CN106919254A - A kind of wear-type virtual reality device and method for security protection - Google Patents
A kind of wear-type virtual reality device and method for security protection Download PDFInfo
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- CN106919254A CN106919254A CN201710065737.5A CN201710065737A CN106919254A CN 106919254 A CN106919254 A CN 106919254A CN 201710065737 A CN201710065737 A CN 201710065737A CN 106919254 A CN106919254 A CN 106919254A
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- 238000006073 displacement reaction Methods 0.000 claims abstract description 68
- 238000001514 detection method Methods 0.000 claims abstract description 44
- 238000005259 measurement Methods 0.000 claims description 8
- 208000027418 Wounds and injury Diseases 0.000 abstract description 5
- 230000006378 damage Effects 0.000 abstract description 5
- 208000014674 injury Diseases 0.000 abstract description 5
- 238000012544 monitoring process Methods 0.000 abstract description 3
- 238000005516 engineering process Methods 0.000 description 7
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- 230000000007 visual effect Effects 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 2
- 238000002955 isolation Methods 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000004556 brain Anatomy 0.000 description 1
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- 238000007654 immersion Methods 0.000 description 1
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/02—Alarms for ensuring the safety of persons
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- 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
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Abstract
The invention discloses a kind of wear-type virtual reality device and the method for security protection for wear-type virtual reality device; the wear-type virtual reality device includes displacement detection module, judge module and alarm module, and displacement detection module is arranged to detect the moving displacement of user；Whether judge module is arranged to judge user in safe range according to the initial position and moving displacement of user；Alarm module is arranged to send alarm to point out user when the judged result of judge module is no.So, by the real-time monitoring of the moving displacement to user, to ensure that user is in safe range, it becomes possible to protect user security, prevent user from sending collision with surrounding objects, causing to cause user the problem of personal injury to occur.
Description
Technical field
The present invention relates to virtual reality device technical field, more particularly, to a kind of wear-type virtual reality device and
For the method for security protection of wear-type virtual reality device.
Background technology
Virtual reality (Virtual Reality, abbreviation VR) technology will be that support one is qualitative and be quantitatively combined, perceptual
The key technology of the comprehensive integration Multi information space that understanding and rational knowledge are combined.With the lifting of the speed of network, base
Just quietly come up in an Internet era of virtual reality technology, it will greatly change production and the life style of people.
Its specific intension is：The interface equipment such as comprehensive utilization computer graphics system and various reality and control, generates on computers
, the technology of sensation immersed is provided in the three-dimensional environment that can be interacted.
The feeling of immersion of virtual reality device comes from and extraneous isolation, the especially isolation of vision and the sense of hearing so that big
Capsules of brain is cheated, and generation departs from the virtual immersion sense in real world.
After user wears wear-type virtual reality device, it will be immersed in virtual reality completely, can't see completely
The situation of real world, is susceptible to collision, in turn results in personal injury.
The content of the invention
It is an object of the present invention to provide a kind of wear-type virtual reality device that can protect user security.
According to the first aspect of the invention, there is provided a kind of wear-type virtual reality device, including displacement detection module, sentence
Disconnected module and alarm module, institute's displacement detection module are arranged to detect the moving displacement of user；The judge module is set
Whether it is set to and judges the user in safe range according to the initial position and the moving displacement of user；The alarm mould
Block is arranged to send alarm to point out the user when the judged result of the judge module is no.
Optionally, institute's displacement detection module includes full-view camera and first processing units, and first treatment is single
Unit is arranged to the moving displacement of the panoramic picture detection user gathered according to the full-view camera.
Optionally, institute's displacement detection module also includes Inertial Measurement Unit, and the first processing units are also set
It is that the data measured according to the Inertial Measurement Unit are modified to the moving displacement.
Optionally, the first processing units and the judge module are provided by a processor chips.
Optionally, the inertia detection unit includes 3-axis acceleration sensor and three-axis gyroscope sensor.
Optionally, the wear-type virtual reality device also includes that initial distance detection module and safe range determine mould
Block, the initial distance detection module be arranged to detect in the initial position and environment between each object it is initial away from
From；The safe range determining module is arranged to determine the safe range according to the initial distance.
