CN206601680U - Dizzy system is prevented based on sterically defined virtual reality - Google Patents
Dizzy system is prevented based on sterically defined virtual reality Download PDFInfo
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Abstract
The utility model discloses one kind and prevents dizzy system based on sterically defined virtual reality, it includes an absolute positioning apparatus, an at least carrying device, and a system server, the carrying device includes an angle locating module, one data processing module, VR experience modules, data processing module further includes a location data processing unit and an image analysis processing unit.In use, location data processing unit obtains the second pose data and absolute pose data of user, and accurate pose data are obtained by correcting algorithm；Accurate pose data are sent to system server by location data processing unit；Image analysis processing unit obtains the accurate pose data of user oneself, while obtaining the pose data of other users from system server, and generates VR experience datas, is converted to VR experience informations through VR experience module and then is presented to user.The utility model disclosure satisfy that VR systems are accurately positioned requirement for multiple users under large area long-time scene.
Description
Technical field
The utility model is related to a kind of virtual reality system, more particularly to a kind of anti-corona based on sterically defined virtual reality
Dizzy system.
Background technology
Virtual reality (Virtual Reality, hereinafter referred VR) technology is using intellectual computing device as core, with reference to biography
Sense technology generates virtual environment true to nature, and what it is by the interactive Three-Dimensional Dynamic what comes into a driver's of Multi-source Information Fusion and entity behavior is
System emulation makes user be immersed in the environment.
VR immersion experience is divided into two kinds, and a kind of is the Flow experience that angle positions formula, and it only includes 360 ° of the visual field
Rotation, can be observed, such as the mobile phone box of GearVR by rotating freely body or head；Another is that space is determined
Position formula Flow experience can not only realize 360 ° the visual field rotation can also be moved freely in place, for example HTC Vive,
PSVR (PlayStation VR) etc..By contrast, only space orientation formula Flow experience could produce impression on the spot in person.
Nowadays the storm that virtual reality is swept has growed in intensity, from the panoramic helmet and glasses, to various strange think ofs
The wonderful interactive device thought, then to content production and set up experience shop trial.VR experiences the most important ring of structure in shop, is exactly
Cheap and flexible accurately targeting scheme.Positioning mentioned here, in order to want real-time update space orientation formula Flow experience to want
The virtual environment information of display is, it is necessary to using information such as the athletic posture of position tracking device tracking human body and positions, determine body
Absolute spatial position of the participant in shop in the venue space of larger area is tested, and is fed back on game server, simultaneously
Interaction is also carried out between the data of all players for participating in game, and then various game necessary to colony's game could be performed
Logic.
For the virtual reality system location equipment of VR venues, some following requirement should be met, first, void is solved
Intend the technological deficiency of reality system most serious --- delay, because delay can caused by visual Landscape there is discontinuous or distortion, enter
And visual Landscape can be caused to be mismatched with itself actual motion, it may make participation using the equipment that there is this defect for a long time
Person produces motion sickness；Secondly, it can realize and accurately position in the VR venues of large area；Furthermore, during by longer use
Between be still able to maintain accurate positioning；In addition, disclosure satisfy that multiple participants position in the same space simultaneously, and it will can determine
Position data interact shared；In addition, the overall cost of system should be reduced as far as possible.
It is used to realize that the technology that the equipment of position tracking is used substantially there are following several classes in the prior art：Inertial positioning,
Optical alignment, Lighthouse, vision inertia ranging (Visual-inertial Odometry, abbreviation VIO), flight time
Ranging (Time of Flight, abbreviation TOF).These technologies are applied to VR venues scene, and there are the following problems：
Inertial positioning carries out position tracking by accelerometer, gyroscope, magnetometer.Because position and attitude is by angle speed
Degree meter, gyroscope coordinate magnetometer complete determine, and magnetometer be highly prone to ambient magnetic material (such as building materials, especially
Part VR venue addressings are in basement) influence, and the electromagnetic wave of the equipment such as mobile phone transmitting interference, so as to cause magnetic
Power meter determines primary data and produces error and drift, therefore, under more large area or more prolonged usage scenario, inertial positioning
More easily cause the bigger deviation of location information.And deviation will cause visual Landscape distortion, the senses of discomfort such as dizziness are brought.
