WO2022057833A1 - 自适应智能头手vr系统、方法 - Google Patents

自适应智能头手vr系统、方法 Download PDF

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Publication number
WO2022057833A1
WO2022057833A1 PCT/CN2021/118544 CN2021118544W WO2022057833A1 WO 2022057833 A1 WO2022057833 A1 WO 2022057833A1 CN 2021118544 W CN2021118544 W CN 2021118544W WO 2022057833 A1 WO2022057833 A1 WO 2022057833A1
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Prior art keywords
handle
electromagnetic
tracking
head
external environment
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PCT/CN2021/118544
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English (en)
French (fr)
Inventor
张秀志
周宏伟
柳光辉
郭衡江
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青岛小鸟看看科技有限公司
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Publication of WO2022057833A1 publication Critical patent/WO2022057833A1/zh
Priority to US17/884,973 priority Critical patent/US12026299B2/en

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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
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
    • G02B27/01—Head-up displays
    • G02B27/017—Head mounted
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
    • G02B27/01—Head-up displays
    • G02B27/017—Head mounted
    • G02B27/0172—Head mounted characterised by optical features
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
    • G06F3/012—Head tracking input arrangements
    • 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
    • G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
    • G06F3/0304—Detection arrangements using opto-electronic means
    • 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
    • G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
    • G06F3/033—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
    • G06F3/0346—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor with detection of the device orientation or free movement in a 3D space, e.g. 3D mice, 6-DOF [six degrees of freedom] pointers using gyroscopes, accelerometers or tilt-sensors
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
    • G02B27/01—Head-up displays
    • G02B27/0101—Head-up displays characterised by optical features
    • G02B2027/0138—Head-up displays characterised by optical features comprising image capture systems, e.g. camera
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
    • G02B27/01—Head-up displays
    • G02B27/0101—Head-up displays characterised by optical features
    • G02B2027/014—Head-up displays characterised by optical features comprising information/image processing systems
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
    • G02B27/01—Head-up displays
    • G02B27/0179—Display position adjusting means not related to the information to be displayed
    • G02B2027/0187—Display position adjusting means not related to the information to be displayed slaved to motion of at least a part of the body of the user, e.g. head, eye

Definitions

  • Embodiments of the present invention relate to the field of computer vision, and more particularly, to an adaptive intelligent head-hand VR system and method.
  • an embodiment of the present invention provides an adaptive intelligent head-hand VR system to solve the limitation of FOV in the existing All-in-one VR 6DOF integrated machine design if optical tracking is used, and FOV exists if ultrasonic tracking is used.
  • An adaptive intelligent head-hand VR system provided according to an embodiment of the present invention includes a headgear, a handle matched with the headgear, a control terminal and an electromagnetic module, wherein,
  • a head-mounted camera is provided on the head-mounted camera, and the head-mounted camera is configured to obtain an external environment image of the head-mounted coordinate system;
  • a handle camera is provided on the handle, and the handle camera is set to obtain an external environment image of the handle coordinate system;
  • the control terminal includes a control terminal database and a data selection module
  • the control terminal database is set to store the external environment image of the handle coordinate system
  • the data selection module is configured to determine a tracking mode used for tracking the handle, wherein the tracking mode includes optical tracking;
  • the electromagnetic module is connected to the data selection module. If optical tracking is used, the electromagnetic module is configured to perform coordinate system transformation on the external environment image of the head-mounted coordinate system and the external environment image of the handle coordinate system. , so that the external environment image obtained by the head-mounted camera and the external environment image obtained by the handle camera are in the same coordinate system to complete the optical tracking.
  • control end is provided on the headgear.
  • the electromagnetic module includes an electromagnetic transmitting module and an electromagnetic receiving module; the electromagnetic transmitting module is configured to transmit electromagnetic signals, and the electromagnetic receiving module is configured to receive the electromagnetic transmitting module emitted electromagnetic signals.
  • the electromagnetic emission module is disposed on the handle;
  • the electromagnetic receiving module is arranged on the headgear.
  • the tracking mode further comprises electromagnetic tracking
  • the electromagnetic receiving module arranged on the headgear receives the electromagnetic signal sent by the electromagnetic transmitting module arranged on the handle to complete the electromagnetic tracking of the handle.
  • the headgear and the handle further include an IMU sensor module, and the IMU sensor module at least includes a gravitational acceleration sensor and a gyroscope, and is configured to obtain the tracking information of the headgear and the handle. and location prediction information.
  • a wireless chip is also included,
  • the wireless chip includes a head-mounted wireless chip arranged on the head-mounted and a handle wireless chip arranged on the handle, the handle wireless chip is matched with the head-mounted wireless chip, and is configured to transmit wireless information;
  • the wireless information includes at least the external environment image of the handle coordinate system, the button information of the handle, the IMU sensing information of the handle obtained by the IMU sensor module, the time system of the headset and the handle. synchronization information of the time system.
  • the data selection module selects whether the tracking handle adopts optical tracking or electromagnetic tracking according to a preset threshold and the update accuracy of the external environment image of the handle coordinate system in the control terminal database.
  • optical tracking is automatically selected if the update accuracy of the external environment image in the control terminal database is not less than a preset accuracy standard value, and the optical FOV of the handle camera is within the range of the threshold value , optical tracking is automatically selected;
  • an adaptive intelligent head-hand VR operation method is also provided. Based on the above-mentioned adaptive intelligent head-hand VR system, the method includes:
  • the tracking mode includes optical tracking and electromagnetic tracking
  • optical tracking is used, coordinate system transformation is performed on the external environment image of the head-mounted coordinate system and the external environment image of the handle coordinate system, so that the external environment image obtained by the head-mounted camera and the handle camera are obtained.
