[0020] The dynamic compensation coefficient is obtained by the following formula:

[0021]

[0022] Where K represents the dynamic compensation coefficient; n represents the number of sensors; ΔX represents the difference between the trajectory and the preset reference trajectory; X f Indicates the preset maximum allowable difference value; S i represents the sensitivity corresponding to the i-th sensor; Z i represents the zero drift value corresponding to the i-th sensor; t i represents the temperature compensation coefficient corresponding to the i-th sensor;

[0023] Comparing the dynamic compensation coefficient with a preset compensation coefficient threshold;

[0024] When the dynamic compensation coefficient exceeds the preset compensation coefficient threshold, the three-dimensional trajectory data is compensated by using the first compensation model in combination with the dynamic compensation coefficient, and the three-dimensional trajectory data compensated by the first compensation model is obtained by the following formula:

[0025]

[0026] Among them, C 01 (t) represents the three-dimensional trajectory data after compensation using the first compensation model; R(t) represents the original three-dimensional trajectory data; K represents the dynamic compensation coefficient; t represents the time point in the three-dimensional trajectory data; t x represents a preset time constant, the value range is 0.03-0.15, and is used to control the time delay of the compensation application; α represents a compensation intensity coefficient, and the value range of the compensation intensity coefficient is 0.28-0.73; β represents a preset compensation coefficient threshold;

[0027] When the dynamic compensation coefficient does not exceed the preset compensation coefficient threshold, the three-dimensional trajectory data is compensated by using the second compensation model in combination with the dynamic compensation coefficient, and the three-dimensional trajectory data compensated by the second compensation model is obtained by the following formula:

[0028]

[0029] Among them, C 02 R(t) represents the three-dimensional trajectory data after compensation using the second compensation model; R(t) represents the original three-dimensional trajectory data; K represents the dynamic compensation coefficient; t represents the time point in the three-dimensional trajectory data; t x represents a preset time constant, with a value range of 0.03-0.15, which is used to control the time delay of the compensation application; α represents a compensation intensity coefficient, and the value range of the compensation intensity coefficient is 0.28-0.73; β represents a preset compensation coefficient threshold.

[0030] Optionally, based on the clock time difference, clock synchronization correction is performed on six-degree-of-freedom sensing gloves matched and docked under the two virtual reality devices, including:

[0031] If the overall displacement of the six-degree-of-freedom sensing glove under the six degrees of freedom is unknown, a time synchronization correction is performed based on the following steps S1-S3, specifically:

[0032] Step S1, using the following formula (1), analyze the clock signal generation log to obtain the clock time difference of the six-degree-of-freedom sensing gloves matched and docked under the two virtual reality devices,

[0033]

[0034] In the above formula (1), T represents the clock time difference of the six-degree-of-freedom perception gloves matched and docked by the two virtual reality devices; t1(n) represents the nth timestamp in the clock signal generation log of the six-degree-of-freedom perception glove matched and docked by the first virtual reality device; t2(n) represents the nth timestamp in the clock signal generation log of the six-degree-of-freedom perception glove matched and docked by the second virtual reality device; n represents the total number of timestamps in the clock log of the six-degree-of-freedom perception gloves matched and docked by the two virtual reality devices; t1(a) represents the ath timestamp in the clock signal generation log of the six-degree-of-freedom perception glove matched and docked by the first virtual reality device; t2(a) represents the ath timestamp in the clock signal generation log of the six-degree-of-freedom perception glove matched and docked by the second virtual reality device;

[0035] Step S2, using the following formula (2), based on the clock time difference, clock synchronization correction is performed on the six-degree-of-freedom sensing gloves matched and docked under the two virtual reality devices.

[0036]

[0037] In the above formula (2), t1′ represents the starting time after the clock synchronization correction is performed on the six-degree-of-freedom sensing glove matched and docked by the first virtual reality device; t1 represents the starting time before the clock synchronization correction is performed on the six-degree-of-freedom sensing glove matched and docked by the first virtual reality device; t2′ represents the starting time after the clock synchronization correction is performed on the six-degree-of-freedom sensing glove matched and docked by the second virtual reality device; t2 represents the starting time before the clock synchronization correction is performed on the six-degree-of-freedom sensing glove matched and docked by the second virtual reality device;

[0038] Step S3, using the following formula (3), analyze and control the clock signal generation log, and update the cycle of clock synchronization correction.

[0039]

[0040] In the above formula (3), TG represents the period of clock synchronization correction after the control update; T0 represents the period of clock synchronization correction before the control update; t1(a+1) represents the a+1th timestamp in the clock signal generation log of the six-degree-of-freedom perception glove matched and docked by the first virtual reality device; t2(a+1) represents the a+1th timestamp in the clock signal generation log of the six-degree-of-freedom perception glove matched and docked by the second virtual reality device;

[0041] If the overall displacement of the six-degree-of-freedom sensing glove under the six degrees of freedom is known, then based on the following step S4, time synchronization correction is performed, specifically:

[0042] Step S4, using the following formula (4), based on the overall displacement of the six-degree-of-freedom sensing gloves under six degrees of freedom, clock synchronization correction is performed on the six-degree-of-freedom sensing gloves matched and docked under the two virtual reality devices.

[0043]

[0044] In the above formula (4), ΔT represents the clock time difference of the six-degree-of-freedom sensing gloves matched and docked under the two virtual reality devices; T1 represents the clock signal of the six-degree-of-freedom sensing glove matched and docked under the first virtual reality device; T2 represents the clock signal of the six-degree-of-freedom sensing glove matched and docked under the second virtual reality device; K represents the gain coefficient, which is used to adjust the sensitivity of the control; C represents the control parameter, which is used to adjust the synchronization; α and β represent weight coefficients; γ represents the frequency factor related to the angle; ‖θ‖ represents the overall displacement under six degrees of freedom; θ represents the vector displacement of the six-degree-of-freedom glove.

[0045] Optionally, when a conflict event occurs, the display states of the training education scenes of the two virtual reality devices are adjusted and feedback signals are sent to the hardware terminals under the two virtual reality devices; when no conflict event occurs, the information interaction states between the training service platform and the two virtual reality devices are adjusted, including:

[0046] When a conflict event occurs, based on the position information of the track overlap interval in the three-dimensional space of the practical training education virtual reality scene, the two virtual reality devices are instructed to generate corresponding track overlap interval guidance screens on their respective display interfaces, and based on the interval area of ​​the track overlap interval, the six-degree-of-freedom sensing gloves under the two virtual reality devices are instructed to send a touch feedback signal of corresponding strength to the user;

[0047] When no conflict event occurs, the information interaction rate between the practical training service platform and the two virtual reality devices is adjusted based on the available communication bandwidth between the practical training service platform and the two virtual reality devices.

[0048] The training and education control system based on virtual reality technology includes:

[0049] A virtual reality device identification module is used to identify all virtual reality devices connected to the practical training service platform and select two virtual reality devices that perform interactive practical training education tasks;

[0050] A hardware terminal docking module is used to match and dock the hardware terminals under the two virtual reality devices based on the hardware attribute information of the two virtual reality devices screened;

[0051] An action data acquisition and conversion module is used to acquire action data generated by a corresponding user received by a hardware terminal matched and connected to the two virtual reality devices, and convert the action data into recognizable action information;

[0052] An action conflict identification module, used to determine whether a conflict event occurs in the recognizable action information generated by the two virtual reality devices based on the state information of the practical training education virtual reality scene in which the two virtual reality devices are currently located;

[0053] A display adjustment and feedback response module, used for adjusting the display states of the training education scenes of the two virtual reality devices and sending feedback signals to the hardware terminals under the two virtual reality devices when a conflict event occurs;

[0054] The information interaction adjustment module is used to adjust the information interaction status between the training service platform and the two virtual reality devices when no conflict event occurs.

