Method and system for sharing three-dimensional space annotation track in different places

Abstract

The present application provides a method and system for sharing three-dimensional space annotation trajectory in different places. In response to starting a first electronic device to display a first space, the first electronic device acquires a first reference point of a specified object presented in the first space. After the first electronic device displays the first space, the first electronic device detects a three-dimensional moving trajectory of a target object in the first space, detects turning point information of the three-dimensional moving trajectory and acquires a diameter of the three-dimensional moving trajectory, and then transmits the turning point information and the diameter to a second electronic device. In response to starting the second electronic device to display a second space, the second electronic device reconstructs the three-dimensional moving trajectory based on the turning point information and the diameter, and presents the three-dimensional moving trajectory in the second space based on a second reference point relative to the first reference point.

Description

Technical Field

[0001] This invention relates to a remote transmission mechanism, and more particularly to a method and system for sharing three-dimensional spatially labeled trajectories remotely. Background Technology

[0002] With the development of technology, the applications of Augmented Reality (AR) and Mixed Reality (MR) are becoming increasingly widespread. The technical principle of AR is to use a camera to capture real-world scenes and combine this with some kind of recognition and positioning technology to augment the real-world scene on the screen with computer-generated virtual objects, allowing users to see content from both the real and virtual worlds simultaneously. Mixed Reality refers to the creation of new environments and visualizations by combining the real and virtual worlds; it is a synthesis of Virtual Reality (VR) and Augmented Reality. Augmented Reality and Mixed Reality technologies can be further applied to remote operation guidance. For example, the process of operating locally can be presented remotely in real time. Therefore, how to improve remote transmission is one of the current research topics. Summary of the Invention

[0003] This invention relates to a method and system for sharing three-dimensional spatial annotation trajectories remotely, which can share three-dimensional spatial annotation trajectories in real time.

[0004] According to an embodiment of the present invention, a method for remotely sharing a three-dimensional spatial annotation trajectory includes: in response to activating a first electronic device to display a first space, obtaining a first reference point of a designated object presented in the first space through the first electronic device; after the first electronic device displays the first space, detecting a three-dimensional movement trajectory of the target object in the first space through the first electronic device; detecting turning point information of the three-dimensional movement trajectory through the first electronic device, and obtaining the diameter of the three-dimensional movement trajectory; transmitting the turning point information and the diameter to a second electronic device through the first electronic device; and in response to activating a second electronic device to display a second space, reconstructing the three-dimensional movement trajectory based on the turning point information and the diameter through the second electronic device, and presenting the three-dimensional movement trajectory in the second space based on a second reference point relative to the first reference point.

[0005] According to an embodiment of the present invention, a system for remotely sharing three-dimensional spatial annotation trajectories includes: a first electronic device and a second electronic device, wherein the first electronic device and the second electronic device communicate with each other via a network. The first electronic device is configured to: in response to activating the first electronic device to display a first space, obtain a first reference point of a designated object presented in the first space; after the first electronic device displays the first space, detect the three-dimensional movement trajectory of the target object in the first space; detect inflection point information of the three-dimensional movement trajectory and obtain the diameter of the three-dimensional movement trajectory; and transmit the inflection point information and the diameter to the second electronic device. The second electronic device is configured to: in response to activating the second electronic device to display a second space, reconstruct the three-dimensional movement trajectory based on the inflection point information and the diameter, and present the three-dimensional movement trajectory in the second space based on a second reference point relative to the first reference point.

[0006] Based on the above, the present invention transmits the turning point information and diameter of the detected three-dimensional movement trajectory to the second electronic device through the first electronic device. Accordingly, the size of the transmitted data can be reduced, thereby reducing the delay problem of imaging by the second electronic device and achieving the effect of real-time sharing. Attached Figure Description

[0007] Figure 1 This is a system block diagram of remote sharing of three-dimensional spatial annotation trajectories according to an embodiment of the present invention;

[0008] Figure 2 This is a schematic diagram of a system for sharing three-dimensional spatial annotation trajectories remotely according to an embodiment of the present invention;

[0009] Figure 3 This is a flowchart of a method for sharing three-dimensional spatial annotation trajectories remotely according to an embodiment of the present invention;

[0010] Figure 4 This is a schematic diagram of a three-dimensional movement trajectory according to an embodiment of the present invention.

