WO2022217958A1 - 手柄校准方法、手柄、头戴式显示器及存储介质 - Google Patents

手柄校准方法、手柄、头戴式显示器及存储介质 Download PDF

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Publication number
WO2022217958A1
WO2022217958A1 PCT/CN2021/138667 CN2021138667W WO2022217958A1 WO 2022217958 A1 WO2022217958 A1 WO 2022217958A1 CN 2021138667 W CN2021138667 W CN 2021138667W WO 2022217958 A1 WO2022217958 A1 WO 2022217958A1
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WO
WIPO (PCT)
Prior art keywords
handle
handles
trigger
head
calibration
Prior art date
Application number
PCT/CN2021/138667
Other languages
English (en)
French (fr)
Inventor
徐旭晓
Original Assignee
歌尔股份有限公司
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Publication date
Application filed by 歌尔股份有限公司 filed Critical 歌尔股份有限公司
Priority to US18/555,241 priority Critical patent/US20240192767A1/en
Publication of WO2022217958A1 publication Critical patent/WO2022217958A1/zh

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    • 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
    • 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
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
    • A63F13/00—Video games, i.e. games using an electronically generated display having two or more dimensions
    • A63F13/20—Input arrangements for video game devices
    • A63F13/22—Setup operations, e.g. calibration, key configuration or button assignment
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
    • A63F13/00—Video games, i.e. games using an electronically generated display having two or more dimensions
    • A63F13/20—Input arrangements for video game devices
    • A63F13/24—Constructional details thereof, e.g. game controllers with detachable joystick handles
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
    • A63F13/00—Video games, i.e. games using an electronically generated display having two or more dimensions
    • A63F13/90—Constructional details or arrangements of video game devices not provided for in groups A63F13/20 or A63F13/25, e.g. housing, wiring, connections or cabinets
    • A63F13/92—Video game devices specially adapted to be hand-held while playing
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
    • A63F2300/00—Features of games using an electronically generated display having two or more dimensions, e.g. on a television screen, showing representations related to the game
    • A63F2300/80—Features of games using an electronically generated display having two or more dimensions, e.g. on a television screen, showing representations related to the game specially adapted for executing a specific type of game
    • A63F2300/8082—Virtual reality
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F2203/00—Indexing scheme relating to G06F3/00 - G06F3/048
    • G06F2203/01—Indexing scheme relating to G06F3/01
    • G06F2203/012—Walk-in-place systems for allowing a user to walk in a virtual environment while constraining him to a given position in the physical environment
    • 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

Definitions

  • the present application relates to the technical field of virtual reality, and in particular, to a handle calibration method, a handle, a head-mounted display, and a storage medium.
  • VR virtual reality, virtual reality
  • HMD Head Mount Display, head-mounted display
  • the commonly used calibration measures are to use optical positioning or electromagnetic positioning for calibration.
  • the existing calibration method is calibrated, there is still an error between the relative position between the handles and the relative display position between the handles of the display interface.
  • the main purpose of the present application is to provide a handle calibration method, handle, head-mounted display and storage medium, aiming to solve the technical problem that the existing handle calibration method cannot accurately calibrate the relative display position between handles.
  • the embodiments of the present application provide a handle calibration method for at least two handles belonging to the same virtual reality system, where the virtual reality system further includes a head-mounted display; the method includes:
  • the calibration signal to the head mounted display so that the head mounted display places at least two of the handles on the head mounted display with at least two of the handles maintaining target relative positions
  • the current relative display position in the display is calibrated to the target relative display position corresponding to the target relative position.
  • the at least two handles include a first handle and a second handle, and the target relative position is that the first handle and the second handle are side by side; the at least two handles keep the target relative to each other
  • the steps of generating a calibration signal include:
  • a calibration signal is generated while the first handle is held side by side with the second handle.
  • the first handle is provided with a first trigger circuit
  • the second handle is provided with a second trigger circuit
  • the step of generating a calibration signal when the first handle and the second handle are kept side by side specifically includes:
  • a calibration signal is generated based on the first trigger circuit and the second trigger circuit while the first handle and the second handle are held side by side.
  • the first handle is provided with N first trigger points connected to the first trigger circuit
  • the second handle is provided with N second trigger points connected to the second trigger circuit.
  • N is a positive integer
  • the step of generating a calibration signal based on the first trigger circuit and the second trigger circuit when the first handle and the second handle are kept side by side includes:
  • the N first trigger points are correspondingly connected with the N second trigger points to trigger the first trigger circuit and the second trigger A circuit generates the calibration signal.
  • the first trigger circuit includes a first processor, and the first processor is electrically connected to the two first trigger points, wherein at any one of the two first trigger points One is set to high level, the other is set to low level;
  • the second trigger circuit includes a second processor, and the second processor is electrically connected to the two second trigger points, wherein the two second trigger points are the first trigger set to a high level
  • the second trigger point corresponding to the point is set to a low level, and the other is set to a high level;
  • the step of generating the calibration signal by the trigger circuit specifically includes:
  • the first trigger point set to high level is connected to the second trigger point set to low level, and the first trigger point set to low level Connected to a second trigger point set to a high level so that both the first processor and the second processor receive an electrical signal, and generate the calibration signal according to the electrical signal.
  • the first trigger point set to a high level is a first concave structure
  • the second trigger point set to a low level is a second convex structure that cooperates with the first concave structure. structure
  • the second trigger point set to a high level is a second concave structure
  • the first trigger point set to a low level is a first convex structure matched with the second concave structure
  • the first convex structure is embedded in the second concave structure
  • the second convex structure is embedded in the first concave structure
  • the first trigger point set to high level is connected to the second trigger point set to low level
  • the first trigger point set to low level is connected to the second trigger point set to high level
  • the embodiments of the present application further provide a handle calibration method for the head-mounted display in the virtual reality system, the virtual reality system further includes at least two handles, and the method includes :
  • the current relative display positions of at least two of the handles are calibrated to the target relative display positions corresponding to the target relative positions.
  • the embodiments of the present application also provide a handle calibration device for at least two handles belonging to the same virtual reality system, where the virtual reality system further includes a head-mounted display; the device includes:
  • a signal generating module for generating a calibration signal when at least two of the handles maintain the relative position of the target
  • a signal sending module for sending the calibration signal to the head-mounted display, so that the head-mounted display sends at least two of the handles to the target relative position when the at least two handles
  • the current relative display position in the head mounted display is calibrated to the target relative display position corresponding to the target relative position.
