技术领域Technical Field
本发明涉及虚拟现实计算机技术领域，特别涉及一种视觉检测车辆交互方法及互动系统、装置、存储介质。The present invention relates to the field of virtual reality computer technology, and in particular to a visual detection vehicle interaction method and an interactive system, device, and storage medium.
背景技术Background technique
混合现实技术(MR)是虚拟现实技术的进一步发展，该技术通过在现实场景呈现虚拟场景信息，在现实世界、虚拟世界和用户之间搭起一个交互反馈的信息回路，以增强用户体验的真实感。Mixed reality technology (MR) is a further development of virtual reality technology. This technology presents virtual scene information in real scenes, builds an interactive feedback information loop between the real world, the virtual world and the user, so as to enhance the realism of the user experience.
现有的游乐设施中可以应用混合现实技术，在现实的游乐区域中配置多台车辆模组，每个车辆模组均包括车辆单元以及对应的至少一个虚实头显单元，用户可以佩戴虚实头显单元，通过虚实头显单元可以查看现实场景，同时驾驶车辆单元在现实游乐区域中移动，并且各台车辆单元之间以及车辆单元与场景物件均能够产生互动，通过对互动数据的采集，虚实头显单元中可以在现实场景中通过视像叠加渲染效果，不同的互动会设置不同的渲染效果，从而增加用户的使用体验。Mixed reality technology can be applied to existing amusement facilities. Multiple vehicle modules are configured in the real amusement area. Each vehicle module includes a vehicle unit and at least one corresponding virtual and real head-mounted display unit. Users can wear the virtual and real head-mounted display unit to view the real scene while driving the vehicle unit to move in the real amusement area. In addition, each vehicle unit can interact with each other and with scene objects. By collecting interactive data, the virtual and real head-mounted display unit can overlay rendering effects in the real scene through video. Different interactions will set different rendering effects, thereby enhancing the user experience.
而为了设置不同渲染效果，因此，需要时刻检测游乐区域中各台车辆单元的状态，从而保障能够给用户及时反馈呈现出相应的视像，以往会在车辆单元上设置传感器组件，利用传感器组件来检测车辆单元的状态，但是，由于车辆单元在游乐区域活动，各个车辆单元的传感器组件检测的数据需要通过无线传输至中央的控制模组中进行处理，存在一定的滞后性，并且车辆单元之间存在碰撞，会对传感器组件的耐久度以及检测的准确性造成影响，需要定期维护更换，运营成本较高。In order to set different rendering effects, it is necessary to constantly detect the status of each vehicle unit in the amusement area to ensure that the corresponding video can be presented to the user in a timely manner. In the past, sensor components were set on the vehicle units to detect the status of the vehicle units. However, since the vehicle units are active in the amusement area, the data detected by the sensor components of each vehicle unit need to be wirelessly transmitted to the central control module for processing, which has a certain lag. In addition, collisions between vehicle units will affect the durability of the sensor components and the accuracy of detection, requiring regular maintenance and replacement, and high operating costs.
发明内容Summary of the invention
本发明旨在至少解决现有技术中存在的技术问题之一。为此，本发明提出视觉检测车辆交互方法及互动系统、装置、存储介质，响应迅速，检测结构稳定，降低运营成本。The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention proposes a visual detection vehicle interaction method and an interactive system, device, and storage medium, which have rapid response, stable detection structure, and reduced operating costs.
根据本发明的第一方面实施例的视觉检测车辆交互方法，应用于虚实互动系统，所述虚实互动系统包括多台车辆模组、摄像模组以及控制模组，所述摄像模组用于摄取游乐区域的图像信息，所述控制模组分别与各台车辆模组以及摄像模组连接，每台所述车辆模组均包括车辆单元以及对应的至少一个虚实头显单元，每台车辆单元的头端设置有第一标识件以及每台车辆单元的尾端设置有第二标识件，视觉检测车辆交互方法包括：获取游乐区域的图像信息；对图像信息分析以得出各个车辆单元的第一标识点和第二标识点，其中，第一标识点通过对所述第一标识件识别得出，第二标识点通过对所述第二标识件识别得出；根据第一标识点和第二标识点分析出车辆单元的占地位置以及方位朝向；当至少两台车辆单元占地位置的轮廓出现接触或者重叠，则判断车辆单元之间发生第一碰撞结果；根据第一碰撞结果的碰撞点与发生碰撞的车辆单元的方位朝向判断该车辆单元的碰撞位置；根据第一碰撞结果和碰撞位置形成第一渲染信息，将第一渲染信息输出给对应车辆单元的虚实头显单元以显示输出。According to the first aspect of the present invention, the visual detection vehicle interaction method is applied to a virtual-reality interaction system, wherein the virtual-reality interaction system comprises a plurality of vehicle modules, a camera module and a control module, wherein the camera module is used to capture image information of an amusement area, and the control module is connected to each vehicle module and the camera module respectively, and each vehicle module comprises a vehicle unit and at least one corresponding virtual-reality head-mounted display unit, wherein a first identification piece is provided at the head end of each vehicle unit and a second identification piece is provided at the tail end of each vehicle unit, and the visual detection vehicle interaction method comprises: obtaining image information of the amusement area; analyzing the image information to obtain a first identification piece of each vehicle unit; An identification point and a second identification point, wherein the first identification point is obtained by identifying the first identification member, and the second identification point is obtained by identifying the second identification member; the occupation position and orientation of the vehicle unit are analyzed based on the first identification point and the second identification point; when the outlines of the occupation positions of at least two vehicle units are in contact or overlapped, it is determined that a first collision result occurs between the vehicle units; the collision position of the vehicle unit is determined based on the collision point of the first collision result and the orientation of the vehicle unit that collides; first rendering information is formed based on the first collision result and the collision position, and the first rendering information is output to the virtual and real head display unit of the corresponding vehicle unit for display output.
