CN110579739B - Head-mounted display device, positioning method and positioning system - Google Patents
Head-mounted display device, positioning method and positioning system Download PDFInfo
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- CN110579739B CN110579739B CN201910752896.1A CN201910752896A CN110579739B CN 110579739 B CN110579739 B CN 110579739B CN 201910752896 A CN201910752896 A CN 201910752896A CN 110579739 B CN110579739 B CN 110579739B
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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
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/0284—Relative positioning
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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
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
Abstract
The application discloses head-mounted display equipment, a positioning method and a positioning system, wherein the positioning method of the head-mounted display equipment comprises the following steps: acquiring a wireless signal from an anchor point in a three-dimensional space, and obtaining the position of the head-mounted display device relative to the anchor point based on the wireless signal; according to the position of the head-mounted display device relative to the anchor point and the position of the anchor point in the three-dimensional space, a first position of the head-mounted display device in the three-dimensional space is obtained, and according to the first position, the position of the head-mounted display device on a synchronous positioning and mapping SLAM map is corrected, so that the corrected position of the head-mounted display device is obtained. According to the embodiment of the application, the SLAM accumulated error is reduced, the positioning precision and the safety of the head-mounted display device in the using process are improved, and the user experience is improved.
Description
Technical Field
The invention relates to the technical field of head-mounted display equipment, in particular to head-mounted display equipment, a positioning method and a positioning system.
Background
Existing head-mounted display devices, such as VR (Virtual Reality) devices, support a Roomscale mode, i.e., allow a user to move freely within a certain space, track and capture the user's motion. However, VR devices rely on the positioning accuracy of the SLAM system (synchronous positioning And Mapping) when performing position tracking, And because the SLAM system is a relative positioning, the positioning result has accumulated errors And is difficult to eliminate. For example, the initial error of a normal SLAM system is on the order of several centimeters, and after a period of use, the error of the SLAM may be up to ten and several centimeters, or even several tens of centimeters. Along with the extension of the service time, the positioning error of the mobile phone is increased, so that potential safety hazards are brought to the use of users, and especially in a multi-user application scene, the error is too large, and the collision between the users is easily caused due to inaccurate positioning.
Disclosure of Invention
The application provides a head-mounted display device, a positioning method and a positioning system, so that SLAM accumulated errors are reduced, the positioning precision and the safety of the head-mounted display device in the using process are improved, and the user experience is improved.
According to an aspect of the present application, there is provided a head mounted display device positioning method, including:
acquiring a wireless signal from an anchor point in a three-dimensional space, and obtaining the position of the head-mounted display device relative to the anchor point based on the wireless signal;
according to the position of the head-mounted display device relative to the anchor point and the position of the anchor point in the three-dimensional space, a first position of the head-mounted display device in the three-dimensional space is obtained, and according to the first position, the position of the head-mounted display device on a synchronous positioning and mapping SLAM map is corrected, so that the corrected position of the head-mounted display device is obtained.
According to another aspect of the present application, there is provided a head mounted display device including:
the relative position calculation module is used for acquiring a wireless signal from an anchor point in a three-dimensional space and obtaining the position of the head-mounted display device relative to the anchor point based on the wireless signal;
the positioning module is used for obtaining a first position of the head-mounted display device in the three-dimensional space according to the position of the head-mounted display device relative to the anchor point and the position of the anchor point in the three-dimensional space, and correcting the position of the head-mounted display device on a synchronous positioning and map building SLAM map according to the first position to obtain a corrected position of the head-mounted display device.
According to yet another aspect of the present application, there is provided a head mounted display device positioning system, comprising a preset number of head mounted display devices according to one aspect of the present application, wherein the preset number is a natural number greater than 2;
the head mounted display devices are located in the same space, one of the head mounted display devices is identified as a primary head mounted display device, and at least one of the head mounted display devices is identified as a secondary head mounted display device;
after each auxiliary head-mounted display device obtains the corrected position of the auxiliary head-mounted display device, uploading the corrected position of the auxiliary head-mounted display device to the main head-mounted display device;
and the main head-mounted display device receives the corrected positions of the auxiliary head-mounted display devices, and sends the corrected positions of the main head-mounted display device and the received corrected positions of the auxiliary head-mounted display devices to the auxiliary head-mounted display devices, so that position sharing is realized.
