CN114777699A - Large space positioning and calibrating device and algorithm for fire fighting system - Google Patents

Abstract

The invention discloses a large-space positioning and calibrating device and algorithm for a fire fighting system. The core body is protected by the protective shell, the core body is supported by the first stabilizing plate, the impact force is buffered and weakened by the cooperation of the movable rod, the movable block and the first return spring, so that the core body is protected, the core body is positioned by the cooperation of the second return spring and the second stabilizing plate, and the impact force is buffered, so that the core body is prevented from being damaged, and the problem that the large-space positioning device of a fire-fighting system is easily impacted by the ground and damaged due to the fact that the large-space positioning device of the fire-fighting system is easily dropped when in use is solved.

Description

Large space positioning and calibrating device and algorithm for fire fighting system

Technical Field

The invention relates to the technical field of large-space positioning calibration, in particular to a large-space positioning calibration device and algorithm for a fire fighting system.

Background

The fire fighting means the elimination of hidden danger, the prevention of disasters, namely the prevention and the solution of artificial, natural and accidental disasters in the life, work and study processes of people, and certainly the narrow meaning means the fire extinguishing in the early stage of people recognition, wherein the meaning mainly comprises the personnel rescue in the fire scene, the rescue of important facilities and equipment, the rescue of important property, the safety protection and rescue of important property, the fire extinguishing, and the like, and aims to reduce the damage degree caused by the fire, reduce casualties and property loss, select fire extinguishing agents and fire fighting equipment according to the fire property, correctly apply the fire extinguishing tactics according to the fire scene condition, and the main methods comprise fire stopping, establishing a fire isolating zone, blocking a fire passage, extinguishing residual fire, guarding the fire scene, and the like.

Wherein fire extinguishing system can use big space positioning calibrating device to carry out the location calibration to the scene of fire, and the big space positioning device of fire extinguishing system is not convenient for calculate its data when using, and the big space positioning device of fire extinguishing system appears the condition that drops easily when using, lead to the big space positioning device of fire extinguishing system to receive ground striking, easily make the condition that damage appears in inside core, thereby shorten the life of core, and reduced the accuracy of big space positioning calibration, therefore we have provided a big space positioning calibrating device and algorithm for fire extinguishing system, solve this problem.

Disclosure of Invention

The invention aims to provide a large-space positioning and calibrating device and an algorithm for a fire-fighting system, which have the advantages of good protection performance and solve the problems that the large-space positioning device of the fire-fighting system is easy to fall off when in use, the large-space positioning device of the fire-fighting system is impacted by the ground, and an internal core body is easy to damage, so that the service life of the core body is shortened, and the positioning and calibrating accuracy of the large space is reduced.

In order to achieve the purpose, the invention provides the following technical scheme: a large space positioning and calibrating device for a fire fighting system comprises a protection unit, wherein the protection unit comprises a protection shell, the front surface of the protective shell is movably connected with a protective cover, the lower end of the inner cavity of the protective shell is movably connected with a first stabilizing plate, two sides of the bottom of the inner cavity of the protective shell are movably connected with movable blocks, one side of each movable block is fixedly connected with a first return spring, one end of the first return spring, which is far away from the movable block, is fixedly connected with the inner wall of the protective shell, the top of the movable block is movably connected with a movable rod through a rotating shaft, the top of the movable rod is movably connected with a first stabilizing plate through a rotating shaft, the top of the first stabilizing plate is movably connected with a core body, the upper end swing joint of protecting crust inner chamber has the second steadying plate, the equal fixedly connected with second reset spring in both sides at protecting crust inner chamber top, the one end and the second steadying plate fixed connection that the protecting crust inner wall was kept away from to second reset spring.

Preferably, the front of protective cover is provided with the display screen, all swing joint has connecting bolt all around the protective cover is positive.

Preferably, the inner cavity of the second return spring and the top of the inner cavity of the protective shell are provided with sleeves, the inner cavity of each sleeve is connected with a loop bar in a sliding mode, and the bottoms of the loop bars are fixedly connected with the second stabilizing plates.

Preferably, the bottom of the second stabilizing plate is fixedly connected with a protective pad, and the bottom of the protective pad is in contact with the core body.

