CN108227928A

CN108227928A - Pick-up method and device in a kind of virtual reality scenario

Info

Publication number: CN108227928A
Application number: CN201810021624.XA
Authority: CN
Inventors: 姚巍; 梁效富; 张薇
Original assignee: Samsung Electronics China R&D Center; Samsung Electronics Co Ltd
Current assignee: Samsung Electronics China R&D Center; Samsung Electronics Co Ltd
Priority date: 2018-01-10
Filing date: 2018-01-10
Publication date: 2018-06-29
Anticipated expiration: 2038-01-10
Also published as: CN108227928B

Abstract

The invention discloses the pick-up methods and device in a kind of virtual reality scenario, it is to receive finger pressure data by data acquisition module, position data of the virtual hand in virtual reality scenario is obtained and towards data by IMU modules, solid is picked up by physical computing module construction, and judge whether the bounding box of object in virtual reality scenario intersects, and then determine whether to pick up the object with pickup geometry body position.The present invention is based on the pickups that multiconductor pressure judges object in virtual reality scenario, it provides true and efficient pick-up operation for current virtual reality device, compared with prior art, technical solution of the present invention only needs to be picked up judgement to multifinger hand pressure, without carrying out gesture identification to specific each finger, the complexity of software calculating is reduced, and more highly efficient than existing precision pick judgment method.The present invention improves the feeling of immersion of user's virtual reality interaction simultaneously, improves user experience.

Description

Pick-up method and device in a kind of virtual reality scenario

Technical field

It is more particularly to a kind of based on the virtual existing of multiconductor pressure judgement the present invention relates to virtual reality interaction design field Pick-up method and device in real field scape.

Background technology

At present, existing virtual reality scenario pickup technology, generally using following several ways：

(1) object in virtual scene is focused on using joystick, confirms pickup using the button on handle；

(2) using eyeball tracking, object is picked up according to direction of visual lines；

(3) gesture identification is carried out according to the position relationship of each finger of virtual hand to be picked up.

The Chinese patent application of Publication No. CN103473814A discloses a kind of three-dimensional geometric primitive pickup based on GPU Method is that rasterisation is closed when being picked up drafting, by mouse location information and primitive vertices coordinate transform to standardizing Device coordinate system or Viewport coordinate system, by judging the two-dimensional primitive after projecting and mouse position or selection in geometrical processor The relationship of frame carries out hit judgement, and pickup result is returned application program using transformation feedback.The patent application is mainly logical It crosses mouse and clicks selection, pass through GPU operations and accurate pickup in real time is carried out to small pel.The technical solution of the patent application is empty The degrees of fusion intended between reality and actual act is small, can not control three-dimensional with the action particularly picking action of hand of limbs The pickup of geometric graphic element.

The Chinese patent application of Publication No. CN106406511A discloses a kind of dynamic based on point contact type sensing unit Make information determination method, including：A kind of information based on point contact type sensing unit data glove and action message decision-making system Acquisition method, a kind of action message decision-making system, a kind of point contact type sensing unit data glove, a kind of inductance point contact type sense Answer cell data gloves, a kind of pressure sensitivity point contact type sensing unit data glove, a kind of holding point contact type sensing unit data Gloves auxiliary tool；It is more that computing resource is occupied when solving the problems, such as traditional data gloves of high cost, structure complexity, using；It should Scheme is used from each main point contact data of data acquisition equipment acquisition surface, and feature pair is carried out with the fixation action data of setting Than obtaining expressed action.The patent application is mainly to be known by the Characteristic Contrast of fixed action data to complete gesture motion Not, since it is desired that just must dependent on a large amount of original fixation action data and when empirically judging using a certain action A certain thing is done, still, for the action purpose not yet known, fixed action data feature is only relied upon, is just susceptible to mistake Erroneous judgement.

The Chinese patent application of Publication No. CN106445085A discloses a kind of interactive controlling side based on virtual reality Method and device, including：In the case where detecting that viewing point is in the corresponding control area of control object, the viewing point is shown Show in the control object；The duration that the control area is in the viewing point reaches the situation of the first preset value Under, perform the corresponding operation of the control object.By detecting that viewing point is in the corresponding control area of control object In the case of, viewing point is included in control object, the duration that control area is in viewing point reaches the first preset value In the case of, perform the corresponding operation of control object, interaction control method and device according to the present invention based on virtual reality The requirement to the performance accuracy of user can be reduced, so as to improve user experience.The patent application is mainly sentenced by focus Disconnected pickup object when focus be in object control region, needs, by the determining of preset time, to complete to pick up It takes.The patent application can not apish limb action, sense on the spot in person can not be given.

The Chinese patent application of Publication No. CN106445176A discloses a kind of man-machine friendship based on virtual reality technology Mutual system and exchange method, including：Virtual reality head shows equipment, controller and somatosensory recognition device, when user's needs and virtually When scene interacts, somatosensory recognition device can capture the body-sensing data information of user, and body-sensing data information is exported to control The body-sensing data set information of acquisition is converted into user movement data processing signal by device processed, controller, is exported to virtual reality head Aobvious equipment, the motion model that control virtual reality head is shown in the virtual scene that equipment is shown are synchronized with the movement, finishing man-machine interaction.It should Apply lacking user and void mainly by body-sensing data for showing the motion conditions of user in virtual reality scenario in real time Intend the interactive controlling between the object in scene.

The Chinese patent application of Publication No. CN103955295A discloses a kind of based on data glove and physical engine The real-time grasping means of virtual hand, including：First, start computer, data glove and position tracker；2nd, data glove is put on, The data that operation computer obtains data glove and position tracker is sent；3rd, data glove does digital flexion, palm is put down for wearing Rotation is moved, the position and delta data of finger and palm are sent to program by data glove and position tracker, and program is by connecing Receive the movement of the finger and palm of data-driven virtual hand；4th, grasping movement control is simulated in reality using the hand of data glove Virtual hand in computer processed removes crawl object, and program can judge whether dummy object is in and be crawled state；If do not meet quilt Crawl returns to three, three, four is continued to execute, until program exits；If satisfaction is crawled, five are performed；5th, by calculating virtual hand The variation of position and posture control the position of dummy object and the variation of posture, so as to controlling the movement of dummy object and rotation Turn.The patent application technical solution only relies on data glove and obtains the gesture of user to be moved with the pickup completed in virtual reality scenario Make, use scope is narrow, just cannot carry out virtual field because that can not determine the variation of user gesture when being detached from data glove Grasping movement in scape.

Virtual reality scenario can be seen that by above-mentioned several times patent documents and all kinds of documents of the prior art In pickup interaction chosen mostly by controller, eyeball tracking or gesture judge complete.Wherein, controller is chosen and eyeball chases after Two methods of track cannot simulate true picking action, and the calculation amount of gesture judging method is larger, not be suitable for calculating in real time Scene.

Existing pickup technology, operation is upper to get close to nature, can reduce the sense of reality that virtual reality is brought experience or Cost is higher, and applicability is bad：

(1) using joystick：True pick-up operation can not be simulated, easily causes maloperation, lacks feeling of immersion；

(2) eyeball tracking：Response speed is slow, and the bad guarantee of precision can not carry out operational feedback；

(3) gesture judges：It is computationally intensive, it is not suitable for the higher real-time pickup of precision and judges.

Therefore, the technology in virtual reality technology still has very big room for improvement.

Invention content

In view of this, the present invention provides the pick-up method and device in a kind of virtual reality scenario, true with efficient simulation Real pick-up operation promotes the feeling of immersion of virtual reality user interaction.

The technical proposal of the invention is realized in this way：

A kind of pick-up method in virtual reality scenario, including：

Receive finger pressure data；

Structure pickup solid；

According to position data of the virtual hand in virtual reality scenario and towards data, the pickup geometry is determined or changed The spatial position of body and Space Rotating degree；

Traverse the bounding box of each object in virtual reality scenario；

When the bounding box of jobbie intersects with the spatial position of the pickup solid, which is determined as picking up Object；

According to the size of the finger pressure data modification pickup solid；

According to the intersecting degree of the pickup solid and the bounding box for picking up object, it is determined whether pick up the pickup object And determine when to unclamp the pickup object.

Further, the method further includes：

When determining to pick up the pickup object, the control information for picking up the pickup object is sent to virtual reality device；

When determining to unclamp the pickup object, the control information of picking up the pickup object will be cancelled and be sent to virtual reality and set It is standby.

Further, the finger pressure data from data glove, flexible sensor or is installed on finger-joint Pressure sensor.

Further, structure pickup solid, including：

Obtain the metric parameter of the virtual hand；

Structure pickup coordinate system；

According to the pickup coordinate system and the metric parameter of the virtual hand, the size of the pickup solid is determined.

Further, the metric parameter of the virtual hand includes the hand length L, the palm width W of virtual hand, void of virtual hand Intend the thumb length R of hand；

It is stretched in the palm of the virtual hand, thumb is under remaining four finger-like state, with the forefinger of the virtual hand Direction is positive direction of the x-axis, using the thumb direction as z-axis positive direction, using perpendicular to palm and to far from palm direction as y Axis positive direction builds the pickup coordinate system；

The pickup solid is located at the side of the palm of the virtual hand.

Further, the geometric shape of the pickup solid includes：

Pick up line segment, pickup cylinder, pickup sphere, pickup terrace with edge and pickup cuboid.

Further, the geometric shape is determined according to the quantity of surveyed finger and the selection of user.

Further, the quantity for surveying finger is at least two, wherein, thumb must be included by surveying in finger.

Further, when the quantity of surveyed finger is two, the optional geometric shape of user is pickup line segment；

When surveyed finger quantity be three when, the optional geometric shape of user include pickup line segment, pickup cylinder and Pick up sphere；

When the quantity of surveyed finger is four, the optional geometric shape of user includes pickup line segment, pickup cylinder, picks up Take sphere, pickup terrace with edge and pickup cuboid；

When the quantity of surveyed finger is five, the optional geometric shape of user includes pickup line segment, pickup cylinder, picks up Take sphere, pickup terrace with edge and pickup cuboid.

