CN112866672B - Augmented reality system and method for immersive cultural entertainment - Google Patents
Augmented reality system and method for immersive cultural entertainment Download PDFInfo
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- CN112866672B CN112866672B CN202011630329.8A CN202011630329A CN112866672B CN 112866672 B CN112866672 B CN 112866672B CN 202011630329 A CN202011630329 A CN 202011630329A CN 112866672 B CN112866672 B CN 112866672B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/10—Processing, recording or transmission of stereoscopic or multi-view image signals
- H04N13/194—Transmission of image signals
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
- G02B27/01—Head-up displays
- G02B27/017—Head mounted
- G02B27/0172—Head mounted characterised by optical features
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/20—Image signal generators
- H04N13/296—Synchronisation thereof; Control thereof
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/30—Image reproducers
- H04N13/332—Displays for viewing with the aid of special glasses or head-mounted displays [HMD]
Abstract
The invention discloses an augmented reality system and method for immersive cultural entertainment, wherein the augmented reality system comprises the following components: the head-mounted display device moves according to the preset motion parameters through the mobile device, and obtains infrared signals of the infrared emission devices arranged at the edges of the virtual screen in real time, so that images of the head-mounted display device combined with real scenes at different positions are displayed in real time, and the display quality of the images and the combination precision of the virtual images and the real scenes are improved.
Description
Technical Field
The invention relates to the field of augmented reality, in particular to an augmented reality system and method for immersive cultural entertainment.
Background
A large-scale high-tech immersive cultural entertainment system is a comprehensive cultural entertainment integrated system which provides three-dimensional, multi-dimensional and omnibearing physical and mental sensory experience for people by means of subsystems such as a stereo image system, a multi-channel sound system, a multi-degree-of-freedom mechanical motion and automatic control system, a software system, a scene setting system, a lighting system, a special effect system and the like and by combining rich cultural story content. The method is represented by dark rides, 4D cinemas, ball-screen flight cinemas, phantom theaters and the like in the industrial application field, and is widely applied to cultural and entertainment scenes such as theme parks, science and technology museums, exhibition museums and the like.
The high-tech immersive culture and entertainment system mainly adopts the characteristics of obvious culture attributes, strong immersion, complex system, high technological content and the like by means of special-shaped screens, stereoscopic vision, real scene atmosphere creation, seamless combination of virtual stereoscopic pictures and real scenes and high-reality motion simulation in cooperation with riding equipment to tell an interesting story and enable a user to experience a thrilling and stimulating playing process.
Taking the dark ride type as an example, spectators ride on a high-speed multi-axis dynamic trolley and walk in a series of scene-set theme scenes. A series of huge screens are arranged in the theme scene and used for playing story pictures with three-dimensional sense, scene details, three-dimensional depth, perspective relation and surrounding real scenes of the pictures are completely integrated, the motion of the dynamic trolley is completely matched with the motion of the virtual pictures, and audiences cannot distinguish the real scene from the virtual pictures.
However, to build such an immersive cultural entertainment system, a series of stereoscopic screens including special shapes are required to be built, and large hardware systems such as stereoscopic projection devices are required to be installed, so that the project cost is very high. If the augmented reality system and the large-scale high-tech immersive cultural entertainment system can be combined, and the augmented reality equipment replaces a large-scale screen and a stereoscopic projection system, the system cost can be greatly reduced, and the system scale and the system complexity can be reduced.
In recent years, small augmented reality systems widely popularized have the defects of low virtual image fidelity, obvious virtual-real combination trace, large time delay and small field of view, so that the user experience is poor, and the small augmented reality systems cannot be directly used in immersion type cultural entertainment systems.
Accordingly, the prior art is yet to be improved and developed.
Disclosure of Invention
In view of the above-mentioned shortcomings of the prior art, the present invention aims to provide an augmented reality system and method for immersive cultural entertainment, which aims to solve the problems of poor quality of virtual images and obvious false-true combination traces when the augmented reality system is used for immersive cultural entertainment.
