CN111537988A - Role control method, role control device, and computer-readable storage medium - Google Patents

Role control method, role control device, and computer-readable storage medium Download PDF

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CN111537988A
CN111537988A CN202010241852.5A CN202010241852A CN111537988A CN 111537988 A CN111537988 A CN 111537988A CN 202010241852 A CN202010241852 A CN 202010241852A CN 111537988 A CN111537988 A CN 111537988A
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ultra
wideband
pose controller
positioning anchor
pose
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CN111537988B (en
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李政
王岩炯
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Beijing Xiaomi Mobile Software Co Ltd
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Beijing Xiaomi Mobile Software Co Ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G01S13/46—Indirect determination of position data
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
    • A63F13/00—Video games, i.e. games using an electronically generated display having two or more dimensions
    • A63F13/20—Input arrangements for video game devices
    • A63F13/21—Input arrangements for video game devices characterised by their sensors, purposes or types
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/0209—Systems with very large relative bandwidth, i.e. larger than 10 %, e.g. baseband, pulse, carrier-free, ultrawideband
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G01S13/46—Indirect determination of position data
    • G01S2013/468—Indirect determination of position data by Triangulation, i.e. two antennas or two sensors determine separately the bearing, direction or angle to a target, whereby with the knowledge of the baseline length, the position data of the target is determined
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Multimedia (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Human Computer Interaction (AREA)
  • Control Of Position Or Direction (AREA)
  • Processing Or Creating Images (AREA)

Abstract

The present disclosure relates to a character control method, a character control apparatus, and a computer-readable storage medium. The role control method is applied to a pose controller, the pose controller comprises an ultra-wideband module, and the role control method comprises the following steps: determining the position of the pose controller based on the ultra-wideband signal transmitted by the ultra-wideband module; determining a motion track of the pose controller based on the position of the pose controller; and controlling the virtual character to execute the action matched with the motion track based on the motion track. The position of the pose controller is determined through the ultra-wideband signal, and the positioning accuracy is improved. Because the ultra-wideband technology adopts nanosecond non-sine wave narrow pulses to transmit data, the position change of the pose controller can be determined in real time, the motion track of the pose controller can be further rapidly determined, the virtual character can respond rapidly when the virtual character is controlled to execute actions, and therefore the game experience of a user is promoted.

Description

Role control method, role control device, and computer-readable storage medium
Technical Field
The present disclosure relates to pose technology, and in particular, to a role control method, a role control apparatus, and a computer-readable storage medium.
Background
Along with the continuous progress of science and technology, the game experience of users is enhanced, and the somatosensory interaction modes of virtual characters in control are gradually diversified. The user can adopt different interaction modes to control the virtual characters of the game according to different game types. For example: controlling the virtual character of the game may include: controlling the virtual role of the PC end through a mouse and a keyboard; controlling the virtual role of the mobile terminal by single-point and multi-point touch on a touch screen of the mobile terminal; controlling virtual roles in the terminal by using a rocker, a handle or an operation table and the like; or the input of the host computer is controlled through the pose controller, so that the virtual character is controlled. The pose controller is an intelligent motion sensing device, and can map human body actions to games to generate a game effect of man-machine interaction, such as: a somatosensory controller in a somatosensory game, and a controller in a Virtual Reality (VR) game.
In the related art, the pose controller determines the position of the pose controller based on infrared rays, and then controls a virtual character to execute an action. But through infrared positioning, the device is easily interfered by obstacles and has high power consumption, and the game experience of a user for controlling the virtual character by using the pose controller is influenced.
Disclosure of Invention
To overcome the problems in the related art, the present disclosure provides a character control method, a character control apparatus, and a computer-readable storage medium.
According to a first aspect of the embodiments of the present disclosure, there is provided a role control method, including applying to a pose controller, where the pose controller includes an ultra wideband module, and the role control method includes: determining the position of the pose controller based on the ultra-wideband signal transmitted by the ultra-wideband module; determining a motion track of the pose controller based on the position of the pose controller; and controlling the virtual character to execute the action matched with the motion track based on the motion track.
In one embodiment, determining the position of the pose controller based on an ultra-wideband signal emitted by an ultra-wideband module includes: transmitting an ultra-wideband signal to a plurality of ultra-wideband positioning anchor points through an ultra-wideband module; respectively determining the distance between the pose controller and each ultra-wideband positioning anchor point in the ultra-wideband positioning anchor points based on ultra-wideband signals transmitted to the ultra-wideband positioning anchor points by the ultra-wideband module; and determining the position of the pose controller according to the distance between the pose controller and each ultra-wideband positioning anchor point in the ultra-wideband positioning anchor points.
