WO2023092641A1 - 一种碰撞预警方法、装置、vr头戴设备及存储介质 - Google Patents

一种碰撞预警方法、装置、vr头戴设备及存储介质 Download PDF

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Publication number
WO2023092641A1
WO2023092641A1 PCT/CN2021/135595 CN2021135595W WO2023092641A1 WO 2023092641 A1 WO2023092641 A1 WO 2023092641A1 CN 2021135595 W CN2021135595 W CN 2021135595W WO 2023092641 A1 WO2023092641 A1 WO 2023092641A1
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head
mounted device
collision warning
user
information
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PCT/CN2021/135595
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English (en)
French (fr)
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邱绪东
邹和亮
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歌尔股份有限公司
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Publication of WO2023092641A1 publication Critical patent/WO2023092641A1/zh

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    • GPHYSICS
    • G06COMPUTING; CALCULATING OR COUNTING
    • G06FELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00Input 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
    • G06F3/01Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/011Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
    • GPHYSICS
    • G08SIGNALLING
    • G08BSIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B21/00Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
    • G08B21/02Alarms for ensuring the safety of persons
    • G08B21/0202Child monitoring systems using a transmitter-receiver system carried by the parent and the child
    • G08B21/0205Specific application combined with child monitoring using a transmitter-receiver system
    • G08B21/0208Combination with audio or video communication, e.g. combination with "baby phone" function
    • GPHYSICS
    • G08SIGNALLING
    • G08BSIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B21/00Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
    • G08B21/02Alarms for ensuring the safety of persons
    • G08B21/0202Child monitoring systems using a transmitter-receiver system carried by the parent and the child
    • G08B21/0261System arrangements wherein the object is to detect trespassing over a fixed physical boundary, e.g. the end of a garden

Definitions

  • the present application relates to the field of virtual reality technology, and in particular to a collision warning method and device, a VR head-mounted device and a storage medium.
  • VR Virtual reality
  • VR headsets people can watch movies, learn knowledge, interior design and other activities.
  • VR users are fully engaged in entertainment, learning, and training, and their ability to perceive the surrounding real environment is reduced, and they are prone to collisions with surrounding obstacles.
  • the related technology fixes the user within a certain area through a safety device, so as to prevent the VR user from being injured, but this method greatly reduces the experience of the VR user.
  • the purpose of this application is to provide a collision warning method, a collision warning device, a VR headset and a storage medium, which can prevent VR users from colliding with obstacles without affecting user experience.
  • the collision warning method includes:
  • acquiring position change information of the VR head-mounted device including:
  • acquiring position change information of the VR head-mounted device including:
  • the obstacle distance data includes the distance between the VR head-mounted device and the obstacle
  • determining a safe area and an initial user location according to the environmental information includes:
  • the initial user position is determined according to the distance between the VR headset and the obstacle.
  • the method further includes:
  • the size of the safety area is adjusted according to the size of the wearer.
  • the performing the collision warning operation includes:
  • the collision warning operation after the collision warning operation is performed, it also includes:
  • a schematic diagram of the relative position between the current user position and the safety area is displayed on the VR screen, and the current orientation of the user is marked on the schematic diagram of the relative position.
  • the present application also provides a collision warning device, which is applied to a VR head-mounted device, and the device includes:
  • the initial information determination module is used to collect environmental information, and determine the safe area and the initial user position according to the environmental information;
  • a position determining module configured to obtain position change information of the VR head-mounted device, and determine the current user position according to the position change information and the initial user position;
  • a collision detection module configured to determine whether the current user location is within the safety zone; if not, execute a collision warning operation.
  • the present application also provides a storage medium on which a computer program is stored, and when the computer program is executed, the steps performed in the above-mentioned collision warning method are realized.
  • the present application also provides a VR head-mounted device, including a memory and a processor, the memory stores a computer program, and the processor implements the steps performed in the above collision warning method when calling the computer program in the memory.
  • the present application provides a collision warning method applied to a VR head-mounted device, including: collecting environmental information, and determining a safe area and an initial user position according to the environmental information; acquiring position change information of the VR head-mounted device, and Determine the current user location according to the location change information and the initial user location; judge whether the current user location is within the safety area; if not, perform a collision warning operation.
  • This application determines the safe area and the initial user position based on the environmental information of the VR head-mounted device. When the user is in the safe area, the user will not collide with the surrounding obstacles. When the user is outside the outer circle area, the user may collide with the surrounding obstacles. objects collide.
  • This application determines the current user position based on the initial user position and the position change information of the VR headset, and performs a collision alarm operation if the current user position is not within the safe area. This application does not need to fix the user in a certain area through the safety device, but performs collision warning based on the safe area and the current user location. Therefore, this application can avoid collisions between VR users and obstacles without affecting the user experience.
