Position detection method and device of head-mounted display equipment, computer equipment and medium

Abstract

The invention relates to the technical field of head-mounted display equipment, and discloses a position detection method and device for head-mounted display equipment, computer equipment and a medium, and the method comprises the steps: adding a second head-mounted display scanned by Bluetooth into a scanning queue; respectively trying to establish Bluetooth connection between each second head-mounted display and the first head-mounted display; when the Bluetooth connection between the target head-mounted display and the first head-mounted display succeeds, determining that the first head-mounted display is in a connected state and the target head-mounted display is in a connected state; setting the first head-mounted display in the connected state as a master device, and setting the target head-mounted display in the connected state as a slave device; establishing a first manager according to the master device, and establishing a second manager according to the slave device; and performing parameter exchange by using the first manager and the second manager, and performing distance measurement after the parameter exchange is completed. According to the invention, the limitation of equipment and algorithms can be overcome, and the purpose of improving the accuracy of head-mounted display position detection is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of head mounted display devices, and in particular to a method, device, computer equipment and medium for detecting a position of a head mounted display device. Background Art

[0002] In fields such as virtual reality (VR) and augmented reality (AR), the position detection and tracking of head-mounted displays (HMDs) is an important technology. Current HMD position detection and tracking solutions are mainly based on optical, inertial sensors or hybrid sensor technologies, but there are some limitations and challenges. For example, optical sensors need to rely on external base stations or cameras for positioning, are affected by ambient lighting and occlusion, and have relatively complex positioning requirements over a large range. Inertial sensors can provide real-time posture information, but cannot provide accurate position information.

[0003] Therefore, there is an urgent need for a position detection method for a head-mounted display device that can overcome the above limitations and provide high-precision position tracking and detection. Summary of the invention

[0004] In view of this, the present invention provides a method, device, computer equipment and medium for detecting the position of a head-mounted display device, so as to solve the problems in the related art that the position detection of the head-mounted display is greatly affected by the environment, has high technical requirements, and cannot provide accurate position information.

[0005] In a first aspect, the present invention provides a method for detecting a position of a head mounted display device, comprising:

[0006] Step 1: Performing a Bluetooth scan for broadcast data of a second head mounted display device in the surrounding environment through a Bluetooth gateway, and adding the second head mounted display device scanned by Bluetooth to a scanning queue;

[0007] Step 2: according to the arrangement order of the second head mounted display devices in the scanning queue, try to establish a Bluetooth connection between each second head mounted display device and the first head mounted display device;

[0008] Step 3: when the Bluetooth connection between the target head-mounted display device and the first head-mounted display device is successful, determining that the first head-mounted display device is in a connected state and the target head-mounted display device is in a connected state; the target head-mounted display device is any second head-mounted display device in the scanning queue;

[0009] Step 4: setting the first head mounted display device in the connected state as the master device, and setting the target head mounted display device in the connected state as the slave device;

[0010] Step 5: establishing a first manager according to the master device, and establishing a second manager according to the slave device; the first manager includes a calling interface for ultra-wideband parameters of the first head-mounted display device; the second manager includes a calling interface for ultra-wideband parameters of the target head-mounted display device;

[0011] Step 6: Using the first manager and the second manager, perform at least one parameter exchange on the ultra-wideband parameters of the first head-mounted display device and the ultra-wideband parameters of the target head-mounted display device, and perform at least one distance measurement after the parameter exchange is completed.

[0012] The method for detecting the position of a head-mounted display device provided by the present invention can overcome the limitations of the device and the algorithm and achieve the purpose of improving the accuracy of the head-mounted display position detection by means of Bluetooth scanning, establishing a Bluetooth connection, setting the master and slave devices according to the connection status, establishing a corresponding manager according to the master and slave devices, exchanging parameters according to the manager, and measuring the distance after the parameter exchange is completed.

[0013] In an optional implementation, using the first manager and the second manager, performing at least one parameter exchange on the ultra-wideband parameters of the first head-mounted display device and the ultra-wideband parameters of the target head-mounted display device, and performing at least one distance measurement after the parameter exchange is completed, including:

[0014] Step 6.1: using the first manager and the second manager, exchanging first ultra-wideband parameters of the first head mounted display device and first ultra-wideband parameters of the target head mounted display device, and performing a first distance measurement;

[0015] Step 6.2: If the first distance measurement is successful, a success mark is performed on the target head-mounted display device, and the success mark is used to indicate that the distance measurement of the target head-mounted display device is successful; if the first distance measurement fails, the first manager and the second manager are used to exchange the first ultra-wideband parameters of the first head-mounted display device and the second ultra-wideband parameters of the target head-mounted display device, and a second distance measurement is performed;

[0016] Step 6.3: If the second distance measurement is successful, the target head mounted display device is marked as successful; if the second distance measurement fails, the first manager and the second manager are used to exchange the second ultra-wideband parameters of the first head mounted display device and the first ultra-wideband parameters of the target head mounted display device, and a third distance measurement is performed;

[0017] Step 6.4: If the third distance measurement is successful, the target head mounted display device is marked as successful; if the third distance measurement fails, the first manager and the second manager are used to exchange the second ultra-wideband parameters of the first head mounted display device and the second ultra-wideband parameters of the target head mounted display device, and a fourth distance measurement is performed;

[0018] Step 6.5: If the fourth distance measurement is successful, the target head mounted display device is marked as successful; if the fourth distance measurement fails, the target head mounted display device is marked as a first failure.

[0019] The position detection method of the head mounted display device provided by the present invention can greatly improve the success rate of distance measurement through four parameter exchanges and measurement after the parameters are completed, which helps to improve the user experience.

[0020] In an optional embodiment, the method further includes:

[0021] Repeat steps 6.1 to 6.5 for the target head-mounted display device with the first failure mark until the distance measurement of the target head-mounted display device is successful, or the number of first failure marks of the target head-mounted display device reaches a preset threshold, and then a second failure mark is performed on the target head-mounted display device.

[0022] The method for detecting the position of a head-mounted display device provided by the present invention can perform multiple rounds of ranging attempts on the same target head-mounted display device by repeatedly executing multiple rounds of steps 6.1 to 6.5, thereby greatly improving the success rate of ranging of each second head-mounted display device.

