Handle positioning method and device, handle and medium

Abstract

The present disclosure provides a handle positioning method and device, a handle and a medium. The handle comprises a handle body, a rotating device, a driving device and a single camera. The rotating device and the driving device are arranged on the handle body, and the rotating device and the driving device are connected. The single camera is arranged on the rotating device. The method comprises: controlling the driving device to drive the rotating device to rotate; in the process of driving the rotating device to rotate by the driving device, for a plurality of different positions of the rotating device, respectively controlling the single camera to capture a first image, so as to obtain a first image corresponding to each of the plurality of different positions of the rotating device; and positioning the handle according to the first image corresponding to each of the plurality of different positions of the rotating device.

Description

TECHNICAL FIELD

[0001] Embodiments of the present disclosure relate to the technical field of control devices, and more particularly, to a handle positioning method, a handle positioning device, a handle, and a computer readable storage medium. BACKGROUND

[0002] A virtual reality (VR) device can close the vision and hearing of a person to the outside world and guide the user to have a feeling of being in a virtual environment. Generally, a handle is an important tool for the user to interact with the VR device.

[0003] Currently, the functions integrated in the VR device are increasing, which causes the operation pressure of the processing chip inside the VR device to also increase. Here, the handle with independent space positioning function can share the space position calculation pressure of the handle to the handle itself, thereby reducing the operation pressure of the VR device.

[0004] In the related art, a single camera is arranged on the handle. However, a large space view is required to realize space positioning, and the field of view angle of the single camera is far from meeting the requirement. Therefore, the handle usually needs to use multiple cameras with different angles to obtain a larger view range, and then realize the space positioning function. However, the use of multiple cameras not only has a large cost, but also the processing chip inside the handle must support multi-channel image processing capability, which increases the operation pressure of the processing chip inside the handle. SUMMARY

[0005] An object of embodiments of the present disclosure is to provide a new technical solution for handle positioning.

[0006] According to a first aspect of embodiments of the present disclosure, a handle positioning method is provided, the handle comprising a handle body, a rotating device, a driving device, and a single camera, the rotating device and the driving device being arranged on the handle body, and the rotating device and the driving device being connected, the single camera being arranged on the rotating device, and the method comprising:

[0007] controlling the driving device to drive the rotating device to rotate;

[0008] during the process of the driving device driving the rotating device to rotate, for a plurality of different positions of the rotating device, respectively controlling the single camera to collect a first image, to obtain a first image corresponding to each of the plurality of different positions of the rotating device;

[0009] positioning the handle according to the first image corresponding to each of the plurality of different positions of the rotating device.

[0010] Optionally, the control of the driving device to drive the rotating device to rotate comprises:

[0011] obtaining a target driving parameter corresponding to the driving device; wherein the target driving parameter comprises at least one of the following: a target rotating direction, a target rotating speed;

[0012] controlling the driving device to rotate based on the target driving parameter, so that the driving device drives the rotating device to rotate.

[0013] Optionally, the rotating device is a gear ball rotating mechanism, and the driving device is a gear stepping motor, and the gear of the gear ball rotating mechanism and the gear of the gear stepping motor are engaged;

[0014] wherein the gear of the gear ball rotating mechanism comprises 360 teeth, the gear of the gear stepping motor comprises 36 teeth, and the transmission ratio of the gear of the gear stepping motor and the gear of the gear ball rotating mechanism is 10:1.

[0015] Optionally,

[0016] obtaining a target control strategy; wherein the target control strategy at least comprises: in the case that the driving device rotates every first set of degrees to make the rotating device rotate second set of degrees, controlling the single camera to capture a first image;

[0017] during the process that the driving device drives the rotating device to rotate, based on the target control strategy, determining a plurality of different positions of the rotating device; and for the plurality of different positions of the rotating device, respectively controlling the single camera to capture a first image, to obtain a first image corresponding to each of the plurality of different positions of the rotating device.

[0018] Optionally, the positioning of the handle according to the first image corresponding to each of the plurality of different positions of the rotating device comprises:

[0019] obtaining target position information corresponding to the first image corresponding to each of the plurality of different positions; wherein the target position information comprises position information of a first position of the single camera, and second position information of a relative position between the single camera and the handle;

[0020] obtaining position information of the handle according to the target position information corresponding to the first image corresponding to each of the plurality of different positions.

[0021] Optionally, the obtaining of the target control strategy comprises:

[0022] receiving a current control strategy set through a first setting interface as the target control strategy.