Further, when the geometric shape is pickup line segment：

The pickup leads section is located in the plane that the x-axis and z-axis are formed；

It is described pickup line segment initial length beIt is described pickup line segment length variation range for 0 to

Further, the size of the pickup solid is changed according to the finger pressure data, including：

The pressure value of thumb is obtained, if the pressure value increase of thumb, reduces the length of the pickup line segment, if greatly The pressure value of thumb reduces, then increases the length of the pickup line segment；

The maximum pressure value in addition to thumb in the pressure value of remaining finger is obtained, if the maximum pressure value increases, is subtracted The length of the small pickup line segment if the maximum pressure value reduces, increases the length of the pickup line segment.

Further, increase or reduce the length of the pickup line segment according to equation below：

Length₁'=Length₁×α×F

Wherein, Length₁' to pick up the modified length of line segment, Length₁For the length before pickup line segment modification, α is Adjustment factor, F are the pressure value of finger.

Further, when the geometric shape is pickup cylinder：

The axis parallel of the pickup cylinder is in z-axis, and the height of the pickup cylinder is W, the pickup cylinder The initial diameter of body isIt is described pickup cylinder diameter variation range for 0 toAnd the pickup circle Cylinder is located in virtual hand between the corresponding virtual finger of surveyed finger.

The pressure value of thumb is obtained, if the pressure value increase of thumb, reduces the diameter of the pickup cylinder, if The pressure value of thumb reduces, then increases the diameter of the pickup cylinder；

The maximum pressure value in addition to thumb in the pressure value of remaining finger is obtained, if the maximum pressure value increases, is subtracted The diameter of the small pickup cylinder if the maximum pressure value reduces, increases the diameter of the pickup cylinder.

Further, increase or reduce the diameter of the pickup cylinder according to equation below：

Φ₁'=Φ₁×α×F

Wherein, Φ₁' to pick up the modified diameter of cylinder, Φ₁For the diameter before pickup cylinder modification, α is adjusts Coefficient, F are the pressure value of finger.

Further, when the geometric shape is pickup sphere：

It is described pickup sphere initial diameter beIt is described pickup sphere diameter variation range for 0 toAnd the pickup sphere is located in virtual hand between the corresponding virtual finger of surveyed finger.

The pressure value of thumb is obtained, if the pressure value increase of thumb, reduces the diameter of the pickup sphere, if greatly The pressure value of thumb reduces, then increases the diameter of the pickup sphere；

The maximum pressure value in addition to thumb in the pressure value of remaining finger is obtained, if the maximum pressure value increases, is subtracted The diameter of the small pickup sphere if the maximum pressure value reduces, increases the diameter of the pickup sphere.

Further, increase or reduce the diameter of the pickup sphere according to equation below：

Φ₂'=Φ₂×α×F

Wherein, Φ₂' to pick up the modified diameter of sphere, Φ₂For the diameter before pickup sphere modification, α is adjustment factor, F is the pressure value of finger.

Further, when the geometric shape is pickup terrace with edge：

A length of H, the width W of the pickup terrace with edge bottom surface, the initial length of the pickup terrace with edge top surface are L, the pickup The variation range of terrace with edge end face length is 0 to L, and the width of the pickup terrace with edge top surface is W, and the elemental height of the pickup terrace with edge is R, the high variation range of the pickup terrace with edge is 0 to R.

The pressure value of thumb is obtained, if the pressure value increase of thumb, reduces the pickup terrace with edge in the y-axis direction Length, if the pressure value of thumb reduces, increase the pickup terrace with edge length in the y-axis direction；

The maximum pressure value in addition to thumb in the pressure value of remaining finger is obtained, if the maximum pressure value increases, is subtracted The length of the small pickup terrace with edge in the direction of the x axis if the maximum pressure value reduces, increases the pickup terrace with edge in x-axis side Upward length.

Further, increase or reduce length of the pickup terrace with edge in x-axis and/or y-axis direction according to equation below：

Length₂'=Length₂×α×F

Wherein, Length₂' to pick up terrace with edge modified length, Length in x-axis and/or y-axis direction₂To pick up rib Platform changed in x-axis and/or y-axis direction before length, α is adjustment factor, and F is the pressure value of finger.

Further, when the geometric shape is pickup cuboid：

The pickup cuboid is L in the initial length value of x-axis direction, and the initial length value in y-axis direction is R, in z-axis The initial length value in direction is W.

The pressure value of thumb is obtained, if the pressure value increase of thumb, reduces the pickup cuboid in y-axis direction On length, if the pressure value of thumb reduces, increase the pickup cuboid length in the y-axis direction；

The maximum pressure value in addition to thumb in the pressure value of remaining finger is obtained, if the maximum pressure value increases, is subtracted The length of the small pickup cuboid in the direction of the x axis if the maximum pressure value reduces, increases the pickup cuboid in x Length in axis direction.

Length₃'=Length₃×α×F

Wherein, Length₃' to pick up cuboid modified length, Length in x-axis and/or y-axis direction₃For pickup Cuboid changed in x-axis and/or y-axis direction before length, α is adjustment factor, and F is the pressure value of finger.

Further, when the geometric shape is pickup line segment, according to the encirclement of the pickup solid and pickup object The intersecting degree of box, it is determined whether it picks up the pickup object and determines when to unclamp the pickup object, including：

If the pickup object is not in pick-up situation, bounding box of the pickup line segment with picking up object is calculated The length of intersection, and the length of presently described pickup line segment is calculated, if meeting pickup conditions formula (1), picked up described Object is taken to be determined as pick-up situation：

L_intersect÷L_pick＞ β (1)

Wherein, L_intersectThe length of intersection for bounding box of the pickup line segment with picking up object, L_pickTo work as The length of the preceding pickup line segment, β are pickup judgment threshold；

If the pickup object has been in pick-up situation, the phase of bounding box of the pickup line segment with picking up object is calculated The length of part is handed over, and calculates the length of presently described pickup line segment, if no longer meeting pickup conditions formula (1) and from no longer Meet and pickup conditions formula (1) is unsatisfactory in the first delay period started at the time of pickup conditions formula (1), then unclamp The pickup object, and remove the pick-up situation of the pickup object.

Further, when the geometric shape is pickup cylinder, according to the pickup solid and the packet of pickup object Enclose the intersecting degree of box, it is determined whether it picks up the pickup object and determines when to unclamp the pickup object, including：

If the pickup object is not in pick-up situation, the cross section of the pickup cylinder and pickup object are calculated Bounding box intersection area, and calculate it is presently described pickup cylinder cross-sectional area, if meeting pickup conditions The pickup object is then determined as pick-up situation by formula (2)：

A_intersect1÷A_pick1＞ β (2)

Wherein, A_intersect1For the cross section of the pickup cylinder and the face of the intersection of the bounding box of pickup object Product, A_pick1For the cross-sectional area of presently described pickup cylinder, β is pickup judgment threshold；

If the pickup object has been in pick-up situation, the cross section of the pickup cylinder and pickup object are calculated The area of the intersection of bounding box, and the cross-sectional area of presently described pickup cylinder is calculated, if no longer meeting pick-up bar Part formula (2) and since being unsatisfactory for picking up in the first delay period at the time of no longer meeting pickup conditions formula (2) Condition formula (2) is taken, then unclamps the pickup object, and removes the pick-up situation of the pickup object.

Further, when the geometric shape is pickup sphere, according to the encirclement of the pickup solid and pickup object The intersecting degree of box, it is determined whether it picks up the pickup object and determines when to unclamp the pickup object, including：

If the pickup object is not in pick-up situation, the cross section of the pickup sphere and pickup object are calculated The area of the intersection of bounding box, and the cross-sectional area of presently described pickup sphere is calculated, if meeting pickup conditions formula (3), then the pickup object is determined as pick-up situation：

A_intersect2÷A_pick2＞ β (3)

Wherein, A_intersect2For the cross section of the pickup sphere and the face of the intersection of the bounding box of pickup object Product, A_pick2For the cross-sectional area of presently described pickup sphere, β is pickup judgment threshold；

If the pickup object has been in pick-up situation, the cross section of the pickup sphere and the packet of pickup object are calculated The area of the intersection of box is enclosed, and calculates the cross-sectional area of presently described pickup sphere, if no longer meeting pickup conditions public affairs Formula (3) and since being unsatisfactory for pick-up bar in the first delay period at the time of no longer meeting pickup conditions formula (3) Part formula (3) then unclamps the pickup object, and removes the pick-up situation of the pickup object.

Further, when the geometric shape is pickup terrace with edge, according to the encirclement of the pickup solid and pickup object The intersecting degree of box, it is determined whether it picks up the pickup object and determines when to unclamp the pickup object, including：

If the pickup object is not in pick-up situation, bounding box of the pickup terrace with edge with picking up object is calculated The volume of intersection, and the volume of presently described pickup terrace with edge is calculated, if meeting pickup conditions formula (4), picked up described Object is taken to be determined as pick-up situation：

V_intersect1÷V_pick1＞ β (4)

Wherein, V_intersect1The volume of intersection for bounding box of the pickup terrace with edge with picking up object, V_pick1For The volume of presently described pickup terrace with edge, β are pickup judgment threshold；

If the pickup object has been in pick-up situation, the phase of bounding box of the pickup terrace with edge with picking up object is calculated The volume of part is handed over, and calculates the volume of presently described pickup terrace with edge, if no longer meeting pickup conditions formula (4) and from no longer Meet and pickup conditions formula (4) is unsatisfactory in the first delay period started at the time of pickup conditions formula (4), then unclamp The pickup object, and remove the pick-up situation of the pickup object.

Further, when the geometric shape is pickup cuboid, according to the pickup solid and the packet of pickup object Enclose the intersecting degree of box, it is determined whether it picks up the pickup object and determines when to unclamp the pickup object, including：

If the pickup object is not in pick-up situation, bounding box of the pickup cuboid with picking up object is calculated Intersection volume, and calculate it is presently described pickup cuboid volume, if meeting pickup conditions formula (5), by institute It states pickup object and is determined as pick-up situation：

V_intersect2÷V_pick2＞ β (5)

Wherein, V_intersect2The volume of intersection for bounding box of the pickup cuboid with picking up object, V_pick2 For the volume of presently described pickup cuboid, β is pickup judgment threshold；

If the pickup object has been in pick-up situation, bounding box of the pickup cuboid with picking up object is calculated The volume of intersection, and calculate it is presently described pickup cuboid volume, if no longer meet pickup conditions formula (5) and from No longer meet and pickup conditions formula (5) is unsatisfactory in the first delay period started at the time of pickup conditions formula (5), then The pickup object is unclamped, and removes the pick-up situation of the pickup object.

