CN114442810A - Control method of head-mounted device, head-mounted device and storage medium - Google Patents
Control method of head-mounted device, head-mounted device and storage medium Download PDFInfo
- Publication number
- CN114442810A CN114442810A CN202210109173.1A CN202210109173A CN114442810A CN 114442810 A CN114442810 A CN 114442810A CN 202210109173 A CN202210109173 A CN 202210109173A CN 114442810 A CN114442810 A CN 114442810A
- Authority
- CN
- China
- Prior art keywords
- control unit
- camera
- head
- mounted device
- rotation
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 42
- 230000000875 corresponding effect Effects 0.000 claims description 48
- 230000009471 action Effects 0.000 claims description 45
- 238000012937 correction Methods 0.000 claims description 37
- 230000001276 controlling effect Effects 0.000 claims description 8
- 230000007246 mechanism Effects 0.000 claims description 8
- 230000002596 correlated effect Effects 0.000 claims description 4
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 230000006870 function Effects 0.000 description 12
- 230000008569 process Effects 0.000 description 12
- 238000010586 diagram Methods 0.000 description 8
- 238000013519 translation Methods 0.000 description 6
- 230000008859 change Effects 0.000 description 3
- 238000004590 computer program Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 239000011521 glass Substances 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 238000012356 Product development Methods 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000003190 augmentative effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000007499 fusion processing Methods 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 230000000877 morphologic effect Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
- G06F3/012—Head tracking input arrangements
-
- 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
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
- G06F3/013—Eye tracking input arrangements
-
- 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
- G02B27/0101—Head-up displays characterised by optical features
- G02B2027/0138—Head-up displays characterised by optical features comprising image capture systems, e.g. camera
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Human Computer Interaction (AREA)
- Optics & Photonics (AREA)
- Studio Devices (AREA)
- Accessories Of Cameras (AREA)
Abstract
The application discloses control method of head-mounted equipment is applied to a main control unit of the head-mounted equipment, the head-mounted equipment further comprises a control unit and a camera, and the control method of the head-mounted equipment comprises the following steps: identifying a current application scene and generating a control instruction corresponding to the current application scene; sending the control instruction to the control unit to enable the control unit to drive the camera to perform preset movement; wherein the preset movement comprises a translational movement and/or a rotational movement. The application also discloses a head-mounted device and a storage medium, which have the beneficial effects.
Description
Technical Field
The present disclosure relates to the field of wearable devices, and in particular, to a method for controlling a head-mounted device, and a storage medium.
Background
Head-mounted devices such as AR (Augmented Reality) glasses, VR (Virtual Reality) helmets, etc. may provide a user with a Virtual world that interacts with the real world.
Head-mounted device is equipped with the camera usually and carries out information acquisition, fixes two cameras on same bottom plate among the prior art, and the every single move angle and the rigidity of camera can't all users of adaptation.
Therefore, how to flexibly adjust the pose of the camera of the head-mounted device and improve the universality of the head-mounted device is a technical problem to be solved by technical personnel in the field at present.
Disclosure of Invention
The application aims to provide a control method of a head-mounted device, the head-mounted device and a storage medium, which can flexibly adjust the pose of a camera of the head-mounted device and improve the universality of the head-mounted device.
In order to solve the above technical problem, the present application provides a control method for a head-mounted device, which is applied to a main control unit of the head-mounted device, wherein the head-mounted device further includes a control unit and a camera, and the control method for the head-mounted device includes:
identifying a current application scene and generating a control instruction corresponding to the current application scene;
sending the control instruction to the control unit to enable the control unit to drive the camera to perform preset movement; wherein the preset movement comprises a translational movement and/or a rotational movement.
Optionally, the head-mounted device includes a left camera corresponding to a left eye of the user, and a right camera corresponding to a right eye of the user; the control unit comprises a left side control unit and a right side control unit, wherein the left side control unit is connected with the left side camera and the main control unit respectively, and the right side control unit is connected with the right side camera and the main control unit respectively.
Optionally, identifying a current application scenario, and generating a control instruction corresponding to the current application scenario includes:
judging whether a deviation correction instruction is received or not;
if so, judging that the current application scene is a camera deviation correction scene, and generating a control instruction corresponding to the camera deviation correction scene;
correspondingly, the sending of the control instruction to the control unit to enable the control unit to drive the camera to perform preset movement includes:
and respectively sending the control instruction to the left side control unit and the right side control unit so as to enable the left side control unit to drive the left side camera to move and the right side control unit to drive the right side camera to move.
