Collision warning method, device and head-mounted display device

Abstract

The present invention discloses a collision warning method, device and head-mounted display device, which relate to the technical field of head-mounted display devices. The method is applied to the head-mounted display device, comprising: obtaining an electronic fence area of ​​the head-mounted display device and arm length information of the wearer of the head-mounted display device; detecting a collision warning situation corresponding to the position information based on the obtained position information of the head-mounted display device, the electronic fence area and the arm length information; if the collision warning situation is a target alarm mode, executing an alarm operation corresponding to the alarm level of the target alarm mode; the present invention uses the arm length of the wearer of the head-mounted display device as a reference for collision risk detection, avoiding the potential collision risk when the wearer is in the electronic fence area but has arms and hands outside the electronic fence, further enhancing the safety of the electronic fence, reducing the collision risk of the user, and improving the safety of the head-mounted display device; and adopts a multi-level alarm mechanism to take into account both user experience and safety.

Description

Technical Field

[0001] The present invention relates to the technical field of head-mounted display devices, and in particular to a collision warning method, device and head-mounted display device. Background Art

[0002] Currently, VR (Virtual Reality), AR (Augmented Reality), and MR (Mixed Reality) head-mounted display devices often use electronic fences (Boundaries) to reduce the risk of collisions between the wearer (user) and obstacles. An electronic fence is a safe range of movement defined by the user or the system during use of the head-mounted display. Within the electronic fence, the user can move freely. When the user leaves the electronic fence, the head-mounted display device will issue an alarm to alert the user of the potential collision hazard, thereby reducing the risk of collision.

[0003] Therefore, how to further enhance the security of electronic fences, reduce the risk of collision for users, and improve the safety and user experience of head-mounted display devices is an issue that urgently needs to be addressed. Summary of the Invention

[0004] The purpose of the present invention is to provide a collision warning method, device and head-mounted display device to further enhance the safety of electronic fences, reduce the collision risk of users, and improve the safety of head-mounted display devices and user experience.

[0005] To solve the above technical problems, the present invention provides a collision warning method applied to a head-mounted display device, comprising:

[0006] Acquire an electronic fence area of ​​a head mounted display device and arm length information of a wearer of the head mounted display device;

[0007] Detecting a collision warning condition corresponding to the location information based on the acquired location information of the head mounted display device, the electronic fence area, and the arm length information; wherein the collision warning condition includes an alarm mode;

[0008] If the collision warning situation is a target alarm mode, an alarm operation corresponding to the alarm level of the target alarm mode is executed; wherein the target alarm mode is any alarm mode.

[0009] Optionally, detecting a collision warning situation corresponding to the position information based on the acquired position information of the head mounted display device, the electronic fence area, and the arm length information includes:

[0010] determining a free movement area corresponding to the position information according to the arm length information and the position information;

[0011] According to the position information, the free movement area, the electronic fence area and / or the arm length information, a collision warning situation corresponding to the position information is detected.

[0012] Optionally, detecting a collision warning situation corresponding to the position information based on the position information, the free movement area, the electronic fence area, and / or the arm length information includes:

[0013] Determining a safe area within the electronic fence area according to the electronic fence area and the arm length information;

[0014] A collision warning situation corresponding to the position information is detected according to the position information, the safety area, the electronic fence area and the free movement area.

[0015] Optionally, before determining the safe area within the electronic fence area according to the electronic fence area and the arm length information, the method further includes:

[0016] Determining a warning mode according to the free activity area and the electronic fence area and / or the arm length information; wherein the warning mode includes an open space warning mode and a compact space warning mode;

[0017] If the warning mode is the open space warning mode, performing the step of determining a safe area within the electronic fence area according to the electronic fence area and the arm length information;

[0018] If the warning mode is the compact space warning mode, a collision warning situation corresponding to the position information is detected according to the position information, the electronic fence area, and the free movement area.

[0019] Optionally, detecting a collision warning situation corresponding to the position information based on the position information, the safety area, the electronic fence area, and the free movement area includes:

[0020] Determining whether the location information is within the electronic fence area;

[0021] If the vehicle is not within the electronic fence area, the collision warning situation is determined to be an alarm mode with an alarm level of level 1;

[0022] If it is within the electronic fence area, determining whether the location information is within the safety area;

[0023] If the vehicle is not in the safety zone, the collision warning situation is determined to be a level 2 alarm mode;

[0024] If it is within the safety area, determining whether part of the free movement area exceeds the safety area;

[0025] If part of the vehicle exceeds the safety area, the collision warning situation is determined to be a level 3 alarm mode;

[0026] If the free movement area is entirely within the safety area, it is determined that the collision warning situation is a safe state.

[0027] Optionally, executing the alarm operation corresponding to the alarm level of the target alarm mode includes:

[0028] If the target alarm mode is an alarm mode with an alarm level of level 1, interrupting the running application of the head-mounted display device and outputting information that the user has left the electronic fence;

[0029] If the target alarm mode is an alarm mode with an alarm level of level 2, a high collision risk prompt message is displayed in a normal display area of ​​the head mounted display device;

[0030] If the target alarm mode is an alarm mode with an alarm level of level three, low collision risk prompt information is displayed outside the normal display area of ​​the head-mounted display device.

[0031] Optionally, obtaining the electronic fence area of ​​the head mounted display device and the arm length information of the wearer of the head mounted display device includes:

[0032] The arm length information is calculated based on the handle position information of the paired handle of the head-mounted display device and the position information of the head-mounted display device.

