CN103456149A - Target-tracking-based remote controller and remote control method thereof - Google Patents
Target-tracking-based remote controller and remote control method thereof Download PDFInfo
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- CN103456149A CN103456149A CN2013103731362A CN201310373136A CN103456149A CN 103456149 A CN103456149 A CN 103456149A CN 2013103731362 A CN2013103731362 A CN 2013103731362A CN 201310373136 A CN201310373136 A CN 201310373136A CN 103456149 A CN103456149 A CN 103456149A
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Abstract
The invention discloses a target-tracking-based remote controller. A receiver and two invisible light point sources are arranged at the terminal of an intelligent television. The remote controller comprises an image acquisition module, an image processing module, a cursor determination module, a transmitting module, a control module and a power module, wherein the image acquisition module is used for acquiring the data of the invisible light point sources; the image processing module is used for performing variedness filtering removal and binaryzation on the acquired data so as to obtain binary light point image data; the cursor determination module is used for calculating the center coordinate of each light point and transmitting the numbers of the acquired light points to the control module to be processed; the coordinates are transmitted to the terminal of the intelligent television through the transmitting module after cursor determination; the receiver at the terminal of the intelligent television is used for receiving and processing the cursor coordinates so as to obtain HID (hide) mouse data, thereby performing control. The target positioning in a direct tracking manner is performed through the two invisible light sources fixed on the intelligent television, so that the remote controller is simple and high in positioning precision. The invention further discloses a corresponding remote control method.
Description
Technical field
The present invention relates to the telepilot technical field of intelligent television, be specifically related to remote control and remote control thereof thereof that a kind of based target is followed the trail of.
Background technology
Along with the progressively release of the intelligent televisions such as GoogleTV based on Android operating system, the traditional remote controller of carrying out program menu can not meet people's demand.Traditional TV remote controller adopts fixed mode cursor control knob by repeatedly pressing, provide cursor in controlling on the function such as move, move down, move to left, move to right.Can't realize any movement of cursor, and, in the situation that light is darker, button is not easy to differentiate, and easily pushes the wrong complex operation.Most critical be that present intelligent television is the embodiment of intelligent terminal after the integration of three networks, traditional remote controller seems unable to do what one wishes aspect intelligent television.So for convenience of to the operation of intelligent television, by the functional additive technique of mouse to realize aloft brandishing on telepilot this telepilot just can easily be controlled the television interfaces menu option imperative.
The existing master of the telepilot with mouse function aloft aspect, location is mainly to adopt gyro sensor or Gravity accelerometer to realize, the development difficulty of this scheme algorithm is large, the cost expense is larger, and very poor for the locating effect of little target.Therefore, be necessary to provide a kind of telepilot of realizing that based target simple, accurate positioning is followed the trail of to solve the defect of prior art.
Summary of the invention
The purpose of this invention is to provide a kind of targeting scheme directly followed the trail of the objective that adopts, realize simply, and the telepilot of the based target of positioning precision tracking and volume remote control thereof thereof.
The invention provides the telepilot that a kind of based target is followed the trail of, for the intelligent television end is carried out to remote control, described intelligent television end is provided with receiver and two non-visible light pointolites, described telepilot includes image capture module, image processing module, the cursor determination module, sending module, control module and power module, described image capture module is for gathering the non-visible light pointolite data of intelligent television end, described image processing module carries out filtering except dry and binaryzation to the data that collect, obtain two-value luminous point view data, the luminous point number that described cursor determination module calculates the centre coordinate of each luminous point and collects, finally send to control module to be processed the centre coordinate of luminous point and luminous point number information, control module is carried out cursor and is determined and send to the intelligent television end by sending module, described power module is for providing power supply,
The cursor coordinates that the receiver of intelligent television end sends over for the sending module that receives telepilot is also processed and is obtained the HID mouse data, and telepilot is the control to intelligent television according to described HID mouse data realization.
Preferably, described non-visible light pointolite is positioned on the same level line.
Preferably, described non-visible light pointolite is the infraluminescence diode.
Preferably, described image capture module is provided with infrared fileter.
Preferably, described image capture module adopts cmos image sensor, and resolution is 640 * 480.
