CN107608512B - VR equipment control method and VR equipment - Google Patents

VR equipment control method and VR equipment Download PDF

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CN107608512B
CN107608512B CN201710835234.1A CN201710835234A CN107608512B CN 107608512 B CN107608512 B CN 107608512B CN 201710835234 A CN201710835234 A CN 201710835234A CN 107608512 B CN107608512 B CN 107608512B
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equipment
state
axis
value
coordinate system
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CN107608512A (en
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徐国栋
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Goertek Techology Co Ltd
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Goertek Optical Technology Co Ltd
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Abstract

The invention provides a VR device control method and VR device. Acquiring gesture data representing the three-dimensional motion gesture of the VR equipment; identifying the wearing state of the VR equipment according to the posture data of the VR equipment; and adjusting the working state of the VR equipment according to the wearing state of the VR equipment and the current working state of the VR equipment. The method provided by the invention can improve the convenience of adjusting the working state of the VR equipment.

Description

VR equipment control method and VR equipment
Technical Field
The invention relates to the technical field of virtual reality, in particular to a VR device control method and VR device.
Background
With the development of Virtual Reality (VR) technology, many virtual reality devices (VR devices) have appeared, so that people can embody virtual scenes through the VR devices. VR equipment includes VR head display, VR glasses, motion seat etc..
In order to prolong the endurance time of the VR equipment and protect the privacy information of users in the VR equipment, when the VR equipment is not used, the VR equipment is closed, and when the VR equipment is used, the VR equipment is opened again.
In the prior art, a power button is generally arranged on a VR device, and a user controls the VR device to be turned on and off by pressing the power button. In the in-service use process, the operation of pressing the power button is neglected or omitted very easily, leads to the use convenience of VR equipment to be relatively poor.
Disclosure of Invention
Aspects of the invention provide a VR device control method and VR device, which are used for improving convenience of adjusting the working state of the VR device.
The invention provides a VR equipment control method, which comprises the following steps:
acquiring gesture data representing the three-dimensional motion gesture of the VR equipment;
identifying a wearing state of the VR equipment according to the posture data of the VR equipment;
and adjusting the working state of the VR equipment according to the wearing state of the VR equipment and the current working state of the VR equipment.
Optionally, the acquiring gesture data representing a three-dimensional motion gesture of the VR device includes:
acquiring various sensor data representing the three-dimensional motion posture of the VR equipment;
and performing fusion processing on the multiple kinds of sensor data to obtain a state value of the VR equipment on an X axis, a state value on a Y axis and a state value on a Z axis of a VR equipment coordinate system.
Optionally, the plurality of sensor data comprises: an acceleration value output by the acceleration sensor and an angular velocity value output by the gyroscope sensor;
the fusing the multiple sensor data to obtain the state value of the VR device on the X axis, the state value on the Y axis and the state value on the Z axis of the VR device coordinate system comprises:
calculating a state value of the VR equipment on an X axis of the VR equipment coordinate system according to the acceleration value output by the acceleration sensor on the X axis of the VR equipment coordinate system and the angular velocity value output by the gyroscope sensor;
calculating a state value of the VR equipment on a Y axis of the VR equipment coordinate system according to the acceleration value output by the acceleration sensor on the Y axis of the VR equipment coordinate system and the angular velocity value output by the gyroscope sensor;
and calculating the state value of the VR equipment on the Z axis of the VR equipment coordinate system according to the acceleration value output by the acceleration sensor on the Z axis of the VR equipment coordinate system and the angular velocity value output by the gyroscope sensor.
Optionally, the identifying, according to the posture data of the VR device, a wearing state of the VR device includes:
carrying out weighted summation on the state value of the VR equipment on the X axis, the state value of the VR equipment on the Y axis and the state value of the VR equipment on the Z axis of the VR equipment coordinate system to obtain an action state value;
when the action state value is larger than a set threshold value, determining that the VR equipment is in a wearing state or a ready-to-wear state;
when the motion state value is less than or equal to a set threshold value, determining that the VR device is in an unworn state or a static state.
Optionally, the performing a weighted summation of the state value of the VR device on the X-axis, the state value on the Y-axis, and the state value on the Z-axis of the VR device coordinate system to obtain the action state value includes:
obtaining the action state value according to a formula motion _ state ═ (Rx-motion _ limit) × k1+ (Ry-motion _ limit) × k2+ (Rz-motion _ limit) × k 3;
wherein motion _ state is the motion state value, Rx, Ry, Rz are the state value of the VR device on the X-axis, the state value on the Y-axis, and the state value on the Z-axis of the VR device coordinate system, respectively, motion _ limit is a state threshold, and K1, K1, and K3 are weight values corresponding to the X-axis, the Y-axis, and the Z-axis, respectively.
