CN106598356A - Method, device and system for detecting positioning point of input signal of infrared emission source - Google Patents
Method, device and system for detecting positioning point of input signal of infrared emission source Download PDFInfo
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- G06F3/0425—Digitisers, e.g. for touch screens or touch pads, characterised by the transducing means by opto-electronic means using a single imaging device like a video camera for tracking the absolute position of a single or a plurality of objects with respect to an imaged reference surface, e.g. video camera imaging a display or a projection screen, a table or a wall surface, on which a computer generated image is displayed or projected
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Abstract
The invention provides a method, a device and a system for detecting an infrared emission source input signal positioning point, which comprise the following steps: a step or a device of emitting infrared light to the display screen by an infrared emitting source; collecting display screen images and calculating to obtain a differential image of two continuous frames of display screen images; a step or device for processing the difference image to obtain a brightness image of the difference image and processing the brightness value of the pixel point of the brightness image to obtain a binary image; and performing communication processing on the binary image to form a communication area, and screening out a target communication area, wherein a central coordinate point of the target communication area is obtained by the step or the device according to the edge point coordinates of the target communication area, and the central coordinate point is an input signal positioning point of the infrared emission source. The invention realizes man-machine interaction in the environment with lower visibility, can simultaneously position the input signals of a plurality of invisible infrared emission sources, and has the advantages of simple realization, good real-time performance and high identification rate.
Description
Technical field
The present invention relates to data processing technique, and in particular to a kind of infrared emission source input signal anchor point detection method,
Apparatus and system.
Background technology
Interaction technique is a key technology of human-computer interaction system, refers to that people passes through certain language with machine, with certain
Interactive mode enter the process of row information exchange, finally realize man-machine interaction, the interaction of real operation and virtual scene.With crowd
The development of many emerging technologies, human-computer interaction technology gradually experienced touch technology, many not being confined to initial mouse and keyboard
Medium technique etc..
Being currently based on the virtual reality interaction technique of multiple sensors becomes the mainstream research content of industry and scientific research field.
The common interaction systems in market have touch-screen, data glove, remote-control handle, infrared laser pen etc..At the same time, speech recognition control
The modes such as system, the dynamic hand gesture recognition realized by common camera collection image and human bioequivalence are due to its inexpensive, behaviour
As hommization be also widely used for business, game etc. field.
But, the purchase of the special equipment such as data glove, remote-control handle and the later maintenance of equipment all improve businessman
Cost of serving；Using the IP Camera of low cost, dynamic hand gesture recognition and human bioequivalence cannot be in visibility relatively low dusk
Apply in dark situation, because the randomness of operator's behavior and the diversity of action can cause system recognition rate than relatively low；It is common
Laser be visible ray, in operation interactive display screen produces infrared-ray and luminous point, so as to affect the vision of user
Experience and sense organ degree；Therefore the interaction technique for providing multipoint operation in a kind of environment for meeting low visibility is the skill for being badly in need of solving
Art problem.
The content of the invention
To solve the above problems, the invention provides a kind of infrared emission source input signal anchor point detection method, device
And system, the human-computer interaction of multipoint operation is realized in the environment of low visibility.
For achieving the above object, the present invention provides technical scheme below：
On the one hand, the invention provides a kind of infrared emission source input signal anchor point detection method, methods described includes
Following steps：
Infrared light is launched to display screen using infrared emitter；
Gather display image and be calculated the difference image of two frame display images；
Difference image is carried out to process the luminance graph for obtaining difference image, by the brightness value to the pixel on luminance graph
Carry out process and obtain bianry image；
Bianry image is carried out to form multiple connected regions after connection process, using pre-conditioned from multiple connected regions
Filter out target connected region；
The centre coordinate point of target connected region, the centre coordinate are drawn according to the edge point coordinates of target connected region
Point is the input signal anchor point of infrared emitter.
Further, it is described that difference image is carried out to process the luminance graph for obtaining difference image, by luminance graph
The step of brightness value of pixel carries out process and obtains bianry image, specifically includes：
The threshold range [T1-T2] of collection infrared emitter brightness value；
Pixel of the brightness value of luminance graph between threshold range is for [T1-T2] is set to into gray value for 1；
It is 0 that pixel of the brightness value of image brightness picture not between threshold range is for [T1-T2] is set to into gray value, is obtained
To bianry image.