[0055] Optionally, the virtual reality device identification module is used to identify all virtual reality devices connected to the practical training service platform, and select two virtual reality devices for performing interactive practical training education tasks, including:

[0056] Obtaining the practical training education scene loading requests of all virtual reality devices connected to the practical training service platform, identifying the practical training education scene loading requests, and obtaining the practical training education scene attribute information that all virtual reality devices expect to load; based on the practical training education scene attribute information, selecting a corresponding practical training education virtual reality scene from the practical training education scene pool of the practical training service platform;

[0057] Based on the device identity information of all virtual display devices connected to the training service platform, two virtual reality devices are selected to perform the interactive training education task, and the selected training education virtual reality scene is synchronously loaded to the two selected virtual reality devices;

[0058] The hardware terminal docking module is used to match and dock the hardware terminals under the two virtual reality devices based on the hardware attribute information of the two virtual reality devices screened, including:

[0059] Based on the device identity information of the six-degree-of-freedom perception gloves configured for each of the two selected virtual reality devices, the six-degree-of-freedom perception gloves configured for each of the two selected virtual reality devices are connected to the same gateway port under the training service platform, thereby achieving matching and docking of the six-degree-of-freedom perception gloves configured for each of the two selected virtual reality devices.

[0060] Optionally, the motion data acquisition and conversion module is used to acquire the motion data generated by the corresponding user received by the hardware terminal matched and connected to the two virtual reality devices, and convert the motion data into recognizable motion information, including:

[0061] Acquire a clock signal generation log of the six-degree-of-freedom perception gloves matched and docked under the two virtual reality devices, analyze the clock signal generation log, and obtain a clock time difference between the six-degree-of-freedom perception gloves matched and docked under the two virtual reality devices; and then perform clock synchronization correction on the six-degree-of-freedom perception gloves matched and docked under the two virtual reality devices based on the clock time difference;

[0062] Acquire the six-degree-of-freedom sensing gloves matched and connected to the two virtual reality devices to detect and obtain the six-degree-of-freedom finger motion data generated by the user wearing the corresponding virtual reality device in the practical training and education virtual reality scene; analyze the six-degree-of-freedom finger motion data to determine the three-dimensional trajectory information of the finger motion of the corresponding user in the practical training and education virtual reality scene;

[0063] The action conflict recognition module is used to determine whether a conflict event occurs in the recognizable action information generated by the two virtual reality devices based on the state information of the practical training education virtual reality scene currently in which the two virtual reality devices are located, including:

[0064] Based on the three-dimensional space coordinate transformation information of the practical training education virtual reality scene in which the two virtual reality scenes are currently located, the three-dimensional trajectory information of the finger movements of the users corresponding to the two virtual reality devices in the practical training education virtual reality scene is transformed into the three-dimensional space of the same practical training education virtual reality scene; then, it is determined whether there is a trajectory overlapping interval between the two three-dimensional trajectory information of the finger movements; if so, it is determined that a conflict event occurs between the two three-dimensional trajectory information of the finger movements; otherwise, it is determined that no conflict event occurs between the two three-dimensional trajectory information of the finger movements.

[0065] Optionally, according to characteristic parameters of sensors equipped on the six-degree-of-freedom sensing gloves, dynamic compensation adjustment is performed on the three-dimensional trajectory data generated by the six-degree-of-freedom gloves, including:

[0066] Extracting characteristic parameters of each sensor equipped on the six-degree-of-freedom sensing glove, wherein the characteristic parameters of each sensor include zero drift value, sensitivity and temperature compensation coefficient;

[0067] Obtaining a dynamic compensation coefficient using characteristic parameters of each sensor equipped on the six-degree-of-freedom sensing glove;

[0068] The dynamic compensation coefficient is obtained by the following formula:

[0069]

[0070] Where K represents the dynamic compensation coefficient; n represents the number of sensors; ΔX represents the difference between the trajectory and the preset reference trajectory; X f Indicates the preset maximum allowable difference value; S i represents the sensitivity corresponding to the i-th sensor; Z i represents the zero drift value corresponding to the i-th sensor; t i represents the temperature compensation coefficient corresponding to the i-th sensor;

[0071] Comparing the dynamic compensation coefficient with a preset compensation coefficient threshold;

[0072] When the dynamic compensation coefficient exceeds the preset compensation coefficient threshold, the three-dimensional trajectory data is compensated by using the first compensation model in combination with the dynamic compensation coefficient, and the three-dimensional trajectory data compensated by the first compensation model is obtained by the following formula:

[0073]

[0074] Among them, C 01 (t) represents the three-dimensional trajectory data after compensation using the first compensation model; R(t) represents the original three-dimensional trajectory data; K represents the dynamic compensation coefficient; t represents the time point in the three-dimensional trajectory data; t x represents a preset time constant, the value range is 0.03-0.15, and is used to control the time delay of the compensation application; α represents a compensation intensity coefficient, and the value range of the compensation intensity coefficient is 0.28-0.73; β represents a preset compensation coefficient threshold;

[0075] When the dynamic compensation coefficient does not exceed the preset compensation coefficient threshold, the three-dimensional trajectory data is compensated by using the second compensation model in combination with the dynamic compensation coefficient, and the three-dimensional trajectory data compensated by the second compensation model is obtained by the following formula:

[0076]

[0077] Among them, C 02 R(t) represents the three-dimensional trajectory data after compensation using the second compensation model; R(t) represents the original three-dimensional trajectory data; K represents the dynamic compensation coefficient; t represents the time point in the three-dimensional trajectory data; t x represents a preset time constant, with a value range of 0.03-0.15, which is used to control the time delay of the compensation application; α represents a compensation intensity coefficient, and the value range of the compensation intensity coefficient is 0.28-0.73; β represents a preset compensation coefficient threshold.

[0078] Optionally, the display adjustment and feedback response module is used to adjust the display states of the training education scenes of the two virtual reality devices and send feedback signals to the hardware terminals under the two virtual reality devices when a conflict event occurs, including:

[0079] When a conflict event occurs, based on the position information of the track overlap interval in the three-dimensional space of the practical training education virtual reality scene, the two virtual reality devices are instructed to generate corresponding track overlap interval guidance screens on their respective display interfaces, and based on the interval area of ​​the track overlap interval, the six-degree-of-freedom sensing gloves under the two virtual reality devices are instructed to send a touch feedback signal of corresponding strength to the user;

[0080] The information interaction adjustment module is used to adjust the information interaction status between the training service platform and the two virtual reality devices when no conflict event occurs, including:

[0081] When no conflict event occurs, the information interaction rate between the practical training service platform and the two virtual reality devices is adjusted based on the available communication bandwidth between the practical training service platform and the two virtual reality devices.

[0082] Compared with the prior art, the present invention has the following beneficial effects:

[0083] The training and education control method and system based on virtual reality technology provided by the present application identify all virtual reality devices connected to the training service platform, select two virtual reality devices that perform interactive training and education tasks, and match and connect the hardware terminals under the two virtual reality devices to realize the linkage processing of hardware terminal detection data; the action data generated by the user is received by the matched and connected hardware terminal and converted into recognizable action information, and combined with the state information of the virtual reality scene of the training and education currently located by the two virtual reality devices, it is determined whether the recognizable action information generated by the two virtual reality devices conflicts, and the actions of different users in the virtual reality scene of training and education are linked and identified to ensure the safety of the user's training and education operation; and when a conflict occurs, the display state of the training and education scene of the two virtual display devices is adjusted and a feedback signal is sent to the hardware terminal to avoid mutual interference when different virtual display devices provide virtual reality images to different wearers, thereby ensuring the independence of the image display of the virtual display device. BRIEF DESCRIPTION OF THE DRAWINGS

[0084] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the prior art descriptions. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. Among them:

[0085] Figure 1 A flow chart of a practical training education control method based on virtual reality technology provided by the present invention.

[0086] Figure 2 This is a structural schematic diagram of the practical training education control system based on virtual reality technology provided by the present invention. DETAILED DESCRIPTION

[0087] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. It is to be understood that the specific embodiments described herein are only used to explain the present application, rather than to limit the present application. It should also be noted that, for ease of description, only some structures related to the present application are shown in the accompanying drawings, rather than all structures. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0088] The terms "including" and "having" and any variations thereof in this application are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device comprising a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products or devices.

