Method and apparatus for device communication, device, storage medium and program product

Abstract

According to the embodiment of the invention, a method and apparatus for device communication, a device, a storage medium and a program product are provided. A method includes performing, at a master device, data communication with a plurality of devices of a first type at a first frequency via a first communication connection; and performing data communication with the at least one device of the second type at a second frequency via the second communication connection, the second frequency being greater than or equal to the first frequency.

Description

Technical Field

[0001] The exemplary embodiments disclosed herein generally relate to the field of computers, and particularly to methods, apparatus, devices, computer-readable storage media, and computer program products for device communication. Background Technology

[0002] Extended Reality (XR) has been widely researched and applied. XR combines hardware devices and various technologies to merge virtual content with real-world scenes, providing users with a unique sensory experience. Examples of XR technologies include Virtual Reality (VR), Augmented Reality (AR), and Mixed Reality (MR). VR uses computers to simulate a three-dimensional virtual world, providing users with an immersive experience encompassing visual, auditory, and tactile senses. AR allows real-world environments and virtual objects to be superimposed on each other in real time, coexisting simultaneously. MR creates new visual environments that merge the real and virtual worlds, allowing objects in the physical real-world scene to coexist with objects in the virtual world in real time.

[0003] Therefore, by having users wear XR devices, an immersive interactive experience can be provided using a virtual environment. When users operate while wearing XR devices, communication between the XR devices is required. Summary of the Invention

[0004] In a first aspect of this disclosure, a method for device communication is provided. The method includes: performing data communication at a master device via a first communication connection at a first frequency with a plurality of devices of a first type; and performing data communication via a second communication connection at a second frequency with at least one device of a second type, the second frequency being greater than or equal to the first frequency.

[0005] In a second aspect of this disclosure, a method for device communication is provided. The method includes: receiving a first frequency of the first type of device from a master device at a first type of device; determining a time segment for data communication with the master device based at least on the reception time of the first frequency and the first frequency; and performing data communication with the master device within the determined time segment, wherein the first frequency is less than or equal to a second frequency, and the master device and the second type of device perform data communication at the second frequency.

[0006] In a third aspect of this disclosure, an apparatus for device communication is provided. The apparatus includes: a first communication module configured to perform data communication with a plurality of devices of a first type at a first frequency via a first communication connection; and a second communication module configured to perform data communication with at least one device of a second type at a second frequency via a second communication connection, the second frequency being greater than or equal to the first frequency.

[0007] In a fourth aspect of this disclosure, an apparatus for device communication is provided. The apparatus includes: a first receiving module configured to receive a first frequency from a first type of device from a master device; a time determination module configured to determine a time segment for data communication with the master device based at least on the reception time of the first frequency and the first frequency; and a third communication module configured to perform data communication with the master device within the determined time segment, wherein the first frequency is less than or equal to a second frequency, and the master device and the second type of device perform data communication at the second frequency.

[0008] In a fifth aspect of this disclosure, an electronic device is provided. The device includes at least one processing unit; and at least one memory coupled to the at least one processing unit and storing instructions for execution by the at least one processing unit. When executed by the at least one processing unit, the instructions cause the device to perform the methods of the first or second aspect.

[0009] In a sixth aspect of this disclosure, a computer-readable storage medium is provided. The computer-readable storage medium stores a computer program that can be executed by a processor to implement the methods of the first or second aspect.

[0010] In a seventh aspect of this disclosure, a computer program product is provided. The computer program product is tangibly stored in a computer storage medium and includes computer-executable instructions that, when executed by a device, cause the device to perform the method of the first or second aspect.

[0011] It should be understood that the description in this section is not intended to limit the key or essential features of the embodiments of this disclosure, nor is it intended to restrict the scope of this disclosure. Other features of this disclosure will become readily apparent from the following description. Attached Figure Description

[0012] The above and other features, advantages, and aspects of the embodiments of this disclosure will become more apparent from the accompanying drawings and the following detailed description. In the drawings, the same or similar reference numerals denote the same or similar elements, wherein:

[0013] Figure 1 A schematic diagram of an example environment in which embodiments of the present disclosure can be implemented is shown;

[0014] Figure 2 A flowchart illustrating an example process for device communication according to some embodiments of this disclosure is shown;

[0015] Figures 3A to 3D A schematic diagram illustrating example timings for communication between a head-mounted device and a handle and tracker according to some embodiments of the present disclosure is shown;

[0016] Figure 4 A flowchart is shown as another example process for device communication according to some other embodiments of this disclosure;

[0017] Figure 5 A schematic diagram illustrating an example process of establishing a connection between a master control device and a first type of device according to some embodiments of the present disclosure is shown;

[0018] Figure 6 A block diagram of an apparatus for device communication according to some embodiments of the present disclosure is shown;

[0019] Figure 7 A block diagram of an apparatus for device communication according to some embodiments of the present disclosure is shown; and

[0020] Figure 8 A block diagram of an electronic device capable of implementing one or more embodiments of the present disclosure is shown. Detailed Implementation

[0021] It is understood that before using the technical solutions disclosed in the various embodiments of this disclosure, users should be informed of the types, scope of use, and usage scenarios of the personal information involved in this disclosure in an appropriate manner in accordance with relevant laws and regulations, and user authorization should be obtained.