Optical positioning device calculates rotation and displacement of the object relative to collecting device by pivoting results, can be accurate
Measurement object location information.But, there is limitation in optical alignment, come the position of measure object by mark point because multiple
Mark point can not possibly endless combinations go down, and two group echos point by must it is excessively near if (two players for example fought back-to-back),
Also it is easy to the situation for occurring survey or None- identified by mistake.In addition, excessively complicated Venues Environment can also allow mark point to be easier
Blocked by barrier, so as to occur test leakage problem.In addition, the refreshing frequency of optical measuring apparatus is relatively low, position letter is easily caused
Breath delay, causes visual Landscape distortion, brings the senses of discomfort such as dizziness.
Lighthouse technologies lead to not realize that large area is covered due to the exclusive limitation of itself scan period, and
And can not there is excessive shelter to cause not receiving signal, it is difficult to what compatible venue multi-player the same space was used in conjunction with will
Ask.
VIO technologies start when need additional complicated arithmetic facility to confirm its original position, meanwhile, over long distances with it is long when
Between use, can produce cumulative errors causes data wander and then image positional accuracy, and resulting data deviation will be led
Visual Landscape distortion is caused, the senses of discomfort such as dizziness are brought.In addition, the vision sensor that VIO technologies are used is single expensive, adopt
Sample data message amount is larger, causes larger computing load, higher to the performance requirement of image processing equipment.
The pulse that TOF technologies are launched from transmitter is sector region, thus multiple Moving Objects mutually it is crowded together
When, masking is had mutually, rear object is in " shadow region " of front object, cause detection less than so that the data produced
Deviation.And impulsive measurement can not recognize different objects, the requirement that venue multi-player the same space is used in conjunction with is unsatisfactory for.This
Outside, if being measured by light pulse, high is required to component, condition of work limitation is again relatively harsher, and scanning frequency
Rate is higher, and detection range is more remote, and price is also more expensive；If by sound arteries and veins, electromagnetic pulse punching measure, then easily by
The interference of surrounding environment, so that the data deviation produced will cause visual Landscape distortion.
Utility model content
There is foregoing deficiency in view of prior art, the utility model aims to provide a kind of low cost, high-performance, practicality
Strong solution, can reduce position tracking delay, reduce what is caused when user uses under large area, prolonged scene
Dizziness, while disclosure satisfy that multiple participants position in the same space simultaneously, and can enter location data among the participants
The shared virtual reality device of row interaction.
The utility model provides one kind and prevents dizzy system based on sterically defined virtual reality, comprising：
One absolute positioning apparatus, include an at least locator, one can from locator obtain data produce first position
The controller of attitude data, the controller is connected with the locator；
An at least carrying device, the carrying device is included：
One can produce the angle locating module of second place attitude data；
One is capable of the data processing module of receiving position attitude data generation VR experience datas, and the data processing module enters one
Step is included：
One can be corrected acquisition according to first position attitude data to the data deviation in the attitude data of the second place
The data processing unit of accurate location attitude data；And,
One can generate the image analysis processing unit of VR experience datas according to the accurate location attitude data of acquisition；
One can be converted to VR experience datas the VR experience modules that VR experience informations are presented；
The location data processing unit is connected with the controller of the absolute positioning apparatus, and the location data processing unit is with being somebody's turn to do
The angle locating module of carrying device is connected, and the location data processing unit is connected with the image analysis processing unit, the image
Analysis and processing unit is connected with VR experience module.
It has multiple carrying devices, comprising an accurate location attitude data that can receive each carrying device and by its
The accurate location attitude data of his carrying device sends the system server of the image analysis processing unit of a carrying device to, often
The location data processing unit of one carrying device is connected with the system server respectively, and the system server is carried with each respectively
The image analysis processing unit of device is connected.
It is described that dizzy system is prevented based on sterically defined virtual reality, wherein, the locator is multiple, the locator
The headroom in a VR scenes area is arranged on, the locator includes multiple wide-angle lens locators and multiple narrow angle mirror heads are fixed
Position device, narrow-angle camera lens locator is placed on the edge, corner, the position close to limited views such as barriers in the VR scenes area
Put, wide-angle lens locator is arranged on the visuals field such as the center of the VR scenes more open position.
