CN108153406A - It is a kind of to control the method at HMD visual angles and wear display equipment - Google Patents
It is a kind of to control the method at HMD visual angles and wear display equipment Download PDFInfo
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- 238000012935 Averaging Methods 0.000 claims description 8
- 238000000205 computational method Methods 0.000 claims description 4
- 230000003068 static effect Effects 0.000 abstract description 55
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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
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F1/00—Details not covered by groups G06F3/00 - G06F13/00 and G06F21/00
- G06F1/16—Constructional details or arrangements
- G06F1/1613—Constructional details or arrangements for portable computers
- G06F1/163—Wearable computers, e.g. on a belt
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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
- G06F3/03—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
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- 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
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Abstract
It controls the method at HMD visual angles the invention discloses a kind of and wears display equipment, the method includes：Differentiate the motion state for wearing display equipment；According to the motion state, using viewing angle control strategy corresponding with the motion state, the visual angle of display equipment is worn described in control, rather than directly according to the data of gyroscope, the visual angle for wearing display equipment is controlled, so as to solve in the prior art since the static random drift forecasting to gyroscope is inaccurate, the technical issues of visual angle of electronic equipment can be caused to drift about, realizing makes viewing angle control mode more flexible, can adapt to the technique effect of the different motion state of electronic equipment.
Description
Technical field
The present invention relates to data processing field more particularly to a kind of control the method at HMD visual angles and wear display equipment.
Background technology
Wearing display equipment HMD (English full name：Head Mount Display) VR (Virtual that provide a user
Reality；Virtual reality) in the world, wear display equipment and determine to be supplied to user's by detecting the head pose of user
Physical message, so as to bring user's feeling of immersion, and the head pose of user is typically by wearing the IMU in display equipment
(Inertial measurement unit；Inertial Measurement Unit) for sensor come what is captured, gyroscope is exactly a kind of common
IMU sensors.
However, gyroscope data under static state, nor complete zero, the error of gyroscope is mainly derived from two sides
Face, one be gyroscope zero rate shift, the other is gyroscope static random drift.Zero velocity is deviated, is being gone out
Gyroscope can be corrected when factory, gyroscope can generally be calibrated, calculate zero rate shift, in follow-up calculate
Zero rate shift is subtracted, so as to eliminate the error that zero velocity offset is brought.
But drift about for static random, due to being rotated always inside gyroscope, also, it can be with the time
Change and generate the drift of randomness and the variation of gyroscope temperature can also aggravate the amplitude of drift, therefore, carrying out user
Head pose estimation when, may result in Attitude estimation inaccuracy, lead to wear display equipment and visual angle drift phenomenon occur,
Such as：Wear display equipment it is static in the case of, user every have been found that for a period of time wear display equipment visual angle have occurred
Variation.
The prior art is in the static random drift for coping with gyroscope, it will usually be carried out using static random drift as variable
Prediction in real time is generally predicted static random drift by Kalman filtering or neural network, since static random is inclined
Shifting changes always, and it is still to have gap that the data of prediction are compared with true data, it is seen then that the prior art can not be complete
It totally disappeared except the static random of gyroscope drifts about.
Therefore, technical problem in the prior art is：Since the static random drift forecasting to gyroscope is inaccurate,
The visual angle for wearing display equipment can be caused to drift about.
Invention content
It controls the method at HMD visual angles the object of the present invention is to provide a kind of and wears display equipment, for solving existing skill
Present in art, since the static random drift forecasting to gyroscope is inaccurate, the visual angle for wearing display equipment can be caused to occur
The technical issues of drift.
In order to achieve the above-mentioned object of the invention, first aspect of the embodiment of the present invention provides a kind of method for controlling HMD visual angles, packet
It includes：
Differentiate the motion state for wearing display equipment；
According to the motion state, using viewing angle control strategy corresponding with the motion state, worn described in control aobvious
Show the visual angle of equipment.
Optionally, differentiate that the motion state for wearing display equipment includes：
The sensing data that record wears the gyro sensor of display equipment is less than or equal to holding for sensor data threshold
The continuous time；Wherein, the sensor data threshold is gyroscope when wearing display equipment according to be in predetermined state
N number of sensing data that sensor detects in the first preset duration, the value obtained is calculated according to presetting method, and N is more than 1
Integer；
If the duration is more than pre-set time threshold, it is determined that the display equipment of wearing is currently at institute
State predetermined state.
Optionally, using viewing angle control strategy corresponding with the motion state, regarding for display equipment is worn described in control
Angle, including：
Determine current sensor data of the gyro sensor at current time；
Compare the current sensor data and the sensor data threshold；
If the current sensor data is less than or equal to the sensor data threshold, display equipment is worn described in control
Visual angle remain unchanged.
Optionally, current sensor data of the gyro sensor at current time is determined, including：
Obtain original sensor data of the gyro sensor at the current time；
According to smooth function gyroCurrently_ smooth=gyroCurrently*α1+gyroCurrently_F*(1-α1) determine the current sensor
Data；
Wherein, gyroCurrently_ smooth be the current sensor data, gyroCurrentlyFor the original sensor data, α1
For the weights of the original sensor data, gyroCurrently_ F is to be determined in the second preset duration before the current time
The average value of Q sensing data, Q are the integer more than 1.
Optionally, the computational methods of the sensor data threshold include：
It is described wear display equipment be in the predetermined state when, determine the gyro sensor when first is default
N number of sensing data in length；
M maximum sensing data is extracted from N number of sensing data, M is the positive integer less than N；
It is a according to the average value of N number of sensing data, the weights of the average value of N number of sensing data, the M
The average value of sensing data, the M sensing data average value weights, according to weighted averaging functions calculate obtain institute
State sensor data threshold.
