CN106598288A - Positioning system and method for laser pen mouse - Google Patents
Positioning system and method for laser pen mouse Download PDFInfo
- Publication number
- CN106598288A CN106598288A CN201611040988.XA CN201611040988A CN106598288A CN 106598288 A CN106598288 A CN 106598288A CN 201611040988 A CN201611040988 A CN 201611040988A CN 106598288 A CN106598288 A CN 106598288A
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- Prior art keywords
- laser
- mouse
- projection screen
- module
- operating system
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Classifications
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
- G06F3/033—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
- G06F3/0354—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor with detection of 2D relative movements between the device, or an operating part thereof, and a plane or surface, e.g. 2D mice, trackballs, pens or pucks
- G06F3/03542—Light pens for emitting or receiving light
-
- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B17/00—Teaching reading
- G09B17/02—Line indicators or other guides or masks
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- Engineering & Computer Science (AREA)
- Theoretical Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- General Engineering & Computer Science (AREA)
- Business, Economics & Management (AREA)
- Educational Administration (AREA)
- Educational Technology (AREA)
- Human Computer Interaction (AREA)
- Position Input By Displaying (AREA)
Abstract
The invention discloses a positioning system and method for a laser pen mouse. The positioning system for the laser pen mouse comprises the laser pen mouse and a projector. The system has the technical scheme that a camera is arranged on the projector, and the laser pen mouse is provided with a left control key and a right control key which correspond to the left key and the right key of the mouse. When the left control key or the right control key on the laser pen mouse is pressed down, a projection image is obtained through the camera for carrying out positioning, the relative position of a laser light spot on the projection image is identified to obtain the coordinate of a mouse cursor in an operating system to enable the operating system to operate a corresponding operation on the coordinate so as to realize the remote-control operation of the laser pen mouse, users can obtain visual and accurate operation experience and are free from the influence of the distance of the laser pen mouse so as to bring convenience to teaching, speeches and the like, and a function that the laser pen mouse can click a position where the laser pen mouse points to can be achieved.
Description
Technical field
The present invention relates to projector control technology field, more particularly to a kind of laser pen mouse picking system and method.
Background technology
Application of the large screen projection in the activity such as multimedia teaching, speech, teleconference is more and more extensive.Speaker is
The realization of spectators can be attracted, typically stood on the projection screen side, the laser launched using laser pen is referred on the projection screen
Show the key content of speech, improve the concentration power of spectators.But existing laser pen generally only has the function of page turning, not with Mus
Mark operating function, when mouse action is needed, speaker carries out mouse action before being required to return to computer, troublesome poeration, and because in
Break and give a lecture and easily affect the concentration power of spectators.
The content of the invention
The purpose of the present invention is to overcome deficiency of the prior art, there is provided a kind of laser pen mouse picking system and method.
For achieving the above object, laser pen mouse picking system proposed by the present invention, including：
Laser pen mouse, the laser pen mouse include laser emitting module, wireless transmitter module and respectively with laser
Transmitter module and wireless transmitter module connection key-press module, the key-press module include laser switch key, control left button with
And control right button, the wireless transmitter module for by it is described control left button or control right button control signal send；
Projector, the projector are connected or are built-in with operating system with operating system, and the projector includes wirelessly connecing
Module, Projection Display module, photographing module and central processing module are received, the wireless receiving module is used to receive the laser
The control signal that pen mouse sends；The photographing module includes towards the projecting direction identical with the Projection Display module taking the photograph
As head, the central processing module obtains projection screen by the photographic head, and by laser and the difference of projection screen brightness
It is different obtaining position of the laser facula in projection screen；
Wherein, when the laser pen mouse carries out spot location, by laser facula to be moved to projection screen successively
Four angle points simultaneously press control left button respectively, make central processing module by four angles of projection screen and the operating system screen
Point corresponds association；When the laser mouse target control left button or control right button is pressed, the central processing module will
Relative position information of the laser facula in projection screen is sent to the operating system, makes operating system in operating system screen
Middle relevant position performs the operation of left mouse button or right mouse button.