[0033] Optionally, before detecting a collision warning situation corresponding to the location information based on the acquired location information of the head mounted display device, the electronic fence area, and the arm length information, the method further includes:

[0034] Calculating the area of ​​the free movement region according to the arm length information;

[0035] Determining whether the area of ​​the electronic fence area is larger than the product of the area of ​​the free activity area and a preset fence setting multiple;

[0036] If so, executing the step of detecting a collision warning situation corresponding to the position information based on the acquired position information of the head mounted display device, the electronic fence area, and the arm length information;

[0037] If not, output the electronic fence redraw prompt information.

[0038] The present invention also provides a collision warning device, which is applied to a head-mounted display device, comprising:

[0039] an acquisition module, configured to acquire information about an electronic fence area of ​​a head-mounted display device and an arm length of a wearer of the head-mounted display device;

[0040] a detection module, configured to detect a collision warning condition corresponding to the acquired location information of the head mounted display device, the electronic fence area, and the arm length information; wherein the collision warning condition includes an alarm mode;

[0041] An alarm module is used to execute an alarm operation corresponding to the alarm level of the target alarm mode if the collision warning situation is a target alarm mode; wherein the target alarm mode is any alarm mode.

[0042] The present invention also provides a head-mounted display device, comprising:

[0043] memory for storing computer programs;

[0044] A processor is configured to implement the steps of the collision warning method as described above when executing the computer program.

[0045] A collision warning method provided by the present invention is applied to a head-mounted display device, comprising: obtaining an electronic fence area of ​​the head-mounted display device and arm length information of a wearer of the head-mounted display device; detecting a collision warning situation corresponding to the position information based on the obtained position information of the head-mounted display device, the electronic fence area, and the arm length information; wherein the collision warning situation includes an alarm mode; if the collision warning situation is a target alarm mode, executing an alarm operation corresponding to the alarm level of the target alarm mode; wherein the target alarm mode is any alarm mode;

[0046] As can be seen, the present invention detects the collision warning situation corresponding to the location information based on the acquired location information of the head-mounted display device, the electronic fence area, and the arm length information, and uses the arm length of the wearer of the head-mounted display device as a reference for collision risk detection. This avoids the potential collision risk that exists when the wearer is within the electronic fence area but their arms and hands are outside the electronic fence, further enhancing the security of the electronic fence, reducing the user's collision risk, and improving the safety of the head-mounted display device. Moreover, by executing the alarm operation corresponding to the alarm level of the target alarm mode, the user can receive an alarm of appropriate intensity under different risk conditions, taking into account both user experience and safety. In addition, the present invention also provides a collision warning device and head-mounted display device, which also have the above-mentioned beneficial effects. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are merely embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0048] Figure 1 A flowchart of a collision warning method provided by an embodiment of the present invention;

[0049] Figure 2 A flowchart of another collision warning method provided by an embodiment of the present invention;

[0050] Figure 3 A schematic diagram of warning mode selection for another collision warning method provided by an embodiment of the present invention;

[0051] Figure 4 A schematic diagram of an open space warning mode scenario of another collision warning method provided by an embodiment of the present invention;

[0052] Figure 5 A schematic diagram of an alarm flow chart of an open space warning mode of another collision warning method provided by an embodiment of the present invention;

[0053] Figure 6 A schematic diagram of a first-level alarm scenario in an open space warning mode of another collision warning method provided by an embodiment of the present invention;

[0054] Figure 7 A schematic diagram of a secondary alarm scenario in an open space warning mode of another collision warning method provided by an embodiment of the present invention;

[0055] Figure 8 A schematic diagram of a three-level alarm scenario in an open space warning mode of another collision warning method provided by an embodiment of the present invention;

[0056] Figure 9 A schematic diagram of an alarm flow chart of a compact space warning mode of another collision warning method provided by an embodiment of the present invention;

[0057] Figure 10 A schematic diagram of a compact space warning mode scenario of another collision warning method provided by an embodiment of the present invention;

[0058] Figure 11 A schematic diagram of a first-level alarm scenario in a compact space warning mode of another collision warning method provided by an embodiment of the present invention;

[0059] Figure 12A schematic diagram of a secondary alarm scenario in a compact space warning mode of another collision warning method provided by an embodiment of the present invention;

[0060] Figure 13 A structural block diagram of a collision warning device provided by an embodiment of the present invention;

[0061] Figure 14 A schematic structural diagram of a head-mounted display device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0062] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only 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 making creative efforts shall fall within the scope of protection of the present invention.

[0063] Please refer to Figure 1 , Figure 1 This is a flowchart of a collision warning method provided by an embodiment of the present invention. The method is applied to a head-mounted display device and may include:

[0064] Step 101: Obtain an electronic fence area of ​​a head-mounted display device and arm length information of a wearer of the head-mounted display device.

[0065] Among them, the electronic fence area in this step can be the area surrounded by the electronic fence. The specific method for the processor of the head-mounted display device to obtain the electronic fence area of ​​the head-mounted display device in this step can be set by the designer according to the practical scenario and user needs. For example, the processor can generate an electronic fence area based on the environmental information collected by the environmental sensors (such as cameras and ranging sensors, etc.) on the head-mounted display device; the processor can also generate an electronic fence area based on the obtained electronic fence drawing instruction. For example, the user can use the paired handle of the head-mounted display device to draw an electronic fence to configure the electronic fence drawing instruction and control the head-mounted display device to generate an electronic fence area; the processor can also directly search for a pre-stored electronic fence area. This embodiment does not impose any restrictions on this.