  • the external environment image is in the same coordinate system to complete the optical tracking;
  • the electromagnetic receiving module arranged on the headgear receives the electromagnetic signal sent by the electromagnetic transmitting module arranged on the handle to complete the electromagnetic tracking of the handle.
  • the handle by installing a handle camera on the handle, the handle can also independently obtain images of the external environment, and an electromagnetic module is provided, so that , which can realize both electromagnetic tracking and image tracking.
  • the external environment image of the head-mounted coordinate system and the external environment image of the handle coordinate system are obtained respectively through the head-mounted camera and the handle camera, and the external environment image of the handle coordinate system is obtained.
  • the environment image is stored in the database of the control terminal, and then it is determined whether the tracking handle adopts optical tracking or electromagnetic tracking.
  • the external environment image obtained by the wearing camera and the external environment image obtained by the handle camera are in the same coordinate system to complete the optical tracking; if electromagnetic tracking is used, the electromagnetic receiving module set on the headset receives the electromagnetic transmitting module set on the handle.
  • the electromagnetic signal sent by the group is used to complete the electromagnetic tracking of the handle.
  • FIG. 1 is a system frame diagram of an adaptive smart head-hand VR system according to an embodiment of the present invention
  • FIG. 2 is a method flowchart of a method for running an adaptive smart head-hand VR according to an embodiment of the present invention.
  • embodiments of the present invention provide an adaptive intelligent head-hand VR system, and specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
  • FIG. 1 illustrates the adaptive smart head-hand VR system of the embodiment of the present invention
  • FIG. 2 shows the operation of the self-adaptive smart head-hand VR system according to the embodiment of the present invention. Methods are exemplarily indicated.
  • an adaptive intelligent head-hand VR system 100 provided by an embodiment of the present invention includes a headgear 110 , a handle 120 matching the headgear, a control terminal 112 and an electromagnetic module, and a headgear 110 is provided on the headgear 110 .
  • Wearing a camera 111 the head-mounted camera 111 is set to obtain the external environment image of the head-mounted coordinate system, and a handle camera 121 is set on the handle 120, and the handle camera 121 is set to obtain the external environment image of the handle coordinate system.
  • the head-mounted coordinate system and handle coordinate system described here do not refer to the geographic coordinates or data coordinates with the head-mounted or handle as the origin of the coordinate system, but refer to the different positions of the acquired external environment image in the head-mounted or handle Description method, that is, the headset has a separate positioning/description method for the acquired external environment image, and the handle also has its own separate positioning/description method for the acquired external environment image.
  • the external environment image of the headset coordinate system and the external environment image of the handle coordinate system are located in different coordinate systems and are described in different ways.
  • the external environment image of the headset coordinate system reflects the relative relationship between the headset and the external environment.
  • the external environment image reflects the relative relationship between the handle and the external environment, so that the relative relationship between the headset and the handle can be deduced, so that the headset can complete the position and dynamic tracking of the handle.
  • the control end 112 includes a control end database 112-1 and a data selection module 112-2, and the specific setting position of the control end 112 is not specifically limited.
  • the control end 112 is set on the headset 110; the control terminal database 112-1 in the control terminal 112 is set to store the external environment image of the handle coordinate system, and the data selection module 112-2 in the control terminal 112 is set to determine the tracking used by the tracking handle 120.
  • the tracking mode includes optical tracking and electromagnetic tracking.
  • the data selection module 112-2 updates the accuracy of the external environment image of the handle coordinate system according to a preset threshold and the control terminal database 112-1 Select whether the handle adopts optical tracking or electromagnetic tracking, and the update accuracy of the external environment image in the control terminal database 112-1 is not less than the preset accuracy standard value, it means that the external environment image in the control terminal database 112-1 is updated accurately.
  • the accuracy is less than the preset accuracy standard value, it means that the external environment image update deviation in the control terminal database 121-1, if the external environment image update deviation in the control terminal database 121-1, or the optical FOV of the handle camera 121 Outside the preset threshold range, electromagnetic tracking is automatically selected.
  • the accuracy standard value is preset in advance. The standard value can include picture resolution, sharpness, contrast, and brightness.
  • the specific values are not specifically limited, such as , in the initial power-on stage and in the stage when the control terminal database 121-1 is not ready, electromagnetic tracking is used to ensure the basic function of 6DOF tracking; when the headset 110 and the control terminal database 121-1 are in the update stage, the electromagnetic data Check whether the external environment image in the control terminal database 121-1 is updated accurately, and if the update is accurate, it will be converted into optical tracking with higher precision; when optical occlusion, the optical FOV has exceeded the preset threshold, electromagnetic For tracking, the deviation of the tracking position is corrected in real time through electromagnetic data; in scenarios where the rapid movement of the handle has a great impact on the optical accuracy, electromagnetic tracking is used to correct the deviation of the IMU tracking position in real time through the electromagnetic data.
  • the electromagnetic module is connected to the data selection module 121-2. If optical tracking is used, the electromagnetic module is set to perform the external environment image of the head-mounted coordinate system and the external environment image of the handle coordinate system. Coordinate system transformation, so that the external environment image obtained by the head-mounted camera and the external environment image obtained by the handle camera are in the same coordinate system, so as to determine the positional relationship between the handle and the headset, and then complete the optical tracking.