  • the embodiments of the present application further provide a handle calibration device, which is used for a head-mounted display in the virtual reality system, the virtual reality system further includes at least two handles, and the device includes :
  • a signal receiving module configured to receive a calibration signal sent by the handle, where the calibration signal is generated when at least two of the handles maintain the relative position of the target;
  • a position calibration module for calibrating the current relative display positions of at least two of the handles to a target corresponding to the relative position of the target based on the calibration signal under the condition that the at least two handles maintain the relative position of the target Relative display position.
  • an embodiment of the present application also proposes a handle, the handle includes: a memory, a processor, and a computer program stored in the memory and running on the processor, the computer The program is configured to implement the steps of the above method.
  • an embodiment of the present application further proposes a head-mounted display, the head-mounted display comprising: a memory, a processor, and a memory, a processor, and a memory device that is stored on the memory and can run on the processor.
  • a computer program configured to implement the steps of the above method.
  • the embodiments of the present application further provide a virtual reality system, which includes the above-mentioned handle and a head-mounted display.
  • the embodiments of the present application further provide a storage medium, where a computer program is stored on the storage medium, and the computer program implements the steps of the above method when the computer program is executed by a processor.
  • a handle calibration method, handle, head-mounted display, and storage medium proposed in an embodiment of the present application is used for at least two handles belonging to the same virtual reality system, and the method includes: at least two handles When the relative position of the target is maintained, a calibration signal is generated; the calibration signal is sent to the head-mounted display, so that the head-mounted display can adjust the at least two handles to the target relative position when the at least two handles are maintained at the relative position.
  • the current relative display positions of each of the handles in the head-mounted display are calibrated to target relative display positions corresponding to the target relative positions.
  • FIG. 1 is a schematic flowchart of a handle calibration method in an embodiment of the application
  • FIG. 2 is a schematic structural diagram of two handles in the embodiment of the application.
  • FIG. 3 is a schematic diagram of the circuit structure in the two handles in FIG. 2;
  • FIG. 5 is a schematic structural diagram of a handle calibration device in an embodiment of the application.
  • FIG. 6 is a schematic structural diagram of another handle calibration device in an embodiment of the present application.
  • the main solutions of the embodiments of the present application are: when at least two of the handles maintain the relative position of the target, generate a calibration signal; send the calibration signal to the head-mounted display, so that the head-mounted display is in the Under the condition that the at least two handles maintain the relative target positions, the current relative display positions of the at least two handles in the head-mounted display are calibrated to the relative target display positions corresponding to the relative target positions.
  • the prior art uses methods such as optical positioning or electromagnetic positioning for calibration. Since the position calibration is performed for a single handle, after the calibration, there will still be an error between the relative position between the handles and the relative display position between the handles on the display interface. Therefore, the existing handle calibration method cannot accurately calibrate the relative display positions between handles, resulting in poor calibration effect.
  • the present application provides a solution that uses the real relative position of the target maintained between the handles to calibrate the relative display position between the handles in the display interface of the head-mounted display.
  • Calibration using methods such as positioning or electromagnetic positioning can solve the technical problem that the existing handle calibration method cannot accurately calibrate the relative display position between the handles, thereby achieving the technical effect of improving the accuracy of the relative display position between the handles.
  • an embodiment of the present application provides a handle calibration method, the method of this embodiment is used for at least two handles belonging to the same virtual reality system, and the virtual reality system further includes a head-mounted display;
  • the method includes:
  • the calibration signal to the head mounted display so that the head mounted display places at least two of the handles on the head mounted display with at least two of the handles maintaining target relative positions
  • the current relative display position in the display is calibrated to the target relative display position corresponding to the target relative position.
  • a virtual reality system namely a VR (full English name: virtual reality) system, mainly includes a head mounted display (Head Mount Display, HMD) and a handle. It can be understood that the handle and the head mounted display can be communicatively connected.
  • VR full English name: virtual reality
  • the method of this embodiment is suitable for the situation of at least two handles, that is, including two or more handles, so as to calibrate the error of the relative display position between the handles.
  • Step S10 when at least two of the handles maintain the relative position of the target, generate a calibration signal.
  • the relative position of the target refers to the spatial relative positional relationship between the handles.
  • two handles are closely attached side by side, and two handles are attached facing away from each other.
  • the relative position of the target is determined in consideration of an angle in which the relative positional relationship is easily observed from the front, such as side by side.
  • the calibration signal can be an electrical signal, for example, an electrical signal generated by voltage fluctuations, or other signals, as long as the head-mounted display can be triggered to perform a calibration operation.
  • the at least two handles include a first handle and a second handle, and the target relative position is that the first handle and the second handle are side by side;
  • the steps of generating the calibration signal include:
  • a calibration signal is generated while the first handle is held side by side with the second handle.
  • the first handle and the second handle when the first handle and the second handle are kept side by side, they may be fitted or not fitted. As long as it is side by side, it can trigger the calibration signal.
  • the relative position of the target needs to be consistent with the relative display position of the target after the calibration is performed in the head-mounted display, that is, the calibration program needs to be preset in the head-mounted display, so that it can be adjusted according to the relative position relationship of the target.
  • the relative display positions of the first handle and the second handle are corrected.
  • the first handle is provided with a first trigger circuit
  • the second handle is provided with a second trigger circuit
  • the step of generating a calibration signal when the first handle and the second handle are kept side by side specifically includes:
  • a calibration signal is generated based on the first trigger circuit and the second trigger circuit while the first handle and the second handle are held side by side.
  • first handle and the second handle when the first handle and the second handle are kept side by side, they may or may not fit together.
  • a calibration signal can be generated through the first trigger circuit and the second trigger circuit.
  • the first handle is provided with N first trigger points connected to the first trigger circuit
  • the second handle is provided with N second trigger points connected to the second trigger circuit
  • the N first trigger points are correspondingly connected with the N second trigger points to trigger the first trigger circuit and the second trigger A circuit generates the calibration signal.
  • the N first trigger points and the N second trigger points can be connected correspondingly even if the first handle and the second handle are kept in contact with each other or not.
  • N is a positive integer, which can take the value of 1, 2, 3 and other positive integers.