[0066] Specifically, the arm length information of the wearer (i.e., user) of the head-mounted display device in this step can be information used to characterize the length of the user's arm. The specific method by which the processor obtains the arm length information of the wearer of the head-mounted display device in this step can be set by the designer based on practical scenarios and user needs. For example, the processor can use the length information in the arm length input instruction as the arm length information upon receiving the arm length input instruction, that is, the user can input the length information of their own arm to configure the arm length input instruction. The processor can also calculate the arm length information based on the handle position information of the paired handle of the head-mounted display device and the position information of the head-mounted display device. For example, the processor can use the distance information calculated using the handle position information and the position information of the head-mounted display device as the arm length information. For example, when configuring the arm length information, the head-mounted display device can output a horizontal hold prompt to prompt the user to hold the paired handle horizontally and hold their arm horizontally. Then, based on the position information of the head-mounted display device and the handle position information collected by the motion sensor (e.g., inertial measurement unit IMU) in the paired handle, the distance information between the head-mounted display device and the paired handle is calculated to determine the arm length information. The processor may also determine arm length information based on image data of the pairing handle captured by a camera; that is, after the head-mounted display device outputs a "hold horizontally" prompt, the processor may calculate the distance between the head-mounted display device and the pairing handle based on the image captured by the camera containing the pairing handle (i.e., the pairing handle image data), thereby determining the arm length information. This embodiment does not impose any limitation on this.

[0067] It is understandable that in this step, the head-mounted display device can respectively obtain the electronic fence area of ​​the head-mounted display device and the arm length information of the wearer of the head-mounted display device for subsequent collision risk detection.

[0068] Furthermore, when the user configures the electronic fence area by drawing an electronic fence, after this step, the head-mounted display device can also detect whether the electronic fence area meets the requirements based on the obtained arm length information; if it meets the requirements, it can enter step 102 to continue the subsequent collision risk detection; if it does not meet the requirements, it can output an electronic fence redraw prompt message to prompt the user to redraw the electronic fence, that is, reconfigure the electronic fence drawing instruction. For example, the processor can calculate the area of ​​the free activity area based on the arm length information, such as the area of ​​a circular area with the arm length information as the radius (i.e., the free activity area); determine whether the area of ​​the electronic fence area is greater than the product of the free activity area area and a preset fence setting multiple (such as 1); if so, it is determined that the electronic fence area meets the requirements and can enter step 102; if not, it is determined that the electronic fence area does not meet the requirements, and an electronic fence redraw prompt message can be output to remind the user that the electronic fence is too small and needs to be redrawn.

[0069] Step 102: Based on the acquired location information, electronic fence area, and arm length information of the head-mounted display device, a collision warning situation corresponding to the location information is detected; wherein the collision warning situation includes an alarm mode.

[0070] Among them, the position information of the head-mounted display device in this step can be information used to characterize the relative position of the head-mounted display device and the electronic fence area by calculating using a motion sensor or camera on the head-mounted display device. For example, the position information can be the actual physical position information of the head-mounted display device, or it can be the relative position information of the head-mounted display device relative to the electronic fence area. As long as the head-mounted display device can use the position information to determine the relative position of the head-mounted display device and the electronic fence area, this embodiment does not impose any restrictions on this.

[0071] Specifically, the collision warning situation corresponding to the location information in this step can be the collision risk situation of the user when the head-mounted display device is in the location information. The collision warning situation can include alarm modes with different alarm levels and a safe state where no alarm is required. By setting alarm modes with different alarm levels, a multi-level alarm mechanism is implemented, so that the user receives alarms of appropriate intensity in different risk states, balancing user experience and safety.

[0072] Correspondingly, the specific settings of the alarm modes can be set by the designer. For example, the alarm modes can include an alarm mode with a first level for the highest risk (i.e., a first-level alarm mode) and an alarm mode with a second level for a slightly lower risk (i.e., a second-level alarm mode). The alarm modes can also include an alarm mode with a third level for the lowest risk (i.e., a third-level alarm mode). As long as the number of alarm modes is greater than or equal to two to implement a multi-level alarm mechanism, this embodiment does not impose any restrictions on this.

[0073] It should be noted that the processor of the head-mounted display device in this embodiment detects the collision warning situation corresponding to the position information based on the acquired position information of the head-mounted display device, the electronic fence area and the arm length information, and uses the arm length of the wearer of the head-mounted display device as a reference for collision risk detection. It can detect and avoid the potential collision risk when the wearer is in the electronic fence area but his arms and hands leave the electronic fence.

[0074] Specifically, the specific method for the processor in this step to detect the collision warning situation corresponding to the position information based on the acquired position information, electronic fence area and arm length information of the head-mounted display device can be set by the designer according to the practical scenario and user needs. For example, the processor can determine the free movement area corresponding to the position information based on the arm length information and the position information; and detect the collision warning situation corresponding to the position information based on the position information, the free movement area, the electronic fence area and / or the arm length information. That is to say, in this embodiment, the arm length information can be used to obtain the area (i.e., the free movement area) where the user's body (such as the arm) can move freely at a certain position, such as a circular area with the arm length information as the radius, a circular area with a preset radius multiple (such as 1.5 times) of the arm length information as the radius, or a square area with a side length of twice the arm length, etc., so as to use the free movement area corresponding to the position information for collision risk detection to avoid the potential collision risk when the wearer is in the electronic fence area and the arms and hands leave the electronic fence.