[0011] [Explanation of reference numerals] 110 - First electronic device; 120 - Second electronic device; 130 - Network; 111, 121 - Computing device; 113, 123 - Display; 115, 125 - Communication device; 117, 127 - Sensor; 210 - First space; 220 - Second space; 401 - Three-dimensional movement trajectory; B1, B2 - Designated object; O1, O2 - Origin coordinates; P1 - First reference point; P2 - Second reference point; U1, U2 - User; V n V n-1 V n+1 - Sampling point; θ n - Angle;

[0012] S305~S320 - Flowchart of the method for sharing 3D spatial annotation trajectories remotely. Detailed Implementation

[0013] Figure 1 This is a system block diagram for remotely sharing three-dimensional spatial annotation trajectories according to an embodiment of the present invention. Please refer to... Figure 1 The system includes a first electronic device 110 and a second electronic device 120. The first electronic device 110 and the second electronic device 120 communicate with each other via a network 130. In one embodiment, the first electronic device 110 is located locally, and the second electronic device 120 is located remotely. In another embodiment, the first electronic device 110 and the second electronic device 120 can be simultaneously located in the same space for use by different users.

[0014] The first electronic device 110 and the second electronic device 120 can be head-mounted displays, mixed reality (MR) glasses, or augmented reality (AR) glasses. Alternatively, assuming the first electronic device 110 is the operating end and the second electronic device 120 is the receiving end, the first electronic device 110 can be implemented using a head-mounted display, MR glasses, or AR glasses, and the second electronic device 120 can be implemented using electronic devices with displays, such as personal computers, laptops, tablets, smartphones, and smart TVs.

[0015] The first electronic device 110 includes a computing device 111, a display 113, a communication device 115, and a sensor 117. The computing device 111 is coupled to the display 113, the communication device 115, and the sensor 117. The second electronic device 120 includes a computing device 121, a display 123, a communication device 125, and a sensor 127. The computing device 121 is coupled to the display 123, the communication device 125, and the sensor 127.

[0016] Computing devices 111 and 121 each include a processor and a memory. The memory stores one or more code segments for execution by their corresponding processors. The processor may be, for example, a Central Processing Unit (CPU), a Physical Processing Unit (PPU), a programmable microprocessor, an embedded control chip, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), or other similar devices.

[0017] The memory is, for example, any type of fixed or removable random access memory (RAM), read-only memory (ROM), flash memory, hard disk, or other similar device or combination thereof.

[0018] Sensors 117 and 127 are, for example, image sensors, which are devices that convert optical images into electronic signals. Image sensors are mainly divided into charge-coupled devices (CCDs) and complementary metal-oxide-semiconductor (CMOS) devices.

[0019] Communication devices 115 and 125 can be chips or circuits employing Local Area Network (LAN) technology, Wireless Local Area Network (WLAN) technology, or mobile communication technology. An example of a LAN is Ethernet. An example of a WLAN is Wi-Fi. Examples of mobile communication technologies include Global System for Mobile Communications (GSM), third-generation (3G), fourth-generation (4G), and fifth-generation (5G).

[0020] In another embodiment, the system may further be configured with a cloud server, such that one of the first electronic device 110 and the second electronic device 120 uploads data / information to the cloud server, and the other downloads the required data / information from the cloud server.

[0021] Figure 2 This is a schematic diagram of a system for remotely sharing three-dimensional spatially labeled trajectories according to an embodiment of the present invention. In this embodiment, it is assumed that the first electronic device 110 and the second electronic device 120 are head-mounted mixed reality glasses. Furthermore, it is assumed that user U1 wears the first electronic device 110 and user U2 wears the second electronic device 120.

[0022] The display 113 of the first electronic device 110 is used to display the first space 210 and present the designated object B1 in the first space 210. After the first electronic device 110 is activated to display the first space 210, the first electronic device 110 generates a coordinate system of the first space 210 (with origin coordinates O1), and further obtains the first reference point P1 of the designated object B1, and transmits the first reference point P1 to the second electronic device 120.

[0023] The display 123 of the second electronic device 120 is used to display the second space 220 and present the designated object B2 in the second space 220. After the second electronic device 120 is activated to display the second space 220, the second electronic device 120 generates a coordinate system for the second space 220 (with an origin coordinate O2). The second electronic device 120 displays the designated object B2 corresponding to the designated object B1 in the second space 220 based on a second reference point P2 relative to the first reference point P1, so that the content presented in the second space 220 corresponds to the content presented in the first space 210.

[0024] In one embodiment, the designated object B1 displayed in the first space 210 is an image of a physical object (e.g., a machine) seen by the user U1. The designated object B2 displayed in the second space 220 is a virtual model pre-built by the computing device 121 based on the physical object.

[0025] In another embodiment, the designated object B1 in the first space 210 is a virtual model pre-built by the computing device 111 based on the physical object. The designated object B2 in the second space 220 is a virtual model pre-built by the computing device 121 based on the physical object.

