TWI633326B - Multiplayer positioning system and multiplayer positioning method - Google Patents

Abstract

The invention provides a multi-person positioning system including a first wearable device, a second wearable device, and a processing device. The first wearable device senses the first depth information by transmitting a first sensing signal. The second wearable device senses the second depth information by transmitting a second sensing signal. The first sensing signal is different from the second sensing signal. The processing device is communicatively connected to the first wearable device and the second wearable device. The processing device obtains first position information of the first wearable device in the sensing area by analyzing the first depth information. The processing device obtains the second position information of the second wearable device in the sensing area by analyzing the second depth information. In addition, a multi-person positioning method has also been proposed.

Description

Multi-person positioning system and multi-person positioning method

The invention relates to a positioning technology, and in particular to a multi-person positioning system and a multi-person positioning method.

With the development of virtual reality technology, there are more and more virtual reality applications that can be applied to situations where multiple people operate. However, when multiple users execute virtual reality applications in the same operating area at the same time, in addition to positioning each user separately, each user must effectively judge each other's position to effectively perform multi-person virtual reality. Operation. In this regard, because the traditional positioning method uses out-side-in sensing positioning technology, it requires a complex installation environment and has a high installation cost, and the types of places where it is applied have more limitations. . According to this, how to construct a multi-person positioning system to effectively perform multi-person positioning operations, and to make the multi-person positioning system have a lower construction cost and can be widely used in various places is one of the important topics in the field at present.

The invention provides a multi-person positioning system and a multi-person positioning method, which can effectively perform multi-person positioning operations, has a low construction cost, and can be widely applied to various operating environments.

A multi-person positioning system of the present invention includes a first wearable device, a second wearable device, and a processing device. The first wearable device is configured to sense the first depth information by transmitting a first sensing signal. The second wearable device is configured to sense the second depth information by transmitting a second sensing signal. The first signal characteristic of the first sensing signal is different from the second signal characteristic of the second sensing signal. The processing device is communicatively connected to the first wearable device and the second wearable device. The processing device is configured to receive the first depth information and the second depth information. The processing device obtains the first position information of the first wearable device in the sensing area by analyzing the first depth information, and the processing device obtains the first position information of the second wearable device in the sensing area by analyzing the second depth information. Second location information.

The multi-person positioning method of the present invention is applicable to a multi-person positioning system. The multi-person positioning method includes the following steps: sensing a first depth information by transmitting a first sensing signal by a first wearable device, and sensing a second depth information by transmitting a second sensing signal by a second wearable device Wherein the first signal characteristic of the first sensing signal is different from the second signal characteristic of the second sensing signal; the processing device is communicatively connected to the first wearable device and the second wearable device, and the processing device is used for Receiving the first depth information and the second depth information; and obtaining the first position information of the first wearable device in the sensing area by the processing device analyzing the first depth information, and the processing device analyzing the second depth information to Obtain second position information of the second wearable device relative to the surrounding environment in the sensing area.

Based on the above, the present invention provides a multi-person positioning system and a multi-person positioning method that are applicable to a plurality of wearable devices with in-side-out sensing positioning technology to obtain multiple depth information of the surrounding environment. , And integrate the sensing results of these wearable devices to obtain the relative position relationship between the wearable devices.

In order to make the above features and advantages of the present invention more comprehensible, embodiments are hereinafter described in detail with reference to the accompanying drawings.

In order to make the content of the present invention easier to understand, the following specific embodiments are examples based on which the present invention can be implemented. In addition, wherever possible, the same reference numbers are used in the drawings and embodiments to refer to the same or similar components.

FIG. 1 is a block diagram of a multi-person positioning system according to an embodiment of the present invention. Referring to FIG. 1, the multi-person positioning system 100 includes a first wearable device 110, a second wearable device 120, and a processing device 130. In this embodiment, the first wearable device 110 and the second wearable device 120 may communicate with the processing device 130 by using a wired connection or a wireless connection to transmit data. In this embodiment, the first wearable device 110 is used to sense the first depth information of the surrounding environment by transmitting the first sensing signal ES1, and the second wearable device 120 is used to emit the second sensing The signal ES2 is used to sense the second depth information of the surrounding environment. In this embodiment, the processing device 130 obtains the first position information of the first wearable device 110 in the sensing area by analyzing the first depth information, and the processing device 130 obtains the second position information by analyzing the second depth information. The second position information of the wearable device 120 in the sensing area. In this embodiment, the first depth information and the second depth information refer to the distance between the wearable device and objects or people in the surrounding environment. In this embodiment, the first position information and the second position information refer to the absolute position, relative position, or coordinates of the wearable device in the surrounding environment (or sensing area).

