CN109738860B - Positioning method and device of external equipment, virtual reality head-mounted equipment and system - Google Patents
Positioning method and device of external equipment, virtual reality head-mounted equipment and system Download PDFInfo
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- CN109738860B CN109738860B CN201811408957.4A CN201811408957A CN109738860B CN 109738860 B CN109738860 B CN 109738860B CN 201811408957 A CN201811408957 A CN 201811408957A CN 109738860 B CN109738860 B CN 109738860B
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Abstract
The invention discloses a positioning method and a positioning device of external equipment, virtual reality head-mounted equipment and a system, wherein the method comprises the following steps: receiving a first Bluetooth signal intensity value sent by the external equipment when the external equipment is located at an initial position, wherein a body coordinate system is established by taking the initial position as an origin, and the initial position of the virtual reality head-mounted equipment is located on any coordinate axis of the body coordinate system; determining a first distance between the external device and the virtual reality headset device according to the first Bluetooth signal intensity value; receiving acceleration components and second Bluetooth signal strength values which are sent when the external equipment moves and are along each coordinate axis; determining a second distance between the external device and the virtual reality headset device according to the second Bluetooth signal intensity value; and determining the position information of the external equipment in the body coordinate system according to the acceleration component, the first distance and the second distance.
Description
Technical Field
The invention relates to the technical field of virtual reality, in particular to a positioning method of external equipment, a positioning device of the external equipment, virtual reality head-mounted equipment and a virtual reality system.
Background
At present, there are two kinds of VR (Virtual Reality) handles on the market, one is a 3dof (degree of freedom) handle, and the other is a 6dof handle. The existing 6dof handle positioning modes comprise an infrared-based positioning mode and an ultrasonic-based positioning mode. These two positioning methods are susceptible to interference (e.g., interference from an obstacle), and the distance values obtained when the two positioning methods are interfered are inaccurate, resulting in inaccurate positioning. In addition, the two positioning modes can cause the situation that the distance cannot be monitored after exceeding a certain range, so that positioning failure is caused, and the user experience is reduced.
Therefore, there is a need to provide a new technical method, which is improved in view of the above-mentioned problems in the prior art.
Disclosure of Invention
The invention aims to provide a new technical scheme of a positioning method of external equipment.
According to a first aspect of the present invention, there is provided a method for positioning an external device, including:
receiving a first Bluetooth signal intensity value sent by the external equipment when the external equipment is located at an initial position, wherein a body coordinate system is established by taking the initial position as an origin, and the initial position of the virtual reality head-mounted equipment is located on any coordinate axis of the body coordinate system;
determining a first distance between the external device and the virtual reality headset device according to the first Bluetooth signal intensity value;
receiving acceleration components and second Bluetooth signal strength values which are sent when the external equipment moves and are along each coordinate axis;
determining a second distance between the external device and the virtual reality headset device according to the second Bluetooth signal intensity value;
and determining the position information of the external equipment in the body coordinate system according to the acceleration component, the first distance and the second distance.
Optionally, determining the position information of the external device in the body coordinate system according to the acceleration component, the first distance, and the second distance includes:
determining included angles between a track formed by a connecting line of the current position of the external equipment and the initial position of the external equipment and each coordinate axis according to the acceleration component;
and determining the position information of the external equipment in the body coordinate system according to the included angle, the first distance and the second distance.
Optionally, determining the position information of the external device in the body coordinate system according to the included angle, the first distance, and the second distance, includes:
determining the distance between the current position of the external equipment and the initial position of the external equipment according to the first included angle, the first distance and the second distance;
determining a coordinate value of the current position of the external device in the body coordinate system according to the first included angle, the second included angle, the third included angle and the distance between the current position of the external device and the initial position of the external device, wherein,
the first included angle does external equipment's current position with the orbit that external equipment's initial position's line formed with the contained angle between the coordinate axis that virtual reality head mounted equipment located, second included angle and third included angle do external equipment's current position with the orbit that external equipment's initial position's line formed respectively with contained angle between other two coordinate axes of this body coordinate system.