By using above-mentioned technical proposal, the utility model is relatively low still using refreshing frequency by using correcting algorithm
First position attitude data that the optical tracking (positioning) of initial rotation angle accurate positioning is obtained corrects initial rotation angle
Easily produce offset error, but the higher second place attitude data of refreshing frequency so that location data can have compared with
High refreshing frequency, overcome because delay can caused by visual Landscape there is discontinuous or distortion；Make location data in big face simultaneously
Product still has higher accuracy when using for a long time, it is ensured that the VR experience informations of VR equipment and the actual motion feelings of user in itself
Condition matches.Simultaneously by way of positioning multiple angle locating modules and correcting positioning with special locator array structure
Overcome and positional information test leakage problem occurs in excessively complicated Venues Environment.In addition, by setting system server to provide not
The interaction of positional information between appearance Portable device, and the positional information of local Portable device is carried out reducing the data of refreshing frequency
Compression is handled, uploading system server, and then sends other non-local Portable devices to, so as to ensure the situation of Consumer's Experience
Under, system burden is alleviated as far as possible.Locator, the angle locating module that the utility model is used simultaneously are easily fabricated, phase
Than prior art other precise positioning equipment have it is lower-cost a little, especially when large area is laid, with relatively low
Cost, while can meet again VR systems experience requirement.
Brief description of the drawings
Fig. 1 is the schematic diagram that the utility model prevents dizzy system first embodiment based on sterically defined virtual reality.
Fig. 2 is the schematic diagram that the utility model prevents dizzy system second embodiment based on sterically defined virtual reality.
Fig. 3 is the flow chart that the utility model prevents dizzy system compensation algorithm based on sterically defined virtual reality.
Fig. 4 is flow chart when the utility model prevents dizzy system practical operation based on sterically defined virtual reality.
Fig. 5 a are the VR scenes area and its subinterval that the utility model prevents dizzy system based on sterically defined virtual reality
Divide schematic diagram.
Fig. 5 b are that the utility model prevents that the subinterval of VR scenes area one of dizzy system is determined based on sterically defined virtual reality
The arrangement schematic diagram of one embodiment of position device array.
Fig. 5 c are that the utility model prevents that the subinterval of VR scenes area one of dizzy system is determined based on sterically defined virtual reality
The arrangement schematic diagram of another embodiment of position device array.
Embodiment
Coordinate schema and preferred embodiment of the present utility model below, it is predetermined real to reach that the utility model is expanded on further
The technological means taken with new purpose.
As shown in figure 1, preventing dizzy system first preferred embodiment based on sterically defined virtual reality for the utility model
Schematic diagram, the virtual reality prevent dizzy system include an absolute positioning apparatus 1, a carrying device 2.The absolute positioning apparatus 1
It is connected with the carrying device 2, its connected mode includes but is not limited to wired connection, the mode such as wireless connection.The carrying device 2 can
Carried by a VR user.
The absolute positioning apparatus 1 includes a controller 11, at least a locator 12.The controller 11 and each locator
12 be connected, each locator 12 can be an optical tracker, the optical tracker can to a VR places launch such as visible ray,
The optical signallings such as infrared ray, the optical tracker further includes an optical detection apparatus, when the optical detection apparatus is received
During the optical signal that the VR user is reflected back, first position attitude data can be converted into by optics motion capture algorithm, and should
Position and attitude data send back the controller 11.
The carrying device 2 includes an angle locating module 21, a data processing module 22, VR experience modules 23.It is preferred that
, the angle locating module 21 can be one or nine axle positioners, and the VR user is entered by accelerometer, gyroscope, magnetometer
Line position puts Attitude Tracking, and the position and attitude of the VR user is converted into second place attitude data, it is further preferred that this
Two position and attitude data further can carry out linear filtering by a Kalman filter, tentatively to filter out interference.At the data
Reason module 22 further comprises a location data processing unit 221 and an image processor 222, the location data processing unit
221 are connected with the angle locating module 21 and the controller 11 respectively, and the location data processing unit 221 can be from the angle
The second place attitude data of VR user's (that is, carrying device 2) is obtained at locating module 21, additionally it is possible to from the controller
VR user (that is, the carrying device 2) the first position attitude data is obtained at 11, and first is used by a correcting algorithm
Put attitude data to be corrected the data deviation in the attitude data of the second place, so as to obtain this this VR user, (that is, this is taken
Belting 2) accurate location attitude data.The location data processing unit 221 is connected with the image analysis processing unit 222,
The location data processing unit 221 sends the position and attitude data of the VR user to image analysis processing unit 222, through the figure
As the Treatment Analysis of analysis and processing unit 222 is view data.The image analysis processing unit 222 experiences the phase of module 23 with the VR
Even, the image analysis processing unit 222 sends the VR experience datas of Treatment Analysis to VR experience modules 23, and through the VR
Experience module 23 is converted to VR experience informations, the including but not limited to content such as audio-frequency information, video information, body-sensing information, and will
The VR experience informations are presented to VR experience users.