Further, β is 0.8~0.95.

Further, when a length of 0.2s~1.0s of first delay period.

Further, the method further includes：

Further according to the pickup requirement of the pickup object, it is determined whether pick up the pickup object.

Further, the pickup of the pickup object requires to include：One hand pickup or both hands pickup.

Further, when the width of the pickup object is beyond pickup volume threshold and/or, when the pickup object When weight is beyond pickup weight threshold：The pickup requirement of the pickup object is picked up for both hands；

When it is described pickup object width without departing from pickup volume threshold when and/or, when it is described pickup object weight not During beyond pickup weight threshold, the pickup requirement of the pickup object is singlehanded pickup.

Further, position data of the virtual hand in virtual reality scenario and towards data, by the following method really It is fixed：

Obtain initial position data of the virtual hand in virtual reality scenario；

The acceleration for controlling virtual hand is obtained by accelerometer；

The angular speed for controlling virtual hand is obtained by gyroscope；

According to the acceleration and the refresh time of the virtual reality scenario, the speed of the virtual hand is determined；

According to the speed of the virtual hand, the refresh time of the virtual reality scenario and virtual hand in virtual reality Initial position data in scene obtains new location data of the virtual hand in virtual reality scenario；

The acceleration and angular speed is subjected to data fusion, with obtain the virtual hand towards data.

Further, the data fusion is carried out by complementary filter, Kalman filtering and/or tonsure descent method.

A kind of pick device in virtual reality scenario, including：

Data acquisition module, the data acquisition module are used to receive finger pressure data；

IMU modules, the IMU modules are used to obtaining position data of the virtual hand in virtual reality scenario and towards numbers According to；

Physical computing module, the physical computing module are calculated according to the data that IMU modules provide, to build pickup Solid determines or changes the pickup spatial position of solid and Space Rotating degree, traverses each in virtual reality scenario When the bounding box of jobbie intersects with the spatial position of the pickup solid, which is determined for the bounding box of object For pick up object, according to the finger pressure data modification it is described pickup solid size, according to it is described pickup solid and Pick up the intersecting degree of the bounding box of object, it is determined whether pick up the pickup object and determine when to unclamp the pickup object.

Further, described device further includes：

Communication module, the communication module are connected to the physical computing module and communicate with virtual reality device；

When determining to pick up the pickup object, the physical computing module passes through the control information for picking up the pickup object The communication module is sent to virtual reality device；

When determining to unclamp the pickup object, the physical computing module picks up the control information of the pickup object by cancelling Virtual reality device is sent to by the communication module.

Further, the data acquisition module is connected to data glove, flexible sensor or is installed on finger-joint Pressure sensor, to pass through the data glove, flexible sensor or the pressure sensor acquisition receipts for being installed on finger-joint Finger pressure data.

From said program as can be seen that the present invention virtual reality scenario in pick-up method and device, based on multiconductor Pressure judges the pickup of object in virtual reality scenario, is provided for current virtual reality device true and efficient Pick-up operation, compared with prior art, technical solution of the present invention only need to be picked up judgement, nothing to multifinger hand pressure Gesture identification need to be carried out to specific each finger, reduce the complexity of software calculating, and sentence than existing precision pick Disconnected method is highly efficient.The present invention improves the feeling of immersion of user's virtual reality interaction simultaneously, improves user experience.

Description of the drawings

Fig. 1 is the step flow chart of the pick-up method in the virtual reality scenario of the present invention；

Fig. 2 is the step flow chart of structure pickup solid in the present invention；

Fig. 3 is virtual hand schematic diagram；

Fig. 4 is the schematic diagram that pickup coordinate system is built by virtual hand；

Fig. 5 is pickup line segment schematic diagram；

Fig. 6 is pickup cylinder schematic diagram；

Fig. 7 is pickup sphere schematic diagram；

Fig. 8 is pickup terrace with edge schematic diagram；

Fig. 9 is pickup cuboid schematic diagram；

Figure 10 is pickup another schematic diagram of cuboid；

Figure 11 is to obtain the position data of the virtual hand in virtual reality scenario and the step flow chart towards data；

Figure 12 is the pick device structure diagram in the virtual reality scenario of the present invention；

Figure 13 is a specific implementation process flow diagram flow chart of method and apparatus using the present invention；

Figure 14 is the position flow diagram for updating virtual hand；

Figure 15 A are virtual hand in scene 1 close to the schematic diagram of ball to be picked up；

Figure 15 B are that user is bent the schematic diagram that finger attempts pickup ball in scene 1；

Figure 15 C are the schematic diagram that ball is picked up by user in scene 1；

Figure 16 A are that user chooses schematic diagram of the line segment for " pickup solid " in scene 2；

Figure 16 B are that user is bent the schematic diagram that finger begins to pick up match in scene 2；

Figure 16 C are the schematic diagram that match is picked in scene 2；

Figure 17 A are that user chooses schematic diagram of the cylinder for " pickup solid " in scene 3；

Figure 17 B are that user is bent the schematic diagram that finger begins to pick up cup in scene 3；

Figure 17 C are the schematic diagram that cup is picked in scene 3；

Figure 18 A are that user chooses schematic diagram of the sphere for " pickup solid " in scene 4；

Figure 18 B are that user is bent the schematic diagram that finger begins to pick up apple in scene 4；

Figure 18 C are the schematic diagram that apple is picked in scene 4；

Figure 19 A are that user chooses schematic diagram of the cuboid for " pickup solid " in scene 5；

Figure 19 B are that user is bent the schematic diagram that finger begins to pick up pencil box in scene 5；

Figure 19 C are the schematic diagram that pencil box is picked in scene 5；

Figure 20 A are that user chooses schematic diagram of the terrace with edge for " pickup solid " in scene 6；

Figure 20 B are that user is bent the schematic diagram that finger begins to pick up lunch box in scene 6；

Figure 20 C are the schematic diagram that lunch box is picked in scene 6；

Figure 21 A are that user only has the schematic diagram that a hand meets case pickup conditions in scene 7；

Figure 21 B are the schematic diagram that two hands of user are satisfied by case pickup conditions in scene 7；

Figure 21 C are the schematic diagram that case is picked in scene 7；

Figure 22 A are that user only has the schematic diagram that a hand meets shot pickup conditions in scene 8；

Figure 22 B are the schematic diagram that two hands of user are satisfied by shot pickup conditions in scene 8；

Figure 22 C are the schematic diagram that shot is picked in scene 8；

Figure 23 is to ask the user whether to illustrate using the interfaces windows of the pick-up method of existing gesture identification in scene 9 Figure；

Figure 24 A are the schematic diagram that Pop-up message shows currently employed pick-up method when apple is picked up in scene 10；

Figure 24 B are the schematic diagram that Pop-up message shows currently employed pick-up method when pencil box is picked up in scene 10；

Figure 25 is that VR equipment enters energy-saving mode and automatically switches to pickup geometry through the embodiment of the present invention in scene 11 Body carries out the schematic diagram of cup pickup；

Figure 26 A are to automatically switch to picking up for the embodiment of the present invention when temperature increases to over the warning line of VR equipment in scene 12 Take the schematic diagram of method；

Figure 26 B automatically switch to the signal of the pick-up method of the embodiment of the present invention when being picture frame number deficiency in scene 12 Figure；

Figure 26 C are the schematic diagram that existing gesture identification pick-up method is automatically switched in scene 12.

Specific embodiment

In order to make the purpose , technical scheme and advantage of the present invention be clearer, develop simultaneously embodiment referring to the drawings, The present invention is described in further detail.

As shown in Figure 1, the pick-up method in virtual reality scenario provided by the invention, mainly includes the following steps that：

Step 1 receives finger pressure data；

Step 2, structure pickup solid；

Step 3, according to position data of the virtual hand in virtual reality scenario and towards data, determine or change described pick up Take the spatial position of solid and Space Rotating degree；

The bounding box of each object in step 4, traversal virtual reality scenario；

Step 5, when jobbie bounding box with it is described pickup solid spatial position intersect when, which is determined To pick up object；

Step 6, the size according to the finger pressure data modification pickup solid；

Step 7, the intersecting degree according to the pickup solid and the bounding box for picking up object, it is determined whether pick up this and pick up It takes object and determines when to unclamp the pickup object.

In addition, the pick-up method in the virtual reality scenario of the present invention still further comprises：

Wherein, in the embodiment of the present invention, the finger pressure data derives from data glove, flexible sensor or installation In the pressure sensor of finger-joint.

In the present invention, the pickup solid is for judging pick up object in Virtual Space whether can in virtual hand In pickup and the space held, which is located at the side of the palm direction of virtual hand and is not on the back of the hand direction Side, it is described pickup solid change size with the movement of the finger of virtual hand.In the present invention, when the packet of pickup object It encloses box with pickup solid to intersect, then illustrates that picking up object is located in the space that virtual hand can be picked up and be held, hereafter Can further according to bounding box with pickup solid intersect degree to determine whether carry out virtual objects pickup.

As shown in Fig. 2, in step 2 of the present invention, structure picks up solid by the following method：

Step 21, the metric parameter for obtaining the virtual hand；

Step 22, structure pickup coordinate system；

Step 23, the metric parameter according to the pickup coordinate system and the virtual hand determine the pickup solid Size.

Wherein, as shown in figure 3, hand length L of the metric parameter of the virtual hand including virtual hand, the palm of virtual hand The thumb length R of width W, virtual hand.As shown in figure 4, the palm in the virtual hand stretches, thumb perpendicular to remaining four Under finger-like state, using the forefinger direction of the virtual hand as positive direction of the x-axis, using the thumb direction as z-axis positive direction, with vertical It is positive direction of the y-axis in palm and to the direction far from palm, builds the pickup coordinate system.

In the embodiment of the present invention, the pickup solid includes following several geometric shapes：Pick up line segment, pickup cylinder Body, pickup sphere, pickup terrace with edge and pickup cuboid.Spirit according to the present invention, in pickup line segment, pickup cylinder, pickup It should all be surely belonged to using geometric shape as other types on the basis of sphere, pickup terrace with edge and pickup several geometric shapes of cuboid Within the scope of institute's protection technique of the present invention.

