Handle positioning method, system, wearable device, and experience system

Abstract

The application discloses a handle positioning method and system, a wearable device and an experience system, and relates to the technical field of electronic device control. A delay time is determined according to a first spatial position of a handle at a current time, and the delay time is brought into a handle actual position determination process, that is, a compensation distance that the handle moves in the delay time is determined according to the first spatial position, the delay time, acceleration and a stored second spatial position at a previous time, a third spatial position of the handle at a display time, that is, a compensated handle actual position, is determined according to the compensation distance, the first spatial position and the second spatial position. Compared with the prior art, the hysteresis of handle display is eliminated from the positioning principle, thereby ensuring that the display of the wearable device is synchronized with the movement of the handle, improving the user experience and being more beneficial to practical application.

Description

Technical Field

[0001] This invention relates to the field of electronic device control technology, and in particular to a handle positioning method, system, wearable device, and experience system. Background Technology

[0002] In recent years, VR (Virtual Reality) technology and AR (Augmented Reality) technology have developed rapidly, and various portable head-mounted wearable devices have emerged one after another. The accompanying controllers enable users to interact with the device in actual applications, that is, to display the position of the controllers on the display screen of the wearable device, thereby improving the user experience.

[0003] In existing technologies, to achieve controller position positioning, the controller sends a positioning signal to the VR device at time T0. The processor in the VR device receives the signal, identifies the position information contained within it, and then the image processing module converts this position information into a position on the display screen to simulate the controller's position at time T0. However, from receiving the positioning signal to the final image display on the screen, assuming the display processing time is T1, T1 can be quite large depending on the processing performance of the VR device. Furthermore, the user may move the controller very quickly. These factors cause the controller position at time T0+T1 to differ significantly from its position at time T0. Consequently, the user perceives the display screen as always lagging behind the controller's movement, resulting in a severe disconnect in the user experience, especially in scenarios with high real-time requirements.

[0004] Therefore, finding an effective way to achieve handle positioning is an urgent problem to be solved. Summary of the Invention

[0005] The purpose of this invention is to provide a handle positioning method, system, wearable device, and experience system. By eliminating the lag in handle display from the positioning principle, it ensures that the display of the wearable device is synchronized with the movement of the handle, improves the user experience, and is more conducive to practical applications.

[0006] To address the aforementioned technical problems, this invention provides a handle positioning method applied to wearable devices, the method comprising:

[0007] Obtain the first spatial position and acceleration sent by the controller at the current moment;

[0008] Determine the delay time based on the first spatial location;

[0009] The compensation distance by which the handle moves again within the delay time is determined based on the first spatial position, the delay time, the acceleration, and the stored second spatial position of the previous moment.

[0010] The third spatial position of the handle is determined based on the compensation distance, the first spatial position, and the second spatial position when the display time is reached, wherein the display time is the time corresponding to the current time plus the delay time.

[0011] Preferably, determining the delay time based on the first spatial location includes:

[0012] The first distance between the wearable device and the handle is determined based on the first preset relationship and the first spatial position;

[0013] The first preset relation is:

[0014]

[0015] Wherein, the coordinates of the first spatial position are (x1, y1, z1), and S1 is the first distance;

[0016] The delay time is determined based on a second preset relational formula, the first distance, and the pre-stored display processing time; the second preset relational formula is:

[0017] t = S1 / c + t0

[0018] Where t is the delay time, t0 is the pre-stored display processing time, and c is the signal transmission speed.

[0019] Preferably, the wearable device further includes a display module;

[0020] The steps for determining the pre-stored display processing time are as follows:

[0021] The moment when the positioning signal sent by the handle is received is defined as the first moment;

[0022] The moment when the graphic display signal corresponding to the positioning signal appears on the oscilloscope is determined as the second moment; wherein, the oscilloscope is connected to the signal input terminal of the display module;

[0023] The time difference between the second moment and the first moment is determined to be the pre-stored display processing duration.

[0024] Preferably, the wearable device further includes a vibration module;

[0025] After determining the third spatial position of the handle at the time of display based on the compensation distance, the first spatial position, and the second spatial position, the method further includes:

[0026] Determine whether the third distance between the third spatial position and the second spatial position is greater than a preset feedback distance;

[0027] If so, control the vibration module to vibrate.

