CN107390224A - Obstacle detection method, device and virtual reality display device - Google Patents
Obstacle detection method, device and virtual reality display device Download PDFInfo
- Publication number
- CN107390224A CN107390224A CN201710601951.8A CN201710601951A CN107390224A CN 107390224 A CN107390224 A CN 107390224A CN 201710601951 A CN201710601951 A CN 201710601951A CN 107390224 A CN107390224 A CN 107390224A
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- China
- Prior art keywords
- avoidance
- obstacle detection
- user
- virtual reality
- detection signal
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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
- G01S17/04—Systems determining the presence of a target
-
- 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
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
-
- 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
Abstract
The embodiments of the invention provide a kind of obstacle detection method, device and virtual reality display device, it is related to technical field of virtual reality, to solve the problems, such as that prior art influences user's feeling of immersion when detecting barrier.Methods described includes：Receive by being arranged on the obstacle detection signal sent on virtual reality display device corresponding to the avoidance detector of different directions；Avoidance direction is determined based on the obstacle detection signal；Avoidance notification message corresponding with the avoidance direction is sent to user.By implementing the embodiment of this programme, the barrier of real world while feeling of immersion is ensured, can be detected.
Description
Technical field
The present invention relates to technical field of virtual reality, more particularly to a kind of obstacle detection method, device and virtual reality
Display device.
Background technology
Virtual reality (Virtual Reality, VR) equipment development is rapid in recent years, and the scope that VR equipment is applied also obtains
Very big expansion has been arrived, but VR virtual units often block to the sight of user, if in the environment residing for user
People and obstacle are relatively easy for producing collision more.
To solve the above problems, prior art opens camera during user uses VR equipment, by real world
It is illustrated in the wicket being covered on virtual world image, before user is checked in real world oneself by wicket
Side whether there is barrier, and then complete the detection function of barrier.
But wicket of the prior art can block to the image of virtual world, feeling of immersion is reduced.
The content of the invention
In view of this, the embodiment of the present invention provides a kind of obstacle detection method, device and virtual reality display device, uses
While feeling of immersion is ensured, to detect the barrier of real world.
A kind of obstacle detection method provided in an embodiment of the present invention, including：
Receive by being arranged on the barrier sent on virtual reality display device corresponding to the avoidance detector of different directions
Detection signal；
Avoidance direction is determined based on the obstacle detection signal；
Avoidance notification message corresponding with the avoidance direction is sent to user.
A kind of obstacle detector provided in an embodiment of the present invention, including：
Receiving module, correspond to the avoidance detector of different directions on virtual reality display device by being arranged on for receiving
The obstacle detection signal sent；
Determining module, for determining avoidance direction based on the obstacle detection signal；
Notification module, for sending avoidance notification message corresponding with the avoidance direction to user.
A kind of virtual reality display device provided in an embodiment of the present invention, including：
Processor, memory, and the avoidance detector of the virtual reality display device not homonymy is arranged at, it is described to keep away
Barrier detector is connected with the processor；
The avoidance detector, for detecting the barrier on correspondence direction；
The memory is used to store one or more computer instruction, wherein, one or more computer instruction
The obstacle detection method that the embodiment of the present invention is provided is realized during by the computing device.
A kind of obstacle detection method, device and the virtual reality display device that the embodiment of the present invention is provided, receive pre-
The obstacle detection signal sent on virtual reality display device corresponding to the avoidance detector of different directions, and based on upper
State signal and determine avoidance direction, then send corresponding notice to user.User can know barrier place after finding the notice
Direction and then hide obstacle, simultaneously as only can just issue the user with notice, phase when detecting obstacle in the embodiment of the present invention
Compared with constantly being shown in the prior art on virtual scene image for the mode of real world wicket, reduce for void
Intend blocking the time for scene image, and then ensure that feeling of immersion of the user in virtual world.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the required accompanying drawing used in technology description to be briefly described, it should be apparent that, drawings in the following description are this hairs
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 flow chart of obstacle detection method provided in an embodiment of the present invention；
Fig. 2 is user's moving direction and the signal in detection direction of obstacle detection method provided in an embodiment of the present invention
Figure；
Fig. 3 is the structural representation of obstacle detector provided in an embodiment of the present invention；
Fig. 4 is the structural representation of virtual reality display device provided in an embodiment of the present invention.