The structure of pickup line segment, pickup cylinder, pickup sphere, pickup terrace with edge and pickup cuboid is carried out individually below Explanation.

In the embodiment of the present invention, the geometric shape is determined according to the quantity of surveyed finger and the selection of user.Its In, the quantity for surveying finger is at least two, wherein, thumb must be included by surveying in finger.

In the embodiment of the present invention, when the quantity of surveyed finger is two, the optional geometric shape of user is pickup line segment； When the quantity of surveyed finger is three, the optional geometric shape of user includes pickup line segment, pickup cylinder and pickup sphere； When surveyed finger quantity be four when, the optional geometric shape of user include pickup line segment, pickup cylinder, pickup sphere, Pick up terrace with edge and pickup cuboid；When surveyed finger quantity be five when, the optional geometric shape of user include pickup line segment, Pick up cylinder, pickup sphere, pickup terrace with edge and pickup cuboid.

(a) line segment is picked up

As shown in figure 5, when the geometric shape for pickup line segment when, the pickup leads section be located at the x-axis and z-axis composition In plane, the initial length of the pickup line segment isIt is described pickup line segment length variation range for 0 toWhen the pressure value that can only measure two fingers, the geometric shape of the embodiment of the present invention can only use pickup line segment, When the pressure value that can measure extra two fingers, also can pickup be used according to the selection of user and/or the setting of system Line segment.

Further, it in step 6, according to the size of the finger pressure data modification pickup solid, picks up In the geometric shape of line segment, that is, include：

Specifically, increase or reduce the length of the pickup line segment according to equation below：

Length₁'=Length₁×α×F

(b) cylinder is picked up

As shown in fig. 6, when the geometric shape is pickup cylinder, the axis parallel of the pickup cylinder in z-axis, And the height of the pickup cylinder is W, the initial diameter of the pickup cylinder isThe pickup cylinder is straight The variation range of diameter for 0 toAnd it is described pickup cylinder be located in virtual hand with surveyed finger it is corresponding virtually Between finger.

Further, it in step 6, according to the size of the finger pressure data modification pickup solid, picks up In the geometric shape of cylinder, that is, include：

Specifically, increase or reduce the diameter of the pickup cylinder according to equation below：

Φ₁'=Φ₁×α×F

(c) sphere is picked up

As shown in fig. 7, when the geometric shape is pickup sphere, the initial diameter of the pickup sphere is It is described pickup sphere diameter variation range for 0 toAnd the pickup sphere is located in virtual hand and surveyed finger Between corresponding virtual finger.

Further, it in step 6, according to the size of the finger pressure data modification pickup solid, picks up In the geometric shape of sphere, that is, include：

Specifically, increase or reduce the diameter of the pickup sphere according to equation below：

Φ₂'=Φ₂×α×F

(d) terrace with edge is picked up

As shown in figure 8, when the geometric shape is pickup terrace with edge, a length of H, the width W of the pickup terrace with edge bottom surface, institute The initial length for stating pickup terrace with edge top surface is L, and the variation range of the pickup terrace with edge end face length is 0 to L, the pickup terrace with edge The width of top surface is W, and the elemental height of the pickup terrace with edge is R, and the high variation range of the pickup terrace with edge is 0 to R.

Further, it in step 6, according to the size of the finger pressure data modification pickup solid, picks up In the geometric shape of terrace with edge, that is, include：

Specifically, increase or reduce length of the pickup terrace with edge in x-axis and/or y-axis direction according to equation below：

Length₂'=Length₂×α×F

(e) cuboid is picked up

As shown in figure 9, when the geometric shape is pickup cuboid, the pickup cuboid is in the initial of x-axis direction Length value is L, and the initial length value in y-axis direction is R, and the initial length value in z-axis direction is W.

Further, it in step 6, according to the size of the finger pressure data modification pickup solid, picks up In the geometric shape of cuboid, that is, include：

Length₃'=Length₃×α×F

In addition, in a specific embodiment, for picking up cuboid, as shown in Figure 10, the pickup cuboid Hand length L of the maximum length value for the virtual hand, the width of the pickup cuboid is the palm width of the virtual hand W, the maximum height value of the pickup cuboid is the thumb length R of the virtual hand.The pickup cuboid is located at described The side of the palm of virtual hand, in pickup cuboid shown in Fig. 10, plane abgh is the plane against palm.When the void When plan hand is flattened, the length of the pickup cuboid reaches L.

As shown in figure 11, in step 3, position data of the virtual hand in virtual reality scenario and towards data, It is determined by following steps：

Step 31 obtains initial position data of the virtual hand in virtual reality scenario；

Step 32 obtains to control the acceleration of virtual hand by accelerometer；

Step 33 obtains to control the angular speed of virtual hand by gyroscope；

Step 34, according to the acceleration and the refresh time of the virtual reality scenario, determine the virtual hand Speed；

Step 35, according to the speed of the virtual hand, the refresh time of the virtual reality scenario and virtual hand in void Intend the initial position data in reality scene, obtain new location data of the virtual hand in virtual reality scenario；

The acceleration and angular speed is carried out data fusion by step 36, with obtain the virtual hand towards data, In, the data fusion is carried out by complementary filter, Kalman filtering and/or tonsure descent method.

In step 7, according to the intersecting degree of the pickup solid and the bounding box for picking up object, it is determined whether pickup should It picks up object and determines when to unclamp the pickup object, be respectively pickup line segment for pickup solid, pickup cylinder, pick up Take sphere, pickup terrace with edge and pickup cuboid, be respectively adopted different forms, but its principle be it is identical, it is specific as follows.

(a) line segment is picked up

When the geometric shape is pickup line segment, in step 7, according to the encirclement of the pickup solid and pickup object The intersecting degree of box, it is determined whether it picks up the pickup object and determines when to unclamp the pickup object, including：

L_intersect÷L_pick＞ β (1)

(b) cylinder is picked up

When the geometric shape is pickup cylinder, in step 7, according to the pickup solid and the packet of pickup object Enclose the intersecting degree of box, it is determined whether it picks up the pickup object and determines when to unclamp the pickup object, including：

A_intersect1÷A_pick1＞ β (2)

Wherein, the cross section for picking up cylinder is perpendicular to any one plane in cylinder axle center.

(c) sphere is picked up

When the geometric shape is pickup sphere, in step 7, according to the encirclement of the pickup solid and pickup object The intersecting degree of box, it is determined whether it picks up the pickup object and determines when to unclamp the pickup object, including：

A_intersect2÷A_pick2＞ β (3)

Wherein, the cross section for picking up sphere is any one plane by the centre of sphere.

(d) terrace with edge is picked up

When the geometric shape is pickup terrace with edge, in step 7, according to the encirclement of the pickup solid and pickup object The intersecting degree of box, it is determined whether it picks up the pickup object and determines when to unclamp the pickup object, including：

V_intersect1÷V_pick1＞ β (4)

(e) cuboid is picked up

When the geometric shape is pickup cuboid, in step 7, according to the pickup solid and the packet of pickup object Enclose the intersecting degree of box, it is determined whether it picks up the pickup object and determines when to unclamp the pickup object, including：

V_intersect2÷V_pick2＞ β (5)

In above-mentioned each embodiment, β is 0.8~0.95, when a length of 0.2s~1.0s of first delay period.

It has nothing in common with each other, and for virtual scene in view of body form, volume and the weight parameter in virtual scene In object pickup it is true as possible, certain such as larger or heavier objects in reality need two hands to be picked up , it should also be as just being picked up using two hands in virtual scene.Therefore, in the embodiment of the present invention, the method also into One step includes：

Wherein, the pickup of the pickup object requires to include：One hand pickup or both hands pickup.

Further：

When it is described pickup object width beyond pickup volume threshold when and/or, when it is described pickup object weight exceed When picking up weight threshold：The pickup requirement of the pickup object is picked up for both hands；

The present invention also provides the pick device in a kind of virtual reality scenario, as shown in figure 12, including data acquisition module Block 1, IMU (Inertial measurement unit, Inertial Measurement Unit) module 2, physical computing module 3 and communication module 4.Wherein, the data acquisition module 1 is used to receive finger pressure data.The IMU modules 2 are used to obtain virtual hand virtual Position data in reality scene and towards data.The physical computing module 3 is counted according to the data that IMU modules 2 provide It calculates, to build pickup solid, determines or change the pickup spatial position of solid and Space Rotating degree, traverse virtual existing The bounding box of each object in real field scape, when the bounding box of jobbie intersects with the spatial position of the pickup solid, The object is determined as to pick up object, according to the size of the finger pressure data modification pickup solid, according to described It picks up solid and picks up the intersecting degree of the bounding box of object, it is determined whether pick up the pickup object and determine when to unclamp The pickup object.The communication module 4 is connected to the physical computing module 3 and communicates with virtual reality device.When true When picking up the pickup object surely, the control information for picking up the pickup object is passed through the communication mould by the physical computing module 3 Block 4 is sent to virtual reality device；When determining to unclamp the pickup object, the physical computing module 3 will cancel pickup, and this is picked up The control information of object is taken to be sent to virtual reality device by the communication module 4.

The data acquisition module 1 is connected to data glove, flexible sensor or the pressure biography for being installed on finger-joint Sensor, to pass through the data glove, flexible sensor or the pressure sensor acquisition receipts finger pressure for being installed on finger-joint Force data.

Hereinafter, the pick-up method in the virtual reality scenario of the present invention and device are illustrated again.

As shown in figure 13, a specific implementation for the pick-up method in virtual reality scenario using the present invention and device Process flow diagram flow chart includes the following steps.

Step a1, the location information of virtual hand is obtained by IMU modules, performs step a2 later.

Step a2, judge whether there is object to intersect with pickup solid in virtual scene by physical computing module, if there is Step a3 is then performed, otherwise return to step a1.

Step a3, finger pressure data is obtained by data acquisition module, performs step a4 later.

Step a4, the direction of virtual hand is obtained by IMU modules, performs step a5 later.

Step a5, whether can be picked by physical computing module judgment object, if can if perform step a6, otherwise It is back to step a3.

Step a6, pickup control information is sent by communication module, virtual hand to be controlled to pick up object, performs step later a7。

Step a7, finger pressure data is obtained by data acquisition module, performs step a8 later.

Step a8, the direction of virtual hand is obtained by IMU modules, performs step a9 later.

