CN109507686A - A kind of control method wears display equipment, electronic equipment and storage medium - Google Patents
A kind of control method wears display equipment, electronic equipment and storage medium Download PDFInfo
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- CN109507686A CN109507686A CN201811323493.7A CN201811323493A CN109507686A CN 109507686 A CN109507686 A CN 109507686A CN 201811323493 A CN201811323493 A CN 201811323493A CN 109507686 A CN109507686 A CN 109507686A
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- display equipment
- radar sensor
- laser radar
- relative position
- control method
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/46—Indirect determination of position data
- G01S17/48—Active triangulation systems, i.e. using the transmission and reflection of electromagnetic waves other than radio waves
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Human Computer Interaction (AREA)
- Computer Networks & Wireless Communication (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Navigation (AREA)
- User Interface Of Digital Computer (AREA)
- Optical Radar Systems And Details Thereof (AREA)
- Traffic Control Systems (AREA)
Abstract
The embodiment of the present application provides a kind of control method, wears display equipment, electronic equipment and storage medium.The control method for wearing display equipment includes: that laser radar sensor rotates in plane one and emits laser signal；Laser radar sensor receives object to the reflection signal of laser signal；Laser radar sensor obtains the relative position information of object in plane one according to laser signal and reflection signal；Relative position information is transferred to by laser radar sensor wears display equipment；Wearing display equipment, information determines the current location for wearing user depending on the relative position.The control method for wearing display equipment can obtain the relative position information of object in space locating for user, and wearing display equipment, information determines the current location for wearing the user for wearing display equipment depending on the relative position, can be realized the accurate positionin of user.
Description
Technical field
This application involves wear field of display technology more particularly to a kind of control method, wear display equipment, electronic equipment
And storage medium.
Background technique
Wearing display equipment, (such as virtual reality wears display equipment, augmented reality and wears display equipment, mixed reality head
Wear display equipment etc.) it can be realized interacting between virtual environment and user, comprehensive Flow experience is brought for user.
The space orientation technique for wearing display equipment at present mainly passes through 6DOF camera, external camera or external lamp
The position that the equipment such as tower capture user carries out space orientation.
The existing space orientation technique for wearing display equipment cannot provide the exact space positioning of user, to influence void
Near-ring border is interacted with user's.
Summary of the invention
The application provides a kind of control method, wears display equipment, electronic equipment and storage medium, can obtain user institute
The relative position information for locating object in space, wearing display equipment, information determines that wearing this wears display and set depending on the relative position
The current location of standby user can be realized the accurate positionin of user.
In order to achieve the above object, the application provides the following technical solutions:
A kind of control method for wearing display equipment, which comprises
Laser radar sensor rotates in plane one and emits laser signal；
The laser radar sensor receives object to the reflection signal of the laser signal；
The laser radar sensor obtains described in the plane one according to the laser signal and the reflection signal
The relative position information of object；
The relative position information is transferred to and wears display equipment by the laser radar sensor；
It is described to wear the display equipment determining current location for wearing user of information depending on that relative position.
Preferably, described to wear the display equipment determining current location packet for wearing user of information depending on that relative position
It includes:
It is described to wear display equipment information generates the 2D map of the plane one depending on that relative position；
The threedimensional model in space where generating user according to the 2D map；Wherein, the 2D map is with the laser thunder
It is coordinate origin up to sensor.
Preferably, the control method further include:
The display equipment of wearing is according to threedimensional model adjustment content to be displayed, to show equipment in described wear
Show screen display content adjusted.
Preferably, adjusting content to be displayed according to the threedimensional model includes:
According to the threedimensional model, the initial data of display equipment is worn described in adjustment to current data；
The current data is rendered to construct the scene with the actually located spatial match of the user.
Preferably, relative position of the relative position information between the object and the laser radar sensor
Information；The control method further include:
Judge whether the relative position information is not more than preset value one；
If so, issuing barrier hint.
