CN104185050A - OTT television based intelligent remote control system and control method thereof - Google Patents

Abstract

The invention provides an OTT television based intelligent remote control system and a control method thereof. The control system comprises a remote control sheet and an OTT box thereof, wherein the remote control sheet comprises an MCU, a triaxial accelerometer sensor, a triaxial gyroscope sensor, a triaxial magnetometer sensor and a Bluetooth sending module, and the MCU is connected with the triaxial accelerometer sensor, the triaxial gyroscope sensor, the triaxial magnetometer sensor and the Bluetooth sending module; and the OTT box comprises a control chip and a Bluetooth receiving module that is connected with the control chip. According to the OTT television based intelligent remote control system and the control method thereof, traditional mechanical buttons are not required; voice identification is integrated with gesture identification, so that voice input is realized, and movement of a screen cursor as well as a series of gestures in different complexity are controlled by the sensors; and thus, the contents are more abundant.

Description

Intelligent remote control system based on OTT TV and control method thereof

Technical field

The present invention relates to communication technical field, relate in particular to a kind of intelligent remote control system and control method thereof based on OTT TV.

Background technology

OTT box is a small-sized computing terminal equipment, it is connected with traditional tv by technology such as HDMI or color difference lines as long as simple, just can on traditional tv, realize web page browsing, Internet video broadcasting, application program installation, even the photo in mobile phone, flat board and video can be projected in the middle of the large screen television in getting home.OTT box must use by matched remote controller, and at present traditional remote control mode mainly contains two kinds: a kind of is button infrared remote controller based on traditional, and one is based on handset remote controller app.Handset remote controller app realizes by the mode of analogue-key, and it is upper is the same with traditional remote controller, and this mechanical key mode is relatively poor in user's experience.Given this, people start the thinking mode of body sense and replace traditional remote controller, at present emerging flying squirrel remote controller has substantially been realized and is utilized the motion of remote controller to realize the control that it moves as cursor on internet television screen on the market, and in somatic sensation television game, serve as game paddle, but this flying squirrel remote controller only can be realized its movement on screen as cursor, and Operational Figure Of Merit is not high, and the remote controller of prior art cannot be realized the identification of gesture, cannot make OTT box carry out corresponding operational order according to the motion state of remote controller.

In sum, traditional remote controller is based on button principle, the too mechanization of its mode of operation; Although existing body sense remote controller can be realized the control of cursor, because the Mobile data of controlling cursor exists larger error, therefore, operate sensitively not, experience poor; And existing body sense remote controller cannot realize the identification of gesture, user embodies not good.

Summary of the invention

The object of the invention is to solve the defect that above-mentioned prior art exists, provide one not only can precisely control cursor movement, can also realize the OTT intelligence box remote control sheet of gesture identification.

Based on an intelligent remote control system for OTT TV, comprise remote control sheet and OTT box thereof;

3 axle acceleration flowmeter sensors, 3 axle gyro sensors, 3 axle magnetometer sensor, bluetooth sending module, capacitor type touch switch, LED light, battery voltage detection circuit, MIC voice input module that described remote control sheet comprises MCU main controller, is connected respectively with MCU main controller;

The bluetooth receiver module that described OTT box comprises control chip, is connected with control chip.

Further, the intelligent remote control system based on OTT TV as above, described remote control sheet comprises MIC voice input module, described MIC voice input module is connected with MCU main controller.

Further, the intelligent remote control system based on OTT TV as above, described remote control sheet comprises battery voltage detection circuit, described MCU main controller is connected with battery voltage detection circuit.

Further, the intelligent remote control system based on OTT TV as above, described OTT box comprises camera, described camera is connected with control chip.

An intelligent remote control system control method based on OTT TV, adopts complementary filter method to revise the data of 3 axle gyro sensors, specifically comprises the following steps:

(1), MCU main controller is according to the motion state of remote control sheet, obtains respectively the original measurement value of 3 axis accelerometers, 3 axle gyroscopes, 3 axle magnetometers, wherein a _{0 (x, y, z)}represent 3-axis acceleration original measurement value, g _{0 (x, y, z)}represent three axis angular rate original measurement values, m _{0 (x, y, z)}represent three-axle magnetic field original measurement value;

(2), MCU main controller is according to the original measurement value a obtaining _{0 (x, y, z)}, g _{0 (x, y, z)}, m _{0 (x, y, z)}calculate the value after normalization, be expressed as a _{x, y, z}, g _{x, y, z}, m _{x, y, z};

(3), MCU main controller is according to a _{x, y, z}, g _{x, y, z}, m _{x, y, z}error of calculation vector e _{x, y, z},

$\left\{\begin{array}{c}{e}_x=(a_y*v_z-a_z*v_y)+(m_y*w_z-m_z*w_y)\\ e_y=(a_z*v_x-a_x*v_z)+(m_z*w_x-m_x*w_z)\\ e_z=(a_x*v_y-a_y*v_x)+(m_x*w_y-m_y*w_x)\end{array}\right.---\left(1\right);$

In formula, v _{x, y, z}for acceleration reference vector, the gravitational unit's vector under geographic coordinate system is transformed into the value after body axis system, and establishing the vector representation of current time hypercomplex number is Q=q ₀+ q ₁i+q ₂j+q ₃k, wherein hypercomplex number q ₀, q ₁, q ₂, q ₃be initialized as respectively 1,0,0,0, v _{x, y, z}computing formula is as follows:

$\left\{\begin{array}{c}{v}_x=2*(q_1{q}_3-q_0{q}_2)\\ v_y=2*(q_0{q}_1+q_3{q}_2)\\ v_z=q_0{q}_0-q_1{q}_1-q_2{q}_2+q_3{q}_3\end{array}\right.---\left(2\right);$

W _{x, y, z}for magnetic field reference vector, be that the magnetic field unit vector under geographic coordinate system is transformed into the value after body axis system, the magnetic field unit vector under geographic coordinate system is made as b _{x, y, z}, computing formula is as follows:

$\left\{\begin{array}{c}{b}_x=\sqrt{\begin{array}{c}{({2m}_z(q_1{q}_3+q_0{q}_2)+{2m}_y(q_2{q}_1-q_0{q}_3)+{2m}_x(0.5{-q}_3{q}_3-q_2{q}_2))}^2\\ +{({2m}_z(q_2{q}_3-q_0{q}_1)+{2m}_x(q_2{q}_1+q_0{q}_3)+{2m}_y(0.5{-q}_1{q}_1-q_3{q}_3))}^2\end{array}}\\ b_y=0\\ b_z={2m}_x(q_1{q}_3-q_0{q}_2)+{2m}_y(q_2{q}_3+q_0{q}_1)+{2m}_z(0.5{-q}_1{q}_1-q_2{q}_2)\end{array}\right.---\left(3\right);$

$\left\{\begin{array}{c}{w}_x={2b}_x(0.5-q_3{q}_3-q_2{q}_2)+{2b}_z(q_1{q}_3-q_0{q}_2)\\ w_y={2b}_x(q_1{q}_2-q_0{q}_3)+{2b}_z(q_1{q}_0+q_3{q}_2)\\ w_z={2b}_x(q_1{q}_3+q_0{q}_2)+{2b}_z(0.5-q_1{q}_1-q_2{q}_2)\end{array}\right.---\left(4\right);$

