CN107341137B - Multi-panel-based annotation following method and system - Google Patents

Multi-panel-based annotation following method and system Download PDF

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CN107341137B
CN107341137B CN201710366306.2A CN201710366306A CN107341137B CN 107341137 B CN107341137 B CN 107341137B CN 201710366306 A CN201710366306 A CN 201710366306A CN 107341137 B CN107341137 B CN 107341137B
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annotation
mode
intelligent
intelligent interactive
panel
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CN107341137A (en
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陈纬霖
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Guangzhou Shiyuan Electronics Thecnology Co Ltd
Guangzhou Shirui Electronics Co Ltd
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Guangzhou Shiyuan Electronics Thecnology Co Ltd
Guangzhou Shirui Electronics Co Ltd
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    • GPHYSICS
    • G06COMPUTING; CALCULATING OR COUNTING
    • G06FELECTRIC DIGITAL DATA PROCESSING
    • G06F40/00Handling natural language data
    • G06F40/10Text processing
    • G06F40/166Editing, e.g. inserting or deleting
    • G06F40/169Annotation, e.g. comment data or footnotes
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04LTRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L67/00Network arrangements or protocols for supporting network services or applications
    • H04L67/01Protocols
    • H04L67/10Protocols in which an application is distributed across nodes in the network
    • H04L67/1095Replication or mirroring of data, e.g. scheduling or transport for data synchronisation between network nodes

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  • Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • Audiology, Speech & Language Pathology (AREA)
  • Health & Medical Sciences (AREA)
  • Computational Linguistics (AREA)
  • General Health & Medical Sciences (AREA)
  • Physics & Mathematics (AREA)
  • General Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Artificial Intelligence (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • User Interface Of Digital Computer (AREA)

Abstract

The invention provides a comment following method based on multiple flat plates, which comprises the following steps: according to the network pairing function, establishing connection with the paired intelligent interactive flat plates, and receiving synchronous data transmitted by the paired intelligent interactive flat plates; when detecting that the speaker enters a preset range of the speaker, acquiring a document mode of the paired intelligent interactive tablet according to the synchronous data; and when the document mode of the paired intelligent interactive flat plate is an annotation mode and the current document mode of the paired intelligent interactive flat plate is a demonstration mode, the synchronous data switches the document mode of the paired intelligent interactive flat plate into the annotation mode. The invention also provides a multi-panel-based comment following device and a multi-panel-based comment following system, which realize the effect of following the lecturer by the comment, well solve the problem that the lecturer needs to go back when needing the comment, facilitate the real-time control of the lecturer on the flow of the lecture and realize interaction with other people.

Description

Multi-panel-based annotation following method and system
Technical Field
The invention relates to the field of intelligent interactive panels, in particular to a multi-panel-based annotation following method and system.
Background
The intelligent interactive flat panel is integrated equipment for controlling contents displayed on a display flat panel (LCD, LED and PDP) and realizing man-machine interactive operation through a touch technology, has multiple functions of annotation, drawing, projector playing, electronic whiteboard display, curtain, sound, a television, a video conference terminal and the like, is integrated with multiple technologies of man-machine interaction, flat panel display, multimedia information processing, network transmission and the like, is a preferred solution for office work, teaching and image-text interactive demonstration in an information era, and is widely applied to the fields of education and teaching, enterprise meetings, commercial exhibition and the like.
In some situations, it may be desirable to use multiple smart interactive tablets simultaneously, e.g., some tablets for annotation and some tablets for presentation. However, the lecturer can move back and forth in front of each flat plate along with the requirements of the lecture, and the lecturer can easily move back the flat plate serving as the annotation when needing the annotation, so that the field interaction cannot be well realized.
Disclosure of Invention
Aiming at the problems, the invention provides a comment following method and device based on multiple panels, which solve the problem that a speaker needs to return comments, facilitate the speaker to master the speech flow in real time and realize interaction with other people.