[0023] Optionally, the obtaining the target control strategy further includes:

[0024] obtaining target scene information of a virtual scene rendered by the head-mounted display device and preset mapping data, wherein the preset mapping data is data reflecting a corresponding relationship between different scene information and corresponding control strategies;

[0025] determining, according to the target scene information and the preset mapping data, a control strategy matching the target scene information as the target control strategy.

[0026] According to a second aspect of the embodiments of the present disclosure, a positioning device of a handle is provided, the handle comprising a handle body, a rotating device, a driving device and a single camera, the rotating device and the driving device being arranged on the handle body and connected, and the single camera being arranged on the rotating device, the device comprising:

[0027] a control module configured to control the driving device to drive the rotating device to rotate;

[0028] a collection module configured to, in a process in which the driving device drives the rotating device to rotate, control the single camera to collect a first image for each of a plurality of different positions of the rotating device, and obtain a first image corresponding to each of the plurality of different positions of the rotating device;

[0029] a positioning module configured to position the handle according to the first image corresponding to each of the plurality of different positions of the rotating device.

[0030] According to a third aspect of the embodiments of the present disclosure, a handle is provided, the handle comprising a memory configured to store executable computer instructions, and a processor configured to execute a positioning method of the handle according to the first aspect above according to control of the executable computer instructions.

[0031] According to a fourth aspect of the present disclosure, a computer readable storage medium is provided, the computer readable storage medium storing computer instructions, the computer instructions being executed by a processor to execute the positioning method of the handle according to the first aspect above.

[0032] One beneficial effect of the embodiment of the present disclosure is that the handle controls the driving device to drive the rotating device to rotate, and in the process of driving the rotating device to rotate, the single camera is controlled to capture the first image for each of the different positions of the rotating device, so as to obtain the first image corresponding to each of the different positions of the rotating device, that is, the handle still adopts the single camera, however, since the single camera is arranged on the rotating device, the single camera rotates with the rotating device in the process of rotating the rotating device, and then the single camera can capture the first image corresponding to each of the different positions of the rotating device, so that the single camera can capture the first image of different angles, and a larger field of view range is obtained; at the same time, since the single camera only occupies one image processing channel of the processing chip in the handle, the operation pressure of the processing chip in the handle is reduced, and the performance requirement of the processing chip in the handle is reduced while realizing the independent space positioning capability.

[0033] Other features of the present specification and its advantages will become apparent from the following detailed description of exemplary embodiments thereof, taken in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0034] The accompanying drawings incorporated in and forming a part of the specification illustrate embodiments of the present specification and, together with the description, serve to explain the principles of the present specification.

[0035] Figure 1 is a principle block diagram of a hardware configuration of a positioning method of a handle which can be used to implement the embodiment of the present disclosure;

[0036] Figure 2 is a hardware block diagram of a handle according to the embodiment of the present disclosure;

[0037] Figure 3 is a flowchart of a positioning method of a handle according to the embodiment of the present disclosure;

[0038] Figure 4 is a principle block diagram of a positioning device of a handle according to the embodiment of the present disclosure;

[0039] Figure 5 is a principle block diagram of a handle according to the embodiment of the present disclosure. DETAILED DESCRIPTION

[0040] Various exemplary embodiments of the present disclosure will now be described in detail below with reference to the accompanying drawings. Note that the relative arrangement, numerical expressions, and numerical values of the components and steps set forth in these embodiments do not limit the scope of the embodiments of the present disclosure unless otherwise specifically stated.

[0041] The following description of at least one exemplary embodiment is merely exemplary in nature and is in no way intended to limit the disclosure, its application, or uses.

[0042] Techniques, methods, and devices known to those of ordinary skill in the relevant art can not be discussed in detail herein. However, where appropriate, such techniques, methods, and devices can be considered part of the specification.

[0043] In all of the examples shown and discussed herein, any specific values should be interpreted as merely exemplary and not as a limitation. Thus, other examples of the exemplary embodiments can have different values.

[0044] It should be noted that like reference numerals and letters refer to like items throughout the attached drawings, and thus once an item is defined in one drawing, it is not necessary that it be further discussed in subsequent drawings.

[0045] <Hardware Configuration>

[0046] Figure 1 A schematic diagram of a configuration of an interactive system capable of being used to implement a positioning method of a handle of an embodiment is shown.

[0047] As shown in Figure 1 , the interactive system 100 of the embodiment includes a head-mounted display device 1000, a handle 2000, and a network 3000.