[0023] In an optional embodiment, the method further includes:

[0024] When the target head-mounted display device has a second failure mark, disconnecting the Bluetooth connection between the first head-mounted display device and the target head-mounted display device;

[0025] Attempting to establish a Bluetooth connection between the first head mounted display device and a next target head mounted display device according to the arrangement order of the second head mounted display devices in the scanning queue, and executing step 3 to step 6 according to the Bluetooth connection until all the second head mounted display devices in the scanning queue have been distance measured;

[0026] The marks of all second head mounted display devices in the scanning queue are eliminated, and the distances of the second head mounted display devices in the surrounding environment are measured again.

[0027] The method for detecting the position of a head-mounted display device provided by the present invention disconnects the Bluetooth connection between the first head-mounted display device and the target head-mounted display device when the target head-mounted display device has a second failure mark, and attempts to establish a Bluetooth connection between the first head-mounted display device and the next target head-mounted display device, so as to execute steps 3 to 6 until all second head-mounted display devices in the scanning queue have been distance-measured; the marks of all second head-mounted display devices in the scanning queue are eliminated, and the distances of the second head-mounted display devices in the surrounding environment are re-measured, so as to achieve the goal of cyclically measuring the distances of each second head-mounted display device in the scanning queue, so that the detection of the head-mounted display position is more accurate and more real-time, and the realism of the user's virtual reality experience can be improved.

[0028] In an optional implementation, the distance measurement is performed in the following manner:

[0029] Transmitting a pulse signal to the target head mounted display device;

[0030] receiving a reflected signal, wherein the reflected signal represents a first pulse signal reflected from the target head mounted display device;

[0031] Determining a propagation time of a pulse signal according to the pulse signal and the reflected signal;

[0032] The propagation distance of the pulse signal is determined according to the propagation time and the speed of light, and the distance value between the target head-mounted display device and the first head-mounted display device is determined according to the propagation distance.

[0033] In an optional implementation, the first head mounted display device includes a front first ultra-wideband module and a rear second ultra-wideband module;

[0034] The first ultra-wideband module is connected to the control unit of the first head mounted display device via a serial peripheral interface;

[0035] The second ultra-wideband module is connected to the control unit via a universal serial bus.

[0036] In an optional implementation, the first ultra-wideband antenna of the first ultra-wideband module and the second ultra-wideband antenna of the second ultra-wideband module are both perpendicular to the ground; and the first ultra-wideband antenna and the second ultra-wideband antenna are parallel to each other.

[0037] The position detection method of the head-mounted display device provided by the present invention can realize the head-mounted display position detection and positioning in a 360-degree stereoscopic space centered on the wearer through a front first ultra-wideband module and a rear second ultra-wideband module, and limiting the first ultra-wideband antenna of the first ultra-wideband module and the second ultra-wideband antenna of the second ultra-wideband module to be perpendicular to the ground, and limiting the first ultra-wideband antenna and the second ultra-wideband antenna to be parallel to each other.

[0038] In a second aspect, the present invention provides a position detection device for a head mounted display device, comprising:

[0039] A Bluetooth scanning module, used to perform Bluetooth scanning for broadcast data of a second head-mounted display device in the surrounding environment through a Bluetooth gateway, and add the second head-mounted display device scanned by Bluetooth to a scanning queue;

[0040] a Bluetooth connection establishing module, configured to attempt to establish a Bluetooth connection between each second head mounted display device and the first head mounted display device according to the arrangement order of the second head mounted display devices in the scanning queue;

[0041] a state determination module, configured to determine, when a Bluetooth connection between a target head-mounted display device and the first head-mounted display device is successful, that the first head-mounted display device is in a connected state and that the target head-mounted display device is in a connected state; the target head-mounted display device is any second head-mounted display device in the scanning queue;

[0042] A master-slave device setting module, used to set the first head-mounted display device in a connected state as the master device, and set the target head-mounted display device in a connected state as the slave device;

[0043] A manager establishment module, used to establish a first manager according to the master device, and to establish a second manager according to the slave device; the first manager includes a calling interface for ultra-wideband parameters of the first head-mounted display device; the second manager includes a calling interface for ultra-wideband parameters of the target head-mounted display device;

[0044] The distance measurement module is used to use the first manager and the second manager to perform at least one parameter exchange on the ultra-wideband parameters of the first head-mounted display device and the ultra-wideband parameters of the target head-mounted display device, and to perform at least one distance measurement after the parameter exchange is completed.

[0045] In a third aspect, the present invention provides a computer device, comprising: a memory and a processor, the memory and the processor being communicatively connected to each other, the memory storing computer instructions, and the processor executing the position detection method of a head-mounted display device according to the first aspect or any corresponding embodiment thereof by executing the computer instructions.

[0046] In a fourth aspect, the present invention provides a computer-readable storage medium having computer instructions stored thereon, the computer instructions being used to enable a computer to execute the position detection method for a head-mounted display device of the first aspect or any corresponding embodiment thereof. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0048] Figure 1 is a flow chart of a method for detecting a position of a head mounted display device according to an embodiment of the present invention;

[0049] Figure 2 is a flow chart of another method for detecting a position of a head mounted display device according to an embodiment of the present invention;

[0050] Figure 3 is a schematic structural diagram of a head mounted display device according to an embodiment of the present invention;

[0051] Figure 4 is a schematic structural diagram of another head mounted display device according to an embodiment of the present invention;

[0052] Figure 5 is a schematic diagram of the position setting of an ultra-wideband antenna according to an embodiment of the present invention;

[0053] Figure 6 is a schematic diagram of a specific application scenario according to an embodiment of the present invention;

[0054] Figure 7 is a schematic diagram of another specific application scenario according to an embodiment of the present invention;

[0055] Figure 8 is a schematic diagram of another specific application scenario according to an embodiment of the present invention;

[0056] Fig. 9 is a schematic structural diagram of an ultra-wideband antenna according to an embodiment of the present invention;

[0057] Fig.10 is a structural block diagram of a position detection device for a head mounted display device according to an embodiment of the present invention;

[0058] Fig.11 It is a schematic diagram of the hardware structure of a computer device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0059] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0060] In fields such as virtual reality (VR) and augmented reality (AR), the position detection and tracking of head-mounted displays is an important technology. Current head-mounted display position detection and tracking solutions are mainly based on optical, inertial sensors or hybrid sensor technologies, but there are some limitations and challenges. Optical sensors need to rely on external base stations or cameras for positioning, are affected by ambient lighting and occlusion, and have relatively complex positioning requirements over a large range. Inertial sensors can provide real-time posture information, but cannot provide accurate position information.