Optionally, the identifying a current application scenario and generating a control instruction corresponding to the current application scenario includes:
acquiring motion data of the head-mounted device;
judging whether a rotation action with a rotation angle larger than a preset value exists according to the motion data;
if so, judging that the current application scene is a rotary motion scene, and setting the rotation angle and the rotation direction of the rotary motion as scene parameters of the rotary motion scene;
generating a rotation control instruction corresponding to scene parameters of the rotary motion scene;
correspondingly, the sending of the control instruction to the control unit to enable the control unit to drive the camera to perform preset movement includes:
sending the rotation control instruction to the control unit to enable the control unit to drive the camera to rotate; wherein the rotation direction of the camera is the same as the rotation direction of the rotation motion, and the rotation angle of the camera is positively correlated with the rotation angle of the rotation motion.
Optionally, the determining whether there is a rotation action with a rotation angle greater than a preset value according to the motion data includes:
determining a plane where the rotation action is located according to the motion data;
if the plane where the rotating action is located is a horizontal plane, judging whether the rotating angle of the rotating action is larger than a first preset value or not; if so, judging that the rotation action with the rotation angle larger than a preset value exists; if not, judging that the rotation action with the rotation angle larger than the preset value does not exist;
if the plane where the rotating action is located is a vertical plane, judging whether the rotating angle of the rotating action is larger than a second preset value or not; if so, judging that the rotation action with the rotation angle larger than a preset value exists; if not, judging that the rotation action with the rotation angle larger than the preset value does not exist.
Optionally, after sending the control instruction to the control unit, the method further includes:
and receiving actual motion data fed back by the control unit, and realizing closed-loop control on the control unit according to the actual motion data.
The application also provides a head-mounted device, which comprises a main control unit, a control unit and a camera;
the main control unit is used for identifying a current application scene and generating a control instruction corresponding to the current application scene; the control unit is further used for sending the control instruction to the control unit so that the control unit drives the camera to perform preset movement; wherein the preset movement comprises a translational movement and/or a rotational movement.
Optionally, the head-mounted device is a head-mounted device with 6Dof function.
Optionally, the control unit includes a connector and a driving motor, the main control unit is connected to the connector, the connector is connected to the driving motor, the driving motor is connected to the rotating mechanism, and the camera is installed on the rotating mechanism.
The present application also provides a storage medium having stored thereon a computer program that, when executed, implements the steps performed by the control method of the head-mounted device described above.
The application provides a control method of a head-mounted device, which is applied to a main control unit of the head-mounted device, the head-mounted device further comprises a control unit and a camera, and the control method of the head-mounted device comprises the following steps: identifying a current application scene and generating a control instruction corresponding to the current application scene; sending the control instruction to the control unit to enable the control unit to drive the camera to perform preset movement; wherein the preset movement comprises a translational movement and/or a rotational movement.
The head-mounted device comprises a control unit and a camera, generates a corresponding control instruction according to a current application scene, and sends the control instruction to the control unit. The control unit can drive the camera to perform translational motion and/or rotational motion according to the control instruction so as to change the position and/or the posture of the camera. According to the scheme, the camera can be controlled to perform the preset motion according to the current application scene, the camera pose of the head-mounted equipment can be flexibly adjusted, and the universality of the head-mounted equipment is improved. The application also provides a head-mounted device and a storage medium, which have the beneficial effects and are not described again.
Drawings
In order to more clearly illustrate the embodiments of the present application, the drawings needed for the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings can be obtained by those skilled in the art without inventive effort.
Fig. 1 is a flowchart of a control method for a head-mounted device according to an embodiment of the present disclosure;
fig. 2 is an external view of a head-mounted device according to an embodiment of the present disclosure;
fig. 3 is a schematic control relationship diagram of a head-mounted device according to an embodiment of the present disclosure;
fig. 4 is a schematic diagram illustrating a principle of adjusting a position and orientation of a camera according to an embodiment of the present application;
fig. 5 is a schematic view illustrating a 6Dof camera moving on a support according to an embodiment of the present disclosure;
fig. 6 is an interface schematic diagram of a camera control scheme of a head-mounted device according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but 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 application.
Referring to fig. 1, fig. 1 is a flowchart of a method for controlling a headset according to an embodiment of the present disclosure.
The method comprises the following specific steps:
s101: and identifying a current application scene and generating a control instruction corresponding to the current application scene.
The present embodiment may be applied to a main control Unit of a head-mounted device, such as a Central Processing Unit (CPU), a Micro Controller Unit (MCU), and the like. The head-mounted equipment can include the control unit, camera and mainboard, and the control unit is installed in the mainboard, and the camera is installed in the control unit, and the control unit can drive the camera motion. The number of the cameras in the head-mounted equipment can be 1 or more, and 1 control unit can drive 1 or more cameras to move.