Preferably, the control method further include:
Obtain the vertical range value and angle value of the relatively described plane one of plane two；
According to the vertical range value and angle value, in conjunction with the current relative position information of the object, described in building
2D map；
Wherein, the plane two is that the relatively described plane one of the laser radar sensor is rotated upwardly and downwardly or moved up and down
Plane where afterwards.
Preferably, according to distance value a, in conjunction with the current relative position information of the object, building with it is described wear it is aobvious
The display screen center for showing equipment is the 2D map of reference point；
Wherein, the distance value a is the display screen center for wearing display equipment and the laser radar sensor
Vertical range.
Preferably, the laser radar sensor, which rotates in plane one and emits laser signal, includes:
The laser radar sensor is spaced transmitting laser signal at predetermined time intervals；Alternatively, the laser radar sensing
The every rotation predetermined angle of device emits a laser signal.
In addition, the application also provides the following technical solutions:
One kind wearing display equipment characterized by comprising IMU sensor, at least one set, which are installed on, wears display equipment
On laser radar sensor, wherein
The laser radar sensor is connect with the processor for wearing display equipment；
The laser radar sensor receives the object pair for laser signal to be rotated and emitted in plane one
The reflection signal of the laser signal obtains the target in the plane one according to the laser signal and the reflection signal
The relative position information is transferred to and described wears display equipment by the relative position information of object.
In addition, the application also provides the following technical solutions:
A kind of electronic equipment, including memory and processor, the memory is for storing computer instruction, the processing
Device is for executing the computer instruction to realize control method described in above-described embodiment.
In addition, the application also provides the following technical solutions:
A kind of storage medium is stored thereon with instruction, which realizes described in above-described embodiment when being executed by processor
Control method.
Compared to the prior art, a kind of control method for wearing display equipment provided by the present application includes: that laser radar passes
Sensor rotates in plane one and emits laser signal；Laser radar sensor receives reflection of the object to the laser signal
Laser signal；Laser radar sensor obtains described in plane one according to the transmitting laser signal and the reflected laser signals
The relative position information of object；The relative position information is transferred to the processing for wearing display equipment by laser radar sensor
Device.
A kind of control method provided by the present application wears display equipment, electronic equipment and storage medium and can obtain user
The relative position information of object in locating space, wearing display equipment, information determines that wearing this wears display depending on the relative position
The current location of the user of equipment can be realized the accurate positionin of user.
Detailed description of the invention
In order to illustrate the technical solutions in the embodiments of the present application or in the prior art more clearly, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The embodiment of application for those of ordinary skill in the art without creative efforts, can also basis
The attached drawing of offer obtains other attached drawings.
Fig. 1 is the flow diagram one that the control method of display equipment is worn in some embodiments of the application；
Fig. 2 is the flow diagram two that the control method of display equipment is worn in some embodiments of the application；
Fig. 3 is the flow diagram that the control method of display equipment is worn in other embodiments of the application；
Fig. 4 is the flow diagram that the control method of display equipment is worn in the other embodiment of the application；
Fig. 5 is the flow diagram that the control method of display equipment is worn in the application still other embodiments；
Fig. 6 is the flow diagram that the control method of display equipment is worn in the also some embodiments of the application；
Fig. 7 is the structural schematic diagram that display equipment is worn in some embodiments of the application.
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present application, technical solutions in the embodiments of the present application carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of embodiments of the present application, instead of all the embodiments.It is based on
Embodiment in the application, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall in the protection scope of this application.
As shown in Figure 1, some embodiments of the application provide a kind of control method for wearing display equipment, wherein this is worn
Display equipment is electrically connected with laser radar sensor, and laser radar sensor can be set and show in equipment wearing, can also be with
Equipment individualism is shown independently of wearing.This method include the following:
Step S101: laser radar sensor rotates in plane one and emits laser signal；
Step S102: the laser signal of laser radar sensor transmitting is reflected by object, and laser radar sensor connects
Receiving end receives reflection signal；
Step S103: laser radar sensor according to laser signal and reflection signal obtain plane one in object it is opposite
Location information；
Step S104: relative position information is transferred to by laser radar sensor wears display equipment；
Step S105: wearing display equipment, information determines the current location for wearing user depending on the relative position.