Optionally, before obtaining the action state value, the method further comprises:
acquiring acceleration values and angular velocity values of the VR equipment during wearing or preparation for wearing for multiple times;
and performing linear fitting according to the acceleration values and the angular velocity values acquired for multiple times to obtain values of the motion _ limit, the K1, the K2 and the K3.
Optionally, the adjusting the working state of the VR device according to the wearing state of the VR device and the current working state of the VR device includes:
if the VR equipment is in a wearing state or a ready-to-wear state and the VR equipment is currently in a closed or dormant state, awakening the VR equipment; or
And if the VR equipment is in an unworn state or a static state and the VR equipment is in an awakening state, controlling the VR equipment to enter a dormant state.
The present invention also provides a VR device comprising: a processor, and a memory coupled to the processor;
the memory to store one or more computer instructions;
the processor to execute the one or more computer instructions to:
acquiring gesture data representing the three-dimensional motion gesture of the VR equipment;
identifying a wearing state of the VR equipment according to the posture data of the VR equipment;
and adjusting the working state of the VR equipment according to the wearing state of the VR equipment and the current working state of the VR equipment.
Optionally, the processor is specifically configured to:
acquiring various sensor data representing the three-dimensional motion posture of the VR equipment;
and performing fusion processing on the multiple kinds of sensor data to obtain a state value of the VR equipment on an X axis, a state value on a Y axis and a state value on a Z axis of a VR equipment coordinate system.
Optionally, the plurality of sensor data comprises: an acceleration value output by the acceleration sensor and an angular velocity value output by the gyroscope sensor;
the processor is specifically configured to:
calculating a state value of the VR equipment on an X axis of the VR equipment coordinate system according to the acceleration value output by the acceleration sensor on the X axis of the VR equipment coordinate system and the angular velocity value output by the gyroscope sensor;
calculating a state value of the VR equipment on a Y axis of the VR equipment coordinate system according to the acceleration value output by the acceleration sensor on the Y axis of the VR equipment coordinate system and the angular velocity value output by the gyroscope sensor;
and calculating the state value of the VR equipment on the Z axis of the VR equipment coordinate system according to the acceleration value output by the acceleration sensor on the Z axis of the VR equipment coordinate system and the angular velocity value output by the gyroscope sensor.
According to the method and the device, the posture data representing the three-dimensional motion posture of the VR equipment is obtained, the wearing state of the VR equipment is identified according to the posture data, the working state of the VR equipment is adjusted according to the wearing state and the current working state of the VR equipment, whether a user wears or prepares to wear the VR equipment is automatically identified, the working state of the VR equipment is automatically adjusted, the working state does not need to be adjusted in a key mode, and the convenience in operation of the VR equipment is improved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and not to limit the invention. In the drawings:
fig. 1 is a schematic flowchart of a VR device control method according to an embodiment of the present invention;
fig. 2 is a schematic diagram of values on an X-axis, values on a Y-axis, and values on a Z-axis of a VR device coordinate system obtained according to an angular velocity according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of an apparatus of a VR device according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a VR device according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the specific embodiments of the present invention and the accompanying drawings. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The technical solutions provided by the embodiments of the present invention are described in detail below with reference to the accompanying drawings.
Fig. 1 is a schematic flowchart of a VR device control method according to an embodiment of the present invention. As shown in fig. 1, the method comprises the steps of:
s101: and acquiring gesture data representing the three-dimensional motion gesture of the VR equipment.
S102: and identifying the wearing state of the VR equipment according to the posture data of the VR equipment.
S103: and adjusting the working state of the VR equipment according to the wearing state of the VR equipment and the current working state of the VR equipment.
In this embodiment, optionally, a sensor capable of detecting a three-dimensional motion gesture of the VR device may be disposed on the VR device, and then gesture data of the VR device may be acquired based on data detected by the sensor. Wherein the attitude data of the VR device includes, but is not limited to, euler angle data, pitch angle data, and the like.
Optionally, the sensor on the VR device may be one or more. Optionally, the sensor on the VR device may include at least one of a gyroscope, an acceleration sensor, a magnetometer, and the like.