Optionally, while receiving the first bluetooth signal strength value sent by the external device when the external device is located at the initial position, the method further includes:
and receiving acceleration components along each coordinate axis and angular velocity components around each coordinate axis, which are sent when the external equipment is located at an initial position, wherein the acceleration components when the external equipment is located at the initial position are 0 and the angular velocity components around each coordinate axis are 0.
Optionally, while receiving the acceleration component and the second bluetooth signal strength value along each coordinate axis, which are sent when the external device generates a motion, the method further includes:
receiving angular velocity components around each coordinate axis, which are sent when the external equipment moves;
and determining the rotation angle information around each coordinate axis when the external equipment moves according to the angular velocity component.
Optionally, before receiving the first bluetooth signal strength value sent by the external device when the external device is located at the initial location, the method further includes:
and testing to obtain the corresponding relation between the Bluetooth signal strength value and the distance.
According to a second aspect of the present invention, there is provided a positioning device for an external device, comprising:
the receiving module is used for receiving a first Bluetooth signal intensity value sent by the external equipment when the external equipment is located at an initial position, wherein a body coordinate system is established by taking the initial position as an origin, and the initial position of the virtual reality head-mounted equipment is located on any coordinate axis of the body coordinate system;
the distance determining module is used for determining a first distance between the external equipment and the virtual reality head-mounted equipment according to the first Bluetooth signal strength value;
the receiving module is further used for receiving acceleration components and second Bluetooth signal strength values which are sent by the external equipment when the external equipment moves and are along each coordinate axis;
the distance determining module is further configured to determine a second distance between the external device and the virtual reality headset according to the second bluetooth signal strength value;
and the position information determining module is used for determining the position information of the external equipment in the body coordinate system according to the acceleration component, the first distance and the second distance.
According to a third aspect of the present invention, there is provided a positioning device for an external device, comprising: the method comprises the following steps: a memory and a processor, wherein the memory stores executable instructions that control the processor to operate to perform the method according to any one of the second aspects.
According to a fourth aspect of the present invention, there is provided a virtual reality headset, including the positioning apparatus of the external device provided in the second or third aspect.
According to a fifth aspect of the present invention, there is provided a virtual reality system comprising: the virtual reality headset and external device as provided in the fourth aspect, wherein the virtual reality headset and the external device establish a bluetooth communication connection.
The embodiment of the invention has the advantages that the distance between the external equipment and the virtual reality headset equipment is determined through the Bluetooth signal strength, the effective transmission distance of the Bluetooth signal is larger and is less influenced by the communication range, the possibility that the distance cannot be monitored after the distance exceeds a certain communication range is reduced, in addition, the Bluetooth signal can avoid the mutual interference of similar signals by using a Bluetooth protocol, and the Bluetooth signal has good penetrating capability, can penetrate through and bypass an obstacle without the condition that the distance value cannot be monitored, and then the position information of the external equipment is determined according to the distance information and the acceleration component, so that the positioning accuracy of the external equipment is improved.
Other features of the present invention and advantages thereof will become apparent from the following detailed description of exemplary embodiments thereof, which proceeds with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description, serve to explain the principles of the invention.
Fig. 1 is a process flow diagram of a method for locating an external device according to an embodiment of the present invention.
FIG. 2 is a schematic diagram of an established coordinate system of the body of the external device according to one embodiment of the invention.
Fig. 3 is a schematic position diagram of the initial position of the virtual reality headset in the body coordinate system shown in fig. 2.
Fig. 4 is a schematic structural diagram of a positioning apparatus of an external device according to an embodiment of the present invention.
Fig. 5 is a schematic structural diagram of a positioning apparatus of an external device according to another embodiment of the present invention.
Fig. 6 is a block diagram illustrating a hardware structure of a positioning apparatus of an external device according to an embodiment of the present invention.
Fig. 7 shows a schematic structural diagram of a virtual reality headset according to an embodiment of the invention.
Fig. 8 shows a schematic structural diagram of a virtual reality system according to an embodiment of the present invention.
Detailed Description
Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that: the relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise.
The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses.
Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate.
In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.