[0026] In another embodiment, the first electronic device 110 and the second electronic device 120 are located in different physical spaces. The designated object B1 observed in the first space 210 is an image of a physical object (e.g., a machine) seen by user U1. The designated object B2 observed in the second space 220 is also an image of a physical object seen by user U2, and user U1 and user U2 see the same type of physical machine.

[0027] In one embodiment, the designated object B1 displayed in the first space 210 is a virtual model pre-built by the computing device 111 based on a physical object (e.g., a machine). The designated object B2 displayed in the second space 220 is an image of a physical object (e.g., a machine) seen by the user U2.

[0028] The first electronic device 110 can detect the three-dimensional movement trajectory obtained by the user U1 using the operation of the target object through the sensor 117, and correspondingly display the three-dimensional movement trajectory in the second space 220 of the second electronic device 120. Another embodiment will be described below.

[0029] Figure 3 This is a flowchart of a method for remotely sharing three-dimensional spatially labeled trajectories according to an embodiment of the present invention. Please refer to... Figures 1-3 In step S305, in response to activating the first electronic device 110 to display the first space 210, the first reference point P1 of the designated object B1 presented in the first space 210 is obtained by the first electronic device 110. When the first electronic device 110 is activated and displays the first space 210, it generates a coordinate system. For example, a coordinate system corresponding to the origin coordinate O1 is generated. Then, the movement of the target object in this coordinate system is sensed by the sensor 117 to collect data. Here, the target object is, for example, the hand of the user U1. The first space 210 is, for example, the space corresponding to the mixed reality image displayed by the first electronic device 110.

[0030] Next, in step S310, after the first electronic device 110 displays the first space 210, the first electronic device 110 detects the three-dimensional movement trajectory of the target object in the first space 210. That is, the operation of the user U1's hand is detected by the sensor 117 to obtain the three-dimensional movement trajectory.

[0031] Next, in step S315, the turning point information of the three-dimensional movement trajectory is detected by the first electronic device 110, and the diameter of the three-dimensional movement trajectory is obtained. For example, after the sensor 117 detects the three-dimensional movement trajectory, the computing device 111 can extract its diameter and turning point information from the three-dimensional movement trajectory. For example, the computing device 111 can provide input options for the user U1 to select parameters such as the thickness (diameter) and color of the trajectory, or use preset parameters such as the thickness (diameter) and color of the trajectory to generate the three-dimensional movement trajectory. The turning point information records the coordinate information of the points determined to be turning points.

[0032] In this embodiment, the computing device 111 first extracts multiple sampling points from the three-dimensional movement trajectory, and forms two lines based on each sampling point and its two adjacent sampling points, and generates an angle between these two lines. In response to an angle less than a set value, the computing device 111 determines that the sampling point is a turning point and records the coordinates of the turning point as turning point information.

[0033] Figure 4 This is a schematic diagram of a three-dimensional movement trajectory according to an embodiment of the present invention. Please refer to... Figure 4 It plots a portion of the three-dimensional movement trajectory 401, and uses sampling point V. nTo illustrate, take the sampling point V. n adjacent sampling points V n-1 and sampling point V n+1 To calculate the sampling point V n The corresponding included angle θ n That is, based on sampling point V n With sampling point V n-1 Form the first connection, based on the sampling point V. n With sampling point V n+1 A second line is formed. Furthermore, an angle θ is generated between the first and second lines. n For example, the included angle θ can be obtained using the following formula. n :

[0034]

[0035] Representative sampling point V n With sampling point V n-1 The resulting vector, Representative sampling point V n With sampling point V n+1 The resulting vector.

[0036] Next, the computing device 111 determines the included angle θ. n Is it less than a set value (e.g., 180°, 170°, etc.)? Responds to the included angle θ. n If the value is less than the set value, the computing device 111 determines that the sampling point V is less than the set value. n This is the turning point, and its coordinates are recorded as turning point information. The turning point information only records points identified as turning points. If the included angle θ... n If the value is not less than the set value, the computing device 111 determines that the sampling point V is not less than the set value. n It's not a turning point.

[0037] Furthermore, the computing device 111 records the coordinates of the intersection of the tangents of every two adjacent turning points as an intermediate point in the turning point information. That is, it calculates an intermediate point for each turning point and its next turning point within the recorded turning point information. Taking turning point P... m With turning point P m+1 In terms of calculating the inflection point P m With turning point P m+1 The tangents to both lines are then calculated, and the coordinates of the intersection point of the two tangents are recorded as the inflection point information, which is used as the inflection point P. m With turning point P m+1 The midpoint P between m+0.5 .