[0022] For example, upon receiving a user's active request, a prompt message is sent to the user to explicitly inform them that the requested operation will require the acquisition and use of the user's personal information. This allows the user to independently choose whether to provide personal information to the software or hardware, such as the electronic device, application, server, or storage medium performing the operations of this disclosed technical solution, based on the prompt message.

[0023] As an optional but non-limiting implementation, in response to a user's active request, sending a prompt message to the user can be done via a pop-up window, where the prompt message can be presented in text format. Furthermore, the pop-up window can also include a selection control allowing the user to choose "agree" or "disagree" to provide personal information to the electronic device.

[0024] It is understood that the above notification and user authorization process are merely illustrative and do not constitute a limitation on the implementation of this disclosure. Other methods that comply with relevant laws and regulations may also be applied to the implementation of this disclosure.

[0025] It is understood that the data involved in this technical solution (including but not limited to the data itself, the acquisition or use of the data) shall comply with the requirements of relevant laws, regulations and related provisions.

[0026] Embodiments of this disclosure will now be described in more detail with reference to the accompanying drawings. While some embodiments of this disclosure are shown in the drawings, it should be understood that this disclosure can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of this disclosure. It should be understood that the accompanying drawings and embodiments of this disclosure are for illustrative purposes only and are not intended to limit the scope of protection of this disclosure.

[0027] It should be noted that the headings of any section / subsection provided herein are not limiting. Various embodiments are described throughout this document, and embodiments of any type may be included under any section / subsection. Furthermore, embodiments described in any section / subsection may be combined in any way with any other embodiments described in the same section / subsection and / or different sections / subsections.

[0028] In the description of embodiments of this disclosure, the term "comprising" and similar terms should be understood as open-ended inclusion, i.e., "including but not limited to". The term "based on" should be understood as "at least partially based on". The term "one embodiment" or "the embodiment" should be understood as "at least one embodiment". The term "some embodiments" should be understood as "at least some embodiments". Other explicit and implicit definitions may also be included below. The terms "first", "second", etc., may refer to different or the same objects. Other explicit and implicit definitions may also be included below.

[0029] Figure 1A schematic diagram of an example environment 100 in which embodiments of the present disclosure can be implemented is shown. Environment 100 can be a physical scene, that is, environment 100 can be an example of a real-world scene. In environment 100, user 110 can perform interactive operations by wearing at least one XR device. At least one XR device may include a head-mounted device 120, manipulators 122-1 and 122-2 held in the left and right hands respectively (which may be individually or collectively referred to as manipulator 122), and multiple locators 124-1 and 124-2 (which may be individually or collectively referred to as locator 124) that can be worn on other parts of the body, such as the lower limbs. The locators may also be called trackers. The handheld manipulators 122 may be, for example, any suitable type of device controlled by the hand, such as a handle. It should be understood that the locators 124 may be any suitable type of XR device for wearing on multiple parts of the body (such as the waist, arms, etc.). In such an example, the head-mounted device 120 can communicate with the manipulator 122 and the locators 124 to enable the user 110 to perform interactive operations by manipulating these XR devices in a collaborative manner.

[0030] In some embodiments, the XR device may include an image acquisition device, such as a camera, infrared camera, etc., to capture images of the physical space. The image acquisition device may be disposed on one or more XR devices. For example, the image acquisition device may be disposed on the head-mounted device 120 to capture images over a wider spatial range based on a higher spatial position. If the head-mounted device 120 is equipped with an infrared camera, correspondingly, at least one infrared light source may be disposed on the manipulator 122 and the locator 124, so that the infrared camera can capture images of the infrared light sources on the manipulator 122 and the locator 124, thereby identifying and locating the manipulator 122 and the locator 124 based on the obtained images.

[0031] In some embodiments, user 110 may communicate with electronic device 130 using multiple XR devices to process data acquired through the XR devices and send data to the XR devices. It should be understood that in some cases, XR device 120 may not communicate with electronic device 130 (or, in other words, environment 100 may exemplary exclude electronic device 130). In this case, other XR devices such as manipulator 122-1, manipulator 122-2, locator 124-1, and locator 124-2 can be controlled via head-mounted device 120. Specifically, other XR devices can be controlled via a controller in head-mounted device 120.

[0032] In environment 100, user 110 can utilize an XR device to access virtual environment 140. Virtual environment 140 can exemplarily be a space. In some embodiments, virtual objects 150 for user 110 can be generated within virtual environment 140, allowing user 110 to engage in immersive interactive experiences through virtual objects 150, such as adjusting the actions of virtual objects 150. User 110 is sometimes also the target object or physical object that manipulates the XR device. In some embodiments, virtual tools and / or other users' virtual objects can be provided in virtual environment 140, allowing user 110 to interact with virtual tools in virtual environment 140 through virtual objects 150, and also to interact with virtual objects of other users through virtual objects 150.

