Handle usage method, device, VR system and computer-readable storage medium

Abstract

The present invention discloses a method and device for using a handle, a VR system and a computer-readable storage medium, and relates to the field of VR equipment. The method is applied to a processor of a head-mounted device. The head-mounted device is connected to a handle and a driving device respectively. The driving device is connected to the handle through a connecting piece. First, the current position of the handle is determined to determine whether the current position of the handle is within a preset safety area. If it is not within the preset safety area, the driving device is controlled to retract the connecting piece. When it is detected that the handle leaves the safety area, the connecting piece is directly retracted so that the user senses that the handle is pulled, thereby enabling the user to sense that the handle leaves the safety area. The user is prompted by this physical perception method, and it is not necessary to render the picture in the display screen of the head-mounted device, and it will not be affected by the occupation of computing resources, and the user can be prompted in time that the handle leaves the safety area.

Description

Technical Field

[0001] The present invention relates to the field of VR equipment, and in particular to a handle using method, device, VR system and computer-readable storage medium. Background Art

[0002] VR (Virtual Reality) devices usually include a head-mounted device and two handles. Since users cannot perceive the surrounding environment and the location of objects when wearing head-mounted devices, when users swing the handles, the handles may leave the pre-set safe area, which may cause the handles or the user's hands to be hit. Therefore, it is necessary to prompt the user when the handles leave the safe area. The existing technology usually displays visual effects when prompting users. Specifically, when the head-mounted device detects that the handles leave the safe area, the corresponding picture is rendered on the display screen of the head-mounted device. For example, a picture of the handle hitting the wall is rendered on the display screen to prompt the user. However, the picture rendering requires certain computing resources of the head-mounted device. If a game or application that consumes more computing resources is running at this time, the time required for picture rendering will be longer due to the occupation of computing resources, and the user cannot be prompted in time. Summary of the invention

[0003] The purpose of the present invention is to provide a handle usage method, device, VR system and computer-readable storage medium, which do not require image rendering in the display screen of the head-mounted device, will not be affected by the occupation of computing resources, and can promptly prompt the user's handle to leave the safe area.

[0004] In order to solve the above technical problems, the present invention provides a method for using a handle, which is applied to a processor of a head mounted device, wherein the head mounted device is connected to a handle and a driving device respectively, and the driving device is connected to the handle via a connecting member. The method for using the handle comprises:

[0005] determining a current position of the handle;

[0006] Determining whether the current position of the handle is within a preset safety area;

[0007] If it is not within the preset safety area, the driving device is controlled to retract the connecting member.

[0008] Preferably, after determining whether the current position of the handle is within the preset safety area, the method further includes:

[0009] If the current position of the handle is within the preset safety area, determining the movement route of the handle according to the current position and a position before the current position;

[0010] Determining whether the movement route of the handle is a movement route of the handle that is about to leave the preset safety area;

[0011] If so, determining whether the speed of the handle at the current position is greater than a preset speed;

[0012] If the speed is greater than the preset speed, controlling the driving device to retract the connecting member;

[0013] If it is not greater than the preset speed, the driving device is controlled to increase the pulling force required to pull out the connecting member by a first preset level based on the current pulling force level.

[0014] Preferably, determining the movement route of the handle according to the current position and a position before the current position includes:

[0015] Determining the acceleration and direction of movement of the current position and positions before the current position;

[0016] The movement path of the handle is determined according to the accelerations and the movement directions.

[0017] Preferably, after determining whether the current position of the handle is within the preset safety area, the method further includes:

[0018] If the current position of the handle is within the preset safety area, determining whether the current position of the handle is within a preset edge area;

[0019] If it is within the preset edge area, controlling the driving device to increase the tension required to pull out the connecting member to a second preset level based on the current tension level;

[0020] The preset edge area is the outermost area of ​​the preset safety area with a preset width.

[0021] Preferably, after determining whether the current position of the handle is within the preset safety area, the method further includes:

[0022] If the current position of the handle is within the preset safety area, determining the current position of the head mounted device;

[0023] Determine whether the current position of the head mounted device is within the preset safety area;

[0024] If the current position of the head mounted device is not within the preset safety area, the driving device is controlled to retract the connecting member.