[0038] Subsequently, in step S320, the turning point information and diameter are transmitted to the second electronic device 120 via the first electronic device 110. Furthermore, in step S325, in response to activating the second electronic device 120 to display the second space 220, the second electronic device 120 reconstructs the three-dimensional movement trajectory based on the turning point information and diameter, and presents the three-dimensional movement trajectory in the second space 220 based on a second reference point P2 relative to the first reference point P1.

[0039] In one embodiment, before transmission, the first electronic device 110 may first obtain encoded information by encoding the inflection point information and diameter through the computing device 111, and then transmit the encoded information to the second electronic device 120. In another embodiment, the first electronic device 110 may transmit the encoded information to a cloud server, so that the second electronic device 120 can download the encoded information from the cloud server.

[0040] After obtaining the encoded information, the second electronic device 120 decodes the encoded information using the computing device 121 to obtain the inflection point information and the diameter. Then, the computing device 121 determines whether the number of inflection points in the inflection point information is greater than a threshold (e.g., 2). If the number of inflection points is greater than the threshold, the computing device 121 determines that the three-dimensional movement trajectory is a curve, and substitutes all the inflection points in the inflection point information and the midpoints between two inflection points into a curve generator (e.g., a Bezier curve generator) to reconstruct the curve, and combines this with the diameter to reconstruct the three-dimensional movement trajectory. Conversely, if the number of inflection points is not greater than the threshold, the computing device 121 determines that the three-dimensional movement trajectory is a straight line, and then combines this with the diameter to reconstruct the three-dimensional movement trajectory (straight line trajectory).

[0041] The first electronic device 110 and the second electronic device 120 have the following four usage scenarios: The first scenario is that the first electronic device 110 displays an image of a physical object, meaning the physical object is seen by user U1 through the first electronic device 110, and a virtual model corresponding to the physical object is displayed in the second electronic device 120. The second scenario is that the first electronic device 110 displays a first virtual model, and the second electronic device 120 displays a second virtual model corresponding to the first virtual model. The third scenario is that the first electronic device 110 and the second electronic device 120 are in different physical spaces; user U1 sees the physical object through the first electronic device 110, and user U2 sees the physical object through the second electronic device 120. The fourth scenario is the opposite of the first scenario; the second electronic device 120 displays an image of the physical object, meaning the physical object is seen by user U2 through the second electronic device 120, and a virtual model corresponding to the physical object is displayed in the first electronic device 110. In the first, third, and fourth scenarios, the physical object will have at least one identification mark as a reference point. The above steps S305 to S325 are applicable to the four scenarios respectively, and are explained in detail below.

[0042] In the first scenario, the designated object B1 corresponds to a physical object presented in the first space 210, and the physical object has an identification mark. In response to activating the first electronic device 110 to display the first space 210, the physical object is what the user sees through the first electronic device 110. The first electronic device 110 captures the physical object using its sensor 117 and records the spatial address of the corresponding designated object B1 on the display 113. The first electronic device 110 initiates origin space detection, using the currently detected space as the first space 210. At this time, the computing device 111 can obtain the first reference point P1 of the designated object B1 presented in the first space 210 based on this identification mark. The first electronic device 110 also transmits the first reference point P1 to the second electronic device 120. The computing device 121 of the second electronic device 120 locates a second reference point P2 relative to the first reference point P1 in the second space 220, and displays a virtual model (designated object B2) corresponding to the designated object B1 in the second space 220 based on the second reference point P2.

[0043] In the first scenario, user U1 detects the three-dimensional movement trajectory of the target object (user U1's hand) in the first space 210 through the first electronic device 110, and transmits the turning point information and diameter based on the three-dimensional movement trajectory to the second electronic device 120. After reconstructing the three-dimensional movement trajectory, the computing device 121 presents the three-dimensional movement trajectory of the corresponding virtual model (designated object B2) in the second space 220.

[0044] On the other hand, in the first scenario, user U2 can also detect the three-dimensional movement trajectory of another target object (user U2's hand) in the second space 220 through the second electronic device 120, and detect the turning point information of the three-dimensional movement trajectory through the computing device 121. After obtaining the diameter of the three-dimensional movement trajectory, the obtained turning point information and diameter are transmitted to the first electronic device 110, so that the first electronic device 110 reconstructs the three-dimensional movement trajectory (which was detected by the second electronic device 120) based on the received turning point information and diameter. After the first electronic device 110 reconstructs the three-dimensional movement trajectory, the computing device 111 presents the three-dimensional movement trajectory of the corresponding designated object B1 in the first space 210.

[0045] User U1 uses the first electronic device 110 in the first space 210 to transmit turning point information and diameter to the second electronic device 120. After reconstructing the three-dimensional movement trajectory, the computing device 121 presents the three-dimensional movement trajectory of the corresponding virtual model (designated object B2) in the second space 220. Similarly, after user U2 uses the second electronic device 120 in the second space 220 to transmit turning point information and diameter to the first electronic device 110, and after reconstructing the three-dimensional movement trajectory, the computing device 111 presents the corresponding three-dimensional movement trajectory (designated object B1) in the first space 210.