  • the first trigger circuit includes a first processor, and the first processor is electrically connected to two of the first trigger points, wherein any one of the two first trigger points is set is a high level, and the other is set to a low level;
  • the second trigger circuit includes a second processor, and the second processor is electrically connected to the two second trigger points, wherein the two second trigger points are the first trigger set to a high level
  • the second trigger point corresponding to the point is set to a low level, and the other is set to a high level;
  • the step of generating the calibration signal by the trigger circuit specifically includes:
  • the first trigger point set to high level is connected to the second trigger point set to low level, and the first trigger point set to low level Connected to a second trigger point set to a high level so that both the first processor and the second processor receive an electrical signal, and generate the calibration signal according to the electrical signal.
  • both the first processor and the second processor may be MCU processors.
  • the two first trigger points are respectively connected to the two GPIO ports on the MCU processor inside the handle.
  • the two first trigger points (or the second trigger points) ) voltage levels are: GND ground network (0V) low level, 3.3V network high level.
  • first trigger point set to a high level is a first concave structure
  • second trigger point set to a low level is a second convex structure matched with the first concave structure
  • the second trigger point set to a high level is a second concave structure
  • the first trigger point set to a low level is a first convex structure matched with the second concave structure
  • the first convex structure is embedded in the second concave structure
  • the second convex structure is embedded in the first concave structure
  • the first trigger point set to high level is connected to the second trigger point set to low level
  • the first trigger point set to low level is connected to the second trigger point set to high level
  • connection between the first trigger point and the second trigger point may be a pogo pin, plugging, magnetic attraction, or the like.
  • the first convex structure is embedded in the second concave structure
  • the second convex structure is embedded in the second convex structure.
  • the combination of the concave and convex structures can make the user conveniently place the first handle and the second handle in a target relative position state.
  • the first trigger point (or the second trigger point) connected to the 3.3V network is embedded in the handle, that is, the first concave structure or the second concave structure, which will not contact external metal or human hands, ensuring safety
  • the first trigger point (or the second trigger point) connected to the GND ground network protrudes from the handle surface, that is, the first protruding structure or the second protruding structure.
  • the first convex structure is embedded in the second concave structure, and the second convex structure is embedded in the first concave structure, so as to
  • the first trigger point set to high level is connected to the second trigger point set to low level
  • the first trigger point set to low level is connected to the second trigger point set to high level.
  • the 3.3V high level of the first handle connected to the first trigger point will contact the second trigger point of the second handle connected to GND. At this time, the 3.3V high level of the first handle will be pulled down to 0V, and the first handle will be pulled down to 0V.
  • the internal MCU processor will obtain the calibration signal; similarly, the second trigger point connected to the 3.3V high level of the second handle will also contact the first trigger point of the first handle connected to GND. The 3.3V high level of the second handle will be pulled down to 0V. The MCU processor inside the second handle will recognize the change of the second trigger point when the second handle is connected to a 3.3V high level. After the first handle and the second handle are triggered respectively, the trigger information is sent to the HMD device through the wireless module.
  • a small magnet is built in each of the first handle and the second handle near the first trigger point or the second trigger point.
  • the two handles are manually activated. Approaching, the left and right handles are automatically close due to the magnetic force of the magnets, and the 4 trigger points of the two handles are connected in pairs to complete the physical trigger connection.
  • Step S20 sending the calibration signal to the head-mounted display, so that the head-mounted display places at least two of the handles on the The current relative display position in the head mounted display is calibrated to the target relative display position corresponding to the target relative position.
  • the HMD Head Mount Display
  • the HMD Head Mount Display
  • the calibration signal is sent to the HMD device through the wireless module.
  • the algorithm After receiving the calibration signal in the HMD, use the algorithm to adjust, taking the position of one of the handles as a reference, and adjust the other handle so that the positions of the two handles in the HMD display interface are placed side by side to eliminate the relative display position offset error, To achieve the purpose of handle position calibration.
  • the handle calibration method provided in this embodiment uses the real relative position of the target maintained between the handles to calibrate the relative display position between the handles in the display interface of the head-mounted display.
  • the existing method for calibrating a single handle using optical positioning or electromagnetic positioning can solve the technical problem that the existing handle calibration method cannot accurately calibrate the relative display position between the handles, thereby achieving the technical effect of improving the relative display position accuracy between the handles.
  • an embodiment of the present application further provides a handle calibration method, and the method is used for a head-mounted display in the virtual reality system.
  • the virtual reality system further includes at least two handles, and the method includes :
  • S200 Receive a calibration signal sent by the handle, where the calibration signal is generated when at least two of the handles maintain a relative position of a target;
  • the steps of the handle calibration method in this embodiment are the execution processes of the handle calibration method steps in the previous embodiment at one end of the head-mounted display.
  • the specific implementation can refer to the foregoing embodiment, which will not be repeated here.
  • the handle calibration device uses the real relative position of the target maintained between the handles to calibrate the relative display position between the handles in the display interface of the head-mounted display.
  • the existing method for calibrating a single handle using optical positioning or electromagnetic positioning can solve the technical problem that the existing handle calibration method cannot accurately calibrate the relative display position between the handles, thereby achieving the technical effect of improving the relative display position accuracy between the handles.
  • an embodiment of the present application further provides a handle calibration device for at least two handles belonging to the same virtual reality system, and the virtual reality system further includes a head-mounted a display; the apparatus includes:
  • a signal generating module for generating a calibration signal when at least two of the handles maintain the relative position of the target
  • a signal sending module configured to send the calibration signal to the head-mounted display, so that the head-mounted display sends at least two of the handles to the target relative position when the at least two handles
  • the current relative display position in the head mounted display is calibrated to the target relative display position corresponding to the target relative position.
  • the handle calibration device uses the real relative position of the target maintained between the handles to calibrate the relative display position between the handles in the display interface of the head-mounted display.
  • the existing method for calibrating a single handle using optical positioning or electromagnetic positioning can solve the technical problem that the existing handle calibration method cannot accurately calibrate the relative position between the handles, thereby achieving the technical effect of improving the relative display position accuracy between the handles.
  • an embodiment of the present application further provides a handle calibration device for a head-mounted display in the virtual reality system, where the virtual reality system further includes at least two a handle, the device includes:
  • a signal receiving module configured to receive a calibration signal sent by the handle, where the calibration signal is generated when at least two of the handles maintain the relative position of the target;
  • a position calibration module for calibrating the current relative display positions of at least two of the handles to a target corresponding to the relative position of the target based on the calibration signal under the condition that the at least two handles maintain the relative position of the target Relative display position.