Step a9, whether can be kept by the pick-up situation of physical computing module judgment object, if can if return to step Otherwise rapid a7 performs step a10.

In this step a9, whether the pick-up situation of judgment object can keep, and as judge pickup solid and pickup pair As (object) bounding box intersection compared with picking up solid whether be more than pickup judgment threshold, reference can be made to formula (1), Formula (2), formula (3), formula (4), formula (5) related description.If in this step a9, pickup solid and pickup object The intersection of the bounding box of (object) has been more than pickup judgment threshold compared with picking up solid, i.e. the pickup shape of judgment object State can be kept, and return perform step a7 immediately；If in this step a9, pickup solid and the encirclement for picking up object (object) The intersection of box is not above pickup judgment threshold compared with picking up solid, i.e. the pick-up situation of judgment object cannot protect It holds, performs step a10 immediately.

Step a10, the duration of pick-up situation cannot be kept whether overtime by the judgement of physical computing module, if super When then perform step a11, otherwise return to step a7.

The execution of step a9 and step a10 are actually completed in the present invention according to the pickup solid and pickup pair The intersecting degree of the bounding box of elephant, it is determined whether the step of picking up the pickup object and determining when to unclamp the pickup object.

Step a11, release control information is sent by communication module, virtual hand to be controlled to discharge object.

The process of primary pickup, release has just been performed by step a1 to step a11.

Data acquisition module：

Data acquisition module is mainly used for obtaining the pressure data of each finger-joint, and the source of acquisition can be data hand The combined system of set, flexible sensor or multiple pressure sensors.

IMU modules：

IMU modules include two parts of gyroscope and accelerometer, are mainly used for obtaining user's virtual hand in Virtual Space In position and orientation.

I, the position of virtual hand is obtained

Such as the position flow chart that Figure 14 is update virtual hand, include the following steps：

Step b1, the current location of virtual hand is obtained, enters step b2 later.

The current location of virtual hand is obtained from the program of virtual reality scenario.

Step b2, accelerometer data is obtained, filtering obtains current acceleration, enters step b3 later.

The acquisition of accelerometer data is carried out in IMU modules, and the data of accelerometer data are filtered Obtain the current acceleration of virtual hand.

Step b3, present speed is obtained according to current acceleration and refresh time, enters step b4 later.

In this step, refresh time refers to the refresh time of virtual reality scenario, passes through

Speed=acceleration × refresh time

It can obtain the present speed of virtual hand.

Step b4, it according to the direction of the current location of virtual hand, present speed, refresh time and virtual hand, obtains virtual The new position of hand, enters step b5 later.

In this step, pass through

New position=current location+present speed × refresh time × direction

Obtain the new position of virtual hand.

Step b5, new location information is transmitted to the application program of virtual reality scenario to update virtual hand by communication module Position.

II, the direction for obtaining virtual hand

The direction of virtual hand is mainly obtained by carrying out data fusion to the measurement result of accelerometer and gyroscope, can be with By complementary filter, Kalman filtering, gradient descent method carries out data fusion.

Physical computing module：

Physical computing module is mainly used for carrying out the process of pickup hind computation, and the calculating of pick-up operation includes three steps Suddenly, pickup coordinate system and the shape for picking up " the pickup solid " that judges and pickup solid are determined during initialization, really Surely object is picked up, judges whether that object can be picked up.

1st, pickup coordinate system and pickup solid are determined

(1) the hand length L, thumb length R and palm width W of virtual hand in Virtual Space are determined, as shown in Figure 3. Wherein, the length of virtual hand be in a state that virtual hand is stretched from the root of virtual hand to the distance of middle finger tip, virtual hand The distance of width widest portion in a state that virtual hand is stretched, the length of thumb is under the thumb straight configuration of virtual hand To the distance of thumb point at the root joint of thumb.

(2) cartesian coordinate system of virtual hand is determined, it is flattened in palm, in a state that thumb is vertical with remaining four finger, Using forefinger direction as positive direction of the x-axis, thumb direction is z-axis positive direction, is positive direction of the y-axis perpendicular to the direction of pronation, As shown in Figure 4.

(3) according to the selection of the quantity of surveyed finger and user, the geometric shape of " pickup solid " is determined.

A, the pressure of two fingers can only be measured：

If the pressure data of two fingers including thumb can only be measured, " pickup solid " is a line Section, that is, pick up line segment.The line segment is located at XOZ planes, and initial length isAs shown in Figure 5.Due to user's pickup Action is usually that four fingers one in addition to thumb start, therefore, as long as monitoring the pressure change of one of finger i.e. Can, can be positioned at XOZ planes by segment positions processing therefore.

B, the pressure of three fingers can be measured：

If in addition to thumb, moreover it is possible to measure the pressure data of two fingers in other four fingers, then it can be in a one Sample selects line segment as " pickup solid ", further, it is also possible to which cylinder or sphere is selected (to pick up cylinder, pickup geometry Body) as " pickup solid "；

If selecting cylinder, cylinder height W, initial is a diameter of for " pickup solid "Such as Fig. 6 It is shown.

If selecting sphere as " pickup solid ", initial a diameter of of sphereAs shown in Figure 7.

C, the pressure of three or more fingers can be measured：

If the pressure data of more fingers can be measured, solid all in a and b can be selected as " pickup is several What body ", further, it is also possible to select terrace with edge (as shown in Figure 8), cuboid (as shown in Figure 9), pyramid or Else Rule multi-panel Body is as " pickup solid ".

If selecting terrace with edge as " pickup solid ", the length of terrace with edge bottom surface is H and constant, the width of terrace with edge bottom surface for W and Constant, the length of terrace with edge top surface is initially L, and variation range is 0 to L, and the width of terrace with edge top surface is W and constant, at the beginning of the height of terrace with edge Begin as R, variation range is 0 to R, i.e., its length for being initialized as in the direction of the x axis is L, and length is R in the y-axis direction, in z Length is W in axis direction, as shown in Figure 8.

If selecting cuboid, it is L that can be initialized as length in the direction of the x axis, in y-axis direction for " pickup solid " Upper length is R, and length is W in the z-axis direction, as shown in Figure 10.

2nd, pickup object is determined

(1) before every frame picture refreshing of virtual reality scenario, the position of the virtual hand obtained according to IMU modules and court To the modification pickup spatial position of cuboid and Space Rotating degree.

Since pickup cuboid is set with reference to the position and orientation of virtual hand, thus pick up the spatial position of cuboid Variation can be synchronized with the variation of the position of virtual hand, equally, the Space Rotating degree for picking up cuboid can be with the direction of virtual hand Variation and rotate.

(2) bounding box of each object in scene is traversed, if judging the bounding box of some pickup object and pickup cuboid It is intersecting, then using the pickup object as current pickup object.

(3) it if the bounding box for having multiple objects intersects with pickup cuboid, takes in the closest pickup cuboid of bounding box The object of the heart is as current pickup object.

3rd, judgment object picks up

(1) before every frame picture refreshing, the pressure value of each finger that is obtained according to data acquisition module, modification pickup is several The size of what body, concrete modification method are as follows：

A, by the use of line segment as " pickup solid "：

Obtain the pressure data of thumb：

If pressure value increases, reduce the length of straight line；

If pressure value reduces, increase the length of straight line；

Other four pressure datas referred to are obtained, choose maximum pressure data：

If pressure value increases, reduce the length of straight line；

If pressure value reduces, increase the length of straight line；

B, by the use of cylinder or sphere as " pickup solid "：

Obtain the pressure data of thumb：

If pressure value increases, reduce the length of the diameter of cylinder or sphere；

If pressure value reduces, increase the length of the diameter of cylinder or sphere；

C, other kinds of " pickup solid "：

Obtain the pressure data of thumb：

If pressure value increases, reduce the length in Y-direction；

If pressure value reduces, increase the length in Y-direction；

If pressure value increases, reduce the length in X-direction；

If pressure value reduces, increase the length in X-direction.

In above-mentioned a, b, c, the calculating that length is increased or reduced according to pressure uses equation below

Length₃'=Length₃×α×F

Wherein, Length₃' to pick up cuboid modified length, Length in x-axis and/or y-axis direction₃For pickup Cuboid changed in x-axis and/or y-axis direction before length, α is adjustment factor, and F is the pressure value of finger.Wherein, α and number Related according to the susceptibility of acquisition module, value range is in 0~1 section.

(2) if being not on pick-up situation, it is picked up judgement in accordance with the following methods：

A, by the use of line segment as " pickup solid "：

The length of line segment is calculated, is denoted as " L_pick", line segment is calculated with picking up the length of object bounding box intersection, is denoted as “L_intersect”.β is defined as pickup judgment threshold, initialization value 0.9, value range is 0.8~0.95, then pickup conditions are such as Formula (1)

L_intersect÷L_pick＞ β (1)

B, by the use of cylinder as " pickup solid "：

The area of cylindrical cross section is calculated, is denoted as " A_pick1", it calculates in cross section with picking up object bounding box cross-shaped portion The area divided, is denoted as " A_intersect1”.β is defined as pickup judgment threshold, initialization value 0.9, value range for 0.8~ 0.95, then pickup conditions such as formula (2)

A_intersect1÷A_pick1＞ β (2)

C, by the use of sphere as " pickup solid "：

The area of sphere cross section is calculated, is denoted as " A_pick2", it calculates in cross section with picking up object bounding box intersection Area, be denoted as " A_intersect2”.β is defined as pickup judgment threshold, initialization value 0.9, value range is 0.8~0.95, Then pickup conditions such as formula (3)

A_intersect2÷A_pick2＞ β (3)

D, by the use of terrace with edge as " pickup solid "：

The volume of terrace with edge is calculated, is denoted as " V_pick1", terrace with edge is calculated with picking up the volume of object bounding box intersection, is denoted as “V_intersect1”.β is defined as pickup judgment threshold, initialization value 0.9, value range is 0.8~0.95, then pickup conditions are such as Formula (4)

V_intersect1÷V_pick1＞ β (4)

E, by the use of cuboid as " pickup solid "：

The volume of cuboid is calculated, is denoted as " V_pick2", cuboid is calculated with picking up the volume of object bounding box intersection, It is denoted as " V_intersect2”.β is defined as pickup judgment threshold, initialization value 0.9, value range is 0.8~0.95, then pick-up bar Part such as formula (5)

V_intersect2÷V_pick2＞ β (5)

Other types of " pickup solid " such as pyramid or Else Rule polyhedron, setting of pickup conditions can refer to The terrace with edge of above-mentioned d, e and the pickup conditions of cuboid are set, and are repeated no more.