As shown in Fig. 2 preventing the dizzy preferred embodiment of system second based on sterically defined virtual reality for the utility model
Schematic diagram, the virtual reality prevent dizzy system include an absolute positioning apparatus 1 ', multiple carrying devices 2 ', a system server
3.The absolute positioning apparatus 1 ' is connected with each carrying device 2 ', the carrying device 2 ' respectively with the system server 3
It is connected.Its connected mode includes but is not limited to wired connection, the mode such as wireless connection.The carrying device 2 ' can be respectively by multiple
Different VR users carries.The present embodiment is so that three VR users A, B, C carry 3 A of carrying device 2 ', 2 ' B, 2 ' C respectively as an example
Explained, but the quantity of carrying device 2 ' is not limited thereto in actual use.
The absolute positioning apparatus 1 ' includes a controller 1 ' 1, at least a locator 1 ' 2.The controller 1 ' 1 with it is each
Locator 1 ' 2 is connected, and each locator 1 ' 2 can be an optical tracker, and the optical tracker can launch all to a VR places
Such as visible ray, infrared ray optical signalling, the optical tracker further include an optical detection apparatus, when optical detecting dress
Put when receiving optical signal that a certain VR user is reflected back, first position posture number can be converted into by optics motion capture algorithm
According to, and the position and attitude data are sent back into the controller 1 ' 1.
Each carrying device 2 ' A, 2 ' B, 2 ' C internal structure it is essentially identical, hereafter illustrated by taking 2 ' A as an example, this is taken
The A of belting 2 ' includes the A1 of an angle locating module 2 ', a data processing module 2 ' A2, a VR experience module 2 ' A3.At the data
Manage the A2 of module 2 ' and further include the A21 of a location data processing unit 2 ' and the A22 of an image analysis processing unit 2 '.
The A21 of location data processing unit 2 ' is connected with the controller 1 ' 1 and the angle locating module 2 ' A1, the positioning
The A21 of data processing unit 2 ' can be obtained at the controller 1 ' 1 VR user A first position attitude data (that is, its carry
The A of carrying device 2 ' first position attitude data), meanwhile, the location data processing unit 2 ' A21 can also be fixed from the angle
Position module 2 ' A1 place obtains VR user A second place attitude data (that is, the A of carrying device 2 ' of its carrying second place appearance
State data), it is preferred that the angle locating module 2 ' A1 can be one or nine axle sensors, it is further preferred that the second place posture
Data further can carry out linear filtering by a Kalman filter, tentatively to filter out interference.The location data processing unit
2 ' A21 are inclined to the data in the attitude data of the second place using VR user A first position attitude data by a correcting algorithm
Difference is corrected, thus obtain VR user A accurate location attitude data (that is, its carry the A of carrying device 2 ' accurate position
Put attitude data).The location data processing unit 2 ' A21 is also connected with system server 3, and it is accurate by the user A's of generation
After position and attitude data reduction refreshing frequency, system server 3 is sent to.Due to the B of carrying device 2 ', 2 ' C have it is essentially identical
26S Proteasome Structure and Function, the B21 of location data processing unit 2 ' and 2 ' C21 also can be by user B, C's of the reduction refreshing frequency of generation
Accurate location attitude data simultaneously sends system server 3 to.
The A22 of image analysis processing unit 2 ' and the A21 of location data processing unit 2 ' and the phase of system server 3
Even, the A22 of image analysis processing unit 2 ' obtains the user A with high, refresh frequency from the A21 of location data processing unit 2 '
Accurate location attitude data, the VR experience datas to produce user A visual angles landscape, meanwhile, the image analysis processing unit
2 ' A22 from system server 3 obtain reduction refreshing frequency after user B and user C accurate location attitude data, to
User B and user C real time position posture is produced in the VR experience datas of family A visual angles landscape.
The image analysis processing unit 2 ' A22 is also connected with the VR experience A3 of module 2 ', the image analysis processing unit 2 '
A22 sends the VR experience datas comprising user B and the user A visual angles landscape of user C real time position posture to VR experience
The A3 of module 2 ', and VR experience informations are converted to through the VR experience A3 of module 2 ', including but not limited to audio-frequency information, video information,
The contents such as body-sensing information, and the VR experience informations are presented to user A.
