Processing method and processing system

Abstract

The embodiment of the invention discloses a processing method and a processing system, and the processing method comprises the steps: obtaining first environment data currently sensed by first equipment, and obtaining second environment data of the first equipment; the second environment data corresponds to a historical sensing area of the first equipment; under the condition that the first environment data is not matched with the second environment data, acquiring third environment data from global environment data of the current scene; the global environment data is obtained by utilizing the first equipment and the second equipment to carry out environment perception, and a first perception area of the first equipment corresponding to the third environment data is at least partially overlapped with a second perception area of the second equipment; and based on the third environment data, determining a first boundary according to a target strategy, so that the first device can identify the first boundary.

Description

Technical Field

[0001] The present application relates to, but is not limited to, the field of information technology, and in particular to a processing method and a processing system. Background Art

[0002] With the development of information technology, applications that integrate virtual information with the real world are becoming increasingly widespread. When users wear devices and are in a virtual scene corresponding to the virtual information, and cannot see real-world elements, safety issues such as collisions may occur.

[0003] To address this issue, a virtual boundary is pre-established based on real-world elements. This boundary represents the device's range of free movement, enabling the device to take appropriate safety measures if the user moves beyond the device's boundaries while in the virtual scene. However, when the device's scene changes, the device's boundaries may not be recognized, impacting the user experience and safety. Summary of the Invention

[0004] In view of this, embodiments of the present application provide at least one processing method and a processing system.

[0005] The technical solution of the embodiment of the present application is implemented as follows:

[0006] The present application provides a processing method, including:

[0007] Acquire first environmental data currently sensed by the first device, and acquire second environmental data of the first device; the second environmental data corresponds to a historical sensing area of ​​the first device;

[0008] When the first environment data and the second environment data do not match, obtaining third environment data from the global environment data of the current scene; the global environment data is obtained by using the first device and the second device to perform environment perception, and the first perception area of ​​the first device corresponding to the third environment data at least partially overlaps with the second perception area of ​​the second device;

[0009] Based on the third environment data, a first boundary is determined according to the target policy, so that the first device can identify the first boundary.

[0010] The present application provides a processing method, including:

[0011] Obtaining global environmental data of the current scene; the global environmental data is obtained by using the first device and the second device to perform environmental perception;

[0012] The global environment data is used for the first device to obtain the third environment data therefrom, so that when the second environment data does not match the currently perceived first environment data, the first device can determine and identify the first boundary according to the target strategy based on the third environment data; the second environment data corresponds to the historical perception area of ​​the first device, and the first perception area of ​​the first device corresponding to the third environment data at least partially overlaps with the second perception area of ​​the second device.

[0013] An embodiment of the present application provides a processing system, including a first device and a second device; the first device is configured to:

[0014] Acquire first environmental data currently sensed by the first device, and acquire second environmental data of the first device; the second environmental data corresponds to a historical sensing area of ​​the first device;

[0015] When the first environment data and the second environment data do not match, obtaining third environment data from the global environment data of the current scene; the global environment data is obtained by using the first device and the second device to perform environment perception, and the first perception area of ​​the first device corresponding to the third environment data at least partially overlaps with the second perception area of ​​the second device;

[0016] Based on the third environment data, a first boundary is determined according to the target policy, so that the first device can identify the first boundary.

[0017] It should be understood that the above general description and the following detailed description are merely exemplary and explanatory, and do not limit the technical solutions of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 A schematic diagram of the implementation process of a processing method provided in the embodiment of the present application Figure 1 ;

[0019] Figure 2 A schematic diagram of the implementation process of a processing method provided in the embodiment of the present application Figure 2 ;

[0020] Figure 3 A schematic diagram of the structure of a processing system provided in an embodiment of the present application;

[0021] Figure 4 A schematic diagram of the device display interface in a scenario where the security boundary is not recognized in the related art;

[0022] Figure 5 A schematic diagram of the implementation process of a processing method provided in the embodiment of the present application Figure 3 ;

[0023] Figure 6 A schematic diagram of a user prompt for drawing a safety boundary provided in an embodiment of the present application;

[0024] Figure 7 A schematic diagram of generating a coverage grid map provided in an embodiment of the present application Figure 1 ;

[0025] Figure 8 A schematic diagram of generating a coverage grid map provided in an embodiment of the present application Figure 2 ;

[0026] Figure 9 A schematic diagram of the structure of a processing device provided in an embodiment of the present application Figure 1 ;

[0027] Figure 10 A schematic diagram of the structure of a processing device provided in an embodiment of the present application Figure 2 ;

[0028] Figure 11 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0029] In order to make the purpose, technical solutions and advantages of this application clearer, the technical solutions of this application are further elaborated in detail below with reference to the accompanying drawings and embodiments. The described embodiments should not be regarded as limiting this application. All other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0030] In the following description, the terms "first / second / third" involved are merely to distinguish similar objects and do not represent a specific order for the objects. It is understandable that "first / second / third" can be interchanged with a specific order or sequence where permitted, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this application belongs. The terms used herein are for the purpose of describing this application only and are not intended to limit this application. It should also be noted that, for ease of description, only the parts related to the relevant application are shown in the accompanying drawings.

[0031] When a device capable of combining virtual information with the real world changes its location, there is a problem of not being able to identify the device boundaries. For example, when the device is restarted, the current environment may not match the characteristics corresponding to the pre-stored environment, resulting in an inability to recognize the current environment and determine the device boundaries corresponding to the current environment.

[0032] In the related art, the above problem is solved by requiring the user to redraw the device boundary, which interrupts the ongoing application and affects the user experience.

[0033] The embodiment of the present application provides a processing method, which can be executed by an electronic device. The electronic device may refer to a virtual reality (VR) device, an augmented reality (AR) device, a mixed reality (MR) device, a server, a laptop computer, a tablet computer, a desktop computer, a smart TV, a set-top box, a mobile device (such as a mobile phone, a portable video player, a personal digital assistant, a dedicated messaging device, a portable gaming device), or other device with data processing capabilities. Figure 1 As shown, the processing method includes the following steps S101 to S103:

[0034] Step S101: Acquire first environmental data currently sensed by a first device, and acquire second environmental data of the first device; the second environmental data corresponds to a historical sensing area of ​​the first device.

[0035] Here, the first device can be used to present a preset image set representing a virtual environment and surround the user's field of view, so that the user viewing the images in the preset image set can feel that they are in the virtual environment corresponding to the preset image set; wherein, the first device may include but is not limited to at least one of a VR device, an AR device, and an MR device, and the preset image set may include images, and / or videos, etc.

[0036] In some embodiments, the first environmental data can be obtained through a sensing module of the first device; wherein the sensing module can include but is not limited to at least one of an infrared sensor module, a camera module, a radar module, an ultrasonic sensor module, etc.