In another embodiment, determining the distance between the pose controller and each of the plurality of ultra-wideband positioning anchors based on ultra-wideband signals transmitted by the ultra-wideband module to the plurality of ultra-wideband positioning anchors comprises: respectively determining the distance between the pose controller and each ultra-wideband positioning anchor point in the ultra-wideband positioning anchor points based on ultra-wideband signals transmitted to the ultra-wideband positioning anchor points by the ultra-wideband module in a time difference of arrival mode; or respectively determining the distance between the pose controller and each ultra-wideband positioning anchor point in the ultra-wideband positioning anchor points based on ultra-wideband signals transmitted to the ultra-wideband positioning anchor points by the ultra-wideband module in a flight time ranging mode.
In another embodiment, determining the position of the pose controller according to the distance between the pose controller and each ultra-wideband positioning anchor point in the plurality of ultra-wideband positioning anchor points comprises: and if the number of the ultra-wideband positioning anchor points is three or more, determining the position of the pose controller according to the distance between the pose controller and each ultra-wideband positioning anchor point in the ultra-wideband positioning anchor points based on a triangular positioning mode.
In another embodiment, determining the position of the pose controller according to the distance between the pose controller and each ultra-wideband positioning anchor point in the plurality of ultra-wideband positioning anchor points based on the triangulation manner comprises: acquiring fixed point coordinates of any three ultra-wideband positioning anchor points in the plurality of ultra-wideband positioning anchor points; and determining the position of the pose controller according to the distances between the pose controller and the three ultra-wideband positioning anchor points and the fixed point coordinates of the three ultra-wideband positioning anchor points on the basis of the Pythagorean theorem.
In yet another embodiment, determining a motion trajectory of the pose controller based on the position of the pose controller includes: acquiring at least two positions of the pose controller within a specified time, and determining a polar coordinate angle direction corresponding to each position in the at least two positions; and in the appointed time, sequentially connecting each position to the next position according to the time sequence and the polar coordinate angle direction corresponding to the position, and determining the motion track of the pose controller.
In yet another embodiment, the action matched to the motion trajectory includes one or more of: left shift, right shift, jump, and roll.
According to a second aspect of the embodiments of the present disclosure, there is provided a character control apparatus applied to a pose controller, the pose controller including an ultra wideband module, the character control apparatus including: the positioning unit is used for determining the position of the pose controller based on the ultra-wideband signal transmitted by the ultra-wideband module; a trajectory determination unit configured to determine a movement trajectory of the pose controller within a specified time based on a position of the pose controller; and the control unit is used for controlling the virtual character to execute the action matched with the motion trail based on the motion trail.
In one embodiment, the positioning unit determines the position of the pose controller based on the ultra-wideband signal emitted by the ultra-wideband module in the following manner: transmitting an ultra-wideband signal to a plurality of ultra-wideband positioning anchor points through an ultra-wideband module; respectively determining the distance between the pose controller and each ultra-wideband positioning anchor point in the ultra-wideband positioning anchor points based on ultra-wideband signals transmitted to the ultra-wideband positioning anchor points by the ultra-wideband module; and determining the position of the pose controller according to the distance between the pose controller and each ultra-wideband positioning anchor point in the ultra-wideband positioning anchor points.
In another embodiment, the positioning unit determines the distance between the pose controller and each ultra-wideband positioning anchor point in the plurality of ultra-wideband positioning anchor points respectively based on ultra-wideband signals transmitted by the ultra-wideband module to the plurality of ultra-wideband positioning anchor points in the following manner: respectively determining the distance between the pose controller and each ultra-wideband positioning anchor point in the ultra-wideband positioning anchor points based on ultra-wideband signals transmitted to the ultra-wideband positioning anchor points by the ultra-wideband module in a time difference of arrival mode; or respectively determining the distance between the pose controller and each ultra-wideband positioning anchor point in the ultra-wideband positioning anchor points based on ultra-wideband signals transmitted to the ultra-wideband positioning anchor points by the ultra-wideband module in a flight time ranging mode.
In another embodiment, the positioning unit determines the position of the pose controller according to the distance between the pose controller and each of the plurality of ultra-wideband positioning anchors by: and if the number of the ultra-wideband positioning anchor points is three or more, determining the position of the pose controller according to the distance between the pose controller and each ultra-wideband positioning anchor point in the ultra-wideband positioning anchor points based on a triangular positioning mode.
In another embodiment, the positioning unit determines the position of the pose controller according to the distance between the pose controller and each ultra-wideband positioning anchor point in the plurality of ultra-wideband positioning anchor points based on a triangulation method in the following manner: acquiring fixed point coordinates of any three ultra-wideband positioning anchor points in the plurality of ultra-wideband positioning anchor points; and determining the position of the pose controller according to the distances between the pose controller and the three ultra-wideband positioning anchor points and the fixed point coordinates of the three ultra-wideband positioning anchor points on the basis of the Pythagorean theorem.
In still another embodiment, the trajectory determination unit determines the movement trajectory of the pose controller based on the position of the pose controller in the following manner: acquiring at least two positions of the pose controller within a specified time, and determining a polar coordinate angle direction corresponding to each position in the at least two positions; and in the appointed time, sequentially connecting each position to the next position according to the time sequence and the polar coordinate angle direction corresponding to the position, and determining the motion track of the pose controller.