Fig. 3 is the flow chart that the utility model prevents dizzy system compensation algorithm based on sterically defined virtual reality, system
After startup, the location data processing unit obtains the first position attitude data of user by the locator, meanwhile, by this
Angle locating module obtains the second place attitude data of user.The initial rotation of the location data processing unit first to system
Angle carries out zero-in, that is, passes through the initial rotation angle in the second place attitude data of acquirement and described first
The deviation of the initial rotation angle in attitude data is put, initial compensation value is calculated, using in the initial compensation value more new system
Existing offset.The offset after the renewal is transferred, the second place attitude data of acquisition is corrected, and then obtains use
The accurate location attitude data at family, and calibrated accurate location attitude data is exported.Hereafter, when getting new
During two position and attitude data, judge now whether locator has new first position attitude data to produce：If not provided, transferring existing
Some offsets are corrected to the second place attitude data newly obtained, and calibrated accurate location attitude data is carried out
Output；If new first position attitude data is produced, then by the second place attitude data that newly obtains just
The deviation of the beginning anglec of rotation and the initial rotation angle in the first position attitude data newly obtained, calculates new compensation
Value, updates existing offset using the offset of the new calculating, updated existing offset is transferred, to the second of acquisition
Position and attitude data are corrected, and calibrated accurate location attitude data is exported.Hereafter, this is repeated to correct
Journey, realizes the purpose for compensating correction to second place attitude data using first position attitude data.
The circular of the offset is as follows：
The locus coordinate X of user is measured by angle locating module1, Y1, Z1, and user is relative and horizontal level
Tiltangleθ1, and anglec of rotation φ1, according to following formula can in the hope of user horizontal displacement X1', Y1’：
X1'=X1×cos(φ1)+Y1×sin(θ1)×sin(φ1)-Z1*cos(θ1)×sin(φ1)……..(1)
Y1'=Y1×cos(θ1)+Z1×sin(θ1)…………………………………………(2)
According to the horizontal coordinate X of user1', Y1' value combine following algorithm, it can be deduced that user second place attitude data
In initial rotation angle Azimuth1：
Algorithm to calculate Azimuth1=arctan (Y1’/X1’)
Azimuth1(X1'=0, Y1’<=90 ° 0)
Azimuth1(X1'=0, Y1’>=270 ° 0)
Azimuth1(X1’<0)={ 180- [arctan (Y1’/X1’)]×180/π}°
Azimuth1(X1’>0,Y1’<0)={-[arctan (Y1’/X1’)]×180/π}°
Azimuth1(X1’>0,Y1’<0)={ 360- [arctan (Y1’/X1’)]×180/π}°
Based on similar approach, locator measures the locus coordinate X of user2, Y2, Z2, and user is relative and horizontal position
The tiltangleθ put2, and anglec of rotation φ2, according to following formula can in the hope of user horizontal displacement X2', Y2’：
X2'=X2×cos(φ2)+Y2×sin(θ2)×sin(φ2)-Z2*cos(θ2)×sin(φ2)……..(1)
Y2'=Y2×cos(θ2)+Z2×sin(θ2)…………………………………………(2)
According to the horizontal coordinate X of user2', Y2' value combine following algorithm, it can be deduced that user first position attitude data
In initial rotation angle Azimuth2：
Algorithm to calculate Azimuth2=arctan (Y2’/X2’)
Azimuth2(X1'=0, Y1’<=90 ° 0)
Azimuth2(X1'=0, Y1’>=270 ° 0)
Azimuth2(X1’<0)={ 180- [arctan (Y1’/X1’)]×180/π}°
Azimuth2(X1’>0,Y1’<0)={-[arctan (Y1’/X1’)]×180/π}°
Azimuth2(X1’>0,Y1’<0)={ 360- [arctan (Y1’/X1’)]×180/π}°
By calculating the initial rotation angle Azimuth in the second place attitude data1With the first position posture
Initial rotation angle Azimuth in data2Deviation, you can draw rectification building-out value.It can enter one by the rectification building-out value
Step is corrected to the initial rotation angle in the attitude data of the second place, you can is drawn accurate initial rotation angle, is passed through the standard
True initial rotation angle can release accurate customer position information and angle information so that location data processing unit is counter, and then determine
The accurate location attitude data of user.
Fig. 4 is flow chart when the utility model prevents that dizzy system is Shi Jishiyong based on sterically defined virtual reality, its
Including：
Step one：One second place of each carrying device is obtained by the location data processing unit of each carrying device
Attitude data and a first position attitude data；
Step 2：The first position attitude data is used to this by a correcting algorithm by the location data processing unit
Second place attitude data is corrected, and obtains an accurate position and attitude data；
Step 3：It is sent to after reducing the refreshing frequency of the accurate location attitude data by the location data processing unit
The system server；
Step 4：By the image analysis processing unit of each carrying device obtain the carrying device oneself this is accurate
Position and attitude data, while the position and attitude data of other carrying devices of reduction refreshing frequency are obtained from the system server,
And generate VR experience datas；
Step 5：The VR experience datas are sent to by the VR by the image analysis processing unit and experience module, the VR bodies
Test module the VR experience datas are converted into a VR experience informations and presented.