That is, the multi-person positioning system 100 of this embodiment may be used to locate the positions of the first wearable device 110 and the second wearable device 120 in a certain space, respectively. For example, the multi-person positioning system 100 may record the absolute position, relative position, or coordinates of the first wearable device 110 and the second wearable device 120 in this space corresponding to the surrounding background objects, respectively. Moreover, in this embodiment, the processing device 130 may further integrate the first position information and the second position information to obtain a relative position relationship between the first wearable device 110 and the second wearable device 120. Therefore, the processing device 130 can provide corresponding position information to the first wearable device 110 and the second wearable device 120, respectively, so that the first wearable device 110 can recognize the position of the second wearable device 120 in this space. It also enables the second wearable device 120 to recognize the position of the first wearable device 110 in this space.

In this embodiment, the first wearable device 110 includes a first signal receiver 111, a first data transmission module 112, and a first signal transmission module 113. The first signal transmission module 113 includes a first signal transmitter. 113_1 and the first signal generator 113_2. The first data transmission module 112 is coupled to the first signal receiver 111 and the first signal transmitting module 113. In this embodiment, the second wearable device 120 includes a second signal receiver 121, a second data transmission module 122, and a second signal transmission module 123. The second signal transmission module 123 includes a second signal transmitter. 123_1 and the second signal generator 123_2. The second data transmission module 122 is coupled to the second signal receiver 121 and the second signal transmitting module 123. In addition, in an embodiment, the first wearable device 110 and the second wearable device 120 may further include a processor, which may perform operations such as signal processing, image processing, and distance calculation, so as to implement various implementations of the present invention. The operation means described in the example.

In this embodiment, the first data transmission module 112 and the second data transmission module 122 include a wired or wireless transmission interface and a communication module. For example, Bluetooth, wireless local area network (WiFi), etc. are used. The invention is not limited. In this embodiment, the first signal transmitting module 113 and the second signal transmitting module 123 may be an infrared signal transmitting module or an ultrasound signal transmitting module. The first signal transmitter 113_1 And the second signal transmitter 123_1 can transmit signals through different transmission frequencies. In an embodiment, the first signal generator 113_2 and the second signal generator 123_2 may also be used to generate infrared signals or ultrasonic signals with different signal wavelengths, respectively. In this embodiment, the first signal receiver 111 and the second signal receiver 121 may be designed to receive only infrared signals or ultrasonic signals with corresponding transmission frequencies or signal wavelengths.

In this embodiment, the first wearable device 110 and the second wearable device 120 may be, for example, a virtual reality (VR) display device, an augmented reality (AR) display device, or a mixed reality (Mixed Reality, MR) display devices or optical head mounted displays (Optical Head Mounted Display, OHMD) and the like. Therefore, the first wearable device 110 and the second wearable device 120 in this embodiment may further include a display module, a storage module, or a wearing mechanism, and the present invention is not limited thereto.

In this embodiment, the processing device 130 is, for example, a Central Processing Unit (CPU), or other programmable general-purpose or special-purpose microprocessor (Microprocessor), digital signal processor (Digital Signal Processor) (DSP), programmable controller, Application Specific Integrated Circuits (ASIC), Programmable Logic Device (PLD), other similar processing circuits, or a combination of these devices. In this embodiment, the processing device 130 may be external to the first wearable device 110 and the second wearable device 120, and the first wearable device 110 and the second wearable device 120 may communicate in a wired or wireless manner. Connected to the processing device 130. However, in an embodiment, the processing device 130 may also be respectively disposed in the first wearable device 110 and the second wearable device, so that the first wearable device 110 and the second wearable device 120 can directly communicate with each other. , And the multiple-person positioning operation described in each embodiment of the present invention can be performed independently.