[0089] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0090] See also Figure 1 As shown, a training education control method based on virtual reality technology provided by an embodiment of the present application includes:

[0091] Identify all virtual reality devices connected to the training service platform, and select two virtual reality devices that perform interactive training education tasks; match and connect the hardware terminals of the two virtual reality devices based on the hardware attribute information of the two selected virtual reality devices;

[0092] The hardware terminal matched and connected to the two virtual reality devices receives the action data generated by the corresponding user, and converts the action data into recognizable action information; based on the state information of the practical training education virtual reality scene currently located by the two virtual reality devices, it is determined whether the recognizable action information generated by the two virtual reality devices has a conflict event;

[0093] When a conflict event occurs, the display status of the training education scenes of the two virtual reality devices is adjusted and a feedback signal is sent to the hardware terminals under the two virtual reality devices; when no conflict event occurs, the information interaction status between the training service platform and the two virtual reality devices is adjusted.

[0094] The beneficial effects of the above embodiments are as follows: the training and education control method based on virtual reality technology identifies all virtual reality devices connected to the training service platform, selects two virtual reality devices that perform interactive training and education tasks, matches and connects the hardware terminals under the two virtual reality devices, and realizes the linkage processing of hardware terminal detection data; the action data generated by the user is received by the matched and connected hardware terminal and converted into recognizable action information, and combined with the training and education virtual reality scene state information currently located by the two virtual reality devices, it is determined whether the recognizable action information generated by the two virtual reality devices conflicts, and the actions of different users in the training and education virtual reality scene are linked and identified to ensure the safety of the user's training and education operation; and when a conflict occurs, the training and education scene display states of the two virtual display devices are adjusted and feedback signals are sent to the hardware terminal to avoid mutual interference when different virtual display devices provide virtual reality images to different wearers, thereby ensuring the independence of the image display of the virtual display device.

[0095] In another embodiment, all virtual reality devices connected to the practical training service platform are identified, and two virtual reality devices for performing interactive practical training education tasks are selected; based on the hardware attribute information of the two selected virtual reality devices, the hardware terminals under the two virtual reality devices are matched and connected, including:

[0096] Obtaining the practical training education scene loading request of each virtual reality device connected to the practical training service platform, identifying the practical training education scene loading request, and obtaining the practical training education scene attribute information that each virtual reality device expects to load; based on the practical training education scene attribute information, selecting a corresponding practical training education virtual reality scene from the practical training education scene pool of the practical training service platform;

[0097] Based on the device identity information of all virtual display devices connected to the training service platform, two virtual reality devices are selected to perform the interactive training education task, and the selected training education virtual reality scene is synchronously loaded to the two selected virtual reality devices;

[0098] Based on the device identity information of the six-degree-of-freedom perception gloves configured for each of the two selected virtual reality devices, the six-degree-of-freedom perception gloves configured for each of the two selected virtual reality devices are connected to the same gateway port under the training service platform, thereby achieving matching and docking of the six-degree-of-freedom perception gloves configured for each of the two selected virtual reality devices.

[0099] The beneficial effect of the above embodiment is that the training service platform, as a platform that can provide virtual reality image data for different virtual reality devices, can connect to multiple different virtual reality devices at the same time, and provide the same or different virtual reality image data to each connected virtual reality device. By identifying the training education scene loading request initiated by all virtual reality devices connected to the training service platform, the training education scene attribute information that all virtual reality devices expect to load can be obtained. The training education scene attribute information can be but is not limited to the training education scene content type information, etc., and then based on the training education scene attribute information, the corresponding training education virtual reality scene is selected from the training education scene pool of the training service platform, so that each connected virtual reality device can obtain the required training education virtual reality scene data from the training service platform. Based on the device identity information of all virtual display devices connected to the training service platform, two virtual reality devices that need to interact in the training education process are screened, so that the two screened virtual reality devices can provide training education of related scenes for their corresponding users, ensuring the complete interaction of the training interaction tasks between the two. And based on the device identity information of the six-degree-of-freedom perception gloves configured for each of the two selected virtual reality devices, the six-degree-of-freedom perception gloves configured for each of the two selected virtual reality devices are connected to the same gateway port under the training service platform, so that the six-degree-of-freedom perception gloves configured for each of the two selected virtual reality devices can synchronously summarize and upload the user's finger motion data detected by themselves.

[0100] In another embodiment, obtaining that the hardware terminal of the two virtual reality devices receives the action data generated by the corresponding user and converts the action data into recognizable action information; and judging whether a conflict event occurs in the recognizable action information generated by the two virtual reality devices based on the state information of the practical training education virtual reality scene currently in which the two virtual reality devices are located, includes:

[0101] Acquire the clock signal generation log of the six-degree-of-freedom perception gloves matched and docked by the two virtual reality devices, analyze the clock signal generation log, and obtain the clock time difference of the six-degree-of-freedom perception gloves matched and docked by the two virtual reality devices; then, based on the clock time difference, perform clock synchronization correction on the six-degree-of-freedom perception gloves matched and docked by the two virtual reality devices;

[0102] Acquire the six-degree-of-freedom sensing gloves matched and connected to the two virtual reality devices to detect and obtain the six-degree-of-freedom finger motion data generated by the user wearing the corresponding virtual reality device in the practical training and education virtual reality scene; analyze the six-degree-of-freedom finger motion data to determine the three-dimensional trajectory information of the finger motion of the corresponding user in the practical training and education virtual reality scene;

[0103] Based on the three-dimensional space coordinate transformation information of the practical training and education virtual reality scene in which the two virtual reality scenes are currently located, the three-dimensional trajectory information of the finger movements of the users corresponding to the two virtual reality devices in the practical training and education virtual reality scene is transformed into the three-dimensional space of the same practical training and education virtual reality scene; then, it is determined whether there is a trajectory overlapping interval between the two three-dimensional trajectory information of the finger movements; if so, it is determined that a conflict event occurs in the three-dimensional trajectory information of the two finger movements; otherwise, it is determined that no conflict event occurs in the three-dimensional trajectory information of the two finger movements.

[0104] The beneficial effect of the above embodiment is that in order to ensure the synchronization of the finger motion data detection of the six-degree-of-freedom sensing gloves matched and docked under the two virtual reality devices, it is necessary to perform synchronization correction of the data detection clock signal of the two six-degree-of-freedom sensing gloves. To this end, the clock signal generation log of the six-degree-of-freedom sensing gloves matched and docked under the two virtual reality devices is obtained, and the clock signal generation log is analyzed to obtain the clock time difference of the six-degree-of-freedom sensing gloves matched and docked under the two virtual reality devices; then based on the clock time difference, the clock synchronization correction of the six-degree-of-freedom sensing gloves matched and docked under the two virtual reality devices is performed, so that the synchronization consistency of the finger motion data detected by the two six-degree-of-freedom sensing gloves can be ensured. In addition, the six-degree-of-freedom sensing gloves matched and docked under the two virtual reality devices detect the six-degree-of-freedom motion data of the fingers generated by the user wearing the corresponding virtual reality device in the virtual reality scene of practical training education, and the three-dimensional trajectory information of the finger motion of the corresponding user in the virtual reality scene of practical training education is obtained, so as to accurately identify the trajectory path of the user's practical training operation motion in the virtual reality scene of practical training education. In addition, based on the three-dimensional space coordinate transformation information of the practical training education virtual reality scene in which the two virtual reality scenes are currently located, the three-dimensional trajectory information of the finger movements of the users corresponding to the two virtual reality devices in the practical training education virtual reality scene is transformed into the three-dimensional space of the same practical training education virtual reality scene, and it is determined whether there is a trajectory overlapping interval between the two three-dimensional trajectory information of the finger movements, so as to quickly and accurately determine whether a collision or other conflict events occur between the two users during the practical training education process using the virtual reality devices.