When a user is wearing or is preparing to wear a VR device, for example, picking up the VR device, the VR device itself may be caused to assume a three-dimensional motion gesture. Based on this, the posture data of the VR device represents the three-dimensional motion posture of the VR device, so that after the posture data of the VR device is acquired, the wearing state of the VR device can be further identified according to the posture data.
Optionally, the wearing state of the VR device includes a wearing state or a ready-to-wear state, and an unworn state or a still state. If the posture data conforms to the three-dimensional motion posture presented by the VR device when the user wears or prepares to wear the VR device, the VR device can be identified to be in a wearing state or a ready-to-wear state. If the posture data accord with the three-dimensional motion posture of the VR equipment when the VR equipment is static, the VR equipment can be identified to be in an unworn state or a static state.
And then, adjusting the working state of the VR equipment according to the wearing state of the VR equipment and by combining the current working state of the VR equipment.
Optionally, the current operating state of the VR device includes a sleep state and an awake state, or an off state and an on state. The present embodiment can adjust the operating state of the VR device from the current operating state to a new operating state according to the wearing state of the VR device.
In this embodiment, through the gesture data who obtains the three-dimensional motion gesture of sign VR equipment to according to the wearing state of gesture data identification VR equipment, and then according to the operating condition of wearing state and the current operating condition adjustment VR equipment of VR equipment, whether automatic identification user is wearing or is ready to wear VR equipment, realize the automatic adjustment of VR equipment operating condition, need not to adjust operating condition through the mode of button, improve the convenience of VR equipment operation.
Further, in this embodiment, can be when the user prepares to wear VR equipment, the operating condition of VR equipment is adjusted in time, rapidly through the three-dimensional motion gesture of VR equipment for after the user wears VR equipment, can experience virtual scene immediately, make VR equipment operation more timely, more swiftly, be favorable to promoting user's experience.
In the above-described embodiment or the following embodiments, in order to improve the accuracy of acquiring the attitude data, a plurality of types of sensor data may be acquired, and fusion processing may be performed on the plurality of types of sensor data to obtain accurate attitude data. Based on this, obtain the gesture data that characterize VR equipment three-dimensional motion gesture, include: acquiring various sensor data representing the three-dimensional motion posture of the VR equipment; and performing fusion processing on the data of the various sensors to obtain a state value of the VR equipment on an X axis, a state value on a Y axis and a state value on a Z axis of a coordinate system of the VR equipment.
Optionally, a variety of sensors may be provided on the VR device; the sensors include gyroscopes, acceleration sensors, magnetometers, and the like. The corresponding multiple sensor data comprise an angular velocity value of the VR device output by the gyroscope, an acceleration value output by the acceleration sensor, magnetic field intensity data output by the magnetometer and the like.
Alternatively, a multi-sensor fusion technique may be used to perform fusion processing on the multiple sensor data. The multi-sensor fusion technology is a technology for comprehensively processing and optimizing the acquisition, representation and internal relation of various kinds of information. The method processes and integrates from the view angle of multi-information to obtain the internal connection and rule of various information, thereby eliminating useless and wrong information, reserving correct and useful components and finally realizing the optimization of the information. Optionally, the multi-sensor fusion technique includes, but is not limited to, a kalman filtering technique, a neural network technique, and the like.
And the state value of the VR equipment on the X axis, the state value on the Y axis and the state value on the Z axis of the VR equipment coordinate system can be obtained by fusing the data of the various sensors.
Wherein, the VR device coordinate system is a body coordinate system of the VR device. The origin of the VR device coordinate system is located at a center position or center of gravity position of the VR device. The X axis coincides with the horizontal axis of the VR device, the Y axis coincides with the longitudinal axis of the VR device, and the Z axis is perpendicular to the XOY plane.
When a user picks up the VR device and prepares to wear the VR device, or in the process that the user uses the VR device after wearing the VR device, the action state of the VR device can be changed. Various sensors in the VR equipment can detect the action state change of the VR equipment, and the action state change is reflected in the output data of the various sensors. And then, performing fusion processing on the output data of the various sensors to obtain state values of the VR equipment on an X axis, a Y axis and a Z axis of a VR equipment coordinate system. The state value of the VR equipment on one coordinate axis of the VR equipment coordinate system represents the action state change of the VR equipment in the direction of the coordinate axis.