The invention provides a comment following method based on multiple flat plates, which comprises the following steps:
according to the network pairing function, establishing connection with the paired intelligent interactive flat plates, and receiving synchronous data transmitted by the paired intelligent interactive flat plates;
when detecting that the speaker enters a preset range of the speaker, acquiring a document mode of the paired intelligent interactive tablet according to the synchronous data;
and when the document mode of the paired intelligent interactive flat plate is an annotation mode and the current document mode of the paired intelligent interactive flat plate is a demonstration mode, switching the document mode of the paired intelligent interactive flat plate into the annotation mode.
Preferably, when the document mode of the paired intelligent interaction tablet is an annotation mode, the synchronization data includes annotation mode marks, annotation handwriting, and a current annotation state on the paired intelligent interaction tablet;
when the document mode of the paired intelligent interactive tablet is the annotation mode and the current document mode of the paired intelligent interactive tablet is the demonstration mode, switching the document mode of the paired intelligent interactive tablet into the annotation mode, specifically:
switching a document mode of the annotation module into an annotation mode according to the annotation mode mark, generating an annotation interface, and setting an annotation state in the annotation mode according to the current annotation state;
and drawing the annotation handwriting on the generated annotation interface.
Preferably, the method further comprises the following steps:
receiving a touch instruction transmitted by the paired intelligent interactive panels, and executing the touch instruction; and the touch instruction is generated by detecting the operation on the paired intelligent interaction tablet.
Preferably, the method further comprises the following steps:
and receiving the annotation handwriting transmitted by the matched intelligent interactive panel, and drawing the annotation handwriting on an annotation interface covering the current display interface.
Preferably, the method further comprises the following steps:
and receiving the screenshot of the current display interface transmitted by the paired intelligent interactive flat plate, and displaying the screenshot.
The invention also provides a multi-panel-based annotation following system, which comprises a first intelligent interactive panel, a second intelligent interactive panel matched with the first intelligent interactive panel, a first sensing detector arranged on the first intelligent interactive panel and connected with the first intelligent interactive panel, and a second sensing detector arranged on the second intelligent interactive panel and connected with the second intelligent interactive panel; wherein,
the first intelligent interactive panel is used for establishing connection with the second intelligent interactive panel according to a network pairing function and receiving synchronous data transmitted by the second intelligent interactive panel;
the first sensing detector is used for detecting whether a speaker enters a preset range of the first intelligent interaction panel or not and sending a detection result to the first intelligent interaction panel;
the second sensing detector is used for detecting whether the speaker enters a preset range of the second intelligent interaction panel or not and sending a detection result to the second intelligent interaction panel;
the first intelligent interactive tablet is further used for acquiring a document mode of the first intelligent interactive tablet and a document mode of the second intelligent interactive tablet when the fact that the speaker enters a preset range of the first intelligent interactive tablet according to the checking result of the first sensing detector is detected, and switching the document mode of the first intelligent interactive tablet into an annotation mode when the document mode of the first intelligent interactive tablet is a demonstration mode and the document mode of the second intelligent interactive tablet is an annotation mode.
Preferably, when the document mode of the second smart interactive tablet is the annotation mode, the synchronization data includes annotation mode marks, annotation handwriting, and a current annotation state on the paired smart interactive tablet;
the first intelligent interactive tablet is specifically configured to switch a document mode of the tablet computer to an annotation mode according to the annotation mode flag, generate an annotation interface, set an annotation state in the annotation mode according to the current annotation state, and draw the annotation handwriting on the generated annotation interface.
Preferably, the second smart interactive tablet is further configured to generate a touch instruction according to the detected touch operation, respond according to the touch instruction, and send the touch instruction to the first smart interactive tablet;
the first intelligent interactive panel is further used for receiving the touch instruction transmitted by the second intelligent interactive panel and executing the touch instruction.
Preferably, the second intelligent interactive tablet is further configured to obtain annotation handwriting generated on an annotation interface, and send the annotation handwriting to the first intelligent interactive tablet;
the first intelligent interaction panel is further used for receiving the annotation handwriting transmitted by the second intelligent interaction panel and drawing the annotation handwriting on an annotation interface covering the current display interface.
