Visual detection vehicle interaction method and interaction system, device, storage medium

Abstract

The application discloses a visual detection vehicle interaction method and an interaction system, device and storage medium, and comprises the following steps: acquiring image information of a play area; analyzing the image information to obtain first identification points and second identification points of each vehicle unit, analyzing the footprint position and the direction of the vehicle unit according to the first identification points and the second identification points; when the outlines of the footprint positions of at least two vehicle units are in contact or overlap, it is judged that the first collision result occurs between the vehicle units; judging the collision position of the vehicle unit according to the collision point of the first collision result and the direction of the vehicle unit that collides; forming first rendering information according to the first collision result and the collision position, and outputting the first rendering information to a virtual-reality head-mounted display unit of the corresponding vehicle unit to display and output. The design is fast in response, stable in detection structure and low in operation cost.

Description

Technical Field

[0001] This invention relates to the field of virtual reality computer technology, and in particular to a visual vehicle interaction method, system, device, and storage medium. Background Technology

[0002] Mixed Reality (MR) technology is a further development of Virtual Reality (VR) technology. It enhances the realism of the user experience by presenting virtual scene information in a real scene and establishing an interactive feedback loop between the real world, the virtual world, and the user.

[0003] Mixed reality technology can be applied to existing amusement facilities. Multiple vehicle modules can be configured in the real amusement area. Each vehicle module includes a vehicle unit and at least one corresponding virtual reality headset unit. Users can wear the virtual reality headset unit to view the real scene and drive the vehicle unit to move in the real amusement area. The vehicle units can interact with each other and with scene objects. By collecting interaction data, the virtual reality headset unit can render effects in the real scene through visual overlay. Different interactions will set different rendering effects, thereby enhancing the user experience.

[0004] In order to set different rendering effects, it is necessary to constantly monitor the status of each vehicle unit in the amusement area to ensure that the corresponding visuals can be presented to users in a timely manner. In the past, sensor components were set on the vehicle units to detect their status. However, since the vehicle units move in the amusement area, the data detected by the sensor components of each vehicle unit needs to be wirelessly transmitted to the central control module for processing, which has a certain lag. Furthermore, collisions between vehicle units can affect the durability and accuracy of the sensor components, requiring regular maintenance and replacement, resulting in high operating costs. Summary of the Invention

[0005] This invention aims to solve at least one of the technical problems existing in the prior art. To this end, this invention proposes a visual inspection method, system, device, and storage medium for vehicle interaction, which features rapid response, stable detection structure, and reduced operating costs.

[0006] According to a first aspect of the present invention, a visual vehicle interaction detection method is applied to a virtual-real interaction system. The virtual-real interaction system includes multiple vehicle modules, a camera module, and a control module. The camera module is used to capture image information of an amusement area. The control module is connected to each vehicle module and the camera module respectively. Each vehicle module includes a vehicle unit and at least one corresponding virtual-real head-mounted display unit. Each vehicle unit has a first identifier at its head end and a second identifier at its tail end. The visual vehicle interaction detection method includes: acquiring image information of an amusement area; analyzing the image information to derive the first identifier for each vehicle unit; and... The system includes a first marker point and a second marker point, wherein the first marker point is obtained by identifying the first marker component, and the second marker point is obtained by identifying the second marker component; the system analyzes the location and orientation of the vehicle unit based on the first and second marker points; when the outlines of the locations of at least two vehicle units touch or overlap, a first collision result is determined between the vehicle units; the collision position of the vehicle unit is determined based on the collision point of the first collision result and the orientation of the colliding vehicle unit; first rendering information is formed based on the first collision result and the collision position, and the first rendering information is output to the virtual and real head-mounted display unit of the corresponding vehicle unit for display.