[0061] Based on this, the present invention provides a position detection method for a head-mounted display device, which can overcome these limitations and provide high-precision head-mounted display position tracking.

[0062] Currently, UWB modules equipped in mobile devices mostly adopt a directional antenna design with a coverage range of 180 degrees. In order to realize 360-degree all-round detection, this invention adopts a dual UWB module design in hardware and coordinates the working status of the two modules through software to achieve 360-degree all-round head display position detection.

[0063] According to an embodiment of the present invention, an embodiment of a method for detecting a position of a head-mounted display device is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0064] In this embodiment, a method for detecting the position of a head mounted display device is provided, which can be used for a first head mounted display device. Figure 1 is a flow chart of a method for detecting a position of a head mounted display device according to an embodiment of the present invention. Figure 1 As shown, the process includes but is not limited to steps 1 to 6:

[0065] Step 1: Perform a Bluetooth scan for broadcast data of a second head mounted display device in the surrounding environment through a Bluetooth gateway, and add the second head mounted display device scanned by the Bluetooth to a scanning queue.

[0066] Specifically, head-mounted display devices (HMDs), or head-mounted displays, can send optical signals to the eyes through various head-mounted displays to achieve different effects such as virtual reality (VR), augmented reality (AR), and mixed reality (MR), such as car computers, AR glasses, and robot scanners.

[0067] The first head-mounted display device can be understood as a head-mounted display worn by a wearer, and the second head-mounted display device can be understood as a head-mounted display in the surrounding environment of the first head-mounted display device; the first head-mounted display device can perform Bluetooth scanning for broadcast data of the surrounding environment through a Bluetooth gateway (Bluetooth Low Energy, BLE), that is, a low-power Bluetooth device, or the first head-mounted display device can also send broadcast data to the surrounding environment through the Bluetooth gateway; similarly, the second head-mounted display device can also perform Bluetooth scanning for broadcast data of the surrounding environment through the Bluetooth gateway, or the second head-mounted display device can also send broadcast data to the surrounding environment through the Bluetooth gateway.

[0068] Specifically, the broadcast data sent by the second head-mounted display device includes a UWB flag and a device unique identification number, so that the first head-mounted display device can scan the second head-mounted display device and add the scanned second head-mounted display device to the scanning queue. The UWB flag indicates that the second head-mounted display device has UWB capability, the device unique identification number indicates the unique identification code of the second head-mounted display device, and the scanning queue contains multiple second head-mounted display devices scanned by the first head-mounted display device.

[0069] Step 2: according to the arrangement order of the second head mounted display devices in the scanning queue, try to establish a Bluetooth connection between each second head mounted display device and the first head mounted display device.

[0070] Specifically, the scanning queue will arrange multiple second head-mounted display devices according to the order of Bluetooth scanning, and then try to establish a Bluetooth connection between the first head-mounted display device and each second head-mounted display device according to the arrangement order. For example, the first head-mounted display device scans: head display 1, head display 2, head display 3...head display N in sequence, and obtains a scanning queue [head display 1, head display 2, head display 3...head display N]. Then, try to establish a Bluetooth connection between the first head-mounted display device and head display 1 first. If the Bluetooth connection fails, try to establish a Bluetooth connection between the first head-mounted display device and head display 2, until finally try to establish a Bluetooth connection between the first head-mounted display device and head display N.

[0071] Step 3: When the Bluetooth connection between the target head-mounted display device and the first head-mounted display device is successful, determine that the first head-mounted display device is in a connecting state and the target head-mounted display device is in a connected state.

[0072] Specifically, the target head-mounted display device is any second head-mounted display device in the scanning queue. When the Bluetooth connection between the target head-mounted display device and the first head-mounted display device is successful, the connection status of the first head-mounted display device and the target head-mounted display device will be locked, that is, it is determined that the first head-mounted display device is in a connected state, so that the first head-mounted display device no longer attempts to establish a Bluetooth connection with other second head-mounted display devices in the scanning queue; and it is determined that the target head-mounted display device is in a connected state, so that the target head-mounted display device no longer attempts to establish a Bluetooth connection with other head-mounted display devices in the surrounding environment.

[0073] In a preferred specific embodiment, when the Bluetooth connection between the target head-mounted display device and the first head-mounted display device fails, the first head-mounted display device attempts to establish a Bluetooth connection with the next second head-mounted display device of the target head-mounted display device in the scanning queue until the first head-mounted display device establishes a Bluetooth connection.

[0074] Step 4: Set the first head mounted display device in the connected state as the master device, and set the target head mounted display device in the connected state as the slave device.

[0075] Specifically, when the connection status of the first head-mounted display device and the target head-mounted display device is locked, a master-slave relationship can be set according to the connection status of the two, that is, the first head-mounted display device in the connected state is set as the master device (controller role), and the target head-mounted display device in the connected state is set as the slave device (controlee role).

[0076] Step 5: Establish a first manager according to the master device, and establish a second manager according to the slave device.

[0077] Specifically, UWB objects, namely managers, are set for the first head mounted display device and the target head mounted display device according to the master-slave relationship, namely, a first manager is established according to the master device, and a second manager is established according to the slave device. The manager provides a calling interface and implementation of various UWB capabilities.

[0078] The first manager includes a calling interface for ultra-wideband parameters of the first head-mounted display device; and the second manager includes a calling interface for ultra-wideband parameters of the target head-mounted display device.

[0079] Step 6: Using the first manager and the second manager, perform at least one parameter exchange on the ultra-wideband parameters of the first head-mounted display device and the ultra-wideband parameters of the target head-mounted display device, and perform at least one distance measurement after the parameter exchange is completed.