  • the present application also provides a collision warning device, a storage medium, and a VR head-mounted device, which have the above-mentioned beneficial effects, and will not be repeated here.
  • FIG. 1 is a flow chart of a collision warning method provided by an embodiment of the present application
  • FIG. 2 is a schematic diagram of a VR usage scenario provided by an embodiment of the present application.
  • FIG. 3 is a flowchart of a method for collision warning in practical applications provided by an embodiment of the present application
  • FIG. 4 is a schematic structural diagram of a collision warning device provided by an embodiment of the present application.
  • the wearer's perception of the surrounding real environment is reduced, and it is easy to exceed the protective buffer zone used by VR, and even hit the wall next to it, causing the wearer to be injured.
  • the VR headset is required to have the function of sensing the external environment, which can remind the user to adjust the movement posture when the user is about to exceed the protection buffer zone and hit the wall, so as to prevent the user from being injured when using the VR headset.
  • the present application provides a new collision warning scheme, which can solve the above technical problems.
  • FIG. 1 is a flow chart of a collision warning method provided by an embodiment of the present application.
  • S101 Collect environmental information, and determine a safe area and an initial user location according to the environmental information
  • this embodiment can be used in VR head-mounted devices such as VR glasses and VR helmets, and can use the camera set on the VR head-mounted device to collect environmental information, or receive photos from other devices (such as surveillance cameras, mobile phones, etc.) image to obtain environmental information.
  • VR head-mounted devices such as VR glasses and VR helmets
  • photos from other devices such as surveillance cameras, mobile phones, etc.
  • this embodiment can perform image recognition on the environmental information, so as to determine the obstacles in the current site, and then set the safety area in the current site according to the position information of the obstacles, so as to Make the distance between the safety zone and the obstacle greater than a preset value.
  • This embodiment can also determine the distance between the VR head-mounted device and the obstacle according to the environment information, and then determine the initial user position according to the relative positional relationship between the VR head-mounted device and the obstacle.
  • the initial user location is the location of the user at the moment when the environment information is collected. In this embodiment, the location of the VR head-mounted device is used to identify the user location.
  • S102 Obtain position change information of the VR head-mounted device, and determine a current user position according to the position change information and the initial user position;
  • the position change information of the VR headset can be acquired in various ways, and the specific implementation ways include but are not limited to the following:
  • Method 1 An acceleration sensor is installed on the VR headset, and position change information is determined according to the acceleration data collected by the acceleration sensor;
  • the VR head-mounted device is equipped with a ranging sensor (such as ultrasonic radar), and the position change information is determined according to the distance change between the VR head-mounted device and surrounding obstacles;
  • a ranging sensor such as ultrasonic radar
  • Method 3 The VR head-mounted device is provided with a UWB positioning tag, and the position change information is determined according to the distance from the UWB base station.
  • this embodiment can determine the current user location according to the location change information and the initial user location.
  • S103 Determine whether the current user location is within the security area; if not, proceed to S104;
  • this embodiment can compare the current user location with the safe area; if the current user is in the safe area, no alarm will be issued, and S102 ⁇ Related operations of S103.
  • this step is based on the fact that the current user location is not within the safe area, and the collision warning operation is an operation for prompting the user that a collision is about to occur; specifically, the collision warning operation performed in this embodiment may include any of the following An operation or a combination of operations:
  • Operation 1 Play voice warning information
  • Operation 2 Control motor vibration
  • Operation 3 Display an early warning prompt on the VR display
  • Operation 4 Stop displaying VR content.
  • this embodiment can display the relative position of the current user position and the safe area on the VR screen. position diagram, and mark the user's current orientation on the relative position diagram, so that the user enters the security area according to the relative positional relationship between the current user position and the security area and combined with the current orientation.
  • the safe area and the initial user position are determined according to the environmental information of the VR head-mounted device.
  • the user When the user is in the safe area, the user will not collide with surrounding obstacles.
  • the user When the user is outside the outer circle area, the user may collide with surrounding obstacles. Obstacle collision.
  • the current user position is determined according to the initial user position and the position change information of the VR head-mounted device, and if the current user position is not within the safe area, a collision alarm operation is performed.
  • This embodiment does not need to fix the user in a certain area through the safety device, but performs collision warning based on the safety area and the current user position. Therefore, this embodiment can avoid VR users and obstacles without affecting the user experience. collision.
  • the acceleration data of the VR head-mounted device can be obtained, and the displacement data can be obtained by using the acceleration data to perform quadratic integration on time; and the VR can be determined according to the displacement data.
  • the position change information of the headset can be obtained, and the displacement data can be obtained by using the acceleration data to perform quadratic integration on time; and the VR can be determined according to the displacement data.