[0048] The head-mounted display device 1000 can be, for example, a VR (Virtual Reality) device, an AR (Augmented Reality) device, an MR (Mixed Reality) device, and the like.

[0049] In an embodiment, the head-mounted display device 1000 can include a processor 1100, a memory 1200, an interface device 1300, a communication device 1400, a display device 1500, an input device 1600, a speaker 1700, a microphone 1800, and the like, as shown in Figure 1

[0050] ​The processor 1100 may be, for example, a central processing unit (CPU), a microprocessor (MCU), or the like. The memory 1200 may include, for example, a read-only memory (ROM), a random access memory (RAM), a nonvolatile memory such as a hard disk, or the like. The interface device 1300 may include, for example, a serial bus interface (including a USB interface), a parallel bus interface, a high-definition multimedia interface (HDMI) interface, or the like. The communication device 1400 may be capable of wired or wireless communication. The display device 1500 may be, for example, a liquid crystal display, an LED display, a touch display, or the like. The input device 1600 may include, for example, a touch screen, a body-sensing input, or the like. The head-mounted display device 1000 may output audio information through the speaker 1700 and may collect audio information through the microphone 1800.

[0051] Those skilled in the art will understand that, although a plurality of devices of the head-mounted display device 1000 are shown in Figure 1 the above description, the head-mounted display device 1000 of the embodiments of the present disclosure may involve only some of the devices and may further include other devices, which are not limited herein.

[0052] In one embodiment, the handle 2000 may include, as shown in Figure 2 FIG. 2, a processor 2100, a memory 2200, an interface device 2300, and a communication device 2400.

[0053] The processor 2100 may be, for example, a central processing unit (CPU), a microprocessor (MCU), or the like. The memory 2200 may include, for example, a read-only memory (ROM), a random access memory (RAM), a nonvolatile memory such as a hard disk, or the like. The interface device 2300 may include, for example, a serial bus interface (including a USB interface), a parallel bus interface, a high-definition multimedia interface (HDMI) interface, or the like. The communication device 2400 may be capable of wired or wireless communication. Although a plurality of devices of the handle 2000 are shown in Figure 1 the above description, the present disclosure may involve only some of the devices.

[0054] In the embodiments, the memory 2200 of the handle 2000 is configured to store instructions for controlling the processor 2100 to operate to implement or support implementation of the positioning method of the handle according to any of the embodiments. Those skilled in the art may design the instructions according to the solutions disclosed in the present disclosure. How the instructions control the processor to operate is known in the art and thus will not be described in detail herein.

[0055] In the above description, those skilled in the art may design the instructions according to the solutions provided in the present disclosure. How the instructions control the processor to operate is known in the art and thus will not be described in detail herein.

[0056] In another embodiment, the handle 2000 comprises a handle body, a rotating device, a driving device and a single camera, the rotating device and the driving device are arranged on the handle body, and the rotating device and the driving device are connected, and the single camera is arranged on the rotating device.

[0057] It should be understood that, although Figure 1 Only one head-mounted display device 1000 and one handle 2000 are shown, but this does not mean to limit the number of each, and the interactive system 100 can contain multiple head-mounted display devices 1000 and multiple handles 2000.

[0058] Figure 1 The illustrated interactive system is only illustrative and by no means intended to limit the present disclosure, its application or use.

[0059] <Method embodiment>

[0060] Figure 3 A positioning method of a handle of one embodiment of the present disclosure is shown, which can be implemented by a handle comprising a handle body, a rotating device, a driving device and a single camera, the rotating device and the driving device are arranged on the handle body, and the rotating device and the driving device are connected, and the single camera is arranged on the rotating device.

[0061] As Figure 3 shown, the positioning method of the handle of this embodiment can comprise the following steps S3100-S3300:

[0062] Step S3100, control the driving device to drive the rotating device to rotate.

[0063] In this embodiment, the driving device is used to drive the rotating device to rotate, and it can be understood that in the case of rotating the rotating device, the single camera arranged on the rotating device also rotates, which is equivalent to expanding the field of view of the single camera.

[0064] In one specific embodiment, referring to Figure 2 , the rotating device is a gear ball rotating mechanism 11, the driving device is a gear stepping motor 12, and the gear 111 of the ball rotating mechanism 11 and the gear 121 of the stepping motor 12 are engaged. Among them, the gear 111 of the ball rotating mechanism 11 comprises 360 teeth, and the gear 121 of the stepping motor 12 comprises 36 teeth.