According to the head-mounted display device, the positioning method and the positioning system, the wireless signal from the anchor point in the three-dimensional space is acquired, the position of the head-mounted display device relative to the anchor point is obtained based on the wireless signal, the first position of the head-mounted display device in the three-dimensional space is obtained according to the relative position and the position of the anchor point in the three-dimensional space, the position of the head-mounted display device on the SLAM map is corrected based on the first position, and therefore the corrected position of the head-mounted display device is obtained. Therefore, the relative position between the anchor point and the head which is updated in real time is combined with the position output by the SLAM, the position of the head-mounted display device is corrected, the cumulative error of the SLAM is reduced, the scheme is simple to realize, easy to expand and low in cost, the positioning precision of the head-mounted display device is improved, the safety in the head-mounted use process is ensured, and the use experience of a user is improved.
Drawings
FIG. 1 is a flow chart of a head mounted display device positioning method according to an embodiment of the present application;
FIG. 2 is a schematic diagram of an application scenario of a head mounted display device positioning method according to an embodiment of the present application;
FIG. 3 is a schematic view of the placement of anchor points in space according to one embodiment of the present application;
FIG. 4 is a block diagram of a head mounted display device of one embodiment of the present application;
FIG. 5 is a block diagram of a head mounted display device positioning system according to one embodiment of the present application.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 1 is a schematic flowchart of a positioning method for a head-mounted display device according to an embodiment of the present application, and referring to fig. 1, the positioning method for the head-mounted display device according to the embodiment includes the following steps:
step S101, acquiring a wireless signal from an anchor point in a three-dimensional space, and obtaining the position of the head-mounted display device relative to the anchor point based on the wireless signal.
Step S102, obtaining a first position of the head-mounted display device in the three-dimensional space according to the position of the head-mounted display device relative to the anchor point and the position of the anchor point in the three-dimensional space, and correcting the position of the head-mounted display device on a synchronous positioning and mapping SLAM map according to the first position to obtain a corrected position of the head-mounted display device.
As shown in fig. 1, in the positioning method for a head-mounted display device according to the embodiment, the wireless signal of the anchor point is acquired, the position of the head-mounted display device relative to the anchor point is acquired based on the wireless signal, the first position of the head-mounted display device in a three-dimensional space is determined according to the position, the position of the head-mounted display device on the SALM map is corrected by using the first position, and the corrected head-mounted position is obtained, so that the accumulated error in SLAM positioning is reduced, the positioning accuracy is improved, the user experience is improved, the safety in use of the head-mounted display device is ensured, and the problem that the positioning accuracy is not high due to the accumulated error in the existing SALM positioning, which is only dependent on the SALM positioning, is solved.
In the embodiment, an anchor point is preset in a space, and the head is used as a position reference to obtain wireless signals from the anchor point, so that the current position of the head is calculated in real time, wherein the wireless signals comprise azimuth information, distance information, arrival time information and the like, and positioning of the head is completed.
In one embodiment, the anchor point is an electromagnetic transmitter. The aforementioned acquiring a wireless signal from an anchor point in a three-dimensional space, and obtaining a position of the head-mounted display device relative to the anchor point based on the wireless signal, includes: and receiving an electromagnetic signal transmitted by at least one electromagnetic transmitter in the three-dimensional space, and obtaining the position of the head-mounted display equipment relative to the electromagnetic transmitter based on the electromagnetic signal.
That is, the head-mounted (i.e., the head-mounted display device) receives electromagnetic signals emitted by the electromagnetic emitter anchor points laid in the three-dimensional space in advance, and calculates the position of the head-mounted relative to the electromagnetic emitter anchor points according to the electromagnetic signals. According to the relative position, in the space modeling stage, the position of the head-mounted electromagnetic transmitter anchor point is used as the origin of a coordinate system, a space model is built, the first position of the head-mounted display device in a three-dimensional space is calculated, the position of the head-mounted display device in the built SLAM map is corrected based on the first position, and the self-positioning is completed.