[0075] Correspondingly, the free movement area corresponding to the above-mentioned location information can be a free movement area related to the location information, such as a free movement area centered on the location information. The specific manner in which the above-mentioned processor detects the collision warning situation corresponding to the location information based on the location information, the free movement area, the electronic fence area and / or the arm length information can be set by the designer according to practical scenarios and user needs. For example, the processor can determine the safe area within the electronic fence area based on the electronic fence area and the arm length information; and detect the collision warning situation corresponding to the location information based on the location information, the safe area, the electronic fence area and the free movement area. The processor can also configure the safe area within the electronic fence area without using the arm length information, and directly detect the collision warning situation corresponding to the location information based on the location information, the electronic fence area and the free movement area; this embodiment does not impose any restrictions on this. The processor can also determine the early warning mode based on the free activity area and the electronic fence area and / or the arm length information; wherein the early warning mode includes an open space early warning mode and a compact space early warning mode; if the early warning mode is the open space early warning mode, the safe area within the electronic fence area is determined based on the electronic fence area and the arm length information, and the collision early warning situation corresponding to the position information is detected based on the position information, the safe area, the electronic fence area and the free activity area; if the early warning mode is the compact space early warning mode, the safe area within the electronic fence area is not used, and the collision early warning situation corresponding to the position information is detected based on the position information, the electronic fence area and the free activity area; that is, the processor can select the early warning mode based on the free activity area and the electronic fence area and / or the arm length information, and thereby use the selected early warning mode to perform corresponding collision risk detection.

[0076] Step 103: If the collision warning situation is a target alarm mode, then execute an alarm operation corresponding to the alarm level of the target alarm mode; wherein the target alarm mode is any alarm mode.

[0077] It can be understood that in this step, when the processor of the head-mounted display device detects that the collision warning situation is any alarm mode (i.e., the target alarm mode), it can execute the alarm operation corresponding to the alarm level of the alarm mode to realize a multi-level alarm mechanism, so that the user can receive alarms of appropriate intensity under different risk conditions, taking into account both user experience and safety.

[0078] Specifically, the specific manner in which the processor executes the alarm operation corresponding to the alarm level of the target alarm mode in this step, that is, the specific configuration of the alarm operation corresponding to the alarm mode of each alarm level, can be set by the designer according to the practical scenario and user needs. For example, when the alarm mode is divided into an alarm mode with an alarm level of one (i.e., a level one alarm mode), an alarm mode with an alarm level of two (i.e., a level two alarm mode) with a slightly lower risk, and an alarm mode with an alarm level of three (i.e., a level three alarm mode) according to the risk from high to low, the processor can interrupt the running application of the head-mounted display device when the target alarm mode is the level one alarm mode, and output the information that the electronic fence has been left, that is, interrupt the application running in the head-mounted display device, and prompt the user that he has left the electronic fence, or the processor can also control the head-mounted display device to enter the se The processor may also display an electronic fence and a suggested movement direction. Furthermore, when the target alarm mode is the third level, the processor may display a low-collision risk warning message outside the normal display area of ​​the head-mounted display device. This means that applications currently running on the head-mounted display device are not interrupted, but the user is alerted to the potential collision risk in a manner that does not interfere with the normal display. For example, a location warning symbol may be displayed in a corner of the head-mounted display screen. This embodiment does not impose any restrictions on this.

[0079] Correspondingly, in the case where the processor detects that the collision warning situation is a safe state in this embodiment, the processor can continue to obtain new location information of the head-mounted display device and enter step 102 to continue collision risk detection.

[0080] In this embodiment, the embodiment of the present invention detects the collision warning situation corresponding to the position information based on the acquired position information, electronic fence area and arm length information of the head-mounted display device, and uses the arm length of the wearer of the head-mounted display device as a reference for collision risk detection, thereby avoiding the potential collision risk when the wearer is in the electronic fence area but the arms and hands are out of the electronic fence, further enhancing the security of the electronic fence, reducing the user's collision risk, and improving the safety of the head-mounted display device; and by executing the alarm operation corresponding to the alarm level of the target alarm mode, the user can receive alarms of appropriate intensity under different risk conditions, taking into account both usage experience and safety.

[0081] Based on the above examples, please refer to Figure 2 , Figure 2 This is a flow chart of another collision warning method provided by an embodiment of the present invention. The method is applied to a head-mounted display device and may include:

[0082] Step 201: Generate an electronic fence area according to the obtained electronic fence drawing instruction.

[0083] It can be understood that in this step, the processor of the head-mounted display device can generate the area enclosed by the corresponding electronic fence (i.e., the electronic fence area) based on the electronic fence drawing instruction generated by the user configuring the electronic fence. For example, the user can operate the pairing handle of the head-mounted display device to configure the electronic fence to generate the electronic fence drawing instruction.

[0084] Step 202: Calculate arm length information of the wearer of the head-mounted display device based on the handle position information of the paired handle of the head-mounted display device and the position information of the head-mounted display device.

[0085] In this step, the processor can calculate the distance information between the head-mounted display device and the paired handle based on the handle position information of the paired handle and the position information of the head-mounted display device, and then use the distance information to determine the arm length information, such as using the distance information directly as the arm length information, or setting a multiple (such as 1.5 times) of the preset arm length of the distance information as the arm length information.

[0086] Specifically, such as Figure 3 As shown, in this embodiment, after the head-mounted display device is turned on, the processor can configure the electronic fence drawing instruction according to the electronic fence drawn by the user to generate an electronic fence area; thereafter, the user can hold the paired handle and raise the arm horizontally by himself or according to the horizontal raising prompt information output by the display of the head-mounted display device, so that the processor can calculate the arm length information used to determine the free movement area.

[0087] Step 203: Determine whether the area of ​​the electronic fence area is larger than the product of the area of ​​the free activity area and the preset fence setting multiple; if not, proceed to step 204; if so, proceed to step 205.

[0088] It is understood that the free movement area in this step can be the area of ​​the free movement area determined using the arm length information, such as the area of ​​a circular area with the arm length information as the radius. In this step, the processor can determine whether the user-drawn electronic fence meets the requirements by determining whether the area of ​​the electronic fence area is greater than the product of the free movement area area and the preset fence setting multiple. If the requirements are met, the process proceeds to step 205 and continues with subsequent collision risk detection. If the requirements are not met, the process proceeds to step 205 and outputs an electronic fence redraw prompt message to prompt the user to redraw the electronic fence, that is, to reconfigure the electronic fence drawing instructions.

