CN101581989A - System for capturing and positioning image - Google Patents
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- CN101581989A CN101581989A CNA2009100121170A CN200910012117A CN101581989A CN 101581989 A CN101581989 A CN 101581989A CN A2009100121170 A CNA2009100121170 A CN A2009100121170A CN 200910012117 A CN200910012117 A CN 200910012117A CN 101581989 A CN101581989 A CN 101581989A
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Abstract
The invention discloses a system for capturing and positioning an image, which consists of an infrared positioning point, a host computer, a camera and an infrared filter lamp shade. A method for the system carries out the following treatment: the host computer acquires a picture through the camera as a standard picture first, and then acquires infrared interference information of an external environment; and pictures are constantly shot by the camera, the image information acquired by each shooting is calculated to acquire an even coordinate of the infrared positioning point, the coordinate value is converted into required positioning data by adopting a certain conversion method according to different host computers, and the conversion process is decided by different requirements of users. The system has the characteristics of cost conservation, space conservation, strong anti-jamming capability, more accurate positioning, and is particularly suitable for wide popularization in the field of systems for capturing and positioning the image.
Description
Technical field
The present invention relates to a kind of system for capturing and positioning image, refer more particularly to a kind of fixing camera that uses and take the system for capturing and positioning image that mobile infrared positioning point positions.
Background technology
Along with the development of electronic equipment, system for capturing and positioning image is employed more and more widely.For example the optical mouse technology has a light emitting diode in optical mouse inside, by the light that this light emitting diode sends, illuminates the optical mouse lower surface.With a part of light of optical mouse lower surface reflected back,, be transferred to the interior imaging of a photoinduction device (little imager) then through one group of optical lens.Like this, when optical mouse moved, its motion track just can be registered as the coherent image of one group of high-speed capture.Utilize a special image analysis chip (DSP of optical mouse inside at last, be digital microprocessor) a series of images that absorbs on the motion track is carried out analyzing and processing, by the variation of characteristic point position on these images is analyzed, judge mouse moving direction and displacement, thereby finish the location of cursor.But, the technical limitation of optical mouse be must by means of one can reflects infrared light the out-of-flatness plane, so it is being carried out expanding function and then widespread use has been subjected to obstruction.
Nintendo designed the Wii location technology afterwards: the Wii game machine comprises a main frame, a game paddle, an infraluminescence bar.Several infraluminescence pipes are installed on the infraluminescence bar, infrared fileter, camera are installed on the wireless game pads.The infraluminescence bar sends two bundle infrared lights, and the infrared fileter on handle filters, and infrared light is passed through, and camera is taken outside infrared information, is calculated by the MCU on the game paddle again, gets the intermediate value of two infrared light spot distances, finishes the location.But camera is moved, promptly camera is bundled on the object that is positioned, position, the defective of this localization method is that environmental requirement to external world is than higher, because camera moves, if there is any infrared interference (sunshine or object reflected sunlight) in the external world, all can bring difficulty to internal arithmetic, thereby cause locating inaccurate.So a kind of more effective system for capturing and positioning image is badly in need of being developed.
Summary of the invention
The present invention is directed to the proposition of above problem, take the novel system for capturing and positioning image that mobile infrared positioning point positions and develop a kind of fixing camera that uses.The concrete technological means that the present invention adopts is as follows:
A kind of image capture device of infrared location is characterized in that comprising infrared positioning point, host computer, camera and infrared filtering lampshade;
Described infrared positioning point is bound with the object that is captured, as infrared light supply;
Described infrared filtering lampshade places the camera front end, is used for filtering infrared spectrum light in addition, only makes infrared light see through the infrared filtering lampshade;
Described host computer is gathered the motion track information of infrared positioning point in real time by camera, after this information be sent among the MCU of host computer or the CPU analyze, draw the current location of the object that is captured.
