CN110503001A - A kind of Virtual Reality equipment and its barrier-avoiding method, device - Google Patents
A kind of Virtual Reality equipment and its barrier-avoiding method, device Download PDFInfo
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- CN110503001A CN110503001A CN201910677853.1A CN201910677853A CN110503001A CN 110503001 A CN110503001 A CN 110503001A CN 201910677853 A CN201910677853 A CN 201910677853A CN 110503001 A CN110503001 A CN 110503001A
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Abstract
This application discloses a kind of Virtual Reality equipment and its barrier-avoiding methods, device, barrier-avoiding method includes: the spatial positional information for obtaining the user of Virtual Reality equipment, and whether the spatial position according to acquisition judges the user in preset safety zone；If the user not in preset safety zone, controls the virtual scene of the Virtual Reality equipment display superposition barrier model or the control Virtual Reality equipment hides virtual scene and shows barrier model, to realize avoidance；The embodiment of the present application carries out safeguard protection to user and safety guides when user wears VR equipment and is moved to insecure area, avoids user from wearing when VR equipment moves in space and collides with the barrier in realistic space.
Description
Technical field
This application involves Virtual Reality technical fields, and in particular to a kind of Virtual Reality equipment and its barrier-avoiding method,
Device.
Background technique
Virtual reality (virtual reality, VR) technology is using computer technology that vision, the sense of hearing, tactile etc. is more
Kind information converged reconstruction, to generate the virtual scene of man-machine interactive, user passes through the 3 dimensional drawing that VR equipment is shown
Picture obtains immersion experience.
Due to can only see the image in virtual scene, there are the objects such as desk, sofa in realistic space, user has on VR and sets
For these objects are not seen when moving in space, it is easy to collide these objects, there are security risks.
Summary of the invention
This application provides a kind of Virtual Reality equipment and its barrier-avoiding method, device, when judging user not in safety
When region, safe guidance is carried out to user, user is avoided to wear obstacle when VR equipment moves in space and in realistic space
Object collides.
According to the one aspect of the application, a kind of barrier-avoiding method of Virtual Reality equipment is provided, comprising:
The spatial positional information of the user of the Virtual Reality equipment is obtained, and the spatial position according to acquisition is sentenced
Whether the user of breaking is in preset safety zone；
If the user not in preset safety zone, controls the Virtual Reality equipment display superposition obstacle
The virtual scene or the control Virtual Reality equipment of object model hide virtual scene and show barrier model, are kept away with realizing
Barrier；Wherein the barrier model is that the information of barrier in the realistic space obtained according to the Virtual Reality equipment generates
's.
According to further aspect of the application, a kind of obstacle avoidance apparatus of Virtual Reality equipment is provided, comprising:
Judgment module, the spatial positional information of the user for obtaining the Virtual Reality equipment, and according to acquisition
Whether the spatial position judges the user in preset safety zone；
Obstacle avoidance module, if controlling the Virtual Reality not in preset safety zone for the user and setting
The virtual scene or the control Virtual Reality equipment of standby display superposition barrier model hide virtual scene and show obstacle
Object model, to realize avoidance；Wherein the barrier model is in the realistic space obtained according to the Virtual Reality equipment
What the information of barrier generated.
According to another aspect of the application, a kind of Virtual Reality equipment is provided, which includes:
Processor；And it is arranged to the memory of storage computer executable instructions, the executable instruction makes institute when executed
State method of the processor execution as described in the one aspect of the application.
Using the Virtual Reality equipment barrier-avoiding method, device of the embodiment of the present application, user's moving process is monitored, obtains and uses
The spatial position at family, if user shows the virtual field in VR equipment not in preset safety zone, by barrier model
In scape or control hides virtual scene and only shows barrier model, improves user to dangerous perception, as a result, by movement
The user for presetting safety zone out carries out safe guidance and safety instruction, and user is avoided to touch with the barrier in realistic space
It hits.
Detailed description of the invention
Fig. 1 is the flow diagram of the Virtual Reality equipment barrier-avoiding method of the application one embodiment；
Fig. 2 is the schematic diagram of the region setting and user's moving process of the application one embodiment；
Fig. 3 is the flow diagram of the Virtual Reality equipment barrier-avoiding method of the application one embodiment；
Fig. 4 is the block diagram of the Virtual Reality equipment obstacle avoidance apparatus of the application one embodiment；
Fig. 5 is the structural block diagram of the Virtual Reality equipment of the application one embodiment.