[0033] Electronic device 130 may be a standalone device capable of communicating with XR devices and / or other image capture devices, such as a server or computing node for image or data processing, or it may be integrated with XR devices and / or other image capture devices. In some embodiments, electronic device 130 may be implemented as an XR device, that is, in this case, the XR device can perform all the functions of electronic device 130. It should be understood that the above description of electronic device 130 is merely exemplary and not limiting, and electronic device 130 can be implemented as a device of various forms, structures, or categories, and the embodiments of this disclosure are not limited in this regard.

[0034] It should be understood that the structure and function of the various elements in environment 100 are described for illustrative purposes only and do not imply any limitation on the scope of this disclosure.

[0035] As briefly mentioned earlier, when users operate XR devices, these devices need to communicate to transmit user operation data. Typically, a communication chip (such as a wireless chip) is incorporated into the head-mounted device to communicate with the controllers and trackers, which act as slave devices. The controllers typically use a communication frequency of 500Hz. This frequency allows for high controller tracking accuracy. If the head-mounted device connects to multiple trackers along with controllers, communication between the head-mounted device (as the master device) and these multiple slave devices, including controllers and trackers, is required.

[0036] Embodiments of this disclosure provide a device communication scheme. According to various embodiments of this disclosure, at a master device (e.g., a head-mounted device), data communication is performed at a first frequency with a plurality of devices of a first type (e.g., trackers) via a first communication connection, and at a second frequency with at least one device of a second type (e.g., a handheld device) via a second communication connection, wherein the second frequency is greater than or equal to the first frequency.

[0037] This method allows for flexible configuration of communication frequencies for different types of devices, as well as flexible configuration of the number of Type 1 and Type 2 devices. It enables the main control device to connect to a large number of Type 1 devices while ensuring the communication efficiency of Type 2 devices.

[0038] Figure 2 A flowchart of a process 200 for device communication according to some embodiments of the present disclosure is shown. Process 200 can be executed at a master device. In some examples, the master device can be implemented at... Figure 1 In the head-mounted device 120, this can be specifically implemented in a controller within the head-mounted device 120. In other examples, these embodiments can also be implemented in a device containing a communication chip, which can communicate with the locator 124 and manipulator 122 deployed in the environment 100. For ease of discussion, reference will be made to... Figure 1 The environment 100 is used to describe the process 200.

[0039] It should be understood that, although reference Figure 1 The example embodiment is described using an environment 100 involving an XR device, but the device control scheme provided by the embodiments of this disclosure can also be applied to XR or non-XR environments, as long as it is necessary to use a device containing a communication chip to communicate with locators and manipulators deployed in such an environment.

[0040] like Figure 2 As shown, in block 210, at the master device (e.g., head-mounted device 120), data communication is performed at a first frequency with a plurality of devices of a first type (e.g., locators 124) via a first communication connection.

[0041] In block 220, data communication is performed via a second communication connection at a second frequency with at least one device of a second type (e.g., manipulator 122), wherein the second frequency is greater than or equal to the first frequency.

[0042] In some embodiments, the second frequency may be an integer multiple of the first frequency. In some embodiments, this integer multiple may be determined based on the ratio of the total number of first-type devices to the total number of second-type devices. In this way, the communication needs of the second-type devices can be further ensured to be met, and the communication efficiency of the second-type devices can be improved.

[0043] In some embodiments, in each communication cycle of the master device corresponding to the second frequency, the number of second-type devices performing data communication on the master device can be equal to the total number of second-type devices. For example, a corresponding time segment can be allocated to each second-type device in each communication cycle of the master device (e.g., head-mounted device 120). In this way, communication opportunities can be provided for the second-type devices in each communication cycle, thereby satisfying the communication requirements of the second-type devices and improving the communication efficiency of the second-type devices.

[0044] Alternatively or additionally, in each communication cycle of the master control device corresponding to the second frequency, the number of first-type devices performing data communication on the master control device may be less than the total number of first-type devices. In this way, it can be further ensured that second-type devices have communication opportunities within the communication cycle of the master control device, further improving the communication efficiency of the second-type devices.

[0045] In some embodiments, the first frequency for the first type of devices can be determined based on the total number of first-type devices (e.g., locator 124), the total number of second-type devices (e.g., manipulator 122), and the second frequency used for the second-type devices. Thus, the communication frequency of the first-type devices can be flexibly set according to the number of devices of various types connected. This communication method can support any number of first-type and second-type devices, making it more flexible and efficient.