The present embodiment may identify the current application scenario according to information acquired by a sensor or a received user instruction, where the sensor may include an acceleration sensor and/or a gyroscope, and the user instruction may include a deviation correction instruction, a view field adjustment instruction, and the like. Specifically, the main control unit may detect a movement direction of the head-mounted device according to information acquired by the sensor, and further take a scene (such as a pan or a head-up) corresponding to the movement direction as a current application scene; the main control unit may use a scene (e.g., a camera deviation correction scene or a view field adjustment scene) corresponding to the user instruction as a current application scene.
The embodiment can preset the mapping relation of the application scene to the control instruction, and generate the corresponding control instruction according to the identified current application scene; for example, if the current application scene is a rotational motion scene, a control instruction for driving the camera to rotate may be generated; if the current application scene is a camera deviation correction scene or a visual field adjustment scene, a control instruction for driving the camera to perform translational motion and/or rotational motion can be generated.
S102: and sending the control instruction to the control unit so that the control unit drives the camera to perform preset movement.
The main control unit and the control unit can be both arranged on the mainboard, the main control unit sends a control instruction to the control unit, the control instruction can comprise control parameters, the control unit can drive the camera to perform preset movement according to the control instruction, and the preset movement comprises translational movement and/or rotational movement.
Further, after the control instruction is sent to the control unit, actual motion data fed back by the control unit can be received, and closed-loop control is implemented on the control unit according to the actual motion data, so that control accuracy is improved.
The head-mounted device provided by the embodiment comprises a control unit and a camera, generates a corresponding control instruction according to a current application scene, and sends the control instruction to the control unit. The control unit can drive the camera to perform translational motion and/or rotational motion according to the control instruction so as to change the position and/or the posture of the camera. According to the scheme, the camera can be controlled to perform the preset motion according to the current application scene, the camera pose of the head-mounted equipment can be flexibly adjusted, and the universality of the head-mounted equipment is improved.
As a further introduction to the embodiment corresponding to fig. 1, for a scene where there are 2 cameras, the head-mounted device includes a left camera corresponding to the left eye of the user, and a right camera corresponding to the right eye of the user; correspondingly, can set up a corresponding control unit for each camera, above-mentioned control unit include respectively with the left side camera with the left side control unit that the main control unit is connected, and respectively with the right side camera with the right side control unit that the main control unit is connected, left side control unit are used for driving left side camera motion, and right side control unit is used for driving right side camera motion.
After the head-mounted device is used for a long time, a large accumulated deviation exists between the left camera and the right camera, in this embodiment, a timer can be used for recording the time of last deviation correction, and when the time difference between the time of last deviation correction and the current time is greater than the preset time difference, the timer can send a deviation correction instruction to the main control unit. As another possible embodiment, the offset correction instruction may also be an instruction sent by the user to the head-mounted device.
Specifically, the embodiment corresponding to fig. 1 may implement the offset correction in the following manner: judging whether a received deviation correction instruction is received; if so, judging that the current application scene is a camera deviation correction scene, and generating a control instruction corresponding to the camera deviation correction scene; and respectively sending the control instruction to the left side control unit and the right side control unit so as to enable the left side control unit to drive the left side camera to move and the right side control unit to drive the right side camera to move.
The deviation correction instruction can be a position deviation correction instruction, an angle deviation correction instruction or a pose deviation correction instruction, and the following deviation correction scenes can exist correspondingly:
step A1: judging whether a received position deviation correction instruction is received; if yes, go to step A2; if not, the flow is ended.
Step A2: and judging that the current application scene is a camera position deviation correction scene, and generating a translation control instruction corresponding to the camera position deviation correction scene.
Step A3: and respectively sending the translation control instruction to the left side control unit and the right side control unit so as to drive the left side control unit to drive the left side camera to perform translational motion and drive the right side camera to perform translational motion.
In scenario 2, the embodiment corresponding to fig. 1 may implement the angle deviation correction in the following manner:
step B1: judging whether a received angle deviation correction instruction is received; if yes, go to step B2; if not, the flow is ended.
Step B2: and judging that the current application scene is a camera angle deviation correction scene, and generating a rotation control instruction corresponding to the camera angle deviation correction scene.
Step B3: and respectively sending the rotation control instruction to the left side control unit and the right side control unit so as to enable the left side control unit to drive the left side camera to rotate and enable the right side control unit to drive the right side camera to rotate.
In scenario 3, the embodiment corresponding to fig. 1 may implement pose deviation correction in the following ways:
step C1: judging whether a pose deviation correction instruction is received or not; if yes, go to step C2; if not, the flow is ended.
Step C2: and judging that the current application scene is a camera position and attitude deviation correction scene, and generating a translation and rotation control instruction corresponding to the camera position and attitude deviation correction scene.