In yet another embodiment, the action matched to the motion trajectory includes one or more of: left shift, right shift, jump, and roll.
According to a third aspect of the embodiments of the present disclosure, there is provided a character control apparatus including: a memory to store instructions; and a processor; the method for calling the memory-stored instruction to execute the role control method in the first aspect or any one of the embodiments of the first aspect.
According to a fourth aspect of embodiments of the present disclosure, there is provided a computer-readable storage medium storing computer-executable instructions that, when executed by a processor, perform the role control method of the first aspect or any one of the implementation manners of the first aspect.
The technical scheme provided by the embodiment of the disclosure can have the following beneficial effects: the position of the pose controller is determined through the ultra-wideband signals transmitted by the ultra-wideband module, the penetrability of the ultra-wideband signals is good, and the ultra-wideband signals are not easily interfered by obstacles during positioning. Because the ultra-wideband technology adopts nanosecond non-sine wave narrow pulses to transmit data, the position change of the pose controller can be determined in real time, and the positioning accuracy is improved. Therefore, the motion trail of the pose controller is determined based on the position of the pose controller, and the motion trail of the pose controller can be rapidly determined. The virtual character control is carried out based on the motion track, so that when the virtual character is controlled to execute actions, the virtual character can respond quickly, and the game experience of a user is improved.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure.
Fig. 1 is a flow chart illustrating a character control method according to an exemplary embodiment.
Fig. 2 is a position orientation diagram of a pose controller and ultra-wideband positioning anchor shown in accordance with an exemplary embodiment.
Fig. 3 is a schematic diagram illustrating a determination of a pose controller position according to an exemplary embodiment.
Fig. 4 is a block diagram illustrating a character control apparatus according to an exemplary embodiment.
FIG. 5 is a block diagram illustrating an apparatus in accordance with an example embodiment.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the exemplary embodiments below are not intended to represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.
In the related art, the pose controller positions the position of the pose controller by infrared rays to control the virtual character. However, through infrared positioning, positioning deviation or delay caused by interference of obstacles is easy to cause, game experience of a user for controlling virtual characters by using the position and orientation controller is influenced, and positioning by using infrared rays is high in power consumption, so that the position and orientation controller is not beneficial to the user to use for a long time.
The Ultra Wide Band (UWB) is a wireless carrier communication technology, uses nanosecond non-sine wave narrow pulse to transmit data, and has the advantages of low system complexity, low power spectrum density of transmitted signals, insensitivity to channel fading, low interception capability, high positioning accuracy and the like. The role control method is based on the position of the position and pose controller positioned by the ultra-wideband technology.
The system structure of the ultra-wideband technology is simple, and when wireless transmission is carried out, a carrier wave is not needed, and the ultra-wideband module can send nanosecond pulses to transmit ultra-wideband signals. Because the speed limit of the user using the pose controller can not reach the nanometer level, the position of the pose controller can be approximately obtained in real time, and the current position of the pose controller can be further determined in real time. In practical application, the ultra-wideband signal has strong penetrability, and the position of the pose controller is determined through the ultra-wideband signal, so that the influence of obstacles on positioning in the transmission process can be effectively reduced, the positioning accuracy is improved, and the determined position is more accurate. When the virtual character is controlled, the position change of the pose controller can be determined in real time, the motion track of the pose controller is further determined, the virtual character is controlled to be capable of quickly executing actions, and therefore game experience of users is improved.
Fig. 1 is a flowchart illustrating a character control method according to an exemplary embodiment, where the character control method is applied to a pose controller, as shown in fig. 1. The pose controller is an intelligent motion sensing device and can map human body actions to games through the pose controller. The pose controller comprises an ultra-wideband module, and the ultra-wideband module is used for transmitting ultra-wideband signals and facilitating the determination of the position of the pose controller. The character control method includes the following steps S11 to S13.
In step S11, the position of the pose controller is determined based on the ultra-wideband signal transmitted by the ultra-wideband module.
In the embodiment of the disclosure, after the game is started, when the user uses the pose controller to play the game, the ultra wideband module in the pose controller can be triggered to emit the ultra wideband signal. And the ultra-wideband signal is transmitted to the ultra-wideband positioning anchor point and then reflected, so that the ultra-wideband module can determine the current position of the pose controller according to the reflected signal. The ultra-wideband positioning anchor point is preset in a space scene where a user plays games.
In step S12, based on the positions of the pose controllers, the movement trajectories of the pose controllers are determined.
In the disclosed example, the ultra-wideband module continuously emits ultra-wideband signals according to the use of a user, and continuously determines the real-time position of the pose controller in use according to the reflected signals. According to the position change and the motion direction of the pose controller during use, the motion trail of the pose controller can be quickly determined, the motion posture change of a user during use of the pose controller can be further identified, and the action which is mapped in a game and needs to be executed by a virtual character is determined. According to the determined motion track of the pose controller, coherent and smooth actions can be obtained, the actions which need to be executed by the virtual character by the user can be executed by the virtual character in a coherent and smooth manner when the virtual character executes the actions, and the use experience of the user is improved.