Specific embodiment
In order to make the above objects, features, and advantages of the present application more apparent, with reference to the accompanying drawing and it is specific real
Applying mode, the present application will be further described in detail.Obviously, described embodiment is some embodiments of the present application, without
It is whole embodiments.Based on the embodiment in the application, those of ordinary skill in the art are not before making creative work
Every other embodiment obtained is put, shall fall in the protection scope of this application.
Room scale (Room-Scale) mode is a hot spot of current immersive VR equipment research, virtual existing
It is real to provide with world's isolation and replace the complete immersion of real sound and vision to experience with the help of wearing display equipment, branch
The mobile Roomscale mode in space is held, changing using standardized game paddle stands, is seated and plays game, and game is played
Family oneself can move in realistic space, and VR equipment is tracked user, and be made accordingly instead according to the movement of user
Feedback.But moved in space when user has on VR equipment, due to can only see the image in virtual scene, user is invisible
The objects such as desk, the sofa of realistic space are easy to collide these objects, and there are security risks.
In this regard, the embodiment of the present application proposes a kind of Virtual Reality equipment avoidance scheme, by Virtual Reality equipment
It is middle to construct Virtual Space corresponding with realistic space, and preset safety zone, warning zone and danger zone, real-time judge
Region locating for user carries out safety prompt function to user if user is not in safety zone and safety guides, user is avoided to touch
Barrier is bumped against, safety when Virtual Reality equipment uses is improved.
Fig. 1 is the flow diagram of the Virtual Reality equipment barrier-avoiding method of the application one embodiment, referring to Fig. 1, originally
The Virtual Reality equipment barrier-avoiding method of embodiment includes the following steps:
Step S101 obtains the spatial positional information of the user of the Virtual Reality equipment, and according to described in acquisition
Whether spatial position judges the user in preset safety zone.
The user's space position for obtaining Virtual Reality equipment can be realized using the prior art, for example be chased after by VR movement
Track device realizes that image is sent to VR and set by the image of the binocular fisheye camera shooting actual environment of VR motion tracking device
Standby processor, processor operation image Processing Algorithm, image processing algorithm handle image, obtain the space bit of user
Confidence breath.
Step S102, if the user not in preset safety zone, controls the Virtual Reality equipment and shows
The virtual scene or the control Virtual Reality equipment for showing superposition barrier model hide virtual scene and show barrier mould
Type, to realize avoidance；Wherein the barrier model is obstacle in the realistic space obtained according to the Virtual Reality equipment
What the information of object generated.
That is, presetting safety zone in the present embodiment, and user location is obtained in real time, user region is carried out
Judgement, user then control not within preset safety zone and change the virtual scene that VR equipment is normally shown, increase in prompt
Hold, to carry out safe guidance, the generation avoided collision to user.
As shown in Figure 1 it is found that the Virtual Reality equipment barrier-avoiding method of the present embodiment, obtains the space of the user of VR equipment
Position, and user is judged whether in preset safety zone, if user shows that user exists not in preset safety zone
It probably collides with barrier in walk process, therefore the present embodiment control VR equipment display superposition barrier model
Virtual scene or control Virtual Reality equipment hide virtual scene and show barrier model, to avoid user and realistic space
In object collide, improve user to dangerous perception, reach and user is avoided to touch with the barrier in realistic space
The purpose hit.
Fig. 2 is the schematic diagram of the region setting and user's moving process of the application one embodiment, as shown in Fig. 2, this reality
Example is applied to including safety zone, warning zone and the danger zone successively laid in Virtual Space, referring to fig. 2, in danger zone
Including three barriers (only making example), respectively barrier 1, barrier 2 and barrier 3.The central point of safety zone is (i.e. former
Point), origin here is determined according to the initial position of user, when user has on VR equipment and moves in space, each region
Position immobilizes.
During concrete application, the present embodiment is origin position using the initial position of VR motion tracking device label user
It sets, records user's situation of movement, and the spatial position of user is sent to the obstacle avoidance apparatus of VR equipment, obstacle avoidance apparatus real time contrast
The distance of shift position and origin obtains the mobile radius distance of user；According to the mobile radius distance of user, user institute is judged
The area type at place, for subsequent display visual effect corresponding with area type.