A kind of method of utilizing infrared location to carry out picture catching is characterized in that comprising the steps:
(1), host computer obtains a pictures as reference base picture by camera earlier;
(2), read previous step rapid in the shot picture data, the coordinate of non-black pixel is saved in the array Pixel1 infrared information of acquisition external environment;
(3), continue obtain picture by camera at the interval of setting in the short period, read the color data of this time obtaining picture, and this time obtain the coordinate array Pixel1 that is preserved in the same step of the coordinate of non-black pixel in the picture and compare, identical coordinate is saved among the array Pixel, infrared interfere information for external environment, and its x coordinate and y coordinate sued for peace respectively, and write down the quantity of coordinate among this array Pixel simultaneously, judge the infrared interference that whether has external environment condition with this;
(4), camera continues to take pictures, and carries out following computing to take pictures at every turn;
(5), if the quantity of coordinate is zero among the array Pixel, then there is not the infrared interference of external environment condition, do not having under the situation of outside infrared interference, the individual element point of the image that step (4) is obtained carries out color detection, if detect non-black pixel, just its coordinate information is deposited among the array stickPixel, obtain the average coordinates StickX=pStickX/pStickCount of infrared positioning point by computing, StickY=pStickY/pStickCount, wherein pStickX be among the array stickPixel all x coordinates and, pStickY be among the array stickPixel all y coordinates and, pStickCount is the quantity that step (4) obtains non-black pixel in the image;
(6), if the quantity of coordinate is non-vanishing among the array Pixel, then there is infrared interference in external environment, the individual element point of the image that step (4) is obtained carries out color detection, if detect non-black pixel, its coordinate information is deposited among the array stickPixel, obtain the average coordinates StickX=(pStickX-pixelX)/(pStickCount-pCount) of infrared positioning point by computing, StickY=(pStickY-pixelY)/(pStickCount-pCount), wherein pStickX be among the array stickPixel all x coordinates and, pStickY be among the array stickPixel all y coordinates and, in pixelX and the pixelY step (3) the coordinate X of the infrared information of the external environment condition that obtains and coordinate Y with, pStickCount is the quantity that step (4) obtains non-black pixel in the image, and pCount is the quantity of the non-black pixel in the outside infrared information in the step (3);
(7), according to different host computers, adopt certain conversion method that the average coordinates value that obtains in step (5) or the step (6) is converted into required locator data, this conversion process requires decision by user's difference.
3, a kind of method of utilizing infrared location to carry out picture catching according to claim 2, it is characterized in that also comprising at last judgement apart from last time the shooting environmental image whether greater than the stipulated time, if greater than returning step (1), if be not more than then return the step of step (3).
4, a kind of method of utilizing infrared location to carry out picture catching according to claim 2, it is characterized in that also comprising in the described step (5) the next range of movement of predicting infrared positioning point, obtain the method for the average coordinates of infrared positioning point again by computing, concrete steps are as follows:
1) at first judges whether it is to take for the first time after step (3): be that then the hunting zone of pixel is set at full frame; Not, then the search of pixel is searched in structure SearchBound zone, wherein structure SearchBound is calculated by structure PreBound and structure CurBound, and SearchBound concrete operation method is as follows: SearchBound.maxX=CurBound.maxX+ (CurBound.maxX-PreBound.maxX) * 2; SearchBound.minX=CurBound.minX+ (CurBound.minX-PreBound.minX) * 2; SearchBound.maxY=CurBound.maxY+ (CurBound.maxY-PreBound.maxY) * 2; SearchBound.minY=CurBound.minY+ (CurBound.minY-PreBound.minY) * 2; Structure PreBound is a structure that is used for storing infrared image element point range in the former frame, x maximal value PreBound.maxX by the coordinate of all non-black pixels in the preceding picture shot, minimum value PreBound.minX and y maximal value PreBound.maxY, minimum value PreBound.minY forms, it is the scope at the place of all non-black pixels in the preceding picture shot, structure CurBound is a structure that is used for storing infrared image element point range in the present frame, x maximal value CurBound.maxX by the coordinate of all non-black pixels in this picture shot, minimum value CurBound.minX and y maximal value CurBound.maxY, minimum value CurBound.minY forms, i.e. the scope at the place of all non-black pixels in this picture shot;
2) CurBound is composed to PreBound;
3) in the hunting zone, the individual element point is carried out color detection, if detect non-black pixel, just its coordinate information is deposited among the array stickPixel, pStickX be among the array stickPixel all x coordinates and, pStickY be among the array stickPixel all y coordinates and, use variable pStickCount to come recording step (4) to obtain the quantity of non-black pixel in the image, use CurBound to write down the coordinates regional of all non-black pixels;
4) computing obtains the average coordinates StickX=pStickX/pStickCount of infrared positioning point, StickY=pStickY/pStickCount;
5) can judge the scope that non-black pixel will move on the screen basically by PreBound, the CurBound that obtains above, can use only parameter to obtain the hunting zone SearchBound of next frame according to the own needs of programmer.