Embodiment
To make the purpose, technical scheme and 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
Part of the embodiment of the present invention, rather than whole embodiments.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.
The term used in embodiments of the present invention is only merely for the purpose of description specific embodiment, and is not intended to be limiting
The present invention." one kind ", " described " and "the" of singulative used in the embodiment of the present invention and appended claims
It is also intended to including most forms, unless context clearly shows that other implications, " a variety of " generally comprise at least two, but not
Exclusion includes at least one situation.
It should be appreciated that term "and/or" used herein is only a kind of incidence relation for describing affiliated partner, represent
There may be three kinds of relations, for example, A and/or B, can be represented：Individualism A, while A and B be present, individualism B these three
Situation.In addition, character "/" herein, it is a kind of relation of "or" to typically represent forward-backward correlation object.
It will be appreciated that though XXX may be described using term first, second, third, etc. in embodiments of the present invention, but
These XXX should not necessarily be limited by these terms.These terms are only used for distinguishing XXX.For example, model of the embodiment of the present invention is not being departed from
In the case of enclosing, the first XXX can also be referred to as the 2nd XXX, and similarly, the 2nd XXX can also be referred to as the first XXX.
Depending on linguistic context, word as used in this " if ", " if " can be construed to " ... when " or
" when ... " or " in response to determining " or " in response to detection ".Similarly, depending on linguistic context, phrase " if it is determined that " or " such as
Fruit detects (condition or event of statement) " can be construed to " when it is determined that when " or " in response to determine " or " when detection (statement
Condition or event) when " or " in response to detect (condition or event of statement) ".
It should also be noted that, term " comprising ", "comprising" or its any other variant are intended to nonexcludability
Comprising, so that commodity or system including a series of elements not only include those key elements, but also including without clear and definite
The other element listed, or also include for this commodity or the intrinsic key element of system.In the feelings not limited more
Under condition, the key element that is limited by sentence "including a ...", it is not excluded that in the commodity including the key element or system also
Other identical element be present.
Further what deserves to be explained is, the order in various embodiments of the present invention between each step is adjustable, and is not
It must be performed according to the order of following citing.
A kind of obstacle detection method provided in an embodiment of the present invention, applied to processor.The processor is specifically as follows
The processor of virtual reality display device.Specifically, obstacle detection method provided in an embodiment of the present invention can also be applied to
Obstacle detector in virtual reality technology.The barrier checking device can be detection of obstacles software, or can be with
For the feature card of virtual reality applications software, such as feature card of certain Games Software etc..
As shown in figure 1, obstacle detection method provided in an embodiment of the present invention, specifically comprises the following steps：
S101：Receive by being arranged on the barrier sent on virtual reality display device corresponding to the avoidance detector of different directions
Hinder analyte detection signal.
For the user being immersed in for wearing virtual reality display device in virtual scene, it can not view real generation
Scenery in boundary, therefore, user may have no to collide the barrier in real world with discovering, and then produce wound to user
Evil.Therefore, in the embodiment of the present invention, avoidance detector, the avoidance inspection of all directions are set in the different directions of the said equipment in advance
Device is surveyed to carry out detection of obstacles to the correspondence direction of equipment and feed back obstacle detection signal to processor.
Alternatively, avoidance detector can be arranged on all directions on virtual reality display device, for example, front, after
Side, left side, right side, left front, right front etc., it can specifically be configured according to the actual requirements.If for example, before equipment
Side, rear set avoidance detector respectively, then the barrier situation in front of the avoidance detector detecting devices in front, rear are kept away
Hinder the barrier situation at detector detecting devices rear.
Set avoidance detector number can arbitrarily increase and decrease in equipment., can as the species of avoidance detector
Selection of land can be infrared detector.The detection range of avoidance detector can be set according to demand, and the embodiment of the present invention, which is not done, to be had
Body limits.
S102：Avoidance direction is determined based on obstacle detection signal.
After processor receives obstacle detection signal, the signal can be analyzed, and then determine avoidance direction.
The avoidance detector mark included in signal can be specifically obtained, to judge to detect direction corresponding to above-mentioned mark, and then really
Determine avoidance direction.