One embodiment of the invention provides a method for positioning an external device. In the embodiment of the invention, the virtual reality head-mounted equipment and the external equipment establish Bluetooth connection. The external device transmits data obtained by measuring an Inertial Measurement Unit (IMU) of the external device to the virtual reality headset through the bluetooth connection. The IMU on the add-on may be BMI160 or ICM 20602. The external equipment can be any one of a handle, a glove, a bracelet and a remote controller.
Fig. 1 is a process flow diagram of a method for locating an external device according to an embodiment of the present invention. Referring to fig. 1, the method includes at least steps S101 to S105.
Step S101, receiving a first Bluetooth signal intensity value sent by an external device when the external device is located at an initial position, wherein a body coordinate system is established with the initial position as an origin, and the initial position of the virtual reality head-mounted device is located on any coordinate axis of the body coordinate system.
In the embodiment of the invention, when the virtual reality head-mounted equipment is connected with the external equipment, the current position of the external equipment is used as the initial position of the external equipment, and the current position of the virtual reality head-mounted equipment is used as the initial position of the virtual reality head-mounted equipment.
FIG. 2 is a schematic diagram of an established coordinate system of the body of the external device according to one embodiment of the invention. Referring to fig. 2, the initial position of the external device is a position corresponding to the origin of the body coordinate system. The body coordinate system comprises an up-down coordinate axis, a left-right coordinate axis and a forward-back coordinate axis.
In the embodiment of the invention, after the virtual reality head-mounted device is connected with the external device, the external device sends the first Bluetooth signal strength value when the external device is at the initial position to the virtual reality head-mounted device, and simultaneously sends data obtained by IMU measurement when the external device is at the initial position to the virtual reality head-mounted device. The IMU measurements yield data that includes acceleration components along each axis in the body coordinate system and angular velocity components about each axis in the body coordinate system. The acceleration component when the external device is located at the initial position is 0 and the angular velocity component around each coordinate axis is 0. Taking the body coordinate system shown in fig. 2 as an example, when the external device is located at the initial position, the acceleration component along the up-down coordinate axis, the left-right coordinate axis, and the forward-back coordinate axis is 0, and the angular velocity component around the up-down coordinate axis, the left-right coordinate axis, and the forward-back coordinate axis is 0.
Step S102, determining a first distance between the external device and the virtual reality head-mounted device according to the first Bluetooth signal intensity value.
Before receiving a first Bluetooth signal intensity value sent by an external device when the external device is located at an initial position, testing to obtain a corresponding relation between the Bluetooth signal intensity value and a distance, wherein the corresponding relation is obtained according to Bluetooth signal intensity values corresponding to different distances when no shielding object exists and Bluetooth signal intensity values corresponding to different distances when the shielding object exists. The corresponding relation between the Bluetooth signal intensity value and the distance is pre-stored in the virtual reality head-mounted equipment.
In the embodiment of the invention, the distance corresponding to the first Bluetooth signal strength value is searched from the corresponding relation between the Bluetooth signal strength value and the distance, and the distance is used as the first distance.
And step S103, receiving the acceleration component and the second Bluetooth signal strength value which are sent when the external equipment moves and are along each coordinate axis.
And step S104, determining a second distance between the external equipment and the virtual reality head-mounted equipment according to the second Bluetooth signal intensity value.
In the embodiment of the present invention, the distance corresponding to the second bluetooth signal strength value is found from the correspondence between the bluetooth signal strength value and the distance, and the distance is used as the second distance.
And step S105, determining the position information of the external equipment in the body coordinate system according to the acceleration component, the first distance and the second distance.
In the embodiment of the invention, firstly, a first included angle between a track formed by a connecting line of the current position of the external equipment and the initial position of the external equipment and a coordinate axis of the virtual reality head-mounted equipment is determined according to the acceleration component. Calculating to obtain a first included angle sigma based on the following calculation formula (1),
and according to the acceleration component, determining a second included angle and a third included angle between a track formed by a connecting line of the current position of the external equipment and the initial position of the external equipment and other two coordinate axes of the body coordinate system respectively. Respectively calculating a second included angle beta and a third included angle alpha based on the following calculation formula (2) and calculation formula (3),
wherein, a1Is the acceleration component of the external equipment along the coordinate axis of the initial position of the virtual reality head-mounted equipment, a2、a3The acceleration components of the external equipment along other two coordinate axes are respectively. The acceleration component is a vector. For example, the acceleration component in the up direction along the up-down coordinate axis of the body coordinate system shown in fig. 2 is positive, the acceleration component in the down direction is negative, the acceleration component in the left direction along the left-right coordinate axis is positive, the acceleration component in the right direction along the left-right coordinate axis is negative, the acceleration component in the forward direction along the forward-back coordinate axis is positive, and the acceleration component in the back direction is negative.