Optionally, N number of sensing data of the gyro sensor in the first preset duration is determined, including：
The positive integer that i is taken to be 1 to N successively, obtains i-th of the gyro sensor in first preset duration
Original sensor data；
According to smooth function gyroi_ smooth=gyroi*α0+gyroi_F*(1-α0) determine i-th of sensing data；
Wherein, gyroi_ smooth be i-th of sensing data, gyroiFor i-th of original sensor data,
α0For the weights of i-th of original sensor data, gyroi_ F is the i-1 biography before i-th of sensing data
The average value of sensor data.
Optionally, the predetermined state is video broadcasting condition or stationary state.
Second aspect of the embodiment of the present invention provides one kind and wears display equipment, including：
Identification module, for differentiating the motion state for wearing display equipment；
Control module, for according to the motion state, using viewing angle control strategy corresponding with the motion state, controlling
The visual angle of display equipment is worn described in system.
Optionally, the identification module includes：Duration determination unit, for recording the gyroscope for wearing display equipment
The sensing data of sensor is less than or equal to the duration of sensor data threshold；Wherein, described wear in display equipment is deposited
Sensor data threshold is contained, the sensor data threshold is institute when wearing display equipment according to be in predetermined state
N number of sensing data that gyro sensor detects in the first preset duration is stated, the value obtained is calculated according to presetting method,
N is the integer more than 1；
Predetermined state determination unit, it is described for when the duration being more than pre-set time threshold, determining
It wears display equipment and is currently at the predetermined state.
Optionally, the control module includes：
Sensing data determination unit, for determining current sensor number of the gyro sensor at current time
According to；
Comparing unit, for the current sensor data and the sensor data threshold；
Control unit, for when the current sensor data is less than or equal to the sensor data threshold, controlling institute
It states to wear and shows that the visual angle of equipment remains unchanged.
Optionally, the sensing data determination unit is used for：
Obtain original sensor data of the gyro sensor at the current time；
According to smooth function gyroCurrently_ smooth=gyroCurrently*α1+gyroCurrently_F*(1-α1) determine the current sensor
Data；
Wherein, gyroCurrently_ smooth be the current sensor data, gyroCurrentlyFor the original sensor data, α1
For the weights of the original sensor data, gyroCurrently_ F is to be determined in the second preset duration before the current time
The average value of Q sensing data, Q are the integer more than 1.
Optionally, the display equipment of wearing further includes：
Threshold determination module, for it is described wear display equipment and be in the predetermined state when, it is 1 to N's to take i successively
Positive integer obtains i-th original sensor data of the gyro sensor in first preset duration；According to smooth
Function gyroi_ smooth=gyroi*α0+gyroi_F*(1-α0) determine i-th of sensing data, and then obtain N number of sensor
Data；Wherein, gyroi_ smooth be i-th of sensing data, gyroiFor i-th of original sensor data, α0
For the weights of i-th of original sensor data, gyroi_ F is the i-1 sensing before i-th of sensing data
The average value of device data；
M maximum sensing data is extracted from N number of sensing data, M is the positive integer less than N；According to institute
State the average value of N number of sensing data, the weights of the average value of N number of sensing data, the M sensing data it is flat
Mean value, the M sensing data average value weights, calculated according to weighted averaging functions and obtain the sensing data threshold
Value, and the sensor data threshold is stored in described wear in display equipment.
One or more technical solution in the embodiment of the present invention, at least has the following technical effect that or advantage：
In the scheme of the embodiment of the present invention, the motion state of display equipment is worn by differentiating；Further according to the movement shape
State, using viewing angle control strategy corresponding with the motion state, worn described in control display equipment visual angle rather than directly
According to the data of gyroscope (in drifting in including static random), the visual angle for wearing display equipment is controlled, so as to solve
In the prior art since the static random drift forecasting to gyroscope is inaccurate, the visual angle of electronic equipment can be caused to drift about
The technical issues of, realizing makes viewing angle control mode more flexible, can adapt to the technology of the different motion state of electronic equipment
Effect.
Description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention, for those of ordinary skill in the art, without having to pay creative labor, may be used also
To obtain other attached drawings according to these attached drawings：
Fig. 1 is the flow chart of the method at control HMD visual angles provided in an embodiment of the present invention；
Fig. 2 is the method flow diagram for the motion state that display equipment is worn in discriminating provided in an embodiment of the present invention；
Fig. 3 is the flow chart of the computational methods of sensor data threshold provided in an embodiment of the present invention；
Fig. 4 is the flow chart of smoothing processing method provided in an embodiment of the present invention；
Fig. 5 is the specific implementation flow chart of step 11 provided in an embodiment of the present invention；
Fig. 6 is the flow chart of another smoothing processing method provided in an embodiment of the present invention；
Fig. 7 is the high-level schematic functional block diagram provided in an embodiment of the present invention for wearing display equipment.
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other without creative efforts
Embodiment shall fall within the protection scope of the present invention.
It please refers to Fig.1, Fig. 1 is the schematic diagram of the method at control HMD visual angles provided in an embodiment of the present invention, and this method includes
Following steps.
Step 10, differentiate the motion state for wearing display equipment.
Step 11, according to the motion state, using viewing angle control strategy corresponding with the motion state, described in control
Wear the visual angle of display equipment.
