TWI654539B - Virtual reality interaction method, device and system - Google Patents

Abstract

The invention provides a virtual reality interaction method, device and system. The virtual reality interaction method includes: continuously acquiring image information in front of a user; identifying a preset interactive object by identifying a preset identifier in the image information, and a surface of the preset interactive object having one or more The preset identifier; identifying a user's hand movement through the image information; and simulating a user's action on the preset interactive object in a virtual reality environment based on the hand movement and the position of the preset interactive object Interaction. The virtual reality interaction method provided by the present invention can accurately simulate the user's interaction with real objects in the virtual reality environment, thereby improving the user experience of the virtual reality.

Description

Virtual reality interaction method, device and system

The present invention relates to the field of virtual reality technology, and in particular, to a virtual reality interaction method, device, and system for accurately analogizing user interaction with real objects.

With the development of science and technology, virtual reality technology has been increasingly used in life.

In the prior art, when a user wishes to obtain a realistic interactive experience with a real object in a virtual environment, it often needs to be implemented by wearing a locator on his hand or by other special electronic instruments or manipulators. When a user needs to interact with a real object in a virtual reality environment, such as reading a virtual book, the existing technology cannot provide a convenient operation mode for reading a virtual book in a virtual world.

Therefore, there is a need for an accurate analogy of a user's interaction with a real object.

It should be noted that the information disclosed in the background section above is only used to enhance the understanding of the background of the present invention, and therefore may include information that does not constitute the prior art known to those of ordinary skill in the art.

According to the above, when reading a virtual book, the prior art cannot well combine the position of the user's hand movements with the position of the virtual object to resolve its operational relationship, so as to achieve convenient operations, such as flipping book pages.

Therefore, the object of the present invention is to provide a virtual reality interaction method, device and system for accurately analogizing the interaction between a user and a real object, which is used to overcome at least to a certain extent caused by the limitations and defects of related technologies. Or multiple questions.

According to a first aspect of the embodiments of the present invention, a virtual reality interaction method is provided, including: continuously acquiring image information in front of a user; identifying a preset interactive object by identifying a preset identifier in the image information, so that The surface of the preset interactive object has one or more of the preset identifiers; the user's hand motion is identified through the image information; and the position of the preset interactive object is virtualized according to the hand motion and the position of the preset interactive object. An interactive action of a user on the preset interactive object is simulated in a real environment.

In an exemplary embodiment of the present invention, the identifying a preset interactive object includes identifying a position and / or a surface state of the preset interactive object.

In an exemplary embodiment of the present invention, the identifying a user's hand motion includes identifying a hand posture and / or a hand position.

In an exemplary embodiment of the present invention, the preset identifier includes virtual content information, and identifying the preset identifier in the image information further includes identifying the virtual content information.

According to a second aspect of the embodiments of the present invention, a virtual reality interaction device is provided, including:

Image acquisition module for continuously acquiring image information in front of users;

An identification recognition module, configured to identify a preset interactive object by identifying a preset identification in the image information, and a surface of the preset interactive object has one or more of the preset identifications;

A gesture recognition module, configured to identify a user's hand motion through the image information;

The image output module is configured to simulate a user's interaction with the preset interactive object in a virtual reality environment according to the position of the hand and the position of the preset interactive object.

In an exemplary embodiment of the present invention, the identifying a preset interactive object includes identifying a position and / or a surface state of the preset interactive object.

In an exemplary embodiment of the present invention, the identifying a user's hand motion includes identifying a hand posture and / or a hand position.

In an exemplary embodiment of the present invention, the preset identification includes virtual content information, and the identification identification module is further configured to identify the virtual content information.

In an exemplary embodiment of the present invention, the method further includes: a database module for recording a correspondence between the preset identifier and the virtual content information.

According to the third-party vendor embodiment of the present invention, a virtual reality interactive system is provided, including: a virtual reality display device for displaying a virtual reality image to a user; a preset interactive object for assisting identification of the user's Interactive actions; and, a virtual reality interactive device as described above.

According to a fourth aspect of the embodiments of the present invention, there is provided an electronic device including: one or more processors; a storage device for storing one or more programs, and when the one or more programs are used by the one or more programs When the two processors execute, the one or more processors are caused to implement the foregoing virtual reality interaction method.

According to a fifth aspect of the embodiments of the present invention, a computer-readable medium is provided, on which a computer program is stored, and when the program is executed by a processor, the foregoing virtual reality interaction method is implemented.

According to a sixth aspect of the embodiments of the present invention, a virtual reality interaction method is provided, including: acquiring image information of a preset interactive object, a surface of the preset interactive object having a preset identifier, and identifying according to the preset identifier. The image information acquires at least one parameter of the preset interactive object; and performs a preset cross-interaction operation according to the at least one parameter.

In an exemplary embodiment of the present invention, the at least one parameter includes one or more of a bending duration, a bending direction, and a bending shape of the preset interactive object.

In an exemplary embodiment of the present invention, the preset interaction operation includes one or more of page backward, page forward, continuous page backward, and page forward operations.

In an exemplary embodiment of the present invention, the preset interactive object is a book made of a flexible material, which includes at least one page, and a surface of the at least one page has a plurality of the preset identifiers.

In an exemplary embodiment of the present invention, recognizing the image information according to the preset identifier, and obtaining at least one parameter of the preset interactive object includes: selecting a plurality of the preset information on the at least one page. Set a first identifier and a second identifier in the identifier; and respectively obtain a first normal vector of the first identifier and a second normal vector of the second identifier according to the position coordinates of the first identifier and the second identifier ; Determining an angle between the first identifier and the second identifier according to the first normal vector and the second normal vector.

In an exemplary embodiment of the present invention, performing the preset cross-interaction operation according to the at least one parameter includes: determining whether a curve of the included angle changing with time falls within a predefined area; when the included angle changes with time When the changed curve falls within the predefined area, a page backward operation is performed.

In an exemplary embodiment of the present invention, the predefined area is determined by a predefined first curve and a second curve, and intersection points of the first curve and the second curve with a time axis, respectively.

In an exemplary embodiment of the present invention, performing the preset cross-interaction operation according to the at least one parameter includes: when the included angle is greater than a first threshold and the duration exceeds a preset time, performing a continuous page-back operation.

In an exemplary embodiment of the present invention, when the included angle is greater than a first threshold and the duration exceeds a preset time, performing a continuous page backward operation includes: when the included angle is greater than or equal to the first threshold and less than When the second threshold value, the continuous page turning operation is performed according to the first page turning animation speed; and / or when the included angle is greater than or equal to the second threshold value and less than the third threshold value, performing according to the second page turning animation speed The continuous page-back operation; and / or when the included angle is greater than or equal to the third threshold value and less than a fourth threshold value, the continuous page-back operation is performed at a third page-turning animation speed; and / or when When the included angle is less than the first threshold, the continuous page-back operation is stopped.

