CN108279788B - Control unit for remote controller - Google Patents
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- CN108279788B CN108279788B CN201810165336.1A CN201810165336A CN108279788B CN 108279788 B CN108279788 B CN 108279788B CN 201810165336 A CN201810165336 A CN 201810165336A CN 108279788 B CN108279788 B CN 108279788B
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Abstract
The invention discloses a control unit for a remote controller, wherein the remote controller is used for acquiring the distance and the angle of the remote controller relative to a display in an optical tracking system in the optical tracking system so as to generate corresponding coordinates; wherein the display comprises a reference light source that produces a known brightness change over a period of time, the reference light source being maintained in a constant brightness mode outside said period of time; the control unit is electrically connected with an image sensor in the remote controller, and the image sensor is used for acquiring a continuous image group covering the reference light source in the time period; the control unit obtains an effective reference point when detecting that an object is a constant brightness image in a first time period, and judges that the object is environmental noise when detecting that the object is a non-constant brightness image and does not accord with the known brightness change in a second time period. The present invention provides a control unit having high resistance to environmental noise and increasing the number of available reference points to increase remote control performance.
Description
Filing date, application number and invention creation title of original application
The application date of the original application is 12 months and 23 days in 2013, the application number is 201310720005.7, and the name of the original application is 'optical object tracking method and related optical tracking system'.
Technical Field
The present invention relates to an optical object tracking method and an optical tracking system thereof, and more particularly, to a control unit for a remote controller with high environmental noise resistance.
Background
In the traditional multi-point object tracking method, a reference point is regularly switched on and off to generate a flickering light source, an image sensor synchronously obtains continuous images covering the reference point, and a controller finds out the position of the reference point by analyzing regular brightness change in the continuous images so as to generate coordinates required by object tracking remote control. The acquisition frequency of the image sensor and the synchronous error tolerance of the flicker light source of the reference point are low, so that the required precision of the reference point controller of the traditional multi-point object tracking method is high, and the complexity of the synchronous control technology correspondingly increases the product cost. In addition, background light sources in home environments or working environments are often presented in a regularly bright and dark flashing manner, but it is difficult for the conventional multipoint object tracking method to correctly distinguish regularly changing background noise from a flashing light source of a reference point. When the reference point regularly flickers, nearly half of the time is in the low potential state (the light source is turned off or switched to low brightness), so the number of images of the image sensor acquiring the effective reference point is reduced. In summary, the conventional multi-point object tracking method has a poor resolution for regularly varying background noise, and the number of available reference points is small, which has the disadvantages of poor object tracking and remote control performance.
Disclosure of Invention
The present invention provides a control unit for a remote controller having high resistance to environmental noise to solve the above-mentioned problems.
The invention discloses a control unit for a remote controller, which is electrically connected with an image sensor in the remote controller, wherein the image sensor is used for acquiring a continuous image group covering a reference light source, and at least part of the continuous image group comprises an object corresponding to the reference light source; when the object is kept as a constant brightness image in a period of time, the control unit judges that the object is an effective reference point, and judges that the object is environmental noise when the object is detected as a non-constant brightness image and does not accord with the known brightness change in a second period of time.
In a further embodiment, the remote controller is used for acquiring the distance and the angle of the remote controller relative to a display in the optical tracking system to generate corresponding coordinates; the display includes the reference light source that produces the known brightness change over a period of time, the reference light source being maintained in a constant brightness mode outside of the period of time.
In a further embodiment, the display further includes a first communication unit electrically connected to the reference light source, the remote controller further includes a second communication unit electrically connected to the control unit, and the control unit drives the reference light source to generate the known brightness variation by using the second communication unit and the first communication unit.
In a further embodiment, the control unit calculates the length of the period and the point in time in a random manner or according to a default algorithm; preferably, the control unit drives the reference light source to generate the known brightness change after the calculated random time difference exceeds a predetermined time period.
In a further embodiment, the duty cycle of the image sensor is less than the length of time for which the brightness is known to vary.