[0065] Referring to Figure 2The spherical rotating mechanism 11 is made of hard material and is fixed to the front of the handle body by a clasp (the specific connection relationship between the handle body and the spherical rotating mechanism 11 is not shown in the figure) and can rotate freely in the vertical Z direction by 360 degrees. The outer surface of the cross section of the spherical rotating mechanism 11 at the coordinate 0 in the vertical Z direction has a ring gear 111, which includes 360 teeth in total. Figure 2 The stepper motor 12 is also fixed to the front of the handle body (the specific connection relationship between the handle body and the stepper motor 12 is not shown in the figure), and the gear 121 of the stepper motor 12 is engaged with the gear 111 of the spherical rotating mechanism 11. The gear 121 of the stepper motor 12 includes 36 teeth in total.

[0066] The transmission ratio of the gear of the stepper motor 12 and the gear of the spherical rotating mechanism 11 is 10:1, which represents the ratio of the angular velocities of the stepper motor 12 and the spherical rotating mechanism 11. The transmission ratio of the gear of the stepper motor 12 and the gear of the spherical rotating mechanism 11 is 10:1, which means that the gear 111 of the spherical rotating mechanism 11 rotates 0.1 degrees for each rotation of 1 degree of the stepper motor 12.

[0067] Referring to Figure 2 The installation angle of the single camera 13 is α, which is usually greater than 0 degrees and less than 90 degrees. In actual scenarios, the user can manually adjust the installation angle α of the single camera 13 according to the user's own needs, for example, the installation angle α can be 45 degrees, which is not limited in the embodiment. Figure 2 The field of view angle of the single camera 13 is β, which is usually related to the specification of the selected camera.

[0068] In an optional embodiment, the step S3100 of controlling the driving device to drive the rotating device to rotate can further include the following steps S3310-S3320:

[0069] In the step S3310, the target driving parameter corresponding to the driving device is obtained.

[0070] The target driving parameter is a driving parameter when the handle controls the driving device to rotate, and the target driving parameter includes at least one of the following: a target rotating direction and a target rotating speed.

[0071] Optionally, the step S3310 of obtaining the target driving parameter corresponding to the driving device can further include the following step: obtaining the current driving parameter set through the second setting interface as the target driving parameter.

[0072] The second setting interface can be an input box, a drop-down list, a voice input portal, or any portal that can be used by a user to input information, and is not limited herein.

[0073] Exemplarily, the head-mounted display device can provide a second setting interface through which the user can input the current rotation direction and the current rotation speed corresponding to the driving device. The head-mounted display device can send the current rotation direction and the current rotation speed input by the user to the handle. The handle can receive the current rotation direction and the current rotation speed input by the user through the second setting interface, and can set the current rotation direction as the target rotation direction and the current rotation speed as the target rotation speed.

[0074] In step S3320, the driving device is controlled to rotate based on the target driving parameter, so that the driving device drives the rotating device to rotate.

[0075] In this step S3320, after the handle obtains the target rotation direction and the target rotation speed, the driving device can be controlled to rotate based on the target rotation direction and the target rotation speed, so that the driving device drives the rotating device to rotate, and the single camera provided on the rotating device rotates with the rotating device.

[0076] According to the above steps S3310-S3320, the user can set the target rotation direction and the target rotation speed as needed, and the rotation direction and the rotation speed of the driving device are controllable.

[0077] After the driving device drives the rotating device to rotate in the above step S3100, the following steps are performed:

[0078] In step S3200, during the driving of the rotating device by the driving device, the single camera is controlled to capture a first image for each of a plurality of different positions of the rotating device, so as to obtain a first image corresponding to each of the plurality of different positions of the rotating device.

[0079] In an optional embodiment, the step S3200 of controlling the single camera to capture a first image for each of a plurality of different positions of the rotating device during the driving of the rotating device by the driving device can further include the following steps S3210-S3320:

[0080] In step S3210, a target control strategy is obtained.

[0081] The target control strategy includes: in the case that the driving device rotates a first set of degrees to make the rotating device rotate a second set of degrees, the single camera captures a first image. It can be understood that the second set of degrees can be determined according to the transmission ratio and the first set of degrees.

[0082] For example, the target control strategy can be that the handle controls the stepping motor to rotate 1 degree to make the spherical rotating mechanism rotate 0.1 degree, and the handle controls the single camera to capture a first image. When the spherical rotating mechanism rotates 1 turn, the single camera captures 3600 first images.