[0025] Preferably, after determining whether the current position of the head mounted device is within the preset safety area, the method further includes:

[0026] If the current position of the head mounted device is within the preset safety area, determining the shortest distance between the current position of the head mounted device and the boundary of the preset safety area;

[0027] If the shortest distance between the current position of the head mounted device and the boundary of the preset safety area is less than the preset distance, the driving device is controlled to increase the tension required to pull out the connecting member to a third preset level based on the current tension level.

[0028] Preferably, before determining the current position of the handle, the method further comprises:

[0029] When a safety area demarcation instruction is detected, determining the type of the safety area demarcation instruction;

[0030] If the type of the safety area demarcation instruction is a default type, the preset planning area is used as the preset safety area;

[0031] If the type of the safety area demarcation instruction is a user-defined type, the closed area set by the user is used as the preset safety area.

[0032] The present application also provides a handle using device, comprising:

[0033] Memory for storing computer programs;

[0034] The processor is used to implement the steps of the handle using method as described above when executing the computer program.

[0035] The present application also provides a VR system, including a head mounted device, X handles and Y driving devices, where X and Y are both positive integers and Y is not greater than X, and also includes a handle using device as described above;

[0036] The handle using device is respectively connected to the head mounted device, the two handles and the X driving devices;

[0037] Each of the driving devices is connected to Z handles via a connecting piece, wherein Y multiplied by Z equals X.

[0038] The present application also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the handle usage method as described above are implemented.

[0039] The present invention provides a method and device for using a handle, a VR system, and a computer-readable storage medium, which relate to the field of VR equipment and are applied to a processor of a head-mounted device. The head-mounted device is connected to a handle and a driving device respectively, and the driving device is connected to the handle through a connecting piece. First, the current position of the handle is determined, and it is judged whether the current position of the handle is within a preset safety area. If it is not within the preset safety area, the driving device is controlled to retract the connecting piece. When it is detected that the handle leaves the safety area, the connecting piece is directly retracted, so that the user senses that the handle is pulled, and then the user senses that the handle leaves the safety area. The user is prompted by this physical perception method, and it is not necessary to render the picture in the display screen of the head-mounted device, and it will not be affected by the occupation of computing resources, and the user can be prompted in time that the handle leaves the safety area. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the prior art and the drawings required for use in the embodiments are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0041] Figure 1 A flowchart of a method for using a handle provided in this application;

[0042] Figure 2 A structural schematic diagram of a VR device provided in this application;

[0043] Figure 3 A flowchart of another method for using a handle provided in this application;

[0044] Figure 4 A schematic structural diagram of a handle usage device provided in this application. DETAILED DESCRIPTION

[0045] The core of the present invention is to provide a handle usage method, device, VR system and computer-readable storage medium, which does not require image rendering on the display screen of the head-mounted device, will not be affected by the occupation of computing resources, and can promptly prompt the user's handle to leave the safe area.

[0046] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0047] Please refer to Figure 1 , Figure 1 A flowchart of a method for using a handle provided in the present application, the method is applied to a processor of a head mounted device, the head mounted device is connected to the handle and a driving device respectively, the driving device is connected to the handle via a connecting piece, the method comprising:

[0048] S1: Determine the current position of the handle;

[0049] When using a VR system, users usually hold a handle in each hand and swing the handles with their arms to perform certain actions in the VR scene. Since the user is wearing a head-mounted device at this time, their vision is blocked by the head-mounted device, and the user cannot perceive the surrounding environment and the location of objects in the environment. It can be seen that if the user is playing a VR game or other VR application that requires more concentration, the user's body movements may be more intense and the amplitude and strength of the arm swinging may be large. The intense swinging may cause the handle to hit certain objects in the environment or hit the wall, causing damage to the handle, damage to the objects, and injury to the user's hand.