  • this embodiment can obtain the obstacle distance data collected by the ranging sensor in the VR head-mounted device; wherein, the obstacle distance data includes the VR head-mounted device and the obstacle The distance between objects; determine the position change information of the VR head-mounted device according to the obstacle distance data.
  • the safety zone in this embodiment, after setting the safety zone in the current site according to the position information of the obstacle, determine the position of the VR head-mounted device. the size of the wearer, and adjust the size of the safety area according to the size of the wearer. Specifically, the larger the body size of the wearer, the smaller the safety zone.
  • Acceleration a is the rate of change of velocity v which in turn is the rate of change of displacement s. That is: acceleration a is the derivative of velocity v, and velocity v is the derivative of displacement s, so acceleration a is the second derivative of displacement s.
  • the integral of acceleration a is velocity v
  • the integral of velocity v is displacement s. Therefore, the displacement s can be obtained by quadratic integration of acceleration a.
  • the specific calculation process is as follows:
  • FIG. 2 is a schematic diagram of a VR usage scenario provided by the embodiment of the present application.
  • the cylinder area is the safe area
  • the cube area is the room where the user is located
  • L1 is the distance between the current user position and the room wall
  • L2 is the distance between the safe area and the room wall.
  • this embodiment adds an acceleration sensor to the VR head-mounted device.
  • Fig. 3 is a flow chart of the method of collision warning in practical application provided by the embodiment of the present application.
  • the distance between the user and the wall is used to remind the user to adjust the movement posture to avoid hitting the wall.
  • the specific implementation process is as follows:
  • S301 The user wears VR glasses to watch VR content; the distance between the user and the wall is L1 at this time, and the safe distance between the periphery of the safety zone and the wall is L2;
  • S305 Compare the distance between the user and the wall after moving (L1-S) and the size between the safety distance L2 between the periphery of the safe area and the wall; if (L1-S)>L2, then enter S306; if (L1- S) ⁇ L2, enter S307;
  • the above steps can be repeated in order to continuously monitor the collision phenomenon.
  • Mode (1) remind the user through the earphone voice.
  • Mode (2) remind the user through motor vibration.
  • Mode (3) displaying prompt information in the VR content.
  • Method (4) Pause the VR application to remind the user to exceed the protection buffer.
  • the acceleration of the user's movement is detected by the sensor, and the expected moving distance of the user is calculated through the integral, and the corresponding algorithm is used to remind the user to adjust the movement posture to prevent the user from hitting the wall beyond the protection buffer zone.
  • This embodiment enables the VR wearer to detect whether the user will leave a safe distance while immersing in the virtual reality content, and remind the user to avoid being hurt, and improves the safety of using the VR head-mounted device.
  • FIG. 4 is a schematic structural diagram of a collision warning device provided in an embodiment of the present application.
  • the collision warning device can be applied to a VR head-mounted device, and the device can include:
  • An initial information determination module 401 configured to collect environmental information, and determine a safe area and an initial user location according to the environmental information
  • a position determining module 402 configured to obtain position change information of the VR head-mounted device, and determine a current user position according to the position change information and the initial user position;
  • the collision detection module 403 is used for judging whether the current user location is within the safe area; if not, perform a collision warning operation.
  • the safe area and the initial user position are determined according to the environmental information of the VR head-mounted device.
  • the user When the user is in the safe area, the user will not collide with surrounding obstacles.
  • the user When the user is outside the outer circle area, the user may collide with surrounding obstacles. Obstacle collision.
  • the current user position is determined according to the initial user position and the position change information of the VR head-mounted device, and if the current user position is not within the safe area, a collision alarm operation is performed.
  • This embodiment does not need to fix the user in a certain area through the safety device, but performs collision warning based on the safety area and the current user position. Therefore, this embodiment can avoid VR users and obstacles without affecting the user experience. collision.
  • the position determination module 402 is configured to obtain acceleration data of the VR head-mounted device, and use the acceleration data to perform quadratic integration of time to obtain displacement data; and is also configured to determine the VR position according to the displacement data.
  • the position change information of the headset is configured to obtain acceleration data of the VR head-mounted device, and use the acceleration data to perform quadratic integration of time to obtain displacement data; and is also configured to determine the VR position according to the displacement data.
  • the position determination module 402 is configured to obtain obstacle distance data collected by the ranging sensor in the VR head-mounted device; wherein, the obstacle distance data includes the distance between the VR head-mounted device and the obstacle. distance; it is also used to determine the position change information of the VR head-mounted device according to the obstacle distance data.
  • the initial information determination module 401 is configured to identify obstacles in the current site according to the environmental information; it is also used to set the safety area in the current site according to the location information of the obstacles; wherein, the The distance between the safety area and the obstacle is greater than a preset value; and it is also used to determine the initial user position according to the distance between the VR headset and the obstacle.