Further, the brightness value of the pixel is calculated using following formula：
I=(R+G+B)/3
Wherein, R, G, B are respectively the intensity level of three Color Channels of red, green, blue.
Further, it is described that bianry image is carried out to form multiple connected regions after connection process, using it is pre-conditioned from
The step of target connected region is filtered out in multiple connected regions, specifically includes：
The threshold range of collection infrared emitter shared pixel quantity on a display screen；
Labeling process is carried out to the pixel of bianry image, all label points is traveled through using detection of connectivity algorithm and is incited somebody to action
Gray value is that 0 label value is set to preset value；
The connected region that gray value is 1 composition is iterated into process, the label value for making the pixel that gray value is 1 is institute
State label value minimum in connected region；
The quantity of pixel, connects with the threshold range identical of infrared emitter pixel quantity in collection connected region
Region is target connected region.
On the other hand, the invention provides a kind of infrared emission source input signal anchor point detection means, described device bag
Include：
Transmitter module, for launching infrared light to display screen using infrared emitter；
Harvester, for gathering display image and being calculated the difference image of two frame display images；
Processing meanss, for carrying out processing the luminance graph for obtaining difference image to difference image, by luminance graph
The brightness value of pixel carries out process and obtains bianry image；
Screening plant, for carrying out forming connected region after connection process to bianry image, using pre-conditioned from multiple
Target connected region is filtered out in connected region；
Positioner, for drawing the centre coordinate of target connected region according to the edge point coordinates of target connected region
Point, the centre coordinate point is the input signal anchor point of infrared emitter.
Further, the processing meanss include：
Acquiring unit, for gathering the threshold range [T1-T2] of infrared emitter brightness value；
Bright spot unit, for the pixel by the brightness value of luminance graph between threshold range is for [T1-T2] gray scale is set to
It is worth for 1；
Dim spot unit, sets for the pixel by the brightness value of image brightness picture not between threshold range is for [T1-T2]
It is 0 for gray value, obtains bianry image.
Further, the processing meanss also include computing unit, for calculating pixel using I=(R+G+B)/3
Brightness value,
Wherein, R, G, B are respectively the intensity level of three Color Channels of red, green, blue.
Further, the screening plant includes：
Sampling unit, for gathering the threshold range of infrared emitter shared pixel quantity on a display screen；
Tag processes unit, for carrying out labeling process to the pixel of bianry image, using detection of connectivity algorithm
Travel through all label points and the label value that gray value is 0 is set to into preset value；
Iterative processing unit, for the connected region that gray value is 1 composition to be iterated into process, makes gray value be 1
The label value of pixel is label value minimum in the connected region；
Fixed point units, the threshold value for gathering the quantity of pixel in connected region, with infrared emitter pixel quantity
Scope identical connected region is target connected region.
Last aspect, the invention provides a kind of infrared emission source input signal anchor point detecting system, the system
Including：Computer, camera, infrared transmitter and target device display screen；
The computer is connected respectively with the camera and target device display screen；
The infrared transmitter, for launching infrared light to target device display screen；
The camera, for gathering target device display image and transmitting to computer；
The target device display screen, for showing anchor point of the infrared light on screen；
The computer, is processed the image for receiving using the method described in any one of claim 1-4 and will be determined
Site coordinate is sent to target device display screen.
Further, the computer transmits anchor point of the infrared ray on target device display screen by ICP/IP protocol
Information.
As shown from the above technical solution, a kind of infrared emission source input signal anchor point detection method of the present invention,
Apparatus and system, can realize human-computer interaction in the interactive scene under visibility is compared with low environment, can to it is multiple can not show
Position while emission source input signal, anchor point, action trail, operating frequency according to infrared emitter etc. are used as to mesh
The control mode of mark machine, has the advantages that realization is simple, real-time is good, discrimination is high.
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
The accompanying drawing to be used needed for having technology description is briefly described, it should be apparent that, drawings in the following description are the present invention
Some embodiments, for those of ordinary skill in the art, on the premise of not paying creative work, can be with basis
These accompanying drawings obtain other accompanying drawings.