[0080] Specifically, the ultra-wideband parameters include first ultra-wideband parameters of a front first ultra-wideband module in the head mounted display device, and second ultra-wideband parameters of a rear second ultra-wideband module.

[0081] In a preferred embodiment, Figure 2 As shown, the above step 6 also includes the following steps:

[0082] Step 6.1: Utilize the first manager and the second manager to exchange first ultra-wideband parameters of the first head-mounted display device and first ultra-wideband parameters of the target head-mounted display device, and perform a first distance measurement.

[0083] Step 6.2: If the first distance measurement is successful, a success mark is performed on the target head-mounted display device, and the success mark is used to indicate that the distance measurement of the target head-mounted display device is successful; if the first distance measurement fails, the first manager and the second manager are used to exchange the first ultra-wideband parameters of the first head-mounted display device and the second ultra-wideband parameters of the target head-mounted display device, and a second distance measurement is performed;

[0084] Step 6.3: If the second distance measurement is successful, the target head mounted display device is marked as successful; if the second distance measurement fails, the first manager and the second manager are used to exchange the second ultra-wideband parameters of the first head mounted display device and the first ultra-wideband parameters of the target head mounted display device, and a third distance measurement is performed;

[0085] Step 6.4: If the third distance measurement is successful, the target head mounted display device is marked as successful; if the third distance measurement fails, the first manager and the second manager are used to exchange the second ultra-wideband parameters of the first head mounted display device and the second ultra-wideband parameters of the target head mounted display device, and a fourth distance measurement is performed;

[0086] Step 6.5: If the fourth distance measurement is successful, the target head mounted display device is marked as successful; if the fourth distance measurement fails, the target head mounted display device is marked as a first failure.

[0087] Specifically, the first failure mark indicates that four distance measurements between the first head mounted display device and the target head mounted display device all failed.

[0088] Specifically, the ultra-wideband parameters of the first head mounted display device and the ultra-wideband parameters of the target head mounted display device are exchanged in order to agree on the IDs of each other for each communication, which are used for communication identification. Distance measurement can be performed only after the parameter exchange is completed.

[0089] The above steps 6.1 to 6.5 are explained by the following example:

[0090] If the first ultra-wideband parameter of the first head-mounted display device is A1, and the second ultra-wideband parameter of the first head-mounted display device is A2, the first manager can provide A1 and A2; if the first ultra-wideband parameter of the target head-mounted display device is B1, and the second ultra-wideband parameter of the target head-mounted display device is B2, the second manager can provide B1 and B2;

[0091] A1 and B1 are exchanged by the first manager and the second manager to perform the first ranging and obtain ranging data; if the first ranging is successful, the target head mounted display device is successfully marked; if the first ranging fails, A1 and B2 are exchanged and the second ranging is performed; similarly, if the second ranging fails, A2 and B1 are exchanged and ranging, and A2 and B2 are exchanged and ranging, and one of the four groups is successful.

[0092] In a preferred embodiment, the method further comprises:

[0093] Repeat steps 6.1 to 6.5 for the target head-mounted display device with the first failure mark until the distance measurement of the target head-mounted display device is successful, or the number of first failure marks of the target head-mounted display device reaches a preset threshold, and then a second failure mark is performed on the target head-mounted display device.

[0094] Specifically, when the four distance measurements of the target head-mounted display device all fail, steps 6.1 to 6.5 can be repeated for the target head-mounted display device; if multiple consecutive groups (one group is four distance measurements, the number of groups can be set according to actual conditions, and is not specifically limited here) of distance measurement attempts fail, the target head-mounted display device will be marked as a second failure, indicating that the next round of distance measurement attempts will not be attempted in the current loop. The "next round of distance measurement attempts" here can be understood as when all second head-mounted display devices in the scanning queue have measured the distance, the next round of distance measurement can be started.

[0095] In a preferred embodiment, the method further comprises:

[0096] When the target head-mounted display device has a second failure mark, disconnecting the Bluetooth connection between the first head-mounted display device and the target head-mounted display device;

[0097] Attempting to establish a Bluetooth connection between the first head mounted display device and a next target head mounted display device according to the arrangement order of the second head mounted display devices in the scanning queue, and executing step 3 to step 6 according to the Bluetooth connection until all the second head mounted display devices in the scanning queue have been distance measured;

[0098] The marks of all second head mounted display devices in the scanning queue are eliminated, and the distances of the second head mounted display devices in the surrounding environment are measured again.

[0099] In a preferred embodiment, the distance measurement is performed in the following manner:

[0100] When performing distance measurement, the first head mounted display device transmits a pulse signal to the target head mounted display device.

[0101] A reflected signal is received, where the reflected signal represents a first pulse signal reflected from the target head mounted display device.

[0102] Specifically, when the pulse signal encounters the target head-mounted display device, it will be partially reflected back.

[0103] The propagation time of the pulse signal is determined according to the pulse signal and the reflected signal.

[0104] The propagation distance of the pulse signal is determined according to the propagation time and the speed of light, and the distance value between the target head-mounted display device and the first head-mounted display device is determined according to the propagation distance.

[0105] Specifically, the first head-mounted display device receives the reflected signal and measures the time difference (Time of Flight, ToF) from when the signal is sent to when it is received; then, based on the propagation time of the signal and the speed of light, the distance from when the signal is sent to when it is received can be calculated. Since UWB sends short pulse signals, multiple measurements can be made in a very short time, thereby improving measurement accuracy.

[0106] In a preferred specific embodiment, the first head-mounted display device includes a front-mounted first ultra-wideband module and a rear-mounted second ultra-wideband module; the first ultra-wideband module is connected to the control unit of the first head-mounted display device through a serial peripheral interface; the second ultra-wideband module is connected to the control unit through a universal serial bus.

[0107] Specifically, the first ultra-wideband module in the front is as follows Figure 3 The "built-in UWB" in the video is mainly used to detect the position of the head display within a 180-degree range in front of it. The second ultra-wideband module at the rear is Figure 3 The "external UWB" in the present invention is mainly used to detect the position of the head display within a range of 180 degrees behind the head; by respectively setting a UWB module at the front end (i.e. 180 degrees forward) and the rear end (i.e. 180 degrees backward) of the head-mounted display device, the present invention can achieve more accurate head display position detection and tracking, and expand the tracking range of the head display, so that users can perform virtual reality interaction in a wider field of view and increase the sense of immersion.