Fig. 3 is the flow diagram of the Virtual Reality equipment barrier-avoiding method of the application one embodiment, in conjunction with Fig. 3 to this
The Virtual Reality equipment barrier-avoiding method of application embodiment realizes that step is illustrated.
As shown in figure 3, VR equipment brings into operation；
Firstly, initialization of virtual scene, constructs each region；
In the present embodiment, Virtual Reality equipment carries the motion tracking device based on binocular fisheye camera, motion tracking
User is in the location information of realistic space for identification for device, after obtaining position of the user in realistic space, based on reality
The corresponding relationship in space and Virtual Space corresponds to user in Virtual Space in walking about for realistic space, such as: virtual empty
Between one 2 meters x2 meter of space of middle setting, 2 meters x2 meters of space in correspondence actual environment；Pass through Unity or Unreal etc.
3D game engine realizes virtual scene, such as: increase ground, the area and realistic space on ground in whole virtual scene bottom
In floor area it is consistent.
Referring to Fig. 3, user location is judged, it has been observed that region includes safety zone and insecure area in the present embodiment, it is non-
Safety zone includes warning zone and danger zone, in the present embodiment, obtains the space of the user of the Virtual Reality equipment
Location information, and whether the spatial position according to acquisition judges the user in preset safety zone, comprising: it obtains
First position of the user in realistic space, according to realistic space and Virtual Space corresponding relationship, obtain in Virtual Space with
The corresponding second position in the first position；Based in Virtual Space origin and the second position, judge the user
The region at place；Wherein, the origin according to the initial position of user determine, the region include: according to the origin by
Closely arrive safety zone, warning zone and danger zone that remote sequence is successively set.
That is, according to the corresponding relationship of Virtual Space and realistic space, when getting of user in realistic space
After one position, the available second position corresponding with first position, then, based on the origin in Virtual Space (such as Fig. 2 institute
The central point shown) and the second position (position where user as shown in Figure 2) judge the region where user.If
User enters warning zone, then can draw out virtual fence and fence is shown the virtual field in Virtual Reality equipment
Jing Zhong can draw out virtual barrier model, and barrier model is shown in void if user enters danger zone
In the virtual scene of quasi- reality VR equipment, to carry out safety instruction and safety guidance to user.
Here based in Virtual Space origin and the second position, the region where judging the user it is specific
, comprising: it is based on the origin and the second position, first distance is obtained, by the first distance and the safety zone
The radius in domain compares；If the first distance is less than the radius of the safety zone, it is determined that the region where the user
For safety zone；If the first distance is greater than the radius of the safety zone and is less than the radius of the warning zone,
Region where determining the user is warning zone；Wherein the radius of the warning zone is greater than the half of the safety zone
Diameter；If the first distance is greater than the radius of the warning zone, it is determined that the region where the user is danger zone.
As shown in Fig. 2, it is half with preset length (such as 1.5 meters) that safety zone, which is using origin as the center of circle, in the present embodiment
Circle (circle only makees example, without being limited thereto) region of diameter, the periphery of safety zone is warning zone, and the radius of warning zone is big
Radius in safety zone, for example the radius of warning zone is 2 meters, if user first position is 1.8 meters at a distance from origin,
Region where can so determining user is greater than the radius (1.5 meters) of the safety zone and is less than the warning zone
Radius (2 meters), that is, user is located at warning zone.It follows that whether An Quan judgement is based on space region to the present embodiment user
Domain, rather than the fixed range from user's head.
Specifically, if user is located at warning zone, the corresponding process flow of warning zone is executed referring to Fig. 3, if
User is located at safety zone, then executes the corresponding process flow in safety zone, if user is located at danger zone, executes danger
Process flow corresponding to region.
Safety zone is the region that user can freely walk about, and insecure area includes warning zone and danger zone, two
The degree of danger of a region (warning zone and danger zone) is different, needing to distinguish user at this time, targeted
Prompt.That is, if the user not in preset safety zone, controls the Virtual Reality equipment display superposition obstacle
If the virtual scene or the control Virtual Reality equipment of object model hide virtual scene and show that barrier model includes:
Region where the user is warning zone, then controls the virtual of the Virtual Reality equipment display superposition barrier model
Scene；If region where the user is danger zone, control the Virtual Reality equipment hide virtual scene and
Show barrier model.
It follows that the present embodiment controls virtual reality device and shows different visual effects for different regions,
Since danger zone is deeper than the degree of danger of warning zone, thus if user is located at danger zone hide virtual scene and
It shows barrier model, to improve user to perception dangerous around, avoids colliding.