Fig. 1 is a kind of schematic flow sheet of infrared emission source input signal anchor point detection method that the present invention is provided；
Fig. 2 is that luminance graph image shows in a kind of infrared emission source input signal anchor point detection method that the present invention is provided
It is intended to；
Fig. 3 is the signal of bianry image in a kind of infrared emission source input signal anchor point detection method that the present invention is provided
Figure；
Fig. 4 is that labeling image shows in a kind of infrared emission source input signal anchor point detection method that the present invention is provided
It is intended to；
Fig. 5 is connected region image in a kind of infrared emission source input signal anchor point detection method that the present invention is provided
Schematic diagram；
Fig. 6 is one kind of step S103 in a kind of infrared emission source input signal anchor point detection method that the present invention is provided
The schematic flow sheet of specific embodiment；
Fig. 7 is one kind of step S104 in a kind of infrared emission source input signal anchor point detection method that the present invention is provided
The schematic flow sheet of specific embodiment；
Fig. 8 is a kind of structural representation of infrared emission source input signal anchor point detection means that the present invention is provided；
Fig. 9 is a kind of structural representation of infrared emission source input signal anchor point detecting system that the present invention is provided.
Specific embodiment
To make purpose, technical scheme and the advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
In accompanying drawing, clear, complete description is carried out to the technical scheme in the embodiment of the present invention, it is clear that described embodiment is
The a part of embodiment of the present invention, rather than the embodiment of whole.Based on the embodiment in the present invention, those of ordinary skill in the art
The every other embodiment obtained under the premise of creative work is not made, belongs to the scope of protection of the invention.
It is currently based on speech recognition controlled, dynamic hand gesture recognition and the human body knowledge of image realization is gathered by common camera
Not etc. mode due to its inexpensive, user-friendly for operation be also widely used for and the field such as business, game.But dynamic gesture is known
Not cannot not apply in the relatively low dim environment of visibility with human bioequivalence, due to operator's behavior randomness and action it is many
Sample can cause system recognition rate than relatively low, so as to affect visual experience and the sense organ degree of user；Therefore one kind is provided and meets energy
The interaction technique of multipoint operation is the technical problem for being badly in need of solving in the low environment of degree of opinion.To solve above-mentioned technical problem, this
Bright embodiment provides a kind of infrared emission source input signal anchor point detection method, apparatus and system.
The embodiment of the present invention one provides a kind of infrared emission source input signal anchor point detection method, referring to Fig. 1, concrete bag
Include following steps：
S101：Infrared light is launched to display screen using infrared emitter；
In this step, infrared emitter can adopt all kinds of remote controls common in life.
S102：Gather display image and be calculated the difference image of two frame display images；
In this step, needed to calibrate harvester before collection display image, taking the photograph harvester
As head plane Coordinate Conversion is into the corresponding coordinate of collected display screen, display image is gathered, it is poor to two continuous frames image
Difference image is managed and obtained in office, excludes fixed barrier zone.
S103：Difference image is carried out to process the luminance graph for obtaining difference image, by the pixel on luminance graph
Brightness value carries out process and obtains bianry image；
In this step, the threshold range for gathering infrared emitter brightness value in advance is needed, show that threshold value is T1-T2, it is red
The brightness value in emission source is between threshold value T1-T2.The computing formula of the brightness value of each pixel of difference image is I=(R+G+
B)/3, R, G, B are respectively the intensity level of three Color Channels of red, green, blue, are worth to according to difference image each pixel R, G, B
The luminance graph image of image, referring to shown in 2.Because sightless infrared emitter still can present higher in shooting figure
Brightness value, so to difference image, each pixel brightness value judges by threshold value T1-T2 that gathers in advance, by brightness value
Pixel between threshold value T1 and T2 is set to the bright spot that gray value is 1, and its gray value is not set to 0 by the pixel in the range of
Dim spot, binary image is obtained, referring to shown in 3.
S104：Bianry image is carried out to form multiple connected regions after connection process, using pre-conditioned from multiple connections
Target connected region is filtered out in region；
In this step, need in advance to be acquired pixel quantity shared by infrared emitter and draw range threshold.
The all pixels point coordinates labeling of bianry image is processed, the label that from left to right, from top to bottom label is 1,2,3,4 ...