  • Embodiments of the present application also provide a handle comprising: a memory, a processor, and a computer program stored on the memory and executable on the processor, the computer program being configured to implement the foregoing embodiments steps of a method.
  • Embodiments of the present application also provide a head-mounted display, the head-mounted display comprising: a memory, a processor, and a computer program stored on the memory and executable on the processor, the computer program It is configured to implement the steps of the method in the foregoing second embodiment.
  • embodiments of the present application also provide a virtual reality system, including the handle and the head-mounted display of the foregoing embodiments.
  • an embodiment of the present application further provides a storage medium, where a computer program is stored on the storage medium, and when the computer program is executed by a processor, the steps of the method in the first embodiment or the second embodiment are implemented.
  • the method of the above embodiment can be implemented by means of software plus a necessary general hardware platform, and of course can also be implemented by hardware, but in many cases the former is better implementation.
  • the technical solutions of the present application can be embodied in the form of software products, which are essentially or contribute to the prior art.
  • the computer software products are stored in a storage medium (such as read-only memory/random access memory, magnetic disk, optical disk), including several instructions to make a multimedia terminal device (which may be a mobile phone, a computer, a television receiver, or a network device, etc.) to execute the methods described in the various embodiments of the present application

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Abstract

本申请公开了一种手柄校准方法、手柄、头戴式显示器及存储介质，该手柄校准方法用于属于同一虚拟现实系统的至少两个手柄，该方法包括：在至少两个所述手柄保持目标相对位置时，生成校准信号；将所述校准信号发送给所述头戴式显示器，以使所述头戴式显示器在至少两个所述手柄保持目标相对位置的情况下，将至少两个所述手柄在所述头戴式显示器中的当前相对显示位置校准为与所述目标相对位置对应的目标相对显示位置。利用手柄之间保持的真实的目标相对位置，来校准其在头戴式显示器的显示界面中的手柄间的相对显示位置，可解决现有手柄校准方法不能准确校准手柄间相对显示位置的技术问题，从而达到提高手柄间相对显示位置准确性的技术效果。

Description

手柄校准方法、手柄、头戴式显示器及存储介质
本申请要求于2021年4月15日提交中国专利局、申请号为202110409714.8、发明名称为“手柄校准方法、手柄、头戴式显示器及存储介质”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及虚拟现实技术领域，尤其涉及一种手柄校准方法、手柄、头戴式显示器及存储介质。
背景技术
VR(virtual reality，虚拟现实)产品，是一种目前流行的娱乐产品。其通过手柄实现在虚拟世界的各种体验。VR产品手柄在正常开机使用过程中，HMD(Head Mount Display，头戴式显示器)会在显示界面中显示手柄的位置。而由于手柄在使用过程中，难免会出现漂移，因此，为了提升用户体验，需要对显示界面的手柄位置进行校准。
目前，常用的校准措施是利用光学定位或电磁定位等方法进行校准。但是现有的校准方法校准之后，手柄之间的相对位置与显示界面的手柄之间的相对显示位置仍然存在误差。
因此，目前急需一种能校准手柄之间相对显示位置的方案。
上述内容仅用于辅助理解本申请的技术方案，并不代表承认上述内容是现有技术。
发明内容
本申请的主要目的在于提供一种手柄校准方法、手柄、头戴式显示器及存储介质，旨在解决现有手柄校准方法不能准确校准手柄间相对显示位置的技术问题。
为实现上述目的，本申请的实施例提供一种手柄校准方法，用于属于同一虚拟现实系统的至少两个手柄，所述虚拟现实系统还包括头戴式显示器； 所述方法包括：
在至少两个所述手柄保持目标相对位置时，生成校准信号；
