CN114647305A - Obstacle prompting method in AR navigation, head-mounted display device and readable medium - Google Patents
Obstacle prompting method in AR navigation, head-mounted display device and readable medium Download PDFInfo
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K17/00—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T19/00—Manipulating 3D models or images for computer graphics
- G06T19/006—Mixed reality
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F2203/00—Indexing scheme relating to G06F3/00 - G06F3/048
- G06F2203/01—Indexing scheme relating to G06F3/01
- G06F2203/012—Walk-in-place systems for allowing a user to walk in a virtual environment while constraining him to a given position in the physical environment
Abstract
Embodiments of the present disclosure disclose an obstacle prompting method in AR navigation, a head-mounted display device, and a readable medium. One embodiment of the method comprises: confirming an obstacle prompting area according to the visual field range of the head-mounted display equipment; detecting whether an obstacle exists in the obstacle prompting area; and prompting each detected obstacle in response to determining that the obstacle exists in the obstacle prompting area. This embodiment carries out the barrier suggestion to the user who wears head mounted display device for the user in time learns barrier information and avoids the barrier.
Description
Technical Field
The embodiment of the disclosure relates to the technical field of computers, in particular to an obstacle prompting method in AR navigation, a head-mounted display device and a readable medium.
Background
With the application of AR guide in museums and exhibition halls, when a user wears the head-mounted display device, the head-mounted display device often displays superimposed information such as images and characters. However, the displayed image, text and other superimposed information can block the sight of the user; meanwhile, when displaying superimposed information such as images and characters, the light transmittance of the head-mounted display device is low. In the current AR navigation scheme, enhancement information (AR information) is generally displayed based on a fixed point, so that a safety problem in AR navigation performed by a user wearing a head-mounted display device generally does not need to be considered. However, with the development of AR navigation technology, the generation of a new AR navigation mode may cause a user to neglect some obstacles during moving when the user wears a head-mounted display device to watch related content, which may result in that the user may not find and avoid the obstacles in time and be injured.
Disclosure of Invention
This summary is provided to introduce a selection of concepts in a simplified form that are further described below in the detailed description. This summary is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used to limit the scope of the claimed subject matter.
Some embodiments of the present disclosure propose an obstacle presenting method, a head-mounted display device, and a computer readable medium to solve the technical problems mentioned in the above background section.
In a first aspect, some embodiments of the present disclosure provide an obstacle prompting method applied to a head-mounted display device, the method including: confirming an obstacle prompting area according to the visual field range of the head-mounted display equipment; detecting whether an obstacle exists in the obstacle prompting area; and in response to determining that the obstacles exist in the obstacle prompt area, prompting each detected obstacle.
In a second aspect, some embodiments of the present disclosure provide a head-mounted display device, comprising: one or more processors; a storage device having one or more programs stored thereon; when the one or more programs are executed by the one or more processors, the one or more processors are caused to implement the method described in any of the implementations of the first aspect above.
In a third aspect, some embodiments of the present disclosure provide a computer readable medium on which a computer program is stored, wherein the program, when executed by a processor, implements the method described in any of the implementations of the first aspect.
The above embodiments of the present disclosure have the following advantages: through the obstacle prompting method of some embodiments of the disclosure, when a user wears the head-mounted display device to watch related contents, obstacle prompting can be performed on the user, so that the user is prevented from being injured due to falling and collision to a certain extent. Specifically, the reason why it is difficult for the user to find and avoid the obstacle in time and be injured when wearing the head-mounted display device is that: the view of the user can be shielded by the image, the text and other superimposed information displayed in the head-mounted display equipment; and the light transmittance of the head-mounted display equipment is low when the head-mounted display equipment displays superimposed information such as images and characters. Based on this, the obstacle presenting method of some embodiments of the present disclosure first confirms an obstacle presenting area according to the visual field range of the head-mounted display device; then, detecting whether an obstacle exists in the obstacle prompting area; and finally, responding to the fact that the obstacles exist in the obstacle prompt area, and prompting each detected obstacle. Therefore, when the user wears the head-mounted display device, the obstacle prompt area is determined according to the visual field range of the head-mounted display device, whether obstacles exist in the obstacle prompt area is detected, and then the obstacles are prompted. Therefore, the user can timely know the barrier information and avoid the barrier, and the safety of the user wearing the head-mounted display equipment is ensured to a certain extent.