The invention also discloses a control unit for the remote controller, the control unit is electrically connected with an image sensor in the remote controller, the image sensor is used for acquiring a continuous image group covering the reference light source, and at least part of the continuous image group comprises an object corresponding to the reference light source; when the object is kept as a constant brightness image in a period of time, the control unit judges that the object is an effective reference point, and judges that the object is a reference light source when the object is detected as a non-constant brightness image in a third period of time and accords with the known brightness change.
In a further embodiment, the remote controller is used for acquiring the distance and the angle of the remote controller relative to a display in the optical tracking system to generate corresponding coordinates; the display includes the reference light source that produces the known brightness change over a period of time, the reference light source being maintained in a constant brightness mode outside of the period of time.
In a further embodiment, the display further includes a first communication unit electrically connected to the reference light source, the remote controller further includes a second communication unit electrically connected to the control unit, and the control unit drives the reference light source to generate the known brightness variation by using the second communication unit and the first communication unit.
In a further embodiment, the control unit calculates the length of the period and the point in time in a random manner or according to a default algorithm; preferably, the control unit drives the reference light source to generate the known brightness change after the calculated random time difference exceeds a predetermined time period.
In a further embodiment, the duty cycle of the image sensor is less than the length of time for which the brightness is known to vary.
The invention can effectively improve the object tracking efficiency of the control unit of the remote controller by using the reference light source which flickers randomly, and simplifies the software and hardware configuration of the optical tracking system to reduce the product cost.
Drawings
Fig. 1 is a schematic diagram of an optical tracking system according to an embodiment of the invention.
FIG. 2 is a waveform comparison diagram of a reference light source and an image sensor according to an embodiment of the present invention.
FIG. 3 is a flowchart illustrating an optical object tracking method according to a first embodiment of the present invention.
FIG. 4 is a flowchart illustrating an optical object tracking method according to a second embodiment of the present invention.
Wherein the reference numerals are as follows:
10 optical tracking system
12 display
14 remote controller
16 reference light source
18 image sensor
20 control unit
22 first communication unit
24 second communication unit
W1 ambient noise
W2 known Brightness variation
Acquisition frequency of W3 image sensor
t1 first period
t2 second period
t3 third period
I delay time difference
Detailed Description
Referring to fig. 1, fig. 1 is a schematic diagram of an optical tracking system 10 according to an embodiment of the invention. The optical tracking system 10 includes a display 12 and a remote control 14. The remote control 14 is used to obtain the distance and angle of the remote control 14 relative to the display 12 and generate corresponding coordinates for remote control. Display 12 includes a reference light source 16, typically disposed at either the upper or lower end of display 12. The remote control 14 includes an image sensor 18 and a control unit 20, the control unit 20 being electrically connected to the image sensor 18. The reference light source 16 outputs a light signal having a recognizable characteristic, such as a light signal having a particular blink rate or blinking for a particular period of time, resulting in a known brightness change. The image sensor 18 takes a continuous set of images covering the reference light source 16. The control unit 20 is connected to the image sensor 18 to analyze the image characteristic variation of the continuous image set, find out the image corresponding to the brightness variation of the reference light source 16, and determine the position information of the reference light source 16 in the image to know the reference point required by the optical tracking technology.
The invention provides a high-efficiency noise filtering technology. The reference light source 16 is preferably maintained in a constant brightness mode and is turned off (off mode) once or several times in a period of time to generate a known brightness variation for the remote control 14 to acquire and analyze. Once the brightness change is known to be complete, reference light source 16 reverts to the constant brightness mode. The present invention calculates the time period characteristic of the known brightness variation in a random manner or a default algorithm, such as the duration of the time period or the trigger time point, or in some embodiments, the duration and the trigger time point (or a set of continuous brightness variations) may be included together, so that the known brightness variation may be a non-periodic or periodic regular signal. The change in brightness of the reference light source 16 is a known parameter of the remote control 14, and the remote control 14 can easily distinguish between the reference light source 16 and other ambient noise. In particular, the constant-brightness mode can selectively set the reference light source 16 to the highest brightness, the next highest brightness, or the low brightness state. The brightness value of the reference light source 16 is not limited to a specific range, and it is within the scope of the present invention to keep the reference light source 16 constant (i.e. not turned off) during a period of time. It is known that brightness variations may include various embodiments. For example, reference light source 16 briefly turns reference light source 16 off for a selected period of time such that reference light source 16 has a known brightness variation with a fixed length of full darkness; or repeatedly switching the reference light source 16 on and off for a selected period of time such that the reference light source 16 has a known brightness variation with a fixed brightness variation, but not limited thereto; of course, the reference light source 16 may only generate two different brightness changes in the time period, such as a first brightness that is the same as the constant brightness mode and a second brightness that is half the brightness of the constant brightness mode; alternatively, the first brightness may be the same as the constant brightness mode, and the second brightness (i.e., the brightness is 0) may be matched to the non-light-emitting second brightness.
