CN101566898B - Positioning device of electronic display system and method - Google Patents
Positioning device of electronic display system and method Download PDFInfo
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- CN101566898B CN101566898B CN2009100399684A CN200910039968A CN101566898B CN 101566898 B CN101566898 B CN 101566898B CN 2009100399684 A CN2009100399684 A CN 2009100399684A CN 200910039968 A CN200910039968 A CN 200910039968A CN 101566898 B CN101566898 B CN 101566898B
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Abstract
The invention provides a positioning method of an electronic display system, comprising the following steps of: arranging at least three cameras at different positions of the edge of a display screen;acquiring the information of shooting angles of the camera when opaque objects exist; according to the information of the shooting angles, obtaining the number of the shooting angles of all the camer as; according to the number of the cameras, determining the combining mode of the information of the shooting angles of the camera; obtaining a first coordinate of the opaque objects according to the combining mode of the information of the shooting angles; and carrying out positioning to the opaque objects according to the first coordinate. The positioning method of the electronic display system has low cost and simple implementation and can realize multipoint positioning.
Description
Technical field
The present invention relates to the electronic display system field, especially a kind of localization method of electronic display system the invention still further relates to a kind of locating device of electronic display system.
Background technology
The locating device of electronic display system is as a kind of novel computer entry device; Make man-machine interaction more directly perceived; Because to bringing great convenience property of user; The location technology of electronic display system is except being applied to the portable personal information products, and application has spreaded all over every field such as information household appliances, public information, electronic game, business automation equipment.The locating device of existing electronic display system has various ways, and exists not enough separately.Like publication number is that the Chinese invention patent of CN1942853A discloses a kind of touch positioning panel with transparent capacitance sensing medium; Its capacitance sensing dielectric distribution is in different electrode layers; Electrode in the layer is parallel to each other; Electrode between layer and the layer is orthogonal, thereby has formed the pel array of display screen location; When screen was touched, the capacitance sensing node produced capacitance variations, will monitored electric circuit inspection arrive, thereby has obtained locating information.This touch location inner structure is complicated, and cost is higher, and the surface scratches easily, causes permanent damage, and along with screen size increases, complexity and price will be multiplied, and touches and locatees so be used for small size more.Also having the touch-screen that adopts such as resistance-type location, condenser type location, electromagnetic type location in addition. these can only use in the front projection machine occasion, and can not use on current popular plasma and liquid crystal large screen display or televisor; In addition, adopt the touch-screen of ultrasonic locating technology should not surpass 200cm.
Publication number is that the Chinese invention patent of CN1746837A discloses a kind of interactive display system based on three camera heads; At the display screen edge color line is set; Color line pattern contrast when color line pattern when shooting has shelter according to camera head and have no occluder; Obtain the angle information that camera head photographs, send the main image signal processor to, block position coordinates by the analytical calculation of main image signal processor again.The disclosed technical scheme major defect of this patent is: only be confined to the single-point location, can not be applicable to the interactive display system of multipoint positioning.
Summary of the invention
For solving in the prior art; The localization method of electronic display system is complicated; Cost is higher, can only realize the problem of single-point location, the localization method that the present invention provides a kind of and realizes simply, cost is lower, applied widely, can realize the electronic display system of multipoint positioning.
The present invention provides a kind of localization method of electronic display system, and it may further comprise the steps:
At least three camera heads of diverse location setting at the edge of display screen;
Set up coordinate system, obtain coordinate information and each said camera head of each said camera head information of shooting angles shelter;
Obtain the shooting angle number of each camera head according to said information of shooting angles; Confirm the array mode of the information of shooting angles of said camera head according to said shooting angle number; Wherein, When the shooting angle number of certain camera head is 1, the information of shooting angles of this camera head and the information of shooting angles of other any said camera heads are made up; When the shooting angle number average of each camera head greater than 1 the time, the information of shooting angles of the camera head that the shooting angle number is minimum and the information of shooting angles of other any two camera heads make up respectively;
Calculate first coordinate that obtains said shelter according to the coordinate information of each said camera head and the array mode of said information of shooting angles, and said shelter is positioned according to said first coordinate.
In the localization method of described electronic display system; The process of confirming the information of shooting angles array mode of said camera head according to said shooting angle number specifically comprises: when the shooting angle number of certain camera head is 1, the information of shooting angles of this camera head and the information of shooting angles of other any said camera heads are made up.When the shooting angle number average of each camera head greater than 1 the time, the information of shooting angles of the camera head that the shooting angle number is minimum and the information of shooting angles of other any two camera heads make up respectively.
Preferably; In the localization method of described electronic display system, the process that said shelter positions is specifically comprised: twice combination found the solution the actual coordinate that identical coordinate in shelter first coordinate that obtains is judged as shelter according to said first coordinate.
Preferably; In the localization method of described electronic display system; According to said first coordinate process that said shelter positions is specifically comprised: according to the number of the shooting angle of each camera head; First coordinate that obtains is found the solution in twice combination be combined into several set of coordinates respectively, the coordinate in two set of coordinates that the coordinate that wherein comprises is all identical is judged as the actual coordinate of shelter.
Preferably; In the localization method of described electronic display system; According to the number of the shooting angle of each camera head, twice combination found the solution first coordinate that obtains when being combined into several set of coordinates respectively, make the coordinate number that comprises in this set of coordinates identical with the shelter number.