The technical scheme of the invention is as follows:
an augmented reality system for immersive cultural entertainment, comprising:
the head-mounted display device is provided with an infrared camera device and is connected with the infrared camera device;
the virtual screen is connected with the real scene, and a plurality of infrared emission devices are arranged at the edge of the virtual screen;
the mobile device is used for enabling the head-mounted display device to move according to preset motion parameters;
the mobile device and the head-mounted display device are connected with the image workstation, and the image workstation stores a stereo image sequence corresponding to the preset motion parameters in advance.
The augmented reality system, wherein the head-mounted display device includes:
a helmet;
the processing unit is connected with the infrared camera device;
the perspective display screen is arranged on the helmet and is connected with the processing unit;
the image receiving unit is connected with the perspective display screen;
the processing unit establishes a display area on the perspective display screen according to the infrared signal, the image receiving unit receives a stereoscopic image sequence transmitted by the image workstation, and the display area is used for displaying the stereoscopic image sequence.
The augmented reality system, wherein, the perspective display screen is a perspective display screen with a curved surface of 160 degrees field of view.
The augmented reality system, wherein, infrared camera device includes two infrared cameras, two infrared cameras set up on the helmet to be located and unanimous with the visual direction of people's eye.
The augmented reality system, wherein, the virtual screen is the virtual screen of rectangle, a plurality of infrared emitter includes four infrared emitting diode, four infrared emitting diode are located respectively four apex angles of the virtual screen of rectangle.
The augmented reality system, wherein the preset motion parameters include a preset motion path, a motion speed and a motion acceleration.
The augmented reality system, wherein the stereoscopic image sequence is a continuous stereoscopic image sequence generated by rendering according to the preset motion parameters through a tracking camera in advance.
The augmented reality system, wherein, the travelling car device includes: the positioning and transmitting device is arranged on the moving trolley and connected with the image workstation; the movable trolley is used for carrying a user wearing the head-mounted display device and moving according to the preset motion parameters.
An augmented reality method for immersive cultural entertainment, wherein the augmented reality method is implemented using an augmented reality system for immersive cultural entertainment as described above, the augmented reality method comprising:
the mobile device enables the head-mounted display device to move according to the preset motion parameters;
the infrared camera device receives the infrared signal of the infrared transmitting device arranged at the edge of the virtual screen in real time;
the image workstation sends a stereoscopic image sequence to the head-mounted display device in real time according to the preset motion parameters, wherein the stereoscopic image sequence is stored in the image workstation in advance;
and the head-mounted display device displays images in real time according to the infrared signals and the stereoscopic image sequence.
The augmented reality method, wherein the preparation method of the stereoscopic image sequence comprises:
and the tracking camera moves according to the preset motion parameters, and acquires the three-dimensional image sequence according to the positions of the real scene and the virtual screen.
Has the beneficial effects that: the invention provides an augmented reality system and method for immersive cultural entertainment, wherein the augmented reality system transmits a three-dimensional image sequence which is prestored and corresponds to a preset motion parameter to a head-mounted display device in real time through an image workstation according to the preset motion parameter, and meanwhile, the head-mounted display device moves according to the preset motion parameter through the mobile device and acquires an infrared signal of an infrared emission device arranged at the edge of a virtual screen in real time, so that images of the head-mounted display device combined with a real scene at different positions are displayed in real time, and the display quality of the images and the combination precision of the virtual images and the real scene are improved.
Drawings
Fig. 1 is a first structural diagram of an augmented reality system for immersive cultural entertainment in accordance with the present invention.
Fig. 2 is a schematic diagram of a second structure of the augmented reality system for immersive cultural entertainment of the present invention.
Detailed Description
The invention provides an augmented reality system and method for immersive cultural entertainment, and the invention is further described in detail below in order to make the purpose, technical scheme and effect of the invention clearer and clearer. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The embodiment provides an augmented reality system for immersive cultural entertainment, please refer to fig. 1 and 2, including: the head-mounted display device 10 is provided with an infrared camera device 11, and the head-mounted display device 10 is connected with the infrared camera device 11; the virtual screen is connected with the real scene 21, and a plurality of infrared emission devices 22 are arranged at the edge of the virtual screen; a moving device 30 for moving the head-mounted display device 10 according to a preset motion parameter; the image workstation 40, the mobile device 30 and the head-mounted display device 10 are connected to the image workstation 40, and the image workstation 40 stores preset motion parameters of the mobile device 30 and a stereo image sequence corresponding to the preset motion parameters in advance.