If the exposure time of the image sensor 18 covers both the high potential state (constant brightness mode) and the low potential state (non-constant brightness image) of the reference light source 16, it is difficult for the control unit 20 to accurately determine the characteristic of the image feature variation. The duty cycle of the image sensor 18 may preferably be less than the duration of a known brightness change (i.e., the off time of the reference light source 16), ensuring that the image sensor 18 can take a valid non-constant bright image of the reference light source 16 turned off or turned to a low brightness for a unit exposure time, e.g., the unit exposure time of the image sensor 18 is less than the shortest off time of the reference light source 16. When the brightness variation of the reference light source 16 is a known parameter of the remote control 14, the control unit 20 can find the image feature variation corresponding to the known brightness variation from the continuous image set of the image sensor 18, and the image feature variation can be the acquisition time and the number (or only the acquisition time or only the number) of the non-constant brightness images. When the acquisition time and/or the number of the non-constant brightness images conform to the known brightness change, the control unit 20 determines that the object with the known brightness change in the non-constant brightness images is the reference light source 16, and acquires the optical tracking reference point. Where other image features that do not conform to known brightness variations are typically ambient noise, direct rejection need not be taken into account.
Referring to fig. 2, fig. 2 is a waveform comparison diagram of the reference light source 16 and the image sensor 18 according to the embodiment of the invention. The ambient noise W1 may be a regular or irregular flashing light signal, and the known brightness change W2 of the reference light source 16 is generated in a random manner or according to a default algorithm. In particular, the reference light source 16 is maintained in the constant-brightness mode when the object tracking is not required, and when the control unit 20 cannot read the real reference point, the reference light source 16 will generate the known brightness variation W2, so that the control unit 20 can recognize the image characteristic variation of the known brightness variation W2 to determine whether to activate the predetermined function of the optical object tracking. Therefore, it is known that the luminance variation W2 is preferably a non-periodic variation, and the generation time point of the image feature is indefinite. The only known characteristics of the time period for the optical tracking system 10 are the duration of the known brightness change W2 in the low potential state (Off mode) and the trigger time point. The acquisition frequency W3 of the image sensor 18 is high, and the duty ratio thereof is smaller than the time length of the low potential state of the known luminance change W2. The known luminance variation W2 of the reference light source 16 and the acquisition frequency W3 of the image sensor 18 do not need to be synchronized. The reference light source 16 only generates the known luminance variation W2 within a loose time period, and the image sensor 18 can easily identify the difference between the environmental noise W1 and the known luminance variation W2 to find the reference point.
As shown in fig. 2, the reference light source 16 is in the constant brightness mode (On mode) during the first time period t1, and the image sensor 18 captures a resulting constant brightness image (high brightness image) during the first time period t1, which can be used to obtain a valid reference point. The image sensor 18 acquires non-constant-luminance images (low-luminance or full-dark images) during the second period t2, but the non-constant-luminance images acquired during the second period t2 do not conform to the known luminance change W2, and the control unit 20 determines that the non-constant-luminance images are in a low-potential state (Off mode) corresponding to the environmental noise W1. Although the noise is turned off at the time of the second period t2, the reference light source 16 still maintains the constant-luminance mode, and the control unit 20 can individually recognize different image features, i.e., determine that one of the object images (the reference light source 16) is still in the constant-luminance mode, and determine that the other object image (the ambient noise) is in the non-constant-luminance mode. The image sensor 18 acquires a non-constant-brightness image (low-brightness or full-dark image) in the third time period t3, and the control unit 20 also performs determination on individual objects in the image, as in the recognition process of the second time period t 2. When the non-constant brightness mode of one of the object images is judged to be in accordance with the low-potential feature of the known brightness change W2, it can be confirmed that the object is the reference light source 16, and the position information of the reference light source 16 in the image is calculated. The third time period t3 may be a change in brightness at a specific frequency, in addition to the turning off of the reference light source 16 for a certain time (the time length of full darkness is a specific value).