For various types of " pickup solids ", if meeting corresponding pickup Rule of judgment, state is changed as pickup Otherwise the object continues to judge.

(3) if in pick-up situation, the overlapping relation of " pickup solid " with pickup object bounding box is judged, if being unsatisfactory for Formula (1) to the correspondence pickup conditions of formula (5), then enters (4), otherwise continues to judge in a, b, c, d, e in above-mentioned (2)；

(4) in the range of time t, it is public in a, b, c, d, e in above-mentioned (2) to judge whether " pickup solid " meets per frame Formula (1) if being all unsatisfactory in every frame, unclamps object, removes pick-up situation, otherwise again to the correspondence pickup conditions of formula (5) It is rejudged since the t times, wherein, the time of t can be configured by application program, ranging from 0.2s to 1.0s.

Communication module：

State of a control is mainly transferred to virtual reality by communication module such as bluetooth module, bluetooth module by Bluetooth protocol Equipment (equipment for running virtual reality scenario software, that is, carry the hardware platform of the virtual reality scenario), works as switching To the message that transmission object is picked during pick-up situation, when pick-up situation is cancelled, the message for cancelling pick-up situation is sent.

Pick-up method and device embodiment in the virtual reality scenario of the present invention, are used to implement in virtual reality scenario Such as following various pickup scenes.

Scene 1：

User picks up single ball from a pile ball：

(1) physical computing module is according to the initialization of the size of virtual hand " pickup solid "；

(2) virtual hand of user is close to ball to be picked up, and as shown in fig. 15, IMU modules obtain virtual hand in virtual scene In position；

(3) physical computing module has detected that ball and " pickup solid " are intersecting, chooses nearest from " pickup solid " Ball is as pickup object；

(4) user is bent finger and attempts to pick up the ball, and as shown in fig. 15b, data acquisition module obtains the pressure of each finger Force data；

(5) physical computing module changes the size of " pickup solid " using pressure data；

(6) physical computing module judges whether ball can be picked according to current " pickup solid "；

(7) when " pickup solid " is sufficiently small, physical computing module judges that ball can be picked, and is revised as picking up Take state；

(8) communication module sends pick-up situation to VR app (virtual reality applications program, run on virtual reality device), Virtual scene refreshes and shows that ball is picked up by user, as shown in figure 15 c.

Scene 2：

The pressure of two fingers is only monitored, chooses straight line as " pickup solid ".

(1) user chooses line segment as " pickup solid ", as shown in Figure 16 A, physical computing module initialization " pickup geometry Body " is a line segment；

(2) user attempts to pick up a match and mobile hand, and IMU modules obtain position of the virtual hand in virtual scene；

(3) physical computing module detects that line segment intersects with match, chooses match as pickup object；

(4) user is bent finger and begins to pick up match, and as shown in fig 16b, data acquisition module obtains the pressure of each finger Force data；

(5) physical computing module changes the length of line segment according to pressure data；

(6) physical computing module calculates the length of current line segment and the length of intersection, judges whether that fire can be picked up Bavin；

(7) when intersecting part is sufficiently long, physical computing module judges that match can be picked, modification pickup shape State is picked for match；

(8) communication module sends pick-up situation to VR app, and virtual scene refreshes and shows that match is picked up by user, such as Shown in Figure 16 C.

Scene 3：

The pressure of three fingers is monitored, chooses cylinder as " pickup solid ".

(1) user chooses cylinder as " pickup solid ", and as shown in Figure 17 A, " pickup is several for physical computing module initialization What body " is cylinder；

(2) user attempts to pick up a cup and mobile hand, and IMU modules obtain position of the virtual hand in virtual scene；

(3) physical computing module detects that cylinder intersects with cup, chooses cup as pickup object；

(4) user is bent finger and begins to pick up cup, and as seen in this fig. 17b, data acquisition module obtains the pressure of each finger Force data；

(5) physical computing module changes the size of cylinder diameter according to pressure data；

(6) physical computing module calculate current cylinder cross-sectional area and cross section in the area of intersection, sentence It is disconnected whether to pick up cup；

(7) when the part intersected is sufficiently large, physical computing module judges that cup can be picked, modification pickup shape State is picked for cup；

(8) communication module sends pick-up situation to VR app, and virtual scene refreshes and shows that cup is picked up by user, such as Shown in Figure 17 C.

Scene 4：

The pressure of three fingers is monitored, chooses sphere as " pickup solid "：

(1) user chooses sphere as " pickup solid ", as shown in Figure 18 A, physical computing module initialization " pickup geometry Body " is sphere；

(2) user attempts to pick up an apple and mobile hand, and IMU modules obtain position of the virtual hand in virtual scene；

(3) physical computing module detects that sphere intersects with apple, chooses apple as pickup object；

(4) user is bent finger and begins to pick up apple, and as shown in figure 18b, data acquisition module obtains the pressure of each finger Force data；

(5) physical computing module changes the diameter of sphere according to pressure data；

(6) cross-sectional area of the current sphere of physical computing module calculating and cross section are in the area of intersection, judgement Whether apple can be picked up；

(7) when the part intersected is sufficiently large, physical computing module judges that apple can be picked, modification pickup shape State is picked for apple；

(8) communication module sends pick-up situation to VR app, and virtual scene refreshes and shows that apple is picked up by user, such as Shown in Figure 18 C.

Scene 5：

The pressure of three or more fingers is monitored, chooses cuboid as " pickup solid "：

(1) user chooses cuboid as " pickup solid ", and as shown in Figure 19 A, " pickup is several for physical computing module initialization What body " is cuboid；

(2) user attempts to pick up a pencil box and mobile hand, and IMU modules obtain position of the virtual hand in virtual scene It puts；

(3) physical computing module detects that cuboid intersects with pencil box, chooses pencil box as pickup object；

(4) user is bent finger and begins to pick up pencil box, and as shown in Figure 19 B, data acquisition module obtains each finger Pressure data；

(5) physical computing module changes the size of cuboid according to pressure data；

(6) physical computing module calculates the volume of current cuboid and the volume of intersection, judges whether to pick up Pencil box；

(7) when the part intersected is sufficiently large, physical computing module judges that pencil box can be picked, modification pickup State is picked for pencil box；

(8) communication module sends pick-up situation to VR app, and virtual scene refreshes and shows that pencil box is picked up by user, As shown in fig. 19 c.

Scene 6：

The pressure of three or more fingers is monitored, chooses terrace with edge as " pickup solid "：

(1) user chooses terrace with edge as " pickup solid ", as shown in FIG. 20 A, physical computing module initialization " pickup geometry Body " is terrace with edge；

(2) user attempts to pick up a lunch box and mobile hand, and IMU modules obtain position of the virtual hand in virtual scene；

(3) physical computing module detects that terrace with edge intersects with lunch box, chooses lunch box as pickup object；

(4) user is bent finger and begins to pick up lunch box, and as shown in fig. 20b, data acquisition module obtains the pressure of each finger Force data；

(5) physical computing module changes the size of terrace with edge according to pressure data；

(6) physical computing module calculates the volume of current terrace with edge and the volume of intersection, judges whether that meal can be picked up Box；

(7) when the part intersected is sufficiently large, physical computing module judges that lunch box can be picked, modification pickup shape State is picked for lunch box；

(8) bluetooth module sends pick-up situation to VR app, and virtual scene refreshes and shows that lunch box is picked up by user, such as Shown in Figure 20 C.

Scene 7：

User attempts to pick up the bulky objects in virtual scene.

(1) it is defined as to go to pick up with two hands there are one case in virtual scene；

(2) " the pickup solid " of every hand of physical computing module initialization；

(3) user attempts to pick up case and mobile hand, and IMU modules obtain position of the virtual hand in virtual scene；

(4) physical computing module detects that " the pickup solid " of a hand intersects with case, chooses case to pick up Take object；

(5) data acquisition module obtains the pressure data of each finger；

(6) physical computing module is directed to current every hand, calculates " pickup solid " and judges whether case meets often The pickup conditions of hand；

(7) when " the pickup solid " of only one hand meets pickup conditions, case will not be picked, and such as be schemed Shown in 21A；

(8) when " the pickup solid " of two hands all meets pickup conditions, as illustrated in fig. 21b, physical computing module is repaiied Change state to be picked for case；

(9) communication module sends pick-up situation to VR app, and virtual scene refreshes and shows that case is double by user's use Hand picks up, as shown in fig. 21 c.

Scene 8：

User attempts to pick up the weight in virtual scene

(1) shot in virtual scene there are one very weight is defined as to go to pick up with two hands.

(3) user attempts to pick up shot and mobile hand, and IMU modules obtain position of the virtual hand in virtual scene；

(4) physical computing module detects that " the pickup solid " of a hand intersects with shot, chooses shot as pickup pair As；

(5) data acquisition module obtains the pressure data of each finger；

(6) physical computing module calculates " pickup solid " and judges whether shot meets every hand to current every hand Pickup conditions；

(7) when " the pickup solid " of a hand meets pickup conditions, shot will not be picked, such as Figure 22 A institutes Show；

(8) when " the pickup solid " of two hands all meets pickup conditions, as shown in Figure 22 B, physical computing module is repaiied Change state to be picked for shot；

(9) communication module sends pick-up situation to VR app, and virtual scene refreshes and shows shot by user with the hands Pickup, as shown in fig. 22 c.

Scene 9：

In this scene, if a VR app requirement must use the pick-up method of existing gesture identification, in the VR App can ask the user whether the pick-up method using existing gesture identification to obtain higher precision before starting, such as Figure 23 institutes That shows asks the user whether the interfaces windows of the pick-up method using existing gesture identification；If AR app do not have stringent want It asks, does not then ask the user whether to use existing gesture identification.

Scene 10：

In this scene, the method for the embodiment of the present invention can be automatic between existing gesture identification at " pickup solid " Switching (if method that interactive device supports existing gesture identification).