[0108] In a preferred embodiment, Figure 4 As shown, the first ultra-wideband module 101 is arranged on a first mainboard 104 in a host 103, and the first ultra-wideband module 101 is connected to a control unit 106 of the first mainboard 104 via a serial peripheral interface 105; the second ultra-wideband module 102 is arranged on a second mainboard 108 in a host post-circuit 107, and the second ultra-wideband module 102 is connected to the control unit 106 via a universal serial bus 109.

[0109] Specifically, the Serial Peripheral Interface (SPI) 105 is a synchronous peripheral interface that enables the first ultra-wideband module 101 to communicate with the control unit 106 on the first mainboard 104 in a serial manner to exchange information.

[0110] Specifically, the Universal Serial Bus (USB) 109 is a serial bus standard, and the second ultra-wideband module 102 can be connected to the control unit 106 on the first mainboard 104 through the serial bus.

[0111] Specifically, the first ultra-wideband module 101 is disposed on the first mainboard 104 in the host 103 through the first connector, and the second ultra-wideband module 102 is disposed on the second mainboard 108 in the host rear circuit 107 through the second connector.

[0112] The above-mentioned first connector and second connector can be understood as connecting units between various electronic components, which are mainly used for connecting and transmitting electronic signals from chip to circuit board, circuit board and circuit board to box. They can be divided into connectors, cylindrical connectors and PCMCIA standard connectors according to their types.

[0113] In a preferred embodiment, Figure 5 As shown, the first ultra-wideband antenna of the first ultra-wideband module 101 and the second ultra-wideband antenna of the second ultra-wideband module 102 are both perpendicular to the ground;

[0114] Specifically, in order to realize that the first ultra-wideband module can cover the detection of the position of the head display (i.e., head-mounted display device) of 180° horizontally and vertically in the forward direction, for example Figure 6 "a" in ; and the second ultra-wideband module can cover the detection of the head display position of 180° horizontally and vertically in the rear direction, for example Figure 6 "b" in the figure; during normal use of the present invention, the first ultra-wideband antenna and the second ultra-wideband antenna need to maintain a preset fixed angle, that is, the first ultra-wideband antenna and the second ultra-wideband antenna are both perpendicular to the ground.

[0115] In a preferred embodiment, the first ultra-wideband antenna and the second ultra-wideband antenna are parallel to each other.

[0116] Specifically, in order to further ensure that the head display position detection in a 360-degree stereoscopic space can be achieved, the present invention also needs to ensure that the first ultra-wideband antenna and the second ultra-wideband antenna are parallel to each other; if the first ultra-wideband antenna and the second ultra-wideband antenna are not parallel to each other (for example Figure 7 ) will result in Figure 7 The occurrence of situations "e" and "f" in the above example makes it impossible to detect and locate the head display in a 360-degree stereoscopic space centered on the wearer.

[0117] More specifically, in order to further ensure that the head display position detection in a 360-degree stereoscopic space can be achieved, the present invention also needs to ensure that the first ultra-wideband antenna and the second ultra-wideband antenna are both perpendicular to the ground; if the first ultra-wideband antenna and the second ultra-wideband antenna are not perpendicular to the ground (for example Figure 8 ), it will result in Figure 8 The occurrence of situations "i" and "j" in the figure makes it impossible to detect and locate the head display position in a 360-degree stereoscopic space centered on the wearer.

[0118] Therefore, the present invention can only realize the detection and positioning of the head display position in a 360-degree stereoscopic space centered on the wearer when the first ultra-wideband antenna of the first ultra-wideband module 101 and the second ultra-wideband antenna of the second ultra-wideband module 102 are both perpendicular to the ground and the first ultra-wideband antenna and the second ultra-wideband antenna are parallel to each other.

[0119] In a preferred embodiment, Fig. 9 As shown: the first ultra-wideband antenna and the second ultra-wideband antenna are both antenna arrays formed by three patch antennas arranged in an equilateral triangle; wherein the center spacing between the patch antennas is less than a preset threshold.

[0120] Specifically, the UWB antenna (i.e., the first ultra-wideband antenna and the second ultra-wideband antenna) in the present invention both adopt patch antennas (i.e., patch antennas), and an antenna array is formed by arranging three patch antennas in a regular triangle shape; wherein the center spacing d of the antenna array is less than a preset threshold, and the preset threshold may be λ / 2, wherein λ represents the wavelength of the UWB signal (i.e., the wavelength of the ultra-wideband signal).

[0121] In a preferred embodiment, the host includes a first mainboard, a flexible circuit board, a first connector, a camera, an optical-mechanical module, a heat dissipation structure, a speaker, and a microphone.

[0122] The optical machine module is used for the display device of the head-mounted display device, including an optical device 1 and a bracket. The optical device 1 is used to reflect and / or transmit light for viewing by the wearer of the head-mounted display device from an observation point; the bracket is used to install the optical device 1, and the bracket includes a side wall, and the side wall includes an A end and a B end. The A end is closer to the optical device 1 than the B end. Along the center line direction of the field of view of the observation point, the B end is closer to the observation point than the A end. Along the direction perpendicular to the center line, the B end is closer to the center line than the A end. Through the above structure, the present application can make the side wall block a smaller range of the field of view, thereby improving the user's visual experience.

[0123] The heat dissipation structure may be a plurality of hole-like structures leading to the outside and a plurality of heat dissipation fans built into the head-mounted display device. The combination of the two can achieve the purpose of timely heat dissipation.

[0124] In a preferred specific embodiment, the first mainboard includes a control unit, a storage unit, a first ultra-wideband module, a wireless communication chip, a power module circuit, a sensor driving circuit and a serial peripheral interface.