Preferably, the second intelligent interactive tablet is further configured to capture a screen of a current display interface at regular time, obtain a screenshot of the current display interface, and send the screenshot to the first intelligent interactive tablet;
the first intelligent interactive tablet is further used for displaying the screenshot.
According to the comment following method and system based on the multiple flat plates, the fact that connection and data synchronization are established with the paired intelligent interactive flat plates is achieved through a network pairing function, when the fact that a speaker enters a preset range of the speaker is detected, a document mode of the speaker and a document mode of the paired intelligent interactive flat plates are automatically obtained, when the speaker is in a demonstration mode and the paired intelligent interactive flat plates are in a comment mode, the comment mode and the demonstration file are automatically switched to be switched to the document mode of the paired intelligent interactive flat plates, the effect of comment following the speaker is achieved, the problem that the speaker needs to go back when needing comment is well solved, the speaker can conveniently master a speech process in real time, and interaction with other people is achieved.
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In order to more clearly illustrate the technical solution of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a multi-plate-based annotation following system according to an embodiment of the present invention.
Fig. 2 is a schematic flowchart of a multi-plate-based annotation following method according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, an embodiment of the present invention provides a multi-tablet based annotation following system, which includes a first smart interactive tablet 100, a second smart interactive tablet 200 paired with the first smart interactive tablet 100, a first sensing detector 110 disposed on the first smart interactive tablet 100 and connected to the first smart interactive tablet 100, and a second sensing detector 210 disposed on the second smart interactive tablet 200 and connected to the second smart interactive tablet 200. Wherein:
the first smart interactive tablet 100 is configured to establish a connection with the second smart interactive tablet 200 according to a network pairing function, and receive synchronization data transmitted by the second smart interactive tablet 200.
The first sensing detector 110 is configured to detect whether a speaker enters a preset range of the first intelligent interactive tablet 100, and send a detection result to the first intelligent interactive tablet 100.
The second sensing detector 210 is configured to detect whether a speaker enters a preset range of the second intelligent interactive tablet 200, and send a detection result to the second intelligent interactive tablet 200.
Specifically, in the embodiment of the present invention, the first sensing detector 110 and the second sensing detector 210 may include a human body sensor and a distance sensor, and whether the speaker a enters a preset range of the first intelligent interactive tablet is detected through the human body sensor and the distance sensor. The human body sensor can be used for judging whether a human body exists in front of the human body sensor, and the distance sensor is used for prejudging the distance between the human body and the corresponding intelligent interaction panel. The distance sensor is generally divided into a contact distance sensor and a non-contact distance sensor, the contact distance sensor comprises an inductive displacement sensor, a capacitive displacement sensor, a cmos displacement sensor, a rotary encoder, a magnetic scale, a grating scale and the like, and the non-contact distance sensor comprises a laser displacement sensor, an ultrasonic (sonar) distance sensor, an infrared distance sensor and the like. In an embodiment of the present invention, a non-contact distance sensor is used.
In the embodiment of the invention, for example, the thermal infrared human body sensor is used for identifying the position of the speaker, judging whether the speaker is in front of the panel, and the ultrasonic distance sensor is used for identifying the distance between the speaker and the intelligent interactive panel. When the ultrasonic distance sensor detects that the speaker enters the preset range of the corresponding intelligent interaction panel, the ultrasonic distance sensor sends a detection result to the corresponding intelligent interaction panel.
The first smart interactive tablet 100 is further configured to acquire a document mode of the presenter and a document mode of the second smart interactive tablet 200 when the presenter enters a preset range of the presenter according to the checking result of the first sensing detector 110, and switch the document mode of the presenter to the annotation mode when the document mode of the presenter is the presentation mode and the document mode of the second smart interactive tablet 200 is the annotation mode.
