CN106680827A - Positioning system in sealed space, and related method and device - Google Patents
Positioning system in sealed space, and related method and device Download PDFInfo
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- CN106680827A CN106680827A CN201610974821.4A CN201610974821A CN106680827A CN 106680827 A CN106680827 A CN 106680827A CN 201610974821 A CN201610974821 A CN 201610974821A CN 106680827 A CN106680827 A CN 106680827A
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- wear
- virtual reality
- handle
- confined space
- reality device
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
- G06F3/012—Head tracking input arrangements
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- Physics & Mathematics (AREA)
- General Engineering & Computer Science (AREA)
- Theoretical Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Human Computer Interaction (AREA)
- Electromagnetism (AREA)
- Computer Networks & Wireless Communication (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Position Input By Displaying (AREA)
Abstract
The embodiment of the invention provides a positioning system in a sealed space, and a related method and device. The system comprises head-mounted virtual reality equipment, a handle, a first laser range finding device, a second laser range finding device, and a controller. The head-mounted virtual reality equipment is provided with a plurality of first laser range finding devices, and the first laser range finding devices are used for measuring the distance between the head-mounted virtual reality equipment and the surface of the sealed space. The handle is provided with a plurality of second laser range finding devices, and the second laser range finding devices are used for measuring the distance between the handle and the surface of the sealed space. The controller is used for determining the position coordinates of the head-mounted virtual reality equipment and the handle in the sealed space according to the above measurement space, and adjusts a visual virtual image displayed by the head-mounted virtual reality equipment according to the position coordinates of the head-mounted virtual reality equipment and the handle.
Description
Technical field
The present embodiments relate to the alignment system and correlation in virtual reality technology, more particularly to a kind of confined space
Method and apparatus.
Background technology
Virtual reality is by several into technologies such as electronic 3-D model process, three-dimensional reality, man-machine interactions, there is provided real
Virtual simulation environment, allows users to immerse wherein, and with dummy object and scene natural interaction is carried out, can eliminate people with it is virtual
The barrier film of environment part, and the initiative and imagination of user are excited, the novel immersion experience of true to nature, effect is brought to user,
Can also be combined with various amusements and scene of game, be that user brings brand-new experience true to nature.Virtual reality technology combines meter
The multiple technologies such as calculation machine graphics, computer simulation technique, interpersonal interfacing multimedia technology, are widely used in military mould
The fields such as plan, medical training, Visual Manufacturing, and according to the different demands of application, generate the helmet, wearable device, partly immerse
The different virtual reality products such as formula, immersion and system.
Space orientation technique is the key technology in virtual reality system.In the application of virtual reality, need all the time
User is wanted to swap with virtual environment, if continuing to use the interaction technique of blit, the situation that Consumer's Experience can be caused not good.With certainly
It is a kind of more preferable interactive mode that right body action is interacted, and this is accomplished by positioning the body of user.Scene
Indoor wireless location technology includes Wi-Fi, bluetooth, infrared ray, RFID and Zigbee etc..
Current space positioning system majority employs infrared ray alignment sensor, such as in the virtual reality system of HTC
In, the aobvious VR helmets/VR heads, game paddle and two infrared alignment sensors are employed, the set system can be with room indoors
Interior, two infrared alignment sensors are needed with cornerwise form layout in room, so as to realize to user's body position
The positioning of coordinate.However, infrared positioning has that accuracy is poor, and only two infrared alignment sensors of installation cannot be accurate
The position coordinates of handle and the helmet when using really is perceived, positioning is inaccurate precisely not to affect the positioning function of the helmet so as to cause,
Cause the experience sense of user poor.
The content of the invention
The purpose of the embodiment of the present invention is to provide alignment system in a kind of confined space and associated method and device,
The inaccurate problem of space orientation in existing virtual reality system is solved, to improve positioning precision and sensitivity, so as to carry
High Consumer's Experience.
Ultrasonic range finder certainty of measurement is low, and its cost is relatively low.
The technical scheme that the embodiment of the present invention is adopted is as follows：
A kind of alignment system in confined space, the system includes wear-type virtual reality device, handle, first laser
Range unit, second laser range unit and controller；
Multiple first laser range units, the first laser range finding dress are provided with the wear-type virtual reality device
Put for measuring the wear-type virtual reality device to the distance on the surface of the confined space；
Multiple second laser range units are provided with the handle, the second laser range unit is used to measure described
Distance of the handle to the surface of the confined space；
The controller is used for the measurement data according to the plurality of first laser range unit, determines that the wear-type is empty
Intend position coordinates of the real world devices in the confined space, according to the measurement data of the plurality of second laser range unit,
Determine position coordinates of the handle in the confined space, and according to the wear-type virtual reality device described closed
Position coordinates of the position coordinates and the handle in space in the confined space, adjusts the wear-type virtual reality and sets
The standby vision void scape image for showing.