[0028] Preferably, the wearable device further includes an image processing module and a display module;

[0029] After determining the third spatial position of the handle at the time of display based on the compensation distance, the first spatial position, and the second spatial position, the method further includes:

[0030] The third spatial location is sent to the image processing module so that the image processing module controls the display module to display the third spatial location.

[0031] Preferably, determining the compensation distance by which the handle moves again within the delay time based on the first spatial position, the delay time, the acceleration, and the stored second spatial position from the previous moment includes:

[0032] The average speed at which the handle moves from the second spatial position to the first spatial position is determined based on the third preset relation, the first spatial position, and the stored second spatial position at the previous moment.

[0033] The third preset relation is:

[0034]

[0035] Wherein, the coordinates of the first spatial position are (x1, y1, z1), the coordinates of the second spatial position are (x0, y0, z0), v1 is the average velocity, and f is the reciprocal of the time difference between the current moment and the previous moment.

[0036] Based on the fourth preset relationship, the delay time, and the acceleration, the compensation distance that the handle moves again within the delay time is determined;

[0037] The fourth preset relation is:

[0038] ΔL=v1t+1 / 2g1t 2

[0039] Where t is the delay time, g1 is the acceleration, and ΔL is the compensation distance.

[0040] Preferably, determining the third spatial position of the handle at the time of display based on the compensation distance, the first spatial position, and the second spatial position includes:

[0041] Based on the fifth preset relation, the compensation distance, the first spatial position, and the second spatial position, the third spatial position of the handle is determined when the display time is reached;

[0042] The fifth preset relation is:

[0043]

[0044] Wherein, the coordinates of the third spatial position are (x 11 y 11 , z 11 ).

[0045] To address the aforementioned technical problems, the present invention also provides a handle positioning system for wearable devices, the handle positioning system comprising:

[0046] The acquisition unit is used to acquire the first spatial position and acceleration sent by the handle at the current moment;

[0047] A delay time determination unit is used to determine a delay time based on the first spatial location;

[0048] The compensation distance determination unit is used to determine the compensation distance that the handle moves again during the delay time based on the first spatial position, the delay time, the acceleration, and the stored second spatial position of the previous moment;

[0049] The third spatial position determination unit is used to determine the third spatial position of the handle when the display time is reached based on the compensation distance, the first spatial position and the second spatial position, wherein the display time is the time corresponding to the current time plus the delay time.

[0050] To address the aforementioned technical problems, the present invention also provides a wearable device, comprising:

[0051] Memory, used to store computer programs;

[0052] A processor for performing the steps of the handle positioning method as described above.

[0053] To address the aforementioned technical problems, the present invention also provides an experience system, including a handle and a wearable device as described above.

[0054] This application provides a handle positioning method, system, wearable device, and experience system. The method determines a delay time based on the handle's current spatial position (first spatial position) and incorporates this delay time into the actual handle position determination process. Specifically, based on the first spatial position, the delay time, acceleration, and the stored second spatial position from the previous moment, a compensation distance is determined for the handle's movement within the delay time. Then, based on the compensation distance, the first spatial position, and the second spatial position, a third spatial position of the handle at the time of display is determined—the compensated actual handle position. Compared to existing technologies, this method eliminates the lag in handle display from a positioning principle perspective, thereby ensuring synchronization between the wearable device's display and the handle's movement, improving the user experience, and facilitating practical applications. Attached Figure Description

[0055] To more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the prior art and embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0056] Figure 1 A flowchart of a handle positioning method provided by the present invention;

[0057] Figure 2 A schematic diagram of a handle positioning system provided by the present invention;

[0058] Figure 3 This is a schematic diagram of the structure of a wearable device provided by the present invention. Detailed Implementation

[0059] The core of this invention is to provide a handle positioning method, system, wearable device, and experience system. By eliminating the lag in handle display from the positioning principle, it ensures that the display of the wearable device is synchronized with the movement of the handle, improves the user experience, and is more conducive to practical applications.

[0060] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0061] Please refer to Figure 1 , Figure 1 A flowchart of a handle positioning method provided by the present invention.