根据本发明实施例的视觉检测车辆交互方法，至少具有如下有益效果：The visual detection vehicle interaction method according to the embodiment of the present invention has at least the following beneficial effects:
本发明视觉检测车辆交互方法，在每台车辆单元上设置不易损坏的第一标识件和第二标识件，摄像模组获取游乐区域的图像信息，图像信息中就包括了各台车辆单元的第一标识件识别得出的第一标识点和第二标识件识别得出的第二标识点，对第一标识点和第二标识点可以分析出车辆单元的占地位置以及方位朝向，并且车辆单元在游乐区域活动的过程中，当发生碰撞，车辆单元的占地位置的轮廓会出现交点接触或者重叠，此时控制模组即可得知车辆单元之间是否发生碰撞，另外，通过第一标识点和第二标识点确认车辆的方位朝向，配合碰撞点即可得知车辆的碰撞位置，基于第一碰撞结果和碰撞位置即可形成第一渲染信息，并通过虚实头显单元以显示输出，由于本发明视觉检测车辆交互方法是通过固定的摄像模组来采集数据，并且可以直接传输至控制模组进行处理，数据传输过程中干扰较小，车辆单元之间的碰撞以及车辆单元的活动均不会对数据传输造成影响，也不会对摄像模组造成损坏，本设计响应迅速，检测结构稳定，降低运营成本。The visual detection vehicle interaction method of the present invention sets a first identification piece and a second identification piece that are not easy to be damaged on each vehicle unit, and the camera module obtains image information of the amusement area. The image information includes a first identification point obtained by identifying the first identification piece of each vehicle unit and a second identification point obtained by identifying the second identification piece. The first identification point and the second identification point can be analyzed to determine the occupied position and the orientation of the vehicle unit. When a collision occurs during the activity of the vehicle unit in the amusement area, the contours of the occupied position of the vehicle unit will have intersection contact or overlap. At this time, the control module can know whether a collision occurs between the vehicle units. In addition, the orientation of the vehicle is confirmed by the first identification point and the second identification point, and the collision position of the vehicle can be known in conjunction with the collision point. First rendering information can be formed based on the first collision result and the collision position, and the virtual-real head display unit is used to display the output. Since the visual detection vehicle interaction method of the present invention collects data through a fixed camera module and can be directly transmitted to the control module for processing, there is less interference during data transmission, and the collision between the vehicle units and the activities of the vehicle units will not affect the data transmission, nor will they cause damage to the camera module. The design has a rapid response, a stable detection structure, and reduces operating costs.
根据本发明的一些实施例，在获取游乐区域的图像信息后，在图像信息上建立平面坐标系并且生成区域界线，所述区域界线为游乐区域的边界。According to some embodiments of the present invention, after acquiring the image information of the recreation area, a plane coordinate system is established on the image information and an area boundary is generated, wherein the area boundary is the boundary of the recreation area.
根据本发明的一些实施例，在所述根据第一标识点和第二标识点分析出车辆单元的占地位置中包括：根据第一标识点和第二标识点之间的中心点得出该车辆单元的位置中点；根据位置中点与第一标识点或者第二标识点的距离得出车辆单元的占地半径；根据位置中点以及占地半径得出车辆单元的占地位置。According to some embodiments of the present invention, analyzing the occupied position of the vehicle unit based on the first identification point and the second identification point includes: obtaining the position midpoint of the vehicle unit based on the center point between the first identification point and the second identification point; obtaining the occupied radius of the vehicle unit based on the distance between the position midpoint and the first identification point or the second identification point; and obtaining the occupied position of the vehicle unit based on the position midpoint and the occupied radius.
根据本发明的一些实施例，在所述当至少两台车辆单元占地位置的轮廓出现接触或者重叠，则判断车辆单元之间发生第一碰撞结果中包括：检测各台车辆单元的位置中点之间的间隔距离；当间隔距离小于或等于两台车辆单元的占地半径之和，则判断车辆单元之间发生第一碰撞结果。According to some embodiments of the present invention, when the contours of the occupied positions of at least two vehicle units come into contact or overlap, determining that a first collision result has occurred between the vehicle units includes: detecting the interval distance between the midpoints of the positions of each vehicle unit; and when the interval distance is less than or equal to the sum of the occupied radii of the two vehicle units, determining that a first collision result has occurred between the vehicle units.
根据本发明的一些实施例，在所述根据第一碰撞结果的碰撞点与发生碰撞的车辆单元的方位朝向判断该车辆单元的碰撞位置中包括：根据车辆单元的位置中点和占地半径得出基于平面坐标系的车辆轮廓函数，其中，车辆轮廓函数的图形用于表征该车辆单元的轮廓；根据发生碰撞的两台车辆单元的位置中点之间连线的连线函数与车辆轮廓函数的交点得出碰撞点；根据碰撞点分别计算与第一标识点和第二标识点的第一距离值和第二距离值；当第一距离值小于第二距离值，则碰撞位置为车头侧发生碰撞；当第一距离值大于第二距离值，则碰撞位置为车尾侧发生碰撞。According to some embodiments of the present invention, determining the collision position of the vehicle unit according to the collision point of the first collision result and the orientation of the vehicle unit that collided includes: deriving a vehicle contour function based on a plane coordinate system according to the position midpoint and the footprint radius of the vehicle unit, wherein a graph of the vehicle contour function is used to characterize the contour of the vehicle unit; deriving the collision point according to the intersection of a line function of a line between the position midpoints of the two vehicle units that collided and the vehicle contour function; calculating a first distance value and a second distance value from the first identification point and the second identification point according to the collision point, respectively; when the first distance value is less than the second distance value, the collision position is a collision on the front side of the vehicle; when the first distance value is greater than the second distance value, the collision position is a collision on the rear side of the vehicle.
根据本发明的一些实施例，视觉检测车辆交互方法还包括：当车辆单元占地位置的轮廓与区域界线出现接触或者重叠，则判断车辆单元之间发生第二碰撞结果；根据第二碰撞结果的碰撞点与发生碰撞的车辆单元的方位朝向判断该车辆单元的碰撞位置；根据第二碰撞结果和碰撞位置形成第二渲染信息，将第二渲染信息输出给对应车辆单元的虚实头显单元以显示输出。According to some embodiments of the present invention, the visual detection vehicle interaction method also includes: when the outline of the occupied position of the vehicle unit contacts or overlaps with the regional boundary, it is determined that a second collision result occurs between the vehicle units; the collision position of the vehicle unit is determined based on the collision point of the second collision result and the orientation of the vehicle unit that collides; second rendering information is formed based on the second collision result and the collision position, and the second rendering information is output to the virtual and real head display unit of the corresponding vehicle unit for display output.