FIG. 2 is a schematic diagram of a scenario of a multi-person positioning system according to an embodiment of the present invention. Referring to FIGS. 1 and 2, the first wearable device 110 and the second wearable device 120 may be located in the sensing area SR. In this embodiment, the sensing area SR is a three-dimensional area, and a plane formed by the coordinate axis X and the coordinate axis Y can be regarded as a floor surface, and is perpendicular to the coordinate axis Z direction. The coordinate axis X, the coordinate axis Y, and the coordinate axis Z are perpendicular to each other. For example, in this embodiment, two users can respectively wear the first wearable device 110 and the second wearable device 120 and are located in the sensing area SR. However, the sensing area SR of the present invention is not limited to the formula shown in FIG. 2, and the sensing area SR of FIG. 2 is only used for illustratively illustrating the space where the user is located and the surrounding environment. In this embodiment, the first wearable device 110 and the second wearable device 120 may respectively sense the first depth information of the surrounding environment and the second depth information by transmitting a first sensing signal ES1 and a second sensing signal ES2. Depth information, so that the first wearable device 110 and the second wearable device 120 can establish a distance from the surrounding environment, and build a model of the surrounding environment to feedback the same simulated environment to the user.

In addition, if a background object OB is located in the sensing area SR, when the first wearable device 110 and the second wearable device 120 receive the first reflection signal RS1 and the second reflection signal RS2 reflected by the background object OB, respectively. At this time, the first wearable device 110 and the second wearable device 120 can recognize the distance from the background object OB and the coordinates of the background object OB. In addition, since the background object OB does not move with time, and the second wearable device 120 may move with time, the first wearable device 110 can distinguish based on the obtained first depth information and whether the object moves with time. The sensed object belongs to the background object OB of the second wearable device 120 without any confusion. Similarly, the second wearable device can also perform the same judgment operation.

That is, in this embodiment, the processing device 130 may be used to integrate depth information and position data provided by the first wearable device 110 and the second wearable device 120, and provide relative information based on the integrated depth information and position data. Corresponding image data or control information, so that the first wearable device 110 and the second wearable device 120 can execute or display corresponding images or operations. For example, the first wearable device 110 and the second wearable device 120 can be connected to execute a virtual reality interactive program, and the first wearable device 110 and the second wearable device 120 can be executed in their own virtual reality. The display image recognizes the position, shape, and size of the background objects OB in the surrounding environment, and can identify each other and track each other's position in each other's virtual reality display image.

FIG. 3 is a signal waveform diagram of a sensing signal and a reflection signal according to an embodiment of the present invention. Referring to FIG. 1 to FIG. 3, in this embodiment, after the first sensing signal ES1 emitted by the first wearable device 110 is reflected by an object, if the first wearable device 110 receives the first reflection signal RS1, then The first wearable device 110 may obtain the first depth information by calculating a time difference T1 between transmitting the first sensing signal ES1 and receiving the first reflection signal RS1. Similarly, when the second sensing signal ES2 transmitted by the second wearable device 120 is reflected by another object, if the second wearable device 120 receives the second reflection signal ES1, the second wearable device 120 may use Calculate the time difference T2 between transmitting the second sensing signal ES2 and receiving the second reflection signal RS2 to obtain the second depth information.

It is worth noting that, in this embodiment, in order for the first wearable device 110 and the second wearable device 120 to perform operations of sensing depth information of the surrounding environment, the first wearable device 110 and the second wearable device 120 respectively The wearable device 120 can separate the respective sensing signals to prevent signal interference from occurring to generate a wrong distance judgment. Therefore, the first wearable device 110 and the second wearable device 120 in this embodiment can transmit different signal characteristics. The first sensing signal ES1 and the second sensing signal ES2. In this embodiment, the first sensing signal ES1 and the second sensing signal ES2 may have signal characteristics with different transmission frequencies, for example. For example, the transmission frequency of the first sensing signal ES1 may be, for example, continuous transmission for 10 ms (milliseconds), and then stop transmitting for 10 ms. The transmission frequency of the second sensing signal ES1 may be, for example, continuous transmission for 16 ms and then stop transmitting for 16 ms. In addition, the receiving frequencies of the first reflection signal RS1 and the second reflection signal RS2 are the same as the first sensing signal ES1 and the second sensing signal ES2, respectively, but the magnitude of the signal frequency of the present invention is not limited thereto, and each frequency may be based on different Use requirements to correspond to the design. Therefore, the first wearable device 110 and the second wearable device 120 can effectively avoid interference or misjudgment. However, in an embodiment, the first sensing signal ES1 or the second sensing signal ES2 may also have a signal characteristic of a mixed transmission frequency, for example, transmitting continuously for 12ms, and then stopping transmitting for 12ms, and then transmitting for 15ms, and Then stop transmitting for 15ms to effectively increase the separation between multiple sensing signals.