Alternatively, at least provided with three first laser range units on the wear-type virtual reality device, and
At least three first lasers range unit is arranged at least three directions of the wear-type virtual reality device, with
So that at least three first lasers range unit is used to measure the wear-type virtual reality device in its vertical direction
Distance, the measurement wear-type virtual reality device to the surface of the confined space is on the left and right directions of its horizontal direction
Distance and the measurement wear-type virtual reality device to the surface of the confined space is in the front and back of its horizontal direction
The distance on the surface of the confined space is arrived upwards.
Alternatively, on the handle at least provided with three second laser range units, and described at least three
Dual-laser range unit is arranged at least three directions of the handle, so that second laser described in described at least three
Range unit is used to measure distance, the measurement handle on the surface that the handle arrives the confined space on its vertical direction
The distance on the surface of the confined space is arrived on the left and right directions of its horizontal direction and the handle is measured in its level side
To fore-and-aft direction on to the confined space surface distance.
A kind of localization method in confined space, including：
According to the measurement data of the multiple first laser range units arranged on wear-type virtual reality device, it is determined that described
Position coordinates of the wear-type virtual reality device in the confined space, the first laser range unit is used to measure described
Distance of the wear-type virtual reality device to the surface of the confined space；
According to the measurement data of the multiple second laser range units arranged on handle, determine the handle described closed
Position coordinates in space, the second laser range unit be used for measure the handle to the surface of the confined space away from
From；
Position coordinates and the handle according to the wear-type virtual reality device in the confined space is described
Position coordinates in confined space, adjusts the vision void scape image that the wear-type virtual reality device shows.
A kind of controller in alignment system in confined space, including：
First determining unit, for according to the multiple first laser range units arranged on wear-type virtual reality device
Measurement data, determines position coordinates of the wear-type virtual reality device in the confined space, and the first laser is surveyed
It is used to measure the wear-type virtual reality device to the distance on the surface of the confined space away from device；
Second determining unit, for according on handle arrange multiple second laser range units measurement data, it is determined that
Position coordinates of the handle in the confined space, the second laser range unit is used to measure the handle to described
The distance on the surface of confined space；
Adjustment unit, for the position coordinates according to the wear-type virtual reality device in the confined space and institute
Position coordinates of the handle in the confined space is stated, the vision void scape figure that the wear-type virtual reality device shows is adjusted
Picture.
The technical scheme of the embodiment of the present invention has advantages below：By in the wear-type virtual reality device and described
It is respectively provided with multiple laser ranging systems on handle to measure the wear-type virtual reality device and the handle to described close
The distance on each surface in space is closed, the position of the wear-type virtual reality device and the handle in the confined space is obtained
Coordinate, that is, obtain the head of user and the position coordinates of hand, such that it is able to adjust the aobvious of the wear-type virtual reality device
The vision void scape image for showing.In embodiments of the present invention, not only improve the essence of range measurement by adopting laser ranging system
Degree and sensitivity, but also can be by being respectively provided with multiple Laser Measurings on the handle and the wear-type virtual reality device
Away from device, the precise positioning of position coordinates and posture to user's head and hand is realized, improve Consumer's Experience, Ke Yiying
For the higher various scenes of the positioning precision and sensitivity requirement to system.
Description of the drawings
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
The accompanying drawing to be used needed for having technology description is briefly described, it should be apparent that, drawings in the following description are these
Some bright embodiments, for those of ordinary skill in the art, on the premise of not paying creative work, can be with root
Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 is the schematic diagram of the alignment system in a kind of confined space provided in an embodiment of the present invention；
Fig. 2 is the schematic diagram of the alignment system in another kind of confined space provided in an embodiment of the present invention；
Fig. 3 is the schematic diagram of the alignment system in another kind of confined space provided in an embodiment of the present invention；
Fig. 4 is the method flow diagram of the localization method in a kind of confined space provided in an embodiment of the present invention；
Fig. 5 is a kind of structure composition schematic diagram of controller provided in an embodiment of the present invention；
Fig. 6 is the hardware architecture diagram of device provided in an embodiment of the present invention.
Specific embodiment
To make purpose, technical scheme and the advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
In accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is
The a part of embodiment of the present invention, rather than the embodiment of whole.Based on the embodiment in the present invention, those of ordinary skill in the art
The every other embodiment obtained under the premise of creative work is not made, belongs to the scope of protection of the invention.
With regard to Laser Distance Measuring Equipment, or laser range finder, it is that Accurate Determining is carried out to the distance of target using laser
Instrument.Laser range finder operation principle is operationally to project a branch of very thin laser to target, and by photoelectric cell target is received
The laser beam of reflection, timer determines laser beam from the time for being transmitted into reception, calculates from observer's range-to-go.Swash
Optar has lightweight, small volume, speed simple to operate fast and accurate, and its error is only five points of other optical rangefinders
One of to hundreds of points one.