Preferably, the first limiting plate is fixedly connected to the two sides of the second stabilizing plate, the first limiting grooves are formed in the two sides of the inner cavity of the protective shell, and one end, away from the second stabilizing plate, of the first limiting plate extends to the inner cavity of the first limiting groove and is in sliding connection with the inner cavity of the first limiting groove.

Preferably, the two sides of the first stabilizing plate are fixedly connected with second limiting plates, and one ends, far away from the first stabilizing plate, of the second limiting plates extend to the inner cavity of the first limiting groove and are in sliding connection with the inner cavity of the first limiting groove.

Preferably, the bottom fixedly connected with stopper of movable block, the second spacing groove has been seted up to the bottom of protecting crust inner chamber, the stopper keep away from the one end of movable block extend to the inner chamber of second spacing groove and with the inner chamber sliding connection of second spacing groove.

Preferably, a placing groove is formed in the top of the first stabilizing plate, and the bottom of the core body extends to the inner cavity of the placing groove and is movably connected with the inner cavity of the placing groove.

Preferably, the positioning device further comprises a computing unit, wherein the computing unit comprises positioning coordinates, positioning rotation and a positioning steel body, and the positioning steel body comprises a head, a right-hand rhand, a left-hand lhand, a waist watch, a right-foot rfoot, a left-foot lfoot and a VR helmet.

Preferably, the large space positioning calibration algorithm comprises the following steps:

A. positioning coordinates, positioning rotation and positioning steel bodies by using dynamic capturing software: head, right hand, rhand, left hand, waist, right foot, left foot, rfoot;

B. binding six parts of the positioning steel body;

C. the positioning, rotating and unbinding of the right-hand rhand and the left-hand lhand are performed by using the internal rotating logic of the digital gloves;

D. the mobile positioning and the rotary positioning of the VR helmet gyroscope are closed, the axis coordinate AxisPosition _ head of the VR helmet in the three-dimensional scene is calculated through the size of the regular model, and the calculation process is as follows: binding a generation parent object parent to the helmet, zeroing the coordinates and rotation of the generation parent object parent, resetting the size of the generation parent object parent, defining a model coordinate center ModelCenter, acquiring all object model renderers under the parent object parent, obtaining a calculation center coordinate by the formula that the center is equal to the centers of all renderers and dividing the number of all renderers, defining a model boundary bound by the formula that the center is equal to the number of newBoands (center, vector3.zero), and acquiring the coordinates of the helmet center ModelCenter as the coordinates of the center plus the parent;

E. obtaining an axis coordinate AxisPosition _ hand of a positioning coordinate when two hands run by a multi-object center calculation method, wherein the calculation process is as follows: the method of calculating the center of the multiple objects is that the center of definition is equal to the sum of all the central points of each object calculated and divided by the number of all the objects, and the positioning coordinate axes of the two hands are obtained;

F. generating a generation object sub at the AxisPosition _ hand coordinate, and obtaining a coordinate difference axispos and a rotation difference axisrot between the generation object sub and a head axis coordinate AxisPosition _ head;

G. and generating a head substitute object head1, enabling the coordinate of the head substitute object to keep the axispot coordinate difference and axisrot rotation difference with the rotation substitute object sub, enabling the VR helmet head Camera to become a child object of the head1 to follow the movement, and binding the head Camera with the positioning coordinate (201) and the rotation angle of the rigid head, thereby completing the positioning calibration.

Compared with the prior art, the invention has the following beneficial effects:

1. according to the invention, the protection shell is used for protecting the core body, the first stabilizing plate is used for supporting the core body, the movable rod, the movable block and the first return spring are matched for buffering and weakening the impact force so as to protect the core body, and the second return spring and the second stabilizing plate are matched for positioning the core body and buffering the impact force so as to avoid the core body from being damaged.

Drawings

FIG. 1 is a schematic view of a protection unit according to the present invention;

FIG. 2 is a schematic cross-sectional view of the protective shell of the present invention;

FIG. 3 is a schematic view of the connection structure of the movable block and the movable rod of the present invention;

FIG. 4 is a schematic diagram of a computing unit according to the present invention;

FIG. 5 is a schematic view of a positioning steel body according to the present invention.

