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CN108153406B - Method for controlling visual angle of HMD (HMD) and head-mounted display equipment - Google Patents

Method for controlling visual angle of HMD (HMD) and head-mounted display equipment Download PDF

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Publication number
CN108153406B
CN108153406B CN201611095828.5A CN201611095828A CN108153406B CN 108153406 B CN108153406 B CN 108153406B CN 201611095828 A CN201611095828 A CN 201611095828A CN 108153406 B CN108153406 B CN 108153406B
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sensor data
head
gyro
mounted display
sensor
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CN108153406A (en
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王志伟
张毅
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Chengdu Ideal Zhimei Technology Co ltd
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Chengdu Ideal Zhimei Technology Co ltd
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F1/00—Details not covered by groups G06F3/00 - G06F13/00 and G06F21/00
    • G06F1/16—Constructional details or arrangements
    • G06F1/1613—Constructional details or arrangements for portable computers
    • G06F1/163—Wearable computers, e.g. on a belt
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
    • G06F3/033—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
    • G06F3/0346—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor with detection of the device orientation or free movement in a 3D space, e.g. 3D mice, 6-DOF [six degrees of freedom] pointers using gyroscopes, accelerometers or tilt-sensors
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F2203/00—Indexing scheme relating to G06F3/00 - G06F3/048
    • G06F2203/01—Indexing scheme relating to G06F3/01
    • G06F2203/012—Walk-in-place systems for allowing a user to walk in a virtual environment while constraining him to a given position in the physical environment

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  • Theoretical Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Human Computer Interaction (AREA)
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  • General Physics & Mathematics (AREA)
  • Computer Hardware Design (AREA)
  • User Interface Of Digital Computer (AREA)
  • Controls And Circuits For Display Device (AREA)

Abstract

The invention discloses a method for controlling an HMD visual angle and a head-mounted display device, wherein the method comprises the following steps: identifying a motion state of the head-mounted display device; according to the motion state, the visual angle control strategy corresponding to the motion state is adopted to control the visual angle of the head-mounted display device instead of directly controlling the visual angle of the head-mounted display device according to the data of the gyroscope, so that the technical problem that the visual angle of the electronic device drifts due to inaccurate static random drift prediction of the gyroscope in the prior art is solved, the visual angle control mode is more flexible, and the technical effects of adapting to different motion states of the electronic device are achieved.

Description

Method for controlling visual angle of HMD (HMD) and head-mounted display equipment
Technical Field
The invention relates to the field of data processing, in particular to a method for controlling an HMD visual angle and a head-mounted display device.
Background
In the VR (Virtual Reality) world provided by a Head mounted Display device HMD (Head Mount Display) to a user, the Head mounted Display device determines physical information provided to the user by detecting a Head pose of the user, which is usually captured by an IMU (Inertial measurement unit) sensor in the Head mounted Display device, thereby providing immersion to the user, and a gyroscope is a commonly used IMU sensor.
However, the data of the gyroscope in the static state is not all zero, and the error of the gyroscope mainly comes from two aspects, namely zero rate offset of the gyroscope and static random drift of the gyroscope. For zero-speed offset, the gyroscope is corrected when the gyroscope leaves a factory, the gyroscope is generally calibrated, zero-rate offset is calculated, and the zero-rate offset is subtracted in subsequent calculation, so that errors caused by the zero-speed offset are eliminated.
However, for static random drift, since the inside of the gyroscope is always rotated and it generates random drift with time, and the temperature of the gyroscope changes to intensify the drift amplitude, when the head pose of the user is estimated, the pose estimation is inaccurate, and the view angle drift phenomenon occurs in the head-mounted display device, for example: in the case where the head mounted display device is stationary, the user may find a change in the viewing angle of the head mounted display device at intervals.
In the prior art, when the static random drift of the gyroscope is responded, the static random drift is usually taken as a variable to be predicted in real time, the static random drift is generally predicted through Kalman filtering or a neural network, and as the static random drift is changed all the time, the predicted data is still different from the real data, so that the static random drift of the gyroscope cannot be completely eliminated in the prior art.
Therefore, the technical problems in the prior art are as follows: due to inaccurate static random drift prediction for the gyroscope, the viewing angle of the head-mounted display device may drift.
Disclosure of Invention
The invention aims to provide a method for controlling an HMD visual angle and a head-mounted display device, which are used for solving the technical problem that the visual angle of the head-mounted display device drifts due to inaccurate static random drift prediction of a gyroscope in the prior art.
In order to achieve the above object, a first aspect of embodiments of the present invention provides a method for controlling an HMD viewing angle, including:
identifying a motion state of the head-mounted display device;
and controlling the visual angle of the head-mounted display equipment by adopting a visual angle control strategy corresponding to the motion state according to the motion state.
Optionally, identifying the motion state of the head-mounted display device comprises:
recording the duration of time that the sensor data of the gyroscope sensor of the head-mounted display device is less than or equal to a sensor data threshold; the sensor data threshold value is a value obtained by calculating according to a preset method N sensor data detected by the gyroscope sensor within a first preset time period when the head-mounted display device is in a preset state, wherein N is an integer greater than 1;
and if the duration time exceeds a preset time threshold, determining that the head-mounted display equipment is currently in the preset state.