In one embodiment, a fixed difference between the positions of the pose controller and two base stations is obtained by comparing propagation time differences between ultra-wideband signals from the pose controller to any two ultra-wideband positioning anchor points, and the polar coordinates of the pose controller are determined through a mathematical method (multi-translation) to obtain the polar coordinate angle direction of the pose controller at the current position. According to the ultra-wideband signals continuously emitted by the ultra-wideband module in use, at least two positions of the pose controller in a specified time and the polar coordinate angle direction corresponding to each position can be determined in real time. And sequentially connecting the positions downwards according to the acquired time sequence and the corresponding polar coordinate angle direction to obtain the motion track of the pose controller in the designated time. In an implementation scene, the designated time is the time for inputting the motion trail of the pose controller into the game host, the real-time position and the corresponding motion direction of the pose controller are continuously received within the designated time to obtain the motion trail of the pose controller, and the obtained motion trail is periodically input into the game host. The specified time may comprise 20 ms. The motion track of the pose controller is determined through the ultra-wideband signal, the moving direction can be determined while positioning is carried out, quick feedback to the pose controller is facilitated, the role in the pose controller can quickly respond, actions to be executed are executed in time, and therefore the use experience of a user is improved. The direction of motion may include: left, right, forward, or backward.
In step S13, based on the motion trajectory, the virtual character is controlled to perform an action matching the motion trajectory.
In the embodiment of the disclosure, the pose controller feeds back the determined motion track to the game host, so that the game host can input the motion track of the pose controller as the action of the virtual character, and further control the action execution of the virtual character.
In one embodiment, the action matched to the motion trajectory includes one or more of: left shift, right shift, jump, and roll.
Through the embodiment, the position of the pose controller is determined by utilizing the ultra-wideband signal, the positioning accuracy is improved, the penetrability of the ultra-wideband signal is good, and the ultra-wideband signal is not easily interfered by obstacles during positioning. Because the ultra-wideband technology adopts nanosecond non-sine wave narrow pulses to transmit data, the position change of the pose controller can be determined in real time, the motion track of the pose controller can be further rapidly determined, the virtual character can respond rapidly when the virtual character is controlled to execute actions, and therefore the game experience of a user is promoted.
In one embodiment, the position of the pose controller is determined by: the ultra-wideband module transmits ultra-wideband signals to the ultra-wideband positioning anchors at the same time, and the distances between the pose controller and each ultra-wideband positioning anchor in the ultra-wideband positioning anchors are respectively determined according to the round-trip time of the ultra-wideband signals. And determining the position of the pose controller according to the distance between the pose controller and each ultra-wideband positioning anchor point in the ultra-wideband positioning anchor points. In an implementation scenario, as shown in fig. 2, the position of the user is the position of the pose controller, and the ultra-wideband signals are sent to the ultra-wideband positioning anchors through the ultra-wideband module in the pose controller. The positions of the ultra-wideband positioning anchor points can be positioned on the same side and are opposite to the position of the pose controller, so that ultra-wideband signals can be received and reflected conveniently, and the ultra-wideband module can quickly receive the reflected signals. Each ultra-wideband positioning anchor point can also be distributed at each corner in the same space, and the positioning accuracy of the pose controller is improved according to a multi-directional positioning result. In one example, to ensure accuracy in the vertical direction, the heights of the ultra-wideband positioning anchor points may be completely staggered to form a height difference.
In one embodiment, the distance between the ultra-wideband signal and each ultra-wideband positioning anchor may be obtained by using a time difference of arrival (TDOA) method. The propagation time difference of the ultra-wideband signals from the pose controller to any two ultra-wideband positioning anchor points is compared to obtain the fixed difference between the pose controller and two base stations, and the position of the pose controller is determined by a mathematical method (multi-translation). In another embodiment, the distance between the ultra-wideband signal and each ultra-wideband positioning anchor point can be obtained by a time-of-flight ranging method. And obtaining the round-trip distance between the pose controller and each ultra-wideband positioning anchor point according to the round-trip time and the air propagation speed between the ultra-wideband signal and each ultra-wideband positioning anchor point, and further obtaining the one-way distance between the pose controller and each ultra-wideband positioning anchor point through distance halving, thereby determining the distance between the pose controller and each ultra-wideband positioning anchor point. Because the position coordinates of the ultra-wideband positioning anchor points are known, the position of the pose controller can be quickly determined according to the distance between the pose controller and the ultra-wideband positioning anchor points and the position coordinates of the ultra-wideband positioning anchor points.
The number of the ultra-wideband positioning anchor points can be three or more, and the ultra-wideband positioning anchor points can be set by combining the actual size of the space and the requirements of users. And determining the position of the pose controller according to the distance between the pose controller and each ultra-wideband positioning anchor point in a triangular positioning mode.