  • the electromagnetic module includes an electromagnetic transmitting module 122 and an electromagnetic receiving module 113; the electromagnetic transmitting module 122 is configured to transmit electromagnetic signals, and the electromagnetic receiving module 113 is configured to receive the electromagnetic transmission
  • the electromagnetic signal emitted by the module 122 in this example, the electromagnetic transmitting module 122 is arranged on the handle 120, and the electromagnetic receiving module 113 is arranged on the headgear 110, in this way, the headgear 110 can realize the electromagnetic transmission to the handle 120.
  • the electromagnetic receiving module 113 arranged on the headset 110 receives the electromagnetic signal sent by the electromagnetic transmitting module 122 arranged on the handle 120 to complete the electromagnetic tracking of the handle.
  • the electromagnetic transmitting module 122 generates three sinusoidal signals with different frequencies on the X axis, the Y axis and the Z axis.
  • the electromotive force is induced to receive three-way induction signals, and the 6DOF positioning algorithm is used to calculate the relative position information and relative attitude information of the electromagnetic transmitting module 122 and the electromagnetic receiving module 113.
  • the electromagnetic receiving module 113 is fixed on the headgear 110, and the The display screen on the headset 110 has a fixed coordinate system relationship. Through the coordinate system transformation, the coordinate relationship between the electromagnetic emission module 122 and the display screen on the headset 110 can be calculated to realize the 6DOF function of the handle 120 .
  • the headgear 110 and the handle 120 further include an IMU sensor module (not shown in the figure), the IMU sensor module at least includes a gravitational acceleration sensor and a gyroscope, and is configured to obtain the tracking of the headgear and the handle information and location prediction information.
  • the IMU sensor module at least includes a gravitational acceleration sensor and a gyroscope, and is configured to obtain the tracking of the headgear and the handle information and location prediction information.
  • the adaptive smart head-hand VR system shown in FIG. 1 also includes a wireless chip, which includes a head-mounted wireless chip 114 disposed on the head-mounted 110 and a handle wireless chip 123 disposed on the handle 120.
  • the handle wireless chip 123 matches the headset wireless chip 114, and is set to transmit wireless information; the wireless information at least includes the external environment image of the handle coordinate system, the key information of the handle, the IMU sensing information of the handle obtained by the IMU sensor module, and the time of the headset.
  • the synchronization information of the system and the time system of the handle thereby completing the information transmission between the headset 110 and the handle 120 .
  • the cameras in the adaptive smart head VR system all include a public address and a private address
  • the public address is a broadcast address, which is set to quickly write to multiple cameras with the same configuration operation
  • the private address is set to perform special configuration and camera register read operations for cameras that require special configuration.
  • each camera has two I2C device addresses, one public and one private, using one I2C Drive multiple cameras.
  • set camera 1, camera 2, camera 3, and camera 4 to work in sequence.
  • the FSIN signal after the sensor of the camera in the adaptive smart head-hand VR system receives the FSIN signal, it resets the output clock, and outputs MIPI data after a period of time.
  • the FSIN signal does not change the generated signal, which is To ensure the stability of the system, the FSIN signal can complete the synchronization function after the exposure signal ends and before the Vsync signal is output, which not only ensures the synchronization function, but also ensures the stability of the signal.
  • the synchronization signal can be the same as the Camera frame rate signal. It can also be 1/2 of the frame rate, etc.
  • the adaptive smart head-hand VR system provided by the embodiment of the present invention includes a head-mounted, a handle, a control terminal and an electromagnetic module, and a head-mounted camera is provided on the head-mounted to obtain the coordinates of the head-mounted coordinate system.
  • External environment image a handle camera is set on the handle to obtain the external environment image of the handle coordinate system
  • the control terminal includes a control terminal database for storing the external environment image of the handle coordinate system, and is set to determine whether the tracking handle adopts optical tracking or electromagnetic tracking.
  • the electromagnetic module is connected to the data selection module.
  • the electromagnetic module is set to perform coordinate system transformation on the external environment image of the headgear coordinate system and the external environment image of the handle coordinate system, so that the The external environment image obtained by the head-mounted camera and the external environment image obtained by the handle camera are in the same coordinate system, and the optical tracking is completed.
  • the problem of optical limitation and the problem that the electromagnetic handle cannot be used when the magnetic field strength is large is solved.
  • a high-precision and low-latency optical tracking solution is used, and outside the optical range, an electromagnetic solution that supports 360-degree tracking is used, which greatly improves the anti-interference and environmental adaptation of VR products. ability to enhance the user's immersion in the process of use.
  • FIG. 2 shows a flowchart of a method for running an adaptive smart head-hand VR according to an embodiment of the present invention.
  • the method for running an adaptive intelligent head-hand VR provided by an embodiment of the present invention, based on the above-mentioned adaptive intelligent head-hand VR system, includes:
  • S110 Obtain the external environment image of the head-mounted coordinate system and the external environment image of the handle coordinate system respectively through the head-mounted camera and the handle camera, and store the external environment image of the handle coordinate system to the control terminal database;
  • S120 Determine the tracking mode adopted by the tracking handle according to the update accuracy of the external environment image of the handle coordinate system in the control terminal database; the tracking mode includes optical tracking and electromagnetic tracking;
  • the electromagnetic receiving module disposed on the headgear receives the electromagnetic signal sent by the electromagnetic transmitting module disposed on the handle to complete the electromagnetic tracking of the handle.