[0037] Environmental data can be used to characterize environmental information corresponding to the location of the first device; wherein, environmental information may include but is not limited to environmental background parameters, at least one of parameters corresponding to objects included in the environment; environmental background parameters may include but are not limited to at least one of the temperature in the environment, the humidity in the environment, the brightness of the ambient light, the color temperature of the ambient light, the color type in the environment, the color distribution in the environment, etc., and parameters corresponding to objects included in the environment may include but are not limited to at least one of the number of objects included in the environment, the type of objects included in the environment, the distribution of objects included in the environment, etc.

[0038] In some embodiments, the environmental data may include at least one of point cloud data, image data, coverage grid map, point cloud map, etc.

[0039] In some embodiments, the first environmental data can be directly collected by the first device performing environmental perception at the current moment, and / or determined based on the perception data obtained by the first device performing environmental perception at the current moment, and the perception time corresponding to the first environmental data is later than the perception time corresponding to the second environmental data.

[0040] For example, the first environmental data may include Simultaneous Localization and Mapping (SLAM) data collected by a SLAM radar, or may include a point cloud map determined based on the SLAM data.

[0041] For another example, the first environment data may include image data collected by a camera, or may include elements in the physical environment corresponding to the image data extracted based on the image data.

[0042] The historical perception area may include an environment perception area corresponding to the first device at a historical moment earlier than the current moment.

[0043] The second environmental data may be obtained by performing environmental perception on a historical perception area at a historical moment.

[0044] In some embodiments, the second environment data can be sensed by the first device; can also be sensed by a second device in the physical environment of the first device; can also be sensed by the first device and the second device.

[0045] For example, the second environment data may include the environment data obtained by performing environment perception on the historical perception area after the first device is powered on for the first time.

[0046] For example, the second environmental data may include environmental data of a perception area overlapping with the first device, which is obtained based on the perception of the second device, and environmental data obtained after the first device is powered on for the first time and the environmental data obtained by the historical perception area is updated.

[0047] In some embodiments, the second environment data can be stored locally on the first device, or stored in other electronic devices that can interact with the first device for information; wherein, other electronic devices that can interact with the first device for information can include but are not limited to at least one of a cloud server, a second device, a local server, etc.

[0048] For example, when the first device executes step S101, the second environment data stored locally may be directly called.

[0049] For another example, when the second device, the local server and / or the cloud server executes step S101, the second environment data sent by the first device can be obtained through network communication.

[0050] In some embodiments, the perception area corresponding to the first environmental data may be at least a portion of the historical perception area.

[0051] For example, when the user currently operates the first device to move in a straight line, the perception area corresponding to the first environmental data may be an area determined based on the straight line, and the historical perception area may include an area determined based on the movement range of the user when operating the first device at historical moments;

[0052] When the movement range of the user when operating the first device at a historical moment is the same as the movement range of moving in a straight line at the current moment, the perception area corresponding to the first environmental data is the same as the historical perception area; when the movement range of the user when operating the first device at a historical moment exceeds the movement range of moving in a straight line at the current moment, the perception area corresponding to the first environmental data is a partial area of ​​the historical perception area.

[0053] Step S102: When the first environment data and the second environment data do not match, obtain third environment data from the global environment data of the current scene; the global environment data is obtained by using the first device and the second device to perform environment perception, and the first perception area of ​​the first device corresponding to the third environment data at least partially overlaps with the second perception area of ​​the second device.

[0054] Here, the mismatch between the first environment data and the second environment data may include but is not limited to at least one of the following: the first environment data and the second environment data are at least partially different, the similarity between the first environment data and the second environment data is lower than a similarity threshold, etc.

[0055] The second device may be at least one other electronic device in the same physical environment as the first device.

[0056] The current scene may include the scene corresponding to the current moment where the first device is located.

[0057] The mismatch between the first environment data and the second environment data may indicate that the current scene is different from the historical scene corresponding to the second environment data, which may include but is not limited to at least one of the different locations of the first device in the scene, the different types, quantities, and / or distributions of elements in the scene, etc.

[0058] The global environment data may be the environment data of the entire scene corresponding to the current moment.

[0059] In some embodiments, the first perception area may be the same as or different from the historical perception area.

[0060] The first perception area may include a perceptible area of ​​a first device in the current scene, and the second perception area may include a perceptible area of ​​a second device in the current scene.

[0061] In some embodiments, global environmental data can be determined by the first device based on environmental data obtained by the first device and the second device through environmental perception, or it can be determined by other electronic devices capable of interacting with information with the first device based on environmental data obtained by the first device and the second device through environmental perception; wherein, the other electronic devices capable of interacting with information with the first device may include but are not limited to at least one of a cloud server, a second device, a local server, etc.

[0062] Step S103: Based on the third environment data, determine the first boundary according to the target policy, so that the first device can identify the first boundary.

[0063] Here, since the first perception area of ​​the first device and the second perception area of ​​the second device at least partially overlap, the third environmental data is the latest data corresponding to the first perception area of ​​the first device obtained based on the common perception of multiple devices in the current scene, and its accuracy and reference value are higher than the environmental data obtained only based on the perception of the first device.

[0064] Furthermore, determining the first boundary according to the target strategy corresponding to the third environment data can improve the accuracy and reference value of the first boundary, so that the first device can provide services to the user based on the first boundary adapted to the current scene. For example, when the user is in a virtual scene and moves beyond the first boundary, at least one of the following safety measures is taken, including but not limited to: issuing an alarm, stopping the display of the virtual scene, and displaying real-world elements.

[0065] Exemplarily, the first environmental data may only include environmental data of a part of the current perception range of the first device (for example, directly in front). When the environmental features corresponding to this part of the data are missing, the third environmental data based on the more complete and accurate perception range can improve the accuracy of judging whether the environmental features of other perception ranges (for example, left and right directions) that are not currently perceived by the first device have changed.

[0066] In an embodiment of the present application, when the first environmental data currently perceived by the first device does not match the second environmental data of the historical perception area, the first boundary is determined according to the target strategy based on the third environmental data in the global environmental data that overlaps with the second device, so that the first device can identify the security boundary. In this way, on the one hand, since the first perception area of ​​the first device and the second perception area of ​​the second device at least partially overlap, the global environmental data jointly determined by the second device and the first device are more referenceable, and based on the third environmental data corresponding to the first device in the global environmental data, the adaptability and accuracy of the first boundary corresponding to the determined first device to the current scene can be improved; on the other hand, the first device can automatically complete the identification of the first boundary based on the determined first boundary that is adapted to the current scene, thereby reducing problems such as application interruption caused by failure to identify the security boundary and / or affecting the safety of device operating users.

[0067] Furthermore, exemplarily, when the safety boundary of the first device is lost due to the inability to identify environmental features, the user does not need to operate the first device to redraw the safety boundary. The first boundary can be automatically recognized or reconstructed without any sense of touch, thereby improving the device usage experience of the user operating the first device.