In addition, in an embodiment, the first wearable device 110 and the second wearable device 120 may also be designed with signal characteristics having different signal wavelengths. For example, the first sensing signal ES1 is an infrared signal using a spectrum of 3um (micrometer) to 5um, and the second sensing signal ES2 is an infrared signal using a spectrum of 7um to 14um. Therefore, the first sensing signal ES1 has, for example, a signal characteristic with a signal wavelength of 3um, and the second sensing signal ES2 has, for example, a signal characteristic with a signal wavelength of 7um. Therefore, the first wearable device 110 and the second wearable device 120 can be designed to receive only the first reflection signal RS1 and the second reflection signal RS2 corresponding to the respective signal wavelengths, thereby effectively avoiding interference or misjudgment. . Furthermore, in yet another embodiment, the first sensing signal ES1 and the second sensing signal ES2 may be respectively mixed with different transmission frequencies and different signal wavelengths to further increase the intensity of the signal segmentation.

In this embodiment, the first wearable device 110 and the second wearable device 120 may transmit their respective signal characteristics and acquired depth information to the processing via the first data transmission module 112 and the second data transmission module 122, respectively. The device 130, so that the processing device 130 can integrate the distance information of the surrounding environment and the relative distance and position between different users through data analysis, and can construct a three-dimensional virtual model and apply it to a virtual reality program. Therefore, the multi-person positioning system 100 of the present invention uses in-side-out sensing positioning technology to perform positioning, and can integrate multiple users to simultaneously perform positioning and distance judgment of the surrounding environment in the same operating space. , And can help to integrate related applications of multiplayer virtual reality.

FIG. 4 is a flowchart of a multi-person positioning method according to an embodiment of the present invention. Referring to FIG. 4, the multi-person positioning method of this embodiment is applicable to at least the multi-person positioning system 100 of the embodiment of FIG. 1. In step S410, the multi-person positioning system 100 may sense the first depth information of the surrounding environment by transmitting the first sensing signal ES1 through the first wearable device 110, and transmit the second sense through the second wearable device 120 The sensing signal ES2 is used to sense the second depth information of the surrounding environment. The first signal characteristic of the first sensing signal ES1 is different from the second signal characteristic of the second sensing signal ES2. Therefore, the first wearable device 110 and the second wearable device 120 can simultaneously perform distance sensing of the surrounding environment in the same sensing area at the same time, without mutual interference. In step S420, the multi-person positioning system 100 may be communicatively connected to the first wearable device 110 and the second wearable device 120 through the processing device 130, and the processing device 130 is configured to receive the first depth information and the second depth information. In step S430, the multi-person positioning system 100 may obtain the first position information of the first wearable device 110 by analyzing the first depth information by the processing device 130, and obtain the second position information by analyzing the second depth information by the processing device 130. The second location information of the wearable device 120. That is, the multi-person positioning system 100 of this embodiment can effectively obtain position information between multiple users in the sensing area and distance information of the surrounding environment.

To sum up, the multi-person positioning system and the multi-person positioning method of the present invention use the inside-out sensing positioning technology for positioning, in which multiple wearable types can be worn by multiple users. The device emits sensing signals with different signal characteristics, so as to effectively perform the distance sensing of the surrounding environment, and integrate the depth sensing results of these wearable devices through a back-end processing device to obtain the distance to the surrounding environment and each other. Relative position. Therefore, the multi-person positioning system of the present invention can be effectively applied to related tracking and positioning applications of multi-person virtual reality, and does not need to have other sensors in the surrounding environment. advantage.

Although the present invention has been disclosed as above with the examples, it is not intended to limit the present invention. Any person with ordinary knowledge in the technical field can make some modifications and retouching without departing from the spirit and scope of the present invention. The protection scope of the present invention shall be determined by the scope of the attached patent application.