  • the handle can also independently obtain images of the external environment, and an electromagnetic module is provided, so, It can realize both electromagnetic tracking and image tracking.
  • the external environment image of the head-mounted coordinate system and the external environment image of the handle coordinate system are obtained respectively through the head-mounted camera and the handle camera, and the external environment of the handle coordinate system is obtained.
  • the image is stored in the control terminal database, and the tracking handle adopts optical tracking or electromagnetic tracking according to the update accuracy of the external environment image of the handle coordinate system in the control terminal database; if optical tracking is used, the external environment image of the headset coordinate system and the handle The external environment image of the coordinate system is transformed into the coordinate system, so that the external environment image obtained by the head-mounted camera and the external environment image obtained by the handle camera are in the same coordinate system to complete the optical tracking; if electromagnetic tracking is used, set it on the head-mounted camera.
  • the electromagnetic receiving module receives the electromagnetic signal sent by the electromagnetic transmitting module arranged on the handle to complete the electromagnetic tracking of the handle.
  • Embodiments of the present invention further provide a computer-readable storage medium, where a computer program is stored in the computer-readable storage medium, wherein the computer program is configured to execute the steps in any of the above method embodiments when running.
  • An embodiment of the present invention also provides an electronic device, comprising a memory and a processor, where a computer program is stored in the memory, and the processor is configured to run the computer program to execute the steps in any of the above method embodiments.

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Abstract

一种自适应智能头手VR系统（100），包括头戴（110）、手柄（120）、控制端（112）和电磁模块，在头戴（110）上设置有头戴摄像头（111），头戴摄像头（111）设置为获取头戴坐标系的外部环境图像；在手柄（120）上设置有手柄摄像头（121），手柄摄像头（121）设置为获取手柄坐标系的外部环境图像；控制端（112）包括控制端数据库（112-1）和数据选择模块（112-2）；控制端数据库（112-1）设置为存放手柄坐标系的外部环境图像；数据选择模块（112-2）设置为判断追踪手柄（120）所采用的追踪模式，该追踪模式包括光学追踪和电磁追踪，电磁模块与数据选择模块（112-2）相连接，若采用光学追踪，则电磁模块设置为将头戴坐标系的外部环境图像，手柄坐标系的外部环境图像进行坐标系转换，以使头戴摄像头（111）获取的外部环境图像和手柄摄像头（121）获取的外部环境图像处于相同的坐标系，完成光学追踪。