[0068] In some embodiments, the above step S103 may include the following steps S111 to S114:

[0069] Step S111: Compare the third environment data and the second environment data to obtain a first comparison result.

[0070] Here, the difference between the environment corresponding to the second environment data and the environment corresponding to the third environment data can be further determined based on the difference between the second environment data and the third environment data represented by the first comparison result.

[0071] In some embodiments, the operation of comparing the third environment data and the second environment data can be completed by at least one of the first device, the second device, the cloud server, the local server, etc., including but not limited to.

[0072] Step S112: In response to the first comparison result indicating that the position of the first device in the physical environment meets the position change condition, identifying at least one first calibration object from the third environment data; and determining a first boundary based on the at least one first calibration object.

[0073] Here, the position of the first device in the physical environment satisfying the position change condition may include: the location of the first device corresponding to the third environmental data exceeds the safety boundary corresponding to the historical perception area. In this case, the safety boundary of the first device needs to be re-determined to make the user's free movement range adapt to the current position of the first device.

[0074] The first calibration object may include at least one calibratable object in the physical space corresponding to the third environment data.

[0075] For example, the first calibration object may include a calibratable object that is not used to determine the safety boundary, and the first boundary is further constructed based on the calibratable object.

[0076] For another example, the first calibration object may include a historical calibration object of an existing safety boundary corresponding to the current location of the first device; and based on the historical calibration object, the existing safety boundary is determined as the first boundary;

[0077] In some embodiments, the location of the first device corresponding to the third environmental data may include a historical location of at least one second device, and the current first boundary of the first device may be determined based on the historical boundary of the at least one second device at the historical location.

[0078] In some implementations, the first comparison result may be obtained by comparing features in the third environment data and the second environment data that respectively characterize the location of the first device.

[0079] For example, the similarity between the scene corresponding to the third environmental data and the scene corresponding to the second environmental data can be obtained by comparing the types and distribution of colors in the image captured by the first device corresponding to the third environmental data, with the types and distribution of colors in the image captured by the first device corresponding to the second environmental data; when the similarity is less than the similarity threshold, it is determined that the position of the first device in the physical environment meets the position change condition.

[0080] For another example, the adjacent devices of the first device corresponding to the third environment data and the adjacent devices of the first device corresponding to the second environment data can be compared; when the adjacent devices are different, it is determined that the position of the first device in the physical environment meets the position change condition.

[0081] Step S113: In response to the first comparison result indicating that the physical environment of the first device satisfies a first environment change condition, maintaining the boundary corresponding to the historical perception area as the first boundary.

[0082] Here, the physical environment of the first device satisfying the first environmental change condition may include changes in environmental features that do not affect security boundary identification, such as changes in color, ambient light brightness, or background texture. In this case, the change in environmental features does not affect user activities, and there is no need to reconstruct the security boundary of the first device. The security boundary corresponding to the historical perception area can be used as the first boundary.

[0083] Step S114: In response to the first comparison result indicating that the physical environment of the first device satisfies the second environment transformation condition, the boundary corresponding to the historical perception area is determined as a candidate boundary; at least one second calibration object is identified from the third environment data; based on the at least one second calibration object, the candidate boundary is updated to obtain a first boundary; the second calibration object is different from the historical calibration object of the candidate boundary.

[0084] Here, the physical environment of the first device satisfying the first environment change condition may include: the location of the first device corresponding to the third environment data does not exceed the safety boundary corresponding to the historical perception area, but the characteristics of the environment that affect the identification of the safety boundary have changed, for example, the historical calibration objects of the safety boundary corresponding to the historical perception area in the current scene have decreased, and / or the calibratable objects that affect user activities have increased. In this case, combined with the safety boundary of the historical perception area of ​​the first device and the changes in the calibratable objects in the current scene, the user's free range of movement can be adapted to the current scene.

[0085] The second calibration object may include a calibratable object that is at least partially different from the historical calibration object of the candidate boundary.

[0086] In an embodiment of the present application, a first comparison result is obtained by comparing the third environment data and the second environment data; when the first comparison result represents that the position of the first device in the physical environment meets the position change condition, the first boundary is determined based on at least one first calibration object identified from the third environment data; when the first comparison result represents that the physical environment in which the first device is located meets the first environment change condition, the boundary corresponding to the historical perception area is maintained as the first boundary; when the first comparison result represents that the physical environment in which the first device is located meets the second environment change condition, the boundary corresponding to the historical perception area is updated based on at least one second calibration object identified from the third environment data to obtain the first boundary. In this way, when the current position of the first device meets the position change condition, the adaptability of the determined first boundary to the current position of the first device can be improved based on the calibration object in the scene corresponding to the current position; when the current physical environment of the first device meets the first environment change condition, it is determined that the change of the physical environment of the first device does not affect the determination of the safety boundary, and the recovery of the safety boundary is further achieved; when the current physical environment of the first device meets the second environment change condition, it is determined that the change of the physical environment of the first device affects the determination of the safety boundary, and the update of the safety boundary is further achieved; by obtaining the first comparison result of the data corresponding to the current scene and the historical data, the first boundary can be determined based on different methods according to different conditions met by the scene change, thereby improving the accuracy of the determined first boundary and its adaptability to the current scene.

[0087] In some embodiments, the step S102 of acquiring the third environment data from the global environment data of the current scene may include the following step S121:

[0088] Step S121: Based on the first identification parameter of the first device, obtain third environment data from the global environment data of the current scene; the third environment data is associated with the first identification parameter, and the first identification parameter is marked by the target device.

[0089] Here, the first identification parameter may be a parameter that can characterize the first device feature. For example, the first identification parameter may include but is not limited to at least one of a device name, a device serial number, a specific field in a device serial number, a device address, and the like.

[0090] Exemplarily, a local map corresponding to the first device serial number may be determined in the global map.

[0091] The target device may be a device for maintaining global environment data, and may include but is not limited to at least one of the first device, the second device, a cloud server, a local server, and the like.

[0092] The above processing method may further include the following step S122:

[0093] Step S122: In response to obtaining the first environmental data, the first environmental data is uploaded to the target device so that the target device updates the first environmental data to the global environmental data; and in the updated global environmental data, the fourth environmental data corresponding to the current perception area of ​​the first device is associated with the first identification parameter marked by the target device.

[0094] Here, the first environmental data currently perceived by the first device is uploaded to the target device in real time, so that the target device updates the first environmental data to the latest maintained global environmental data. In this way, the fourth environmental data corresponding to the current perception area of ​​the first device in the updated global environmental data can be the latest data.

[0095] In some embodiments, the environmental data may include a map, and the local map corresponding to the first environmental data may be mapped to the global map through the target device, and the local map corresponding to the first environmental data may be marked using the first identification parameter.

[0096] In this way, the target device can store the global map, and other devices can store their corresponding local maps, saving storage space and maintenance costs.