[0046] In addition, in the first scenario, after the corresponding virtual model (designated object B2) is presented in the second space 220, in response to the movement of the virtual model in the second space 220, the computing device 121 obtains the coordinate offset information of the virtual model and presents the three-dimensional movement trajectory of the corresponding virtual model in the second space 220 based on the coordinate offset information.

[0047] In the second scenario, designated object B1 is a first virtual model loaded into the first space 210, in which the position of the first reference point P1 is predefined; designated object B2 is a second virtual model loaded into the second space 220, in which the position of the second reference point P2 corresponding to the first reference point P1 is predefined. In response to activating the first electronic device 110 to display the first space 210, the computing device 111 loads the first virtual model into the first space 210 and obtains and presents the first reference point. In response to activating the second electronic device 120 to display the second space 220, the computing device 121 loads the second virtual model relative to the first virtual model into the second space 220. In response to the movement of the first virtual model in the first space 210, the computing device 111 obtains the first coordinate offset information of the first virtual model and transmits it to the second electronic device 120, so that the computing device 121 of the second electronic device 120 presents the three-dimensional movement trajectory of the corresponding second virtual model in the second space 220 based on the first coordinate offset information. In response to the movement of the second virtual model in the second space 220, the computing device 121 of the second electronic device 120 obtains the second coordinate offset information of the second virtual model, and presents the three-dimensional movement trajectory of the corresponding first virtual model in the second space 220 based on the second coordinate offset information.

[0048] In other words, in the second scenario, after defining the first space 210 and the second space 220 corresponding to the first electronic device 110 and the second electronic device 120, if the first virtual model in the first space 210 does not move, the first electronic device 110 only needs to record the information of the three-dimensional movement trajectory, without needing to record the coordinate linkage related to the first virtual model. If the first virtual model in the first space 210 moves, the information of the three-dimensional movement trajectory and the first coordinate offset information need to be transmitted to the second electronic device 120 so that the second virtual model presented in the second space 220 of the second electronic device 120 moves accordingly.

[0049] In the third scenario, the current space where users U1 and U2 are located is determined by the spatial position of the visually perceived physical object obtained by the first electronic device 110 and the second electronic device 120. In this embodiment, the first space 210 and the second space 220 are geographically separate physical spaces. The first electronic device 110 initiates origin space detection, using the currently detected space as the first space 210. In response to initiating the first electronic device 110 to display the first space 210, the computing device 111 of the first electronic device 110 obtains the first reference point P1 of the designated object B1 presented in the first space 210 based on an identification marker. Additionally, the second electronic device 120 initiates origin space detection, using the currently detected space as the second space 220. In response to initiating the second electronic device 120 to display the second space 220, the computing device 121 of the second electronic device 120 obtains the second reference point P2 of the designated object B2 presented in the second space 220 based on an identification marker.

[0050] In the fourth scenario, an image of the physical object is displayed in the second electronic device 120, meaning the physical object is what the user sees through the second electronic device 120, and a virtual model corresponding to the physical object is displayed in the first electronic device 110. The second electronic device 120 initiates origin space detection, using the currently detected space as the second space 220. After user U1 transmits the turning point information and diameter relative to the first reference point P1 to the second electronic device 120 using the first electronic device 110 in the first space 210, and after reconstructing the three-dimensional movement trajectory, the computing device 121 presents the three-dimensional movement trajectory relative to the second reference point P2 in the second space 220. After user U2 transmits the turning point information and diameter relative to the second reference point P2 to the first electronic device 110 using the second electronic device 120 in the second space 220, and after reconstructing the three-dimensional movement trajectory, the computing device 111 presents the three-dimensional movement trajectory relative to the first reference point P1 in the first space 210.

[0051] In summary, this invention enables the transmission of inflection point information and diameter of a three-dimensional movement trajectory detected by an electronic device at the operating end (e.g., a first electronic device) to an electronic device at the receiving end (e.g., a second electronic device). Accordingly, by transmitting only the inflection point information and diameter without transmitting the complete data, the amount of data transmitted can be significantly reduced.

[0052] In terms of recording the complete data, the recording format is as follows: 3D coordinates (x, y, z) for each point, requiring a total of 156 points; normal vector information for each point; information for each face, totaling 144 faces; color information, i.e., RGB, totaling 3 bits. The file size is 18.1 Kbytes. With 4G network transmission, the transmission time is 1.8 ms. However, with the method of this invention, the recording format is as follows: 3D coordinates (x, y, z) of the turning point, totaling 3 points; diameter, totaling 1 integer value; color information, i.e., RGB, totaling 3 bits. The file size is 49 bytes. With 4G network transmission, the transmission time is 0.005 ms.