[0062] In this embodiment, considering that there may be a significant lag between the actual movement position of the controller and the display position of the VR device in the prior art, i.e., the user perceives the display screen as always lagging behind the movement of the controller, resulting in a severe disconnect in the user experience, especially in scenarios with high real-time requirements. To solve the above technical problem, this application provides a controller positioning method that eliminates the lag between the controller movement position and the display position from the positioning principle.

[0063] This handle positioning method, applied to wearable devices, includes:

[0064] S11: Obtain the first spatial position and acceleration sent by the handle at the current moment;

[0065] It should be noted that the wearable device includes, but is not limited to, head-mounted VR devices or AR devices. Step S11 specifically includes: receiving a positioning signal sent by the controller at the current moment. This positioning signal includes a first spatial position and acceleration. Therefore, the processor can process the positioning signal to obtain the first spatial position and acceleration corresponding to the current moment. It is understood that there is a signal transmission time required from when the controller sends the positioning signal to when the wearable device receives the positioning signal. Therefore, the first spatial position here is essentially the spatial position of the controller itself at the moment the positioning signal is sent, while the current moment is naturally the moment when the controller receives the positioning signal. There is a difference of signal transmission time between the two. During this time, the controller may also have a change in position, which is the origin of the position compensation idea of ​​the positioning method of this application.

[0066] It should also be noted that this method is not limited to the experience system of wearable devices and controllers, but can also be applied to other positioning devices and the devices being positioned, such as in visual fuzzy positioning and electromagnetic positioning, without any particular limitation here.

[0067] In addition, an acceleration sensor can be installed in the handle to determine the acceleration, and the acceleration is essentially a vector.

[0068] S12: Determine the delay time based on the first spatial location;

[0069] Specifically, the wearable device includes a display module. From the time the processor receives the positioning signal and processes it, to the time it identifies the position information and acceleration information in the positioning signal, and then to the time the display module receives the information to be displayed on the screen, all of these processes take time. Assuming that this time is the display processing time, the delay time is essentially the sum of the display processing time and the signal transmission time mentioned above.

[0070] S13: Determine the compensation distance that the handle moves again during the delay time based on the first spatial position, the delay time, the acceleration, and the stored second spatial position of the previous moment;

[0071] S14: Determine the third spatial position of the handle when the display time is reached based on the compensation distance, the first spatial position, and the second spatial position, wherein the display time is the current time plus the delay time.

[0072] Specifically, based on the determination of the above-mentioned delay time, the compensation distance that the handle moves during the delay time can be determined based on step S13, that is, spatial position compensation is performed. Then, based on step S14, the third spatial position of the handle at the display time can be determined. The display time is essentially the time when the display module receives the above-mentioned information to be displayed.

[0073] Furthermore, the second spatial position at the previous moment is essentially the position after compensating for the first spatial position sent by the controller. It can be understood that when the controller is just started and sends a spatial position for the first time, since there is no corresponding position information at the previous moment, no compensation is needed and it can be displayed directly. For each subsequent first spatial position sent, the second spatial position at the previous moment can be used for compensation to reliably determine the position.

[0074] It should also be noted that the timing signal sent by the handle to the wearable device can be sent periodically, that is, the time difference between the current moment and the previous moment is the signal transmission period. The duration of this period is very short, usually in the millisecond range or even shorter.

[0075] In summary, this application provides a controller positioning method that determines a delay time based on the controller's current spatial position and incorporates this delay time into the actual controller position determination process to ultimately determine a third spatial position, i.e., the compensated actual controller position, which can then be displayed. Compared to existing technologies, this method eliminates the lag in controller display from the positioning principle, thereby ensuring synchronization between the wearable device's display and the controller's movement, improving the user experience, and facilitating practical applications.

[0076] Based on the above embodiments:

[0077] As a preferred embodiment, determining the delay time based on the first spatial location includes:

[0078] The first distance between the wearable device and the handle is determined based on the first preset relationship and the first spatial position;

[0079] The first presupposed relation is:

[0080]

[0081] Wherein, the coordinates of the first spatial position are (x1, y1, z1), and S1 is the first distance;

[0082] The delay time is determined based on the second preset relation, the first distance, and the pre-stored display processing time.

[0083] The second presupposed relation is:

[0084] t = S1 / c + t0

[0085] Where t is the delay time, t0 is the pre-stored display processing time, and c is the signal transmission speed.