As shown in fig. 2, in a specific application scenario, there are three users in three-dimensional space, and the user 202 is free to move in space while wearing a head-mounted display device, which tracks the movement of the user 202 and determines the position of the user 202 (since the head-mounted display device is worn on the user's head, the user and the head-mounted display device are seen as one body when positioning).
The three-dimensional space illustrated in fig. 2 is a room, but the three-dimensional space of the present embodiment is not limited to a room, and may be an outdoor space. As shown in fig. 2, an electromagnetic transmitter anchor point 201 is disposed on one wall of the room, and the head worn by each user 202 receives the electromagnetic signal transmitted by the electromagnetic transmitter anchor point 201, and determines the position of each anchor point relative to the position based on the azimuth angle and the distance information in the electromagnetic signal.
Since the anchor point is previously arranged in the room, the position of the anchor point in the three-dimensional space is known, and the position of the head in the three-dimensional space, i.e., the first position, can be determined from the position of the anchor point in the three-dimensional space and the relative position of the head with respect to the anchor point. After the first position is determined, the head is worn and an SALM map constructed by an SALM navigation positioning system in the head is combined, the position of the head in the SALM map is corrected, and an accurate head-wearing position is obtained.
In this embodiment, the anchor point is placed in the middle of a wall, and theoretically, the anchor point with the transmission distance of 6 meters can cover the space range of 5 meters × 5 meters shown in fig. 2, so that the beneficial effects of few anchor points, large coverage range, easiness in expansion and low cost are achieved.
The positioning scheme based on the anchor point only uses relative position data in space, and the anchor point is static in the whole application scene, so that the anchor point only has an electromagnetic transmitter without hardware such as a camera and the like in order to simplify design and cost. In addition, in order to support the Roomscale mode of VR, the transmission distance of the anchor point of the electromagnetic transmitter is 6 meters so as to cover the spatial range of 5 meters × 5 meters, so that in the whole positioning scheme, one anchor point can be used for supporting the tracking of a large spatial range.
It should be noted that the SLAM navigation positioning system can be implemented by using the prior art, a 3D map of an environment is quickly constructed by using the SLAM technology, that is, the SLAM navigation positioning system is used to construct the SLAM map as the prior art, and specific implementation details can refer to the description of the prior art, which is not described herein.
Because the electromagnetic transmitter is adopted as the anchor point in the embodiment, the coverage range of the electromagnetic transmitter is limited, and therefore, the embodiment of the application supports wider-range space tracking by adopting anchor points with different working frequencies. Referring to fig. 3, including two anchor points in the space that is bigger than the space scope shown in fig. 2, two anchor points distribute in the different positions in space, and an electromagnetic emitter anchor point sets up the intermediate position at a wall, and another electromagnetic emitter anchor point sets up the intermediate position at another wall, and the position of two electromagnetic emitter anchor points is parallel, and the length and width height in the space that the half regional length and width in left side is 5 meters in fig. 3, and the length and width height in the half regional length and width in right side also is 5 meters.
The position of the anchor points of the two electromagnetic transmitters are parallel in order to cover different spatial ranges so that the overall coverage is larger. In order to distinguish signals of other electromagnetic transmitters, in this embodiment, the first electromagnetic transmitter and the second electromagnetic transmitter transmit electromagnetic signals according to an operating frequency within a preset operating frequency range (e.g., 40-42KHz), and the operating frequency of the first electromagnetic transmitter is different from the operating frequency of the second electromagnetic transmitter so as to distinguish the electromagnetic transmitter anchor points, for example, the transmitting frequency of the left electromagnetic transmitter anchor point is 41KHz, and the frequency of the right electromagnetic transmitter anchor point is 42 KHz.
Based on this, the acquiring a wireless signal from an anchor point in a three-dimensional space, and based on the wireless signal, obtaining a position of the head-mounted display device relative to the anchor point includes: receiving a first electromagnetic signal transmitted by a first electromagnetic transmitter and a second electromagnetic signal transmitted by a second electromagnetic transmitter in the three-dimensional space, obtaining a second position of the head-mounted display device relative to the first electromagnetic transmitter based on the first electromagnetic signal, and obtaining a third position of the head-mounted display device relative to the second electromagnetic transmitter based on the second electromagnetic signal; selecting one of the second position and the third position as the position of the head-mounted display device relative to the anchor point according to the distance between the head-mounted display device indicated by the second position and the first electromagnetic transmitter and the distance between the head-mounted display device indicated by the third position and the second electromagnetic transmitter; or fusing the second position and the third position to obtain a fourth position, and taking the fourth position as the position of the head-mounted display device relative to the anchor point.