[0053] By reducing the amount of data transmitted, the transmission speed can be increased, thus solving the latency problem of imaging remote electronic devices. Furthermore, even when the specified object presented in the two electronic devices does not move, the three-dimensional movement trajectory can be displayed without any coordinate transformation, achieving the effect of real-time sharing.

[0054] The specific embodiments described above further illustrate the purpose, technical solutions, and beneficial effects of this disclosure. It should be understood that the above descriptions are merely specific embodiments of this disclosure and are not intended to limit this disclosure. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this disclosure should be included within the protection scope of this disclosure.

Claims

1. A method for sharing a three-dimensional space annotation track in a remote place, characterized in that, comprising: in response to starting a first electronic device to display a first space, obtaining, by the first electronic device, a first reference point of a specified object presented in the first space, wherein an input option for selecting a line thickness parameter is pre-set or provided in the first electronic device for a user to select, so that the first electronic device generates a three-dimensional movement trajectory based on the line thickness parameter and the movement of the target object; after the first electronic device displays the first space, detecting, by the first electronic device, a three-dimensional movement trajectory of the target object in the first space; detecting, by the first electronic device, turning point information of the three-dimensional movement trajectory and obtaining a line thickness of the three-dimensional movement trajectory; transmitting, by the first electronic device, the turning point information and the line thickness to a second electronic device; and in response to starting the second electronic device to display a second space, reconstructing, by the second electronic device, the three-dimensional movement trajectory based on the turning point information and the line thickness, and presenting the three-dimensional movement trajectory in the second space based on a second reference point relative to the first reference point, wherein in response to the three-dimensional movement trajectory being a curve, all turning points included in the turning point information are brought into a curve generator to reconstruct the curve, and the three-dimensional movement trajectory is reconstructed in combination with the line thickness of the three-dimensional movement trajectory; the step of detecting, by the first electronic device, the turning point information of the three-dimensional movement trajectory comprises: extracting a plurality of sampling points from the three-dimensional movement trajectory, generating an included angle according to a first connecting line formed by an nth sampling point and an (n-1)th sampling point, and a second connecting line formed by the nth sampling point and an (n+1)th sampling point; determining whether the included angle is less than a set value; and in response to the included angle being less than the set value, determining that the nth sampling point is a turning point, and recording the coordinates of the turning point to the turning point information.

2. The method for sharing a three-dimensional space annotation track remotely according to claim 1, wherein, the step of detecting, by the first electronic device, the turning point information of the three-dimensional movement trajectory comprises: recording the coordinates of the intersection of the tangent lines of each adjacent two turning points as an intermediate point to the turning point information.

3. The method for sharing a three-dimensional space annotation track remotely according to claim 1, wherein, after transmitting, by the first electronic device, the turning point information and the line thickness to the second electronic device, further comprising: determining, by the second electronic device, whether the number of turning points in the turning point information is greater than a threshold value; in response to the number of turning points being greater than the threshold value, determining that the three-dimensional movement trajectory is a curve; and in response to the number of turning points not being greater than the threshold value, determining that the three-dimensional movement trajectory is a straight line.

4. The method for sharing a three-dimensional space annotation track remotely according to claim 1, wherein, the step of transmitting, by the first electronic device, the turning point information and the line thickness to the second electronic device comprises: obtaining encoded information by encoding, by the first electronic device, the turning point information and the line thickness; and transmitting, by the first electronic device, the encoded information to a cloud server; wherein, after transmitting, by the first electronic device, the encoded information to the cloud server, further comprising: downloading, by the second electronic device, the encoded information from the cloud server, and decoding to obtain the turning point information and the line thickness.

5. The method for sharing a three-dimensional space annotation track remotely according to claim 1, wherein, the specified object is a virtual model corresponding to a physical object presented in the second space, the method further comprising: wherein, in response to starting the first electronic device to display the first space, further comprising: retrieving, by the first electronic device, the first reference point of the specified object presented in the first space based on the identification mark; wherein, in response to starting the second electronic device to display the second space, further comprising: locating, by the second electronic device, the second reference point relative to the first reference point in the second space; displaying, by the second electronic device, a virtual model corresponding to the specified object in the second space based on the second reference point; and after reconstructing the three-dimensional movement trajectory, presenting, by the second electronic device, the three-dimensional movement trajectory relative to the virtual model in the second space.