[0007] The visual vehicle interaction detection method according to embodiments of the present invention has at least the following beneficial effects:

[0008] This invention discloses a visual vehicle interaction detection method. Each vehicle unit is equipped with a durable first and second marker. A camera module acquires image information of the amusement area, including first marker points identified by the first marker and second marker points identified by the second marker of each vehicle unit. The location and orientation of the vehicle unit can be analyzed from these first and second marker points. During the movement of the vehicle units in the amusement area, when a collision occurs, the outlines of the vehicle units' locations will intersect or overlap. At this point, the control module can determine whether a collision has occurred between the vehicle units. Furthermore, by confirming the vehicle's orientation using the first and second marker points, and combining this with the collision point, the collision location can be determined. Based on the first collision result and the collision location, first rendering information is generated and displayed through a virtual-real head-mounted display unit. Because this invention uses a fixed camera module to collect data and can directly transmit it to the control module for processing, interference during data transmission is minimal. Collisions between vehicle units and the movement of vehicle units do not affect data transmission or damage the camera module. This design offers rapid response, a stable detection structure, and reduced operating costs.

[0009] According to some embodiments of the present invention, after acquiring image information of the amusement area, a planar coordinate system is established on the image information and a boundary line is generated, wherein the boundary line is the boundary of the amusement area.

[0010] According to some embodiments of the present invention, the step of analyzing the location of the vehicle unit based on the first and second marker points includes: determining the midpoint of the vehicle unit's location based on the center point between the first and second marker points; determining the radius of the vehicle unit's location based on the distance between the midpoint and the first or second marker point; and determining the location of the vehicle unit's location based on the midpoint and the radius of the location.

[0011] According to some embodiments of the present invention, the determination of a first collision result between vehicle units when the outlines of the occupied positions of at least two vehicle units contact or overlap includes: detecting the interval distance between the midpoints of the positions of each vehicle unit; and determining that a first collision result between vehicle units occurs when the interval distance is less than or equal to the sum of the occupied radii of the two vehicle units.

[0012] According to some embodiments of the present invention, determining the collision position of a vehicle unit based on the collision point of the first collision result and the orientation of the colliding vehicle unit includes: deriving a vehicle profile function based on a planar coordinate system according to the midpoint of the vehicle unit's position and its radius of occupation, wherein the graph of the vehicle profile function is used to characterize the profile of the vehicle unit; obtaining the collision point based on the intersection of the line function connecting the midpoints of the two colliding vehicle units and the vehicle profile function; calculating a first distance value and a second distance value between the collision point and the first and second marker points respectively; when the first distance value is less than the second distance value, the collision position is the front side of the vehicle; when the first distance value is greater than the second distance value, the collision position is the rear side of the vehicle.

[0013] According to some embodiments of the present invention, the visual detection vehicle interaction method further includes: when the outline of the vehicle unit's occupied location contacts or overlaps with the area boundary, it is determined that a second collision result has occurred between the vehicle units; the collision position of the vehicle unit is determined based on the collision point of the second collision result and the orientation of the colliding vehicle unit; second rendering information is formed based on the second collision result and the collision position; and the second rendering information is output to the virtual and real head-mounted display unit of the corresponding vehicle unit for display output.

[0014] According to some embodiments of the present invention, determining the collision position of the vehicle unit based on the collision point of the second collision result and the orientation of the vehicle unit involved in the collision includes: deriving a vehicle contour function based on a planar coordinate system according to the midpoint of the vehicle unit's location and its radius of occupation, wherein the graph of the vehicle contour function is used to characterize the contour of the vehicle unit; deriving the collision point based on the intersection of the vehicle contour function of the vehicle unit involved in the collision and the boundary line of the area where the collision occurred; calculating a first distance value and a second distance value between the collision point and a first marker point and a second marker point, respectively; when the first distance value is less than the second distance value, the collision position is the front side of the vehicle; when the first distance value is greater than the second distance value, the collision position is the rear side of the vehicle.