Optionally, the controlling the view angle of the head-mounted display device by using a view angle control policy corresponding to the motion state includes:
determining current sensor data of the gyroscope sensor at a current time;
comparing the current sensor data to the sensor data threshold;
and if the current sensor data is less than or equal to the sensor data threshold value, controlling the visual angle of the head-mounted display equipment to be kept unchanged.
Optionally, determining current sensor data of the gyro sensor at the current time includes:
acquiring original sensor data of the gyroscope sensor at the current moment;
according to the smoothing function gyroAt present_smooth＝gyroAt present*α1+gyroAt present_F*(1-α1) Determining the current sensor data;
wherein, gyroAt presentAndsmooth is the current sensor data, gyroAt presentFor the raw sensor data, α1Is the weight of the raw sensor data, gyroAt presentAnd F is the average value of Q sensor data determined in a second preset time period before the current moment, and Q is an integer greater than 1.
Optionally, the method for calculating the sensor data threshold includes:
determining N sensor data of the gyroscope sensor within a first preset time period when the head-mounted display device is in the predetermined state;
extracting maximum M sensor data from the N sensor data, wherein M is a positive integer smaller than N;
and calculating according to the average value of the N sensor data, the weight of the average value of the N sensor data, the average value of the M sensor data and the weight of the average value of the M sensor data, and obtaining the sensor data threshold value according to a weighted average function.
Optionally, determining N sensor data of the gyro sensor within a first preset time period includes:
sequentially taking positive integers with i ranging from 1 to N, and acquiring ith original sensor data of the gyroscope sensor within the first preset time;
according to the smoothing function gyroi_smooth＝gyroi*α0+gyroi_F*(1-α0) Determining an ith sensor data;
wherein, gyroiAndsmooth is the ith sensor data, gyroiFor the ith raw sensor data, α0Is the weight of the ith original sensor data, gyroiAnd F is the average of i-1 sensor data preceding the ith sensor data.
Optionally, the predetermined state is a video playing state or a still state.
A second aspect of an embodiment of the present invention provides a head-mounted display device, including:
the identification module is used for identifying the motion state of the head-mounted display equipment;
and the control module is used for controlling the visual angle of the head-mounted display equipment by adopting a visual angle control strategy corresponding to the motion state according to the motion state.
Optionally, the authentication module includes: a duration determination unit for recording a duration in which sensor data of a gyro sensor of the head-mounted display device is less than or equal to a sensor data threshold; the method comprises the steps that a sensor data threshold value is stored in the head-mounted display device, the sensor data threshold value is a value obtained by calculating N sensor data detected by the gyroscope sensor within a first preset time period according to a preset method when the head-mounted display device is in a preset state, and N is an integer greater than 1;
a predetermined state determination unit, configured to determine that the head-mounted display device is currently in the predetermined state when the duration exceeds a preset time threshold.
Optionally, the control module includes:
a sensor data determination unit for determining current sensor data of the gyro sensor at a current time;
a comparison unit for comparing the current sensor data with the sensor data threshold;
and the control unit is used for controlling the visual angle of the head-mounted display equipment to be kept unchanged when the current sensor data is less than or equal to the sensor data threshold value.
Optionally, the sensor data determination unit is configured to:
acquiring original sensor data of the gyroscope sensor at the current moment;
according to the smoothing function gyroAt present_smooth＝gyroAt present*α1+gyroAt present_F*(1-α1) Determining the current sensor data;
wherein, gyroAt presentAndsmooth is the current sensor data, gyroAt presentFor the raw sensor data, α1Is the weight of the raw sensor data, gyroAt presentAnd F is the average value of Q sensor data determined in a second preset time period before the current moment, and Q is an integer greater than 1.
Optionally, the head-mounted display device further includes:
a threshold determination module, configured to, when the head-mounted display device is in the predetermined state, sequentially take i as a positive integer from 1 to N, and obtain ith original sensor data of the gyroscope sensor within the first preset time period; according to the smoothing function gyroi_smooth＝gyroi*α0+gyroi_F*(1-α0) Determining the ith sensor data, and further obtaining N sensor data; wherein, gyroiAndsmooth is the ith sensor data, gyroiFor the ith raw sensor data, α0Is the weight of the ith original sensor data, gyroi-F is the average of the i-1 sensor data preceding the i-th sensor data;
extracting maximum M sensor data from the N sensor data, wherein M is a positive integer smaller than N; and calculating according to the average value of the N sensor data, the weight of the average value of the N sensor data, the average value of the M sensor data and the weight of the average value of the M sensor data, so as to obtain the sensor data threshold value, and storing the sensor data threshold value in the head-mounted display device.
One or more technical solutions in the embodiments of the present invention have at least the following technical effects or advantages:
in the scheme of the embodiment of the invention, the motion state of the head-mounted display equipment is identified; and then according to the motion state, adopting a visual angle control strategy corresponding to the motion state to control the visual angle of the head-mounted display device instead of directly controlling the visual angle of the head-mounted display device according to the data (including static random drift) of the gyroscope, thereby solving the technical problem that the visual angle of the electronic device drifts due to inaccurate prediction of the static random drift of the gyroscope in the prior art, realizing the technical effects of enabling the visual angle control mode to be more flexible and being capable of adapting to different motion states of the electronic device.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without inventive exercise:
fig. 1 is a flowchart of a method for controlling an HMD viewing angle according to an embodiment of the present invention;
FIG. 2 is a flowchart of a method for identifying a motion state of a head-mounted display device according to an embodiment of the present invention;
FIG. 3 is a flow chart of a method for calculating a sensor data threshold according to an embodiment of the present invention;
FIG. 4 is a flowchart of a smoothing method according to an embodiment of the present invention;
fig. 5 is a flowchart illustrating a specific implementation of step 11 according to an embodiment of the present invention;
FIG. 6 is a flow chart of another smoothing method according to an embodiment of the present invention;
fig. 7 is a schematic functional block diagram of a head-mounted display device according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, fig. 1 is a schematic diagram of a method for controlling an HMD viewing angle according to an embodiment of the present invention, where the method includes the following steps.
