CN105353900A - Laser radar based floating touch system - Google Patents
Laser radar based floating touch system Download PDFInfo
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- CN105353900A CN105353900A CN201510570950.2A CN201510570950A CN105353900A CN 105353900 A CN105353900 A CN 105353900A CN 201510570950 A CN201510570950 A CN 201510570950A CN 105353900 A CN105353900 A CN 105353900A
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Abstract
The invention discloses a laser radar based floating touch system. The system comprises at least two laser radar detection apparatuses, a control host and a display screen, wherein the at least two laser radar detection apparatuses are connected with the control host; the at least two laser radar detection apparatuses are positioned in a watching distance; the laser radar detection apparatuses form a radial laser scanning surface and detect a touch action on the scanning surface to position polar coordinate information of one or more touch points; and the control host calculates spatial positions of the touch points according to the polar coordinate information of the touch points and spatial position information of the corresponding laser radar detection apparatuses. According to the system, the interactive experience of users can be improved, and the detection quantity can be effectively increased through coordination and combination of the at least two laser radar detection apparatuses.
Description
Technical field
The present invention relates to human-computer interaction technology, particularly relate to a kind of suspension touch control human-computer interaction technology based on laser radar.
Background technology
Traditional touch screen technology is touch screens, capacitance plate, and surface acoustic wave shields.Generally can meet the size that size arrives greatly television screen size.If the screen PDP display of the occasions such as exhibition room, liquid crystal-spliced screen, projection fusion is shielded often length and is reached 6 meters and highly reach 3 meters.Traditional touch screen technology just cannot be applied in so huge screen occasion.
Large scale touch-screen mainly adopts infrared technique to position human body, follow the trail of, and comprises infrared touch frame technology, infrared camera technology etc.Because light and natural light all comprise infrared light, it is exactly the interference being very easy to be subject to surround lighting that these technology all exist a problem, and brighter indoor of outdoor and light there will be irritation or malfunctioning phenomenon.
Laser radar touch technology adopts laser radar detection device to form radial laser scanning face, detect the touch action on described scanning plane and then locate the positional information of one or more touch point, relative to traditional infrared technique, have ambient light insensitive, antijamming capability is strong, not by the advantage such as screen shape and boundary limitation.But because laser radar accepts volume and the Power Limitation of sensor, effective detection radius is only 3m, and the scanning plane of formation is the semicircle of radius 3m, and can decline from the zone location precision away from sniffer, detection limit is limited.
Summary of the invention
The technical matters that the present invention mainly solves is to provide a kind of suspension touch control man-machine interactive system based on laser radar, can solve the problem that in current laser radar touch technology, detection limit is limited.
For solving the problems of the technologies described above, the invention provides a kind of suspension touch control man-machine interactive system based on laser radar, comprising: at least two laser radar detection devices, main control system and display screens; Described at least two laser radar detection devices connect described main control system; Wherein said at least two laser radar detection devices are positioned at viewing distance; Described laser radar detection device forms radial laser scanning face, detects the polar coordinates information of touch action on described scanning plane and then touch point, location; Described main control system calculates the locus of touch point according to the spatial positional information of the polar coordinates information of described touch point and corresponding laser radar detection device.
Wherein said at least two laser radar detection devices are distributed in described display screen peripheral.
At grade, and the laser scanning face portion formed is overlapping in the laser scanning face that wherein said at least two laser radar detection devices are formed.
The laser scanning face that wherein said at least two laser radar detection devices are formed at least in two Different Plane, and along the directional spreding perpendicular to laser scanning face, to realize three-dimensional touch.
The laser frequency that wherein said at least two laser radar detection devices use is different, and each laser radar detection device in described at least two laser radar detection devices only detects and sends the identical laser of laser frequency with self.
The laser that wherein said at least two laser radar detection devices use is modulated laser, the modulated laser that each laser radar detection device in described at least two laser radar detection devices uses comprises its own identification information, and each laser radar detection device in described at least two laser radar detection devices identifies the modulated laser comprising its own identification information goes forward side by side row relax.