In the embodiment of the present invention, wear display equipment can be VR equipment, AR (Augmented Reality；Enhancing is existing
It is real) equipment etc., it wears display equipment and includes gyro sensor, gyro sensor wears this for detection and wears display equipment
User head pose, sensing data is the data that detect of gyro sensor for wearing display equipment acquisition.In reality
In the application of border, wear and be also provided with acceleration transducer, motion capture sensor, light sensor and hand in display equipment
Sensors such as gesture identification etc..Motion state can be stationary state or video broadcasting condition etc., wherein, stationary state refers to wear
The state on a loading end is rested on after display device starting-up, video broadcasting condition refers to that user wears and wears display equipment viewing
State during video.
In a kind of possible embodiment, as shown in Fig. 2, differentiating that the method for the motion state for wearing display equipment includes
Following steps.
Step 101, record wears the sensing data of the gyro sensor of display equipment less than or equal to sensing data
The duration of threshold value.
Step 102, if the duration is more than pre-set time threshold, it is determined that the electronic equipment is currently located
In the predetermined state.
In a step 101, sensor data threshold can be to precalculate and be stored in the value worn in display equipment.Tool
Body, display equipment is worn according to sensor data threshold when be in predetermined state, the gyro sensor first in advance
If the N number of sensing data detected in duration, the value obtained is calculated according to presetting method, due to the static state of gyro sensor
Random drift always exists, and therefore, N number of sensing data includes at least the drift value that static random drifts about under predetermined state, root
When the sensor data threshold obtained is calculated according to N number of sensing data can reflect that wearing display equipment is in predetermined state, packet
Include the situation of change that static random drifts in interior sensing data.Then, the sensing data for recording gyro sensor is small
In the duration equal to sensor data threshold.
In a step 102, the duration and pre-set time threshold, if the duration is more than
Between threshold value, it is determined that it is described wear display equipment be currently at the predetermined state, as described above, predetermined state can be static
State, predetermined state may be video broadcasting condition, and the corresponding sensor data threshold of different predetermined states can be different.
Such as：Under static state, it is 0.1 that electronic equipment, which calculates the sensor data threshold obtained, and pre-set time threshold is
1min, if the sensing data for wearing the gyro sensor of display equipment is both less than 0.1 in more than 1min, it is determined that head
It wears display equipment and is currently at stationary state；In another example：Under video broadcasting condition, wear display equipment and calculate the sensing obtained
Device data threshold is 0.5, and pre-set time threshold is 1min, if wearing the sensing of the gyro sensor of display equipment
Device data are both less than 0.5 in more than 1min, it is determined that wear display equipment and be currently at video broadcasting condition.
In the embodiment of the present invention, predetermined state can also be configured according to actual needs, and determine predetermined state pair
The sensor data threshold answered, then according to wearing display equipment sensing data whithin a period of time and sensing data threshold
Whether the relationship of value determines to wear display equipment currently in predetermined state, and this will not be detailed here by the present invention.
For example, when predetermined state can also be relative static conditions, relative static conditions refer to wear display equipment
The smaller state of amplitude for not moving or moving, such as：Wear display equipment it is static when or user wear wear display
It is smaller without mobile or mobile amplitude due to wearing display equipment when equipment watches film, it may be considered that wearing display
Equipment is in relative static conditions.Assuming that in stationary state, wearing the sensor data threshold that display equipment calculating obtains is
0.1, when display equipment viewing film is worn in user's wearing, it is 0.5 to wear the sensor data threshold that display equipment extremely obtains,
Sensor data threshold during due to viewing film is greater than the sensor data threshold under stationary state, that is to say, that viewing
Sensor data threshold during film can cover the sensor data threshold under stationary state, hence, it can be determined that wearing aobvious
Show that the sensor data threshold worn when display equipment is in relative static conditions is 0.5.
Further, it is assumed that pre-set time threshold is 1min, then if wearing the gyro sensor of display equipment
Sensing data in more than 1min be both less than 0.5, it is determined that wear display equipment be currently at relative static conditions.
In alternatively possible embodiment, the gyro sensor in above-described embodiment can be combined and accelerated
The data for spending sensor or gravity sensor etc. determine to wear the motion state of display equipment jointly.Such as：Continue to use above-mentioned sensing
Device data threshold is 0.1, and pre-set time threshold is the example of 1min, it is assumed that the sensing data of spiral shell instrument sensor is super
It crosses both less than 0.1, and data of the acceleration transducer in this 1min are all zero in 1min, it is determined that wear at display equipment
In stationary state.It can be caused by the data for combining gyro sensor and acceleration transducer or gravity sensor etc.
The motion state identified is more accurate.
Next, step 11 is illustrated.
In a step 11, according to the motion state, using viewing angle control strategy corresponding with the motion state, control
The visual angle for wearing display equipment.Wherein, as in the preceding embodiment, predetermined state with above-mentioned stationary state or can regard
Frequency broadcast state, different states can correspond to different viewing angle control strategies, for example, the corresponding visual angle control of stationary state
Strategy processed is：If the sensing data of gyro sensor is less than or equal to the corresponding sensor data threshold of stationary state,
The visual angle that display equipment is worn in control remains unchanged；It is corresponding that if the sensing data of gyro sensor is more than stationary state
Sensor data threshold then stops according to the corresponding viewing angle control strategy of stationary state, and aobvious to wearing according to sensing data
Show that the visual angle of equipment is adjusted.
Wherein, visual angle refers under carrier coordinate system (absolute coordinate system for wearing display equipment), wears display equipment
Visual angle and carrier coordinate system x-axis, the angle between y-axis and z-axis after visual angle is determined, wears display equipment according to regarding
Angle shows panoramic picture.
Further, if the sensing data of gyro sensor is more than the corresponding sensor data threshold of stationary state,
Then judgement, which is worn, shows that the state of equipment is changed, and is no longer stationary state, then, wears display equipment and performs step
10, differentiate the motion state for wearing display equipment again.