[0083] For another example, the target control strategy can also be that the handle controls the stepping motor to rotate 2 degrees to make the spherical rotating mechanism rotate 0.2 degrees, and the handle controls the single camera to capture a first image. When the spherical rotating mechanism rotates 1 turn, the single camera captures 1800 first images.

[0084] Optionally, the step S3210 of obtaining the target control strategy can further include: receiving a current control strategy set through a first setting interface as the target control strategy.

[0085] The first setting interface can be an input box, a drop-down list, a voice input portal, or any portal that can be used by a user to input information, which is not limited herein.

[0086] For example, the head-mounted display device can provide a first setting interface. The user can input a current control strategy through the first setting interface. The head-mounted display device can send the current control strategy input by the user to the handle. The handle receives the current control strategy input by the user through the first setting interface, and the current control strategy is used as the target control strategy.

[0087] Optionally, the step S3210 of obtaining the target control strategy can further include the following steps S3211-S3212:

[0088] Step S3211: Obtain target scene information of a virtual scene rendered and displayed by the head-mounted display device and set mapping data.

[0089] The set mapping data is data reflecting the correspondence relationship between different scene information and the corresponding control strategy. For example, the set mapping data can include the correspondence relationship between scene information 1 and the corresponding control strategy 1. The scene information 1 can be the scene information of a video scene, which usually has a lower requirement for rendering accuracy. The control strategy 1 can be that the handle controls the single camera to capture a first image under the condition that the step motor rotates 0.2 degrees to make the spherical rotating mechanism rotate 0.2 degrees every 2 degrees. The set mapping data can also include the correspondence relationship between scene information 2 and the corresponding control strategy 2. The scene information 2 can be the scene information of a game scene, which has a higher requirement for rendering accuracy. The control strategy 2 can be that the handle controls the single camera to capture a first image under the condition that the step motor rotates 0.1 degrees to make the spherical rotating mechanism rotate 0.1 degrees every 1 degree.

[0090] For example, when the head-mounted display device renders and displays a virtual picture in a video scene based on a video application, the head-mounted display device can obtain the scene information of the video scene according to the virtual picture rendered and displayed, and send the scene information of the video scene to the handle.

[0091] For another example, when the head-mounted display device renders and displays a virtual picture in a game scene based on a game application, the head-mounted display device can obtain the scene information of the game scene according to the virtual picture rendered and displayed, and send the scene information of the game scene to the handle.

[0092] In step S3212, a control strategy matched with the target scene information is determined as the target control strategy according to the target scene information and the set mapping data.

[0093] Continuing the above example, the handle receives the scene information of the video scene. Since the scene information of the video scene is scene information 1, the handle can obtain the correspondence relationship between the scene information 1 and the corresponding control strategy 1 from the set mapping data, and further take the control strategy 1 as the target control strategy.

[0094] Continuing the above example, the handle receives the scene information of the game scene. Since the scene information of the game scene is scene information 2, the handle can obtain the correspondence relationship between the scene information 2 and the corresponding control strategy 2 from the set mapping data, and further take the control strategy 2 as the target control strategy.

[0095] In step S3220, a plurality of different positions of the rotating device are determined based on the target control strategy during the driving of the rotating device by the driving device, and the single camera is controlled to capture a first image for each of the plurality of different positions of the rotating device, so as to obtain a first image corresponding to each of the plurality of different positions of the rotating device.

[0096] Continuing the above example, taking the scene information of the video scene, i.e. scene information 1, as an example, and taking the control policy 1 as an example, in which the handle controls the stepper motor to rotate 2 degrees to make the spherical rotating mechanism rotate 0.2 degrees, a single camera can collect a first image. When the spherical rotating mechanism rotates one round, the single camera collects 1800 first images in total.

[0097] Continuing the above example, taking the scene information of the game application, i.e. scene information 2, as an example, and taking the control policy 2 as an example, in which the handle controls the stepper motor to rotate 1 degree to make the spherical rotating mechanism rotate 0.1 degrees, a single camera can collect a first image. When the spherical rotating mechanism rotates one round, the single camera collects 3600 first images in total.

[0098] After the above step S3200, in the process of driving the rotating device to rotate by the driving device, for a plurality of different positions of the rotating device, the single camera is controlled to collect a first image respectively, and after obtaining the first images corresponding to the plurality of different positions of the rotating device respectively, the following step is entered:

[0099] Step S3300, positioning the handle according to the first images corresponding to the plurality of different positions of the rotating device respectively.

[0100] In the embodiment, since each first image corresponds to a relative position between the camera and the handle, and each first image also corresponds to a position of the camera, the position of the handle can be positioned through the plurality of first images.

