WO2022011517A1 - Infrared positioning method, infrared positioning apparatus, and infrared positioning system - Google Patents

Abstract

An infrared positioning method, an infrared positioning apparatus, and an infrared positioning system. The method comprises: performing, on the basis of an object image, infrared point recognition processing on an object to be positioned to obtain infrared point information corresponding to said object, wherein the infrared point information comprises coordinate data of three infrared points, and the three infrared points are distributed in a shape of an isosceles triangle (S101); recognizing the vertices of the isosceles triangle and the midpoint of the bottom edge according to the coordinate data of the three infrared points, and generating, according to the vertices of the isosceles triangle and the midpoint of the bottom edge, a direction vector pointing to the vertices, the direction vector representing the movement direction of the object to be positioned (S102); and calculating a vector included angle between the direction vector of the object to be positioned and a preset coordinate system in a virtual environment, and determining, according to the vector included angle, the current movement direction of the object to be positioned (S103). By means of the method, a user can discern the direction even when immersing in the virtual environment, thereby enhancing the immersion of the user in the virtual environment; and the interaction between a person and a person or between a person and an object in the virtual environment is achieved, thereby satisfying the interaction requirement of the user in the virtual environment.

Description

Infrared positioning method, infrared positioning device and infrared positioning system technical field

The application belongs to the technical field of virtual reality and positioning, and in particular relates to an infrared positioning method, an infrared positioning device and an infrared positioning system.

Background technique

Virtual Reality (VR) technology is a computer simulation system that can create and experience virtual worlds. It uses computers to generate a virtual environment, and the virtual environment provides users with a three-dimensional dynamic vision of multi-source information fusion and interaction. Immerse the user in this virtual environment.

With the continuous progress and rapid development of communication technology, virtual reality applications have also been widely used. For example, obtaining the position of the car in real time in simulated virtual driving, or obtaining the heat map of the position of the human body in the exhibition hall, or obtaining the relative position of the physical object in an interactive game, in these virtual reality applications, it is necessary to locate according to the real position of the object. A virtual system is developed to match this real location. Some existing positioning methods applied to virtual reality can only locate and identify objects, but cannot determine the direction of movement of objects, which is difficult to meet the immersion and interaction needs of users in virtual reality applications.

technical problem

One of the purposes of the embodiments of the present application is to provide an infrared positioning method, infrared positioning and infrared positioning system, which can accurately locate and obtain the moving direction of an object in a virtual reality application, so as to satisfy the user's immersion in the virtual reality application. sense and interaction needs.

technical solutions

In order to solve the above-mentioned technical problems, the technical solutions adopted in the embodiments of the present application are:

In a first aspect, an infrared positioning method is provided, and the infrared positioning method includes:

Perform infrared point recognition processing on the object to be located based on the object image, and obtain infrared point information corresponding to the object to be located, wherein the infrared point information includes coordinate data of three infrared points, and the three infrared points are equal to waist triangle distribution;

Identify the vertices and the midpoint of the base of the isosceles triangle according to the coordinate data of the three infrared points, and generate a direction vector pointing to the vertex according to the vertices and the midpoint of the base of the isosceles triangle, and the direction vector Characterize the moving direction of the object to be positioned;

Calculate the vector angle between the direction vector of the object to be positioned and the preset coordinate system of the virtual environment, and determine the moving direction of the object to be positioned according to the vector angle.

In one embodiment, the infrared point identification processing is performed on the object to be located based on the object image, and infrared point information corresponding to the object to be located is obtained, wherein the infrared point information includes coordinate data of three infrared points, and After the step of distributing the three infrared points in an isosceles triangle, it includes:

Combined with the coordinate data of the three infrared points, the position of the center of gravity of the isosceles triangle is calculated according to the principle of triangle geometry, and the position of the center of gravity of the isosceles triangle is determined as the position of the object to be positioned.

In one embodiment, the infrared point identification processing is performed on the object to be located based on the object image, and infrared point information corresponding to the object to be located is obtained, wherein the infrared point information includes coordinate data of three infrared points, and The steps that the three infrared points are distributed in an isosceles triangle include:

Open the camera image through the CCV computer vision library, and obtain the first object image containing the object to be positioned from the image captured by the camera;

Perform infrared point identification processing on the first object image, and identify all infrared points in the first object image;

Counting all infrared points in the first object image to obtain the number of infrared points identified from the first object image;

If the number of infrared points identified from the first object image is three, verify whether the three infrared points are distributed in an isosceles triangle;

If the three infrared points are distributed in an isosceles triangle, the coordinate data of the three infrared points are acquired.

In one embodiment, after the step of performing statistical processing on the number of all infrared points in the first object image, and acquiring the number of infrared points identified from the first object image, the method includes:

If the number of the infrared points is less than three or the number of infrared points is equal to three but not distributed in an isosceles triangle, the camera image opened through the CCV computer vision library is angled according to the preset adjustment rule Adjust, and re-acquire the second object image based on the adjusted camera image;

Perform infrared point identification processing on the second object image, and identify all infrared points in the second object image;

Counting all infrared points in the second object image to obtain the number of infrared points identified from the second object image;

If the number of infrared points identified from the second object image is three, verify whether the three infrared points are distributed in an isosceles triangle;

If the three infrared points are distributed in an isosceles triangle, the coordinate data of the three infrared points are acquired.