6. The method for sharing a three-dimensional space annotation track remotely according to claim 1, wherein, the specified object is a virtual model corresponding to a physical object presented in the second space, the method further comprising: transmitting, by the first electronic device, the turning point information relative to the first reference point and the line thickness to the second electronic device, so that the second electronic device presents the three-dimensional movement trajectory relative to the second reference point in the second space after reconstructing the three-dimensional movement trajectory; transmitting, by the second electronic device, the turning point information relative to the second reference point and the line thickness to the first electronic device, so that the first electronic device presents the three-dimensional movement trajectory relative to the first reference point in the first space after reconstructing the three-dimensional movement trajectory.

7. The method for sharing a three-dimensional space annotation track remotely according to claim 5, wherein, after displaying, by the second electronic device, the virtual model corresponding to the specified object in the second space based on the second reference point, further comprising: in response to movement of the virtual model in the second space, retrieving, by the second electronic device, coordinate offset information of the virtual model; and presenting, by the second electronic device, the three-dimensional movement trajectory relative to the virtual model in the second space based on the coordinate offset information.

8. The method for sharing a three-dimensional space annotation track remotely according to claim 1, wherein, the specified object is a first virtual model loaded into the first space, the first virtual model including the first reference point; wherein, in response to starting the second electronic device to display the second space, further comprising: loading, by the second electronic device, a second virtual model relative to the first virtual model in the second space, wherein the second virtual model includes the second reference point.

9. The method for sharing a three-dimensional space annotation track remotely according to claim 8, wherein, in response to movement of the first virtual model in the first space, retrieving, by the first electronic device, first coordinate offset information of the first virtual model and transmitting to the second electronic device; and ​ presenting, by the second electronic device, the three-dimensional movement trajectory corresponding to the second virtual model in the second space based on the first coordinate offset information, wherein, in response to movement of the second virtual model in the second space, comprising: obtaining, by the second electronic device, second coordinate offset information of the second virtual model; and presenting, by the second electronic device, the three-dimensional movement trajectory corresponding to the first virtual model in the second space based on the second coordinate offset information.

10. The method for sharing a three-dimensional spatial annotation track remotely according to claim 1, wherein, the specified object corresponds to a physical object having an identification marker thereon, wherein, in response to starting the first electronic device to display the first space, further comprising: obtaining, by the first electronic device, the first reference point of the specified object presented in the first space based on the identification marker, wherein, in response to starting the second electronic device to display the second space, further comprising: obtaining, by the second electronic device, a second reference point of the specified object presented in the second space based on the identification marker; and presenting, in the second space, the three-dimensional movement trajectory corresponding to the reference points after reconstructing the three-dimensional movement trajectory.

11. A system for sharing three-dimensional spatial annotation tracks remotely, the system comprising: comprising: a first electronic device and a second electronic device, wherein the first electronic device and the second electronic device communicate with each other via a network, wherein the first electronic device is pre-provided or provided with input options for a user to select a line thickness parameter for the first electronic device to generate a three-dimensional movement trajectory based on movement of a target object; the first electronic device is configured to: in response to starting the first electronic device to display a first space, obtain a first reference point of a specified object presented in the first space; after the first electronic device displays the first space, detect a three-dimensional movement trajectory of a target object in the first space; detect turning point information of the three-dimensional movement trajectory and obtain a line thickness of the three-dimensional movement trajectory; and transmit the turning point information and the line thickness to the second electronic device; the second electronic device is configured to: in response to starting the second electronic device to display a second space, reconstruct the three-dimensional movement trajectory based on the turning point information and the line thickness, and present the three-dimensional movement trajectory in the second space based on a second reference point relative to the first reference point, wherein, in response to the three-dimensional movement trajectory being a curve, all turning points included in the turning point information are brought into a curve generator to reconstruct the curve, and the three-dimensional movement trajectory is reconstructed in combination with the line thickness of the three-dimensional movement trajectory; the first electronic device is configured to: extract a plurality of sampling points from the three-dimensional movement trajectory, generate an included angle according to a first connecting line formed by an nth sampling point and an (n-1)th sampling point, and a second connecting line formed by the nth sampling point and an (n+1)th sampling point; determine whether the included angle is less than a set value; and in response to the included angle being less than the set value, determine that the nth sampling point is a turning point, and record a coordinate of the turning point to the turning point information.

12. The system for sharing three-dimensional space annotation tracks remotely according to claim 11, wherein, The first electronic device is configured to: record coordinates of an intersection of tangent lines of every two adjacent turning points as an intermediate point to the turning point information.

13. The system for sharing three-dimensional space annotation tracks remotely according to claim 11, wherein, The second electronic device is configured to: determine whether a number of turning points in the turning point information is greater than a threshold value; in response to the number of turning points being greater than the threshold value, determine that the three-dimensional movement trajectory is a curve; and in response to the number of turning points not being greater than the threshold value, determine that the three-dimensional movement trajectory is a straight line.