[0097] In an embodiment of the present application, after obtaining the first environmental data, it is uploaded to the target device, and the global environmental data is maintained and updated by the target device. The environmental data corresponding to the first device in the global environmental data is associated with the first identification parameter corresponding to the first device. In this way, on the one hand, based on the first identification parameter of the first device, the speed and accuracy of obtaining the third environmental data from the global environmental data can be improved, further improving the speed and accuracy of determining the first boundary, and enhancing the user's device usage experience. On the other hand, having the global environmental data maintained by the target device can improve the stability of the global environmental data and the asynchronous application and update of the global environmental data.

[0098] In some embodiments, the uploading of the first environment data to the target device in step S122 so that the target device updates the first environment data to the global environment data may include the following step S131:

[0099] Step S131, upload the first environment data to the target device, so that when the first environment data does not match the third environment data, the target device updates the first environment data to the global environment data to obtain updated global environment data; the updated global environment data includes the fourth environment data.

[0100] Here, when the first environmental data does not match the third environmental data, it can be determined that the scene currently perceived by the first device is different from the scene corresponding to the third environmental data. Since the first environmental data is the latest data perceived by the first device, the environmental data associated with the first device in the global environmental data can be updated to keep the environmental data associated with the first device in the global environmental data up to date.

[0101] In the embodiment of the present application, if the first environment data does not match the third environment data, the global environment data is updated based on the environment data. This eliminates the need to update the global environment data immediately after acquiring the data perceived in real time by the first device. The global environment data can be updated only when the environment data corresponding to the first device changes, thus saving computing resources.

[0102] In some embodiments, the above processing method may further include the following steps S141 to S143:

[0103] Step S141: extracting a first environmental feature of the first environmental data and a second environmental feature of the second environmental data.

[0104] Here, the first environmental feature may include an environmental feature representing the physical environment in which the first device corresponding to the first environmental data is located.

[0105] The second environmental feature may include an environmental feature representing the physical environment in which the first device corresponding to the second environmental data is located.

[0106] Among them, environmental characteristics may include but are not limited to environmental background parameters, and at least one of the parameters corresponding to the objects included in the environment; environmental background parameters may include but are not limited to at least one of the temperature in the environment, the humidity in the environment, the brightness of the ambient light, the color temperature of the ambient light, the color type in the environment, the color distribution in the environment, etc., and parameters corresponding to the objects included in the environment may include but are not limited to at least one of the number of objects included in the environment, the type of objects included in the environment, the distribution of objects included in the environment, etc.

[0107] Step S142: When the similarity between the first environmental feature and the second environmental feature is less than a similarity threshold, determine the difference feature between the first environmental feature and the second environmental feature.

[0108] Here, when the similarity between the first environmental feature and the second environmental feature is not less than the similarity threshold, it can be determined that the scene differences corresponding to the first environmental data and the second environmental data are small, and therefore, the impact of the scene differences on the operation of the first device can be ignored.

[0109] When the similarity between the first environmental feature and the second environmental feature is less than a similarity threshold, it can be determined whether the difference between the environmental features affects the operation of the first device by determining the difference between the first environmental feature and the second environmental feature.

[0110] For example, when the objects in the scene corresponding to the environmental data are environmental features, the different objects in the scenes corresponding to the first environmental data and the second environmental data can be used as difference features.

[0111] Step S143: In response to the degree of influence of the difference feature on the operation of the first device being greater than the target degree threshold, determining that the first environment data does not match the second environment data.

[0112] Here, the degree of influence on the operation of the first device is greater than the target degree threshold, which can indicate that the environments in which the first device operates under the first environment data and the second environment data are different.

[0113] In some embodiments, the degree of impact on the operation of the first device may include, but is not limited to, at least one of the degree of impact on the safety of the operating user, the degree of impact on environmental perception, and the like.

[0114] For example, in response to the volume of the objects added to the scene being greater than a volume threshold, it may be determined that the degree of impact of the newly added objects on the safety of the operating user is greater than a target degree threshold.

[0115] For another example, in response to a grayscale change of the captured image exceeding a grayscale change threshold, it may be determined that the degree of influence of the ambient light brightness on the environmental perception is greater than a target degree threshold.

[0116] In an embodiment of the present application, a comprehensive determination is made as to whether the first environmental data and the second environmental data match based on the similarity between the first environmental feature of the first environmental data and the second environmental feature of the second environmental data, as well as the difference between the first environmental feature and the second environmental feature. Thus, on the one hand, matching results adapted to the needs of different scenarios are obtained based on different similarity thresholds; on the other hand, only when the difference between the first environmental feature and the second environmental feature affects the operation of the first device is it determined that the first environmental data and the second environmental data do not match, which can reduce the sensitivity of triggering the determination of the first boundary, reduce the problem of frequently determining the first boundary, and further improve the accuracy of identifying the impact of data changes on the current scenario.

[0117] The embodiment of the present application provides a processing method, which can be executed by an electronic device. The electronic device may refer to a virtual reality (VR) device, an augmented reality (AR) device, a mixed reality (MR) device, a server, a laptop computer, a tablet computer, a desktop computer, a smart TV, a set-top box, a mobile device (such as a mobile phone, a portable video player, a personal digital assistant, a dedicated messaging device, a portable gaming device), or other device with data processing capabilities. Figure 2 As shown, the processing method includes the following steps S201:

[0118] Step S201: Acquire global environmental data of the current scene; the global environmental data is obtained by using the first device and the second device to perform environmental perception;

[0119] The global environment data is used for the first device to obtain the third environment data therefrom, so that when the second environment data does not match the currently perceived first environment data, the first device can determine and identify the first boundary according to the target strategy based on the third environment data; the second environment data corresponds to the historical perception area of ​​the first device, and the first perception area of ​​the first device corresponding to the third environment data at least partially overlaps with the second perception area of ​​the second device.

[0120] Here, the electronic device that performs step S201 may include but is not limited to at least one of the first device, the second device, the cloud server, the local server, etc.

[0121] In an embodiment of the present application, global environmental data of the current scene obtained by environmental perception using the first device and the second device is obtained. In this way, on the one hand, since the first perception area of ​​the first device and the second perception area of ​​the second device at least partially overlap, the global environmental data jointly determined by the second device and the first device are more referenceable, and based on the third environmental data corresponding to the first device in the global environmental data, the adaptability and accuracy of the first boundary corresponding to the first device determined to the current scene can be improved; on the other hand, the first device can automatically complete the recognition of the first boundary based on the determined first boundary adapted to the current scene, thereby reducing problems such as application interruption caused by failure to recognize the security boundary and / or affecting the safety of device operating users.

[0122] In some implementations, when step S201 is applied to a device other than the first device, asynchronous acquisition and application of global environment data can be achieved, thereby further improving the efficiency of the first device in identifying the first boundary.