Because in the prior art, the magnetic element of inertial positioning equipment is easily disturbed by peripheral facility and material, is led
Cause its initial rotation angle information inaccurate, and then impact position follows the trail of the degree of accuracy, and magnetic element in wide scope long-time
(having obvious initial rotation angular displacement more than 15 minutes) easily produces data wander and again results in location tracking mistake when using
It is accurate.And location tracking misalignment can not cause to be presented to the VR experience informations of VR user and the actual motion situation of user in itself not
Match somebody with somebody, so as to trigger motion sickness, cause the senses of discomfort such as dizziness；And optical tracking (positioning) is although initial rotation can be determined accurately
Angle, but the refreshing frequency of optical tracking (positioning) collection information is relatively low, the delay for causing positional information to gather, delay is same
Sample can make actual motion situation of the VR experience informations for being presented to VR user with user in itself mismatch to trigger motion sickness, band
Carry out the senses of discomfort such as dizziness；In addition, the levels of precision of the information in addition to initial rotation angle of optical tracking (positioning) collection is remote
The inertial positioning equipment not as nine axle sensors, the second place attitude data obtained with inertial positioning equipment location equipment
Based on, the first position attitude data gathered using optical tracking (positioning) is corrected to it, can make the tracking of acquisition
Location data is more accurate；In addition, optical tracking (positioning) is also easy to the situation for occurring survey or None- identified by mistake, and excessively
Complicated Venues Environment can also allow mark point to be easier to be blocked by barrier, so as to occur test leakage problem, cause positional information
Lose and cause the actual motion situation of the VR experience informations for being presented to VR user with user in itself to mismatch.The utility model passes through
Using correcting algorithm, the position and attitude data of each user are measured respectively using the high inertial positioning system of refreshing frequency, solve
The problem of positional information collection delay and positional information collection are omitted；Meanwhile, gathered accurately really by optical tracking (positioning)
The position and attitude of fixed each user, for correcting the drift of initial position attitude information and the error of each inertial positioning system, from
And enable multiple users to while continuously obtain accurate position and attitude information, solve existing VR equipment when large area is long
Between the VR experience informations for being presented to VR user and the unmatched problem of actual motion situation of user in itself that exist when using.
In terms of multi-user collaborative interaction, the requirement due to user to the VR experience informations at itself visual angle is most sensitive severe
Carve, and the real-time position information perception to other users is then more blunt.Therefore, the utility model is at generation user itself visual angle
VR experience datas when, directly using the original of the local high, refresh frequency (being more than 500 frames per second) obtained by correcting algorithm
Beginning position and attitude data are generated, it is ensured that actual motion situation of the VR experience informations with user in itself matches；Accordingly, Qi Tayong
As long as the refreshing frequency of the real-time position information at family ensures that the action that human eye is aware of is that (about 30 frames are per second for continuous state
This purpose can be achieved), therefore, image analysis processing unit is sending the position and attitude data for interaction to server
When, it can will be sent after the refreshing frequency reduction of home position attitude data, so greatly reduce the number of the communication between module
According to amount, data transmission bauds is improved, the data processing pressure of system is reduced, it is ensured that the fluency of system operation, reduced
The cost of system equipment.