Specifically, for a high-tech immersive cultural entertainment system, a real scene 21 and a large screen are usually established, and a virtual image is projected onto the large screen through a stereoscopic projection system to combine the real scene 21 and the virtual image. In this embodiment, the virtual screen refers to a virtual object established in the computing process of the augmented reality system, and only the spatial position is reserved in the real environment, and no entity screen is provided. The head-mounted display device 10 is adopted to replace a stereoscopic projection system, the head-mounted display device 10 is used for displaying virtual images in real time, a user wears the head-mounted display device 10 to move through the mobile device 30 according to preset motion parameters, while the mobile device 30 moves, an infrared camera on the head-mounted display device 10 receives infrared signals emitted by the infrared emission device 22 in real time, the head-mounted display device 10 can obtain the real-time spatial position of the infrared emission device 22 relative to the head-mounted display device 10 in real time according to the infrared signals, namely can obtain the real-time spatial position of a virtual screen relative to the head-mounted display device 10, meanwhile, the mobile device 30 sends the real-time position of the mobile device to the image workstation 40 in real time, so that the image workstation 40 can know the real-time position of the head-mounted display device 10, and forwards a stereoscopic image sequence which is stored in advance and corresponds to the preset motion parameters to the head-mounted display device 10 according to the real-time position of the head-mounted display device 10 In the head-mounted display device 10, a user can see a virtual image displayed on the head-mounted display device 10 through the head-mounted display device 10 during a movement of wearing the head-mounted display device 10, and when the virtual image is viewed through the head-mounted display device 10, the position of the virtual image is exactly at the position of a virtual screen, and the virtual screen is connected with the real scene 21, that is, a scene in which the virtual image and the real scene 21 are seamlessly combined can be seen through the head-mounted display device 10. Further, the image workstation 40 is connected to the head-mounted display device 10 through a high-speed wireless network, so that the stereoscopic image displayed by the head-mounted display device 10 can correctly correspond to the position of the stereoscopic image, and the accuracy of virtual-real combination is further improved.
The invention combines an augmented reality system and a large-scale high-tech immersive cultural entertainment system, and adopts the augmented reality system to replace a large-scale screen and a stereoscopic projection system, thereby greatly reducing the equipment cost, the system scale and the system complexity, and simultaneously improving the display quality of images and the combination precision of virtual images and real scenes 21.
In one implementation, the head mounted display device 10 includes: a helmet 12; a processing unit (not shown) connected to the infrared camera 11; the perspective display screen 13 is arranged on the helmet 12, and the perspective display screen 13 is connected with the processing unit; an image receiving unit (not shown) connected to the see-through display 13; the processing unit establishes a display area on the see-through display screen 13 according to the infrared signal, the image receiving unit receives a stereoscopic image sequence transmitted from the image workstation 40, and the display area is used for displaying the stereoscopic image sequence.
Specifically, the infrared emitting device 22 disposed on the edge of the virtual screen always emits infrared signals, the infrared camera 11 on the head-mounted display device 10 worn by the user receives the infrared signals in real time and transmits the infrared signals to the processing unit of the head-mounted display device 10, the processing unit obtains a first spatial position of the infrared emitting device 22 relative to the head-mounted display device 10 according to the real-time infrared signals, and establishes a display area on the see-through display screen 13 in real time, wherein the display area corresponds to an area of the virtual screen seen by the user through the see-through display screen 13. As the head-mounted display device 10 moves, the first spatial position changes accordingly, that is, the position of the head-mounted display device 10 at each time corresponds to the first spatial position at each time one by one, so that the stereoscopic image sequence transmitted by the image workstation 40 according to the preset motion parameters is received by the image receiving unit and corresponds to the real-time display area one by one, and the real-time display area of the see-through display 13 displays the corresponding stereoscopic image sequence, that is, displays the video, thereby combining the virtual video and the real scene 21 to make the user feel as if he is present.