Wherein said laser radar detection device comprises coherent infrared radar transmitter, coherent infrared radar receiver and motor; Described coherent infrared radar transmitter and described coherent infrared radar receiver are fixed on the output shaft of described motor; Coherent infrared radar transmitter described in described driven by motor and the to-and-fro movement of described coherent infrared radar receiver.
The coherent infrared radar receiver of any one the laser radar detection device in wherein said at least two laser radar detection devices can not accept the infrared laser that other laser radar detection devices are directly injected.
Connected mode between wherein said at least two laser radar detection devices and described main control system is wired connection and/or wireless connections.
The invention has the beneficial effects as follows: laser radar detection device is without the need to frame, the position of user's viewing can be arranged on, user does not need to move to display screen place can carry out touch control operation, promote the interactive experience of user, and pass through the coordination of at least two laser radar detection devices and combine and effectively can expand detection limit.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of laser radar suspension touch control man-machine interactive system in prior art;
Fig. 2 is that in man-machine interactive system of the present invention embodiment, two laser radar detection devices are oppositely arranged and the partly overlapping schematic diagram of scanning plane;
Fig. 3 is the process flow diagram of scanning plane at least two laser radar detection device combine detection touch points at grade in man-machine interactive system of the present invention embodiment;
Fig. 4 is the scanning plane schematic diagram at grade that in another embodiment of man-machine interactive system of the present invention, multiple laser radar detection device is formed;
Fig. 5 is the schematic diagram that scanning plane that in another embodiment of man-machine interactive system of the present invention, multiple laser radar detection device is formed realizes three-dimensional touch in Different Plane;
Fig. 6 is the process flow diagram of the multiple laser radar detection device combine detection touch points of scanning plane in Different Plane in another embodiment of man-machine interactive system of the present invention.
Embodiment
Fig. 1 is the schematic diagram of existing laser radar suspension touch control man-machine interactive system.In prior art, laser radar suspension touch control man-machine interactive system comprises laser radar detection device 1, main control system 2 and display screen 3, wherein laser radar detection device 1 connection control main frame 2.
Laser radar detection device 1 is positioned at viewing distance, and namely laser radar detection device 1 is in the front of display screen 3, to be separated by the distance of specifying with display screen 3, and in the scope that user's finger easy to use or other objects touch.Laser radar detection device 1 forms radial laser scanning face 11, and the detection finger of user or the stop information of other objects of use to laser determine the polar coordinates information of touch point 12, and send polar coordinates information to main control system 2.Main control system 2 calculates the locus of touch point 12 according to the polar coordinates information of touch point 12 and the spatial positional information of laser radar detection device 1, and judges whether to need to upgrade displaying contents according to this locus; If needed, display screen 3 exports the displaying contents after upgrading.
Angular separation in figure between sweep trace is only signal, and actual corners spacing is subject to the restriction of radar detection apparatus medium power device (being generally stepper motor or servomotor) and laser pulse frequency.Can find out in radial laser scanning face 11, from laser radar detection device 1 more away from, the distance between two sweep traces is far away, and the positioning precision of touch point 12 is lower.The effective detection radius of laser radar detection device 1 is only 3m, and the scanning plane of formation is the semicircle of radius 3m, and detection limit is limited.
Consult Fig. 2, for solving the problems of the technologies described above, the invention provides a kind of man-machine interactive system embodiment based on laser radar, system comprises:
At least two laser radar detection devices (Fig. 2 is for two laser radar detection devices) 201 and 202, main control system 220 and display screens 230.At least two laser radar detection device 201 and 202 connection control main frames 220.Laser radar detection device 201 and 202 is all positioned at viewing distance, namely in the front of display screen 230, to be separated by the distance of specifying with display screen 230, and in the scope that user's finger easy to use or other objects touch.Laser radar detection device 201 and 202 forms radial laser scanning face 211 and 212 in display screen 230 front, detects the polar coordinates information of touch action on described scanning plane 211 and 212 and then touch point 241 and 242, location.Main control system 220 calculates the locus of touch point 241 and 242 according to the spatial positional information of the polar coordinates information of touch point 241 and 242 and corresponding laser radar detection device 201 and 202.Wherein two laser radar detection devices 201 are identical with the angular separation of sweep trace with 202 detection radius, and both are oppositely arranged and make the scanning plane 211 and 212 of formation at grade and partly overlap.Need to calibrate after system installation, be the locus with reference to obtaining laser radar detection device 201 and 202 with display screen 230, and guarantee that scanning plane 211 and 212 partly overlaps in same plane.