And 10, identifying the motion state of the head-mounted display device.
And step 11, controlling the visual angle of the head-mounted display equipment by adopting a visual angle control strategy corresponding to the motion state according to the motion state.
In the embodiment of the present invention, the head-mounted display device may be a VR device, an AR (Augmented Reality) device, or the like, the head-mounted display device includes a gyroscope sensor, the gyroscope sensor is configured to detect a head posture of a user wearing the head-mounted display device, and the sensor data is data detected by the gyroscope sensor acquired by the head-mounted display device. In practical application, the head-mounted display device may further be provided with an acceleration sensor, a motion capture sensor, a light sensor, a gesture recognition sensor, and other sensors. The motion state can be a static state or a video playing state, and the like, wherein the static state refers to a state in which the head-mounted display device is placed on a bearing surface after being powered on, and the video playing state refers to a state in which a user wears the head-mounted display device to watch a video.
In one possible implementation, as shown in fig. 2, a method of identifying a motion state of a head mounted display device includes the following steps.
Step 101, recording the duration of time that the sensor data of the gyroscope sensor of the head-mounted display device is less than or equal to the sensor data threshold.
And step 102, if the duration exceeds a preset time threshold, determining that the electronic equipment is currently in the preset state.
In step 101, the sensor data threshold may be a value that is pre-calculated and stored in the head mounted display device. Specifically, the sensor data threshold is a value obtained by calculating, according to a preset method, N sensor data detected by the gyro sensor within a first preset time period when the head-mounted display device is in a preset state, because static random drift of the gyro sensor exists all the time, the N sensor data at least includes a drift amount of the static random drift in the preset state, and the sensor data threshold obtained by calculating according to the N sensor data can reflect a change condition of the sensor data including the static random drift when the head-mounted display device is in the preset state. Then, the duration of time that the sensor data of the gyro sensor is less than or equal to the sensor data threshold value is recorded.
In step 102, the duration is compared with a preset time threshold, and if the duration exceeds the time threshold, it is determined that the head-mounted display device is currently in the predetermined state, as described above, the predetermined state may be a static state, the predetermined state may also be a video playing state, and corresponding sensor data thresholds of different predetermined states may be different. For example: in a static state, the sensor data threshold value obtained by the electronic equipment through calculation is 0.1, the preset time threshold value is 1min, and if the sensor data of the gyroscope sensor of the head-mounted display equipment is less than 0.1 in more than 1min, the head-mounted display equipment is determined to be in the static state currently; another example is: in a video playing state, the sensor data threshold value obtained by calculation of the head-mounted display device is 0.5, the preset time threshold value is 1min, and if the sensor data of the gyroscope sensor of the head-mounted display device is less than 0.5 within 1min, the head-mounted display device is determined to be in the video playing state currently.
In the embodiment of the present invention, a predetermined state may also be set according to actual needs, a sensor data threshold corresponding to the predetermined state is determined, and then whether the head-mounted display device is currently in the predetermined state is determined according to a relationship between sensor data of the head-mounted display device and the sensor data threshold within a period of time, which is not described in detail herein.
For example, the predetermined state may be a relatively static state, where the relatively static state refers to a state where the head-mounted display device does not move or the movement is small in magnitude, for example: when the head-mounted display device is still or when the user wears the head-mounted display device to watch a movie, the head-mounted display device can be considered to be in a relatively still state because the head-mounted display device does not move or the movement amplitude is small. Assuming that the sensor data threshold calculated by the head-mounted display device is 0.1 in the static state, and the sensor data threshold extremely obtained by the head-mounted display device when the user wears the head-mounted display device to watch a movie is 0.5, since the sensor data threshold when watching the movie is greater than the sensor data threshold in the static state, that is, the sensor data threshold when watching the movie can cover the sensor data threshold in the static state, it can be determined that the sensor data threshold when the head-mounted display device is in the relatively static state is 0.5.
Further, assuming that the preset time threshold is 1min, if the sensor data of the gyro sensor of the head-mounted display device is less than 0.5 in more than 1min, it is determined that the head-mounted display device is currently in a relatively stationary state.
In another possible implementation, the motion state of the head-mounted display device may be determined by combining the data of the gyroscope sensor in the above embodiments, and the data of the acceleration sensor or the gravity sensor. For example: following the above example in which the sensor data threshold is 0.1 and the preset time threshold is 1min, assuming that the sensor data of the spirometer sensor is less than 0.1 within more than 1min and the data of the acceleration sensor within the 1min are all zero, it is determined that the head-mounted display device is in a static state. The identified motion state can be more accurate by combining data of a gyroscope sensor, an acceleration sensor or a gravity sensor and the like.
Next, step 11 will be explained.