Specifically, in the embodiment of the present invention, if initially, the speaker a is located within the preset range of the second smart interactive tablet 200, and the document mode of the first smart interactive tablet 100 is initially in the presentation mode (i.e. the document displayed on the first smart interactive tablet 100 is only used for presentation at this time), and the document mode of the second smart interactive tablet 200 is in the annotation mode (i.e. the document displayed on the first smart interactive tablet 100 can be annotated at this time), when the speaker a walks from the second smart interactive tablet 200 to the preset range of the first smart interactive tablet 100, the first sensing detector 110 detects the speaker a and sends the detection result to the first smart interactive tablet 100, after obtaining the event that the speaker a enters the preset range according to the inspection result, and calling the latest synchronized synchronous data from the second intelligent interactive flat panel 200, and switching the document mode of the second intelligent interactive flat panel 200 into an annotation mode.
When the document mode of the second intelligent interaction tablet 200 is the annotation mode, the synchronization data includes annotation mode marks, annotation handwriting, and a current annotation state on the paired intelligent interaction tablet.
At this time, after receiving the synchronous data, the first intelligent interactive tablet 100 firstly switches its own document mode into the annotation mode according to the annotation mode flag, then generates an annotation interface covering the current display interface, sets an annotation state in the annotation mode according to the current annotation state, and draws the annotation handwriting on the generated annotation interface.
According to the comment following system based on the multiple panels, data synchronization with the intelligent interactive panel is achieved through a network pairing function, when a fact that a speaker enters a preset range of the speaker is detected, a document mode of the speaker and a document mode of the intelligent interactive panel matched with the speaker are automatically obtained, when the speaker is in a demonstration mode and the intelligent interactive panel matched with the speaker is in a comment mode, the comment mode and a demonstration file are automatically switched, the effect that the comment follows the speaker is achieved, the problem that the speaker needs to go back when needing the comment is well solved, the speaker can conveniently control a speech process in real time, and interaction with other people is achieved.
Preferably, the second smart interactive tablet 200 is further configured to generate a touch instruction according to the detected touch operation, respond according to the touch instruction, and send the touch instruction to the first smart interactive tablet 100;
the first smart interactive tablet 100 is further configured to receive the touch instruction transmitted by the second smart interactive tablet 200, and execute the touch instruction.
In the preferred embodiment, when the speaker is located on the second intelligent interaction tablet 200 for demonstration, the speaker may perform touch operations on the corresponding document, such as page turning, page scrolling, background adjustment, page zooming, and the like, at this time, the second intelligent interaction tablet 200 may detect the touch operations of the speaker, generate a touch instruction, and then respond according to the touch instruction to update the display interface. Meanwhile, the second smart interactive tablet 200 further sends the touch instruction to the first smart interactive tablet 100. After receiving the touch instruction, the first smart interactive tablet 100 executes the touch instruction, thereby achieving touch synchronization between the first smart interactive tablet 100 and the second smart interactive tablet 200.
In the preferred embodiment, because the intelligent interactive flat plates are synchronously touched, when a speaker moves to one intelligent interactive flat plate, the document display state of the intelligent interactive flat plate is consistent with that of the previous intelligent interactive flat plate, the speaker does not need to adapt to a new document again, seamless connection can be realized, and the speech experience of the speaker is improved.
Preferably, the second intelligent interaction tablet 200 is further configured to obtain annotation handwriting generated on an annotation interface, and send the annotation handwriting to the first intelligent interaction tablet 100;
the first intelligent interaction panel 100 is further configured to receive the annotation handwriting transmitted by the second intelligent interaction panel 200, and draw the annotation handwriting on an annotation interface covering the current display interface.
In the preferred embodiment, the lecture notes on the second intelligent interactive tablet 200 are also synchronized to the first intelligent interactive tablet 100, so that all the viewers can simultaneously obtain the lecture notes of the lecture and know the current lecture information. Particularly, in some larger occasions, a plurality of intelligent interactive panels may be needed to ensure the viewing effect of each viewer, and at this time, synchronization of annotating handwriting is very important.
Preferably, the second smart interactive tablet 200 is further configured to capture a screen of a current display interface at regular time, obtain a screenshot of the current display interface, and send the screenshot to the first smart interactive tablet 100;
the first smart interactive tablet 100 is further configured to display the screenshot.