[0101] In one specific embodiment, the step S3300 of positioning the handle according to the first images corresponding to the plurality of different positions of the rotating device respectively can further include the following steps S3310-S3320:

[0102] Step S3310, obtaining target position information corresponding to the first images corresponding to the plurality of different positions of the rotating device respectively; wherein the target position information includes position information of a first position of the single camera, and second position information of a relative position between the single camera and the handle.

[0103] Step S3320, obtaining position information of the handle according to the target position information corresponding to the first images corresponding to the plurality of different positions of the rotating device respectively.

[0104] According to the embodiment of the present disclosure, the handle controls the driving device to drive the rotating device to rotate, and in the process of driving the rotating device to rotate, the single camera is controlled to capture a first image for each of a plurality of different positions of the rotating device, so as to obtain the first image corresponding to each of the plurality of different positions of the rotating device. That is, the handle still uses a single camera. However, since the single camera is arranged on the rotating device, the single camera rotates with the rotating device in the process of rotating the rotating device. Therefore, the single camera can capture the first image corresponding to each of the plurality of different positions of the rotating device. In this way, the single camera can capture the first image at different angles, thereby obtaining a larger field of view. At the same time, since the single camera only occupies one image processing channel of the processing chip in the handle, the operation pressure of the processing chip in the handle is reduced, and the performance requirement of the processing chip in the handle is lowered while realizing the independent space positioning capability.

[0105] <Device Embodiment>

[0106] Figure 4 FIG. 1 is a schematic diagram of a positioning device of a handle according to an embodiment. The handle includes a handle body, a rotating device, a driving device, and a single camera. The rotating device and the driving device are arranged on the handle body, and the rotating device and the driving device are connected. The single camera is arranged on the rotating device. As shown in FIG. 1, the device 400 includes a control module 410, an acquisition module 420, and a positioning module 430. Figure 4

[0107] The control module 410 is configured to control the driving device to drive the rotating device to rotate.

[0108] The acquisition module 420 is configured to, in the process of driving the rotating device to rotate, control the single camera to capture a first image for each of a plurality of different positions of the rotating device, so as to obtain the first image corresponding to each of the plurality of different positions of the rotating device.

[0109] The positioning module 430 is configured to position the handle according to the first image corresponding to each of the plurality of different positions of the rotating device.

[0110] In an embodiment, the control module 410 is specifically configured to obtain a target driving parameter corresponding to the driving device. The target driving parameter includes at least one of a target rotating direction and a target rotating speed. The driving device is controlled to rotate based on the target driving parameter, so that the driving device drives the rotating device to rotate.

[0111] ​In one embodiment, the rotating device is a gear ball rotation mechanism, the driving device is a gear stepping motor, and the gear of the gear ball rotation mechanism and the gear of the stepping motor are engaged.

[0112] In one embodiment, the gear of the gear ball rotation mechanism includes 360 teeth, the gear of the stepping motor includes 36 teeth, and the transmission ratio of the gear of the stepping motor and the gear of the gear ball rotation mechanism is 10:1.

[0113] In one embodiment, the acquisition module 430 is specifically configured to

[0114] obtain a target control strategy; wherein the target control strategy at least includes: in the case that the driving device rotates by a first set of degrees, the rotating device rotates by a second set of degrees, controlling the single camera to capture a first image; in the process of driving the rotating device to rotate, based on the target control strategy, determining a plurality of different positions of the rotating device; and for the plurality of different positions of the rotating device, respectively controlling the single camera to capture a first image to obtain a first image corresponding to each of the plurality of different positions of the rotating device.

[0115] In one embodiment, the positioning module 430 is specifically configured to obtain target position information corresponding to the first image corresponding to each of the plurality of different positions; wherein the target position information includes position information of a first position of the single camera, second position information of a relative position between the single camera and the handle; and obtain position information of the handle according to the target position information corresponding to the first image corresponding to each of the plurality of different positions.

[0116] In one embodiment, the acquisition module 420 is further configured to receive a current control strategy set through a first setting interface as the target control strategy.

[0117] In one embodiment, the acquisition module 420 is further configured to obtain target scene information of a virtual scene rendered and displayed by the head-mounted display device and set mapping data; wherein the set mapping data is data reflecting the correspondence between different scene information and the control strategy corresponding thereto; and determine a control strategy matching the target scene information as the target control strategy according to the target scene information and the set mapping data.