14. The system for sharing three-dimensional space annotation tracks remotely according to claim 11, wherein, Further comprising a cloud server, wherein the first electronic device is configured to: encode the turning point information and the line thickness to obtain encoded information, and transmit the encoded information to the cloud server; The second electronic device is configured to: download the encoded information from the cloud server, and decode to obtain the turning point information and the line thickness.

15. The system for sharing three-dimensional space annotation tracks remotely according to claim 11, wherein, The first electronic device and the second electronic device are respectively a head-mounted display, a mixed reality glasses or an augmented reality glasses; The first electronic device comprises: a first display; a first communication device; a first sensor configured to detect the three-dimensional movement trajectory of the target object; a first operation device coupled to the first display, the first communication device and the first sensor, and configured to: in response to starting the first electronic device to display the first space in the first display, obtain the first reference point of the specified object presented in the first space; detect the turning point information of the three-dimensional movement trajectory, obtain the line thickness of the three-dimensional movement trajectory, and transmit the turning point information and the line thickness to the second electronic device through the first communication device, wherein the second electronic device comprises: a second communication device connected to the first communication device through the network; a second display; and a second operation device coupled to the second communication device and the second display, and configured to: in response to starting the second electronic device to display the second space in the second display, reconstruct the three-dimensional movement trajectory based on the turning point information and the line thickness, and present the three-dimensional movement trajectory in the second space based on a second reference point relative to the first reference point.

16. The system for sharing three-dimensional spatial annotation tracks remotely according to claim 11, wherein, The specified object is a presentation of a physical object in the first space, the physical object having an identification mark thereon, wherein, in response to starting the first electronic device to display the first space, the first electronic device is further configured to: obtain the first reference point of the specified object presented in the first space based on the identification mark, wherein, in response to starting the second electronic device to display the second space, the second electronic device is further configured to: locate the second reference point relative to the first reference point in the second space; display a virtual model corresponding to the specified object in the second space based on the second reference point; and after reconstructing the three-dimensional movement trajectory, present the three-dimensional movement trajectory corresponding to the virtual model in the second space.

17. The system for sharing three-dimensional spatial annotation tracks remotely according to claim 11, wherein, the specified object is a virtual model corresponding to a physical object presented in the second space, the first electronic device is configured to transmit the turning point information and the line thickness relative to the first reference point to the second electronic device, such that the second electronic device presents the three-dimensional movement trajectory relative to the second reference point in the second space after reconstructing the three-dimensional movement trajectory; the second electronic device is configured to transmit turning point information and a line thickness relative to the second reference point to the first electronic device, such that the first electronic device presents the three-dimensional movement trajectory relative to the first reference point in the first space after reconstructing the three-dimensional movement trajectory.

18. The system for sharing three-dimensional space annotation tracks remotely according to claim 16, wherein, in response to movement of the virtual model in the second space, the second electronic device is further configured to: obtain coordinate offset information of the virtual model; and present the three-dimensional movement trajectory corresponding to the virtual model in the second space based on the coordinate offset information.

19. The system for sharing three-dimensional spatial annotation tracks remotely according to claim 11, wherein, the specified object is a first virtual model loaded into the first space, the first virtual model includes the first reference point, wherein, in response to starting the second electronic device to display the second space, the second electronic device is further configured to load a second virtual model relative to the first virtual model in the second space, wherein the second virtual model includes the second reference point, wherein, in response to movement of the first virtual model in the first space, the first electronic device is further configured to obtain first coordinate offset information of the first virtual model and transmit to the second electronic device; and in response to movement of the first virtual model in the first space, the second electronic device is further configured to present the three-dimensional movement trajectory corresponding to the second virtual model in the second space based on the first coordinate offset information, wherein, in response to movement of the second virtual model in the second space, the second electronic device is further configured to obtain second coordinate offset information of the second virtual model; and present the three-dimensional movement trajectory corresponding to the virtual model in the second space based on the second coordinate offset information.

20. The system for sharing three-dimensional spatial annotation tracks remotely according to claim 11, wherein, the specified object corresponds to a physical object, the physical object has an identification marker thereon, wherein, in response to starting the first electronic device to display the first space, the first electronic device is further configured to obtain the first reference point of the specified object presented in the first space based on the identification marker, wherein, in response to starting the second electronic device to display the second space, the second electronic device is further configured to obtain a second reference point of the specified object presented in the second space based on the identification marker; and present the three-dimensional movement trajectory corresponding to the reference point in the second space after reconstructing the three-dimensional movement trajectory.

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