Correspondingly, the present invention provides a kind of remote control thereof of telepilot of based target tracking as above simultaneously, comprises the following steps: step 1: light two non-visible light light sources, start power supply of remote controller; Step 2: the camera of initialisation image acquisition module gathers the data of two non-visible light light sources; Step 3: image processing module carries out the filtering binaryzation to the data that collect, and finds out each optical spot centre coordinate; Step 4: calculate the angle of camera deflection according to two centre coordinates, then calculate quasi-optical mark coordinate; Step 5: the aligning cursor coordinates is rotated conversion and obtains correct coordinate; Step 6: the cursor obtained is carried out to filtering, disappear and tremble; Step 7: cursor is sent to the receiver of intelligent television end by sending module, obtain after treatment the HID mouse data.
Compared with prior art, the telepilot that based target of the present invention is followed the trail of is provided with image capture module on telepilot, by two non-visible light sources fixing on intelligent television location that directly follows the trail of the objective.Scheme realizes simple, and can reach more high-precision location, for user's service of facilitating with improve user's experience.
The accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, below will the accompanying drawing of required use in embodiment or description of the Prior Art be briefly described, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skills, under the prerequisite of not paying creative work, can also obtain according to these accompanying drawings other accompanying drawing.
Fig. 1 is the structural representation of the telepilot followed the trail of of the based target of the embodiment of the present invention;
Fig. 2 is the process flow diagram of the remote control thereof of the telepilot followed the trail of of embodiment of the present invention based target;
Fig. 3 to Fig. 5 is that the remote control thereof of the telepilot of embodiment of the present invention based target tracking carries out the definite structural representation of coordinate.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is clearly and completely described, obviously, described embodiment is only the present invention's part embodiment, rather than whole embodiment.Embodiment based in the present invention, those of ordinary skills, not making all other embodiment that obtain under the creative work prerequisite, belong to the scope of protection of the invention.
With reference to figure 1, the invention provides the telepilot that a kind of based target is followed the trail of, for the intelligent television end is carried out to remote control, described intelligent television end is provided with receiver and two non-visible light pointolites, different from the telepilot of general telepilot and the aerial location of band, the present invention is embedded in a camera on telepilot and by two non-visible light sources fixing on intelligent television location that directly follows the trail of the objective.Two non-visible light pointolites are placed on the intelligent television end, and in the same horizontal line, the light source of employing is the infraluminescence diode.Described telepilot includes image capture module, image processing module, the cursor determination module, sending module, control module and power module, image capture module does not adopt the camera of cmos image sensor, resolution is 640 * 480, and add infrared fileter, make sensor can only allow the light of infrared wavelength to come in, described image capture module is for gathering the non-visible light pointolite data of intelligent television end, described image processing module carries out filtering except dry and binaryzation to the data that collect, obtain two-value luminous point view data, the luminous point number that described cursor determination module calculates the centre coordinate of each luminous point and collects, finally send to control module to be processed the centre coordinate of luminous point and luminous point number information, control module is carried out cursor and is determined and send to the intelligent television end by sending module, in an embodiment of the present invention, described control module is single-chip microcomputer.Described power module is for providing power supply.
Cursor is determined and sending module is mainly the realization of being responsible for the computing backoff algorithm of coordinate points.The receiver be connected with intelligent television is for receiving the cursor coordinates that sending module is sent here.And send cursor coordinates to single-chip microcomputer and process and to obtain HID (Handset Interface Device) mouse data.Telepilot is realized the control to intelligent television according to described HID mouse data.In an embodiment of the present invention, receiver is infrared receiving terminal, infrared receiving terminal sends to single-chip microcomputer by the signal received, single-chip microcomputer is arranged between infrared receiving terminal and intelligent television, contain the USB2.0 kernel in described single-chip microcomputer, support HID mouse agreement, can, by revising the HID device descriptor, the coordinate data of receiving be transformed into to the HID mouse data.USB device reflects their attribute by descriptor.For the HID kind equipment, than the many report descriptors of USB device.Because existing HID mouse is all for relative coordinate, and the scheme of the embodiment of the present invention is camera, what photographed is absolute coordinates, is the modification of carrying out the report descriptor of HID mouse on the basis of standard HID mouse, obtains the HID mouse of absolute coordinates.And change the numerical range of X coordinate into 0-480, change the numerical range of Y coordinate into 0-to 360.