Inventive point of the present invention is to use fixing camera to take mobile infrared positioning point and positions, can save one and be used for the infraluminescence bar of locating separately, save cost, save the space, and because camera is fixed, the general variation of the infrared interference of external environment is not too large, has reduced the difficulty that the camera picture signal is resolved, it is more accurate to locate, and work efficiency is higher.In addition, in the algorithm of the present invention, be divided into extraneous existence interference and do not have interference two parts, can improve system works efficient in the operational process like this, and having removed the infrared light supply in the external environment effectively (mainly is sunshine, and object sunlight reflected) interference that is brought, more accurate positioning.
Description of drawings
Fig. 1 is a hardware block diagram of the present invention;
Fig. 2 is a main flow chart of the present invention;
Fig. 3 is the workflow diagram of specific embodiments of the invention.
Embodiment
As shown in Figure 1, total system is by infrared positioning point (infraluminescence equipment), host computer, and camera, the infrared filtering lampshade is formed.Infrared positioning point is the infraluminescence source, can be any equipment that sends the sufficient intensity infrared light; Host computer is the control watch-dog, can be equipment such as computer, game machine; Camera can be a built-in camera, also can be external pluggable camera; The infrared light lampshade is made by infrared fileter, can be fixed on the host computer, perhaps is fixed on the camera.Live camera with the infrared filtering cover cap, camera is connected to host computer, and the infraluminescence source is bound with the object that is captured.
Below be that the present invention will be described for example with the game machine, at first game machine (host computer) is connected to TV or display, camera is connected to game machine (host computer), can be to insert by external interface, perhaps camera is directly connected and is fixed on the game machine in inside; Live camera with the infrared filtering cover cap; Infrared positioning point (infraluminescence source) is installed to wireless game pads inside.Launch the infrared light of certain intensity by the infrared positioning point on the wireless game pads (infraluminescence source); Infrared light is by the infrared absorption filter light shield, enter camera, take into picture by camera, camera sends to image data the MCU (CPU) of machine interior again, the image data that the MCU of machine interior (CPU) sends camera carries out dissection process according to following algorithm, obtain the average coordinates in infrared positioning point (infraluminescence source), the average coordinates with infrared positioning point (infraluminescence source) is converted into the coordinate of cursor on display screen again, just can control the motion of cursor on display screen.
Embodiment 1: as shown in Figure 2, and the specific implementation method following steps of this system for capturing and positioning image:
(1), host computer obtains a pictures as reference base picture by camera earlier; According to hiding camera, camera is taken the infrared information of external environment condition with infrared light, and infrared pictorial information data are sent to the inner MCU (CPU) of game machine (host computer), carries out computing by MCU (CPU).
(2), read the rapid middle shot picture data of previous step, the coordinate of non-black pixel is saved in the array Pixel1, obtain the infrared information of external environment, if the color of pixel is that black (judge according to the upper equipment of difference by this color, judge by different color detection methods, the rgb value of general available pixel point is judged), with regard to not writing down the coordinate figure of this pixel, if the color of this pixel is not the coordinate figure that black just writes down this pixel;
(3), (the concrete time can be according to camera or computing power decision to continue to obtain two pictures pictures by camera at the interval of setting in short period, normally below 3 seconds, because may there be the infrared interference source of some variation in external environment condition, if there is the infrared interference source that changes, untimely eliminating, can cause the infrared location inaccurate), read the color data of this time obtaining picture, and this time obtain the coordinate array Pixel1 that is preserved in the same step of the coordinate of non-black pixel in the picture and compare, identical coordinate is saved among the array Pixel, infrared interfere information for external environment, because infrared positioning point is a mobile device, therefore the position in the short period is vicissitudinous, and the infrared information of external environment condition, usually come from fixed equipments such as sunlight or minute surface institute sunlight reflected, thus other not have the non-black pixel of change location be exactly the existing infrared information of external environment condition, the promptly outside infrared interference that exists.Use integer variable pCount to write down the quantity of the non-black pixel among the array Pixel, what be that pCount writes down is the quantity of the pixel of the infrared information that exists of external environment condition, integer variable pixelX be among the array Pixel all x coordinates and, shaping variable pixelY be among the array Pixel all y coordinates and.