[0125] Among them, the wireless communication chip is used to communicate with the outside, the power module circuit is used to power various electrical devices in the host of the head-mounted display device, the storage unit is used to store various types of information collected by the sensor, such as image information, sound information and other information, the sensor driving circuit is used to drive various types of sensors to collect data, and the serial peripheral interface is used to connect the first ultra-wideband module and the control unit, so that the first ultra-wideband module sends the position detection data of other head-mounted display devices within a range of 180 degrees in front to the control unit through the serial peripheral interface.

[0126] In a preferred embodiment, the host rear circuit includes a second connector, a second mainboard and a universal serial bus.

[0127] Specifically, the universal serial bus is used to connect the second ultra-wideband module and the control unit, so that the second ultra-wideband module sends position detection data of other head-mounted display devices within a 180-degree range behind to the control unit through the universal serial bus.

[0128] In a preferred embodiment, the second mainboard includes a second ultra-wideband module, a peripheral circuit and a power supply circuit.

[0129] Specifically, the peripheral circuit mainly refers to the circuit system that connects the control unit (CPU) and the input and output devices (I / O devices). Its function is to connect the CPU and the I / O devices together so that the computer can control and operate the peripheral devices. The power supply circuit is mainly used to supply energy to various electrical devices in the second motherboard.

[0130] In a preferred specific embodiment, the first ultra-wideband module is used to detect the positions of other head-mounted display devices within a first range; the second ultra-wideband module is used to detect the positions of other head-mounted display devices within a second range; wherein the detection directions of the first range and the second range are opposite.

[0131] Specifically, the first range may be within a range of 180 degrees directly in front of the head-mounted display device, and the second range may be within a range of 180 degrees directly behind the head-mounted display device. The present invention detects the positions of other head-mounted display devices within a range of 180 degrees directly in front of the head-mounted display device through a front first ultra-wideband module, and detects the positions of other head-mounted display devices within a range of 180 degrees directly behind the head-mounted display device through a rear second ultra-wideband module, and through the special structure of "the first ultra-wideband antenna of the first ultra-wideband module and the second ultra-wideband antenna of the second ultra-wideband module are both perpendicular to the ground, and the first ultra-wideband antenna and the second ultra-wideband antenna are parallel to each other", it can ensure the detection and positioning of the head display position in a 360-degree stereoscopic space centered on the wearer.

[0132] The position detection method of the head mounted display device provided in this embodiment has the following technical effects:

[0133] Enhanced position accuracy: UWB modules have high precision and accuracy, and can provide more precise position measurement. By using UWB modules in the front 180 degrees, more accurate head display position detection and tracking can be achieved, improving the realism of the virtual reality experience.

[0134] Extended tracking range: By using a USB module to simulate UWB, similar UWB functions can be achieved in the rear 180-degree area. This can extend the tracking range of the headset, allowing users to interact with virtual reality in a wider field of view, increasing immersion and freedom.

[0135] Reduce the impact of occlusion: Using the UWB module to detect the position in the front 180 degrees can reduce the impact of occlusion on the head display tracking. Traditional Web modules may not be able to accurately track the position of the head display when encountering occlusions, while the use of UWB modules can measure the position by penetrating obstacles, improving the stability and reliability of tracking.

[0136] Improved data transmission efficiency: By using USB modules to simulate UWB, data transmission efficiency can be improved. USB modules usually have higher data transmission rates, which can transmit location data and other related information faster, improving the system's response speed and real-time performance.

[0137] Reduce hardware costs: USB technology is a universal wired data transmission and connection standard that has been widely used in a variety of devices. It has high technical maturity and relatively low manufacturing and integration costs. In contrast, UWB technology is relatively new and is mainly used in high-precision positioning, distance measurement and other fields. It involves more complex radio frequency and signal processing technologies, and has relatively high manufacturing and integration costs. Therefore, using USB modules to simulate UWB can greatly reduce hardware costs.

[0138] In summary, using UWB modules for the front 180 degrees of the AR headset and USB modules to simulate UWB for the back 180 degrees can provide higher-precision position measurement, expanded tracking range, reduced occlusion effects, improved data transmission efficiency, and reduced hardware costs, compared to solutions that only use Web modules in the front 180 degrees, thereby improving the virtual reality experience and enhancing users' sense of interaction and immersion.

[0139] In this embodiment, a position detection device for a head-mounted display device is also provided, which is used to implement the above-mentioned embodiments and preferred implementation modes, and will not be repeated hereafter. As used below, the term "module" may be a combination of software and / or hardware that implements a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceivable.

[0140] This embodiment provides a position detection device for a head mounted display device, such as Fig.10 As shown, including:

[0141] A Bluetooth scanning module, used to perform Bluetooth scanning for broadcast data of a second head-mounted display device in the surrounding environment through a Bluetooth gateway, and add the second head-mounted display device scanned by Bluetooth to a scanning queue;

[0142] a Bluetooth connection establishing module, configured to attempt to establish a Bluetooth connection between each second head mounted display device and the first head mounted display device according to the arrangement order of the second head mounted display devices in the scanning queue;

[0143] a state determination module, configured to determine, when a Bluetooth connection between a target head-mounted display device and the first head-mounted display device is successful, that the first head-mounted display device is in a connected state and that the target head-mounted display device is in a connected state; the target head-mounted display device is any second head-mounted display device in the scanning queue;

[0144] A master-slave device setting module, used to set the first head-mounted display device in a connected state as the master device, and set the target head-mounted display device in a connected state as the slave device;

[0145] A manager establishment module, used to establish a first manager according to the master device, and to establish a second manager according to the slave device; the first manager includes a calling interface for ultra-wideband parameters of the first head-mounted display device; the second manager includes a calling interface for ultra-wideband parameters of the target head-mounted display device;

[0146] The distance measurement module is used to use the first manager and the second manager to perform at least one parameter exchange on the ultra-wideband parameters of the first head-mounted display device and the ultra-wideband parameters of the target head-mounted display device, and to perform at least one distance measurement after the parameter exchange is completed.

[0147] In a preferred specific embodiment, the distance measurement module further includes:

[0148] The first measuring unit is configured to use the first manager and the second manager to exchange first ultra-wideband parameters of the first head-mounted display device and first ultra-wideband parameters of a target head-mounted display device, and perform a first distance measurement.