Optionally, the initial distance detection module includes depth camera and second processing unit, at described second
Each object is first with described during reason unit is arranged to determine the environment according to the gray level image of depth camera collection
The initial distance between beginning position.
Optionally, the initial distance detection module also includes RGB cameras, and the second processing unit is also set
It is initial distance described in the RGB image amendment gathered according to the RGB cameras.
Optionally, the safe range determining module and the second processing unit are provided by a processor chips.
Optionally, the alarm module includes loudspeaker.
According to the second aspect of the invention, there is provided a kind of method for security protection for wear-type virtual reality device,
Including：
Detect the moving displacement of user；
Initial position according to the moving displacement and the user judges whether the user exceeds safe range, such as
It is, then：
Send user described in alarm sounds.
Optionally, include before the moving displacement of the detection user：
Detect the initial distance between each object in the initial position and environment；
The safe range is determined according to the initial distance.
Optionally, the method for the moving displacement of the detection user is specially：
Gather the panoramic picture of user's local environment described in two frames；
Change in location according to each object in the two frames panoramic picture calculates the moving displacement of the user.
A beneficial effect of the invention is, by the real-time monitoring of the moving displacement to user, to ensure at user
In in safe range, it becomes possible to protect user security, prevent user from sending collision with surrounding objects, causing to cause the person to user
The problem of injury occurs.And the present invention both can be without by peripheral hardware, e.g. computer etc., it is not required that build ground in real time
Whether safely figure, can effectively reduce amount of calculation, current location can be accurately identified again, the flexibility that increase equipment is used.
By referring to the drawings to the detailed description of exemplary embodiment of the invention, further feature of the invention and its
Advantage will be made apparent from.
Brief description of the drawings
The accompanying drawing for being combined in the description and constituting a part for specification shows embodiments of the invention, and even
It is used to explain principle of the invention together with its explanation.
Fig. 1 is a kind of frame principle figure of the implementation structure according to a kind of wear-type virtual reality device of the invention；
Fig. 2 is another frame principle figure for implementing structure according to a kind of wear-type virtual reality device of the invention；
Fig. 3 is the stream for a kind of implementation method of the method for security protection of wear-type virtual reality device according to the present invention
Cheng Tu.
Description of reference numerals：
U1- displacement detection modules；U11- full-view cameras；
U12- first processing units；U13- Inertial Measurement Units；
U2- judge modules；U3- alarm modules；
U4- initial distance detection modules；U41- depth cameras；
U42- second processing units；U43-RGB cameras；
U5- safe range determining modules.
Specific embodiment
Describe various exemplary embodiments of the invention in detail now with reference to accompanying drawing.It should be noted that：Unless had in addition
Body illustrates that the part and the positioned opposite of step, numerical expression and numerical value for otherwise illustrating in these embodiments do not limit this
The scope of invention.
The description only actually at least one exemplary embodiment is illustrative below, never as to the present invention
And its any limitation applied or use.
May be not discussed in detail for technology, method and apparatus known to person of ordinary skill in the relevant, but suitable
In the case of, the technology, method and apparatus should be considered as a part for specification.
In all examples shown here and discussion, any occurrence should be construed as merely exemplary, without
It is as limitation.Therefore, other examples of exemplary embodiment can have different values.
It should be noted that：Similar label and letter represents similar terms in following accompanying drawing, therefore, once a certain Xiang Yi
It is defined in individual accompanying drawing, then it need not be further discussed in subsequent accompanying drawing.
In order to solve user present in prior art when using wear-type virtual reality device, due to invisible reality
The situation in the world, is susceptible to the problem for colliding and then being caused to user personal injury, there is provided a kind of wear-type virtual reality
Equipment, as shown in figure 1, including displacement detection module U1, judge module U2 and alarm module U3, displacement detection module U1 is set
To detect the moving displacement of user；Judge module U2 is arranged to judge that user is according to the initial position and moving displacement of user
It is no in safe range；Alarm module U3 is arranged to send alarm to point out when the judged result of judge module U2 is no
User.