In step 11, according to the motion state, a view angle control strategy corresponding to the motion state is adopted to control a view angle of the head-mounted display device. As described in the foregoing embodiment, the predetermined state may be the above-mentioned static state or a video playing state, and different states may correspond to different view angle control policies, for example, the view angle control policy corresponding to the static state is: if the sensor data of the gyroscope sensor is less than or equal to the sensor data threshold corresponding to the static state, controlling the visual angle of the head-mounted display equipment to be kept unchanged; and if the sensor data of the gyroscope sensor is larger than the sensor data threshold value corresponding to the static state, stopping controlling the strategy according to the visual angle corresponding to the static state, and adjusting the visual angle of the head-mounted display equipment according to the sensor data.
The viewing angle refers to an included angle between the viewing angle of the head-mounted display device and an x axis, a y axis and a z axis of a carrier coordinate system (i.e. an absolute coordinate system of the head-mounted display device), and after the viewing angle is determined, the head-mounted display device displays the panoramic image according to the viewing angle.
Further, if the sensor data of the gyroscope sensor is greater than the sensor data threshold corresponding to the static state, it is determined that the state of the head-mounted display device has changed and is no longer the static state, and then the head-mounted display device performs step 10 to re-identify the motion state of the head-mounted display device.
In the embodiment of the invention, the current state of the head-mounted display device is determined, and the visual angle of the head-mounted display device is controlled according to the visual angle control strategy corresponding to the current state, so that the problem that the visual angle of the head-mounted display device drifts due to the fact that the visual angle of the head-mounted display device is adjusted directly according to sensor data of a gyroscope sensor in the prior art is solved.
Next, a method of calculating the sensor data threshold value will be described, and as shown in fig. 3, the method includes the following steps.
And step 12, when the head-mounted display device is in the preset state, determining N sensor data of the gyroscope sensor within a first preset time period.
And 13, extracting the maximum M sensor data from the N sensor data, wherein M is a positive integer smaller than N.
And 14, calculating according to the average value of the N sensor data, the weight of the average value of the N sensor data, the average value of the M sensor data and the weight of the average value of the M sensor data, and obtaining the sensor data threshold value according to a weighted average function.
In the embodiment of the invention, in a predetermined state, because the gyroscope sensor has static random drift, the head-mounted display device adjusts the viewing angle according to the static random drift, so that the viewing angle drift is caused, which is not desired by a user.
In step 12, the first preset time duration is a time duration determined according to an actual experience value, and the data change condition of the gyroscope sensor when the head-mounted display device is in a preset state can be accurately reflected through the data of the N sensors within the first preset time duration. For example: the first preset time can be 5min, 15min and the like, if the preset state is a static state, and the first preset time is 5min, the head-mounted display device can be placed still for 5min, and the N sensor data of the gyroscope sensor in the 5min are acquired.
In the embodiment of the present invention, for N sensor data, one possible case is: the N sensor data may be raw data reported by the gyro sensor.
In the embodiment of the present invention, the sources of the gyroscope error mainly include zero velocity offset and static random drift in the above embodiment, and for the zero velocity offset, generally speaking, when the device having the gyroscope sensor is shipped, the zero velocity offset of the gyroscope sensor needs to be estimated first, and then, when the sensor data of the gyroscope sensor is calculated, the zero velocity offset is subtracted.
For example, assuming that the zero velocity offset of the gyro sensor is (1, 1, 1) in the carrier coordinate system, if the data actually reported by the gyro sensor is (1.1, 1.2, 1.3), the real data needs to compensate the zero velocity offset, that is, the real data is the data actually reported minus the zero velocity offset, and the real data is (0.1, 0.2, 0.3), and then the real data is used as the original sensor data within the first preset time duration. It can be seen that in the static state, due to the existence of the static random drift, even if the zero velocity offset is compensated for the data reported by the gyro sensor, the compensated data is not all zero, but changes with the change of time. Therefore, the original data reported by the gyroscope is the data after compensating the zero speed offset.
Another possible scenario is: and smoothing the original data reported by the gyroscope according to the smoothing function, wherein the data of the N sensors are smoothed data, and for the gyroscope sensor, data jumping may occur in the gyroscope sensor in the use process, and the data jumping refers to that the data reported by the gyroscope sensor is suddenly enlarged and an error occurs due to the stability of the gyroscope sensor and other reasons. By smoothing the original data reported by the gyroscope and taking the smoothed data as the N sensor data, the influence of data jumping on the sensor data threshold value can be eliminated, so that the sensor data threshold value can accurately reflect the data change condition when the head-mounted display device is in a preset state. As shown in fig. 4, the smoothing method includes the following steps.
And 121, sequentially taking positive integers with i ranging from 1 to N, and acquiring the ith original sensor data of the gyroscope sensor within the first preset time.
The raw sensor data refers to raw data reported by a gyroscope sensor. Alternatively, the raw data may be data compensated for zero velocity offset.
Step 122, gyro according to the smoothing functioni_smooth＝gyroi*α0+gyroi_F*(1-α0) The ith sensor data is determined.
Wherein, gyroiAndsmooth is the ith sensor data, gyroiFor the ith raw sensor data, α0Is the weight of the ith original sensor data, gyroiF is the average value of i-1 sensor data before the ith sensor data, and gyro is used for more truly reflecting the data change condition of the gyro sensor after smoothingiMay be greater than gyroiWeight of _ F.
