WO2023005007A1 - Method and system for vr collision detection - Google Patents

Abstract

Provided in the present application are a method and a system for VR collision detection. The method comprises: on the basis of a first collision detection mode, performing first collision detection on all VR devices to be detected within the scope of the same scene, and acquiring the corresponding first collision detection result; on the basis of a second collision detection mode, performing second collision detection on the VR devices in the first collision detection result, and acquiring a corresponding second collision detection result; and on the basis of a third collision detection mode, performing third collision detection on the VR devices in the second collision detection result, and acquiring a final collision detection result between the VR devices. Using the described application, VR virtual collision detection can be achieved with low costs, low power consumption and high precision.

Description

VR collision detection method and system

This application claims the priority of the Chinese patent application with the application number 202110871726.2 and the title of the invention "VR collision detection method and system" submitted to the China Patent Office on July 30, 2021, the entire contents of which are incorporated herein by reference.

technical field

The present application relates to the technical field of collision detection, and more specifically, to a VR virtual collision detection method and system.

Background technique

Virtual reality (Virtual Reality, VR) refers to the use of computer technology as the core of modern high-tech means to generate a virtual environment, users use special input / output equipment to interact naturally with objects in the virtual world, Hearing and tactile sensations are the same as those in the real world. With the rapid development of 5G technology in the world, the VR market is becoming more and more popular.

At present, due to the closed nature of VR head-mounted display devices, when multiple people interact with VR in the same scene, collisions will occur. Correspondingly, virtual reality collision detection technology has also become a key technology for judging the performance of VR products. .

However, existing VR devices mostly rely on expensive external auxiliary positioning devices, which have high cost and power consumption, and when multiple people use VR headsets to appear in the same area, the accuracy of collision detection will be poor and the safety will be low. affect user experience.

Contents of the invention

In view of the above problems, the purpose of this application is to provide a VR collision detection method and system to solve the problems of high cost, high power consumption, low safety performance, and poor precision existing in existing collision detection.

The VR collision detection method provided by this application includes: performing the first collision detection on all VR devices to be detected within the same scene range based on the first collision detection mode, and obtaining the corresponding first collision detection results; based on the second collision detection mode to perform the second collision detection on the VR devices in the first collision detection result, and obtain the corresponding second collision detection result; based on the third collision detection mode, perform the third collision detection on the VR devices in the second collision detection result , and obtain the final collision detection result between VR devices.

In addition, an optional technical solution is that the detection process of the first collision detection mode includes: based on the scanned ID information in the broadcast frame broadcast by the VR device to be detected, establishing a BLE connection with the VR device to be detected, broadcasting The frame is constructed based on the degree of freedom pose information of the VR device to be detected and the preset ID; based on the ID information, the corresponding first public key is requested from the server, and an encrypted packet is formed based on the first public key and the acquired position vector label of the current detection point ;Based on the verification result of the encrypted package by the VR device to be detected, obtain the DOF pose information sent by the VR device to be detected, and render the preliminary position corresponding to the VR device to be detected according to the DOF pose information; determine the current position based on the preliminary position The first collision detection result between the detection point and the VR device to be detected.

In addition, an optional technical solution is that the detection process of the second collision detection mode includes: increasing the broadcast frequency in the first collision detection mode according to a preset range; Any VR device in the first collision detection result performs high-frequency collision detection, and obtains the corresponding high-frequency collision detection result; the infrared sensor based on the current detection point emits detection rays, and conducts infrared detection on any VR device in the high-frequency collision detection result. Collision detection, and obtain the second collision detection result.

In addition, an optional technical solution is that, based on the verification result of the encrypted packet by the VR device to be detected, the process of obtaining the degree of freedom pose information sent by the VR device to be detected includes: the VR device to be detected extracts the position vector label in the encrypted packet, And judge whether the distance between the detection point and the VR device to be detected meets the preset collision distance; if the distance between the detection point and the VR device to be detected meets the preset collision distance, then generate the second public key of the VR device to be detected, And generate the corresponding first public key based on the first public key in the encrypted package; the detection point generates the corresponding second public key based on the second public key of the VR device to be detected, and obtains degrees of freedom according to the second public key pose information.