Step C3: and respectively sending translation and rotation control instructions to the left side control unit and the right side control unit so as to enable the left side control unit to drive the left side camera to make translation and rotation movement, and enable the right side control unit to drive the right side camera to make translation and rotation movement.
Through the mode, the deviation existing in the left side camera and the right side camera can be corrected, and the user experience of the head-mounted equipment is improved.
As a further description of the embodiment corresponding to fig. 1, since there is an individualized difference between the elevation of the wearer of the head-mounted device and the swing amplitude of the head, there may be a case that the user cannot observe the desired region after moving, and this embodiment may adaptively adjust the rotation angle of the camera according to the moving condition of the user, and expand the observation range of the user, and the specific process is as follows:
step D1: motion data of the head-mounted device is acquired.
Step D2: judging whether a rotation action with a rotation angle larger than a preset value exists according to the motion data; if yes, entering D3; if not, the flow is ended.
Step D3: and judging that the current application scene is a rotary motion scene, and setting the rotation angle and the rotation direction of the rotary motion as scene parameters of the rotary motion scene.
Step D4: and generating a rotation control instruction corresponding to the scene parameter of the rotary motion scene.
Step D5: and sending the rotation control instruction to the control unit so that the control unit drives the camera to rotate.
Wherein the rotation direction of the camera is the same as the rotation direction of the rotation motion, and the rotation angle of the camera is positively correlated with the rotation angle of the rotation motion.
Further, the present embodiment may determine whether there is a rotation motion with a rotation angle greater than a preset value by: determining a plane where the rotation action is located according to the motion data; if the plane where the rotating action is located is a horizontal plane, judging whether the rotating angle of the rotating action is larger than a first preset value or not; if so, judging that the rotation action with the rotation angle larger than a preset value exists; if not, judging that the rotation action with the rotation angle larger than the preset value does not exist; if the plane where the rotating action is located is a vertical plane, judging whether the rotating angle of the rotating action is larger than a second preset value or not; if so, judging that the rotation action with the rotation angle larger than a preset value exists; if not, judging that the rotation action with the rotation angle larger than the preset value does not exist.
In order to achieve a good combination of a real environment and a virtual world, there is a head-mounted device having a 6Dof (degree of freedom tracking) function in the related art. The 6Dof function provides unprecedented interactive experience and control over the virtual world for a user, and the 6Dof function is the basis for establishing the connection between the virtual world and the real world and is also the premise for realizing subversive experience by the AR. However, taking a binocular camera as an example, the main limiting factors of the head-mounted device with 6Dof function are as follows: (1) need guarantee that two camera relatively fixed reduce mutual removal each other, consequently two camera position after confirming, need fix on same bottom plate, after long-time accumulative error appears, unable adjustment distance. (2) The pitching angles of the two cameras are fixed, and the height of all people cannot be adapted to the height of the user, so that the universality and the experience performance of the product are reduced. Therefore, when the positions and the placing angles of the two cameras are also fixed, the FOV (Field of view) values corresponding to the product are also fixed. The direct effect of the fixed camera position and angle is that the horizontal detection distance and the vertical detection distance of the head-mounted device are fixed, for example, when the head-mounted device tilts downward by 12 °, a floor 1.5 meters away can be seen, and only data beyond 1.5 meters can be detected, but for a scene using a manual tracking function, it is required to ensure that the head-mounted device tilts downward by 22 °, the floor 1 meter away is also clearly visible, and hands and elbows can only appear in the picture. Therefore, the problems of limited morphological design, limited structure development and design, reduced user experience performance, reduced adaptive user range and the like occur due to the fact that the position and the angle of the camera of the conventional head-mounted device are fixed. Aiming at the defects existing in the existing head-mounted equipment, the embodiment of the application provides the novel head-mounted equipment with the 6Dof function, and provides a scheme for adjusting the relative position of the camera and a scheme for realizing the adjustable pitching angle of the camera.
Referring to fig. 2 and fig. 3, fig. 2 is an external view schematic diagram of a head-mounted device according to an embodiment of the present disclosure, and fig. 3 is a control relationship schematic diagram of the head-mounted device according to the embodiment of the present disclosure. The head-mounted device shown in fig. 2 and 3 is a head-mounted device with a 6Dof function, in this embodiment, a camera participating in the 6Dof function on the head-mounted device is referred to as a 6Dof camera, a left 6Dof camera 1 and a right 6Dof camera 2 are arranged on the head-mounted device of this embodiment, and both the left 6Dof camera and the right 6Dof camera are fixed on the front frame support 3. The main control unit issues control information to the left 6Dof camera and the right 6Dof camera, and the left 6Dof camera and the right 6Dof camera can transmit captured image information to the main control unit, so that the interaction process of the AR glasses is achieved.