Alternatively, if the quantity of the obstacle detection signal received within a preset time interval is one, it is determined that keep away
Barrier direction is the corresponding detection direction of the avoidance detector mark included in the obstacle detection signal.That is, when only
An obstacle detection signal is received, then it is avoidance side to launch direction corresponding to the avoidance detector of the obstacle detection signal
To.
If the quantity of the obstacle detection signal received within a preset time interval is at least two, it is determined that it is above-mentioned extremely
The corresponding detection direction of few each self-contained avoidance detector mark of two obstacle detection signals；And obtain the movement of user
Direction；The detection direction matched with moving direction is determined from identified detection direction；Above-mentioned avoidance direction is determined to determine
The detection direction gone out.If that is, receive more than two obstacle detection signals, the detection direction number correspondingly determined
Measure as two or more, then a detection direction matched with user's moving direction is chosen in the detection direction more than above-mentioned two
For avoidance direction.
It is alternatively possible to the moving direction of user is obtained by the sensor on virtual reality display device.
Alternatively, if having a direction consistent with user's moving direction just in detection direction, it is determined that avoidance direction is
The direction.For example, if front, left avoidance detector all detect barrier in preset time period, determine simultaneously
User moves forward, it is determined that front is avoidance direction；If it is determined that user is moved to the left, it is determined that left is avoidance direction.
And in practical application, user's moving direction is not necessarily completely the same with detection direction.Based on the above situation, it is determined that keeping away
Barrier direction is the detection direction closest with user's moving direction.That is, when user's moving direction and each detection direction
When inconsistent, then the angle that user direction is formed with each detection direction is obtained, by an angle minimum in acquired angle
Corresponding detection direction is defined as avoidance direction.Assuming that detect that the direction of A, B two for detection direction, then obtains user movement side
To the angle a and user's moving direction with direction A and direction B angle b, and angle a and angle b size are judged, if folder
Angle a is less than angle b, it is determined that direction A is avoidance direction；Otherwise determine that direction B is avoidance direction.If for example, as shown in Fig. 2
Front, right avoidance detector send obstacle detection signal, and now user to the movement of 30 ° of right front, the moving direction with
Front differs 60 °, 30 ° is differed with right, it is determined that avoidance direction is right.
S103：Avoidance notification message corresponding with avoidance direction is sent to user.
To ensure that user can distinguish avoidance direction according to avoidance notification message, during the present invention is implemented, an avoidance is led to
Know a message uniquely corresponding avoidance direction.
Specifically, avoidance notification message can be presented as virtual image, text effects, lighting effects, sound or vibration
Etc..
Alternatively, in order to further improve feeling of immersion, avoidance notification message is virtual image in the embodiment of the present invention, with up to
To will not also block the effect of user's sight when the message notifying, and then avoid influenceing user's feeling of immersion.It can specifically wrap
Include following steps：Obtain default virtual image corresponding with avoidance direction；Default virtual image is shown to user.For example, in advance
There is corresponding obstacle, moon image and left side obstacle occur corresponding in setting sun image and front, if before avoidance direction is
Side, then show sun image in virtual scene；If avoidance direction is left side, moon image is shown in virtual scene.
Alternatively, if avoidance notification message is lighting effects, specific transmission process can include：To being arranged at virtual reality
Indicator lamp corresponding with avoidance direction sends control signal in display device, and to control indicator lamp to light, indicator lamp is positioned at virtual
The side of lens in real display device, so that obtaining user experiences the lighting effects of indicator lamp, and then distinguished according to lighting effects
Other barrier direction.For example, indicator lamp corresponding to presetting front is yellow indicator lamp, when avoidance direction is front, then
Control yellow indicator lamp lights, and then user understands that front has barrier.
The light emitting species of specific indicator lamp, the embodiment of the present invention do not limit.For example, indicator lamp can be with continuous illumination, sudden strain of a muscle
Sparkle luminous etc..
It can be seen that a kind of obstacle detection method that the embodiment of the present invention is provided, receives obstacle detection signal, and be based on
Above-mentioned signal determines avoidance direction, then sends corresponding notice to user.User can know barrier institute after finding the notice
In direction and then hide obstacle, simultaneously as notice can be just only issued the user with when detecting obstacle in the embodiment of the present invention,
Compared in the prior art constantly on virtual scene image show real world wicket mode for, reduce for
Virtual scene image blocks the time, and then ensure that feeling of immersion of the user in virtual world.