[0123] In some embodiments, the above processing method may further include the following steps S211 to S213:

[0124] Step S211: input the second environment data and the third environment data into the target model.

[0125] Here, the target model may include a model with data processing capabilities, for example, including but not limited to at least one of a neural network model and a machine learning model, wherein the neural network model may include but not limited to a deep neural network model and a convolutional neural network model.

[0126] In some embodiments, the second environment data and the third environment data can be directly input into the target model; or the second environment data and the third environment data can be preprocessed and then input into the target model, wherein the data type of the preprocessed second environment data and the third environment data is the processing type of the target model.

[0127] Step S212: Compare the second environment data with the third environment data using the target model to obtain a second comparison result.

[0128] Here, the difference between the environment corresponding to the second environment data and the environment corresponding to the third environment data can be further determined by the difference between the second environment data and the third environment data represented by the second comparison result.

[0129] The second comparison result may be the same as the first comparison result in the above processing method.

[0130] Step S213: Update the second environment data based on the second comparison result.

[0131] Here, when the second comparison result indicates that the second environment data is different from the third environment data, updating the second environment data can improve the adaptability of the updated second environment data to the current scenario.

[0132] In some implementations, the second environment data may be updated based on the second comparison result by the target device, and the updated second environment data may be sent to the first device, where the target device is different from the first device.

[0133] In this embodiment of the present application, the second environment data is compared with the third environment data using a target model, and the second environment data is further updated based on the second comparison result. This can improve processing efficiency by utilizing the target model, and can also resolve the problem of environmental data not matching the current scenario during subsequent use of the first device by updating the historical data of the first device.

[0134] In some embodiments, the above step S213 may include at least one of the following steps S221 to S223:

[0135] Step S221: In response to the second comparison result indicating that the position of the first device in the physical environment meets the position change condition, the positioning data corresponding to the first device in the second environment data is updated based on the positioning data corresponding to the first device in the third environment data.

[0136] Here, the positioning data may represent at least one of a relative position between the first device and the second device, a relative position between the first device and an object in a scene, and the like.

[0137] When the position of the first device in the physical environment meets the position change condition, after the positioning data of the first device is updated based on the positioning data corresponding to the first device in the third environment data, the first device can determine its own position according to the positioning data adapted to the current scene during subsequent operation.

[0138] Step S222: In response to the second comparison result indicating that the physical environment of the first device satisfies the first environment transformation condition, the visual parameters in the second environment data are updated based on the visual parameters in the third environment data.

[0139] Here, the visual parameter may include one-dimensional and / or two-dimensional parameters. For example, the visual parameter may include but is not limited to at least one of color, brightness, graphics, etc.

[0140] When the physical environment in which the first device is located meets the first environment change condition, after the visual parameters in the second environment data are updated based on the visual parameters in the third environment data, the first device can identify environmental features according to the visual parameters adapted to the current scene during subsequent operation.

[0141] Step S223: In response to the second comparison result indicating that the physical environment of the first device meets the second environment transformation condition, the calibration object in the second environment data is updated based on the calibration object in the third environment data.

[0142] Here, the calibration object may include a three-dimensional element in the physical environment, for example, at least one of a user, an object, a building, etc.

[0143] When the physical environment in which the first device is located meets the second environment transformation condition, after the calibration object in the second environment data is updated based on the calibration object in the third environment data, the first device can identify environmental features according to the calibration object adapted to the current scene during subsequent operation.

[0144] In the embodiment of the present application, different types of second environment data are updated in response to different characteristics of changes in the environment represented by the second comparison result. In this way, the adaptability of data updates to different scene changes can be improved while improving the accuracy of data updates.

[0145] It will be appreciated that one or more types of data may be updated simultaneously.

[0146] For example, when the position of the first device satisfies the position change condition, the positioning data of the first device, as well as the visual parameters and calibratable objects in the physical environment corresponding to the updated position, may be updated.

[0147] For another example, when the position of the first device does not change, only the visual parameters and / or calibratable objects in the physical environment corresponding to the position of the first device may be updated according to the second comparison result.

[0148] The embodiment of the present application provides a processing system, such as Figure 3 As shown, the processing system 300 includes a first device 301 and a second device 302;

[0149] The first device 301 is used to: obtain the first environmental data currently perceived by the first device 301, and obtain the second environmental data of the first device 301; the second environmental data corresponds to the historical perception area of ​​the first device 301; when the first environmental data and the second environmental data do not match, obtain the third environmental data from the global environmental data of the current scene; the global environmental data is obtained by performing environmental perception using the first device 301 and the second device 302, and the first perception area of ​​the first device 301 corresponding to the third environmental data at least partially overlaps with the second perception area of ​​the second device 302; based on the third environmental data, determine the first boundary according to the target strategy so that the first device 301 can identify the first boundary.

[0150] In some embodiments, the first device can also be used to: compare third environmental data and second environmental data to obtain a first comparison result; in response to the first comparison result characterizing that the position of the first device in the physical environment meets the position change condition, identify at least one first calibration object from the third environmental data; determine a first boundary based on the at least one first calibration object; in response to the first comparison result characterizing that the physical environment where the first device is located meets the first environmental change condition, maintain the boundary corresponding to the historical perception area as the first boundary; in response to the first comparison result characterizing that the physical environment where the first device is located meets the second environmental change condition, determine the boundary corresponding to the historical perception area as a candidate boundary; identify at least one second calibration object from the third environmental data; based on the at least one second calibration object, update the candidate boundary to obtain a first boundary; the second calibration object is different from the historical calibration object of the candidate boundary.

[0151] In some embodiments, the first device can also be used to: obtain third environmental data from the global environmental data of the current scene based on the first identification parameter of the first device; the third environmental data is associated with the first identification parameter, and the first identification parameter is marked by the target device; in response to obtaining the first environmental data, upload the first environmental data to the target device so that the target device updates the first environmental data to the global environmental data; and in the updated global environmental data, the fourth environmental data corresponding to the current perception area of ​​the first device is associated with the first identification parameter marked by the target device.

[0152] In some embodiments, the first device can also be used to: upload the first environment data to the target device, so that when the first environment data does not match the third environment data, the target device updates the first environment data to the global environment data to obtain updated global environment data; the updated global environment data includes the fourth environment data.

[0153] In some embodiments, the first device can also be used to: extract the first environmental feature of the first environmental data and the second environmental feature of the second environmental data; determine the difference feature between the first environmental feature and the second environmental feature when the similarity between the first environmental feature and the second environmental feature is less than a similarity threshold; in response to the degree of impact of the difference feature on the operation of the first device being greater than a target degree threshold, determine that the first environmental data and the second environmental data do not match.