(4), MCU main controller utilizes error vector e _{x, y, z}gyro data is carried out to filtering, obtain revised three axis angular rate measured values, be expressed as g ' _{0 (x, y, z)},

$\left\{\begin{array}{c}{g}_{0x}^{\′}=g_{0x}+K_p*e_x+e_x\mathrm{Int}+e_x*K_i*T/2\\ g_{0y}^{\′}=g_{0y}+K_p*e_y+e_y\mathrm{Int}+e_y*K_i*T/2\\ g_{0z}^{\′}=g_{0z}+K_p*e_z+e_z\mathrm{Int}+e_z*K_i*T/2\end{array}\right.---\left(5\right);$

In formula, e _{x, y, z}int is three-axis gyroscope error intergal, and T is the sampling interval, constant coefficient K _irepresent to control the storage gain of gyroscope zero inclined to one side rate of convergence, K _prepresent to control the proportional gain of accelerometer and magnetometer rate of convergence.

Further, the intelligent remote control system control method based on OTT TV as above, it comprises the following steps:

(1) the magnitude of angular velocity g ' that, MCU main controller obtains according to complementary filter method _{0 (x, y, z)}the displacement Δ x of screen cursor on x axle and the mobile Δ y in Y-axis in calculating sampling interval T on display screen

$\left\{\begin{array}{c}\mathrm{\Δx}=\frac{{g_{0z}}^{\′}*\mathrm{speed}\_\mathrm{mode}}{\mathrm{Segmentations}*\mathrm{control}\_\mathrm{sensitivity}}\\ \mathrm{\Δy}=\frac{{g_{0y}}^{\′}*\mathrm{speed}+\mathrm{mode}}{\mathrm{Segmentations}*\mathrm{control}\_\mathrm{sensitivity}}\end{array}\right.---\left(6\right);$

Wherein speed_mode and Segmentations are the predefine constants of sensor fusion algorithm, and control_sensitivity represents gyroscope sensitivity;

(2), by screen cursor, the displacement Δ x on x axle, the screen cursor mobile Δ y in Y-axis sends to the bluetooth receiver module of OTT box to MCU main controller by bluetooth sending module, the control chip of OTT box is carried out the relative displacement distance of remote control sheet on screen according to the Δ x, the Δ y that receive.

Further, the intelligent remote control system control method based on OTT TV as above, comprises the following steps:

(1), user's hand-held remote control sheet marks a gesture aloft, the three-axis gyroscope transducer of remote control sheet is exported original three axis angular rate measured value g according to the motion state of this remote control sheet _{0 (x, y, z)};

(2), MCU main controller utilizes complementary filter method to g _{0 (x, y, z)}carry out filtering processing, obtain g ' _{0 (x, y, z)};

(3), MCU main controller is according to g ' _{0 (x, y, z)}utilize quaternion differential equation to upgrade and obtain hypercomplex number differential

$\left[\begin{array}{c}{\stackrel{\·}{q}}_0\\ {\stackrel{\·}{q}}_1\\ {\stackrel{\·}{q}}_2\\ {\stackrel{\·}{q}}_3\end{array}\right]=\frac{1}{2}\left[\begin{array}{cccc}0& {-g}_{0x}^{\′}& {-g}_{0y}^{\′}& {-g}_{0z}^{\′}\\ g_{0x}^{\′}& 0& g_{0z}^{\′}& {-g}_{0y}^{\′}\\ g_{0y}^{\′}& {-g}_{0z}^{\′}& 0& g_{0x}^{\′}\\ g_{0z}^{\′}& g_{0y}^{\′}& -g_{0x}^{\′}& 0\end{array}\right]\left[\begin{array}{c}{q}_0\\ q_1\\ q_2\\ q_3\end{array}\right]---\left(7\right);$

(4), MCU main controller will obtain the hypercomplex number q under current time after the above results integration _0,1,2,3thereby, carry out attitude algorithm, obtain 3 attitude angle, i.e. course angles roll angle λ, pitching angle theta,

(5), MCU main controller is sent to OTT box by roll angle λ through bluetooth, control chip calculates roll angle variation delta λ in gesture time of origin, judge in the time of-180 ° of < Δ λ <-90 ° left-handed, in the time of 180 ° of 90 ° of < Δ λ <, be dextrorotation, and carry out the corresponding command according to result of determination.

Further, the intelligent remote control system control method based on OTT TV as above, comprises the following steps:

(1), user's hand-held remote control sheet marks a gesture aloft, each transducer of remote control sheet is exported original 3-axis acceleration measured value a according to the movement locus of this remote control sheet _{0 (x, y, z)}, three axis angular rate measured value g _{0 (x, y, z)}, three-axle magnetic field measured value m _{0 (x, y, z)};

(2), MCU main controller is according to a _{0 (x, y, z)}, g _{0 (x, y, z)}, m _{0 (x, y, z)}calculate the magnitude of angular velocity g ' after complementary filter _{0 (x, y, z)}, bluetooth sending module is by g ' _{0 (x, y, z)}and 3-axis acceleration measured value a _{0 (x, y, z)}radio to OTT box;

(3), the acceleration a of the control chip of OTT box based on receiving _{0 (x, y, z)}with angular speed g ' _{0 (x, y, z)}, realize the identification of complicated gesture or realize the function of remote control sheet as somatic sensation television game handle.

An intelligent remote control system control method based on OTT TV, comprises the following steps:

(1), user's hand-held remote control sheet marks a gesture aloft, the 3-axis acceleration sensor of remote control sheet is exported original 3-axis acceleration measured value a according to the motion state of this remote control sheet _{0 (x, y, z)};

(2), MCU main controller utilizes hypercomplex number by a _{0 (x, y, z)}be transformed into geographic coordinate system a ' from body axis system _{0 (x, y, z)}, conversion formula is:

$\left[\begin{array}{c}{a}_{0x}^{\&prime;}\\ a_{0y}^{\&prime;}\\ a_{0z}^{\&prime;}\end{array}\right]=Q*\left[\begin{array}{c}{a}_{0x}\\ a_{0y}\\ a_{0z}\end{array}\right]*Q^{*}---\left(9\right);$

(3), MCU main controller is by a ' _{0 (x, y, z)}send to OTT box by blue teeth wireless, control chip is according to a ' _{0 (x, y, z)}compare with a predefined threshold value, judge the direction of motion of remote control sheet according to comparative result, then carry out corresponding order according to the direction of motion; Described threshold value comprises upper and lower 6 directions corresponding interval respectively all around.

An intelligent remote control system control method based on OTT TV, comprises () following steps:

(1) the MIC voice input module, on remote control sheet gathers the voice messaging of user's input, and it is carried out to analog-to-digital conversion, and the voice messaging after conversion is sent to OTT box by bluetooth sending module;

(2), the voice messaging receiving and the sound bank being pre-stored in memory in advance carry out template matches by OTT box control chip, find out corresponding voice, thereby carry out corresponding instruction.

