CN106919254B - Head-mounted virtual reality equipment and safety protection method - Google Patents
Head-mounted virtual reality equipment and safety protection method Download PDFInfo
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- CN106919254B CN106919254B CN201710065737.5A CN201710065737A CN106919254B CN 106919254 B CN106919254 B CN 106919254B CN 201710065737 A CN201710065737 A CN 201710065737A CN 106919254 B CN106919254 B CN 106919254B
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- 238000000034 method Methods 0.000 title claims abstract description 19
- 238000006073 displacement reaction Methods 0.000 claims abstract description 70
- 238000001514 detection method Methods 0.000 claims abstract description 35
- 238000012545 processing Methods 0.000 claims description 28
- 238000005259 measurement Methods 0.000 claims description 9
- 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
- 230000001133 acceleration Effects 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 238000007654 immersion Methods 0.000 description 2
- 238000002955 isolation Methods 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 230000000007 visual 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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- 238000005286 illumination 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 head-mounted virtual reality device and a safety protection method for the head-mounted virtual reality device, wherein the head-mounted virtual reality device comprises a displacement detection module, a judgment module and an alarm module, and the displacement detection module is used for detecting the movement displacement of a user; the judging module is used for judging whether the user is in a safety range according to the initial position and the movement displacement of the user; the alarm module is set to give an alarm to prompt the user when the judging result of the judging module is negative. Therefore, through real-time monitoring of the mobile displacement of the user, the user can be ensured to be in a safe range, the safety of the user can be protected, and the problems of personal injury to the user caused by the collision between the user and surrounding objects are prevented.
Description
Technical Field
The present invention relates to the technical field of virtual reality devices, and more particularly, to a head-mounted virtual reality device and a security protection method for the same.
Background
Virtual Reality (VR) technology will be a key technology for supporting a comprehensive integrated multidimensional information space combining qualitative and quantitative recognition, perceptual recognition and rational recognition. With the increase of the speed of the network, an internet era based on virtual reality technology is silently going on, and the production and life modes of people are greatly changed. The concrete connotation is as follows: technologies for providing immersion sensations in a three-dimensional interactive environment generated on a computer utilizing a computer graphics system and various interface devices such as reality and control are integrated.
The immersion of the virtual reality device results from the isolation from the outside, especially the visual and audible isolation, so that the brain is deceived, creating a virtual immersion that is off the real world.
After the user wears the head-mounted virtual reality device, the user is immersed in the virtual reality completely, the real world situation is not seen completely, collision is easy to occur, and personal injury is caused.
Disclosure of Invention
It is an object of the present invention to provide a head-mounted virtual reality device capable of protecting user safety.
According to a first aspect of the present invention, there is provided a head-mounted virtual reality device comprising a displacement detection module, a judgment module and an alarm module, the displacement detection module being arranged to detect a movement displacement of a user; the judging module is arranged to judge whether the user is in a safety range according to the initial position of the user and the movement displacement; the alarm module is set to send out an alarm to prompt the user when the judging result of the judging module is negative.
Optionally, the displacement detection module comprises a panoramic camera and a first processing unit, and the first processing unit is configured to detect the movement displacement of the user according to a panoramic image acquired by the panoramic camera.
Optionally, the displacement detection module further comprises an inertial measurement unit, and the first processing unit is further configured to correct the movement displacement according to data measured by the inertial measurement unit.
Optionally, the first processing unit and the judging module are provided by a processor chip.
Optionally, the inertial detection unit includes a three-axis acceleration sensor and a three-axis gyro sensor.
Optionally, the head-mounted virtual reality device further includes an initial distance detection module and a safety range determination module, wherein the initial distance detection module is configured to detect an initial distance between the initial position and each object in the environment; the safety range determination module is configured to determine the safety range based on the initial distance.
Optionally, the initial distance detection module comprises a depth camera and a second processing unit, and the second processing unit is configured to determine the initial distance between each object in the environment and the initial position according to a gray level image acquired by the depth camera.