100‧‧‧ multi-person positioning system
110‧‧‧ The first wearable device
111‧‧‧First Signal Receiver
112‧‧‧The first data transmission module
113‧‧‧The first signal transmitting module
113_1‧‧‧The first signal transmitter
113_2‧‧‧The first signal generator
120‧‧‧Second wearable device
121‧‧‧Second Signal Receiver
122‧‧‧Second data transmission module
123‧‧‧Second signal transmitting module
123_1‧‧‧Second signal transmitter
123_2‧‧‧Second signal generator
130‧‧‧treatment device
ES1‧‧‧first sensing signal
ES2‧‧‧Second sensing signal
RS1‧‧‧First reflected signal
RS2‧‧‧Second reflected signal
SR‧‧‧Sensing area
OB‧‧‧ background objects
X, Y, Z‧‧‧ Coordinate axes
T1, T2‧‧‧Time difference
S410, S420, S430‧‧‧ steps

FIG. 1 is a block diagram of a multi-person positioning system according to an embodiment of the present invention. FIG. 2 is a schematic diagram of a scenario of a multi-person positioning system according to an embodiment of the present invention. FIG. 3 is a signal waveform diagram of a sensing signal and a reflection signal according to an embodiment of the present invention. FIG. 4 is a flowchart of a multi-person positioning method according to an embodiment of the present invention.

Claims (10)

A multi-person positioning system includes: a first wearable device for sensing a first depth information of a surrounding environment by transmitting a first sensing signal; a second wearable device for transmitting by a A second sensing signal to sense a second depth information of the surrounding environment, wherein a first signal characteristic of the first sensing signal is different from a second signal characteristic of the second sensing signal; and a processing A device communicatively connected to the first wearable device and the second wearable device, and the processing device is configured to receive the first depth information and the second depth information, wherein the processing device analyzes the first depth information To obtain a first position information of the first wearable device, and the processing device obtains a second position information of the second wearable device by analyzing the second depth information. The multi-person positioning system according to item 1 of the scope of patent application, wherein the first signal characteristic is a first transmission frequency, and the second signal characteristic is a second transmission frequency, wherein the first transmission frequency is different from The second transmission frequency. The multi-person positioning system according to item 1 of the patent application scope, wherein the first signal characteristic is a first signal wavelength and the second signal characteristic is a second signal wavelength, wherein the first signal wavelength is different from The second signal wavelength. The multi-person positioning system according to item 1 of the scope of patent application, wherein the first sensing signal and the second sensing signal are an infrared signal or an ultrasonic signal. The multi-person positioning system according to item 1 of the scope of patent application, wherein the processing device distinguishes the first wearable device and the second wearable device by the first signal characteristic and the second signal characteristic, and the The processing device integrates the first position information and the second position information to determine a relative position relationship between the first wearable device and the second wearable device in a sensing area. The multi-person positioning system according to item 5 of the scope of patent application, wherein the processing device determines the presence of the first person in the sensing area sensed by the first wearable device according to the first depth information and the relative position relationship. An object is the second wearable device or a background object, and the processing device determines the presence of the second wearable device in the sensing area based on the second depth information and the relative position relationship. One other object is the first wearable device or the background object. The multi-person positioning system according to item 1 of the scope of patent application, wherein the first wearable device and the second wearable device each include: a signal transmitter for transmitting a sensing signal; a data transmission module A group coupled to the signal receiver and communicatively connected to the processing device; and a signal receiver for receiving a reflection signal of the sensing signal reflected by an object, and transmitting the sensing signal and receiving the reflection according to A time difference of the signals determines a depth information, wherein the data transmission module outputs the depth information and a signal characteristic information of the sensing signal to the processing device. A multi-person positioning method suitable for a multi-person positioning system includes: sensing a first depth information of a surrounding environment by a first wearable device transmitting a first sensing signal, and using a second wearable device The device transmits a second sensing signal to sense a second depth information of the surrounding environment, wherein a first signal characteristic of the first sensing signal is different from a second signal characteristic of the second sensing signal; A processing device is communicatively connected to the first wearable device and the second wearable device, and the processing device is used to receive the first depth information and the second depth information; and the processing device analyzes the first A depth information is used to obtain a first position information of the first wearable device, and the processing device obtains a second position information of the second wearable device by analyzing the second depth information. The multi-person positioning method according to item 8 of the scope of patent application, further comprising: using the processing device to distinguish the first wearable device and the second wearable according to the first sensing signal and the second sensing signal. And the processing device integrates the first position information and the second position information to determine a relative position relationship between the first wearable device and the second wearable device in a sensing area. According to the multi-person positioning method described in item 9 of the scope of patent application, the method further includes: determining, by the processing device according to the first depth information and the relative position relationship, the presence of the sensor as sensed by the first wearable device. An object in the detection area is the second wearable device or a background object; and the processing device determines the presence of the second wearable device as sensed by the second depth information and the relative position relationship. Another object in the sensing area is the first wearable device or the background object.