Intelligent remote control system and control method thereof based on OTT TV provided by the invention, due to integrated 3 axle acceleration flowmeter sensors, 3 axle gyro sensors and 3 axle magnetometer sensor on remote control sheet, first on MCU main controller, utilize complementary filter technology to eliminate gyrostatic error, based on sensing data after treatment, realize more accurate remote control again.Intelligent remote control system based on OTT TV provided by the invention can be controlled the movement of screen cursor, identify a series of simple to complicated gesture, also support voice input, can serve as game paddle, on the basis of external camera, can also realize reality and strengthen, thereby make remote controller further realize abundanter content.In addition, the small and exquisite exquisiteness of remote control sheet outward appearance of the present invention, can be hand-held, also can be buckled on supporting bracelet or finger ring and use, and further improved user's experience.

Brief description of the drawings

Fig. 1 is the intelligent remote control system structural representation that the present invention is based on OTT TV;

Fig. 2 is OTT box intelligent distant control sheet vertical view of the present invention;

Fig. 3 is OTT box intelligent distant control sheet stereogram of the present invention;

Fig. 4 is speech recognition schematic diagram;

Fig. 5 is that low-voltage detects schematic diagram.

Embodiment

For making the object, technical solutions and advantages of the present invention clearer, below technical scheme in the present invention be clearly and completely described, obviously, described embodiment is the present invention's part embodiment, instead of whole embodiment.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtaining under creative work prerequisite, belong to the scope of protection of the invention.

Fig. 1 is the intelligent remote control system structural representation that the present invention is based on OTT TV, and as shown in Figure 1, the intelligent remote control system based on OTT TV provided by the invention, comprises remote control sheet and OTT box thereof;

3 axle acceleration flowmeter sensors, 3 axle gyro sensors, 3 axle magnetometer sensor, bluetooth sending module, capacitor type touch switch, LED light that described remote control sheet comprises MCU main controller, is connected respectively with MCU main controller;

The bluetooth receiver module that described OTT box comprises control chip, is connected with control chip, described bluetooth receiver module is corresponding with the bluetooth sending module of remote control Embedded.

Intelligent distant control based on OTT TV provided by the invention, due to simultaneously integrated 3 axle acceleration flowmeter sensors, 3 axle gyro sensors and 3 axle magnetometer sensor on described remote control sheet, the MCU main controller of remote control sheet is measured respectively former starting acceleration a according to 3 axle acceleration flowmeter sensors, 3 axle gyro sensors and 3 axle magnetometer sensor _{0 (x, y, z)}, angular speed g _{0 (x, y, z)}, and magnetic-field measurement value m _{0 (x, y, z)}, and adopt the initial data g of the measurement of complementary filter technology to 3 axle gyro sensors _{0 (x, y, z)}revise, then by revised angular speed g ' _{(0x, y, z)}send to OTT box by bluetooth sending module, the control chip of OTT box is according to g ' _{0 (x, y, z)}and other sensor measurements data out realize following energy:

1, realize based on filtered magnitude of angular velocity the control that screen cursor moves;

Particularly, the utilization of MCU main controller adopts the angular speed g ' after filter correction _{0 (x, y, z)}calculate in a sampling interval T, the displacement Δ x of screen cursor on x axle and the mobile Δ y in Y-axis, then, MCU main controller is the displacement Δ x on x axle by screen cursor, the mobile Δ y of screen cursor in Y-axis sends to the bluetooth receiver module of OTT box by bluetooth sending module, the control chip of OTT box is according to the Δ x receiving, Δ y carries out the relative displacement distance of remote control sheet on screen, thereby, user just can see the movement of cursor on screen, because the present invention has adopted complementary filter technology, therefore, the movement of cursor is more accurately sensitive.

2, before and after realizing up and down based on accekeration, the identification of 6 direction simple gesture, realizes the identification of 2 direction simple gesture of left-handed dextrorotation based on filtered magnitude of angular velocity, then carries out corresponding order according to the motion of these 8 directions.

Particularly, user's hand-held remote control sheet marks a gesture aloft, and the 3-axis acceleration sensor of remote control sheet is exported original 3-axis acceleration measured value a according to the motion state of this remote control sheet _{0 (x, y, z)}; , MCU main controller utilizes hypercomplex number by a _{0 (x, y, z)}be transformed into geographic coordinate system a ' from body axis system _{0 (x, y, z)}, MCU main controller is by a ' _{0 (x, y, z)}send to OTT box by blue teeth wireless, (this threshold value comprises the threshold values of upper and lower 6 directions all around to a threshold value that OTT box is pre-stored, each threshold values is respectively equipped with a corresponding interval at x, y, z axle), OTT box is received to a ' _{0 (x, y, z)}compare with the interval threshold value of respective coordinates axle, then judge the direction of motion of remote control sheet according to comparative result, then the control chip of OTT box is carried out corresponding order according to the direction of motion of judging.

3, based on accekeration and filtered magnitude of angular velocity, utilize existing complicated Gesture Recognition to carry out complicated gesture identification, user can be the different self-defined corresponding fill order of gesture.

4, be used as the input value of somatic sensation television game based on accekeration, magnetic field value and filtered magnitude of angular velocity, make remote control sheet serve as the role of game paddle.

Particularly, the realization of this function comprises the following steps:

(1) user's hand-held remote control sheet marks a gesture aloft, and each transducer of remote control sheet is exported original 3-axis acceleration measured value a according to the movement locus of this remote control sheet _{0 (x, y, z)}, three axis angular rate measured value g _{0 (x, y, z)}, three-axle magnetic field measured value m _{0 (x, y, z)};

(2) MCU main controller is according to a _{0 (x, y, z)}, g _{0 (x, y, z)}, m _{0 (x, y, z)}calculate the magnitude of angular velocity g ' after complementary filter _{0 (x, y, z)}, bluetooth sending module is by g ' _{0 (x, y, z)}and 3-axis acceleration measured value a _{0 (x, y, z)}radio to OTT box;

(3) the acceleration a of the control chip of OTT box based on receiving _{0 (x, y, z)}with angular speed g ' _{0 (x, y, z)}, realize the identification of complicated gesture or realize the function of remote control sheet as somatic sensation television game handle.

Further, in order to improve for embodying, the present invention is on the basis of the intelligent remote control system of described OTT TV, and described remote control sheet comprises battery voltage detection circuit, and described MCU main controller is connected with battery voltage detection circuit.Described OTT box comprises camera, and described camera is connected with control chip.

Fig. 5 is that low-voltage detects schematic diagram, and as shown in Figure 5, remote control sheet main controller has the A/D convertor circuit that battery electric quantity detects, by its battery alarm voltage value of programming and low-voltage sleep value.The voltage value obtaining when detection is during lower than low-voltage alarming value, and remote control sheet is by allowing the indicator light reminding user battery electric quantity deficiency of glimmering.The voltage value obtaining when detection is during lower than low pressure sleep value, remote control sector-meeting sleep mode automatically, and before sleep, bright a period of time of indicator light president, charges with reminding user.