According to a seventh aspect of the embodiments of the present invention, a virtual reality interaction device is provided, including: an image acquisition module for acquiring image information of a preset interactive object, and a surface of the preset interactive object has a preset identifier A parameter acquisition module configured to identify the image information according to the preset identifier and acquire at least one parameter of the preset interactive object; an interactive execution module configured to perform preset communication according to the at least one parameter Interaction.

According to an eighth aspect of the embodiments of the present invention, there is provided an electronic device including: one or more processors; a storage device for storing one or more programs, and when the one or more programs are used by the one or more programs When the two processors execute, the one or more processors are caused to implement the foregoing virtual reality interaction method.

According to a ninth aspect of the embodiments of the present invention, a computer-readable medium is provided, on which a computer program is stored. When the program is executed by a processor, the foregoing virtual reality interaction method is implemented.

The virtual reality interaction method of the present invention judges the position of the preset interactive object and the user's hand motion by identifying the preset identification on the preset interactive object, and accurately locates the preset interactive object and the user's hand and preset interaction The relative positional relationship of objects, so as to accurately simulate the user's interaction with real objects in the virtual reality environment, which improves the user experience of the virtual reality.

It should be understood that the above general description and the following detailed description are merely exemplary and explanatory, and should not limit the present invention.

Example embodiments will now be described more fully with reference to the accompanying drawings. However, the exemplary embodiments can be implemented in various forms and should not be construed as being limited to the examples set forth herein; rather, the embodiments are provided so that the present invention will be more comprehensive and complete, and the concept of the exemplary embodiments will be fully conveyed to Those skilled in the art. The described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a thorough understanding of the embodiments of the present invention. However, those skilled in the art will realize that the technical solutions of the present invention may be practiced without omitting one or more of the specific details, or other methods, components, devices, steps, etc. may be adopted. In other cases, well-known technical solutions are not shown or described in detail to avoid obscurity and obscure aspects of the present invention.

In addition, the drawings are merely schematic illustrations of the present invention and are not necessarily drawn to scale. The same reference numerals in the drawings represent the same or similar parts, and thus repeated descriptions thereof will be omitted. Some block diagrams shown in the drawings are functional entities and do not necessarily have to correspond to physically or logically independent entities. These functional entities can be implemented in software, or implemented in one or more hardware modules or integrated circuits, or implemented in different networks and / or processor devices and / or microcontroller devices These functional entities.

Hereinafter, an exemplary embodiment of the present invention will be described in detail with reference to the accompanying drawings.

FIG. 1 is a flowchart of a virtual reality interaction method according to the present invention. Referring to FIG. 1, the virtual reality interaction method 100 may include:

In step S102, image information in front of the user is continuously acquired.

Step S104: Identify a preset interactive object by identifying a preset identifier in the image information, and a surface of the preset interactive object has one or more of the preset identifiers.

In step S106, the user's hand movements are identified through the image information. .

Step S108: According to the hand motion and the position of the preset interactive object, simulate a user's interactive action on the preset interactive object in a virtual reality environment.

A highly immersive mixed reality can be constructed according to the positions and orientations of the preset interactive objects calculated according to the above steps, the virtual content associated with the preset identification, and the user's gestures and their positions and interaction results in the system. Experience.

The virtual reality interaction method 100 of the present invention judges the position of the preset interactive object and the user's hand motion by identifying the preset identifier on the preset interactive object, and accurately locates the preset interactive object and the user's hand and the preset. The relative position relationship of the interactive objects, so as to accurately simulate the user's interactive actions on the real objects in the virtual reality environment, and improve the user experience of the virtual reality.

The above virtual reality interaction method is described in detail in combination with specific embodiments.

FIG. 2 schematically illustrates a schematic diagram of a virtual reality helmet (VR, Virtual Reality) according to an exemplary embodiment of the present invention, and may be, for example, a head-mounted display (HMD). The helmet 200 may include a virtual reality display device 202 and an image acquisition device (camera) 204.

The above method 100 may be implemented by wearing a virtual reality head-mounted display (HMD). The virtual reality head-mounted display of the present invention includes one or more image acquisition devices, such as cameras, which can be mounted on the head-mounted display in a built-in or external form for capturing in front of the HMD. Environment to continuously obtain image information in front of users.

HMD generally has two display screens, which are located in front of the eyes, respectively, to display the image output results of the virtual reality system. In this system, there will also be a processor and other related modules, which are used to perform the calculation work of each module in real time and display the rendering results on the display screen of the HMD. The processor and other related modules may be built in the HMD itself, or may be wired or wirelessly connected to the HMD as an external device to transmit data.

In a general virtual reality system, when the user brings the HMD, the user's vision can be almost completely blocked to isolate the external light source. In addition, in the virtual reality system of the present invention with a camera HMD, the camera can capture the external environment seen by the user. The cameras mentioned in this embodiment may be cameras commonly used in VR and AR systems such as RGB-based cameras, (RGB-D) cameras or binocular cameras.

To provide users with a mixed reality experience, objects that the user sees or can interact with in front of the HMD should be displayed on the display screen in the HMD as virtual objects. One method is to track the position, orientation, and attitude of a preset interactive object by computing computer vision algorithms on the images captured from the HMD's camera. Another method is to attach a sensor to a preset interactive object. Under the premise of not relying on the HMD and additional sensors for preset interactive objects, the virtual reality interaction method 100 can provide a mixed reality experience through the first method.

FIG. 3 is a schematic diagram illustrating a preset identifier in an exemplary embodiment of the present invention. Referring to FIG. 3, the preset identifier may be a two-dimensional identifier including a two-dimensional code, a barcode, or other two-dimensional patterns, or other identifiers that can be recognized by a virtual reality image acquisition device and can be subsequently processed by a processor. The identity of the analysis. Each of the preset identifiers has an independent identification (ID) to distinguish it from other preset identifiers.

In order to improve the robustness of the system in tracking the position, orientation, and different attitudes of the preset interactive object, the preset logo may be printed on the surface of the preset interactive object. The combination of the preset identifier and the preset interactive object may be printing or pasting an image (such as AprilTag) on the preset interactive object, or attaching the surface of the preset interactive object in any way.

The preset interactive object can be, for example, a booklet or a book, or an object similar to a booklet or a book made of hard or soft materials, which can be one or more pages, or can be made into a foldable form. . The booklet can be used as a target tracking object, according to different designs and required display materials. Based on the preset logo may be obscured by other objects (such as hands), and in order to increase the accuracy of tracking the position of the object, multiple preset logos can be printed or pasted on the booklet of each page. In one embodiment, the booklet may be a single page and printed with one or more preset logos; in another embodiment, the booklet may be a flipable front and back page with one or more printed on both sides Preset identification; in another embodiment, the booklet may be two or more pages that can be folded and each page is printed with one or more preset identifications. For example, FIG. 4 schematically shows a schematic diagram of a single-page booklet in this exemplary embodiment; FIG. 5 schematically shows a schematic diagram of a multi-page booklet in this exemplary embodiment.