Wherein, as shown in Fig. 2, step S105 includes:
Step S1051: the 2D map that display equipment generates plane one according to the relative position information of object is worn；
Step S1052: the threedimensional model in space where display equipment generates user according to 2D map is worn；Wherein, the 2D
Coordinate system where map is using laser radar sensor as coordinate origin, to position position of the user in the 2D map.
Wherein, in step s101, plane one is the horizontal plane where the initial position of laser radar sensor.Some realities
It applies in example, laser radar sensor, which can be set, to be worn at the top of display equipment.Processor built in laser radar sensor is excellent
It is selected as dsp processor, it is of course also possible to be other types processor.Micro motor or micro- is set in laser radar sensor
Type motor, the micro motor or micromotor can drive laser radar sensor to rotate after receiving driving signal, and every
Emit a laser signal every predetermined time interval or every rotation predetermined angle.For example, can be every 10 μ s, 200 μ s, 1ms hairs
A laser signal is penetrated, alternatively, every 5 ° of rotation, 10 °, laser signal of 20 ° of transmittings.It can specifically decide as circumstances require.
Wherein, in step s 102, object specifically can be any fixation in space or mobile object.
Wherein, in step s 103, the relative position information of the object includes distance value d and angle value θ, can be mesh
The relative position information for marking object relative laser radar sensor, it is of course also possible to be that object is opposite with respect to other reference points
Location information.
Wherein, in step S104, relative position information can be specifically sent to by laser radar sensor to be worn display and sets
It is standby.
The control method provided in an embodiment of the present invention for wearing display equipment, laser radar sensor is into predetermined space
Object emits laser signal, receives the reflection signal that object returns, according to laser signal and reflection signal acquisition object
Relative position information, and the relative position information is transferred to and wears display equipment.Later, wearing display equipment can basis
The relative position information determines the current location for wearing the user for wearing display equipment, can be realized the accurate positionin of user.
In other embodiments of the application, as shown in figure 3, the control method for wearing display equipment can also include following
Step:
Step S106: wearing display equipment according to threedimensional model and adjust content to be displayed, to wear the aobvious of display equipment
Show screen display content adjusted.
Wherein, in step s 106, adjusting content to be displayed according to threedimensional model includes:
Display equipment is worn according to threedimensional model, adjusts and wears the initial data for showing equipment to current data；
The current data is rendered to construct the scene with the actually located spatial match of the user.
The content being eventually displayed on the display screen for wearing display equipment can position the position of user, and scene and use
Space locating for family is close, thus enhance user and virtual environment interact and feeling of immersion.
User wears display apparatus processes device acquisition laser radar sensor and obtains during display equipment is worn in use
The current relative position information of the object obtained, and the relative position information current according to object, update, which is shown in, wears
Show the content on the display screen of equipment.
In the other embodiment of the application, as shown in figure 4, control method shown in Fig. 1, Fig. 2 or Fig. 3 can also wrap
It includes:
Step S104: relative position information is transferred to by laser radar sensor wears display equipment；
Wear display equipment judges whether distance value d is not more than preset value one in relative position information；Wherein, preset value one
It can be 1m, 0.5m, it is of course also possible to be other preset values；
If wear display equipment judging result be it is yes, wear display equipment sending barrier hint, barrier hint can
With by sound, shake or be wear display equipment display screen on reinforce barrier profile or be wear it is aobvious
Show to remind around user have barrier in the form of animation on the display screen of equipment, causes user's note that avoid touching
It hits.