In another embodiment, if the user controls the Virtual Reality not in preset safety zone
The virtual scene or the control Virtual Reality equipment of equipment display superposition barrier model hide virtual scene and show barrier
Hindering object model includes: that the control Virtual Reality equipment shows safety instruction, is enclosed in the safety instruction including virtual secure
The location information on column and the origin.
By showing the safety instruction of the location information including virtual secure fence and origin, user is facilitated to understand safety
The position in region and size, and safety zone is returned under the guidance of safety instruction, avoid user from blindly walking about.
Referring to Fig. 3, user then closes TOF (Time of Flight, flight time) camera, normally in safety zone
Show VR virtual scene.That is, in the present embodiment, if the user in preset safety zone, described in control
Virtual Reality equipment shows virtual scene.Here, why closing TOF camera is the power consumption because after TOF camera unlatching
It is very high.And user's system in safety zone thinks user there is no safety problem, does not also need to obtain obstacle information structure
Barrier model is built to be shown to remind user.
If user is in warning zone, referring to Fig. 3, the embodiment of the present application controls the virtual field in virtual reality device
Virtual secure fence is shown in scape to remind the boundary in user security region and warning zone.Also, the present embodiment opens TOF phase
Machine obtains the point cloud information of barrier, draws barrier model based on point cloud information, barrier mould is superimposed in VR virtual scene
Type.
That is, determine the user not after preset safety zone, method further include: starting is described virtual
The flight time TOF camera of real VR equipment；By the TOF camera, the point cloud information of each barrier in current region is obtained,
The point cloud information is handled, each barrier model is obtained.
It should be noted that it has been observed that the VR helmet of the present embodiment constructs corresponding virtual sky according to realistic space
Between, virtual scene is generated based on Virtual Space, therefore, when barrier model is added in virtual scene, according to real empty
Between the position of middle barrier barrier model is added to the corresponding position in virtual scene, for example, user is right in realistic space
There is barrier in front, then when being superimposed barrier model into virtual scene, by barrier modeling rendering in virtual scene
The position of user right front, to be consistent with the Obstacle Position in realistic space, so that user be facilitated to pass through VR equipment
The position of barrier in realistic space is solved, avoidance effect is improved.In addition, if having multiple barriers, the application in a region
Embodiment is drawn the barrier model of equivalent amount, is accurately mentioned with the barrier to realistic space when drawing barrier model
Show.
The barrier model shown in Fig. 3 that is superimposed in VR virtual scene includes: to open TOF mould group, when close to barrier, is obtained
Blocking surfaces point cloud is taken, using open source library, (being barrier 3D model by point cloud coordinate transformation) is handled to a cloud, will be located
Obtained barrier model is managed to be added in VR scene；Open source library such as point Yun Ku (Point Cloud Library, referred to as
PCL), for realizing cloud to the conversion of 3D model, a cloud is handled using the library pcl_surface therein.Certainly, In
In the other embodiments of the application, in the case where not considering to research and develop cost, the library of open source can also not had to but to write generation
The mode of code realizes the conversion of a cloud to barrier model.
The TOF camera of VR equipment can take the environment map in front of user within the scope of 60 degree to 90 degree in the present embodiment
Picture, VR equipment follow user's head to rotate, therefore each barrier of TOF camera in real time, immediately ahead of continuous scanning user.It sweeps
After retouching each barrier, modeling, the VR application that shape, the position data of barrier model are stored into VR equipment (for example is swum
Play application) it is inner, subsequent can directly use is not necessarily to multiple scanning.
If user is to open the point cloud information that TOF camera obtains barrier in danger zone, VR virtual field is hidden
Scape simultaneously shows barrier model, further, it is also possible to show safety instruction, user is prompted to return in safety zone.
The present embodiment, it controls the Virtual Reality equipment and shows safety instruction, user is prompted to return in safety zone,
It can combine with display barrier model or individually show, include the position of virtual secure fence and origin in safety instruction
Confidence breath, remind user to origin move back to virtual secure fence indicate region, in this way, to user with specific position,
Direction prompt, facilitates user to return to safety zone in time.
The avoidance process of VR equipment is illustrated below with reference to a specific application scenarios.