The present invention utilizes MIC voice input module to gather user speech input message, and is sent in OTT box, utilizes existing speech recognition technology to identify user speech.When in the situation of the external camera of OTT box, can carry out picture catching and location to remote control sheet, the display mode on screen changes and controls to remote control sheet to utilize existing real enhancing technology.In order to realize the wireless transmission of remote control sheet and OTT box, the present invention adopts Bluetooth technology to carry out transfer of data.In order to improve the flying power of remote control sheet, the present invention adds managing electric quantity mechanism in remote control sheet.

OTT box intelligent distant control sheet outward appearance exquisiteness, only has dial plate size, and not additional any mechanical key, can be hand-held, also can be buckled on supporting bracelet or finger ring, carries out remote control as intelligent wearable device.Integrated 9 axle sensor modules, microprocessor, bluetooth module, microphone, LED light, battery voltage detection circuit and a capacitor type touch switch on it, under remote control sheet resting state, touch this switch and can wake remote control sheet up, in working order, touch this switch and can enter main menu by a key, be equivalent to " home " key.

As shown in Figure 1, as shown in Figure 2,3, wherein in the middle of remote control sheet top layer, recessed portion is soft-touch control to appearance design 3D effect figure for OTT box intelligent distant control sheet and OTT box hardware block diagram, and surrounding is indicator light floodlight district.

The present invention also provides a kind of intelligent remote control system control method based on OTT TV.

Particularly, 9 axle sensors comprise the 3 axle acceleration flowmeter sensors for acceleration measurement, for 3 axle gyro sensors of measured angular speed, with the 3 axle magnetometer sensor for measuring magnetic field, what 3 axle acceleration flowmeter sensors and 3 axle gyro sensors were measured is acceleration and the angular speed of transducer (namely remote control sheet), what 3 axle gyro sensors were measured is the residing earth magnetic field of remote control sheet, due to gyroscope survey to rudimentary horn speed contain drift error, if directly application is to cause larger error, therefore, first need MCU main controller to carry out filtering to rudimentary horn speed, the present invention adopts complementary filter technology to revise angular speed, concrete implementation step is as follows:

(1), MCU main controller is according to the motion state of remote control sheet, obtains respectively the original measurement value of 3 axis accelerometers, 3 axle gyroscopes, 3 axle magnetometers, wherein a _{0 (x, y, z)}represent 3-axis acceleration original measurement value, g _{0 (x, y, z)}represent three axis angular rate original measurement values, m _{0 (x, y, z)}represent three-axle magnetic field original measurement value;

(2), MCU main controller is according to the original measurement value a obtaining _{0 (x, y, z)}, g _{0 (x, y, z)}, m _{0 (x, y, z)}calculate the value after normalization, be expressed as a _{x, y, z}, g _{x, y, z}, m _{x, y, z};

(3), MCU main controller is according to a _{x, y, z}, g _{x, y, z}, m _{x, y, z}error of calculation vector e _{x, y, z},

$\left\{\begin{array}{c}{e}_x=(a_y*v_z-a_z*v_y)+(m_y*w_z-m_z*w_y)\\ e_y=(a_z*v_x-a_x*v_z)+(m_z*w_x-m_x*w_z)\\ e_z=(a_x*v_y-a_y*v_x)+(m_x*w_y-m_y*w_x)\end{array}\right.---\left(1\right);$

In formula, v _{x, y, z}for acceleration reference vector, the gravitational unit's vector under geographic coordinate system is transformed into the value after body axis system, and establishing the vector representation of current time hypercomplex number is Q=q ₀+ q ₁i+q ₂j+q ₃k (wherein hypercomplex number q ₀, q ₁, q ₂, q ₃be initialized as respectively 1,0,0,0), v _{x, y, z}computing formula is as follows:

$\left\{\begin{array}{c}{v}_x=2*(q_1{q}_3-q_0{q}_2)\\ v_y=2*(q_0{q}_1+q_3{q}_2)\\ v_z=q_0{q}_0-q_1{q}_1-q_2{q}_2+q_3{q}_3\end{array}\right.---\left(2\right);$

W _{x, y, z}for magnetic field reference vector, be that the magnetic field unit vector under geographic coordinate system is transformed into the value after body axis system, the magnetic field unit vector under geographic coordinate system is made as b _{x, y, z}, computing formula is as follows:

$\left\{\begin{array}{c}{b}_x=\sqrt{\begin{array}{c}{({2m}_z(q_1{q}_3+q_0{q}_2)+{2m}_y(q_2{q}_1-q_0{q}_3)+{2m}_x(0.5{-q}_3{q}_3-q_2{q}_2))}^2\\ +{({2m}_z(q_2{q}_3-q_0{q}_1)+{2m}_x(q_2{q}_1+q_0{q}_3)+{2m}_y(0.5{-q}_1{q}_1-q_3{q}_3))}^2\end{array}}\\ b_y=0\\ b_z={2m}_x(q_1{q}_3-q_0{q}_2)+{2m}_y(q_2{q}_3+q_0{q}_1)+{2m}_z(0.5{-q}_1{q}_1-q_2{q}_2)\end{array}\right.---\left(3\right);$

$\left\{\begin{array}{c}{w}_x={2b}_x(0.5-q_3{q}_3-q_2{q}_2)+{2b}_z(q_1{q}_3-q_0{q}_2)\\ w_y={2b}_x(q_1{q}_2-q_0{q}_3)+{2b}_z(q_1{q}_0+q_3{q}_2)\\ w_z={2b}_x(q_1{q}_3+q_0{q}_2)+{2b}_z(0.5-q_1{q}_1-q_2{q}_2)\end{array}\right.---\left(4\right);$

(4), MCU main controller utilizes error vector e _{x, y, z}gyro data is carried out to filtering, obtain revised three axis angular rate measured values, be expressed as g ' _{0 (x, y, z)},

$\left\{\begin{array}{c}{g}_{0x}^{\&prime;}=g_{0x}+K_p*e_x+e_x\mathrm{Int}+e_x*K_i*T/2\\ g_{0y}^{\&prime;}=g_{0y}+K_p*e_y+e_y\mathrm{Int}+e_y*K_i*T/2\\ g_{0z}^{\&prime;}=g_{0z}+K_p*e_z+e_z\mathrm{Int}+e_z*K_i*T/2\end{array}\right.---\left(5\right)$

In formula, e _{x, y, z}int is three-axis gyroscope error intergal, and T is the sampling interval, constant coefficient K _irepresent to control the storage gain of gyroscope zero inclined to one side rate of convergence, K _prepresent to control the proportional gain of accelerometer and magnetometer rate of convergence.

Based on the above-mentioned correction-compensation to angular speed, the present invention also provides the method for controlling screen cursor movement.