The alignment system 10 in a kind of confined space is embodiments provided, as shown in figure 1, the system includes head
Wear formula virtual reality device 11, handle 12, first laser range unit 13, second laser range unit 14 and controller 15.
Multiple first laser range units 13 are provided with the wear-type virtual reality device 11, the first laser is surveyed
It is used to measure the wear-type virtual reality device 11 to the distance on the surface of the confined space away from device 13.The handle 12
On be provided with multiple second laser range units 14, the second laser range unit 14 is used to measuring the handle 12 to described
The distance on the surface of confined space.Specifically, the first laser range unit 13 and the second laser range unit 14 are equal
It is laser range finder.Because the precision of laser range finder can reach 1 millimeter, can with it is point-device positioning and detect described in wear
, in the position coordinates of the confined space, certainty of measurement and measurement sensitivity are much for formula virtual reality device 11 and the handle 12
Higher than supersonic range finder and infrared distance measurement device so that the system is for the head of user and the change of hand position coordinate
Change and there is very high positioning precision and sensitivity, it is adaptable to the various scenes higher to the system requirements, such as be applied to
Cut fruit or the scene such as shooting game in, can quickly position the position coordinates conversion of user's each several part, especially gesture and
The conversion of the position coordinates of head, so as to the vision void scape image for quickly display being updated according to customer location transformation of coordinates,
Substantially increase Consumer's Experience.
The controller 15 is used for the measurement data according to the plurality of first laser range unit 13, it is determined that described wear
Position coordinates of the formula virtual reality device 11 in the confined space, according to the survey of the plurality of second laser range unit 14
Amount data, determine position coordinates of the handle 12 in the confined space, and according to the wear-type virtual reality device
Position coordinates of 11 position coordinateses and the handle 12 in the confined space in the confined space, adjusts the head
Wear the vision void scape image of the display of formula virtual reality device 11.I.e. described controller 15 can in real time determine the wear-type
The locus coordinate of virtual reality device 11 and the handle 12, i.e., can in real time orient the head position coordinate of user
And the position coordinates and posture of hand, then the head position coordinate and hand position coordinate of user are carried out in vision void scape
Update, you can the vision void scape image of the display of the adjustment wear-type virtual reality device 11.
It should be noted that the embodiment of the present invention and each follow-up embodiment in, confined space not only includes
The limited confined space, sealed or half-sealed space is imported and exported, also including room, a building or hidden refuge or one
The unit separated with wall or wooden partition inside house, or the unit separated with wall or wooden partition temporarily.
The handle 12 can be one or more, can be wireless or wired form, can there is various shapes
And construction, embodiment of the present invention here do not limit.The use of the handle 12 can be realized or aid in realizing to user's hand
The positioning of gesture or tracking；The handle 12 can also realize the part control function to the system, the choosing of such as game mode
Select, or triggering of shooting action etc. in shooting game, embodiment of the present invention here is not limited.
The controller 15 can be realized with computer system, it is also possible to be realized with other chips, circuit or software, institute
It can be the computer being separately configured to state controller 15, it is also possible to be disposed in the wear-type virtual reality device 11
Individual module, can also be a module being configured on the handle 12, or can be that partial function is configured in described wearing
In formula virtual reality device 11, it is left functional configuration in the handle 12, embodiment of the present invention here is not limited.
Between each device/module in the system, such as described wear-type virtual reality device and the controller
Between, can be linked by wired or wireless form, embodiment of the present invention here is not limited.Other control circuits, connect
The part such as mouth and power supply, it is not shown in figure.
In embodiments of the present invention, by being respectively provided with the wear-type virtual reality device 11 and the handle 12
Multiple laser ranging systems arrive each table of the confined space measuring the wear-type virtual reality device 11 and the handle 12
The distance in face, obtains the position coordinates of the wear-type virtual reality device 11 and the handle 12 in the confined space,
The head of user and the position coordinates of hand are obtained, such that it is able to adjust the display of the wear-type virtual reality device 11
Vision void scape image.In embodiments of the present invention, not only realized to the sensitive of customer location by adopting laser ranging system
Follow the trail of and precise positioning, and by being respectively provided with multiple laser on the handle 12 and the wear-type virtual reality device 11
Range unit, realizes the precise positioning of position coordinates and posture to user's head and hand, can apply to various to being
The stationkeeping ability of system and reaction sensitivity require higher scene, improve Consumer's Experience.