The position and orientation of the one or more preset marks can be determined based on the images of the one or more preset marks in the obtained image information, and the position of the booklet can be calculated according to their relative position to the booklet And its orientation. This relative position data can be predefined, or the corresponding information in the database can be found by the unique code of the preset identifier.

Based on the position and orientation of the booklet obtained above, a virtual booklet can be displayed in the HMD based on these materials. In order to further enhance the immersion, in addition to the position and orientation, the real size of the booklet and its virtual size displayed in the helmet can correspond to 1: 1, or it can be based on a fixed ratio or other that can make the user feel highly immersed Corresponding to the nonlinear proportion.

If there are multiple pages in this booklet, by tracking the preset logo, when the user flips the booklet to the next page, the virtual booklet will display the contents of this page accordingly. In this scenario, the page numbers of the virtual booklet and the physical booklet need to be consistent. However, gesture recognition can reduce the number of pages required for physical booklets. When the user performs a page turning gesture, the page turning of the virtual booklet can be triggered and the process and result of page turning can be displayed. Therefore, this method can support users to simulate browsing an unlimited number of virtual brochures in a virtual environment by operating a physical brochure of at least one page.

In addition to displaying the text and pictures generally in the physical brochure, multimedia content (such as animation, video, sound), 3D content and 360 virtual reality content can be displayed in the virtual brochure, such as in a virtual brochure or in a virtual brochure The position in the virtual space corresponding to the virtual booklet. Use gestures or other control devices to interact with brochures or other objects in the system to display the content or perform the interaction.

FIG. 6 is a schematic diagram showing a hand blocking an identification on a booklet in an exemplary embodiment of the present invention. The photos obtained by the camera can be used to read the unique code (ID) of the preset identification on the booklet, and calculate the position of the booklet relative to the camera and its orientation.

Through the computer vision tracking algorithm in this module, the system can track the target objects appearing in the camera, such as brochures or other similar objects. The tracking algorithm extracts key features of this object, such as color, edges, texture, etc. This is a subject that has been thoroughly studied. In order to provide a high-quality mixed reality system, the tracking algorithm of this module needs to be able to achieve high accuracy (such as millimeter level), in different types of objects (shape, color, surface) and different surrounding environments (such as lights, The background) has a high robustness performance, and the results are calculated in high real-time (such as up to 60 frames / second).

In order to avoid the above problems, we attach or print a known pattern on a preset interactive object. Based on this known pattern, its physical size, and camera parameters (such as focal length, and lens type), we can use geometric graphics to calculate the position and orientation of this pattern relative to the camera, and then use the pattern relative to the Set the position and orientation of the interactive object to calculate the position and orientation of the object relative to the camera.

An example of such a pattern is April Tag. Utilizing the high computing performance of modern high-speed central processors and general-purpose graphics processors, pattern decoding and its position calculations can be performed in real time (eg, less than 1 / 60th of a second). In order to avoid user dizziness and provide a high refresh rate (such as 60Hz), such real-time calculation is necessary in VR and AR (Augmented Reality, Augmented Reality) systems.

In addition, there are other methods that can improve the quality of tracking. For example, it can be a prediction method, which is used to predict the results of the next tracking and to improve the response speed of the system. Or it can also be the smoothing and buffering method: it is used to pass the movement data of the previous object and filter or smooth the noise algorithm to reduce the occurrence of tracking errors, rapid movement of the object or other poor picture quality. The error.

The photos that can be obtained by the camera are used to identify the hand gesture and its position.

Hands are the most natural way for users to interact with the outside world. This system includes a hand position tracking and gesture recognition module.

RGB cameras can be used to capture 2D scenes because they are affordable and are the most widely used camera type on the market. The hand position and the tracking and recognition described generally require background segmentation and positioning. However, it is difficult to obtain highly reliable hand positions and gestures by simply using the information in the 2D photos, because 1) the hands are non-rigid objects, 2) the skin color of different races and the skin of different people Texture, 3) lighting conditions in different environments, 4) interference of background objects in different environments.

However, other information in this system can be used to improve results in this regard. When the user interacts with the booklet in the system, because the user's hand is operated above the booklet, one or a series of preset logos in the booklet will be blocked by the moving hand, so that the image of the preset logo is not Full image. When multiple hand candidate regions are detected in the system, filtering can be performed based on whether the blocked preset image and different candidate hand positions overlap. This provides more reliable tracking results than the default logo blocking information with only the hand position and no booklet.

Meanwhile, in one embodiment, the system includes a model capable of identifying skin color. However, because of the different skin color characteristics of different races and different lighting environments, users can choose to build their own skin color models. The following describes this process:

Instruct the user to bring a helmet (HMD) and place the booklet in front of the helmet camera (such as on the front desk or hold it by hand). At the same time, the system calculates the position of the booklet through the coded tracking module.

The helmet is displayed above the virtual booklet, and an area is displayed to guide the user to cover his hand over it and stay for a short time (such as 5 seconds).

The system can determine whether the hand has stayed on this area by, for example, the color change before and after the coverage, or whether the preset logo on the area has been covered.

After the system detects that the hand is covered in this area, the color range of the hand is obtained through color segmentation. Using this information, an accurate hand segmentation model based on color can be established. Because this model is based on the user's skin color characteristics and environment. Therefore, the accuracy of subsequent hand segmentation can be improved.

7 to 11 are schematic diagrams schematically illustrating a hand calibration process in an exemplary embodiment of the present invention. Refer to Figures 7 to 11:

In Figure 7, the user is guided to place his hand on the booklet.

In FIG. 8, when the user moves his hand over the booklet, the color of the indication mark changes from red to green.

In Figure 9, the user is asked to hold their hands on the brochure for a while, and the calculation process is displayed on the screen.

In Figure 10, the hand positioning process is about to be completed and the hand shown on the screen is white.

In Figure 11, hand positioning is complete and the color-based hand segmentation model is calibrated.

In addition, if the HMD has a depth camera (RGB-Dcamera), the hand segmentation and its 3D position result can be directly obtained from the image with depth information through RGB-D.

After obtaining the results of the hand segmentation, the system recognizes the gesture. Gesture recognition can be achieved by techniques such as contour extraction or graphic classifiers. After the system recognizes a gesture, it will trigger a relative command, such as a page turning or clicking command.

In order to distinguish the gestures supported by the system from the general hand movements of the user, an activation sequence can be defined, requiring the user to activate gesture commands according to the designed activation sequence. On the screen of the virtual helmet, the user will get feedback during the startup process.

12 to 15 schematically illustrate a process of starting or opening an object by using a gesture command in an exemplary embodiment of the present invention.

The user can see a pointing operation icon such as a thumb icon or another shape icon in the center of the page in the virtual booklet. When the virtual booklet corresponds to the physical booklet, the user can move his finger to the center of the booklet to initiate the action. At this time, a green dot can be displayed to indicate the position of the user's finger.

As a sequence of starting a gesture command, the user may first be required to hold the finger at the position shown in the figure for a preset time. On the screen, a circle or a circle, for example, which gradually becomes complete can be displayed at the icon position to remind the user how long it is before he can remove his finger to activate or open the object. If the user moves his finger outside the area shown in the figure during this process, the gesture command will not be activated.