[0105] In another embodiment, according to characteristic parameters of sensors equipped on the six-degree-of-freedom sensing gloves, dynamic compensation adjustment is performed on the three-dimensional trajectory data generated by the six-degree-of-freedom gloves, including:

[0106] Extracting characteristic parameters of each sensor equipped on the six-degree-of-freedom sensing glove, wherein the characteristic parameters of each sensor include zero drift value, sensitivity and temperature compensation coefficient;

[0107] Obtaining a dynamic compensation coefficient using characteristic parameters of each sensor equipped on the six-degree-of-freedom sensing glove;

[0108] The dynamic compensation coefficient is obtained by the following formula:

[0109]

[0110] Where K represents the dynamic compensation coefficient; n represents the number of sensors; ΔX represents the difference between the trajectory and the preset reference trajectory; X f Indicates the preset maximum allowable difference value; S i represents the sensitivity corresponding to the i-th sensor; Z i represents the zero drift value corresponding to the i-th sensor; t i represents the temperature compensation coefficient corresponding to the i-th sensor;

[0111] Comparing the dynamic compensation coefficient with a preset compensation coefficient threshold;

[0112] When the dynamic compensation coefficient exceeds the preset compensation coefficient threshold, the three-dimensional trajectory data is compensated by using the first compensation model in combination with the dynamic compensation coefficient, and the three-dimensional trajectory data compensated by the first compensation model is obtained by the following formula:

[0113]

[0114] Among them, C 01 (t) represents the three-dimensional trajectory data after compensation using the first compensation model; R(t) represents the original three-dimensional trajectory data; K represents the dynamic compensation coefficient; t represents the time point in the three-dimensional trajectory data; t x represents a preset time constant, the value range is 0.03-0.15, and is used to control the time delay of the compensation application; α represents a compensation intensity coefficient, and the value range of the compensation intensity coefficient is 0.28-0.73; β represents a preset compensation coefficient threshold;

[0115] When the dynamic compensation coefficient does not exceed the preset compensation coefficient threshold, the three-dimensional trajectory data is compensated by using the second compensation model in combination with the dynamic compensation coefficient, and the three-dimensional trajectory data compensated by the second compensation model is obtained by the following formula:

[0116]

[0117] Among them, C 02 R(t) represents the three-dimensional trajectory data after compensation using the second compensation model; R(t) represents the original three-dimensional trajectory data; K represents the dynamic compensation coefficient; t represents the time point in the three-dimensional trajectory data; t xrepresents a preset time constant, with a value range of 0.03-0.15, which is used to control the time delay of the compensation application; α represents a compensation intensity coefficient, and the value range of the compensation intensity coefficient is 0.28-0.73; β represents a preset compensation coefficient threshold.

[0118] The technical effect of the above technical solution is that by extracting the characteristic parameters of each sensor (including zero drift value, sensitivity and temperature compensation coefficient) and using these parameters to calculate the dynamic compensation coefficient, the inherent error of the sensor and the external environment interference (such as temperature change) can be compensated, thereby improving the accuracy of the three-dimensional trajectory data. The scheme is designed to select different compensation models for compensation according to the comparison results of the dynamic compensation coefficient and the preset compensation coefficient threshold. This method of adaptively selecting the compensation model can flexibly adjust the compensation strategy according to the error size and characteristics in different situations, so that the compensation effect is more accurate and efficient. The time constant tx is introduced in the compensation formula to control the time delay of the compensation application. By reasonably setting the value of tx, while ensuring the compensation effect, the compensation process can avoid excessive time overhead for application scenarios with high real-time requirements. The introduction of the compensation intensity coefficient α enables the scheme to adjust the strength of the compensation according to actual needs. By reasonably setting the value of α, the trajectory distortion problem caused by overcompensation can be avoided while ensuring the accuracy of the trajectory data. Since the scheme takes into account a variety of characteristic parameters of the sensor and designs an adaptive compensation mechanism, it can improve the robustness and stability of the entire system. Even if some sensors fail or have large errors, the system can maintain the accuracy and reliability of the three-dimensional trajectory data through data from other sensors and compensation mechanisms.

[0119] In summary, this technical solution has achieved remarkable technical effects in improving the accuracy of three-dimensional trajectory data, the robustness and stability of the system by comprehensively considering the characteristic parameters of the sensor, designing an adaptive compensation mechanism, controlling the time delay of compensation application and adjusting the compensation intensity.

[0120] In another embodiment, based on the clock time difference, clock synchronization correction is performed on the six-degree-of-freedom sensing gloves matched and docked under the two virtual reality devices, including:

[0121] If the overall displacement of the six-degree-of-freedom sensing glove under the six degrees of freedom is unknown, a time synchronization correction is performed based on the following steps S1-S3, specifically:

[0122] Step S1, using the following formula (1), analyze the clock signal generation log to obtain the clock time difference of the six-degree-of-freedom sensing gloves matched and docked under the two virtual reality devices,

[0123]

[0124] In the above formula (1), T represents the clock time difference of the six-degree-of-freedom perception gloves matched and docked by the two virtual reality devices; t1(n) represents the nth timestamp in the clock signal generation log of the six-degree-of-freedom perception glove matched and docked by the first virtual reality device; t2(n) represents the nth timestamp in the clock signal generation log of the six-degree-of-freedom perception glove matched and docked by the second virtual reality device; n represents the total number of timestamps in the clock log of the six-degree-of-freedom perception gloves matched and docked by the two virtual reality devices; t1(a) represents the ath timestamp in the clock signal generation log of the six-degree-of-freedom perception glove matched and docked by the first virtual reality device; t2(a) represents the ath timestamp in the clock signal generation log of the six-degree-of-freedom perception glove matched and docked by the second virtual reality device;

[0125] Step S2, using the following formula (2), based on the clock time difference, the clock synchronization correction is performed on the six-degree-of-freedom sensing gloves matched and docked under the two virtual reality devices.

[0126]

[0127] In the above formula (2), t1′ represents the starting time after the clock synchronization correction is performed on the six-degree-of-freedom sensing glove matched and docked by the first virtual reality device; t1 represents the starting time before the clock synchronization correction is performed on the six-degree-of-freedom sensing glove matched and docked by the first virtual reality device; t2′ represents the starting time after the clock synchronization correction is performed on the six-degree-of-freedom sensing glove matched and docked by the second virtual reality device; t2 represents the starting time before the clock synchronization correction is performed on the six-degree-of-freedom sensing glove matched and docked by the second virtual reality device;

[0128] Step S3, using the following formula (3), analyze and control the clock signal generation log, and update the cycle of clock synchronization correction.

[0129]

[0130] In the above formula (3), TG represents the period of clock synchronization correction after the control update; T0 represents the period of clock synchronization correction before the control update; t1(a+1) represents the a+1th timestamp in the clock signal generation log of the six-degree-of-freedom perception glove matched and docked by the first virtual reality device; t2(a+1) represents the a+1th timestamp in the clock signal generation log of the six-degree-of-freedom perception glove matched and docked by the second virtual reality device;

[0131] If the overall displacement of the six-degree-of-freedom sensing glove under the six degrees of freedom is known, then a time synchronization correction is performed based on the following step S4, specifically:

[0132] Step S4, using the following formula (4), based on the overall displacement of the six-degree-of-freedom sensing gloves under six degrees of freedom, the six-degree-of-freedom sensing gloves matched and docked under the two virtual reality devices are subjected to clock synchronization correction.

[0133]

[0134] In the above formula (4), ΔT represents the clock time difference of the six-degree-of-freedom sensing gloves matched and docked under the two virtual reality devices; T1 represents the clock signal of the six-degree-of-freedom sensing glove matched and docked under the first virtual reality device; T2 represents the clock signal of the six-degree-of-freedom sensing glove matched and docked under the second virtual reality device; K represents the gain coefficient, which is used to adjust the sensitivity of the control; C represents the control parameter, which is used to adjust the synchronization; α and β represent weight coefficients; γ represents the frequency factor related to the angle; ‖θ‖ represents the overall displacement under six degrees of freedom; θ represents the vector displacement of the six-degree-of-freedom glove.