The state values of the VR device on the X axis, the Y axis and the Z axis of the VR device coordinate system together form attitude data of the VR device, or the state values on the X axis, the Y axis and the Z axis may reflect a direction or an attitude of the VR device.
In the embodiment, multiple sensor data are optimized through a multi-sensor fusion technology to obtain accurate posture data of the VR equipment.
In an alternative embodiment, the acquisition process of the attitude data is described in detail by taking the example that the various sensors include a gyroscope and an acceleration sensor.
In this embodiment, the plurality of sensor data includes: an acceleration value output by the acceleration sensor and an angular velocity value output by the gyro sensor. Based on the calculation, the state value of the VR equipment on the X axis of the VR equipment coordinate system can be calculated according to the acceleration value of the VR equipment coordinate system output by the acceleration sensor and the angular velocity value output by the gyroscope sensor; calculating a state value of the VR equipment on a Y axis of the VR equipment coordinate system according to an acceleration value output by the acceleration sensor on the Y axis of the VR equipment coordinate system and an angular velocity value output by the gyroscope sensor; and calculating the state value of the VR equipment on the Z axis of the VR equipment coordinate system according to the acceleration value output by the acceleration sensor on the Z axis of the VR equipment coordinate system and the angular velocity value output by the gyroscope sensor.
Optionally, the following formula is used to calculate the state values of the VR device on the X-axis, Y-axis and Z-axis of the VR device coordinate system.
Rx＝(ACCx+GYRx*w1)/(1+w1)
Ry＝(ACCy+GYRy*w1)/(1+w1)
Rz＝(ACCz+GYRz*w1)/(1+w1)
And the ACCx, the ACCY and the ACCz are respectively an acceleration value on an X axis, an acceleration value on a Y axis and an acceleration value on a Z axis of the VR equipment coordinate system output by the acceleration sensor. W1 is an adjustable parameter. GYRx, GYRy, and GYRz are values on the X-axis, values on the Y-axis, and values on the Z-axis obtained from angular velocity values output from the gyroscope.
Alternatively, the data output by the sensor may have temperature drift, nonlinearity of transmission characteristic, zero output, external interference and the like, so that the data is inaccurate. Based on this, before calculating Rx, Ry and Rz, calibration compensation may be performed on the acceleration value output by the acceleration sensor and the angular velocity value output by the gyroscope in advance, and then the data after calibration compensation is substituted into the above formula for calculating Rx, Ry and Rz to obtain Rx, Ry and Rz. Through calibration compensation, the angular velocity value and the angular velocity value can be more accurate, and the obtained Rx, Ry and Rz are more accurate.
In the embodiment, the acceleration values in three directions output by the acceleration sensor and the values calculated according to the angular velocity values in three directions output by the gyroscope are weighted and averaged respectively in each direction, so that a more accurate acceleration value is calculated. The calculated state values may characterize a three-dimensional motion pose of the VR device.
Alternatively, in the process of acquiring GYRx, GYRy, and GYRz, the angular velocity values of the gyroscopes are first time-integrated to obtain angular values about the X axis, about the Y axis, and about the Z axis, respectively. As shown in fig. 2, the angular value about the Y axis is Axz, and the angular value about the X axis is Ayz. Alternatively, to simplify the calculation, the vector Q may be normalized by making Q modulo 1, and then (GYRX)2+(GYRy)2+(GYRz)21. Is knowing thatIn the case of GYRx and GYRy, GYRz can be known. Wherein GYRX, GYRy and GYRz are shown in the following formula.
GYRx＝RxGyro＝sin(Axz)/SQRT(1+cos(Axz)^2*tan(Ayz)^2)
GYRy＝sin(Ayz)/SQRT(1+cos(Ayz)^2*tan(Axz)^2)
GYRz＝Sign(GYRz)*SQRT(1–GYRx^2–GYRy^2)
Wherein sign (GYRz) is 1 when GYRz > -0, and sign (GYRz) is-1 when GYRz < 0.
The GYRx, GYRy, and GYRz are substantially values on the X axis, Y axis, and Z axis obtained from angular velocity values output from the gyroscope.
In the above-described embodiment or the following embodiments, when the user picks up the VR device to prepare to wear the VR device, or when the user uses the VR device after wearing the VR device, the state value of the VR device on the X axis, the state value on the Y axis, and the state value on the Z axis of the VR device coordinate system may be different. In order to improve the accuracy of identifying the wearing state of the VR device, the state values in the three directions may be weighted and summed to obtain a final action state value, and then the wearing state of the VR device may be determined by analyzing the action state value.