In the embodiment of the present invention, the state for showing that equipment is presently in is worn by determining, further according to the shape being presently in
The corresponding viewing angle control strategy of state controls the visual angle for wearing display equipment, avoids in the prior art directly according to top
The sensing data of spiral shell instrument sensor is adjusted the visual angle for wearing display equipment, causes to wear the visual angle hair of display equipment
Raw drift, and in the embodiment of the present invention, since different states can correspond to different viewing angle control strategies, it can make
The viewing angle control strategy that display equipment must be worn is more flexible, can adapt to wear the different motion state of display equipment.
Next, the computational methods to sensor data threshold illustrate, as shown in figure 3, including the following steps.
Step 12, it is described wear display equipment and be in the predetermined state when, determine the gyro sensor the
N number of sensing data in one preset duration.
Step 13, M maximum sensing data is extracted from N number of sensing data, M is the positive integer less than N.
Step 14, according to the average value of N number of sensing data, the average value of N number of sensing data weights,
The average value of the M sensing data, the M sensing data average value weights, according to weighted averaging functions meter
It calculates and obtains the sensor data threshold.
In the embodiment of the present invention, under predetermined state, due to gyro sensor, there are static random drifts, wear display
Equipment can drift about according to static random, and visual angle is adjusted, and visual angle is caused to drift about, and this visual angle drift is that user is not intended to send out
Raw, for example, when predetermined state is stationary state, visual angle is carried out according to static random drift if wearing display equipment
Adjustment, user is every a period of time it finds that the visual angle for wearing display equipment is changed.
In step 12, the first preset duration is the duration determined according to practical experience value, by the first preset duration
N number of sensing data, can accurately reflect and wear display equipment when being in predetermined state, the data of gyro sensor
Situation of change.Such as：First preset duration can be 5min, 15min etc., it is assumed that predetermined state is stationary state, and first is default
Shi Changwei 5min can will then wear display equipment and stand 5min, and acquire N number of sensor of gyro sensor in this 5min
Data, due to sensing data that under stationary state, gyro sensor detects be as caused by drifting about static random, because
This, N number of sensing data can accurately reflect the variation of the static random drift of the gyro sensor under stationary state
Situation, the value of N are related with the sample frequency of gyro sensor.
In the embodiment of the present invention, for N number of sensing data, a kind of possible situation is：N number of sensing data can be
The initial data that gyro sensor reports.
In the embodiment of the present invention, the source of gyro error mainly includes the static state in zero velocity offset and above-described embodiment
Random drift deviates zero velocity, in general, has the equipment of gyro sensor in manufacture, needs first to estimate top
Then the zero velocity offset of spiral shell instrument sensor, in the sensing data of computing gyroscope sensor, subtracts zero velocity offset.
For example, it is assumed that under carrier coordinate system, the zero velocity offset of gyro sensor is (1,1,1), if top
The practical data reported of spiral shell instrument sensor are (1.1,1.2,1.3), then true data need to compensate zero velocity offset, that is,
It says, true data are that the data actually reported subtract zero velocity offset, then true data are (0.1,0.2,0.3), then,
Using true data as the original sensor data in the first preset duration.As it can be seen that under static state, due to static random
The presence of drift, even if being deviated to the compensation data zero velocity that gyro sensor reports, the data after compensation are nor complete zero
, but change with the variation of time.Therefore, the initial data that gyroscope reports is the number compensated after zero velocity offset
According to.
Alternatively possible situation is：The initial data that gyroscope reports is smoothed according to smooth function, then N
A sensing data is the data after smoothing processing, for gyro sensor, in use, gyro sensor
It is possible that data jump, data jump refers to due to stability of gyro sensor itself etc., lead to gyroscope
The data that sensor reports become larger suddenly, mistake occur.By being smoothed to the initial data that gyroscope reports, and will
Data after smooth can eliminate influence of the data jump to sensor data threshold as N number of sensing data so that
Sensor data threshold can accurately reflect the data situation worn when display equipment is in predetermined state.Such as Fig. 4 institutes
Show, above-mentioned smoothing processing method includes the following steps.
Step 121, the positive integer that i is taken to be 1 to N successively, obtains the gyro sensor in first preset duration
I-th interior of original sensor data.
Wherein, original sensor data refers to the initial data that gyro sensor reports.Optionally, initial data can be with
For the data after compensation zero velocity offset.
Step 122, according to smooth function gyroi_ smooth=gyroi*α0+gyroi_F*(1-α0) determine i-th of sensing
Device data.
Wherein, gyroi_ smooth be i-th of sensing data, gyroiFor i-th of original sensor data,
α0For the weights of i-th of original sensor data, gyroi_ F is the i-1 biography before i-th of sensing data
The average value of sensor data, in order to enable it is smooth after data more really reflect the data variation feelings of gyro sensor
Condition, gyroiWeights can be more than gyroiThe weights of _ F.
It, can be by original sensor data directly as the 1st sensing data when i takes 1；When i takes 2, according to smooth
The 2nd original sensor data of function pair is smoothed, and obtains the 2nd sensing data, wherein, gyro2The value of _ F takes
The value of 1st sensing data；When i takes 3, the 3rd original sensor data is smoothed according to smooth function, is obtained
The 3rd sensing data is obtained, wherein, gyro3The value of _ F takes the average value of the 1st sensing data and the 2nd sensing data；
When i takes 4, the 4th original sensor data is smoothed according to smooth function, obtains the 4th sensing data,
In, gyro3The value of _ F takes the average value of the 1st sensing data, the 2nd sensing data and the 3rd sensing data；Successively
Analogize, so that it is determined that N number of sensing data of the gyro sensor in the first preset duration.