(1) interactive device is detected, if supporting the method for existing gesture identification, is entered step (2)；

(2) chip model of interactive device is detected, to determine the computing capability of chip, the computing capability such as fruit chip is enough It is powerful, then existing gesture identification is automatically selected as pick-up method, and otherwise the selection present invention is that the method for strength passes through " pickup Solid " realizes pickup；

(3) currently employed pick-up method is shown using such as Pop-up message, as shown in Figure 24 A, Figure 24 B.

Scene 11：

The pick-up method of the embodiment of the present invention can also be according to the battery status of VR equipment " pickup solid " and existing Gesture identification between automatically switch (if method that interactive device supports existing gesture identification).

(1) start VR app.If VR equipment is under energy-saving mode, the pick-up method of the present invention is selected by " picking up Take solid " realize pickup；

(2) if existing gesture identification is used as pick-up method in VR app, when VR equipment enters energy-saving mode, The pick-up method for automatically switching to the present invention realizes pickup by " pickup solid ", as shown in figure 25.

Scene 12：

It can be according to pick-up method and existing gesture of the operating status of VR equipment in the embodiment of the present invention in this scene Automatically switch between identification (if method that interactive device supports existing gesture identification).

(1) start VR app, record the pick-up method used when starting, if the method for existing gesture identification, then Into (2) and (3)；

(2) if temperature increases to over the warning line of VR equipment, the pick-up method of the embodiment of the present invention is automatically switched to, such as Shown in Figure 26 A, and enter (4)；

(3) if during picture frame number deficiency, the pick-up method of the embodiment of the present invention is automatically switched to, as shown in fig. 26b, is gone forward side by side Enter (5)；

(4) when temperature restores normal and maintains for a period of time, to automatically switch to existing gesture identification pick-up method, such as figure Shown in 26C；

(5) when frame number restores smooth and maintains for a period of time, to automatically switch to existing gesture identification pick-up method, such as figure Shown in 26C.

Pick-up method and device in the virtual reality scenario of the present invention, judge virtual reality scenario based on multiconductor pressure The pickup of middle object provides true and efficient pick-up operation, with the prior art for current virtual reality device It compares, technical solution of the present invention only needs to be picked up judgement to multifinger hand pressure, without to specific each finger Gesture identification is carried out, reduces the complexity of software calculating, and more highly efficient than existing precision pick judgment method.This hair Feeling of immersion that is bright while improving the interaction of user's virtual reality, improves user experience.

The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention God and any modification, equivalent substitution, improvement and etc. within principle, done, should be included within the scope of protection of the invention.

Claims

1. the pick-up method in a kind of virtual reality scenario, including：

Receive finger pressure data；

Structure pickup solid；

According to position data of the virtual hand in virtual reality scenario and towards data, the pickup solid is determined or changed Spatial position and Space Rotating degree；

Traverse the bounding box of each object in virtual reality scenario；

When the bounding box of jobbie intersects with the spatial position of the pickup solid, which is determined as pickup pair As；

According to the size of the finger pressure data modification pickup solid；

According to it is described pickup solid and pick up object bounding box intersecting degree, it is determined whether pick up the pickup object and Determine when to unclamp the pickup object.

2. the pick-up method in virtual reality scenario according to claim 1, which is characterized in that the method further includes：

When determining to unclamp the pickup object, the control information that cancellation is picked up to the pickup object is sent to virtual reality device.

3. the pick-up method in virtual reality scenario according to claim 1, it is characterised in that：

The finger pressure data derives from data glove, flexible sensor or the pressure sensor for being installed on finger-joint.

4. the pick-up method in virtual reality scenario according to claim 1, which is characterized in that structure pickup solid, Including：

Obtain the metric parameter of the virtual hand；

Structure pickup coordinate system；

5. the pick-up method in virtual reality scenario according to claim 4, it is characterised in that：

The metric parameter of the virtual hand include the hand length L of virtual hand, the palm width W of virtual hand, virtual hand big thumb Refer to length R；

It is stretched in the palm of the virtual hand, thumb is under remaining four finger-like state, with the forefinger direction of the virtual hand For positive direction of the x-axis, using the thumb direction as z-axis positive direction, using perpendicular to palm and to the direction far from palm as y-axis just Direction builds the pickup coordinate system；

The pickup solid is located at the side of the palm of the virtual hand.

6. the pick-up method in virtual reality scenario according to claim 5, which is characterized in that the pickup solid Geometric shape includes：

7. the pick-up method in virtual reality scenario according to claim 6, it is characterised in that：

The geometric shape is determined according to the quantity of surveyed finger and the selection of user.

8. the pick-up method in virtual reality scenario according to claim 7, it is characterised in that：

The quantity of surveyed finger is at least two, wherein, thumb must be included by surveying in finger.

9. the pick-up method in virtual reality scenario according to claim 8, it is characterised in that：

When the quantity of surveyed finger is two, the optional geometric shape of user is pickup line segment；

When the quantity of surveyed finger is three, the optional geometric shape of user includes pickup line segment, pickup cylinder and pickup Sphere；

When the quantity of surveyed finger is four, the optional geometric shape of user includes pickup line segment, pickup cylinder, pickup ball Body, pickup terrace with edge and pickup cuboid；

When the quantity of surveyed finger is five, the optional geometric shape of user includes pickup line segment, pickup cylinder, pickup ball Body, pickup terrace with edge and pickup cuboid.

10. the pick-up method in virtual reality scenario according to claim 9, which is characterized in that when the geometric shape During for pickup line segment：

11. the pick-up method in virtual reality scenario according to claim 10, which is characterized in that according to the finger pressure The size of the force data modification pickup solid, including：

The pressure value of thumb is obtained, if the pressure value increase of thumb, reduces the length of the pickup line segment, if thumb Pressure value reduce, then increase it is described pickup line segment length；

The maximum pressure value in addition to thumb in the pressure value of remaining finger is obtained, if the maximum pressure value increases, reduces institute The length of pickup line segment is stated, if the maximum pressure value reduces, increases the length of the pickup line segment.

12. the pick-up method in virtual reality scenario according to claim 11, which is characterized in that increased according to equation below Length that is big or reducing the pickup line segment：

Length₁'=Length₁×α×F

Wherein, Length₁' to pick up the modified length of line segment, Length₁For the length before pickup line segment modification, α is adjusts Coefficient, F are the pressure value of finger.

13. the pick-up method in virtual reality scenario according to claim 9, which is characterized in that when the geometric shape During for pickup cylinder：

The axis parallel of the pickup cylinder is in z-axis, and the height of the pickup cylinder is W, the pickup cylinder Initial diameter isIt is described pickup cylinder diameter variation range for 0 toAnd the pickup cylinder In virtual hand between the corresponding virtual finger of surveyed finger.

14. the pick-up method in virtual reality scenario according to claim 13, which is characterized in that according to the finger pressure The size of the force data modification pickup solid, including：

The pressure value of thumb is obtained, if the pressure value increase of thumb, reduces the diameter of the pickup cylinder, if big thumb The pressure value of finger reduces, then increases the diameter of the pickup cylinder；

The maximum pressure value in addition to thumb in the pressure value of remaining finger is obtained, if the maximum pressure value increases, reduces institute The diameter of pickup cylinder is stated, if the maximum pressure value reduces, increases the diameter of the pickup cylinder.

15. the pick-up method in virtual reality scenario according to claim 14, which is characterized in that increased according to equation below Diameter that is big or reducing the pickup cylinder：

Φ₁'=Φ₁×α×F

Wherein, Φ₁' to pick up the modified diameter of cylinder, Φ₁For the diameter before pickup cylinder modification, α is adjustment factor, F is the pressure value of finger.

16. the pick-up method in virtual reality scenario according to claim 9, which is characterized in that when the geometric shape During for pickup sphere：

It is described pickup sphere initial diameter beIt is described pickup sphere diameter variation range for 0 to And the pickup sphere is located in virtual hand between the corresponding virtual finger of surveyed finger.

17. the pick-up method in virtual reality scenario according to claim 16, which is characterized in that according to the finger pressure The size of the force data modification pickup solid, including：

The pressure value of thumb is obtained, if the pressure value increase of thumb, reduces the diameter of the pickup sphere, if thumb Pressure value reduce, then increase it is described pickup sphere diameter；

The maximum pressure value in addition to thumb in the pressure value of remaining finger is obtained, if the maximum pressure value increases, reduces institute The diameter of pickup sphere is stated, if the maximum pressure value reduces, increases the diameter of the pickup sphere.

18. the pick-up method in virtual reality scenario according to claim 17, which is characterized in that increased according to equation below Diameter that is big or reducing the pickup sphere：

Φ₂'=Φ₂×α×F

Wherein, Φ₂' to pick up the modified diameter of sphere, Φ₂For the diameter before pickup sphere modification, α is adjustment factor, and F is The pressure value of finger.

19. the pick-up method in virtual reality scenario according to claim 9, which is characterized in that when the geometric shape During for pickup terrace with edge：

A length of H, the width W of the pickup terrace with edge bottom surface, the initial length of the pickup terrace with edge top surface are L, the pickup terrace with edge The variation range of end face length is 0 to L, and the width of the pickup terrace with edge top surface is W, and the elemental height of the pickup terrace with edge is R, institute It is 0 to R to state the high variation range of pickup terrace with edge.

20. the pick-up method in virtual reality scenario according to claim 19, which is characterized in that according to the finger pressure The size of the force data modification pickup solid, including：

The pressure value of thumb is obtained, if the pressure value increase of thumb, reduces the length of the pickup terrace with edge in the y-axis direction Degree if the pressure value of thumb reduces, increases the length of the pickup terrace with edge in the y-axis direction；

The maximum pressure value in addition to thumb in the pressure value of remaining finger is obtained, if the maximum pressure value increases, reduces institute The length of pickup terrace with edge in the direction of the x axis is stated, if the maximum pressure value reduces, increases the pickup terrace with edge in the direction of the x axis Length.

21. the pick-up method in virtual reality scenario according to claim 20, which is characterized in that increased according to equation below Length of the big or reduction pickup terrace with edge in x-axis and/or y-axis direction：

Length₂'=Length₂×α×F

Wherein, Length₂' to pick up terrace with edge modified length, Length in x-axis and/or y-axis direction₂Exist for pickup terrace with edge Length before being changed in x-axis and/or y-axis direction, α are adjustment factor, and F is the pressure value of finger.