And determining the position information of the external equipment in the body coordinate system according to the first included angle, the second included angle, the third included angle, the first distance and the second distance. Specifically, the distance between the current position of the external device and the initial position of the external device is determined according to the first included angle, the first distance and the second distance. Calculating the distance from the current position of the external equipment to the initial position based on the following calculation formula (4),
wherein s is1Is a first distance, s2Is a second distance, s3The distance from the current position of the external device to the initial position is obtained. And then, determining the coordinate value of the current position of the external equipment in the body coordinate system according to the first included angle, the second included angle, the third included angle and the distance between the current position of the external equipment and the initial position of the external equipment. For example, according to a first angle and an outer angleAnd determining the coordinate value of the coordinate axis of the virtual reality head-mounted device in which the current position of the external device is located according to the distance between the current position of the external device and the initial position of the external device. And determining the coordinate value of the coordinate axis corresponding to the current position of the external equipment in the body coordinate system according to the second included angle and the distance between the current position of the external equipment and the initial position of the external equipment. And determining the coordinate value of the coordinate axis corresponding to the current position of the external equipment in the body coordinate system according to the third included angle and the distance between the current position of the external equipment and the initial position of the external equipment.
Calculating to obtain coordinate value x of coordinate axis where the current position of the external device is located at the initial position of the virtual reality head-mounted device based on the following calculation formula (5),
x＝s3× cos σ — calculation equation (5).
Based on the following calculation formulas (6) and (7), coordinate values y and z of the other two coordinate axes of the external equipment with the current position located in the body coordinate system are respectively calculated,
y＝s3× cos β -calculation formula (6),
z＝s3× cos α -calculation (7).
In one embodiment of the invention, the acceleration component and the second bluetooth signal strength value along each coordinate axis, which are sent when the external device generates motion, are received, the angular velocity component around each coordinate axis, which is sent when the external device generates motion, is received, and the rotation angle information around each coordinate axis when the external device generates motion is determined according to the angular velocity component.
The positioning method of the external equipment provided by the embodiment of the invention can determine the position information of the external equipment and also can determine the rotation angle information of the external equipment, thereby realizing the 6dof positioning.
According to the positioning method of the external device, the distance between the external device and the virtual reality headset device is determined through the Bluetooth signal strength, the effective transmission distance of the Bluetooth signal is large, the influence of a communication range is small, the possibility that the distance cannot be monitored after the distance exceeds a certain communication range is reduced, in addition, the Bluetooth signal can avoid mutual interference of similar signals by using a Bluetooth protocol, the Bluetooth signal has good penetrating capability, the situation that the distance cannot be monitored can not exist when the Bluetooth signal penetrates and bypasses an obstacle, then the position information of the external device is determined according to the distance information and the acceleration component, and the positioning accuracy of the external device is improved.