[0015] According to a second aspect of the present invention, a virtual-real interactive system includes multiple vehicle modules, a camera module, and a control module. The camera module is used to capture image information of an amusement area. Each vehicle module includes a vehicle unit and at least one corresponding virtual-real head-mounted display unit. Each vehicle unit has a first identifier at its head end and a second identifier at its tail end. The control module is connected to each vehicle module and the camera module respectively. The control module executes the visual detection vehicle interaction method disclosed in any of the above embodiments and displays the output through the corresponding virtual-real head-mounted display unit.

[0016] The virtual-real interaction system according to embodiments of the present invention has at least the following beneficial effects:

[0017] The virtual-real interaction system of the present invention controls the vehicle interaction method for visual detection disclosed in any of the above embodiments through the control module and displays the output through the corresponding virtual-real head-mounted display unit. It has a rapid response, stable detection structure, and reduced operating costs.

[0018] According to a third aspect of the present invention, the control device includes a memory and a processor, the memory storing a computer program, and the processor executing the computer program to implement the visual detection vehicle interaction method disclosed in any of the above embodiments.

[0019] According to a fourth aspect of the present invention, a computer-readable storage medium stores a computer program, characterized in that, when executed by a processor, the computer program implements the visual detection vehicle interaction method disclosed in any of the above embodiments.

[0020] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0021] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0022] Figure 1 This is a schematic diagram of the principle structure of one embodiment of the virtual-real interaction system of the present invention;

[0023] Figure 2 This is a diagram illustrating a vehicle collision.

[0024] Figure 3 This is a first flowchart of one embodiment of the virtual-real interaction method of the present invention;

[0025] Figure 4 This is a flowchart of step S330 of one embodiment of the virtual-real interaction method of the present invention;

[0026] Figure 5 This is a second flowchart of one embodiment of the virtual-real interaction method of the present invention;

[0027] Figure 6 This is a schematic diagram of the control device of the present invention in one embodiment.

[0028] Figure label:

[0029] Vehicle module 100; Vehicle unit 110; Virtual and real head-mounted display unit 120; First identification component 130; Second identification component 140; Camera module 210; Control module 220; Processor 610; Memory 620; Input / output interface 630; Communication interface 640; Bus 650 Detailed Implementation

[0030] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0031] It should be noted that although functional modules are divided in the device schematic diagram and a logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than the module division in the device or the order in the flowchart. The terms "first," "second," etc., in the specification, claims, and the aforementioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0032] In the description of this invention, "several" means one or more, "multiple" means two or more, "greater than", "less than", "exceeding" are understood to exclude the number itself, and "above", "below", "within" are understood to include the number itself.

[0033] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing embodiments of this application only and is not intended to limit this application.

[0034] like Figure 1 , 2 As shown, the visual vehicle interaction method according to a first aspect of the present invention is applied to a virtual-real interaction system. The virtual-real interaction system includes multiple vehicle modules 100, a camera module 210, and a control module 220. The camera module 210 is used to capture image information of an amusement area. The control module 220 is connected to each vehicle module 100 and the camera module 210 respectively. Each vehicle module 100 includes a vehicle unit 110 and at least one corresponding virtual-real head-mounted display unit 120. Each vehicle unit 110 has a first identifier 130 at its head end and a second identifier 140 at its tail end.

[0035] The control module 220 can communicate with each vehicle module 100 through a wireless network built by a wireless router. As a central processing unit that processes the data of each vehicle module 100 and sends display data to the virtual and real head-up display unit 120 in each vehicle module 100, the control module 220 can be composed of an MCU or a CPU and its peripheral circuits.

[0036] The virtual reality head-mounted display unit 120 is worn on the user's head. The virtual reality head-mounted display unit 120 has a transparent display mirror that is located in front of the user's eyes. The user can see the real scene outside through the display mirror. At the same time, the virtual reality head-mounted display unit 120 can receive various rendering data sent by the control module 220 and display it through the display mirror. The displayed pattern can be superimposed on the display scene to construct a virtual display scene.