[0154] In some embodiments, the processing system may further include a target device;

[0155] The target device is used to: obtain global environmental data of the current scene; the global environmental data is obtained by using the first device and the second device to perform environmental perception; the global environmental data is used by the first device to obtain third environmental data therefrom, so that when the second environmental data does not match the currently perceived first environmental data, the first device determines and identifies the first boundary according to the target strategy based on the third environmental data; the second environmental data corresponds to the historical perception area of ​​the first device, and the first perception area of ​​the first device corresponding to the third environmental data at least partially overlaps with the second perception area of ​​the second device.

[0156] In some embodiments, the target device can also be used to: input the second environment data and the third environment data into the target model; compare the second environment data and the third environment data through the target model to obtain a second comparison result; and update the second environment data based on the second comparison result.

[0157] In some embodiments, the target device can also be used for one of the following: in response to the second comparison result representing that the position of the first device in the physical environment meets the position change condition, based on the positioning data corresponding to the first device in the third environment data, updating the positioning data corresponding to the first device in the second environment data; in response to the second comparison result representing that the physical environment where the first device is located meets the first environment change condition, updating the visual parameters in the second environment data based on the visual parameters in the third environment data; in response to the second comparison result representing that the physical environment where the first device is located meets the second environment change condition, updating the calibration object in the second environment data based on the calibration object in the third environment data.

[0158] In multiplayer interactive VR scenarios, identifying safety boundaries is a crucial function. When a user is immersed in a virtual scene and their movements exceed safety boundaries, the device can trigger safety fences to help them see the outside world and avoid collisions and other safety issues.

[0159] Due to problems such as the movement of the VR device before startup, the map features corresponding to the current environment of the VR device will not match the map features corresponding to the pre-stored historical environment, making it impossible to identify the safety boundary.

[0160] In the related art, for example, Figure 4 As shown, by informing the user on the display interface and having the user reset the safety boundary, the problem of the safety boundary not being recognized in the current scenario is solved, which affects the user's experience.

[0161] Based on the above processing system, the embodiment of the present application provides a processing method that can be executed by an electronic device to realize automatic identification of safety boundaries in a group VR scene. Figure 5 As shown, the processing method includes the following steps S501 to S506:

[0162] Step S501: Select a target device.

[0163] In some implementations, a target server may be established, or at least one device in a VR device group may be selected as a target device. The target server may correspond to the target device in the aforementioned processing method.

[0164] For example, it can be obtained from Figure 5 Select at least one target device from the n VR devices in the .

[0165] In some embodiments, the target device may include a convolutional neural network model for determining whether to update the environmental data stored locally on the VR devices in the group. The convolutional neural network model in the target device may correspond to the target model in the aforementioned processing method, and the environmental data stored locally on the VR devices may correspond to the second environmental data in the aforementioned processing method.

[0166] In some embodiments, multiple VR devices in a group can establish a real-time mutual communication mechanism in the same network topology based on specific rules (device name, device serial number, specific fields of the device serial number, network address, etc.) in the same network environment where they can communicate with each other.

[0167] Step S502: Acquire environmental data perceived by each VR device in the group.

[0168] In some embodiments, after the initial power-up of all VR devices in the same network topology, a custom mode or a default preset mode can be used to draw an initial safety boundary corresponding to the current location, and generate an overlay grid map and a point cloud map corresponding to each device. The overlay grid map and the point cloud map can correspond to the environmental data in the above-mentioned processing method, and the initial safety boundary can correspond to the candidate boundary in the above-mentioned method. The overlay grid map identifies the occupancy status of the physical space, and the point cloud map identifies the three-dimensional shape and / or location information of objects in the physical environment.

[0169] For example, Figure 6 As shown, the display interface for first drawing the initial safety boundary may include instructions for the user to draw an activity area and a recommended range for drawing the activity area. The boundary of the activity area may correspond to the initial safety boundary. The instructions may include, but are not limited to, at least one of: picking up the controller, pointing to the floor, pressing and holding the trigger, moving the controller to draw the boundary, and completing the boundary setting.

[0170] For example, Figure 7 As shown, after the user operates the VR device to scan the ground in the physical environment 700, an overlay grid map 710 corresponding to the ground in the physical environment 700 is generated, and the physical environment corresponding to the virtual scene 720 is adjacent to the physical environment 700;

[0171] like Figure 8 As shown, after the user operates the VR device to scan the wall of the physical environment, a coverage grid map 800 corresponding to the wall in the physical environment is generated.

[0172] In some embodiments, after obtaining the SLAM data from each VR device through a camera, the SLAM data may be pre-processed to convert the data type into an input type for the target model. For example, the SLAM data may be converted into an overlay grid map and a point cloud map.

[0173] In some embodiments, any VR device in the group can scan the entire scene using the camera of the VR device to obtain SLAM data for the entire scene. A coverage grid map and point cloud map of the entire scene can be generated based on the SLAM data, and the generated coverage grid map and point cloud map of the entire scene can be sent to other VR devices in the same network topology. Here, the coverage grid map and point cloud map of the entire scene can correspond to the global environment data in the above-mentioned processing method.

[0174] In some implementations, the coverage grid map and point cloud map of the respective perception areas corresponding to each VR device may be mapped into the coverage grid map and point cloud map of the entire scene, and identification parameters of each VR device may be marked.

[0175] It is understood that the map perceived and generated by each VR device includes a map corresponding to the perception area overlapping with the adjacent device. The adjacent device may correspond to the second device in the above processing method.

[0176] In some implementations, the environmental data of the entire scene can be updated and maintained based on the environmental data perceived by each VR device in the group.

[0177] Step S503: train the target model.

[0178] In some embodiments, the target model can be trained using a set of environmental data initially perceived by all VR devices. For example, the target model can be trained based on environmental features extracted from the set of environmental data initially perceived by all VR devices.

[0179] Step S504: Determine whether to update the environment data stored locally on the VR device.

[0180] Here, the trained target model is used to determine whether to update the environmental data stored locally in the VR device so that the VR device can identify the corresponding safety boundary.

[0181] In some implementations, the trained target model can be used to update and maintain global environment data.

[0182] In some embodiments, after the VR device is powered on or restarted, if the currently perceived first environment data does not match the locally stored second environment data, it can be determined whether to update the second environment data locally stored in the VR device based on the third environment data in the global environment data.

[0183] For example, after the VR device is powered on or restarted, if the safety boundary is not recognized, the local coverage grid map and point cloud map that match the user's identification parameters can be determined based on the full scene coverage grid map and point cloud map obtained from the network, and the locally stored map can be further updated. The updated map can resolve the problem of not recognizing the safety boundary corresponding to the current scene. Among them, the full scene coverage grid map and point cloud map obtained from the network can correspond to the global environment data in the above-mentioned processing method, and the local coverage grid map and point cloud map that match the user's identification parameters can correspond to the third environment data in the above-mentioned processing method.

[0184] Step S505: Update the environment data stored locally on the VR device.