Preferably; The localization method of described electronic display system; It further may further comprise the steps: after the array mode according to said information of shooting angles obtains first coordinate of said shelter; Get rid of the coordinate that exceeds the display screen border earlier, according to getting rid of remaining said first coordinate in back said shelter is positioned again.
Preferably; In the localization method of described electronic display system; The process that said eliminating exceeds the coordinate on display screen border specifically comprises: judging whether the position of said first coordinate exceeds the border of display screen, is then to get rid of this first coordinate, otherwise keeps this first coordinate; Continue to judge whether other first coordinates exceed the border of display screen, up to the position of first coordinate of being withed a hook at the end all within the display screen border.
Preferably; In the localization method of described electronic display system; According to said first coordinate process that said shelter positions is specifically comprised: twice combination found the solution second coordinate that identical coordinate in shelter first coordinate that obtains is judged as shelter; And whether the number of judging second coordinate that obtains is individual above N, otherwise said second coordinate is judged as the actual coordinate of shelter; Be then with said second coordinate respectively with the actual coordinate contrast of the shelter in the previous moment; With the actual coordinate that differs minimum N second coordinate and be judged as the shelter of current time respectively with the coordinate figure of the actual coordinate of previous moment shelter; If the previous moment does not detect the actual coordinate of any shelter; Then obtain the information of shooting angles of said camera head again, wherein, N has the shooting angle number of the camera head of a plurality of shooting angle.
Preferably; In the localization method of described electronic display system; When obtaining the shooting angle number of each camera head,, obtain the information of shooting angles of said camera head again if when the shooting angle of said camera head surpasses three according to said information of shooting angles.
Compared with prior art; The localization method of electronic display system provided by the invention is through the number of the information of shooting angles of each camera head of judgement; The information of shooting angles combination that will have the less information of shooting angles of shooting angle number and other camera heads is found the solution; Can simplify calculating, realize the multiple point touching location easily.Because the localization method of electronic display system of the present invention and hardware device size are irrelevant, therefore to the less restriction of equipment, applicability is stronger.The localization method of electronic display system of the present invention only needs to add that at existing display device camera head cooperates a spot of calculating to realize, so it is simple, cost is lower.Again because computing method are simple, so locating speed is fast.
Simultaneously; Number according to the shooting angle of camera head; Said first coordinate is reassembled into several set of coordinates, and the coordinate in all identical two set of coordinates of the coordinate that will comprise is judged as the actual coordinate of shelter, owing to all comprise several coordinates in each set of coordinates; Coordinates all between the set of coordinates is contrasted the location mistake that causes in the time of to avoid single Coordinate Calculation wrong mutually.
Through judging whether said first coordinate position runs off the display screen border, simplify the step of confirming the shelter actual coordinate, realize location faster.
In addition; When the second coordinate number that obtains when judgement surpasses the shooting angle number with camera head of the most a plurality of shooting angle; With each second coordinate respectively with the actual coordinate contrast of the shelter in the previous moment, with the actual coordinate of the shelter of confirming current time; Do not detect the shelter coordinate time when the previous moment; Then obtain the information of shooting angles of said camera head again; Thereby avoided the situation of wrong identification shelter coordinate, made the localization method of this electronic display system more comprehensive, reduced the wrong chance in location.
For solving in the prior art; The positioning device structure of electronic display system is complicated; Cost is higher, can only realize the problem of single-point location, the present invention provide a kind of simple in structure, cost is lower, applied widely, the locating device that can realize the electronic display system of multipoint positioning.
A kind of locating device of electronic display system, it comprises: an information acquisition module, a message processing module computing module and a location module.This information acquisition module connects at least three camera heads; Be used to set up coordinate system; Obtain coordinate information and each said camera head of each said camera head information of shooting angles to shelter; And said information of shooting angles is sent to said message processing module, wherein, said at least three camera heads are arranged on the diverse location at the edge of display screen; This message processing module connects this information acquisition module, is used for obtaining according to said information of shooting angles the shooting angle number of each camera head; Said computing module connects said this message processing module; It is used for confirming according to said shooting angle number the array mode of the information of shooting angles of said camera head; And calculate first coordinate that obtains said shelter according to the array mode of the coordinate information of each said camera head and said information of shooting angles; Wherein, When the shooting angle number of certain camera head was 1, said computing module made up the information of shooting angles of this camera head and the information of shooting angles of other any said camera heads; When the shooting angle number average of each camera head greater than 1 the time, the information of shooting angles of the camera head that said computing module is minimum with the shooting angle number and the information of shooting angles of other any two camera heads make up respectively; Said locating module connects said computing module, and it is used for according to said first coordinate said shelter being positioned.
Compared with prior art, the locating device of electronic display system provided by the invention is confirmed the array mode of the information of shooting angles of said camera head according to said shooting angle number, can simplify calculating, realizes the multiple point touching location easily.Because the size of the locating device of electronic display system of the present invention and display screen is irrelevant, therefore to the less restriction of display device, use simpler and easy, convenience, applicability is better.The locating device of electronic display system of the present invention only needs to add that at existing display device camera head and information process unit get final product, thus simple in structure, cost is low.Again because computing method are simple, so response speed is fast.
Description of drawings
Fig. 1 is the process flow diagram of electronic display system localization method of the present invention.
Fig. 2 to Figure 10 utilizes electronic display system localization method of the present invention to realize shelter Positioning Principle synoptic diagram.