根据本发明的一些实施例，在所述根据第二碰撞结果的碰撞点与发生碰撞的车辆单元的方位朝向判断该车辆单元的碰撞位置中包括：根据车辆单元的位置中点和占地半径得出基于平面坐标系的车辆轮廓函数，其中，车辆轮廓函数的图形用于表征该车辆单元的轮廓；根据发生碰撞的车辆单元的车辆轮廓函数与发生碰撞的区域界线的交点得出碰撞点；根据碰撞点分别计算与第一标识点和第二标识点的第一距离值和第二距离值；当第一距离值小于第二距离值，则碰撞位置为车头侧发生碰撞；当第一距离值大于第二距离值，则碰撞位置为车尾侧发生碰撞。According to some embodiments of the present invention, determining the collision position of the vehicle unit based on the collision point of the second collision result and the orientation of the vehicle unit where the collision occurred includes: deriving a vehicle contour function based on a plane coordinate system based on the position midpoint and the footprint radius of the vehicle unit, wherein a graph of the vehicle contour function is used to characterize the contour of the vehicle unit; deriving a collision point based on the intersection of the vehicle contour function of the vehicle unit where the collision occurred and the boundary of the area where the collision occurred; calculating a first distance value and a second distance value from the first identification point and the second identification point based on the collision point, respectively; when the first distance value is less than the second distance value, the collision position is a collision on the front side of the vehicle; when the first distance value is greater than the second distance value, the collision position is a collision on the rear side of the vehicle.
根据本发明第二方面实施例的虚实互动系统，包括多台车辆模组、摄像模组以及控制模组，所述摄像模组用于摄取游乐区域的图像信息，每台所述车辆模组均包括车辆单元以及对应的至少一个虚实头显单元，每台车辆单元的头端设置有第一标识件以及每台车辆单元的尾端设置有第二标识件，所述控制模组分别与各台车辆模组以及摄像模组连接，所述控制模组执行上述任一实施例公开的视觉检测车辆交互方法并通过对应的虚实头显单元显示输出。According to the second aspect of the embodiment of the present invention, the virtual-reality interaction system includes multiple vehicle modules, a camera module and a control module. The camera module is used to capture image information of the amusement area. Each of the vehicle modules includes a vehicle unit and at least one corresponding virtual-reality head-mounted display unit. The head end of each vehicle unit is provided with a first identification piece and the tail end of each vehicle unit is provided with a second identification piece. The control module is respectively connected to each vehicle module and the camera module. The control module executes the visual detection vehicle interaction method disclosed in any of the above embodiments and displays the output through the corresponding virtual-reality head-mounted display unit.
根据本发明实施例的虚实互动系统，至少具有如下有益效果：The virtual-reality interaction system according to the embodiment of the present invention has at least the following beneficial effects:
本发明虚实互动系统，控制模组执行上述任一实施例公开的视觉检测车辆交互方法并通过对应的虚实头显单元显示输出，响应迅速，检测结构稳定，降低运营成本。The virtual-reality interactive system of the present invention controls the module to execute the visual detection vehicle interaction method disclosed in any of the above embodiments and displays the output through the corresponding virtual-reality head display unit, with rapid response, stable detection structure, and reduced operating costs.
根据本发明第三方面实施例的控制装置，所述控制装置包括存储器和处理器，所述存储器存储有计算机程序，所述处理器执行所述计算机程序时实现上述任一实施例公开的视觉检测车辆交互方法。According to the control device of the third aspect of the present invention, the control device includes a memory and a processor, the memory stores a computer program, and the processor implements the visual detection vehicle interaction method disclosed in any of the above embodiments when executing the computer program.
根据本发明第四方面实施例的计算机可读存储介质，所述计算机可读存储介质存储有计算机程序，其特征在于，所述计算机程序被处理器执行时实现上述任一实施例公开的视觉检测车辆交互方法。According to the computer-readable storage medium of the fourth aspect of the present invention, the computer-readable storage medium stores a computer program, and is characterized in that when the computer program is executed by a processor, the visual detection vehicle interaction method disclosed in any of the above embodiments is implemented.
本发明的附加方面和优点将在下面的描述中部分给出，部分将从下面的描述中变得明显，或通过本发明的实践了解到。Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention.
附图说明BRIEF DESCRIPTION OF THE DRAWINGS
本发明的上述和/或附加的方面和优点从结合下面附图对实施例的描述中将变得明显和容易理解，其中：The above and/or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:
图1为本发明虚实互动系统其中一种实施例的原理结构框图；FIG1 is a block diagram of the principle structure of one embodiment of the virtual-reality interaction system of the present invention;
图2为车辆碰撞示意图；FIG2 is a schematic diagram of a vehicle collision;
图3为本发明虚实交互方法其中一种实施例的第一流程图；FIG3 is a first flow chart of one embodiment of the virtual-reality interaction method of the present invention;
图4为本发明虚实交互方法其中一种实施例步骤S330的流程图；FIG4 is a flow chart of step S330 of one embodiment of the virtual-reality interaction method of the present invention;
图5为本发明虚实交互方法其中一种实施例的第二流程图；FIG5 is a second flow chart of one embodiment of the virtual-reality interaction method of the present invention;
图6为本发明控制装置其中一种实施例的原理结构框图。FIG. 6 is a block diagram showing the principle structure of one embodiment of the control device of the present invention.
附图标记：Reference numerals:
车辆模组100；车辆单元110；虚实头显单元120；第一标识件130；第二标识件140；摄像模组210；控制模组220；处理器610；存储器620；输入/输出接口630；通信接口640；总线650Vehicle module 100; vehicle unit 110; virtual reality head display unit 120; first identification member 130; second identification member 140; camera module 210; control module 220; processor 610; memory 620; input/output interface 630; communication interface 640; bus 650
具体实施方式Detailed ways
为了使本申请的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本申请进行进一步详细说明。应当理解，此处所描述的具体实施例仅用以解释本申请，并不用于限定本申请。In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.
需要说明的是，虽然在装置示意图中进行了功能模块划分，在流程图中示出了逻辑顺序，但是在某些情况下，可以以不同于装置中的模块划分，或流程图中的顺序执行所示出或描述的步骤。说明书和权利要求书及上述附图中的术语“第一”、“第二”等是用于区别类似的对象，而不必用于描述特定的顺序或先后次序。It should be noted that, although the functional modules are divided in the device schematic diagram and the logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than the module division in the device or the order in the flowchart. The terms "first", "second", etc. in the specification, claims and the above drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence.
在本发明的描述中，若干的含义是一个或者多个，多个的含义是两个以上，大于、小于、超过等理解为不包括本数，以上、以下、以内等理解为包括本数。In the description of the present invention, “several” means one or more, “more” means more than two, “greater than”, “less than”, “exceed”, etc. are understood as not including the number itself, and “above”, “below”, “within”, etc. are understood as including the number itself.
除非另有定义，本文所使用的所有的技术和科学术语与属于本申请的技术领域的技术人员通常理解的含义相同。本文中所使用的术语只是为了描述本申请实施例的目的，不是旨在限制本申请。Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein are only for the purpose of describing the embodiments of this application and are not intended to limit this application.