Referring to fig. 4, fig. 4 is a schematic diagram illustrating a principle of adjusting a position and orientation of a camera according to an embodiment of the present application, where a control unit 4 and a control unit 5 are added to a head-mounted device according to the present embodiment. The control unit 4 mainly includes a drive motor and a connector, and the control unit 5 mainly includes a drive motor and a connector. The main control unit can send a control command to the driving motor through the connector; the driving motor realizes the position and angle adjustment of the left 6Dof camera (namely the left camera in the above) and the right 6Dof camera (namely the right camera in the above) in a horizontal movement and vertical rotation mode. For example, when a gesture recognition function is required, the main control unit firstly sends control signals to the left 6Dof camera and the right 6Dof camera, the two cameras upload photographed data to the main control unit, and when the main control unit analyzes an actual photographing result and compares the actual photographing result with an algorithm requirement to find that currently acquired data does not meet the requirement, the main control unit calculates a distance D required to move between the cameras and an angle theta required to pitch the two cameras, and then sends an adjustment control instruction to the control unit.
The process of controlling the 6Dof camera to move by the control unit is as follows:
after the main control unit issues an instruction to the control unit 4 and the control unit 5, the control unit 4 and the control unit 5 drive the rotating mechanism to move. Please refer to fig. 5, fig. 5 is a schematic diagram illustrating a 6Dof camera provided in an embodiment of the present application moving on a support.
When the horizontal distance between the two cameras needs to be adjusted, the left 6Dof camera 1 and the right 6Dof camera 2 move along the front frame support 3 in fig. 5, the horizontal moving direction of the left 6Dof camera 1 is A, and the horizontal moving direction of the right 6Dof camera is B. Through the mode, the problem that the FOV is also limited to be a fixed value due to the fact that the distance between the two cameras is fixed in the whole machine can be solved, and for different application scenes, when different FOV angles are required, the problem can be solved through the scheme.
After the horizontal distance is adjusted in place and a rotation (or pitching) requirement is needed, after the main control unit issues an instruction to the control unit 4 and the control unit 5, the control unit drives the rotation mechanism to rotate, the left 6Dof camera and the right 6Dof camera rotate (or pitch) along the front frame support 3, the rotation (or pitching) direction of the left 6Dof camera is C in fig. 5, and the rotation (or pitching) direction of the right 6Dof camera is D in fig. 5. For example, for gesture recognition application, the problem that the camera in the whole machine cannot shoot hands and arms due to the fact that the overlooking angle is too small is solved, and the upward angle can also be solved through the adjusting mode.
Referring to fig. 6, fig. 6 is an interface schematic diagram of a camera control scheme of a head-mounted device according to an embodiment of the present application, where each component of the head-mounted device has the following functions:
the left 6Dof camera 1 receives a control instruction of the main control unit 6 to take a picture, and transmits data to the main control unit 6, and the left 6Dof camera can realize horizontal movement and rotation (or pitching) movement under the driving of the control unit 4. The right 6Dof camera 2 receives a control instruction of the main control unit 6 to take a picture, and transmits data to the main control unit 6, and the right 6Dof camera can realize horizontal movement and rotation (or pitching) movement under the driving of the control unit 5. The movement of the left 6Dof camera 1 and the right 6Dof camera 2 is both a moving and rotating operation of the front shell bracket 3.
The control unit 4 corresponding to the left 6Dof camera receives the control instruction of the main control unit 6 to drive the left 6Dof camera to move, and can feed back the adjustment data to the main control unit 6 to realize closed-loop control, and the control unit 4 can be a drive motor or other drive devices. The control unit 5 corresponding to the right 6Dof camera receives the control instruction of the main control unit 6 to drive the 6Dof camera to move, and can feed back the adjustment data to the main control unit 6 to realize closed-loop control, and the control unit 5 can be a drive motor or other drive devices.
The rotation (or pitching) direction of the left 6Dof camera is C, and the rotation angle is limited by the control unit of the left 6Dof camera; the horizontal moving direction of the left 6Dof camera is A, and the moving distance of the left 6Dof camera is limited by a control unit of the left 6Dof camera; the rotation (or pitching) direction of the right 6Dof camera is D, and the rotation angle is limited by the control unit of the right 6Dof camera; the horizontal moving direction of the right 6Dof camera is B, and the moving distance of the right 6Dof camera is limited by the control unit of the right 6Dof camera.
The main control unit 6 is responsible for issuing control instructions to the control unit 4, the control unit 5, the left 6Dof camera 1 and the right 6Dof camera 2, horizontal data and rotation (or pitching) direction adjustment of the left 6Dof camera and the right 6Dof camera is also completed by the main control unit, and the main control unit can undertake 6Dof data fusion processing and algorithm processing work to realize interaction between the head-mounted equipment and a person.