Preferably, the laser facula is carried out Coordinate Conversion by the central processing module, according to laser facula in projection
Coordinate in screen is being calculated the position of laser facula cursor of mouse in the operating system.
Preferably, the projector also includes visual angle adjusting module, and the visual angle adjusting module is for according to the projection
The camera angle of photographing module described in the position adjustment imaged in screen of the screen in the photographing module, so that the projection screen
Curtain is at the center of the shooting screen.
Preferably, the central processing module is by being set with positioned at swashing that projection screen brightness and laser pen mouse send
Luminance threshold between brightness is recognizing laser facula.
Preferably, the photographing module also includes the optical filter before the photographic head, and the optical filter crosses optical filtering
Brightness of the brightness of line higher than the projection screen the brightness less than the laser.
The present invention also proposes a kind of laser pen mouse picking method, for the laser pen mouse picking system of above-mentioned technical proposal
In system, methods described includes step：
S1, four angle points that laser facula is moved to projection screen successively simultaneously press control left button respectively, make centre
Projection screen is corresponded with four angle points of the operating system screen and is associated by reason module；
S2, when laser mouse target control left button or control right button is pressed, by laser facula in projection screen
Relative position information send to operating system；
The relative position information of S3, operating system according to laser facula in projection screen, the phase in operating system screen
Position is answered to perform the operation of left mouse button or right mouse button.
Preferably, the idiographic flow of step S3 is：The laser facula is carried out into Coordinate Conversion, according to laser facula
Coordinate in projection screen is being calculated the position of laser facula cursor of mouse in the operating system.
Preferably, also including flow process before step S1：The display signal of operating system is passed through Projection Display by projector
Module is projected to screen, position adjust automatically camera angle of the photographic head according to the projection screen in shooting screen, makes institute
Projection screen is stated at the center of the shooting screen.
Preferably, in step s3, also include：When the laser mouse target control left button or control right button is pressed,
If the laser facula is in projection screen, response operation is performed in an operating system；If the laser facula is not in projection
In screen, then response operation is not performed.
Technical solution of the present invention is put in laser mouse and is provided with correspondence mouse using photographic head is provided with projector
The control left button and control right button of right and left key, when control left button or the control right button that laser mouse is put on is pressed, by shooting
Head is positioned obtaining projected image, and recognizes laser facula relative position on projection images to obtain in operating system
The coordinate of cursor of mouse, makes operating system perform corresponding operating in the coordinate, so as to realize the behaviour of laser pen mouse remotely control
Make, make user obtain accurately operating experience directly perceived, and the not impact of Stimulated Light pen mouse distance, to facilitate teaching, speech etc.,
Reach laser pen mouse and refer to which function which order.
Description of the drawings
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
Accompanying drawing to be used needed for having technology description is briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can be with
Structure according to these accompanying drawings obtains other accompanying drawings.
Fig. 1 is the structured flowchart of laser pen mouse picking system embodiment of the present invention；
Fig. 2 is the schematic diagram when embodiment of the present invention is positioned to laser facula；
Fig. 3 is the flow chart of the spot location method of laser pen mouse picking system of the present invention.
The realization of the object of the invention, functional characteristics and advantage will be described further in conjunction with the embodiments referring to the drawings.
Specific embodiment
Embodiments of the invention are described below in detail, the example of the embodiment is shown in the drawings, wherein from start to finish
Same or similar label represents same or similar element or the element with same or like function.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to for explaining the present invention, and be not considered as limiting the invention, based on this
Embodiment in invention, the every other reality obtained under the premise of creative work is not made by those of ordinary skill in the art
Example is applied, the scope of protection of the invention is belonged to.