Description

自适应智能头手VR系统、方法
相关申请的交叉引用
本申请基于2020年9月16日提交的发明名称为“自适应智能头手VR系统、方法”的中国专利申请CN202010973590.1，并且要求该专利申请的优先权，通过引用将其所公开的内容全部并入本申请。
技术领域
本发明实施例涉及计算机视觉领域，更为具体地，涉及一种自适应智能头手VR系统和方法。
背景技术
目前在VR视觉领域，现有的All-in-one VR 6DOF一体机设计中，大部分支持头部6DOF追踪，通过光学、超声波、电磁等方案判断头戴与手柄的相对位置关系，在当前头戴的基础上，通过相对关系的映射，把手柄的位置转换成手柄的世界坐标系，以上方案中，采用光学追踪存在光学限制，采用超声波追踪存在FOV限制、外界反射、遮挡等干扰问题，采用电磁追踪方案同样存在外界磁场干扰问题，现有产品应用中还不存在能够有效解决上述问题的解觉方案。
因此，亟需一种能够既解决光学限制的问题，又解决在磁场强度较大时电磁手柄不能使用的问题的自适应智能头手VR系统。
发明内容
鉴于上述问题，本发明实施例提供了一种自适应智能头手VR系统，以解决现有的All-in-one VR 6DOF一体机设计若采用光学追踪存在FOV的限制，若采用超声波追踪存在FOV限制、外界反射、遮挡等干扰问题，若采用电磁追踪方案同样存在外界磁场干扰问题，从而导致VR系统的抗干扰能力差、精度低。
根据本发明实施例提供的一种自适应智能头手VR系统，包括头戴、与所 述头戴相匹配的手柄、控制端和电磁模块，其中，
在所述头戴上设置有头戴摄像头，所述头戴摄像头设置为获取头戴坐标系的外部环境图像；
在所述手柄上设置有手柄摄像头，所述手柄摄像头设置为获取手柄坐标系的外部环境图像；
所述控制端包括和控制端数据库和数据选择模块；
所述控制端数据库设置为存放所述手柄坐标系的外部环境图像；
所述数据选择模块设置为判断追踪所述手柄所采用的追踪模式，其中，所述追踪模式包括光学追踪；
所述电磁模块与所述数据选择模块相连接，若采用光学追踪，则所述电磁模块设置为对所述头戴坐标系的外部环境图像和所述手柄坐标系的外部环境图像进行坐标系转换，以使所述头戴摄像头获取的外部环境图像和所述手柄摄像头获取的外部环境图像处于相同的坐标系，完成光学追踪。
在一示例性实施例中，所述控制端设置在所述头戴上。
在一示例性实施例中，所述电磁模块包括电磁发射模组和电磁接收模组；所述电磁发射模组设置为发射电磁信号，所述电磁接收模组设置为接收所述电磁发射模组发射的电磁信号。
在一示例性实施例中，所述电磁发射模组设置在所述手柄上；
所述电磁接收模组设置在所述头戴上。
在一示例性实施例中，所述追踪模式还包括电磁追踪；
若采用电磁追踪，则设置在所述头戴上的电磁接收模组接收设置在所述手柄上的电磁发射模组所发出的电磁信号以完成手柄的电磁追踪。
在一示例性实施例中，所述头戴和所述手柄还包括IMU传感器模块，所述IMU传感器模块至少包括重力加速度传感器和陀螺仪，设置为获取所述头戴与所述手柄的追踪信息及位置预测信息。
在一示例性实施例中，还包括无线芯片，
所述无线芯片包括设置在所述头戴上的头戴无线芯片和设置在所述手柄上的手柄无线芯片，所述手柄无线芯片与所述头戴无线芯片相匹配，设置为传输无线信息；
所述无线信息至少包括所述手柄坐标系的外部环境图像、所述手柄的按 键信息、所述IMU传感器模块获取的所述手柄的IMU传感信息、所述头戴的时间系统与所述手柄的时间系统的同步信息。
在一示例性实施例中，所述数据选择模块根据预设的阈值，以及所述控制端数据库中所述手柄坐标系的外部环境图像的更新准确度选择追踪手柄采用光学追踪还是电磁追踪。
在一示例性实施例中，若所述控制端数据库中的外部环境图像更新的准确度不小于预设的准确度标准值，，且所述手柄摄像头的光学FOV在所述阈值的范围之内，则自动选择光学追踪；
若所述控制端数据库中的外部环境图像更新的准确度小于预设的准确度标准值，或所述手柄摄像头的光学FOV在所述阈值的范围之外，则自动选择电磁追踪。
根据本发明实施例还提供一种自适应智能头手VR运行方法，基于上述自适应智能头手VR系统，包括：
通过头戴摄像头、手柄摄像头分别获取头戴坐标系的外部环境图像和手柄坐标系的外部环境图像，并将所述手柄坐标系的外部环境图像存储至控制端数据库；
根据所述控制端数据库中所述手柄坐标系的外部环境图像的更新准确度判断追踪所述手柄所采用的追踪模式；所述追踪模式包括光学追踪和电磁追踪；
若采用光学追踪，则对所述头戴坐标系的外部环境图像和所述手柄坐标系的外部环境图像进行坐标系转换，以使所述头戴摄像头获取的外部环境图像和所述手柄摄像头获取的外部环境图像处于相同的坐标系，完成光学追踪；
若采用电磁追踪，则设置在头戴上的电磁接收模组接收设置在手柄上的电磁发射模组所发出的电磁信号以完成手柄的电磁追踪。