[0046] In some embodiments, the communication time allocated to each second-type device within a communication cycle can be determined based on the total number of second-type devices and the minimum communication time required by each second-type device in each data communication. In some embodiments, depending on communication needs, different communication times can be allocated to the second-type devices within each communication cycle corresponding to the second frequency. For example, if the second-type devices need to transmit less data, a time segment can be configured for the second-type devices across multiple communication cycles. Alternatively, other proportions of time segments can be configured for each communication cycle according to the communication needs of the second-type devices.

[0047] After determining the communication time allocated to the second type of device within a communication cycle, the first frequency can be determined at least based on the corresponding communication time of each second type of device, the second frequency of the second type of device, and the total number of first type of devices. In some embodiments, the first frequency can be determined based on the communication time allocated to each second type of device within a communication cycle, the second frequency, the total number of first type of devices, and the minimum communication time required for each first type of device in each data communication.

[0048] In some embodiments, the communication time of the second type of device can be configured such that half of the time in each communication cycle of the master device is allocated to the second type of device. This ensures that the second type of device has a certain communication bandwidth.

[0049] In some embodiments, the time segment length allocated to each first type of device in each communication cycle of the master device may be the same. Alternatively or additionally, the time segment length allocated to each second type of device in each communication cycle of the master device may be the same. This ensures that each device has an equal opportunity to communicate, further improving communication efficiency.

[0050] In some embodiments, the second frequency can be configured such that the time segments allocated to the various devices of the second type do not overlap within each communication cycle of the master device. In some embodiments, within each communication cycle of the master device, the time segments allocated to the various devices of the second type can be temporally separated from each other, and the time segments allocated to the various devices of the first type can also be temporally separated from each other. This satisfies the communication needs of each device and improves communication efficiency.

[0051] In some embodiments, the number of first time segments allocated to each first type of device in each communication cycle of the master control device can be the same as the number of second time segments allocated to each second type of device. Furthermore, the first time segments allocated to the first type of devices can alternate with the second time segments allocated to the second type of devices in each communication cycle. In this way, communication opportunities can be provided to the first type of devices in each communication cycle, and the alternating configuration ensures that the communication of the first type of devices is also regular and periodic across multiple communication cycles, thereby meeting the communication requirements of the first type of devices and improving their communication efficiency. Moreover, it supports flexible configuration of the number of connected first type of devices.

[0052] The following will refer to Figures 3A to 3D This discussion includes some example configurations of communication frequencies for various types of devices, among which... Figures 3A to 3D Example timing diagrams are shown of communication between a head-mounted device (as an example of a master device) and a handle (as an example of a second type of device) and a tracker (as an example of a first type of device) according to some embodiments of the present disclosure.

[0053] In this example, the communication frequency of the head-mounted device 120 (as an example of a second frequency) can be configured to 500Hz. Figures 3A to 3DAs shown, within each communication cycle corresponding to the second frequency, the communication time segment is divided in two: one half is used for communication with the controller, and the other half is time-division multiplexed by multiple trackers. Each controller communicates at a frequency of 500Hz, and multiple trackers take turns occupying half of the communication cycle time segment, thus realizing a master-slave communication process.

[0054] In this time-division multiplexing scheme, if the number of trackers is large, the communication frequency needs to be lower than that of the controller. However, since XR motion tracking scenarios may not require the same level of accuracy from body trackers as controllers, a lower communication frequency is acceptable.

[0055] The allocation of time segments in this scheme can be flexibly changed according to the number of tracker connections. Figures 3A to 3D Examples of time segment divisions are shown when n (n = 2, 3, 4, 5) trackers are connected. As shown, the number of connectable trackers can be flexibly configured according to actual needs. When two controllers are connected simultaneously, if the communication frequency of each controller is F, and the number of simultaneously connected trackers is n, then the tracker frequency f can be calculated using the following formula:

[0056] f = 2 × F / n

[0057] For example, if the controller's communication frequency F is 500Hz, and five trackers are connected simultaneously, then each tracker's frequency is 200Hz.

[0058] In some embodiments, the master control device can establish a first communication connection with a plurality of devices of the first type. In some embodiments, for a first device among the plurality of devices of the first type, a scan data packet can be sent to the first device of the first type. The scan data packet at least indicates a first frequency of the device of the first type. In some embodiments, the scan data packet can be sent to the first device of the first type at a predetermined scan frequency. The predetermined scan frequency can be fixed, which facilitates synchronization between the master control device and the devices of the first type. The scan frequency can also be flexibly set as needed.

[0059] After the master device receives the first acknowledgment information for the scan data packet from the first device of the first type, it can determine the establishment of the first communication connection with the first device. In this way, the communication frequency can be sent to the first type of device simultaneously with establishing the connection, thereby improving efficiency. In some other embodiments, the scan data packet can also indicate the total number of first type devices, so that the first type devices can determine the communication time segment with the master device based on the total number of first type devices. In some other embodiments, the connection can be established first, and then the first frequency of the first type devices can be sent to each second type of device.