  • a safe area adjustment module configured to determine the size of the wearer of the VR head-mounted device after setting the safe area in the current site according to the position information of the obstacle; The size of the safe area is adjusted according to the size of the person.
  • the collision warning operation performed by the collision detection module 403 includes: playing voice warning information; and/or controlling motor vibration; and/or displaying warning prompts on the VR display screen; and/or stopping displaying VR content.
  • the prompting module is configured to display a schematic diagram of the relative position of the current user position and the safety area on the VR screen after the collision warning operation is performed, and mark the current orientation of the user on the schematic diagram of the relative position.
  • the present application also provides a storage medium on which a computer program is stored. When the computer program is executed, the steps provided in the above-mentioned embodiments can be realized.
  • the storage medium may include: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disk or optical disk and other media that can store program codes.
  • the present application also provides a VR head-mounted device, which may include a memory and a processor, where a computer program is stored in the memory, and when the processor invokes the computer program in the memory, it can realize the functions provided by the above-mentioned embodiments step.
  • a VR headset can also comprise various network interface, components such as power supply.

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Abstract

本申请公开了一种碰撞预警方法,应用于VR头戴设备,包括:采集环境信息,并根据所述环境信息确定安全区域和初始用户位置;获取所述VR头戴设备的位置变化信息,并根据所述位置变化信息和所述初始用户位置确定当前用户位置;判断所述当前用户位置是否在所述安全区域内;若否,则执行碰撞预警操作。本申请能够在不影响用户体验的前提下,避免VR使用者与障碍物碰撞。本申请还公开了一种碰撞预警装置、一种存储介质及一种VR头戴设备,具有以上有益效果。

Description

一种碰撞预警方法、装置、VR头戴设备及存储介质
本申请要求于2021年11月24日提交中国专利局、申请号为202111407221.7、发明名称为“一种碰撞预警方法、装置、VR头戴设备及存储介质”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,特别涉及一种碰撞预警方法、装置、VR头戴设备及存储介质。
背景技术
虚拟现实(Virtual Reality,VR)应用雨后春笋般兴起,VR应用越来越受到大众的欢迎,相应的VR头戴设备(如眼镜、头盔等)的需求与日俱增。人们通过VR头戴设备可以进行观看电影、学习知识、室内设计等活动。