从上面的技术方案可知，根据本发明实施例提供的自适应智能头手VR运行系统、方法，通过在手柄上安装手柄摄像头，使手柄亦能独立获取外部环境图像，且设置有电磁模块，如此，既能够实现电磁追踪，也能够实现图像追踪，具体的，首先通过头戴摄像头、手柄摄像头分别获取头戴坐标系的外部环境图像和手柄坐标系的外部环境图像，并将手柄坐标系的外部环境图像存储至控制端数据库，进而判断追踪手柄采用光学追踪还是电磁追踪，若 采用光学追踪，则将头戴坐标系的外部环境图像和手柄坐标系的外部环境图像进行坐标系转换，以使头戴摄像头获取的外部环境图像和手柄摄像头获取的外部环境图像处于相同的坐标系，完成光学追踪；若采用电磁追踪，则设置在头戴上的电磁接收模组接收设置在手柄上的电磁发射模组所发出的电磁信号以完成手柄的电磁追踪，该种基于光学和电磁方案的结合，既解决光学限制的问题，又解决了在磁场强度较大时电磁手柄不能使用的问题，通过两个技术的组合，在光学范围以内，使用高精度低延时的光学追踪方案，在光学范围以外，使用支持360度追踪的电磁解决方案，极大地提升了VR产品的抗干扰及环境适应能力。
附图说明
通过参考以下结合附图的说明书内容，并且随着对本发明实施例的更全面理解，本发明实施例的其它目的及结果将更加明白及易于理解。在附图中：
图1为根据本发明实施例实施例的自适应智能头手VR系统的系统框架图；
图2为根据本发明实施例实施例的自适应智能头手VR运行方法的方法流程图。
具体实施方式
现有的All-in-one VR 6DOF一体机设计中大部分支持头部6DOF追踪，在当前头戴的基础上，通过相对关系的映射，把手柄的位置转换成手柄的世界坐标系，从而完成追踪，以上方案中，采用光学追踪存在光学限制，采用超声波追踪存在FOV限制、外界反射、遮挡等干扰问题，采用电磁追踪方案也同样存在外界磁场干扰问题，因而造成VR产品抗干扰能力若、精度低的问题。
针对上述问题，本发明实施例提供了一种自适应智能头手VR系统，以下将结合附图对本发明的具体实施例进行详细描述。
为了说明本发明实施例提供的自适应智能头手VR系统，图1对本发明实施例的自适应智能头手VR系统进行了示例性标示；图2对本发明实施例的自适应智能头手VR运行方法进行了示例性标示。
以下示例性实施例的描述实际上仅仅是说明性的，决不作为对本发明实施例及其应用或使用的任何限制。对于相关领域普通技术人员已知的技术和设备可能不作详细讨论，但在适当情况下，所述技术和设备应当被视为说明书的一部分。
如图1所示，本发明实施例提供的自适应智能头手VR系统100，包括头戴110、与头戴相匹配的手柄120、控制端112和电磁模块，在头戴110上设置有头戴摄像头111，该头戴摄像头111设置为获取头戴坐标系的外部环境图像，在手柄120上设置有手柄摄像头121，该手柄摄像头121设置为获取手柄坐标系的外部环境图像，需要说明的是，这里所述的头戴坐标系、手柄坐标系，并非指以头戴或手柄为坐标系原点的地理坐标或数据坐标，而是指所获取的外部环境图像在头戴或手柄中不同的位置描述方式，即头戴对于所获取的外部环境图像有单独的定位/描述方式，手柄对于所获取的外部环境图像也有自己单独的定位/描述方式，二者虽然获取的是相同的外部环境，但头戴坐标系的外部环境图像与手柄坐标系的外部环境图像二者所处坐标系不同，描述方式不同，头戴坐标系的外部环境图像体现头戴与外部环境的相对关系，手柄坐标系的外部环境图像体现手柄与外部环境的相对关系，从而能够推导出头戴与手柄的相对关系，进而使头戴完成对手柄的位置及动态追踪。
在图1所示的实施例中，控制端112包括和控制端数据库112-1和数据选择模块112-2，该控制端112的具体设置位置不作具体限制，在本实施例中，该控制端112设置在头戴110上；控制端112中等控制端数据库112-1设置为存放手柄坐标系的外部环境图像，控制端112中的数据选择模块112-2设置为判断追踪手柄120所采用的追踪模式，该追踪模式包括光学追踪和电磁追踪，在本实施例中，该数据选择模块112-2根据预设的阈值，以及控制端数据库112-1中手柄坐标系的外部环境图像的更新准确度选择手柄采用光学追踪还是电磁追踪，控制端数据库112-1中的外部环境图像更新的准确度不小于预设的准确度标准值，则说明控制端数据库112-1中的外部环境图像更新准确，若控制端数据库112-1中的外部环境图像更新准确，且手柄摄像头121的光学FOV在预设的阈值范围之内，则自动选择光学追踪；若控制端数据库112-1中的外部环境图像更新的准确度小于预设的准确度标准值，则说明控制端数据库121-1中的外部环境图像更新偏差，若控制端数据库121-1中的外部环境 图像更新偏差，或手柄摄像头121的光学FOV在预设的阈值范围之外，则自动选择电磁追踪，该准确度标准值为提前预设的，该标准值可以包括画面分辨率、清晰度、对比度及亮度，具体的数值不作具体限制，比如，在初始的开机阶段、在控制端数据库121-1没有准备好的阶段，使用电磁追踪以保证6DOF追踪的基本功能；在头戴110和控制端数据库121-1处于更新阶段时，通过电磁数据校验该控制端数据库121-1中的外部环境图像是否更新准确，若更新准确，则转换成精度更高的光学追踪；在光学遮挡时，光学FOV已经超过了预设的阈值，则采用电磁追踪，通过电磁数据实时校正追踪位置的偏差；在手柄快速移动等对光学精度影响较大的场景，则采用电磁追踪，通过电磁数据实时校正IMU追踪位置的偏差。
在图1所示的实施例中，电磁模块与数据选择模块121-2相连接，若采用光学追踪，则电磁模块设置为对头戴坐标系的外部环境图像和手柄坐标系的外部环境图像进行坐标系转换，以使头戴摄像头获取的外部环境图像和手柄摄像头获取的外部环境图像处于相同的坐标系，从而判断出手柄相对头戴的位置关系，进而完成光学追踪。