Figure 11 is the part process flow diagram of electronic display system localization method second embodiment of the present invention.
Figure 12 is the part process flow diagram of electronic display system localization method the 3rd embodiment of the present invention.
Figure 13 is the part process flow diagram of electronic display system localization method the 4th embodiment of the present invention.
Figure 14 is the principle of work synoptic diagram of electronic display system localization method the 4th embodiment of the present invention.
Figure 15 is the synoptic diagram of electronic display system locating device of the present invention.
Figure 16 is the principle of work synoptic diagram of electronic display system locating device of the present invention.
Wherein, 11,25 display screens;
12,26 camera heads;
111 first limits;
112 second limits;
113 the 3rd limits;
20 electronic display system locating devices;
21 information acquisition modules;
22 message processing modules;
23 computing modules;
24 locating modules.
Embodiment
Please consult Fig. 1, Fig. 2 to Figure 10 in the lump, Fig. 1 is the process flow diagram of electronic display system localization method of the present invention.Fig. 2 to Figure 10 utilizes electronic display system localization method of the present invention to realize shelter Positioning Principle synoptic diagram.
Electronic display system localization method of the present invention may further comprise the steps:
S101: flow process begins;
S102: at least three camera heads of diverse location setting at the edge of a display screen, set up coordinate system;
In this embodiment, this display screen 11 is a rectangular display screen, and this display screen 11 can be the display screen of various types of electronic display systems, if use the LED display curtain, the good sheet glass of light transmission can be installed before screen shield.This display screen 11 comprises one first limit 111, one second limit 112 and one the 3rd limit 113, and this first limit 111 intersects vertically with this second limit 112, the 3rd limit 113 respectively.
The image of image when these at least three camera heads are used to take have no occluder on this display screen 11 when shelter is arranged is so that according to these two kinds of Image Acquisition photographing information.
These at least three camera heads can be arranged on arbitrarily on the diverse location at edge of this display screen 11, and this display screen 11 is at least fully within the coverage of three camera heads.
In this embodiment, the edge of this display screen 11 is provided with three camera heads 12.These three camera heads 12 comprise one first camera head A, one second camera head B and one the 3rd camera head C.This first camera head A is arranged on this first limit 111 and these 112 intersections, second limit, and this second camera head B is arranged on this first limit 111 and 113 intersections, the 3rd limit, and the 3rd camera head C is arranged on the two minutes one length places on this first limit 111.The position that is provided with of these three camera heads 12 all makes this display screen 11 be in fully in the viewfinder range of each camera head.
Calculate each camera head captured image information for ease, set up coordinate system with the plane at display screen 11 places.Set up coordinate time, can display screen any point in the plane at 11 places as true origin, set up coordinate system.In this embodiment, A is a true origin with this first camera head, sets up rectangular coordinate system.Then, the coordinate of this first camera head A is (0,0).If the length on this first limit 111 is L, then, the coordinate of this second camera head B is (L, 0), and the coordinate of the 3rd camera head C is (L/2,0), the coordinate of shelter O be unknown-value (x, y).
S104: when having obtained shelter, the information of shooting angles of each camera head;
The image of image during the have no occluder that generally photographs according to each camera head when shelter is arranged relatively obtains the information of shooting angles of each camera head.
Shooting angle is meant the relative angle of shelter in the whole shooting viewfinder range of each camera head.It can adopt multiple different define method, for example: the angle on the line of a shelter and a camera head and the border on display screen limit 11, perhaps angle of the line between the line of a shelter and a camera head and two camera heads or the like.Corresponding to different coordinate systems, can select different shooting angle definition, make calculating simpler.In this embodiment, shooting angle is meant the angle on this first limit 111 on line and the display screen limit 11 of a shelter and a camera head.
Obtaining of shooting angle can utilize the method for putting down in writing in the Chinese patent of publication number for CN1746837A; Promptly the color line is set at the display screen edge; According to camera head photograph shelter is arranged the time color line pattern and have no occluder the time the contrast of color line pattern, obtain shooting angle.Also can adopt other similar modes or other technology well known in the art to obtain shooting angle.
S106: whether the number of shooting angle of judging each camera head all more than 1, if not, and execution in step S114 then, if, execution in step S108-S116 then;
S114: have only the information of shooting angles and the combination of information of shooting angles that other any camera heads obtain of the camera head of a shooting angle to find the solution this, draw the shelter actual coordinate.
When the shooting angle of one of them camera head has only one, can be divided into two kinds of situation: a kind of situation is on this display screen 11, to have only a shelter; Another kind of situation is the shelter that on this display screen 11, has more than, and should on the shooting angle of this camera head, be overlapped into an image more than one shelter.
When having only a shelter O on this display screen 11, as shown in Figure 2, the shooting angle that this shelter O produces in this first camera head A is α.Can confirm the straight line of this first camera head of process A and this shelter O according to the coordinate of this first camera head A and this shooting angle α.
Equally, this shelter O is β in the aborning shooting angle of this second camera head B.Can confirm the straight line of this second camera head of process B and this shelter O according to the coordinate of this second camera head B and this shooting angle β.
Two above-mentioned straight lines all pass through this shelter O, and it is following that the geometrical principle that intersects at a point according to two straight lines calculates the coordinate of this shelter O:
Wherein, L is the length (not considering the inaccurate situation in lens distortion and screen upper area location here) on first limit of display screen 11, and α and β are respectively the shooting angle that this shelter O produces in this first camera head A and this second camera head B.