如图1、2所示，根据本发明的第一方面实施例的视觉检测车辆交互方法，应用于虚实互动系统，所述虚实互动系统包括多台车辆模组100、摄像模组210以及控制模组220，所述摄像模组210用于摄取游乐区域的图像信息，所述控制模组220分别与各台车辆模组100以及摄像模组210连接，每台所述车辆模组100均包括车辆单元110以及对应的至少一个虚实头显单元120，每台车辆单元110的头端设置有第一标识件130以及每台车辆单元110的尾端设置有第二标识件140。As shown in Figures 1 and 2, the visual detection vehicle interaction method according to the first aspect of the embodiment of the present invention is applied to a virtual-reality interaction system, wherein the virtual-reality interaction system includes multiple vehicle modules 100, a camera module 210 and a control module 220, wherein the camera module 210 is used to capture image information of the amusement area, and the control module 220 is respectively connected to each vehicle module 100 and the camera module 210, each of the vehicle modules 100 includes a vehicle unit 110 and at least one corresponding virtual-reality head display unit 120, and a first identification member 130 is provided at the head end of each vehicle unit 110 and a second identification member 140 is provided at the tail end of each vehicle unit 110.
其中，控制模组220可以通过无线路由器构建的无线网络与各台车辆模组100通讯连接，控制模组220作为处理各个车辆模组100的数据并且为各个车辆模组100中的虚实头显单元120发送显示数据的中央处理器，可以由MCU或者CPU及其外围电路构成。Among them, the control module 220 can be communicated with each vehicle module 100 through a wireless network constructed by a wireless router. The control module 220 serves as a central processor that processes data of each vehicle module 100 and sends display data to the virtual and real head display unit 120 in each vehicle module 100. It can be composed of an MCU or a CPU and its peripheral circuits.
虚实头显单元120佩戴于用户的头部，虚实头显单元120具有透明的显示镜面，显示镜面位于用户眼睛的前方，用户可以透过显示镜面查看到外界的现实场景，同时，虚实头显单元120可以接收控制模组220发送的各种渲染数据，并且通过显示镜面显示，显示的图案可以与显示场景叠加，从而构建出虚拟显示场景。The virtual-reality head-mounted display unit 120 is worn on the user's head. The virtual-reality head-mounted display unit 120 has a transparent display mirror, which is located in front of the user's eyes. The user can view the real scene of the outside world through the display mirror. At the same time, the virtual-reality head-mounted display unit 120 can receive various rendering data sent by the control module 220, and display it through the display mirror. The displayed pattern can be superimposed on the display scene to construct a virtual display scene.
车辆单元110可以在常规的游乐车辆中选择，车辆单元110包括车架、轮动组件、方向操控组件以及座椅，轮动组件设置在车架的底部，方向操控组件以及座椅可以设置在车架上，用户可以通过方向操控组件输入操作指令，轮动组件由多个滚轮件以及驱动电机等构成，根据操作指令可以控制车辆单元110的移动。The vehicle unit 110 can be selected from conventional amusement vehicles. The vehicle unit 110 includes a frame, a wheel assembly, a steering control assembly and a seat. The wheel assembly is arranged at the bottom of the frame, and the steering control assembly and the seat can be arranged on the frame. The user can input operating instructions through the steering control assembly. The wheel assembly is composed of multiple roller parts and a drive motor, etc., and the movement of the vehicle unit 110 can be controlled according to the operating instructions.
本设计可以应用于游乐设施中，在游乐设施中可以规定游乐区域，车辆模组100在游乐区域中移动，在游乐区域内还可以放置有障碍物，游乐区域的边沿可以设置护栏作为边界。The present design can be applied to amusement facilities, in which a play area can be defined, and the vehicle module 100 moves in the play area. Obstacles can also be placed in the play area, and guardrails can be set at the edges of the play area as boundaries.
摄像模组210可以在常规的摄像器材中选择，例如，采用无畸变摄像头，摄像器材可以设置于游乐区域上方的天花板上，朝向游乐区域进行摄取影像。The camera module 210 can be selected from conventional camera equipment, for example, a distortion-free camera can be used. The camera equipment can be set on the ceiling above the amusement area to capture images toward the amusement area.
而第一标识件130和第二标识件140为能够与车辆单元110的颜色形成鲜明对比的标签，以便于摄像模组210获取图像并且辨识，另外，车架通常呈圆形，第一标识件130和第二标识件140均设置在车架的边沿位置处，以便于后续处理过程中得出车架的大小以及占地位置。The first identification member 130 and the second identification member 140 are labels that can form a sharp contrast with the color of the vehicle unit 110, so that the camera module 210 can obtain images and identify them. In addition, the frame is usually circular, and the first identification member 130 and the second identification member 140 are both arranged at the edge of the frame, so that the size and occupation of the frame can be obtained in the subsequent processing process.
如图3所示，视觉检测车辆交互方法包括：As shown in FIG3 , the visual detection vehicle interaction method includes:
S310、获取游乐区域的图像信息；S310, obtaining image information of the recreation area;
S320、对图像信息分析以得出各个车辆单元110的第一标识点和第二标识点，其中，第一标识点通过对所述第一标识件130识别得出，第二标识点通过对所述第二标识件140识别得出；S320, analyzing the image information to obtain a first identification point and a second identification point of each vehicle unit 110, wherein the first identification point is obtained by identifying the first identification element 130, and the second identification point is obtained by identifying the second identification element 140;
S330、根据第一标识点和第二标识点分析出车辆单元110的占地位置以及方位朝向；S330, analyzing the location and orientation of the vehicle unit 110 according to the first identification point and the second identification point;
S340、当至少两台车辆单元110占地位置的轮廓出现接触或者重叠，则判断车辆单元110之间发生第一碰撞结果；S340, when the contours of the locations occupied by at least two vehicle units 110 are in contact or overlapped, it is determined that a first collision result occurs between the vehicle units 110;
S350、根据第一碰撞结果的碰撞点与发生碰撞的车辆单元110的方位朝向判断该车辆单元110的碰撞位置；S350, determining a collision position of the vehicle unit 110 according to a collision point of the first collision result and an orientation of the vehicle unit 110 that collides with the vehicle unit 110;
S360、根据第一碰撞结果和碰撞位置形成第一渲染信息，将第一渲染信息输出给对应车辆单元110的虚实头显单元120以显示输出。S360: Form first rendering information according to the first collision result and the collision position, and output the first rendering information to the virtual-reality head display unit 120 corresponding to the vehicle unit 110 for display output.