Alternatively, when the plurality of first laser range unit is arranged, can be according to different application scenarios and reality
Demand, using various ways.For example, in some application scenarios, 2 dimension position coordinateses of the head of user may be only concerned, or
Person can be that the first laser range unit is mixed with other attitude orientation sensors, Inertial Measurement Unit etc., then class
Under like the application scenarios of above-mentioned situation, can be at least provided with two first lasers on the wear-type virtual reality device
Range unit, and at least two first lasers range unit is arranged at least the two of the wear-type virtual reality device
On individual direction, so that at least two first lasers range unit is used to measure the wear-type virtual reality device at it
Arrive the distance on the surface of the confined space, or so that described at least two the on vertical direction and in horizontal direction respectively
One laser ranging system is used to measure the wear-type virtual reality device on the left and right directions of its horizontal direction and in Qi Shui
Square to fore-and-aft direction on to the confined space surface distance.Further, if necessary to improve the precision for measuring,
Can be arranging multiple second laser range units in the same direction of the wear-type virtual reality device.
Alternatively, in some application scenarios, the 3-dimensional position coordinates of the head if necessary to understand user can be in institute
State on wear-type virtual reality device at least provided with three first laser range units, and at least three first laser
Range unit is arranged at least three directions of the wear-type virtual reality device, as shown in Fig. 2 so that it is described extremely
Few three first laser range units are used to measure the wear-type virtual reality device in its vertical direction (z-axis in Fig. 2)
Distance, the measurement wear-type virtual reality device to the surface of the confined space is on the left and right directions of its horizontal direction
(x-axis in Fig. 2) arrives the distance on the surface of the confined space and measures the wear-type virtual reality device in its level side
To fore-and-aft direction on (y-axis in Fig. 2) to the confined space surface distance.
In the same manner, can on the handle at least provided with two second laser range units, and described at least two
Second laser range unit is arranged at least two directions of the handle, so that at least two second laser is surveyed
Be used to measure the handle away from device and arrive respectively on its vertical direction and in horizontal direction the confined space surface away from
From, or so that at least two second lasers range unit is used to measure the handle in the right and left of its horizontal direction
The distance on the surface of the confined space is arrived upwards and on the fore-and-aft direction of its horizontal direction.Or can be with the handle
On at least provided with three second laser range units, and at least three second lasers range unit be arranged at it is described
On at least three directions of handle, as shown in Fig. 2 so that second laser range unit described in described at least three is used to measure
The handle (z-axis in Fig. 2) on its vertical direction arrives the distance on the surface of the confined space, measures the handle in Qi Shui
Square to left and right directions on (x-axis in Fig. 2) to the surface of the confined space distance and measure the handle in Qi Shui
Square to fore-and-aft direction on (y-axis in Fig. 2) to the confined space surface distance.By the way, can be real-time
Recognize the hand of user and the 3-dimensional position coordinates in the confined space of head.Further, if necessary to improve measurement
Precision, can be arranging multiple second laser range units in the same direction of the handle.
Alternatively, Inertial Measurement Unit (Inertial can be provided with the wear-type virtual reality device
Measurement unit, IMU).The Inertial Measurement Unit can be measurement object three-axis attitude angle (or angular speed) and
The device of acceleration.So as to using the Inertial Measurement Unit, the angle of rotation of the wear-type virtual reality device can be detected
Degree, so as to the controller can be according to position coordinates, institute of the wear-type virtual reality device in the confined space
The rotational angle of position coordinates and the wear-type virtual reality device of the handle in the confined space is stated, adjustment is described
The vision void scape image that wear-type virtual reality device shows.
Alternatively, Inertial Measurement Unit is also provided with the handle, the Inertial Measurement Unit is used to detect institute
The rotational angle of handle is stated, so as to the controller can be according to the wear-type virtual reality device in the confined space
Position coordinates and the handle in the confined space of position coordinates, the handle rotational angle, adjustment is described
The vision void scape image that wear-type virtual reality device shows.
For example, it is possible to use said system, the platform of a virtual shooting game is built temporarily in certain room,
As shown in Figure 3.The room is the confined space described in above-described embodiment, and the alignment system in the confined space can be adopted
Collection builds the data such as the data needed for virtual scene, such as room shape and area, builds according still further to specific ratio and virtually penetrates
Scene is hit, and is shown the virtual shooting scene by the wear-type virtual reality device.User is described by wearing
Wear-type virtual reality device is it is seen that vision void scape image, seemingly really places oneself in the midst of and shoot in scene.
In shooting game, user may need to hide oncoming bullet, and body position coordinate is necessarily required to send
Movement can just escape bullet, and now system is required to the head of real-time capture user and the position coordinates of hand to judge to use
Whether family successfully escapes bullet, so as to the vision void scape image that wear-type virtual reality device described in real-time adjustment shows.Or
In shooting game, if gun drop, user needs to pick up gun, certainly will squat down and pick up gun, now also should be able to
Enough detect user and squat down and pick up the action of rifle.Therefore, it can by wearing the wear-type virtual reality device and hand-held institute
State handle to realize the real-time positioning to user's head and hand position coordinate.