Drawings
The above and other features, advantages and aspects of various embodiments of the present disclosure will become more apparent by referring to the following detailed description when taken in conjunction with the accompanying drawings. Throughout the drawings, the same or similar reference numbers refer to the same or similar elements. It should be understood that the drawings are schematic and that elements and elements are not necessarily drawn to scale.
Fig. 1 is a schematic diagram of one application scenario of the obstacle alerting method of some embodiments of the present disclosure;
fig. 2 is a flow diagram of some embodiments of an obstacle alerting method according to the present disclosure;
FIG. 3 is a flow diagram of further embodiments of an obstacle alerting method according to the present disclosure;
FIG. 4 is a schematic illustration of presenting an obstacle in further embodiments of the obstacle presenting method according to the present disclosure;
FIG. 5 is a schematic structural diagram of a head mounted display device suitable for use to implement some embodiments of the present disclosure.
Detailed Description
Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While certain embodiments of the present disclosure are shown in the drawings, it is to be understood that the disclosure may be embodied in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided for a more thorough and complete understanding of the present disclosure. It should be understood that the drawings and embodiments of the disclosure are for illustration purposes only and are not intended to limit the scope of the disclosure.
It should be noted that, for convenience of description, only the portions related to the related invention are shown in the drawings. The embodiments and features of the embodiments in the present disclosure may be combined with each other without conflict.
It should be noted that the terms "first", "second", and the like in the present disclosure are only used for distinguishing different devices, modules or units, and are not used for limiting the order or interdependence relationship of the functions performed by the devices, modules or units.
It is noted that references to "a", "an", and "the" modifications in this disclosure are intended to be illustrative rather than limiting, and that those skilled in the art will recognize that "one or more" may be used unless the context clearly dictates otherwise.
The names of messages or information exchanged between devices in the embodiments of the present disclosure are for illustrative purposes only, and are not intended to limit the scope of the messages or information.
The present disclosure will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
Fig. 1 is a schematic diagram of an application scenario of an obstacle alert method according to some embodiments of the present disclosure.
In the application scenario of fig. 1, first, the computing device 101 may confirm the obstacle alert area 103 according to the field of view of the head mounted display device 102 described above. The computing device 101 may then detect whether an obstacle is present within the obstacle alert area 103 described above. Finally, the computing device 101 may prompt each detected obstacle 104 in response to determining that an obstacle is present within the obstacle prompt area 103 described above.
The computing device 101 may be hardware or software. When the computing device is hardware, it may be implemented as a distributed cluster consisting of a plurality of servers or terminal devices, or may be implemented as a single server or a single terminal device, for example, a head-mounted display device. When the computing device is embodied as software, it may be installed in the hardware devices enumerated above. It may be implemented, for example, as multiple software or software modules to provide distributed services, or as a single software or software module. And is not particularly limited herein. The head mounted display device 102 may be AR glasses, AR headbands, AR helmets, MR glasses, MR headbands, MR helmet augmented display, or mixed reality devices.
It should be understood that the number of computing devices in FIG. 1 is merely illustrative. There may be any number of computing devices, as implementation needs dictate.