本发明视觉检测车辆交互方法，在每台车辆单元110上设置不易损坏的第一标识件130和第二标识件140，摄像模组210获取游乐区域的图像信息，图像信息中就包括了各台车辆单元110的第一标识件130识别得出的第一标识点和第二标识件140识别得出的第二标识点，对第一标识点和第二标识点可以分析出车辆单元110的占地位置以及方位朝向，并且车辆单元110在游乐区域活动的过程中，当发生碰撞，车辆单元110的占地位置的轮廓会出现交点接触或者重叠，此时控制模组220即可得知车辆单元110之间是否发生碰撞，另外，通过第一标识点和第二标识点确认车辆的方位朝向，配合碰撞点即可得知车辆的碰撞位置，基于第一碰撞结果和碰撞位置即可形成第一渲染信息，并通过虚实头显单元120以显示输出，由于本发明视觉检测车辆交互方法是通过固定的摄像模组210来采集数据，并且可以直接传输至控制模组220进行处理，数据传输过程中干扰较小，车辆单元110之间的碰撞以及车辆单元110的活动均不会对数据传输造成影响，也不会对摄像模组210造成损坏，本设计响应迅速，检测结构稳定，降低运营成本。The visual detection vehicle interaction method of the present invention sets a first identification piece 130 and a second identification piece 140 that are not easily damaged on each vehicle unit 110, and the camera module 210 obtains image information of the amusement area, and the image information includes a first identification point identified by the first identification piece 130 of each vehicle unit 110 and a second identification point identified by the second identification piece 140. The first identification point and the second identification point can be analyzed to determine the occupied position and orientation of the vehicle unit 110. When a collision occurs during the activity of the vehicle unit 110 in the amusement area, the outline of the occupied position of the vehicle unit 110 will have intersection contact or overlap, and at this time, the control module 220 can know that the vehicle unit 110 Whether a collision occurs between the two vehicles. In addition, the orientation of the vehicle is confirmed by the first identification point and the second identification point, and the collision position of the vehicle can be known in conjunction with the collision point. The first rendering information can be formed based on the first collision result and the collision position, and the output is displayed through the virtual and real head display unit 120. Since the visual detection vehicle interaction method of the present invention collects data through a fixed camera module 210, and can be directly transmitted to the control module 220 for processing, there is less interference during data transmission. The collision between the vehicle units 110 and the activities of the vehicle units 110 will not affect the data transmission, nor will they cause damage to the camera module 210. The design responds quickly, the detection structure is stable, and the operating cost is reduced.
在本发明的一些实施例中，在获取游乐区域的图像信息后，在图像信息上建立平面坐标系并且生成区域界线，所述区域界线为游乐区域的边界。In some embodiments of the present invention, after acquiring the image information of the recreation area, a plane coordinate system is established on the image information and an area boundary is generated, wherein the area boundary is the boundary of the recreation area.
需要说明的是，摄像模组210在摄取游乐区域时，可能是倾斜拍摄，另外，图像信息与拍摄实际的游乐区域的尺寸可能不完全符合，因此，可以建立平面坐标系，并且在安装调试摄像模组210时检测拍摄角度，利用拍摄角度对图像信息进行角度调整以形成水平方向的图像信息，使得图像信息与显示游乐区域的场景匹配，而后建立平面坐标系，图像的像素与平面坐标系的坐标配对，将游乐区域的边界在平面坐标系中生成区域界线，车辆单元110的第一标识点和第二标识点可以在平面坐标系中生成相应的坐标点。It should be noted that the camera module 210 may be tilted when photographing the amusement area. In addition, the image information may not be completely consistent with the size of the actual amusement area. Therefore, a plane coordinate system can be established, and the shooting angle can be detected when installing and debugging the camera module 210. The image information is adjusted by the shooting angle to form horizontal image information so that the image information matches the scene showing the amusement area. Then a plane coordinate system is established, and the pixels of the image are paired with the coordinates of the plane coordinate system. The boundary of the amusement area is generated in the plane coordinate system. The first identification point and the second identification point of the vehicle unit 110 can generate corresponding coordinate points in the plane coordinate system.
在本发明的一些实施例中，如图4所示，在所述根据第一标识点和第二标识点分析出车辆单元110的占地位置中包括：In some embodiments of the present invention, as shown in FIG. 4 , analyzing the occupied position of the vehicle unit 110 according to the first identification point and the second identification point includes:
S410、根据第一标识点和第二标识点之间的中心点得出该车辆单元110的位置中点；S410, obtaining the position midpoint of the vehicle unit 110 according to the center point between the first identification point and the second identification point;
S420、根据位置中点与第一标识点或者第二标识点的距离得出车辆单元110的占地半径；S420, obtaining the occupied radius of the vehicle unit 110 according to the distance between the midpoint of the position and the first identification point or the second identification point;
S430、根据位置中点以及占地半径得出车辆单元110的占地位置。S430 , obtaining the occupied position of the vehicle unit 110 according to the position midpoint and the occupied radius.
车辆单元110在平面图像中通常可以看成圆形，第一标识点和第二标识点分别位于车辆单元110首端和尾端，通过第一标识点和第二标识点得出位置中点，再以占地半径得出占地位置，并且基于平面坐标系处理成相关坐标点，由此可以判断车辆单元110之间的轮廓是否存在交点或者交叉来判断是否出现接触或者重叠。The vehicle unit 110 can usually be seen as a circle in a plane image. The first identification point and the second identification point are respectively located at the head and tail ends of the vehicle unit 110. The midpoint of the position is obtained by the first identification point and the second identification point, and the occupied position is obtained by the occupied radius. The occupied position is processed into related coordinate points based on the plane coordinate system, thereby determining whether there is an intersection or cross between the contours of the vehicle units 110 to determine whether there is contact or overlap.
具体地，在所述当至少两台车辆单元110占地位置的轮廓出现接触或者重叠，则判断车辆单元110之间发生第一碰撞结果中包括：Specifically, when the contours of the occupied positions of at least two vehicle units 110 are in contact or overlapped, the first collision result between the vehicle units 110 is determined to occur, including:
检测各台车辆单元110的位置中点之间的间隔距离；Detecting the interval distance between the midpoints of the positions of the vehicle units 110;
当间隔距离小于或等于两台车辆单元110的占地半径之和，则判断车辆单元110之间发生第一碰撞结果。When the interval distance is less than or equal to the sum of the footprint radii of the two vehicle units 110 , it is determined that a first collision result occurs between the vehicle units 110 .
