阅读说明：本技术 一种实时动态追踪的游戏手套 (Game gloves that real-time developments were tracked ) 是由 刘礼 冉孟元 于 2019-09-02 设计创作，主要内容包括：本发明公开了一种实时动态追踪的游戏手套,主要包括手套本体、感知模块、控制模块、通信模块、供电模块和游戏主机；感知模块主要包括弯曲传感器和九轴惯性传感器；控制模块对接收到的手指部弯曲信号和手掌部运动信号进行数据预处理和姿态解算,得到姿态解算结果,从而实时监测手套本体的姿态变化,并将姿态解算结果发送至游戏主机；控制模块通过通信模块接收游戏主机的指令信号。本发明能实时地感知手指和手掌的姿态变化,追踪手部移动轨迹,从而实现基于手套的高效精确游戏控制。(The invention discloses a real-time dynamic tracking game glove which mainly comprises a glove body, a sensing module, a control module, a communication module, a power supply module and a game host; the sensing module mainly comprises a bending sensor and a nine-axis inertial sensor; the control module performs data preprocessing and attitude calculation on the received finger bending signal and the received palm movement signal to obtain an attitude calculation result, so that the attitude change of the glove body is monitored in real time, and the attitude calculation result is sent to the game host; the control module receives the command signal of the game host through the communication module. The invention can sense the posture change of fingers and palms in real time and track the moving track of hands, thereby realizing efficient and accurate game control based on gloves.)

1. The utility model provides a real-time developments pursuit's recreation gloves, its characterized in that mainly includes gloves body (1), perception module (2), control module (3), communication module (4), power module (5) and game host computer.

The glove body (1) comprises a palm part and finger parts;

the sensing module (2) monitors the posture change of the glove body (1) in real time;

the sensing module (2) mainly comprises a bending sensor and a nine-axis inertial sensor;

the bending sensor is arranged on the finger part, monitors the bending degree of the finger part, obtains a finger part bending signal and sends the finger part bending signal to the control module (3);

the nine-axis inertial sensor is arranged at the palm part, monitors the motion state of the palm part, obtains a palm part motion signal and sends the palm part motion signal to the control module (3);

the control module (3) performs data preprocessing and attitude calculation on the received finger bending signal and the palm movement signal to obtain an attitude calculation result, and sends the attitude calculation result to the game host;

after the game host acquires the attitude data, calculating the motion trail of the palm part by using a pendulum model stored in a readable storage medium of the game host;

the power supply module (5) supplies power to the sensing module (2), the control module (3) and the communication module (4).

2. A real-time dynamically tracked gaming glove as defined in claim 1, wherein: the communication module (4) is a wireless communication module or a wired serial port communication module.

3. A real-time dynamically tracked gaming glove as defined in claim 1, wherein: the game host mainly comprises a computer, a game machine and a mobile phone.

4. A real-time dynamically tracked gaming glove as defined in claim 1, wherein: the power supply module (5) comprises a voltage stabilizing module and a lithium battery;

the voltage of the lithium battery is stabilized by the voltage stabilizing module and then supplies power to the sensing module (2), the control module (3) and the communication module (4).

5. A real-time dynamically tracked gaming glove according to claim 1 or 2, wherein: the bending sensor is movable within a range of the finger portion;

the nine-axis inertial sensor is movable within the palm range;

the bending sensor and the nine-axis inertial sensor are detachable.

6. A real-time dynamically tracked gaming glove as defined in claim 1, wherein: the nine-axis inertial sensor comprises a three-axis gyroscope, a three-axis acceleration sensor and a three-axis geomagnetic sensor.