Can know by above analysis,, perhaps change the position of true origin, or change the definition of this shooting angle, not influence the coordinate Calculation of this shelter O no matter change the position of these three camera heads 12.As long as a bit to set up coordinate system in the plane at this display screen 11 places; And know the particular location coordinate of each camera head and the information of shooting angles that shelter produces in each camera head; Just can confirm straight line through each camera head and shelter; According to two respectively through two different camera heads and pass through the straight line of same shelter simultaneously, just can draw the coordinate of this shelter.
Shelter more than one is arranged on this display screen 11, and should be overlapped into an image on the shooting angle of a camera head therein more than one shelter the time, as shown in Figure 3.The shooting angle of this first camera head A has only one, and this second camera head B has two shooting angle with the 3rd camera head C.Expression through the straight line of this first camera head A simultaneously through two shelters, through this second camera head B or the 3rd camera head C and then respectively have two through the straight line of two shelters respectively.At this moment, only needing information of shooting angles with the information of shooting angles of this first camera head A and this second camera head B or the 3rd camera head C to make up and find the solution, can obtain the coordinate of one or two intersection point according to formula (1), is respectively coordinate a and b.Then, these two actual coordinates that coordinate is a shelter.
Certainly; Also might be that three or shelter more than three are overlapped into an image in the coverage of this first camera head A; As long as this moment is with the information of shooting angles of this first camera head A; Find the solution with the information of shooting angles combination in other any one camera heads, just can draw these three the perhaps coordinates of the shelter more than three, as shown in Figure 4.
S108: the information of shooting angles of the camera head that the shooting angle number is minimum and the information of shooting angles of other any two camera heads make up respectively, obtain first coordinate of said shelter;
When each camera head 12 all had 2 or information of shooting angles more than 2, then representing had two or more shelters on this display screen 11, does not promptly have straight line and passes through these two shelters and any camera head 12 simultaneously.
As shown in Figure 5, when the shelter in this display screen 11 was three, this first camera head A had three shooting angle, and this second camera head B and the 3rd camera head C have two shooting angle.The method that intersects find intersection with two straight lines is found the solution the coordinate of shelter, and the information of shooting angles combination of the second camera head B and the 3rd camera head C is found the solution, and according to formula (1), 4 first coordinates that can obtain this shelter are: [a; B, c, g], wherein; A, b, c, g represent a coordinate respectively.
The information of shooting angles combination of this first camera head A and the 3rd camera head C is found the solution, utilize above-mentioned method, 6 first coordinates that obtain this shelter are: [a, e, d, f, b, c].Wherein, a, e, d, f, b, c represent a coordinate respectively.As shown in Figure 5.
As shown in Figure 6, the shelter in this display screen 11 is three, and the shooting angle of three camera heads shows that three shelters do not occur on arbitrary shooting angle overlapping when all being three.
Because the shooting angle of three camera heads 12 all is three, so can the information of shooting angles combination of any two camera heads 12 be found the solution.
The information of shooting angles of this first camera head A and the information of shooting angles combination of the 3rd camera head C are found the solution, found the solution according to formula (1), nine first coordinates that obtain this shelter are: [i, f, a, d, b; G, c, e, h], wherein, i, f; A, d, b, g, c, e, h represent a coordinate respectively.
The information of shooting angles of this second camera head B and the information of shooting angles combination of the 3rd camera head C are found the solution, and nine first coordinates that obtain shelter are: [n, c, k, m, j, b, a, l, o], wherein, n, c, k, m, j, b, a, l, o represent a coordinate respectively.As shown in Figure 6.
In like manner, when the shelter in this display screen 11 makes the information of shooting angles of the camera head with minimum shooting angle and the information of shooting angles combination of other camera heads are found the solution when above at three, can obtain first coordinate of this shelter equally.
S112: twice combination found the solution the actual coordinate that identical coordinate in first coordinate that obtains is judged as shelter;
Contrast twice combination and find the solution first coordinate that obtains,, represent that this coordinate all photographs the image of shelter in three camera heads, then be judged as this coordinate the actual coordinate of shelter if there is a coordinate identical.
For the situation of Fig. 5, twice combination found the solution shelter first coordinate that obtains and be respectively: [a, b, c, g] and [a, e, d, f, b, c] wherein has three identical coordinates, i.e. a, b and c.Therefore, these three actual coordinates that coordinate is a shelter.
For the situation of Fig. 6, twice combination found the solution shelter first coordinate that obtains and be respectively: [i, f, a, d, b, g, c, e, h] and [n, c, k, m, j, b, a, l, o] wherein has three identical coordinates, i.e. a, b and c.Therefore, these three actual coordinates that coordinate is a shelter.
S116: flow process finishes.
Illustrate below and utilize electronic display system localization method of the present invention to realize other situations of shelter location.
A has 2 shooting angle when this first camera head, and all the other two camera heads are found the solution the information of shooting angles of this first camera head A respectively when 3 shooting angle are all arranged with the information of shooting angles combination of all the other two camera heads.Because the first camera head A has only 2 shooting angle, so first coordinate that solves for twice respectively has six.If the information of shooting angles combination with camera head B and C is found the solution, first coordinate that then solves has nine.To have minimum shooting angle the information of shooting angles combination of information of shooting angles and all the other two camera heads of camera head find the solution, can make computational short cut.As shown in Figure 7.