[0149] a second measuring unit, configured to, if the first distance measurement is successful, mark the target head-mounted display device as successful, wherein the success mark is used to indicate that the distance measurement of the target head-mounted display device is successful; and, if the first distance measurement fails, to exchange the first ultra-wideband parameter of the first head-mounted display device with the second ultra-wideband parameter of the target head-mounted display device by using the first manager and the second manager, and to perform a second distance measurement;

[0150] a third measuring unit, configured to mark the target head mounted display device as successful if the second distance measurement is successful; and to use the first manager and the second manager to exchange the second ultra-wideband parameters of the first head mounted display device and the first ultra-wideband parameters of the target head mounted display device, and perform a third distance measurement if the second distance measurement fails;

[0151] a fourth measurement unit, configured to mark the target head mounted display device as successful if the third distance measurement is successful; and to use the first manager and the second manager to exchange the second ultra-wideband parameters of the first head mounted display device and the second ultra-wideband parameters of the target head mounted display device, and perform a fourth distance measurement if the third distance measurement fails;

[0152] The first failure marking unit is configured to mark the target head mounted display device as successful if the fourth distance measurement is successful; and mark the target head mounted display device as a first failure if the fourth distance measurement is unsuccessful.

[0153] In a preferred embodiment, the device further comprises:

[0154] The repeated measurement module is used to repeatedly perform steps 6.1 to 6.5 on the target head-mounted display device with the first failure mark until the distance measurement of the target head-mounted display device is successful, or the number of first failure marks of the target head-mounted display device reaches a preset threshold, and then a second failure mark is performed on the target head-mounted display device.

[0155] In a preferred embodiment, the device further comprises:

[0156] a connection disconnection unit, configured to disconnect the Bluetooth connection between the first head-mounted display device and the target head-mounted display device when the target head-mounted display device has a second failure mark;

[0157] a Bluetooth connection unit, configured to attempt to establish a Bluetooth connection between the first head mounted display device and a next target head mounted display device according to an arrangement order of the second head mounted display devices in the scanning queue, and to execute step 3 to step 6 according to the Bluetooth connection until all the second head mounted display devices in the scanning queue have been distance measured;

[0158] The marking removing unit is used to remove the markings of all the second head mounted display devices in the scanning queue and re-measure the distances of the second head mounted display devices in the surrounding environment.

[0159] In a preferred embodiment, the device comprises:

[0160] The distance measurement unit is used to perform distance measurement in the following manner: transmit a pulse signal to the target head-mounted display device; receive a reflected signal, wherein the reflected signal represents a first pulse signal reflected from the target head-mounted display device; determine a propagation time of the pulse signal according to the pulse signal and the reflected signal; determine a propagation distance of the pulse signal according to the propagation time and the speed of light, and determine a distance value between the target head-mounted display device and the first head-mounted display device according to the propagation distance.

[0161] The further functional description of each of the above modules and units is the same as that of the above corresponding embodiments and will not be repeated here.

[0162] The embodiment of the present invention also provides a computer device having the above Fig.10 A position detection device for a head mounted display device is shown.

[0163] See also Fig.11 , Fig.11 is a schematic diagram of the structure of a computer device provided by an optional embodiment of the present invention, such as Fig.11As shown, the computer device includes: one or more processors 10, a memory 20, and interfaces for connecting various components, including high-speed interfaces and low-speed interfaces. Various components are connected to each other using different buses for communication, and can be installed on a common mainboard or installed in other ways as needed. The processor can process the instructions executed in the computer device, including instructions stored in or on the memory to display the graphical information of the GUI on an external input / output device (such as, a display device coupled to the interface). In some optional embodiments, if necessary, multiple processors and / or multiple buses can be used together with multiple memories and multiple memories. Similarly, multiple computer devices can be connected, and each device provides some necessary operations (for example, as a server array, a group of blade servers, or a multi-processor system). Fig.11 A processor 10 is taken as an example.

[0164] The processor 10 may be a central processing unit, a network processor or a combination thereof. The processor 10 may further include a hardware chip. The hardware chip may be a dedicated integrated circuit, a programmable logic device or a combination thereof. The programmable logic device may be a complex programmable logic device, a field programmable gate array, a general purpose array logic or any combination thereof.

[0165] The memory 20 stores instructions executable by at least one processor 10, so that the at least one processor 10 executes the method shown in the above embodiment.

[0166] The memory 20 may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function; the data storage area may store data created according to the use of the computer device, etc. In addition, the memory 20 may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some optional embodiments, the memory 20 may optionally include a memory remotely arranged relative to the processor 10, and these remote memories may be connected to the computer device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0167] The memory 20 may include a volatile memory, such as a random access memory; the memory may also include a non-volatile memory, such as a flash memory, a hard disk or a solid state drive; the memory 20 may also include a combination of the above types of memory.

[0168] The computer device further comprises a communication interface 30 for the computer device to communicate with other devices or a communication network.

[0169] The embodiment of the present invention also provides a computer-readable storage medium. The method according to the embodiment of the present invention can be implemented in hardware, firmware, or can be implemented as a computer code that can be recorded in a storage medium, or can be implemented as a computer code that is originally stored in a remote storage medium or a non-temporary machine-readable storage medium and will be stored in a local storage medium through a network download, so that the method described herein can be stored in such software processing on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. Among them, the storage medium can be a magnetic disk, an optical disk, a read-only storage memory, a random access memory, a flash memory, a hard disk or a solid-state hard disk, etc.; further, the storage medium can also include a combination of the above types of memories. It can be understood that a computer, a processor, a microprocessor controller, or programmable hardware includes a storage component that can store or receive software or computer code. When the software or computer code is accessed and executed by a computer, a processor, or hardware, the method shown in the above embodiment is implemented.

[0170] Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations are all within the scope defined by the appended claims.