In addition, an optional technical solution is that the detection process of the third collision detection mode includes: generating corresponding enclosing vertices based on the distance sensor in the VR device in the second collision result and the outline of the VR device; Based on the OBB collision detection method, the collision result between any two OBB bounding boxes is obtained as the final collision detection result between the corresponding VR devices.

In addition, an optional technical solution is, before performing a collision detection on all VR devices to be detected within the same scene range based on the first collision detection mode, it also includes: parameterizing the VR devices to be detected based on the light and environment texture of the scene The initialization process is to determine the inertial weight coefficient and the visual weight coefficient of the VR device to be detected; based on the inertial weight coefficient and the visual weight coefficient, determine the degree of freedom pose information of the VR device to be detected.

In addition, an optional technical solution is that the parameter initialization process includes: obtaining the light conditions of the scene based on the light sensor of the VR device to be detected; The visual sensor acquires the environmental picture of the scene; extracts point features and line features in the scene based on the environmental picture; if the point features and line features meet the requirements of the second preset threshold, then increase the visual weight coefficient according to the preset ratio, and reduce the Small inertia weight factor.

In addition, an optional technical solution is, if the light conditions do not meet the requirements of the first preset threshold, then increase the inertia weight coefficient according to the preset ratio, and reduce the visual weight coefficient; if the point features and line features do not meet the second preset threshold If the threshold is set, the inertia weight coefficient will be increased according to the preset ratio, and the visual weight coefficient will be reduced.

In addition, an optional technical solution is that the expression formula of the degree of freedom pose information of the VR device to be detected is:

Among them, v represents the pose information of degrees of freedom, α represents the visual weight coefficient, β represents the inertial weight coefficient, P represents the 6-degree-of-freedom pose information acquired by the visual sensor, and I represents the 6-degree-of-freedom pose information of the inertial sensor.

According to another aspect of the present application, a VR collision detection system is provided, including: a first collision detection unit, configured to perform a collision detection on all VR devices to be detected within the same scene range based on the first collision detection mode, and Obtain the corresponding first collision detection result; the second collision detection unit is configured to perform secondary collision detection on the VR device in the first collision detection result based on the second collision detection mode, and obtain the corresponding second collision detection result; The third collision detection unit is configured to perform three collision detections on the VR devices in the second collision detection result based on the third collision detection mode, and obtain a final collision detection result between the VR devices.

Utilizing the above VR collision detection method and system, through the first collision detection, the second collision detection and the third collision detection level by level, all the VR devices to be detected in the same scene are subjected to collision detection, which can reduce the detection power consumption and While reducing the detection cost, improve the detection efficiency and safety to meet the high-quality experience of users.

In order to achieve the above and related objects, one or more aspects of the present application include features that will be described in detail later. The following description and accompanying drawings detail certain exemplary aspects of the present application. These aspects are indicative, however, of but a few of the various ways in which the principles of the present application may be employed. Furthermore, this application is intended to cover all such aspects and their equivalents.

Description of drawings

By referring to the following descriptions in conjunction with the accompanying drawings, and with a more comprehensive understanding of the application, other objectives and results of the application will become clearer and easier to understand. In the attached picture:

FIG. 1 is a flowchart of a VR collision detection method according to an embodiment of the present application;

Fig. 2 is the encryption and decryption flow chart of the encrypted package according to the embodiment of the present application;

FIG. 3 is a flow chart of parameter initialization according to an embodiment of the present application;

FIG. 4 is a detailed flowchart of a VR collision detection method according to an embodiment of the present application;

Fig. 5 is a logic block diagram of a VR collision detection system according to an embodiment of the present application.

The same reference numerals indicate similar or corresponding features or functions throughout the drawings.

Detailed ways

In the following description, for purposes of explanation, numerous specific details are set forth in order to provide a thorough understanding of one or more embodiments. It may be evident, however, that these embodiments may be practiced without these specific details. In other instances, well-known structures and devices are shown in block diagram form in order to facilitate describing one or more embodiments.