When the 3rd camera head C has 2 shooting angle; And all the other two camera heads are when all having 3 shooting angle; The information of shooting angles of the 3rd camera head C is found the solution with the information of shooting angles combination of all the other two camera heads respectively; Find the solution the actual coordinate that shelter first coordinate that obtains is confirmed shelter according to twice combination then, as shown in Figure 8.
When shelter has two; And this first camera head A, this second camera head B and the 3rd camera head C are when having 2 shooting angle; Can the information of shooting angles combination of any two camera heads be found the solution; Again the information of shooting angles of one of them camera head is found the solution with the information of shooting angles combination of a camera head that is left, found the solution the actual coordinate that shelter first coordinate that obtains is confirmed shelter according to twice combination then, as shown in Figure 9.
When shelter has three; And these three camera heads are when all having 2 shooting angle; Can the information of shooting angles combination of any two camera heads be found the solution equally; Again the information of shooting angles of one of them camera head is found the solution with the information of shooting angles combination of a camera head that is left, found the solution the actual coordinate that shelter first coordinate that obtains is confirmed shelter according to twice combination then, shown in figure 10.
Compared with prior art; The localization method of electronic display system provided by the invention is through the number of the information of shooting angles of each camera head of judgement; The information of shooting angles combination that will have the less information of shooting angles of shooting angle number and other camera heads is found the solution; Therefore the coordinate number of finding the solution out can be less, can simplify calculating, realizes multiple point touching location fast easily.Because the localization method of electronic display system of the present invention and hardware device size are irrelevant, therefore to the less restriction of equipment, applicability is stronger.The localization method of electronic display system of the present invention only needs to add that at existing display device camera head cooperates a spot of calculating to realize, so it is simple, cost is lower.
See also Figure 11, Figure 11 is the part process flow diagram of electronic display system localization method second embodiment of the present invention.The process step of the electronic display system localization method of this second embodiment and the electronic display system localization method of this first embodiment is basic identical; Its key distinction is: in the electronic display system localization method of this second embodiment; At completing steps 108; After obtaining first coordinate of shelter, carry out a step S111: get rid of the coordinate that exceeds the display screen border.
Judging at first whether the position of a certain first coordinate exceeds the border of display screen, is then to get rid of this first coordinate, otherwise keeps this first coordinate, continue to judge other first coordinate, up to all first coordinates that keep all in the display screen border.With Fig. 8 is example, after solving first coordinate of shelter, and execution in step S111; The position of judging coordinate i and f is outside the border of this display screen 11; Then get rid of this two coordinates, and in execution in step S112, in these two coordinates will can not be calculated in.
Compare with the electronic display system localization method of this first embodiment; In the electronic display system localization method of this second embodiment; After finding the solution first coordinate that obtains shelter; Get rid of first coordinate that exceeds the display screen border earlier, simplify the computing of step after this, can accelerate the speed of location action.
See also Figure 12, Figure 12 is the part process flow diagram of electronic display system localization method the 3rd embodiment of the present invention.The process step of the electronic display system localization method of the 3rd embodiment and the electronic display system localization method of this first embodiment is basic identical; Its key distinction is: in the electronic display system localization method of the 3rd embodiment, this step S112 is:
Number according to the shooting angle of each camera head is reassembled into several set of coordinates with said first coordinate, and the coordinate in two set of coordinates that the coordinate that wherein comprises is all identical is judged as the actual coordinate of shelter.
In this embodiment, according to the number of the shooting angle of each camera head, the coordinate number that each set of coordinates is comprised is identical with the number of actual shelter.
When two shelters are arranged on this display screen, be example with Fig. 9, obtaining a coordinate set that comprises four coordinates according to formula (1): [a, c, b, d].Because from each camera head, all obtain two different information of shooting angles; Can infer that these two shelters can not be overlapped into an image on any shooting angle of each camera head; That is, there is not straight line simultaneously through two shelters and any one camera head.Can synthetic two set of coordinates that possibly represent actual shelter position of these four first set of coordinates not represented with the mode of [x, y] according to 3 at the geological theorems of a straight line.Wherein, x and y represent a coordinate separately.Then, these two set of coordinates are respectively [a, b] and [c, d].
Four first coordinates [a, h, b, g] that use same principle to find the solution just for the second time to obtain also are divided into two set of coordinates, are respectively [a, b] and [g, h].Through contrast, can find that the coordinate of [a, b] this set of coordinates in twice grouping is all identical, therefore confirm coordinate a, b is the shelter actual coordinate.
Shelter on this display screen 11 is three, and when all obtaining three different shooting angle in these three camera heads, is example with Fig. 6, and the angle information that this first camera head A is taken makes up with the information of shooting angles of the 3rd camera head C and finds the solution; Obtain nine first coordinates: [i, f, a; D, b, g; C, e, h].
Because actual shelter has only three, and all photographs three different shelters in each camera head, therefore can infer that these three shelters can not be overlapped into an image on any shooting angle of any one camera head.According to geological theorems, can with synthetic several expression institutes of these nine first set of coordinates might the shelter actual coordinate set of coordinates, use [x, y, z] to represent respectively, x wherein, y, z represent a coordinate respectively.Then, can obtain six such set of coordinates: [a, b, c], [a, d, e], [f, g, c], [f, d, h], [i, b, h] and [i, e, g].