After VR device power-up, the starting of motion tracking device keeps track the spatial position of user；
Distance far from central point when obstacle avoidance apparatus real-time judge user is mobile；
If user in safety zone, closes TOF measurement mould group (that is, TOF camera), user can arbitrarily move at this time；
If user walks out safety zone and in warning zone, TOF measurement mould group is opened, according to the blocking surfaces detected
Point cloud coordinate information real-time rendering is at visible model in VR scene.In addition safety instruction can be further displayed, informs user
It returns in safety zone；
If user continues to walk outward, warning zone is walked out, danger zone has been gone to, then controlled and hide Virtual Reality equipment
(specifically currently playing application or game) VR scene and barrier model is shown in Virtual Reality equipment, should
TOF measurement mould group is kept to open in stage.Since user has been positioned at danger zone, it is not intended to user to be further continued for game at this time,
The warning of dangerous obstacles should be absorbed in, therefore the present embodiment hides VR virtual scene, and shows barrier model.
If user returns to warning zone from danger zone, the VR scene of application or game itself is shown, and keep hindering
Object model is hindered to show；
If user returns in safety zone, TOF measurement mould group is closed, by barrier model from VR virtual scene
It removes, the VR scene of normal display application or game；
So far, the Virtual Reality equipment barrier-avoiding method of the embodiment of the present application, according to the initial position setting origin of user,
And safety zone, warning zone and danger zone are successively set according to the sequence of origin from the near to the remote, if it is judged that user
Safety instruction then is carried out to user in insecure area, the safety in VR equipment use is ensure that, makes VR equipment to barrier
The judgement of shape distance is more acurrate, when user walks out safety zone, provides more natural barrier mark and safety instruction, changes
It has been apt to user experience and has improved the competitiveness of VR equipment.
It should be noted that the description and claims of this application and term " first " in above-mentioned attached drawing, "
Two " etc. be to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should be understood that using in this way
Object be interchangeable under appropriate circumstances, so as to embodiments herein described herein can in addition to illustrating herein or
Sequence other than those of description is implemented.
A technical concept is belonged to aforementioned virtual reality VR equipment barrier-avoiding method, the embodiment of the present application also provides
Virtual Reality equipment obstacle avoidance apparatus.
Fig. 4 is the block diagram of the Virtual Reality equipment obstacle avoidance apparatus of the application one embodiment；Referring to fig. 4, the present embodiment
Virtual Reality equipment obstacle avoidance apparatus 400 include:
Judgment module 401, the spatial positional information of the user for obtaining the Virtual Reality equipment, and according to acquisition
The spatial position judge the user whether in preset safety zone；
Obstacle avoidance module 402, if controlling the Virtual Reality not in preset safety zone for the user
The virtual scene or the control Virtual Reality equipment of equipment display superposition barrier model hide virtual scene and show barrier
Hinder object model, to realize avoidance；Wherein the barrier model is the realistic space obtained according to the Virtual Reality equipment
What the information of middle barrier generated.
In one embodiment of the application, judgment module 401, specifically for obtaining user first in realistic space
Position obtains corresponding with the first position second in Virtual Space according to the corresponding relationship of realistic space and Virtual Space
Position；Based in Virtual Space origin and the second position, judge the region where the user；Wherein, the original
Point determines according to initial position of the user in realistic space, the region include: according to the origin from the near to the remote suitable
Safety zone, warning zone and the danger zone that sequence is successively set.
In one embodiment of the application, judgment module 401 is specifically used for being based on the origin and the second
It sets, first distance is obtained, by the first distance compared with the radius of the safety zone；If the first distance is less than institute
State the radius of safety zone, it is determined that the region where the user is safety zone；If the first distance is greater than described
The radius of safety zone and the radius for being less than the warning zone, it is determined that the region where the user is warning zone；Its
Described in warning zone radius be greater than the safety zone radius；If the first distance is greater than the warning zone
Radius, it is determined that the region where the user is danger zone.
In one embodiment of the application, obstacle avoidance module 402, if being police specifically for the region where the user
Region is accused, then controls the virtual scene of the Virtual Reality equipment display superposition barrier model；If where the user
Region be danger zone, then control the Virtual Reality equipment hide virtual scene and show barrier model.
In one embodiment of the application, the obstacle avoidance module 402, if being specifically used for the user not preset
In safety zone, then controls the Virtual Reality equipment and show safety instruction, enclosed in the safety instruction including virtual secure
The location information on column and the origin.