[0135] The beneficial effect of the above embodiment is that if the overall displacement of the six-degree-of-freedom sensing glove under the six degrees of freedom is in an unknown state, the clock signal generation log is analyzed by using the above formula (1) to obtain the clock time difference of the six-degree-of-freedom sensing gloves matched and connected to the two virtual reality devices, and hierarchical analysis and calculation are performed according to the difference in the two clock frequencies, so that the obtained time difference is more in line with reality; then, the above formula (2) is used to perform clock synchronization correction on the six-degree-of-freedom sensing gloves matched and connected to the two virtual reality devices based on the clock time difference, thereby ensuring that the clock deviation that is synchronized and corrected within a period of time is not too large, thereby ensuring the stability of clock synchronization; then, the above formula (3) is used to analyze and control the clock signal generation log, update the cycle of clock synchronization correction, and then perform clock synchronization correction in time to ensure reliable synchronization of time. If the overall displacement of the six-degree-of-freedom sensing glove under the six degrees of freedom is a known state, the clock synchronization correction of the two virtual reality devices can be realized by using the above formula (4), thereby ensuring the virtual interactive experience under high-precision requirements. Through the dynamic control and gain adjustment in the above formula (4), the system can adapt to different operating conditions and user needs, thereby improving the interaction accuracy and real-time performance in the virtual reality environment.

[0136] In another embodiment, when a conflict event occurs, the display states of the training education scenes of the two virtual reality devices are adjusted and feedback signals are sent to the hardware terminals under the two virtual reality devices; when no conflict event occurs, the information interaction states between the training service platform and the two virtual reality devices are adjusted, including:

[0137] When a conflict event occurs, based on the position information of the track overlap interval in the three-dimensional space of the practical training education virtual reality scene, the two virtual reality devices are instructed to generate corresponding track overlap interval guidance screens on their respective display interfaces, and based on the interval area of ​​the track overlap interval, the six-degree-of-freedom sensing gloves under the two virtual reality devices are instructed to send a touch feedback signal of corresponding strength to the user;

[0138] When no conflict event occurs, the information interaction rate between the practical training service platform and the two virtual reality devices is adjusted based on the available communication bandwidth between the practical training service platform and the two virtual reality devices.

[0139] The beneficial effect of the above embodiment is that when a conflict event occurs, the position information of the track overlap interval in the three-dimensional space of the practical training education virtual reality scene is obtained, the conflict event is accurately located, and then based on the position information, the two virtual reality devices are instructed to generate corresponding track overlap interval guidance screens on their respective display interfaces, so that the user can change his or her finger movements in time and accurately after viewing the corresponding track overlap interval guidance screen, thereby improving the safety of practical training education in the virtual reality scene; and based on the area of ​​the track overlap interval, the six-degree-of-freedom sensing gloves under the two virtual reality devices are instructed to send a touch feedback signal of corresponding strength to the user. Specifically, when the area of ​​the track overlap interval is larger, the six-degree-of-freedom sensing gloves under the two virtual reality devices are instructed to send a touch feedback signal of corresponding strength to the user. In this way, the feedback pressure received by the user from the six-degree-of-freedom sensing gloves is also greater, thereby ensuring the reliability of interaction between the virtual reality device and the user. When no conflict event occurs, the information interaction rate between the training service platform and the two virtual reality devices is adjusted based on the available communication bandwidth between the training service platform and the two virtual reality devices. Specifically, the larger the available communication bandwidth between the training service platform and the two virtual reality devices, the larger the information interaction rate between the training service platform and the two virtual reality devices is adjusted, thereby ensuring the communication stability between the training service platform and the two virtual reality devices.

[0140] See also Figure 2 As shown, a training education control system based on virtual reality technology provided by an embodiment of the present application includes:

[0141] A virtual reality device identification module is used to identify all virtual reality devices connected to the practical training service platform and select two virtual reality devices that perform interactive practical training education tasks;

[0142] A hardware terminal docking module is used to match and dock the hardware terminals under the two virtual reality devices based on the hardware attribute information of the two virtual reality devices screened;

[0143] The motion data acquisition and conversion module is used to acquire the motion data generated by the corresponding user received by the hardware terminal matched and connected to the two virtual reality devices, and convert the motion data into recognizable motion information;

[0144] An action conflict identification module, used to determine whether a conflict event occurs in the recognizable action information generated by the two virtual reality devices based on the state information of the practical training education virtual reality scene in which the two virtual reality devices are currently located;

[0145] A display adjustment and feedback response module, which is used to adjust the display states of the training and education scenes of the two virtual reality devices and send feedback signals to the hardware terminals under the two virtual reality devices when a conflict event occurs;

[0146] The information interaction adjustment module is used to adjust the information interaction status between the training service platform and the two virtual reality devices when no conflict event occurs.

[0147] The beneficial effects of the above embodiments are as follows: the training and education control system based on virtual reality technology identifies all virtual reality devices connected to the training service platform, selects two virtual reality devices that perform interactive training and education tasks, and matches and connects the hardware terminals under the two virtual reality devices to realize the linkage processing of hardware terminal detection data; the action data generated by the user is received by the matched and connected hardware terminal and converted into recognizable action information, and combined with the training and education virtual reality scene state information currently located by the two virtual reality devices, it is determined whether the recognizable action information generated by the two virtual reality devices conflicts, and the actions of different users in the training and education virtual reality scene are linked and identified to ensure the safety of the user's training and education operation; and when a conflict occurs, the training and education scene display state of the two virtual display devices is adjusted and a feedback signal is sent to the hardware terminal to avoid mutual interference when different virtual display devices provide virtual reality images to different wearers, thereby ensuring the independence of the image display of the virtual display device.

[0148] In another embodiment, the virtual reality device identification module is used to identify all virtual reality devices connected to the practical training service platform, and select two virtual reality devices that perform interactive practical training education tasks, including:

[0149] Obtaining the practical training education scene loading request of each virtual reality device connected to the practical training service platform, identifying the practical training education scene loading request, and obtaining the practical training education scene attribute information that each virtual reality device expects to load; based on the practical training education scene attribute information, selecting a corresponding practical training education virtual reality scene from the practical training education scene pool of the practical training service platform;

[0150] Based on the device identity information of all virtual display devices connected to the training service platform, two virtual reality devices are selected to perform the interactive training education task, and the selected training education virtual reality scene is synchronously loaded to the two selected virtual reality devices;

[0151] The hardware terminal docking module is used to match and dock the hardware terminals under the two virtual reality devices based on the hardware attribute information of the two virtual reality devices, including:

[0152] Based on the device identity information of the six-degree-of-freedom perception gloves configured for each of the two selected virtual reality devices, the six-degree-of-freedom perception gloves configured for each of the two selected virtual reality devices are connected to the same gateway port under the training service platform, thereby achieving matching and docking of the six-degree-of-freedom perception gloves configured for each of the two selected virtual reality devices.

[0153] The beneficial effect of the above embodiment is that the training service platform, as a platform that can provide virtual reality image data for different virtual reality devices, can connect to multiple different virtual reality devices at the same time, and provide the same or different virtual reality image data to each connected virtual reality device. By identifying the training education scene loading request initiated by all virtual reality devices connected to the training service platform, the training education scene attribute information that all virtual reality devices expect to load can be obtained. The training education scene attribute information can be but is not limited to the training education scene content type information, etc., and then based on the training education scene attribute information, the corresponding training education virtual reality scene is selected from the training education scene pool of the training service platform, so that each connected virtual reality device can obtain the required training education virtual reality scene data from the training service platform. Based on the device identity information of all virtual display devices connected to the training service platform, two virtual reality devices that need to interact in the training education process are screened, so that the two screened virtual reality devices can provide training education of related scenes for their corresponding users, ensuring the complete interaction of the training interaction tasks between the two. And based on the device identity information of the six-degree-of-freedom perception gloves configured for each of the two selected virtual reality devices, the six-degree-of-freedom perception gloves configured for each of the two selected virtual reality devices are connected to the same gateway port under the training service platform, so that the six-degree-of-freedom perception gloves configured for each of the two selected virtual reality devices can synchronously summarize and upload the user's finger motion data detected by themselves.