In Fig. 3, a first laser is provided with the direction straight up of the wear-type virtual reality device and is surveyed
Away from device, for measuring the wear-type virtual reality device to the distance of the top metope in room.It is virtual in the wear-type
On the forward direction of real world devices, a first laser range unit is provided with, it is virtually existing for measuring the wear-type
Distance of the real equipment to the forward direction metope in room.On the left direction of the wear-type virtual reality device, one is provided with
The first laser range unit, for measuring the wear-type virtual reality device to the distance of the left side metope in room.By
Known to area in room, then measure the wear-type virtual reality device to distance, the room of the top metope in room
Forward direction metope distance and room left side metope distance after, it is possible to know that the wear-type virtual reality device is arrived
The distance of the right side metope of the distance of the bottom metope in room, the distance of the backward metope in room and room.Obtain described
Wear-type virtual reality device position coordinates in a room, can be with the position coordinates of real-time tracing user's head.
In the same manner, second laser range unit can be all provided with, for surveying above the handle, left side and forward direction
The handle is measured to the distance of the left side metope of the distance, the distance of the forward direction metope in room and room of the top metope in room,
So as to real-time tracing is used for the position coordinates of user's hand.Certainly, discounting for cost, it is also possible in the upper of the handle
Face, below, left side, right side, forward direction and the second laser range unit is all set below, it is described so as to more accurately obtain
The posture and position coordinates of user's hand.
The embodiment of the present invention additionally provides the localization method in a kind of confined space, as described in Figure 4, including：
S401：According on wear-type virtual reality device arrange multiple first laser range units measurement data, really
Fixed position coordinates of the wear-type virtual reality device in the confined space.
Wherein, the first laser range unit is used to measure the wear-type virtual reality device to the confined space
Surface distance.
S402：According to the measurement data of the multiple second laser range units arranged on handle, determine the handle in institute
State the position coordinates in confined space.
Wherein, the second laser range unit is used to measure the handle to the distance on the surface of the confined space.
S403：Position coordinates and the handle according to the wear-type virtual reality device in the confined space exists
Position coordinates in the confined space, adjusts the vision void scape image that the wear-type virtual reality device shows.
By the locus coordinate for determining the wear-type virtual reality device and the handle, can determine in real time
Position goes out the head position coordinate of user and the position coordinates and posture of hand, further according to the head position coordinate and hand of user
Position coordinates, adjusts the vision void scape image for showing.In embodiments of the present invention, it is real not only by adopting laser ranging system
Show the sensitive tracking to customer location and precise positioning, and by the handle and the wear-type virtual reality device
On be respectively provided with multiple laser ranging systems, realize the precise positioning of position coordinates and posture to user's head and hand, can
Higher scene is required to be applied to the various stationkeeping abilities to system and reaction sensitivity, Consumer's Experience is improve.
Alternatively, Inertial Measurement Unit, the Inertial Measurement Unit can be set on the wear-type virtual reality device
For detecting the rotational angle of the wear-type virtual reality device.So as to adjust the wear-type virtual reality in step 403
During vision that equipment shows void scape image, position that can be according to the wear-type virtual reality device in the confined space
The inertia arranged on the position coordinates and the wear-type virtual reality device of coordinate, the handle in the confined space
The measurement data of measuring unit, adjusts the vision void scape image that the wear-type virtual reality device shows.
Alternatively, Inertial Measurement Unit can be set on the handle, and the Inertial Measurement Unit can be used for detecting institute
State the rotational angle of handle.So as to when step 403 adjusts the vision void scape image that the wear-type virtual reality device shows,
Can be according to position coordinates, the handle of the wear-type virtual reality device in the confined space in the confined air
Between in position coordinates and the handle on the measurement data of Inertial Measurement Unit that arranges, adjust the wear-type virtually existing
The vision void scape image that real equipment shows.
In embodiments of the present invention, the Inertial Measurement Unit can be measurement object three-axis attitude angle (or angular speed) with
And the device of acceleration.
Alternatively, the method described in the embodiment of the present invention can be held by the controller in the alignment system in confined space
OK.The control implement body can be the controller 15 in embodiment illustrated in fig. 1.
The embodiment of the present invention additionally provides the controller in the alignment system in a kind of confined space, as shown in figure 5, including
First determining unit 501, the second determining unit 502 and adjustment unit 503；
First determining unit 501, for being surveyed according to the multiple first lasers arranged on wear-type virtual reality device
Away from the measurement data of device, position coordinates of the wear-type virtual reality device in the confined space is determined, described
One laser ranging system is used to measure the wear-type virtual reality device to the distance on the surface of the confined space；
Second determining unit 502, for according to the measurement number of the multiple second laser range units arranged on handle
According to, determining position coordinates of the handle in the confined space, the second laser range unit is used to measure the hand
Distance of the handle to the surface of the confined space；
The adjustment unit 503, for the position according to the wear-type virtual reality device in the confined space
The position coordinates of coordinate and the handle in the confined space, adjusts the vision that the wear-type virtual reality device shows
Empty scape image.