Particularly, the movement of cursor only need to be used the gyro sensor data of both direction, wherein, and filtered angular speed g ' _0zrepresent course angle rate of change, determine screen cursor displacement Δ x on x axle within the T time interval, filtered angular speed g ' with this _0yrepresent angle of pitch rate of change, determine screen cursor mobile Δ y in Y-axis within the T time interval with this, can determine Δ x according to the proportionate relationship between displacement and angular speed, y thus:

$\left\{\begin{array}{c}\mathrm{\&Delta;x}=\frac{{g_{0z}}^{\&prime;}*\mathrm{speed}\_\mathrm{mode}}{\mathrm{Segmentations}*\mathrm{control}\_\mathrm{sensitivity}}\\ \mathrm{\&Delta;y}=\frac{{g_{0y}}^{\&prime;}*\mathrm{speed}+\mathrm{mode}}{\mathrm{Segmentations}*\mathrm{control}\_\mathrm{sensitivity}}\end{array}\right.---\left(6\right)$

This formula is that the quantitative ratio of angular speed and cursor movement is related to computing formula, and wherein speed_mode and Segmentations are the predefine constants of sensor fusion algorithm, and control_sensitivity represents gyroscope sensitivity.

The present invention also provides a kind of and has known method for distinguishing about predefined simple gesture, comprises the identification of 8 simple gesture directions of motion containing predefined simple gesture identification, up and down before, and left-handed dextrorotation.

The judgement of the direction that 1. seesaws up and down

The acceleration of three axles is set to respective threshold and can judge the direction (up and down) that user's gesture moves, accekeration is carried out to integration and can also calculate gesture mobile displacement in space, if by gesture motion track be presented in real time on screen, can realize on screen make marks, picture etc.

The function of 6 moving directions of predefine is as follows:

Upper: after channel selection menu ejects, for increasing television channel number, the increase of channel number becomes certain ratio with displacement, be increased to till upwards gesture stops;

Under: after channel selection menu ejects, for reducing television channel number, the reducing of channel number becomes certain ratio with displacement, till being reduced to downward gesture and stopping;

Left: in screen, content is moved to the left (rolling);

When video display, music, reduce volume till gesture stops, the reducing of volume becomes certain ratio with displacement;

When electronic bits of data reading or PPT demo mode, page turning left;

Right: content move right (rolling) in screen;

When video display, music, increase volume till gesture stops, the increase of volume becomes certain ratio with displacement;

When electronic bits of data reading or PPT demo mode, page turning to the right;

Before: the amplifications such as picture, word are until gesture stops, and magnification ratio becomes certain ratio with displacement;

Rear: picture, word etc. dwindles until gesture stops, reduce in scale becomes certain ratio with displacement;

While realization, first utilize hypercomplex number that 3-axis acceleration vector is transformed into geographic coordinate system from body axis system, then according to a ' _{0 (x, y, z)}judge remote control sheet moving direction (as shown in table 1).

MCU main controller utilizes hypercomplex number by a _{0 (x, y, z)}be transformed into geographic coordinate system a ' from body axis system _{0 (x, y, z)}, conversion formula is:

$\left[\begin{array}{c}{a}_{0x}^{\&prime;}\\ a_{0y}^{\&prime;}\\ a_{0z}^{\&prime;}\end{array}\right]=Q*\left[\begin{array}{c}{a}_{0x}\\ a_{0y}\\ a_{0z}\end{array}\right]*Q^{*}---\left(9\right);$

Table 1 is the basis for estimation of front and back up and down

By a ' calculating _0xyzxthe table of comparisons 1, can judge is the motion of that direction of front and back up and down, and then carries out corresponding order according to the direction of motion.

2. direction of rotation judgement

Remote control sheet MCU main controller carries out attitude algorithm according to filtered angular speed and obtains three attitude angle (course angles roll angle λ, pitching angle theta), can carry out the judgement of 2 direction of rotation (left-handed, dextrorotation) to OTT box through Bluetooth transmission, basis for estimation is as shown in table 2, and the function of 2 rotations of predefine is as follows:

Dextrorotation: TV is closed down, dextrorotation represents start once;

Under open state, dextrorotation represents " determining " once;

Left-handed: the in the situation that of main menu, confirmation frame is closed in left-handed ejection once, and shutdown, the left-handed main menu that returns are confirmed in now dextrorotation;

In non-main menu situation, left-handed expression " returning " once;

While realization, first upgrade hypercomplex number derivative according to quaternion differential equation

$\left[\begin{array}{c}{\stackrel{\&CenterDot;}{q}}_0\\ {\stackrel{\&CenterDot;}{q}}_1\\ {\stackrel{\&CenterDot;}{q}}_2\\ {\stackrel{\&CenterDot;}{q}}_3\end{array}\right]=\frac{1}{2}\left[\begin{array}{cccc}0& {-g}_{0x}^{\&prime;}& {-g}_{0y}^{\&prime;}& {-g}_{0z}^{\&prime;}\\ g_{0x}^{\&prime;}& 0& g_{0z}^{\&prime;}& {-g}_{0y}^{\&prime;}\\ g_{0y}^{\&prime;}& {-g}_{0z}^{\&prime;}& 0& g_{0x}^{\&prime;}\\ g_{0z}^{\&prime;}& g_{0y}^{\&prime;}& -g_{0x}^{\&prime;}& 0\end{array}\right]\left[\begin{array}{c}{q}_0\\ q_1\\ q_2\\ q_3\end{array}\right]---\left(7\right)$

After integration, obtain the hypercomplex number q under current time _0,1,2,3, the relation between recycling hypercomplex number and coordinate conversion matrix, between coordinate conversion matrix and attitude angle is carried out attitude algorithm, shown in following formula:

Because left-handed dextrorotation is only relevant with roll angle, regulation roll angle threshold value is as follows:

The basis for estimation of the left-handed dextrorotation of table 2

Direction of rotation	Threshold value
		Left-handed	-180°＜Δλ＜-90°

Dextrorotation

90°＜Δλ＜180°

In table 2, Δ λ represents the variable quantity of roll angle in gesture motion time of origin.

The present invention also provides the method for the complicated gesture identification can customize, and particularly, is similar to coding principle, and user can be set as shortcut a series of more complicated gesture according to the hobby of oneself and open fast some application.Because complicated gesture identification needs real-time calculating and the storage of large amount of complex, on remote control sheet, cannot complete merely, therefore need the sensing data of eliminating after error to arrive OTT box by Bluetooth transmission, in box, carry out.The recognition technology of existing complicated gesture can realize by the wherein one in 3 kinds of modes that provide below.Method one: based on HMM; Method two: based on input method; Method three: in conjunction with voice.While realization, first degree of will speed up and filtered angular speed send to OTT box to remote control sheet MCU, OTT box is again based on these data, utilize existing complicated Gesture Recognition to realize the identification of complicated gesture, the detailed principle of existing complicated Gesture Recognition will repeat no more.

One, the complicated gesture identification based on recessive Markov model (HMM)

The application of recessive Markov model (Hidden Markov Model-HMM) in speech recognition is quite ripe, because gesture sequence is very similar with voice sequence, therefore HMM is also used in gesture identification gradually, and has obtained higher accuracy of identification.