Fig. 3 is a schematic position diagram of the initial position of the virtual reality headset in the body coordinate system shown in fig. 2. Referring to fig. 3, the initial position of the virtual reality headset is located on the forward-back axis. The external equipment sends the first Bluetooth signal strength value when the external equipment is at the initial position, the acceleration component along each coordinate axis in the body coordinate system and the angular velocity component around each coordinate axis in the body coordinate system to the virtual reality head-mounted equipment. The acceleration component when the external device is at the initial position is 0 and the angular velocity component around each coordinate axis is 0. The virtual reality head-mounted equipment determines a first distance s between the initial position of the virtual reality head-mounted equipment and the initial position of the external equipment according to the first Bluetooth signal intensity value1。
The peripheral then moves to position 1 shown in figure 3. When the external equipment moves to the position 1, the acceleration component along the left-right axis is AccL, the acceleration component along the forward-back axis is AccF, and the acceleration component along the up-down axis is AccU. The external equipment sends the second Bluetooth signal strength, the acceleration component along each coordinate axis and the angular velocity component around each coordinate axis to the virtual reality head-mounted equipment. The virtual reality head-mounted equipment determines a second distance s between the initial position of the virtual reality head-mounted equipment and the position 1 of the external equipment according to the second Bluetooth signal intensity value2Substituting the acceleration components into the calculation formulas (1), (2) and (3) to calculate a first included angle sigma, a second included angle β and a third included angle α,
based on the calculation formula (4), according to the first included angle sigma and the first distance s1And a second distance s2Determining the distance s between the current position of the external device and the initial position of the external device3. Then, based on the calculation expressions (5) to (7), the coordinate value of the external device position 1 in the body coordinate system is calculated.
And the virtual reality head-mounted equipment determines the rotation angle information of the external equipment around each coordinate axis according to the angular velocity component when the external equipment is positioned at the position 1. Thus, 6dof positioning of the external equipment can be realized.
The initial position of the virtual reality headset may also be on the up-down axis or on the left-right axis.
Based on the same inventive concept, one embodiment of the invention provides a positioning device of an external device. Fig. 4 is a schematic structural diagram of a positioning apparatus of an external device according to an embodiment of the present invention. Referring to fig. 4, the apparatus includes: the receiving module 410 is configured to receive a first bluetooth signal intensity value sent by the external device when the external device is located at an initial position, where a body coordinate system is established with the initial position as an origin, and the initial position of the virtual reality headset is located on any coordinate axis of the body coordinate system; the distance determining module 420 is configured to determine a first distance between the external device and the virtual reality headset according to the first bluetooth signal strength value; the receiving module 410 is further configured to receive an acceleration component and a second bluetooth signal strength value along each coordinate axis, which are sent when the external device generates a motion; the distance determining module 420 is further configured to determine a second distance between the external device and the virtual reality headset according to the second bluetooth signal strength value; and the position information determining module 430 is configured to determine the position information of the external device in the body coordinate system according to the acceleration component, the first distance, and the second distance.
In an embodiment of the present invention, the location information determining module 430 is further configured to: determining an included angle between a track formed by a connecting line of the current position of the external equipment and the initial position of the external equipment and each coordinate axis according to the acceleration component; and determining the position information of the external equipment in the body coordinate system according to the included angle, the first distance and the second distance.
In an embodiment of the present invention, the location information determining module 430 is further configured to: determining the distance between the current position of the external equipment and the initial position of the external equipment according to the first included angle, the first distance and the second distance; and determining a coordinate value of the current position of the external equipment in the body coordinate system according to a first included angle, a second included angle, a third included angle and the distance between the current position of the external equipment and the initial position of the external equipment, wherein the first included angle is an included angle between a track formed by a connecting line of the current position of the external equipment and the initial position of the external equipment and a coordinate axis where the virtual reality head-mounted equipment is located, and the second included angle and the third included angle are included angles between a track formed by a connecting line of the current position of the external equipment and the initial position of the external equipment and other two coordinate axes of the body coordinate system respectively.
In an embodiment of the present invention, the receiving module 410 is further configured to: and receiving acceleration components along each coordinate axis and angular velocity components around each coordinate axis, which are sent when the external equipment is located at the initial position, wherein the acceleration components when the external equipment is located at the initial position are 0 and the angular velocity components around each coordinate axis are 0.
In one embodiment of the present invention, the receiving module 410 is further configured to receive the angular velocity components around the coordinate axes transmitted when the external device generates motion. Referring to fig. 5, the apparatus further comprises: and a rotation angle information determining module 440, configured to determine rotation angle information around each coordinate axis when the external device generates a motion according to the angular velocity component.
Fig. 6 is a block diagram illustrating a hardware structure of a positioning apparatus of an external device according to an embodiment of the present invention. Referring to fig. 6, the apparatus includes: a memory 620 and a processor 610. The memory 620 stores executable instructions that control the processor 610 to operate to perform the method for positioning an external device provided by any of the above embodiments.