That is, for the case where two anchor points are provided in the space, the head-wears in the space receive electromagnetic signals transmitted by the two anchor points, respectively, calculate positions with respect to the two anchor points, and then cut or fuse the two relative positions (the second position and the third position) according to the distance to determine the final one relative position (i.e., the fourth position).
As mentioned above, the coverage area of the anchor point transmission signal is limited, so that when the user walks in the space wearing the head, the user may receive only the electromagnetic signal of the first electromagnetic transmitter, only the electromagnetic signal of the second electromagnetic transmitter, or both the electromagnetic signals of the first electromagnetic transmitter and the second electromagnetic transmitter. The head-mounted calculates the position of the anchor point relative to the electromagnetic transmitter, depending on the actual situation.
For example, when the head-mounted receives only the electromagnetic signal of the first electromagnetic transmitter, indicating that the head-mounted is closer to the first electromagnetic transmitter, the position relative to the first electromagnetic transmitter may be calculated based only on the electromagnetic signal of the first electromagnetic transmitter, and the first position of the head-mounted may be determined based on this position information.
For another example, when the head-mounted device receives the electromagnetic signal of the first electromagnetic emitter and the electromagnetic signal of the second electromagnetic emitter, the intensities of the two electromagnetic signals may be compared to determine the distance between the head-mounted device and the first electromagnetic emitter and the second electromagnetic emitter or compare the distance D1 between the head-mounted device and the first electromagnetic emitter indicated by the second position and the distance D2 between the head-mounted device and the second electromagnetic emitter indicated by the third position, and the position with the smaller distance may be used as the position of the head-mounted display device relative to the anchor point. Or, when the head receives the electromagnetic signal of the first electromagnetic emitter and the electromagnetic signal of the second electromagnetic emitter, it indicates that the user may be located at a position between the first electromagnetic emitter and the second electromagnetic emitter, and then after two relative positions (the second position and the third position) are calculated, a new relative position (i.e., a fourth position) is calculated according to the first weight corresponding to the first electromagnetic emitter and the first weight corresponding to the second electromagnetic emitter, using the two relative positions and the respective weights, and the first position of the head is calculated by using the new relative position and the position of the anchor point in the space.
Thus, the present embodiment supports a wide range of spatial tracking by employing anchor points of different operating frequencies. Specifically, anchor point 1 operates at a specific frequency (e.g., 41KHz) and anchor point 2 operates at a different frequency (e.g., 42KHz), such that positioning is accomplished in a large scene by relative positioning of the head to the different anchor points. The head-mounted positioning scheme can be further expanded based on the principle, namely the embodiment has strong expansibility.
In one embodiment, the head-mounted display device further comprises a handle end matched with the head-mounted display device, the handle end is also provided with an electromagnetic emitter, but different from the electromagnetic emitter serving as the anchor point, the working frequency of the electromagnetic emitter at the handle end is different from the working frequency of the anchor point, that is, in the embodiment of the application, the head-mounted display device receives an electromagnetic signal emitted by the electromagnetic emitter with the working frequency different from the working frequency of the electromagnetic emitter at the handle end in the three-dimensional space, so that the head-mounted display device can distinguish the electromagnetic signal of the electromagnetic emitter at the handle end from the electromagnetic signal emitted by the anchor point in the space, and then calculates the relative position of the head-mounted display device and the anchor point of the electromagnetic emitter according to the electromagnetic signal emitted by the anchor point in the space, thereby realizing head-mounted positioning.
For example, the working range of the handle-end electromagnetic transmitter is 27K-40KHz, the anchor point of the electromagnetic transmitter fixedly works at several specific frequencies (such as 40-42KHz), the head-wearing receiving processing of the electromagnetic signals in the frequency range of 40-42KHz is used for calculating the relative position, according to the relative position, in the space modeling stage, by taking the anchor point position of the electromagnetic transmitter as the origin of a coordinate system, a space model is established, the relative positions of the anchor point and the head-wearing are updated in real time, and the head-wearing space position is updated and corrected in real time by combining the space position output by the SLAM. Note: in a multi-user application scenario, each head may use the same spatial coordinate system to build a spatial model.