Reference light source 16 may produce a known brightness change in two ways. The first embodiment of the present invention is to drive the reference light source 16 by the remote control 14 to generate a known brightness variation, and the second embodiment is to drive the reference light source 16 by the display 12 itself to generate a known brightness variation. As shown in FIG. 1, the display 12 further includes a first communication unit 22 electrically connected to the reference light source 16. The remote control 14 further includes a second communication unit 24 electrically connected to the control unit 20. In the first embodiment, the control unit 20 outputs a control signal to the display 12 via the first communication unit 22 and the second communication unit 24. The control signal may have a system delay time difference I during transmission due to environmental factors such as system voltage, temperature, humidity, etc. The reference light source 16 performs a known brightness variation in accordance with the control signal and the image sensor 18 accordingly takes the relevant set of consecutive images. Next, the control unit 20 can recognize the object generating the known brightness variation as the reference light source 16 from the continuous image group in consideration of the controllable factor including the system delay time difference I.
In the second embodiment, the reference light source 16 generates a known brightness change itself and transmits a notification message to the remote controller 14 through the first communication unit 22 and the second communication unit 24. The notification information initiates the image sensor 18 to acquire a continuous image set. Then, after calculating the variation factors such as the transmission time of the notification information and the system delay time difference I, the control unit 20 can filter the ambient noise, and recognize the object generating the known brightness change as the reference light source 16 from the continuous image group.
Referring to fig. 3, fig. 3 is a flowchart illustrating an optical object tracking method according to a first embodiment of the invention. The optical object tracking method shown in fig. 3 is suitable for the optical tracking system 10 shown in fig. 1 and 2. Step 300 is performed first, and reference light source 16 is maintained in a constant brightness mode. Next, steps 302-306 are performed to calculate the time period for triggering the reference light source 16 in a random manner or algorithm, the control unit 20 outputs a control signal to drive the reference light source 16 to generate a known brightness variation within the time period, and the image sensor 18 is synchronously activated to acquire a continuous image group in real time. Next, step 308 is executed, and the control unit 20 compares the successive image sets with the pattern differences for known brightness changes to determine whether position information of the reference light source 16 in the image needs to be calculated. When the non-constant brightness images in the continuous image group do not conform to the known brightness variation, the control unit 20 individually identifies different object images, determines that the reference light source 16 is still in the constant brightness mode, and the image characteristic variation is caused by the environmental noise in the non-constant brightness mode, and the control unit 20 does not calculate the position information of the reference light source 16 and returns to step 302. When the non-constant brightness image of the continuous image group conforms to the known brightness change, the control unit 20 determines that the reference light source 16 is switched to the non-constant brightness mode, and proceeds to step 310, and identifies the reference light source 16, calculates and outputs the position information of the reference light source 16 to the display 12 as the object tracking coordinate. Finally, step 312 is executed, and after the triggering period is over, the control unit 20 reverts the reference light source 16 to the constant-brightness mode.