[0086] In this embodiment, the specific steps for determining the delay time are given above and will not be repeated here. It should be noted that a pre-stored display processing time for calculating the delay time is pre-stored. This time reflects the time required from the processor receiving and processing the positioning signal, to identifying the first spatial position and acceleration in the positioning signal, and then to the display module receiving the information to be displayed. For this wearable device, given fixed performance parameters, this pre-stored display processing time can naturally be considered fixed and therefore can be pre-stored. The delay time essentially represents the sum of the display processing time and the aforementioned signal transmission time.

[0087] It should also be noted that the first distance is actually the positional distance between the geometric center of the wearable device and the geometric center of the handle.

[0088] It should also be noted that the signal transmission time, i.e., the value of S1 / c, will not be too large. t0 is related to the performance of the wearable device, but regardless of the performance, the location positioning logic provided in this application can achieve compensation from the source.

[0089] As can be seen, the above method can be used to determine the delay time simply and reliably, thus laying the foundation for determining the subsequent compensation position.

[0090] In a preferred embodiment, the wearable device also includes a display module;

[0091] The steps for determining the pre-stored display processing time are as follows:

[0092] The moment when the positioning signal sent by the controller is received is defined as the first moment;

[0093] The moment when the graphic display signal corresponding to the positioning signal appears on the oscilloscope is determined as the second moment; wherein, the oscilloscope is connected to the signal input terminal of the display module;

[0094] The time difference between the second moment and the first moment is determined to be the pre-stored display processing time.

[0095] This embodiment provides steps for determining the pre-stored display processing time. It should be noted that an oscilloscope is an electronic measuring instrument that can transform invisible signals into visible images. Therefore, one probe of the oscilloscope can be placed on the signal input terminal of the wearable device to receive the positioning signal and send it to the processor, while the other probe can be placed on the signal input terminal of the display module in the wearable device to receive the information to be displayed. This allows for synchronous signal reception between the wearable device and the oscilloscope. Therefore, the time when the positioning signal appears on the oscilloscope is the first moment, which the processor can naturally record. However, the second moment, when the information to be displayed is output to the signal input terminal of the display module, involves some image processing steps and is therefore unknown to the processor. Therefore, using the oscilloscope, the moment when the image display signal corresponding to the positioning signal appears on the oscilloscope is the second moment. Specifically, this can be manually recorded and input into the processor for recording. The time difference between the second moment and the first moment is then determined as the pre-stored display processing time. Alternatively, both the first and second moments can be manually recorded, and the final pre-stored display processing time can be stored in the wearable device.

[0096] It should also be noted that the determination of the pre-stored display processing time can also be achieved by building a circuit simulation program, and no special limitation is made here.

[0097] In a preferred embodiment, the wearable device also includes a vibration module;

[0098] After determining the third spatial position of the handle at the time of display based on the compensation distance, the first spatial position, and the second spatial position, the following is also included:

[0099] Determine whether the third spatial distance between the third spatial position and the second spatial position is greater than the preset feedback distance;

[0100] If so, control the vibration module to vibrate.

[0101] In this embodiment, the inventors further considered that in order to enhance the user experience, after determining the third spatial position, the distance between the third spatial position and the stored second spatial position at the previous moment can be determined. Specifically, it can be the straight-line distance between the two, and whether it is greater than the preset feedback distance.

[0102] If so, the vibration module can be controlled to enhance the feel. It should be noted that the preset feedback distance can be set according to actual needs and is not specifically limited here.

[0103] In a preferred embodiment, the wearable device further includes an image processing module and a display module;

[0104] After determining the third spatial position of the handle at the time of display based on the compensation distance, the first spatial position, and the second spatial position, the following is also included:

[0105] The third spatial location is sent to the image processing module so that the image processing module can control the display module to display the third spatial location.

[0106] In this embodiment, after determining the compensated third spatial position, the display module can be controlled to display the image. Since the delay time already includes the processing time of the image processing module and the display module, the compensation of the third spatial position is reliable, effective and accurate.