Optionally, the initial distance detection module further includes an RGB camera, and the second processing unit is further configured to correct the initial distance according to an RGB image acquired by the RGB camera.
Optionally, the secure range determination module and the second processing unit are provided by a processor chip.
Optionally, the alarm module includes a speaker.
According to a second aspect of the present invention, there is provided a security protection method for a head-mounted virtual reality device, comprising:
detecting a movement displacement of a user;
judging whether the user exceeds a safety range or not according to the mobile displacement and the initial position of the user, if so, then:
an alarm is sent to prompt the user.
Optionally, the detecting the movement displacement of the user includes, before:
detecting an initial distance between the initial position and each object in the environment;
and determining the safety range according to the initial distance.
Optionally, the method for detecting the movement displacement of the user specifically includes:
collecting two frames of panoramic images of the environment where the user is located;
and calculating the movement displacement of the user according to the position change of each object in the two frames of panoramic images.
The invention has the beneficial effects that the safety of the user can be protected by monitoring the movement displacement of the user in real time to ensure that the user is in a safety range, and the problems of personal injury to the user caused by the collision between the user and surrounding objects are prevented. The invention can not only effectively reduce the calculated amount, but also accurately identify whether the current position is safe or not without using peripheral equipment such as a computer and the like and building a map in real time, thereby increasing the flexibility of equipment use.
Other features of the present invention and its advantages will become apparent from the following detailed description of exemplary embodiments of the invention, which proceeds with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description, serve to explain the principles of the invention.
FIG. 1 is a block schematic diagram of one implementation architecture of a head-mounted virtual reality device according to this invention;
FIG. 2 is a block schematic diagram of another implementation architecture of a head-mounted virtual reality device according to this invention;
fig. 3 is a flow chart of one embodiment of a security protection method for a head-mounted virtual reality device according to this invention.
Reference numerals illustrate:
u1-a displacement detection module; u11-panoramic camera;
u12-a first processing unit; u13-an inertial measurement unit;
u2-judging module; u3-alarm module;
u4-an initial distance detection module; u41-depth camera;
u42-a second processing unit; U43-RGB camera;
u5-safety range determining module.
Detailed Description
Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that: the relative arrangement of the components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless it is specifically stated otherwise.
The following description of at least one exemplary embodiment is merely exemplary in nature and is in no way intended to limit the invention, its application, or uses.
Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail, but are intended to be part of the specification where appropriate.
In all examples shown and discussed herein, any specific values should be construed as merely illustrative, and not a limitation. Thus, other examples of exemplary embodiments may have different values.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures.
In order to solve the problem that a user in the prior art is easy to collide and further cause personal injury to the user due to the fact that the user cannot see the real world when using the head-mounted virtual reality device, the head-mounted virtual reality device comprises a displacement detection module U1, a judgment module U2 and an alarm module U3, wherein the displacement detection module U1 is used for detecting the movement displacement of the user; the judging module U2 is used for judging whether the user is in a safety range according to the initial position and the movement displacement of the user; the alarm module U3 is configured to issue an alarm to prompt the user when the judgment result of the judgment module U2 is no.
Specifically, the safety range may be a circular closed area centered on an initial position and having a radius set value, wherein the set value is smaller than a distance between the initial position and an object nearest thereto; the safety range may also be a closed area including the initial position but excluding all objects in the environment, wherein each object has a minimum distance from the safety range boundary greater than a predetermined distance, and each object has a minimum distance from the safety range boundary equal to the minimum distance. Therefore, whether the user exceeds the boundary of the safety range or not can be judged through the initial position and the movement displacement, namely whether the user is in the safety range or not is judged. If the user exceeds the boundary of the safety range, the possibility that the user collides with surrounding objects is indicated, and the user is prompted by an alarm so as to ensure the safety of the user.
Further, the displacement detection module U1 may transmit the movement displacement to the judgment module U2 in real time, so as to judge whether the user is in the safety range in real time; alternatively, the displacement detection module U1 may transmit the displacement to the determination module U2 at intervals of 1 second, for example, to determine whether the user is in the safety range at intervals of the displacement detection module U1.