The utility model be based on sterically defined virtual reality prevent dizzy system positioning module 1,1 ' the locator 12,
1 ' 2 is multiple when being used for large area scene, and in a burst of column arrangement.As shown in Figure 5 a, a VR scenes area 4, institute
State locator 12,1 ' 2 be arranged on the headroom in the VR scenes area 4, the VR scenes area 4 can be further divided into multiple sub-districts
Between 4A1,4A2,4A3 ....For convenience of explanation, the VR scenes area 4 and several subintervals are with square for generation for the present embodiment
Table illustrates, but is not limited thereto in practice, and it may be circle, rectangle, irregular figure or other shapes, in order to fill
The division VR scenes area 4 divided, the subinterval can also be divided into combination of different shapes, such as when circle is in VR scenes area 4,
Subinterval in is square or rectangle, and the edge in the subinterval in field week is then circle.As shown in Figure 5 b, with a subinterval
Illustrate the arrangement of locator array exemplified by 4A1, the locator 12,1 ' 2 are arranged on the edge line in each subinterval,
The locator 12,1 ' 2 are divided into wide-angle lens locator A and the positioning of narrow angle mirror head according to used camera lens visible angle difference
Device B, wide-angle lens locator A can reconnaissance range it is larger, but detecting distance it is shorter, narrow angle mirror head locator B's detects
Scope is smaller, but detecting distance is longer.In the locator arrangement array structure of utility model, by narrow angle mirror head locator B
Be positioned over the edge of scene, corner, the position close to limited views such as barriers, preferably in each corners of subinterval 4A1
One group of side on close to the corner side set at least be symmetrical arranged narrow a pair angle mirror head locator B；And determine wide-angle lens
Position device A is arranged on the visuals field such as the center of scene more open position, it is preferred that at the edge mid-points of a subinterval 4A1 extremely
One wide-angle lens locator A is set less, enters one preferred, can a subinterval 4A1 point of bisection, at least set at fourth class branch
Put a wide-angle lens locator A.As shown in Figure 5 c, in another preferred embodiment, positioning is illustrated by taking a subinterval 4A1 as an example
The arrangement of device array, in this embodiment, one can be used to have larger reconnaissance range and longer detecting concurrently apart from full-shape camera lens
C, sets a full-shape camera lens C, at other Along ents of full-shape camera lens C both sides at least at the edge mid-points of a subinterval 4A1
A pair of wide-angle lens locator A are at least symmetrical arranged, close to the corner one on one group of side in each corners of subinterval 4A1
Side sets and is at least symmetrical arranged narrow a pair angle mirror head locator B.
Pass through above-mentioned arrangement array structure, the position for various camera lenses of reasonably arranging in pairs or groups so that locator is in complicated venue
Also can be without the position for detecting user at dead angle and posture, in order to further improve the degree of accuracy, it is preferred that Ke Yitong under environment
Cross using optical position tracing algorithm so that user just exports it in the case of at least detected by three locators simultaneously
User is quickly and accurately detected in position and attitude data, realization, while avoiding the situation of survey or None- identified by mistake as far as possible, separately
Outer such a preferred scheme uses the mutual auxiliary corrective of multiple locators, and the requirement to each positioner equipment precision is more wide
Pine, can reduce the laying cost of locator array.
Described above is only preferred embodiment of the present utility model, not does any formal to the utility model
Limitation, although the utility model is disclosed above with preferred embodiment, but is not limited to the utility model, it is any to be familiar with
Professional and technical personnel, in the range of technical solutions of the utility model are not departed from, when in the technology using the disclosure above
Hold the equivalent embodiment made a little change or be modified to equivalent variations, as long as without departing from technical solutions of the utility model
Hold, any simple modification, equivalent variations and the modification made according to technical spirit of the present utility model to above example, still
Belong in the range of technical solutions of the utility model.
Claims (11)
1. one kind prevents dizzy system based on sterically defined virtual reality, it is characterised in that include：
One absolute positioning apparatus, include an at least locator, one can from locator obtain data produce first position posture
The controller of data, the controller is connected with the locator；
An at least carrying device, the carrying device is included：
One can produce the angle locating module of second place attitude data；
One is capable of the data processing module of receiving position attitude data generation VR experience datas, and the data processing module is further wrapped
Contain：
One can be corrected acquisition according to first position attitude data accurately to the data deviation in the attitude data of the second place
The data processing unit of position and attitude data；And,
One can generate the image analysis processing unit of VR experience datas according to the accurate location attitude data of acquisition；
One can be converted to VR experience datas the VR experience modules that VR experience informations are presented；
The location data processing unit is connected with the controller of the absolute positioning apparatus, the location data processing unit and the carrying
The angle locating module of device is connected, and the location data processing unit is connected with the image analysis processing unit, the graphical analysis
Processing unit is connected with VR experience module.
2. according to claim 1 prevent dizzy system based on sterically defined virtual reality, it is characterised in that it has many
Individual carrying device, and comprising an accurate location attitude data that can receive each carrying device and by the standard of other carrying devices
True position and attitude data send the system server of the image analysis processing unit of a carrying device to, and each carrying device is determined
Position data processing unit is connected with the system server respectively, the graphical analysis of the system server respectively with each carrying device
Processing unit is connected.