Fig. 7 shows a schematic structural diagram of a virtual reality headset according to an embodiment of the invention. Referring to fig. 7, the virtual reality headset 700 includes a positioning device 710 of an external device provided in any of the above embodiments.
Fig. 8 shows a schematic structural diagram of a virtual reality system according to an embodiment of the present invention. Referring to fig. 8, a virtual reality system 800 includes a virtual reality headset 810 and an external device 820 provided in the above embodiments. The virtual reality headset 810 and the external device 810 may communicate bluetooth.
The present invention may be a system, method and/or computer program product. The computer program product may include a computer-readable storage medium having computer-readable program instructions embodied therewith for causing a processor to implement various aspects of the present invention.
The computer readable storage medium may be a tangible device that can hold and store the instructions for use by the instruction execution device. The computer readable storage medium may be, for example, but not limited to, an electronic memory device, a magnetic memory device, an optical memory device, an electromagnetic memory device, a semiconductor memory device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a Static Random Access Memory (SRAM), a portable compact disc read-only memory (CD-ROM), a Digital Versatile Disc (DVD), a memory stick, a floppy disk, a mechanical coding device, such as punch cards or in-groove projection structures having instructions stored thereon, and any suitable combination of the foregoing. Computer-readable storage media as used herein is not to be construed as transitory signals per se, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through a waveguide or other transmission medium (e.g., optical pulses through a fiber optic cable), or electrical signals transmitted through electrical wires.
The computer-readable program instructions described herein may be downloaded from a computer-readable storage medium to a respective computing/processing device, or to an external computer or external storage device via a network, such as the internet, a local area network, a wide area network, and/or a wireless network. The network may include copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers and/or edge servers. The network adapter card or network interface in each computing/processing device receives computer-readable program instructions from the network and forwards the computer-readable program instructions for storage in a computer-readable storage medium in the respective computing/processing device.
The computer program instructions for carrying out operations of the present invention may be assembler instructions, Instruction Set Architecture (ISA) instructions, machine-related instructions, microcode, firmware instructions, state setting data, or source or object code written in any combination of one or more programming languages, including an object oriented programming language such as Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The computer-readable program instructions may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider). In some embodiments, aspects of the present invention are implemented by personalizing an electronic circuit, such as a programmable logic circuit, a Field Programmable Gate Array (FPGA), or a Programmable Logic Array (PLA), with state information of computer-readable program instructions, which can execute the computer-readable program instructions.
Aspects of the present invention are described herein with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer-readable program instructions.
These computer-readable program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions/acts specified in the flowchart and/or block diagram block or blocks. These computer-readable program instructions may also be stored in a computer-readable storage medium that can direct a computer, programmable data processing apparatus, and/or other devices to function in a particular manner, such that the computer-readable medium storing the instructions comprises an article of manufacture including instructions which implement the function/act specified in the flowchart and/or block diagram block or blocks.
The computer readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other devices to cause a series of operational steps to be performed on the computer, other programmable apparatus or other devices to produce a computer implemented process such that the instructions which execute on the computer, other programmable apparatus or other devices implement the functions/acts specified in the flowchart and/or block diagram block or blocks.
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of instructions, which comprises one or more executable instructions for implementing the specified logical function(s). In some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions. It is well known to those skilled in the art that implementation by hardware, by software, and by a combination of software and hardware are equivalent.
Having described embodiments of the present invention, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terms used herein were chosen in order to best explain the principles of the embodiments, the practical application, or technical improvements to the techniques in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein. The scope of the invention is defined by the appended claims.