In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", " Back", "Left", "Right", "Vertical", "Horizontal", "Top", "Bottom", "Inner", "Outer", "Clockwise", "Counterclockwise", "Axial", The orientation or positional relationship indicated by "radial", "circumferential", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the application and simplifying the description, rather than indicating or implying the referred device or element Must be in a particular orientation, constructed, and operate in a particular orientation, and thus should not be construed as limiting of the application.

In order to describe the VR collision detection method and system of the present application in detail, specific embodiments of the present application will be described in detail below in conjunction with the accompanying drawings.

Fig. 1 shows a flowchart of a VR collision detection method according to an embodiment of the present application.

As shown in Figure 1, the VR collision detection method of the embodiment of the present application includes:

S110: Perform a first collision detection on all VR devices to be detected within the same scene range based on the first collision detection mode, and obtain corresponding first collision detection results.

Wherein, the detection process of the first collision detection mode may include:

1. Based on the scanned ID information in the broadcast frame broadcast by the VR device to be detected, establish a BLE connection with the VR device to be detected. The broadcast frame is constructed based on the degree of freedom pose information of the VR device to be detected and the preset ID ;

2. Request the server for the corresponding first public key based on the ID information, and form an encrypted packet based on the first public key and the acquired position vector label of the current detection point;

3. Obtain the DOF pose information sent by the VR device to be detected based on the verification result of the encrypted package by the VR device to be detected, and render the preliminary position corresponding to the VR device to be detected according to the DOF pose information;

4. Determine the first collision detection result between the current detection point and the VR device to be detected based on the preliminary position.

Specifically, in the detection process of the first collision detection mode, the detected party (that is, the VR device to be detected, the same below) will firstly determine the degree of freedom pose of the VR device to be detected based on the inertial weight coefficient and the visual weight coefficient Information and preset IDs are combined into BLR broadcast frames for low-frequency and low-power broadcasting. At this time, the detection party (that is, the VR device at the current detection point, the same below) will also perform low-frequency scanning. When there is a detected party around the scan , the detecting party will actively establish a BLE connection with the detected party according to the ID information in the broadcast, and request the cloud server for the first public key generated by the corresponding ID based on the ECDH algorithm, and then send the location of the current detection point in the scene The information forms a position vector label, which is encrypted in the BLE channel together with the first public key and then transmitted to the detected party.

Wherein, the encryption and decryption process designed based on the ECDH algorithm can refer to the specific example shown in FIG. 2 .

As shown in Figure 2, based on the verification result of the encrypted packet by the VR device to be detected, the process of obtaining the DOF pose information sent by the VR device to be detected further includes:

First, the VR device to be detected extracts the position vector label in the encrypted package, and judges whether the distance between the detection point and the VR device to be detected meets the preset collision distance. The geographical location of the detected party is close. If it is far away, the BLE connection can be directly terminated to end the location detection process.

If the distance between the detection point and the VR device to be detected meets the preset collision distance, the second public key of the VR device to be detected is generated on the detected side, and the corresponding first public key is generated based on the first public key in the encrypted package secret key, and then send the second public key of the detected party to the detecting party, and the detecting party generates a corresponding second public key based on the second public key of the VR device to be detected, through the first public key, the second public key, The first public key and the second public key can realize encrypted data transmission between the detecting party and the detected party, and obtain the degree of freedom pose information according to the second public key.

Finally, the detecting party can render the initial position of the other party in the VR environment according to the pose information of the degree of freedom of the detected party, and according to the initial position, the first collision detection result between the current detection point and the VR device to be detected can be determined. Generally, when the detecting party detects that the distance between the detected parties is less than the preset collision distance, it can be determined that there is a possibility of collision between the two, and the first collision detection result includes all detected objects that the detecting party can detect. This process belongs to the first level of collision detection, and initially determines possible collision targets.

S120: Perform a second collision detection on the VR devices in the first collision detection result based on the second collision detection mode, and acquire a corresponding second collision detection result.

In this step, the detection process of the second collision detection mode further includes:

1. Increase the frequency of the broadcast in the first collision detection mode according to the preset range;

2. Based on the increased broadcast frequency, perform high-frequency collision detection on any VR device in the first collision detection result according to the first collision detection mode, and obtain the corresponding high-frequency collision detection result;

3. The infrared sensor based on the current detection point emits detection rays, and performs infrared collision detection on any VR device in the high-frequency collision detection result, and obtains the second collision detection result.