In one implementation, the see-through display 13 is a see-through display having a curved surface with a 160 degree field of view.
Specifically, the viewing angles of the users are different, the display positions of the display areas on the see-through display screen 13 are different, and the transmission display screen is selected as the see-through display screen with the curved surface having the 160-degree visual field according to the maximum visual range of the human eyes, so that the display areas can be always located in the visual range of the human eyes in the whole movement process of the users.
In one implementation, the infrared camera 11 includes two infrared cameras, which are disposed on the helmet 12 and are aligned with the orientation of human eyes.
Specifically, two infrared cameras set up in the both sides of helmet 12, and are located the top of perspective display screen 13, and two infrared cameras are parallel to each other, and infrared camera's orientation is unanimous with the orientation of people's eye to interval between two infrared cameras is equivalent with the interval between two people's eyes, in order to simulate the position between two people's eyes.
Further, the infrared camera device 11 further includes a pupil detection device, the pupil detection device includes two sets of depth cameras and an image processor connected to the two sets of depth cameras, the two sets of depth cameras are respectively disposed on the helmet 12 and located above the front of the eyes and facing the pupils of the eyes obliquely downward, and the eyes are not obstructed from viewing the virtual image on the see-through display screen 13. Each group of depth cameras comprises a micro dot matrix projector and a micro infrared detection camera, the micro dot matrix projector is used for projecting first infrared light to human eyes, the micro infrared detection camera is used for receiving second infrared light reflected by the eyes, and the image processor reconstructs a 3D model of the eyes by detecting the deviation of the second infrared light relative to the first infrared light. Thereby determining a second spatial position of the two pupils relative to their corresponding depth camera. Meanwhile, the image processor is also connected with the processing unit, and the image processor is also used for transmitting the second spatial position to the processing unit, so that the processing unit can track the position of the pupil of the human eye, and a more accurate display area is established on the perspective display screen 13 according to the first spatial position and the second spatial position, thereby further improving the accuracy of virtual-real combination.
In one implementation, the virtual screen is a rectangular virtual screen, and the plurality of infrared emission devices 22 includes four infrared light emitting diodes, and the four infrared light emitting diodes are respectively located at four top corners of the rectangular virtual screen.
Specifically, the infrared emitting device 22 is disposed at the edge of the virtual screen, which reflects the position of the virtual screen in the real space, the virtual screen is tracked and positioned by the infrared signal of the infrared emitting device 22, a display area corresponding to the position of the virtual screen relative to the head-mounted display device 10 is established on the see-through display 13, four infrared emitting diodes can represent a rectangular area, which locates the length and width of the virtual screen, of course, the present embodiment is not limited to four infrared emitting diodes, and a plurality of infrared emitting diodes can be added to the virtual screen, so that the virtual screen is more accurately positioned, the virtual screen of the present embodiment is not limited to a rectangular screen, which can be a cylindrical screen, a spherical screen or a screen with other shapes, the specific shape can be determined according to the actual needs, and the positions of the infrared emitting diodes are set according to the shape of the virtual screen, it is only necessary that the arrangement of the infrared light emitting diodes can embody the shape of the virtual screen.
In one implementation, the preset motion parameters include a preset motion path 31, a motion speed and a motion acceleration.
Specifically, the preset motion parameters establish the connection between the image display of the head-mounted display device 10 and the transmission of the stereoscopic image sequence of the image workstation 40 in real time, and the preset motion parameters reflect the real-time position of the mobile device 30, and the real-time position of the mobile device 30 can be known through the set motion path 31, the set motion speed and the set motion acceleration, so that the real-time position of the head-mounted display device 10 can be known. Further, the stereoscopic image sequence is a continuous stereoscopic image sequence previously generated by rendering by the tracking camera 50 according to the preset motion parameters. The tracking camera 50 is driven according to the preset motion parameters, and the real-time position of the tracking camera 50 in the motion process is adopted to render or shoot the film and television level high-quality continuous stereoscopic image sequences according to a certain angle, and the stereoscopic image sequences are continuously displayed in the perspective display screen 13 of the head-mounted display device 10 according to the real-time position, so that the user can see images from the perspective display screen 13.