In embodiments of the present invention, by first determining unit 501 and second determining unit 502, determine
The locus coordinate of the wear-type virtual reality device and the handle, can in real time orient the head position of user
The position coordinates and posture of coordinate and hand, so as to the adjustment unit 503 can according to the head position coordinate of user and
Hand position coordinate, adjusts the vision void scape image for showing.In embodiments of the present invention, not only by being filled using laser ranging
Put, realize the sensitive tracking to customer location and precise positioning, and by virtually existing in the handle and the wear-type
Multiple laser ranging systems are respectively provided with real equipment, the precisely fixed of position coordinates and posture to user's head and hand is realized
Position, can apply to the various stationkeeping abilities to system and reaction sensitivity requires higher scene, improve Consumer's Experience.
Alternatively, Inertial Measurement Unit, the Inertial Measurement Unit can be set on the wear-type virtual reality device
For detecting the rotational angle of the wear-type virtual reality device.Then the adjustment unit 503 can be according to the wear-type
Position coordinates of position coordinates, the handle of the virtual reality device in the confined space in the confined space and
The measurement data of the Inertial Measurement Unit arranged on the wear-type virtual reality device, adjusts the wear-type virtual reality and sets
The standby vision void scape image for showing.
Alternatively, Inertial Measurement Unit can be set on the handle, and the Inertial Measurement Unit can be used for detecting institute
State the rotational angle of handle.Then the adjustment unit 503 can be according to the wear-type virtual reality device in the confined air
Between in position coordinates and the handle in the confined space of position coordinates, the handle on the inertia measurement that arranges
The measurement data of unit, adjusts the vision void scape image that the wear-type virtual reality device shows.
Alternatively, the control implement body described in the embodiment of the present invention can be the controller 15 in embodiment illustrated in fig. 1.
Fig. 6 is the hardware architecture diagram of some electronic equipments of the localization method in the application execution confined space.Root
According to shown in Fig. 6, the equipment includes：
One or more processors 610 and memory 620, in Fig. 6 by taking a processor 610 as an example.
Performing the equipment of the positioning in confined space can also include：Input unit 630 and output device 630.
Processor 610, memory 620, input unit 630 and output device 640 can be by bus or other modes
Connection, in Fig. 6 as a example by being connected by bus.
Memory 620 can be used to store non-volatile software journey as a kind of non-volatile computer readable storage medium storing program for executing
Localization method pair in sequence, non-volatile computer executable program and module, the such as confined space in the embodiment of the present application
Programmed instruction/the module answered.Processor 610 by operation be stored in non-volatile software program in memory 620, instruction with
And module, the various function application and data processing so as to execute server, that is, realize the localization method in confined space.
Memory 620 can include storing program area and storage data field, wherein, storing program area can store operation system
Application program required for system, at least one function；Storage data field can be stored according to (determining capacitance plate touch location device)
Use created data etc..Additionally, memory 620 can include high-speed random access memory 620, can also include non-
Volatile memory 620, for example, at least one magnetic disc store 620, flush memory device or other non-volatile solid state memories
620.In certain embodiments, memory 620 is optional including relative to the remotely located memory 620 of processor 610, these
Remote memory 620 can be by network connection to (determining capacitance plate touch location device).The example of above-mentioned network include but
It is not limited to internet, intranet, LAN, mobile radio communication and combinations thereof.
Input unit 630 can receives input numeral or character information, and produce with (determine capacitance plate touch location fill
Put) user arrange and function control it is relevant key signals input.Input unit 630 may include to press the equipment such as module.
One or more of modules are stored in the memory 620, when by one or more of processors
During 610 execution, the localization method in the confined space in above-mentioned any means embodiment is performed.
The method that the executable the embodiment of the present application of the said goods is provided, possesses the corresponding functional module of execution method and has
Beneficial effect.Ins and outs of detailed description in the present embodiment, not can be found in the method that the embodiment of the present application is provided.
The electronic equipment of the embodiment of the present application is present in a variety of forms, including but not limited to:
(1) mobile communication equipment:The characteristics of this kind equipment is that possess mobile communication function, and to provide speech, data
Communicate as main target.This Terminal Type includes:Smart mobile phone (such as iPhone), multimedia handset, feature mobile phone, and it is low
End mobile phone etc..
(2) super mobile personal computer equipment:This kind equipment belongs to the category of personal computer, has calculating and processes work(
Can, typically also possess mobile Internet access characteristic.This Terminal Type includes:PDA, MID and UMPC equipment etc., such as iPad.
(3) portable entertainment device:This kind equipment can show and play content of multimedia.The kind equipment includes:Audio frequency,
Video player (such as iPod), handheld device, e-book, and intelligent toy and portable car-mounted navigator.
(4) server:The equipment for providing the service of calculating, the composition of server includes processor 810, hard disk, internal memory, system
Bus etc., server is similar with general computer architecture, but due to needing to provide highly reliable service, therefore processing energy
The aspects such as power, stability, reliability, security, extensibility, manageability require higher.
(5) other have the electronic installation of data interaction function.
Device embodiment described above is only schematic, wherein the unit as separating component explanation can
To be or may not be physically separate, can be as the part that unit shows or may not be physics list
Unit, you can be located at a place, or can also be distributed on multiple NEs.It can according to the actual needs be selected
In some or all of module realizing the purpose of this embodiment scheme.Those of ordinary skill in the art are not paying creativeness
Work in the case of, you can to understand and implement.
Through the above description of the embodiments, those skilled in the art can be understood that each embodiment can
Realize by the mode of software plus required general hardware platform, naturally it is also possible to by hardware.Based on such understanding, on
Stating the part that technical scheme substantially contributes in other words to prior art can be embodied in the form of software product, should
Computer software product can be stored in a computer-readable storage medium, such as ROM/RAM, magnetic disc, CD, including some fingers
Order is used so that a computer equipment (can be personal computer, server, or network equipment etc.) performs each enforcement
Method described in some parts of example or embodiment.
Finally it should be noted that：Above example only to illustrate technical scheme, rather than a limitation；Although
The present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those within the art that：It still may be used
To modify to the technical scheme described in foregoing embodiments, or equivalent is carried out to which part technical characteristic；
And these modification or replace, do not make appropriate technical solution essence depart from various embodiments of the present invention technical scheme spirit and
Scope.
Claims (13)
1. a kind of alignment system in confined space, the system includes that wear-type virtual reality device, handle, first laser are surveyed
Away from device, second laser range unit and controller；
Multiple first laser range units are provided with the wear-type virtual reality device, the first laser range unit is used
In the distance of the measurement wear-type virtual reality device to the surface of the confined space；
Multiple second laser range units are provided with the handle, the second laser range unit is used to measure the handle
To the distance on the surface of the confined space；
The controller is used for the measurement data according to the plurality of first laser range unit, determines that the wear-type is virtually existing
Position coordinates of the real equipment in the confined space, according to the measurement data of the plurality of second laser range unit, it is determined that
Position coordinates of the handle in the confined space, and according to the wear-type virtual reality device in the confined space
In position coordinates in the confined space of position coordinates and the handle, adjust the wear-type virtual reality device and show
The vision void scape image for showing.
2. system according to claim 1, it is characterised in that at least provided with two on the wear-type virtual reality device
The individual first laser range unit, and at least two first lasers range unit is arranged at the wear-type virtually now
On at least two directions of real equipment, so that at least two first lasers range unit is used to measure the wear-type void
Intend real world devices and arrive respectively on its vertical direction and in horizontal direction the distance on the surface of the confined space, or so that
At least two first lasers range unit is used to measure the wear-type virtual reality device in the left and right of its horizontal direction
The distance on the surface of the confined space is arrived on direction and on the fore-and-aft direction of its horizontal direction.
3. system according to claim 2, it is characterised in that at least provided with three on the wear-type virtual reality device
The individual first laser range unit, and at least three first lasers range unit is arranged at the wear-type virtually now
On at least three directions of real equipment, so that at least three first lasers range unit is used to measure the wear-type void
Intend distance, the measurement wear-type virtual reality device that real world devices arrive the surface of the confined space on its vertical direction
The distance on the surface of the confined space is arrived on the left and right directions of its horizontal direction and the wear-type virtual reality is measured
Equipment arrives the distance on the surface of the confined space on the fore-and-aft direction of its horizontal direction.
4. system according to claim 1, it is characterised in that at least provided with two second lasers on the handle
Range unit, and at least two second lasers range unit is arranged at least two directions of the handle, so that
Obtain at least two second lasers range unit and distinguish on its vertical direction and in horizontal direction for measuring the handle
To the distance on the surface of the confined space, or so that at least two second lasers range unit is used to measure described
Handle arrives the surface of the confined space on the left and right directions of its horizontal direction and on the fore-and-aft direction of its horizontal direction
Distance.
5. system according to claim 4, it is characterised in that at least provided with three second lasers on the handle
Range unit, and at least three second lasers range unit is arranged at least three directions of the handle, so that
Obtaining second laser range unit described in described at least three is used to measure the handle on its vertical direction to the confined air
Between surface distance, measure the handle on the left and right directions of its horizontal direction to the confined space surface distance
And the measurement handle arrives the distance on the surface of the confined space on the fore-and-aft direction of its horizontal direction.