By applying the positioning system of the embodiment, the head-mounted display device supports application scenes with few anchor points and large space. In addition, if the head-mounted fisheye camera is in interference and scene failure, the head-mounted fisheye camera can receive electromagnetic signals through the anchor point to perform positioning, so that the data output of 6DOF (degree of freedom) of the head/hand is continued, and a good anti-interference effect is achieved. Moreover, on the head-wearing integrated machine without the 6DOF data generated by the fisheye camera, the position of the anchor point in the space is determined through a calibration process, the anchor point is mapped to the head-wearing game world coordinate system based on the position of the anchor point in the space, and the handle also maps the head-wearing game world coordinate system according to the relative position of the handle and the head-wearing, so that the 6DOF (degree of freedom) data of the head/hand of the head-wearing integrated machine can be output, the actual application requirement is met, and the user experience is improved.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the objects so used are interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein.
An embodiment of the present application further provides a head-mounted display device, fig. 4 is a block diagram of the head-mounted display device according to an embodiment of the present application, and referring to fig. 4, the head-mounted display device 400 according to this embodiment includes:
a relative position calculation module 401, configured to acquire a wireless signal from an anchor point in a three-dimensional space, and obtain, based on the wireless signal, a position of the head-mounted display device relative to the anchor point;
a positioning module 402, configured to obtain a first position of the head-mounted display device in the three-dimensional space according to the position of the head-mounted display device relative to the anchor point and the position of the anchor point in the three-dimensional space, and correct the position of the head-mounted display device on the SLAM map in the synchronous positioning and mapping process according to the first position, so as to obtain a corrected position of the head-mounted display device.
In an embodiment of the present application, the relative position calculation module 401 is configured to receive an electromagnetic signal emitted by at least one electromagnetic emitter in the three-dimensional space, and obtain a position of the head-mounted display device relative to the electromagnetic emitter based on the electromagnetic signal.
In an embodiment of the application, the relative position calculation module 401 is specifically configured to receive a first electromagnetic signal transmitted by a first electromagnetic transmitter and a second electromagnetic signal transmitted by a second electromagnetic transmitter in the three-dimensional space, obtain a second position of the head-mounted display device relative to the first electromagnetic transmitter based on the first electromagnetic signal, and obtain a third position of the head-mounted display device relative to the second electromagnetic transmitter based on the second electromagnetic signal; selecting one of the second position and the third position as the position of the head mounted display device relative to the anchor point according to the distance between the head mounted display device and the first electromagnetic transmitter indicated by the second position and the distance between the head mounted display device and the second electromagnetic transmitter indicated by the third position; or fusing the second position and the third position to obtain a fourth position, and taking the fourth position as the position of the head-mounted display device relative to the anchor point.
In one embodiment of the application, the second position is indicative of a distance of the head mounted display device from the first electromagnetic emitter, and the third position is indicative of a distance of the head mounted display device from the second electromagnetic emitter.
As shown in fig. 4, the relative position between the anchor point and the head, which is updated in real time, is utilized by the head-mounted display device, and the spatial position output by the SLAM is combined to correct the position output of the head-mounted display device, so that the positioning accuracy of the head-mounted display device is improved, the safety of the head-mounted display device in the using process is ensured, and the use experience of the user is improved.
An embodiment of the present application further provides a positioning system for a head-mounted display device, and fig. 5 is a block diagram of the positioning system for a head-mounted display device according to an embodiment of the present application.
Referring to fig. 5, the head mounted display device 500 of the present embodiment includes a preset number of head mounted display devices 400 as described above, wherein the preset number is a natural number greater than 2,
the head mounted display devices 400 are located in the same space, one of the head mounted display devices 400 is identified as a primary head mounted display device, and at least one of the head mounted display devices 400 is identified as a secondary head mounted display device; after each auxiliary head-mounted display device obtains the corrected position of the auxiliary head-mounted display device, uploading the corrected position of the auxiliary head-mounted display device to the main head-mounted display device; and the main head-mounted display device receives the corrected positions of the auxiliary head-mounted display devices, and sends the corrected positions of the main head-mounted display device and the received corrected positions of the auxiliary head-mounted display devices to the auxiliary head-mounted display devices, so that position sharing is realized.