在图1所示的实施例中，该电磁模块包括电磁发射模组122和电磁接收模组113；该电磁发射模组122设置为发射电磁信号，该电磁接收模组113设置为接收该电磁发射模组122发射的电磁信号，在本事实例中，该电磁发射模组122设置在手柄120上，该电磁接收模组113设置在头戴110上，如此，头戴110能够实现对手柄120的电磁追踪，若追踪手柄120采用电磁追踪，则设置在头戴110上的电磁接收模组113接收设置在手柄120上的电磁发射模组122所发出的电磁信号以完成对手柄的电磁追踪，具体的，电磁发射模组122在X轴，Y轴，Z轴产生三个频率不相同的正弦信号，因磁感应强度的变化，在电磁接收模组113的X’轴，Y’轴，Z’轴产生感应电动势以接收三路感应信号，利用6DOF定位算法，计算出电磁发射模组122与电磁接收模组113的相对位置信息和相对姿态信息，电磁接收模组113在头戴110上固定，与头戴110上的显示屏有固定的坐标系关系，通过坐标系转换，可以计算出电磁发射模组122与头戴110上的显示屏的坐标关系，实现手柄120的6DOF功能。
如图1所示的实施例，头戴110和手柄120还包括IMU传感器模块(图 中未示出)，该IMU传感器模块至少包括重力加速度传感器和陀螺仪，设置为获取头戴与手柄的追踪信息及位置预测信息。
图1所示的自适应智能头手VR系统中还包括无线芯片，该无线芯片包括设置在头戴110上的头戴无线芯片114和设置在手柄120上的手柄无线芯片123，该手柄无线芯片123与头戴无线芯片114相匹配，设置为传输无线信息；该无线信息至少包括手柄坐标系的外部环境图像、手柄的按键信息、IMU传感器模块获取的手柄的IMU传感信息、头戴的时间系统与手柄的时间系统的同步信息，从而完成头戴110与手柄120之间的信息传输。
此外，如图1所示的实施例，在自适应智能头手VR系统中的摄像头均包括共有地址与私有地址，该公有地址为广播地址，设置为对多个配置相同的摄像头进行快速写入操作，该私有地址设置为针对需特殊配置的摄像头进行特殊配置及摄像头寄存器读取操作，在本实施例中，每个摄像头均具备两个I2C的设备地址，一个公有、一个私有，采用一个I2C驱动多个摄像头，在初始化时，通过RST引脚设置摄像头1，摄像头2，摄像头3，摄像头4依次工作，在每个摄像头工作时，分别设置4个摄像头的广播地址和私有地址，4个摄像头I2C地址设置完成以后，通过广播地址和私有地址快速完成4个摄像头的初始化。
如图1所示的实施例，在自适应智能头手VR系统中摄像头的传感器接收到FSIN信号以后，复位输出的时钟，一段时间以后输出MIPI数据，该FSIN信号不改变已经产生的信号，为保证系统的稳定性，FSIN信号在曝光信号结束以后、在Vsync信号输出之前能够完成同步功能，既保证了同步功能，又保证了信号的稳定性，该同步的信号可以和Camera帧率信号相同，也可以是帧率的1/2等。
通过上述实施方式可以看出，本发明实施例提供的自适应智能头手VR系统，包括头戴、手柄、控制端和电磁模块，在头戴上设置有头戴摄像头以获取头戴坐标系的外部环境图像；在手柄上设置有手柄摄像头以获取手柄坐标系的外部环境图像，控制端包括用于存放手柄坐标系的外部环境图像的控制端数据库和设置为判断追踪手柄采用光学追踪还是电磁追踪的数据选择模块，电磁模块与数据选择模块相连接，若追踪手柄采用光学追踪，则电磁模块设置为对头戴坐标系的外部环境图像和手柄坐标系的外部环境图像进行坐 标系转换，以使头戴摄像头获取的外部环境图像和所述手柄摄像头获取的外部环境图像处于相同的坐标系，完成光学追踪，如此，既解决光学限制问题，又解决在磁场强度较大时电磁手柄不能使用的问题，通过两个技术的组合，在光学范围以内，使用高精度低延时的光学追踪方案，在光学范围以外，使用支持360度追踪的电磁解决方案，极大地提升VR产品的抗干扰及环境适应能力，提升用户在使用过程中的沉浸感。
与前述自适应智能头手VR系统相对应，本发明实施例还提供一种自适应智能头手VR运行方法。图2示出了根据本发明实施例的自适应智能头手VR运行方法流程图。
如图2所示，本发明实施例提供的自适应智能头手VR运行方法，基于上述的自适应智能头手VR系统，包括：
S110：通过头戴摄像头、手柄摄像头分别获取头戴坐标系的外部环境图像和手柄坐标系的外部环境图像，并将手柄坐标系的外部环境图像存储至控制端数据库；
S120：根据控制端数据库中手柄坐标系的外部环境图像的更新准确度判断追踪手柄所采用的追踪模式；该追踪模式包括光学追踪和电磁追踪；
S130：若采用光学追踪，则对头戴坐标系的外部环境图像和手柄坐标系的外部环境图像进行坐标系转换，以使头戴摄像头获取的外部环境图像和手柄摄像头获取的外部环境图像处于相同的坐标系，完成光学追踪；
S140：若采用电磁追踪，则设置在头戴上的电磁接收模组接收设置在手柄上的电磁发射模组所发出的电磁信号以完成手柄的电磁追踪。
通过上述实施方式可以看出，根据本发明实施例提供的自适应智能头手VR运行方法，通过在手柄上安装手柄摄像头，使手柄亦能独立获取外部环境图像，且设置有电磁模块，如此，既能够实现电磁追踪，也能够实现图像追踪，具体的，首先通过头戴摄像头、手柄摄像头分别获取头戴坐标系的外部环境图像和手柄坐标系的外部环境图像，并将手柄坐标系的外部环境图像存储至控制端数据库，根据控制端数据库中手柄坐标系的外部环境图像的更新准确度判断追踪手柄采用光学追踪还是电磁追踪；若采用光学追踪，则将头戴坐标系的外部环境图像和手柄坐标系的外部环境图像进行坐标系转换，以使头戴摄像头获取的外部环境图像和手柄摄像头获取的外部环境图像处于相 同的坐标系，完成光学追踪；若采用电磁追踪，则设置在头戴上的电磁接收模组接收设置在手柄上的电磁发射模组所发出的电磁信号以完成手柄的电磁追踪，该种基于光学和电磁方案的结合，既解决光学限制的问题，又解决了在磁场强度较大时电磁手柄不能使用的问题，通过两个技术的组合，在光学范围以内，使用高精度低延时的光学追踪方案，在光学范围以外，使用支持360度追踪的电磁解决方案，极大地提升了VR产品的抗干扰及环境适应能力。