[0060] In some embodiments, after receiving the first confirmation information from the first type of device, a time segment for data communication with the first device can be determined based on the first frequency of the first type of device. Then, data communication with the first device is performed within the determined time segment via the first communication connection.

[0061] According to embodiments of this disclosure, the communication cycle of the master control device can be flexibly divided into multiple time segments according to actual needs. This eliminates the need for additional communication chips, enabling one master and multiple slave communication. Consequently, chip costs are reduced, and product size is minimized. This method allows for the simultaneous connection of n trackers with minimal impact on the controller's communication bandwidth, enabling flexible configuration of the number of tracker connections and tracker communication frequencies.

[0062] Figure 4 A flowchart of a process 400 for device communication according to some embodiments of the present disclosure is shown. Process 400 can be executed at a first type of device. In some examples, the first type of device can be implemented in... Figure 1 The locator 124 can be specifically implemented in a controller within the locator 124. For ease of discussion, reference will be made to... Figure 1 The environment 100 is used to describe the process 400.

[0063] like Figure 4 As shown, in block 410, at a first type of device, a first frequency of the first type of device is received from a master device (e.g., head-mounted device 120). This first frequency is less than or equal to a second frequency, wherein the master device and the second type of device perform data communication at the second frequency.

[0064] In box 420, the time segment for data communication with the master device is determined based at least on the reception time and the first frequency of the first type of device.

[0065] In box 430, data communication with the master device is performed within the defined time segment.

[0066] In some embodiments, scan packets from a master device can be detected at a predetermined scan frequency. The scan packets at least indicate a first frequency of a first type of device. In some embodiments, in response to successful detection of a scan packet, an acknowledgment message for the scan packet can be sent to the master device to establish a communication connection with the master device.

[0067] In some embodiments, the time point at which a scan data packet is successfully detected can be used as a reference time point, and the time segment for data communication with the master device can be determined based on the first frequency of the first type of device. In this way, the communication time segments of the master device and the first type of device can be aligned, improving the communication success rate.

[0068] The following will combine Figure 5 This describes an example process for establishing a connection between the master device and a first-type device. In this example, a head-mounted device is used as an example of the master device, and trackers 1 and 2 are used as examples of the first-type devices.

[0069] like Figure 5 As shown, the head-mounted device sends scan packets at a fixed scanning frequency (e.g., in time segments 502, 504, and 506), and the packets contain the communication frequencies of trackers 1 and 2 (as an example of a first frequency). Trackers 1 and 2 periodically turn on their receivers to listen for any scan packets being sent by the head-mounted device at that moment.

[0070] Once the listening time segments of trackers 1 and 2 coincide with the time segment for the distribution of scan data packets from the head-mounted device, trackers 1 and 2 can receive the scan data packets from the head-mounted device. For example, tracker 1 receives the scan data packet in listening time segment 508, while tracker 2 receives the scan data packet in listening time segment 510.

[0071] After receiving scan packets during listening time segments 508 and 510, trackers 1 and 2 can parse the packets. Trackers 1 and 2 can then respond to the head-mounted device during listening time segments 508 and 510. This successfully establishes a connection between the head-mounted device and trackers 1 and 2.

[0072] Since the scanning data packets sent by the head-mounted device contain the tracker's communication frequency, tracker 1 and tracker 2 can calculate the time segment for the next communication based on the current time point when the data is received. Accordingly, tracker 1 communicates with the head-mounted device in time segment 512, and tracker 2 communicates with the head-mounted device in time segments 514 and 516.

[0073] Figure 6 A schematic structural block diagram of an apparatus 600 for device communication according to certain embodiments of the present disclosure is shown. The apparatus 600 may be implemented as or included in a head-mounted device 120. Various modules / components in the apparatus 600 may be implemented by hardware, software, firmware, or any combination thereof.

[0074] like Figure 6As shown, the device 600 includes a first communication module 610 configured to perform data communication with a plurality of devices of a first type at a first frequency via a first communication connection; and a second communication module 620 configured to perform data communication with at least one device of a second type at a second frequency via a second communication connection, the second frequency being greater than or equal to the first frequency.

[0075] In some embodiments, the second frequency may be an integer multiple of the first frequency.

[0076] In some embodiments, the integer multiple can be determined based on the multiple relationship between the total number of devices of the first type and the total number of devices of the second type.

[0077] In some embodiments, the apparatus 600 may further include a frequency determination module configured to determine a first frequency based on the total number of devices of the first type, the total number of devices of the second type, and a second frequency.

[0078] In some embodiments, in each communication cycle of the master device corresponding to the second frequency, the number of first-type devices performing data communication on the master device may be less than the total number of first-type devices. Alternatively or additionally, in each communication cycle of the master device corresponding to the second frequency, the number of second-type devices performing data communication on the master device may be equal to the total number of second-type devices.

[0079] In some embodiments, the apparatus 600 may further include a first time determination module configured to determine the communication time allocated to each second type of device in a communication cycle based on the total number of second type devices and the minimum communication time required for each second type of device in each data communication; and a frequency determination module configured to determine a first frequency based at least on the communication time allocated to each second type of device in a communication cycle, a second frequency, and the total number of first type devices.