If the user follows the startup procedure, the action will be initiated. At this time, objects corresponding to the position of the finger, such as pictures, photos, videos, sounds, 3D stereo objects, etc., can be displayed in the virtual environment.

16 to 21 schematically illustrate a process of simulating a user to turn pages in an exemplary embodiment of the present invention.

Referring to FIGS. 16 and 17, when the user is at rest, the finger is outside the area of the booklet. FIG. 17 shows an image displayed in front of the user in the state of FIG. 16.

Referring to FIGS. 18 and 19, when the user wants to turn to another page, he can move his finger or hand to the right edge of the booklet. On the screen, a slight flip of the page edge is displayed accordingly.

Referring to FIG. 20 and FIG. 21, it is shown that the user performs a complete starting action by moving a finger or a hand to the right for a preset period of time.

As shown in Figures 18 to 21 above, by monitoring the image of the preset logo on the booklet, such as detecting whether the image of the preset logo is complete, it can be determined whether the user's finger or hand is in the initial state. Cover the preset mark on the right edge of the booklet (Figure 18), and in the final state, the user's finger or hand is a preset mark that covers the middle of the booklet (Figure 21). And by obscuring the position order of the preset markers, it can be determined that the user's finger or hand is moving from right to left, so the virtual booklet displayed in the virtual world can perform a page turning action from right to left .

In addition to the booklet in the virtual world, the booklet described above can also represent other elements or objects. At the same time, by changing the posture of the booklet and the operations described on it, its functions can be further expanded. Not only can it be used as some additional media in the booklet (such as mini games in magazines, interactive experiments in textbooks), but also it can be an independent unit that does not rely on the booklet as a carrier. Here are some examples:

Operation panel for interactive experiments in textbooks (the booklet can be displayed as an operation plane with buttons and other interactive tools);

Advertising mini-games in magazines: Like a car advertisement, you can simulate a booklet as a steering wheel (by moving the booklet left and right to simulate the left and right swing of the steering wheel, the forward and backward movements are used to accelerate or decelerate the car.

22 to 27 schematically illustrate a process of selecting a book by a user in this exemplary embodiment.

First, the user can enter the book selection interface through a preset interactive object (book) held in his hand as a selection tool. Among them, the user can enter the book selection interface by a preset specific gesture operation, or by using the keys on the HMD or a preset interactive object or a touch panel.

The user can move the book in his hand to the display position of the bullseye chart book. This step can be achieved by calculating the 3D relative position of the user and the book.

The user can convert the pose of the book in his hand to the pose of the virtual bull's eye chart book in HMD and confirm this selection intention by holding this action for a while. The tagging interface replaces the original book cover with a bullseye chart book cover.

Corresponding to the above method embodiments, the exemplary embodiment of the present invention further provides a virtual reality interaction device, which can be used to execute the above method embodiments.

FIG. 28 is a block diagram of a virtual reality interactive device according to an exemplary embodiment of the present invention. Referring to FIG. 10, the virtual reality interactive device 300 may include an image acquisition module 302, a logo recognition module 304, a gesture recognition module 306, and an image output module 308.

The image acquisition module 302 may be configured to continuously acquire image information in front of a user, such as a camera.

The identification recognition module 304 may be configured to identify a preset interactive object by identifying a preset identification in the image information, and a surface of the preset interactive object has one or more of the preset identifications.

The gesture recognition module 306 can be used to identify a user's hand movements through the image information.

The image output module 308 may be configured to simulate a user's interaction with the preset interactive object in a virtual reality environment according to the position of the hand and the preset interactive object.

In an exemplary embodiment, the identifying a preset interactive object may include identifying a position and / or a surface state of the preset interactive object.

In an exemplary embodiment, the identifying a user's hand motion may include identifying a hand gesture and / or a hand position.

In an exemplary embodiment, the preset identification may include virtual content information, and the identification identification module is further configured to identify the virtual content information.

In an exemplary embodiment, it may further include a database module for recording a correspondence between the preset identifier and the virtual content information. The virtual content displayed on the HMD corresponding to the ID of the preset identification on the booklet.

Since the functions of each module of the virtual reality device 300 have been described in detail in the corresponding method embodiments, the present invention will not repeat them here.

Based on the above embodiments, the present invention further provides a virtual reality interactive system, which may include: a virtual reality display device for displaying a virtual reality image to a user; a preset interactive object for assisting identification of the user's interaction Actions; and, a virtual reality interactive device as described in the above embodiment.

The virtual reality interaction method, device and system of the present invention determine the position of the preset interactive object and the user's hand motion by identifying the preset identifier on the preset interactive object, and accurately locate the preset interactive object and the user's hand The relative positional relationship with the preset interactive objects accurately simulates the user's interaction with real objects in the virtual reality environment, which improves the user experience of the virtual reality.

FIG. 29 schematically illustrates a flowchart of another virtual reality interaction method in an exemplary embodiment of the present invention. As shown in FIG. 29, the virtual reality interaction method 400 may include the following steps.

In step S402, image information of a preset interactive object is acquired, and a surface of the preset interactive object has a preset identifier.

In an exemplary embodiment, the preset interactive object may be a booklet (also referred to as a “booklet”) made of a flexible material, which may include at least one page, and the surface of the at least one page has multiple Each of the preset identifiers (for example, a positioning tag tag).

In the following embodiments, booklets are used as a physical carrier for operating VR books, and are the main interactive tools. The following embodiments of the invention describe a set of interactions on a booklet.

In step S404, the image information is identified according to the preset identifier, and at least one parameter of the preset interactive object is acquired.

In an exemplary embodiment, the at least one parameter includes one or more of a bending duration, a bending direction, a bending shape, and the like of the preset interactive object.

In an exemplary embodiment, identifying the image information according to the preset identifier, and obtaining at least one parameter of the preset interactive object may include: selecting a plurality of the preset identifiers on the at least one page. The first identifier and the second identifier of the first identifier; obtain the first normal vector of the first identifier and the second normal vector of the second identifier according to the position coordinates of the first identifier and the second identifier; The first normal vector and the second normal vector determine an angle between the first identifier and the second identifier.

In step S406, a preset cross interaction operation is performed according to the at least one parameter.

In an exemplary embodiment, the preset interaction operation includes one or more of page backward, page forward, continuous page backward, page forward continuously, and the like.

It should be noted that, although the preset interaction operation is described as an example of page turning control in the embodiment of the present invention, the present invention is not limited thereto, and any one of them may be defined in advance according to the identified at least one parameter or Various preset interactive operations, such as executing a web page, jumping to the next video, and so on.

In an exemplary embodiment, performing the preset cross-interaction operation according to the at least one parameter includes: judging whether the curve of the included angle changing with time falls within a predefined area; when the curve of the included angle changing with time falls When entering the predefined area, a page-back operation is performed.