Above-mentioned scheme is adjusted through a two cameras to head-mounted device's scheme, can provide the scheme support for the engineer in the product development process, also can provide good user and wear the experience.
The head-mounted device provided by the embodiment of the application comprises a main control unit, a control unit and a camera; the main control unit is used for identifying a current application scene and generating a control instruction corresponding to the current application scene; the control unit is further used for sending the control instruction to the control unit so that the control unit drives the camera to perform preset movement; wherein the preset movement comprises a translational movement and/or a rotational movement.
The head-mounted device provided by the embodiment comprises a control unit and a camera, generates a corresponding control instruction according to a current application scene, and sends the control instruction to the control unit. The control unit can drive the camera to perform translational motion and/or rotational motion according to the control instruction so as to change the position and/or the posture of the camera. According to the scheme, the camera can be controlled to perform the preset motion according to the current application scene, the camera pose of the head-mounted equipment can be flexibly adjusted, and the universality of the head-mounted equipment is improved.
Optionally, the head-mounted device is a head-mounted device with 6Dof function.
Optionally, the control unit includes a connector and a driving motor, the main control unit is connected to the connector, the connector is connected to the driving motor, the driving motor is connected to the rotating mechanism, and the camera is installed on the rotating mechanism.
Further, the head-mounted device comprises a left camera corresponding to the left eye of the user and a right camera corresponding to the right eye of the user; the control unit comprises a left side control unit and a right side control unit, wherein the left side control unit is connected with the left side camera and the main control unit respectively, and the right side control unit is connected with the right side camera and the main control unit respectively.
Further, the process of the main control unit identifying the current application scenario and generating the control instruction corresponding to the current application scenario includes: judging whether a deviation correction instruction is received or not; if so, judging that the current application scene is a camera deviation correction scene, and generating a control instruction corresponding to the camera deviation correction scene;
correspondingly, the main control unit sends the control instruction to the control unit, so that the process of driving the camera to perform the preset motion by the control unit comprises the following steps: and respectively sending the control instruction to the left side control unit and the right side control unit so as to enable the left side control unit to drive the left side camera to move and the right side control unit to drive the right side camera to move.
Further, the process of the main control unit identifying the current application scenario and generating the control instruction corresponding to the current application scenario includes: acquiring motion data of the head-mounted device; judging whether a rotation action with a rotation angle larger than a preset value exists according to the motion data; if so, judging that the current application scene is a rotary motion scene, and setting the rotation angle and the rotation direction of the rotary motion as scene parameters of the rotary motion scene; generating a rotation control instruction corresponding to scene parameters of the rotary motion scene;
correspondingly, the process that the main control unit sends the control instruction to the control unit so that the control unit drives the camera to perform the preset movement comprises the following steps: sending the rotation control instruction to the control unit to enable the control unit to drive the camera to rotate; wherein the rotation direction of the camera is the same as the rotation direction of the rotation motion, and the rotation angle of the camera is positively correlated with the rotation angle of the rotation motion.
Further, the process that the main control unit judges whether the rotation action with the rotation angle larger than the preset value exists according to the motion data comprises the following steps: determining a plane where the rotation action is located according to the motion data; if the plane where the rotating action is located is a horizontal plane, judging whether the rotating angle of the rotating action is larger than a first preset value or not; if so, judging that the rotation action with the rotation angle larger than a preset value exists; if not, judging that the rotation action with the rotation angle larger than the preset value does not exist; if the plane where the rotating action is located is a vertical plane, judging whether the rotating angle of the rotating action is larger than a second preset value or not; if so, judging that the rotation action with the rotation angle larger than a preset value exists; if not, judging that the rotation action with the rotation angle larger than the preset value does not exist.
Further, after the main control unit sends the control instruction to the control unit, the operations executed by the main control unit further include: and receiving actual motion data fed back by the control unit, and realizing closed-loop control on the control unit according to the actual motion data.
Since the embodiments of the head-mounted device portion and the embodiments of the method portion correspond to each other, please refer to the description of the embodiments of the method portion for the embodiments of the head-mounted device portion, which is not repeated here.
The present application also provides a storage medium having a computer program stored thereon, which when executed, may implement the steps provided by the above-described embodiments. The storage medium may include: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
The embodiments are described in a progressive manner in the specification, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description. It should be noted that, for those skilled in the art, it is possible to make several improvements and modifications to the present application without departing from the principle of the present application, and such improvements and modifications also fall within the scope of the claims of the present application.
It is further noted that, in the present specification, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, 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.
Claims (10)
1. A control method of a head-mounted device is applied to a main control unit of the head-mounted device, the head-mounted device further comprises a control unit and a camera, and the control method of the head-mounted device comprises the following steps:
identifying a current application scene and generating a control instruction corresponding to the current application scene;
sending the control instruction to the control unit to enable the control unit to drive the camera to perform preset movement; wherein the preset movement comprises a translational movement and/or a rotational movement.