The complicated gesture identification method of HMM:

Step 1: what a gesture storehouse of precondition is stored in OTT box, these gestures have comprised numeral 012 ... 9 and English lower case abc ..., and some special figures (for example: love, make hook, question mark ...), the corresponding a kind of HMM model λ of each gesture;

Step 2: user can be the self-defined shortcut function of each gesture (for example love represents to play at once favorite television channel), and user inputs corresponding gesture, remote control sheet sends to OTT box acceleration and filtered angular speed;

Step 3: OTT box control chip is based on these data, utilizes HMM algorithm to calculate the probability that in gesture storehouse, each model occurs, maximum probability be the gesture that user makes;

The method of the complicated gesture identification based on input method

Certain current OTT box all carries or input method can be installed, most of input method (as search dog input method etc.) be all based on image processing techniques, carry out fuzzy diagnosis according to final image, in literal pool, finding out all close words provides user to select.After user has inputted gesture, remote control sheet sends to OTT box sensing data, and control chip is inputted data again as input method, identifies corresponding gesture.

In conjunction with the method for the complicated gesture identification of voice

Speech data is sent to OTT box by remote control sheet, and speech recognition software finds corresponding word to show from sound bank.

The present invention utilizes remote controller to realize the method for somatic sensation television game

Angular velocity data after remote control sheet degree of will speed up, magnetic field and filtering sends to OTT box by bluetooth, and somatic sensation television game program calculates the corresponding actions of these data representatives, for it sets corresponding game order.

The present invention utilizes remote controller to realize the method for speech recognition

Bluetooth sends the speech input information of remote control sheet to OTT box, and control chip carries out sound template and mates the voice that can identify user.Fig. 4 is speech recognition schematic diagram, intelligent distant control sheet has voice input module, can gather user's speech data, through AD analog-to-digital conversion, send to the processing unit in OTT box by bluetooth module, thereby parse user's usual instructions and carry out associative operation, such as zapping, volume increase and decrease, switching on and shutting down, entering PPT demo mode, enter somatic sensation television game etc.Coordinate gesture identification function by voice recognition processing, user can realize the beginning of gesture and confirm operation, has saved the traditional operations such as button.Speech data can also do other and process, and as by loud speaker sounding, sends to server by network, carries out other function treatment.

Voice collecting

Before sampling and quantizing, must carry out the pre-filtering of speech signal.The object of pre-filtering is that particularly filtering is higher than the composition of 1/2 sample frequency in order to prevent high-frequency noise.The band pass filter of design, upper limiting frequency is 3400Hz, lower frequency limit is 60Hz.Be converted to again binary audio digital signals of 16 by A/D.After coding, sending to OTT box processing center by bluetooth module identifies or other processing.

Speech recognition process

Voice input signal in OTT box intelligent distant control sheet is sent to and in OTT box, carries out speech recognition through bluetooth.What when processing, adopt is unspecified person isolated word recognition mode, and an independent entry be can be regarded as in each word or phrase in vocabulary, add the usual instructions model library having trained on OTT box.Therefore, user only need to face toward remote control sheet, says conventional instruction as start, shutdown, and sound subtracts, and sound adds, and confirms, returns etc., and the processing center of OTT box is by the feature extraction of voice, and the estimation of the coupling of ATL, draws court verdict.So just can realize various phonetic orders has operated.

The present invention utilizes remote control sheet to realize the method that reality strengthens

In the time of the external camera of OTT box, can carry out picture catching and location to remote control sheet, utilize existing real enhancing technology to realize the remote control sheet in picture is become to another article.For example become a handful flower, a teapot, one sword etc., reaches magical AR effect.

Bluetooth communication

Integrated with Bluetooth module on remote control sheet and OTT box, sets up the function that just can realize data wireless on remote control sheet after network successful matching and be transferred to OTT box.If remote control sheet a period of time does not have operational motion automatically to enter resting state, drive bluetooth also to enter dormancy, until user touches capacitance switch, wake MCU up, MCU drives bluetooth to wake up, thereby carries out other functions.

Data on remote control sheet will be sent to after box, could generate command adapted thereto, complete corresponding operating.Because Bluetooth technology is data information and voice messaging simultaneously, there is the advantages such as easy to use, antijamming capability is strong, low in energy consumption, radiation is low, this technology employing integrated with Bluetooth module in remote control sheet and OTT box realizes the transmission of wireless data.

By the Basic Topological piconet (Piconet) of bluetooth, OTT box is as main equipment (Master), can accept the control of 7 remote control sheets in state of activation at the most simultaneously, realize both hands or many people and control video screen simultaneously or realize many people athletic game etc.For different transferring contents, bluetooth is used different agreement:

Pass voice messaging by A2DP agreement, headset profile (Headset Profile), handsfree protocol (Hands-Free Profile) etc., can realize very easily the voice transfer between remote control sheet and OTT box, also ensure the confidentiality of voice messaging simultaneously.

By SPP protocol transmission data message, to the different COS of main frame application, distinguish these different COS by the Report ID (being Property ID) of self-defining by SDP agreement.

The bluetooth module groundwork state of OTT box intelligent distant control sheet comprises following 4 kinds:

Sleep state: in sleep state, Bluetooth chip power consumption is extremely low, while being waken up, if there has been the information of reconnecting (the last host information of pairing with it, comprise BD_Address and Pin Code) and electric weight enough enter the state of reconnecting, otherwise stay at sleep state.

Reconnect state: enter after the state of reconnecting, read the information of reconnecting and attempt reconnecting with the main frame of the last pairing.If reconnected successfully, enter operating state, if repeatedly reconnect failure, reenter sleep state.

Can Discovery Status: under free position, if user presses pairing key, remove that reconnect information and enter can Discovery Status.At this moment main frame OTT box can be found remote controller, and carries out matching operation.

Operating state: carry out normal data transmit-receive in operating state, whether remote control sheet is selected required transducer and module and control and power and select different sniff intervals to reduce power consumption to them according to different message formats.If user does not use remote control sheet for a long time, system can increase the interval of sniff, reduces power consumption, finally can make system enter sleep state.If OTT box main frame initiatively disconnects, system can enter sleep state.If connect unexpected disconnection, system can enter the state of reconnecting.

Power management

In order to improve the flying power of remote control sheet, we are improved the design of remote control sheet.Improved method has two.First method is to improve the capacity of remote control sheet battery, uses rechargeable battery, charges by USB or wireless charging mode, although increased so a little the weight of remote control sheet, has reduced the inconvenience that frequent replacing battery brings, more environmental protection, economy.Second method is to make remote control sheet energy-conservation, reduces the use electric current of remote controller as far as possible, under different operating states and different message format, selects different transducers or module, adjusts the power of give out a contract for a project interval and the radio frequency of bluetooth.

Sleep pattern

In remote control sheet pairing, reconnect failure, or close most functions when long-time unmanned use, enter an extremely low state of power consumption to save battery electric quantity.Meeting following any one condition: match unsuccessfully, reconnect failure, battery electric quantity is low, long-time attonity etc., system will enter sleep state.

Should set waken system GPIO entering before sleep state, system can closure sensor module, and notifies bluetooth controller to enter sleep pattern, and the oikocryst of finally closing chip operation shakes and makes chip enter sleep pattern.In the time of sleep pattern, only there is a low-frequency LPO crystal oscillator for system provides clock, only have capacitive touch switch wake-up interrupts can make system wake-up.