In an exemplary embodiment, the predefined area is determined by a predefined first curve and a second curve, and an intersection point of the first curve and the second curve with a time axis, respectively.

In an exemplary embodiment, performing a preset cross-interaction operation according to the at least one parameter includes performing a continuous page-back operation when the included angle is greater than a first threshold and the duration exceeds a preset time.

In an exemplary embodiment, when the included angle is greater than the first threshold and the duration exceeds a preset time, performing a continuous page backward operation includes: when the included angle is greater than or equal to the first threshold and less than a second threshold , Performing the continuous backward page turning operation according to a first page turning animation speed; and / or when the included angle is greater than or equal to the second threshold value and less than a third threshold value, performing the continuous backward page turning speed according to a second page turning animation speed Page turning operation; and / or when the included angle is greater than or equal to the third threshold value and less than the fourth threshold value, the continuous page turning operation is performed at a third page turning animation speed; and / or when the included angle is less than the When the first threshold is specified, the continuous backward page turning operation is stopped.

The embodiment of the above invention will be described by way of example in FIGS. 30-42. In the following embodiments, the page turning control by bending the pages of the booklet is taken as an example for illustrative description.

In the embodiment of the present invention, the booklet includes two pages on the left and right as an example for description, and a plurality of positioning labels are printed on opposite inner surfaces of the two pages on the left and right. The booklet itself is made of flexible material, so it can be deformed. Under normal circumstances, the pages on both sides of the booklet are not deformed, as shown in Figure 30.

In the general state of the booklet shown in Figure 30, the user can bend the page with his hand. For example, when the user bends the right page of the booklet inward, as shown in FIG. 31; when the user bends the left page of the booklet inward, as shown in FIG. 32.

Due to the good elasticity of the material on both sides of the booklet, it can return to its original state when it is removed from the hand, as shown in Figure 30.

When a page of a booklet is bent, its bending degree and bending angle can be detected by using a camera or a camera or other hardware equipment. The duration, direction, and shape of this bending can be defined separately or in combination as an interactive operation.

When the booklet is bent and deformed, a part of the positioning tags are blocked. The positions and normal vectors of these positioning tags cannot be directly calculated from the spatial geometric relationship. Because the position of the positioning label on the booklet is predetermined, and the bending deformation of the booklet has a large limit, that is, the degree of freedom of deformation is very low, you can infer other invisible positioning from the spatial position and normal vector of the visible positioning label on the page Label position and normal vector.

FIG. 33 is a schematic diagram illustrating that a right page of another booklet is bent inward in an exemplary embodiment of the present invention.

For example, when the booklet is bent and deformed as shown in FIG. 33, the three positioning labels on the inner side of the right page cannot be captured by the camera. However, the spatial positions and normal vectors of these invisible tags on the right page can be inferred from the positions of the visible positioning tags on the left page and the positions and normal vectors of the visible positioning tags on the right page.

FIG. 34 is a schematic diagram schematically illustrating a normal vector of a positioning label on a booklet in an exemplary embodiment of the present invention.

In the embodiment of the present invention, it is assumed that a real-time image of a booklet held by a user can be obtained by using a VR front camera (as shown in FIG. 34). Using the spatial geometric relationship, the spatial position of each positioning tag (tag) relative to the camera can be calculated. And normal vector direction N = The spatial position of the camera is provided by the VR system. Then, the position of the i-th positioning label in the world coordinates can be calculated And normal vector .

It is assumed here that the orientation of the visible side of the positioning label is defined as the normal vector direction of the positioning label. As shown in Figure 34.

Which assumes:

1.The position of the HMD provided by the VR system in the world coordinates is , The rotation pose in world coordinates is .

2.The position and attitude of the camera relative to the HMD are with .

3.The position and attitude of the i-th positioning tag relative to the camera are with (The calculation of the position and attitude of the positioning tag relative to the camera space has existing algorithms in the industry, and is not repeated here.

Then, the position and attitude of the i-th positioning label in the world coordinate system are:

After obtaining the pose of the i-th positioning label, the normal vector of the i-th positioning label can be obtained :

among them The position and posture of the positioning labels are with Time normal vector.

FIG. 35 schematically illustrates a first normal vector of a first identifier and a second normal vector of a second identifier in an exemplary embodiment of the present invention.

As shown in FIG. 35, two positioning labels whose positions are shown in FIG. 35 are selected, and their normal vectors are with .

In the embodiment of FIG. 35, the middle invisible positioning tag among the three leftmost columns on the right page of the booklet is selected as the first identification, and among the three positioning tags on the rightmost column of the right page of the brochure, The visible positioning label in the middle is used as the second identifier. The advantage of this selection is that, on the same page, when the page is bent and deformed, the angle between the normal vectors of the two positioning labels in the leftmost column and the rightmost column. The most obvious change is helpful to identify the degree of change of the included angle.

However, the present invention is not limited to this. In other embodiments, any two positioning tags on the same page where bending deformation occurs may be selected as the first identifier and the second identifier.

FIG. 36 is a schematic diagram illustrating that a right page is bent and deformed with time in an exemplary embodiment of the present invention.

In the embodiment shown in FIG. 36, an angle between the first normal vector and the second normal vector selected in the foregoing FIG. 35 is used to define a degree and a direction in which the right page is bent and deformed over time.

FIG. 37 is a schematic diagram showing the change in the angle between the first normal vector and the second normal vector based on FIG. 36 over time.

Assume the above first normal vector And the second normal vector The angle between them is recorded as . The function over time is written as . For example, when the page changes over time as shown in Figure 36, The shape is shown in Figure 37.

In some embodiments, the operation of bending the right page inward into a go to next page operation as shown in FIG. 36 may be predefined. However, the present invention is not limited to this.

FIG. 38 is a schematic diagram showing that the included angle curve shown in FIG. 37 falls within a predefined area in the embodiment of the present invention.

In the embodiment of FIG. 38, when the If the curve falls in , When in a predefined area surrounded by line segments t ₁ t ₂ , you can define a page backward operation.

among them The value range of can be [0,180] degrees. It is assumed in the embodiments of the present invention = 10. When the page is bent To Begin to check whether subsequent operations meet a page turning action. when No judgment is made. This is to avoid some slight movements that cause the page to change slightly and cause misoperation.

Among them, t ₁ defines the minimum duration of page bending as a page turning operation, and the range of values can be [0,60] seconds. In the embodiment of the present invention, t ₁ = 0.1 s.

Among them, t ₂ defines the maximum time for page bending as a page turning operation, and the range of values can be [t ₁ , 60] seconds. In the embodiment of the present invention, t ₂ = 1 s.

In the embodiment of the present invention, It can be represented by the following formula: ,

among them Possible values are [ ,180 degree. In the embodiment of the present invention, = 15 degrees.

In the embodiment of the present invention, It can be represented by the following formula: ,

among them Possible values are [ ,180 degree. In the embodiment of the present invention, = 45 degrees.

FIG. 39 schematically illustrates another schematic diagram of an included angle curve falling into a predefined area in the embodiment of the present invention.