With continued reference to fig. 2, a flow 200 of some embodiments of an obstacle alerting method according to the present disclosure is shown. The obstacle prompting method is applied to head-mounted display equipment and comprises the following steps:
In some embodiments, the subject of execution of the obstacle alert method (e.g., computing device 101 shown in fig. 1) may identify the obstacle alert area based on the field of view of the head mounted display device described above. The head-mounted display device may include at least one camera. In one embodiment, the Field Of View may be a Field Of View (FOV) Of the camera, and the range covered by the FOV Of the camera may be directly determined as the obstacle presenting area. In other embodiments, the viewing range may be a viewing angle corresponding to a display area of the head-mounted display device, and a range covered by the viewing angle of the display area may be directly determined as the obstacle presenting area. The visual field range of the head-mounted display device is usually related to the region which can be observed after the user wears the head-mounted display device, so that the obstacle prompting region is confirmed in the visual field range, unnecessary prompting can be reduced, and the consumption of calculation power required in the prompting process can be reduced.
In some optional implementations of some embodiments, the executing body may further perform the following steps:
firstly, determining the corresponding real-time position coordinates of the head-mounted display equipment in a navigation map.
If the user wears the head-mounted display device indoors, the real-time position coordinates of the head-mounted display device can be determined by utilizing an indoor positioning technology. The indoor positioning techniques described above may include, but are not limited to: WiFi (WIreless Fidelity) positioning technology, rfid (Radio Frequency Identification) positioning technology, infrared positioning technology, ultrasonic positioning technology, bluetooth positioning technology, and inertial navigation technology.
If the user wears the head-mounted display device outdoors, the real-time position coordinates of the head-mounted display device can be determined by utilizing an outdoor positioning technology. The outdoor Positioning technology may include, but is not limited to, a GPS (Global Positioning System) Positioning technology, an LBS (Location Based Services) Positioning technology, and the like.
And secondly, determining an area in the navigation map, which takes the real-time position coordinate as a center, takes a preset buffer distance as a radius and is within the visual field range, as an obstacle prompt area.
In practice, the preset buffer distance may be set according to an actual application scenario, and is not limited herein. For example, the preset buffer distance may be 3 meters, 5 meters, or 10 meters.
In some embodiments, the execution subject may detect whether an obstacle exists in the obstacle prompt region. The head-mounted display device may include an rfid tag reading and writing apparatus.
First, the rfid tag may be set on each obstacle in advance. Then, the FRID tag reading and writing device included in the head-mounted display device can be used for identifying the obstacles in the obstacle prompting area. If the rfid tag reading and writing device identifies the rfid tag in the obstacle prompt area, it may be determined that the obstacle is detected.
In some optional implementation manners of some embodiments, the detecting, by the execution main body, whether an obstacle exists in the obstacle prompt area may include:
the method comprises the steps of responding to the fact that obstacle marks are included in the navigation map, and determining whether the obstacle marks exist in the obstacle prompting area or not according to position coordinates of the obstacle marks in the navigation map. The obstacle mark in the navigation map may be marked in the navigation map after detecting an obstacle in a real area represented by the navigation map.
And if the obstacle mark exists in the range corresponding to the obstacle prompting area in the navigation map. It may be determined that an obstacle sign is correspondingly present in the obstacle presenting area. And if no obstacle mark exists in the range corresponding to the obstacle prompting area in the navigation map. It may be determined that there is no obstacle mark in the obstacle presentation area.
And a second step of determining that an obstacle exists in the obstacle prompting area in response to determining that the obstacle mark correspondingly exists in the obstacle prompting area.
In some embodiments, the executing entity may prompt each detected obstacle in response to determining that an obstacle is present in the obstacle prompting area. The head-mounted display equipment can be controlled to carry out voice prompt or vibration prompt on the obstacle.
In some optional implementations of some embodiments, the prompting, by the execution subject, of each detected obstacle may include:
and controlling the head-mounted display equipment to prompt the obstacle in response to determining that the obstacle is not prompted in advance in the target time period. The ending time point of the target time period may be a current time point. In practice, the duration of the target time period may be set according to an actual application scenario, and is not limited herein. As an example, the above target time period may be 1 minute, 3 minutes, or 5 minutes.
Therefore, repeated prompt of the obstacles in the target time period can be avoided, and the experience of a user wearing the head-mounted display equipment is improved.
Optionally, the executing body may also end the prompt for any obstacle in response to determining that any detected obstacle moves out of the field of view of the head-mounted display device.