其中，由于不同车辆单元110的占地半径可能不同，因此，此处利用间隔距离与两台车辆单元110的占地半径之和进行判断，当间隔距离小于或等于两台车辆单元110的占地半径之和，则可以判断车辆单元110之间出现接触或者重叠，即发生碰撞，具体地，可以计算车辆单元110位置中点的坐标，再通过两台车辆单元110的位置中点的坐标来计算出间隔距离。Among them, since the footprint radii of different vehicle units 110 may be different, the interval distance and the sum of the footprint radii of the two vehicle units 110 are used for judgment here. When the interval distance is less than or equal to the sum of the footprint radii of the two vehicle units 110, it can be determined that there is contact or overlap between the vehicle units 110, that is, a collision occurs. Specifically, the coordinates of the midpoint of the position of the vehicle unit 110 can be calculated, and then the interval distance can be calculated using the coordinates of the midpoints of the positions of the two vehicle units 110.
在本发明的一些实施例中，在所述根据第一碰撞结果的碰撞点与发生碰撞的车辆单元110的方位朝向判断该车辆单元110的碰撞位置中包括：In some embodiments of the present invention, determining the collision position of the vehicle unit 110 according to the collision point of the first collision result and the orientation of the vehicle unit 110 that collides includes:
根据车辆单元110的位置中点和占地半径得出基于平面坐标系的车辆轮廓函数，其中，车辆轮廓函数的图形用于表征该车辆单元110的轮廓；A vehicle profile function based on a plane coordinate system is obtained according to the position midpoint and the occupied radius of the vehicle unit 110, wherein a graph of the vehicle profile function is used to characterize the profile of the vehicle unit 110;
根据发生碰撞的两台车辆单元110的位置中点之间连线的连线函数与车辆轮廓函数的交点得出碰撞点；The collision point is obtained according to the intersection of the line function of the line connecting the midpoints of the positions of the two vehicle units 110 that collided and the vehicle contour function;
根据碰撞点分别计算与第一标识点和第二标识点的第一距离值和第二距离值；Calculate a first distance value and a second distance value to the first identification point and the second identification point respectively according to the collision point;
当第一距离值小于第二距离值，则碰撞位置为车头侧发生碰撞；When the first distance value is less than the second distance value, the collision position is a collision on the front side of the vehicle;
当第一距离值大于第二距离值，则碰撞位置为车尾侧发生碰撞。When the first distance value is greater than the second distance value, the collision position is a collision at the rear side of the vehicle.
由于基于平面坐标系，将车辆单元110的轮廓转化为车辆轮廓函数，当车辆单元110出现碰撞，利用车辆单元110的车辆轮廓函数与两台车辆单元110的位置中点之间连线的连线函数计算交点，交点即为碰撞点的坐标。Since the outline of the vehicle unit 110 is converted into a vehicle outline function based on a plane coordinate system, when the vehicle unit 110 collides, the intersection point is calculated using the vehicle outline function of the vehicle unit 110 and the line function of the line between the midpoints of the positions of the two vehicle units 110. The intersection point is the coordinate of the collision point.
而在每个车辆单元110中，利用碰撞点的坐标分别与第一标识点的坐标和第二标识点的坐标计算，即可得出第一距离值和第二距离值，可以理解的是，当碰撞点相对靠近于第一标识点，则可以认为碰撞点靠近车辆单元110的车头位置，而碰撞点相对靠近于第二标识点，则可以认为碰撞点靠近车辆单元110的车尾位置，在第一渲染信息中，可以根据车头或者车尾碰撞的不同，形成不同的第一渲染信息，例如车头碰撞可以显示车头损毁，车尾碰撞显示车尾损毁等，并且在对应车辆单元110的虚实头显单元120中进行显示。In each vehicle unit 110, the first distance value and the second distance value can be obtained by calculating the coordinates of the collision point with the coordinates of the first identification point and the coordinates of the second identification point respectively. It can be understood that when the collision point is relatively close to the first identification point, it can be considered that the collision point is close to the front position of the vehicle unit 110, and when the collision point is relatively close to the second identification point, it can be considered that the collision point is close to the rear position of the vehicle unit 110. In the first rendering information, different first rendering information can be formed according to the different front or rear collisions. For example, a front collision can display damage to the front of the vehicle, and a rear collision can display damage to the rear of the vehicle, etc., and it is displayed in the virtual and real head display unit 120 of the corresponding vehicle unit 110.
在本发明的一些实施例中，如图5所示，视觉检测车辆交互方法还包括：In some embodiments of the present invention, as shown in FIG5 , the method for visually detecting vehicle interaction further includes:
S510、当车辆单元110占地位置的轮廓与区域界线出现接触或者重叠，则判断车辆单元110之间发生第二碰撞结果；S510, when the outline of the occupied position of the vehicle unit 110 contacts or overlaps with the regional boundary, it is determined that a second collision result occurs between the vehicle units 110;
S520、根据第二碰撞结果的碰撞点与发生碰撞的车辆单元110的方位朝向判断该车辆单元110的碰撞位置；S520, determining a collision position of the vehicle unit 110 according to the collision point of the second collision result and the orientation of the vehicle unit 110 that collided;
S530、根据第二碰撞结果和碰撞位置形成第二渲染信息，将第二渲染信息输出给对应车辆单元110的虚实头显单元120以显示输出。S530: Form second rendering information according to the second collision result and the collision position, and output the second rendering information to the virtual-reality head display unit 120 corresponding to the vehicle unit 110 for display output.
可以理解的是，为了丰富游乐的趣味性，车辆单元110与车辆单元110之间的碰撞形成的第一渲染信息与车辆单元110与墙体之间碰撞形成的第二渲染信息设置成不同的渲染图像，用户可以通过虚实头显单元120明确地区分车辆单元110到底与那种物体进行碰撞，提高用户的游玩体验。It can be understood that in order to enrich the fun of the game, the first rendering information formed by the collision between the vehicle units 110 and the second rendering information formed by the collision between the vehicle unit 110 and the wall are set to different rendering images. The user can clearly distinguish which object the vehicle unit 110 collides with through the virtual and real head display unit 120, thereby improving the user's gaming experience.