[0089] like Figure 3 As shown, if the preset fence setting multiplier is 1, if the area of ​​the free movement area is larger than the electronic fence area, it means that even if the user in the electronic fence area does not move the head-mounted display device, the arms, hands and handles may still leave the electronic fence during the use of the mobile head-mounted display device, so there is a potential collision risk. In this case, the system will determine that the previously drawn electronic fence is in an unsafe state, and can output an electronic fence redraw prompt message to remind the user that the electronic fence is too small and needs to be redrawn.

[0090] Step 204: Outputting electronic fence redrawing prompt information.

[0091] Among them, in this step, the processor can output electronic fence redraw prompt information, such as displaying the output electronic fence redraw prompt information, to remind the user to redraw the electronic fence when the area of ​​the electronic fence area is not larger than the product of the free activity area area and the preset fence setting multiple, thereby improving the safety of the electronic fence.

[0092] Correspondingly, in this step, after outputting the electronic fence redraw prompt information, the processor can directly end this process or enter step 201 to wait for the generation of a new electronic fence area for collision risk detection.

[0093] Step 205: Determine the free movement area corresponding to the position information based on the arm length information and the position information.

[0094] Among them, the free movement area corresponding to the position information in this step can be a free movement area corresponding to the position information, such as a free movement area centered on the position information. The specific shape and size of the free movement area determined by the arm length information can be set by the designer. For example, the free movement area can be a circular area with the arm length information as the radius, a circular area with a preset radius multiple (such as 1.5 times) of the arm length information as the radius, or a square area with a side length of twice the arm length, etc. As long as the processor can determine the free movement area using the arm length information and determine the position of the free movement area using the position information, this embodiment does not impose any restrictions on this.

[0095] Step 206: Determine an early warning mode based on the free movement area and the electronic fence area and / or the arm length information; wherein the early warning mode includes an open space early warning mode and a compact space early warning mode.

[0096] It should be noted that, in this embodiment, the processor can determine whether the user is in an open space or a compact space based on the free activity area and the electronic fence area and / or arm length information, and thus select the corresponding warning mode for collision risk detection.

[0097] Specifically, the specific method for the processor to determine the warning mode according to the free activity area and the electronic fence area and / or the arm length information in this step can be set by the designer. For example, the processor can directly determine the warning mode according to the free activity area and the electronic fence area; Figure 3 As shown, the processor can determine whether the area of ​​the electronic fence area is larger than the area of ​​the free activity area and the preset mode setting multiple (such as Figure 3 The product of n in the preset mode setting multiple can be greater than the preset fence setting multiple; if so, it is determined that the warning mode is the open space warning mode, and the process proceeds to step 207; if not, it is determined that the warning mode is the compact space warning mode, and the process proceeds to step 208. The processor can also determine the warning mode based on the free activity area, the electronic fence area, and the arm length information; for example, the processor can determine whether the area of ​​the electronic fence area is greater than the area of ​​the free activity area and the preset mode setting multiple (such as Figure 3 If it is greater than, then it is determined whether a safe area can be generated within the electronic fence area according to the arm length information. For example, if the arm length information is 1m, it can be determined whether the range of the electronic fence supports shrinking 1m inward to generate a safe area surrounded by a safe boundary; if a safe area can be generated, the warning mode is determined to be an open space warning mode, and the process proceeds to step 207; if it is not greater than or the safe area cannot be generated, the warning mode is determined to be a compact space warning mode, and the process proceeds to step 208.

[0098] Step 207: If the warning mode is the open space warning mode, the collision warning situation corresponding to the position information is detected based on the position information, the free movement area, the electronic fence area and the arm length information.

[0099] It is understandable that in this step, when the processor determines that the warning mode is the open space warning mode, it can use the location information, free activity area, electronic fence area and arm length information to detect the collision warning situation corresponding to the location information.

[0100] Specifically, in this step, the processor can determine the safe area within the electronic fence area based on the electronic fence area and the arm length information; wherein, the safe area is within the electronic fence area; and detect the collision warning corresponding to the position information based on the position information, the safe area, the electronic fence area, and the free movement area. Among them, the safe area is within the electronic fence area, and the safe area can be the area surrounded by the safety boundary defined by the electronic fence area and the arm length information. The significance of defining the safety boundary can be that when the head-mounted display device and the free movement area are both within the safety boundary, the user is absolutely safe and no alarm is required; for example, if the arm length information is 1m, the safety boundary can be reduced by 1m or 1.5m (i.e., 1.5*arm length information) within the range of the electronic fence.

[0101] Correspondingly, the processor can use the location information, safety area, electronic fence area and free activity area to detect the collision warning situation corresponding to the location information; Figure 5 As shown, the processor can determine whether the location information is within the electronic fence area; if it is not within the electronic fence area (such as Figure 6 As shown), the collision warning situation is determined to be an alarm mode with an alarm level of level 1 (i.e., a level 1 alarm mode); if it is within the electronic fence area, it is determined whether the location information is within the safe area; if it is not within the safe area (e.g., Figure 7 As shown), the collision warning situation is determined to be the alarm mode with the alarm level of level 2 (i.e., the level 2 alarm mode); if it is in the safe area, it is determined whether the free movement area is partially beyond the safe area; if it is partially beyond the safe area (such as Figure 8 As shown), the collision warning situation is determined to be the third level alarm mode (i.e., the third level alarm mode); if the free movement area is all in the safe area, the collision warning situation is determined to be a safe state. In other words, if Figures 4 to 8As shown, when the warning mode is the open space warning mode, three levels of alarm modes are provided; when the system detects that the head-mounted display device leaves the electronic fence, the system enters the first level alarm mode; when the system detects that the head-mounted display device has not left the electronic fence, but has left the safety boundary, the system enters the second level alarm mode; when the system detects that the head-mounted display device has not left the safety boundary, but part of the free activity area has left the safety boundary, the system enters the third level alarm mode.