[0185] For example, when the position of the VR device exceeds the initial safety boundary, the positioning data stored locally in the VR device can be updated, and the locally stored coverage grid map and point cloud map can be further updated.

[0186] Step S506: The environment data stored locally in the VR device is not updated.

[0187] For example, when the position of the VR device does not move and / or does not exceed the initial safety boundary, the positioning data stored locally in the VR device may not be updated.

[0188] In the embodiment of the present application, a target model is trained based on the environmental data perceived by each VR device in the group. Based on the target model, a determination is made as to whether to update the environmental data stored locally on the VR device so that the VR device can identify the corresponding safety boundary. In this way, if the safety boundary of the VR device is lost due to an inability to identify environmental features, the user does not need to operate the VR device to redraw the safety boundary. The safety boundary can be automatically and seamlessly identified or reconstructed based on the latest environmental data, thereby improving the user experience of the VR device.

[0189] The present application embodiment provides a processing device, such as Figure 9 As shown, the processing device 900 includes:

[0190] A first acquisition module 901 is configured to acquire first environmental data currently sensed by a first device and acquire second environmental data of the first device; the second environmental data corresponds to a historical sensing area of ​​the first device;

[0191] a second acquisition module 902 configured to acquire, if the first environment data and the second environment data do not match, third environment data from the global environment data of the current scene; the global environment data being obtained by performing environment perception using the first device and the second device, wherein a first perception area of ​​the first device corresponding to the third environment data at least partially overlaps with a second perception area of ​​the second device;

[0192] The determination module 903 is configured to determine a first boundary according to a target policy based on the third environment data, so that the first device can identify the first boundary.

[0193] In some embodiments, the determination module can also be used to: compare the third environmental data and the second environmental data to obtain a first comparison result; in response to the first comparison result representing that the position of the first device in the physical environment meets the position change condition, identify at least one first calibration object from the third environmental data; determine the first boundary based on at least one first calibration object; in response to the first comparison result representing that the physical environment where the first device is located meets the first environmental change condition, maintain the boundary corresponding to the historical perception area as the first boundary; in response to the first comparison result representing that the physical environment where the first device is located meets the second environmental change condition, determine the boundary corresponding to the historical perception area as a candidate boundary; identify at least one second calibration object from the third environmental data; based on at least one second calibration object, update the candidate boundary to obtain the first boundary; the second calibration object is different from the historical calibration object of the candidate boundary.

[0194] In some embodiments, the second acquisition module may be further configured to: acquire the third environment data from the global environment data of the current scene based on the first identification parameter of the first device; the third environment data is associated with the first identification parameter, and the first identification parameter is marked by the target device;

[0195] The above-mentioned processing device may also include an uploading module, which is used to: in response to obtaining the first environmental data, upload the first environmental data to the target device, so that the target device updates the first environmental data to the global environmental data; and in the updated global environmental data, the fourth environmental data corresponding to the current perception area of ​​the first device is associated with the first identification parameter marked by the target device.

[0196] In some embodiments, the upload module can also be used to: upload the first environment data to the target device, so that when the first environment data does not match the third environment data, the target device updates the first environment data to the global environment data to obtain the updated global environment data; the updated global environment data includes the fourth environment data.

[0197] In some embodiments, the processing device may further include a processing module configured to: extract a first environmental feature of the first environmental data and a second environmental feature of the second environmental data;

[0198] When the similarity between the first environmental feature and the second environmental feature is less than a similarity threshold, determining a difference feature between the first environmental feature and the second environmental feature;

[0199] In response to the degree to which the difference feature affects the operation of the first device being greater than a target degree threshold, it is determined that the first environment data does not match the second environment data.

[0200] The present application embodiment provides a processing device, such as Figure 10 As shown, the processing device 1000 includes a third acquisition module 1001, which is used to:

[0201] Acquire global environmental data of the current scene; the global environmental data is obtained by using the first device and the second device to perform environmental perception;

[0202] The global environment data is used by the first device to obtain third environment data from it, so that when the second environment data does not match the currently perceived first environment data, the first device determines and identifies the first boundary according to the target strategy based on the third environment data; the second environment data corresponds to the historical perception area of ​​the first device, and the first perception area of ​​the first device corresponding to the third environment data at least partially overlaps with the second perception area of ​​the second device.

[0203] In some embodiments, the above-mentioned processing device may also include an update module for: inputting the second environmental data and the third environmental data into the target model; comparing the second environmental data and the third environmental data through the target model to obtain a second comparison result; and updating the second environmental data based on the second comparison result.

[0204] In some embodiments, the update module can also be used for at least one of the following: in response to the second comparison result indicating that the position of the first device in the physical environment meets the position change condition, based on the positioning data corresponding to the first device in the third environment data, updating the positioning data corresponding to the first device in the second environment data; in response to the second comparison result indicating that the physical environment where the first device is located meets the first environment change condition, updating the visual parameters in the second environment data based on the visual parameters in the third environment data; in response to the second comparison result indicating that the physical environment where the first device is located meets the second environment change condition, updating the calibration objects in the second environment data based on the calibration objects in the third environment data.

[0205] The embodiment of the present application provides an electronic device, including: a memory and a processor. Figure 11 As shown, the electronic device 1100 includes:

[0206] Memory 1101, used to store computer programs that can be executed on processor 1102;

[0207] The processor 1102 is configured to execute the program stored in the memory 1101 to implement the above-mentioned processing method applied to the processing device.

[0208] An embodiment of the present application provides a computer program, including computer-readable code. When the computer-readable code is executed in a computer device, a processor in the computer device executes some or all of the steps for implementing the above-mentioned processing method.

[0209] An embodiment of the present application provides a computer program product, including a computer program or instructions, which, when executed by a processor, implements some or all of the steps in the above-mentioned processing method.

[0210] An embodiment of the present application provides a computer-readable storage medium, which stores a computer program. The computer program can be executed by a processor to implement the above-mentioned processing method.

[0211] The present application is described with reference to the flowcharts and / or block diagrams of the methods, apparatuses, and electronic devices according to the embodiments of the present application. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0212] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0213] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0214] The above is only a specific implementation method of the present application, but the scope of protection of the present application is not limited thereto. Any changes or replacements that can be easily thought of by any technician familiar with this technical field within the technical scope disclosed in this application should be covered by the scope of protection of the present application.

[0215] The description of the above device embodiment is similar to the description of the above method embodiment and has similar beneficial effects as the method embodiment. For technical details not disclosed in the device embodiment of this application, please refer to the description of the method embodiment of this application for understanding.

[0216] It should be understood that "one embodiment" or "an embodiment" mentioned throughout the specification means that the specific features, structures or characteristics related to the embodiment are included in at least one embodiment of the present application. Therefore, "in one embodiment" or "in an embodiment" appearing throughout the specification does not necessarily refer to the same embodiment. In addition, these specific features, structures or characteristics can be combined in one or more embodiments in any suitable manner. It should be understood that in the various embodiments of the present application, the size of the serial numbers of the above-mentioned processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application. The above-mentioned serial numbers of the embodiments of the present application are for description only and do not represent the advantages and disadvantages of the embodiments.