In the embodiment of the present invention, a gyroscope wave filter defined in display equipment, gyroscope wave filter can worn
Can be queue or array, for storing the multi-group data of gyro sensor, then gyro sensor reports initial data
After smoothing processing, wear display equipment can by the first preset duration it is all it is smooth after data be stored in gyroscope filter
In wave device.
Next, continue the side to determining sensor data threshold using N number of sensing data as the data instance after smooth
Method illustrates.
After N number of sensing data of the gyro sensor in the first preset duration is determined by step 12, wear aobvious
Show that equipment performs step 13, M maximum sensing data is extracted from N number of sensing data, M is less than N just
Integer.
Specifically, N number of sensing data in the first preset duration is taken out, and from above-mentioned gyroscope wave filter to institute
It states N number of sensing data to be ranked up, takes M sensing data from big to small, then M sensing data is N number of sensor number
According to M sensing data of middle maximum.
About the value of M, a kind of possible situation is：M is preset value, and M can be the arbitrary positive integer for being less than N more than 0.
Alternatively possible situation is：Show that equipment remains static to ensure that sensor data threshold can effectively filter to wear
When, the static random that gyro sensor generates drifts about, and the value of M can be more than N/2.Such as：The value of N is the value of 1000, M
Can be 100.
Next, wearing display equipment performs step 14, according to the average value of N number of sensing data, N number of biography
The weights of the average value of sensor data, the average value of the M sensing data, the M sensing data average value
Weights calculate according to weighted averaging functions and obtain the sensor data threshold.
In the embodiment of the present invention, weighted averaging functions can be：Threshold_new=threshold_max* α2+
threadhold*(1-α2), wherein, threshold_new is sensor data threshold, and threshold_max is M sensor
The average value of data, α2The weights of average value for M sensing data, threadhold are being averaged for N number of sensing data
Value, (1- α2) for N number of sensing data average value weights.It is worn to ensure that sensor data threshold can be filtered effectively
When display equipment remains static, the random static that gyro sensor generates drifts about, the average value of M sensing data
Weights can be more than the weights of the average value of N number of sensing data.
In specific implementation process, it can also be determined under predetermined state using other modes, the sensing of gyro sensor
Device data threshold, the invention is not limited in this regard.
Next, the method at the control HMD visual angles in the embodiment of the present invention is described in detail.
In a step 101, when wearing display equipment and be in open state, determine to wear the gyro sensors for showing equipment
The sensing data of device, and sensing data and sensor data threshold are compared, if the sensing of gyro sensor
Device data be less than or equal to sensor data threshold, then record sensing data less than or equal to sensor data threshold it is lasting when
Between.
In a kind of possible embodiment, if when calculating sensor data threshold, N number of sensing data is gyro
The initial data that instrument sensor reports, then the sensing data in step 101 can be the original number that gyro sensor reports
According to.
In alternatively possible embodiment, if when calculating sensor data threshold, N number of sensing data is flat
Sliding treated data, then the sensing data in step 101 can be the data after smoothing processing.The embodiment of earlier figures 4
In smoothing processing method in various change mode and specific example be equally applicable to the present embodiment, by aforementioned to smoothly locating
The detailed description of reason method, those skilled in the art are clear that the implementation of smoothing processing in the present embodiment, institute
With succinct for specification, this will not be detailed here.
In the embodiment of the present invention, it is less than or equal to continuing for sensing data in the sensing data for determining gyro sensor
After time, wear display equipment and perform step 102, the duration and pre-set time threshold, if described hold
The continuous time is more than pre-set time threshold, it is determined that the display equipment of wearing is currently at the predetermined state.
As in the preceding embodiment, predetermined state can be stationary state, or video broadcasting condition, it is different
Motion state can have different sensor data thresholds.Such as：When predetermined state is stationary state, sensor data threshold
When remaining static to wear display equipment, calculated according to sensing data of the gyro sensor in the first preset duration
The value of acquisition, since under stationary state, the sensing data that gyro sensor detects includes the static state of gyro sensor
Random drift, therefore, sensor data threshold can effectively filter the static random drift of gyro sensor under static state
It moves；Then it is less than or equal to the duration of the corresponding sensor data threshold of stationary state in sensing data more than time threshold
When, judgement wears display equipment and is currently at stationary state.
In another example：Predetermined state is video broadcasting condition, and sensor data threshold can wear display for user's wearing and set
During standby viewing video, the value obtained is calculated according to the sensing data of gyro sensor, wearing display due to user's wearing sets
When standby, sensing data that gyro sensor detects includes static random drift and the user of gyro sensor
Therefore the data value that gyro sensor caused by the experiencing small oscillating movements of head generates, when predetermined state is video broadcasting condition, passes
Sensor data threshold can effectively filter the static random drift of gyro sensor and the head experiencing small oscillating movements of user draw
The data value that the gyro sensor risen generates；Then it is less than or equal to the corresponding sensor number of video broadcasting condition in sensing data
When being more than time threshold according to the duration of threshold value, judgement wears display equipment and is in video broadcasting condition.Wherein, video can be with
For film, TV and advertisement etc..
Next, wearing display equipment performs step 11, according to the motion state, using corresponding with the motion state
Viewing angle control strategy, the visual angle of display equipment is worn described in control, as shown in figure 5, including the following steps.
Step 111, current sensor data of the gyro sensor at current time is determined.Wherein, current time
Can be to wear any time that display equipment is under predetermined state.