Based on the analysis, optionally, identifying a wearing state of the VR device according to the posture data of the VR device, including: carrying out weighted summation on the state value of the VR equipment on the X axis, the state value of the VR equipment on the Y axis and the state value of the VR equipment on the Z axis of a coordinate system of the VR equipment to obtain an action state value; when the action state value is larger than a set threshold value, determining that the VR equipment is in a wearing state or a ready-to-wear state; and when the action state value is less than or equal to the set threshold value, determining that the VR equipment is in an unworn state or a static state.
Wherein, the action state value represents the action amplitude of the whole VR equipment. When the action state value is larger than the set threshold value, the action range of the whole VR device is considered to be large, and it is likely that the user is in the process of wearing the VR device or takes up the VR device to be worn, and then the VR device can be determined to be in a wearing state or a ready-to-wear state. Conversely, if the operation state value is less than or equal to the set threshold value, it is considered that the operation range of the whole VR device is small, and it is highly likely that the VR device is blown by wind or otherwise disturbed, and it is determined that the VR device is in an unworn state or a stationary state.
Because the data output by the sensor still has self temperature drift or external interference after correction and compensation, and the small-amplitude action of the VR device may be caused by non-artificial reasons such as ground or desktop vibration, wind blowing and the like, the calculated state values on the X axis, the Y axis and the Z axis may not be completely caused by the action of the user for picking up the VR device or wearing the VR device. Based on this, it is preferable that, in addition to directly performing weighted summation on the state values on the X-axis, the Y-axis, and the Z-axis, the state values on the X-axis, the Y-axis, and the Z-axis are respectively subtracted by corresponding threshold values, and then the weighted summation calculation is performed.
Based on the analysis, performing weighted summation on the state value of the VR device on the X axis, the state value on the Y axis and the state value on the Z axis of the VR device coordinate system to obtain the action state value, including: obtaining an action state value according to a formula motion _ state ═ (Rx-motion _ limit) × k1+ (Ry-motion _ limit) × k2+ (Rz-motion _ limit) × k 3; wherein, motion _ state is an action state value, Rx, Ry, Rz are a state value of the VR device on the X-axis, a state value on the Y-axis, and a state value on the Z-axis of the VR device coordinate system, motion _ limit is a state threshold, and K1, K1, and K3 are weight values corresponding to the X-axis, the Y-axis, and the Z-axis, respectively.
In the formula, the state thresholds on the X-axis, the Y-axis, and the Z-axis are all motion _ limit, but are not limited thereto. The state thresholds may be different on the X, Y and Z axes. Alternatively, K1, K1 and K3 may be the same or different.
In an alternative embodiment, the parameters motion _ limit, K1, K2, K, and W1 in the above formula can all be obtained through experiments. Based on this, before obtaining the action state value, the method further comprises: acquiring acceleration values and angular velocity values of VR equipment during wearing or preparation for wearing for multiple times; and performing linear fitting on the acceleration values and the angular velocity values acquired for multiple times according to the formula to obtain values of motion _ limit, K1, K2 and K3.
Fitting refers to knowing a plurality of discrete function values of a certain function, and adjusting a plurality of undetermined coefficients in the function to enable the function to be the smallest difference with a known point set. In this embodiment, knowing the acceleration value, the angular velocity value, and the set threshold value when the user is wearing or preparing to wear the VR device, the calculated function value can be made larger than the set threshold value by adjusting the motion _ limit, K1, K2, and K3.
Alternatively, the parameter w1 may also be obtained by a linear fitting formula. The larger the test data amount is, the more accurate the obtained parameter value is, and the more accurate the state judgment of the VR equipment is.
In the above embodiment or the following embodiments, the current state of the VR device includes an awake state and an off or sleep state. Based on this, according to the wearing state of VR equipment and the current operating condition of VR equipment, adjust the operating condition of VR equipment, include:
if the VR equipment is in a wearing state or a ready-to-wear state and the VR equipment is currently in a closed or dormant state, awakening the VR equipment; or if the VR equipment is in an unworn state or a static state and the VR equipment is in an awakening state, controlling the VR equipment to enter a dormant state.
Optionally, the current working state of the VR device may be obtained first, and then the state of the VR device is determined according to the current working state. For example, if the current working state of the VR device is the awake state, it is determined whether the VR device is in the still state or the unworn state. When the user does not wear the VR equipment, the working state of the VR equipment can be adjusted from the awakening state to the sleeping state, so that energy consumption is saved, and the privacy of the user is protected.