[0080] In some embodiments, the frequency determination module may be configured to determine the first frequency based on the communication time allocated to each second type of device in a communication cycle, the second frequency, the total number of first type of devices, and the minimum communication time required by each first type of device in each data communication.

[0081] In some embodiments, half of the time in each communication cycle of the master device can be allocated to the second type of device.

[0082] In some embodiments, the time segment length allocated to each of the first type of devices in each communication cycle of the master device may be the same. Alternatively or additionally, the time segment length allocated to each of the second type of devices in each communication cycle of the master device may be the same.

[0083] In some embodiments, during each communication cycle of the master device, the time segments allocated to each second type of device are temporally separated from each other, and the time segments allocated to each first type of device are temporally separated from each other.

[0084] In some embodiments, the number of first time segments allocated to each first type of device in each communication cycle of the master device may be the same as the number of second time segments allocated to each second type of device. The first time segments allocated to the first type of device may alternate with the second time segments allocated to the second type of device in each communication cycle.

[0085] In some embodiments, the second frequency can be configured such that the time segments allocated to the various devices of the second type do not overlap in each communication cycle of the master device.

[0086] In some embodiments, the apparatus 600 may further include: a first transmitting module configured to transmit a scan data packet to a first device of a first type of a plurality of devices, the scan data packet indicating at least a first frequency; and a first receiving module configured to receive first acknowledgment information for the scan data packet from the first device of the first type to determine that a first communication connection between the master device and the first device has been established.

[0087] In some embodiments, the first communication module 610 may be configured to: after receiving the first confirmation information, determine a time segment for data communication with the first device based on a first frequency; and perform data communication with the first device within the determined time segment via a first communication connection.

[0088] In some embodiments, the first sending module may be configured to send scan data packets to a first device of a first type at a predetermined scanning frequency.

[0089] In some embodiments, the master device includes an XR head-mounted device. A first type of device may include a locator. A second type of device includes a manipulator.

[0090] Figure 7 A schematic structural block diagram of a device 700 for device control according to certain embodiments of the present disclosure is shown. The device 700 may be implemented as or included in a positioner 124. Various modules / components in the device 700 may be implemented by hardware, software, firmware, or any combination thereof.

[0091] like Figure 7As shown, the device 700 includes a second receiving module 710 configured to receive a first frequency from a first type of device from a master device; a second time determination module 720 configured to determine a time segment for data communication with the master device based at least on the reception time of the first frequency and the first frequency; and a third communication module 730 configured to perform data communication with the master device within the determined time segment. The first frequency is less than or equal to a second frequency, and the master device and the second type of device perform data communication at the second frequency.

[0092] In some embodiments, the second receiving module 710 may be configured to detect scan data packets from the master device at a predetermined scanning frequency, wherein the scan data packets at least indicate a first frequency. In some embodiments, the device 700 may further include a second sending module configured to send an acknowledgment message for the scan data packets to the master device in response to successful detection of the scan data packets, thereby establishing a communication connection with the master device.

[0093] In some embodiments, the second time determination module 720 may also be configured to: determine the time segment of data communication with the master control device based on the time point at which the scan data packet is successfully detected as the reference time point and the first frequency.

[0094] In some embodiments, the master device may include an XR head-mounted device. A first type of device may include a locator.

[0095] The units and / or modules included in devices 600 and 700 can be implemented in various ways, including software, hardware, firmware, or any combination thereof. In some embodiments, one or more units and / or modules can be implemented using software and / or firmware, such as machine-executable instructions stored on a storage medium. In addition to or as an alternative to machine-executable instructions, some or all of the units and / or modules in devices 600 and 700 can be implemented at least partially by one or more hardware logic components. By way of example and not limitation, exemplary types of hardware logic components that can be used include field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), complex programmable logic devices (CPLDs), and so on.

[0096] Figure 8 A block diagram of an electronic device 800 in which one or more embodiments of the present disclosure may be implemented is shown. It should be understood that... Figure 8 The electronic device 800 shown is merely exemplary and should not be construed as limiting the functionality and scope of the embodiments described herein. Figure 8 The electronic device 800 shown can be used to achieve Figure 1 The head-mounted device 120 or the locator 124.

[0097] like Figure 8 As shown, electronic device 800 is in the form of a general-purpose computing device. Components of electronic device 800 may include, but are not limited to, one or more processors or processing units 810, memory 820, storage device 830, one or more communication units 840, one or more input devices 850, and one or more output devices 860. Processing unit 810 may be a physical or virtual processor and is capable of performing various processes according to programs stored in memory 820. In a multiprocessor system, multiple processing units execute computer-executable instructions in parallel to improve the parallel processing capability of electronic device 800.