[0037] Vehicle unit 110 can be selected from conventional amusement vehicles. Vehicle unit 110 includes a frame, wheel assembly, steering control assembly and seat. The wheel assembly is located at the bottom of the frame, and the steering control assembly and seat can be located on the frame. Users can input operation commands through the steering control assembly. The wheel assembly consists of multiple rollers and drive motors, etc., and can control the movement of vehicle unit 110 according to the operation commands.

[0038] This design can be applied to amusement rides, where amusement areas can be defined, vehicle modules 100 can move within these areas, obstacles can be placed within these areas, and guardrails can be installed along the edges of the amusement areas as boundaries.

[0039] The camera module 210 can be selected from conventional camera equipment, such as a distortion-free camera, which can be mounted on the ceiling above the play area to capture images of the play area.

[0040] The first identification element 130 and the second identification element 140 are labels that can form a sharp contrast with the color of the vehicle unit 110, so that the camera module 210 can acquire images and identify them. In addition, the frame is usually circular, and the first identification element 130 and the second identification element 140 are both set at the edge of the frame, so that the size of the frame and its footprint can be determined in subsequent processing.

[0041] like Figure 3 As shown, the visual detection method for vehicle interaction includes:

[0042] S310, Obtain image information of the amusement area;

[0043] S320. Analyze the image information to obtain the first identification point and the second identification point of each vehicle unit 110, wherein the first identification point is obtained by identifying the first identification element 130, and the second identification point is obtained by identifying the second identification element 140.

[0044] S330. Based on the first and second marker points, the location and orientation of vehicle unit 110 are analyzed.

[0045] S340. When the outlines of the occupied locations of at least two vehicle units 110 come into contact or overlap, it is determined that a first collision has occurred between the vehicle units 110.

[0046] S350. Determine the collision position of the vehicle unit 110 based on the collision point of the first collision result and the orientation of the vehicle unit 110 that collided.

[0047] S360: Based on the first collision result and the collision position, first rendering information is formed, and the first rendering information is output to the virtual and real head-mounted display unit 120 of the corresponding vehicle unit 110 for display output.

[0048] The present invention provides a visual detection method for vehicle interaction. Each vehicle unit 110 is equipped with a durable first identifier 130 and a second identifier 140. A camera module 210 acquires image information of the amusement area, including first identifier points identified by the first identifier 130 and second identifier points identified by the second identifier 140 of each vehicle unit 110. The location and orientation of the vehicle unit 110 can be analyzed from these first and second identifier points. Furthermore, during the movement of the vehicle unit 110 in the amusement area, when a collision occurs, the outlines of the vehicle unit 110's location will intersect or overlap. At this point, the control module 220 can detect the collision. Whether a collision occurs between them, and the orientation of the vehicle is confirmed by the first and second marker points. The collision location of the vehicle can be determined by the collision point. Based on the first collision result and the collision location, the first rendering information can be formed and displayed by the virtual and real head-mounted display unit 120. Since the visual vehicle interaction method of the present invention collects data through a fixed camera module 210 and can be directly transmitted to the control module 220 for processing, the interference during data transmission is small. The collision between vehicle units 110 and the movement of vehicle units 110 will not affect the data transmission or damage the camera module 210. This design has a fast response, a stable detection structure, and reduces operating costs.

[0049] In some embodiments of the present invention, after acquiring image information of the amusement area, a planar coordinate system is established on the image information and a boundary line is generated, wherein the boundary line is the boundary of the amusement area.

[0050] It should be noted that when the camera module 210 captures the amusement area, it may be shooting at an angle. In addition, the image information may not completely match the actual size of the amusement area. Therefore, a planar coordinate system can be established, and the shooting angle can be detected when the camera module 210 is installed and debugged. The shooting angle is used to adjust the image information to form horizontal image information, so that the image information matches the scene of the displayed amusement area. Then, a planar coordinate system is established, and the pixels of the image are paired with the coordinates of the planar coordinate system. The boundary of the amusement area is generated as a boundary line in the planar coordinate system. The first and second marker points of the vehicle unit 110 can generate corresponding coordinate points in the planar coordinate system.