And if the current working state of the VR equipment is the off or sleep state, judging whether the VR equipment is in the wearing state or the ready-to-wear state. When a user picks up the VR equipment to wear the VR equipment, or in the process that the user uses the VR equipment after wearing the VR equipment, the working state of the VR equipment can be adjusted from a closed state or a dormant state to an awakening state so as to normally work.
An embodiment of the present invention further provides a VR device, as shown in fig. 4, a VR device 200 includes a processor 201, and a memory 202 connected to the processor 201.
The memory 202 is used to store one or more computer instructions.
The processor 201 is operable to execute one or more computer instructions stored in the memory 202 for: acquiring gesture data representing the three-dimensional motion gesture of the VR equipment; identifying the wearing state of the VR equipment according to the posture data of the VR equipment; and adjusting the working state of the VR equipment according to the wearing state of the VR equipment and the current working state of the VR equipment.
In this embodiment, through the gesture data who obtains the three-dimensional motion gesture of sign VR equipment to according to the wearing state of gesture data identification VR equipment, and then according to wearing state and the current operating condition adjustment VR equipment's of VR equipment operating condition, make and can discern whether the user is wearing or prepares to wear VR equipment automatically, realize VR equipment operating condition's automatic adjustment, need not to adjust operating condition through the mode of button, improve the convenience of VR equipment operation.
Further, in this embodiment, when the user prepares to wear the VR device, the operating condition of the VR device is adjusted timely and rapidly through the three-dimensional motion posture of the VR device, so that after the user wears the VR device, the virtual scene can be experienced immediately, the operation of the VR device is more timely and faster, and the user experience is promoted.
Optionally, when acquiring the gesture data representing the three-dimensional motion gesture of the VR device, the processor 201 is specifically configured to: acquiring various sensor data representing the three-dimensional motion posture of the VR equipment; and performing fusion processing on the data of the various sensors to obtain a state value of the VR equipment on an X axis, a state value on a Y axis and a state value on a Z axis of a coordinate system of the VR equipment.
Optionally, the plurality of sensor data comprises: an acceleration value output by the acceleration sensor and an angular velocity value output by the gyro sensor.
When the processor 201 performs fusion processing on the multiple types of sensor data to obtain a state value of the VR device on an X axis, a state value on a Y axis, and a state value on a Z axis of a VR device coordinate system, the processor is specifically configured to:
calculating a state value of the VR equipment on the X axis of the VR equipment coordinate system according to an acceleration value output by the acceleration sensor on the X axis of the VR equipment coordinate system and an angular velocity value output by the gyroscope sensor;
calculating a state value of the VR equipment on a Y axis of the VR equipment coordinate system according to an acceleration value output by the acceleration sensor on the Y axis of the VR equipment coordinate system and an angular velocity value output by the gyroscope sensor;
and calculating the state value of the VR equipment on the Z axis of the VR equipment coordinate system according to the acceleration value output by the acceleration sensor on the Z axis of the VR equipment coordinate system and the angular velocity value output by the gyroscope sensor.
Optionally, the processor 201, in identifying the wearing state of the VR device according to the posture data of the VR device, includes: carrying out weighted summation on the state value of the VR equipment on the X axis, the state value of the VR equipment on the Y axis and the state value of the VR equipment on the Z axis of a coordinate system of the VR equipment to obtain an action state value; when the action state value is larger than a set threshold value, determining that the VR equipment is in a wearing state or a ready-to-wear state; and when the action state value is less than or equal to the set threshold value, determining that the VR equipment is in an unworn state or a static state.
Optionally, the processor 201 is specifically configured to, when performing weighted summation on the state value of the VR device on the X axis, the state value on the Y axis, and the state value on the Z axis of the VR device coordinate system to obtain the action state value:
obtaining an action state value according to a formula motion _ state ═ (Rx-motion _ limit) × k1+ (Ry-motion _ limit) × k2+ (Rz-motion _ limit) × k 3; wherein, motion _ state is an action state value, Rx, Ry, Rz are a state value of the VR device on the X-axis, a state value on the Y-axis, and a state value on the Z-axis of the VR device coordinate system, motion _ limit is a state threshold, and K1, K1, and K3 are weight values corresponding to the X-axis, the Y-axis, and the Z-axis, respectively.