In order to further illustrate obstacle detection method provided in an embodiment of the present invention, it is exemplified below one and carries specific field
The alternative embodiment of scape describes in detail.
Infrared detector is set in the front, rear, left and right four direction of virtual reality display device in advance.Worn in user
Before the said equipment, according to the open situation of place scene, the detection range of infrared detector is set, and according to oneself use demand
The switch conditions of each infrared detector are set, if for example, at this in use, user only need forward, left and right three directions move
It is dynamic, then can be with the infrared detector at pass hull closure rear.In use, user moves to respective direction, if detecting certain
When there is barrier in one direction, then virtual image corresponding to the direction is shown to user；If it is detected simultaneously by front and right
There is barrier, then obtain the moving direction of user, if the moving direction of user is shown empty corresponding to front closer to front
Intend image；If the moving direction of user shows virtual image corresponding to right closer to right.
As shown in figure 3, corresponding to above method embodiment, the embodiment of the present invention additionally provides a kind of detection of obstacles dress
Put, the device includes：Receiving module 310, determining module 320, notification module 330.
Receiving module 310, examined for receiving by being arranged on the avoidance on virtual reality display device corresponding to different directions
Survey the obstacle detection signal that device is sent.
Determining module 320, for determining avoidance direction based on the obstacle detection signal.
Notification module 330, for sending avoidance notification message corresponding with the avoidance direction to user.
It can be seen that obstacle detector provided in an embodiment of the present invention, receives the avoidance detection letter that avoidance detector is sent
Number, and avoidance direction is determined according to avoidance detection signal, and then avoidance notification message corresponding to avoidance direction is shown to user, it is real
The detection of obstacles in real world is showed.Meanwhile avoidance notification message can only be shown when detecting obstacle to user, other
Time will not form to the sight of user and block.Therefore, using obstacle detector provided in an embodiment of the present invention, Ke Yi
While ensureing user's feeling of immersion, the barrier of real world is detected.
In a kind of optional embodiment, the determining module 320, it is specifically used for：
If the quantity of the obstacle detection signal received within a preset time interval is one, it is determined that described to keep away
Barrier direction is the corresponding detection direction of the avoidance detector mark included in the obstacle detection signal.
In a kind of optional embodiment, the determining module 320, including：First determination sub-module 321, first obtains
Submodule 322, the second determination sub-module 323, the 3rd determination sub-module 324.
First determination sub-module 321, if for the obstacle detection signal that receives within a preset time interval
Quantity is at least two, it is determined that corresponding to each self-contained avoidance detector mark of at least two obstacle detection signals
Detection direction.
First acquisition submodule 322, for obtaining the moving direction of the user.
Second determination sub-module 323, for the detection side for determining to match with the moving direction from the detection direction
To.
3rd determination sub-module 324, for determining that the avoidance direction is the detection direction determined.
In a kind of optional embodiment, the notification module 330, including：Second acquisition submodule 331, display submodule
Block 332.
Second acquisition submodule 331, for obtaining default virtual image corresponding with the avoidance direction.
Display sub-module 332, for showing the default virtual image to the user.
In a kind of optional embodiment, the notification module 330, it is specifically used for：
Control signal is sent to indicator lamp corresponding with the avoidance direction in the virtual reality display device is arranged at,
To control the indicator lamp to light, the indicator lamp is located at the side of lens in the virtual reality display device.
Further, as shown in figure 4, the embodiment of the present invention additionally provides a kind of virtual reality display device, including：
Processor 410, memory 420, and it is arranged at the avoidance detector of the virtual reality display device not homonymy
430, the avoidance detector 430 is connected with the processor 410；
The avoidance detector 430, for detecting the barrier on correspondence direction；
The memory 420 is used to store one or more computer instruction, wherein, one or more computer refers to
Order realizes obstacle detection method provided in an embodiment of the present invention when being performed by the processor 410.
In a kind of optional embodiment, the equipment also includes：
Be arranged in the virtual reality display device with the 430 one-to-one indicator lamp of avoidance detector, it is described
Indicator lamp is located at the side of lens in the virtual reality display device.