In describing the invention, it is to be understood that term " " center ", " longitudinal direction ", " horizontal ", " length ", " width ",
" thickness ", " on ", D score, "front", "rear", "left", "right", " vertical ", " level ", " top ", " bottom " " interior ", " outward ", " up time
The orientation or position relationship of the instruction such as pin ", " counterclockwise " " axial direction ", " circumference ", " radial direction " be based on orientation shown in the drawings or
Position relationship, is for only for ease of the description present invention and simplifies description, rather than indicates or imply that the device or element of indication must
With specific orientation, with specific azimuth configuration and operation, therefore must be not considered as limiting the invention.
Additionally, term " first ", " second " are only used for describing purpose, and it is not intended that indicating or implying relative importance
Or the implicit quantity for indicating indicated technical characteristic.Thus, define " first ", the feature of " second " can express or
Implicitly include one or more this feature.In describing the invention, " multiple " are meant that two or more,
Unless otherwise expressly limited specifically.
In the present invention, unless otherwise clearly defined and limited, term " installation ", " being connected ", " connection ", " fixation " etc.
Term should be interpreted broadly, for example, it may be being fixedly connected, or being detachably connected, or be integrally connected；It can be machine
Tool connects, or electrically connects；Can be joined directly together, it is also possible to be indirectly connected to by intermediary, can be two units
Connection inside part.For the ordinary skill in the art, above-mentioned term can be understood at this as the case may be
Concrete meaning in bright.
In the present invention, unless otherwise clearly defined and limited, fisrt feature second feature it " on " or D score
The first and second feature directly contacts can be included, it is also possible to be not directly contact including the first and second features but by it
Between other characterisation contact.And, fisrt feature second feature " on ", " top " and " above " it is special including first
Levy directly over second feature and oblique upper, or fisrt feature level height is merely representative of higher than second feature.Fisrt feature exists
Second feature " under ", " lower section " and " below ", or be merely representative of immediately below second feature and obliquely downward including fisrt feature
Fisrt feature level height is less than second feature.
Describe the laser pen mouse picking system of the embodiment of the present invention with reference to the accompanying drawings in detail.
As shown in figure 1, laser pen mouse picking system according to embodiments of the present invention, including laser pen mouse 100 and throwing
Shadow instrument 200.
The laser pen mouse 100 include laser emitting module 11, wireless transmitter module 12 and respectively with Laser emission
Module 11 and the key-press module 13 of the connection of wireless transmitter module 12, the key-press module 13 include laser switch key 14, control
Left button 15 and control right button, the wireless transmitter module 12 for by it is described control left button 15 or control right button 16 control letter
Number send.
The projector 200 is connected or is built-in with operating system 300 with operating system 300, and the projector 200 includes nothing
Line receiver module 22, Projection Display module 21, photographing module 23 and central processing module 24, the wireless receiving module 22 are used
In receiving the control signal that the laser pen mouse 100 sends；The photographing module 23 includes direction and the Projection Display mould
The projecting direction identical photographic head 25 of block 21, the central processing module 24 obtain projection screen by the photographic head 25,
And by the difference of laser and projection screen brightness obtaining position of the laser facula in projection screen.
When the laser pen mouse 100 carries out spot location, by laser facula is moved to into projection screen successively four
Individual angle point simultaneously presses control left button 15 respectively, makes central processing module 24 by four of projection screen and the operating system screen
Angle point corresponds association；In the control left button 15 or control right button 16 for pressing the laser pen mouse 100, the centre
Reason relative position information of the module 24 by laser facula in projection screen is sent to the operating system, makes operating system in behaviour
Make the operation of relevant position execution left mouse button or right mouse button in system screen.