[0107] As a preferred embodiment, determining the compensation distance for the handle to move again within the delay time based on the first spatial position, the delay time, the acceleration, and the stored second spatial position from the previous moment includes:

[0108] The average speed at which the handle moves from the second spatial position to the first spatial position is determined based on the third preset relation, the first spatial position, and the stored second spatial position at the previous moment.

[0109] The third presupposed relation is:

[0110]

[0111] Wherein, the coordinates of the first spatial position are (x1, y1, z1), the coordinates of the second spatial position are (x0, y0, z0), v1 is the average velocity, and f is the reciprocal of the time difference between the current moment and the previous moment.

[0112] The compensation distance that the handle moves again within the delay time is determined based on the fourth preset relation, the delay time, and the acceleration.

[0113] The fourth pre-defined relation is:

[0114] ΔL=v1t+1 / 2g1t 2

[0115] Where t is the delay time, g1 is the acceleration, and ΔL is the compensation distance.

[0116] This embodiment provides a method for determining the compensation distance, as detailed above, and will not be repeated here. It is evident that by setting the aforementioned preset relationships and corresponding execution logic, positioning compensation can be achieved simply and reliably, improving positioning timeliness.

[0117] It should be noted that, as mentioned above, the time interval between the controller sending the positioning signal is very short, that is, the corresponding value of f is very large. Therefore, the movement of the controller in such a short time can be approximated as linear movement, that is, positioning compensation is achieved by substituting straight lines for curves.

[0118] The acceleration is a vector with magnitude and direction. Assuming the stored second spatial position of the previous moment is L0(x0, y0, z0) and the coordinates of the first spatial position are L1(x1, y1, z1), it can be understood that when g1 is positive, it means the direction of the acceleration is the same as the direction from L0 to L1; when g1 is negative, it means the direction of the acceleration is opposite to the direction from L0 to L1. The compensation distance is also essentially a vector. When ΔL is positive, it means the direction of the compensation distance is the same as the direction from L0 to L1; when ΔL is negative, it means the direction of the compensation distance is opposite to the direction from L0 to L1.

[0119] As a preferred embodiment, determining the third spatial position of the handle at the time of display based on the compensation distance, the first spatial position, and the second spatial position includes:

[0120] The third spatial position of the handle is determined based on the fifth preset relation, the compensation distance, the first spatial position, and the second spatial position when the display time is reached.

[0121] The fifth pre-defined relation is:

[0122]

[0123] Wherein, the coordinates of the third spatial position are (x 11 y 11 , z 11 ).

[0124] In this embodiment, a method for determining the compensated third spatial position is given, as described above and will not be repeated here. The position display based on this method fundamentally eliminates the lag in the handle position display, improves the timeliness of positioning, and enhances the user experience.

[0125] Please refer to Figure 2 , Figure 2 This is a schematic diagram of a handle positioning system provided by the present invention.

[0126] This handle positioning system, used in wearable devices, includes:

[0127] Acquisition unit 21 is used to acquire the first spatial position and acceleration sent by the handle at the current moment;

[0128] Delay time determination unit 22 is used to determine the delay time based on the first spatial position;

[0129] The compensation distance determination unit 23 is used to determine the compensation distance that the handle moves again during the delay time based on the first spatial position, the delay time, the acceleration, and the stored second spatial position of the previous moment.

[0130] The third spatial position determination unit 24 is used to determine the third spatial position of the handle when the display time is reached based on the compensation distance, the first spatial position and the second spatial position, wherein the display time is the time corresponding to the current time plus the delay time.

[0131] For a description of the handle positioning system provided in this invention, please refer to the embodiments of the handle positioning method described above; further details will not be repeated here.

[0132] In a preferred embodiment, the delay time determination unit 22 specifically includes:

[0133] The first distance determination unit is used to determine the first distance between the wearable device and the handle based on the first preset relationship and the first spatial position;

[0134] The first preset relation is:

[0135]

[0136] Wherein, the coordinates of the first spatial position are (x1, y1, z1), and S1 is the first distance;

[0137] The first processing unit is used to determine the delay time based on the second preset relationship, the first distance, and the pre-stored display processing time.

[0138] The second preset relation is:

[0139] t = S1 / c + t0

[0140] Where t is the delay time, t0 is the pre-stored display processing time, and c is the signal transmission speed.