[0118] According to the embodiment of the present disclosure, the handle controls the driving device to drive the rotating device to rotate, and in the process of driving the rotating device to rotate, the single camera is controlled to capture a first image for each of a plurality of different positions of the rotating device, so as to obtain the first image corresponding to each of the plurality of different positions of the rotating device. That is, the handle still uses a single camera. However, since the single camera is arranged on the rotating device, the single camera rotates with the rotating device in the process of rotating the rotating device. Therefore, the single camera can capture the first image corresponding to each of the plurality of different positions of the rotating device. In this way, the single camera can capture the first image at different angles, thereby obtaining a larger field of view. At the same time, since the single camera only occupies one image processing channel of the processing chip in the handle, the operation pressure of the processing chip in the handle is reduced, and the performance requirement of the processing chip in the handle is reduced.

[0119] <Device Embodiment>

[0120] Figure 5 FIG. 1 is a schematic diagram of a hardware structure of a handle according to an embodiment. As shown in FIG. 1, the handle 500 includes a processor 510 and a memory 520. Figure 5

[0121] The memory 520 can be used to store executable computer instructions.

[0122] The processor 510 can be used to control the positioning method of the handle according to the executable computer instructions.

[0123] The handle 500 can be the handle 2000 as shown in FIG. 2, or can be a device with other hardware structures, which is not limited here. Figure 1 In another embodiment, the handle 500 can include the positioning device 400 of the handle.

[0124] In an embodiment, each module of the positioning device 400 of the handle can be realized by running the computer instructions stored in the memory 520 by the processor 510.

[0125] <Computer-readable storage medium>

[0126] The embodiment of the present disclosure further provides a computer-readable storage medium, which stores computer instructions, and the computer instructions are run by a processor to execute the positioning method of the handle provided by the embodiment of the present disclosure.

[0127]

[0128] ​​The present disclosure can be a system, a method, and / or a computer program product. The computer program product can include a computer readable storage medium (or media) having computer readable program instructions thereon for causing a processor to carry out aspects of the present disclosure.

[0129] The computer readable storage medium can be a tangible device that can retain and store instructions for use by an instruction execution device. The computer readable storage medium can be, for example, but is not limited to, an electronic storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium include the following: a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), a static random access memory (SRAM), a portable compact disc read-only memory (CD-ROM), a digital versatile disk (DVD), a memory stick, a floppy disk, a mechanically encoded device such as punch-cards or punched tape, a

[0130] The computer readable program instructions described herein can be downloaded to respective computing / processing devices from a computer readable storage medium or to an external computer or external storage device via a network, for example, the Internet, a local area network, a wide area network and / or a wireless network. The network can comprise copper transmission cables, optical transmission fibers, wireless transmission, routers, firewalls, switches, gateway computers and / or edge servers. A network adapter card or network interface in each computing / processing device receives computer readable program instructions from the network and forwards the computer readable program instructions for storage in a computer readable storage medium within the respective computing / processing device.

[0131] Computer readable program instructions for carrying out operations of the present disclosure can be assembler instructions, instruction-set-architecture (ISA) instructions, machine instructions, machine dependent instructions, microcode, firmware instructions, state-setting data, or either source code or object code written in any combination of one or more programming languages, including an object oriented programming language such as Smalltalk, C++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The computer readable program instructions can execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or the connection can be made to an external computer (for example, through the Internet using an Internet Service Provider). In some embodiments, electronic circuitry including, for example, programmable logic circuitry, field-programmable gate array (FPGA), or programmable logic array (PLA) can execute the computer readable program instructions by utilizing state information of the computer readable program instructions to personalize the electronic circuitry, in order to perform aspects of the present disclosure.

[0132] The computer readable program instructions can also be loaded onto a computer, other programmable data processing apparatus, or other device to cause a series of operational steps to be performed on the computer, other programmable apparatus or other device to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide processes for implementing the functions / acts specified in the flowchart and / or block diagram block or blocks.

[0133] The computer readable program instructions can also be loaded onto a computer, other programmable data processing apparatus, or other device to cause a series of operational steps to be performed on the computer, other programmable apparatus or other device to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide processes for implementing the functions / acts specified in the flowchart and / or block diagram block or blocks.

[0134] Computer-readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other device to cause a series of operational steps to be performed on the computer, other programmable data processing apparatus, or other device to produce a computer-implemented process, thereby causing the instructions executed on the computer, other programmable data processing apparatus, or other device to perform the functions / actions specified in one or more boxes of a flowchart and / or block diagram.