在实际应用中,VR使用者在进行娱乐、学习、训练的过程中由于全身心投入,对周边的现实环境感知能力下降,极易出现与周围障碍物碰撞的情况。相关技术通过安全装置将使用者固定在某一个区域范围内,以避免VR使用者受伤,但是这种方式极大地降低了VR使用者的体验。
因此,如何在不影响用户体验的前提下,避免VR使用者与障碍物碰撞是本领域技术人员目前需要解决的技术问题。
发明内容
本申请的目的是提供一种碰撞预警方法、一种碰撞预警装置、一种VR头戴设备及一种存储介质,能够在不影响用户体验的前提下,避免VR使用者与障碍物碰撞。
为解决上述技术问题,本申请提供一种碰撞预警方法,应用于VR头戴设备,该碰撞预警方法包括:
采集环境信息,并根据所述环境信息确定安全区域和初始用户位置;
获取所述VR头戴设备的位置变化信息,并根据所述位置变化信息和所 述初始用户位置确定当前用户位置;
判断所述当前用户位置是否在所述安全区域内;
若否,则执行碰撞预警操作。
可选的,获取所述VR头戴设备的位置变化信息,包括:
获取所述VR头戴设备的加速度数据,利用所述加速度数据对时间进行二次积分得到位移数据;
根据所述位移数据确定所述VR头戴设备的位置变化信息。
可选的,获取所述VR头戴设备的位置变化信息,包括:
获取所述VR头戴设备中测距传感器采集的障碍物距离数据;其中,所述障碍物距离数据包括所述VR头戴设备与障碍物之间的距离;
根据所述障碍物距离数据确定所述VR头戴设备的位置变化信息。
可选的,根据所述环境信息确定安全区域和初始用户位置,包括:
根据所述环境信息识别当前场地中的障碍物;
根据所述障碍物的位置信息在所述当前场地中设置所述安全区域;其中,所述安全区域与所述障碍物的距离大于预设值;
根据所述VR头戴设备与所述障碍物之间的距离确定所述初始用户位置。
可选的,在根据所述障碍物的位置信息在所述当前场地中设置所述安全区域之后,还包括:
确定所述VR头戴设备的佩戴者的体型大小;
根据所述佩戴者的体型大小调整所述安全区域的大小。
可选的,所述执行碰撞预警操作,包括:
播放语音预警信息;
和/或,控制电机振动;
和/或,在VR显示屏上显示预警提示;
和/或,停止显示VR内容。
可选的,在执行碰撞预警操作之后,还包括:
在所述VR屏幕上显示所述当前用户位置与所述安全区域的相对位置示意图,并在所述相对位置示意图上标注用户当前朝向。
本申请还提供了一种碰撞预警装置,应用于VR头戴设备,该装置包括:
初始信息确定模块,用于采集环境信息,并根据所述环境信息确定安全 区域和初始用户位置;
位置确定模块,用于获取所述VR头戴设备的位置变化信息,并根据所述位置变化信息和所述初始用户位置确定当前用户位置;
碰撞检测模块,用于判断所述当前用户位置是否在所述安全区域内;若否,则执行碰撞预警操作。
本申请还提供了一种存储介质,其上存储有计算机程序,所述计算机程序执行时实现上述碰撞预警方法执行的步骤。
本申请还提供了一种VR头戴设备,包括存储器和处理器,所述存储器中存储有计算机程序,所述处理器调用所述存储器中的计算机程序时实现上述碰撞预警方法执行的步骤。
本申请提供了一种碰撞预警方法,应用于VR头戴设备,包括:采集环境信息,并根据所述环境信息确定安全区域和初始用户位置;获取所述VR头戴设备的位置变化信息,并根据所述位置变化信息和所述初始用户位置确定当前用户位置;判断所述当前用户位置是否在所述安全区域内;若否,则执行碰撞预警操作。
本申请根据VR头戴设备的环境信息确定安全区域和初始用户位置,当用户处于安全区域内时用户不会与周围的障碍物碰撞,当用户处于外圈区域外时用户可能会与周围的障碍物碰撞。本申请根据初始用户位置和VR头戴设备的位置变化信息确定当前用户位置,若当前用户位置不在安全区域内则进行碰撞报警操作。本申请无需通过安全装置将用户固定在某一区域范围,而是基于安全区域和当前用户位置进行碰撞预警,因此本申请能够在不影响用户体验的前提下,避免VR使用者与障碍物碰撞。本申请同时还提供了一种碰撞预警装置、一种存储介质和一种VR头戴设备,具有上述有益效果,在此不再赘述。
附图说明
为了更清楚地说明本申请实施例,下面将对实施例中所需要使用的附图做简单的介绍,显而易见地,下面描述中的附图仅仅是本申请的一些实施例,对于本领域普通技术人员来讲,在不付出创造性劳动的前提下,还可以根据 这些附图获得其他的附图。
图1为本申请实施例所提供的一种碰撞预警方法的流程图;
图2为本申请实施例所提供的一种VR使用场景示意图;
图3为本申请实施例所提供的实际应用中碰撞预警的方法的流程图;
图4为本申请实施例所提供的一种碰撞预警装置的结构示意图。
具体实施方式
为使本申请实施例的目的、技术方案和优点更加清楚,下面将结合本申请实施例中的附图,对本申请实施例中的技术方案进行清楚、完整地描述,显然,所描述的实施例是本申请一部分实施例,而不是全部的实施例。基于本申请中的实施例,本领域普通技术人员在没有做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。