Referring to fig. 4, fig. 4 is a flowchart illustrating an optical object tracking method according to a second embodiment of the invention. The optical object tracking method shown in fig. 4 is suitable for the optical tracking system 10 shown in fig. 1 and 2. Step 400 is performed first, and reference light source 16 is maintained in a constant illumination mode. Next, steps 402 to 406 are executed to calculate the triggering time period of the reference light source 16 in a random manner or algorithm, generate a known brightness variation by the reference light source 16 within the time period, and output a notification message to the remote controller 14 by using the first communication unit 22 and the second communication unit 24 to drive the image sensor 18 to obtain the corresponding continuous image group. Next, step 408 is performed, and the control unit 20 compares the successive image sets with known brightness variations to determine whether position information of the reference light source 16 in the image needs to be calculated. When the non-constant brightness images of the successive image sets do not correspond to the known brightness change, the process returns to step 402. When the non-constant brightness images of the consecutive image group conform to the known brightness variation, step 410 is performed, and the control unit 20 calculates and outputs the position information of the reference light source 16 as the object tracking coordinates. Finally, in step 412, the reference light source 16 returns to the constant-illumination mode. The difference between the second embodiment and the first embodiment is that the processor of the reference light source 16 can be used to execute the step 402 and the step 406 to switch the known brightness variation and the constant brightness mode, and notify the remote controller 14 of the characteristics of the known brightness variations through the communication unit.
The optical object tracking method and the related optical tracking system maintain the reference light source in a constant-brightness mode. The reference light source generates a known brightness change according to a default algorithm, which means that when the control unit fails to correctly obtain a valid reference point, the reference light source can be triggered and generate the known brightness change within a specific time period, so that the remote controller can perform position identification and correction of the reference light source. The reference light source generates known brightness change in a random mode, which means that after every predetermined time interval, the reference light source calculates and obtains a group of random time differences, and the known brightness change is automatically generated after the random time differences pass. In other words, the reference light source of the present invention is not a regularly varying flicker light source, but generates a brightness variation according to the interference of the environmental noise or the random operation result, and the brightness variation characteristic is a known parameter of the remote controller. Because the reference light source does not need regular flashing, the optical tracking system can greatly improve the starting time (constant brightness mode) of the reference light source and increase the obtaining quantity of effective reference points. The invention only requires the reference light source to generate brightness change in a specific time interval (no matter the time interval obtained by sensing noise or randomly obtained), and the reference light source and the image sensor do not need to execute synchronous control, so the control complexity of the reference light source can be simplified, and the manufacturing cost of the display can be effectively reduced.
In summary, the present invention can effectively improve the object tracking performance of the optical tracking system by using the reference light source with random flicker, and simplify the software and hardware configuration of the optical tracking system to reduce the product cost.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (12)
1. A control unit for a remote control, characterized in that,
the control unit is electrically connected with an image sensor in the remote controller, the image sensor is used for acquiring a continuous image group covering a reference light source, at least part of the continuous image group contains an object corresponding to the reference light source, and the reference light source is used for generating known brightness change in a period and is maintained in a constant brightness mode outside the period; when the object is kept as a constant brightness image in a period of time, the control unit judges that the object is an effective reference point, and judges that the object is environmental noise when the object is detected as a non-constant brightness image and does not accord with the known brightness change in a second period of time.
2. The control unit of claim 1, wherein the remote controller is configured to obtain a distance and an angle of the remote controller relative to a display in the optical tracking system to generate corresponding coordinates; the display includes the reference light source.
3. The control unit of claim 2, wherein the display further comprises a first communication unit electrically connected to the reference light source, the remote controller further comprises a second communication unit electrically connected to the control unit, and the control unit drives the reference light source to generate the known brightness variation using the second communication unit and the first communication unit.
4. The control unit of claim 2, wherein the control unit calculates the length of the time period and the point in time in a random manner or according to a default algorithm.
5. The control unit of claim 4, wherein the control unit drives the reference light source to produce the known change in brightness after every predetermined period of time has been exceeded.
6. The control unit of claim 1, wherein a duty cycle of the image sensor is less than a length of time of the known brightness change.
7. A control unit for a remote control, characterized in that,
the control unit is electrically connected with an image sensor in the remote controller, the image sensor is used for acquiring a continuous image group covering a reference light source, at least part of the continuous image group contains an object corresponding to the reference light source, and the reference light source is used for generating known brightness change in a period and is maintained in a constant brightness mode outside the period; when the object is kept as a constant brightness image in a period of time, the control unit judges that the object is an effective reference point, and judges that the object is a reference light source when the object is detected as a non-constant brightness image in a third period of time and accords with the known brightness change.