Equally, can be with the coordinate [n, c, k, m, j, b, a that find the solution for the second time nine first coordinates that obtain; L, o] be combined into the set of coordinates of several possible shelter actual coordinates of expression institute, be respectively: [a, b, c], [a, j, k], [l, m; K], [l, b, n], [o, m, c] and [o, d, n].
Through contrast, the coordinate that comprises in [a, b, c] this set of coordinates in twice grouping is identical, therefore confirms coordinate a, and b and c are the coordinate of the actual shelter of expression position.
Be example again with Fig. 7, the shelter in this display screen 11 is three, and has only this first camera head A that two shooting angle are arranged in these three camera heads; When all the other two camera heads all had three different shooting angle, the angle information that this first camera head A is taken made up with the information of shooting angles of the 3rd camera head C and finds the solution, and obtains six first coordinates: [a; F, b, d; E, c].
Because actual shelter has only three; And have only this first camera head A that two shooting angle are arranged; Therefore can infer in these three shelters; There are two on the shooting angle of this first camera head A, to overlap, that is, straight line arranged simultaneously through two shelters and this first camera head A.According to geological theorems, can be with these six first coordinates, be combined into several might represent the set of coordinates of shelter actual coordinate, use [x, y, z] expression respectively, x wherein, y, z represent a coordinate respectively.Then, can obtain six such set of coordinates, be respectively: [a, b, c], [a, d, c], [a, d, e], [f, b, e], [f, b, c] and [f, d, e].
Equally,, can be combined into six set of coordinates equally, be respectively: [a, b, c], [a, g, c], [a, m, g], [l, b, m], [l, b, c] and [l, g, m] finding the solution for the second time other six first coordinates [a, 1, b, g, m, c] that obtain according to above rule.
Through contrast, can find in twice grouping that the coordinate in [a, b, c] this set of coordinates is identical, therefore confirm coordinate a, b and c are the actual coordinate of shelter.
Compare with the electronic display system localization method of this first embodiment; In the electronic display system localization method of the 3rd embodiment; According to the number of the shooting angle of camera head, first coordinate that obtains to be found the solution in the secondary combination be reassembled into several set of coordinates, the coordinate in all identical two set of coordinates of the coordinate that will comprise is judged as the actual coordinate of shelter; Owing to all comprise several coordinates in each set of coordinates; Coordinates all between the set of coordinates is contrasted mutually, and the location mistake that causes in the time of can avoiding single Coordinate Calculation wrong improves and orientates precision as.
Please consult Figure 13 and Figure 14 in the lump, Figure 13 is the part process flow diagram of electronic display system localization method the 4th embodiment of the present invention, and Figure 14 is the principle of work synoptic diagram of electronic display system localization method the 4th embodiment of the present invention.The process step of the electronic display system localization method of the 4th embodiment and the electronic display system localization method of this first embodiment is basic identical; Its key distinction is: in the electronic display system localization method of the 4th embodiment, this step S112 is:
Twice combination found the solution identical coordinate is judged as second coordinate of shelter in shelter first coordinate that obtains, and judge whether the number of second coordinate that obtains surpasses N.Wherein, N has the shooting angle number of the camera head of a plurality of shooting angle.When the said second coordinate number is no more than N, said second coordinate is judged as the actual coordinate of shelter; When the said second coordinate number surpasses N; With said second coordinate respectively with the actual coordinate contrast of the shelter in the previous moment; With accordingly, differ minimum N second coordinate and be judged as the actual coordinate of the shelter of current time with the coordinate figure of the actual coordinate of previous moment shelter respectively; If the previous moment does not detect the actual coordinate of any shelter, execution in step S104 again then obtains the information of shooting angles of said camera head again.
With Figure 14 is example; This first camera head A all has two different shooting angle with this second camera head B, and the 3rd camera head C has three different shooting angle, promptly; Have that the shooting angle number of the camera head of a plurality of shooting angle is three, N=3.
The information of shooting angles of this first camera head A and the information of shooting angles combination of this second camera head B are found the solution, and first coordinate that obtains shelter is: [a, b, c, d].The information of shooting angles of this first camera head A and the information of shooting angles combination of the 3rd camera head C are found the solution, and first coordinate that obtains shelter is: [a, f, b, d, e, c].Contrast the coordinate in above-mentioned two coordinate sets, can find that coordinate a, b, c and d all have appearance in two coordinate sets, that is, obtain four second coordinates, it is individual that the second coordinate number that obtains surpasses N (N=3).At this moment, with coordinate a, b, c, d respectively with the contrast of the shelter actual coordinate in the previous moment, with the shelter actual coordinate that is judged as current time respectively with the more approaching coordinate of the shelter actual coordinate in this previous moment.For example, through calculating and comparing, three shelter actual coordinates of coordinate b, c and d and previous moment are more approaching, judge that then coordinate b, c and d are three current shelter actual coordinates.If the previous moment does not detect any shelter coordinate, then execution in step S104 again carries out the detection and location of shelter coordinate once more.
Compare with the electronic display system localization method of this first embodiment; In the electronic display system localization method of the 4th embodiment; The shelter number that judgement is obtained surpasses and has the most unreasonable situation of the shooting angle number of the camera head of a plurality of shooting angle and handle: several shelter actual coordinates that contrast the previous moment are to confirm the shelter actual coordinate of current time; Perhaps abandon this result of calculation; Again get into positioning flow, thereby avoided causing correctly to discern the situation of real shelter coordinate on the shooting angle of camera head because coordinate overlaps each other; Make the localization method of this electronic display system more comprehensive, reduce the chance of location of mistake.