In one embodiment, the positions of the ultra-wideband positioning anchor points are located on the same side and opposite to the position of the pose controller. And determining the position of the pose controller by the Pythagorean theorem in a two-dimensional positioning mode.
In an implementation scenario, as shown in fig. 3, when the number of the ultra-wideband positioning anchors is three, and the coordinates of each ultra-wideband positioning anchor are known, they are respectively used as (x)1,y1)、(x2,y2) And (x)3,y3) It is shown that 1, 2, and 3 represent three ultra-wideband positioning anchor points, respectively. Since the coordinates of the pose controller are unknown, (x, y) is substituted. The distances between the ultra-wideband positioning anchors and the pose controller are d respectively by a flight time ranging method1、d2And d3. In the method, the position of each ultra-wideband positioning anchor point is taken as the circle center, and the distance between each ultra-wideband positioning anchor point and the pose controller is taken as the radius of the circle, so that the intersection point coordinate between the three circles is obtained, namely the coordinate of the pose controller. The calculation process is as follows: according to threeThe position coordinates of the circle, the preset pose controller coordinates and the distance between each ultra-wideband positioning anchor point and the pose controller obtain the following three groups of formulas: (x)1-x)2+(y1-y)2＝d1 2、
Figure BDA0002432820540000071
And
Figure BDA0002432820540000072
and then the specific values of x and y are deduced to obtain the position coordinates of the pose controller.
In another implementation scenario, when the number of the ultra-wideband positioning anchors exceeds three, three different ultra-wideband positioning anchors and the distances between the ultra-wideband positioning anchors and the pose controllers are respectively selected, the positions of the pose controllers are obtained in a mode of determining intersection points through the Pythagorean theorem, errors are eliminated through the mean value, the final positions of the pose controllers are determined, and the position accuracy of the pose controllers is further improved.
In another embodiment, the positions of the ultra-wideband positioning anchor points are located in the same space. And determining the position of the pose controller by the Pythagorean theorem in a positioning mode of converting three dimensions into two dimensions. In an implementation scene, when the number of the ultra-wideband positioning anchors is three, 1, 2 and 3 are respectively used for representing the three ultra-wideband positioning anchors, wherein the spatial vertical coordinates of the ultra-wideband positioning anchor 1 and the ultra-wideband positioning anchor 2 are the same. The coordinates of the three ultra-wideband positioning anchor points are known and are respectively represented by (0,0), (d,0) and (i, j), wherein the coordinates of the pose controller are unknown and are replaced by (x, y, z), and z is the height of the three-sphere intersection point and the horizontal plane. The distance between each ultra-wideband positioning anchor point and the pose controller is r1、r2And r3. And respectively taking the position of each ultra-wideband positioning anchor point as a circle center and the distance between each ultra-wideband positioning anchor point and the pose controller as the radius of the circle, and further obtaining the intersection point coordinate between the three circles, namely the coordinate of the pose controller. Wherein, the calculation process is as follows: according to the position coordinates of the three circles, the preset pose controller coordinates and the ultra-wideband positioning anchor points andthe distance between the pose controllers is obtained by the following three groups of formulas: r is1 2＝x2+y2+z2、
Figure BDA0002432820540000073
And
Figure BDA0002432820540000074
when z is 0, that is, three circles intersect at a point on the horizontal plane, and then x is derived, so that the formula is obtained:
Figure BDA0002432820540000081
the three groups of formulas are substituted to obtain
Figure BDA0002432820540000082
And further obtaining the position coordinates of the pose controller and determining the position of the pose controller. In another implementation scene, when the number of the ultra-wideband positioning anchor points exceeds three, different three ultra-wideband positioning anchor points and the distances between the ultra-wideband positioning anchor points and the pose controllers are respectively selected, the positions of the pose controllers are obtained by adopting the method, the error is eliminated through the mean value, the final positions of the pose controllers are determined, and the position accuracy of the pose controllers is further improved.
Based on the same conception, the embodiment of the disclosure also provides a role control device.
It is understood that the role control device provided by the embodiments of the present disclosure includes a hardware structure and/or a software module corresponding to each function for implementing the functions described above. The disclosed embodiments can be implemented in hardware or a combination of hardware and computer software, in combination with the exemplary elements and algorithm steps disclosed in the disclosed embodiments. Whether a function is performed as hardware or computer software drives hardware depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present disclosure.
Fig. 4 is a block diagram illustrating a character control apparatus according to an example embodiment. Referring to fig. 4, the character control apparatus 100 is applied to a pose controller including an ultra-wideband module, and the character control apparatus 100 includes a positioning unit 110, a trajectory determination unit 120, and a control unit 130.
And the positioning unit 110 is used for determining the position of the pose controller based on the ultra-wideband signal transmitted by the ultra-wideband module.
A trajectory determination unit 120 configured to determine a motion trajectory of the pose controller based on the position of the pose controller.
And a control unit 130 for controlling the virtual character to perform an action matched with the motion trajectory based on the motion trajectory.