In one implementation, the mobile cart device includes: the system comprises a movable trolley and a positioning and transmitting device arranged on the movable trolley, wherein the positioning and transmitting device is connected with an image workstation 40; the moving trolley is used for carrying a user wearing the head-mounted display device 10 and moving according to the preset motion parameters.
Specifically, a positioning and transmitting device is disposed on the mobile cart, and transmits the position of the mobile cart to the image workstation 40 in real time, so that the image workstation 40 can know the real-time position of the head-mounted display device 10.
In one embodiment, the present invention further provides an augmented reality method for immersive cultural entertainment, which is implemented by the augmented reality system for immersive cultural entertainment as described above, with reference to fig. 1 and 2, and the augmented reality method includes:
s10, the mobile device 30 enables the head-mounted display device 10 to move according to the preset motion parameters;
s20, the infrared camera device 11 receives the infrared signal of the infrared emission device 22 arranged at the edge of the virtual screen in real time;
s30, the image workstation 40 sends a stereoscopic image sequence to the head-mounted display device 10 in real time according to the preset motion parameters, wherein the stereoscopic image sequence is stored in the image workstation 40 in advance;
and S40, displaying images in real time by the head-mounted display device 10 according to the infrared signals and the stereoscopic image sequence.
Particularly, the augmented reality system for immersive cultural entertainment is mainly applied to theme scenes with a series of situational settings, and the combination of virtual scenes and physical scenes is realized. Designing a situational subject scene, and determining the position of the real scene 21, the position of the virtual screen and the content of a virtual scene, wherein the content of the virtual scene is an image to be displayed by the head-mounted display device 10; meanwhile, the motion process of the head-mounted display device 10 is planned, and preset motion parameters are generated. Virtual scene content is pre-made, a tracking camera 50 is adopted to move according to preset motion parameters, a film and television high-quality continuous stereo image sequence is rendered or shot according to the positions of the real scene 21 and the virtual screen, and the shot continuous stereo image sequence is stored in the image workstation 40. A series of infrared emitting devices 22 are mounted at the edges of the virtual screen. The spectator wears the head-mounted display device 10 and moves in the theme scene on the moving trolley according to the preset motion parameters, the infrared light emitted by the infrared emission device 22 is detected by the infrared camera device 11 on the head-mounted display device 10 worn by the spectator, the head-mounted display device 10 tracks and calculates the relative positions of a series of infrared emission devices 22 and the head-mounted display device 10 in real time, and a display area is established on the perspective display screen of the head-mounted display device 10 in real time according to the relative positions. The mobile device 30 sends the real-time position of the mobile device to the image workstation 40 in real time, and the image workstation 40 transmits a three-dimensional image sequence corresponding to the real-time position to the head-mounted display device 10 in real time according to the real-time position of the mobile device 30; the head-mounted display device 10 displays the received stereoscopic image sequence in real time within the display area so that it can be displayed at the correct position on the see-through display screen 13 of the head-mounted display device 10.
In summary, the present invention provides an augmented reality system and method for immersive cultural entertainment, where the augmented reality system transmits a stereo image sequence pre-stored in a head-mounted display device in real time according to a preset motion parameter through an image workstation, and the head-mounted display device moves according to the preset motion parameter through a mobile device, and acquires an infrared signal of an infrared emitter disposed at an edge of a virtual screen in real time, so as to display images of the head-mounted display device at different positions in combination with a real scene in real time, thereby improving display quality of the images and combination accuracy of the virtual images and the real scene.
It is to be understood that the invention is not limited to the examples described above, but that modifications and variations may be effected thereto by those of ordinary skill in the art in light of the foregoing description, and that all such modifications and variations are intended to be within the scope of the invention as defined by the appended claims.