本发明的实施例还提供了一种计算机可读存储介质，该计算机可读存储介质中存储有计算机程序，其中，该计算机程序被设置为运行时执行上述任一项方法实施例中的步骤。
本发明的实施例还提供了一种电子装置，包括存储器和处理器，该存储器中存储有计算机程序，该处理器被设置为运行计算机程序以执行上述任一项方法实施例中的步骤。
如上参照附图以示例的方式描述了根据本发明实施例提出的自适应智能头手VR系统的系统、方法。但是，本领域技术人员应当理解，对于上述本发明实施例所提出的自适应智能头手VR系统的系统、方法，还可以在不脱离本发明内容的基础上做出各种改进。因此，本发明的保护范围应当由所附的权利要求书的内容确定。

Claims (12)

  1. 一种自适应智能头手VR系统，包括头戴、与所述头戴相匹配的手柄、控制端和电磁模块，其中，
    在所述头戴上设置有头戴摄像头，所述头戴摄像头设置为获取头戴坐标系的外部环境图像；
    在所述手柄上设置有手柄摄像头，所述手柄摄像头设置为获取手柄坐标系的外部环境图像；
    所述控制端包括和控制端数据库和数据选择模块；
    所述控制端数据库设置为存放所述手柄坐标系的外部环境图像；
    所述数据选择模块设置为判断追踪所述手柄所采用的追踪模式，其中，所述追踪模式包括光学追踪；
    所述电磁模块与所述数据选择模块相连接，若采用光学追踪，则所述电磁模块设置为对所述头戴坐标系的外部环境图像和所述手柄坐标系的外部环境图像进行坐标系转换，以使所述头戴摄像头获取的外部环境图像和所述手柄摄像头获取的外部环境图像处于相同的坐标系，完成光学追踪。
  2. 如权利要求1所述的自适应智能头手VR系统，其中，
    所述控制端设置在所述头戴上。
  3. 如权利要求2所述的自适应智能头手VR系统，其中，
    所述电磁模块包括电磁发射模组和电磁接收模组；所述电磁发射模组设置为发射电磁信号，所述电磁接收模组设置为接收所述电磁发射模组发射的电磁信号。
  4. 如权利要求3所述的自适应智能头手VR系统，其中，
    所述电磁发射模组设置在所述手柄上；
    所述电磁接收模组设置在所述头戴上。
  5. 如权利要求4所述的自适应智能头手VR系统，其中，
    所述追踪模式还包括电磁追踪；
    若采用电磁追踪，则设置在所述头戴上的电磁接收模组接收设置在所述手柄上的电磁发射模组所发出的电磁信号以完成手柄的电磁追踪。
  6. 如权利要求1所述的自适应智能头手VR系统，其中，
    所述头戴和所述手柄还包括IMU传感器模块，所述IMU传感器模块至少包括重力加速度传感器和陀螺仪，设置为获取所述头戴与所述手柄的追踪信息及位置预测信息。
  7. 如权利要求6所述的自适应智能头手VR系统，还包括无线芯片，
    所述无线芯片包括设置在所述头戴上的头戴无线芯片和设置在所述手柄上的手柄无线芯片，所述手柄无线芯片与所述头戴无线芯片相匹配，设置为传输无线信息；
    所述无线信息至少包括所述手柄坐标系的外部环境图像、所述手柄的按键信息、所述IMU传感器模块获取的所述手柄的IMU传感信息、所述头戴的时间系统与所述手柄的时间系统的同步信息。
  8. 如权利要求1所述的自适应智能头手VR系统，其中，
    所述数据选择模块根据预设的阈值，以及所述控制端数据库中所述手柄坐标系的外部环境图像的更新准确度选择追踪手柄采用光学追踪还是电磁追踪。
  9. 如权利要求1-8中任一所述的自适应智能头手VR系统，其中，
    若所述控制端数据库中的外部环境图像更新的准确度不小于预设的准确度标准值，且所述手柄摄像头的光学FOV在所述阈值的范围之内，则自动选择光学追踪；
    若所述控制端数据库中的外部环境图像更新的准确度小于预设的准确度标准值，或所述手柄摄像头的光学FOV在所述阈值的范围之外，则自动选择电磁追踪。
  10. 一种自适应智能头手VR运行方法，基于如权利要求1-9任一所述的自适应智能头手VR系统，包括：
    通过头戴摄像头、手柄摄像头分别获取头戴坐标系的外部环境图像和手柄坐标系的外部环境图像，并将所述手柄坐标系的外部环境图像存储至控制端数据库；
    根据所述控制端数据库中所述手柄坐标系的外部环境图像的更新准确度判断追踪所述手柄所采用的追踪模式；所述追踪模式包括光学追踪和电磁追踪；
    若采用光学追踪，则对所述头戴坐标系的外部环境图像和所述手柄坐标系的外部环境图像进行坐标系转换，以使所述头戴摄像头获取的外部环境图像和所述手柄摄像头获取的外部环境图像处于相同的坐标系，完成光学追踪；
    若采用电磁追踪，则设置在头戴上的电磁接收模组接收设置在手柄上的电磁发射模组所发出的电磁信号以完成手柄的电磁追踪。
  11. 一种计算机可读存储介质，其特征在于，所述计算机可读存储介质中存储有计算机程序，其中，所述计算机程序被处理器执行时实现所述权利要求10中所述的方法的步骤。
  12. 一种电子装置，包括存储器、处理器以及存储在所述存储器上并可在所述处理器上运行的计算机程序，其特征在于，所述处理器执行所述计算机程序时实现所述权利要求10中所述的方法的步骤。
PCT/CN2021/118544 2020-09-16 2021-09-15 自适应智能头手vr系统、方法 WO2022057833A1 (zh)

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