[0141] In a preferred embodiment, the wearable device further includes a display module;

[0142] The handle positioning system further includes a pre-stored display processing time determination unit; the pre-stored display processing time determination unit specifically includes:

[0143] The first moment determination unit is used to determine the moment when the positioning signal sent by the handle is received as the first moment;

[0144] The second time determination unit is used to determine the time when the graphic display signal corresponding to the positioning signal appears on the oscilloscope as the second time; wherein, the oscilloscope is connected to the signal input terminal of the display module;

[0145] The second processing unit is used to determine the time difference between the second time and the first time as the pre-stored display processing duration.

[0146] In a preferred embodiment, the wearable device further includes a vibration module;

[0147] The handle positioning system also includes:

[0148] The first judgment unit is used to determine, after the third spatial position determination unit 24, whether the third distance between the third spatial position and the second spatial position is greater than a preset feedback distance; if so, to trigger the vibration control unit.

[0149] The vibration control unit is used to control the vibration of the vibration module.

[0150] In a preferred embodiment, the wearable device further includes an image processing module and a display module;

[0151] The handle positioning system also includes:

[0152] The image display control unit is used to send the third spatial position to the image processing module after the third spatial position determination unit 24, so that the image processing module controls the display module to display the third spatial position.

[0153] In a preferred embodiment, the compensation distance determination unit 23 specifically includes:

[0154] An average speed determination unit is used to determine the average speed of the handle moving from the second spatial position to the first spatial position based on a third preset formula, the first spatial position, and the stored second spatial position at the previous moment.

[0155] The third preset relation is:

[0156]

[0157] Wherein, the coordinates of the first spatial position are (x1, y1, z1), the coordinates of the second spatial position are (x0, y0, z0), v1 is the average velocity, and f is the reciprocal of the time difference between the current moment and the previous moment.

[0158] The third processing unit is used to determine the compensation distance that the handle moves again during the delay time based on the fourth preset relationship, the delay time, and the acceleration.

[0159] The fourth preset relation is:

[0160] ΔL=v1t+1 / 2g1t 2

[0161] Where t is the delay time, g1 is the acceleration, and ΔL is the compensation distance.

[0162] In a preferred embodiment, the third spatial location determination unit 24 specifically includes:

[0163] The fourth processing unit is used to determine the third spatial position of the handle when the display time is reached, based on the fifth preset relation, the compensation distance, the first spatial position, and the second spatial position.

[0164] The fifth preset relation is:

[0165]

[0166] Wherein, the coordinates of the third spatial position are (x 11 y 11 , z 11 ).

[0167] Please refer to Figure 3 , Figure 3 This is a schematic diagram of the structure of a wearable device provided by the present invention.

[0168] The wearable device includes:

[0169] Memory 31 is used to store computer programs;

[0170] Processor 32 is used to perform the steps of the handle positioning method as described above.

[0171] For a description of the wearable device provided in this invention, please refer to the embodiments of the handle positioning method described above; further details will not be repeated here.

[0172] It should be noted that the wearable devices include, but are not limited to, head-mounted VR devices or AR devices.

[0173] The present invention also provides an experience system, including a handle, and further including a wearable device as described above.

[0174] For a description of the experience system provided in this invention, please refer to the above-described embodiment of the handle positioning method; further details will not be repeated here.

[0175] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since it corresponds to the method disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to in the method section. Relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0176] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A handle positioning method, characterized in that, Applied to wearable devices, the method includes: Obtain the first spatial position and acceleration sent by the controller at the current moment; Determine the delay time based on the first spatial location; The compensation distance by which the handle moves again within the delay time is determined based on the first spatial position, the delay time, the acceleration, and the stored second spatial position of the previous moment. The third spatial position of the handle is determined based on the compensation distance, the first spatial position, and the second spatial position when the display time is reached, wherein the display time is the time corresponding to the current time plus the delay time; Determining the compensation distance by which the handle moves again within the delay time based on the first spatial position, the delay time, the acceleration, and the stored second spatial position from the previous moment includes: The average speed at which the handle moves from the second spatial position to the first spatial position is determined based on the third preset relation, the first spatial position, and the stored second spatial position at the previous moment. The third preset relation is: ； The coordinates of the first spatial position are (x1, y1, z1), and the coordinates of the second spatial position are (x0, y0, z0). Let f be the average speed, and f be the reciprocal of the time difference between the current moment and the previous moment; Based on the fourth preset relationship, the average speed, the delay time, and the acceleration, the compensation distance that the handle moves again within the delay time is determined; The fourth preset relation is: ； Where t is the delay time. For the acceleration, The compensation distance; Determining the third spatial position of the handle at the time of display based on the compensation distance, the first spatial position, and the second spatial position includes: The third spatial position of the handle is determined based on the fifth preset relation, the compensation distance, the first spatial position, and the second spatial position when the display time is reached; The fifth preset relation is: ； Wherein, the coordinates of the third spatial position are (x 11 y 11 , z 11 ).