[0098] Electronic device 800 typically includes multiple computer storage media. Such media can be any accessible media that is accessible to electronic device 800, including but not limited to volatile and non-volatile media, removable and non-removable media. Memory 820 can be volatile memory (e.g., registers, cache, random access memory (RAM)), non-volatile memory (e.g., read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory), or some combination thereof. Storage device 530 can be removable or non-removable media and can include machine-readable media, such as flash drives, disks, or any other media that can be used to store information and / or data and can be accessed within electronic device 800.

[0099] Electronic device 800 may further include additional removable / non-removable, volatile / non-volatile storage media. Although not explicitly stated... Figure 8 As shown, disk drives for reading from or writing to removable, non-volatile disks (e.g., "floppy disks") and optical disk drives for reading from or writing to removable, non-volatile optical disks can be provided. In these cases, each drive can be connected to a bus (not shown) via one or more data media interfaces. Memory 820 may include computer program product 825 having one or more program modules configured to perform various methods or actions of various embodiments of this disclosure.

[0100] The communication unit 840 enables communication with other computing devices via a communication medium. Additionally, the functionality of the components of the electronic device 800 can be implemented as a single computing cluster or multiple computing machines capable of communicating via communication connections. Therefore, the electronic device 800 can operate in a networked environment using logical connections to one or more other servers, network personal computers (PCs), or another network node.

[0101] Input device 850 can be one or more input devices, such as a mouse, keyboard, trackball, etc. Output device 860 can be one or more output devices, such as a monitor, speaker, printer, etc. Electronic device 800 can also communicate with one or more external devices (not shown) via communication unit 840 as needed. These external devices include storage devices, display devices, etc., and can communicate with one or more devices that enable user interaction with electronic device 800, or with any device that enables electronic device 800 to communicate with one or more other computing devices (e.g., network card, modem, etc.). Such communication can be performed via input / output (I / O) interface (not shown).

[0102] According to an exemplary implementation of this disclosure, a computer-readable storage medium is provided that stores computer-executable instructions thereon, wherein the computer-executable instructions are executed by a processor to implement the methods described above. According to an exemplary implementation of this disclosure, a computer program product is also provided, which is tangibly stored on a non-transitory computer-readable medium and includes computer-executable instructions, which are executed by a processor to implement the methods described above.

[0103] Various aspects of this disclosure are described herein with reference to flowchart illustrations and / or block diagrams of methods, apparatuses, devices, and computer program products implemented according to this disclosure. It should be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer-readable program instructions.

[0104] These computer-readable program instructions can be provided to a processing unit of a general-purpose computer, a special-purpose computer, or other programmable data processing apparatus to produce a machine such that, when executed by the processing unit of the computer or other programmable data processing apparatus, they create means for implementing the functions / actions specified in one or more blocks of the flowchart and / or block diagram. These computer-readable program instructions can also be stored in a computer-readable storage medium that causes a computer, programmable data processing apparatus, and / or other device to operate in a particular manner. Thus, the computer-readable medium storing the instructions comprises an article of manufacture that includes instructions for implementing aspects of the functions / actions specified in one or more blocks of the flowchart and / or block diagram.

[0105] Computer-readable program instructions can be loaded onto a computer, other programmable data processing apparatus, or other device to cause a series of operational steps to be performed on the computer, other programmable data processing apparatus, or other device to produce a computer-implemented process, thereby causing the instructions that execute on the computer, other programmable data processing apparatus, or other device to perform the functions / actions specified in one or more boxes of a flowchart and / or block diagram.

[0106] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this disclosure. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of an instruction, which contains one or more executable instructions for implementing the specified logical function. In some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, may be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0107] Various implementations of this disclosure have been described above. These descriptions are exemplary and not exhaustive, nor are they limited to the disclosed implementations. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described implementations. The terminology used herein is chosen to best explain the principles, practical applications, or improvements to technology in the market, or to enable others skilled in the art to understand the various implementations disclosed herein.

Claims

1. A method for device communication, comprising: At the master control device, data communication is performed with multiple devices of the first type at a first frequency via a first communication connection; as well as Data communication is performed with at least one device of a second type via a second communication connection at a second frequency, wherein the second frequency is greater than or equal to the first frequency.

2. The method according to claim 1, wherein the second frequency is an integer multiple of the first frequency.

3. The method according to claim 2, wherein the integer multiple is determined based on the multiple relationship between the total number of devices of the first type and the total number of devices of the second type.

4. The method according to claim 1, further comprising: The first frequency is determined based on the total number of devices of the first type, the total number of devices of the second type, and the second frequency.

5. The method according to claim 1, wherein the number of devices of the first type performing data communication by the master control device in each communication cycle corresponding to the second frequency is less than the total number of devices of the first type; and / or In each communication cycle of the master control device corresponding to the second frequency, the number of devices of the second type performing data communication is equal to the total number of devices of the second type.