[0051] In some embodiments of the present invention, such as Figure 4 As shown, the process of analyzing the location of vehicle unit 110 based on the first and second marker points includes:

[0052] S410. Determine the midpoint of the vehicle unit 110 based on the center point between the first and second marker points;

[0053] S420. The radius of the vehicle unit 110 is determined based on the distance between the midpoint of the location and the first or second marker point.

[0054] S430. The location of vehicle unit 110 is determined based on the midpoint and the radius of its footprint.

[0055] In a planar image, vehicle unit 110 can usually be regarded as a circle. The first and second marker points are located at the front and rear ends of vehicle unit 110, respectively. The midpoint of the position is obtained through the first and second marker points, and the occupied position is obtained by the occupied radius. Based on the planar coordinate system, the relevant coordinate points are processed. Thus, it can be determined whether there are intersections or crossings between the contours of vehicle units 110 to determine whether there is contact or overlap.

[0056] Specifically, the determination that a first collision has occurred between vehicle units 110 when the outlines of the locations occupied by at least two vehicle units 110 are in contact or overlap includes:

[0057] Detect the distance between the midpoints of the positions of each vehicle unit 110;

[0058] If the distance between the two vehicle units 110 is less than or equal to the sum of their radii, then the first collision between the vehicle units 110 is determined.

[0059] Since the footprint radii of different vehicle units 110 may be different, the interval distance and the sum of the footprint radii of the two vehicle units 110 are used to make a judgment. When the interval distance is less than or equal to the sum of the footprint radii of the two vehicle units 110, it can be determined that the vehicle units 110 are in contact or overlapping, that is, a collision has occurred. Specifically, the coordinates of the midpoint of the vehicle unit 110 can be calculated, and then the interval distance can be calculated using the coordinates of the midpoints of the two vehicle units 110.

[0060] In some embodiments of the present invention, determining the collision position of the vehicle unit 110 based on the collision point of the first collision result and the orientation of the vehicle unit 110 that collided includes:

[0061] The vehicle profile function based on the midpoint of the vehicle unit 110 and its footprint radius is derived, and the graph of the vehicle profile function is used to characterize the profile of the vehicle unit 110.

[0062] The collision point is determined by the intersection of the line function connecting the midpoints of the two vehicle units 110 that collided and the vehicle profile function.

[0063] Calculate the first distance value and the second distance value with respect to the first and second marker points, respectively, based on the collision point;

[0064] If the first distance value is less than the second distance value, the collision occurs at the front side of the vehicle.

[0065] If the first distance value is greater than the second distance value, the collision occurs at the rear side of the vehicle.

[0066] Since it is based on a planar coordinate system, the contour of vehicle unit 110 is transformed into a vehicle contour function. When vehicle unit 110 collides, the intersection point is calculated using the vehicle contour function of vehicle unit 110 and the line function connecting the midpoints of the two vehicle units 110. The intersection point is the coordinate of the collision point.

[0067] In each vehicle unit 110, the first distance value and the second distance value can be obtained by calculating the coordinates of the collision point with the coordinates of the first marker point and the second marker point, respectively. It can be understood that when the collision point is relatively close to the first marker point, it can be considered that the collision point is close to the front of the vehicle unit 110, and when the collision point is relatively close to the second marker point, it can be considered that the collision point is close to the rear of the vehicle unit 110. In the first rendering information, different first rendering information can be formed according to the different collisions of the front or rear of the vehicle. For example, a collision of the front of the vehicle can display damage to the front of the vehicle, and a collision of the rear of the vehicle can display damage to the rear of the vehicle, etc., and these can be displayed in the virtual and real head-mounted display unit 120 of the corresponding vehicle unit 110.