在VR头戴设备的使用过程中,佩戴者对周边的现实环境感知能力下降,容易超出VR使用的保护缓冲区,甚至撞到旁边的墙,造成佩戴者受伤的情况。基于上述情况,需要VR头戴设备具备感知外部环境的功能,可以在使用者即将超出保护缓冲区撞到墙的时候提醒使用者调整运动姿态,避免使用者在使用VR头戴设备时受伤。本申请提供新的碰撞预警方案,能够解决上述技术问题。
下面请参见图1,图1为本申请实施例所提供的一种碰撞预警方法的流程图。
具体步骤可以包括:
S101:采集环境信息,并根据所述环境信息确定安全区域和初始用户位置;
其中,本实施例可以用于VR眼镜、VR头盔等VR头戴设备,可以利用VR头戴设备上设置的摄像头采集环境信息,也可以通过接收其它设备(如监控摄像头、手机等)的摄像头拍摄的图像获取环境信息。
在得到环境信息的基础上,本实施例可以对环境信息进行图像识别,以便确定当前场地中的障碍物,进而根据所述障碍物的位置信息在所述当前场地中设置所述安全区域,以使安全区域与所述障碍物的距离大于预设值。本 实施例还可以根据环境信息确定VR头戴设备与障碍物之间的距离,进而根据VR头戴设备与障碍物之间的相对位置关系确定初始用户位置。初始用户位置为用户在环境信息采集时刻的位置,本实施例使用VR头戴设备的位置标识用户位置。
S102:获取所述VR头戴设备的位置变化信息,并根据所述位置变化信息和所述初始用户位置确定当前用户位置;
本步骤可以通过多种方式获取VR头戴设备的位置变化信息,具体实现方式包括但不限于以下几种:
方式1:VR头戴设备上设置有加速度传感器,根据加速度传感器采集的加速度数据确定位置变化信息;
方式2:VR头戴设备上设置有测距传感器(如超声波雷达),根据VR头戴设备与周围障碍物之间的距离变化情况确定位置变化信息;
方式3:VR头戴设备上设置有UWB定位标签,根据与UWB基站之间的距离确定位置变化信息。
在得到位置变化信息后,本实施例可以根据位置变化信息和初始用户位置确定当前用户位置。
S103:判断所述当前用户位置是否在所述安全区域内;若否,则进入S104;
其中,在得到当前用户位置之后,本实施例可以将当前用户位置与安全区域进行位置比对;若当前用户在安全区域内,则不进行报警,还可以在延时一段时间后重新执行S102~S103的相关操作。
S104:执行碰撞预警操作。
其中,本步骤建立在当前用户位置不在所述安全区域内的基础上,碰撞预警操作为用于提示用户将要发生碰撞的操作;具体的,本实施例执行的碰撞预警操作可以包括以下任一种操作或多种操作的组合:
操作1:播放语音预警信息;
操作2:控制电机振动;
操作3:在VR显示屏上显示预警提示;
操作4:停止显示VR内容。
作为一种可行的实施方式,在执行碰撞预警操作之后,为了更好地指示用户回到安全区域内,本实施例可以在所述VR屏幕上显示所述当前用户位置 与所述安全区域的相对位置示意图,并在所述相对位置示意图上标注用户当前朝向,以便用户根据当前用户位置与安全区域的相对位置关系,并结合当前朝向进入安全区域。
本实施例根据VR头戴设备的环境信息确定安全区域和初始用户位置,当用户处于安全区域内时用户不会与周围的障碍物碰撞,当用户处于外圈区域外时用户可能会与周围的障碍物碰撞。本实施例根据初始用户位置和VR头戴设备的位置变化信息确定当前用户位置,若当前用户位置不在安全区域内则进行碰撞报警操作。本实施例无需通过安全装置将用户固定在某一区域范围,而是基于安全区域和当前用户位置进行碰撞预警,因此本实施例能够在不影响用户体验的前提下,避免VR使用者与障碍物碰撞。
作为对于图1对应实施例的进一步介绍,本实施例可以获取所述VR头戴设备的加速度数据,利用所述加速度数据对时间进行二次积分得到位移数据;根据所述位移数据确定所述VR头戴设备的位置变化信息。
作为对于图1对应实施例的进一步介绍,本实施例可以获取所述VR头戴设备中测距传感器采集的障碍物距离数据;其中,所述障碍物距离数据包括所述VR头戴设备与障碍物之间的距离;根据所述障碍物距离数据确定所述VR头戴设备的位置变化信息。
由于不同体型的用户(如成人和儿童)的活动范围不同,本实施例可以在根据所述障碍物的位置信息在所述当前场地中设置所述安全区域之后,确定所述VR头戴设备的佩戴者的体型大小,并根据所述佩戴者的体型大小调整所述安全区域的大小。具体的,佩戴者的体型越大,安全区域越小。
下面通过在实际应用中利用加速度数据进行碰撞预警的方案说明上述实施例描述的流程。
关于计算位移数据的原理如下:
Figure PCTCN2021135595-appb-000001
加速度a是速度v的变化率,速度v又是位移s的变化率。即:加速度a是速度v的导数,速度v是位移s的导数,因此加速度a是位移s的二阶导数。
加速度a的积分是速度v,速度v的积分是位移s,因此对加速度a进行二次积分可以得到位移s,具体计算过程如下:
Figure PCTCN2021135595-appb-000002
请参见图2,图2为本申请实施例所提供的一种VR使用场景示意图,图2中圆柱体区域为安全区域,正方体区域为所在的房间,L1为当前用户位置与房间墙壁的距离,L2为安全区域与房间墙壁的距离。