7. A real-time dynamically tracked game glove according to claim 1 or 6, wherein the control module (3) performs the following main steps of attitude calculation on the received palm motion signal:

1) filtering the hand palm movement signal based on Kalman filtering, which mainly comprises the following steps:

1.1) predicting the current palm motion state X (k | k-1) through the palm motion state X (k-1| k-1) at the last moment, namely:

X(k|k-1)＝A·X(k-1|k-1)+B·U(k) (1)

in the formula, A and B are Kalman filtering system parameters; u (k) is the control quantity of the current palm motion state;

the covariance P (k | k-1) of the current palm motion state X (k | k-1) is as follows:

P(k|k-1)＝A·P(k-1|k-1)A^T+Q (2)

wherein P (k-1| k-1) is the covariance of the palm motion state X (k-1| k-1) at the previous time; a. the^TIs the transposed matrix of A; q is the noise of the Kalman filtering system;

1.2) estimating the reference measurement value X (k | k), namely:

X(k|k)＝X(k|k-1)+k_g(k)·(Z(k)-H·X(k|k-1)) (3)

in the formula, k_g(k) Is the k time kalman gain; h is a parameter of the measurement system; z (k) is a signal to be filtered at the moment k;

kalman gain k_g(k) As follows:

k_g(k)＝P(k|K-1)·H^T/(H·P(k|k-1)·H^T+R) (4)

in the formula, R is the covariance of the measured noise at the moment k;

the covariance P (k | k) of the reference measurement value X (k | k) is as follows:

P(k|k)＝(1-k_g(k)·H)·P(k|k-1) (5)

1.3) repeating the steps 1.1 to 1.2 until all the palm motion signals are filtered;

2) the method comprises the following steps of utilizing a three-axis acceleration sensor and a three-axis geomagnetic sensor to carry out initial attitude calculation on hand movement signals, and mainly comprising the following steps of:

2.1) setting the direction of the magnetic north as the positive direction of an X axis of a reference coordinate system, and setting the direction of gravity as the positive direction of a Z axis of the reference coordinate system; representing the motion posture of the palm part by a directional cosine matrix;

2.2) reading with a three-axis geomagnetic sensor

directional cosine matrix

3) the method comprises the following main steps of utilizing a three-axis gyroscope to update the attitude:

3.1) representing the updated attitude of the three-axis gyroscope by adopting quaternion, namely:

in the formula (I), the compound is shown in the specification,

3.2) moving posture of palm

in the formula, q_nNormalizing the value of the current palm motion posture; q. q.s_n-1Normalizing the motion posture of the palm part at the last moment; n represents a time;

4) the error compensation is carried out on the directional cosine matrix, and the main steps are as follows:

4.1) converting the direction cosine matrix into a quaternion form, namely:

q_AM＝a+bi+cj+dK

wherein a, b, c and d are conversion parameters; i. j and K represent imaginary units;

the conversion parameter a, the conversion parameter b, the conversion parameter c and the conversion parameter d are respectively as follows:

after conversion, the direction cosine matrix DCM is as follows:

4.2) calculating quaternion q_AMAnd quaternion q_gDifference therebetween

in the formula, q_AMQuaternion q converted from direction cosine matrix formed by data of triaxial geomagnetic sensor and triaxial acceleration sensor_gQuaternion representing attitude change after data integration of the three-axis gyroscope;

4.3) calculating the unit vector of the coordinate system direction

where re represents the real part and im represents the imaginary part;

4.4) establishing a virtual angular velocity vector

in the formula, S (×) represents a function;

5) updating the quaternion by using a formula (6), a formula (7) and a formula (16), so as to represent the motion posture of the palm part in real time and send the motion posture to the game host;

6) after the game host acquires the attitude data, the motion trail of the palm part is calculated by using a pendulum model stored in a storage medium readable by the game host, namely the pendulum model converts the rotation angle of the palm part into the moving distance by using a trigonometric function, so that the real-time tracking of the motion trail is realized.

8. A real-time dynamically tracked game glove according to claim 1 or 6, wherein the control module (3) performs the following main steps of attitude calculation of the received finger flexion signal:

1) setting a bending threshold epsilon;

2) the bending sensor is connected with a fixed value resistor in series;

3) and measuring the voltage value U at two ends of the bending sensor, judging whether the voltage U is more than or equal to epsilon, if so, judging that the finger is bent, and if not, judging that the finger is not bent.

Technical Field

The invention relates to the field of game equipment, in particular to a game glove capable of dynamically tracking in real time.

Background

Currently, most game control modes are a handle, a mouse and the like. With the development of the gaming industry and the level of hardware, many wearable devices have emerged for game control in order to improve the user's immersion and experience. The patent can track the movement track of the user dynamically in real time, recognize the hand gesture and realize accurate and efficient game control.