Specifically, when the first collision detection mode ends and there is a VR device in the first collision detection result, that is, when the first collision detection result indicates that there is a VR device that may collide, the BLE broadcast frequency can be increased, and according to the first collision detection In the process of detection mode, the collision detection is performed again to confirm the detection results more accurately. When the high-frequency BLE broadcast also confirms the VR device that may collide, the detection party will further use the infrared sensor to emit detection rays, and through the method of radiation detection A second collision detection result is further determined based on the first collision detection result.

Wherein, if the result of the first collision detection is zero, that is, there is no possible collision between the VR device and the detection party, the second and third collision detections are unnecessary, thereby reducing power consumption. In addition, the second collision detection result is a higher-precision detection screening of the first collision detection result, therefore, the range of the second collision detection result may be smaller than the first collision detection result.

S130: Perform a third collision detection on the VR devices in the second collision detection result based on the third collision detection mode, and obtain a final collision detection result between the VR devices.

Wherein, the detection process of the third collision detection mode includes:

1. Based on the distance sensor in the VR device in the second collision detection result and the outline of the VR device, generate corresponding enclosing vertices;

2. Form the corresponding OBB direction bounding box based on the surrounding vertices;

3. Based on the OBB collision detection method, the collision detection results between any two OBB direction bounding boxes are obtained as the final collision detection results between the corresponding VR devices.

Specifically, since multiple distance sensors are provided on each VR device, when there is a target VR device in the second collision detection result, the surrounding vertices surrounding itself and the OBB direction bounding box can be formed through the corresponding distance sensor, When any two OBB bounding boxes overlap, it can be determined that the two have collided. At this time, information such as the collision angle and position can be determined based on the OBB bounding boxes, and an early warning is given before the collision occurs.

It should be noted that the OBB bounding box can reserve a certain safety boundary. When the OBB bounding boxes overlap, it is determined that two VR devices in the virtual scene collide. safe distance to ensure user safety.

In a specific embodiment of the present application, before performing the first collision detection on all VR devices to be detected within the same scene range based on the first collision detection mode, it may also include: based on the light and environment texture of the scene, The VR device performs parameter initialization processing to determine the inertial weight coefficient and visual weight coefficient of the VR device to be detected; finally, based on the inertial weight coefficient and visual weight coefficient, the degree of freedom pose information of the VR device to be detected is determined.

Specifically, FIG. 3 shows a schematic process of parameter initialization according to an embodiment of the present application.

As shown in Figure 3, the parameter initialization process further includes: starting the initialization configuration process in a new environment, and then obtaining the light conditions of the scene based on the light sensor of the VR device to be detected; if the light conditions meet the requirements of the first preset threshold, Then, based on the visual sensor of the VR device to be detected, the production environment picture is obtained; the point features and line features in the scene are extracted based on the environment picture; Increase the visual weight factor, and decrease the inertial weight factor.

In addition, if the light conditions do not meet the requirements of the first preset threshold, the inertia weight coefficient is increased according to the preset ratio, and the visual weight coefficient is reduced; if the point features and line features do not meet the requirements of the second preset threshold, then the The preset ratio increases the inertia weight coefficient and reduces the visual weight coefficient. The VR device can increase the inertia weight coefficient when the light is too dark or too bright, and increase the visual weight coefficient when the light is moderate, so as to avoid light, The impact of environmental factors such as texture on the positioning accuracy of a single sensor.

As a specific example, the expression formula of the degree of freedom pose information of the VR device to be detected is:

Among them, v represents the pose information of degrees of freedom, α represents the visual weight coefficient, β represents the inertial weight coefficient, P represents the 6-degree-of-freedom pose information acquired by the visual sensor, I represents the 6-degree-of-freedom pose information of the inertial sensor, and the visual and inertial Sensor fusion positioning can dynamically adjust the weight according to the combination of ambient light sensor and image feature point recognition, so as to more accurately fuse visual and inertial data and improve the accuracy of collision detection.

As a specific example, FIG. 4 shows a detailed schematic flow of a VR collision detection method according to an embodiment of the present application.