根据前文介绍的加速度与位移的关系,本实施例在VR头戴设备中加入加速度传感器,在用户使用VR头戴设备的过程中,加速度传感器可以根据用户的运动状态,测量出用户的某一个运动预计移动的距离S。如果用户与墙面的距离L1减去用户位移S,即(L1-S)小于等于安全区与墙之间的距离L2,即(L1-S)<=L2,表明用户将要超出安全区域,即将撞到墙面受到伤害,从而发出警报,让用户调整运动姿态。
请参见图3,图3为本申请实施例所提供的实际应用中碰撞预警的方法的流程图,本实施例利用传感器检测使用者运动的加速度,进而计算出使用者预计移动距离,判断使用者与墙之间的距离,来提醒使用者调整运动姿态避免撞到墙,具体实现过程如下:
S301:用户佩戴VR眼镜,观看VR内容;其中,此时用户与墙面的距离为L1,安全区外围与墙面的安全距离为L2;
S302:利用加速度传感器检测出用户运动的加速度a;
S303:通过加速度a,计算出用户预计运动的位移S;
S304:检测用户移动后与墙面之间的距离(L1-S);
S305:比较用户移动后与墙面之间的距离(L1-S)和安全区外围与墙面的安全距离L2之间的大小;如果(L1-S)>L2则进入S306;如果(L1-S)≤L2则进入S307;
S306:判定用户仍处在安全区域,VR眼镜不发出任何警报;
S307:判定用户即将离开安全区域,可能会发生危险,VR眼镜发出警报,以便用户调整运动姿态。
本实施例可以循环以上步骤以便对碰撞现象进行持续监测。
本实施例可以通过以下策略和方式提醒用户调整运动姿态和位置:
策略(1):单次提醒。
策略(2):强制停止使用10分钟。
策略(3):立即停用。
方式(1):通过耳机语音提醒用户。
方式(2):通过电机振动提醒用户。
方式(3):在VR内容中显示提示信息。
方式(4):暂停VR应用提醒用户超过保护缓冲区。
通过传感器检测使用者运动的加速度,通过积分计算出使用者预计移动的距离,并通过相应的算法,提醒使用者调整运动姿态,避免使用者超出保护缓冲区撞到墙上。本实施例能够使VR佩戴者在沉浸虚拟现实内容的同时检测使用者是否会离开安全距离并提醒用户,避免受到伤害,提高了使用VR头戴设备的安全性。
请参见图4,图4为本申请实施例所提供的一种碰撞预警装置的结构示意图,该碰撞预警装置可以应用于VR头戴设备,该装置可以包括:
初始信息确定模块401,用于采集环境信息,并根据所述环境信息确定安全区域和初始用户位置;
位置确定模块402,用于获取所述VR头戴设备的位置变化信息,并根据所述位置变化信息和所述初始用户位置确定当前用户位置;
碰撞检测模块403,用于判断所述当前用户位置是否在所述安全区域内;若否,则执行碰撞预警操作。
本实施例根据VR头戴设备的环境信息确定安全区域和初始用户位置,当用户处于安全区域内时用户不会与周围的障碍物碰撞,当用户处于外圈区域外时用户可能会与周围的障碍物碰撞。本实施例根据初始用户位置和VR头戴设备的位置变化信息确定当前用户位置,若当前用户位置不在安全区域内则进行碰撞报警操作。本实施例无需通过安全装置将用户固定在某一区域范围,而是基于安全区域和当前用户位置进行碰撞预警,因此本实施例能够在不影响用户体验的前提下,避免VR使用者与障碍物碰撞。
进一步的,所述位置确定模块402,用于获取所述VR头戴设备的加速度 数据,利用所述加速度数据对时间进行二次积分得到位移数据;还用于根据所述位移数据确定所述VR头戴设备的位置变化信息。
进一步的,所述位置确定模块402,用于获取所述VR头戴设备中测距传感器采集的障碍物距离数据;其中,所述障碍物距离数据包括所述VR头戴设备与障碍物之间的距离;还用于根据所述障碍物距离数据确定所述VR头戴设备的位置变化信息。
进一步的,初始信息确定模块401,用于根据所述环境信息识别当前场地中的障碍物;还用于根据所述障碍物的位置信息在所述当前场地中设置所述安全区域;其中,所述安全区域与所述障碍物的距离大于预设值;还用于根据所述VR头戴设备与所述障碍物之间的距离确定所述初始用户位置。
进一步的,还包括:
安全区域调整模块,用于在根据所述障碍物的位置信息在所述当前场地中设置所述安全区域之后,确定所述VR头戴设备的佩戴者的体型大小;还用于根据所述佩戴者的体型大小调整所述安全区域的大小。
进一步的,碰撞检测模块403执行得碰撞预警操作包括:播放语音预警信息;和/或,控制电机振动;和/或,在VR显示屏上显示预警提示;和/或,停止显示VR内容。
进一步的,还包括:
提示模块,用于在执行碰撞预警操作之后,在所述VR屏幕上显示所述当前用户位置与所述安全区域的相对位置示意图,并在所述相对位置示意图上标注用户当前朝向。
由于装置部分的实施例与方法部分的实施例相互对应,因此装置部分的实施例请参见方法部分的实施例的描述,这里暂不赘述。
本申请还提供了一种存储介质,其上存有计算机程序,该计算机程序被执行时可以实现上述实施例所提供的步骤。该存储介质可以包括:U盘、移动硬盘、只读存储器(Read-Only Memory,ROM)、随机存取存储器(Random Access Memory,RAM)、磁碟或者光盘等各种可以存储程序代码的介质。