See also Figure 15 and Figure 16, Figure 15 is the construction module synoptic diagram of electronic display system locating device of the present invention, and Figure 16 is the principle of work synoptic diagram of electronic display system locating device of the present invention.
This electronic display system locating device 20 comprises successively the information acquisition module 21 that electrically connects, a message processing module 22, a computing module 23, a location module 24.
Said information acquisition module 21 connects outside at least three camera heads 26, and said at least three camera heads 26 are arranged on the edge diverse location of a display screen 25.When said information acquisition module 21 has obtained shelter through said camera head 26, the information of shooting angles of said camera head 26, and said information of shooting angles is sent to said message processing module 22 handles.
Said message processing module 22 connects said information acquisition module 21; Be used for drawing the shooting angle number of each camera head 26, and said shooting angle number is sent to said computing module 23 according to the said information of shooting angles that said information acquisition module 21 obtains.
Said computing module 23 connects said message processing module 22; It is used for confirming according to said shooting angle number the array mode of the information of shooting angles of said camera head 26; And obtain first coordinate of shelter, and be sent to said locating module 24 to first coordinate of said shelter according to the array mode of said information of shooting angles.
Said locating module 24 connects said computing module 23, and it is used for according to said first coordinate said shelter being positioned.
When said electronic display system locating device 20 is worked:
Said information acquisition module 21 is through these at least three camera heads 26; Set up coordinate system; And be standard when having obtained shelter with this coordinate system, the information of shooting angles of each camera head 26, and said information of shooting angles is sent to said message processing module 22 handles.
Whether said message processing module 22 judges the number of shooting angle of each camera head 26 all more than 1, and said judged result is sent to said computing module 23.
Said computing module 23 is confirmed the array mode of the information of shooting angles of said camera head 26 according to the judged result of said message processing module 22:
If the number of the shooting angle of one of them camera head 26 is 1; Then have only the information of shooting angles and the combination of information of shooting angles that other any camera heads 26 obtain of the camera head 26 of a shooting angle to find the solution this, draw first coordinate of shelter.
If whether the number of the shooting angle of each camera head 26 is all more than 1; The information of shooting angles of then that the shooting angle number is minimum camera head 26 and the information of shooting angles of other any two camera heads 26 make up respectively, obtain first coordinate of said shelter.
Said locating module 24 positions said shelter according to said first coordinate, and when the number of the shooting angle of one of them camera head 26 was 1, first coordinate of said shelter was the actual coordinate of shelter; When the number of the shooting angle of each camera head 26 during, twice combination found the solution the actual coordinate that identical coordinate in first coordinate that obtains is judged as shelter whether all more than 1.
Compared with prior art, the locating device of electronic display system provided by the invention is confirmed the array mode of the information of shooting angles of said camera head according to said shooting angle number, can simplify calculating, realizes the multiple point touching location easily.Because the size of the locating device of electronic display system of the present invention and display screen is irrelevant, therefore to the less restriction of display device, use simpler and easy, convenience, applicability is better.The locating device of electronic display system of the present invention only needs to add that at existing display device camera head and information process unit get final product, thus simple in structure, cost is low.Again because computing method are simple, so response speed is fast.
Coordinate of the present invention is identical or overlapping, all be the error in considering the shooting process of camera head, and defines on the basis of the suitable error of computation process, and identical or overlapping on the absolute sense frequently.Should in allowing certain error range, understand identical or the overlapping and similar description of coordinate of the present invention.
The present invention is not limited to above embodiment, for example: use electronic display system locating device of the present invention and method and can carry out the multipoint positioning more than 3.When carrying out the multipoint positioning (for example four point locations) more than 3; Equally according to formula (1); The information of shooting angles of each camera head made up in twos find the solution; The contrast obtain the shelter actual coordinate, the electronic display system localization method of above different embodiment can be applied to the multipoint positioning more than 3 so that localization method more simply, more reliable.
In addition; Through understanding technical scheme of the present invention; Those skilled in the art will recognize, the information of shooting angles that makes these all camera heads combination is in twos respectively found the solution, and perhaps increases information of shooting angles through the number that increases camera head; Can make the location of this electronic display system locating device of the present invention and method more accurate, also can realize the multipoint positioning more than 3 more easily.
Above-described embodiment of the present invention does not constitute the qualification to protection domain of the present invention.Any modification of within spirit of the present invention and principle, being done, be equal to replacement and improvement etc., all should be included within the claim protection domain of the present invention.
Claims (8)
1. the localization method of an electronic display system is characterized in that may further comprise the steps:
At least three camera heads of diverse location setting at the edge of display screen;
Set up coordinate system, obtain coordinate information and each said camera head of each said camera head information of shooting angles shelter;
Obtain the shooting angle number of each camera head according to said information of shooting angles; Confirm the array mode of the information of shooting angles of said camera head according to said shooting angle number; Wherein, When the shooting angle number of certain camera head is 1, the information of shooting angles of this camera head and the information of shooting angles of other any said camera heads are made up; When the shooting angle number average of each camera head greater than 1 the time, the information of shooting angles of the camera head that the shooting angle number is minimum and the information of shooting angles of other any two camera heads make up respectively;
According to the coordinate information of said camera head and the array mode of said information of shooting angles, calculate first coordinate that obtains said shelter, and said shelter is positioned according to said first coordinate.