2. The handle positioning method as described in claim 1, characterized in that, Determining the delay time based on the first spatial location includes: The first distance between the wearable device and the handle is determined based on the first preset relationship and the first spatial position; The first preset relation is: ； The coordinates of the first spatial position are (x1, y1, z1). This is the first distance; The delay time is determined based on the second preset relation, the first distance, and the pre-stored display processing time. The second preset relation is: ； Where t is the delay time. denoted as the pre-stored display processing time, and c as the signal transmission speed.

3. The handle positioning method as described in claim 2, characterized in that, The wearable device also includes a display module; The steps for determining the pre-stored display processing time are as follows: The moment when the positioning signal sent by the handle is received is defined as the first moment; The moment when the graphic display signal corresponding to the positioning signal appears on the oscilloscope is determined as the second moment; wherein, the oscilloscope is connected to the signal input terminal of the display module; The time difference between the second moment and the first moment is determined to be the pre-stored display processing duration.

4. The handle positioning method as described in claim 1, characterized in that, The wearable device also includes a vibration module; After determining the third spatial position of the handle at the time of display based on the compensation distance, the first spatial position, and the second spatial position, the method further includes: Determine whether the third distance between the third spatial position and the second spatial position is greater than a preset feedback distance; If so, control the vibration module to vibrate.

5. The handle positioning method as described in claim 1, characterized in that, The wearable device also includes an image processing module and a display module; After determining the third spatial position of the handle at the time of display based on the compensation distance, the first spatial position, and the second spatial position, the method further includes: The third spatial location is sent to the image processing module so that the image processing module controls the display module to display the third spatial location.

6. A handle positioning system, characterized in that, The handle positioning system, used in wearable devices, includes: The acquisition unit is used to acquire the first spatial position and acceleration sent by the handle at the current moment; A delay time determination unit is used to determine a delay time based on the first spatial location; The compensation distance determination unit is used to determine the compensation distance that the handle moves again during the delay time based on the first spatial position, the delay time, the acceleration, and the stored second spatial position of the previous moment; The third spatial position determination unit is used to determine the third spatial position of the handle when the display time is reached based on the compensation distance, the first spatial position and the second spatial position, wherein the display time is the time corresponding to the current time plus the delay time; The compensation distance determination unit specifically includes: An average speed determination unit is used to determine the average speed of the handle moving from the second spatial position to the first spatial position based on a third preset formula, the first spatial position, and the stored second spatial position at the previous moment. The third preset relation is: ； The coordinates of the first spatial position are (x1, y1, z1), and the coordinates of the second spatial position are (x0, y0, z0). Let f be the average speed, and f be the reciprocal of the time difference between the current moment and the previous moment; The third processing unit is used to determine the compensation distance that the handle moves again during the delay time based on the fourth preset relationship, the average speed, the delay time, and the acceleration. The fourth preset relation is: ； Where t is the delay time. For the acceleration, The compensation distance; The third spatial location determination unit specifically includes: The fourth processing unit is used to determine the third spatial position of the handle when the display time is reached, based on the fifth preset relationship, the compensation distance, the first spatial position, and the second spatial position. The fifth preset relation is: ； Wherein, the coordinates of the third spatial position are (x 11 y 11 , z 11 ).

7. A wearable device, characterized in that, include: Memory, used to store computer programs; A processor for performing the steps of the handle positioning method as described in any one of claims 1 to 5.

8. An experience system, characterized in that, It includes a handle, and also includes the wearable device as described in claim 7.

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