With reference to figure 2, correspondingly, the present invention provides a kind of remote control thereof of telepilot of based target tracking as above simultaneously, comprises the following steps:
Step S001: light two non-visible light light sources, start power supply of remote controller;
Step S002: the camera of initialisation image acquisition module gathers the data of two non-visible light light sources;
Step S003: image processing module carries out the filtering binaryzation to the data that collect, and finds out each optical spot centre coordinate;
Step S004: calculate the angle of camera deflection according to two centre coordinates, then calculate quasi-optical mark coordinate;
Step S005: the aligning cursor coordinates is rotated conversion and obtains correct coordinate;
Step S006: the cursor obtained is carried out to filtering, disappear and tremble;
Step S007: cursor is sent to the receiver of intelligent television end by sending module, obtain after treatment the HID mouse data.
Particularly, realizing determining the cursor point coordinate time, the centre coordinate of the calibration point that image processing module photographs sends single-chip microcomputer at the field blanking interval of each.Single-chip microcomputer is resolved the data of receiving meticulously, obtains centre coordinate (x, y) and (x, the y) of two calibration points, thoroughly does away with this two point coordinate and calculates the angle between camera plane and surface level.Now will carry out smothing filtering to the angle obtained, purpose is eliminated the interference caused due to flashing of manual or calibration point.Finally carry out rotation of coordinate and compensation, obtain final cursor point coordinate.
When carrying out coordinates correction with compensation, due to the non-visible light pointolite on the same straight line, so can obtain cmos sensor on telepilot and the angle a of horizontal direction according to two optical spot centre coordinates in the bianry image obtained, obtain the center of all optical spot centre coordinates in image as quasi-optical mark coordinate.When hand-held remote controller is horizontal when mobile, the movement of luminous point coordinate is also to move in the opposite direction according to the moving direction of telepilot, but, after hand-held remote controller makes camera and horizontal direction certain angle occur, when the mobile remote control device, deviation has just appearred in the direction of cursor movement.When between camera and level, individual angle being arranged, be divided into the clockwise deflection of camera and counterclockwise two kinds of situations of deflection.
When camera turns clockwise, view-finder has become the dotted line frame by original solid box rotation, deflection a angle, and the coordinate generally obtained from view-finder is consistent with view-finder in the dotted line frame, the coordinate that really need to correspond on the intelligent television screen is realized the coordinate that view-finder is corresponding really.The value that need to obtain is the coordinate figure in the YOX coordinate system, its horizontal positioned the same as the intelligent television screen, and the coordinate obtained from camera is Y ' O ' X ' coordinate system.Therefore need to be rotated counterclockwise YOX to coordinate from Y ' O ' X ', have planimetric coordinates rotation transition matrix formula known:
X＝X'cos?a+Y’sin?a
Y＝Y'cos?a-X’sin?a
When the counterclockwise deflection of camera, now the situation when turning clockwise is similar, and now a angle is negative angle, and formula is constant.
With reference to figure 3, when coordinate system rotation is YOX, can see that the Y coordinate of the dotted line frame part of X-axis below is negative, and negative coordinate is not corresponding on the intelligent television screen, is all that definition starts as starting point from O here.So need to, the downward translation of X coordinate axis, guarantee that the point coordinate in all dotted line frames is all positive.X-axis is moved down to Lsina, can guarantee in the dotted line frame be a little all positive.(row that L is camera imaging resolution).
Figure 3 shows that the situation while being rotated counterclockwise camera, the Y-axis coordinate need to be to the distance of left W sin a.(row that w is camera imaging resolution).
Through after coordinate compensation, can see that monumented point that camera photographs all in the dotted line frame, is not all right if there is no with original camera the mapping method rotated again.We can take following measure, first find the center point coordinate (x0 of dotted line view-finder as shown in Figure 5, y0), point centered by this central point again, 480 * 360 rectangle of a horizontal positioned of structure, true origin is being had original O point move to O ' point, finally with TV screen on the coordinate mapping.
Compared with prior art, the telepilot that based target of the present invention is followed the trail of is provided with image capture module on telepilot, by two non-visible light sources fixing on intelligent television location that directly follows the trail of the objective.Scheme realizes simple, and can reach more high-precision location, for user's service of facilitating with improve user's experience.