Optionally, the processor 201 is further configured to, before obtaining the action state value: acquiring acceleration values and angular velocity values of VR equipment during wearing or preparation for wearing for multiple times; and performing linear fitting according to the acceleration values and the angular velocity values acquired for multiple times to obtain K3 values of motion _ limit, K1 and K2.
Optionally, the processor 201 adjusts the working state of the VR device according to the wearing state of the VR device and the current working state of the VR device, and is specifically configured to: if the VR equipment is in a wearing state or a ready-to-wear state and the VR equipment is currently in a closed or dormant state, awakening the VR equipment; or if the VR equipment is in an unworn state or a static state and the VR equipment is in an awakening state, controlling the VR equipment to enter a dormant state.
As shown in fig. 4, the VR device may include, in addition to a memory 202 and a processor 201, a display 203, a binocular Lens (Lens)204, an Inertial Measurement Unit (IMU) 205, a speaker 206, and the like. Among other things, the inertial measurement unit 205 includes various sensors. Only a part of the components of the VR device are shown in fig. 4, and not all of the components are shown, and those skilled in the art can understand that the VR device may include other components besides the components shown in fig. 4, and certainly, some of the components shown in fig. 4 may not be included.
Alternatively, the display screen 203 may be an LED display screen, but is not limited thereto. The IMU205 may include a gyroscope, magnetometer, acceleration sensor, and the like.
The VR equipment provided by the embodiment can play videos in VR scenes, and the requirement that users watch videos in the VR scenes is met.
Embodiments of the present invention further provide a computer storage medium, where the computer storage medium stores one or more computer instructions, and when the one or more computer instructions are executed by a computer, the computer storage medium may implement: acquiring attitude data representing the three-dimensional motion attitude of the VR equipment based on a sensor on the VR equipment; identifying the wearing state of the VR equipment according to the posture data of the VR equipment; and adjusting the working state of the VR equipment according to the wearing state of the VR equipment and the current working state of the VR equipment.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
The above description is only an example of the present invention, and is not intended to limit the present invention. Various modifications and alterations to this invention will become apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.

Claims (7)

1. A VR device control method, comprising:
acquiring gesture data representing the three-dimensional motion gesture of the VR device based on data detected by a sensor on the VR device, wherein the data comprises a state value of the VR device on an X-axis, a state value of the VR device on a Y-axis and a state value of the VR device on a Z-axis of a coordinate system of the VR device; the state value of the VR equipment on one coordinate axis of the VR equipment coordinate system represents the action state change of the VR equipment in the direction of the coordinate axis;
identifying a wearing state of the VR equipment according to the posture data of the VR equipment;
adjusting the working state of the VR equipment according to the wearing state of the VR equipment and the current working state of the VR equipment;
the identifying the wearing state of the VR device according to the posture data of the VR device comprises:
weighting and summing a state value of the VR equipment on an X axis, a state value on a Y axis and a state value on a Z axis of a coordinate system of the VR equipment to obtain an action state value, wherein the action state value represents the action amplitude of the whole VR equipment; when the action state value is larger than a set threshold value, the user is considered to be in the process of wearing the VR equipment or pick up the VR equipment to be worn so that the VR equipment acts, and the VR equipment is determined to be in a wearing state or a ready-to-wear state; when the action state value is smaller than or equal to a set threshold value, determining that the VR device is in an unworn state or a static state;
the acquiring gesture data representing the three-dimensional motion gesture of the VR device comprises:
acquiring various sensor data representing the three-dimensional motion posture of the VR equipment; the plurality of sensor data includes: the acceleration value output by the acceleration sensor, the angular velocity value output by the gyroscope sensor and the magnetic field intensity data output by the magnetometer;
and performing fusion processing on the multiple kinds of sensor data to obtain a state value of the VR equipment on an X axis, a state value on a Y axis and a state value on a Z axis of a VR equipment coordinate system.
2. The method of claim 1, wherein the fusing the plurality of sensor data to obtain the state value of the VR device in an X-axis, a Y-axis, and a Z-axis of a VR device coordinate system comprises:
calculating a state value of the VR equipment on an X axis of the VR equipment coordinate system according to the acceleration value output by the acceleration sensor on the X axis of the VR equipment coordinate system and the angular velocity value output by the gyroscope sensor;
calculating a state value of the VR equipment on a Y axis of the VR equipment coordinate system according to the acceleration value output by the acceleration sensor on the Y axis of the VR equipment coordinate system and the angular velocity value output by the gyroscope sensor;
and calculating the state value of the VR equipment on the Z axis of the VR equipment coordinate system according to the acceleration value output by the acceleration sensor on the Z axis of the VR equipment coordinate system and the angular velocity value output by the gyroscope sensor.