[0154] In another embodiment, the motion data acquisition and conversion module is used to acquire the motion data generated by the corresponding user received by the hardware terminal matched and connected to the two virtual reality devices, and convert the motion data into recognizable motion information, including:

[0155] Acquire the clock signal generation log of the six-degree-of-freedom perception gloves matched and docked by the two virtual reality devices, analyze the clock signal generation log, and obtain the clock time difference of the six-degree-of-freedom perception gloves matched and docked by the two virtual reality devices; then, based on the clock time difference, perform clock synchronization correction on the six-degree-of-freedom perception gloves matched and docked by the two virtual reality devices;

[0156] Acquire the six-degree-of-freedom sensing gloves matched and connected to the two virtual reality devices to detect and obtain the six-degree-of-freedom finger motion data generated by the user wearing the corresponding virtual reality device in the practical training and education virtual reality scene; analyze the six-degree-of-freedom finger motion data to determine the three-dimensional trajectory information of the finger motion of the corresponding user in the practical training and education virtual reality scene;

[0157] The action conflict recognition module is used to determine whether a conflict event occurs in the recognizable action information generated by the two virtual reality devices based on the state information of the practical training education virtual reality scene currently in which the two virtual reality devices are located, including:

[0158] Based on the three-dimensional space coordinate transformation information of the practical training and education virtual reality scene in which the two virtual reality scenes are currently located, the three-dimensional trajectory information of the finger movements of the users corresponding to the two virtual reality devices in the practical training and education virtual reality scene is transformed into the three-dimensional space of the same practical training and education virtual reality scene; then, it is determined whether there is a trajectory overlapping interval between the two three-dimensional trajectory information of the finger movements; if so, it is determined that a conflict event occurs in the three-dimensional trajectory information of the two finger movements; otherwise, it is determined that no conflict event occurs in the three-dimensional trajectory information of the two finger movements.

[0159] The beneficial effect of the above embodiment is that in order to ensure the synchronization of the finger motion data detection of the six-degree-of-freedom sensing gloves matched and docked under the two virtual reality devices, it is necessary to perform synchronization correction of the data detection clock signal of the two six-degree-of-freedom sensing gloves. To this end, the clock signal generation log of the six-degree-of-freedom sensing gloves matched and docked under the two virtual reality devices is obtained, and the clock signal generation log is analyzed to obtain the clock time difference of the six-degree-of-freedom sensing gloves matched and docked under the two virtual reality devices; then based on the clock time difference, the clock synchronization correction of the six-degree-of-freedom sensing gloves matched and docked under the two virtual reality devices is performed, so that the synchronization consistency of the finger motion data detected by the two six-degree-of-freedom sensing gloves can be ensured. In addition, the six-degree-of-freedom sensing gloves matched and docked under the two virtual reality devices detect the six-degree-of-freedom motion data of the fingers generated by the user wearing the corresponding virtual reality device in the virtual reality scene of practical training education, and the three-dimensional trajectory information of the finger motion of the corresponding user in the virtual reality scene of practical training education is obtained, so as to accurately identify the trajectory path of the user's practical training operation motion in the virtual reality scene of practical training education. In addition, based on the three-dimensional space coordinate transformation information of the practical training education virtual reality scene in which the two virtual reality scenes are currently located, the three-dimensional trajectory information of the finger movements of the users corresponding to the two virtual reality devices in the practical training education virtual reality scene is transformed into the three-dimensional space of the same practical training education virtual reality scene, and it is determined whether there is a trajectory overlapping interval between the two three-dimensional trajectory information of the finger movements, so as to quickly and accurately determine whether a collision or other conflict events occur between the two users during the practical training education process using the virtual reality devices.

[0160] In another embodiment, according to characteristic parameters of sensors equipped on the six-degree-of-freedom sensing gloves, dynamic compensation adjustment is performed on the three-dimensional trajectory data generated by the six-degree-of-freedom gloves, including:

[0161] Extracting characteristic parameters of each sensor equipped on the six-degree-of-freedom sensing glove, wherein the characteristic parameters of each sensor include zero drift value, sensitivity and temperature compensation coefficient;

[0162] Obtaining a dynamic compensation coefficient using characteristic parameters of each sensor equipped on the six-degree-of-freedom sensing glove;

[0163] The dynamic compensation coefficient is obtained by the following formula:

[0164]

[0165] Where K represents the dynamic compensation coefficient; n represents the number of sensors; ΔX represents the difference between the trajectory and the preset reference trajectory; X f Indicates the preset maximum allowable difference value; S i represents the sensitivity corresponding to the i-th sensor; Z i represents the zero drift value corresponding to the i-th sensor; t i represents the temperature compensation coefficient corresponding to the i-th sensor;

[0166] Comparing the dynamic compensation coefficient with a preset compensation coefficient threshold;

[0167] When the dynamic compensation coefficient exceeds the preset compensation coefficient threshold, the three-dimensional trajectory data is compensated by using the first compensation model in combination with the dynamic compensation coefficient, and the three-dimensional trajectory data compensated by the first compensation model is obtained by the following formula:

[0168]

[0169] Among them, C 01 (t) represents the three-dimensional trajectory data after compensation using the first compensation model; R(t) represents the original three-dimensional trajectory data; K represents the dynamic compensation coefficient; t represents the time point in the three-dimensional trajectory data; t x represents a preset time constant, the value range is 0.03-0.15, and is used to control the time delay of the compensation application; α represents a compensation intensity coefficient, and the value range of the compensation intensity coefficient is 0.28-0.73; β represents a preset compensation coefficient threshold;

[0170] When the dynamic compensation coefficient does not exceed the preset compensation coefficient threshold, the three-dimensional trajectory data is compensated by using the second compensation model in combination with the dynamic compensation coefficient, and the three-dimensional trajectory data compensated by the second compensation model is obtained by the following formula:

[0171]

[0172] Among them, C 02R(t) represents the three-dimensional trajectory data after compensation using the second compensation model; R(t) represents the original three-dimensional trajectory data; K represents the dynamic compensation coefficient; t represents the time point in the three-dimensional trajectory data; t x represents a preset time constant, with a value range of 0.03-0.15, which is used to control the time delay of the compensation application; α represents a compensation intensity coefficient, and the value range of the compensation intensity coefficient is 0.28-0.73; β represents a preset compensation coefficient threshold.

[0173] The technical effect of the above technical solution is that by extracting the characteristic parameters of each sensor (including zero drift value, sensitivity and temperature compensation coefficient) and using these parameters to calculate the dynamic compensation coefficient, the inherent error of the sensor and the external environment interference (such as temperature change) can be compensated, thereby improving the accuracy of the three-dimensional trajectory data. The scheme is designed to select different compensation models for compensation according to the comparison results of the dynamic compensation coefficient and the preset compensation coefficient threshold. This method of adaptively selecting the compensation model can flexibly adjust the compensation strategy according to the error size and characteristics in different situations, so that the compensation effect is more accurate and efficient. The time constant tx is introduced in the compensation formula to control the time delay of the compensation application. By reasonably setting the value of tx, while ensuring the compensation effect, the compensation process can avoid excessive time overhead for application scenarios with high real-time requirements. The introduction of the compensation intensity coefficient α enables the scheme to adjust the strength of the compensation according to actual needs. By reasonably setting the value of α, the trajectory distortion problem caused by overcompensation can be avoided while ensuring the accuracy of the trajectory data. Since the scheme takes into account a variety of characteristic parameters of the sensor and designs an adaptive compensation mechanism, it can improve the robustness and stability of the entire system. Even if some sensors fail or have large errors, the system can maintain the accuracy and reliability of the three-dimensional trajectory data through data from other sensors and compensation mechanisms.

[0174] In summary, this technical solution has achieved remarkable technical effects in improving the accuracy of three-dimensional trajectory data, the robustness and stability of the system by comprehensively considering the characteristic parameters of the sensor, designing an adaptive compensation mechanism, controlling the time delay of compensation application and adjusting the compensation intensity.

[0175] In another embodiment, the display adjustment and feedback response module is used to adjust the display states of the training education scenes of the two virtual reality devices and send feedback signals to the hardware terminals under the two virtual reality devices when a conflict event occurs, including:

[0176] When a conflict event occurs, based on the position information of the track overlap interval in the three-dimensional space of the practical training education virtual reality scene, the two virtual reality devices are instructed to generate corresponding track overlap interval guidance screens on their respective display interfaces, and based on the interval area of ​​the track overlap interval, the six-degree-of-freedom sensing gloves under the two virtual reality devices are instructed to send a touch feedback signal of corresponding strength to the user;

[0177] The information interaction adjustment module is used to adjust the information interaction status between the training service platform and the two virtual reality devices when no conflict event occurs, including:

[0178] When no conflict event occurs, the information interaction rate between the practical training service platform and the two virtual reality devices is adjusted based on the available communication bandwidth between the practical training service platform and the two virtual reality devices.