[0050] In order to solve the above technical problems, in this application, considering that the position of the handle will change rapidly and irregularly according to the user's actions, the camera set in the head-mounted device can be used to determine the current position of the handle. Specifically, the camera can be an ordinary camera or a fisheye camera. The camera in the head-mounted device is set on both sides or in front of the head-mounted device, and any position where the complete direction of the handle can be observed. One camera can observe one handle, or one camera can observe two handles. Based on this, the picture containing the handle taken by the camera can use the environmental obstacles (such as objects or walls) in the picture as reference objects, and the position of the handle can be determined according to the distance between the handle and each environmental obstacle.

[0051] S2: Determine whether the current position of the handle is within the preset safety area;

[0052] In actual use, the spatial coordinate system can be used to determine the preset safety area. Specifically, a spatial coordinate system is pre-established, the Z axis of the spatial coordinate system is perpendicular to the ground, and the XY plane is parallel to the ground. The origin of the spatial coordinate system can be an origin specified by the user, and the handle is two coordinate points in the spatial coordinate system. For example, the user can use the center point of a certain open area as the origin, so that the VR system can be used in the open area later. Based on this, after determining the spatial coordinate system, it is equivalent to mapping the real scene to the coordinate system. According to the user's own needs and planning, the setting of the head-mounted system, and the obstacle position of the surrounding environment, a preset safety area is constructed. The preset safety area is a completely empty area without any obstacles. The preset safety area is mapped to the spatial coordinate system for subsequent judgment. When the user uses the VR system in the preset safety area, it is necessary to detect in real time whether the position of the handle is in the safety area. If it is, since the safety area is an area without any obstacles, when the handle is in this area, the processor and the drive device will not have any effect on the handle to ensure that the user can use the handle normally.

[0053] S3: If it is not within the preset safety area, the driving device is controlled to retract the connecting piece.

[0054] When it is detected that the handle leaves the preset safety area, since the preset safety area is established based on the user's needs and planning and the location of the surrounding environmental obstacles, and in order to expand the user's range of activities as much as possible, the preset safety area is often set larger, leaving a smaller transition area between the environmental obstacles and the boundary of the preset safety area, that is, the boundary of the preset safety area is shorter from the environmental obstacles. It can be seen that the area outside the preset safety area is equivalent to the area full of environmental obstacles. After the handle leaves the preset safety area, it is easy to hit an environmental obstacle. Therefore, after detecting that the handle leaves the preset safety area, the processor in the head-mounted device will send a control instruction to the drive device. After receiving the control instruction, the drive device will retract the connector, which is equivalent to pulling the handle on the connector back. At this time, the user perceives that the handle is subjected to pulling force from other directions, and prompts the user through the way of pulling force perception, so that the user finds that the handle has left the preset safety area.

[0055] In addition, the driving device at least includes a connecting piece, a coil, a motor for controlling the rotation of the coil, a damping unit and a control unit for communicating with the processor and sending and receiving instructions. The connecting piece is wrapped around the coil and the other end of the connecting piece is connected to the handle. The motor controls the rotation of the coil to pull back the connecting piece, and the damping unit is used to control the pulling force required to pull out the connecting piece. The driving device can also include a ring, the main structure of which is arranged in a closed structure on the ring, so that the user can tie the ring to the waist, arm or leg, please refer to Figure 2 , Figure 2 A structural schematic diagram of a VR device provided in the present application, in which there is a driving device on each side of a ring, the two driving devices and the ring constitute a waist safety device, the driving device is connected to the corresponding handle through a safety rope (that is, a connecting piece), and the head-mounted device is a head-mounted device, which is wirelessly connected to the driving device and the handle; and for the sake of a more vivid explanation, the connecting pieces mentioned later in this application are all referred to as ropes, but the actual connecting pieces may also be elastic ropes, silicone cords, and other connecting pieces in addition to ropes, and this application does not limit this.