Claims (9)
1. A method for positioning an external device is characterized by comprising the following steps:
receiving a first Bluetooth signal intensity value sent by the external equipment when the external equipment is located at an initial position, wherein a body coordinate system is established by taking the initial position as an origin, and the initial position of the virtual reality head-mounted equipment is located on any coordinate axis of the body coordinate system;
determining a first distance between the external device and the virtual reality headset device according to the first Bluetooth signal intensity value;
receiving acceleration components and second Bluetooth signal strength values which are sent when the external equipment moves and are along each coordinate axis;
determining a second distance between the external device and the virtual reality headset device according to the second Bluetooth signal intensity value;
determining the position information of the external equipment in the body coordinate system according to the acceleration component, the first distance and the second distance,
wherein, according to the acceleration component, the first distance and the second distance, determining the position information of the external device in the body coordinate system includes:
determining included angles between a track formed by a connecting line of the current position of the external equipment and the initial position of the external equipment and each coordinate axis according to the acceleration component;
and determining the position information of the external equipment in the body coordinate system according to the included angle, the first distance and the second distance.
2. The method of claim 1, wherein determining the position information of the external device in the body coordinate system according to the included angle, the first distance and the second distance comprises:
determining the distance between the current position of the external equipment and the initial position of the external equipment according to the first included angle, the first distance and the second distance;
determining a coordinate value of the current position of the external device in the body coordinate system according to the first included angle, the second included angle, the third included angle and the distance between the current position of the external device and the initial position of the external device, wherein,
the first included angle does external equipment's current position with the orbit that external equipment's initial position's line formed with the contained angle between the coordinate axis that virtual reality head mounted equipment located, second included angle and third included angle do external equipment's current position with the orbit that external equipment's initial position's line formed respectively with contained angle between other two coordinate axes of this body coordinate system.
3. The method of claim 1, wherein while receiving the first bluetooth signal strength value sent by the external device when the external device is located at the initial location, the method further comprises:
and receiving acceleration components along each coordinate axis and angular velocity components around each coordinate axis, which are sent when the external equipment is located at an initial position, wherein the acceleration components when the external equipment is located at the initial position are 0 and the angular velocity components around each coordinate axis are 0.
4. The method of claim 1, wherein while receiving the acceleration component along each axis and the second bluetooth signal strength value transmitted when the external device generates motion, the method further comprises:
receiving angular velocity components around each coordinate axis, which are sent when the external equipment moves;
and determining the rotation angle information around each coordinate axis when the external equipment moves according to the angular velocity component.
5. The method according to any one of claims 1-4, wherein before receiving the first Bluetooth signal strength value sent by the external device at the initial location, the method further comprises:
and testing to obtain the corresponding relation between the Bluetooth signal strength value and the distance.
6. The utility model provides a positioner of external device which characterized in that includes:
the receiving module is used for receiving a first Bluetooth signal intensity value sent by the external equipment when the external equipment is located at an initial position, wherein a body coordinate system is established by taking the initial position as an origin, and the initial position of the virtual reality head-mounted equipment is located on any coordinate axis of the body coordinate system;
the distance determining module is used for determining a first distance between the external equipment and the virtual reality head-mounted equipment according to the first Bluetooth signal strength value;
the receiving module is further used for receiving acceleration components and second Bluetooth signal strength values which are sent by the external equipment when the external equipment moves and are along each coordinate axis;
the distance determining module is further configured to determine a second distance between the external device and the virtual reality headset according to the second bluetooth signal strength value;
a position information determining module, configured to determine position information of the external device in the body coordinate system according to the acceleration component, the first distance, and the second distance,
wherein the location information determination module is further configured to:
determining included angles between a track formed by a connecting line of the current position of the external equipment and the initial position of the external equipment and each coordinate axis according to the acceleration component;
and determining the position information of the external equipment in the body coordinate system according to the included angle, the first distance and the second distance.
7. The utility model provides a positioner of external device which characterized in that includes: a memory and a processor, wherein the memory stores executable instructions that control the processor to operate to perform the method of any of claims 1-5.
8. Virtual reality headset, characterized in that it comprises means for positioning an external device according to claim 6 or 7.
9. A virtual reality system, comprising: the virtual reality headset and external device of claim 8, wherein the virtual reality headset and external device establish a bluetooth communication connection.
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| CN110579739B (en) * | 2019-08-15 | 2021-11-30 | 青岛小鸟看看科技有限公司 | Head-mounted display device, positioning method and positioning system |
| CN110766518A (en) * | 2019-09-29 | 2020-02-07 | 北京摩拜科技有限公司 | Article positioning method, device, server and system |
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