Value.All label points are traveled through using CCL (Connected Component Labeling) detection of connectivity algorithm, by all pictures
Vegetarian refreshments gray value is that 0 label point label is set to NULL, and to the label value of the label point that all gray values are 1 any place is not done
Reason, continues to judge next label, forms the connected region of the label that gray value is 1, shown in Figure 4.Through successive ignition
Process, then travel through all non-NULL label points, these label values are set to into label value minimum in this connected region, referring to Fig. 5 institutes
Show.The quantity of all label values of present frame is counted, histogram is formed.Range threshold according to gathering in advance judges each mark
Whether the connected region corresponding to label value is infrared emitter, image denoising, it is determined that last target connected region, as infrared
Emission source view field.
S105：The centre coordinate point of target connected region is drawn according to the edge point coordinates on target connected region side, it is described in
Heart coordinate points are the input signal anchor point of infrared emitter.
In this step, the upper left corner and the lower right corner edge pixel point coordinates value of target connected region are obtained, by two coordinates
The center of value is considered as the coordinate value of infrared emitter.Because amount of pixels is less shared by infrared emitter, so using this side
The error of the center that method is calculated is in the range of acceptance.
Knowable to foregoing description, a kind of infrared emission source input signal anchor point detection method that the present invention is provided passes through
Image to gathering carries out difference processing in advance, reduces operand, while excluding and the same brightness of infrared emitter, the fixation of size
Barrier zone simultaneously realizes the detached effect of display foreground.
The invention provides a kind of specific embodiment of above-mentioned steps S103.Referring to Fig. 6, above-mentioned steps S103 are specifically wrapped
Include following steps：
S1031：The threshold range [T1-T2] of collection infrared emitter brightness value；
In this step, the threshold range of the brightness value for needing to gather infrared emitter in advance.
S1032：Pixel of the brightness value of luminance graph between threshold range is for [T1-T2] is set to into gray value for 1；
In this step, pixel that can also be by the brightness value of luminance graph between threshold range is for [T1-T2] is set to
Gray value is 0；
S1033：It is not that the pixel between [T1-T2] is set to gray value in threshold range by the brightness value of image brightness picture
For 0, bianry image is obtained.
In this step, can also be not the pixel between [T1-T2] in threshold range by the brightness value of image brightness picture
Point is set to the gray value value contrary with step S1032, and obtains bianry image.
Knowable to foregoing description, by carrying out process to difference image bianry image is obtained, it is possible to achieve display foreground point
From function.
The invention provides a kind of specific embodiment of above-mentioned steps S104.Referring to Fig. 7, above-mentioned steps S104 are specifically wrapped
Include following steps：
S1041：The threshold range of collection infrared emitter shared pixel quantity on a display screen；
In this step, the threshold range for gathering pixel quantity shared by infrared emitter in advance is needed；
S1042：Labeling process is carried out to the pixel of bianry image, all labels are traveled through using detection of connectivity algorithm
The label value that gray value is 0 is simultaneously set to preset value by point；
In this step, the preset value is preferably NULL；
S1043：The connected region that gray value is 1 composition is iterated into process, the label of the pixel that gray value is 1 is made
It is worth for label value minimum in the connected region；
In this step, all label values in connected region that gray value is 1 composition are retained into raw value constant.
S1044：The quantity of pixel, identical with the threshold range of infrared emitter pixel quantity in collection connected region
Connected region be target connected region.
Knowable to foregoing description, target connected region is determined by the quantity of compared pixels point, because infrared emitter exists
Shared pixel quantity is less on display screen, so the quantity of the pixel of target connected region has error, this error is can
Within the scope of acceptance.
This method is equally applicable to detection and localization while many infrared emitters, supports multiconductor interface service.
The embodiment of the present invention two provides a kind of infrared emission source input signal anchor point detection means, referring to Fig. 8, including：
Transmitter module, for launching infrared light to display screen using infrared emitter；
Harvester, for gathering display image and being calculated the difference image of two frame display images；
Processing meanss, for carrying out processing the luminance graph for obtaining difference image to difference image, by luminance graph
The brightness value of pixel carries out process and obtains bianry image；
Screening plant, for carrying out forming connected region after connection process to bianry image, using pre-conditioned from multiple
Target connected region is filtered out in connected region；
Positioner, for drawing the centre coordinate of target connected region according to the edge point coordinates of target connected region
Point, the centre coordinate point is the input signal anchor point of infrared emitter.