After system is waken up, first can initialization GPIO, timer, voltage detecting ADC etc., after completing initialization, battery is carried out to voltage detecting, if cell voltage is lower than alarm voltage, the LED of remote controller meeting cut-in voltage alarm carrys out reminding user and charges in time, if voltage is lower than shutdown voltage, remote controller can reenter sleep state.After detecting by low pressure, remote controller is attempted reconnecting with server, reconnect failure or Discovery overtime after, remote control sector-meeting enters sleep state again.

Low pressure detects

Fig. 5 is that low-voltage detects schematic diagram, and remote control sheet main controller has the A/D convertor circuit that battery electric quantity detects, by its battery alarm voltage value of programming and low-voltage sleep value.The voltage value obtaining when detection is during lower than low-voltage alarming value, and remote control sheet is by allowing the indicator light reminding user battery electric quantity deficiency of glimmering.The voltage value obtaining when detection is during lower than low pressure sleep value, remote control sector-meeting sleep mode automatically, and before sleep, bright a period of time of indicator light president, charges with reminding user.

Intelligent distant control sheet provided by the invention, except controlling OTT box, also can be in the similar like products such as internet television.

Intelligent distant control sheet provided by the invention is an OTT box intelligent distant control sheet that outward appearance is small and exquisite, and not additional any mechanical key has also added other content of more enriching on the function basis of realizing traditional remote controller in a kind of brand-new mode.On remote control sheet, integrated accelerometer, gyroscope, magnetometer, utilize accelerometer and magnetometer data to compensate gyro data, and the zero drift error can effectively filtering low level bringing to gyroscope, has improved precision to a great extent.Utilize magnitude of angular velocity to be converted to the displacement of cursor on screen two-dimensional space on the one hand, carry out on the other hand a series of simple to complicated gesture identification in conjunction with accekeration, for example up and down, rotation, numeral, special pattern etc., thereby can replace button in traditional remote controller can serve as again the mini game paddle of somatic sensation television game.In addition, remote control sheet is also integrated microphone, thus realize voice control, make operation more simple and direct.

Finally it should be noted that: above embodiment only, in order to technical scheme of the present invention to be described, is not intended to limit; Although the present invention is had been described in detail with reference to previous embodiment, those of ordinary skill in the art is to be understood that: its technical scheme that still can record aforementioned each embodiment is modified, or part technical characterictic is wherein equal to replacement; And these amendments or replacement do not make the essence of appropriate technical solution depart from the spirit and scope of various embodiments of the present invention technical scheme.

Claims (10)

1. the intelligent remote control system based on OTT TV, is characterized in that, comprises remote control sheet and OTT box thereof;

3 axle acceleration flowmeter sensors, 3 axle gyro sensors, 3 axle magnetometer sensor, bluetooth sending module, capacitor type touch switch, LED light, battery voltage detection circuit, MIC voice input module that described remote control sheet comprises MCU main controller, is connected respectively with MCU main controller;

The bluetooth receiver module that described OTT box comprises control chip, is connected with control chip.

2. the intelligent remote control system based on OTT TV according to claim 1, is characterized in that, described remote control sheet comprises MIC voice input module, and described MIC voice input module is connected with MCU main controller.

3. the intelligent remote control system based on OTT TV according to claim 1, is characterized in that, described remote control sheet comprises battery voltage detection circuit, and described MCU main controller is connected with battery voltage detection circuit.

4. the intelligent remote control system based on OTT TV according to claim 1, is characterized in that, described OTT box comprises camera, and described camera is connected with control chip.

5. the intelligent remote control system control method based on OTT TV, is characterized in that, adopts complementary filter method to revise the data of 3 axle gyro sensors, specifically comprises the following steps:

(1), MCU main controller is according to the motion state of remote control sheet, obtains respectively the original measurement value of 3 axis accelerometers, 3 axle gyroscopes, 3 axle magnetometers, wherein a _{0 (x, y, z)}represent 3-axis acceleration original measurement value, g _{0 (x, y, z)}represent three axis angular rate original measurement values, m _{0 (x, y, z)}represent three-axle magnetic field original measurement value;

(2), MCU main controller is according to the original measurement value a obtaining _{0 (x, y, z)}, g _{0 (x, y, z)}, m _{0 (x, y, z)}calculate the value after normalization, be expressed as a _{x, y, z}, g _{x, y, z}, m _{x, y, z};

(3), MCU main controller is according to a _{x, y, z}, g _{x, y, z}, m _{x, y, z}error of calculation vector e _{x, y, z},

$\left\{\begin{array}{c}{e}_x=(a_y*v_z-a_z*v_y)+(m_y*w_z-m_z*w_y)\\ e_y=(a_z*v_x-a_x*v_z)+(m_z*w_x-m_x*w_z)\\ e_z=(a_x*v_y-a_y*v_x)+(m_x*w_y-m_y*w_x)\end{array}\right.---\left(1\right);$

In formula, v _{x, y, z}for acceleration reference vector, the gravitational unit's vector under geographic coordinate system is transformed into the value after body axis system, and establishing the vector representation of current time hypercomplex number is Q=q ₀+ q ₁i+q ₂j+q ₃k, wherein hypercomplex number q ₀, q ₁, q ₂, q ₃be initialized as respectively 1,0,0,0, v _{x, y, z}computing formula is as follows:

$\left\{\begin{array}{c}{v}_x=2*(q_1{q}_3-q_0{q}_2)\\ v_y=2*(q_0{q}_1+q_3{q}_2)\\ v_z=q_0{q}_0-q_1{q}_1-q_2{q}_2+q_3{q}_3\end{array}\right.---\left(2\right);$

W _{x, y, z}for magnetic field reference vector, be that the magnetic field unit vector under geographic coordinate system is transformed into the value after body axis system, the magnetic field unit vector under geographic coordinate system is made as b _{x, y, z}, computing formula is as follows:

$\left\{\begin{array}{c}{b}_x=\sqrt{\begin{array}{c}{({2m}_z(q_1{q}_3+q_0{q}_2)+{2m}_y(q_2{q}_1-q_0{q}_3)+{2m}_x(0.5{-q}_3{q}_3-q_2{q}_2))}^2\\ +{({2m}_z(q_2{q}_3-q_0{q}_1)+{2m}_x(q_2{q}_1+q_0{q}_3)+{2m}_y(0.5{-q}_1{q}_1-q_3{q}_3))}^2\end{array}}\\ b_y=0\\ b_z={2m}_x(q_1{q}_3-q_0{q}_2)+{2m}_y(q_2{q}_3+q_0{q}_1)+{2m}_z(0.5{-q}_1{q}_1-q_2{q}_2)\end{array}\right.---\left(3\right);$

$\left\{\begin{array}{c}{w}_x={2b}_x(0.5-q_3{q}_3-q_2{q}_2)+{2b}_z(q_1{q}_3-q_0{q}_2)\\ w_y={2b}_x(q_1{q}_2-q_0{q}_3)+{2b}_z(q_1{q}_0+q_3{q}_2)\\ w_z={2b}_x(q_1{q}_3+q_0{q}_2)+{2b}_z(0.5-q_1{q}_1-q_2{q}_2)\end{array}\right.---\left(4\right);$

(4), MCU main controller utilizes error vector e _{x, y, z}gyro data is carried out to filtering, obtain revised three axis angular rate measured values, be expressed as g ' _{0 (x, y, z)},

$\left\{\begin{array}{c}{g}_{0x}^{\&prime;}=g_{0x}+K_p*e_x+e_x\mathrm{Int}+e_x*K_i*T/2\\ g_{0y}^{\&prime;}=g_{0y}+K_p*e_y+e_y\mathrm{Int}+e_y*K_i*T/2\\ g_{0z}^{\&prime;}=g_{0z}+K_p*e_z+e_z\mathrm{Int}+e_z*K_i*T/2\end{array}\right.---\left(5\right);$

In formula, e _{x, y, z}int is three-axis gyroscope error intergal, and T is the sampling interval, constant coefficient K _irepresent to control the storage gain of gyroscope zero inclined to one side rate of convergence, K _prepresent to control the proportional gain of accelerometer and magnetometer rate of convergence.