The telepilot that the above based target that the embodiment of the present invention is provided is followed the trail of, be described in detail, applied specific case in the present invention principle of the present invention and embodiment are set forth, the explanation of above embodiment is just for helping to understand method of the present invention and core concept thereof; , for one of ordinary skill in the art, according to thought of the present invention, all will change in specific embodiments and applications, in sum, this description should not be construed as limitation of the present invention simultaneously.
Claims (6)
1. the telepilot that based target is followed the trail of, for the intelligent television end is carried out to remote control, is characterized in that, described intelligent television end is provided with receiver and two non-visible light pointolites, described telepilot includes image capture module, image processing module, the cursor determination module, sending module, control module and power module, described image capture module is for gathering the non-visible light pointolite data of intelligent television end, described image processing module carries out filtering except dry and binaryzation to the data that collect, obtain two-value luminous point view data, the luminous point number that described cursor determination module calculates the centre coordinate of each luminous point and collects, finally send to control module to be processed the centre coordinate of luminous point and luminous point number information, control module is carried out cursor and is determined and send to the intelligent television end by sending module, described power module is for providing power supply,
The cursor coordinates that the receiver of intelligent television end sends over for the sending module that receives telepilot is also processed and is obtained the HID mouse data, and telepilot is the control to intelligent television according to described HID mouse data realization.
2. the telepilot that based target as claimed in claim 1 is followed the trail of is characterized in that described non-visible light pointolite is positioned on the same level line.
3. the telepilot that based target as claimed in claim 2 is followed the trail of is characterized in that described non-visible light pointolite is the infraluminescence diode.
4. the telepilot that based target as claimed in claim 3 is followed the trail of is characterized in that described image capture module is provided with infrared fileter.
5. the telepilot that based target as claimed in claim 1 is followed the trail of, is characterized in that, described image capture module adopts cmos image sensor, and resolution is 640 * 480.
6. the remote control thereof of the telepilot of a based target tracking as claimed in claim 1, is characterized in that, comprises the following steps:
Step 1: light two non-visible light light sources, start power supply of remote controller;
Step 2: the camera of initialisation image acquisition module gathers the data of two non-visible light light sources;
Step 3: image processing module carries out the filtering binaryzation to the data that collect, and finds out each optical spot centre coordinate;
Step 4: calculate the angle of camera deflection according to two centre coordinates, then calculate quasi-optical mark coordinate;
Step 5: the aligning cursor coordinates is rotated conversion and obtains correct coordinate;
Step 6: the cursor obtained is carried out to filtering, disappear and tremble;
Step 7: cursor is sent to the receiver of intelligent television end by sending module, obtain after treatment the HID mouse data.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103701527A (en) * | 2013-12-31 | 2014-04-02 | 深圳天珑无线科技有限公司 | Visible light information receiving method and device |
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| US5999167A (en) * | 1996-11-08 | 1999-12-07 | Stephen A. Marsh | Cursor control device |
| CN201035753Y (en) * | 2007-04-18 | 2008-03-12 | 北京威亚视讯科技有限公司 | Remote controller and direction interactive system |
| CN101226437A (en) * | 2008-01-30 | 2008-07-23 | 丁远彤 | Three-dimensional sensing system capable of being used for space telecontrol mouse and capturing motion |
| CN201576260U (en) * | 2010-01-13 | 2010-09-08 | 北京视博数字电视科技有限公司 | Cursor control system |
| CN102103422A (en) * | 2011-01-20 | 2011-06-22 | 中山大学 | Remote control system for mouse |
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5999167A (en) * | 1996-11-08 | 1999-12-07 | Stephen A. Marsh | Cursor control device |
| CN201035753Y (en) * | 2007-04-18 | 2008-03-12 | 北京威亚视讯科技有限公司 | Remote controller and direction interactive system |
| CN101226437A (en) * | 2008-01-30 | 2008-07-23 | 丁远彤 | Three-dimensional sensing system capable of being used for space telecontrol mouse and capturing motion |
| CN201576260U (en) * | 2010-01-13 | 2010-09-08 | 北京视博数字电视科技有限公司 | Cursor control system |
| CN102103422A (en) * | 2011-01-20 | 2011-06-22 | 中山大学 | Remote control system for mouse |
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| CN103701527A (en) * | 2013-12-31 | 2014-04-02 | 深圳天珑无线科技有限公司 | Visible light information receiving method and device |
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Application publication date: 20131218 |