As shown in Figure 4, the VR collision detection method of the embodiment of the present application includes:

1. Initialize the weight coefficients of the visual sensor and inertial sensor, and then broadcast the collision detection service ID and the encrypted 6-DOF pose information in the form of a broadcast frame through low-frequency BLE;

2. When the detected party is detected by the detected party, verify the first public key sent by the detected party, and when the verification is passed, obtain the corresponding second public key of the detected party, and obtain the first public key ;

3. Based on the first public key, the degree of freedom information is averagely adopted and encrypted for transmission;

4. For the detection party, it will continue to perform low-frequency scanning until the VR device is scanned, establish a BLE connection channel, and request the corresponding first public key from the cloud server with the ID in the broadcast, and combine it with its own geographic tag sent to the detected party;

5. The detection party obtains the 6-DOF pose information and name code information of the detected party according to the second public key, performs low-frequency model rendering in the virtual reality scene, determines the rough position, and completes the first collision of the first level Detection mode; wherein, during this process, the analyzed pose information of the detected party can be uploaded to the server for the server to build a virtual map between multiple VR devices;

6. Carry out the second collision detection mode of the second level, broadcast through high-frequency BLE, and repeat the above steps, and then perform ray surround detection through the main infrared sensor;

7. Carry out the third collision detection mode of the third level, determine the OBB direction bounding box, and return the final collision detection result according to the OBB direction bounding box, and perform collision warning.

It should be noted that, for the convenience of description, the detecting party and the detected party involved in this application can be understood as VR devices within the same scene range, and each VR device can be understood as the detecting party and the detected party, and collision detection is also Detection between any two VR devices, so there is no special limitation on the detecting party and the detected party.

Corresponding to the aforementioned VR collision detection method, the present application further provides a VR collision detection system.

Specifically, FIG. 4 shows a logic block diagram of a VR collision detection system according to an embodiment of the present application.

As shown in FIG. 4, the VR collision detection system 200 of the embodiment of the present application includes:

The first collision detection unit 210 is configured to perform a first collision detection on all VR devices to be detected within the same scene range based on the first collision detection mode, and obtain a corresponding first collision detection result;

The second collision detection unit 220 is configured to perform a second collision detection on the VR device in the first collision detection result based on the second collision detection mode, and obtain a corresponding second collision detection result;

The third collision detection unit 230 is configured to perform a third collision detection on the VR devices in the second collision detection result based on the third collision detection mode, and obtain a final collision detection result between the VR devices.

It should be noted that, for the embodiments of the above VR collision detection system, reference may be made to the description in the embodiments of the VR collision detection method, and details will not be repeated here.

According to the above-mentioned VR collision detection method and system of the present application, it has the following advantages:

1. It can realize low-power and low-cost multi-person VR collision detection in the same scene.

2. Combined with geographic location information and BLE encryption and decryption process, it can more safely and effectively synchronize information related to collision detection, and realize the fusion of virtual pose information.

3. It is possible to adjust the proportion of visual and inertial sensors in the pose positioning process according to the real use scene of the VR head display, so as to overcome the limitations of diverse use scenes and achieve more accurate and stable fusion positioning.

4. Through multiple collision detection, a multi-level detection process is realized to ensure the accuracy of the detection results.

The VR collision detection method and system according to the present application are described above by way of example with reference to FIG. 1 and FIG. 2 . However, those skilled in the art should understand that various improvements can be made to the above-mentioned VR collision detection method and system proposed in the present application without departing from the content of the present application. Therefore, the protection scope of this application should be determined by the contents of the appended claims.

Claims (10)