[0068] In some embodiments of the present invention, such as Figure 5 As shown, the visual vehicle interaction detection method also includes:

[0069] S510. When the outline of the location occupied by vehicle unit 110 comes into contact with or overlaps with the boundary line of the area, it is determined that a second collision has occurred between vehicle units 110.

[0070] S520. Determine the collision position of the vehicle unit 110 based on the collision point of the second collision result and the orientation of the vehicle unit 110 that collided.

[0071] S530: Based on the second collision result and the collision position, second rendering information is formed, and the second rendering information is output to the virtual and real head-mounted display unit 120 of the corresponding vehicle unit 110 for display output.

[0072] Understandably, in order to enrich the fun of the game, the first rendering information formed by the collision between vehicle units 110 and vehicle units 110 and the second rendering information formed by the collision between vehicle units 110 and the wall are set to different rendering images. Users can clearly distinguish which object the vehicle unit 110 is colliding with through the virtual reality head-mounted display unit 120, thereby improving the user's gaming experience.

[0073] In some embodiments of the present invention, determining the collision position of the vehicle unit 110 based on the collision point of the second collision result and the orientation of the vehicle unit 110 that collided includes:

[0074] The vehicle profile function based on the midpoint of the vehicle unit 110 and its footprint radius is derived, and the graph of the vehicle profile function is used to characterize the profile of the vehicle unit 110.

[0075] The collision point is determined by the intersection of the vehicle profile function of the vehicle unit 110 where the collision occurred and the boundary of the area where the collision occurred.

[0076] Calculate the first distance value and the second distance value with respect to the first and second marker points, respectively, based on the collision point;

[0077] If the first distance value is less than the second distance value, the collision occurs at the front side of the vehicle.

[0078] If the first distance value is greater than the second distance value, the collision occurs at the rear side of the vehicle.

[0079] Since a region boundary is set in the planar coordinate system, the boundary of the region boundary is equivalent to being enclosed by multiple line segments in the planar coordinate system. The coordinates of the line segments can be known. By determining whether there is an intersection between the vehicle contour function of vehicle unit 110 and the line segments of the region boundary, it can be determined whether the vehicle has collided. The intersection point is the collision point. Similarly, in vehicle unit 110, the first distance value and the second distance value can be obtained by calculating the coordinates of the collision point with the coordinates of the first marker point and the second marker point, respectively. When the collision point is relatively close to the first marker point, it can be considered that the collision point is close to the front of vehicle unit 110. When the collision point is relatively close to the second marker point, it can be considered that the collision point is close to the rear of vehicle unit 110. In the first rendering information, different first rendering information can be formed according to the different collisions of the front or rear of the vehicle. For example, a front collision can show damage to the front of the vehicle, and a rear collision can show damage to the rear of the vehicle. These are displayed in the virtual and real head-mounted display unit 120 of the corresponding vehicle unit 110.

[0080] According to a second aspect of the present invention, a virtual-real interaction system includes multiple vehicle modules 100, a camera module 210, and a control module 220. The camera module 210 is used to capture image information of an amusement area. Each vehicle module 100 includes a vehicle unit 110 and at least one corresponding virtual-real head-mounted display unit 120. Each vehicle unit 110 has a first identifier 130 at its head end and a second identifier 140 at its tail end. The control module 220 is connected to each vehicle module 100 and the camera module 210 respectively. The control module 220 executes the visual detection vehicle interaction method disclosed in any of the above embodiments and displays the output through the corresponding virtual-real head-mounted display unit 120.

[0081] The virtual-real interaction system of the present invention, the control module 220 executes the visual vehicle detection interaction method disclosed in any of the above embodiments and displays the output through the corresponding virtual-real head-mounted display unit 120, has a rapid response, stable detection structure, and reduces operating costs.

[0082] According to a third aspect of the present invention, the control device includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the visual detection vehicle interaction method disclosed in any of the above embodiments.