2. The control method for the head-mounted device according to claim 1, wherein the head-mounted device includes a left camera corresponding to a left eye of the user and a right camera corresponding to a right eye of the user; the control unit comprises a left side control unit and a right side control unit, wherein the left side control unit is connected with the left side camera and the main control unit respectively, and the right side control unit is connected with the right side camera and the main control unit respectively.
3. The method for controlling the head-mounted device according to claim 2, wherein the identifying a current application scenario and generating a control instruction corresponding to the current application scenario comprises:
judging whether a deviation correction instruction is received or not;
if so, judging that the current application scene is a camera deviation correction scene, and generating a control instruction corresponding to the camera deviation correction scene;
correspondingly, the sending of the control instruction to the control unit to enable the control unit to drive the camera to perform preset movement includes:
and respectively sending the control instruction to the left side control unit and the right side control unit so as to enable the left side control unit to drive the left side camera to move and the right side control unit to drive the right side camera to move.
4. The method for controlling the head-mounted device according to claim 1, wherein the identifying a current application scenario and generating a control instruction corresponding to the current application scenario includes:
acquiring motion data of the head-mounted device;
judging whether a rotation action with a rotation angle larger than a preset value exists according to the motion data;
if so, judging that the current application scene is a rotary motion scene, and setting the rotation angle and the rotation direction of the rotary motion as scene parameters of the rotary motion scene;
generating a rotation control instruction corresponding to scene parameters of the rotary motion scene;
correspondingly, the sending of the control instruction to the control unit to enable the control unit to drive the camera to perform preset movement includes:
sending the rotation control instruction to the control unit to enable the control unit to drive the camera to rotate; wherein the rotation direction of the camera is the same as the rotation direction of the rotation motion, and the rotation angle of the camera is positively correlated with the rotation angle of the rotation motion.
5. The method for controlling the head-mounted device according to claim 4, wherein determining whether there is a rotation motion with a rotation angle greater than a preset value according to the motion data comprises:
determining a plane where the rotation action is located according to the motion data;
if the plane where the rotating action is located is a horizontal plane, judging whether the rotating angle of the rotating action is larger than a first preset value or not; if so, judging that the rotation action with the rotation angle larger than a preset value exists; if not, judging that the rotation action with the rotation angle larger than the preset value does not exist;
if the plane where the rotating action is located is a vertical plane, judging whether the rotating angle of the rotating action is larger than a second preset value or not; if so, judging that the rotation action with the rotation angle larger than a preset value exists; if not, judging that the rotation action with the rotation angle larger than the preset value does not exist.
6. The method for controlling a head-mounted device according to claim 1, further comprising, after sending the control instruction to the control unit:
and receiving actual motion data fed back by the control unit, and realizing closed-loop control on the control unit according to the actual motion data.
7. A head-mounted device is characterized by comprising a main control unit, a control unit and a camera;
the main control unit is used for identifying a current application scene and generating a control instruction corresponding to the current application scene; the control unit is further used for sending the control instruction to the control unit so that the control unit drives the camera to perform preset movement; wherein the preset movement comprises a translational movement and/or a rotational movement.
8. The headset of claim 7, wherein the headset is a 6Dof capable headset.
9. The head-mounted apparatus according to claim 7, wherein the control unit comprises a connector and a driving motor, the main control unit is connected to the connector, the connector is connected to the driving motor, the driving motor is connected to a rotating mechanism, and the camera is mounted on the rotating mechanism.