Specifically, safe range can be round sealed region centered on initial position, that radius is as setting value, its
In, the setting value is less than the initial position and away from the distance between its nearest object；Safe range can also be one and include
The initial position but by all excluded closed area of all objects in the environment, wherein, each object is away from the safe range
The minimum range on border is all higher than preset distance, and minimum range of each object away from the safe range border can be equal.Cause
Whether whether this passes through initial position and moving displacement it may determine that going out user beyond the border of safe range, that is, judge user
In safe range.If user beyond the border of safe range, illustrate to exist user and surrounding objects collide
May, by alarm user, to ensure user security.
It is possible to further be that moving displacement is sent to judge module U2 by displacement detection module U1 in real time, to sentence in real time
Whether disconnected user is in safe range；Can also be that displacement detection module U1 intervals setting time is, for example, to move interval in 1 second
Whether dynamic displacement is sent to judge module U2, judge user in safe range to be spaced setting time.
On this basis, judge module U2 can update initial position according to moving displacement in real time, for example, according to initial
Position and the first moving displacement can obtain the first position of user, then using first position as receive the second moving displacement when
Initial position, the second place of user can be obtained according to initial position (i.e. first position) and the second moving displacement, then will
The second place as initial position when receiving three moving displacements, by that analogy.Wherein, judge module U2 is sequentially received
First moving displacement, the second moving displacement and the 3rd moving displacement, and the first moving displacement, the second moving displacement and the 3rd movement
Displacement is continuous.
So, by the monitoring of the moving displacement to user, to ensure that user is in safe range, it becomes possible to which protection is used
Family safety, prevents user from sending collision with surrounding objects, causing to cause user the problem of personal injury to occur.And the present invention
Both can be without by peripheral hardware, e.g. computer etc., it is not required that build map in real time, can effectively reduce amount of calculation, and energy
Whether safe enough accurately identify current location, the flexibility that increase equipment is used.
In one particular embodiment of the present invention, as shown in Fig. 2 displacement detection module U1 includes full-view camera
U11 and first processing units U12, first processing units U12 are arranged to the panoramic picture inspection gathered according to full-view camera U11
Measure the moving displacement of user.
Specifically, full-view camera U11 collections can be the panoramic picture for including all objects around user, this first
Processing unit U12 for example can be the position of each object in the every two continuous frames panoramic picture gathered according to full-view camera U11
Put the real-time moving displacement that situation of change calculates user；First processing units U12 can also be according between full-view camera U11
The interval moving displacement of user is calculated every the change in location situation of each object in two frame panoramic pictures of setting time collection.
In another specific embodiment of the invention, full-view camera U11 can be arranged on same level face by multiple
On common camera replace, and the shooting visual angle of this multiple common camera can be spliced into 360 degree, in this manner it is possible to will
The image mosaic of each common camera collection is panoramic picture.
Further, displacement detection module U1 also includes that Inertial Measurement Unit U13, first processing units U12 are also set
The data measured according to Inertial Measurement Unit are set to be modified moving displacement.
On this basis, Inertial Measurement Unit U13 can include that 3-axis acceleration sensor and three-axis gyroscope are sensed
Device.3-axis acceleration sensor can gather the steric acceleration data of user, and three-axis gyroscope sensor can gather user
Space angular velocity data, by inertial navigation algorithm, it is also possible to calculate the moving displacement of user, by 3-axis acceleration pass
Sensor and three-axis gyroscope sensor are modified to the moving displacement obtained according to panoramic picture, enable to the movement for measuring
Displacement is more accurate.
According to Fig. 2, the wear-type virtual reality device can also include initial distance detection module U4 and safe model
Enclose determining module U5, initial distance detection module U4 is arranged in the initial position and environment for detect user between each object
Initial distance；Safe range determining module U5 is arranged to determine safe range according to initial distance.
Wherein, the position before initial position is specially detection user's moving displacement where user；Object tool in environment
In the actual environment that body refers to residing for user, positioned at user, all around surrounding and top can be touched in user's moving process
The object for contacting.
For example, when between nearest object during initial distance detection module U4 detects the initial position and environment of user away from
In the case of for 1 meter, it may be determined that safe range be with the initial position of user as the center of circle, the circle that radius is 0.8 meter
Domain.