In the figure: 100. a protection unit; 101. a protective shell; 102. a protective cover; 103. a first stabilizer plate; 104. a movable rod; 105. a movable block; 106. a first return spring; 107. a core body; 108. a second stabilizing plate; 109. a second return spring; 110. a display screen; 111. a connecting bolt; 112. a sleeve; 113. a loop bar; 114. a protective pad; 115. a first limit plate; 116. a first limit groove; 117. a second limiting plate; 118. a limiting block; 119. a second limit groove; 120. a placement groove; 200. a calculation unit; 201. positioning coordinates; 202. positioning and rotating; 203. and positioning the steel body.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The protection unit 100, the protection shell 101, the protection cover 102, the first stabilizing plate 103, the movable rod 104, the movable block 105, the first return spring 106, the core body 107, the second stabilizing plate 108, the second return spring 109, the display screen 110, the connecting bolt 111, the sleeve 112, the loop bar 113, the protection pad 114, the first limiting plate 115, the first limiting groove 116, the second limiting plate 117, the limiting block 118, the second limiting groove 119, the placement groove 120, the calculating unit 200, the positioning coordinate 201, the positioning rotation 202 and the positioning steel body 203 of the present invention are all common standard parts or parts known to those skilled in the art, and the structure and principle thereof can be known to those skilled in the art through technical manuals or through routine experimental methods.

Referring to fig. 1-5, a large space positioning and calibrating device for a fire protection system comprises a protection unit 100, the protection unit 100 comprises a protection shell 101, the front surface of the protection shell 101 is movably connected with a protection cover 102, the lower end of the inner cavity of the protection shell 101 is movably connected with a first stabilizing plate 103, two sides of the bottom of the inner cavity of the protection shell 101 are movably connected with a movable block 105, one side of the movable block 105 is fixedly connected with a first return spring 106, one end of the first return spring 106 far away from the movable block 105 is fixedly connected with the inner wall of the protection shell 101, the top of the movable block 105 is movably connected with a movable rod 104 through a rotating shaft, the top of the movable rod 104 is movably connected with the first stabilizing plate 103 through a rotating shaft, the top of the first stabilizing plate 103 is movably connected with a core body 107, the upper end of the inner cavity of the protection shell 101 is movably connected with a second stabilizing plate 108, two sides of the top of the inner cavity of the protection shell 101 are both fixedly connected with second return springs 109, the end of the second return spring 109 remote from the inner wall of the protective shell 101 is fixedly connected to the second stabilizing plate 108, which, via the protective shell 101, for shielding the core body 107, for supporting the core body 107 by the first stabilizing plate 103, through the cooperation of the movable rod 104, the movable block 105 and the first return spring 106, the impact force is weakened in a buffering manner, thereby protecting the core body 107, positioning the core body 107 by the cooperation of the second return spring 109 and the second stabilizing plate 108, and simultaneously buffering the impact force, thereby avoiding the damage of the core body 107, solving the problem that the large space positioning device of the fire fighting system is easy to fall off when in use, the large-space positioning device of the fire-fighting system is impacted by the ground, the inner core body is easy to be damaged, thereby shortening the service life of the core body and reducing the problem of large space positioning and calibrating accuracy.

Specifically, the front of protective cover 102 is provided with display screen 110, and all swing joint all around of protective cover 102 is with connecting bolt 111, through setting up display screen 110, has played the effect of being convenient for show location calibration data in real time, through setting up connecting bolt 111, has played the effect of being convenient for dismantle and being convenient for open protective cover 101 to protective cover 102, and then conveniently overhauls core body 107.

Specifically, the top that the inner chamber of second reset spring 109 just is located the protecting crust 101 inner chamber is provided with sleeve 112, and sleeve 112's inner chamber sliding connection has loop bar 113, and loop bar 113's bottom and second stabilising plate 108 fixed connection have played the spacing effect to second reset spring 109 through setting up sleeve 112 and loop bar 113, avoid second reset spring 109 to appear the condition of dislocation when deformation or reseing.

Specifically, the bottom of second stabilising plate 108 is fixedly connected with protection pad 114, and the bottom of protection pad 114 contacts with core body 107, through setting up protection pad 114, has played the effect to core body 107 protection, avoids core body 107 the condition that wearing and tearing appear.