A VR collision detection method, characterized in that the method comprises: Perform the first collision detection on all the VR devices to be detected within the same scene range based on the first collision detection mode, and obtain the corresponding first collision detection results; Performing a second collision detection on the VR devices in the first collision detection result based on the second collision detection mode, and obtaining a corresponding second collision detection result; Perform a third collision detection on the VR devices in the second collision detection result based on the third collision detection mode, and obtain a final collision detection result between the VR devices. The VR collision detection method according to claim 1, wherein the detection process of the first collision detection mode comprises: Based on the scanned ID information in the broadcast frame broadcast by the VR device to be detected, establish a BLE connection with the VR device to be detected, the broadcast frame is based on the degree of freedom pose information of the VR device to be detected and Preset ID construction; Requesting a corresponding first public key from the server based on the ID information, and forming an encrypted packet based on the first public key and the obtained position vector label of the current detection point; Obtain the DOF pose information sent by the VR device to be detected based on the verification result of the encrypted packet by the VR device to be detected, and render and render the VR device to be detected according to the DOF pose information. the corresponding initial position; Determine the first collision detection result between the current detection point and the VR device to be detected based on the preliminary position. The VR collision detection method according to claim 2, wherein the detection process of the second collision detection mode comprises: increasing the frequency of the broadcast in the first collision detection mode according to a preset range; Perform high-frequency collision detection on any VR device in the first collision detection result according to the first collision detection mode based on the increased broadcast frequency, and obtain a corresponding high-frequency collision detection result; The infrared sensor based on the current detection point emits a detection ray, performs infrared collision detection on any VR device in the high-frequency collision detection result, and obtains the second collision detection result. The VR collision detection method according to claim 2, characterized in that, based on the verification result of the encrypted packet by the VR device to be detected, the process of obtaining the DOF pose information sent by the VR device to be detected include: The VR device to be detected extracts the position vector label in the encrypted packet, and judges whether the distance between the detection point and the VR device to be detected meets a preset collision distance; If the distance between the detection point and the VR device to be detected satisfies the preset collision distance, generate a second public key of the VR device to be detected, and based on the first The public key generates a corresponding first public key; The detection point generates a corresponding second public key based on the second public key of the VR device to be detected, and obtains the degree-of-freedom pose information according to the second public key. The VR collision detection method according to claim 1, wherein the detection process of the third collision detection mode comprises: Generate corresponding enclosing vertices based on the distance sensor in the VR device in the second collision result and the outline of the VR device; forming a corresponding OBB direction bounding box based on the surrounding vertices; Based on the OBB collision detection method, the collision detection results between any two OBB direction bounding boxes are obtained as the final collision detection results between the corresponding VR devices. The VR collision detection method according to claim 1, further comprising: Based on the light and environmental texture of the scene, perform parameter initialization processing on the VR device to be detected, so as to determine the inertial weight coefficient and the visual weight coefficient of the VR device to be detected; Based on the inertial weight coefficient and the visual weight coefficient, determine the degree of freedom pose information of the VR device to be detected. The VR collision detection method according to claim 6, wherein the parameter initialization process includes: Acquiring light conditions of the scene based on the light sensor of the VR device to be detected; If the light conditions meet the requirements of the first preset threshold, then based on the visual sensor of the VR device to be detected, the environmental picture of the scene is acquired; extracting point features and line features in the scene based on the environment picture; If both the point features and the line features meet the requirements of the second preset threshold, the visual weight coefficient is increased according to a preset ratio, and the inertial weight coefficient is decreased. VR collision detection method as claimed in claim 7, is characterized in that, If the light conditions do not meet the requirements of the first preset threshold, increasing the inertia weight coefficient according to the preset ratio, and reducing the visual weight coefficient; If the point features and the line features do not meet the requirements of the second preset threshold, the inertia weight coefficient is increased according to the preset ratio, and the visual weight coefficient is decreased. The VR collision detection method according to claim 7, wherein the expression formula of the degree of freedom pose information of the VR device to be detected is: Among them, v represents the pose information of the degrees of freedom, α represents the visual weight coefficient, β represents the inertial weight coefficient, P represents the 6-degree-of-freedom pose information acquired by the visual sensor, and I represents the 6-degree-of-freedom of the inertial sensor. degree pose information. A VR collision detection system is characterized in that it comprises: The first collision detection unit is configured to perform the first collision detection on all VR devices to be detected within the same scene range based on the first collision detection mode, and obtain the corresponding first collision detection results; The second collision detection unit is configured to perform a second collision detection on the VR device in the first collision detection result based on the second collision detection mode, and obtain a corresponding second collision detection result; The third collision detection unit is configured to perform a third collision detection on the VR devices in the second collision detection result based on the third collision detection mode, and obtain a final collision detection result between the VR devices.

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