As shown in Figure 39, where Still the first normal vector And the second normal vector Angle between. The area R (OE ₁ E ₂ O) is a predefined area. When the page turns, the page bends the included angle curve in the region R and When they intersect, a page backward operation is triggered. E.g. curve .

In some embodiments, when the left page of the booklet is bent inward to meet certain conditions, a go to previous page operation can be triggered. The implementation process can refer to the above and back page operations. No longer.

FIG. 40 schematically illustrates a schematic diagram of performing a continuous backward page turning operation in an embodiment of the present invention.

As shown in Figure 40, when the right page of the booklet is bent inward to meet certain conditions, a continuous page turning operation can be triggered (also called quick flip forward). In addition, it is also possible to define in advance that the rightward bending angle of the right page satisfies a certain condition, and increases / maintains / decreases the page turning speed or stops page turning.

In the embodiment of the present invention, when And continued to exceed At seconds, the page turning animation starts continuously, The value can be in the range of [0.01, 100] seconds. In the embodiment of the present invention, = 1s.

when , Set the page turning animation speed S ₁ page / s. among them The value range can be [ ,180 degree; The value range can be [0,180] degrees; The value range can be [ ,180 degree.

when , Set the page turning animation speed S ₂ page / s. among them The value range can be [ ,180 degree.

In the embodiment of the present invention, = 10 degrees, = 30 degrees, = 60 degrees, = 90 degrees. However, the present invention is not limited to this.

when , Set the page turning animation speed S ₃ page / s.

when , Set to stop continuous page-back operation.

The value range of S ₁ can be [1,100]. The value range of S ₂ can be [S ₁ , 100]. The value range of S ₃ can be [S ₂ , 100].

In the embodiment of the present invention, S ₁ = 1, S ₂ = 3, and S ₃ = 5.

It should be noted that the values and ranges of the angle, page turning speed, and page turning time can be flexibly adjusted and selected according to the needs of specific applications, and are not limited to the values exemplified. In addition, the triggering, stopping, and increasing, maintaining, and decreasing of page turning speed can be set according to specific needs.

FIG. 41 is a schematic diagram illustrating an included angle curve when a continuous page-back operation is performed in an embodiment of the present invention.

Based on Figure 40, the angle between the normal vectors of the two positioning labels is assumed. The form is shown in Figure 41.

When at time t ₁ And continue = 1s, at time t _s = t ₁ + Quick page turning animation when started;

From t _s to t ₂ , , Page turning animation speed is 1 page / s;

From t ₂ to t ₃ , , Page turning animation speed 3 page / s;

From t ₃ to t ₄ , , Page turning animation speed 5 page / s;

Between t ₄ and t ₅ , , Page turning animation speed 3 page / s;

From t ₅ to t ₆ , , Page turning animation speed 1 page / s;

From t ₆ to t ₇ , , Page turning animation speed 3 page / s;

From t ₇ to t ₈ , , Page turning animation speed 5 page / s;

From t ₈ to t ₉ , , Page turning animation speed 3 page / s;

Between t ₉ and t ₁₀ , , Page turning animation speed 1 page / s;

When t> t ₁₀ , , The page turning animation stops.

FIG. 42 is a schematic diagram illustrating an included angle curve when performing a continuous backward page turning operation in another embodiment of the present invention.

As shown in Figure 42, when , The page turning animation speed can be 1 page / s;

when , The page turning animation speed can be 3page / s;

when , Page turning animation speed can be 5page / s;

when , Stop page turning animation.

In other embodiments, it can also be defined that when the left page of the booklet is bent and meets the preset conditions, a continuous forward page turning operation (quick flip backward) can be triggered. For specific implementation, refer to the above. The continuous page-back operation is not repeated here.

FIG. 43 schematically illustrates a block diagram of another virtual reality interactive device in an exemplary embodiment of the present invention.

As shown in FIG. 43, the virtual reality interactive device 500 may include an image acquisition module 502, a parameter acquisition module 504, and an interactive execution module 506.

The image acquisition module 502 may be configured to obtain image information of a preset interactive object, and a surface of the preset interactive object has a preset identifier.

The parameter acquisition module 504 may be configured to identify the image information according to the preset identifier and acquire at least one parameter of the preset interactive object.

The interaction execution module 506 may be configured to perform a preset interaction operation according to the at least one parameter.

Since the functions of each module of the virtual display interactive device 500 have been described in detail in the corresponding method embodiments, the embodiments of the present invention will not be repeated here.

It should be noted that although several modules or units of the device for performing actions are mentioned in the detailed description above, this division is not mandatory. In fact, according to the embodiment of the present invention, the features and functions of the two or more modules or units described above may be embodied in one module or unit. Conversely, the features and functions of a module or unit described above can be further divided into multiple modules or units to be embodied.

Furthermore, although the various steps of the method of the present invention are described in a specific order in the drawings, this does not require or imply that the steps must be performed in that specific order or that all steps shown must be performed to achieve the desired result. Additionally or alternatively, certain steps may be omitted, multiple steps may be combined into one step for execution, and / or one step may be split into multiple steps for execution, and so on.

FIG. 44 schematically illustrates a structural diagram of an electronic device in an exemplary embodiment of the present invention.

Reference is made to FIG. 44, which illustrates a schematic structural diagram of an electronic device 600 suitable for implementing the embodiment of the present application. The electronic device shown in FIG. 44 is only an example, and should not impose any limitation on the functions and scope of use of the embodiments of the present application.

As shown in FIG. 44, the electronic device 600 includes a central processing unit (CPU) 601 that can be loaded into a random access memory (RAM) according to a program stored in a read-only memory (ROM) 602 or from a storage portion 608 The program in 603 performs various appropriate actions and processes. In the RAM 603, various programs and data required for the operation of the system 600 are also stored. The CPU 601, the ROM 602, and the RAM 603 are connected to each other through a bus 604. An input / output (I / O) interface 605 is also connected to the bus 604.

The following components are connected to the I / O interface 605: an input portion 606 including a keyboard, a mouse, etc .; an output portion 607 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc .; and a speaker; and a storage including a hard disk, etc. Portion 608; and a communication portion 609 including a network interface card such as a LAN card, a modem, and the like. The communication section 609 performs communication processing via a network such as the Internet. The driver 610 is also connected to the I / O interface 605 as needed. A removable medium 611, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 610 as needed, so that a computer program read from it is installed into the storage section 608 as needed.

In particular, according to an embodiment of the present invention, the process described above with reference to the flowchart may be implemented as a computer software program. For example, an embodiment of the present invention includes a computer program product including a computer program borne on a computer-readable medium, the computer program including code for executing a method shown in a flowchart. In such an embodiment, the computer program may be downloaded and installed from the network through the communication section 609, and / or installed from a removable medium 611. When the computer program is executed by a central processing unit (CPU) 601, the above-mentioned functions defined in the system of the present application are executed.