[0102] Correspondingly, in this step, the processor may further output open space warning mode prompt information when the warning mode is the open space warning mode, to prompt the user that the user is in an open space.

[0103] Step 208: If the warning mode is the compact space warning mode, the collision warning situation corresponding to the position information is detected based on the position information, the electronic fence area and the free movement area.

[0104] It is understood that in this step, when the processor determines that the warning mode is the compact space warning mode, it can use the location information, the electronic fence area, and the free movement area to detect the collision warning situation corresponding to the location information. Correspondingly, in this step, the processor can also output a compact space warning mode prompt message in the case that the warning mode is the open space warning mode, to remind the user that they are in a compact space.

[0105] Specifically, such as Figure 9 and 10 As shown, in this step, the processor can determine whether the location information is within the electronic fence area; if it is not within the electronic fence area (such as Figure 11 As shown), the collision warning situation is determined to be an alarm mode with an alarm level of level 1 (i.e., a level 1 alarm mode); if it is within the electronic fence area, it is determined whether the free activity area is partially beyond the electronic fence area; if it is partially beyond the electronic fence area (such as Figure 12 As shown in the figure), the collision warning situation is determined to be the alarm mode of the second level (i.e. the second level alarm mode); if the free movement area is entirely within the electronic fence area, the collision warning situation is determined to be a safe state. In other words, if Figures 9 to 12As shown, when the early warning mode is the compact space early warning mode, two levels of alarm modes are provided; in this early warning mode, the system no longer defines a safety boundary, nor does it provide a level three alarm mode with an alarm level of three, because the user can receive a reminder in advance that they are in a compact space (i.e., the compact space early warning mode prompt information), such as the compact space reminder that is continuously displayed in the head-mounted display can replace the warning symbol reminder of the level three alarm mode; and in a compact space, the user's movement can easily trigger the level three alarm mode. When in the level three alarm mode, the user is actually only at risk of an impending collision, not at actual risk of a collision, and too frequent alarm messages may affect the user's normal use; therefore, when the early warning mode is the compact space early warning mode, when the system detects that the headset has left the electronic fence, the system can enter the level one alarm mode; when the system detects that the headset has left the electronic fence, the system can enter the above-mentioned level two alarm mode.

[0106] Step 209: If the collision warning situation is the target alarm mode, the alarm operation corresponding to the alarm level of the target alarm mode is executed; wherein the target alarm mode is any alarm mode, and the alarm modes include the first level alarm mode, the second level alarm mode and the third level alarm mode.

[0107] Specifically, in this embodiment, the alarm modes can be divided into a level 1 alarm mode, a level 2 alarm mode, and a level 3 alarm mode according to the risk level from high to low. When the target alarm mode is the level 1 alarm mode, the processor can interrupt the running application of the head-mounted display device and output a message indicating that the user has left the electronic fence. That is, the running application in the head-mounted display device is interrupted and the user is prompted that the user has left the electronic fence. Alternatively, the processor can control the head-mounted display device to enter a see-through mode so that the user can see the surrounding environment to ensure safety. When the target alarm mode is the level 2 alarm mode, the processor can display a high collision risk prompt message within the normal display area of ​​the head-mounted display device. That is, at this time, the running application in the head-mounted display device is not interrupted, but the user is reminded of the possible collision risk in a manner that interferes with the normal display. Alternatively, the processor can display the electronic fence and a suggested movement direction. When the target alarm mode is the level 3 alarm mode, the processor can display a low collision risk prompt message outside the normal display area of ​​the head-mounted display device. That is, at this time, the running application in the head-mounted display device is not interrupted and the user is reminded of the impending collision risk in a manner that does not interfere with the normal display. For example, a location warning symbol can be displayed in a corner of the head-mounted display screen.

[0108] In this embodiment, the embodiment of the present invention determines whether the area of ​​the electronic fence area is larger than the product of the area of ​​the free activity area and the preset fence setting multiple. By comparing the sizes of the free activity area and the electronic fence area, it can be determined whether the size of the electronic fence drawn by the user meets the safety requirements, thereby improving the safety of the electronic fence; by determining the early warning mode based on the free activity area and the electronic fence area and / or arm length information, it can be further determined whether the user is in an open space or a compact space, so as to perform collision risk detection with a corresponding mechanism to improve the user experience.

[0109] Corresponding to the above method embodiment, an embodiment of the present invention further provides a collision warning device. The collision warning device described below and the collision warning method described above can refer to each other.

[0110] Please refer to Figure 13 , Figure 13 This is a structural block diagram of a collision warning device provided by an embodiment of the present invention. The device is applied to a head-mounted display device and may include:

[0111] An acquisition module 10 is configured to acquire an electronic fence area of ​​a head mounted display device and arm length information of a wearer of the head mounted display device;

[0112] The detection module 20 is configured to detect a collision warning condition corresponding to the location information based on the acquired location information of the head-mounted display device, the electronic fence area, and the arm length information; wherein the collision warning condition includes an alarm mode;

[0113] The alarm module 30 is configured to execute an alarm operation corresponding to the alarm level of the target alarm mode if the collision warning situation is a target alarm mode; wherein the target alarm mode is any alarm mode.