The wearable equipment has the problems of high delay, difficult operation and the like at present, can not improve the experience of a player, and even can increase the discomfort in a game.

In addition, the main operation modes of the existing action games are a handle and a mouse, and the operation modes have poor game substitution feeling and complex operation.

Disclosure of Invention

The present invention is directed to solving the problems of the prior art.

The technical scheme adopted for achieving the purpose of the invention is that the game glove capable of realizing real-time dynamic tracking mainly comprises a glove body, a sensing module, a control module, a communication module, a power supply module and a game host.

The glove body comprises a palm part and a finger part.

The sensing module monitors the posture change of the glove body in real time.

The sensing module mainly comprises a bending sensor and a nine-axis inertial sensor.

The bending sensor is arranged on the finger part, monitors the bending degree of the finger part, obtains a bending signal of the finger part and sends the bending signal to the control module.

The nine-axis inertial sensor is arranged at the palm part, monitors the motion state of the palm part, obtains a palm part motion signal and sends the signal to the control module.

Further, the bending sensor is movable within a range of the finger portion.

The nine-axis inertial sensor is movable within the palm region.

The bending sensor and the nine-axis inertial sensor are detachable.

The control module performs data preprocessing and attitude calculation on the received finger bending signal and the received palm movement signal to obtain an attitude calculation result, and sends the attitude calculation result to the game host.

Further, the control module performs attitude calculation on the received palm motion signal mainly as follows:

1) filtering the hand palm movement signal based on Kalman filtering, which mainly comprises the following steps:

1.1) predicting the current palm motion state X (k | k-1) through the palm motion state X (k-1| k-1) at the last moment, namely:

X(k|k-1)＝A·X(k-1|k-1)+B·U(k) (1)

in the formula, A and B are Kalman filtering system parameters. U (k) is the control quantity of the current palm motion state.

The covariance P (k | k-1) of the current palm motion state X (k | k-1) is as follows:

P(k|k-1)＝A·P(k-1|k-1)A^T+Q (2)

in the formula, P (k-1| k-1) is the covariance of the palm motion state X (k-1| k-1) at the previous time. A. the^TIs the transpose of a. Q is the noise of the kalman filter system.

1.2) estimating the reference measurement value X (k | k), namely:

X(k|k)＝X(k|k-1)+k_g(k)·(Z(k)-H·X(k|k-1)) (3)

in the formula, k_g(k) Is the kalman gain. H is a parameter of the measurement system. And Z (k) is a signal to be filtered at the time k.

Kalman gain k_g(k) As follows:

k_g(k)＝P(k|K-1)·H^T/(H·P(k|k-1)·H^T+R) (4)

in the formula, R is the measured noise covariance at the moment k.

The covariance P (k | k) of the reference measurement value X (k | k) is as follows:

P(k|k)＝(1-k_g(k)·H)·P(k|k-1) (5)

1.3) repeating the steps 1.1 to 1.2 until all the palm motion signals are filtered.

2) The method comprises the following steps of utilizing a three-axis acceleration sensor and a three-axis geomagnetic sensor to carry out initial attitude calculation on hand movement signals, and mainly comprising the following steps of:

2.1) setting the direction of the magnetic north as the positive direction of an X axis of a reference coordinate system, and setting the direction of gravity as the positive direction of a Z axis of the reference coordinate system. And expressing the motion posture of the palm part by a directional cosine matrix.

2.2) reading with a three-axis geomagnetic sensor

The first row of the direction cosine matrix, the second row of the Z-axis reading of the reference coordinate system, and the reading of the three-axis acceleration sensor

Is the third column of the direction cosine matrix, in terms of elements

And establishing a direction cosine matrix for the second row of the direction cosine matrix. Reading of Z-axis of reference coordinate system and reading of three-axis geomagnetic sensorAnd performing orthogonal calculation.

Directional cosine matrix

As follows:

3) the method comprises the following main steps of utilizing a three-axis gyroscope to update the attitude:

3.1) representing the updated attitude of the three-axis gyroscope by adopting quaternion, namely:

in the formula (I), the compound is shown in the specification,

representing the palm motion attitude.