将所述校准信号发送给所述头戴式显示器，以使所述头戴式显示器在至少两个所述手柄保持目标相对位置的情况下，将至少两个所述手柄在所述头戴式显示器中的当前相对显示位置校准为与所述目标相对位置对应的目标相对显示位置。
可选地，所述至少两个手柄包括第一手柄和第二手柄，所述目标相对位置为所述第一手柄与所述第二手柄并排；所述在至少两个所述手柄保持目标相对位置时，生成校准信号的步骤，具体包括：
在所述第一手柄与所述第二手柄保持并排时，生成校准信号。
可选地，所述第一手柄内设置有第一触发电路，所述第二手柄内设置有第二触发电路；
所述在所述第一手柄与所述第二手柄保持并排时，生成校准信号的步骤，具体包括：
在所述第一手柄与所述第二手柄保持并排时，基于所述第一触发电路和所述第二触发电路，生成校准信号。
可选地，所述第一手柄上设置有与所述第一触发电路连接的N个第一触发点，所述第二手柄上设置有与所述第二触发电路连接的N个第二触发点，N为正整数；所述在所述第手柄与所述第二手柄保持并排时，基于所述第一触发电路和所述第二触发电路，生成校准信号的步骤，包括：
在所述第一手柄与所述第二手柄保持并排时，N个所述第一触发点与N个所述第二触发点对应连接，以触发所述第一触发电路和所述第二触发电路生成所述校准信号。
可选地，所述第一触发电路包括第一处理器，所述第一处理器电连接两个所述第一触发点，其中，在所述两个所述第一触发点中的任一者设置为高电平，另一者设置为低电平；
所述第二触发电路包括第二处理器，所述第二处理器电连接两个所述第二触发点，其中，两个所述第二触发点中与设置为高电平的第一触发点对应的第二触发点设置为低电平，另一者设置为高电平；
所述在所述第一手柄与所述第二手柄保持并排时，N个所述第一触发点 与N个所述第二触发点对应连接，以触发所述第一触发电路和所述第二触发电路生成所述校准信号的步骤，具体包括：
在所述第一手柄与所述第二手柄保持并排时，设置为高电平的第一触发点与设置为低电平的第二触发点连接，且设置为低电平的第一触发点与设置为高电平的第二触发点连接，以使所述第一处理器和所述第二处理器都接收到电信号，并根据所述电信号生成所述校准信号。
可选地，设置为高电平的所述第一触发点为第一内凹结构，设置为低电平的所述第二触发点为与所述第一内凹结构配合的第二外凸结构；
设置为高电平的所述第二触发点为第二内凹结构，设置为低电平的所述第一触发点为与所述第二内凹结构配合的第一外凸结构；
其中，在所述第一手柄与所述第二手柄保持并排时，所述第一外凸结构嵌入所述第二内凹结构，所述第二外凸结构嵌入所述第一内凹结构，以使设置为高电平的第一触发点与设置为低电平的第二触发点连接以及设置为低电平的第一触发点与设置为高电平的第二触发点连接。
此外，为实现上述目的，本申请的实施例还提供一种手柄校准方法，用于所述虚拟现实系统中的头戴式显示器，所述虚拟现实系统还包括至少两个手柄，所述方法包括：
接收所述手柄发送的校准信号，所述校准信号是在至少两个所述手柄保持目标相对位置时生成的；
在至少两个所述手柄保持目标相对位置的情况下，基于所述校准信号，将至少两个所述手柄的当前相对显示位置校准为与所述目标相对位置对应的目标相对显示位置。
此外，为实现上述目的，本申请的实施例还提供一种手柄校准装置，用于属于同一虚拟现实系统的至少两个手柄，所述虚拟现实系统还包括头戴式显示器；所述装置包括：
信号生成模块，用于在至少两个所述手柄保持目标相对位置时，生成校准信号；
信号发送模块，用于将所述校准信号发送给所述头戴式显示器，以使所 述头戴式显示器在至少两个所述手柄保持目标相对位置的情况下，将至少两个所述手柄在所述头戴式显示器中的当前相对显示位置校准为与所述目标相对位置对应的目标相对显示位置。
此外，为实现上述目的，本申请的实施例还提供一种手柄校准装置，用于所述虚拟现实系统中的头戴式显示器，所述虚拟现实系统还包括至少两个手柄，所述装置包括：
信号接收模块，用于接收所述手柄发送的校准信号，所述校准信号是在至少两个所述手柄保持目标相对位置时生成的；
位置校准模块，用于在至少两个所述手柄保持目标相对位置的情况下，基于所述校准信号，将至少两个所述手柄的当前相对显示位置校准为与所述目标相对位置对应的目标相对显示位置。
此外，为实现上述目的，本申请的实施例还提出一种手柄，所述手柄包括：存储器、处理器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，所述计算机程序配置为实现上述方法的步骤。
此外，为实现上述目的，本申请的实施例还提出一种头戴式显示器，所述头戴式显示器包括：存储器、处理器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，所述计算机程序配置为实现上述方法的步骤。
此外，为实现上述目的，本申请的实施例还提出一种虚拟现实系统，包括上述的手柄和头戴式显示器。
此外，为实现上述目的，本申请的实施例还提出一种存储介质，所述存储介质上存储有计算机程序，所述计算机程序被处理器执行时实现上述方法的步骤。
本申请所能实现的有益效果。
本申请实施例提出的一种手柄校准方法、手柄、头戴式显示器及存储介 质，该手柄校准方法用于属于同一虚拟现实系统的至少两个手柄，该方法包括：在至少两个所述手柄保持目标相对位置时，生成校准信号；将所述校准信号发送给所述头戴式显示器，以使所述头戴式显示器在至少两个所述手柄保持目标相对位置的情况下，将至少两个所述手柄在所述头戴式显示器中的当前相对显示位置校准为与所述目标相对位置对应的目标相对显示位置。由此可见，由于利用手柄之间保持的真实的目标相对位置，来校准其在头戴式显示器的显示界面中的手柄间的相对显示位置，相对于现有的针对单个手柄利用光学定位或电磁定位等方法进行校准，可解决现有手柄校准方法不能准确校准手柄间相对显示位置的技术问题，从而达到提高手柄间相对显示位置准确性的技术效果。
附图说明
图1为本申请实施例中一种手柄校准方法的流程示意图；
图2为本申请实施例中两个手柄的结构示意图；
图3为图2中两个手柄中的电路结构示意图；
图4为本申请实施例中另一种手柄校准方法的流程示意图；
图5为本申请实施例中一种手柄校准装置的结构示意图；
图6为本申请实施例中另一种手柄校准装置的结构示意图。
本申请目的的实现、功能特点及优点将结合实施例，参照附图做进一步说明。
具体实施方式
应当理解，此处所描述的具体实施例仅仅用以解释本申请，并不用于限定本申请。
基于本申请中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
需要说明，在本申请中涉及“第一”、“第二”等的描述仅用于描述目的，而不能理解为指示或暗示其相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括 至少一个该特征。另外，各个实施例之间的技术方案可以相互结合，但是必须是以本领域普通技术人员能够实现为基础，当技术方案的结合出现相互矛盾或无法实现时应当认为这种技术方案的结合不存在，也不在本申请要求的保护范围之内。