(4), camera continues to take pictures, and carries out following computing (entering the major cycle part of program) to take pictures at every turn;
(5) if pCount is 0, promptly the quantity of the infrared information pixel of the environment that is obtained in the step 3 is 0, and the picture that just photographs is a black, and is outside without any infrared interference; In the absence of outside infrared interference, MCU (CPU) carries out following processing to the infrared pictorial information that camera sent:
The individual element point of the image that step (4) is obtained carries out color detection, if detect non-black pixel, just its coordinate information is deposited among the array stickPixel, obtain the average coordinates StickX=pStickX/pStickCount of infrared positioning point by computing, StickY=pStickY/pStickCount, wherein pStickX be among the array stickPixel all x coordinates and, pStickY be among the array stickPixel all y coordinates and, pStickCount is the quantity of non-black pixel in the captured image of step (4).
(6), pCount is not 0, promptly be that in first frame and second frame identical coordinate points to be arranged be non-black picture element, because itself moves infrared positioning point, therefore under the situation that if there is no external environment condition is disturbed, in within a short period of time captured two pictures, non-black pixel should have mobile, shows as its coordinate and changes.Have the infrared interference of external environment condition exactly, MCU (CPU) carries out following processing to the infrared pictorial information that camera sent:
The individual element point of the image that step (4) is obtained carries out color detection, if detect non-black pixel, its coordinate information is deposited among the array stickPixel, obtain the average coordinates StickX=(pStickX-pixelX)/(pStickCount-pCount) of infrared positioning point by computing, StickY=(pStickY-pixelY)/(pStickCount-pCount), wherein pStickX be among the array stickPixel all x coordinates and, pStickY be among the array stickPixel all y coordinates and, in pixelX and the pixelY step (3) the coordinate X of the infrared information of the external environment condition that obtains and coordinate Y with, pStickCount is the quantity that step (4) obtains non-black pixel in the image, and pCount is the quantity of the non-black pixel in the outside infrared information in the step (3).
(7), according to different host computers, adopt certain conversion method that the average coordinates value that obtains in step (5) or the step (6) is converted into required locator data, this conversion process requires decision by user's difference.According to the resolution difference of display screen that host computer connects, with the average coordinates StickX of top anchor point, the coordinate figure output that StickY is mapped to onscreen cursor.Because institute connects monitor resolution and performance difference, the mapping method difference, some does not need to shine upon yet, and some needs only directly exports according to StickX, StickY.For example, on computers, give cursor of mouse, and a little infraluminescence source is tied on hand, so just can directly rely on the variation of hand to handle moving of cursor of mouse resulting average coordinates assignment.
(8), whether the last time that obtains external environment information of judging distance greater than 2s, begin most＜the shooting environmental image if just be recycled to greater than 2s〉be in the step (1), if less than 2s just be recycled to＜camera takes pictures be step (4).
Embodiment 2: as shown in Figure 3, other step with embodiment here no longer one by one the explanation, present embodiment only to treatment step to some extent the step of difference (5) further specify:
(5) if pCount is 0, promptly the quantity of the infrared information pixel of the environment that is obtained in the step 3 is 0, and the picture that just photographs is a black, and is outside without any infrared interference; In the absence of outside infrared interference, MCU (CPU) handles the infrared pictorial information that camera sent.
1) judges whether preflag is 0.Define a shaping variable preflag, preflag is used for indicating whether be to take for the first time after entering major cycle, just be 0 if take preflag for the first time, if not shooting for the first time, preflag just is 1.If preflag is 0, explanation is to take for the first time, and then the hunting zone of pixel is set at full frame; If preflag is 1, then explanation is not to enter the first time of major cycle to take, and if not taking for the first time, illustrates to have PreBound.Structure PreBound is a structure that is used for storing infrared image element point range in the former frame, x maximal value PreBound.maxX by the coordinate of all non-black pixels in the preceding picture shot, minimum value PreBound.minX and y maximal value PreBound.maxY, minimum value PreBound.minY forms, it is the scope at the place of all non-black pixels in the preceding picture shot, structure CurBound is a structure that is used for storing infrared image element point range in the present frame, x maximal value CurBound.maxX by the coordinate of all non-black pixels in this picture shot, minimum value CurBound.minX and y maximal value CurBound.maxY, minimum value CurBound.minY forms, i.e. the scope at the place of all non-black pixels in this picture shot.At last, then calculate SearchBound by PreBound and CurBound; SearchBound concrete operation method is as follows: the * 2 of SearchBound.maxX=CurBound.maxX+(CurBound.maxX-PreBound.maxX); SearchBound.minX=CurBound.minX+ (CurBound.minX-PreBound.minX) * 2; SearchBound.maxY=CurBound.maxY+ (CurBound.maxY-PreBound.maxY) * 2; SearchBound.minY=CurBound.minY+ (CurBound.minY-PreBound.minY) * 2.Structure SearchBound is used for the structure of memory search scope, exactly the hunting zone of the infrared image element point of being predicted.The purpose that calculates this hunting zone is search in this zone of SearchBound in search infrared image element point, rather than in full frame search, can improve search efficiency.