Based on this, the determining module U2 may update the initial position in real time according to the movement displacement, for example, the first position of the user may be obtained according to the initial position and the first movement displacement, then the first position is used as the initial position when the second movement displacement is received, the second position of the user may be obtained according to the initial position (i.e. the first position) and the second movement displacement, then the second position is used as the initial position when the third movement displacement is received, and so on. The judging module U2 receives the first movement displacement, the second movement displacement and the third movement displacement in sequence, and the first movement displacement, the second movement displacement and the third movement displacement are continuous.
Therefore, through monitoring the mobile displacement of the user, the user can be ensured to be in a safe range, the safety of the user can be protected, and the problems of personal injury to the user caused by the collision between the user and surrounding objects are prevented. The invention can not only effectively reduce the calculated amount, but also accurately identify whether the current position is safe or not without using peripheral equipment such as a computer and the like and building a map in real time, thereby increasing the flexibility of equipment use.
In a specific embodiment of the present invention, as shown in fig. 2, the displacement detection module U1 includes a panoramic camera U11 and a first processing unit U12, where the first processing unit U12 is configured to detect a movement displacement of the user according to a panoramic image acquired by the panoramic camera U11.
Specifically, the panoramic camera U11 may collect panoramic images including all objects around the user, and the first processing unit U12 may calculate the real-time movement displacement of the user according to the position change condition of each object in every two continuous frames of panoramic images collected by the panoramic camera U11, for example; the first processing unit U12 may calculate the interval movement displacement of the user according to the position change condition of each object in the two frames of panoramic images acquired by the panoramic camera U11 at the interval set time.
In another embodiment of the present invention, the panoramic camera U11 may be replaced by a plurality of normal cameras disposed on the same horizontal plane, and the shooting angles of the normal cameras may be stitched to 360 degrees, so that the images collected by each normal camera may be stitched to a panoramic image.
Further, the displacement detection module U1 further comprises an inertial measurement unit U13, and the first processing unit U12 is further configured to correct the movement displacement according to data measured by the inertial measurement unit.
On the basis of this, the inertial measurement unit U13 may include a three-axis acceleration sensor and a three-axis gyro sensor. The three-axis acceleration sensor can collect the space acceleration data of the user, the three-axis gyroscope sensor can collect the space angular velocity data of the user, the movement displacement of the user can be calculated through an inertial navigation algorithm, and the movement displacement obtained according to the panoramic image is corrected through the three-axis acceleration sensor and the three-axis gyroscope sensor, so that the measured movement displacement is more accurate.
According to fig. 2, the head-mounted virtual reality device may further include an initial distance detection module U4 and a safety range determination module U5, the initial distance detection module U4 being configured to detect an initial distance between an initial position of a user and each object in the environment; the safety range determination module U5 is arranged to determine the safety range from the initial distance.
The initial position is specifically the position of the user before the user moves and shifts; the objects in the environment specifically refer to objects which are located around and above the user in the real environment where the user is located and can touch in the moving process of the user.
For example, in the case where the initial distance detection module U4 detects that the distance between the initial position of the user and the nearest object in the environment is 1 meter, it is possible to determine that the safety range is a circular area with a radius of 0.8 meter centered on the initial position of the user.
For another example, in the case where the distance between the first object and the initial position is detected as a, the distance between the second object and the initial position is detected as B, the distance between the third object and the initial position is detected as C, the distance between the fourth object and the initial position is detected as D, the distance between the fifth object and the initial position is detected as E, the distance between the sixth object and the initial position is detected as F, and the initial position is located between the circles of the first object, the second object, the third object, the fourth object, the fifth object and the sixth object, six calibration points may be calibrated, the first calibration point is located on the line between the first object near the initial position and the initial position, the second calibration point is located on the line between the second object near the initial position and the initial position, the third calibration point is located on the line between the third object near the initial position and the initial position, the fourth calibration point is located on a line between the fourth object close to the initial position and the initial position, the fifth calibration point is located on a line between the fifth object close to the initial position and the initial position, the sixth calibration point is located on a line between the sixth object close to the initial position and the initial position, and the distance between the first calibration point and the first object, the distance between the second calibration point and the second object, the distance between the third calibration point and the third object, the distance between the fourth calibration point and the fourth object, the distance between the fifth calibration point and the fifth object, and the distance between the sixth calibration point and the sixth object are all set distances, for example, 0.1 meter, and a closed area formed by connecting two adjacent calibration points can be a safe range.