2. the localization method of electronic display system as claimed in claim 1 is characterized in that: according to said first coordinate process that said shelter positions is specifically comprised:
Twice combination found the solution identical coordinate in said first coordinate that obtains and be judged as the actual coordinate of shelter.
3. the localization method of electronic display system as claimed in claim 1 is characterized in that: according to said first coordinate process that said shelter positions is specifically comprised:
According to the number of the shooting angle of each camera head, first coordinate that obtains to be found the solution in twice combination be combined into several set of coordinates respectively, the coordinate in two set of coordinates that the coordinate that wherein comprises is all identical is judged as the actual coordinate of shelter.
4. the localization method of electronic display system as claimed in claim 3 is characterized in that: also comprise step:
According to the number of the shooting angle of each camera head, twice combination found the solution first coordinate that obtains when being combined into several set of coordinates respectively, make the coordinate number that comprises in this set of coordinates identical with the shelter number.
5. like the localization method of any described electronic display system in the claim 1 to 4, it is characterized in that: also comprise step:
After the array mode according to said information of shooting angles obtains first coordinate of said shelter, get rid of the coordinate that exceeds the display screen border earlier, according to getting rid of remaining said first coordinate in back said shelter is positioned again.
6. the localization method of electronic display system as claimed in claim 5, it is characterized in that: the process that said eliminating exceeds the coordinate on display screen border specifically comprises:
Judge whether the position of said first coordinate exceeds the border of display screen; Be then to get rid of this first coordinate; Otherwise keep this first coordinate, continue to judge whether other first coordinates exceed the border of display screen, up to the position of first coordinate of being withed a hook at the end all within the display screen border.
7. the localization method of electronic display system as claimed in claim 1 is characterized in that: according to said first coordinate process that said shelter positions is specifically comprised:
Twice combination found the solution identical coordinate is judged as second coordinate of shelter in shelter first coordinate that obtains, and judge whether the number of second coordinate that obtains surpasses N, otherwise said second coordinate is judged as the actual coordinate of shelter; Be then with said second coordinate respectively with the actual coordinate contrast of the shelter in the previous moment; With the actual coordinate that differs minimum N second coordinate and be judged as the shelter of current time respectively with the coordinate figure of the actual coordinate of previous moment shelter; If the previous moment does not detect the actual coordinate of any shelter; Then obtain the information of shooting angles of said camera head again, wherein, N has the shooting angle number of the camera head of a plurality of shooting angle.
8. the locating device of an electronic display system is characterized in that, comprising:
The information acquisition module; It connects at least three camera heads, is used to set up coordinate system, obtains coordinate information and each said camera head of each the said camera head information of shooting angles to shelter; Wherein, said at least three camera heads are arranged on the diverse location at the edge of display screen;
Message processing module, it connects said information acquisition module, is used for obtaining according to said information of shooting angles the shooting angle number of each camera head;
Computing module; It connects said message processing module; Be used for confirming the array mode of the information of shooting angles of said camera head according to said shooting angle number; And calculate first coordinate that obtains said shelter according to the array mode of the coordinate information of said camera head and said information of shooting angles; Wherein, when the shooting angle number of certain camera head was 1, said computing module made up the information of shooting angles of this camera head and the information of shooting angles of other any said camera heads; When the shooting angle number average of each camera head greater than 1 the time, the information of shooting angles of the camera head that said computing module is minimum with the shooting angle number and the information of shooting angles of other any two camera heads make up respectively;
Locating module, it connects said computing module, is used for according to said first coordinate said shelter being positioned.
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| CN2009100399684A CN101566898B (en) | 2009-06-03 | 2009-06-03 | Positioning device of electronic display system and method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| TWI428807B (en) * | 2011-04-01 | 2014-03-01 | Wistron Corp | Optical coordinate input device and coordinate calculation method thereof |
| CN102306070B (en) * | 2011-09-01 | 2013-12-04 | 广东威创视讯科技股份有限公司 | Camera shooting type touch control method and device |
| CN102364418B (en) * | 2011-09-19 | 2014-07-02 | 广东威创视讯科技股份有限公司 | Optical touch-control positioning system and method |
| CN102945105B (en) * | 2012-12-02 | 2016-03-02 | 狒特科技（北京）有限公司 | A kind of multipoint portable optical touch screen and localization method thereof |
| CN103425355B (en) * | 2013-07-08 | 2016-09-07 | 狒特科技（北京）有限公司 | The portable optical touch screen of a kind of omnidirectional camera structure and location calibration steps thereof |
| CN106846311B (en) * | 2017-01-21 | 2023-10-13 | 吴东辉 | Positioning and AR method and system based on image recognition and application |
| CN107395979A (en) * | 2017-08-14 | 2017-11-24 | 天津帕比特科技有限公司 | The image-pickup method and system of hollow out shelter are removed based on multi-angled shooting |
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Address after: 510670 Guangdong Province, Guangzhou high tech Industrial Development Zone Kezhu Road No. 233 Patentee after: Wei Chong group Limited by Share Ltd Address before: 510663 Guangzhou province high tech Industrial Development Zone, Guangdong, Cai road, No. 6, No. Patentee before: Guangdong Weichuangshixun Science and Technology Co., Ltd. |
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Granted publication date: 20120208 Termination date: 20180603 |