A kind of virtual reality display device provided in an embodiment of the present invention, avoidance detector, avoidance are provided with all directions
Detector can detect to the obstacle situation in equipment all directions pre-determined distance, when finding barrier, by respective direction
Avoidance notification message be sent to wear virtual reality display device user.Avoidance notification message only can be when detecting obstacle
Shown to user, other times will not be formed to the sight of user and blocked.Therefore, using provided in an embodiment of the present invention virtual existing
Real display device, the barrier of real world while user's feeling of immersion is ensured, can be detected.
It should be noted that for device embodiment, because it is substantially similar to embodiment of the method, so describing
Relatively simple, the relevent part can refer to the partial explaination of embodiments of method.
Finally it should be noted that：The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
The present invention is 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 be modified to the technical scheme described in foregoing embodiments, or equivalent substitution 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 (10)
- A kind of 1. obstacle detection method, it is characterised in that including：Receive by being arranged on the detection of obstacles sent on virtual reality display device corresponding to the avoidance detector of different directions Signal；Avoidance direction is determined based on the obstacle detection signal；Avoidance notification message corresponding with the avoidance direction is sent to user.
- 2. according to the method for claim 1, it is characterised in that described that avoidance side is determined based on the obstacle detection signal To, including：If the quantity of the obstacle detection signal received within a preset time interval is one, it is determined that the avoidance side The detection direction corresponding to avoidance detector mark included in for the obstacle detection signal.
- 3. according to the method for claim 1, it is characterised in that described that avoidance side is determined based on the obstacle detection signal To, including：If the quantity of the obstacle detection signal received within a preset time interval is at least two, it is determined that it is described extremely The corresponding detection direction of few each self-contained avoidance detector mark of two obstacle detection signals；Obtain the moving direction of the user；The detection direction matched with the moving direction is determined from the detection direction；It is the detection direction determined to determine the avoidance direction.
- 4. according to the method described in any one of claims 1 to 3, it is characterised in that described to be sent and the avoidance side to user To corresponding avoidance notification message, including：Obtain default virtual image corresponding with the avoidance direction；The default virtual image is shown to the user.
- 5. according to the method described in any one of claims 1 to 3, it is characterised in that described to be sent and the avoidance side to user To corresponding avoidance notification message, including：Control signal is sent to indicator lamp corresponding with the avoidance direction in the virtual reality display device is arranged at, with control Make the indicator lamp to light, the indicator lamp is located at the side of lens in the virtual reality display device.
- A kind of 6. obstacle detector, it is characterised in that including：Receiving module, sent for receiving by being arranged on the avoidance detector on virtual reality display device corresponding to different directions Obstacle detection signal；Determining module, for determining avoidance direction based on the obstacle detection signal；Notification module, for sending avoidance notification message corresponding with the avoidance direction to user.
- 7. device according to claim 6, it is characterised in that the determining module, be specifically used for：If the quantity of the obstacle detection signal received within a preset time interval is one, it is determined that the avoidance side The detection direction corresponding to avoidance detector mark included in for the obstacle detection signal.
- 8. device according to claim 6, it is characterised in that the determining module, including：First determination sub-module, if the quantity for the obstacle detection signal received within a preset time interval is extremely It is few two, it is determined that the corresponding detection side of each self-contained avoidance detector mark of at least two obstacle detection signals To；First acquisition submodule, for obtaining the moving direction of the user；Second determination sub-module, for the detection direction for determining to match with the moving direction from the detection direction；3rd determination sub-module, for determining that the avoidance direction is the detection direction determined.
- 9. according to the device described in claim any one of 6-8, it is characterised in that the notification module, including：Second acquisition submodule, for obtaining default virtual image corresponding with the avoidance direction；Display sub-module, for showing the default virtual image to the user.
- 10. according to the device described in claim any one of 6-8, it is characterised in that the notification module, be specifically used for：Control signal is sent to indicator lamp corresponding with the avoidance direction in the virtual reality display device is arranged at, with control Make the indicator lamp to light, the indicator lamp is located at the side of lens in the virtual reality display device.
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| CN201710601951.8A CN107390224A (en) | 2017-07-21 | 2017-07-21 | Obstacle detection method, device and virtual reality display device |
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| CN201710601951.8A CN107390224A (en) | 2017-07-21 | 2017-07-21 | Obstacle detection method, device and virtual reality display device |
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