6. the system according to any one of claim 1-5, it is characterised in that arrange on the wear-type virtual reality device
There is Inertial Measurement Unit, the Inertial Measurement Unit is used to detect the rotational angle of the wear-type virtual reality device；
The controller is specifically for position coordinates, the institute according to the wear-type virtual reality device in the confined space
The rotational angle of position coordinates and the wear-type virtual reality device of the handle in the confined space is stated, adjustment is described
The vision void scape image that wear-type virtual reality device shows.
7. the system according to any one of claim 1-5, it is characterised in that inertia measurement list is provided with the handle
Unit, the Inertial Measurement Unit is used to detect the rotational angle of the handle；
The controller is specifically for position coordinates, the institute according to the wear-type virtual reality device in the confined space
The rotational angle of position coordinates and the handle of the handle in the confined space is stated, the wear-type virtual reality is adjusted
The vision void scape image that equipment shows.
8. the localization method in a kind of confined space, it is characterised in that include：
According to the measurement data of the multiple first laser range units arranged on wear-type virtual reality device, it is determined that described wear
Position coordinates of the formula virtual reality device in the confined space, the first laser range unit is used to measure described wearing
Distance of the formula virtual reality device to the surface of the confined space；
According to the measurement data of the multiple second laser range units arranged on handle, determine the handle in the confined space
In position coordinates, the second laser range unit be used for measure the handle to the distance on the surface of the confined space；
Position coordinates and the handle according to the wear-type virtual reality device in the confined space is described closed
Position coordinates in space, adjusts the vision void scape image that the wear-type virtual reality device shows.
9. method according to claim 8, it is characterised in that it is described according to the wear-type virtual reality device described
Position coordinates of the position coordinates and the handle in confined space in the confined space, adjusts the wear-type virtually existing
The vision void scape image that real equipment shows includes：
Position coordinates, the handle according to the wear-type virtual reality device in the confined space is in the confined air
Between in position coordinates and the wear-type virtual reality device on arrange Inertial Measurement Unit measurement data, adjust institute
The vision void scape image that wear-type virtual reality device shows is stated, the Inertial Measurement Unit is used to detect that the wear-type is virtual
The rotational angle of real world devices.
10. method according to claim 8, it is characterised in that it is described according to the wear-type virtual reality device in institute
Position coordinates of the position coordinates and the handle in confined space in the confined space is stated, the wear-type is adjusted virtual
The vision void scape image that real world devices show includes：
Position coordinates, the handle according to the wear-type virtual reality device in the confined space is in the confined air
Between in position coordinates and the handle on the measurement data of Inertial Measurement Unit that arranges, adjust the wear-type virtually existing
The vision void scape image that real equipment shows, the Inertial Measurement Unit is used to detect the rotational angle of the handle.
The controller in alignment system in a kind of 11. confined spaces, it is characterised in that include：
First determining unit, for according to the measurement of the multiple first laser range units arranged on wear-type virtual reality device
Data, determine position coordinates of the wear-type virtual reality device in the confined space, the first laser range finding dress
Put for measuring the wear-type virtual reality device to the distance on the surface of the confined space；
Second determining unit, for according to the measurement data of the multiple second laser range units arranged on handle, it is determined that described
Position coordinates of the handle in the confined space, the second laser range unit is used to measure the handle to described closed
The distance on the surface in space；
Adjustment unit, for position coordinates and the hand according to the wear-type virtual reality device in the confined space
Position coordinates of the handle in the confined space, adjusts the vision void scape image that the wear-type virtual reality device shows.
12. controllers according to claim 11, it is characterised in that the adjustment unit according to described specifically for wearing
Position coordinates of the formula virtual reality device in the confined space, position coordinates of the handle in the confined space with
And the measurement data of the Inertial Measurement Unit arranged on the wear-type virtual reality device, adjust the wear-type virtual reality
The vision void scape image that equipment shows, the Inertial Measurement Unit is used to detect the angle of rotation of the wear-type virtual reality device
Degree.
13. controllers according to claim 11, it is characterised in that the adjustment unit according to described specifically for wearing
Position coordinates of the formula virtual reality device in the confined space, position coordinates of the handle in the confined space with
And the measurement data of the Inertial Measurement Unit arranged on the handle, adjust the vision that the wear-type virtual reality device shows
Empty scape image, the Inertial Measurement Unit is used to detect the rotational angle of the wear-type virtual reality device；The inertia is surveyed
Amount unit is used to detect the rotational angle of the handle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610974821.4A CN106680827A (en) | 2016-11-04 | 2016-11-04 | Positioning system in sealed space, and related method and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610974821.4A CN106680827A (en) | 2016-11-04 | 2016-11-04 | Positioning system in sealed space, and related method and device |
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| CN106680827A true CN106680827A (en) | 2017-05-17 |
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| CN201610974821.4A Pending CN106680827A (en) | 2016-11-04 | 2016-11-04 | Positioning system in sealed space, and related method and device |
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