100 alignment system of laser pen mouse according to embodiments of the present invention, by laser pen mouse 100 in projection screen
Positioned on four angles, formed the coordinate system with projection screen as plane, made the rectangular extent correspondence surrounded by four angle points
The screen of operating system, when laser is radiated in the rectangular extent and presses control left button 15 or control right button 16, control letter
Number it is sent on projector 200 by wireless transmitter module 12, projector 200 receives control letter by wireless receiving module 22
Number, laser facula position on the projection screen is obtained by photographing module 23 now and operating system is sent this location to,
Make operating system that left mouse button or right button operation are performed on the corresponding position of system screen, so as to realize laser pen mouse 100
The operation of remote mouse control, makes user obtain accurately operating experience directly perceived, and the not shadow of 100 distance of Stimulated Light pen mouse
Ring, to facilitate teaching, speech etc., reach laser pen mouse 100 and refer to which function which order.In addition, when operating system 300 is built in
When in projector 200, projector 200 can also increase network connecting module (such as WIFI) so as to realize the video resource on network
Directly projection carries out watching TV or film etc., equivalent to smart projector, and solves that old remote control manipulation is slower to ask
Topic.
It is preferred that as shown in Fig. 2 the laser facula is carried out Coordinate Conversion by the central processing module 24, according to swashing
Coordinate (X1, Y1) of the light hot spot in projection screen is being calculated the position of laser facula cursor of mouse in the operating system
Put, registration, make the laser facula coordinate (X1, Y1) on the projection screen of the transmitting of laser pen mouse 100 as operate system
The coordinate of cursor of mouse in system, controls quick and convenient.
Further, the projector 200 also includes visual angle adjusting module 26, and the visual angle adjusting module 26 is used for basis
The camera angle of photographing module 23 described in the position adjustment imaged in screen of the projection screen in the photographing module 23, with
The projection screen is made at the center of the shooting screen, so that the projection screen image that photographic head 25 is obtained more levels off to
Rectangle, makes the coordinate system more standard to be formed, more accurate during coordinate setting so as to carry out to laser facula.
Wherein, the central processing module 24 is sent with laser pen mouse 100 positioned at projection screen brightness by being set with
Laser brightness between luminance threshold recognizing laser facula, when making central processing unit obtain laser facula by software design patterns
To be not readily susceptible to light in projection screen affect, it is to avoid error occurs when carrying out coordinate setting to laser facula.
Certainly, the photographing module 23 may also include the optical filter 27 before the photographic head 25, the optical filter
27 brightness of the brightness higher than the projection screen the brightness less than the laser for filtering light, so, the central authorities are processed
Module 24 can be recognized through the laser facula in 27 light of optical filter, not by software approach by the effect of the optical filter 27
And the physical method acted on by optical filter 27 can make identification laser facula more accurate and steady reaching identification laser facula
It is fixed.
Referring to shown in 3, the spot location method of embodiment of the present invention laser pen mouse picking system comprises the steps：
The display signal of operating system is projected to screen by S0, projector by Projection Display module, and photographic head is according to institute
Position adjust automatically camera angle of the projection screen in shooting screen is stated, the projection screen is imaged in screen described
The heart.
S1, four angle points that laser facula is moved to projection screen successively simultaneously press control left button respectively, make centre
Projection screen is corresponded with four angle points of the operating system screen and is associated by reason module；
S2, when laser mouse target control left button or control right button is pressed, by laser facula in projection screen
Relative position information send to operating system；
The relative position information of S3, operating system according to laser facula in projection screen, the phase in operating system screen
Position is answered to perform the operation of left mouse button or right mouse button.
The idiographic flow of step S3 is：The laser facula is carried out into Coordinate Conversion, according to laser facula in projection screen
In coordinate being calculated the position of laser facula cursor of mouse in the operating system.
In step s3, also include：When the laser mouse target control left button or control right button is pressed, if described swash
Light hot spot performs response operation in projection screen, then in an operating system；If the laser facula is not in projection screen,
Do not perform response operation.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
Example ", or the description of " some examples " etc. mean specific features with reference to the embodiment or example description, structure, material or spy
Point is contained at least one embodiment or example of the present invention.In this manual, to the schematic representation of above-mentioned term not
Identical embodiment or example must be directed to.And, the specific features of description, structure, material or feature can be with office
Combined in one or more embodiments or example in an appropriate manner.Additionally, in the case of not conflicting, the skill of this area
The feature of the different embodiments or example described in this specification and different embodiments or example can be tied by art personnel
Close and combine.