Optionally, the executing body may further end the prompt of any obstacle in response to a detection of a confirmation operation of the prompt of any detected obstacle.
The above embodiments of the present disclosure have the following advantages: through the obstacle prompting method of some embodiments of the disclosure, when a user wears the head-mounted display device to watch related contents, obstacle prompting can be performed on the user, so that the user is prevented from being injured due to falling and collision to a certain extent. In particular, the reason why it is difficult for the user to find and avoid obstacles in time and be injured when wearing the head-mounted display device is that: the view of the user can be shielded by the image, the text and other superimposed information displayed in the head-mounted display equipment; and the light transmittance of the head-mounted display equipment is low when the head-mounted display equipment displays superimposed information such as images and characters. Based on this, the obstacle presenting method of some embodiments of the present disclosure, first, confirms an obstacle presenting area according to the visual field range of the head-mounted display device; then, detecting whether an obstacle exists in the obstacle prompting area; and finally, responding to the fact that the obstacles exist in the obstacle prompt area, and prompting each detected obstacle. Therefore, when the user wears the head-mounted display equipment, the obstacle prompt area is determined according to the visual field range of the head-mounted display equipment, whether obstacles exist in the obstacle prompt area is detected, and then the obstacles are prompted. Therefore, the user can timely know the barrier information and avoid the barrier, and the safety of the user wearing the head-mounted display equipment is ensured to a certain extent.
With further reference to fig. 3, a flow 300 of further embodiments of an obstacle alerting method is shown. The process 300 of the obstacle alert method includes the following steps:
In some embodiments, the specific implementation manner and technical effects of step 301 may refer to step 201 in those embodiments corresponding to fig. 2, and are not described herein again.
In some embodiments, a subject (e.g., the computing device 101 shown in fig. 1) performing the obstacle alert method may acquire the real-time image acquired by the head-mounted display device through a wired connection or a wireless connection.
In some embodiments, the execution subject may perform obstacle detection on the real-time image. The obstacle detection can be performed on the real-time image by using a target detection algorithm. The target detection algorithm may include, but is not limited to: R-CNN (regional Convolutional Neural Network), Fast R-CNN (Fast regional Convolutional Neural Network), SSD (Single Shot MultiBox Detector), template matching method, support vector machine algorithm, and the like. The obstacle may be a step, a pillar, a warning board, etc.
In some optional implementations of some embodiments, the execution body may perform obstacle detection on the real-time image based on a preset buffer distance. Wherein, the real-time image may be a depth image. The obstacle in the real-time image may be detected first. Then, an obstacle having a distance from the head-mounted display device smaller than the preset buffer distance is used as a result of the obstacle detection. The distance between the obstacle and the head-mounted display device may be an average value of depth values of respective pixel points in an area corresponding to the obstacle in the depth image.
In response to detecting an obstacle in the real-time image, it is determined that an obstacle is present in the obstacle prompt area, step 304.
In some embodiments, the executing subject may determine that an obstacle is present in the obstacle prompt region in response to detecting the obstacle in the real-time image.
In some embodiments, the executing entity may prompt each detected obstacle in response to determining that an obstacle is present in the obstacle prompting area. The head-mounted display equipment can be controlled to carry out voice prompt or vibration prompt on the obstacle. The head-mounted display equipment can be controlled to display an obstacle prompt mark in a display screen so as to prompt the obstacle.
Optionally, the executing body may further perform the following steps:
in a first step, the corresponding position coordinates of each detected obstacle in the navigation map are determined.
And secondly, updating the navigation map by using the real-time image and the corresponding position coordinates of each detected obstacle in the navigation map. The real-time image may be marked as an obstacle mark at a position represented by the position coordinates in the navigation map.
In some optional implementation manners of some embodiments, the execution main body may be optional, and the execution main body may further perform the following steps:
the method comprises the following steps of firstly, acquiring a real-time image acquired by the head-mounted display equipment.