Partly overlapping because laser radar detection device 201 and 202 being set in embodiment of the present invention scanning plane 211 and 212 in same plane, therefore can improve accuracy of detection in overlapping region, below describing the principle improving accuracy of detection:
Suppose to there are two touch points 241,242 in overlapping region, touch point 241 can be detected separately by the sweep trace of two laser radar detection devices 201 and 202; And touch point 242 is due between the adjacent scanning lines of two emitted by laser radar detection device 201, do not detected by laser radar detection device 201, laser radar detection device 201 is occurred undetected, only to be detected by the sweep trace of laser radar detection device 202.
Then for the touch point 241 that can be detected separately by the sweep trace of two laser radar detection devices 201 and 202, there are two testing results, metrical error can be got rid of according to this two testing result and improve accuracy of detection; And for for the undetected touch point 242 of laser radar detection device 201, then fortunately detected by laser radar detection device 202, can accuracy of detection be improved equally.
Angular separation in figure between sweep trace is only signal, and in order to form effective scanning plane in practical application, angular separation is generally less than 1 °.Generally speaking, partly overlap as long as shown in Figure 2 laser radar detection device 201 and 202 to be set to scanning plane 211 and 212 in same plane, the network that sweep trace is staggered then can be formed in overlapping region, overlapping region can be covered by more multi-scan-line, and then can accuracy of detection be improved.
Wherein laser radar detection device 201 and 202 includes laser radar transmitter, laser radar receiver and motor (all not drawing in figure); Laser radar transmitter and laser radar receiver are fixed on the output shaft of motor; Driven by motor laser radar transmitter and the to-and-fro movement of laser radar receiver.In one embodiment of the invention, the laser that laser radar sends is infrared laser, can reduce the impact of touch-screen on screen display content.
Connected mode between laser radar detection device 201 and 202 and main control system 220 can be wired connection, as serial ports, and USB; Also can be radio communication, as Wi-Fi; Or the combination of the two.
As shown in Figure 3, in one embodiment of the invention, the implementation step of scanning plane at least two laser radar detection device combine detection touch points at grade comprises:
Step 310, detects touch action and obtains the polar coordinates of touch point from laser radar detection device.
The motor of each laser radar detection device all rotates according to setting speed to drive laser radar transmitter and laser radar receiver to rotate, and launches infrared laser pulses, form radial laser scanning face while laser radar transmitter rotates.If there is touch point in scanning plane, namely object is had to block laser, then infrared laser pulses is reflected back toward laser radar detection device, thus received by laser radar receiver, calculate the range information of touch point, add the angle information of laser radar detection device and surface level when touch point being detected, be combined into the polar coordinates of touch point.Each touch point may only be detected by a laser radar detection device, also may be detected by least two laser radar detection devices.
Step 320, calculates the volume coordinate of touch point according to the polar coordinates of touch point and the spatial positional information of corresponding laser radar detection device.
Coordinate information due to the touch point obtained is the polar coordinates relative to laser radar detection device, there is not terrible some problem.The volume coordinate of touch point is calculated according to the polar coordinates of touch point and the spatial positional information of corresponding laser radar detection device.
Step 330, has judged whether that touch point is detected by least two laser radar detection devices.
When at least two the touch point volume coordinates calculated according at least two laser radar detection devices are identical or spacing is less than certain threshold value (arranging according to measuring accuracy), can be judged to be that a touch point is detected by least two laser radar detection devices.