The preferred embodiments of the present invention are the foregoing is only, the scope of the claims of the present invention is not thereby limited, it is every at this
Under the inventive concept of invention, the equivalent structure transformation made using description of the invention and accompanying drawing content, or directly/use indirectly
It is included in the scope of patent protection of the present invention in other related technical fields.
Claims (9)
1. a kind of laser pen mouse picking system, it is characterised in that include：
Laser pen mouse, the laser pen mouse include laser emitting module, wireless transmitter module and respectively with Laser emission
Module and the key-press module of wireless transmitter module connection, the key-press module include laser switch key, control left button and control
Right button processed, the wireless transmitter module for by it is described control left button or control right button control signal send；
Projector, the projector are connected or are built-in with operating system with operating system, and the projector includes wireless receiving mould
Block, Projection Display module, photographing module and central processing module, the wireless receiving module are used to receive the laser mouse
The control signal that mark sends；The photographing module includes towards the projecting direction identical with the Projection Display module imaging
Head, the central processing module obtain projection screen by the photographic head, and by laser and the difference of projection screen brightness
To obtain position of the laser facula in projection screen；
Wherein, when the laser pen mouse carries out spot location, by four that laser facula is moved to projection screen successively
Angle point simultaneously presses control left button respectively, makes central processing module by four angle points one of projection screen and the operating system screen
One correspondence is associated；When laser mouse target control left button or control right button is pressed, the central processing module is by laser
Relative position information of the hot spot in projection screen is sent to the operating system, makes operating system phase in operating system screen
Position is answered to perform the operation of left mouse button or right mouse button.
2. laser pen mouse picking system as claimed in claim 1, it is characterised in that the central processing module described will swash
Light hot spot carries out Coordinate Conversion, and the coordinate according to laser facula in projection screen is being calculated laser facula in the operation
The position of cursor of mouse in system.
3. laser pen mouse picking system as claimed in claim 1, it is characterised in that the projector is also adjusted including visual angle
Module, the visual angle adjusting module is for the position adjustment according to the projection screen in the shooting screen of the photographing module
The camera angle of the photographing module, so that the projection screen is at the center of the shooting screen.
4. laser pen mouse picking system as claimed in claim 1, it is characterised in that the central processing module is by setting
There is luminance threshold between the laser brightness sent positioned at projection screen brightness and laser pen mouse to recognize laser facula.
5. laser pen mouse picking system as claimed in claim 1, it is characterised in that the photographing module is also included and is located at
Optical filter before the photographic head, the optical filter filter the brightness that the brightness of light is higher than the projection screen and less than described
The brightness of laser.
6. a kind of laser pen mouse picking method, it is characterised in that demarcate for the arbitrary described laser mouse of claim 1-5
In the system of position, methods described includes step：
S1, four angle points that laser facula is moved to projection screen successively simultaneously press control left button respectively, make central authorities process mould
Projection screen is corresponded with four angle points of the operating system screen and is associated by block；
S2, when laser mouse target control left button or control right button is pressed, the phase by laser facula in projection screen
Positional information is sent to operating system；
The relative position information of S3, operating system according to laser facula in projection screen, the corresponding positions in operating system screen
Put the operation for performing left mouse button or right mouse button.
7. laser pen mouse picking method as claimed in claim 6, it is characterised in that the idiographic flow of step S3 is：
The laser facula is carried out into Coordinate Conversion, the coordinate according to laser facula in projection screen exists being calculated laser facula
The position of cursor of mouse in the operating system.
8. laser pen mouse picking method as claimed in claim 6, it is characterised in that also included flow process before step S1：
The display signal of operating system is projected to screen by projector by Projection Display module, and photographic head exists according to the projection screen
Position adjust automatically camera angle in shooting screen, makes the projection screen at the center of the shooting screen.