When i takes 1, the raw sensor data can be directly used as the 1 st sensor data; when i is 2, smoothing the 2 nd original sensor data according to a smoothing function to obtain the 2 nd sensor data, wherein gyro2The value of _Fis the value of the 1 st sensor data; when i takes 3, smoothing the 3 rd original sensor data according to a smoothing function to obtain the 3 rd sensor data, wherein gyro3The value of _ F is the average of the 1 st and 2 nd sensor data; when i is 4, smoothing the 4 th original sensor data according to a smoothing function to obtain the 4 th sensor data, wherein gyro3The value of _ F is the average of the 1 st, 2 nd and 3 rd sensor data; and the rest is repeated, so that N sensor data of the gyroscope sensor within a first preset time length are determined.
In the embodiment of the present invention, a gyroscope filter may be defined in the head-mounted display device, where the gyroscope filter may be a queue or an array and is used to store multiple sets of data of the gyroscope sensor, and after the raw data reported by the gyroscope sensor is subjected to smoothing processing, the head-mounted display device may store all smoothed data within a first preset time period in the gyroscope filter.
Next, a method of determining the sensor data threshold value will be described by taking N sensor data as an example of the smoothed data.
After determining N sensor data of the gyro sensor within the first preset time period through step 12, the head-mounted display device performs step 13, and extracts maximum M sensor data from the N sensor data, where M is a positive integer smaller than N.
Specifically, N sensor data within a first preset time period are taken out of the gyroscope filter, the N sensor data are sorted, and M sensor data are taken from large to small, so that the M sensor data are the largest M sensor data in the N sensor data.
With respect to the value of M, one possible scenario is: m is a preset value, and M can be any positive integer larger than 0 and smaller than N. Another possible scenario is: in order to ensure that the sensor data threshold can effectively filter static random drift generated by the gyroscope sensor when the head-mounted display device is in a static state, the value of M can be greater than N/2. For example: the value of N is 1000 and the value of M may be 100.
Next, the head-mounted display device executes step 14, and calculates and obtains the sensor data threshold according to a weighted average function according to the average value of the N sensor data, the weight of the average value of the N sensor data, the average value of the M sensor data, and the weight of the average value of the M sensor data.
In the embodiment of the present invention, the weighted average function may be: threshold _ new ═ threshold _ max ═ α2+threadhold*(1-α2) Wherein threshold _ new is a sensor data threshold, threshold _ max is an average of M sensor data, α2Is the weight of the average value of M sensor data, and the threshold is the weight of N sensor dataAverage value of (1-. alpha.)2) The weight of the average of the N sensor data. In order to ensure that the sensor data threshold can effectively filter the random static drift generated by the gyroscope sensor when the head-mounted display device is in a static state, the weight of the average value of the M sensor data may be greater than the weight of the average value of the N sensor data.
In the implementation process, the sensor data threshold of the gyro sensor in the predetermined state may also be determined in other manners, which is not limited by the present invention.
Next, a method of controlling an HMD viewing angle in an embodiment of the present invention will be described in detail.
In step 101, when the head-mounted display device is in a power-on state, determining sensor data of a gyro sensor of the head-mounted display device, comparing the sensor data with a sensor data threshold, and if the sensor data of the gyro sensor is less than or equal to the sensor data threshold, recording duration of the sensor data less than or equal to the sensor data threshold.
In a possible implementation manner, if the N sensor data are raw data reported by the gyro sensor when the sensor data threshold is calculated, the sensor data in step 101 may be the raw data reported by the gyro sensor.
In another possible embodiment, if the N sensor data are smoothed data when calculating the sensor data threshold, the sensor data in step 101 may be smoothed data. Various changes and specific examples in the smoothing method in the foregoing embodiment of fig. 4 are also applicable to this embodiment, and a person skilled in the art can clearly know the implementation method of the smoothing method in this embodiment through the foregoing detailed description of the smoothing method, so for the brevity of the description, detailed description is not repeated here.
In this embodiment of the present invention, after determining that the sensor data of the gyroscope sensor is less than or equal to the duration of the sensor data, the head-mounted display device performs step 102, compares the duration with a preset time threshold, and if the duration exceeds the preset time threshold, determines that the head-mounted display device is currently in the predetermined state.
As described in the foregoing embodiments, the predetermined state may be a still state or a video playing state, and different motion states may have different sensor data thresholds. For example: when the preset state is a static state, the sensor data threshold value is a value obtained by calculation according to the sensor data of the gyroscope sensor in a first preset time length when the head-mounted display device is in the static state, and the sensor data detected by the gyroscope sensor in the static state comprises static random drift of the gyroscope sensor, so that the sensor data threshold value can effectively filter the static random drift of the gyroscope sensor in the static state; when the duration of the sensor data being less than or equal to the sensor data threshold corresponding to the static state exceeds the time threshold, the head-mounted display device is judged to be in the static state currently.
Another example is: the preset state is a video playing state, the sensor data threshold value can be a value obtained by calculation according to sensor data of the gyroscope sensor when the user wears the head-mounted display device to watch videos, and the sensor data detected by the gyroscope sensor comprises static random drift of the gyroscope sensor and a data value generated by the gyroscope sensor due to small-amplitude head movement of the user when the user wears the head-mounted display device, so that the static random drift of the gyroscope sensor and the data value generated by the gyroscope sensor due to small-amplitude head movement of the user can be effectively filtered by the sensor data threshold value when the preset state is the video playing state; and when the duration of the sensor data is less than or equal to the sensor data threshold corresponding to the video playing state and exceeds the time threshold, determining that the head-mounted display device is in the video playing state. The videos may be movies, television, advertisements, and the like.