Specifically, the first limiting plate 115 is fixedly connected to the two sides of the second stabilizing plate 108, the first limiting groove 116 is formed in the two sides of the inner cavity of the protective shell 101, one end, away from the second stabilizing plate 108, of the first limiting plate 115 extends to the inner cavity of the first limiting groove 116 and is in sliding connection with the inner cavity of the first limiting groove 116, the effect on the movement track position of the second stabilizing plate 108 is achieved by arranging the first limiting plate 115 and the first limiting groove 116, the situation that the second stabilizing plate 108 is dislocated during movement is avoided, and therefore stability of the second stabilizing plate 108 during movement is guaranteed.

Specifically, the second limiting plates 117 are fixedly connected to the two sides of the first stabilizing plate 103, one end, away from the first stabilizing plate 103, of each second limiting plate 117 extends to the inner cavity of the first limiting groove 116 and is in sliding connection with the inner cavity of the first limiting groove 116, the effect on the movement track position of the first stabilizing plate 103 is achieved by arranging the second limiting plates 117, the situation that the first stabilizing plate 103 is dislocated during movement is avoided, and therefore the stability of the first stabilizing plate 103 during movement is ensured.

Specifically, the bottom fixedly connected with stopper 118 of movable block 105, second spacing groove 119 has been seted up to the bottom of protecting crust 101 inner chamber, stopper 118 keep away from the one end of movable block 105 extend to the inner chamber of second spacing groove 119 and with the inner chamber sliding connection of second spacing groove 119, through setting up stopper 118 and second spacing groove 119, the effect to movable block 105 movement track position has been played, avoid the movable block 105 the condition of dislocation to appear when the motion, thereby the stability when the movable block 105 moves has been ensured.

Specifically, placing groove 120 has been seted up at the top of first stabilizer plate 103, and the bottom of core body 107 extends to the inner chamber of placing groove 120 and with placing groove 120's inner chamber swing joint, through setting up placing groove 120, has played the effect of being convenient for place core body 107.

Specifically, the positioning device further comprises a calculating unit 200, wherein the calculating unit 200 comprises positioning coordinates 201, positioning rotation 202 and a positioning steel body 203, and the positioning steel body 203 comprises a head helmet, a right-hand rhand, a left hand lhand, a waist helmet, a right foot rfoot, a left foot lfoot and a VR helmet.

Specifically, the large space positioning calibration algorithm comprises the following steps:

A. the dynamic capturing software comprises six parts, namely a positioning coordinate 201, a positioning rotation 202 and a positioning steel body 203: head, right hand, rhand, left hand, waist, right foot, left foot, rfoot;

B. binding six parts of the positioning steel body 203;

C. unbinding the positioning rotation 202 of the right-hand rhand and the left-hand lhand by using the internal rotation logic of the digital gloves;

D. the mobile positioning and the rotary positioning of the VR helmet gyroscope are turned off, the axis coordinate AxisPosition _ head of the VR helmet in the three-dimensional scene is calculated through the size of the regular model, and the calculation process is as follows: binding a generation parent object parent to the helmet, zeroing the coordinates and rotation of the generation parent object parent, resetting the size of the generation parent object parent, defining a model coordinate center ModelCenter, acquiring all object model renderers under the parent object parent, obtaining a calculation center coordinate by the formula that the center is equal to the centers of all renderers and dividing the number of all renderers, defining a model boundary bound by the formula that the center is equal to the number of newBoands (center, vector3.zero), and acquiring the coordinates of the helmet center ModelCenter as the coordinates of the center plus the parent;

E. obtaining the axis coordinate AxisPosition _ hand of the positioning coordinate 201 when two hands run by a multi-object center calculation method, wherein the calculation process is as follows: the method of calculating the center of the multiple objects is that the center of definition is equal to the sum of all the center points of each object calculated divided by the number of all the objects, and the axes of the positioning coordinates 201 of the two hands are obtained;

F. generating a generation object sub at the AxisPosition _ hand coordinate, and obtaining a coordinate difference axispos and a rotation difference axisrot between the generation object sub and a head axis coordinate AxisPosition _ head;

G. and generating a head substitute object head1, enabling the coordinate of the head substitute object to be different from the rotation coordinate of the rotation substitute object sub, keeping the axispos coordinate difference and the axisrot rotation difference, enabling the VR helmet head Camera to be a child object of the head1 to follow the movement, and binding the head Camera with the positioning coordinate 201 and the rotation angle of the rigid head, thereby completing the positioning calibration.