Again for example, it may be detecting the distance between the first object and initial position for A, the second object and initial bit
It is B the distance between to put, and the distance between third body and initial position are C, the distance between the 4th object and initial position
It is D, the distance between the 5th object and initial position are E, the distance between the 6th object and initial position are F, and initial bit
In the case of between being surround setting in the first object, the second object, third body, the 4th object, the 5th object and the 6th object,
Six calibration points can be demarcated, the first calibration point is located at the line between first object and initial position of initial position
On, the second calibration point is located on the line between second object and initial position of initial position, and the 3rd calibration point is located at
On line between the third body and initial position of initial position, the 4th calibration point is located at the 4th near initial position
On line between object and initial position, the 5th calibration point is located between the 5th object and initial position of initial position
Line on, the 6th calibration point be located near initial position the 6th object and initial position between line on, and first mark
The distance between fixed point and the distance between the first object, the second calibration point and second object, the 3rd calibration point and third body
The distance between, the distance between the 4th calibration point and the 4th object, the distance between the 5th calibration point and the 5th object and
It is, for example, 0.1 meter that the distance between six calibration points and the 6th object are setpoint distance, and two adjacent calibration points are connected
Closed area to constitute can be just safe range.
In one particular embodiment of the present invention, initial distance detection module U4 can include depth camera U41
With second processing unit U42, second processing unit U42 be arranged to according to depth camera U41 gather gray level image determine
Initial distance in environment between each object and user.
Specifically, can, when user is in initial position, with the initial position as the center of circle, rotate a circle, it is deep to cause
The image of all objects in degree camera U41 collection environment.
Due to depth camera sampling depth image, in depth image the gray value of pixel only with visual field window plane to thing
The distance dependent in body surface face.Therefore, depth image has spatial color independence first, will not run into the factors such as illumination, shade
Influence, secondly, the horizontal stroke of the gray value of depth image and image, ordinate are combined, in certain spatial dimension, can be with
For representing coordinate of the object in 3d space, therefore can overcome and block or overlap with equivalent into 3d space pattern-recognition
Problem.Importantly, the image-forming principle of depth image video camera can well ensure the robustness of camera calibration, adapt to each
The change of environment is planted, easily self-regulation is allowed to and is re-scaled and demarcation thing need not be measured.
Therefore, according to the gray value of each pixel in current gray level image, it is possible to calculate each object and user it
Between initial distance, such as in the case that distance between the diverse location of jobbie and the initial position of user is different,
Can be using the minimum range between the object and initial position as the object and the initial distance of initial position.
Further, initial distance detection module U4 also includes that RGB camera U43, second processing unit U42 are also set
The RGB image gathered according to RGB cameras is set to be modified initial distance.
Depth camera U41 is used to measure the object depth information and profile information in visual range, and RGB cameras are used for
The texture information of body surface is obtained, second processing unit U42 is carried out by being combined to the image that the two cameras are gathered
Treatment just can be very good judgment object distance shape, so as to get initial distance it is more accurate.
Initial distance detection module U4 can be provided by range sensor, in another specific embodiment of the invention
In, initial distance detection module U4 is provided by common camera and the 3rd processing unit, and the 3rd processing unit is arranged to
Change in location situation according to each object in every two continuous frames image that common camera is gathered calculates the mobile position of user
Move.Specifically, above-mentioned judge module U2, first processing units U12, safe range determining module U5 and second processing unit U42
Can be provided by a processor chips.The processor chips for example can be CPU processor chip or Micro-processor MCV
Chip etc..
Further, alarm module U3 can include loudspeaker, when judge module U2 judges that user exceeds safe model
For example can be able to be " drop drop " sound etc. with controlling loudspeaker sounding when enclosing.Alarm module U3 can also include display screen, sentence
When disconnected module U2 judges that user exceeds safe range, carrying similar to " beyond safety zone " can be shown with control display screen
Show.Alarm module U3 can also be motor, when judge module U2 judges that user exceeds safe range, motor can be controlled to shake
It is dynamic.
Present invention also offers a kind of method for security protection for wear-type virtual reality device.Fig. 3 is according to this hair
A kind of flow chart of the implementation method of the bright method for security protection for wear-type virtual reality device.
According to Fig. 3, the method for security protection is comprised the following steps：
Step S301, detects the moving displacement of user.
Further, the method for the moving displacement of detection user is specifically as follows：
Gather the panoramic picture of two framed user's local environments；
Change in location situation according to each object in two frame panoramic pictures calculates the moving displacement of user.
Step S302, the initial position according to moving displacement and user judges whether user exceeds safe range, in this way, then
Perform step S303；If not, continuing executing with step S301.
Step S303, sends alarm sounds user.
In one particular embodiment of the present invention, the method for security protection also includes：
Initial distance in detection initial position and environment between each object；
Safe distance is determined according to initial distance.
The various embodiments described above primary focus describe the difference with other embodiment, identical similar between each embodiment
Part cross-reference.
Although being described in detail to some specific embodiments of the invention by example, the skill of this area
Art personnel it should be understood that example above is merely to illustrate, rather than in order to limit the scope of the present invention.The skill of this area
Art personnel to above example it should be understood that can modify without departing from the scope and spirit of the present invention.This hair
Bright scope is defined by the following claims.
Claims (10)
1. a kind of wear-type virtual reality device, it is characterised in that including displacement detection module, judge module and alarm module,
Institute's displacement detection module is arranged to detect the moving displacement of user；The judge module is arranged to according to the user's
Whether initial position and the moving displacement judge the user in safe range；The alarm module is arranged in institute
State when the judged result of judge module is no and send alarm to point out the user.
2. wear-type virtual reality device according to claim 1, it is characterised in that institute's displacement detection module includes complete
Scape camera and first processing units, the first processing units are arranged to the panorama sketch gathered according to the full-view camera
As the moving displacement of the detection user.
3. wear-type virtual reality device according to claim 2, it is characterised in that institute's displacement detection module also includes
Inertial Measurement Unit, the first processing units are also configured to the data measured according to the Inertial Measurement Unit to the shifting
Dynamic displacement is modified.
4. wear-type virtual reality device according to claim 1, it is characterised in that the wear-type virtual reality device
Also include initial distance detection module and safe range determining module, it is described that the initial distance detection module is arranged to detection
Initial distance in initial position and environment between each object；The safe range determining module is arranged to according to described first
The distance that begins determines the safe range.
5. wear-type virtual reality device according to claim 4, it is characterised in that the initial distance detection module bag
Depth camera and second processing unit are included, the second processing unit is arranged to the ash gathered according to the depth camera
Degree image determines the initial distance in the environment between each object and the initial position.
6. wear-type virtual reality device according to claim 5, it is characterised in that the initial distance detection module is also
Including RGB cameras, the second processing unit is also configured to the RGB image amendment institute gathered according to the RGB cameras
State initial distance.
7. wear-type virtual reality device according to claim 1, it is characterised in that the alarm module includes raising one's voice
Device.
8. a kind of method for security protection for wear-type virtual reality device, it is characterised in that including：
Detect the moving displacement of user；
Initial position according to the moving displacement and the user judges whether the user exceeds safe range, in this way, then：
Send user described in alarm sounds.
9. method for security protection according to claim 8, it is characterised in that wrapped before the moving displacement of the detection user
Include：
Detect the initial distance between each object in the initial position and environment；
The safe range is determined according to the initial distance.
10. method for security protection according to claim 8, it is characterised in that the side of the moving displacement of the detection user
Method is specially：
Gather the panoramic picture of user's local environment described in two frames；
Change in location according to each object in the two frames panoramic picture calculates the moving displacement of the user.
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| CN201710065737.5A CN106919254B (en) | 2017-02-06 | 2017-02-06 | Head-mounted virtual reality equipment and safety protection method |
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| CN113920688A (en) * | 2021-11-24 | 2022-01-11 | 青岛歌尔声学科技有限公司 | Collision early warning method and device, VR head-mounted equipment and storage medium |
| WO2023092641A1 (en) * | 2021-11-24 | 2023-06-01 | 歌尔股份有限公司 | Collision early warning method and apparatus, and head-mounted vr device, and storage medium |
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