9. laser pen mouse picking method as claimed in claim 6, it is characterised in that in step s3, also include：Pressing
When the laser mouse target control left button or control right button, if the laser facula is in projection screen, in operating system
It is middle to perform response operation；If the laser facula in projection screen, does not perform response and operates.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611040988.XA CN106598288A (en) | 2016-11-22 | 2016-11-22 | Positioning system and method for laser pen mouse |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611040988.XA CN106598288A (en) | 2016-11-22 | 2016-11-22 | Positioning system and method for laser pen mouse |
Publications (1)
| Publication Number | Publication Date |
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| CN106598288A true CN106598288A (en) | 2017-04-26 |
Family
ID=58592833
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611040988.XA Pending CN106598288A (en) | 2016-11-22 | 2016-11-22 | Positioning system and method for laser pen mouse |
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| CN (1) | CN106598288A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107491192A (en) * | 2017-08-08 | 2017-12-19 | 吉林大学 | A kind of camera shooting mouse laser pen alignment system and localization method |
| CN107506055A (en) * | 2017-08-25 | 2017-12-22 | 遵义博文软件开发有限公司 | Slide demonstration control device |
| CN108415562A (en) * | 2018-02-12 | 2018-08-17 | 四川斐讯信息技术有限公司 | A kind of cursor control method and cursor control system |
| CN108961329A (en) * | 2018-06-22 | 2018-12-07 | 成都市极米科技有限公司 | Acquisition method, device and the computer readable storage medium of Projector Space location information |
| CN111309203A (en) * | 2020-01-22 | 2020-06-19 | 深圳市格上视点科技有限公司 | Method and device for acquiring positioning information of mouse cursor |
| CN111880671A (en) * | 2020-07-08 | 2020-11-03 | 扬州哈工科创机器人研究院有限公司 | Laser pen indicating system and method for positioning laser pen indicating cursor |
| CN112099028A (en) * | 2020-09-03 | 2020-12-18 | 深圳市迈测科技股份有限公司 | Laser spot automatic tracking method and device, storage medium and laser ranging device |
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| CN102945091A (en) * | 2012-11-20 | 2013-02-27 | 深圳市中科睿成智能科技有限公司 | Method and system for man-machine interaction and based on laser projection location |
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| US20010045940A1 (en) * | 1999-07-06 | 2001-11-29 | Hansen Karl C. | Computer presentation system and method with optical tracking of wireless pointer |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107491192A (en) * | 2017-08-08 | 2017-12-19 | 吉林大学 | A kind of camera shooting mouse laser pen alignment system and localization method |
| CN107506055A (en) * | 2017-08-25 | 2017-12-22 | 遵义博文软件开发有限公司 | Slide demonstration control device |
| CN107506055B (en) * | 2017-08-25 | 2020-05-22 | 遵义博文软件开发有限公司 | Slide show control device |
| CN108415562A (en) * | 2018-02-12 | 2018-08-17 | 四川斐讯信息技术有限公司 | A kind of cursor control method and cursor control system |
| CN108961329A (en) * | 2018-06-22 | 2018-12-07 | 成都市极米科技有限公司 | Acquisition method, device and the computer readable storage medium of Projector Space location information |
| CN108961329B (en) * | 2018-06-22 | 2020-10-30 | 成都极米科技股份有限公司 | Method and device for collecting projector spatial position information and computer readable storage medium |
| CN111309203A (en) * | 2020-01-22 | 2020-06-19 | 深圳市格上视点科技有限公司 | Method and device for acquiring positioning information of mouse cursor |
| CN111880671A (en) * | 2020-07-08 | 2020-11-03 | 扬州哈工科创机器人研究院有限公司 | Laser pen indicating system and method for positioning laser pen indicating cursor |
| CN112099028A (en) * | 2020-09-03 | 2020-12-18 | 深圳市迈测科技股份有限公司 | Laser spot automatic tracking method and device, storage medium and laser ranging device |
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Application publication date: 20170426 |