Next, the head-mounted display device executes step 11, and controls the viewing angle of the head-mounted display device according to the motion state by using a viewing angle control strategy corresponding to the motion state, as shown in fig. 5, which includes the following steps.
Step 111, determining current sensor data of the gyro sensor at the current moment. The current time may be any time when the head-mounted display device is in a predetermined state.
In one possible embodiment: if the N sensor data are the raw data reported by the gyroscope when the sensor data threshold is calculated, in this embodiment, the current sensor data may be the raw data reported by the gyroscope sensor at the current time.
Another possible implementation is: if the N sensor data are smoothed data when the sensor data threshold is calculated, the current sensor data may be smoothed data in this embodiment. As shown in fig. 6, in the specific implementation process, the method for smoothing the raw data reported by the gyro sensor at the current time includes the following steps.
And 1111, acquiring the raw sensor data of the gyroscope sensor at the current moment. The raw sensor data may be compensated for zero velocity offset.
Step 1112, according to the smoothing function gyroAt present_smooth＝gyroAt present*α1+gyroAt present_F*(1-α1) Determining the current sensor data.
Wherein, gyroAt presentAndsmooth is the current sensor data, gyroAt presentFor the raw sensor data at the present moment, α1Is the weight of the raw sensor data, gyroAt presentAnd F is the average value of Q sensor data determined in a second preset time period before the current moment, and Q is a positive integer greater than 1.
Specifically, in step 1112, the second preset time period is a latest time period before the current time, for example: the second preset time period may be 30s or 1min before the current time, that is, the Q sensor data are the sensor data in the latest period before the current time. The Q sensor data may be raw data reported by the gyro sensor, or smoothed data. Specifically, if the current sensor data is the raw data reported by the gyroscope sensor, Q sensor data are correspondingly the raw data reported by the gyroscope sensor; and if the current sensor data is the data after the smoothing processing, the Q sensor data are correspondingly the data after the smoothing processing.
In a specific implementation process, as described in the foregoing embodiment, a gyroscope filter may be predefined in the head-mounted display device, and the head-mounted display device may store sensor data in the gyroscope filter in a recent period of time, for example: the data of the gyro sensor within the last 30s is stored in the gyro filter. In calculating the current sensor data, the data within the last 30s is taken out from the gyro filter, and the smoothed data, i.e., the current sensor data, is calculated and obtained through step 1112. Then, the current sensor data is stored in the gyro filter, and when the sensor data at the next time is calculated, the sensor data at the next time is calculated and obtained from the raw sensor data at the next time and the data within the last 30s including the current sensor data.
Further, in the smoothing function of step 1112, the weight α of the raw sensor data1The method is a value set according to the empirical value, so that the smoothed current sensor data can not only avoid the sudden increase of the current sensor data value caused by the data jump of the gyroscope sensor, but also truly reflect the current data value condition of the gyroscope sensor, and the method for controlling the HMD visual angle in the embodiment of the invention is more reasonable.
After determining the current sensor data of the gyro sensor at the current time through step 111, the head-mounted display device performs step 112 of comparing the current sensor data with the sensor data threshold.
Since the sensor data threshold corresponding to the same predetermined state is determined, the original data reported by the gyro sensor at the current time is smoothed in step 111, so that the influence of data jump of the gyro sensor on the comparison result in step 112 can be suppressed.
For example, when the head-mounted display device is in a static state, it is assumed that data of the gyroscope sensor jumps at the current time, that is, the data suddenly becomes very large, and if the raw data reported by the gyroscope is directly used as the current sensor data for comparison, the comparison result is that the current sensor data is more likely to be larger than the sensor data threshold. And the original sensor data reported by the gyroscope sensor at the current moment is smoothed through the sensor data in the latest period of time, and the data of the gyroscope sensor in the static state is smaller than the sensor data after the data jump, so the data jump of the gyroscope sensor can be inhibited through smoothing the original sensor data.
Next, the head-mounted display device executes step 113, and if the current sensor data is less than or equal to the sensor data threshold, controls the viewing angle of the head-mounted display device to remain unchanged.
In the embodiment of the present invention, the above-mentioned example in which the predetermined state is a static state is used for description, and the sensor data threshold is a value obtained by calculation when the head-mounted display device is in the static state. The sensor data threshold value can accurately reflect the change situation of static random drift of the gyroscope sensor when the head-mounted display device is in a static state, and the sensor data change caused by the static random drift of the gyroscope sensor when the head-mounted display device is in the static state can be effectively filtered by comparing the current sensor data with the sensor data threshold value.
Specifically, if the current sensor data is smaller than or equal to the sensor data threshold value, which indicates that the current sensor data is caused by the static random drift of the gyroscope sensor, the viewing angle of the head-mounted display device is controlled to be kept unchanged, so that the viewing angle of the head-mounted display device is prevented from being shifted due to the static random drift of the gyroscope sensor.
And if the current sensor data is larger than the sensor data threshold value corresponding to the static state, stopping adjusting the visual angle of the head-mounted display equipment according to the visual angle control strategy corresponding to the static state. Further, since the state of the head-mounted display device is changed and is no longer in the static state, the head-mounted display device may re-execute step 10 to identify the motion state of the head-mounted display device.