在本发明的一些实施例中，在所述根据第二碰撞结果的碰撞点与发生碰撞的车辆单元110的方位朝向判断该车辆单元110的碰撞位置中包括：In some embodiments of the present invention, determining the collision position of the vehicle unit 110 according to the collision point of the second collision result and the orientation of the vehicle unit 110 that collides includes:
根据车辆单元110的位置中点和占地半径得出基于平面坐标系的车辆轮廓函数，其中，车辆轮廓函数的图形用于表征该车辆单元110的轮廓；A vehicle profile function based on a plane coordinate system is obtained according to the position midpoint and the occupied radius of the vehicle unit 110, wherein a graph of the vehicle profile function is used to characterize the profile of the vehicle unit 110;
根据发生碰撞的车辆单元110的车辆轮廓函数与发生碰撞的区域界线的交点得出碰撞点；Obtaining a collision point according to an intersection of a vehicle profile function of the vehicle unit 110 where the collision occurs and a boundary line of the collision area;
根据碰撞点分别计算与第一标识点和第二标识点的第一距离值和第二距离值；Calculate a first distance value and a second distance value to the first identification point and the second identification point respectively according to the collision point;
当第一距离值小于第二距离值，则碰撞位置为车头侧发生碰撞；When the first distance value is less than the second distance value, the collision position is a collision on the front side of the vehicle;
当第一距离值大于第二距离值，则碰撞位置为车尾侧发生碰撞。When the first distance value is greater than the second distance value, the collision position is a collision at the rear side of the vehicle.
由于在平面坐标系中设置有区域界线，利用矩形的区域界线，区域界线的边界相当于在平面坐标系为多个线段围成，可以得知线段的坐标，判断车辆单元110的车辆轮廓函数与区域界线的线段之间是否存在交点，即可判断出车辆是否存在碰撞，并且交点为碰撞点，同理，而在车辆单元110中，利用碰撞点的坐标分别与第一标识点的坐标和第二标识点的坐标计算，即可得出第一距离值和第二距离值，当碰撞点相对靠近于第一标识点，则可以认为碰撞点靠近车辆单元110的车头位置，而碰撞点相对靠近于第二标识点，则可以认为碰撞点靠近车辆单元110的车尾位置，在第一渲染信息中，可以根据车头或者车尾碰撞的不同，形成不同的第一渲染信息，例如车头碰撞可以显示车头损毁，车尾碰撞显示车尾损毁等，并且在对应车辆单元110的虚实头显单元120中进行显示。Since a regional boundary is set in the plane coordinate system, a rectangular regional boundary is used, and the boundary of the regional boundary is equivalent to being surrounded by multiple line segments in the plane coordinate system. The coordinates of the line segments can be obtained, and it is determined whether there is an intersection between the vehicle contour function of the vehicle unit 110 and the line segments of the regional boundary. It can be determined whether the vehicles have collided, and the intersection is the collision point. Similarly, in the vehicle unit 110, the coordinates of the collision point are calculated with the coordinates of the first identification point and the coordinates of the second identification point respectively, so as to obtain the first distance value and the second distance value. When the collision point is relatively close to the first identification point, it can be considered that the collision point is close to the front position of the vehicle unit 110, and when the collision point is relatively close to the second identification point, it can be considered that the collision point is close to the rear position of the vehicle unit 110. In the first rendering information, different first rendering information can be formed according to the different collisions of the front or rear of the vehicle. For example, a front collision can display damage to the front of the vehicle, and a rear collision can display damage to the rear of the vehicle, etc., and it is displayed in the virtual and real head display unit 120 corresponding to the vehicle unit 110.
根据本发明第二方面实施例的虚实互动系统，包括多台车辆模组100、摄像模组210以及控制模组220，所述摄像模组210用于摄取游乐区域的图像信息，每台所述车辆模组100均包括车辆单元110以及对应的至少一个虚实头显单元120，每台车辆单元110的头端设置有第一标识件130以及每台车辆单元110的尾端设置有第二标识件140，所述控制模组220分别与各台车辆模组100以及摄像模组210连接，所述控制模组220执行上述任一实施例公开的视觉检测车辆交互方法并通过对应的虚实头显单元120显示输出。According to the second aspect of the embodiment of the present invention, the virtual-reality interaction system includes multiple vehicle modules 100, a camera module 210 and a control module 220. The camera module 210 is used to capture image information of the amusement area. Each of the vehicle modules 100 includes a vehicle unit 110 and at least one corresponding virtual-reality head-mounted display unit 120. The head end of each vehicle unit 110 is provided with a first identification member 130 and the tail end of each vehicle unit 110 is provided with a second identification member 140. The control module 220 is respectively connected to each vehicle module 100 and the camera module 210. The control module 220 executes the visual detection vehicle interaction method disclosed in any of the above embodiments and displays the output through the corresponding virtual-reality head-mounted display unit 120.
本发明虚实互动系统，控制模组220执行上述任一实施例公开的视觉检测车辆交互方法并通过对应的虚实头显单元120显示输出，响应迅速，检测结构稳定，降低运营成本。In the virtual-reality interaction system of the present invention, the control module 220 executes the visual detection vehicle interaction method disclosed in any of the above embodiments and displays the output through the corresponding virtual-reality head display unit 120, with rapid response, stable detection structure, and reduced operating costs.
根据本发明第三方面实施例的控制装置，控制装置包括存储器和处理器，存储器存储有计算机程序，处理器执行计算机程序时实现上述任一实施例公开的视觉检测车辆交互方法。According to the control device of the third aspect of the present invention, the control device includes a memory and a processor, the memory stores a computer program, and when the processor executes the computer program, the visual detection vehicle interaction method disclosed in any of the above embodiments is implemented.
该控制装置可以为包括中央电脑、远程设备终端电脑等任意智能终端。The control device can be any intelligent terminal including a central computer, a remote device terminal computer, etc.