[0056] In summary, the head-mounted device is connected to the handle and the driving device respectively, and the driving device is connected to the handle through a connecting piece. First, the current position of the handle is determined to determine whether the current position of the handle is within the preset safety area. If it is not within the preset safety area, the driving device is controlled to retract the connecting piece. When it is detected that the handle leaves the safety area, the connecting piece is directly retracted so that the user feels that the handle is pulled, thereby making the user feel that the handle leaves the safety area. This physical perception method prompts the user, and there is no need to render the picture on the display screen of the head-mounted device, and it will not be affected by the occupation of computing resources, and the user can be promptly prompted that the handle leaves the safety area.

[0057] Based on the above embodiments:

[0058] As a preferred embodiment, after determining whether the current position of the handle is within the preset safety area, the method further includes:

[0059] If the current position of the handle is within the preset safety area, the movement route of the handle is determined according to the current position and the position before the current position;

[0060] Determine whether the movement path of the handle is a movement path of the handle that is about to leave the preset safety area;

[0061] If so, determine whether the speed of the handle at the current position is greater than the preset speed;

[0062] If it is greater than a preset speed, the driving device is controlled to retract the connecting piece;

[0063] If it is not greater than the preset speed, the driving device is controlled to increase the pulling force required for pulling out the connecting member to a first preset level based on the current pulling force level.

[0064] In order to better protect the handle and the user's hand, in this application, it is considered that although under normal circumstances, the handle can be used safely within the preset safety area, when the user is located in a position closer to the edge of the safety area, if the user happens to swing the handle in a direction outside the preset safety area, it may cause the handle to leave the preset safety area. Based on this, a prompt can be given to the user in advance according to the actual handle route, by continuously determining the current position of the handle, and determining the movement route of the handle according to the current positions collected continuously for multiple times, and determining whether the handle is likely to leave the preset safety area according to the movement route. For example, when determining the current position of the handle, if the current positions collected continuously for several times are closer to the edge of the preset safety area each time, it can be determined that the handle is likely to leave the preset safety area. When it is determined that the handle may leave the preset safety area, it is necessary to detect the speed of the handle. If the current speed of the handle is slow, it means that before the handle leaves the preset safety area, a relatively gentle reminder method can be used to allow the user to promptly discover that the handle is about to leave the preset safety area, so that the user can change the movement direction of the handle in time to keep the handle away from the edge of the preset safety area. Therefore, when the current speed is not greater than the preset speed, the tension required to pull out the rope is increased, that is, the difficulty of swinging the handle is increased, and the user is reminded by allowing the user to perceive the change in tension. If the current speed of the handle is fast, since the user swings the handle with greater force and inertia at this time, it is less likely that the user will change the movement direction of the handle before the handle leaves the preset safety area. Therefore, when it is detected that the current speed is greater than the preset speed, the driving device is immediately controlled to pull back the rope to pull back the handle. The tension for pulling back the rope can be set to be larger, and the larger tension is used to prevent the user from swinging the handle. When the driving device supports it, the user can also be directly prevented from swinging the handle, and the user is reminded by preventing the user from continuing to swing the handle. Based on this, different reminder mechanisms are set according to the speed of the handle to remind the user before the handle leaves the preset safety area, which can better protect the handle and the user's hands.

[0065] As a preferred embodiment, determining the movement route of the handle according to the current position and the position before the current position includes:

[0066] Determine the acceleration and direction of movement of the current position and the position before the current position;

[0067] The movement path of the handle is determined based on the various accelerations and movement directions.

[0068] In order to accurately determine the movement route of the handle, in this application, it is taken into consideration that in actual applications, it is necessary to execute corresponding VR actions according to the user's swinging action of the handle. Therefore, the handle itself will sense its changes when being waved by the user, and then the handle will send its own changes to the head-mounted device. The head-mounted device will execute corresponding actions on the display screen according to the changes in the handle. For example, when the user raises his hand, the handle rises accordingly, and the head-mounted device causes the character controlled by the user in the VR application or VR game to raise his hand according to the action of the handle rising. In order to achieve this goal, the handle is usually equipped with an acceleration sensor and other motion sensors. Based on this, the existing acceleration sensor can be used to determine the movement path of the handle. Specifically, the positions of N consecutive handles can be determined, and the N+1th position is the current position of the handle. According to the acceleration and movement direction of the handle at each position, the acceleration direction of the handle and the strength of the user swinging the handle can be determined through the acceleration and acceleration direction. The actual movement direction and movement trajectory of the handle can be determined through the movement direction. Based on the acceleration and movement direction, the direction in which the handle is moving and accelerating can be determined. If the acceleration directions corresponding to these positions all point outside the preset safety area, and the actual movement direction also points outside the preset safety area, it can be known that the handle may leave the preset safety area. Based on this, through the acceleration and movement direction, it can be further combined with the current speed of the handle to accurately determine the movement path of the handle.