本申请实施例的主要解决方案是：在至少两个所述手柄保持目标相对位置时，生成校准信号；将所述校准信号发送给所述头戴式显示器，以使所述头戴式显示器在至少两个所述手柄保持目标相对位置的情况下，将至少两个所述手柄在所述头戴式显示器中的当前相对显示位置校准为与所述目标相对位置对应的目标相对显示位置。
由于现有技术是利用光学定位或电磁定位等方法进行校准。由于是针对单个手柄进行位置校准，在校准之后，手柄之间的相对位置与显示界面的手柄之间的相对显示位置仍然会存在误差。因此，现有手柄校准方法不能准确校准手柄间相对显示位置，导致其校准的效果差。
本申请提供一种解决方案，利用手柄之间保持的真实的目标相对位置，来校准其在头戴式显示器的显示界面中的手柄间的相对显示位置，相对于现有的针对单个手柄利用光学定位或电磁定位等方法进行校准，可解决现有手柄校准方法不能准确校准手柄间相对显示位置的技术问题，从而达到提高手柄间相对显示位置准确性的技术效果。
实施例一
参照图1，本申请的实施例提供一种手柄校准方法，本实施例的方法用于属于同一虚拟现实系统的至少两个手柄，所述虚拟现实系统还包括头戴式显示器；
所述方法包括：
在至少两个所述手柄保持目标相对位置时，生成校准信号；
将所述校准信号发送给所述头戴式显示器，以使所述头戴式显示器在至少两个所述手柄保持目标相对位置的情况下，将至少两个所述手柄在所述头戴式显示器中的当前相对显示位置校准为与所述目标相对位置对应的目标相对显示位置。
在本实施例中，虚拟现实系统，即VR(英文全称：virtual reality)系统， 其主要包括头戴式显示器(Head Mount Display，HMD)以及手柄。可以理解的是，手柄与头戴显示器之间可以通信连接。
需要说明的是，本实施例的方法适应于至少两个手柄的情况，即包括两个或两个以上的手柄，以校准手柄之间的相对显示位置的误差。
下面结合图1，对各步骤进行详细说明。
步骤S10，在至少两个所述手柄保持目标相对位置时，生成校准信号。
在具体实施过程中，目标相对位置是指手柄之间的空间相对位置关系，例如，两个手柄并排紧贴，两个手柄背向贴合等，但为了在显示界面上便于观察校准，可以优先考虑并排等易于从正面观察到相对位置关系的角度来确定目标相对位置。校准信号可以是电信号，例如，电压的波动所产生的电信号，也可以是其他信号，只要能触发头戴式显示器执行校准操作即可。
作为一种可选的实施例，所述至少两个手柄包括第一手柄和第二手柄，所述目标相对位置为所述第一手柄与所述第二手柄并排；所述在至少两个所述手柄保持目标相对位置时，生成校准信号的步骤，具体包括：
在所述第一手柄与所述第二手柄保持并排时，生成校准信号。
在具体实施过程中，第一手柄与第二手柄保持并排时，可以贴合，也可以不贴合。只要在并排时，能触发产生校准信号即可。但需要注意的是，目标相对位置需要与头戴式显示器中执行校准后的目标相对显示位置一致，即，在头戴式显示器中需要预先设置校准程序，以使其可以按照目标相对位置关系对第一手柄与第二手柄的相对显示位置进行校正。
作为一种实施例，所述第一手柄内设置有第一触发电路，所述第二手柄内设置有第二触发电路；
则所述在所述第一手柄与所述第二手柄保持并排时，生成校准信号的步骤，具体包括：
在所述第一手柄与所述第二手柄保持并排时，基于所述第一触发电路和所述第二触发电路，生成校准信号。
前述已经说明，第一手柄与第二手柄保持并排时，可以贴合，也可以不贴合。在具体实施过程中，第一手柄与第二手柄保持贴合或者不贴合都可以通过第一触发电路和所述第二触发电路来生成校准信号。
具体的，所述第一手柄上设置有与所述第一触发电路连接的N个第一触 发点，所述第二手柄上设置有与所述第二触发电路连接的N个第二触发点；所述在所述第一手柄与所述第二手柄保持并排时，基于所述第一触发电路和所述第二触发电路，生成校准信号的步骤，包括：
在所述第一手柄与所述第二手柄保持并排时，N个所述第一触发点与N个所述第二触发点对应连接，以触发所述第一触发电路和所述第二触发电路生成所述校准信号。
在具体实施过程中，第一手柄与第二手柄保持贴合或者不贴合都可以实现N个所述第一触发点与N个所述第二触发点对应连接。其中，N为正整数，可以取值1、2、3等正整数。
参见图2，示出属于同一虚拟显示系统的两个手柄的示意图，即，第一手柄和第二手柄。其中，N＝2，即，包括两个第一触发点和两个第二触发点。
进一步地，所述第一触发电路包括第一处理器，所述第一处理器电连接两个所述第一触发点，其中，所述两个所述第一触发点中的任一者设置为高电平，另一者设置为低电平；
所述第二触发电路包括第二处理器，所述第二处理器电连接两个所述第二触发点，其中，两个所述第二触发点中与设置为高电平的第一触发点对应的第二触发点设置为低电平，另一者设置为高电平；
所述在所述第一手柄与所述第二手柄保持并排时，N个所述第一触发点与N个所述第二触发点对应连接，以触发所述第一触发电路和所述第二触发电路生成所述校准信号的步骤，具体包括：
在所述第一手柄与所述第二手柄保持并排时，设置为高电平的第一触发点与设置为低电平的第二触发点连接，且设置为低电平的第一触发点与设置为高电平的第二触发点连接，以使所述第一处理器和所述第二处理器都接收到电信号，并根据所述电信号生成所述校准信号。
在具体实施过程中，第一处理器和第二处理器都可以是MCU处理器。
请参见图3，两个第一触发点(或第二触发点)分别连接手柄内部的MCU处理器上的两个GPIO口，正常工作状态时，两个第一触发点(或第二触发点)的电压水平为：GND接地网络(0V)低电平，3.3V网络高电平。
进一步地，设置为高电平的所述第一触发点为第一内凹结构，设置为低电平的所述第二触发点为与所述第一内凹结构配合的第二外凸结构；
设置为高电平的所述第二触发点为第二内凹结构，设置为低电平的所述第一触发点为与所述第二内凹结构配合的第一外凸结构；
其中，在所述第一手柄与所述第二手柄保持并排时，所述第一外凸结构嵌入所述第二内凹结构，所述第二外凸结构嵌入所述第一内凹结构，以使设置为高电平的第一触发点与设置为低电平的第二触发点连接以及设置为低电平的第一触发点与设置为高电平的第二触发点连接。
在具体实施过程中，第一触发点与第二触发点的连接可以是弹簧针或者插拔、磁吸等方式。
在一种实施方式中，在所述第一手柄与所述第二手柄保持并排贴合时，所述第一外凸结构嵌入所述第二内凹结构，所述第二外凸结构嵌入所述第一内凹结构，内凹和外凸的结构配合可以使得用户便捷的将第一手柄和第二手柄放置为目标相对位置状态。