In the application still other embodiments, as shown in figure 5, control method shown in above-described embodiment can also include:
Step S104: relative position information is transferred to by laser radar sensor wears display equipment；
Meanwhile wearing vertical range value and folder that display equipment receives the opposite plane one of plane two that IMU sensor obtains
Angle value；
Wherein, plane two is that the plane where laser radar sensor is moved with user's head, opposite about one plane
Rotate or move up and down the plane at rear place；
Step S1051: display equipment vertical range value and the current phase of angle value, combining target object based on the received are worn
To location information, current 2D map is constructed, to correct the deviation for causing the 2D map of building to occur due to user's head movement；
S1052: the threedimensional model that user place space is generated according to the 2D map of display equipment is worn；
Step S106: wearing display equipment according to threedimensional model and adjust content to be displayed, to wear the aobvious of display equipment
Show screen display content adjusted.
In the also some embodiments of the application, as shown in fig. 6, control method shown in above-described embodiment can also include:
Step S1051: wearing the display equipment relative position information current according to distance value a, combining target object, building with
The display screen center for wearing display equipment is the 2D map of reference point；
Wherein, distance value a is the display screen center for wearing display equipment and the vertical range of laser radar sensor；Compensation
Since laser radar sensor leads to the current 2D map constructed with the distance between the display screen center for wearing display equipment
The deviation of appearance；
Step S1052: the threedimensional model in space where display equipment generates user according to current 2D map is worn；
Step S106: display equipment is worn according to current threedimensional model adjustment and wears the initial data of display equipment to working as
Preceding data；
Current data are rendered to construct and wear the field of the actually located spatial match of the user for wearing display equipment
Scape shows the scene after rendering on the display screen for wearing display equipment.The content shown on a display screen is avoided to occur inclined
Difference is realized and is preferably interacted between user and virtual environment.
Based on identical inventive concept, the application also provides one kind and wears display equipment, as shown in fig. 7, this wears display
Equipment includes IMU sensor, at least one set of is installed on the laser radar sensor worn in display equipment；
Laser radar sensor is connect with the processor for wearing display equipment；
Laser radar sensor receives object to laser signal for laser signal to be rotated and emitted in plane one
Reflection signal, according to laser signal and reflection signal obtain plane one in object relative position information, by relative position
Information, which is transferred to, wears display equipment；
This, which wears display equipment, may be implemented control method shown in above-described embodiment.
In addition, the embodiment of the present application can also provide following scheme:
A kind of electronic equipment, including memory and processor, memory is for storing computer instruction, and processor is for holding
Row computer instruction is to realize control method shown in above-described embodiment.
It should be noted that the electronic equipment in the present embodiment, which can be, wears display equipment, such as virtual reality is worn
Display equipment, augmented reality wear display equipment or mixed reality wears display equipment etc..
In addition, the embodiment of the present application may also be provided that
A kind of storage medium is stored with instruction on the storage medium, which may be implemented above-mentioned when being executed by processor
Control method shown in embodiment.For example, storage medium can be ROM, RAM etc..
Above embodiments are only to illustrate the technical solution of the application, rather than its limitations；Although with reference to the foregoing embodiments
The application is described in detail, those skilled in the art should understand that: it still can be to aforementioned each implementation
Technical solution documented by example is modified or equivalent replacement of some of the technical features；And these modification or
Replacement, the spirit and scope of each embodiment technical solution of the application that it does not separate the essence of the corresponding technical solution.
Claims (11)
1. a kind of control method for wearing display equipment, which is characterized in that described to wear display equipment and laser radar sensor
Electrical connection, the described method comprises the following steps:
The laser radar sensor rotates in plane one and emits laser signal；
The laser radar sensor receives object to the reflection signal of the laser signal；
The laser radar sensor obtains the target in the plane one according to the laser signal and the reflection signal
The relative position information of object；
The relative position information is transferred to and described wears display equipment by the laser radar sensor；
It is described to wear the display equipment determining current location for wearing user of information depending on that relative position.
2. control method according to claim 1, which is characterized in that described to wear display equipment depending on that relative position
Information determines that the current location for wearing user includes:
It is described to wear display equipment information generates the 2D map of the plane one depending on that relative position；
The threedimensional model in space where generating user according to the 2D map；Wherein, the 2D map is passed with the laser radar
Sensor is coordinate origin.