In a kind of possible embodiment：If when calculating sensor data threshold, N number of sensing data is gyroscope
The initial data reported, then in the present embodiment, current sensor data can be what gyro sensor reported at current time
Initial data.
Alternatively possible embodiment is：If when calculating sensor data threshold, N number of sensing data is smooth
Data that treated, then in the present embodiment, current sensor data can be the data after smoothing processing.As shown in fig. 6, having
In body implementation process, the method that the initial data that gyro sensor reports at current time is smoothed is included following
Step.
Step 1111, original sensor data of the gyro sensor at the current time is obtained.Wherein, it is original
Sensing data can be the data after compensation zero velocity offset.
Step 1112, according to smooth function gyroCurrently_ smooth=gyroCurrently*α1+gyroCurrently_F*(1-α1) determining described
Current sensor data.
Wherein, gyroCurrently_ smooth be the current sensor data, gyroCurrentlyRaw sensor number for current time
According to α1For the weights of the original sensor data, gyroCurrently_ F is in the second preset duration before the current time
The average value of Q determining sensing data, Q are the positive integer more than 1.
Specifically, in step 1112, the second preset duration refer to the current time before nearest a period of time,
Such as：Second preset duration can be the 30s or 1min before current time, that is to say, that Q sensing data is current
The sensing data in nearest a period of time before moment.Q sensing data can be the original that gyro sensor reports
Beginning data or it is smooth after data.Specifically, if current sensor data is the initial data that reports of gyro sensor,
Correspondingly, the initial data that Q sensing data is also reported for gyro sensor；And if current sensor data is smooth
Data that treated, correspondingly, Q sensing data is also the data after smoothing processing.
In specific implementation process, as in the preceding embodiment, a top can be pre-defined by wearing in display equipment
Spiral shell instrument wave filter, wearing display equipment can be stored in the sensing data in nearest a period of time in gyroscope wave filter,
Such as：The data of gyro sensor in nearest 30s are stored in gyroscope wave filter.Calculating current sensor data
When, the data in nearest 30s are taken out from gyroscope wave filter, and pass through step 1112 and calculate the data after obtaining smoothly, i.e.,
Current sensor data.Then, current sensor data is stored into gyroscope wave filter, in the sensing for calculating subsequent time
During device data, in the nearest 30s according to the original sensor data of subsequent time and including current sensor data
Data calculate the sensing data for obtaining subsequent time.
Further, in the smooth function of step 1112, the weights α of original sensor data1To be set according to empirical value
Value so that the current sensor data after smoothing processing can both cause to avoid the data jump due to gyro sensor
Current sensor data value become larger suddenly, and can really reflect the current data value situation of gyro sensor, make
The method for obtaining the control HMD visual angles in the embodiment of the present invention is more reasonable.
After current sensor data of the gyro sensor at current time is determined by step 111, wear display and set
It is standby to perform step 112, the current sensor data and the sensor data threshold.
It is to determine due to the corresponding sensor data threshold of same predetermined state, by step 111 to current
The initial data that moment gyro sensor reports is smoothed, and can inhibit the data jump of gyro sensor to step
The influence of comparison result in rapid 112.
For example, wear display equipment remain static when, it is assumed that current time, the data of gyro sensor
Saltus step occurs, i.e. data become very big suddenly, if the initial data for directly reporting gyroscope is as current sensor data
It is compared, then comparison result is probably more than sensor data threshold for current sensor data.And pass through nearest one section
Sensing data in time, the original sensor data reported to gyro sensor at current time are smoothed,
The sensing data being less than due to the data of gyro sensor under stationary state after data jump, by original biography
Sensor data are smoothed, and can inhibit the data jump of gyro sensor.
Next, wearing display equipment performs step 113, if the current sensor data is less than or equal to the sensor
Data threshold, the then visual angle that display equipment is worn described in control remain unchanged.
In the embodiment of the present invention, continue to use the example that above-mentioned predetermined state is stationary state and illustrate, then sensing data
When threshold value remains static to wear display equipment, the value of acquisition is calculated.Sensor data threshold can be accurately reflected in
Display equipment is worn when remaining static, the situation of change of the static random drift of gyro sensor, by comparing current
Sensing data and sensor data threshold can be filtered effectively and wear display equipment when remaining static, due to gyroscope
Sensing data caused by the static random drift of sensor changes.
Specifically, if current sensor data is less than or equal to sensor data threshold, illustrate that current sensor data is
Caused by the static random drift of gyro sensor, then control, which is worn, shows that the visual angle of equipment remains unchanged, so as to avoid
Due to the presence that the static random of gyro sensor drifts about, the visual angle for wearing display equipment is caused to shift.
If current sensor data is more than the corresponding sensor data threshold of stationary state, stop according to stationary state
Corresponding viewing angle control strategy is adjusted the visual angle for wearing display equipment.Further, due to wearing residing for display equipment
State is changed, and is no longer stationary state, then step 10 can be re-executed by wearing display equipment, and discriminating is worn display and set
Standby motion state.
In another example, it is assumed that it wears display equipment and determines the state being presently in as video broadcasting condition, if current sensor
Device data are less than or equal to the corresponding sensor data threshold of video broadcasting condition, and illustrating current sensor data is passed by gyroscope
It is drifted about caused by the static random drift of sensor or by the static random of gyroscope and the experiencing small oscillating movements of user's head is common
Caused, then control, which is worn, shows that the visual angle of equipment remains unchanged；If current sensor data is more than video broadcasting condition pair
The sensor data threshold answered then stops according to the corresponding viewing angle control strategy of video broadcasting condition, to wearing display equipment
Visual angle is adjusted.Further, changed due to wearing display equipment state in which, be no longer video broadcasting condition,
Step 10 can be re-executed by wearing display equipment, differentiate the motion state for wearing display equipment.