When the anti-collision device is used, firstly, the protective cover 102 is opened and the second stabilizing plate 108 is pulled, the second stabilizing plate 108 moves upwards under stress, the second stabilizing plate 108 moves upwards and drives the second return spring 109 to compress and deform, then the core body 107 is placed in the inner cavity of the placing groove 120, then the second stabilizing plate 108 is loosened, the second stabilizing plate 108 is driven to move downwards by the return elasticity of the second return spring 109, the second stabilizing plate 108 drives the protective pad 114 to move downwards to be in contact with the core body 107, so that the core body 107 is clamped and positioned, when falling and being collided, firstly, the protective shell 101 performs primary protection, then the core body 107 drives the second stabilizing plate 108 to move upwards, the second stabilizing plate 108 moves upwards under the collision force and drives the second return spring 109 to move upwards, the second return spring 109 is compressed and deformed to primarily buffer the collision force, simultaneously, core body 107 drives first stabilizing plate 103 to move downwards, first stabilizing plate 103 drives movable rod 104 to move downwards while being impacted, movable rod 104 drives movable block 105 to move to one side while moving downwards, movable block 105 is stressed to drive first reset spring 106 to move to one side, first reset spring 106 is stressed to compress and deform to buffer and weaken the impacting force, then, reset elastic force of first reset spring 106 drives movable block 105 to move to one side, movable block 105 drives movable rod 104 and first stabilizing plate 103 to move upwards to reset, thereby protecting core body 107 and avoiding damage to core body 107.

The standard parts used in the present application document can be purchased from the market, and can be customized according to the description of the specification and the description of the attached drawings, the specific connection mode of each part adopts the conventional means such as bolts, rivets, welding and the like, the machinery, parts and equipment adopt the conventional type in the prior art, the control mode is automatically controlled by a controller, the control circuit of the controller can be realized by simple programming of technicians in the field, and the present application belongs to the common knowledge in the field, and is mainly used for protecting mechanical devices, so the control mode and the circuit connection are not explained in detail in the present application.

It should be noted that, in this document, 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 the process, method, article, or apparatus that comprises the element.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims (10)

1. The utility model provides a fire extinguishing system is with big space positioning calibrating device, includes protection unit (100), its characterized in that: the protection unit (100) comprises a protection shell (101), the front movable connection of the protection shell (101) is provided with a protection cover (102), the lower end of the inner cavity of the protection shell (101) is movably connected with a first stabilizing plate (103), the two sides of the bottom of the inner cavity of the protection shell (101) are movably connected with a movable block (105), one side of the movable block (105) is fixedly connected with a first reset spring (106), one end of the first reset spring (106), which is far away from the movable block (105), is fixedly connected with the inner wall of the protection shell (101), the top of the movable block (105) is movably connected with a movable rod (104) through a rotating shaft, the top of the movable rod (104) is movably connected with the first stabilizing plate (103) through a rotating shaft, the top of the first stabilizing plate (103) is movably connected with a core body (107), the upper end of the inner cavity of the protection shell (101) is movably connected with a second stabilizing plate (108), the two sides of the top of the inner cavity of the protective shell (101) are fixedly connected with second reset springs (109), and one ends, far away from the inner wall of the protective shell (101), of the second reset springs (109) are fixedly connected with second stabilizing plates (108).

2. The large space positioning and calibrating device for the fire fighting system according to claim 1, characterized in that: the front side of the protective cover (102) is provided with a display screen (110), and the periphery of the front side of the protective cover (102) is movably connected with connecting bolts (111).

3. The large space positioning and calibrating device for the fire fighting system according to claim 1, characterized in that: the inner cavity of the second reset spring (109) is provided with a sleeve (112) at the top of the inner cavity of the protective shell (101), the inner cavity of the sleeve (112) is connected with a loop bar (113) in a sliding manner, and the bottom of the loop bar (113) is fixedly connected with the second stabilizing plate (108).

4. The large space positioning and calibrating device for the fire fighting system according to claim 1, characterized in that: the bottom of the second stabilizing plate (108) is fixedly connected with a protective pad (114), and the bottom of the protective pad (114) is in contact with the core body (107).