In a specific embodiment of the present invention, the initial distance detection module U4 may include a depth camera U41 and a second processing unit U42, where the second processing unit U42 is configured to determine an initial distance between each object in the environment and the user based on the gray scale image acquired by the depth camera U41.
Specifically, when the user is at the initial position, the user may rotate around the initial position as a circle center, so that the depth camera U41 collects images of all objects in the environment.
Since the depth camera captures a depth image, the gray value of a pixel in the depth image is only related to the distance of the field window plane to the object surface. Therefore, the depth image has space color independence, cannot be influenced by factors such as illumination and shadow, and the gray value of the depth image is combined with the horizontal coordinate and the vertical coordinate of the image, so that the depth image can be used for representing the coordinates of an object in a 3D space in a certain space range, and can be equivalently identified in a 3D space mode, and the shielding or overlapping problem can be overcome. More importantly, the imaging principle of the depth image camera can well ensure the robustness of camera calibration, adapt to the change of various environments, enable the camera to be self-adjusting and recalibrated easily and avoid measuring calibration objects.
Therefore, according to the gray value of each pixel in the current gray image, the initial distance between each object and the user can be calculated, for example, in the case that the distances between different positions of a certain object and the initial position of the user are different, the minimum distance between the object and the initial position can be used as the initial distance between the object and the initial position.
Further, the initial distance detection module U4 further includes an RGB camera U43, and the second processing unit U42 is further configured to correct the initial distance according to the RGB image acquired by the RGB camera.
The depth camera U41 is used for measuring object depth information and contour information in a visual range, the RGB camera is used for obtaining texture information of the object surface, and the second processing unit U42 can well judge the shape of the distance of the object by combining images acquired by the two cameras, so that the obtained initial distance is more accurate.
The initial distance detection module U4 may be provided by a distance sensor, and in another embodiment of the present invention, the initial distance detection module U4 is provided by a common camera and a third processing unit, and the third processing unit is configured to calculate the movement displacement of the user according to the position change condition of each object in each two continuous frames of images acquired by the common camera. Specifically, the determining module U2, the first processing unit U12, the safety range determining module U5, and the second processing unit U42 may be provided by a processor chip. The processor chip may be, for example, a CPU processor chip or a microprocessor MCU chip or the like.
Further, the alarm module U3 may include a speaker, and when the judgment module U2 judges that the user is out of the safety range, the speaker may be controlled to sound, for example, may be "drip" sound. The alarm module U3 may also include a display screen, and when the judgment module U2 judges that the user is out of the safety range, the display screen may be controlled to display a prompt similar to "out of the safety area". The alarm module U3 can also be a motor, and when the judgment module U2 judges that the user exceeds the safety range, the motor can be controlled to vibrate.
The invention further provides a safety protection method for the head-mounted virtual reality equipment. Fig. 3 is a flow chart of one embodiment of a security protection method for a head-mounted virtual reality device according to this invention.
According to the illustration of fig. 3, the security protection method comprises the following steps:
step S301, detecting a movement displacement of the user.
Further, the method for detecting the movement displacement of the user specifically may be:
collecting panoramic images of the environment where two frames of users are located;
and calculating the movement displacement of the user according to the position change condition of each object in the two frames of panoramic images.
Step S302, judging whether the user exceeds a safety range according to the mobile displacement and the initial position of the user, if so, executing step S303; if not, the process continues to step S301.