[0179] The beneficial effect of the above embodiment is that when a conflict event occurs, the position information of the track overlap interval in the three-dimensional space of the practical training education virtual reality scene is obtained, the conflict event is accurately located, and then based on the position information, the two virtual reality devices are instructed to generate corresponding track overlap interval guidance screens on their respective display interfaces, so that the user can change his or her finger movements in time and accurately after viewing the corresponding track overlap interval guidance screen, thereby improving the safety of practical training education in the virtual reality scene; and based on the area of ​​the track overlap interval, the six-degree-of-freedom sensing gloves under the two virtual reality devices are instructed to send a touch feedback signal of corresponding strength to the user. Specifically, when the area of ​​the track overlap interval is larger, the six-degree-of-freedom sensing gloves under the two virtual reality devices are instructed to send a touch feedback signal of corresponding strength to the user. In this way, the feedback pressure received by the user from the six-degree-of-freedom sensing gloves is also greater, thereby ensuring the reliability of interaction between the virtual reality device and the user. When no conflict event occurs, the information interaction rate between the training service platform and the two virtual reality devices is adjusted based on the available communication bandwidth between the training service platform and the two virtual reality devices. Specifically, the larger the available communication bandwidth between the training service platform and the two virtual reality devices, the larger the information interaction rate between the training service platform and the two virtual reality devices is adjusted, thereby ensuring the communication stability between the training service platform and the two virtual reality devices.

[0180] In general, the training and education control method and system based on virtual reality technology identify all virtual reality devices connected to the training service platform, select two virtual reality devices that perform interactive training and education tasks, and match and connect the hardware terminals under the two virtual reality devices to realize the linkage processing of hardware terminal detection data; the matching and connected hardware terminal receives the action data generated by the user and converts it into recognizable action information, and combines the state information of the virtual reality scene of the training and education currently located by the two virtual reality devices to determine whether the recognizable action information generated by the two virtual reality devices conflicts, and the actions of different users in the virtual reality scene of the training and education are linked to identify, so as to ensure the safety of the user's training and education operation; and when a conflict occurs, the display state of the training and education scene of the two virtual display devices is adjusted and a feedback signal is sent to the hardware terminal to avoid mutual interference when different virtual display devices provide virtual reality images to different wearers, so as to ensure the independence of the image display of the virtual display device.

[0181] The above is only a specific implementation of the present invention, and any other improvements made based on the concept of the present invention are considered to be within the protection scope of the present invention.

Claims

1. A training education control method based on virtual reality technology, characterized in that: include: Identify all virtual reality devices connected to the training service platform, and select two virtual reality devices that perform interactive training education tasks; Based on the filtered hardware attribute information of the two virtual reality devices, the hardware terminals under the two virtual reality devices are matched and connected; The hardware terminal matched and connected to the two virtual reality devices receives the action data generated by the corresponding user, and converts the action data into recognizable action information; Based on the state information of the practical training education virtual reality scene currently in which the two virtual reality devices are located, determining whether a conflict event occurs in the recognizable action information generated by the two virtual reality devices; When a conflict event occurs, the display states of the training education scenes of the two virtual reality devices are adjusted and feedback signals are sent to the hardware terminals under the two virtual reality devices; when no conflict event occurs, the information interaction states between the training service platform and the two virtual reality devices are adjusted.

2. The training education control method based on virtual reality technology as claimed in claim 1, characterized in that: Identify all virtual reality devices connected to the training service platform, and select two virtual reality devices that perform interactive training education tasks; Based on the filtered hardware attribute information of the two virtual reality devices, the hardware terminals under the two virtual reality devices are matched and connected, including: Obtaining the practical training education scene loading requests of all virtual reality devices connected to the practical training service platform, identifying the practical training education scene loading requests, and obtaining the practical training education scene attribute information that all virtual reality devices expect to load; based on the practical training education scene attribute information, selecting a corresponding practical training education virtual reality scene from the practical training education scene pool of the practical training service platform; Based on the device identity information of all virtual display devices connected to the training service platform, two virtual reality devices are selected to perform the interactive training education task, and the selected training education virtual reality scene is synchronously loaded to the two selected virtual reality devices; Based on the device identity information of the six-degree-of-freedom perception gloves configured for each of the two selected virtual reality devices, the six-degree-of-freedom perception gloves configured for each of the two selected virtual reality devices are connected to the same gateway port under the training service platform, thereby achieving matching and docking of the six-degree-of-freedom perception gloves configured for each of the two selected virtual reality devices.

3. The training education control method based on virtual reality technology as claimed in claim 2, characterized in that: The hardware terminal matched and connected to the two virtual reality devices receives the action data generated by the corresponding user, and converts the action data into recognizable action information; Based on the state information of the practical training education virtual reality scene currently in which the two virtual reality devices are located, determining whether a conflict event occurs in the recognizable action information generated by the two virtual reality devices, including: Acquire a clock signal generation log of the six-degree-of-freedom perception gloves matched and docked under the two virtual reality devices, analyze the clock signal generation log, and obtain a clock time difference between the six-degree-of-freedom perception gloves matched and docked under the two virtual reality devices; and then perform clock synchronization correction on the six-degree-of-freedom perception gloves matched and docked under the two virtual reality devices based on the clock time difference; Acquire the six-degree-of-freedom sensing gloves matched and connected to the two virtual reality devices to detect and obtain the six-degree-of-freedom finger motion data generated by the user wearing the corresponding virtual reality device in the practical training and education virtual reality scene; analyze the six-degree-of-freedom finger motion data to determine the three-dimensional trajectory information of the finger motion of the corresponding user in the practical training and education virtual reality scene; Based on the three-dimensional space coordinate transformation information of the practical training education virtual reality scene in which the two virtual reality scenes are currently located, the three-dimensional trajectory information of the finger movements of the users corresponding to the two virtual reality devices in the practical training education virtual reality scene is transformed into the three-dimensional space of the same practical training education virtual reality scene; then, it is determined whether there is a trajectory overlapping interval between the two three-dimensional trajectory information of the finger movements; if so, it is determined that a conflict event occurs between the two three-dimensional trajectory information of the finger movements; otherwise, it is determined that no conflict event occurs between the two three-dimensional trajectory information of the finger movements.