In one embodiment, the positioning unit 110 determines the position of the pose controller based on the ultra-wideband signal emitted by the ultra-wideband module in the following manner: transmitting an ultra-wideband signal to a plurality of ultra-wideband positioning anchor points through an ultra-wideband module; respectively determining the distance between the pose controller and each ultra-wideband positioning anchor point in the ultra-wideband positioning anchor points based on ultra-wideband signals transmitted to the ultra-wideband positioning anchor points by the ultra-wideband module; and determining the position of the pose controller according to the distance between the pose controller and each ultra-wideband positioning anchor point in the ultra-wideband positioning anchor points.
In another embodiment, the positioning unit 110 determines the distance between the pose controller and each of the plurality of ultra-wideband positioning anchors based on the ultra-wideband signals transmitted by the ultra-wideband module to the plurality of ultra-wideband positioning anchors in the following manner: respectively determining the distance between the pose controller and each ultra-wideband positioning anchor point in the ultra-wideband positioning anchor points based on ultra-wideband signals transmitted to the ultra-wideband positioning anchor points by the ultra-wideband module in a time difference of arrival mode; or respectively determining the distance between the pose controller and each ultra-wideband positioning anchor point in the ultra-wideband positioning anchor points based on ultra-wideband signals transmitted to the ultra-wideband positioning anchor points by the ultra-wideband module in a flight time ranging mode.
In another embodiment, the positioning unit 110 determines the position of the pose controller according to the distance between the pose controller and each of the plurality of ultra-wideband positioning anchors by: and if the number of the ultra-wideband positioning anchor points is three or more, determining the position of the pose controller according to the distance between the pose controller and each ultra-wideband positioning anchor point in the ultra-wideband positioning anchor points based on a triangular positioning mode.
In another embodiment, the positioning unit 110 determines the position of the pose controller according to the distance between the pose controller and each of the ultra-wideband positioning anchors in the plurality of ultra-wideband positioning anchors based on the triangulation method by: acquiring fixed point coordinates of any three ultra-wideband positioning anchor points in the plurality of ultra-wideband positioning anchor points; and determining the position of the pose controller according to the distances between the pose controller and the three ultra-wideband positioning anchor points and the fixed point coordinates of the three ultra-wideband positioning anchor points on the basis of the Pythagorean theorem.
In yet another embodiment, the trajectory determination unit 120 determines the movement trajectory of the pose controller based on the position of the pose controller in the following manner: acquiring at least two positions of the pose controller within a specified time, and determining a polar coordinate angle direction corresponding to each position in the at least two positions; and in the appointed time, sequentially connecting each position to the next position according to the time sequence and the polar coordinate angle direction corresponding to the position, and determining the motion track of the pose controller.
In yet another embodiment, the action matched to the motion profile includes one or more of: left shift, right shift, jump, and roll.
With regard to the apparatus in the above-described embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be elaborated here.
Fig. 5 is a block diagram illustrating a method for controlling a character 200 according to an exemplary embodiment. For example, the apparatus 200 may be a mobile phone, a computer, a digital broadcast terminal, a messaging device, a game console, a tablet device, a medical device, an exercise device, a personal digital assistant, and the like.
Referring to fig. 5, the apparatus 200 may include one or more of the following components: a processing component 202, a memory 204, a power component 206, a multimedia component 208, an audio component 210, an input/output (I/O) interface 212, a sensor component 214, and a communication component 216.
The processing component 202 generally controls overall operation of the device 200, such as operations associated with display, telephone calls, data communications, camera operations, and recording operations. The processing components 202 may include one or more processors 220 to execute instructions to perform all or a portion of the steps of the methods described above. Further, the processing component 202 can include one or more modules that facilitate interaction between the processing component 202 and other components. For example, the processing component 202 can include a multimedia module to facilitate interaction between the multimedia component 208 and the processing component 202.
Memory 204 is configured to store various types of data to support operation at device 200. Examples of such data include instructions for any application or method operating on the device 200, contact data, phonebook data, messages, pictures, videos, and so forth. The memory 204 may be implemented by any type or combination of volatile or non-volatile memory devices, such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disks.
Power components 206 provide power to the various components of device 200. Power components 206 may include a power management system, one or more power sources, and other components associated with generating, managing, and distributing power for device 200.
The multimedia component 208 includes a screen that provides an output interface between the device 200 and the user. In some embodiments, the screen may include a Liquid Crystal Display (LCD) and a Touch Panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive an input signal from a user. The touch panel includes one or more touch sensors to sense touch, slide, and gestures on the touch panel. The touch sensor may not only sense the boundary of a touch or slide action, but also detect the duration and pressure associated with the touch or slide operation. In some embodiments, the multimedia component 208 includes a front facing camera and/or a rear facing camera. The front camera and/or the rear camera may receive external multimedia data when the device 200 is in an operating mode, such as a shooting mode or a video mode. Each front camera and rear camera may be a fixed optical lens system or have a focal length and optical zoom capability.