本申请还提供了一种VR头戴设备,可以包括存储器和处理器,所述存储器中存有计算机程序,所述处理器调用所述存储器中的计算机程序时,可以实现上述实施例所提供的步骤。当然所述VR头戴设备还可以包括各种网络接 口,电源等组件。
说明书中各个实施例采用递进的方式描述,每个实施例重点说明的都是与其他实施例的不同之处,各个实施例之间相同相似部分互相参见即可。对于实施例公开的装置而言,由于其与实施例公开的方法相对应,所以描述的比较简单,相关之处参见方法部分说明即可。应当指出,对于本技术领域的普通技术人员来说,在不脱离本申请原理的前提下,还可以对本申请进行若干改进和修饰,这些改进和修饰也落入本申请权利要求的保护范围内。
还需要说明的是,在本说明书中,诸如第一和第二等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来,而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。而且,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、物品或者设备不仅包括那些要素,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、物品或者设备所固有的要素。在没有更多限制的状况下,由语句“包括一个……”限定的要素,并不排除在包括所述要素的过程、方法、物品或者设备中还存在另外的相同要素。

Claims (10)

  1. 一种碰撞预警方法,其特征在于,应用于VR头戴设备,包括:
    采集环境信息,并根据所述环境信息确定安全区域和初始用户位置;
    获取所述VR头戴设备的位置变化信息,并根据所述位置变化信息和所述初始用户位置确定当前用户位置;
    判断所述当前用户位置是否在所述安全区域内;
    若否,则执行碰撞预警操作。
  2. 根据权利要求1所述碰撞预警方法,其特征在于,获取所述VR头戴设备的位置变化信息,包括:
    获取所述VR头戴设备的加速度数据,利用所述加速度数据对时间进行二次积分得到位移数据;
    根据所述位移数据确定所述VR头戴设备的位置变化信息。
  3. 根据权利要求1所述碰撞预警方法,其特征在于,获取所述VR头戴设备的位置变化信息,包括:
    获取所述VR头戴设备中测距传感器采集的障碍物距离数据;其中,所述障碍物距离数据包括所述VR头戴设备与障碍物之间的距离;
    根据所述障碍物距离数据确定所述VR头戴设备的位置变化信息。
  4. 根据权利要求1所述碰撞预警方法,其特征在于,根据所述环境信息确定安全区域和初始用户位置,包括:
    根据所述环境信息识别当前场地中的障碍物;
    根据所述障碍物的位置信息在所述当前场地中设置所述安全区域;其中,所述安全区域与所述障碍物的距离大于预设值;
    根据所述VR头戴设备与所述障碍物之间的距离确定所述初始用户位置。
  5. 根据权利要求4所述碰撞预警方法,其特征在于,在根据所述障碍物的位置信息在所述当前场地中设置所述安全区域之后,还包括:
    确定所述VR头戴设备的佩戴者的体型大小;
    根据所述佩戴者的体型大小调整所述安全区域的大小。
  6. 根据权利要求1所述碰撞预警方法,其特征在于,所述执行碰撞预警操作,包括:
    播放语音预警信息;
    和/或,控制电机振动;
    和/或,在VR显示屏上显示预警提示;
    和/或,停止显示VR内容。
  7. 根据权利要求1至6任一项所述碰撞预警方法,其特征在于,在执行碰撞预警操作之后,还包括:
    在所述VR屏幕上显示所述当前用户位置与所述安全区域的相对位置示意图,并在所述相对位置示意图上标注用户当前朝向。
  8. 一种碰撞预警装置,其特征在于,应用于VR头戴设备,包括:
    初始信息确定模块,用于采集环境信息,并根据所述环境信息确定安全区域和初始用户位置;
    位置确定模块,用于获取所述VR头戴设备的位置变化信息,并根据所述位置变化信息和所述初始用户位置确定当前用户位置;
    碰撞检测模块,用于判断所述当前用户位置是否在所述安全区域内;若否,则执行碰撞预警操作。
  9. 一种VR头戴设备,其特征在于,包括存储器和处理器,所述存储器中存储有计算机程序,所述处理器调用所述存储器中的计算机程序时实现如权利要求1至7任一项所述碰撞预警方法的步骤。
  10. 一种存储介质,其特征在于,所述存储介质中存储有计算机可执行指令,所述计算机可执行指令被处理器加载并执行时,实现如权利要求1至7任一项所述碰撞预警方法的步骤。
PCT/CN2021/135595 2021-11-24 2021-12-06 一种碰撞预警方法、装置、vr头戴设备及存储介质 WO2023092641A1 (zh)

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