4. The training education control method based on virtual reality technology as claimed in claim 3, characterized in that: Based on the clock time difference, clock synchronization correction is performed on the six-degree-of-freedom sensing gloves matched and docked under the two virtual reality devices, including: If the overall displacement of the six-degree-of-freedom sensing glove under the six degrees of freedom is unknown, a time synchronization correction is performed based on the following steps S1-S3, specifically: Step S1, using the following formula (1), analyze the clock signal generation log to obtain the clock time difference of the six-degree-of-freedom sensing gloves matched and docked under the two virtual reality devices, In the above formula (1), T represents the clock time difference of the six-degree-of-freedom perception gloves matched and docked by the two virtual reality devices; t1(n) represents the nth timestamp in the clock signal generation log of the six-degree-of-freedom perception glove matched and docked by the first virtual reality device; t2(n) represents the nth timestamp in the clock signal generation log of the six-degree-of-freedom perception glove matched and docked by the second virtual reality device; n represents the total number of timestamps in the clock log of the six-degree-of-freedom perception gloves matched and docked by the two virtual reality devices; t1(a) represents the ath timestamp in the clock signal generation log of the six-degree-of-freedom perception glove matched and docked by the first virtual reality device; t2(a) represents the ath timestamp in the clock signal generation log of the six-degree-of-freedom perception glove matched and docked by the second virtual reality device; Step S2, using the following formula (2), based on the clock time difference, clock synchronization correction is performed on the six-degree-of-freedom sensing gloves matched and docked under the two virtual reality devices. In the above formula (2), t1′ represents the starting time after the clock synchronization correction is performed on the six-degree-of-freedom sensing glove matched and docked by the first virtual reality device; t1 represents the starting time before the clock synchronization correction is performed on the six-degree-of-freedom sensing glove matched and docked by the first virtual reality device; t2′ represents the starting time after the clock synchronization correction is performed on the six-degree-of-freedom sensing glove matched and docked by the second virtual reality device; t2 represents the starting time before the clock synchronization correction is performed on the six-degree-of-freedom sensing glove matched and docked by the second virtual reality device; Step S3, using the following formula (3), analyze and control the clock signal generation log, and update the cycle of clock synchronization correction. In the above formula (3), TG represents the period of clock synchronization correction after the control update; T ( Indicates the period of clock synchronization correction before control update; t1(a+1) indicates the a+1th timestamp in the clock signal generation log of the six-degree-of-freedom perception glove matched and docked by the first virtual reality device; t2(a+1) indicates the a+1th timestamp in the clock signal generation log of the six-degree-of-freedom perception glove matched and docked by the second virtual reality device; If the overall displacement of the six-degree-of-freedom sensing glove under the six degrees of freedom is known, then based on the following step S4, time synchronization correction is performed, specifically: Step S4, using the following formula (4), based on the overall displacement of the six-degree-of-freedom sensing gloves under six degrees of freedom, clock synchronization correction is performed on the six-degree-of-freedom sensing gloves matched and docked under the two virtual reality devices. In the above formula (4), ΔT represents the clock time difference of the six-degree-of-freedom sensing gloves matched and docked under the two virtual reality devices; T1 represents the clock signal of the six-degree-of-freedom sensing glove matched and docked under the first virtual reality device; T2 represents the clock signal of the six-degree-of-freedom sensing glove matched and docked under the second virtual reality device; K represents the gain coefficient, which is used to adjust the sensitivity of the control; C represents the control parameter, which is used to adjust the synchronization; α and β represent weight coefficients; γ represents the frequency factor related to the angle; ‖θ‖ represents the overall displacement under six degrees of freedom; θ represents the vector displacement of the six-degree-of-freedom glove.

5. The training education control method based on virtual reality technology as claimed in claim 3, characterized in that: When a conflict occurs, the display states of the training and education scenes of the two virtual reality devices are adjusted and a feedback signal is sent to the hardware terminals of the two virtual reality devices; When no conflict event occurs, the information interaction state between the training service platform and the two virtual reality devices is adjusted, including: When a conflict event occurs, based on the position information of the track overlap interval in the three-dimensional space of the practical training education virtual reality scene, the two virtual reality devices are instructed to generate corresponding track overlap interval guidance screens on their respective display interfaces, and based on the interval area of ​​the track overlap interval, the six-degree-of-freedom sensing gloves under the two virtual reality devices are instructed to send a touch feedback signal of corresponding strength to the user; When no conflict event occurs, the information interaction rate between the practical training service platform and the two virtual reality devices is adjusted based on the available communication bandwidth between the practical training service platform and the two virtual reality devices.

6. The training education control system based on virtual reality technology is characterized by: include: A virtual reality device identification module is used to identify all virtual reality devices connected to the practical training service platform and select two virtual reality devices that perform interactive practical training education tasks; A hardware terminal docking module is used to match and dock the hardware terminals under the two virtual reality devices based on the hardware attribute information of the two virtual reality devices screened; An action data acquisition and conversion module is used to acquire action data generated by a corresponding user received by a hardware terminal matched and connected to the two virtual reality devices, and convert the action data into recognizable action information; An action conflict identification module, used to determine whether a conflict event occurs in the recognizable action information generated by the two virtual reality devices based on the state information of the practical training education virtual reality scene in which the two virtual reality devices are currently located; A display adjustment and feedback response module, used for adjusting the display states of the training education scenes of the two virtual reality devices and sending feedback signals to the hardware terminals under the two virtual reality devices when a conflict event occurs; The information interaction adjustment module is used to adjust the information interaction status between the training service platform and the two virtual reality devices when no conflict event occurs.

7. The training education control system based on virtual reality technology as claimed in claim 6, characterized in that: The virtual reality device identification module is used to identify all virtual reality devices connected to the practical training service platform, and select two virtual reality devices that perform interactive practical training education tasks, including: Obtaining the practical training education scene loading requests of all virtual reality devices connected to the practical training service platform, identifying the practical training education scene loading requests, and obtaining the practical training education scene attribute information that all virtual reality devices expect to load; based on the practical training education scene attribute information, selecting a corresponding practical training education virtual reality scene from the practical training education scene pool of the practical training service platform; Based on the device identity information of all virtual display devices connected to the training service platform, two virtual reality devices are selected to perform the interactive training education task, and the selected training education virtual reality scene is synchronously loaded to the two selected virtual reality devices; The hardware terminal docking module is used to match and dock the hardware terminals under the two virtual reality devices based on the hardware attribute information of the two virtual reality devices screened, including: Based on the device identity information of the six-degree-of-freedom perception gloves configured for each of the two selected virtual reality devices, the six-degree-of-freedom perception gloves configured for each of the two selected virtual reality devices are connected to the same gateway port under the training service platform, thereby achieving matching and docking of the six-degree-of-freedom perception gloves configured for each of the two selected virtual reality devices.

8. The training education control system based on virtual reality technology as claimed in claim 7, characterized in that: The action data acquisition and conversion module is used to acquire the action data generated by the corresponding user received by the hardware terminal matched and connected to the two virtual reality devices, and convert the action data into recognizable action information, including: Acquire a clock signal generation log of the six-degree-of-freedom perception gloves matched and docked under the two virtual reality devices, analyze the clock signal generation log, and obtain a clock time difference between the six-degree-of-freedom perception gloves matched and docked under the two virtual reality devices; and then perform clock synchronization correction on the six-degree-of-freedom perception gloves matched and docked under the two virtual reality devices based on the clock time difference; Acquire the six-degree-of-freedom sensing gloves matched and connected to the two virtual reality devices to detect and obtain the six-degree-of-freedom finger motion data generated by the user wearing the corresponding virtual reality device in the practical training and education virtual reality scene; analyze the six-degree-of-freedom finger motion data to determine the three-dimensional trajectory information of the finger motion of the corresponding user in the practical training and education virtual reality scene; The action conflict recognition module is used to determine whether a conflict event occurs in the recognizable action information generated by the two virtual reality devices based on the state information of the practical training education virtual reality scene currently in which the two virtual reality devices are located, including: Based on the three-dimensional space coordinate transformation information of the practical training education virtual reality scene in which the two virtual reality scenes are currently located, the three-dimensional trajectory information of the finger movements of the users corresponding to the two virtual reality devices in the practical training education virtual reality scene is transformed into the three-dimensional space of the same practical training education virtual reality scene; then, it is determined whether there is a trajectory overlapping interval between the two three-dimensional trajectory information of the finger movements; if so, it is determined that a conflict event occurs between the two three-dimensional trajectory information of the finger movements; otherwise, it is determined that no conflict event occurs between the two three-dimensional trajectory information of the finger movements.

9. The training education control system based on virtual reality technology as claimed in claim 8, characterized in that: The display adjustment and feedback response module is used to adjust the display states of the training education scenes of the two virtual reality devices and send feedback signals to the hardware terminals under the two virtual reality devices when a conflict event occurs, including: When a conflict event occurs, based on the position information of the track overlap interval in the three-dimensional space of the practical training education virtual reality scene, the two virtual reality devices are instructed to generate corresponding track overlap interval guidance screens on their respective display interfaces, and based on the interval area of ​​the track overlap interval, the six-degree-of-freedom sensing gloves under the two virtual reality devices are instructed to send a touch feedback signal of corresponding strength to the user; The information interaction adjustment module is used to adjust the information interaction status between the training service platform and the two virtual reality devices when no conflict event occurs, including: When no conflict event occurs, the information interaction rate between the practical training service platform and the two virtual reality devices is adjusted based on the available communication bandwidth between the practical training service platform and the two virtual reality devices.

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