[0069] As a preferred embodiment, after determining whether the current position of the handle is within the preset safety area, the method further includes:

[0070] If the current position of the handle is within the preset safety area, determine whether the current position of the handle is within the preset edge area;

[0071] If it is within the preset edge area, the driving device is controlled to increase the tension required to pull out the connector to a second preset level based on the current tension level;

[0072] The preset edge area is the outermost area of ​​the preset safety area with a preset width.

[0073] In order to better protect the handle and the user's hand, in this application, it is considered that although under normal circumstances, the handle can be used safely in the preset safety area, when the user is at the edge of the safety area, if the user swings the handle in the direction outside the preset safety area, it is very likely that the handle will leave the preset safety area. Based on this, when it is detected that the handle is exactly at the edge of the preset safety area, that is, the handle is in the preset edge area, regardless of whether the user is manipulating the handle at this time, it will increase the difficulty of the user swinging the handle. Specifically, since the handle and the drive device are connected by a rope, when the user swings the handle, the position of the handle will be away from the drive device set on the user, and the rope will be pulled out more. The resistance of the rope can be increased by the damping unit in the drive device, so that the user needs to spend more force when pulling out the rope; and when the user feels that it is more difficult to pull out the handle, it can be perceived that the handle is at risk of leaving the preset safety area at this time, so as to adjust the position in time. In addition, the preset edge area is the outermost area of ​​the preset safety area, and its width and area can be adjusted according to user needs. One side of the preset edge area is the outside of the preset safety area, and the other side is the inside of the preset safety area. For example, when the preset safety area is a sphere with a radius of R, the preset edge area is a hollow sphere with a semi-outer diameter of R and an inner radius of Rx, where x is a positive integer less than R. Please refer to Figure 3 , Figure 3 A flowchart of another method for using a handle provided by the present application. In order to arrange the process reasonably and avoid logical errors that lead to ineffective protection of the handle and user safety, it is possible to first determine whether the handle is within the safety boundary (i.e., within the preset safety area). If so, it is possible to determine whether the handle is within the edge of the safety boundary (i.e., within the preset edge area of ​​the preset safety area). If not, it is possible to predict whether the handle is about to leave the safety boundary based on the movement route or trajectory of the handle. If so, it means that the handle must leave the preset safety area. Finally, it is possible to determine the speed at which it leaves the safety boundary, and to perform motionless reminder measures based on its speed. The pre-tightening alarm is to apply a pre-tightening force to the rope, so that the pulling force required for the user to pull out the handle increases, and the user is reminded through the tension perception; the rebound protection is to control the drive device to pull the rope back, and the force on the handle is used to remind the user. Based on this, the handle and the user's hand can be better protected.

[0074] As a preferred embodiment, after determining whether the current position of the handle is within the preset safety area, the method further includes:

[0075] If the current position of the handle is within the preset safety area, the current position of the head mounted device is determined;

[0076] Determine whether the current position of the head mounted device is within the preset safety area;

[0077] If the current position of the head mounted device is not within the preset safety area, the driving device is controlled to retract the connecting piece.

[0078] In order to better protect the handle and user safety, in this application, when the user uses the VR system, the head-mounted device is equivalent to the center of the circle, and the handle will move in an approximately circular area with a certain radius of the head-mounted device. It can be seen that when the position of the handle is in the preset safety area, the head-mounted device is not necessarily in the preset safety area. The user may be outside the preset safety area and the hand is in the preset safety area. Therefore, it is necessary to determine whether the head-mounted device is in the preset area. If the handle is in the preset safety area but the head-mounted device is not in the preset safety area, it is also necessary to control the drive device to pull back the rope to remind the user to move to the preset safety area in time. Based on this, the handle and user safety can be better protected.