Step 340, calculates the volume coordinate of the touch point detected by least two laser radar detection devices.
The volume coordinate of this touch point volume coordinate that identical or spacing is less than at least two touch points of certain threshold value by volume coordinate described in step 330 determines jointly.When the volume coordinate of described at least two touch points is identical, so this coordinate is the volume coordinate of actual touch point.When described at least two touch point volume coordinate spacing are less than certain threshold value (arranging according to measuring accuracy), calculate the volume coordinate that average obtains actual touch point.
Illustrate a judgement when touch point is detected by two laser radar detection devices and coordinate calculating process (step 330 and 340).The polar coordinates of the touch point a that such as laser radar detection device A detects are (ρ 1, θ 1), the volume coordinate calculated is (x1, y1, z1), the polar coordinates of the touch point b that laser radar detection device B detects are (ρ 2, θ 2), the volume coordinate calculated is (x2, y2, z2); If two volume coordinates identical i.e. x1=x2, y1=y2, z1=z2, so a and b is same touch point, and real space coordinate is (x, y, z), wherein x=x1=x2, y=y1=y2, z=z1=z2; If the distance between two volume coordinates is less than certain threshold value (arranging according to measuring accuracy), so a and b is same touch point, volume coordinate (the x of actual touch point, y, z) can be (x1, y1, and (x2 z1), y2, z2) mean value, namely
also can introduce polar radius and obtain weighted mean value, radius is shorter, and measuring accuracy is higher, and shared weight is larger,
When a touch point is detected by multiple laser radar detection device, the method for judgement and coordinates computed is the same.
The space coordinate conversion of touch point is the planimetric coordinates on display screen by step 350.
Be planimetric coordinates by the space coordinate conversion of touch point, then by corresponding for the planimetric coordinates of touch point projection to the planimetric coordinates on display screen.If there is convergent-divergent relation between touch-screen and display screen, after so the planimetric coordinates of touch point being carried out convergent-divergent process again projection on display screen.
Composition graphs 2 and Fig. 3, two laser radar detection devices 201 and 202 are oppositely arranged, and the scanning plane 211 and 212 of formation partly overlaps.Although touch point 242 is in the detection radius of laser radar detection device 201, but because distant and be missed between two sweep traces from laser radar detection device 201, another laser radar detection device 202 detects touch point 242, compensate for the defect of single laser radar detection device detection limit deficiency, improve accuracy of detection.
As shown in Figure 4, in another embodiment of the present invention, at least two laser radar detection devices (in figure for 3 to the laser radar detection device be oppositely arranged) 401,402 ... to 406 peripheries being distributed in display screen 430, and be positioned at viewing distance, the laser scanning face 411,412 formed ... to 416 at grade to realize the expansion of touch surface, laser radar detection device 401,402 ... be connected to 406 with main control system (not shown in FIG.).In figure, the often pair of laser radar detection device is oppositely arranged and scanning plane partly overlaps; Also touch surface can be expanded by one-sided laser radar detection device, such as cancel 402,404 and 406, be combined to form larger touch surface by 401,403 and 405, or cancel 401,403 and 405, be combined to form larger touch surface by 402,404 and 406.The number of laser radar detection device can be arranged according to the size of actual screen and accuracy requirement.
The process of scanning plane multiple laser radar detection device combine detection sensing points at grade as shown in Figure 3.Composition graphs 4 and Fig. 3, touch point 441 is only detected by laser radar detection device 401, is not detected by other laser radar detection devices, and outside the sensing range of other laser radar detection devices; Touch point 442 is only detected by laser radar detection device 405, is not detected by other laser radar detection devices, and outside the sensing range of other laser radar detection devices.Scanning plane multiple laser radar detection device combinations at grade expand touch surface to adapt to larger display screen 430, expand detection limit.