In one embodiment of the application, the obstacle avoidance module 402 is specifically used for determining the user not default
Safety zone after, start the flight time TOF camera of the Virtual Reality equipment；By the TOF camera, worked as
The point cloud information of each barrier in forefoot area, handles the point cloud information, obtains each barrier model.
In one embodiment of the application, if obstacle avoidance module 402 is specifically used for the user in preset safety zone
In domain, then controls the Virtual Reality equipment and show virtual scene.
It should be noted that the act of each function performed by each module of the obstacle avoidance apparatus of Virtual Reality equipment shown in Fig. 4
Example illustrates, consistent with the illustration explanation in preceding method embodiment, no longer repeats one by one here.
In addition, the embodiment of the present application also provides a kind of Virtual Reality equipment, referring to Fig. 5, Virtual Reality equipment 500
It include: processor 501；And it is arranged to the memory 502 of storage computer executable instructions, the executable instruction is in quilt
The processor 501 is set to execute such as aforementioned virtual reality VR equipment barrier-avoiding method when execution.
In addition, the logical order in above-mentioned memory 502 can be realized by way of SFU software functional unit and conduct
Independent product when selling or using, can store in a computer readable storage medium.Based on this understanding, originally
Substantially the part of the part that contributes to existing technology or the technical solution can be in other words for the technical solution of application
The form of software product embodies, which is stored in a storage medium, including some instructions to
So that a computer equipment (can be personal computer, server or the network equipment etc.) executes each implementation of the application
The all or part of the steps of example the method.And storage medium above-mentioned include: USB flash disk, mobile hard disk, read-only memory (ROM,
Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic or disk etc. it is various
It can store the medium of program code.
Another embodiment of the application provides a kind of computer readable storage medium, computer-readable recording medium storage
Computer instruction, computer instruction make the computer execute the barrier-avoiding method of above-mentioned Virtual Reality equipment.
It should be understood by those skilled in the art that, embodiments herein can provide as method, system or computer program
Product.Therefore, complete hardware embodiment, complete software embodiment or reality combining software and hardware aspects can be used in the application
Apply the form of example.Moreover, it wherein includes the computer of computer usable program code that the application, which can be used in one or more,
The computer program implemented in usable storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.) produces
The form of product.
The application is referring to method, the process of equipment (system) and computer program product according to the embodiment of the present application
Figure and/or block diagram describe.It should be understood that every one stream in flowchart and/or the block diagram can be realized by computer program instructions
The combination of process and/or box in journey and/or box and flowchart and/or the block diagram.It can provide these computer programs
Instruct the processor of general purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices to produce
A raw machine, so that being generated by the instruction that computer or the processor of other programmable data processing devices execute for real
The dress for the function of being specified in one box or multiple boxes of one process or multiple processes and/or block diagrams of present flow chart
It sets.
It should be noted that the terms "include", "comprise" or its any other variant are intended to the packet of nonexcludability
Contain, so that the process, method, article or equipment for including a series of elements not only includes those elements, but also including
Other elements that are not explicitly listed, or further include for elements inherent to such a process, method, article, or device.
In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including the element
Process, method, article or equipment in there is also other identical elements.
In the description of the present application, numerous specific details are set forth.Although it is understood that embodiments herein can
To practice without these specific details.In some instances, well known method, structure and skill is not been shown in detail
Art, so as not to obscure the understanding of this specification.Similarly, it should be understood that disclose to simplify the application and help to understand each
One or more of in terms of a application, in the description above to the exemplary embodiment of the application, each spy of the application
Sign is grouped together into a single embodiment, figure, or description thereof sometimes.However, should not be by the method solution of the disclosure
It is interpreted into and reflects an intention that i.e. claimed this application claims more than feature expressly recited in each claim
More features.More precisely, just as the following claims reflect, application aspect is single less than disclosed above
All features of embodiment.Therefore, it then follows thus claims of specific embodiment are expressly incorporated in the specific embodiment party
Formula, wherein separate embodiments of each claim as the application itself.
The above, the only specific embodiment of the application, under the above-mentioned introduction of the application, those skilled in the art
Other improvement or deformation can be carried out on the basis of the above embodiments.It will be understood by those skilled in the art that above-mentioned tool
The purpose of the application is only preferably explained in body description, and the protection scope of the application is subject to the protection scope in claims.