In another embodiment, after determining that wearing display equipment is in predetermined state, if gyro sensor is worked as
Front sensor data are more than the corresponding sensor data threshold of predetermined state, it is determined that wear display equipment state in which and occur
Change, be no longer on predetermined state, and according to current sensor data, the visual angle for wearing display equipment is adjusted.
Specifically, if necessary to be carried out according to the sensing data of gyro sensor to the visual angle for wearing display equipment
Adjustment can determine to wear the direction of rotation of display equipment according to sensing data.In specific implementation process, four can be used
First number Quat (w, x, y, z) represents direction of rotation, and quaternary number is made of three imaginary units on real add, wherein, w is real
Number, x, y, z are imaginary numbers, w=cos (0.5*angle), x=axisx* sin (0.5*angle), y=axisy*sin(0.5*
Angle), z=axisz* sin (0.5*angle), axisx, axisyAnd axiszThe x-axis that gyro sensor reports, y-axis and
Rotational angle on three directions of z-axis, angle are the moulds of the angle on three directions, and mould refers to the mould of quaternary number.
After direction of rotation is determined, according to direction of rotation and current visual angle, new visual angle is determined.Specifically,
Orientation_new=Orientation_old*Quat (w, x, y, z), wherein Orientation_new are new visual angle,
Orientation_old is current visual angle.
Based on same inventive concept, the embodiment of the present invention also provides one kind and wears display equipment, as shown in fig. 7, this is worn
Display equipment includes：
Identification module 70, for differentiating the motion state for wearing display equipment；
Control module 71, for according to the motion state, using viewing angle control strategy corresponding with the motion state,
The visual angle of display equipment is worn described in control.
Optionally, the identification module 70 includes：Duration determination unit, for recording the gyro for wearing display equipment
The sensing data of instrument sensor is less than or equal to the duration of sensor data threshold；Wherein, it is described to wear in display equipment
Sensor data threshold is stored with, when the sensor data threshold is in predetermined state to wear display equipment according to,
N number of sensing data that the gyro sensor detects in the first preset duration calculates what is obtained according to presetting method
Value, N are the integer more than 1；
Predetermined state determination unit, it is described for when the duration being more than pre-set time threshold, determining
It wears display equipment and is currently at the predetermined state.
Optionally, the control module 71 includes：
Sensing data determination unit, for determining current sensor number of the gyro sensor at current time
According to；
Comparing unit, for the current sensor data and the sensor data threshold；
Control unit, for when the current sensor data is less than or equal to the sensor data threshold, controlling institute
It states to wear and shows that the visual angle of equipment remains unchanged.
Optionally, the sensing data determination unit is used for：
Obtain original sensor data of the gyro sensor at the current time；
According to smooth function gyroCurrently_ smooth=gyroCurrently*α1+gyroCurrently_F*(1-α1) determine the current sensor
Data；
Wherein, gyroCurrently_ smooth be the current sensor data, gyroCurrentlyFor the original sensor data, α1
For the weights of the original sensor data, gyroCurrently_ F is to be determined in the second preset duration before the current time
The average value of Q sensing data, Q are the integer more than 1.
Optionally, the display equipment of wearing further includes：
Threshold determination module, for it is described wear display equipment and be in the predetermined state when, it is 1 to N's to take i successively
Positive integer obtains i-th original sensor data of the gyro sensor in first preset duration；According to smooth
Function gyroi_ smooth=gyroi*α0+gyroi_F*(1-α0) determine i-th of sensing data, and then obtain N number of sensor
Data；Wherein, gyroi_ smooth be i-th of sensing data, gyroiFor i-th of original sensor data, α0
For the weights of i-th of original sensor data, gyroi_ F is the i-1 sensing before i-th of sensing data
The average value of device data；
M maximum sensing data is extracted from N number of sensing data, M is the positive integer less than N；According to institute
State the average value of N number of sensing data, the weights of the average value of N number of sensing data, the M sensing data it is flat
Mean value, the M sensing data average value weights, calculated according to weighted averaging functions and obtain the sensing data threshold
Value, and the sensor data threshold is stored in described wear in display equipment.
One or more technical solution in the embodiment of the present invention, at least has the following technical effect that or advantage：
In the scheme of the embodiment of the present invention, the motion state of display equipment is worn by differentiating；Further according to the movement shape
State, using viewing angle control strategy corresponding with the motion state, worn described in control display equipment visual angle rather than directly
According to the data of gyroscope (in drifting in including static random), the visual angle for wearing display equipment is controlled, so as to solve
In the prior art since the static random drift forecasting to gyroscope is inaccurate, the visual angle of electronic equipment can be caused to drift about
The technical issues of, realizing makes viewing angle control mode more flexible, can adapt to the technology of the different motion state of electronic equipment
Effect.
All features or disclosed all methods disclosed in this specification or in the process the step of, in addition to mutually exclusive
Feature and/or step other than, can combine in any way.
Any feature disclosed in this specification (including any accessory claim, abstract and attached drawing), except non-specifically chatting
It states, can be replaced by other alternative features that are equivalent or have similar purpose.That is, unless specifically stated, each feature is only
It is an example in a series of equivalent or similar characteristics.
The invention is not limited in aforementioned specific embodiments.The present invention, which expands to, any in the present specification to be disclosed
The step of new feature or any new combination and any new method or process disclosed or any new combination.
Claims (12)
- A kind of 1. method for controlling HMD visual angles, which is characterized in that including：Differentiate the motion state for wearing display equipment；According to the motion state, wear display using viewing angle control strategy corresponding with the motion state, described in control and set Standby visual angle.