3. The method of claim 1, wherein the weighted summation of the state values of the VR device on an X-axis, the state values on a Y-axis, and the state values on a Z-axis of the VR device coordinate system to obtain the action state value comprises:
obtaining the action state value according to a formula motion _ state = (Rx-motion _ limit) × k1+ (Ry-motion _ limit) × k2+ (Rz-motion _ limit) × k 3;
wherein motion _ state is the motion state value, Rx, Ry, Rz are the state value of the VR device on the X-axis, the state value on the Y-axis, and the state value on the Z-axis of the VR device coordinate system, respectively, motion _ limit is a state threshold, and K1, K1, and K3 are weight values corresponding to the X-axis, the Y-axis, and the Z-axis, respectively.
4. The method of claim 3, wherein prior to obtaining the action state value, the method further comprises:
acquiring acceleration values and angular velocity values of the VR equipment during wearing or preparation for wearing for multiple times;
and performing linear fitting according to the acceleration values and the angular velocity values acquired for multiple times to obtain values of the motion _ limit, the K1, the K2 and the K3.
5. The method of any of claims 1-4, wherein adjusting the operating state of the VR device based on the wearing state of the VR device and the current operating state of the VR device includes:
if the VR equipment is in a wearing state or a ready-to-wear state and the VR equipment is currently in a closed or dormant state, awakening the VR equipment; or
And if the VR equipment is in an unworn state or a static state and the VR equipment is in an awakening state, controlling the VR equipment to enter a dormant state.
6. A VR device comprising a processor, and a memory coupled to the processor;
the memory to store one or more computer instructions;
the processor to execute the one or more computer instructions to:
acquiring gesture data representing the three-dimensional motion gesture of the VR device based on data detected by a sensor on the VR device, wherein the data comprises a state value of the VR device on an X-axis, a state value of the VR device on a Y-axis and a state value of the VR device on a Z-axis of a coordinate system of the VR device; the state value of the VR equipment on one coordinate axis of the VR equipment coordinate system represents the action state change of the VR equipment in the direction of the coordinate axis;
identifying a wearing state of the VR equipment according to the posture data of the VR equipment;
adjusting the working state of the VR equipment according to the wearing state of the VR equipment and the current working state of the VR equipment;
the processor is specifically configured to: weighting and summing a state value of the VR equipment on an X axis, a state value on a Y axis and a state value on a Z axis of a coordinate system of the VR equipment to obtain an action state value, wherein the action state value represents the action amplitude of the whole VR equipment; when the action state value is larger than a set threshold value, the user is considered to be in the process of wearing the VR equipment or pick up the VR equipment to be worn so that the VR equipment acts, and the VR equipment is determined to be in a wearing state or a ready-to-wear state; when the action state value is smaller than or equal to a set threshold value, determining that the VR device is in an unworn state or a static state;
the processor is specifically configured to:
acquiring various sensor data representing the three-dimensional motion posture of the VR equipment; the plurality of sensor data includes: the acceleration value output by the acceleration sensor, the angular velocity value output by the gyroscope sensor and the magnetic field intensity data output by the magnetometer;
and performing fusion processing on the multiple kinds of sensor data to obtain a state value of the VR equipment on an X axis, a state value on a Y axis and a state value on a Z axis of a VR equipment coordinate system.
7. The VR device of claim 6, wherein the processor is specifically configured to:
calculating a state value of the VR equipment on an X axis of the VR equipment coordinate system according to the acceleration value output by the acceleration sensor on the X axis of the VR equipment coordinate system and the angular velocity value output by the gyroscope sensor;
calculating a state value of the VR equipment on a Y axis of the VR equipment coordinate system according to the acceleration value output by the acceleration sensor on the Y axis of the VR equipment coordinate system and the angular velocity value output by the gyroscope sensor;
and calculating the state value of the VR equipment on the Z axis of the VR equipment coordinate system according to the acceleration value output by the acceleration sensor on the Z axis of the VR equipment coordinate system and the angular velocity value output by the gyroscope sensor.
CN201710835234.1A 2017-09-15 2017-09-15 VR equipment control method and VR equipment Active CN107608512B (en)

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