In one embodiment, after the step of performing statistical processing on the number of all infrared points in the first object image, and acquiring the number of infrared points identified from the first object image, the method includes:

If the number of infrared points identified from the first object image is more than three, three infrared points distributed in an isosceles triangle are selected from all infrared points identified from the first object image , and obtain the coordinate data of the three infrared points.

In a second aspect, an infrared positioning device is provided, and the infrared positioning device includes:

The acquisition module is configured to perform infrared point identification processing on the object to be located based on the object image, and acquire infrared point information corresponding to the object to be located, wherein the infrared point information includes coordinate data of three infrared points, and the three The infrared points are distributed in an isosceles triangle;

The generating module is used to identify the vertex and base midpoint of the isosceles triangle according to the coordinate data of the three infrared points, and generate a direction vector pointing to the vertex according to the vertex and base midpoint of the isosceles triangle , the direction vector represents the movement direction of the object to be positioned;

The calculation module is configured to calculate the vector angle between the direction vector of the object to be positioned and the preset coordinate system of the virtual environment, and determine the moving direction of the object to be positioned according to the vector angle.

In a third aspect, an infrared positioning system is provided. The infrared positioning system is used to implement the steps of the infrared positioning method according to any one of the above-mentioned first aspects, and includes a camera end, a detection end and a positioning calculation end, wherein:

The camera terminal is used to capture an image of the object to be positioned and obtain infrared point information from the image, wherein the infrared point information contains coordinate data of the infrared point;

The detection end is configured to receive the infrared point information obtained by the camera end, and identify three infrared points corresponding to the object to be located from the obtained infrared point information, wherein the three infrared points are Isosceles triangle distribution;

The positioning calculation terminal is used to combine the coordinate point data of three infrared points distributed in an isosceles triangle, determine the position of the object to be located in the virtual reality environment by calculating the position of the center of gravity of the isosceles triangle, and characterize the undetermined by calculation. The vector angle between the direction vector of the moving direction of the object and the preset coordinate system of the virtual environment determines the moving direction of the object to be positioned in the virtual reality environment, wherein the direction vector representing the moving direction of the object to be positioned is determined by etc. The midpoint of the base of the waist triangle points to the vertex of the isosceles triangle.

In one embodiment, the positioning computing terminal may also be used to perform verification processing on the position and movement direction of the object to be positioned in the virtual reality determined by calculation, and if the verification result fails, the The verification result is fed back to the detection terminal and triggers the detection terminal to re-identify the three infrared points corresponding to the object to be located from the acquired infrared point information, so that the positioning calculation terminal can recalculate the to-be-determined object. position and movement direction of the object in virtual reality until the verification result is passed.

In one embodiment, the positioning calculation terminal adopts the working mode of a queue to perform positioning calculation, by acquiring multiple sets of infrared point data in real time and performing the calculation on the object to be located determined by the calculation according to the multiple sets of infrared point data. Verification processing is performed on the position and movement direction in virtual reality, wherein each group of infrared point data includes coordinate data of three infrared points distributed in an isosceles triangle, and the verification processing includes performing a verification process on the multiple groups of infrared point data. Expected value calculation processing and variance value calculation processing.

In one embodiment, the detection end regularly receives the infrared point information obtained by the camera end through a preset data template, wherein the data type in the preset data module is configured as a list data type.

In a fourth aspect, an electronic device is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, the processor implementing the first method when the processor executes the computer program The steps of the infrared positioning method described in the aspect.

A fifth aspect provides a computer-readable storage medium, where the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, implements the steps of the infrared positioning method according to any one of the first aspect .

beneficial effect

Compared with the prior art, the embodiment of the present application has the beneficial effect that: by carrying infrared lamps distributed in an isosceles triangle on the object, the infrared point identification processing of the object to be located is performed based on the image of the object, and the three infrared lamps corresponding to the three infrared lamps are identified. The position of the three infrared points distributed in an isosceles triangle in the image, and the coordinate data of the three infrared points is obtained according to the position. Furthermore, according to the coordinate data of the three infrared points, the vertices and the midpoints of the bases of the isosceles triangle are identified, and the direction vectors pointing to the vertices are generated according to the vertices and the midpoints of the bases of the isosceles triangles. Finally, by calculating the vector angle between the direction vector of the object to be positioned and the preset coordinate system of the virtual environment, the current movement direction of the object to be positioned is determined by the vector angle. As a result, the motion direction of the object to be positioned is determined in the virtual reality application, so that the user can still identify the direction when immersed in the virtual environment, which enhances the user's sense of immersion in the virtual environment, and by identifying the direction in the virtual environment It can also realize the interaction between people and people and between people and things in the virtual environment, so as to meet the interaction needs of users in the virtual environment.

Description of drawings

In order to illustrate the technical solutions in the embodiments of the present application more clearly, the following briefly introduces the accompanying drawings that are used in the description of the embodiments or exemplary technologies. Obviously, the drawings in the following description are only for the present application. In some embodiments, for those of ordinary skill in the art, other drawings can also be obtained according to these drawings without any creative effort.

1 is a schematic flowchart of a basic method of an infrared positioning method provided by an embodiment of the present application;

2 is a schematic flowchart of a method for obtaining infrared point information corresponding to an object in the infrared positioning method provided by the embodiment of the present application;

3 is a schematic flowchart of another method for obtaining infrared point information corresponding to an object in the infrared positioning method provided by the embodiment of the present application;

4 is a schematic structural diagram of an infrared positioning device according to an embodiment of the present application;

5 is a basic schematic block diagram of an infrared positioning system provided by an embodiment of the present application;

FIG. 6 is a schematic diagram of an electronic device implementing an infrared positioning method according to an embodiment of the present application.

Embodiments of the present invention

In order to make the purpose, technical solutions and advantages of the present application more clearly understood, the present application will be described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention, but not to limit the present application.

It should be noted that when a component is referred to as being "fixed to" or "disposed on" another component, it can be directly on the other component or indirectly on the other component. When an element is referred to as being "connected to" another element, it can be directly or indirectly connected to the other element. The orientation or positional relationship indicated by the terms "upper", "lower", "left", "right", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of description, rather than indicating or implying the referred device Or the elements must have a specific orientation, be constructed and operated in a specific orientation, so it cannot be construed as a limitation to the present application, and those of ordinary skill in the art can understand the specific meanings of the above terms according to specific situations. The terms "first" and "second" are only used for the purpose of description, and should not be understood as indicating or implying relative importance or implying indicating the number of technical features. "Plurality" means two or more, unless expressly specifically limited otherwise.

In order to illustrate the technical solutions provided in the present application, the following detailed description is given in conjunction with the specific drawings and embodiments.

In some embodiments of the present application, please refer to FIG. 1 , which is a schematic flowchart of a basic method of an infrared positioning method provided by an embodiment of the present application. Details are as follows:

In step S101, infrared point identification processing is performed on the object to be located based on the object image, and infrared point information corresponding to the object to be located is obtained, wherein the infrared point information includes coordinate data of three infrared points, and the three The infrared points are distributed in an isosceles triangle.

In this embodiment, the object to be positioned is a VR (Virtual Reality, virtual reality) device used in a virtual reality application, such as VR glasses, a VR helmet, and the like. Three infrared lamps are mounted on the object to be positioned, and when the infrared lamps are mounted, the three infrared lamps are distributed in an isosceles triangle. Therefore, when positioning the object to be positioned in a virtual reality application, an image of the object to be positioned can be captured by a camera, and then infrared point recognition processing of the object to be positioned based on the image is performed, for example, by configuring an infrared filter on the camera end , filter the image captured by the camera to identify the positions of the three infrared lights mounted on the object to be positioned corresponding to the three infrared points in the image, and the combination of the positions of the three infrared points is distributed in an isosceles triangle. Moreover, the coordinate data of the three infrared points can be acquired based on the positions of the three infrared points in combination with the coordinate system preset in the virtual environment.

In step S102, the vertex and the midpoint of the base of the isosceles triangle are identified, and a direction vector pointing to the vertex is generated according to the vertex of the isosceles triangle and the midpoint of the base, and the direction vector represents the object to be positioned. direction of movement;

In this embodiment, after obtaining the positions of the three infrared lamps mounted on the object to be positioned corresponding to the three infrared points in the image, the vertices and The midpoint of the base, specifically, in an isosceles triangle, the point where the two short sides intersect is the vertex, and the side opposite the vertex is the base, so the isosceles triangle can be obtained by identifying the length of each side of the isosceles triangle After identifying the long side of the isosceles triangle, the length of the long side is divided into two equal parts, and the point corresponding to the division of the two equal parts is the midpoint of the base of the isosceles triangle. After identifying the vertex and the midpoint of the base of the isosceles triangle, generate a direction vector pointing to the vertex according to the vertex and midpoint of the base of the isosceles triangle, and use this direction vector to represent the motion direction of the object to be positioned.

In step S103, the vector angle between the direction vector of the object to be positioned and the preset coordinate system of the virtual environment is calculated, and the movement direction of the object to be positioned in the virtual environment is determined according to the vector angle.

In this embodiment, the preset coordinate system of the virtual environment is a two-dimensional coordinate system set in the virtual reality application based on the top view of the camera, and the two-dimensional coordinate system and the direction vector of the object are located on the same plane. In addition, the origin of the two-dimensional coordinate system can be specified in the virtual environment constructed by the virtual reality application according to the calculation requirements, and the specified principle is for the convenience of calculation. In some specific implementations, the X-axis direction and the Y-axis direction of the two-dimensional coordinate system can be determined according to the four directions of east, west, northwest, for example, the east direction is the positive direction of the X axis, and the north direction is the positive direction of the Y axis. By calculating the vector angle between the direction vector of the object to be positioned and the positive direction of the X axis in the two-dimensional coordinate system and/or calculating the angle between the direction vector of the object to be positioned and the positive direction of the Y axis in the two-dimensional coordinate system According to the vector angle obtained by the calculation, the moving direction of the object to be positioned in the virtual environment can be determined.

For example, when determining the moving direction of the object to be positioned in the virtual environment by calculating the vector angle between the direction vector of the object to be positioned and the positive direction of the X-axis in the two-dimensional coordinate system, the moving direction of the object can be preset. The determination rule is: for the vector angle between the direction vector of the object and the positive direction of the X axis in the two-dimensional coordinate system, in the counterclockwise direction, the object is determined when the angle is in the interval of 0°<vector angle<90° The direction of movement is east-north + vector angle; when the angle is 90° < vector angle < 180°, the motion direction of the object is determined to be north-west + (vector angle -90°); the angle is 180° < vector When the angle is less than 270°, the moving direction of the object is determined to be west by south + (vector angle -180°); when the angle is within the range of 270° < vector angle < 360°, the object movement direction is south by east + (vector angle included angle -270°). Accordingly, if the vector angle between the direction vector of the object to be positioned and the positive direction of the X-axis in the two-dimensional coordinate system is calculated to be 30°, then it can be determined that the movement direction of the object to be positioned is eastward. 30° north direction.

It can be understood that the moving direction of the object to be positioned in the virtual environment or the direction of the object to be positioned is determined by calculating the vector angle between the direction vector of the object to be positioned and the positive direction of the Y-axis in the two-dimensional coordinate system. The vector angle between the vector and the positive direction of the X-axis in the two-dimensional coordinate system and the vector angle between the direction vector of the object to be positioned and the positive direction of the Y-axis in the two-dimensional coordinate system determine the object to be positioned In the movement direction in the virtual environment, the determination rule for the movement direction of the object to be positioned can be preset, and then the movement direction of the object to be positioned in the virtual environment is determined based on the determination rule. The setting of the determination rule of the movement direction is similar to the above example, and will not be repeated here.

In the infrared positioning method provided by the above-mentioned embodiments, the infrared lamps distributed in an isosceles triangle are mounted on the object, and infrared point recognition processing is performed on the object to be located based on the image of the object, and three infrared lamps are identified corresponding to the isosceles triangle distribution in the image. position of the three infrared points, and obtain the coordinate data of the three infrared points according to the position. Furthermore, according to the coordinate data of the three infrared points, the vertices and the midpoints of the bases of the isosceles triangle are identified, and the direction vectors pointing to the vertices are generated according to the vertices and the midpoints of the bases of the isosceles triangles. Finally, by calculating the vector angle between the direction vector of the object to be positioned and the preset coordinate system of the virtual environment, the current movement direction of the object to be positioned is determined by the vector angle. As a result, the motion direction of the object to be positioned is determined in the virtual reality application, so that the user can still identify the direction when immersed in the virtual environment, which enhances the user's sense of immersion in the virtual environment, and by identifying the direction in the virtual environment It can also realize the interaction between people and people and between people and things in the virtual environment, so as to meet the interaction needs of users in the virtual environment.

In some embodiments of the present application, after obtaining the coordinate data of the three infrared points corresponding to the object to be positioned, the position of the center of gravity of the isosceles triangle can be calculated according to the principle of triangle geometry in combination with the coordinate data of the three infrared points, thereby The position of the center of gravity of the isosceles triangle is determined as the position of the object to be positioned. Specifically, according to the principle of triangle geometry, the intersection of the midlines of each side is the center of gravity of an isosceles triangle.

In some embodiments of the present application, please refer to FIG. 2 , which is a schematic flowchart of a method for acquiring infrared point information corresponding to an object in the infrared positioning method provided by the embodiments of the present application. Details are as follows:

In step S201, the camera picture is opened through the CCV computer vision library, and the first object image containing the object to be positioned is obtained from the picture captured by the camera;

In step S202, infrared point identification processing is performed on the first object image, and all infrared points in the first object image are identified;

In step S203, the number of all infrared points in the first object image is statistically processed to obtain the number of infrared points identified from the first object image;

In step S204, if the number of infrared points identified from the first object image is three, verify whether the three infrared points are distributed in an isosceles triangle;

In step S205, if the three infrared points are distributed in an isosceles triangle, the coordinate data of the three infrared points are acquired.

In this embodiment, when using the infrared positioning method provided by the present application to locate objects in a virtual reality application, first connect a camera device, and then open the camera screen through the CCV computer vision library, and then obtain images containing The first object image of the object to be positioned is then processed by infrared point identification processing on the first object image to identify all infrared points in the first object image. CCV computer vision library (cached computer vision library) is a modern computer vision library with cache based on C language. It has a built-in cache mechanism, simple functional interface, transparent cache and image preprocessing. In this embodiment, three infrared lamps are mounted on the object to be located, and then the infrared points corresponding to the object to be located in the image of the first object are obtained by means of CCV and infrared recognition, making full use of the CCV computer vision library for processing The accuracy of the image data, and at the same time, by cooperating with infrared recognition, it solves the defects of CCV being susceptible to external interference and low discrimination of designated objects. In this embodiment, after all infrared points in the first object image are identified, other infrared points other than the infrared lamp may be generated because the first object image may be disturbed by external factors. The number of infrared points identified in the object image is counted to determine whether there are and only three infrared points identified in the first object image. If the number of infrared points obtained by statistics is three, verify the Whether the three infrared points are distributed in an isosceles triangle. It should be noted that when three infrared lamps are mounted on the object to be positioned, the three infrared lamps are distributed in an isosceles triangle. Therefore, the infrared points corresponding to the three infrared lamps identified from the image of the first object should also be in the form of an isosceles triangle. Isosceles triangle distribution. Accordingly, when the number of infrared points in the first object image is three, it is further verified whether the three infrared points are three infrared points corresponding to the three infrared lamps mounted on the object to be positioned. Specifically, verification can be performed according to the characteristics of an isosceles triangle. For example, the distance between the three infrared points is calculated according to the coordinate data of the three infrared points, the lengths of the three sides of the triangle are obtained, and the length of the three sides is determined. Whether two of the side lengths are equal in length, if so, confirm that the three infrared points are distributed in an isosceles triangle, that is, verify that the three infrared points correspond to the three infrared lamps mounted on the object to be positioned. Three infrared dots. After the verification confirms that the three infrared points are distributed in an isosceles triangle, the coordinate data of the three infrared points are acquired. It can be understood that the coordinate data obtained here is the coordinate data in the camera coordinate system based on the camera configuration. In some specific implementations, a custom coordinate system that is convenient for calculation can also be customized in the virtual environment, and then, The obtained coordinate data in the camera coordinate system is converted into the coordinate data in the coordinate system of the custom configuration of the virtual environment by mapping in the coordinates.

In some embodiments of the present application, please refer to FIG. 3 , which is a schematic flowchart of another method for acquiring infrared point information corresponding to an object in the infrared positioning method provided by the embodiments of the present application. Details are as follows:

In step S301, if the number of infrared points is less than three or the number of infrared points is equal to three but is not distributed in an isosceles triangle, then according to the preset adjustment rule, the information opened by the CCV computer vision library is processed. The angle of the camera image is adjusted, and the second object image is re-acquired based on the adjusted camera image;

In step S302, infrared point identification processing is performed on the second object image, and all infrared points in the second object image are identified;

In step S303, the number of all infrared points in the second object image is statistically processed to obtain the number of infrared points identified from the second object image;

In step S304, if the number of infrared points identified from the second object image is three, verify whether the three infrared points are distributed in an isosceles triangle;

In step S305, if the three infrared points are distributed in an isosceles triangle, the coordinate data of the three infrared points are acquired.

In this embodiment, the image captured by the camera may fail to normally capture the position where the object to be positioned is equipped with the infrared camera, which may cause the number of infrared points in the image of the first object captured by the camera to be less than three or less than the number of infrared points. Equal to three but not distributed in an isosceles triangle. At this time, when the statistics show that the number of infrared points in the first object image is less than three or equal to three but not distributed in an isosceles triangle, you can adjust the angle of the camera screen opened by the CCV computer vision library to The image captured by the camera is normally captured to the position where the object to be positioned is equipped with infrared positioning, and after the angle adjustment of the image captured by the camera is completed, the image of the second object is re-acquired based on the adjusted camera image. Then, three infrared points distributed in an isosceles triangle corresponding to the object to be positioned are acquired according to the second object image. In this embodiment, the contents of steps S302 to S305 are basically the same as those of steps S202 to S205 in the foregoing embodiments, and details are not repeated here.

In some embodiments of the present application, since the first object image may be disturbed by external factors, other infrared points other than the infrared lamp are generated, and at this time, there will be a large number of infrared points identified from the first object image. in three cases. In this case, in this embodiment, all infrared points in the first object image can be identified first, and then filtered through the set filtering rules, such as the feature of an isosceles triangle (there are only two equal side), that is, by drawing a triangle for every three infrared points, based on the coordinate data of the infrared points, it is determined whether there are and only two sides of the triangle are equal, so that three infrared points distributed in an isosceles triangle can be screened out. After three infrared points distributed in an isosceles triangle are determined from all the infrared points in the first object image, coordinate data of the three infrared points are acquired. It can be understood that, if more than three infrared points are identified in the second object image in the foregoing embodiment, processing can also be performed according to the method provided in this embodiment.

It can be understood that the size of the sequence number of each step in the above-mentioned embodiment does not mean the order of execution, and the execution order of each process should be determined by its function and internal logic, and should not constitute any implementation process of the embodiments of the present application. limited.

In some embodiments of the present application, please refer to FIG. 4 , which is a schematic structural diagram of an infrared positioning device provided by an embodiment of the present application, and the details are as follows:

In this embodiment, the infrared positioning device includes: an acquisition module 401 , a generation module 402 , and a ratio and calculation module 403 . The acquisition module 401 is configured to perform infrared point identification processing on the object to be located based on the object image, and acquire infrared point information corresponding to the object to be located, wherein the infrared point information includes coordinate data of three infrared points, And the three infrared points are distributed in an isosceles triangle. The generating module 402 is configured to identify the vertices and the midpoints of the bases of the isosceles triangle according to the coordinate data of the three infrared points, and generate the vertices pointing to the vertices according to the vertices and the midpoints of the bases of the isosceles triangles. A direction vector, where the direction vector represents the moving direction of the object to be positioned. The calculation module 403 is configured to calculate the vector angle between the direction vector of the object to be positioned and the preset coordinate system of the virtual environment, and determine the moving direction of the object to be positioned according to the vector angle.

The infrared positioning device corresponds to the above-mentioned infrared positioning method one by one, and details are not repeated here.

In some embodiments of the present application, please refer to FIG. 5 , which is a basic schematic block diagram of an infrared positioning system provided by an embodiment of the present application. As shown in FIG. 5 , the infrared positioning system 50 includes a camera end 51 , a detection end 52 and a positioning calculation end 53 . in:

The camera end 51 is used to capture an image of the object to be positioned and obtain infrared point information from the image, wherein the infrared point information contains coordinate data of the infrared point. In this embodiment, the camera end 51 uses infrared combined with the open-source CCV computer vision library to perform object recognition, making full use of the accuracy of the CCV computer vision library for processing image data, and at the same time solving the problem that CCV is susceptible to external interference by cooperating with infrared recognition. Defects with low discrimination for specified objects. In some specific implementations, the camera terminal is started by connecting, and then the CCV computer vision library is used to open the camera terminal screen, and then the parameters of the CCV computer vision library are adjusted to adjust the camera terminal screen, and the object image is obtained from the camera terminal screen. the infrared point. In some specific implementations, the recognition area of the object image can also be set to avoid the interference of external factors, and the infrared point information can be transmitted to the detection terminal 52 in real time.

The detection end 52 is configured to receive the infrared point information obtained by the camera end, and identify three infrared points corresponding to the object to be located from the obtained infrared point information, wherein the three infrared points are equal to each other. Waist triangle distribution. In this embodiment, the detection terminal 52 uses the tuio protocol to receive infrared point information from the camera terminal 51 . Specifically, after receiving the infrared point information from the camera end 51, the infrared point information is firstly counted to confirm the number of infrared points obtained from the object image. Further, according to the obtained number of infrared points, it is determined whether the number of isosceles triangles (three) can be formed, and if so, the coordinate data of the three infrared points are sent to the positioning calculation terminal 53 for calculation. Otherwise, if the number of infrared points is more than three, it can be filtered by setting a filtering rule, for example, by drawing a triangle for every three infrared points, and based on the coordinate data of the infrared points to determine whether there are and only two sides in the triangle Therefore, three infrared points distributed in an isosceles triangle are screened out, and then the coordinate data of the three infrared points are sent to the positioning calculation terminal 53 for calculation. If the infrared points are less than three or equal to three but not distributed in an isosceles triangle, the detection operation is ended and the tuio information is monitored, waiting to receive the next infrared point information from the camera end 51 .

In some specific implementations, the detection end 52 may receive infrared point information from the camera end 51 through a preset data template. Specifically, a data template is designed to have the function of converting standard tuio protocol data into a list data type that is easy to parse, and the data template is associated with a timer, so that the data template is based on the time interval set by the timer. Perform timed data acquisition processing. In this embodiment, the timer is set to 20ms, that is, 50 sets of infrared point information are acquired per second, which realizes low data delay between the actual environment and the virtual environment, and avoids the actual environment and virtual environment data in virtual reality applications. asymmetrical problem.

The positioning calculation terminal 53 is used to combine the coordinate point data of the three infrared points distributed in an isosceles triangle, determine the position of the object to be positioned in the virtual reality environment by calculating the position of the center of gravity of the isosceles triangle, and characterize the position to be positioned by calculating The vector angle between the direction vector of the moving direction of the object and the preset coordinate system of the virtual environment determines the moving direction of the object to be positioned in the virtual reality environment, wherein the direction vector representing the moving direction of the object to be positioned is determined by isosceles. The midpoint of the base of the triangle points to the vertex of the isosceles triangle. In this embodiment, after obtaining the coordinate data of three infrared points distributed in an isosceles triangle, record the coordinates of the three infrared points and add the coordinate data of the three infrared points as a set of data to the calculation queue , to perform data calculation in a queue-first-in-first-out working mode. Calculate the position of the center of gravity of the isosceles triangle and calculate the vector angle between the direction vector and the preset coordinate system of the virtual environment for each group of data in the queue according to the queue order, thereby determining the position of the object to be positioned in the virtual reality environment. position and direction of movement.

In some specific implementations, the positioning calculation terminal 53 may also perform verification processing on the position and movement direction of the object to be positioned in the virtual reality determined by calculation. If the verification result fails, the verification result is fed back to the detection terminal 52 and Trigger the detection terminal 52 to re-identify the three infrared points corresponding to the object to be located from the acquired infrared point information, and then recalculate the position and movement direction of the object to be located in the virtual reality by the positioning calculation terminal 53, until the verification result passes until. Specifically, in this embodiment, the positioning computing terminal 53 uses a queue-first-in-first-out working mode to perform data calculation, and during the calculation process, n groups of infrared point data are stored in real time, wherein each group of infrared point data contains the coordinate data of three infrared points distributed in an isosceles triangle. Then, the expected value and variance value of the n groups (for example, 10 groups) of data are calculated in real time, so as to verify the position and movement direction of the object to be located in virtual reality determined by calculation, with the help of the expected value and variance value Excluding unexpected data makes the positioning information of the object to be positioned more accurate and reliable.

In some embodiments of the present application, please refer to FIG. 6 , which is a schematic diagram of an electronic device implementing an infrared positioning method according to an embodiment of the present application. As shown in FIG. 6 , the electronic device 6 of this embodiment includes: a processor 61 , a memory 62 , and a computer program 63 stored in the memory 62 and executable on the processor 61 , such as an infrared positioning program. When the processor 61 executes the computer program 62, the steps in each of the foregoing infrared positioning method embodiments are implemented. Alternatively, when the processor 61 executes the computer program 63, the functions of the modules/units in the foregoing device embodiments are implemented.

Exemplarily, the computer program 63 may be divided into one or more modules/units, and the one or more modules/units are stored in the memory 62 and executed by the processor 61 to complete the this application. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions, and the instruction segments are used to describe the execution process of the computer program 63 in the electronic device 6 . For example, the computer program 63 can be divided into:

The acquisition module is configured to perform infrared point identification processing on the object to be located based on the object image, and acquire infrared point information corresponding to the object to be located, wherein the infrared point information includes coordinate data of three infrared points, and the three The infrared points are distributed in an isosceles triangle;

The generating module is used to identify the vertex and base midpoint of the isosceles triangle according to the coordinate data of the three infrared points, and generate a direction vector pointing to the vertex according to the vertex and base midpoint of the isosceles triangle , the direction vector represents the movement direction of the object to be positioned;

The calculation module is configured to calculate the vector angle between the direction vector of the object to be positioned and the preset coordinate system of the virtual environment, and determine the moving direction of the object to be positioned according to the vector angle.

The electronic device may include, but is not limited to, the processor 61 and the memory 62 . Those skilled in the art can understand that FIG. 6 is only an example of the electronic device 6, and does not constitute a limitation on the electronic device 6, and may include more or less components than the one shown, or combine some components, or different components For example, the electronic device may further include an input and output device, a network access device, a bus, and the like.

The so-called processor 61 may be a central processing unit (Central Processing Unit, CPU), and may also be other general-purpose processors, digital signal processors (Digital Signal Processors, DSP), application specific integrated circuits (Application Specific Integrated Circuits) Integrated Circuit, ASIC), off-the-shelf programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

The memory 62 may be an internal storage unit of the electronic device 6 , such as a hard disk or a memory of the electronic device 6 . The memory 62 may also be an external storage device of the electronic device 6, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) equipped on the electronic device 6 card, Flash Card, etc. Further, the memory 62 may also include both an internal storage unit of the electronic device 6 and an external storage device. The memory 62 is used to store the computer program and other programs and data required by the electronic device. The memory 62 may also be used to temporarily store data that has been output or is to be output.

It should be noted that the information exchange, execution process and other contents between the above-mentioned devices/units are based on the same concept as the method embodiments of the present application. For specific functions and technical effects, please refer to the method embodiments section. It is not repeated here.

Embodiments of the present application further provide a computer-readable storage medium, where a computer program is stored in the computer-readable storage medium, and when the computer program is executed by a processor, the steps in the foregoing method embodiments can be implemented.

The embodiments of the present application provide a computer program product, when the computer program product runs on a mobile terminal, the steps in the foregoing method embodiments can be implemented when the mobile terminal executes the computer program product.

Those skilled in the art can clearly understand that, for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned functions can be allocated to different functional units, Module completion, that is, dividing the internal structure of the device into different functional units or modules to complete all or part of the functions described above. Each functional unit and module in the embodiment may be integrated in one processing unit, or each unit may exist physically alone, or two or more units may be integrated into one unit, and the above-mentioned integrated units may adopt hardware. It can also be realized in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing from each other, and are not used to limit the protection scope of the present application. For the specific working processes of the units and modules in the above-mentioned system, reference may be made to the corresponding processes in the foregoing method embodiments, which will not be repeated here.

The integrated modules/units, if implemented in the form of software functional units and sold or used as independent products, may be stored in a computer-readable storage medium. Based on this understanding, the present application can implement all or part of the processes in the methods of the above embodiments, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer When the program is executed by the processor, the steps of the foregoing method embodiments can be implemented. Wherein, the computer program includes computer program code, and the computer program code may be in the form of source code, object code, executable file or some intermediate form, and the like. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, U disk, removable hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory) , Random Access Memory (RAM, Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium, etc. It should be noted that the content contained in the computer-readable media may be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction, for example, in some jurisdictions, according to legislation and patent practice, the computer-readable media Excluded are electrical carrier signals and telecommunication signals.

In the foregoing embodiments, the description of each embodiment has its own emphasis. For parts that are not described or described in detail in a certain embodiment, reference may be made to the relevant descriptions of other embodiments.

Those of ordinary skill in the art can realize that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Skilled artisans may implement the described functionality using different methods for each particular application, but such implementations should not be considered beyond the scope of this application.

In the embodiments provided in this application, it should be understood that the disclosed apparatus/terminal device and method may be implemented in other manners. For example, the apparatus/terminal device embodiments described above are only illustrative. For example, the division of the modules or units is only a logical function division. In actual implementation, there may be other division methods, such as multiple units. Or components may be combined or may be integrated into another system, or some features may be omitted, or not implemented. On the other hand, the shown or discussed mutual coupling or direct coupling or communication connection may be through some interfaces, indirect coupling or communication connection of devices or units, and may be in electrical, mechanical or other forms.

The units described as separate components may or may not be physically separated, and components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution in this embodiment.

The above-mentioned embodiments are only used to illustrate the technical solutions of the present application, but not to limit them; although the present application has been described in detail with reference to the above-mentioned embodiments, those of ordinary skill in the art should understand that: it can still be used for the above-mentioned implementations. The technical solutions described in the examples are modified, or some technical features thereof are equivalently replaced; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions in the embodiments of the application, and should be included in the within the scope of protection of this application.

Claims (10)

An infrared positioning method, comprising: Perform infrared point recognition processing on the object to be located based on the object image, and obtain infrared point information corresponding to the object to be located, wherein the infrared point information includes coordinate data of three infrared points, and the three infrared points are equal to waist triangle distribution; Identify the vertices and the midpoint of the base of the isosceles triangle according to the coordinate data of the three infrared points, and generate a direction vector pointing to the vertex according to the vertices and the midpoint of the base of the isosceles triangle, and the direction vector Characterize the moving direction of the object to be positioned; Calculate the vector angle between the direction vector of the object to be positioned and the preset coordinate system of the virtual environment, and determine the moving direction of the object to be positioned according to the vector angle. The infrared positioning method according to claim 1, wherein the infrared point identification processing is performed on the object to be located based on the object image, and infrared point information corresponding to the object to be located is obtained, wherein the infrared point information includes After the coordinate data of three infrared points, and the three infrared points are distributed in an isosceles triangle, it includes: Combined with the coordinate data of the three infrared points, the position of the center of gravity of the isosceles triangle is calculated according to the principle of triangle geometry, and the position of the center of gravity of the isosceles triangle is determined as the position of the object to be positioned. The infrared positioning method according to claim 1, wherein the infrared point identification processing is performed on the object to be located based on the object image, and infrared point information corresponding to the object to be located is obtained, wherein the infrared point information includes: The coordinate data of three infrared points, and the three infrared points are distributed in an isosceles triangle, including: Open the camera image through the CCV computer vision library, and obtain the first object image containing the object to be positioned from the image captured by the camera; Perform infrared point identification processing on the first object image, and identify all infrared points in the first object image; Counting all infrared points in the first object image to obtain the number of infrared points identified from the first object image; If the number of infrared points identified from the first object image is three, verify whether the three infrared points are distributed in an isosceles triangle; If the three infrared points are distributed in an isosceles triangle, the coordinate data of the three infrared points are acquired. The infrared positioning method according to claim 3, wherein the number of all infrared points in the first object image is statistically processed, and the number of infrared points identified from the first object image is obtained. After a few steps, including: If the number of the infrared points is less than three or the number of infrared points is equal to three but not distributed in an isosceles triangle, the camera image opened through the CCV computer vision library is angled according to the preset adjustment rule Adjust, and re-acquire the second object image based on the adjusted camera image; Perform infrared point identification processing on the second object image, and identify all infrared points in the second object image; Counting all infrared points in the second object image to obtain the number of infrared points identified from the second object image; If the number of infrared points identified from the second object image is three, verify whether the three infrared points are distributed in an isosceles triangle; If the three infrared points are distributed in an isosceles triangle, the coordinate data of the three infrared points are acquired. The infrared positioning method according to claim 3, wherein the number of all infrared points in the first object image is statistically processed, and the number of infrared points identified from the first object image is obtained. After a few steps, including: If the number of infrared points identified from the first object image is more than three, three infrared points distributed in an isosceles triangle are selected from all infrared points identified from the first object image , and obtain the coordinate data of the three infrared points. An infrared positioning device, characterized in that the infrared positioning device comprises: The acquisition module is configured to perform infrared point identification processing on the object to be located based on the object image, and acquire infrared point information corresponding to the object to be located, wherein the infrared point information includes coordinate data of three infrared points, and the three The infrared points are distributed in an isosceles triangle; The generating module is used to identify the vertex and base midpoint of the isosceles triangle according to the coordinate data of the three infrared points, and generate a direction vector pointing to the vertex according to the vertex and base midpoint of the isosceles triangle , the direction vector represents the movement direction of the object to be positioned; The calculation module is configured to calculate the vector angle between the direction vector of the object to be positioned and the preset coordinate system of the virtual environment, and determine the moving direction of the object to be positioned according to the vector angle. An infrared positioning system, characterized in that it includes a camera end, a detection end and a positioning calculation end, wherein: The camera terminal is used to capture an image of the object to be positioned and obtain infrared point information from the image, wherein the infrared point information contains coordinate data of the infrared point; The detection end is configured to receive the infrared point information obtained by the camera end, and identify three infrared points corresponding to the object to be located from the obtained infrared point information, wherein the three infrared points are Isosceles triangle distribution; The positioning calculation terminal is used to combine the coordinate point data of three infrared points distributed in an isosceles triangle, determine the position of the object to be located in the virtual reality environment by calculating the position of the center of gravity of the isosceles triangle, and characterize the undetermined by calculation. The vector angle between the direction vector of the moving direction of the object and the preset coordinate system of the virtual environment determines the moving direction of the object to be positioned in the virtual reality environment, wherein the direction vector representing the moving direction of the object to be positioned is determined by etc. The midpoint of the base of the waist triangle points to the vertex of the isosceles triangle. The infrared positioning system according to claim 7, wherein the positioning calculation terminal is further configured to perform verification processing on the position and movement direction of the object to be positioned in the virtual reality determined by calculation. If the result fails, the verification result will be fed back to the detection terminal and the detection terminal will be triggered to re-identify the three infrared points corresponding to the object to be located from the acquired infrared point information, so that the The positioning computing end recalculates the position and movement direction of the object to be positioned in the virtual reality until the verification result is passed. The infrared positioning system according to claim 8, wherein the positioning calculation terminal adopts a queue working mode to perform positioning calculation, and obtains multiple sets of infrared point data in real time and analyzes the passing data according to the multiple sets of infrared point data. The calculated and determined position and movement direction of the object to be positioned in virtual reality are processed for verification, wherein each group of infrared point data includes coordinate data of three infrared points distributed in an isosceles triangle, and the verification processing includes: An expectation value calculation process and a variance value calculation process are performed on the multiple sets of infrared point data. The infrared positioning system according to claim 7, wherein the detection end regularly receives the infrared point information obtained by the camera end through a preset data template, wherein the data type configured by the preset data module is a list data type.