- 2. the method as described in claim 1, which is characterized in that differentiate that the motion state for wearing display equipment includes：The sensing data that the gyro sensor of display equipment is worn described in record is less than or equal to holding for sensor data threshold The continuous time；Wherein, the sensor data threshold is gyroscope when wearing display equipment according to be in predetermined state N number of sensing data that sensor detects in the first preset duration, the value obtained is calculated according to presetting method, and N is more than 1 Integer；If the duration be more than pre-set time threshold, it is determined that it is described wear display equipment be currently at it is described pre- Determine state.
- 3. method as claimed in claim 2, which is characterized in that viewing angle control strategy corresponding with the motion state is used, The visual angle of display equipment is worn described in control, including：Determine current sensor data of the gyro sensor at current time；Compare the current sensor data and the sensor data threshold；If the current sensor data is less than or equal to the sensor data threshold, regarding for display equipment is worn described in control Angle remains unchanged.
- 4. method as claimed in claim 3, which is characterized in that determine that the gyro sensor works as forward pass at current time Sensor data, including：Obtain original sensor data of the gyro sensor at the current time；According to smooth function gyroCurrently_ smooth=gyroCurrently*α1+gyroCurrently_F*(1-α1) determine the current sensor number According to；Wherein, gyroCurrently_ smooth be the current sensor data, gyroCurrentlyFor the original sensor data, α1It is described The weights of original sensor data, gyroCurrently_ F is the Q biography determined in the second preset duration before the current time The average value of sensor data, Q are the integer more than 1.
- 5. the method as described in any one of claim 1-4, which is characterized in that the computational methods of the sensor data threshold Including：It is described wear display equipment be in the predetermined state when, determine the gyro sensor in the first preset duration N number of sensing data；M maximum sensing data is extracted from N number of sensing data, M is the positive integer less than N；According to the average value of N number of sensing data, the weights of the average value of N number of sensing data, the M sensing The average value of device data, the M sensing data average value weights, calculated according to weighted averaging functions and obtain the biography Sensor data threshold.
- 6. method as claimed in claim 5, which is characterized in that determine the gyro sensor in the first preset duration N number of sensing data, including：It is original to obtain i-th in first preset duration of the gyro sensor for the positive integer that i is taken to be 1 to N successively Sensing data；According to smooth function gyroi_ smooth=gyroi*α0+gyroi_F*(1-α0) determine i-th of sensing data；Wherein, gyroi_ smooth be i-th of sensing data, gyroiFor i-th of original sensor data, α0For The weights of i-th of original sensor data, gyroi_ F is the i-1 sensor before i-th of sensing data The average value of data.
- 7. the method as described in claim 1, which is characterized in that the predetermined state is video broadcasting condition or stationary state.
- 8. one kind wears display equipment, which is characterized in that including：Identification module, for differentiating the motion state for wearing display equipment；Control module, for according to the motion state, using viewing angle control strategy corresponding with the motion state, controlling institute State the visual angle for wearing display equipment.
- 9. wear display equipment as claimed in claim 8, which is characterized in that the identification module includes：Duration determines Unit, the sensing data for recording the gyro sensor for wearing display equipment are less than or equal to holding for sensor data threshold The continuous time；Wherein, described wear in display equipment is stored with sensor data threshold, and the sensor data threshold is according to institute It states and wears display equipment when being in predetermined state, N number of sensing that the gyro sensor detects in the first preset duration Device data, the value obtained is calculated according to presetting method, and N is the integer more than 1；Predetermined state determination unit, for when the duration being more than pre-set time threshold, determining described wear Display equipment is currently at the predetermined state.
- 10. wear display equipment as claimed in claim 9, which is characterized in that the control module includes：Sensing data determination unit, for determining current sensor data of the gyro sensor at current time；Comparing unit, for the current sensor data and the sensor data threshold；Control unit, for when the current sensor data is less than or equal to the sensor data threshold, controlling the head The visual angle for wearing display equipment remains unchanged.
- 11. wear display equipment as claimed in claim 10, which is characterized in that the sensing data determination unit is used for：Obtain original sensor data of the gyro sensor at the current time；According to smooth function gyroCurrently_ smooth=gyroCurrently*α1+gyroCurrently_F*(1-α1) determine the current sensor number According to；Wherein, gyroCurrently_ smooth be the current sensor data, gyroCurrentlyFor the original sensor data, α1It is described The weights of original sensor data, gyroCurrently_ F is the Q biography determined in the second preset duration before the current time The average value of sensor data, Q are the integer more than 1.
- 12. wear display equipment as described in any one of claim 8-10, which is characterized in that described to wear display equipment also Including：Threshold determination module, for it is described wear display equipment be in the predetermined state when, take successively i for 1 to N it is just whole Number, obtains i-th original sensor data of the gyro sensor in first preset duration；According to smooth function gyroi_ smooth=gyroi*α0+gyroi_F*(1-α0) determine i-th of sensing data, and then obtain N number of sensing data； Wherein, gyroi_ smooth be i-th of sensing data, gyroiFor i-th of original sensor data, α0It is described The weights of i-th of original sensor data, gyroi_ F is the i-1 sensing data before i-th of sensing data Average value；M maximum sensing data is extracted from N number of sensing data, M is the positive integer less than N；According to described N number of The average value of sensing data, the weights of average value of N number of sensing data, the M sensing data average value, The weights of the average value of the M sensing data calculate according to weighted averaging functions and obtain the sensor data threshold, and The sensor data threshold is stored in described wear in display equipment.
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