Fig. 5 illustrates a case of including two head-mounted display devices 400, and in practical applications, the number of the head-mounted display devices 400 may be 3 or more, without limitation.
Considering a multi-user application scene, for example, three users wear the head to play the same game, and then, the three users can walk at will in the same space, and in order to avoid collision among the users, the head-wearing pair needs to be positioned. Thus, one of the three headsets is pre-identified as the master device (the primary head mounted display device) and the remaining two are slave devices (i.e., the secondary head mounted display devices). In specific application, three head wears receive the electromagnetic signal of the anchor point in the space, calculate the relative position with the anchor point separately, and then obtain the position after respective correction, the slave unit reports to the master unit after confirming its position after correction, the master unit calculates its position after the modification too, after receiving the position that each slave unit reported, the master unit sends own position, the position of each slave unit to the slave unit, like this, each slave unit can learn the position of other equipment in the space, has realized the position sharing.
The purpose of implementing location sharing is to avoid collision between users, so in an embodiment of the present application, the main head-mounted display device is further configured to, if it is determined that a distance between the main head-mounted display device and the auxiliary head-mounted display device is smaller than a preset threshold according to the corrected location of each of the auxiliary head-mounted display devices and the corrected location of the main head-mounted display device, output a prompt message; the auxiliary head-mounted display device is further used for outputting prompt information if the auxiliary head-mounted display device and the main head-mounted display device or the auxiliary head-mounted display device and other auxiliary head-mounted display devices are judged to be in a distance smaller than a preset threshold value according to the corrected positions of the auxiliary head-mounted display device and the head-mounted display device, and the distance between the auxiliary head-mounted display device and other auxiliary head-mounted display devices is smaller than the preset threshold value.
That is to say, when the master device or each slave device determines that the position of the master device is too close to the position of other head-mounted devices based on position sharing, prompt information is output to prompt the user that the current position of the user is too close to the position of other users and information such as avoidance is needed, so that collision among the users is prevented, and the safety of the device in use is improved.
The manner of outputting the prompt information may be vibration, voice, or displaying a virtual obstacle in combination with the current virtual scene, and this embodiment does not limit the output manner.
In summary, the head-mounted display device, the positioning method and the positioning system thereof in the embodiment of the application model the application scene through the shared anchor point, and update the spatial position in real time through the anchor point, thereby reducing the accumulated error caused by the SLAM in the single application scene and improving the user experience. Under the condition that many VR products used in same scene, security when further having improved VR equipment use has satisfied user's demand, has promoted wear display device's market competition.
It is to be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
In the description of the present invention, numerous specific details are set forth. It is understood, however, that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description. Similarly, it should be appreciated that in the foregoing description of exemplary embodiments of the invention, various features of the invention are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure and aiding in the understanding of one or more of the various inventive aspects. However, the disclosed method should not be interpreted as reflecting an intention that: that the invention as claimed requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this invention.
While the foregoing is directed to embodiments of the present invention, other modifications and variations of the present invention may be devised by those skilled in the art in light of the above teachings. It should be understood by those skilled in the art that the foregoing detailed description is for the purpose of illustrating the invention rather than the foregoing detailed description, and that the scope of the invention is defined by the claims.