[0083] The control device can be any intelligent terminal, including a central computer, a remote equipment terminal computer, or any other intelligent terminal.

[0084] like Figure 6 As shown, Figure 6 The hardware structure of a control device according to another embodiment is also illustrated. The control device includes:

[0085] The processor 610 can be implemented using a general-purpose central processing unit (CPU), a microprocessor 610, an application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this application.

[0086] The memory 620 can be implemented as a read-only memory (ROM), a static storage device, a dynamic storage device, or a random access memory (RAM). The memory 620 can store the operating system and other applications. When the technical solutions provided in the embodiments of this specification are implemented through software or firmware, the relevant program code is stored in the memory 620 and called and executed by the processor 610 using the visual detection vehicle interaction method of the embodiments of this application.

[0087] The input / output interface 630 is used to realize information input and output;

[0088] The communication interface 640 is used to enable communication and interaction between this device and other devices. Communication can be achieved through wired means (such as USB, network cable, etc.) or wireless means (such as mobile network, WIFI, Bluetooth, etc.).

[0089] Bus 650 transmits information between various components of the device (e.g., processor 610, memory 620, input / output interface 630, and communication interface 640);

[0090] The processor 610, memory 620, input / output interface 630 and communication interface 640 are connected to each other within the device via bus 650.

[0091] According to a fourth aspect of the present invention, a computer-readable storage medium stores a computer program, characterized in that, when executed by a processor, the computer program implements the visual detection vehicle interaction method disclosed in any of the above embodiments.

[0092] Memory, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs and non-transitory computer-executable programs. Furthermore, memory may include high-speed random access memory, and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some embodiments, memory may optionally include memory remotely located relative to the processor, and these remote memories can be connected to the processor via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0093] The embodiments described in this application are for the purpose of more clearly illustrating the technical solutions of the embodiments of this application, and do not constitute a limitation on the technical solutions provided by the embodiments of this application. As those skilled in the art will know, with the evolution of technology and the emergence of new application scenarios, the technical solutions provided by the embodiments of this application are also applicable to similar technical problems.

[0094] Those skilled in the art will understand that the technical solutions shown in the figures do not constitute a limitation on the embodiments of this application, and may include more or fewer steps than shown, or combine certain steps, or different steps.

[0095] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0096] Those skilled in the art will understand that all or some of the steps in the methods disclosed above, as well as the functional modules / units in the systems and devices, can be implemented as software, firmware, hardware, or suitable combinations thereof.

[0097] The terms “first,” “second,” “third,” “fourth,” etc. (if present) in the specification and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms “comprising” and “having,” and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0098] The preferred embodiments of the present application have been described above with reference to the accompanying drawings, but this does not limit the scope of the claims of the present application. Any modifications, equivalent substitutions, and improvements made by those skilled in the art without departing from the scope and substance of the embodiments of the present application shall be within the scope of the claims of the present application.

[0099] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0100] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

[0101] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0102] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A visual vehicle interaction detection method, applied to a virtual-real interaction system, the virtual-real interaction system comprising multiple vehicle modules, a camera module, and a control module, wherein the camera module is used to capture image information of an amusement area, the control module is connected to each vehicle module and the camera module respectively, each vehicle module includes a vehicle unit and at least one corresponding virtual-real head-mounted display unit, each vehicle unit has a first identifier at its head end and a second identifier at its tail end, characterized in that... Visual inspection methods for vehicle interaction include: Acquire image information of the amusement area; Image information is analyzed to obtain a first identification point and a second identification point for each vehicle unit, wherein the first identification point is obtained by identifying the first identification element, and the second identification point is obtained by identifying the second identification element; The location and orientation of the vehicle unit are analyzed based on the first and second marker points. When the outlines of the locations occupied by at least two vehicle units come into contact or overlap, it is determined that a first collision has occurred between the vehicle units. The collision location of the vehicle unit is determined based on the collision point of the first collision result and the orientation of the vehicle unit that collided. First rendering information is formed based on the first collision result and the collision position. The collision position includes the position of the collision point near the front of the vehicle unit and the position of the collision point near the rear of the vehicle unit. Different first rendering information is formed according to different collision positions. The first rendering information is output to the virtual and real head-mounted display unit of the corresponding vehicle unit for display output. After acquiring the image information of the amusement area, a planar coordinate system is established on the image information and the area boundary is generated, which is the boundary of the amusement area; The process of analyzing the location of the vehicle unit based on the first and second marker points includes: The midpoint of the vehicle unit's position is determined by the center point between the first and second marker points. The radius of the vehicle unit's footprint is determined by the distance between the midpoint of the location and either the first or second marker point. The location of the vehicle unit is determined by its midpoint and radius.