Claims

1. A method for detecting the position of a head mounted display device, applied to a first head mounted display device, characterized in that: The method comprises: Step 1: Performing a Bluetooth scan for broadcast data of a second head mounted display device in the surrounding environment through a Bluetooth gateway, and adding the second head mounted display device scanned by Bluetooth to a scanning queue; Step 2: according to the arrangement order of the second head mounted display devices in the scanning queue, try to establish a Bluetooth connection between each second head mounted display device and the first head mounted display device; Step 3: when the Bluetooth connection between the target head-mounted display device and the first head-mounted display device is successful, determining that the first head-mounted display device is in a connected state and the target head-mounted display device is in a connected state; the target head-mounted display device is any second head-mounted display device in the scanning queue; Step 4: setting the first head mounted display device in the connected state as the master device, and setting the target head mounted display device in the connected state as the slave device; Step 5: establishing a first manager according to the master device, and establishing a second manager according to the slave device; the first manager includes a calling interface for ultra-wideband parameters of the first head-mounted display device; the second manager includes a calling interface for ultra-wideband parameters of the target head-mounted display device; Step 6: Using the first manager and the second manager, perform at least one parameter exchange on the ultra-wideband parameters of the first head-mounted display device and the ultra-wideband parameters of the target head-mounted display device, and perform at least one distance measurement after the parameter exchange is completed.

2. The method according to claim 1, characterized in that Using the first manager and the second manager, performing at least one parameter exchange on the ultra-wideband parameters of the first head mounted display device and the ultra-wideband parameters of the target head mounted display device, and performing at least one distance measurement after the parameter exchange is completed, including: Step 6.1: using the first manager and the second manager, exchanging first ultra-wideband parameters of the first head mounted display device and first ultra-wideband parameters of the target head mounted display device, and performing a first distance measurement; Step 6.2: If the first distance measurement is successful, a success mark is performed on the target head-mounted display device, and the success mark is used to indicate that the distance measurement of the target head-mounted display device is successful; if the first distance measurement fails, the first manager and the second manager are used to exchange the first ultra-wideband parameters of the first head-mounted display device and the second ultra-wideband parameters of the target head-mounted display device, and a second distance measurement is performed; Step 6.3: If the second distance measurement is successful, the target head mounted display device is marked as successful; if the second distance measurement fails, the first manager and the second manager are used to exchange the second ultra-wideband parameters of the first head mounted display device and the first ultra-wideband parameters of the target head mounted display device, and a third distance measurement is performed; Step 6.4: If the third distance measurement is successful, the target head mounted display device is marked as successful; if the third distance measurement fails, the first manager and the second manager are used to exchange the second ultra-wideband parameters of the first head mounted display device and the second ultra-wideband parameters of the target head mounted display device, and a fourth distance measurement is performed; Step 6.5: If the fourth distance measurement is successful, the target head mounted display device is marked as successful; if the fourth distance measurement fails, the target head mounted display device is marked as a first failure.

3. The method according to claim 2, characterized in that The method further comprises: Repeat steps 6.1 to 6.5 for the target head-mounted display device with the first failure mark until the distance measurement of the target head-mounted display device is successful, or the number of first failure marks of the target head-mounted display device reaches a preset threshold, and then a second failure mark is performed on the target head-mounted display device.

4. The method according to claim 3, characterized in that The method further comprises: When the target head-mounted display device has a second failure mark, disconnecting the Bluetooth connection between the first head-mounted display device and the target head-mounted display device; Attempting to establish a Bluetooth connection between the first head mounted display device and a next target head mounted display device according to the arrangement order of the second head mounted display devices in the scanning queue, and executing step 3 to step 6 according to the Bluetooth connection until all the second head mounted display devices in the scanning queue have been distance measured; The marks of all second head mounted display devices in the scanning queue are eliminated, and the distances of the second head mounted display devices in the surrounding environment are measured again.

5. The method according to claim 1, characterized in that: Distance measurement is done by: Transmitting a pulse signal to the target head mounted display device; receiving a reflected signal, wherein the reflected signal represents a first pulse signal reflected from the target head mounted display device; Determining a propagation time of a pulse signal according to the pulse signal and the reflected signal; The propagation distance of the pulse signal is determined according to the propagation time and the speed of light, and the distance value between the target head-mounted display device and the first head-mounted display device is determined according to the propagation distance.

6. The method according to claim 1, characterized in that The first head mounted display device comprises a front first ultra-wideband module and a rear second ultra-wideband module; The first ultra-wideband module is connected to the control unit of the first head mounted display device via a serial peripheral interface; The second ultra-wideband module is connected to the control unit via a universal serial bus.

7. The method according to claim 6, characterized in that The first ultra-wideband antenna of the first ultra-wideband module and the second ultra-wideband antenna of the second ultra-wideband module are both perpendicular to the ground; the first ultra-wideband antenna and the second ultra-wideband antenna are parallel to each other.

8. A position detection device for a head mounted display device, characterized in that: include: A Bluetooth scanning module, used to perform Bluetooth scanning for broadcast data of a second head-mounted display device in the surrounding environment through a Bluetooth gateway, and add the second head-mounted display device scanned by Bluetooth to a scanning queue; a Bluetooth connection establishing module, configured to attempt to establish a Bluetooth connection between each second head mounted display device and the first head mounted display device according to the arrangement order of the second head mounted display devices in the scanning queue; a state determination module, configured to determine, when a Bluetooth connection between a target head-mounted display device and the first head-mounted display device is successful, that the first head-mounted display device is in a connected state and that the target head-mounted display device is in a connected state; the target head-mounted display device is any second head-mounted display device in the scanning queue; A master-slave device setting module, used to set the first head-mounted display device in a connected state as the master device, and set the target head-mounted display device in a connected state as the slave device; A manager establishment module, used to establish a first manager according to the master device, and to establish a second manager according to the slave device; the first manager includes a calling interface for ultra-wideband parameters of the first head-mounted display device; the second manager includes a calling interface for ultra-wideband parameters of the target head-mounted display device; The distance measurement module is used to use the first manager and the second manager to perform at least one parameter exchange on the ultra-wideband parameters of the first head-mounted display device and the ultra-wideband parameters of the target head-mounted display device, and to perform at least one distance measurement after the parameter exchange is completed.

9. A computer device, characterized in that: include: A memory and a processor, wherein the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the position detection method of the head mounted display device according to any one of claims 1 to 7 by executing the computer instructions.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a computer to execute the position detection method of the head-mounted display device according to any one of claims 1 to 7.

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