[0114] Optionally, the detection module 20 may include:

[0115] The area determination submodule is used to determine the free movement area corresponding to the position information based on the arm length information and the position information;

[0116] The early warning detection submodule is used to detect the collision warning situation corresponding to the position information based on the position information, the free activity area, the electronic fence area and / or the arm length information.

[0117] Optionally, the early warning detection submodule may include:

[0118] A safety area determination unit, configured to determine a safety area within the electronic fence area based on the electronic fence area and arm length information;

[0119] The first warning detection unit is used to detect a collision warning situation corresponding to the position information based on the position information, the safety area, the electronic fence area and the free movement area.

[0120] Optionally, the early warning detection submodule may also include:

[0121] A warning mode determination unit is configured to determine a warning mode based on the free movement area and the electronic fence area and / or arm length information; wherein the warning mode includes an open space warning mode and a compact space warning mode; if the warning mode is the open space warning mode, the safe area determination unit sends a start signal;

[0122] The second warning detection unit is used to detect a collision warning situation corresponding to the position information based on the position information, the electronic fence area and the free movement area if the warning mode is the compact space warning mode.

[0123] Optionally, the first early warning detection unit may include:

[0124] The first judgment subunit is used to judge whether the location information is within the electronic fence area;

[0125] The first determining subunit is configured to determine that the collision warning situation is an alarm mode with an alarm level of level 1 if the vehicle is not within the electronic fence area;

[0126] The second judgment subunit is used to judge whether the location information is within the safe area if it is within the electronic fence area;

[0127] A second determining subunit is configured to determine that the collision warning situation is an alarm mode with an alarm level of level 2 if the vehicle is not in the safe area;

[0128] The third judgment subunit is used to judge whether a part of the free movement area exceeds the safety area if the area is within the safety area;

[0129] A third determining subunit is configured to determine that the collision warning situation is a level three alarm mode if a portion exceeds the safety area;

[0130] The fourth determining subunit is configured to determine that the collision warning situation is a safe state if the free movement area is entirely within the safe area.

[0131] Optionally, the alarm module 30 may include:

[0132] A level 1 alarm submodule, configured to interrupt the running application of the head-mounted display device and output information that the user has left the electronic fence if the target alarm mode is a level 1 alarm mode;

[0133] A secondary alarm submodule, configured to display a high collision risk warning message in the normal display area of ​​the head-mounted display device if the target alarm mode is a secondary alarm mode;

[0134] The three-level alarm submodule is used to display a low collision risk prompt message outside the normal display area of ​​the head-mounted display device if the target alarm mode is an alarm mode with an alarm level of three.

[0135] Optionally, the acquisition module 10 includes:

[0136] The arm length acquisition submodule is used to calculate the arm length information based on the handle position information of the paired handle of the head-mounted display device and the position information of the head-mounted display device.

[0137] Optionally, the device may further include:

[0138] The area calculation submodule is used to calculate the area of ​​the free movement area based on the arm length information;

[0139] The fence determination submodule is used to determine whether the area of ​​the electronic fence area is larger than the product of the area of ​​the free movement area and the preset fence setting multiple; if it is larger than the product of the area of ​​the free movement area and the preset fence setting multiple, a start signal is sent to the detection module 20;

[0140] The redraw prompt submodule is used to output the electronic fence redraw prompt information if the area is not larger than the product of the free activity area and the preset fence setting multiple.

[0141] In this embodiment, the embodiment of the present invention detects the collision warning situation corresponding to the position information based on the acquired position information, electronic fence area and arm length information of the head-mounted display device through the detection module 20, and uses the arm length of the wearer of the head-mounted display device as a reference for collision risk detection, thereby avoiding the potential collision risk when the wearer is in the electronic fence area but the arms and hands are out of the electronic fence, further enhancing the security of the electronic fence, reducing the user's collision risk, and improving the safety of the head-mounted display device; and by executing the alarm operation corresponding to the alarm level of the target alarm mode, the user can receive an alarm of appropriate intensity under different risk conditions, taking into account both the usage experience and safety.

[0142] Corresponding to the above method embodiment, an embodiment of the present invention further provides a head-mounted display device. The head-mounted display device described below and the collision warning method described above can refer to each other.

[0143] Please refer to Figure 14 , Figure 14 This is a schematic diagram of the structure of a head-mounted display device provided by an embodiment of the present invention. The head-mounted display device may include:

[0144] Memory D1, for storing computer programs;

[0145] The processor D2 is configured to implement the steps of the collision warning method provided in the above method embodiment when executing a computer program.

[0146] Specifically, the head-mounted display device provided in this embodiment can be a VR device, such as a VR helmet, or can be an AR device or an MR device.

[0147] Corresponding to the above method embodiment, an embodiment of the present invention further provides a computer-readable storage medium. The computer-readable storage medium described below and the collision warning method described above can refer to each other.

[0148] An embodiment of the present invention provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the steps of the collision warning method provided in the above method embodiment are implemented.

[0149] The computer-readable storage medium may be a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, which may store program codes.

[0150] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. References to the common and similar parts between the various embodiments are sufficient. The apparatus, head-mounted display device, and computer-readable storage medium disclosed in the embodiments are described briefly because they correspond to the methods disclosed in the embodiments. For relevant details, refer to the description of the methods.

[0151] The above is a detailed introduction to a collision warning method, device and head-mounted display device provided by the present invention. This article uses specific examples to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. It should be pointed out that for ordinary technicians in this technical field, without departing from the principles of the present invention, the present invention can also be improved and modified. These improvements and modifications also fall within the scope of protection of the claims of the present invention.