For another example, assuming that the head-mounted display device determines that the current state is a video playing state, if the current sensor data is less than or equal to a sensor data threshold corresponding to the video playing state, it indicates that the current sensor data is caused by static random drift of a gyroscope sensor, or caused by both the static random drift of the gyroscope and small-amplitude motion of the head of the user, controlling the viewing angle of the head-mounted display device to remain unchanged; and if the current sensor data is larger than the sensor data threshold value corresponding to the video playing state, stopping adjusting the visual angle of the head-mounted display equipment according to the visual angle control strategy corresponding to the video playing state. Further, since the state of the head-mounted display device is changed and is no longer the video playing state, the head-mounted display device may re-execute step 10 to identify the motion state of the head-mounted display device.
In another embodiment, after determining that the head-mounted display device is in the predetermined state, if the current sensor data of the gyroscope sensor is greater than the sensor data threshold corresponding to the predetermined state, it is determined that the state of the head-mounted display device has changed and is no longer in the predetermined state, and the viewing angle of the head-mounted display device is adjusted according to the current sensor data.
Specifically, if it is necessary to adjust the angle of view of the head mounted display device based on the sensor data of the gyro sensor, the rotational direction of the head mounted display device may be determined based on the sensor data. In a specific implementation, the rotation direction may be expressed by using a quaternion Quat (w, x, y, z) composed of a real number and three imaginary units, where w is a real number, x, y, z is an imaginary number, w is cos (0.5 × angle), and x is axisx*sin(0.5*angle)，y＝axisy*sin(0.5*angle)，z＝axisz*sin(0.5*angle)，axisx，axisyAnd axiszIs the rotation angle reported by the gyroscope sensor in the three directions of the x-axis, the y-axis and the z-axis, and angle is threeThe modulus of the angle in each direction refers to the modulus of the quaternion.
After the rotation direction is determined, a new viewing angle is determined according to the rotation direction and the current viewing angle. Specifically, Orientation _ new is Orientation _ old _ Quat (w, x, y, z), where Orientation _ new is the new viewing angle and Orientation _ old is the current viewing angle.
Based on the same inventive concept, an embodiment of the present invention further provides a head-mounted display device, as shown in fig. 7, including:
an identification module 70 for identifying a motion state of the head-mounted display device;
and the control module 71 is configured to control a viewing angle of the head-mounted display device according to the motion state by using a viewing angle control strategy corresponding to the motion state.
Optionally, the authentication module 70 includes: a duration determination unit for recording a duration in which sensor data of a gyro sensor of the head-mounted display device is less than or equal to a sensor data threshold; the method comprises the steps that a sensor data threshold value is stored in the head-mounted display device, the sensor data threshold value is a value obtained by calculating N sensor data detected by the gyroscope sensor within a first preset time period according to a preset method when the head-mounted display device is in a preset state, and N is an integer greater than 1;
a predetermined state determination unit, configured to determine that the head-mounted display device is currently in the predetermined state when the duration exceeds a preset time threshold.
Optionally, the control module 71 includes:
a sensor data determination unit for determining current sensor data of the gyro sensor at a current time;
a comparison unit for comparing the current sensor data with the sensor data threshold;
and the control unit is used for controlling the visual angle of the head-mounted display equipment to be kept unchanged when the current sensor data is less than or equal to the sensor data threshold value.
Optionally, the sensor data determination unit is configured to:
acquiring original sensor data of the gyroscope sensor at the current moment;
according to the smoothing function gyroAt present_smooth＝gyroAt present*α1+gyroAt present_F*(1-α1) Determining the current sensor data;
wherein, gyroAt presentAndsmooth is the current sensor data, gyroAt presentFor the raw sensor data, α1Is the weight of the raw sensor data, gyroAt presentAnd F is the average value of Q sensor data determined in a second preset time period before the current moment, and Q is an integer greater than 1.
Optionally, the head-mounted display device further includes:
a threshold determination module, configured to, when the head-mounted display device is in the predetermined state, sequentially take i as a positive integer from 1 to N, and obtain ith original sensor data of the gyroscope sensor within the first preset time period; according to the smoothing function gyroi_smooth＝gyroi*α0+gyroi_F*(1-α0) Determining the ith sensor data, and further obtaining N sensor data; wherein, gyroiAndsmooth is the ith sensor data, gyroiFor the ith raw sensor data, α0Is the weight of the ith original sensor data, gyroi-F is the average of the i-1 sensor data preceding the i-th sensor data;
extracting maximum M sensor data from the N sensor data, wherein M is a positive integer smaller than N; and calculating according to the average value of the N sensor data, the weight of the average value of the N sensor data, the average value of the M sensor data and the weight of the average value of the M sensor data, so as to obtain the sensor data threshold value, and storing the sensor data threshold value in the head-mounted display device.
One or more technical solutions in the embodiments of the present invention have at least the following technical effects or advantages:
in the scheme of the embodiment of the invention, the motion state of the head-mounted display equipment is identified; and then according to the motion state, adopting a visual angle control strategy corresponding to the motion state to control the visual angle of the head-mounted display device instead of directly controlling the visual angle of the head-mounted display device according to the data (including static random drift) of the gyroscope, thereby solving the technical problem that the visual angle of the electronic device drifts due to inaccurate prediction of the static random drift of the gyroscope in the prior art, realizing the technical effects of enabling the visual angle control mode to be more flexible and being capable of adapting to different motion states of the electronic device.