5. The large space positioning and calibrating device for the fire fighting system according to claim 1, characterized in that: the equal fixedly connected with first limiting plate (115) in both sides of second stabilizer plate (108), first spacing groove (116) have all been seted up to the both sides of protecting crust (101) inner chamber, first limiting plate (115) keep away from the one end of second stabilizer plate (108) extend to the inner chamber of first spacing groove (116) and with the inner chamber sliding connection of first spacing groove (116).

6. The large space positioning and calibrating device for the fire fighting system according to claim 5, characterized in that: the equal fixedly connected with second limiting plate (117) in both sides of first stabilizer plate (103), the one end that first stabilizer plate (103) were kept away from in second limiting plate (117) extends to the inner chamber of first spacing groove (116) and with the inner chamber sliding connection of first spacing groove (116).

7. The large space positioning and calibrating device for the fire fighting system according to claim 1, characterized in that: the bottom fixedly connected with stopper (118) of movable block (105), second spacing groove (119) have been seted up to the bottom of protecting crust (101) inner chamber, stopper (118) keep away from the one end of movable block (105) extend to the inner chamber of second spacing groove (119) and with the inner chamber sliding connection of second spacing groove (119).

8. The large space positioning and calibrating device for the fire fighting system according to claim 1, characterized in that: a placing groove (120) is formed in the top of the first stabilizing plate (103), and the bottom of the core body (107) extends to the inner cavity of the placing groove (120) and is movably connected with the inner cavity of the placing groove (120).

9. The utility model provides a fire extinguishing system is with big space orientation calibration algorithm which characterized in that: the large space positioning and calibrating device for the fire fighting system comprises the large space positioning and calibrating device for the fire fighting system according to claims 1-8, and further comprises a computing unit (200), wherein the computing unit (200) comprises positioning coordinates (201), positioning rotation (202) and a positioning steel body (203), and the positioning steel body (203) comprises a head helmet, a right hand rhand, a left hand lhand, a waist exist, a right foot rfoot, a left foot lfoot and a VR helmet.

10. The large space positioning and calibrating algorithm for the fire fighting system according to claim 9, characterized in that: the large space positioning calibration algorithm comprises the following steps:

A. the dynamic capturing software comprises six parts, namely a positioning coordinate (201), a positioning rotation (202) and a positioning steel body (203): head, right hand, rhand, left hand, waist, right foot, left foot, rfoot;

B. binding six parts of the positioning steel body (203);

C. unbinding the positioning rotation (202) of the right hand rhand and the left hand lhand by using the internal rotation logic of the digital glove;

D. the mobile positioning and the rotary positioning of the VR helmet gyroscope are turned off, the axis coordinate AxisPosition _ head of the VR helmet in the three-dimensional scene is calculated through the size of the regular model, and the calculation process is as follows: binding a generation parent object parent to the helmet, zeroing the coordinates and rotation of the generation parent object parent, resetting the size of the generation parent object parent, defining a model coordinate center ModelCenter, acquiring all object model renderers under the parent object parent, obtaining a calculation center coordinate by the formula that the center is equal to the centers of all renderers and dividing the number of all renderers, defining a model boundary bound by the formula that the center is equal to the number of newBoands (center, vector3.zero), and acquiring the coordinates of the helmet center ModelCenter as the coordinates of the center plus the parent;

E. obtaining an axis coordinate AxisPosition _ hand of a positioning coordinate (201) when two hands run by a multi-object center calculation method, wherein the calculation process is as follows: the method of calculating the center of the multiple objects is that the center of definition is equal to the sum of all the center points of each object calculated and divided by the number of all the objects, and the axes of the positioning coordinates (201) of the two hands are obtained;

F. generating a sub-generation object at the AxisPosition _ hand coordinate, and obtaining a coordinate difference axispos and a rotation difference axisrot between the sub-generation object and a head axis coordinate AxisPosition _ head;

G. and generating a head substitute object head1, enabling the coordinate of the head substitute object to keep the axispot coordinate difference and axisrot rotation difference with the rotation substitute object sub, enabling the VR helmet head Camera to become a child object of the head1 to follow the movement, and binding the head Camera with the positioning coordinate (201) and the rotation angle of the rigid head, thereby completing the positioning calibration.

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