As shown in Figure 5, in yet another embodiment of the present invention, multiple laser radar detection device 501,502,503 ... be arranged on before display screen 530 to 50n, and be all positioned at viewing distance, the laser scanning face 511,512,513 formed ... to 51n on a different plane, and along the directional spreding perpendicular to laser scanning face, to realize three-dimensional touch.Laser scanning face 511,512,513 ... although to 51n on a different plane, all in the scope of user's finger easy to use or other object touch-controls.Laser radar detection device 501,502,503 ... (not shown in FIG.) is connected with main control system to 50n.Needing to calibrate after system installation, is the locus with reference to obtaining laser radar detection device 501 to 50n with display screen 530.
Although depict laser radar detection device 501,502,503 in figure ... to 50n, the n in actual 50n can for the arbitrary integer being more than or equal to 2.Perpendicular to the multiple laser radar detection devices 501,502,503 on the direction in laser scanning face in figure ... distance between 50n determines longitudinal positioning precision, and the quantity and spacing of laser radar detection device determines longitudinal touch-control scope jointly.Each plane of scanning motion shown in figure only employs a laser radar detection device, laser scanning face at least two radar detection apparatus at grade also can be used to expand the detection limit of single plane.
As shown in Figure 6, in one embodiment of the invention, the implementation step of the multiple laser radar detection device combine detection touch points of scanning plane in Different Plane comprises:
Step 610, detects touch action and obtains the polar coordinates of touch point from laser radar detection device.
The motor of each laser radar detection device all rotates according to setting speed to drive laser radar transmitter and laser radar receiver to rotate, and launches infrared laser pulses, form radial laser scanning face while laser radar transmitter rotates.If there is touch point in scanning plane, namely object is had to block laser, then infrared laser pulses is reflected back toward laser radar detection device, thus received by laser radar receiver, calculate the range information of touch point, add the angle information of laser radar detection device and surface level when touch point being detected, be combined into the polar coordinates of touch point.
Step 620, calculates the volume coordinate of touch point according to the polar coordinates of touch point and the spatial positional information of corresponding laser radar detection device.
Coordinate information due to the touch point obtained is the polar coordinates relative to laser radar detection device, there is not terrible some problem.The volume coordinate of touch point is calculated according to the polar coordinates of touch point and the spatial positional information of corresponding laser radar detection device.
Step 630, obtains the spatial information of three-dimensional touch by the combination of the volume coordinate of touch point.
The volume coordinate of the touch point be distributed at least two Different Plane is combined, obtains the locus of three-dimensional touch, size and shape information.
If employ at least two radar detection apparatus to expand the detection limit of single plane on the single plane of scanning motion, so need when calculating the volume coordinate of touch point to add the judgement whether detected by least two radar detection apparatus, detailed process can with reference to the step 330 in prior figures 3 and 340.
Composition graphs 5 and Fig. 6, multiple laser radar detection device 501,502,503 ... to the laser scanning face that 50n is formed on a different plane, and form scanning space along the directional spreding perpendicular to laser scanning face, when there being object to enter scanning space, Different Plane detects touch point, the combination of the volume coordinate of touch point is calculated, the locus of object, size and shape information can be obtained, achieve three-dimensional touch, expand detection limit.
In order to prevent the mutual interference between different laser radar detection devices, in one embodiment of the invention, the laser frequency that laser radar transmitter in each laser radar detection device sends is different, optical filter is installed additional before laser radar receiver in each laser radar detection device, each optical filter only allows the light identical with the laser frequency that the laser radar transmitter in this laser radar detection device sends to pass through, and each laser radar detection device is only detected and sends the identical laser of laser frequency with self.
In order to prevent the mutual interference between different laser radar detection devices, in another embodiment of the present invention, the laser that laser radar detection device uses is modulated laser, the modulated laser that each laser radar detection device uses comprises its own identification information, laser radar receiver in each laser radar detection device carries out demodulation after receiving laser, only processes the modulated laser comprising its own identification information.