6. the intelligent remote control system control method based on OTT TV according to claim 5, is characterized in that, comprises the following steps:

(1) the magnitude of angular velocity g ' that, MCU main controller obtains according to complementary filter method _{0 (x, y, z)}the displacement Δ x of screen cursor on x axle and the mobile Δ y in Y-axis in calculating sampling interval T on display screen

$\left\{\begin{array}{c}\mathrm{\&Delta;x}=\frac{{g_{0z}}^{\&prime;}*\mathrm{speed}\_\mathrm{mode}}{\mathrm{Segmentations}*\mathrm{control}\_\mathrm{sensitivity}}\\ \mathrm{\&Delta;y}=\frac{{g_{0y}}^{\&prime;}*\mathrm{speed}+\mathrm{mode}}{\mathrm{Segmentations}*\mathrm{control}\_\mathrm{sensitivity}}\end{array}\right.---\left(6\right);$

Wherein speed_mode and Segmentations are the predefine constants of sensor fusion algorithm, and control_sensitivity represents gyroscope sensitivity;

(2), by screen cursor, the displacement Δ x on x axle, the screen cursor mobile Δ y in Y-axis sends to the bluetooth receiver module of OTT box to MCU main controller by bluetooth sending module, the control chip of OTT box is carried out the relative displacement distance of remote control sheet on screen according to the Δ x, the Δ y that receive.

7. the intelligent remote control system control method based on OTT TV according to claim 5, is characterized in that, comprises the following steps:

(1), user's hand-held remote control sheet marks a gesture aloft, the three-axis gyroscope transducer of remote control sheet is exported original three axis angular rate measured value g according to the motion state of this remote control sheet _{0 (x, y, z)};

(2), MCU main controller utilizes complementary filter method to g _{0 (x, y, z)}carry out filtering processing, obtain g ' _{0 (x, y, z)};

(3), MCU main controller is according to g ' _{0 (x, y, z)}utilize quaternion differential equation to upgrade and obtain hypercomplex number differential

$\left[\begin{array}{c}{\stackrel{\&CenterDot;}{q}}_0\\ {\stackrel{\&CenterDot;}{q}}_1\\ {\stackrel{\&CenterDot;}{q}}_2\\ {\stackrel{\&CenterDot;}{q}}_3\end{array}\right]=\frac{1}{2}\left[\begin{array}{cccc}0& {-g}_{0x}^{\&prime;}& {-g}_{0y}^{\&prime;}& {-g}_{0z}^{\&prime;}\\ g_{0x}^{\&prime;}& 0& g_{0z}^{\&prime;}& {-g}_{0y}^{\&prime;}\\ g_{0y}^{\&prime;}& {-g}_{0z}^{\&prime;}& 0& g_{0x}^{\&prime;}\\ g_{0z}^{\&prime;}& g_{0y}^{\&prime;}& -g_{0x}^{\&prime;}& 0\end{array}\right]\left[\begin{array}{c}{q}_0\\ q_1\\ q_2\\ q_3\end{array}\right]---\left(7\right);$

(4), MCU main controller will obtain the hypercomplex number q under current time after the above results integration _0,1,2,3thereby, carry out attitude algorithm, obtain 3 attitude angle, i.e. course angles roll angle λ, pitching angle theta,

(5), MCU main controller is sent to OTT box by roll angle λ through bluetooth, control chip calculates roll angle variation delta λ in gesture time of origin, judge in the time of-180 ° of < Δ λ <-90 ° left-handed, in the time of 180 ° of 90 ° of < Δ λ <, be dextrorotation, and carry out the corresponding command according to result of determination.

8. the intelligent remote control system control method based on OTT TV according to claim 5, is characterized in that, comprises the following steps:

(1), user's hand-held remote control sheet marks a gesture aloft, each transducer of remote control sheet is exported original 3-axis acceleration measured value a according to the movement locus of this remote control sheet _{0 (x, y, z)}, three axis angular rate measured value g _{0 (x, y, z)}, three-axle magnetic field measured value m _{0 (x, y, z)};

(2), MCU main controller is according to a _{0 (x, y, z)}, g _{0 (x, y, z}), m _{0 (x, y, z)}calculate the magnitude of angular velocity g ' after complementary filter _{0 (x, y, z)}, bluetooth sending module is by g ' _{0 (x, y, z)}and 3-axis acceleration measured value a _{0 (x, y, z)}radio to OTT box;

(3), the acceleration a of the control chip of OTT box based on receiving _{0 (x, y, z)}with angular speed g ' _{0 (x, y, z)}, realize the identification of complicated gesture or realize the function of remote control sheet as somatic sensation television game handle.

9. the intelligent remote control system control method based on OTT TV, is characterized in that, comprises the following steps:

(1), user's hand-held remote control sheet marks a gesture aloft, the 3-axis acceleration sensor of remote control sheet is exported original 3-axis acceleration measured value a according to the motion state of this remote control sheet _{0 (x, y, z)};

(2), MCU main controller utilizes hypercomplex number by a _{0 (x, y, z)}be transformed into geographic coordinate system a ' from body axis system _{0 (x, y, z)}, conversion formula is:

$\left[\begin{array}{c}{a}_{0x}^{\&prime;}\\ a_{0y}^{\&prime;}\\ a_{0z}^{\&prime;}\end{array}\right]=Q*\left[\begin{array}{c}{a}_{0x}\\ a_{0y}\\ a_{0z}\end{array}\right]*Q^{*}---\left(9\right);$

(3), MCU main controller is by a ' _{0 (x, y, z)}send to OTT box by blue teeth wireless, control chip is according to a ' _{0 (x, y, z}) compare with a predefined threshold value, judge the direction of motion of remote control sheet according to comparative result, then carry out corresponding order according to the direction of motion; Described threshold value comprises upper and lower 6 directions corresponding interval respectively all around.

10. the intelligent remote control system control method based on OTT TV, (its) is characterised in that, comprises the following steps:

(1) the MIC voice input module, on remote control sheet gathers the voice messaging of user's input, and it is carried out to analog-to-digital conversion, and the voice messaging after conversion is sent to OTT box by bluetooth sending module;

(2), the voice messaging receiving and the sound bank being pre-stored in memory in advance carry out template matches by OTT box control chip, find out corresponding voice, thereby carry out corresponding instruction.