Claims (9)
1. An augmented reality system for immersive cultural entertainment, comprising:
the system comprises a head-mounted display device, wherein an infrared camera device is arranged on the head-mounted display device, the head-mounted display device is connected with the infrared camera device, the infrared camera device comprises a pupil detection device, the pupil detection device comprises two groups of depth cameras and an image processor connected with the two groups of depth cameras, the two groups of depth cameras are respectively arranged on the head-mounted display device, each group of depth cameras comprises a micro dot matrix projector and a micro infrared detection camera, the micro dot matrix projector is used for projecting first infrared light to eyes, the micro infrared detection camera is used for receiving second infrared light reflected by the eyes, and the image processor is used for reconstructing a 3D model of the eyes by detecting the deviation of the second infrared light relative to the first infrared light;
the virtual screen is connected with the real scene, a plurality of infrared emission devices are arranged at the edge of the virtual screen, and the infrared emission devices are used for emitting infrared signals;
the mobile device is used for enabling the head-mounted display device to move according to preset motion parameters;
the mobile device and the head-mounted display device are connected with the image workstation, and a stereoscopic image sequence corresponding to the preset motion parameters is stored in the image workstation in advance;
the head-mounted display device includes: a helmet; the processing unit is connected with the infrared camera device and receives an infrared signal received by the infrared camera device in real time; the perspective display screen is arranged on the helmet and is connected with the processing unit; the image receiving unit is connected with the perspective display screen;
the processing unit establishes a display area on the perspective display screen according to the infrared signal, the image receiving unit receives a stereoscopic image sequence transmitted by the image workstation, and the display area is used for displaying the stereoscopic image sequence.
2. The augmented reality system of claim 1, wherein the see-through display screen is a see-through display screen having a curved surface with a 160 degree field of view.
3. The augmented reality system of claim 2, wherein the infrared camera device comprises two infrared cameras, the two infrared cameras are disposed on the helmet, and the visual directions of the two infrared cameras are consistent with the visual directions of human eyes.
4. The augmented reality system of claim 3, wherein the virtual screen is a rectangular virtual screen, and the plurality of infrared emission devices comprise four infrared light emitting diodes, and the four infrared light emitting diodes are respectively located at four corners of the rectangular virtual screen.
5. The augmented reality system of claim 1, wherein the preset motion parameters comprise preset motion paths, motion speeds and motion accelerations.
6. Augmented reality system according to claim 1, characterised in that the sequence of stereoscopic images is a sequence of consecutive stereoscopic images previously generated by a tracking camera rendering according to the preset motion parameters.
7. The augmented reality system of claim 1, wherein the mobile device comprises: the positioning and transmitting device is arranged on the moving trolley and connected with the image workstation.
8. An augmented reality method for immersive cultural entertainment, implemented with an augmented reality system for immersive cultural entertainment as claimed in any one of claims 1 to 7, the augmented reality method comprising:
the mobile device enables the head-mounted display device to move according to preset motion parameters;
the infrared camera device receives the infrared signal of the infrared transmitting device arranged at the edge of the virtual screen in real time;
the image workstation sends a stereoscopic image sequence to the head-mounted display device in real time according to the preset motion parameters, wherein the stereoscopic image sequence is stored in the image workstation in advance;
and the head-mounted display device displays images in real time according to the infrared signals and the stereoscopic image sequence.
9. The augmented reality method of claim 8, wherein the preparation method of the stereoscopic image sequence comprises:
and the tracking camera moves according to the preset motion parameters, and acquires the three-dimensional image sequence according to the positions of the real scene and the virtual screen.
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| EP3172721B1 (en) * | 2014-07-24 | 2019-06-05 | Deutsche Telekom AG | Method and system for augmenting television watching experience |
| EP3485465A1 (en) * | 2016-09-23 | 2019-05-22 | Apple Inc. | Augmented reality display |
| CN108132490A (en) * | 2016-12-22 | 2018-06-08 | 大辅科技（北京）有限公司 | Detection system and detection method based on alignment system and AR/MR |
| US11249714B2 (en) * | 2017-09-13 | 2022-02-15 | Magical Technologies, Llc | Systems and methods of shareable virtual objects and virtual objects as message objects to facilitate communications sessions in an augmented reality environment |
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| CN110727111A (en) * | 2019-10-23 | 2020-01-24 | 深圳惠牛科技有限公司 | Head-mounted display optical system and head-mounted display equipment |
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