请参见图2，连接3.3V网络的第一触发点(或第二触发点)内嵌在手柄中，即第一内凹结构或第二内凹结构，不会接触外部金属或者人手，保证安全性；连接GND接地网络的第一触发点(或第二触发点)凸出手柄表面，即，第一外凸结构或第二外凸结构。
在具体实施过程中，当用户将两只手柄并排放置靠在一起时，第一外凸结构嵌入所述第二内凹结构，所述第二外凸结构嵌入所述第一内凹结构，以使设置为高电平的第一触发点与设置为低电平的第二触发点连接以及设置为低电平的第一触发点与设置为高电平的第二触发点连接。第一手柄的连接3.3V高电平第一触发点会接触到第二手柄的连接GND第二触发点，此时第一手柄的3.3V高电平会被拉低变为0V，第一手柄内的MCU处理器会获得校准信号；同理，第二手柄的连接3.3V高电平第二触发点也会接触到第一手柄的连接GND的第一触发点。第二手柄的3.3V高电平会被拉低变为0V。第二手柄内部的MCU处理器会识别到第二手柄连接3.3V高电平的第二触发点的变化。第一手柄和第二手柄各自触发完成后，通过无线模块将触发信息发送给HMD设备。
此外，作为一种实施例，第一手柄和第二手柄中在第一触发点或第二触发点附近都各自内置一个小的磁铁，当两个手柄想要校准时，将两个手柄人为主动靠近，左右手柄由于磁铁磁力自动贴近将两个手柄的4个触发点两两 相接，完成物理上的触发连接。
步骤S20，将所述校准信号发送给所述头戴式显示器，以使所述头戴式显示器在至少两个所述手柄保持目标相对位置的情况下，将至少两个所述手柄在所述头戴式显示器中的当前相对显示位置校准为与所述目标相对位置对应的目标相对显示位置。
在具体实施过程中，手柄在正常开机使用过程中，HMD(头戴式显示器(Head Mount Display))会在显示界面中出现当前两只手柄的位置。当用户将两只手柄并排放置靠在一起时，两手柄的四个接触点两两接触，此时生成校准信号。
在通过步骤S10生成校准信号后，通过无线模块将校准信号发送给HMD设备。HMD中接收到校准信号后，利用算法进行调整，以其中一个手柄的位置为参考不变，调整另一个手柄，使HMD显示界面中两个手柄的位置并排放置，消除相对显示位置偏移误差，达到手柄位置校准的目的。
需要注意的是，在校准过程中，需要两个所述手柄保持在目标相对位置，以保证校准的准确性。
应当理解的是，以上仅为举例说明，对本申请的技术方案并不构成任何限制，本领域的技术人员在实际应用中可以基于需要进行设置，此处不做限制。
通过上述描述不难发现，本实施例提供的手柄校准方法，利用手柄之间保持的真实的目标相对位置，来校准其在头戴式显示器的显示界面中的手柄间的相对显示位置，相对于现有的针对单个手柄利用光学定位或电磁定位等方法进行校准，可解决现有手柄校准方法不能准确校准手柄间相对显示位置的技术问题，从而达到提高手柄间相对显示位置准确性的技术效果。
实施例二
参照图4，本申请的实施例还提供了一种手柄校准方法，该方法用于所述虚拟现实系统中的头戴式显示器，所述虚拟现实系统还包括至少两个手柄，所述方法包括：
S200、接收所述手柄发送的校准信号，所述校准信号是在至少两个所述手柄保持目标相对位置时生成的；
S400、在至少两个所述手柄保持目标相对位置的情况下，基于所述校准信号，将至少两个所述手柄的当前相对显示位置校准为与所述目标相对位置对应的目标相对显示位置。
在具体实施过程中，本实施例的手柄校准方法的步骤是前述实施例中手柄校准方法步骤在头戴式显示器一端的执行过程，因此，各步骤执行的原理与前述实施例相同，发明原理也与前述实施例相同，其具体的实施方式可参照前述实施例，这里不再赘述。
应当理解的是，以上仅为举例说明，对本申请的技术方案并不构成任何限制，本领域的技术人员在实际应用中可以基于需要进行设置，此处不做限制。
通过上述描述不难发现，本实施例提供的手柄校准装置，利用手柄之间保持的真实的目标相对位置，来校准其在头戴式显示器的显示界面中的手柄间的相对显示位置，相对于现有的针对单个手柄利用光学定位或电磁定位等方法进行校准，可解决现有手柄校准方法不能准确校准手柄间相对显示位置的技术问题，从而达到提高手柄间相对显示位置准确性的技术效果。
参照图5，基于与实施例一相同的发明构思，本申请的实施例还提供一种手柄校准装置，用于属于同一虚拟现实系统的至少两个手柄，所述虚拟现实系统还包括头戴式显示器；所述装置包括：
信号生成模块，用于在至少两个所述手柄保持目标相对位置时，生成校准信号；
信号发送模块，用于将所述校准信号发送给所述头戴式显示器，以使所述头戴式显示器在至少两个所述手柄保持目标相对位置的情况下，将至少两个所述手柄在所述头戴式显示器中的当前相对显示位置校准为与所述目标相对位置对应的目标相对显示位置。
应当理解的是，以上仅为举例说明，对本申请的技术方案并不构成任何限制，本领域的技术人员在实际应用中可以基于需要进行设置，此处不做限制。
通过上述描述不难发现，本实施例提供的手柄校准装置，利用手柄之间保持的真实的目标相对位置，来校准其在头戴式显示器的显示界面中的手柄 间的相对显示位置，相对于现有的针对单个手柄利用光学定位或电磁定位等方法进行校准，可解决现有手柄校准方法不能准确校准手柄间相对位置的技术问题，从而达到提高手柄间相对显示位置准确性的技术效果。
参见图6，基于与实施例二相同的发明构思，本申请的实施例还提供一种手柄校准装置，用于所述虚拟现实系统中的头戴式显示器，所述虚拟现实系统还包括至少两个手柄，所述装置包括：
信号接收模块，用于接收所述手柄发送的校准信号，所述校准信号是在至少两个所述手柄保持目标相对位置时生成的；
位置校准模块，用于在至少两个所述手柄保持目标相对位置的情况下，基于所述校准信号，将至少两个所述手柄的当前相对显示位置校准为与所述目标相对位置对应的目标相对显示位置。
本申请的实施例还提供一种手柄，所述手柄包括：存储器、处理器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，所述计算机程序配置为实现前述实施例一方法的步骤。
本申请的实施例还提供一种头戴式显示器，所述头戴式显示器包括：存储器、处理器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，所述计算机程序配置为实现前述实施例二方法的步骤。
此外，本申请的实施例还提供一种虚拟现实系统，包括前述实施例的手柄和头戴式显示器。
此外，本申请实施例还提出一种存储介质，所述存储介质上存储有计算机程序，所述计算机程序被处理器执行时实现前述实施例一或实施例二方法的步骤。
需要说明的是，在本文中，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者 系统不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者系统所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括该要素的过程、方法、物品或者系统中还存在另外的相同要素。