The flowchart and block diagrams in the accompanying drawings illustrate the system architecture, functions, and operations of a system, method, and computer program product according to various embodiments of the present application. In this regard, each block in the flowchart or block diagram may represent a module, a program segment, or a part of code, which contains one or more components for implementing a requirement Executable instructions for logic functions. It should also be noted that in some alternative implementations, the functions noted in the blocks may also occur in a different order than those marked in the drawings. For example, two successively represented boxes may actually be executed substantially in parallel, and they may sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each block in the block diagram or flowchart, and the combination of blocks in the block diagram or flowchart, can be implemented by a dedicated hardware-based system that performs a specified function or operation, Or it can be implemented with a combination of dedicated hardware and computer instructions.

The units described in the embodiments of the present application can be implemented by software, and can also be implemented by hardware. The described unit may also be provided in a processor, for example, it may be described as: a processor includes a sending unit, an obtaining unit, a determining unit, and a first processing unit. The name of these units does not constitute a limitation on the unit itself in some cases. For example, the sending unit can also be described as a "unit that sends a picture acquisition request to a connected server".

As another aspect, the present application also provides a computer-readable medium, which may be included in the device described in the above embodiments; or may exist alone without being assembled into the device. The computer-readable medium carries one or more programs, and when the one or more programs are executed by one of the devices, the device includes: continuously acquiring image information in front of a user; by identifying the image information To identify a preset interactive object, and the surface of the preset interactive object has one or more of the preset identifiers; identify a user's hand motion through the image information; and according to the hand motion With the position of the preset interactive object, a user's interaction with the preset interactive object is simulated in a virtual reality environment.

As another aspect, the present application also provides another computer-readable medium, which may be included in the device described in the foregoing embodiments; or may exist alone without being assembled into the device. The computer-readable medium carries one or more programs. When the one or more programs are executed by one device, the device includes: obtaining image information of a preset interactive object, and a surface of the preset interactive object. Having a preset identifier; identifying the image information according to the preset identifier, obtaining at least one parameter of the preset interactive object; and performing a preset cross-interaction operation according to the at least one parameter.

Those skilled in the art will readily think of other embodiments of the present invention after considering the specification and practicing the invention disclosed herein. This application is intended to cover any adaptations, uses, or adaptations of the present invention. These variations, uses, or adaptations follow the general principles of the present invention and include common general knowledge or conventional technical means in the technical field not disclosed by the present invention. . It is intended that the specification and examples be considered as exemplary only, with the true scope and spirit of the invention being indicated by the appended claims. The above description is only a preferred embodiment of the present invention, and all equivalent changes and modifications made in accordance with the scope of patent application of the present invention shall fall within the scope of the present invention.

100‧‧‧Virtual Reality Interaction Method

S102, S104, S106, S108 ‧‧‧ steps

202‧‧‧Virtual Reality Display Device

204‧‧‧Image acquisition device

300‧‧‧Virtual Reality Interactive Device

302‧‧‧Image Acquisition Module

304‧‧‧Sign Identification Module

306‧‧‧Gesture Recognition Module

308‧‧‧Image Output Module

400‧‧‧Virtual Reality Interaction Method

S402, S404, S406‧‧‧ steps

500‧‧‧Virtual Reality Interactive Device

502‧‧‧Image Acquisition Module

504‧‧‧Parameter acquisition module

506‧‧‧Interactive execution module

600‧‧‧Electronic equipment

601‧‧‧Central Processing Unit

602‧‧‧Read Only Memory

603‧‧‧ Random Access Memory

604‧‧‧Bus

605‧‧‧I / O interface

606‧‧‧ Input section

607‧‧‧Output section

608‧‧‧Storage section

609‧‧‧Communication section

610‧‧‧Driver

611‧‧‧ removable media

FIG. 1 schematically illustrates a flowchart of a virtual reality interaction method in an exemplary embodiment of the present invention. FIG. 2 is a schematic diagram of a virtual reality helmet in an exemplary embodiment of the present invention. FIG. 3 is a schematic diagram illustrating a preset identifier in an exemplary embodiment of the present invention. FIG. 4 schematically illustrates a single-page booklet in an exemplary embodiment of the present invention. FIG. 5 schematically illustrates a multi-page booklet in an exemplary embodiment of the present invention. FIG. 6 is a schematic diagram showing a hand blocking an identification on a booklet in an exemplary embodiment of the present invention. 7 to 11 are schematic diagrams schematically illustrating a hand calibration process in an exemplary embodiment of the present invention. 12 to 15 schematically illustrate a process of starting a gesture command in an exemplary embodiment of the present invention. 16 to 21 schematically illustrate a process of simulating a user to turn pages in an exemplary embodiment of the present invention. 22 to 27 schematically illustrate a process of selecting a book by a user in an exemplary embodiment of the present invention. FIG. 28 schematically illustrates a block diagram of a virtual reality interactive device in an exemplary embodiment of the present invention. FIG. 29 schematically illustrates a flowchart of another virtual reality interaction method in an exemplary embodiment of the present invention. FIG. 30 is a diagram schematically showing a general state of a booklet in an exemplary embodiment of the present invention. FIG. 31 is a schematic diagram illustrating a right page of a booklet being bent inward in an exemplary embodiment of the present invention. FIG. 32 is a schematic diagram showing a left page of a booklet curved inward in an exemplary embodiment of the present invention. FIG. 33 is a schematic diagram illustrating that a right page of another booklet is bent inward in an exemplary embodiment of the present invention. FIG. 34 is a schematic diagram schematically illustrating a normal vector of a positioning label on a booklet in an exemplary embodiment of the present invention. FIG. 35 schematically illustrates a first normal vector of a first identifier and a second normal vector of a second identifier in an exemplary embodiment of the present invention. FIG. 36 is a schematic diagram illustrating that a right page is bent and deformed with time in an exemplary embodiment of the present invention. FIG. 37 is a schematic diagram showing the change in the angle between the first normal vector and the second normal vector based on FIG. 36 over time. FIG. 38 is a schematic diagram showing that the included angle curve shown in FIG. 37 falls within a predefined area in the embodiment of the present invention. FIG. 39 schematically illustrates another schematic diagram of an included angle curve falling into a predefined area in the embodiment of the present invention. FIG. 40 schematically illustrates a schematic diagram of performing a continuous backward page turning operation in an embodiment of the present invention. FIG. 41 is a schematic diagram illustrating an included angle curve when a continuous page-back operation is performed in an embodiment of the present invention. FIG. 42 is a schematic diagram illustrating an included angle curve when performing a continuous backward page turning operation in another embodiment of the present invention. FIG. 43 schematically illustrates a block diagram of another virtual reality interactive device in an exemplary embodiment of the present invention. FIG. 44 schematically illustrates a structural diagram of an electronic device in an exemplary embodiment of the present invention.