[0135] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of the present disclosure. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of an instruction containing one or more executable instructions for implementing a specified logical function. In some alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions. It will be known to those skilled in the art that implementation in hardware, implementation in software, and implementation in a combination of software and hardware are equivalent.

[0136] The various embodiments of this disclosure have been described above. These descriptions are exemplary and not exhaustive, and are not limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles, practical application, or technical improvements to the embodiments in the market, or to enable others skilled in the art to understand the embodiments disclosed herein. The scope of this disclosure is defined by the appended claims.

Claims

1. A method of positioning a handle, characterized in that, The handle comprises a handle body, a rotating device, a driving device and a single camera, the rotating device and the driving device are arranged on the handle body, and the rotating device and the driving device are connected, the single camera is arranged on the rotating device, and the method comprises the following steps: controlling the driving device to drive the rotating device to rotate; in the process of driving the rotating device to rotate by the driving device, for a plurality of different positions of the rotating device, the single camera is controlled to capture a first image respectively, and a first image corresponding to each of the plurality of different positions of the rotating device is obtained; the handle is positioned according to the first image corresponding to each of the plurality of different positions of the rotating device.

2. The method of claim 1, wherein, The control of the driving device driving the rotating device to rotate comprises: obtaining a target driving parameter corresponding to the driving device; wherein the target driving parameter comprises at least one of the following: target rotating direction, target rotating speed; controlling the driving device to rotate based on the target driving parameter, so that the driving device drives the rotating device to rotate.

3. The method of claim 2, wherein, The rotating device is a gear ball rotating mechanism, the driving device is a gear stepping motor, and the gear of the gear ball rotating mechanism and the gear of the gear stepping motor are engaged; wherein the gear of the gear ball rotating mechanism comprises 360 teeth, the gear of the gear stepping motor comprises 36 teeth, and the transmission ratio of the gear of the gear stepping motor and the gear of the gear ball rotating mechanism is 10:

1.

4. The method of claim 3, wherein, In the process of driving the rotating device to rotate by the driving device, for a plurality of different positions of the rotating device, the single camera is controlled to capture a first image respectively, and a first image corresponding to each of the plurality of different positions of the rotating device is obtained, which comprises: obtaining a target control strategy; wherein the target control strategy at least comprises: in the case that the driving device rotates by a first set of degrees to make the rotating device rotate by a second set of degrees, controlling the single camera to capture a first image; in the process of driving the rotating device to rotate by the driving device, based on the target control strategy, a plurality of different positions of the rotating device are determined; and for the plurality of different positions of the rotating device, the single camera is controlled to capture a first image respectively, and a first image corresponding to each of the plurality of different positions of the rotating device is obtained.

5. The method of claim 1, wherein, The positioning of the handle according to the first image corresponding to each of the plurality of different positions of the rotating device comprises: obtaining target position information corresponding to the first image corresponding to each of the plurality of different positions; wherein the target position information comprises position information of a first position of the single camera, second position information of a relative position between the single camera and the handle; obtaining position information of the handle according to the target position information corresponding to the first image corresponding to each of the plurality of different positions.

6. The method of claim 4, wherein, The target control strategy is obtained by: receiving a current control strategy set through a first setting interface as the target control strategy.

7. The method of claim 4, wherein, The acquisition target control strategy further comprises: acquiring target scene information of a virtual scene rendered by the head-mounted display device and mapping data of a setting, wherein the mapping data of the setting is data reflecting a corresponding relationship between different scene information and corresponding control strategies; determining a control strategy matching the target scene information as the target control strategy according to the target scene information and the mapping data of the setting.

8. A handle positioning device, characterized by The handle comprises a handle body, a rotating device, a driving device and a single camera, the rotating device and the driving device are arranged on the handle body, and the rotating device and the driving device are connected, the single camera is arranged on the rotating device, and the device comprises: a control module for controlling the driving device to drive the rotating device to rotate; a collection module for controlling the single camera to collect a first image for each of a plurality of different positions of the rotating device in the process that the driving device drives the rotating device to rotate, and obtaining a first image corresponding to each of the plurality of different positions of the rotating device; 9. A handle characterized in that, a positioning module for positioning the handle according to the first image corresponding to each of the plurality of different positions of the rotating device. The handle comprises: a memory for storing executable computer instructions; 5a processor for executing the positioning method of the handle according to any one of claims 1-7 according to the control of the executable computer instructions. 10.A computer readable storage medium having computer instructions stored thereon, wherein the computer instructions are executed by a processor to perform the positioning method of the handle according to any one of claims 1-7.

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