如图6所示，图6还示意了另一实施例的控制装置的硬件结构，控制装置包括：As shown in FIG. 6 , FIG. 6 also illustrates the hardware structure of a control device of another embodiment, and the control device includes:
处理器610，可以采用通用的中央处理器610(centra lprocess i ng un i t，CPU)、微处理器610、应用专用集成电路(app l i cat i on spec i f i c i ntegrated ci rcu i t，AS I C)、或者一个或多个集成电路等方式实现，用于执行相关程序，以实现本申请实施例所提供的技术方案；The processor 610 may be implemented by a general-purpose central processing unit 610 (CPU), a microprocessor 610, an application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of the present application;
存储器620，可以采用只读存储器620(read on l y memory，ROM)、静态存储设备、动态存储设备或者随机存取存储器620(random access memory，RAM)等形式实现。存储器620可以存储操作系统和其他应用程序，在通过软件或者固件来实现本说明书实施例所提供的技术方案时，相关的程序代码保存在存储器620中，并由处理器610来调用执行本申请实施例的视觉检测车辆交互方法；The memory 620 may be implemented in the form of a read-only memory 620 (ROM), a static storage device, a dynamic storage device, or a random access memory 620 (RAM). The memory 620 may store an operating system and other application programs. When the technical solution provided in the embodiment of this specification is implemented by software or firmware, the relevant program code is stored in the memory 620, and the processor 610 calls and executes the visual detection vehicle interaction method of the embodiment of this application;
输入/输出接口630，用于实现信息输入及输出；Input/output interface 630, used to implement information input and output;
通信接口640，用于实现本设备与其他设备的通信交互，可以通过有线方式(例如USB、网线等)实现通信，也可以通过无线方式(例如移动网络、W I F I、蓝牙等)实现通信；Communication interface 640, used to realize communication interaction between the device and other devices, which can be realized by wired mode (such as USB, network cable, etc.) or wireless mode (such as mobile network, W I F I, Bluetooth, etc.);
总线650，在设备的各个组件(例如处理器610、存储器620、输入/输出接口630和通信接口640)之间传输信息；bus 650 , which transmits information between the various components of the device (e.g., processor 610 , memory 620 , input/output interface 630 , and communication interface 640 );
其中处理器610、存储器620、输入/输出接口630和通信接口640通过总线650实现彼此之间在设备内部的通信连接。The processor 610 , the memory 620 , the input/output interface 630 and the communication interface 640 are connected to each other in communication within the device via the bus 650 .
根据本发明第四方面实施例的计算机可读存储介质，计算机可读存储介质存储有计算机程序，其特征在于，计算机程序被处理器执行时实现上述任一实施例公开的视觉检测车辆交互方法。According to the computer-readable storage medium of the fourth aspect of the present invention, the computer-readable storage medium stores a computer program, which is characterized in that when the computer program is executed by a processor, the visual detection vehicle interaction method disclosed in any of the above embodiments is implemented.
存储器作为一种非暂态计算机可读存储介质，可用于存储非暂态软件程序以及非暂态性计算机可执行程序。此外，存储器可以包括高速随机存取存储器，还可以包括非暂态存储器，例如至少一个磁盘存储器件、闪存器件、或其他非暂态固态存储器件。在一些实施方式中，存储器可选包括相对于处理器远程设置的存储器，这些远程存储器可以通过网络连接至该处理器。上述网络的实例包括但不限于互联网、企业内部网、局域网、移动通信网及其组合。The memory, as a non-transient computer-readable storage medium, can be used to store non-transient software programs and non-transient computer executable programs. In addition, the memory may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some embodiments, the memory may optionally include a memory remotely disposed relative to the processor, and these remote memories may be connected to the processor via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.
本申请实施例描述的实施例是为了更加清楚的说明本申请实施例的技术方案，并不构成对于本申请实施例提供的技术方案的限定，本领域技术人员可知，随着技术的演变和新应用场景的出现，本申请实施例提供的技术方案对于类似的技术问题，同样适用。The embodiments described in the embodiments of the present application are intended to more clearly illustrate the technical solutions of the embodiments of the present application and do not constitute a limitation on the technical solutions provided in the embodiments of the present application. Those skilled in the art will appreciate that with the evolution of technology and the emergence of new application scenarios, the technical solutions provided in the embodiments of the present application are also applicable to similar technical problems.
本领域技术人员可以理解的是，图中示出的技术方案并不构成对本申请实施例的限定，可以包括比图示更多或更少的步骤，或者组合某些步骤，或者不同的步骤。Those skilled in the art will appreciate that the technical solutions shown in the figures do not constitute a limitation on the embodiments of the present application, and may include more or fewer steps than shown in the figures, or a combination of certain steps, or different steps.
以上所描述的装置实施例仅仅是示意性的，其中作为分离部件说明的单元可以是或者也可以不是物理上分开的，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部模块来实现本实施例方案的目的。The device embodiments described above are merely illustrative, and the units described as separate components may or may not be physically separated, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
本领域普通技术人员可以理解，上文中所公开方法中的全部或某些步骤、系统、设备中的功能模块/单元可以被实施为软件、固件、硬件及其适当的组合。Those skilled in the art will appreciate that all or some of the steps in the methods disclosed above, and the functional modules/units in the systems and devices may be implemented as software, firmware, hardware, or a suitable combination thereof.
本申请的说明书及上述附图中的术语“第一”、“第二”、“第三”、“第四”等(如果存在)是用于区别类似的对象，而不必用于描述特定的顺序或先后次序。应该理解这样使用的数据在适当情况下可以互换，以便这里描述的本申请的实施例能够以除了在这里图示或描述的那些以外的顺序实施。此外，术语“包括”和“具有”以及他们的任何变形，意图在于覆盖不排他的包含，例如，包含了一系列步骤或单元的过程、方法、系统、产品或设备不必限于清楚地列出的那些步骤或单元，而是可包括没有清楚地列出的或对于这些过程、方法、产品或设备固有的其它步骤或单元。The terms "first", "second", "third", "fourth", etc. (if any) in the specification of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.
以上参照附图说明了本申请实施例的优选实施例，并非因此局限本申请实施例的权利范围。本领域技术人员不脱离本申请实施例的范围和实质内所作的任何修改、等同替换和改进，均应在本申请实施例的权利范围之内。The preferred embodiments of the present application are described above with reference to the accompanying drawings, but the scope of the rights of the present application is not limited thereto. Any modification, equivalent substitution and improvement made by a person skilled in the art without departing from the scope and essence of the present application should be within the scope of the rights of the present application.
以上所述实施例的各技术特征可以进行任意的组合，为使描述简洁，未对上述实施例中的各个技术特征所有可能的组合都进行描述，然而，只要这些技术特征的组合不存在矛盾，都应当认为是本说明书记载的范围。The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.
尽管已经示出和描述了本发明的实施例，本领域的普通技术人员可以理解：在不脱离本发明的原理和宗旨的情况下可以对这些实施例进行多种变化、修改、替换和变型，本发明的范围由权利要求及其等同物限定。Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.
以上所述实施例的各技术特征可以进行任意的组合，为使描述简洁，未对上述实施例中的各个技术特征所有可能的组合都进行描述，然而，只要这些技术特征的组合不存在矛盾，都应当认为是本说明书记载的范围。The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.
尽管已经示出和描述了本发明的实施例，本领域的普通技术人员可以理解：在不脱离本发明的原理和宗旨的情况下可以对这些实施例进行多种变化、修改、替换和变型，本发明的范围由权利要求及其等同物限定。Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.
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| CN202410527648.8ACN118436993A (en) | 2024-04-29 | 2024-04-29 | Visual detection vehicle interaction method and interactive system, device and storage medium |
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