The processing module includes：
Acquiring unit, for gathering the threshold range [T1-T2] of infrared emitter brightness value；
Bright spot unit, for the pixel by the brightness value of luminance graph between threshold range is for [T1-T2] gray scale is set to
It is worth for 1；
Dim spot unit, sets for the pixel by the brightness value of image brightness picture not between threshold range is for [T1-T2]
It is 0 for gray value, obtains bianry image.
The processing module also includes computing unit, for calculating the brightness value of pixel using I=(R+G+B)/3,
Wherein, R, G, B are respectively the intensity level of three Color Channels of red, green, blue.
The screening module includes：
Sampling unit, for gathering the threshold range of infrared emitter shared pixel quantity on a display screen；
Tag processes unit, for carrying out labeling process to the pixel of bianry image, using detection of connectivity algorithm
Travel through all label points and the label value that gray value is 0 is set to into preset value；
Iterative processing unit, for the connected region that gray value is 1 composition to be iterated into process, makes gray value be 1
The label value of pixel is label value minimum in the connected region；
Fixed point units, the threshold value for gathering the quantity of pixel in connected region, with infrared emitter pixel quantity
Scope identical connected region is target connected region.
Knowable to foregoing description, a kind of infrared emission source input signal anchor point detection means that the present invention is provided can be with
Human-computer interaction is realized in interactive scene in the case where visibility is compared with low environment, can be to multiple invisible infrared emission source input signals
While position, have the advantages that to realize that simple, real-time is good, discrimination is high.
The embodiment of the present invention three provides a kind of infrared emission source input signal anchor point detecting system, referring to Fig. 9, including：
Computer, camera, infrared transmitter and target device display screen；
The computer is connected respectively with the camera and target device display screen；
The infrared transmitter, for launching infrared light to target device display screen；
The camera, for gathering target device display image and transmitting to computer；
The target device display screen, for showing anchor point of the infrared light on screen；
The computer, is processed the image for receiving using the method described in any one of claim 1-4 and will be determined
Site coordinate is sent to target device display screen.
The computer transmits anchor point information of the infrared ray on target device display screen by ICP/IP protocol.
A kind of infrared emission source input signal anchor point detecting system provided by foregoing description, the present invention, if
Standby simple, cost is relatively low and Maintenance free, it is only necessary to the supporting remote control of common camera, computer and target device, nothing
Any transformation need to be done to existing remote control without adding other special equipments again.Additionally, system is transmitted by ICP/IP protocol
Location information, it is possible to provide a general input interface, realize it is convenient, transmit location information fast and accurately.
Above example is merely to illustrate technical scheme, rather than a limitation；Although with reference to the foregoing embodiments
The present invention has been described in detail, it will be understood by those within the art that：It still can be to aforementioned each enforcement
Technical scheme described in example is modified, or carries out equivalent to which part technical characteristic；And these are changed or replace
Change, do not make the spirit and scope of the essence disengaging various embodiments of the present invention technical scheme of appropriate technical solution.
Claims (10)
1. a kind of infrared emission source input signal anchor point detection method, it is characterised in that methods described comprises the steps：
Infrared light is launched to display screen using infrared emitter；
Gather display image and be calculated the difference image of two frame display images；
Difference image is carried out to process the luminance graph for obtaining difference image, is carried out by the brightness value to the pixel on luminance graph
Process obtains bianry image；
Bianry image is carried out to form multiple connected regions after connection process, is screened from multiple connected regions using pre-conditioned
Go out target connected region；
The centre coordinate point of target connected region is drawn according to the edge point coordinates of target connected region, the centre coordinate point is
The input signal anchor point of infrared emitter.
2. method according to claim 1, it is characterised in that described to carry out processing to difference image obtaining difference image
Luminance graph, the step of carrying out process by the brightness value to the pixel on luminance graph and obtain bianry image, specifically includes：
The threshold range [T1-T2] of collection infrared emitter brightness value；
Pixel of the brightness value of luminance graph between threshold range is for [T1-T2] is set to into gray value for 1；
It is 0 that pixel of the brightness value of image brightness picture not between threshold range is for [T1-T2] is set to into gray value, obtains two
Value image.
3. method according to claim 2, it is characterised in that the brightness value of the pixel is calculated using following formula：
I=(R+G+B)/3
Wherein, R, G, B are respectively the intensity level of three Color Channels of red, green, blue.