The audio component 210 is configured to output and/or input audio signals. For example, audio component 210 includes a Microphone (MIC) configured to receive external audio signals when apparatus 200 is in an operational mode, such as a call mode, a recording mode, and a voice recognition mode. The received audio signals may further be stored in the memory 204 or transmitted via the communication component 216. In some embodiments, audio component 210 also includes a speaker for outputting audio signals.
The I/O interface 212 provides an interface between the processing component 202 and peripheral interface modules, which may be keyboards, click wheels, buttons, etc. These buttons may include, but are not limited to: a home button, a volume button, a start button, and a lock button.
The sensor component 214 includes one or more sensors for providing various aspects of status assessment for the device 200. For example, the sensor component 214 may detect an open/closed state of the device 200, the relative positioning of components, such as a display and keypad of the apparatus 200, the sensor component 214 may also detect a change in position of the apparatus 200 or a component of the apparatus 200, the presence or absence of user contact with the apparatus 200, orientation or acceleration/deceleration of the apparatus 200, and a change in temperature of the apparatus 200. The sensor assembly 214 may include a proximity sensor configured to detect the presence of a nearby object without any physical contact. The sensor assembly 214 may also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, the sensor assembly 214 may also include an acceleration sensor, a gyroscope sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.
The communication component 216 is configured to facilitate wired or wireless communication between the apparatus 200 and other devices. The device 200 may access a wireless network based on a communication standard, such as WiFi, 2G or 3G, or a combination thereof. In an exemplary embodiment, the communication component 216 receives a broadcast signal or broadcast related information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communication component 216 further includes a Near Field Communication (NFC) module to facilitate short-range communications. For example, the NFC module may be implemented based on Radio Frequency Identification (RFID) technology, infrared data association (IrDA) technology, Ultra Wideband (UWB) technology, Bluetooth (BT) technology, and other technologies.
In an exemplary embodiment, the apparatus 200 may be implemented by one or more Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), Digital Signal Processing Devices (DSPDs), Programmable Logic Devices (PLDs), Field Programmable Gate Arrays (FPGAs), controllers, micro-controllers, microprocessors or other electronic components for performing the above-described methods.
In an exemplary embodiment, a non-transitory computer readable storage medium comprising instructions, such as memory 204 comprising instructions, executable by processor 220 of apparatus 200 to perform any of the character control methods described above is also provided. For example, the non-transitory computer readable storage medium may be a ROM, a Random Access Memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, and the like.
It is understood that "a plurality" in this disclosure means two or more, and other words are analogous. "and/or" describes the association relationship of the associated objects, meaning that there may be three relationships, e.g., a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship. The singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
It is further to be understood that while operations are depicted in the drawings in a particular order, this is not to be understood as requiring that such operations be performed in the particular order shown or in serial order, or that all illustrated operations be performed, to achieve desirable results. In certain environments, multitasking and parallel processing may be advantageous.
Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This application is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
It will be understood that the present disclosure is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims (16)

1. A character control method is applied to a pose controller, the pose controller comprises an ultra-wideband module, and the character control method comprises the following steps:
determining the position of the pose controller based on the ultra-wideband signal emitted by the ultra-wideband module;
determining a motion trajectory of the pose controller based on the position of the pose controller;
and controlling the virtual character to execute the action matched with the motion trail based on the motion trail.
2. The character control method according to claim 1, wherein determining the position of the pose controller based on the ultra-wideband signal emitted by the ultra-wideband module comprises:
transmitting an ultra-wideband signal to a plurality of ultra-wideband positioning anchor points through the ultra-wideband module;
respectively determining the distance between the pose controller and each ultra-wideband positioning anchor point in the ultra-wideband positioning anchor points based on ultra-wideband signals transmitted to the ultra-wideband positioning anchor points by the ultra-wideband module;
and determining the position of the pose controller according to the distance between the pose controller and each ultra-wideband positioning anchor point in the ultra-wideband positioning anchor points.
3. The character control method of claim 2, wherein determining the distance between the pose controller and each of the plurality of ultra-wideband positioning anchors based on ultra-wideband signals transmitted by the ultra-wideband module to the plurality of ultra-wideband positioning anchors comprises:
respectively determining the distance between the pose controller and each ultra-wideband positioning anchor point in the ultra-wideband positioning anchor points based on ultra-wideband signals transmitted to the ultra-wideband positioning anchor points by the ultra-wideband module in a time difference of arrival mode; or
And respectively determining the distance between the pose controller and each ultra-wideband positioning anchor point in the ultra-wideband positioning anchor points based on ultra-wideband signals transmitted to the ultra-wideband positioning anchor points by the ultra-wideband module in a flight time ranging mode.
4. The character control method of claim 2 or 3, wherein the number of ultra-wideband positioning anchor points is three or more;
determining the position of the pose controller according to the distance between the pose controller and each ultra-wideband positioning anchor point in the plurality of ultra-wideband positioning anchor points, wherein the determining comprises the following steps:
and determining the position of the pose controller according to the distance between the pose controller and each ultra-wideband positioning anchor point in the ultra-wideband positioning anchor points based on a triangular positioning mode.