When two laser radar detection devices are oppositely arranged, likely correlation can be there is, namely the laser that the laser radar transmitter in one of them laser radar detection device sends directly injects the laser radar receiver in another laser radar detection device, can produce stronger interference like this.In another embodiment of the present invention, the coherent infrared radar receiver of any one laser radar detection device can not accept the infrared laser that other laser radar detection devices are directly injected.When two laser radar detection device velocities of rotation be oppositely arranged and reciprocating angular range all identical time, both starting angular different and/or start-up times can be made differently to form differential seat angle between two laser radar detection devices to avoid correlation.In addition, laser radar transmitter can also be controlled not work and/or laser radar receiver does not receive laser to avoid interference when two laser radar detection device generation correlation.
The foregoing is only embodiments of the present invention; not thereby the scope of the claims of the present invention is limited; every utilize instructions of the present invention and accompanying drawing content to do equivalent structure or equivalent flow process conversion; or be directly or indirectly used in other relevant technical fields, be all in like manner included in scope of patent protection of the present invention.
Claims (9)
1. based on a suspension touch control man-machine interactive system for laser radar, it is characterized in that, described system comprises:
At least two laser radar detection devices, main control system and display screens;
Described at least two laser radar detection devices connect described main control system;
Wherein said at least two laser radar detection devices are positioned at viewing distance; Described laser radar detection device forms radial laser scanning face, detects the polar coordinates information of touch action on described scanning plane and then touch point, location;
Described main control system calculates the locus of touch point according to the spatial positional information of the polar coordinates information of described touch point and corresponding laser radar detection device.
2. man-machine interactive system according to claim 1, is characterized in that, described at least two laser radar detection devices are distributed in described display screen peripheral.
3. man-machine interactive system according to claim 1, is characterized in that, at grade, and the laser scanning face portion formed is overlapping in the laser scanning face that described at least two laser radar detection devices are formed.
4. man-machine interactive system according to claim 1, it is characterized in that, the laser scanning face that described at least two laser radar detection devices are formed at least in two Different Plane, and along the directional spreding perpendicular to laser scanning face, to realize three-dimensional touch.
5. man-machine interactive system according to claim 1, it is characterized in that, the laser frequency that described at least two laser radar detection devices use is different, and each laser radar detection device in described at least two laser radar detection devices only detects and sends the identical laser of laser frequency with self.
6. man-machine interactive system according to claim 1, it is characterized in that, the laser that described at least two laser radar detection devices use is modulated laser, the modulated laser that each laser radar detection device in described at least two laser radar detection devices uses comprises its own identification information, and each laser radar detection device in described at least two laser radar detection devices identifies the modulated laser comprising its own identification information goes forward side by side row relax.
7. the man-machine interactive system according to any one of claim 1-6, is characterized in that, described laser radar detection device comprises coherent infrared radar transmitter, coherent infrared radar receiving sensor and motor; Described coherent infrared radar transmitter and described coherent infrared radar receiving sensor are fixed on the output shaft of described motor; Coherent infrared radar transmitter described in described driven by motor and the to-and-fro movement of described coherent infrared radar receiving sensor.
8. man-machine interactive system according to claim 7, it is characterized in that, the coherent infrared radar receiver of any one the laser radar detection device in described at least two laser radar detection devices can not accept the infrared laser that other laser radar detection devices are directly injected.
9. the man-machine interactive system according to any one of claim 1-6, is characterized in that, the connected mode between described at least two laser radar detection devices and described main control system is wired connection and/or wireless connections.
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| CN201510570950.2A CN105353900A (en) | 2015-09-09 | 2015-09-09 | Laser radar based floating touch system |
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| CN201510570950.2A CN105353900A (en) | 2015-09-09 | 2015-09-09 | Laser radar based floating touch system |
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| CN109975769A (en) * | 2019-03-13 | 2019-07-05 | 谭伟 | It is a kind of for showing interactive radar module and its display exchange method |
| CN110502129A (en) * | 2019-08-29 | 2019-11-26 | 王国梁 | Intersection control routine |
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