4. method according to claim 2, it is characterised in that described to carry out forming multiple after connection process to bianry image
Connected region, using it is pre-conditioned target connected region is filtered out from multiple connected regions the step of, specifically include：
The threshold range of collection infrared emitter shared pixel quantity on a display screen；
Labeling process is carried out to the pixel of bianry image, all label points are traveled through and by gray scale using detection of connectivity algorithm
It is worth and is set to preset value for 0 label value；
The connected region that gray value is 1 composition is iterated into process, the label value for making the pixel that gray value is 1 is the company
Minimum label value in logical region；
The quantity of pixel, the threshold range identical connected region with infrared emitter pixel quantity in collection connected region
For target connected region.
5. a kind of infrared emission source input signal anchor point detection means, it is characterised in that described device includes：
Transmitter module, for launching infrared light to display screen using infrared emitter；
Harvester, for gathering display image and being calculated the difference image of two frame display images；
Processing meanss, for carrying out processing the luminance graph for obtaining difference image to difference image, by the pixel on luminance graph
The brightness value of point carries out process and obtains bianry image；
Screening plant, for carrying out forming connected region after connection process to bianry image, using pre-conditioned from multiple connections
Target connected region is filtered out in region；
Positioner, for drawing the centre coordinate point of target connected region, institute according to the edge point coordinates of target connected region
State the input signal anchor point that centre coordinate point is infrared emitter.
6. device according to claim 5, it is characterised in that the processing meanss include：
Acquiring unit, for gathering the threshold range [T1-T2] of infrared emitter brightness value；
Bright spot unit, being set to gray value for the pixel by the brightness value of luminance graph between threshold range is for [T1-T2] is
1；
Dim spot unit, for the pixel by the brightness value of image brightness picture not between threshold range is for [T1-T2] ash is set to
Angle value is 0, obtains bianry image.
7. device according to claim 6, it is characterised in that the processing meanss also include computing unit, for adopting I
=(R+G+B)/3 calculate the brightness value of pixel,
Wherein, R, G, B are respectively the intensity level of three Color Channels of red, green, blue.
8. device according to claim 6, it is characterised in that the screening plant includes：
Sampling unit, for gathering the threshold range of infrared emitter shared pixel quantity on a display screen；
Tag processes unit, for carrying out labeling process to the pixel of bianry image, is traveled through using detection of connectivity algorithm
The label value that gray value is 0 is simultaneously set to preset value by all label points；
Iterative processing unit, for the connected region that gray value is 1 composition to be iterated into process, makes the pixel that gray value is 1
The label value of point is label value minimum in the connected region；
Fixed point units, the threshold range for gathering the quantity of pixel in connected region, with infrared emitter pixel quantity
Identical connected region is target connected region.
9. a kind of infrared emission source input signal anchor point detecting system, it is characterised in that the system includes：Computer, take the photograph
As head, infrared transmitter and target device display screen；
The computer is connected respectively with the camera and target device display screen；
The infrared transmitter, for launching infrared light to target device display screen；
The camera, for gathering target device display image and transmitting to computer；
The target device display screen, for showing anchor point of the infrared light on screen；
The computer, is processed the image for receiving and by anchor point using the method described in any one of claim 1-4
Coordinate is sent to target device display screen.
10. system according to claim 9, it is characterised in that the computer transmits infrared ray by ICP/IP protocol
Anchor point information on target device display screen.
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| CN201611052015.8A CN106598356B (en) | 2016-11-24 | 2016-11-24 | Method, device and system for detecting positioning point of input signal of infrared emission source |
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| CN201611052015.8A CN106598356B (en) | 2016-11-24 | 2016-11-24 | Method, device and system for detecting positioning point of input signal of infrared emission source |
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| CN106598356A true CN106598356A (en) | 2017-04-26 |
| CN106598356B CN106598356B (en) | 2019-05-17 |
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| CN201611052015.8A Expired - Fee Related CN106598356B (en) | 2016-11-24 | 2016-11-24 | Method, device and system for detecting positioning point of input signal of infrared emission source |
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| CN111277767A (en) * | 2020-02-21 | 2020-06-12 | 北京猎户星空科技有限公司 | Method and device for determining infrared control point, electronic equipment and storage medium |
| CN113033464A (en) * | 2021-04-10 | 2021-06-25 | 阿波罗智联(北京)科技有限公司 | Signal lamp detection method, device, equipment and storage medium |
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