Step S303, an alarm is sent to prompt the user.
In a specific embodiment of the present invention, the security protection method further includes:
detecting an initial distance between the initial position and each object in the environment;
the safe distance is determined from the initial distance.
The foregoing embodiments mainly focus on describing differences from other embodiments, and identical and similar parts between the embodiments are mutually referred to.
While certain specific embodiments of the invention have been described in detail by way of example, it will be appreciated by those skilled in the art that the above examples are for illustration only and are not intended to limit the scope of the invention. It will be appreciated by those skilled in the art that modifications may be made to the above embodiments without departing from the scope and spirit of the invention. The scope of the invention is defined by the appended claims.
Claims (7)
1. A head-mounted virtual reality device, comprising a displacement detection module, a judgment module and an alarm module, wherein the displacement detection module is configured to detect the movement displacement of a user; the judging module is configured to judge whether the user is in a safety range according to the initial position of the user and the movement displacement; the alarm module is configured to issue an alarm to prompt the user when the judgment result of the judgment module is negative,
the displacement detection module comprises a panoramic camera and a first processing unit, wherein the panoramic camera acquires panoramic images of all objects around a user, the first processing unit is arranged to detect the movement displacement of the user according to the position change condition of each object in the panoramic images acquired by the panoramic camera, the displacement detection module further comprises an inertial measurement unit, and the first processing unit is further arranged to correct the movement displacement according to data measured by the inertial measurement unit.
2. The head-mounted virtual reality device of claim 1, further comprising an initial distance detection module and a safety range determination module, the initial distance detection module configured to detect an initial distance between the initial location and each object in the environment; the safety range determination module is configured to determine the safety range based on the initial distance.
3. The head mounted virtual reality device of claim 2, wherein the initial distance detection module comprises a depth camera and a second processing unit configured to determine the initial distance between each object in the environment and the initial position from a grayscale image acquired by the depth camera.
4. The head-mounted virtual reality device of claim 3, wherein the initial distance detection module further comprises an RGB camera, the second processing unit further configured to correct the initial distance based on RGB images acquired by the RGB camera.
5. The head-mounted virtual reality device of claim 1, wherein the alert module comprises a speaker.
6. A method for securing a head-mounted virtual reality device, comprising:
detecting a movement displacement of a user;
judging whether the user exceeds a safety range or not according to the mobile displacement and the initial position of the user, if so, then:
an alarm is issued to prompt the user,
the method for detecting the mobile displacement of the user specifically comprises the following steps: the panoramic camera acquires panoramic images of all objects around the user; detecting the movement displacement of the user according to the position change condition of each object in the panoramic image acquired by the panoramic camera, and correcting the movement displacement according to the data measured by the inertial measurement unit.
7. The method of claim 6, wherein the detecting the user's movement displacement is preceded by:
detecting an initial distance between the initial position and each object in the environment;
and determining the safety range according to the initial distance.
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| CN107610134B (en) * | 2017-09-11 | 2020-03-31 | Oppo广东移动通信有限公司 | Reminding method, reminding device, electronic device and computer readable storage medium |
| WO2019047982A1 (en) | 2017-09-11 | 2019-03-14 | Oppo广东移动通信有限公司 | Image processing method and apparatus, electronic device and computer-readable storage medium |
| US11164380B2 (en) | 2017-12-05 | 2021-11-02 | Samsung Electronics Co., Ltd. | System and method for transition boundaries and distance responsive interfaces in augmented and virtual reality |
| CN108786114A (en) * | 2018-06-08 | 2018-11-13 | 广州市钦泰科技有限公司 | A kind of space management in virtual reality applications and system |
| CN109813317B (en) * | 2019-01-30 | 2023-05-26 | 京东方科技集团股份有限公司 | Obstacle avoidance method, electronic equipment and virtual reality equipment |
| 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 |
| US12085714B2 (en) | 2021-12-20 | 2024-09-10 | International Business Machines Corporation | Device management in a smart environment |
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