[0079] As a preferred embodiment, after determining whether the current position of the head mounted device is within the preset safety area, the method further includes:

[0080] If the current position of the head mounted device is within the preset safety area, determining the shortest distance between the current position of the head mounted device and the boundary of the preset safety area;

[0081] If the shortest distance between the current position of the head mounted device and the boundary of the preset safety area is less than the preset distance, the driving device is controlled to increase the tension required to pull out the connector to a third preset level based on the current tension level.

[0082] In order to better protect the safety of the handle and the user, in this application, when the user uses the VR system, the head-mounted device is equivalent to the center of the circle, and the handle will move in an approximately circular area with a certain radius of the head-mounted device. It can be seen that when the head-mounted device is close to the boundary of the preset safety area, the handle is at risk of leaving the preset safety area. Specifically, when the head-mounted device is close to the boundary of the preset safety area, and the user's handle points to the inside of the preset safety area (such as the center point), although the handle and the head-mounted device are both in the preset safety area and the handle is far from the boundary of the preset safety area, because the head-mounted device is close to the boundary of the preset safety area, when the user turns around or waves the handle, the handle will quickly change from pointing to the inside of the preset safety area to pointing to the outside of the preset safety area, thereby leaving the preset safety area. It can be seen that when the head-mounted device and the handle are both in the preset safety area and the handle is far from the boundary of the preset safety area, there is still a risk that the handle will leave the preset safety area. Therefore, it is also necessary to determine whether the head-mounted device is close to the boundary of the preset safety area. Specifically, its closest distance is the straight-line distance between the head-mounted device and the nearest point of the preset safety area. Based on this, the safety of the handle and the user can be better protected.

[0083] As a preferred embodiment, before determining the current position of the handle, the method further includes:

[0084] When a safety area demarcation instruction is detected, determining the type of the safety area demarcation instruction;

[0085] If the type of the safety area demarcation instruction is the default type, the preset planning area is used as the preset safety area;

[0086] If the type of the safety area demarcation instruction is a custom type, the closed area set by the user is used as the preset safety area.

[0087] In order to simply determine the preset safety area, in this application, at least two models of planning safety areas are set, one is a safety area formed according to the default planning method of the system, and the other is a safety area formed according to the user's operation. When the default planning method of the system is used, a preset planning area of ​​fixed size will be generated, which can be based on the position of the handle or the position of the head-mounted device as a reference point, and a region generated according to the preset area generation method. For example, the position of the head-mounted device can be used as the center point to generate a spherical area with a preset radius as the preset safety area; when the safety area is formed according to the user's operation, the user can hold the handle and walk around and wave the handle, and finally form a safety area according to the trajectory of the handle. For example, the user can wave the handle to draw a closed square, and the processor determines the figure drawn by the user according to the movement trajectory of the handle, and then forms a safety area of ​​a cube structure according to the side length of the square. Based on this, in actual application, the user selects different types to define the preset safety area according to his actual needs and the spaciousness of the space he is in, so as to achieve the purpose of simply determining the preset safety area.

[0088] Please refer to Figure 4 , Figure 4 The structure of a handle using device provided in the present application includes:

[0089] A memory 21, used for storing computer programs;

[0090] The processor 22 is used to implement the steps of the handle using method as described above when executing a computer program.

[0091] For a detailed introduction to a handle using device provided in the present application, please refer to the above-mentioned embodiment of the handle using method, and the present application will not go into details here.

[0092] The present application also provides a VR system, including a head mounted device, X handles and Y driving devices, where X and Y are both positive integers and Y is not greater than X, and also includes the above-mentioned handle using device;

[0093] The handle using device is respectively connected to the head mounted device, two handles and X driving devices;

[0094] Each driving device is connected to Z handles via connecting pieces, respectively, wherein Y multiplied by Z equals X.