Claims (20)

A virtual reality interaction method, comprising: obtaining image information of a preset interactive object, a surface of the preset interactive object having a preset identifier; identifying the image information according to the preset identifier, and obtaining At least one parameter of the preset interactive object; performing a preset cross interaction operation according to the at least one parameter; the preset interactive object is a book made of a flexible material including at least one page, the at least one page The surface has a plurality of the preset identifiers; identifying the image information according to the preset identifiers, and obtaining at least one parameter of the preset interactive object includes: selecting a plurality of the preset identifiers on the at least one page. Set a first identifier and a second identifier in the identifier; and respectively obtain a first normal vector of the first identifier and a second normal vector of the second identifier according to the position coordinates of the first identifier and the second identifier Determining an angle between the first identifier and the second identifier according to the first normal vector and the second normal vector; and performing a preset interaction operation package according to the at least one parameter : Analyzing the graph of changes in angle over time falls within a predefined area; when the angle formed by the curve with the fall time within the predefined area, the page turning operation has been performed. The virtual reality interaction method according to claim 1, wherein the at least one parameter includes one or more of a bending duration, a bending direction, and a bending shape of the preset interactive object. The virtual reality interaction method according to claim 1, wherein the preset interaction operation includes one or more of page backward, page forward, continuous page backward, and page forward operations. . The virtual reality interaction method according to claim 1, wherein the predefined area is defined by a predefined first curve and a second curve, and the first curve and the second curve are respectively related to a time axis. The intersection point is determined. The virtual reality interaction method according to claim 1, wherein performing a preset interaction operation according to the at least one parameter includes: when the included angle is greater than a first threshold and the duration exceeds a preset time, executing a Continuous page-back operation. The virtual reality interaction method according to claim 1, wherein when the included angle is greater than a first threshold and the duration exceeds a preset time, performing a continuous page backward operation includes: when the included angle is greater than or equal to When the first threshold value is less than the second threshold value, the continuous page turning operation is performed according to the first page turning animation speed; and / or when the included angle is greater than or equal to the second threshold value and less than the third threshold value, according to the first Perform the continuous page-back operation at the second page-turning animation speed; and / or perform the continuous page-back operation at the third page-turning animation speed when the included angle is greater than or equal to the third threshold and less than the fourth threshold ; And / or when the included angle is less than the first threshold, stopping the continuous page-back operation. A virtual reality interaction method, comprising: obtaining image information of a preset interactive object, a surface of the preset interactive object having a preset identifier; identifying the image information according to the preset identifier, and obtaining At least one parameter of the preset interactive object; performing a preset cross interaction operation according to the at least one parameter; the preset interactive object is a book made of a flexible material including at least one page, the at least one page The surface has a plurality of the preset identifiers; identifying the image information according to the preset identifiers, and obtaining at least one parameter of the preset interactive object includes: selecting a plurality of the preset identifiers on the at least one page. Set a first identifier and a second identifier in the identifier; and respectively obtain a first normal vector of the first identifier and a second normal vector of the second identifier according to the position coordinates of the first identifier and the second identifier Determining an angle between the first identifier and the second identifier according to the first normal vector and the second normal vector; and performing a preset interaction operation package according to the at least one parameter : When the angle is greater than a first threshold value for more than the preset time, performing a continuous turning operation rearward. The virtual reality interaction method according to claim 7, wherein the at least one parameter includes one or more of a bending duration, a bending direction, and a bending shape of the preset interactive object. The virtual reality interaction method according to claim 7, wherein the preset interaction operation includes one or more of page backward, page forward, continuous page backward, and page forward operations. . The virtual reality interaction method according to claim 7, wherein performing the preset interaction operation according to the at least one parameter includes: judging whether the curve of the included angle changing with time falls within a predefined area; when When the curve of the included angle over time falls within the predefined area, a page-back operation is performed. The virtual reality interaction method according to claim 10, wherein the predefined area is defined by a predefined first curve and a second curve, and the first curve and the second curve are respectively related to a time axis. The intersection point is determined. The virtual reality interaction method according to claim 7, wherein when the included angle is greater than a first threshold and the duration exceeds a preset time, performing a continuous page backward operation includes: when the included angle is greater than or equal to When the first threshold value is less than the second threshold value, the continuous page turning operation is performed according to the first page turning animation speed; and / or when the included angle is greater than or equal to the second threshold value and less than the third threshold value, according to the first Perform the continuous page-back operation at the second page-turning animation speed; and / or perform the continuous page-back operation at the third page-turning animation speed when the included angle is greater than or equal to the third threshold and less than the fourth threshold ; And / or when the included angle is less than the first threshold, stopping the continuous page-back operation. A virtual reality interaction method, comprising: obtaining image information of a preset interactive object, a surface of the preset interactive object having a preset identifier; identifying the image information according to the preset identifier, and obtaining At least one parameter of the preset interactive object; performing a preset cross interaction operation according to the at least one parameter; the preset interactive object is a book made of a flexible material including at least one page, the at least one page The surface has a plurality of the preset identifiers; identifying the image information according to the preset identifiers, and obtaining at least one parameter of the preset interactive object includes: selecting a plurality of the preset identifiers on the at least one page. Set a first identifier and a second identifier in the identifier; and respectively obtain a first normal vector of the first identifier and a second normal vector of the second identifier according to the position coordinates of the first identifier and the second identifier Determining an angle between the first identifier and the second identifier according to the first normal vector and the second normal vector; when the angle is greater than a first threshold and the duration exceeds a preset At a time, performing a continuous page-back operation includes: when the included angle is greater than or equal to the first threshold and less than a second threshold, performing the continuous page-back operation according to a first page-turning animation speed; and / or when When the included angle is greater than or equal to the second threshold value and less than the third threshold value, the continuous page turning operation is performed at a second page turning animation speed; and / or when the included angle is greater than or equal to the third threshold value and less than the third threshold value When the threshold value is four, the continuous page-back operation is performed according to the third page-turning animation speed; and / or when the included angle is less than the first threshold value, the continuous page-back operation is stopped. The virtual reality interaction method according to claim 13, wherein the at least one parameter includes one or more of a bending duration, a bending direction, and a bending shape of the preset interactive object. The virtual reality interaction method according to claim 13, wherein the preset interactive interaction operation includes one or more of page backward, page forward, continuous page backward, and page forward operations. . The virtual reality interaction method according to claim 13, wherein performing the preset intersection interaction operation according to the at least one parameter includes: determining whether a curve of the included angle changing with time falls within a predefined area; When the curve of the included angle over time falls within the predefined area, a page-back operation is performed. The virtual reality interaction method according to claim 16, wherein the predefined area is defined by a predefined first curve and a second curve, and the first curve and the second curve are respectively related to a time axis. The intersection point is determined. The virtual reality interaction method according to claim 13, wherein performing the preset interaction operation according to the at least one parameter includes: when the included angle is greater than a first threshold and the duration exceeds a preset time, executing a Continuous page-back operation. An electronic device, comprising: one or more processors; a storage device for storing one or more programs, and when the one or more programs are executed by the one or more processors, causing The one or more processors implement the virtual reality interaction method according to any one of claims 1-18. A computer-readable medium having a computer program stored thereon, characterized in that when the program is executed by a processor, the virtual reality interaction method according to any one of claims 1-18 is implemented.