6. The method according to claim 5, further comprising: Based on the total number of devices of the second type and the minimum communication time required for each device of the second type in each data communication, the communication time allocated to each device of the second type in the communication cycle is determined. as well as The first frequency is determined based at least on the communication time allocated to each second type of device within a communication cycle, the second frequency, and the total number of first type of devices.

7. The method of claim 6, wherein determining the first frequency based at least on the communication time allocated to each second type of device within a communication cycle, the second frequency, and the total number of the first type of devices comprises: The first frequency is determined based on the communication time allocated to each second type of device within a communication cycle, the second frequency, the total number of first type of devices, and the minimum communication time required for each first type of device in each data communication.

8. The method of claim 5, wherein half of the time in each communication cycle of the master device is allocated to the device of the second type.

9. The method of claim 5, wherein the time segments allocated to each of the first type of devices within each communication cycle of the master control device are of the same length, and / or The time segments allocated to each of the second type of devices within each communication cycle of the master control device are of the same length.

10. The method of claim 5, wherein in each communication cycle of the master control device, the time segments allocated to each of the second type of devices are temporally separated from each other, and the time segments allocated to each of the first type of devices are temporally separated from each other.

11. The method of claim 5, wherein the number of first time segments allocated to each of the first type of devices in each communication cycle of the master control device is the same as the number of second time segments allocated to each of the second type of devices, and The first time segment assigned to the first type of device and the second time segment assigned to the second type of device alternate in each communication cycle.

12. The method of claim 1, wherein the second frequency is configured such that time segments allocated to the respective devices of the second type do not overlap in each communication cycle of the master control device.

13. The method according to claim 1, further comprising: For a first device among a plurality of devices of the first type, a scan data packet is sent to the first device of the first type, the scan data packet indicating at least the first frequency; as well as The first device of the first type receives a first confirmation message for the scanned data packet to determine that the first communication connection between the master control device and the first device is established.

14. The method of claim 13, wherein performing data communication with at least one device of the first type at a first frequency via the first communication connection comprises: After receiving the first confirmation information, a time segment for data communication with the first device is determined based on the first frequency; as well as Data communication with the first device is performed within a defined time segment via the first communication connection.

15. The method of claim 13, wherein sending the scan data packet to the first device of the first type comprises: Scan data packets are sent to the first device of the first type at a predetermined scanning frequency.

16. The method of claim 1, wherein the master control device comprises an extended reality (XR) headset. The first type of device includes a locator, and the second type of device includes a manipulator.

17. A method for device communication, comprising: At the first type of device, the first frequency of the first type of device is received from the master control device; The time segment for data communication with the master control device is determined based at least on the reception time of the first frequency and the first frequency. as well as Data communication with the master control device is performed within the defined time segment. Wherein the first frequency is less than or equal to the second frequency, the master control device and the second type of device perform data communication at the second frequency.

18. The method of claim 17, wherein receiving the first frequency of the first type of device from the master control device comprises: Scan data packets from the master control device are detected at a predetermined scanning frequency, wherein the scan data packets at least indicate the first frequency; and The method further includes: in response to successfully detecting the scan data packet, sending an acknowledgment message for the scan data packet to the master control device to establish a communication connection with the master control device.

19. The method of claim 18, wherein determining the time segment for data communication with the master control device comprises: Using the time point at which the scanned data packet is successfully detected as the base time point, and based on the first frequency, the time segment for data communication with the master control device is determined.

20. The method of claim 17, wherein the master control device comprises an extended reality (XR) headset. The first type of device includes a locator.

21. An apparatus for device communication, the apparatus being implemented at a master control device, the apparatus comprising: The first communication module is configured to perform data communication with a plurality of devices of a first type at a first frequency via a first communication connection; as well as The second communication module is configured to perform data communication with at least one device of a second type via a second communication connection at a second frequency, wherein the second frequency is greater than or equal to the first frequency.

22. An apparatus for device communication, the apparatus being implemented in a first type of device, the apparatus comprising: The second receiving module is configured to receive a first frequency from the first type of device from the master control device; The second time determination module is configured to determine the time segment of data communication with the master control device based at least on the reception time of the first frequency and the first frequency. as well as The third communication module is configured to perform data communication with the master control device within a defined time segment. Wherein the first frequency is less than or equal to the second frequency, the master control device and the second type of device perform data communication at the second frequency.

23. An electronic device, comprising: At least one processing unit; as well as At least one memory, coupled to the at least one processing unit and storing instructions for execution by the at least one processing unit, the instructions causing the electronic device to perform the method according to any one of claims 1 to 16 or the method according to any one of claims 17 to 20 when executed by the at least one processing unit.

24. A computer-readable storage medium having a computer program stored thereon, the computer program being executable by a processor to implement the method according to any one of claims 1 to 16 or the method according to any one of claims 17 to 20.

25. A computer program product tangibly stored in a computer storage medium and comprising computer-executable instructions that, when executed by a device, cause the device to perform the method according to any one of claims 1 to 16 or the method according to any one of claims 17 to 20.

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