And secondly, carrying out target detection processing on the real-time image. The specific implementation manner and the technical effects of the target detection processing may refer to step 303, which is not described herein again.
And thirdly, in response to the target object detected from the real-time image, acquiring each piece of obstacle prompt information associated with the detected target object. The target object may be an exhibit, a pre-designated marker, or the like.
And fourthly, prompting the obstacle represented by each obstacle prompt message in each obstacle prompt message. Wherein the obstacle alert information associated with the target object may be pre-recorded.
As an example, referring to fig. 4, first, a real-time image 402 acquired by the head mounted display device 401 described above may be acquired. Then, the target detection processing may be performed on the real-time image 402 described above. Next, in response to the detection of the target object 403 from the above-described real-time image 402, the respective obstacle prompt information 404 associated with the detected target object 403 may be acquired. Finally, the obstacle represented by each obstacle prompt message 404 in the above obstacle prompt messages may be prompted.
And step 306, responding to the fact that the user wearing the head-mounted display device falls, and sending fall alarm information and the current position information of the head-mounted display device to the console.
In some embodiments, the execution subject may send fall alarm information and current location information of the head-mounted display device to the console in response to detecting that the user wearing the head-mounted display device falls. The head-mounted display device may include, but is not limited to, an acceleration sensor, a gravity sensor, or a millimeter wave sensor. Whether the user wearing the head-mounted display device falls can be detected by using an acceleration sensor, a gravity sensor or a millimeter wave sensor in the head-mounted display device.
As can be seen from fig. 3, compared with the description of some embodiments corresponding to fig. 2, the flow 300 of the obstacle prompting method in some embodiments corresponding to fig. 3 embodies the obstacle identification by using the visual detection method, that is, by using the real-time image acquired by the head-mounted display device. Therefore, the scheme described in the embodiments can be applied to any scene where the head-mounted display device can be worn, thereby expanding the application range of the obstacle prompting method. Furthermore, the safety of the user wearing the head-mounted display device can be ensured in more application scenes.
With further reference to FIG. 5, a schematic structural diagram of a head mounted display device 500 suitable for use in implementing some embodiments of the present disclosure is shown. The head mounted display device shown in fig. 5 is only one example and should not bring any limitation to the functions and use range of the embodiments of the present disclosure.
As shown in fig. 5, the head mounted display device 500 may include a processing means (e.g., a central processor, a graphics processor, etc.) 501, a memory 502, an input unit 503, an output unit 504. Wherein the processing means 501, the memory 502, the input unit 503 and the output unit 504 are connected to each other via a bus 505. The processing means 501 in the head-mounted display device embodies the obstacle presenting function defined in the method of the present disclosure by calling the above-described computer program stored in the memory 502.
While fig. 5 illustrates an electronic device 500 having various means, it is to be understood that not all illustrated means are required to be implemented or provided. More or fewer devices may alternatively be implemented or provided. Each block shown in fig. 5 may represent one device or may represent multiple devices as desired.
In particular, according to some embodiments of the present disclosure, the processes described above with reference to the flow diagrams may be implemented as computer software programs and stored in the memory 502. For example, some embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method illustrated in the flow chart. The computer program, when executed by the processing device 501, performs the above-described functions defined in the methods of some embodiments of the present disclosure.
It should be noted that the computer readable medium described in some embodiments of the present disclosure may be a computer readable signal medium or a computer readable storage medium or any combination of the two. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In some embodiments of the disclosure, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In some embodiments of the present disclosure, however, a computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: electrical wires, optical cables, RF (radio frequency), etc., or any suitable combination of the foregoing.
In some embodiments, the clients, servers may communicate using any currently known or future developed network Protocol, such as HTTP (HyperText Transfer Protocol), and may interconnect with any form or medium of digital data communication (e.g., a communications network). Examples of communication networks include a local area network ("LAN"), a wide area network ("WAN"), the Internet (e.g., the Internet), and peer-to-peer networks (e.g., ad hoc peer-to-peer networks), as well as any currently known or future developed network.