5. The character control method according to claim 4, wherein determining the position of the pose controller according to the distance between the pose controller and each ultra-wideband positioning anchor point in the plurality of ultra-wideband positioning anchor points based on a triangulation manner comprises:
acquiring fixed point coordinates of any three ultra-wideband positioning anchor points in the plurality of ultra-wideband positioning anchor points;
and determining the position of the pose controller according to the distance between the pose controller and the three ultra-wideband positioning anchor points and the fixed point coordinates of the three ultra-wideband positioning anchor points on the basis of the Pythagorean theorem.
6. The character control method according to claim 1, wherein the determining the motion trajectory of the pose controller based on the position of the pose controller comprises:
acquiring at least two positions of the pose controller within a specified time, and determining a polar coordinate angle direction corresponding to each position in the at least two positions;
and in the appointed time, sequentially connecting each position to the next position according to the time sequence and the polar coordinate angle direction corresponding to the position to obtain the motion track of the pose controller.
7. The character control method of claim 5 or 6, wherein the action matched to the motion trajectory comprises one or more of: left shift, right shift, jump, and roll.
8. A character control apparatus applied to a pose controller including an ultra-wideband module, the character control apparatus comprising:
the positioning unit is used for determining the position of the pose controller based on the ultra-wideband signal transmitted by the ultra-wideband module;
a trajectory determination unit configured to determine a motion trajectory of the pose controller based on a position of the pose controller;
and the control unit is used for controlling the virtual character to execute the action matched with the motion track based on the motion track.
9. The character control apparatus according to claim 8, wherein the positioning unit determines the position of the pose controller based on the ultra-wideband signal emitted by the ultra-wideband module in the following manner:
transmitting an ultra-wideband signal to a plurality of ultra-wideband positioning anchor points through the ultra-wideband module;
respectively determining the distance between the pose controller and each ultra-wideband positioning anchor point in the ultra-wideband positioning anchor points based on ultra-wideband signals transmitted to the ultra-wideband positioning anchor points by the ultra-wideband module;
and determining the position of the pose controller according to the distance between the pose controller and each ultra-wideband positioning anchor point in the ultra-wideband positioning anchor points.
10. The character control device of claim 9, wherein the positioning unit determines the distance between the pose controller and each of the plurality of ultra-wideband positioning anchors based on ultra-wideband signals transmitted by the ultra-wideband module to the plurality of ultra-wideband positioning anchors in the following manner:
respectively determining the distance between the pose controller and each ultra-wideband positioning anchor point in the ultra-wideband positioning anchor points based on ultra-wideband signals transmitted to the ultra-wideband positioning anchor points by the ultra-wideband module in a time difference of arrival mode; or
And respectively determining the distance between the pose controller and each ultra-wideband positioning anchor point in the ultra-wideband positioning anchor points based on ultra-wideband signals transmitted to the ultra-wideband positioning anchor points by the ultra-wideband module in a flight time ranging mode.
11. The character control apparatus according to claim 9 or 10, wherein the positioning unit determines the position of the pose controller based on the distance between the pose controller and each of the plurality of ultra-wideband positioning anchors by:
and if the number of the ultra-wideband positioning anchor points is three or more, determining the position of the pose controller according to the distance between the pose controller and each ultra-wideband positioning anchor point in the ultra-wideband positioning anchor points based on a triangular positioning mode.
12. The character control apparatus according to claim 11, wherein the positioning unit determines the position of the pose controller based on the distance between the pose controller and each of the plurality of ultra-wideband positioning anchors based on a triangulation manner in such a manner that:
acquiring fixed point coordinates of any three ultra-wideband positioning anchor points in the plurality of ultra-wideband positioning anchor points;
and determining the position of the pose controller according to the distance between the pose controller and the three ultra-wideband positioning anchor points and the fixed point coordinates of the three ultra-wideband positioning anchor points on the basis of the Pythagorean theorem.
13. The character control apparatus according to claim 9, wherein the trajectory determination unit determines the movement trajectory of the pose controller based on the position of the pose controller in such a manner that:
acquiring at least two positions of the pose controller within a specified time, and determining a polar coordinate angle direction corresponding to each position in the at least two positions;
and in the appointed time, sequentially connecting each position to the next position according to the time sequence and the polar coordinate angle direction corresponding to the position, and determining the motion track of the pose controller.
14. The character control apparatus of claim 12 or 13, wherein the action matched to the motion trajectory comprises one or more of: left shift, right shift, jump, and roll.
15. A character control apparatus, comprising:
a memory to store instructions; and
a processor; instructions for invoking the memory store perform the role control method of any of claims 1-7.
16. A computer-readable storage medium storing computer-executable instructions that, when executed by a processor, perform the character control method of any one of claims 1-7.
CN202010241852.5A 2020-03-31 2020-03-31 Role control method, role control device, and computer-readable storage medium Active CN111537988B (en)

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