The angular velocity measured for the three-axis gyroscope. t is the sampling time. And q is the updated front palm motion posture.

3.2) moving posture of palm

Normalization is carried out, namely:

in the formula, q_nAnd normalizing the value of the current palm motion posture. q. q.s_n-1The normalized value of the motion posture of the palm part at the last moment is obtained. n represents time.

4) The error compensation is carried out on the directional cosine matrix, and the main steps are as follows:

4.1) converting the direction cosine matrix into a quaternion form, namely:

q_AM＝a+bi+cj+dK

wherein a, b, c and d are conversion parameters. i. j and K represent imaginary units.

The conversion parameter a, the conversion parameter b, the conversion parameter c and the conversion parameter d are respectively as follows:

after conversion, the direction cosine matrix DCM is as follows:

4.2) calculating quaternion q_AMAnd quaternion q_gDifference therebetween

Namely:

in the formula, q_AMQuaternion q converted from direction cosine matrix formed by data of triaxial geomagnetic sensor and triaxial acceleration sensor_gAnd integrating the data of the three-axis gyroscope to form quaternion representing the attitude change.

4.3) calculating the unit vector of the coordinate system direction

And the angle of rotation

Namely:

where re denotes the real part and im denotes the imaginary part.

4.4) establishing a virtual angular velocity vector

Namely:

in the formula, S (×) represents a function.

5) And updating the quaternion by using a formula (6), a formula (7) and a formula (16) so as to represent the motion posture of the palm part in real time, and transmitting the motion posture to the game host.

6) After the game host acquires the attitude data, the motion trail of the palm part is calculated by using a pendulum model stored in a storage medium readable by the game host, namely the pendulum model converts the rotation angle of the palm part into the moving distance by using a trigonometric function, so that the real-time tracking of the motion trail is realized.

The control module carries out attitude calculation on the received finger bending signal and comprises the following main steps:

1) a bending threshold epsilon is set.

2) The bending sensor is connected with a fixed value resistor in series.

3) And measuring the voltage value U at two ends of the bending sensor, judging whether the voltage U is more than or equal to epsilon, if so, judging that the finger is bent, and if not, judging that the finger is not bent.

Further, the game host mainly comprises a computer, a game machine and a mobile phone.

After the game host acquires the attitude data, the movement track of the palm part is calculated by using the pendulum model stored in the readable storage medium of the game host.

The control module receives the command signal of the game host through the communication module.

Further, the communication module is a wireless communication module or a wired serial communication module.

The power supply module supplies power to the sensing module, the control module and the communication module.

Further, the power supply module comprises a voltage stabilizing module and a lithium battery.

And the voltage of the lithium battery is stabilized by the voltage stabilizing module and then supplies power to the sensing module, the control module and the communication module.

The technical effect of the present invention is undoubted. The invention provides a wired/wireless dual-mode game glove capable of dynamically tracking in real time, which is characterized in that a plurality of sensors are integrated into the glove, and the posture change of fingers and palms can be sensed in real time and the moving track of hands can be tracked by matching with a low-delay and high-recognition-rate situation sensing algorithm, so that efficient and accurate game control based on the glove is realized.

Drawings

FIG. 1 is a block diagram of a game glove with real-time dynamic tracking;

FIG. 2 is a schematic view showing the structure of a real-time dynamically tracked game glove according to example 4;

FIG. 3 is a schematic view I of the usage status of the game glove dynamically tracked in real time according to the embodiment 4;

FIG. 4 is a schematic view of the usage status of the game glove dynamically tracked in real time in example 4;

FIG. 5 is a schematic view of the usage state III of the real-time dynamically tracked game glove in example 4;

FIG. 6 is a schematic view IV of the usage status of the game glove dynamically tracked in real time according to the embodiment 4;

in the figure: the glove comprises a glove body 1, a sensing module 2, a control module 3, a communication module 4 and a power supply module 5.

Detailed Description

The present invention is further illustrated by the following examples, but it should not be construed that the scope of the above-described subject matter is limited to the following examples. Various substitutions and alterations can be made without departing from the technical idea of the invention and the scope of the invention is covered by the present invention according to the common technical knowledge and the conventional means in the field.