3. according to claim 2 prevent dizzy system based on sterically defined virtual reality, it is characterised in that system service
The accurate location attitude data for each carrying device that device is received is the accurate position and attitude data after reduction refreshing frequency.
4. according to any one of claim 1 to 3 prevent dizzy system based on sterically defined virtual reality, its feature exists
In each locator is an optical tracker.
5. according to any one of claim 1 to 3 prevent dizzy system based on sterically defined virtual reality, its feature exists
In the angle locating module is one or nine axle sensors.
6. according to claim 5 prevent dizzy system based on sterically defined virtual reality, it is characterised in that the angle is determined
Position module also includes the Kalman filter that a pair of second place attitude datas carry out linear filtering.
7. according to any one of claim 1 to 3 prevent dizzy system based on sterically defined virtual reality, its feature exists
In the locator is multiple, and the locator is arranged on the headroom in a VR scenes area, and the locator includes multiple
Wide-angle lens locator and multiple narrow angle mirror head locators, narrow-angle camera lens locator be placed on the visual field in the VR scenes area by
The position of limit, the wide-angle lens locator is arranged on the visual field in the VR scenes area more open position.
8. according to claim 7 prevent dizzy system based on sterically defined virtual reality, it is characterised in that narrow-angle
Camera lens locator is placed on the edge, corner, the position close to barrier in the VR scenes area, and the wide-angle lens is arranged on VR
The middle position at scenic spot.
9. according to claim 7 prevent dizzy system based on sterically defined virtual reality, it is characterised in that the VR scenes
Area can be divided into multiple subintervals, and the locator is arranged on the edge line in the subinterval, at each angle in each subinterval
Set on the one group of side fallen close to the corner side and be at least symmetrical arranged narrow a pair angle mirror head locator.
10. according to claim 7 prevent dizzy system based on sterically defined virtual reality, it is characterised in that the VR
Scenic spot can be divided into multiple subintervals, and the locator is arranged on the edge line in the subinterval, the side in each subinterval
Edge midpoint is at least provided with a wide-angle lens locator.
11. according to claim 7 prevent dizzy system based on sterically defined virtual reality, it is characterised in that described fixed
Position device has larger reconnaissance range and longer detecting concurrently apart from full-shape camera lens including one, and the VR scenes area can be divided into multiple sub-districts
Between, the locator is arranged on the edge line in the subinterval, and setting one is complete at least at the edge mid-points in each subinterval
Angle mirror head, is at least symmetrical arranged a pair of wide-angle lens locators, in each son at other Along ents of the full-shape camera lens both sides
Set on one group of side in interval each corner close to the corner side and be at least symmetrical arranged narrow a pair angle mirror head locator.
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| CN201621228167.4U CN206601680U (en) | 2016-11-15 | 2016-11-15 | Dizzy system is prevented based on sterically defined virtual reality |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110384921A (en) * | 2018-04-23 | 2019-10-29 | 当家移动绿色互联网技术集团有限公司 | A kind of VR application anti-dazzle technology based on adaptive edge field obscuration |
| CN110519247A (en) * | 2019-08-16 | 2019-11-29 | 上海乐相科技有限公司 | A kind of one-to-many virtual reality display method and device |
| CN111933277A (en) * | 2020-07-30 | 2020-11-13 | 西交利物浦大学 | Method, device, equipment and storage medium for detecting 3D vertigo |
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2016
- 2016-11-15 CN CN201621228167.4U patent/CN206601680U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110384921A (en) * | 2018-04-23 | 2019-10-29 | 当家移动绿色互联网技术集团有限公司 | A kind of VR application anti-dazzle technology based on adaptive edge field obscuration |
| CN110384921B (en) * | 2018-04-23 | 2023-03-28 | 北京五一视界数字孪生科技股份有限公司 | VR application anti-dizziness technology based on self-adaptive edge view shielding |
| CN110519247A (en) * | 2019-08-16 | 2019-11-29 | 上海乐相科技有限公司 | A kind of one-to-many virtual reality display method and device |
| CN111933277A (en) * | 2020-07-30 | 2020-11-13 | 西交利物浦大学 | Method, device, equipment and storage medium for detecting 3D vertigo |
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Address after: 100020 Beijing Chaoyang District East Fourth Ring North Road, No. 6, No. 2 District, 28 Floor, 222 Shop Patentee after: Beijing danghong Qitian international culture and Technology Development Group Co., Ltd Address before: 100085, room 3, building 5, building 1, No. 515, ten Street, Haidian District, Beijing Patentee before: Beijing red monkey International Cultural Development Group Limited |