Claims (10)
1. a kind of barrier-avoiding method of Virtual Reality equipment characterized by comprising
The spatial positional information of the user of the Virtual Reality equipment is obtained, and the spatial position according to acquisition judges institute
User is stated whether in preset safety zone；
If the user not in preset safety zone, controls the Virtual Reality equipment display superposition barrier mould
The virtual scene or the control Virtual Reality equipment of type hide virtual scene and show barrier model, to realize avoidance；
Wherein the barrier model is that the information of barrier in the realistic space obtained according to the Virtual Reality equipment generates.
2. the method as described in claim 1, which is characterized in that obtain the spatial position of the user of the Virtual Reality equipment
Information, and the spatial position according to acquisition judge the user whether in preset safety zone include:
First position of the user of the Virtual Reality equipment in realistic space is obtained, according to realistic space and Virtual Space
Corresponding relationship, obtain the second position corresponding with the first position in Virtual Space；
Based in Virtual Space origin and the second position, judge the region where the user；
Wherein, the origin according to the initial position of user determine, the region include: according to the origin from the near to the remote
Safety zone, warning zone and the danger zone that sequence is successively set.
3. method according to claim 2, which is characterized in that the origin and the second based in Virtual Space
It sets, the region where judging the user includes:
Based on the origin and the second position, first distance is obtained,
By the first distance compared with the radius of the safety zone；
If the first distance is less than the radius of the safety zone, it is determined that the region where the user is safety zone
Domain；
If the first distance is greater than the radius of the safety zone and is less than the radius of the warning zone, it is determined that described
Region where user is warning zone；Wherein the radius of the warning zone is greater than the radius of the safety zone；
If the first distance is greater than the radius of the warning zone, it is determined that the region where the user is danger area
Domain.
4. method as claimed in claim 2 or claim 3, which is characterized in that if the user is not in preset safety zone
Interior, then the virtual scene or the control Virtual Reality for controlling the Virtual Reality equipment display superposition barrier model are set
It is standby to hide virtual scene and show that barrier model includes:
If the region where the user is warning zone, the Virtual Reality equipment display superposition barrier mould is controlled
The virtual scene of type；
If the region where the user is danger zone, controls the Virtual Reality equipment and hide virtual scene and show
Show barrier model.
5. method according to claim 2, which is characterized in that if the user not in preset safety zone,
Virtual scene or the control Virtual Reality equipment for controlling the Virtual Reality equipment display superposition barrier model are hidden
It hides virtual scene and shows that barrier model includes:
It controls the Virtual Reality equipment and shows safety instruction, include virtual secure fence in the safety instruction and described
The location information of origin.
6. such as method of any of claims 1-4, which is characterized in that determining the user not in preset safety
After region, the method also includes:
Start the flight time TOF camera of the Virtual Reality equipment；
By the TOF camera, the point cloud information of each barrier in current region is obtained, the point cloud information is handled,
Obtain each barrier model.
7. such as method of any of claims 1-4, which is characterized in that if the user is in preset safety zone
It is interior, then it controls the Virtual Reality equipment and shows virtual scene.
8. a kind of obstacle avoidance apparatus of Virtual Reality equipment characterized by comprising
Judgment module, the spatial positional information of the user for obtaining the Virtual Reality equipment, and according to described in acquisition
Whether spatial position judges the user in preset safety zone；
Obstacle avoidance module, if it is aobvious to control the Virtual Reality equipment for the user not in preset safety zone
The virtual scene or the control Virtual Reality equipment for showing superposition barrier model hide virtual scene and show barrier mould
Type, to realize avoidance；Wherein the barrier model is obstacle in the realistic space obtained according to the Virtual Reality equipment
What the information of object generated.
9. device as claimed in claim 8, which is characterized in that
The judgment module, specifically for obtaining first position of the user in realistic space, according to realistic space and virtual sky
Between corresponding relationship, obtain the second position corresponding with the first position in Virtual Space；Based on the origin in Virtual Space
And the second position, judge the region where the user；Wherein, the origin is determined according to the initial position of user,
The region includes: according to safety zone, warning zone and the danger area successively set with the sequence of the origin from the near to the remote
Domain.
10. a kind of Virtual Reality equipment, which is characterized in that Virtual Reality equipment includes: processor；And it is arranged to deposit
The memory of computer executable instructions is stored up, the executable instruction makes the processor execute such as claim when executed
Method described in any one of 1-7.
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