Claims (6)
1. A method for positioning a head-mounted display device, comprising:
acquiring a wireless signal from an anchor point in a three-dimensional space, and obtaining the position of the head-mounted display device relative to the anchor point based on the wireless signal;
obtaining a first position of the head-mounted display device in the three-dimensional space according to the position of the head-mounted display device relative to the anchor point and the position of the anchor point in the three-dimensional space, and correcting the position of the head-mounted display device on a synchronous positioning and mapping SLAM map according to the first position to obtain a corrected position of the head-mounted display device;
wherein the acquiring a wireless signal from an anchor point in a three-dimensional space, and based on the wireless signal, obtaining the position of the head-mounted display device relative to the anchor point comprises:
receiving a first electromagnetic signal transmitted by a first electromagnetic transmitter and a second electromagnetic signal transmitted by a second electromagnetic transmitter in the three-dimensional space; wherein the anchor point is a first electromagnetic transmitter and the second electromagnetic transmitter;
obtaining a second position of the head-mounted display device relative to the first electromagnetic emitter based on the first electromagnetic signal, and obtaining a third position of the head-mounted display device relative to the second electromagnetic emitter based on the second electromagnetic signal;
according to the second position, the third position, a first weight corresponding to the first electromagnetic emitter and a second weight corresponding to the second electromagnetic emitter, fusing the second position and the third position to obtain a fourth position, and taking the fourth position as the position of the head-mounted display device relative to the anchor point;
the operating frequency of the first electromagnetic transmitter is different from the operating frequency of the second electromagnetic transmitter.
2. The method of claim 1, wherein the first electromagnetic transmitter and the second electromagnetic transmitter transmit electromagnetic signals at an operating frequency within a predetermined operating frequency range.
3. A head-mounted display device, comprising:
the relative position calculation module is used for acquiring a wireless signal from an anchor point in a three-dimensional space and obtaining the position of the head-mounted display device relative to the anchor point based on the wireless signal;
the positioning module is used for obtaining a first position of the head-mounted display device in a three-dimensional space according to the position of the head-mounted display device relative to the anchor point and the position of the anchor point in the three-dimensional space, and correcting the position of the head-mounted display device on a synchronous positioning and map building SLAM map according to the first position to obtain a corrected position of the head-mounted display device;
the relative position calculation module is specifically configured to receive a first electromagnetic signal transmitted by a first electromagnetic transmitter and a second electromagnetic signal transmitted by a second electromagnetic transmitter in the three-dimensional space, where the anchor point is the first electromagnetic transmitter and the second electromagnetic transmitter; obtaining a second position of the head-mounted display device relative to the first electromagnetic emitter based on the first electromagnetic signal, and obtaining a third position of the head-mounted display device relative to the second electromagnetic emitter based on the second electromagnetic signal; according to the second position, the third position, the first weight corresponding to the first electromagnetic emitter and the second weight corresponding to the second electromagnetic emitter, fusing the second position and the third position to obtain a fourth position, and taking the fourth position as the position of the head-mounted display device relative to the anchor point;
the operating frequency of the first electromagnetic transmitter is different from the operating frequency of the second electromagnetic transmitter.
4. The head-mounted display device of claim 3, wherein the first electromagnetic emitter and the second electromagnetic emitter emit electromagnetic signals at an operating frequency within a preset operating frequency range.
5. A head mounted display device positioning system comprising a preset number of head mounted display devices according to any of claims 3-4, wherein the preset number is a natural number greater than 2;
the head mounted display devices are located in the same space, one of the head mounted display devices is identified as a primary head mounted display device, and at least one of the head mounted display devices is identified as a secondary head mounted display device;
after each auxiliary head-mounted display device obtains the corrected position of the auxiliary head-mounted display device, uploading the corrected position of the auxiliary head-mounted display device to the main head-mounted display device;
and the main head-mounted display device receives the corrected positions of the auxiliary head-mounted display devices, and sends the corrected positions of the main head-mounted display device and the received corrected positions of the auxiliary head-mounted display devices to the auxiliary head-mounted display devices, so that position sharing is realized.
6. The head mounted display device positioning system of claim 5,
the main head-mounted display equipment is also used for outputting prompt information if the distance between the main head-mounted display equipment and the auxiliary head-mounted display equipment is judged to be smaller than a preset threshold value according to the corrected position of each auxiliary head-mounted display equipment and the corrected position of the main head-mounted display equipment;
the auxiliary head-mounted display device is further used for outputting prompt information if the auxiliary head-mounted display device and the main head-mounted display device or the auxiliary head-mounted display device and other auxiliary head-mounted display devices are judged to be in a distance smaller than a preset threshold value according to the corrected positions of the auxiliary head-mounted display device and the head-mounted display device, and the distance between the auxiliary head-mounted display device and other auxiliary head-mounted display devices is smaller than the preset threshold value.
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