The computer readable medium may be embodied in the electronic device; or may exist separately without being assembled into the electronic device. The computer readable medium carries one or more programs which, when executed by the electronic device, cause the electronic device to: confirming an obstacle prompting area according to the visual field range of the head-mounted display equipment; detecting whether an obstacle exists in the obstacle prompting area; and detecting whether an obstacle exists in the obstacle prompting area.
Computer program code for carrying out operations for embodiments of the present disclosure may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + +, and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The functions described herein above may be performed, at least in part, by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: field Programmable Gate Arrays (FPGAs), Application Specific Integrated Circuits (ASICs), Application Specific Standard Products (ASSPs), systems on a chip (SOCs), Complex Programmable Logic Devices (CPLDs), and the like.
Claims (13)
1. An obstacle prompting method in AR navigation, which is applied to a head-mounted display device, comprises the following steps:
confirming an obstacle prompting area according to the visual field range of the head-mounted display equipment;
detecting whether an obstacle exists in the obstacle prompting area;
prompting for each detected obstacle in response to determining that an obstacle is present within the obstacle prompting area.
2. The method of claim 1, the identifying an obstacle alert region according to a field of view of the head mounted display device, comprising:
determining real-time position coordinates corresponding to the head-mounted display equipment in a navigation map;
and determining an area in the navigation map, which takes the real-time position coordinate as a center, takes a preset buffer distance as a radius and is in the visual field range, as an obstacle prompt area.
3. The method of claim 2, wherein the detecting whether an obstacle is present in the obstacle alert zone comprises:
in response to the fact that the navigation map comprises the obstacle markers, determining whether the obstacle markers exist in the obstacle prompt area or not according to the position coordinates of the obstacle markers in the navigation map;
in response to determining that an obstacle marker corresponds to the presence of an obstacle within the obstacle prompt zone, determining that an obstacle is present within the obstacle prompt zone.
4. The method of claim 1, wherein the detecting whether an obstacle is present in the obstacle alert zone comprises:
acquiring a real-time image acquired by the head-mounted display equipment;
detecting obstacles on the real-time image;
in response to detecting an obstacle in the real-time image, determining that an obstacle is present within the obstacle prompt zone.
5. The method of claim 4, wherein the performing obstacle detection on the real-time image comprises:
and detecting the obstacles of the real-time image based on a preset buffer distance.
6. The method of claim 1, wherein said prompting each detected obstacle comprises:
in response to determining that the obstacle has not been previously prompted within a target time period, controlling the head-mounted display device to prompt for the obstacle.
7. The method of claim 1, wherein the method further comprises:
in response to determining that any of the detected obstacles is moved out of the field of view of the head mounted display device, ending the prompting of the any obstacle.
8. The method of claim 1, wherein the method further comprises:
in response to detection of a confirmation operation of a prompt for any one of the detected obstacles, the prompt for the any one of the obstacles is ended.
9. The method of claim 4, wherein the method comprises:
determining the corresponding position coordinates of each detected obstacle in the navigation map;
and updating the navigation map by using the real-time image and the corresponding position coordinates of each detected obstacle in the navigation map.
10. The method of claim 1, wherein the method further comprises:
and responding to the fact that the user wearing the head-mounted display equipment falls, and sending fall alarm information and the current position information of the head-mounted display equipment to a console.
11. The method of claim 1, wherein the method further comprises:
acquiring a real-time image acquired by the head-mounted display equipment;
carrying out target detection processing on the real-time image;
in response to detecting a target object from the real-time image, obtaining respective obstacle prompt information associated with the detected target object;
and prompting the obstacle represented by each obstacle prompt message in each obstacle prompt message.
12. A head-mounted display device, comprising:
one or more processors;
a storage device having one or more programs stored thereon,
when executed by the one or more processors, cause the one or more processors to implement the method of any one of claims 1-11.
13. A computer-readable medium, on which a computer program is stored, wherein the program, when executed by a processor, implements the method of any one of claims 1-11.
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