10. A storage medium having stored thereon computer-executable instructions which, when loaded and executed by a processor, carry out the steps of a method of controlling a head-mounted device according to any one of claims 1 to 6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210109173.1A CN114442810B (en) | 2022-01-28 | 2022-01-28 | Control method of head-mounted equipment, head-mounted equipment and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210109173.1A CN114442810B (en) | 2022-01-28 | 2022-01-28 | Control method of head-mounted equipment, head-mounted equipment and storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114442810A true CN114442810A (en) | 2022-05-06 |
| CN114442810B CN114442810B (en) | 2024-09-06 |
Family
ID=81372452
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210109173.1A Active CN114442810B (en) | 2022-01-28 | 2022-01-28 | Control method of head-mounted equipment, head-mounted equipment and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114442810B (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20160032817A (en) * | 2014-09-17 | 2016-03-25 | (주)에프엑스기어 | Head-mounted display controlled by tapping, method for controlling the same and computer program for controlling the same |
| CN106873778A (en) * | 2017-01-23 | 2017-06-20 | 深圳超多维科技有限公司 | A kind of progress control method of application, device and virtual reality device |
| JP6275809B1 (en) * | 2016-12-09 | 2018-02-07 | 株式会社コロプラ | Display control method and program for causing a computer to execute the display control method |
| CN111147743A (en) * | 2019-12-30 | 2020-05-12 | 维沃移动通信有限公司 | Camera control method and electronic equipment |
| CN111175972A (en) * | 2019-12-31 | 2020-05-19 | Oppo广东移动通信有限公司 | Head-mounted display, scene display method thereof and storage medium |
| CN111367405A (en) * | 2020-02-17 | 2020-07-03 | 深圳岱仕科技有限公司 | Method and device for adjusting head-mounted display equipment, computer equipment and storage medium |
| CN113325586A (en) * | 2021-05-28 | 2021-08-31 | 维沃移动通信有限公司 | Head-mounted device, display control method and display control device |
| CN113589532A (en) * | 2021-07-30 | 2021-11-02 | 歌尔光学科技有限公司 | Display calibration method and device of head-mounted equipment, head-mounted equipment and storage medium |
-
2022
- 2022-01-28 CN CN202210109173.1A patent/CN114442810B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20160032817A (en) * | 2014-09-17 | 2016-03-25 | (주)에프엑스기어 | Head-mounted display controlled by tapping, method for controlling the same and computer program for controlling the same |
| JP6275809B1 (en) * | 2016-12-09 | 2018-02-07 | 株式会社コロプラ | Display control method and program for causing a computer to execute the display control method |
| CN106873778A (en) * | 2017-01-23 | 2017-06-20 | 深圳超多维科技有限公司 | A kind of progress control method of application, device and virtual reality device |
| CN111147743A (en) * | 2019-12-30 | 2020-05-12 | 维沃移动通信有限公司 | Camera control method and electronic equipment |
| CN111175972A (en) * | 2019-12-31 | 2020-05-19 | Oppo广东移动通信有限公司 | Head-mounted display, scene display method thereof and storage medium |
| CN111367405A (en) * | 2020-02-17 | 2020-07-03 | 深圳岱仕科技有限公司 | Method and device for adjusting head-mounted display equipment, computer equipment and storage medium |
| CN113325586A (en) * | 2021-05-28 | 2021-08-31 | 维沃移动通信有限公司 | Head-mounted device, display control method and display control device |
| CN113589532A (en) * | 2021-07-30 | 2021-11-02 | 歌尔光学科技有限公司 | Display calibration method and device of head-mounted equipment, head-mounted equipment and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114442810B (en) | 2024-09-06 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US9412169B2 (en) | Real-time visual feedback for user positioning with respect to a camera and a display | |
| WO2019233210A1 (en) | Smart glasses, eyeball trajectory tracking method and apparatus, and storage medium | |
| US5801760A (en) | Stereoscopic image pickup and display apparatus | |
| TWI683136B (en) | Video see-through head mounted display and control method thereof | |
| KR101932568B1 (en) | Measurement process of morpho-geometerical parameters of a person wearing eyeglasses | |
| CN108881724B (en) | Image acquisition method, device, equipment and storage medium | |
| WO2019037578A1 (en) | Vr pupillary distance adjusting method and device | |
| US20080130950A1 (en) | Eye gaze tracker system and method | |
| KR20190015573A (en) | Image acquisition system, apparatus and method for auto focus adjustment based on eye tracking | |
| US20180160048A1 (en) | Imaging system and method of producing images for display apparatus | |
| US10948994B2 (en) | Gesture control method for wearable system and wearable system | |
| JP2018009836A (en) | Program, head-mounted-type display device, and calibration method | |
| US11143876B2 (en) | Optical axis control based on gaze detection within a head-mountable display | |
| US10866492B2 (en) | Method and system for controlling tracking photographing of stabilizer | |
| CN102033549A (en) | Viewing angle adjusting device of display device | |
| CN109977828B (en) | Method and device for automatically adjusting pitching of camera holder | |
| JPWO2020071029A1 (en) | Information processing equipment, information processing method, and recording medium | |
| WO2018146922A1 (en) | Information processing device, information processing method, and program | |
| EP3966670A1 (en) | Display apparatus and method of correcting image distortion therefor | |
| CN109104562A (en) | Information processing equipment, information processing method and recording medium | |
| US20210005167A1 (en) | Information processing apparatus, information processing method, and program | |
| CN114442810A (en) | Control method of head-mounted device, head-mounted device and storage medium | |
| JP2008233081A (en) | Method of recognizing and tracking spatial point | |
| CN110741308A (en) | Eyepiece adjusting method for head-mounted display device, and computer-readable storage medium | |
| WO2019176035A1 (en) | Image generation device, image generation system, and image generation method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |