CN115253275A - Intelligent terminal, handheld computer, virtual system and spatial positioning method of intelligent terminal - Google Patents

Abstract

The present invention provides an intelligent terminal, a handheld computer, a virtual system and a spatial positioning method for the intelligent terminal, and solves the technical problem of the lack of a mobile terminal in the prior art that can experience the functions of the virtual and handheld products and cannot be accurately located . The intelligent terminal provided by the present invention can be detachably connected with the virtual head display device, and the main control chip in the intelligent terminal switches the function of the intelligent terminal from the virtual head display function to the handheld function; when the intelligent terminal is installed on the virtual head display device After that, the main control chip in the smart terminal switches the function of the smart terminal from the handheld function to the virtual head-mounted display function, so that users can experience the functions of the virtual system and the handheld product through one smart terminal. The main control chip can also determine the spatial positioning information of the intelligent terminal according to the environmental information of the intelligent terminal captured by the first camera device and the IMU data of the intelligent terminal detected by the first inertial sensor, so as to realize the precise positioning of the intelligent terminal.

Description

Spatial positioning method for smart terminal, handheld, virtual system and smart terminal

technical field

The invention relates to the technical field of mobile devices, in particular to an intelligent terminal, a handheld, a virtual system and a space positioning method for an intelligent terminal.

Background technique

At present, a large number of new virtual reality (Virtual Reality, VR) head-mounted display devices composed of VR boxes and mobile terminals have emerged on the market. The performance of this new type of VR head-mounted display device is mainly determined by the performance of the mobile terminal, and its performance is far inferior to the traditional computer-VR head-mounted display device or VR all-in-one machine. The computer-VR head-mounted display device, or the display of the VR all-in-one machine and the VR virtual head-mounted display device are generally inseparable and can only be used together, so the convenience is limited.

At the same time, hand-held devices for game consoles, such as handhelds, currently have products that include a host and a handle, and the game experience is realized by inputting commands through the handle. At this time, the handheld does not have the function of experiencing virtual immersion.

Therefore, it is necessary to provide a new type of combined intelligent terminal device, which has the detachable feature of the virtual box and can reflect the functions of the handheld, so that users can experience the functions of two different products by purchasing only one product. .

In addition, in the prior art, when the mobile terminal changes working modes, for example, when the handheld function is switched to the virtual head-mounted display function, accurate repositioning of the mobile terminal and the control handle cannot be realized.

Contents of the invention

In view of this, the present invention provides a smart terminal, a handheld, a virtual system and a space positioning method for a smart terminal, which solves the lack of a mobile terminal in the prior art that can experience the functions of both virtual and handheld products, and when moving When the terminal changes the working mode, the space of the mobile terminal cannot be accurately positioned.

According to one aspect of the present invention, the present invention provides an intelligent terminal, including: an intelligent terminal body, which is detachably installed on a virtual head-mounted display device or a handheld device; The display screen on the side; the function switching module arranged in the smart terminal body, the function switching module is used to control the smart terminal to switch between the virtual head display function and the handheld function; set in the smart terminal The main control chip in the body, the main control chip is connected to the function switching module in communication; the first camera device arranged on the second side of the smart terminal body, the first side and the second side is the opposite surface; and a first inertial sensor arranged on the smart terminal body, the first inertial sensor is used to detect the IMU data of the smart terminal body; wherein, the first camera and the first The inertial sensors are respectively connected in communication with the main control chip.

In an embodiment of the present invention, the smart terminal further includes: a brightness controller disposed in the body of the smart terminal, and the brightness controller is respectively connected to the main control chip and the display screen in communication; wherein , when the smart terminal is switched from the handheld function to the virtual head-mounted display function, the brightness controller reduces the display brightness of the display; when the smart terminal is switched from the virtual head-mounted display function to the When the handheld function is used, the brightness controller increases the display brightness of the display.

In an embodiment of the present invention, the smart terminal further includes: an image processor disposed in the body of the smart terminal, the image processor communicates with the main control chip; wherein the image processor uses It is used to perform asynchronous space warping, asynchronous time warping processing and image rendering processing on the image information displayed on the display screen.

In an embodiment of the present invention, the smart terminal further includes: a second camera device arranged on the first side of the smart terminal body; wherein, the second camera device and the main control chip communication connection.

In an embodiment of the present invention, the number of the first camera devices is four, and the four first camera devices are divided into two camera device groups, and two of the first camera device groups in each group The camera device is symmetrical about the center of the smart terminal body.

As the second aspect of the present invention, the present invention also provides a handheld device, including: the smart terminal described above; and a handheld handle connected to the smart terminal; wherein, the handheld handle is provided with a second An infrared sensor and a second inertial sensor, the second inertial sensor is used to detect the IMU data of the handheld handle; the second inertial sensor is communicatively connected with the main control chip in the smart terminal.

In an embodiment of the present invention, the main control chip includes: a first control unit, the first control unit is respectively connected to the function switching module, the first camera device and the first inertial sensor in communication, The first control unit is used to control the first camera to take a first image of the surrounding environment where the smart terminal is located, and control the first inertial sensor to detect the IMU data of the smart terminal; the first calculation unit, the first computing unit is respectively connected to the first control unit, the first camera, the first infrared sensor, the first inertial sensor, and the second inertial sensor in communication, and the first A calculation unit is used to obtain the first image and the IMU data of the smart terminal body, and perform calculations on the IMU data of the smart terminal body and the first image to generate spatial positioning information of the smart terminal.

In an embodiment of the present invention, the main control chip further includes: a second control unit, the second control unit is respectively connected to the function switching module, the first camera device and the second inertial sensor in communication ; Wherein, the second control unit is used to control the first camera device to take pictures of the first infrared sensor located on the handle of the handheld when the function switching module switches the smart terminal to the handheld function , and control the second inertial sensor located on the handle of the handheld device to detect the IMU data of the handle of the handheld device; the second calculation unit, the second calculation unit is connected with the first calculation unit and the second control unit respectively unit, the first imaging device, and the second inertial sensor are connected in communication, and the second calculation unit is used to acquire the first spot image of the first infrared sensor transmitted by the first imaging device and the first spot image of the first infrared sensor The IMU data of the handheld handle transmitted by two inertial sensors, and calculate the first spot image, the IMU data of the handheld handle and the spatial positioning information of the smart terminal, and generate the IMU data of the handheld handle Spatial positioning information.

In an embodiment of the present invention, the handheld device further includes: a connector, and the connector is respectively connected to the handheld handle and the smart terminal in communication; the handheld handle is provided with a multi-function button; and a multi-function processor, the multi-function processor is respectively connected to the multi-function key and the main control chip of the smart terminal, and the multi-function processor is used to receive an operation instruction input by the user through the multi-function key, and sending the operation instruction to the main control chip.

As the third aspect of the present invention, the present invention also provides a virtual system, including: the above-mentioned smart terminal; a virtual head-mounted display device, the smart terminal is detachably installed on the body of the virtual head-mounted display device; and A virtual head-mounted display handle; wherein, the virtual head-mounted display handle includes: a control handle; a second infrared sensor disposed on the control handle; and a third inertial sensor disposed on the control handle, the third inertial The sensor is used to measure the IMU data of the control handle; wherein, the control handle and the third inertial sensor are respectively connected in communication with the main control chip.

In an embodiment of the present invention, the handle of the virtual head-mounted display further includes: a handle shell, the handle shell includes a ring portion and a handle portion, wherein a recess is provided at the center of the handle portion to accommodate and fix the control handle.

In an embodiment of the present invention, the main control chip includes: a third control unit, the third control unit is respectively connected to the function switching module, the first camera device and the first inertial sensor in communication, The third control unit is used to control the first camera to take a first image of the surrounding environment where the smart terminal is located, and control the first inertial sensor to detect the IMU data of the smart terminal; the third calculation unit, the third calculation unit is connected to the third control unit, the first camera, the first infrared sensor and the first inertial sensor respectively, and the third calculation unit is used to obtain the The first image and the IMU data of the smart terminal body are calculated, and the IMU data of the smart terminal body and the first image are calculated to generate spatial positioning information of the smart terminal.

In an embodiment of the present invention, the main control chip further includes: a fourth control unit, the fourth control unit communicates with the function switching module, the first camera device, the second infrared sensor and the The third inertial sensor is connected in communication; the fourth control unit is used for: when the function switching module switches the smart terminal to the virtual head-mounted display function, the fourth control unit controls the first camera device to be positioned at The second infrared sensor on the virtual operating handle takes pictures, and controls the third inertial sensor located on the virtual operating handle to detect the IMU data of the virtual operating handle; the fourth computing unit, the fourth computing unit respectively Communicatively connected with the third computing unit, the first camera, and the third inertial sensor, the fourth computing unit is configured to: obtain the first image of the second infrared sensor transmitted by the first camera The second spot image and the IMU data of the virtual operating handle transmitted by the third inertial sensor, and calculate the spatial positioning information of the smart terminal, the second spot image and the IMU data of the virtual operating handle to generate the The spatial positioning information of the virtual operating handle.

As the fourth aspect of the present invention, the present invention also provides a spatial positioning method for an intelligent terminal, which is used to locate the above-mentioned intelligent terminal, wherein the spatial positioning method for the intelligent terminal includes: the main control chip controls The first image of the surrounding environment of the smart terminal taken by the first camera device located on the smart terminal; and controlling the first inertial sensor to detect the IMU data of the smart terminal; the The main control chip acquires the first image of the surrounding environment of the smart terminal captured by the first camera device; the main control chip acquires the IMU of the smart terminal body detected by the first inertial sensor data; and the main control chip calculates the IMU data of the smart terminal body and the first image to generate spatial positioning information of the smart terminal.

In an embodiment of the present invention, when the smart terminal communicates with the handheld controller, the spatial positioning method of the smart terminal further includes: the function switching module switches the smart terminal to the handheld function; The chip controls the first camera device to take pictures of the first infrared sensor located on the handle of the handheld device, and controls the second inertial sensor located on the handle of the handheld device to detect the IMU data of the handle of the handheld device; The main control chip acquires the first light spot image of the first infrared sensor transmitted by the first camera device and the IMU data of the handheld handle transmitted by the second inertial sensor, and performs spatial positioning of the smart terminal. information, the first spot image, and the IMU data of the handheld controller to generate spatial positioning information of the handheld controller.

In an embodiment of the present invention, when the smart terminal is installed on the virtual head-mounted display device, and the smart terminal is connected to the virtual operating handle through communication, the spatial positioning method of the smart terminal further includes:

The function switching module switches the function of the smart terminal to a virtual head-mounted display; the control chip controls the first camera device to take pictures of the second infrared sensor located on the virtual operating handle, and controls the second infrared sensor located on the virtual operating handle to The third inertial sensor on the handle detects the IMU data of the virtual operating handle; the main control chip acquires the second spot image of the second infrared sensor transmitted by the first camera device and the second spot image transmitted by the second inertial sensor The IMU data of the virtual operating handle is calculated, and the spatial positioning information of the smart terminal, the second spot image and the IMU data of the virtual operating handle are calculated to generate the spatial positioning information of the virtual operating handle.

The smart terminal provided by the present invention can be detachably connected to the virtual head-mounted display device, that is, the virtual system can be a separate virtual system, that is, the smart terminal and the virtual head-mounted display device can be set in a detachable manner; when the smart terminal is separated from the virtual head-mounted display device , the smart terminal can establish a communication connection with the handheld handle, and the main control chip in the smart terminal switches the function of the smart terminal from the virtual head display function to the handheld function, so that the smart terminal and the handheld handle form a handheld; when the smart After the terminal is installed on the virtual head-mounted display device, the main control chip in the smart terminal switches the function of the smart terminal from the handheld function to the virtual head-mounted display function, so that the smart terminal, the virtual handheld device and the virtual head-mounted display device form a virtual system , so as to realize that the smart terminal can have two functions, and the user can experience the functions of the virtual system and the handheld two products through one smart terminal. In addition, the smart terminal is provided with a first inertial sensor and a first camera, and the main control chip can determine the smart terminal based on the environmental information of the smart terminal captured by the first camera and the IMU data of the smart terminal detected by the first inertial sensor. The spatial positioning information, that is, 6DOF data, thus realizing the precise positioning of smart terminals.

Description of drawings

The above and other objects, features and advantages of the present invention will become more apparent by describing the embodiments of the present invention in more detail with reference to the accompanying drawings. The accompanying drawings are used to provide a further understanding of the embodiments of the present invention, and constitute a part of the specification, and are used together with the embodiments of the present invention to explain the present invention, and do not constitute limitations to the present invention. In the drawings, the same reference numerals generally represent the same components or steps.

FIG. 1 is a front view of a smart terminal provided by an embodiment of the present invention;

FIG. 2 is a rear view of a smart terminal provided by an embodiment of the present invention;

FIG. 3 is a working principle diagram of a smart terminal provided by an embodiment of the present invention;

FIG. 4 is a working principle diagram of a smart terminal provided by another embodiment of the present invention;

FIG. 5 is a working principle diagram of a smart terminal provided by another embodiment of the present invention;

Fig. 6 shows a working principle diagram of a handheld device provided by an embodiment of the present invention;

Fig. 7 shows a working principle diagram of a handheld device provided by another embodiment of the present invention;

FIG. 8 is a schematic flow diagram of the spatial positioning method of the smart terminal in the handheld device shown in FIG. 7;

Fig. 9 is a working principle diagram of a handheld device provided by another embodiment of the present invention;

FIG. 10 is a schematic flow chart of the spatial positioning method of the smart terminal in the handheld device shown in FIG. 9;

Figure 11 is a working principle diagram of a virtual system provided by an embodiment of the present invention;

Fig. 12 shows the working principle diagram of the virtual system provided by another embodiment of the present invention;

FIG. 13 is a schematic flowchart of a spatial positioning method for an intelligent terminal in the virtual system shown in FIG. 12;

FIG. 14 is a working principle diagram of a virtual system provided by another embodiment of the present invention;

FIG. 15 is a schematic flowchart of a spatial positioning method for an intelligent terminal in the virtual system shown in FIG. 14;

FIG. 16 is a schematic structural diagram of a virtual operating handle provided by another embodiment of the present invention;

FIG. 17 is a working principle diagram of an electronic device provided by an embodiment of the present invention.

Reference signs:

1-intelligent terminal; 100-intelligent terminal body; 101-first side; 102-second side; 200-display screen; 300-third camera device; 400-first camera device; 500-second camera device; 600 - main control chip; 601 - function switching module; 700 - first inertial sensor; 800 - image processor; 201 - brightness controller; 602 - first control unit; 603 - first computing unit; second control unit 604; The second calculation unit 605; the third control unit 607; the third calculation unit 608; the fourth control unit 609; the fourth calculation unit 6091;

2-Handheld handle; 22-First infrared sensor; 23-Second inertial sensor; 24-Connector; 25-Multi-function button; 26-Function processor; 33-control handle; 34-second infrared sensor; 35-third inertial sensor; 36-handle shell; 361-ring portion; 362-holding portion; 37-third infrared sensor; Electronic equipment; 901-processor; 902-memory; 903-input device; 904-output device

Detailed ways

In the description of the present invention, "plurality" means at least two, such as two, three, etc., unless otherwise specifically defined. All directional indications (such as up, down, left, right, front, back, top, bottom...) in the embodiments of the present invention are only used to explain the relationship between the components in a certain posture (as shown in the accompanying drawings) If the specific posture changes, the directional indication will also change accordingly. Furthermore, the terms "include" and "have", as well as any variations thereof, are intended to cover a non-exclusive inclusion. For example, a process, method, system, product or device comprising a series of steps or units is not limited to the listed steps or units, but optionally also includes unlisted steps or units, or optionally further includes For other steps or units inherent in these processes, methods, products or apparatuses.

Additionally, reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the present invention. The occurrences of this phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is understood explicitly and implicitly by those skilled in the art that the embodiments described herein can be combined with other embodiments.

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

Figure 1 shows a front view of a smart terminal 1 provided by the present invention, Figure 2 shows a rear view of a smart terminal 1 provided by the present invention, and Figure 3 shows a smart terminal 1 provided by the present invention As shown in Fig. 1, Fig. 2 and Fig. 3, the smart terminal 1 includes:

The smart terminal body 100, the smart terminal body 100 can be detachably installed on the virtual head display device 31 or on a handheld device, such as a handheld device;

The display screen 200 provided on the first side 101 of the smart terminal body 100, the display screen 200 has a normal display function, and can display video information, image information, etc.;

The function switching module 601 arranged in the smart terminal body 100, that is, the function switching module 601 can control the smart terminal 1 to switch back and forth between the virtual head display function and the handheld function; for example, when the smart terminal 1 is installed on the virtual head display, The smart terminal 1 and the virtual head-mounted display form a virtual system, such as a virtual reality system (hereinafter referred to as the VR system) or an augmented reality system (hereinafter referred to as the AR system). At this time, the function switching module 601 can receive information on the virtual head display, and enable the virtual head display function according to the received information, so that the smart terminal 1 can exercise the virtual head display function;

The main control chip 600 arranged in the smart terminal body 100, the main control chip 600 is connected to the function switching module 601 in communication;

The first camera device 400 arranged on the second side 102 of the smart terminal body 100, the first side 101 and the second side 102 are opposite faces;

The first camera device 400 can be used to take pictures of infrared lamps. Among them, when the smart terminal 1 is installed on the virtual head-mounted display device 31, the smart terminal 1 forms a virtual system with the virtual operating handle 32 and the virtual head-mounted display device 31. At this time, the smart terminal 1 needs to establish communication with the virtual operating handle 32 connection, the virtual operating handle 32 is equipped with an infrared lamp, at this time, the main control chip 600 of the smart terminal 1 can control the first camera device 400 to be turned on, so that the first camera device 400 can detect the infrared lamp located on the virtual operating handle 32 Shooting, and after capturing the spot image of the infrared lamp located on the virtual operating handle 32, the spot image is transmitted to the main control chip 600;

The first camera device 400 can also be used to take pictures of the surrounding environment where the smart terminal 1 is located. Regardless of whether the smart terminal 1 performs a virtual head-mounted display function or a handheld function, the smart terminal 1 needs to be positioned. For example, when the smart terminal 1 and the handheld When the handle 2 is combined to form a handheld device, the smart terminal 1 and the handheld handle 2 need to be positioned; The operating handle 32 also needs to be positioned; the first camera device 400 can form image information or video information that can reflect the surrounding environment by taking pictures of the surrounding environment where the smart terminal 1 is located, and send the image information and video information to the main control The chip 600, the main control chip 600 can obtain the location information of the smart terminal 1 according to the image information or video information;

The first inertial sensor 700 arranged on the smart terminal body 100 is used to detect the IMU data of the smart terminal body 100. After the first inertial sensor 700 detects the IMU data of the smart terminal 1, it transmits the IMU data to The main control chip 600, the main control chip 600 can determine the spatial positioning information of the smart terminal 1 according to the IMU data and the image information or video information of the environment where the smart terminal 1 is captured by the first camera 400, that is, the 6DOF of the smart terminal 1 Data, that is, 6 degrees of freedom can be obtained based on translational degrees of freedom and rotational degrees of freedom.

Specifically, an inertial sensor (Inertial Measurement Unit, IMU for short) is a device for measuring the three-axis attitude angle (or angular rate) and acceleration of an object. Generally, an IMU includes three single-axis accelerometers and three single-axis gyroscopes. The accelerometer detects the acceleration signals of the three-axis independent object in the carrier coordinate system, and the gyroscope detects the angular velocity signal of the carrier relative to the navigation coordinate system. Therefore, the inertial sensor can measure the angular velocity and acceleration of the object in three-dimensional space, and then calculate the attitude of the object, for example, calculate the rotational degree of freedom of the object. . The IMU data is the result data of the object detected by the inertial sensor, that is, the angular velocity and acceleration data of an object in three-dimensional space detected by the inertial sensor. Therefore, the first inertial sensor 700 can detect the IMU data of the smart terminal body 100, and use the IMU data of the smart terminal body 100 to calculate the posture of the smart terminal body 100, such as the rotational degrees of freedom of the smart terminal body 100, rotation The degrees of freedom refer to the degrees of freedom related to the three positions of up and down, front and back, and left and right.

The intelligent terminal 1 provided by the present invention can be detachably connected with the virtual head-mounted display device 31, that is, the virtual system can be a separate virtual system, that is, the intelligent terminal 1 and the virtual head-mounted display device 31 can be set separately; when the intelligent terminal 1 and the virtual After the head-mounted display device 31 is separated, the smart terminal 1 can establish a communication connection with the handheld handle 2, and the main control chip 600 in the smart terminal 1 switches the function of the smart terminal 1 from the virtual head-mounted display function to the handheld function, so that the smart The terminal 1 and the handheld handle 2 form a handheld device; when the smart terminal 1 is installed on the virtual head-mounted display device 31, the main control chip 600 in the smart terminal 1 switches the function of the smart terminal 1 from the handheld function to the virtual head-mounted display function, so that the smart terminal 1 forms a virtual system with the virtual handheld device and the virtual head-mounted display device 31, so that the smart terminal 1 can have two functions, and the user can experience the virtual system and the handheld device through one smart terminal 1. Function. In addition, the smart terminal 1 is provided with a first inertial sensor 700 and a first camera 400, and the main control chip 600 can use the environmental information of the smart terminal 1 captured by the first camera 400 and the intelligence detected by the first inertial sensor 700. The IMU data of the terminal 1 determines the spatial positioning information of the intelligent terminal 1 , that is, 6DOF data, thereby realizing precise positioning of the intelligent terminal 1 .

Optionally, as shown in FIG. 1 , the smart terminal 1 further includes a third camera 300 arranged on the second side 102 of the smart terminal body 100. The third camera 300 is a depth camera, which can be used to monitor the smart terminal 1 in the surrounding environment, the depth camera device can not only obtain the plane image of the surrounding environment where the intelligent terminal 1 is located, but also obtain the depth information of the surrounding environment where the intelligent terminal 1 is located, that is, the location where the intelligent terminal 1 is located. The three-dimensional position and size information of the surrounding environment can obtain a richer positional relationship between objects through the distance information. Therefore, when the main control chip 600 spatially locates the smart terminal 1, it can use the information captured by the first camera 400 The environment information, the depth information of the environment captured by the third camera 300 and the IMU data of the smart terminal 1 determine the spatial positioning information of the smart terminal 1 , which improves the accuracy of the spatial positioning of the smart terminal 1 .

Optionally, the number of first camera devices 400 is four, and the four first camera devices 400 are divided into two groups of camera devices, and the two first camera devices 400 in each group of camera devices are relative to the smart terminal body 100 center of symmetry. For example, when the smart terminal body 100 is a quadrilateral, that is, the second side 102 on the smart terminal body 100 is a quadrilateral, at this time, the four first camera devices 400 can be distributed at the four corners of the quadrilateral, so that the second The position of a camera device 400 is maximized to capture the spot image of the infrared sensor and the surrounding environment where the smart terminal 1 is located.

In one embodiment of the present invention, FIG. 4 is a working principle diagram of an intelligent terminal 1 provided by another embodiment of the present invention. As shown in FIG. 4, the intelligent terminal further includes: The brightness controller 201, the brightness controller 201 is connected to the main control chip 600 and the display screen 200 respectively; when the smart terminal 1 is installed on the virtual head display, the function switching module 601 switches the function of the smart terminal 1 to the virtual head display function , the brightness controller 201 reduces the brightness of the display screen 200. Since the brightness of the display screen 200 is reduced, the lighting time of the display pixels of the display screen 200 when displaying a frame of image is also shortened, that is, when a frame of display image is shortened, the pixel The time for being turned on is shortened, and the afterglow time is also shortened accordingly. Therefore, the reduction of the clarity of the display screen 200 due to the smearing phenomenon is reduced, and the user experience is improved. When the smart terminal 1 is installed on the handheld device, the function switching module 601 switches the function of the smart terminal 1 to the handheld function, and the brightness controller 201 increases the brightness of the display screen 200 .

In one embodiment of the present invention, FIG. 5 is a working principle diagram of a smart terminal 1 provided by another embodiment of the present invention. As shown in FIG. 5 , the smart terminal 1 also includes: The image processor 800 inside, the image processor 800 communicates with the main control chip 600, when the smart terminal 1 is installed on the virtual head display device 31, the function switching module 601 in the main control chip 600 switches the function of the smart terminal 1 To the virtual head-mounted display function, the main control chip 600 transmits the information that the smart terminal 1 has switched to the virtual head-mounted display function to the image processor 800, and the image processor 800 starts working according to the information, so that The image information on the 200 is subjected to asynchronous space warping, asynchronous time warping processing and image rendering processing to improve picture clarity.

In an embodiment of the present invention, as shown in FIG. 1 , the smart terminal 1 further includes a second camera 500 arranged on the first side 101 of the smart terminal body 100, and the second camera 500 is used to monitor the smart terminal 1. The user takes pictures; wherein, the second camera device 500 is in communication connection with the main control chip 600 . The second camera 500 can photograph the user, that is, realize the user's self-portrait, and the main control chip 600 can obtain the image information of the user, so as to realize user verification or generate a virtual avatar of the user according to the image information of the user.

As a second aspect of the present invention, the present invention also provides a handheld device. Figure 6 shows a working principle diagram of a handheld device provided by an embodiment of the present invention. As shown in Figure 6, the handheld device includes: The smart terminal 1 mentioned above; and the handheld handle 2 connected with the smart terminal 1 . The handheld handle 2 is provided with a first infrared sensor 22 and a second inertial sensor 23 , and the second inertial sensor 23 is used to detect the IMU data of the handheld handle 2 . The second inertial sensor 23 communicates with the main control chip 600 in the smart terminal 1; the first camera 400 on the smart terminal 1 is used to take pictures of the first infrared sensor 22 and the surrounding environment where the smart terminal 1 is located. After the handheld handle 2 communicates with the smart terminal 1, the function switching module 601 switches the function of the smart terminal 1 to the handheld function. At this time, the smart terminal 1 and the handheld handle 2 form a handheld.

Optionally, as shown in Figure 6, the handheld device also includes: a connector 24, which is respectively connected to the handheld device handle 2 and the smart terminal 1 in communication, and the connector 24 can realize the communication between the handheld device handle 2 and the smart terminal 1 connection; the handheld handle 2 is provided with a multi-function button 25; The multi-function key 25 inputs the operation instruction, and sends the operation instruction to the main control chip 600 .

In an embodiment of the present invention, when the smart terminal 1 and the handheld handle 2 form a handheld, both the smart terminal 1 and the handheld handle 2 need spatial positioning during the user's operation of the handheld, as shown in FIG. 7 . Another embodiment provides a working principle diagram of the handheld device, as shown in FIG. 7 , the main control chip 600 includes:

The first control unit 602, the first control unit communicates with the function switching module 601, the first camera 400 and the first inertial sensor 700 respectively, and the first control unit 602 is used to control the first camera 400 to take pictures of where the smart terminal 1 is located. the first image of the surrounding environment, and control the first inertial sensor 700 to detect the IMU data of the smart terminal 1; and

The first calculation unit 603, the first calculation unit 603 is connected to the first control unit 602, the first camera device 400, the first infrared sensor 22, the first inertial sensor 700 and the second inertial sensor 23 respectively, the first calculation unit 603 It is used to acquire the first image and the IMU data of the smart terminal body, and calculate the IMU data of the smart terminal body and the first image to generate the spatial positioning information of the smart terminal.

Specifically, FIG. 8 is a schematic flowchart of the spatial positioning method of the smart terminal 1 in the handheld device shown in FIG. 7, that is, the positioning method of the smart terminal 1 in the handheld device shown in FIG. As shown, the spatial positioning method of the intelligent terminal 1 includes the following steps:

Step S101: the function switching module 601 receives the connection information of the communication connection between the smart terminal 1 and the handheld handle 2, and switches the function of the smart terminal 1 to the handheld function according to the connection information;

Step S102: When the function switching module 601 successfully switches the smart terminal 1 to the handheld function, the first control unit 602 controls the first camera 400 located on the smart terminal 1 to take a first image of the surrounding environment where the smart terminal 1 is located ; and control the first inertial sensor 700 to detect the IMU data of the smart terminal 1;

The first camera device 400 takes pictures of the surrounding environment of the smart terminal 1 under the control of the first control unit 602 , forms a first image, and transmits the first image to the first computing unit 603 . The first inertial sensor 700 detects the IMU data of the smart terminal 1 under the control of the first control unit 602 , and transmits the IMU data of the smart terminal 1 to the first computing unit 603 .

Step S103: After the first calculation unit 603 receives the first image transmitted by the first camera device 400 and the IMU data of the smart terminal 1 transmitted by the first inertial sensor 700, the first calculation unit 603 performs a calculation on the IMU data of the smart terminal body 100 and Calculations are performed on the first image to generate spatial positioning information of the smart terminal 1 .

The first inertial sensor 700 is used to detect the IMU data of the smart terminal body 100. The IMU data refers to the degrees of freedom of three rotation angles. After the first inertial sensor 700 detects the IMU data of the smart terminal 1, the IMU data is transmitted to the second A computing unit 603, the first computing unit 603 can determine the spatial positioning information of the smart terminal 1 according to the IMU data and the image information or video information of the environment where the smart terminal 1 is captured by the first camera 400, that is, the location information of the smart terminal 1 6DOF data (hereinafter referred to as 6DOF data), that is, 6 degrees of freedom of angles can be obtained based on translational degrees of freedom and rotational degrees of freedom.

Steps S101 to S103 can realize the spatial positioning of the smart terminal 1 , that is, the spatial positioning of the smart terminal 1 can be realized through the first inertial sensor 700 and the first camera device 400 arranged on the smart terminal 1 .

Further, as shown in FIG. 9, the main control chip also includes: the main control chip 600 also includes:

The second control unit 604, the second control unit 604 is respectively connected to the function switching module 601, the first camera device 400 and the second inertial sensor 23 in communication; wherein, the second control unit 604 is used to switch the smart terminal to the During the handheld function, the first camera device 400 is controlled to photograph the first infrared sensor 22 positioned on the handheld handle, and the second inertial sensor 23 positioned on the handheld handle is controlled to detect the IMU data of the handheld handle;

The second calculation unit 605, the second calculation unit 605 is connected to the first calculation unit 603, the second control unit 604, the first camera 400 and the second inertial sensor 23 respectively, and the second calculation unit 604 is used to obtain the first calculation The spatial positioning information of the smart terminal 1 transmitted by the unit 603, the first light spot image of the first infrared sensor 22 transmitted by the first camera device 400, and the IMU data of the handheld handle transmitted by the second inertial sensor 23, and the smart terminal 1 The spatial positioning information, the first spot image and the IMU data of the handheld handle are calculated to generate the spatial positioning information of the handheld handle

Specifically, FIG. 10 shows a schematic flow chart of the spatial positioning method of the smart terminal 1, that is, the positioning method of the smart terminal in the handheld device shown in FIG. 9 is shown in FIG. The method also includes the steps of:

Step S104: The second control unit 604 controls the first camera device 400 to take pictures of the first infrared sensor 22 located on the handle 2 of the handheld device, and controls the second inertial sensor 23 located on the handle 2 of the handheld device to detect the temperature of the handle 2 of the handheld device. IMU data;

The first camera device 400 takes pictures of the first infrared sensor 22 on the handle 2 under the control of the second control unit 604 to form a first spot image of the first infrared sensor 22 . The second inertial sensor 23 detects the IMU data of the handheld controller 2 under the control of the second control unit 604 , and transmits the IMU data of the handheld controller 2 to the first spatial positioning unit 606 .

Step S105: The second calculation unit 605 acquires the spatial positioning information of the smart terminal 1 transmitted by the first calculation unit 603, the first spot image of the first infrared sensor 22 transmitted by the first camera 400, and the first spot image transmitted by the second inertial sensor 23. The IMU data of the handheld handle 2, and calculate the spatial positioning information of the smart terminal 1, the first spot image, and the IMU data of the handheld handle 2 to generate the spatial positioning information of the handheld handle 2. That is, the 6DOF data of the handheld handle 2 (hereinafter referred to as 6DOF data), that is, 6 degrees of freedom of angles can be obtained based on translational degrees of freedom and rotational degrees of freedom.

Through step S104-step S105, the spatial positioning of the handheld handle 2 can be realized. That is, the first light spot image of the first infrared sensor 22 on the handheld handle 2 is captured by the first camera device 400 on the smart terminal 1, and the image of the handheld handle 2 detected by the second inertial sensor 23 on the handheld handle 2 The IMU data can determine the spatial positioning information of the handheld controller 2 .

Exemplary virtual system

As the third aspect of the present invention, the present invention also provides a virtual system. Figure 11 shows a working principle diagram of a handheld device provided by an embodiment of the present invention. As shown in Figure 11, the virtual system includes: The smart terminal 1 mentioned above; the virtual head-mounted display device 31 , the smart terminal 1 can be detachably installed on the body of the virtual head-mounted display device 31 ; and the virtual operating handle 32 . Wherein, the virtual operating handle 32 includes: a control handle 33; a second infrared sensor 34 arranged on the control handle 33; and a third inertial sensor 35 arranged on the control handle 33, the third inertial sensor 35 is used to measure the IMU data; wherein, the control handle 33 and the third inertial sensor 35 are respectively connected to the main control chip 600 in communication.

When the smart terminal 1 is installed on the virtual head-mounted display device 31, the function switching module 601 switches the function of the smart terminal 1 to the virtual head-mounted display function. A virtual system, such as a smart terminal 1, a VR helmet and a VR handle constitute a VR system.

When the smart terminal 1 is installed on the virtual head-mounted display device 31, both the smart terminal 1 and the virtual operating handle 32 need spatial positioning during the user's operation of the virtual system, as shown in FIG. 12 , which is provided by another embodiment of the present invention. The working principle diagram of the virtual system, as shown in Figure 12, the main control chip 600 includes:

The third control unit 607, the third control unit 607 is connected to the function switching module 601, the first camera device 400 and the first inertial sensor 700 respectively, and the third control unit 607 is used to control the first camera device 400 to take pictures of the location where the smart terminal is located. the first image of the surrounding environment, and control the first inertial sensor 700 to detect the IMU data of the smart terminal;

The third calculation unit 408, the third calculation unit 408 is connected to the third control unit 407, the first camera 400, the first infrared sensor 22 and the first inertial sensor 700 respectively, and the third calculation unit 408 is used to acquire the first image and the IMU data of the smart terminal body, and calculate the IMU data of the smart terminal body and the first image to generate spatial positioning information of the smart terminal.

Specifically, FIG. 13 is a schematic flowchart of a spatial positioning method for an intelligent terminal in a virtual system, that is, FIG. 13 shows a positioning method for a spatial positioning of an intelligent terminal in a virtual system, as shown in FIG. 13 ,

The spatial positioning method of the intelligent terminal 1 comprises the following steps:

Step S201: After receiving the installation information that the smart terminal 1 is installed on the virtual head-mounted display device 31, the function switching module 601 switches the function of the smart terminal 1 to the virtual head-mounted display function according to the installation information;

Step S202: When the function switching module 601 successfully switches the smart terminal 1 to the virtual head-mounted display function, the third control unit 607 controls the first camera 400 located on the smart terminal 1 to capture the first image of the surrounding environment where the smart terminal 1 is located. image; and control the first inertial sensor 700 to detect the IMU data of the smart terminal 1;

Under the control of the third control unit 607 , the first camera captures the surrounding environment of the smart terminal 1 to form a first image, and transmits the first image to the third calculation unit 608 . The first inertial sensor 700 detects the IMU data of the smart terminal 1 under the control of the third control unit 607 , and transmits the IMU data of the smart terminal 1 to the third computing unit 608 .

Step S203: After the third calculation unit 608 receives the first image transmitted by the first camera 400 and the IMU data of the smart terminal body 100 transmitted by the first inertial sensor 700, the third calculation unit 608 calculates the IMU data of the smart terminal body 100 And the first image is calculated to generate the spatial positioning information of the smart terminal 1 .

The first inertial sensor 700 is used to detect the IMU data of the smart terminal body 100. The IMU data refers to the degrees of freedom of three rotation angles. After the first inertial sensor 700 detects the IMU data of the smart terminal body 100, the IMU data is transmitted to The third computing unit 608, the third computing unit 608 can determine the spatial positioning information of the smart terminal 1 according to the IMU data and the image information or video information of the environment where the smart terminal 1 is captured by the first camera 400, that is, the smart terminal 1 The 6DOF data (hereinafter referred to as 6DOF data), that is, based on the translational degrees of freedom and rotational degrees of freedom, can obtain 6 degrees of freedom in angles.

From step S201 to step S203, the spatial positioning of the smart terminal 1 can be realized, that is, the spatial positioning of the smart terminal 1 can be realized through the first inertial sensor 700 and the first camera device 400 arranged on the smart terminal 1 .

Further, FIG. 14 is a working principle diagram of a virtual system provided by another embodiment of the present invention. As shown in FIG. 14 , the main control chip 600 also includes:

The fourth control unit 609, the fourth control unit 609 is connected to the function switching module 601, the first camera 400, the second infrared sensor 34 and the third inertial sensor 35 respectively; the fourth control unit 609 is used for: when the function switching module 601 When switching the smart terminal to the virtual head-mounted display function, the fourth control unit 609 controls the first camera device 400 to take pictures of the second infrared sensor 34 located on the virtual operating handle, and controls the third inertial sensor 35 located on the virtual operating handle Detect the IMU data of the virtual operating handle;

The fourth computing unit 6091 and the fourth computing unit 3091 are respectively connected in communication with the third computing unit 608, the first camera device 400 and the third inertial sensor 35, and the fourth computing unit 4091 is used for: acquiring the intelligence calculated by the third computing unit 608 The spatial positioning information of the terminal 1, the second spot image of the second infrared sensor 34 transmitted by the first camera 400, and the IMU data of the virtual operating handle transmitted by the third inertial sensor 35, and the spatial positioning information of the smart terminal 1, the second The two spot images and the IMU data of the virtual operating handle are calculated to generate the spatial positioning information of the virtual operating handle.

Specifically, FIG. 15 is a schematic flowchart of the spatial positioning method of the smart terminal in the virtual system shown in FIG. 14, that is, FIG. As shown, the spatial positioning method of the intelligent terminal 1 also includes the following steps:

Step S204: The fourth control unit 609 controls the first camera device 400 to take pictures of the second infrared sensor 34 located on the virtual operating handle 32, and controls the third inertial sensor 35 located on the virtual operating handle 32 to detect the temperature of the virtual operating handle 32. IMU data;

Step S205: The fourth calculation unit 6091 acquires the spatial positioning information of the smart terminal 1 calculated by the third calculation unit 608, the second spot image of the second infrared sensor 34 transmitted by the first camera 400, and the virtual image transmitted by the second inertial sensor 23. The IMU data of the operating handle 32 is calculated, and the spatial positioning information of the smart terminal 1, the second spot image and the IMU data of the virtual operating handle 32 are calculated to generate the spatial positioning information of the virtual operating handle 32. That is, the 6DOF data of the virtual operating handle 32 (hereinafter referred to as 6DOF data), that is, 6 degrees of freedom of angles can be obtained based on translational degrees of freedom and rotational degrees of freedom.

The spatial positioning of the virtual operating handle 32 can be realized through steps S204-S205. That is, the second spot image of the second infrared sensor 34 on the virtual operating handle 32 is captured by the first camera 400 on the smart terminal 1, and the image of the handheld handle 2 detected by the third inertial sensor 35 on the virtual operating handle 32 The spatial positioning information of the virtual operating handle 32 can be determined from the IMU data.

Optionally, FIG. 16 is a schematic structural diagram of a virtual operating handle 32 provided by another embodiment of the present invention. As shown in FIG. The handle part 362 , wherein a recess is provided at the center of the handle part 362 to receive and fix the control handle 33 .

Next, an electronic device according to an embodiment of the present invention will be described with reference to FIG. 17 . FIG. 17 is a schematic structural diagram of an electronic device provided by an embodiment of the present invention.

As shown in FIG. 17 , an electronic device 900 includes one or more processors 901 and a memory 902 .

The processor 901 may be a central processing unit (CPU) or other forms of processing units having data processing capabilities and/or information execution capabilities, and may control other components in the electronic device 900 to perform desired functions.

Memory 901 may include one or more computer program products, which may include various forms of computer-readable storage media, such as volatile memory and/or non-volatile memory. The volatile memory may include, for example, random access memory (RAM) and/or cache memory (cache). The non-volatile memory may include, for example, a read-only memory (ROM), a hard disk, a flash memory, and the like. One or more computer program information can be stored on the computer-readable storage medium, and the processor 901 can run the program information to implement the space positioning method of the smart terminal in each embodiment of the present invention described above or other desired features.

In an example, the electronic device 900 may further include: an input device 903 and an output device 904, and these components are interconnected through a bus system and/or other forms of connection mechanisms (not shown).

The input device 903 may include, for example, a keyboard, a mouse, and the like.

The output device 904 can output various information to the outside. The output device 904 may include, for example, a display, a communication network and a remote output device connected thereto, and the like.

Of course, for simplicity, only some components related to the present invention in the electronic device 900 are shown in FIG. 17 , and components such as bus, input/output interface, etc. are omitted. In addition, according to specific application conditions, the electronic device 900 may further include any other appropriate components.

In addition to the methods and devices described above, embodiments of the present invention may also be computer program products that include computer program information that, when executed by a processor, causes the processor to perform the functions described in this specification according to the present invention. Steps in the space positioning method of the smart terminal in various embodiments.

The computer program product can be written in any combination of one or more programming languages for executing the program codes for the operations of the embodiments of the present invention, and the programming languages include object-oriented programming languages, such as Java, C++, etc. , also includes conventional procedural programming languages, such as the "C" language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device, or entirely on the remote computing device or server to execute.

In addition, the embodiments of the present invention may also be a computer-readable storage medium, on which computer program information is stored, and the computer program information, when executed by a processor, causes the processor to execute the present specification according to various embodiments of the present invention. The steps in the spatial positioning method of the intelligent terminal.

The computer readable storage medium may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may include, but not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or devices, or any combination thereof. More specific examples (non-exhaustive list) of readable storage media include: communication link with one or more wires, portable disk, hard disk, random access memory (RAM), read only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

The basic principles of the present invention have been described above in conjunction with specific embodiments, but it should be pointed out that the advantages, advantages, effects, etc. mentioned in the present invention are only examples rather than limitations, and these advantages, advantages, effects, etc. Every embodiment of the invention must have. In addition, the specific details disclosed above are only for the purpose of illustration and understanding, rather than limitation, and the above details do not limit the present invention to be implemented by using the above specific details.

The block diagrams of devices, devices, equipment, and systems involved in the present invention are only illustrative examples and are not intended to require or imply that they must be connected, arranged, and configured in the manner shown in the block diagrams. As will be appreciated by those skilled in the art, these devices, devices, devices, systems may be connected, arranged, configured in any manner. Words such as "including", "comprising", "having" and the like are open-ended words meaning "including but not limited to" and may be used interchangeably therewith. As used herein, the words "or" and "and" refer to the word "and/or" and are used interchangeably therewith, unless the context clearly dictates otherwise. As used herein, the word "such as" refers to the phrase "such as but not limited to" and can be used interchangeably therewith.

It should also be pointed out that in the apparatus, equipment and method of the present invention, each component or each step can be decomposed and/or reassembled. These decompositions and/or recombinations should be considered equivalents of the present invention.

The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use the invention. Various modifications to these aspects will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other aspects without departing from the scope of the invention. Thus, the present invention is not intended to be limited to the aspects shown herein but is to be accorded the widest scope consistent with the principles and novel features of the invention herein.

The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. All modifications, equivalent replacements, etc. made within the spirit and principles of the present invention shall be included in the present invention. within the scope of protection created.

Claims (16)

1. An intelligent terminal, comprising:

the intelligent terminal comprises an intelligent terminal body, a virtual head display device and a handheld device, wherein the intelligent terminal body is detachably mounted on the virtual head display device or the handheld device;

the display screen is arranged on the first side face of the intelligent terminal body;

the function switching module is arranged in the intelligent terminal body and is used for controlling the intelligent terminal to switch between a virtual head display function and a palm machine function;

the main control chip is arranged in the intelligent terminal body and is in communication connection with the function switching module;

the first camera device is arranged on a second side face of the intelligent terminal body, and the first side face and the second side face are opposite faces; and

the first inertial sensor is arranged on the intelligent terminal body and used for detecting IMU data of the intelligent terminal body;

the first camera device and the first inertial sensor are in communication connection with the main control chip respectively.

2. The intelligent terminal according to claim 1, further comprising:

the brightness controller is arranged in the intelligent terminal body and is respectively in communication connection with the main control chip and the display screen;

when the intelligent terminal is switched from the palm function to the virtual head display function, the brightness controller reduces the display brightness of the display;

and when the intelligent terminal is switched from the virtual head display function to the palm function, the brightness controller increases the display brightness of the display.

3. The intelligent terminal of claim 1, further comprising:

the image processor is arranged in the intelligent terminal body and is in communication connection with the main control chip;

the image processor is used for performing asynchronous space warping, asynchronous time warping and image rendering on image information displayed on the display screen.

4. The intelligent terminal according to claim 1, further comprising:

the second camera device is arranged on the first side face of the intelligent terminal body;

and the second camera device is in communication connection with the main control chip.

5. The intelligent terminal according to claim 1, wherein the number of the first camera devices is four, and the four first camera devices are divided into two camera device groups, and two first camera devices in each camera device group are symmetrical with respect to the center of the intelligent terminal body.

6. A palm machine, comprising:

the intelligent terminal of claim 1; and

the palm machine handle is connected with the intelligent terminal;

the palm machine handle is provided with a first infrared sensor and a second inertial sensor, and the second inertial sensor is used for detecting IMU data of the palm machine handle;

the second inertial sensor is in communication connection with the main control chip in the intelligent terminal.

7. The palm machine according to claim 6, wherein the master control chip comprises:

the first control unit is respectively in communication connection with the function switching module, the first camera device and the first inertial sensor, and is used for controlling the first camera device to shoot a first image of the surrounding environment where the intelligent terminal is located and controlling the first inertial sensor to detect IMU data of the intelligent terminal;

the first computing unit is in communication connection with the first control unit, the first camera device, the first infrared sensor, the first inertial sensor and the second inertial sensor respectively, and is used for acquiring the first image and IMU data of the intelligent terminal body, calculating the IMU data of the intelligent terminal body and the first image and generating spatial positioning information of the intelligent terminal.

8. The palm machine according to claim 7, wherein the main control chip further comprises:

the second control unit is respectively in communication connection with the function switching module, the first camera device and the second inertial sensor; the second control unit is used for controlling the first camera device to shoot a first infrared sensor on the palm machine handle and controlling a second inertial sensor on the palm machine handle to detect IMU data of the palm machine handle when the function switching module switches the intelligent terminal to the palm machine function;

and the second computing unit is in communication connection with the first computing unit, the second control unit, the first camera device and the second inertial sensor respectively, and is used for acquiring the first light spot image of the first infrared sensor transmitted by the first camera device and the IMU data of the palm handle transmitted by the second inertial sensor, calculating the first light spot image, the IMU data of the palm handle and the space positioning information of the intelligent terminal, and generating the space positioning information of the palm handle.

9. The palm machine of claim 6, further comprising:

the connector is in communication connection with the palm machine handle and the intelligent terminal respectively;

the palm machine handle is provided with a multifunctional key; and

the multifunctional processor is respectively connected with the multifunctional keys and the main control chip of the intelligent terminal, and is used for receiving operation instructions input by a user through the multifunctional keys and sending the operation instructions to the main control chip.

10. A virtualization system, comprising:

the smart terminal of claim 1;

the intelligent terminal is detachably mounted on the virtual head display equipment body; and

a virtual head display handle;

wherein the virtual head display handle comprises:

a control handle;

a second infrared sensor disposed on the control handle; and

a third inertial sensor disposed on the control handle, the third inertial sensor for measuring IMU data of the control handle;

the control handle and the third inertial sensor are respectively in communication connection with the main control chip.

11. The virtual system of claim 10, wherein the virtual head-up handle further comprises:

the handle shell comprises an annular part and a holding part, wherein a concave part is arranged at the center of the holding part to accommodate and fix the control handle.

12. The virtualization system according to claim 10, wherein said master control chip comprises:

the main control chip comprises:

the third control unit is respectively in communication connection with the function switching module, the first camera device and the first inertial sensor, and is used for controlling the first camera device to shoot a first image of the surrounding environment where the intelligent terminal is located and controlling the first inertial sensor to detect IMU data of the intelligent terminal;

and the third calculation unit is in communication connection with the third control unit, the first camera device, the first infrared sensor and the first inertial sensor respectively, and is used for acquiring the first image and the IMU data of the intelligent terminal body, calculating the IMU data of the intelligent terminal body and the first image and generating the spatial positioning information of the intelligent terminal.

13. The virtualization system of claim 12, wherein said master chip further comprises:

the fourth control unit is in communication connection with the function switching module, the first camera device, the second infrared sensor and the third inertial sensor respectively; the fourth control unit is configured to: when the function switching module switches the intelligent terminal to a virtual head display function, the fourth control unit controls the first camera device to shoot a second infrared sensor positioned on the virtual operating handle, and controls a third inertial sensor positioned on the virtual operating handle to detect IMU data of the virtual operating handle;

a fourth calculation unit that is communicatively connected to the third calculation unit, the first image capture device, and the third inertial sensor, respectively, the fourth calculation unit being configured to: and acquiring a second light spot image of the second infrared sensor transmitted by the first camera device and IMU data of the virtual operating handle transmitted by a third inertial sensor, and calculating the space positioning information of the intelligent terminal, the second light spot image and the IMU data of the virtual operating handle to generate the space positioning information of the virtual operating handle.

14. A spatial positioning method of an intelligent terminal, for positioning the intelligent terminal according to claim 1, wherein the spatial positioning method of the intelligent terminal comprises:

the main control chip controls a first image of the surrounding environment where the intelligent terminal is located, which is shot by the first camera device located on the intelligent terminal; the first inertial sensor is controlled to detect IMU data of the intelligent terminal;

the main control chip acquires a first image of the surrounding environment where the intelligent terminal is located, wherein the first image is shot by the first camera device;

the main control chip acquires IMU data of the intelligent terminal body detected by the first inertial sensor; and

and the main control chip calculates the IMU data of the intelligent terminal body and the first image to generate the space positioning information of the intelligent terminal.

15. The spatial positioning method of the intelligent terminal according to claim 14, wherein when the intelligent terminal is in communication connection with a palm-size grip, the spatial positioning method of the intelligent terminal further comprises:

the function switching module switches the intelligent terminal to a palm function;

the main control chip controls the first camera device to shoot a first infrared sensor positioned on the palm machine handle and controls a second inertial sensor positioned on the palm machine handle to detect IMU data of the palm machine handle;

the main control chip acquires the first light spot image of the first infrared sensor transmitted by the first camera device and the IMU data of the palm machine handle transmitted by the second inertial sensor, calculates the space positioning information of the intelligent terminal, the first light spot image and the IMU data of the palm machine handle, and generates the space positioning information of the palm machine handle.

16. The spatial positioning method of the intelligent terminal according to claim 14, wherein when the intelligent terminal is installed on a virtual head display device and the intelligent terminal is in communication connection with a virtual operating handle, the spatial positioning method of the intelligent terminal further comprises:

the function switching module switches the intelligent terminal to a virtual head display function;

the control chip controls the first camera device to shoot a second infrared sensor positioned on the virtual operating handle, and controls a third inertial sensor positioned on the virtual operating handle to detect IMU data of the virtual operating handle;

the main control chip acquires a second light spot image of the second infrared sensor transmitted by the first camera device and IMU data of the virtual operating handle transmitted by the second inertial sensor, calculates spatial positioning information of the intelligent terminal, the second light spot image and the IMU data of the virtual operating handle, and generates the spatial positioning information of the virtual operating handle.

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