All of the features disclosed in this specification, or all of the steps in any method or process so disclosed, may be combined in any combination, except combinations of features and/or steps that are mutually exclusive.
Any feature disclosed in this specification (including any accompanying claims, abstract and drawings), may be replaced by alternative features serving equivalent or similar purposes, unless expressly stated otherwise. That is, unless expressly stated otherwise, each feature is only an example of a generic series of equivalent or similar features.
The invention is not limited to the foregoing embodiments. The invention extends to any novel feature or any novel combination of features disclosed in this specification and any novel method or process steps or any novel combination of features disclosed.

Claims (9)

1. A method of controlling a viewing angle of an HMD, comprising:
recording the duration of time that the sensor data of the gyroscope sensor of the head-mounted display device is less than or equal to a sensor data threshold;
the method for calculating the sensor data threshold comprises the following steps: determining N sensor data of the gyroscope sensor within a first preset time period when the head-mounted display device is in a preset state; extracting maximum M sensor data from the N sensor data, wherein N is an integer greater than 1, and M is a positive integer less than N; calculating according to the average value of the N sensor data, the weight of the average value of the N sensor data, the average value of the M sensor data and the weight of the average value of the M sensor data, and obtaining the sensor data threshold value according to a weighted average function;
if the duration time exceeds a preset time threshold, determining that the head-mounted display equipment is currently in the preset state;
and controlling the visual angle of the head-mounted display equipment by adopting a visual angle control strategy corresponding to the preset state.
2. The method of claim 1, wherein controlling the viewing angle of the head mounted display device using a viewing angle control strategy corresponding to the predetermined state comprises:
determining current sensor data of the gyroscope sensor at a current time;
comparing the current sensor data to the sensor data threshold;
and if the current sensor data is less than or equal to the sensor data threshold value, controlling the visual angle of the head-mounted display equipment to be kept unchanged.
3. The method of claim 2, wherein determining current sensor data for the gyro sensor at a current time comprises:
acquiring original sensor data of the gyroscope sensor at the current moment;
according to the smoothing function gyroAt present_smooth＝gyroAt present*α1+gyroAt present_F*(1-α1) Determining the current sensor data;
wherein, gyroAt presentAndsmooth is the current sensor data, gyroAt presentFor the raw sensor data, α1Is the weight of the raw sensor data, gyroAt presentF is Q sensing units determined in a second preset time period before the current momentMean of the data, Q is an integer greater than 1.
4. The method of claim 1, wherein determining N sensor data for the gyro sensor within a first preset time period comprises:
sequentially taking positive integers with i ranging from 1 to N, and acquiring ith original sensor data of the gyroscope sensor within the first preset time;
according to the smoothing function gyroi_smooth＝gyroi*α0+gyroi_F*(1-α0) Determining an ith sensor data;
wherein, gyroiAndsmooth is the ith sensor data, gyroiFor the ith raw sensor data, α0Is the weight of the ith original sensor data, gyroiAnd F is the average of i-1 sensor data preceding the ith sensor data.
5. The method of claim 1, wherein the predetermined state is a video play state or a still state.
6. A head-mounted display device, comprising:
the threshold value determining module is used for detecting N sensor data of a gyroscope sensor of the head-mounted display equipment within a first preset time length when the head-mounted display equipment is in a preset state; extracting maximum M sensor data from the N sensor data, wherein N is an integer greater than 1, and M is a positive integer less than N; calculating according to the average value of the N sensor data, the weight of the average value of the N sensor data, the average value of the M sensor data and the weight of the average value of the M sensor data, a sensor data threshold value is obtained according to a weighted average function, and the sensor data threshold value is stored in the head-mounted display device;
the identification module is used for recording the duration that the sensor data of the gyroscope sensor is less than or equal to the sensor data threshold value;
and the control module is used for controlling the visual angle of the head-mounted display equipment by adopting a visual angle control strategy corresponding to the preset state.
7. The head-mounted display device of claim 6, wherein the control module comprises:
a sensor data determination unit for determining current sensor data of the gyro sensor at a current time;
a comparison unit for comparing the current sensor data with the sensor data threshold;
and the control unit is used for controlling the visual angle of the head-mounted display equipment to be kept unchanged when the current sensor data is less than or equal to the sensor data threshold value.
8. The head-mounted display device of claim 7, wherein the sensor data determination unit is to:
acquiring original sensor data of the gyroscope sensor at the current moment;
according to the smoothing function gyroAt present_smooth＝gyroAt present*α1+gyroAt present_F*(1-α1) Determining the current sensor data;
wherein, gyroAt presentAndsmooth is the current sensor data, gyroAt presentFor the raw sensor data, α1Is the weight of the raw sensor data, gyroAt presentAnd F is the average value of Q sensor data determined in a second preset time period before the current moment, and Q is an integer greater than 1.
9. The head-mounted display device of any one of claims 6-8, wherein the threshold determination module is configured to, when the head-mounted display device is in the predetermined state, sequentially take i as a positive integer from 1 to N, and obtain ith raw sensor data of the gyro sensor within the first preset time period; root of herbaceous plantAccording to the smoothing function gyroi_smooth＝gyroi*α0+gyroi_F*(1-α0) Determining the ith sensor data, and further obtaining N sensor data; wherein, gyroiAndsmooth is the ith sensor data, gyroiFor the ith raw sensor data, α0Is the weight of the ith original sensor data, gyroiAnd F is the average of i-1 sensor data preceding the ith sensor data.
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