上述本申请实施例序号仅仅为了描述，不代表实施例的优劣。
通过以上的实施方式的描述，本领域的技术人员可以清楚地了解到上述实施例方法可借助软件加必需的通用硬件平台的方式来实现，当然也可以通过硬件，但很多情况下前者是更佳的实施方式。基于这样的理解，本申请的技术方案本质上或者说对现有技术做出贡献的部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质(如只读存储器/随机存取存储器、磁碟、光盘)中，包括若干指令用以使得一台多媒体终端设备(可以是手机，计算机，电视接收机，或者网络设备等)执行本申请各个实施例所述的方法
以上仅为本申请的优选实施例，并非因此限制本申请的专利范围，凡是利用本申请说明书及附图内容所作的等效结构或等效流程变换，或直接或间接运用在其他相关的技术领域，均同理包括在本申请的专利保护范围内。

Claims (13)

  1. 一种手柄校准方法，其特征在于，用于属于同一虚拟现实系统的至少两个手柄，所述虚拟现实系统还包括头戴式显示器；所述方法包括：
    在至少两个所述手柄保持目标相对位置时，生成校准信号；
    将所述校准信号发送给所述头戴式显示器，以使所述头戴式显示器在至少两个所述手柄保持目标相对位置的情况下，将至少两个所述手柄在所述头戴式显示器中的当前相对显示位置校准为与所述目标相对位置对应的目标相对显示位置。
  2. 如权利要求1所述的手柄校准方法，其特征在于，所述至少两个手柄包括第一手柄和第二手柄，所述目标相对位置为所述第一手柄与所述第二手柄并排；所述在至少两个所述手柄保持目标相对位置时，生成校准信号的步骤，具体包括：
    在所述第一手柄与所述第二手柄保持并排时，生成校准信号。
  3. 如权利要求2所述的手柄校准方法，其特征在于，所述第一手柄内设置有第一触发电路，所述第二手柄内设置有第二触发电路；
    所述在所述第一手柄与所述第二手柄保持并排时，生成校准信号的步骤，具体包括：
    在所述第一手柄与所述第二手柄保持并排时，基于所述第一触发电路和所述第二触发电路，生成校准信号。
  4. 如权利要求3所述的手柄校准方法，其特征在于，所述第一手柄上设置有与所述第一触发电路连接的N个第一触发点，所述第二手柄上设置有与所述第二触发电路连接的N个第二触发点，N为正整数；所述在所述第一手柄与所述第二手柄保持并排时，基于所述第一触发电路和所述第二触发电路，生成校准信号的步骤，包括：
    在所述第一手柄与所述第二手柄保持并排时，N个所述第一触发点与N个所述第二触发点对应连接，以触发所述第一触发电路和所述第二触发电路生成所述校准信号。
  5. 如权利要求4所述的手柄校准方法，其特征在于，所述第一触发电路包括第一处理器，所述第一处理器电连接两个所述第一触发点，其中，所述两个所述第一触发点中的任一者设置为高电平，另一者设置为低电平；
    所述第二触发电路包括第二处理器，所述第二处理器电连接两个所述第二触发点，其中，两个所述第二触发点中与设置为高电平的第一触发点对应的第二触发点设置为低电平，另一者设置为高电平；
    所述在所述第一手柄与所述第二手柄保持并排时，N个所述第一触发点与N个所述第二触发点对应连接，以触发所述第一触发电路和所述第二触发电路生成所述校准信号的步骤，具体包括：
    在所述第一手柄与所述第二手柄保持并排时，设置为高电平的第一触发点与设置为低电平的第二触发点连接，且设置为低电平的第一触发点与设置为高电平的第二触发点连接，以使所述第一处理器和所述第二处理器都接收到电信号，并根据所述电信号生成所述校准信号。
  6. 如权利要求5所述的手柄校准方法，其特征在于，设置为高电平的所述第一触发点为第一内凹结构，设置为低电平的所述第二触发点为与所述第一内凹结构配合的第二外凸结构；
    设置为高电平的所述第二触发点为第二内凹结构，设置为低电平的所述第一触发点为与所述第二内凹结构配合的第一外凸结构；
    其中，在所述第一手柄与所述第二手柄保持并排时，所述第一外凸结构嵌入所述第二内凹结构，所述第二外凸结构嵌入所述第一内凹结构，以使设置为高电平的第一触发点与设置为低电平的第二触发点连接以及设置为低电平的第一触发点与设置为高电平的第二触发点连接。
  7. 一种手柄校准方法，其特征在于，用于所述虚拟现实系统中的头戴式显示器，所述虚拟现实系统还包括至少两个手柄，所述方法包括：
    接收所述手柄发送的校准信号，所述校准信号是在至少两个所述手柄保持目标相对位置时生成的；
    在至少两个所述手柄保持目标相对位置的情况下，基于所述校准信号， 将至少两个所述手柄的当前相对显示位置校准为与所述目标相对位置对应的目标相对显示位置。
  8. 一种手柄校准装置，其特征在于，用于属于同一虚拟现实系统的至少两个手柄，所述虚拟现实系统还包括头戴式显示器；所述装置包括：
    信号生成模块，用于在至少两个所述手柄保持目标相对位置时，生成校准信号；
    信号发送模块，用于将所述校准信号发送给所述头戴式显示器，以使所述头戴式显示器在至少两个所述手柄保持目标相对位置的情况下，将至少两个所述手柄在所述头戴式显示器中的当前相对显示位置校准为与所述目标相对位置对应的目标相对显示位置。
  9. 一种手柄校准装置，其特征在于，用于所述虚拟现实系统中的头戴式显示器，所述虚拟现实系统还包括至少两个手柄，所述装置包括：
    信号接收模块，用于接收所述手柄发送的校准信号，所述校准信号是在至少两个所述手柄保持目标相对位置时生成的；
    位置校准模块，用于在至少两个所述手柄保持目标相对位置的情况下，基于所述校准信号，将至少两个所述手柄的当前相对显示位置校准为与所述目标相对位置对应的目标相对显示位置。
  10. 一种手柄，其特征在于，所述手柄包括：存储器、处理器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，所述计算机程序配置为实现如权利要求1至6中任一项所述方法的步骤。
  11. 一种头戴式显示器，其特征在于，所述头戴式显示器包括：存储器、处理器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，所述计算机程序配置为实现如权利要求7中所述方法的步骤。
  12. 一种虚拟现实系统，其特征在于，包括如权利要求10所述的手柄和权利要求11所述的头戴式显示器。
  13. 一种存储介质，其特征在于，所述存储介质上存储有计算机程序，所述计算机程序被处理器执行时实现如权利要求1至6中任一项所述方法的步骤，或被处理器执行时实现如权利要求7中所述方法的步骤。
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