In some cases, for example, the speaker performs operations such as text editing or picture editing on the currently displayed document, and data changes generated by the operations are not convenient to synchronize, so that different intelligent interactive tablets may have different contents. Therefore, in the preferred embodiment, the second smart interactive tablet 200 may capture a screen of a current display interface at regular time, obtain a screenshot of the current display interface, and send the screenshot to the first smart interactive tablet 100, where the first smart interactive tablet 100 displays the screenshot, so as to ensure that the display interfaces of the first smart interactive tablet 100 and the second smart interactive tablet 200 are consistent all the time.
Referring to fig. 2, the present invention further provides a comment following method based on multiple panels, including the following steps:
s101, according to a network pairing function, establishing connection with a paired intelligent interactive panel, and receiving synchronous data transmitted by the paired intelligent interactive panel;
s102, when detecting that the speaker enters a preset range of the speaker, acquiring a document mode of the paired intelligent interactive flat plate according to the synchronous data;
s103, when the document mode of the paired intelligent interactive flat plate is the annotation mode and the current document mode of the paired intelligent interactive flat plate is the demonstration mode, the document mode of the paired intelligent interactive flat plate is switched to the annotation mode.
According to the comment following method based on the multiple flat plates, the connection with the paired intelligent interactive flat plates is achieved through a network pairing function, data synchronization is conducted, when the fact that a speaker enters a self preset range is detected, a document mode of the speaker and a document mode of the paired intelligent interactive flat plates are automatically obtained, when the speaker is in a demonstration mode and the paired intelligent interactive flat plates are in a comment mode, the comment mode and a demonstration file are automatically switched to be switched to the document mode of the paired intelligent interactive flat plates, the effect of comment following the speaker is achieved, the problem that the speaker needs to go back when needing comments is well solved, the speaker can conveniently control a speech flow in real time, and interaction with others is achieved.
Preferably, when the document mode of the paired intelligent interaction tablet is an annotation mode, the synchronization data includes annotation mode marks, annotation handwriting, and a current annotation state on the paired intelligent interaction tablet;
step S103 specifically includes:
switching a document mode of the annotation module into an annotation mode according to the annotation mode mark, generating an annotation interface, and setting an annotation state in the annotation mode according to the current annotation state;
and drawing the annotation handwriting on the generated annotation interface.
Preferably, the method further comprises the following steps:
s104, receiving a touch instruction transmitted by the matched intelligent interactive panel, and executing the touch instruction; and the touch instruction is generated by detecting the operation on the paired intelligent interaction tablet.
In the preferred embodiment, because the intelligent interactive flat plates are synchronously touched, the state of each intelligent interactive flat plate is consistent with that of the previous intelligent interactive flat plate when the speaker moves to one intelligent interactive flat plate, the speaker can perform demonstration without gaps, and the demonstration experience of the speaker is improved.
Preferably, the method further comprises the following steps:
and S105, receiving the remarking handwriting transmitted by the matched intelligent interactive panel, and drawing the remarking handwriting on a remarking interface covering the current display interface.
Preferably, the method further comprises the following steps:
and S106, receiving the screenshot of the current display interface transmitted by the paired intelligent interactive flat panel, and displaying the screenshot.
While the invention has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like.

Claims (8)

1. An annotation following method based on multiple flat plates is characterized by comprising the following steps:
according to the network pairing function, establishing connection with the paired intelligent interactive flat plates, and receiving synchronous data transmitted by the paired intelligent interactive flat plates;
when the fact that the speaker enters a preset range of the speaker is detected through a sensor, acquiring a document mode of the matched intelligent interactive flat plate according to the synchronous data;
when the document mode of the paired intelligent interactive flat plate is an annotation mode and the current document mode of the paired intelligent interactive flat plate is a demonstration mode, switching the document mode of the paired intelligent interactive flat plate into the annotation mode;
when the document mode of the paired intelligent interaction flat plate is the annotation mode, the synchronous data comprises annotation mode marks, annotation handwriting and the current annotation state on the paired intelligent interaction flat plate;
when the document mode of the paired intelligent interactive tablet is the annotation mode and the current document mode of the paired intelligent interactive tablet is the demonstration mode, switching the document mode of the paired intelligent interactive tablet into the annotation mode, specifically:
switching a document mode of the annotation module into an annotation mode according to the annotation mode mark, generating an annotation interface, and setting an annotation state in the annotation mode according to the current annotation state;
and drawing the annotation handwriting on the generated annotation interface.