2. The visual vehicle interaction detection method according to claim 1, characterized in that, The determination that a first collision has occurred between vehicle units when the outlines of the locations occupied by at least two vehicle units are in contact or overlap includes: Detect the distance between the midpoints of the positions of each vehicle unit; If the distance between the two vehicle units is less than or equal to the sum of their radii, then a first collision is determined to have occurred between the vehicle units.

3. The visual vehicle interaction detection method according to claim 2, characterized in that, The process of determining the collision position of a vehicle unit based on the collision point of the first collision result and the orientation of the vehicle unit involved in the collision includes: The vehicle profile function based on the midpoint of the vehicle unit's location and its footprint radius is derived. The graph of the vehicle profile function is used to characterize the profile of the vehicle unit. The collision point is determined by the intersection of the line function connecting the midpoints of the two colliding vehicle units and the vehicle profile function. Calculate the first distance value and the second distance value with respect to the first and second marker points, respectively, based on the collision point; If the first distance value is less than the second distance value, the collision occurs at the front side of the vehicle. If the first distance value is greater than the second distance value, the collision occurs at the rear side of the vehicle.

4. The visual vehicle interaction detection method according to claim 1, characterized in that, Also includes: If the outline of the vehicle unit's location comes into contact with or overlaps with the area boundary, it is determined that a second collision has occurred between the vehicle units. The collision location of the vehicle unit is determined based on the collision point of the second collision result and the orientation of the vehicle unit that collided. The second rendering information is generated based on the second collision result and the collision location, and the second rendering information is output to the virtual and real head-mounted display unit of the corresponding vehicle unit for display.

5. The visual vehicle interaction detection method according to claim 4, characterized in that, The process of determining the collision position of the vehicle unit based on the collision point and the orientation of the vehicle unit involved in the collision according to the second collision result includes: The vehicle profile function based on the midpoint of the vehicle unit's location and its footprint radius is derived. The graph of the vehicle profile function is used to characterize the profile of the vehicle unit. The collision point is determined by the intersection of the vehicle profile function of the vehicle unit that collided with the boundary of the collision area. Calculate the first distance value and the second distance value with respect to the first and second marker points, respectively, based on the collision point; If the first distance value is less than the second distance value, the collision occurs at the front side of the vehicle. If the first distance value is greater than the second distance value, the collision occurs at the rear side of the vehicle.

6. A virtual-real interactive system, characterized in that, The system includes multiple vehicle modules, camera modules, and a control module. The camera modules are used to capture image information of the amusement area. Each vehicle module includes a vehicle unit and at least one corresponding virtual and real head-mounted display unit. Each vehicle unit has a first identifier at its head and a second identifier at its tail. The control module is connected to each vehicle module and the camera module. The control module executes the visual vehicle interaction method as described in any one of claims 1 to 5 and displays the output through the corresponding virtual and real head-mounted display unit.

7. A control device, characterized in that: The control device includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the visual detection vehicle interaction method according to any one of claims 1 to 5.

8. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the visual vehicle interaction method according to any one of claims 1 to 5.

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