2) composing CurBound to PreBound is in order to predict the motion of anchor point next frame by the computing of these two numerical value.
3) in the hunting zone, the individual element point is carried out color detection, if detect non-black pixel, just its coordinate information is deposited among the array stickPixel, pStickX be among the array stickPixel all x coordinates and, pStickY be among the array stickPixel all y coordinates and, use variable pStickCount to write down the quantity of non-black pixel, use CurBound to write down the coordinates regional of all non-black pixels.
4) computing obtains the average coordinates StickX=pStickX/pStickCount of infrared positioning point, StickY=pStickY/pStickCount.
5) can judge the scope that non-black pixel will move on the screen basically by PreBound, the CurBound that obtains above, can use only parameter to obtain the hunting zone SearchBound of next frame according to the own needs of programmer.
The above; only be the preferable embodiment of the present invention; but protection scope of the present invention is not limited thereto; anyly be familiar with those skilled in the art in the technical scope that the present invention discloses; be equal to replacement or change according to technical scheme of the present invention and inventive concept thereof, all should be encompassed within protection scope of the present invention.
Claims (4)
1, a kind of image capture device of infrared location is characterized in that comprising infrared positioning point, host computer, camera and infrared filtering lampshade;
Described infrared positioning point is bound with the object that is captured, as infrared light supply;
Described infrared filtering lampshade places the camera front end, is used for filtering infrared spectrum light in addition, only makes infrared light see through the infrared filtering lampshade;
Described host computer is gathered the motion track information of infrared positioning point in real time by camera, after this information be sent among the MCU of host computer or the CPU analyze, draw the current location of the object that is captured.
2, a kind of method of utilizing infrared location to carry out picture catching is characterized in that comprising the steps:
(1), host computer obtains a pictures as reference base picture by camera earlier;
(2), read previous step rapid in the shot picture data, the coordinate of non-black pixel is saved in the array Pixel1 infrared information of acquisition external environment;
(3), continue obtain picture by camera at the interval of setting in the short period, read the color data of this time obtaining picture, and this time obtain the coordinate array Pixel1 that is preserved in the same step of the coordinate of non-black pixel in the picture and compare, identical coordinate is saved among the array Pixel, infrared interfere information for external environment, and its x coordinate and y coordinate sued for peace respectively, and write down the quantity of coordinate among this array Pixel simultaneously, judge the infrared interference that whether has external environment condition with this;
(4), camera continues to take pictures, and carries out following computing to take pictures at every turn;
(5), if the quantity of coordinate is zero among the array Pixel, then there is not the infrared interference of external environment condition, do not having under the situation of outside infrared interference, the individual element point of the image that step (4) is obtained carries out color detection, if detect non-black pixel, just its coordinate information is deposited among the array stickPixel, obtain the average coordinates StickX=pStickX/pStickCount of infrared positioning point by computing, StickY=pStickY/pStickCount, wherein pStickX be among the array stickPixel all x coordinates and, pStickY be among the array stickPixel all y coordinates and, pStickCount is the quantity that step (4) obtains non-black pixel in the image;
(6), if the quantity of coordinate is non-vanishing among the array Pixel, then there is infrared interference in external environment, the individual element point of the image that step (4) is obtained carries out color detection, if detect non-black pixel, its coordinate information is deposited among the array stickPixel, obtain the average coordinates StickX=(pStickX-pixelX)/(pStickCount-pCount) of infrared positioning point by computing, StickY=(pStickY-pixelY)/(pStickCount-pCount), wherein pStickX be among the array stickPixel all x coordinates and, pStickY be among the array stickPixel all y coordinates and, pixelX and pixelY be the coordinate X of the infrared information of the external environment condition that obtains in the step (3) and coordinate Y with, pStickCount is the quantity of non-black pixel in the captured image of step (4), and pCount is the quantity of the non-black pixel in the outside infrared information in the step (3);
(7), according to different host computers, adopt certain conversion method that the average coordinates value that obtains in step (5) or the step (6) is converted into required locator data, this conversion process requires decision by user's difference.
3, a kind of method of utilizing infrared location to carry out picture catching according to claim 2, it is characterized in that also comprising at last judgement apart from last time the shooting environmental image whether greater than the stipulated time, if return step (1) greater than the stipulated time, if be not more than then return step (3).