2. The multi-plate based annotation following method of claim 1, further comprising:
receiving a touch instruction transmitted by the paired intelligent interactive panels, and executing the touch instruction; and the touch instruction is generated by detecting the operation on the paired intelligent interaction tablet.
3. The multi-plate based annotation following method of claim 1, further comprising:
and receiving the annotation handwriting transmitted by the matched intelligent interactive panel, and drawing the annotation handwriting on an annotation interface covering the current display interface.
4. The multi-plate based annotation following method of claim 1, further comprising:
and receiving the screenshot of the current display interface transmitted by the paired intelligent interactive flat plate, and displaying the screenshot.
5. A multi-panel-based annotation following system is characterized by comprising a first intelligent interaction panel, a second intelligent interaction panel matched with the first intelligent interaction panel, a first sensing detector arranged on the first intelligent interaction panel and connected with the first intelligent interaction panel, and a second sensing detector arranged on the second intelligent interaction panel and connected with the second intelligent interaction panel; wherein,
the first intelligent interactive panel is used for establishing connection with the second intelligent interactive panel according to a network pairing function and receiving synchronous data transmitted by the second intelligent interactive panel;
the first sensing detector is used for detecting whether a speaker enters a preset range of the first intelligent interaction panel or not and sending a detection result to the first intelligent interaction panel;
the second sensing detector is used for detecting whether the speaker enters a preset range of the second intelligent interaction panel or not and sending a detection result to the second intelligent interaction panel;
the first intelligent interactive flat plate is further used for acquiring a document mode of the first intelligent interactive flat plate and a document mode of the second intelligent interactive flat plate when the fact that the speaker enters a preset range of the first intelligent interactive flat plate is detected according to the checking result of the first sensing detector, and switching the document mode of the first intelligent interactive flat plate into an annotation mode when the document mode of the first intelligent interactive flat plate is a demonstration mode and the document mode of the second intelligent interactive flat plate is an annotation mode;
when the document mode of the second intelligent interaction tablet is the annotation mode, the synchronous data comprise annotation mode marks, annotation handwriting and the current annotation state of the paired second intelligent interaction tablet;
the first intelligent interactive tablet is specifically configured to switch a document mode of the tablet computer to an annotation mode according to the annotation mode flag, generate an annotation interface, set an annotation state in the annotation mode according to the current annotation state, and draw the annotation handwriting on the generated annotation interface.
6. The multi-plate based annotation following system of claim 5,
the second intelligent interaction panel is further used for generating a touch instruction according to the detected touch operation, responding according to the touch instruction, and sending the touch instruction to the first intelligent interaction panel;
the first intelligent interactive panel is further used for receiving the touch instruction transmitted by the second intelligent interactive panel and executing the touch instruction.
7. The multi-plate based annotation following system of claim 5,
the second intelligent interaction panel is further used for acquiring annotation handwriting generated on an annotation interface and sending the annotation handwriting to the first intelligent interaction panel;
the first intelligent interaction panel is further used for receiving the annotation handwriting transmitted by the second intelligent interaction panel and drawing the annotation handwriting on an annotation interface covering the current display interface.
8. The multi-plate based annotation following system of claim 5,
the second intelligent interactive flat plate is also used for regularly capturing a screen of a current display interface, acquiring a screenshot of the current display interface and sending the screenshot to the first intelligent interactive flat plate;
the first intelligent interactive tablet is further used for displaying the screenshot.
CN201710366306.2A 2017-05-22 2017-05-22 Multi-panel-based annotation following method and system Active CN107341137B (en)

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