8. The control unit of claim 7, wherein the remote controller is configured to obtain a distance and an angle of the remote controller relative to a display in the optical tracking system to generate corresponding coordinates; the display includes the reference light source.
9. The control unit of claim 8, wherein the display further comprises a first communication unit electrically connected to the reference light source, the remote controller further comprises a second communication unit electrically connected to the control unit, and the control unit drives the reference light source to generate the known brightness variation using the second communication unit and the first communication unit.
10. The control unit of claim 8, wherein the control unit calculates the length of the time period and the point in time in a random manner or according to a default algorithm.
11. The control unit of claim 10, wherein the control unit drives the reference light source to produce the known change in brightness after every predetermined period of time has been exceeded.
12. The control unit of claim 7, wherein a duty cycle of the image sensor is less than a length of time of the known brightness change.
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| CN201810165336.1A CN108279788B (en) | 2013-12-23 | 2013-12-23 | Control unit for remote controller |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310720005.7A CN104731310B (en) | 2013-12-23 | 2013-12-23 | Optical profile type object tracking method and its related optical formula tracing system |
| CN201810165336.1A CN108279788B (en) | 2013-12-23 | 2013-12-23 | Control unit for remote controller |
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| CN201310720005.7A Division CN104731310B (en) | 2013-12-23 | 2013-12-23 | Optical profile type object tracking method and its related optical formula tracing system |
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| CN108279788A CN108279788A (en) | 2018-07-13 |
| CN108279788B true CN108279788B (en) | 2021-02-02 |
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| CN201310720005.7A Expired - Fee Related CN104731310B (en) | 2013-12-23 | 2013-12-23 | Optical profile type object tracking method and its related optical formula tracing system |
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| US10372155B2 (en) * | 2017-08-20 | 2019-08-06 | Pixart Imaging Inc. | Joystick and related control method |
| US10969878B2 (en) | 2017-08-20 | 2021-04-06 | Pixart Imaging Inc. | Joystick with light emitter and optical sensor within internal chamber |
| CN109559488B (en) * | 2018-11-30 | 2022-05-17 | 广东美的制冷设备有限公司 | Control method, remote control terminal, household appliance, system and storage medium |
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| CN102572211A (en) * | 2010-12-20 | 2012-07-11 | 三星泰科威株式会社 | Method and apparatus for estimating light source |
| CN102769757A (en) * | 2012-05-25 | 2012-11-07 | 南京大学 | Active light source-based image acquisition method and system |
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| JP4377013B2 (en) * | 1999-11-18 | 2009-12-02 | 國寛 渡辺 | Solid-state imaging device and solid-state imaging device |
| US7924423B2 (en) * | 2008-08-11 | 2011-04-12 | Ut-Battelle, Llc | Reverse photoacoustic standoff spectroscopy |
| CN201348764Y (en) * | 2008-12-22 | 2009-11-18 | 光峰科技股份有限公司 | Interaction bulletin system with extended function outside the image display area |
| CN102890822B (en) * | 2011-07-20 | 2015-05-20 | 华晶科技股份有限公司 | Device with function of detecting object position, and detecting method of device |
| CN103028249B (en) * | 2011-09-30 | 2015-04-29 | 孕龙科技股份有限公司 | Identifying device and identifying method for pointing position |
| TWI432766B (en) * | 2011-12-28 | 2014-04-01 | Pixart Imaging Inc | Light source determining device, light source determining method and light tracking device |
| CN102682589B (en) * | 2012-01-09 | 2015-03-25 | 西安智意能电子科技有限公司 | System for distant control of controlled device |
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| CN102572211A (en) * | 2010-12-20 | 2012-07-11 | 三星泰科威株式会社 | Method and apparatus for estimating light source |
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| CN104731310B (en) | 2018-03-30 |
| CN104731310A (en) | 2015-06-24 |
| CN108279788A (en) | 2018-07-13 |
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