3. control method according to claim 2, which is characterized in that the control method further include:
The display equipment of wearing is according to threedimensional model adjustment content to be displayed, in the display for wearing display equipment
Screen display content adjusted.
4. control method according to claim 3, which is characterized in that
Adjusting content to be displayed according to the threedimensional model includes:
According to the threedimensional model, the initial data of display equipment is worn described in adjustment to current data；
The current data is rendered to construct the scene with the actually located spatial match of the user.
5. control method according to any one of claims 1 to 4, which is characterized in that
Relative position information of the relative position information between the object and the laser radar sensor；The side
Method further include:
Judge whether the relative position information is not more than preset value one；
If so, issuing barrier hint.
6. control method according to any one of claims 1 to 4, which is characterized in that the method also includes:
Obtain the vertical range value and angle value of the relatively described plane one of plane two；
According to the vertical range value and angle value, in conjunction with the current relative position information of the object, with constructing the 2D
Figure；
Wherein, the plane two rotates upwardly and downwardly or moves up and down rear institute for the relatively described plane one of the laser radar sensor
Plane.
7. control method according to any one of claims 1 to 4, which is characterized in that the method also includes:
According to distance value a, in conjunction with the current relative position information of the object, building is with the display for wearing display equipment
Screen center is the 2D map of reference point；
Wherein, the distance value a is that the display screen center for wearing display equipment is vertical with the laser radar sensor
Distance.
8. control method according to claim 1, which is characterized in that the laser radar sensor rotates in plane one
And emits laser signal and include:
The laser radar sensor is spaced transmitting laser signal at predetermined time intervals；Alternatively, the laser radar sensor is every
It rotates predetermined angle and emits a laser signal.
9. one kind wears display equipment characterized by comprising IMU sensor, at least one set, which are installed on, to be worn in display equipment
Laser radar sensor, wherein
The laser radar sensor is connect with the processor for wearing display equipment；
The laser radar sensor receives the object to described for laser signal to be rotated and emitted in plane one
The reflection signal of laser signal obtains the object in the plane one according to the laser signal and the reflection signal
The relative position information is transferred to and described wears display equipment by relative position information.
10. a kind of electronic equipment, which is characterized in that including memory and processor, the memory refers to for storing computer
It enables, the processor is for executing the computer instruction to realize such as the described in any item control methods of claim 1-8.
11. a kind of storage medium, which is characterized in that be stored thereon with instruction, such as right is realized when which is executed by processor
It is required that the described in any item control methods of 1-8.
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|---|---|---|---|
| CN201811323493.7A CN109507686B (en) | 2018-11-08 | 2018-11-08 | Control method, head-mounted display device, electronic device and storage medium |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811323493.7A CN109507686B (en) | 2018-11-08 | 2018-11-08 | Control method, head-mounted display device, electronic device and storage medium |
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| CN109507686B CN109507686B (en) | 2021-03-30 |
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| WO2021003875A1 (en) * | 2019-07-08 | 2021-01-14 | 江苏美的清洁电器股份有限公司 | Control method, controller, terminal and storage medium |
| CN113518189A (en) * | 2020-04-09 | 2021-10-19 | 华为技术有限公司 | Shooting method, shooting system, electronic equipment and storage medium |
| CN113777621A (en) * | 2020-06-09 | 2021-12-10 | 北京小米移动软件有限公司 | Electronic device, relative position relation detection method and device, and storage medium |
| CN113920688A (en) * | 2021-11-24 | 2022-01-11 | 青岛歌尔声学科技有限公司 | Collision early warning method and device, VR head-mounted equipment and storage medium |
| WO2023170697A1 (en) * | 2021-06-04 | 2023-09-14 | Dimension Nxg Pvt. Ltd. | System and method for engaging targets under all weather conditions using head mounted device |
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