[0095] For a detailed introduction to a VR system provided in the present application, please refer to the above-mentioned embodiment of the method of using the handle, and the present application will not go into details here.

[0096] The present application also provides a computer-readable storage medium, characterized in that a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the steps of the handle usage method as described above are implemented.

[0097] For a detailed introduction to a computer-readable storage medium provided in the present application, please refer to the above-mentioned embodiment of the handle usage method, and the present application will not go into details here.

[0098] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part.

[0099] It should also be noted that, in this specification, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "comprise", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the statement "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or device including the element.

Claims

1. A method for using a handle, characterized in that: A processor applied to a head mounted device, wherein the head mounted device is connected to a handle and a driving device respectively, wherein the driving device is connected to the handle via a connecting piece, and a method for using the handle includes: determining a current position of the handle; Determining whether the current position of the handle is within a preset safety area; If it is not within the preset safety area, controlling the driving device to retract the connecting member; After determining whether the current position of the handle is within the preset safety area, the method further includes: If the current position of the handle is within the preset safety area, determining the movement route of the handle according to the current position and a position before the current position; Determining whether the movement route of the handle is a movement route of the handle that is about to leave the preset safety area; If so, determining whether the speed of the handle at the current position is greater than a preset speed; If the speed is greater than the preset speed, controlling the driving device to retract the connecting member; If it is not greater than the preset speed, the driving device is controlled to increase the pulling force required to pull out the connecting member by a first preset level based on the current pulling force level.

2. The method for using the handle according to claim 1, characterized in that: Determining a movement path of the handle according to the current position and a position before the current position includes: Determining the acceleration and direction of movement of the current position and positions before the current position; The movement path of the handle is determined according to the accelerations and the movement directions.

3. The method for using the handle according to claim 1, characterized in that: After determining whether the current position of the handle is within the preset safety area, the method further includes: If the current position of the handle is within the preset safety area, determining whether the current position of the handle is within a preset edge area; If it is within the preset edge area, controlling the driving device to increase the tension required to pull out the connecting member to a second preset level based on the current tension level; The preset edge area is the outermost area of ​​the preset safety area with a preset width.

4. The method for using the handle according to claim 1, characterized in that: After determining whether the current position of the handle is within the preset safety area, the method further includes: If the current position of the handle is within the preset safety area, determining the current position of the head mounted device; Determine whether the current position of the head mounted device is within the preset safety area; If the current position of the head mounted device is not within the preset safety area, the driving device is controlled to retract the connecting member.

5. The method for using the handle according to claim 4, characterized in that: After determining whether the current position of the head mounted device is within the preset safety area, the method further includes: If the current position of the head mounted device is within the preset safety area, determining the shortest distance between the current position of the head mounted device and the boundary of the preset safety area; If the shortest distance between the current position of the head mounted device and the boundary of the preset safety area is less than the preset distance, the driving device is controlled to increase the tension required to pull out the connecting member to a third preset level based on the current tension level.

6. The method for using a handle according to any one of claims 1 to 5, characterized in that: Before determining the current position of the handle, the method further includes: When a safety area demarcation instruction is detected, determining the type of the safety area demarcation instruction; If the type of the safety area demarcation instruction is a default type, the preset planning area is used as the preset safety area; If the type of the safety area demarcation instruction is a user-defined type, the closed area set by the user is used as the preset safety area.

7. A handle using device, characterized in that: include: Memory for storing computer programs; A processor, used to implement the steps of the handle using method as described in any one of claims 1 to 6 when executing the computer program.

8. A VR system, characterized in that: It includes a head mounted device, X handles and Y driving devices, where X and Y are both positive integers and Y is not greater than X, and also includes the handle using device as claimed in claim 7; The handle using device is respectively connected to the head mounted device, the two handles and the X driving devices; Each of the driving devices is connected to Z handles via a connecting piece, wherein Y multiplied by Z equals X.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the handle use method according to any one of claims 1 to 6 are implemented.

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