4, a kind of method of utilizing infrared location to carry out picture catching according to claim 2, it is characterized in that also comprising in the described step (5) the next range of movement of predicting infrared positioning point, obtain the method for the average coordinates of infrared positioning point again by computing, concrete steps are as follows:
1) at first judges whether it is to take for the first time after step (3): be that then the hunting zone of pixel is set at full frame; Not, then the search of pixel is searched in structure SearchBound zone, wherein structure SearchBound is calculated by structure PreBound and structure CurBound, and SearchBound concrete operation method is as follows: SearchBound.maxX=CurBound.maxX+ (CurBound.maxX-PreBound.maxX) * 2; SearchBound.minX=CurBound.minX+ (CurBound.minX-PreBound.minX) * 2; SearchBound.maxY=CurBound.maxY+ (CurBound.maxY-PreBound.maxY) * 2; SearchBound.minY=CurBound.minY+ (CurBound.minY-PreBound.minY) * 2; Structure PreBound is a structure that is used for storing infrared image element point range in the former frame, x maximal value PreBound.maxX by the coordinate of all non-black pixels in the preceding picture shot, minimum value PreBound.minX and y maximal value PreBound.maxY, minimum value PreBound.minY forms, it is the scope at the place of all non-black pixels in the preceding picture shot, structure CurBound is a structure that is used for storing infrared image element point range in the present frame, x maximal value CurBound.maxX by the coordinate of all non-black pixels in this picture shot, minimum value CurBound.minX and y maximal value CurBound.maxY, minimum value CurBound.minY forms, i.e. the scope at the place of all non-black pixels in this picture shot;
2) CurBound is composed to PreBound;
3) in the hunting zone, the individual element point is carried out color detection, if detect non-black pixel, just its coordinate information is deposited among the array stickPixel, pStickX be among the array stickPixel all x coordinates and, pStickY be among the array stickPixel all y coordinates and, use variable pStickCount to come recording step (4) to obtain the quantity of non-black pixel in the image, use CurBound to write down the coordinates regional of all non-black pixels;
4) computing obtains the average coordinates StickX=pStickX/pStickCount of infrared positioning point, StickY=pStickY/pStickCount;
5) can judge the scope that non-black pixel will move on the screen basically by PreBound, the CurBound that obtains above, can use only parameter to obtain the hunting zone SearchBound of next frame according to the own needs of programmer.
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| CN2009100121170A CN101581989B (en) | 2009-06-17 | 2009-06-17 | System for capturing and positioning image |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101887329A (en) * | 2010-07-13 | 2010-11-17 | 世大光电(深圳)有限公司 | Electronic equipment and optical positioning device thereof |
| CN102445913A (en) * | 2010-10-08 | 2012-05-09 | 鸿富锦精密工业（深圳）有限公司 | Temperature monitoring system and method |
| CN104660971A (en) * | 2013-11-25 | 2015-05-27 | 上海捷视科技有限公司 | Handheld radio microphone video acquisition and positioning system |
| CN107390953A (en) * | 2017-07-04 | 2017-11-24 | 深圳市虚拟现实科技有限公司 | Virtual reality handle space localization method |
| CN110560827A (en) * | 2019-08-28 | 2019-12-13 | 深圳泰德激光科技有限公司 | Material welding method, welding equipment and storage medium |
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2009
- 2009-06-17 CN CN2009100121170A patent/CN101581989B/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101887329A (en) * | 2010-07-13 | 2010-11-17 | 世大光电(深圳)有限公司 | Electronic equipment and optical positioning device thereof |
| CN101887329B (en) * | 2010-07-13 | 2012-01-25 | 世大光电(深圳)有限公司 | Electronic equipment and optical positioning device thereof |
| CN102445913A (en) * | 2010-10-08 | 2012-05-09 | 鸿富锦精密工业（深圳）有限公司 | Temperature monitoring system and method |
| CN104660971A (en) * | 2013-11-25 | 2015-05-27 | 上海捷视科技有限公司 | Handheld radio microphone video acquisition and positioning system |
| CN107390953A (en) * | 2017-07-04 | 2017-11-24 | 深圳市虚拟现实科技有限公司 | Virtual reality handle space localization method |
| CN110560827A (en) * | 2019-08-28 | 2019-12-13 | 深圳泰德激光科技有限公司 | Material welding method, welding equipment and storage medium |
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| Publication number | Publication date |
|---|---|
| CN101581989B (en) | 2011-03-16 |
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