22. the pick-up method in virtual reality scenario according to claim 9, which is characterized in that when the geometric shape During for pickup cuboid：

The pickup cuboid is L in the initial length value of x-axis direction, and the initial length value in y-axis direction is R, in z-axis direction Initial length value be W.

23. the pick-up method in virtual reality scenario according to claim 22, which is characterized in that according to the finger pressure The size of the force data modification pickup solid, including：

The pressure value of thumb is obtained, if the pressure value increase of thumb, reduces the pickup cuboid in the y-axis direction Length if the pressure value of thumb reduces, increases the length of the pickup cuboid in the y-axis direction；

The maximum pressure value in addition to thumb in the pressure value of remaining finger is obtained, if the maximum pressure value increases, reduces institute The length of pickup cuboid in the direction of the x axis is stated, if the maximum pressure value reduces, increases the pickup cuboid in x-axis side Upward length.

24. the pick-up method in virtual reality scenario according to claim 23, which is characterized in that increased according to equation below Length of the big or reduction pickup terrace with edge in x-axis and/or y-axis direction：

Length₃'=Length₃×α×F

Wherein, Length₃' to pick up cuboid modified length, Length in x-axis and/or y-axis direction₃It is rectangular to pick up Body changed in x-axis and/or y-axis direction before length, α is adjustment factor, and F is the pressure value of finger.

25. the pick-up method in virtual reality scenario according to claim 9, which is characterized in that when the geometric shape During for pickup line segment, according to the intersecting degree of the pickup solid and the bounding box for picking up object, it is determined whether pick up this and pick up It takes object and determines when to unclamp the pickup object, including：

If the pickup object is not in pick-up situation, intersecting for bounding box of the pickup line segment with picking up object is calculated Partial length, and the length of presently described pickup line segment is calculated, if meeting pickup conditions formula (1), by the pickup pair As being determined as pick-up situation：

L_intersect÷L_pick＞ β (1)

Wherein, L_intersectThe length of intersection for bounding box of the pickup line segment with picking up object, L_pickFor current institute The length of pickup line segment is stated, β is pickup judgment threshold；

If the pickup object has been in pick-up situation, the cross-shaped portion of bounding box of the pickup line segment with picking up object is calculated Point length, and the length of presently described pickup line segment is calculated, if no longer meeting pickup conditions formula (1) and from no longer meeting Pickup conditions formula (1) is unsatisfactory in the first delay period started at the time of pickup conditions formula (1), then unclamps this and picks up Object is taken, and removes the pick-up situation of the pickup object.

26. the pick-up method in virtual reality scenario according to claim 9, which is characterized in that when the geometric shape During for pickup cylinder, according to the intersecting degree of the pickup solid and the bounding box for picking up object, it is determined whether pickup should It picks up object and determines when to unclamp the pickup object, including：

If the pickup object is not in pick-up situation, the cross section of the pickup cylinder and the packet of pickup object are calculated The area of the intersection of box is enclosed, and calculates the cross-sectional area of presently described pickup cylinder, if meeting pickup conditions formula (2), then the pickup object is determined as pick-up situation：

A_intersect1÷A_pick1＞ β (2)

Wherein, A_intersect1The area of the intersection of bounding box of the cross section with picking up object for the pickup cylinder, A_pick1For the cross-sectional area of presently described pickup cylinder, β is pickup judgment threshold；

If the pickup object has been in pick-up situation, the cross section of the pickup cylinder and the encirclement of pickup object are calculated The area of the intersection of box, and the cross-sectional area of presently described pickup cylinder is calculated, if no longer meeting pickup conditions public affairs Formula (2) and since being unsatisfactory for pick-up bar in the first delay period at the time of no longer meeting pickup conditions formula (2) Part formula (2) then unclamps the pickup object, and removes the pick-up situation of the pickup object.

27. the pick-up method in virtual reality scenario according to claim 9, which is characterized in that when the geometric shape During for pickup sphere, according to the intersecting degree of the pickup solid and the bounding box for picking up object, it is determined whether pick up this and pick up It takes object and determines when to unclamp the pickup object, including：

If the pickup object is not in pick-up situation, the cross section of the pickup sphere and the encirclement of pickup object are calculated The area of the intersection of box, and the cross-sectional area of presently described pickup sphere is calculated, if meeting pickup conditions formula (3), The pickup object is then determined as pick-up situation：

A_intersect2÷A_pick2＞ β (3)

Wherein, A_intersect2The area of the intersection of bounding box of the cross section with picking up object for the pickup sphere, A_pick2For the cross-sectional area of presently described pickup sphere, β is pickup judgment threshold；

If the pickup object has been in pick-up situation, the cross section of the pickup sphere and the bounding box of pickup object are calculated Intersection area, and calculate it is presently described pickup sphere cross-sectional area, if no longer meeting pickup conditions formula (3) And since being unsatisfactory for pickup conditions formula in the first delay period at the time of no longer meeting pickup conditions formula (3) (3), then the pickup object is unclamped, and removes the pick-up situation of the pickup object.

28. the pick-up method in virtual reality scenario according to claim 9, which is characterized in that when the geometric shape During for pickup terrace with edge, according to the intersecting degree of the pickup solid and the bounding box for picking up object, it is determined whether pick up this and pick up It takes object and determines when to unclamp the pickup object, including：

If the pickup object is not in pick-up situation, intersecting for bounding box of the pickup terrace with edge with picking up object is calculated Partial volume, and the volume of presently described pickup terrace with edge is calculated, if meeting pickup conditions formula (4), by the pickup pair As being determined as pick-up situation：

V_intersect1÷V_pick1＞ β (4)

Wherein, V_intersect1The volume of intersection for bounding box of the pickup terrace with edge with picking up object, V_pick1It is current The volume of the pickup terrace with edge, β are pickup judgment threshold；

If the pickup object has been in pick-up situation, the cross-shaped portion of bounding box of the pickup terrace with edge with picking up object is calculated Point volume, and the volume of presently described pickup terrace with edge is calculated, if no longer meeting pickup conditions formula (4) and from no longer meeting Pickup conditions formula (4) is unsatisfactory in the first delay period started at the time of pickup conditions formula (4), then unclamps this and picks up Object is taken, and removes the pick-up situation of the pickup object.

29. the pick-up method in virtual reality scenario according to claim 9, which is characterized in that when the geometric shape During for pickup cuboid, according to the intersecting degree of the pickup solid and the bounding box for picking up object, it is determined whether pickup should It picks up object and determines when to unclamp the pickup object, including：

If the pickup object is not in pick-up situation, the phase of bounding box of the pickup cuboid with picking up object is calculated The volume of part is handed over, and calculates the volume of presently described pickup cuboid, if meeting pickup conditions formula (5), is picked up described Object is taken to be determined as pick-up situation：

V_intersect2÷V_pick2＞ β (5)

Wherein, V_intersect2The volume of intersection for bounding box of the pickup cuboid with picking up object, V_pick2To work as The volume of the preceding pickup cuboid, β are pickup judgment threshold；

If the pickup object has been in pick-up situation, intersecting for bounding box of the pickup cuboid with picking up object is calculated Partial volume, and the volume of presently described pickup cuboid is calculated, if no longer meeting pickup conditions formula (5) and from no longer Meet and pickup conditions formula (5) is unsatisfactory in the first delay period started at the time of pickup conditions formula (5), then unclamp The pickup object, and remove the pick-up situation of the pickup object.

30. according to the pick-up method in claim 25 to 29 any one of them virtual reality scenario, it is characterised in that：

β is 0.8~0.95.

31. according to the pick-up method in claim 25 to 29 any one of them virtual reality scenario, it is characterised in that：

When a length of 0.2s~1.0s of first delay period.

32. the pick-up method in virtual reality scenario according to claim 1, which is characterized in that the method further includes：

33. the pick-up method in virtual reality scenario according to claim 32, which is characterized in that the pickup object Pickup requires to include：One hand pickup or both hands pickup.

34. the pick-up method in virtual reality scenario according to claim 33, it is characterised in that：

When it is described pickup object width beyond pickup volume threshold when and/or, when it is described pickup object weight beyond pickup During weight threshold：The pickup requirement of the pickup object is picked up for both hands；

When it is described pickup object width without departing from pickup volume threshold when and/or, when it is described pickup object weight without departing from When picking up weight threshold, the pickup requirement of the pickup object is singlehanded pickup.

35. the pick-up method in virtual reality scenario according to claim 1, which is characterized in that the virtual hand is in void Intend reality scene in position data and towards data, determine by the following method：

Obtain initial position data of the virtual hand in virtual reality scenario；

The acceleration for controlling virtual hand is obtained by accelerometer；

The angular speed for controlling virtual hand is obtained by gyroscope；

According to the speed of the virtual hand, the refresh time of the virtual reality scenario and virtual hand in virtual reality scenario In initial position data, obtain new location data of the virtual hand in virtual reality scenario；

36. the pick-up method in virtual reality scenario according to claim 35, it is characterised in that：

The data fusion is carried out by complementary filter, Kalman filtering and/or tonsure descent method.

37. a kind of pick device in virtual reality scenario, which is characterized in that including：

IMU modules, the IMU modules are used to obtaining position data of the virtual hand in virtual reality scenario and towards data；

Physical computing module, the physical computing module are calculated according to the data that IMU modules provide, to build pickup geometry Body determines or changes the pickup spatial position of solid and Space Rotating degree, traverses each object in virtual reality scenario Bounding box, when jobbie bounding box with it is described pickup solid spatial position intersect when, which is determined as picking up Object is taken, according to the size of the finger pressure data modification pickup solid, according to the pickup solid and pickup The intersecting degree of the bounding box of object, it is determined whether pick up the pickup object and determine when to unclamp the pickup object.

38. the pick device in virtual reality scenario according to claim 37, which is characterized in that described device is also wrapped It includes：

When determining to pick up the pickup object, the physical computing module passes through the control information for picking up the pickup object described Communication module is sent to virtual reality device；

When determining to unclamp the pickup object, the control information that the pickup object is picked up in cancellation by the physical computing module passes through The communication module is sent to virtual reality device.

39. the pick device in virtual reality scenario according to claim 37, it is characterised in that：

The data acquisition module is connected to data glove, flexible sensor or the pressure sensor for being installed on finger-joint, To pass through the data glove, flexible sensor or the pressure sensor acquisition receipts finger pressure number for being installed on finger-joint According to.