Claims

1. A collision warning method, characterized in that: Applied to head-mounted display devices, including: Acquire an electronic fence area of ​​a head mounted display device and arm length information of a wearer of the head mounted display device; Detecting a collision warning condition corresponding to the location information based on the acquired location information of the head mounted display device, the electronic fence area, and the arm length information; wherein the collision warning condition includes an alarm mode; If the collision warning situation is a target alarm mode, the alarm operation corresponding to the alarm level of the target alarm mode is executed; wherein the target alarm mode is any alarm mode; Before detecting a collision warning situation corresponding to the position information based on the acquired position information of the head mounted display device, the electronic fence area, and the arm length information, the method further includes: Calculating the area of ​​the free movement region according to the arm length information; Determining whether the area of ​​the electronic fence area is larger than the product of the area of ​​the free activity area and a preset fence setting multiple; If so, executing the step of detecting a collision warning situation corresponding to the position information according to the acquired position information of the head mounted display device, the electronic fence area, and the arm length information; If not, output the electronic fence redraw prompt information; The detecting, based on the acquired location information of the head mounted display device, the electronic fence area, and the arm length information, a collision warning situation corresponding to the location information includes: Determining a free movement area corresponding to the position information according to the arm length information and the position information; According to the position information, the free movement area and the electronic fence area, the collision warning situation corresponding to the position information is detected; or, according to the position information, the free movement area, the electronic fence area and the arm length information, the collision warning situation corresponding to the position information is detected.

2. The collision warning method according to claim 1, characterized in that: The detecting, based on the position information, the free movement area, the electronic fence area, and the arm length information, a collision warning situation corresponding to the position information includes: Determining a safe area within the electronic fence area according to the electronic fence area and the arm length information; According to the location information, the safety area, the electronic fence area and the free movement area, a collision warning situation corresponding to the location information is detected.

3. The collision warning method according to claim 2, characterized in that: Before determining the safe area within the electronic fence area according to the electronic fence area and the arm length information, the method further includes: Determining an early warning mode according to the free movement area and the electronic fence area; or determining the early warning mode according to the free movement area, the electronic fence area and the arm length information; The warning mode includes an open space warning mode and a compact space warning mode; If the warning mode is the open space warning mode, performing the step of determining a safe area within the electronic fence area according to the electronic fence area and the arm length information; If the warning mode is the compact space warning mode, a collision warning situation corresponding to the position information is detected according to the position information, the electronic fence area, and the free movement area.

4. The collision warning method according to claim 2, characterized in that: The detecting, based on the location information, the safety area, the electronic fence area, and the free movement area, a collision warning situation corresponding to the location information includes: Determining whether the location information is within the electronic fence area; If the vehicle is not within the electronic fence area, the collision warning situation is determined to be an alarm mode with an alarm level of level 1; If it is within the electronic fence area, determining whether the location information is within the safe area; If the vehicle is not in the safety zone, the collision warning situation is determined to be a level 2 alarm mode; If it is within the safety area, determining whether part of the free movement area exceeds the safety area; If part of the vehicle exceeds the safety area, the collision warning situation is determined to be a level 3 alarm mode; If the free movement area is entirely within the safety area, it is determined that the collision warning situation is a safe state.

5. The collision warning method according to claim 4, characterized in that: The alarm operation corresponding to the alarm level of the target alarm mode is performed, including: If the target alarm mode is an alarm mode with an alarm level of level 1, interrupting the running application of the head-mounted display device and outputting information that the user has left the electronic fence; If the target alarm mode is an alarm mode with an alarm level of level 2, a high collision risk prompt message is displayed in a normal display area of ​​the head mounted display device; If the target alarm mode is an alarm mode with an alarm level of level three, low collision risk prompt information is displayed outside the normal display area of ​​the head-mounted display device.

6. The collision warning method according to claim 1, characterized in that: The obtaining of the electronic fence area of ​​the head mounted display device and the arm length information of the wearer of the head mounted display device includes: The arm length information is calculated based on the handle position information of the paired handle of the head-mounted display device and the position information of the head-mounted display device.

7. A collision warning device, characterized in that: Applied to head-mounted display devices, including: an acquisition module, configured to acquire information about an electronic fence area of ​​a head-mounted display device and an arm length of a wearer of the head-mounted display device; a detection module, configured to detect a collision warning condition corresponding to the acquired location information of the head mounted display device, the electronic fence area, and the arm length information; wherein the collision warning condition includes an alarm mode; an alarm module, configured to execute an alarm operation corresponding to the alarm level of the target alarm mode if the collision warning condition is a target alarm mode; wherein the target alarm mode is any alarm mode; Also includes: An area calculation submodule, configured to calculate the area of ​​the free movement zone based on the arm length information; a fence determination submodule, configured to determine whether the area of ​​the electronic fence area is larger than the product of the area of ​​the free movement area and a preset fence setting multiple; and if the area of ​​the electronic fence area is larger than the product of the area of ​​the free movement area and the preset fence setting multiple, sending a start signal to the detection module; A redraw prompt submodule is used to output an electronic fence redraw prompt message if the area is not larger than the product of the free activity area and the preset fence setting multiple; Wherein, the detection module includes: an area determination submodule, configured to determine a free movement area corresponding to the position information based on the arm length information and the position information; The warning detection submodule is used to detect the collision warning situation corresponding to the position information based on the position information, the free movement area and the electronic fence area; or to detect the collision warning situation corresponding to the position information based on the position information, the free movement area, the electronic fence area and the arm length information.

8. A head-mounted display device, characterized in that: include: Memory for storing computer programs; A processor, configured to implement the steps of the collision warning method according to any one of claims 1 to 6 when executing the computer program.

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