[0217] It should be noted that, in this document, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or apparatus comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or apparatus comprising the element.

[0218] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the units is merely a logical function division. In actual implementation, there may be other division methods, such as: multiple units or components can be combined, or can be integrated into another system, or some features can be ignored or not executed. In addition, the coupling, direct coupling, or communication connection between the components shown or discussed can be through some interfaces, and the indirect coupling or communication connection of the devices or units can be electrical, mechanical or other forms.

[0219] The units described above as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units; they may be located in one place or distributed across multiple network units; some or all of the units may be selected according to actual needs to achieve the purpose of the scheme of this embodiment.

[0220] In addition, all functional units in the embodiments of the present application can be integrated into one processing unit, or each unit can be a separate unit, or two or more units can be integrated into one unit; the above-mentioned integrated units can be implemented in the form of hardware or in the form of hardware plus software functional units.

[0221] Those skilled in the art will understand that all or part of the steps of implementing the above-mentioned method embodiment can be completed by hardware related to program instructions, and the aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it executes the steps of the above-mentioned method embodiment; and the aforementioned storage medium includes: mobile storage devices, read-only memories (ROM), magnetic disks or optical disks, and other media that can store program codes.

[0222] Alternatively, if the above-mentioned integrated unit of the present application is implemented in the form of a software function module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the embodiment of the present application can be essentially or in other words, the part that contributes to the relevant technology can be embodied in the form of a software product, which is stored in a storage medium and includes a number of instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the methods described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as mobile storage devices, ROMs, magnetic disks, or optical disks.

[0223] The above is only an implementation method of the present application, but the scope of protection of the present application is not limited thereto. Any technician familiar with this technical field can easily think of changes or replacements within the technical scope disclosed in this application, which should be covered by the scope of protection of the present application.

Claims

1. A processing method comprising: Acquire first environment data currently sensed by the first device, and acquire second environment data of the first device; The second environmental data corresponds to a historical sensing area of ​​the first device; In the case where the first environment data does not match the second environment data, obtaining third environment data from the global environment data of the current scene; the global environment data is obtained by using the first device and the second device to perform environment perception, and a first perception area of ​​the first device corresponding to the third environment data at least partially overlaps with a second perception area of ​​the second device; Based on the third environment data, a first boundary is determined according to a target policy so that the first device can identify the first boundary.

2. The method according to claim 1, wherein determining the first boundary according to the target strategy based on the third environment data comprises: Comparing the third environment data with the second environment data to obtain a first comparison result; In response to the first comparison result indicating that the position of the first device in the physical environment satisfies a position change condition, identifying at least one first calibration object from the third environment data; determining the first boundary based on at least one of the first calibration objects; In response to the first comparison result indicating that the physical environment of the first device satisfies a first environment change condition, maintaining a boundary corresponding to the historical perception area as the first boundary; In response to the first comparison result indicating that the physical environment of the first device satisfies a second environment change condition, determining a boundary corresponding to the historical perception area as a candidate boundary; identifying at least one second calibration object from the third environment data; The candidate boundary is updated based on at least one of the second calibration objects to obtain the first boundary; the second calibration object is different from the historical calibration object of the candidate boundary.

3. The method according to any one of claims 1 or 2, wherein obtaining the third environment data from the global environment data of the current scene comprises: Based on the first identification parameter of the first device, acquiring the third environment data from the global environment data of the current scene; The third environment data is associated with the first identification parameter, and the first identification parameter is marked by the target device; The method further comprises: In response to acquiring the first environmental data, the first environmental data is uploaded to the target device so that the target device updates the first environmental data into the global environmental data; and in the updated global environmental data, the fourth environmental data corresponding to the current perception area of ​​the first device is associated with the first identification parameter marked by the target device.

4. The method according to claim 3, wherein uploading the first environment data to the target device so that the target device updates the first environment data to the global environment data comprises: Uploading the first environment data to the target device, so that the target device updates the first environment data into the global environment data when the first environment data does not match the third environment data, thereby obtaining the updated global environment data; The updated global environment data includes the fourth environment data.

5. The method according to claim 1, further comprising: Extracting a first environmental feature of the first environmental data and a second environmental feature of the second environmental data; When the similarity between the first environmental feature and the second environmental feature is less than a similarity threshold, determining a difference feature between the first environmental feature and the second environmental feature; In response to the degree of influence of the difference feature on the operation of the first device being greater than a target degree threshold, it is determined that the first environment data does not match the second environment data.

6. A processing method comprising: Get the global environment data of the current scene; The global environment data is obtained by using the first device and the second device to perform environment perception; The global environment data is used for the first device to obtain the third environment data therefrom, so that when the second environment data does not match the currently perceived first environment data, the first device can determine and identify the first boundary according to the target strategy based on the third environment data; the second environment data corresponds to the historical perception area of ​​the first device, and the first perception area of ​​the first device corresponding to the third environment data at least partially overlaps with the second perception area of ​​the second device.

7. The method according to claim 6, further comprising: inputting the second environment data and the third environment data into a target model; Comparing the second environment data with the third environment data by using the target model to obtain a second comparison result; Based on the second comparison result, the second environment data is updated.

8. The method according to claim 7, wherein updating the second environment data based on the second comparison result comprises at least one of the following: In response to the second comparison result indicating that the position of the first device in the physical environment satisfies a position change condition, based on the positioning data corresponding to the first device in the third environment data, updating the positioning data corresponding to the first device in the second environment data; In response to the second comparison result indicating that the physical environment in which the first device is located satisfies a first environment change condition, updating the visual parameters in the second environment data based on the visual parameters in the third environment data; In response to the second comparison result indicating that the physical environment in which the first device is located satisfies a second environment change condition, the calibration object in the second environment data is updated based on the calibration object in the third environment data.

9. A processing system, comprising a first device and a second device; the first device is used to: Acquire first environmental data currently sensed by the first device, and acquire second environmental data of the first device; the second environmental data corresponds to a historical sensing area of ​​the first device; In the case where the first environment data does not match the second environment data, obtaining third environment data from the global environment data of the current scene; the global environment data is obtained by using the first device and the second device to perform environment perception, and a first perception area of ​​the first device corresponding to the third environment data at least partially overlaps with a second perception area of ​​the second device; Based on the third environment data, a first boundary is determined according to a target policy so that the first device can identify the first boundary.

10. The processing system according to claim 9, further comprising a target device; the target device is configured to: inputting the second environment data and the third environment data into a target model; Comparing the second environment data with the third environment data by using the target model to obtain a second comparison result; Based on the second comparison result, the second environment data is updated.

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