CN110175607B - Laser pen external member and drawing tracking implementation method thereof - Google Patents
Laser pen external member and drawing tracking implementation method thereof Download PDFInfo
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- CN110175607B CN110175607B CN201910362144.4A CN201910362144A CN110175607B CN 110175607 B CN110175607 B CN 110175607B CN 201910362144 A CN201910362144 A CN 201910362144A CN 110175607 B CN110175607 B CN 110175607B
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
- G06F3/033—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
- G06F3/0354—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor with detection of 2D relative movements between the device, or an operating part thereof, and a plane or surface, e.g. 2D mice, trackballs, pens or pucks
- G06F3/03542—Light pens for emitting or receiving light
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/10—Image acquisition
- G06V10/12—Details of acquisition arrangements; Constructional details thereof
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V30/00—Character recognition; Recognising digital ink; Document-oriented image-based pattern recognition
- G06V30/10—Character recognition
- G06V30/14—Image acquisition
- G06V30/142—Image acquisition using hand-held instruments; Constructional details of the instruments
- G06V30/1423—Image acquisition using hand-held instruments; Constructional details of the instruments the instrument generating sequences of position coordinates corresponding to handwriting
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B17/00—Teaching reading
- G09B17/02—Line indicators or other guides or masks
Abstract
The invention provides a laser pen kit and a drawing tracking implementation method thereof, wherein a Kinect device is combined with an AR interaction algorithm and a laser pen button, the operation of remotely and randomly drawing a straight line or a curve can be realized only by acting in front of the Kinect device, in addition, the operations of selection, rotation and translation can also be carried out, when an object is selected, the laser pen can emit laser, so that which object is selected can be known, the drawing of a mathematical graph can be realized in a simple mode, and the remote teaching is facilitated. And combining color feature-based detection, a five-frame difference algorithm and a Gaussian mixture model on a drawing tracking algorithm. And performing logical AND operation on the three detected results, and then obtaining a complete moving target through connectivity detection. Therefore, the phenomena of illumination change noise interference and cavities are effectively overcome, and robustness and accuracy are achieved.
Description
Technical Field
The invention relates to the technical field of laser pens, in particular to a laser pen kit and a drawing tracking implementation method thereof.
Background
Laser pens are often used to point at great distances as a distinctive spot in educational and business presentations. The laser is a directional light, the laser emitted by the laser pen can only emit in one direction, the divergence degree of the laser beam is only about 0.001 radian and is basically close to parallel, and the laser can be regarded as a basically non-divergent light. And the laser pen has high brightness, so that the laser pen can be shot to and light a remote object to indicate the remote object. The wavelength of the laser covers a narrow range, so the color of the laser is pure.
When a teaching laser pen on the market is mainly applied to switching presentation files, the teaching laser pen only has a small number of functions of page turning up and down, volume adjustment, laser display and the like, if a graph is required to be drawn in mathematical teaching, the graph can only be directly contacted with a screen through the pen or a writing board is adopted, but the mode is slow in response, and on the contrary, the teaching is troublesome. In the prior art, some technologies adopt laser and an external camera to perform human-computer interaction to realize remote teaching, but the mode is greatly influenced by external illumination.
Disclosure of Invention
The invention aims to provide a laser pen kit and a drawing tracking implementation method thereof, aims to solve the problem that the laser pen cannot be used for drawing or drawing a picture greatly influenced by illumination in the prior art, and realizes the purpose of drawing a mathematical graph by using a laser pen in a simple mode and facilitating remote teaching.
In order to achieve the above technical object, the present invention provides a laser pen kit, comprising:
4 buttons, 1 zooming slide button, a resistor, an ammeter, a power supply, a laser lamp and a singlechip;
the buttons comprise a selection button, a rotation button, a straight line button and a curve button;
the selection button is connected with the laser lamp in series, is connected with the zooming sliding button, the rotating button, the linear button and the curve button in parallel, forms a loop with other components, forms different loops when different buttons are pressed, and has different current values in the different loops;
the single chip microcomputer judges the magnitude of the current value and wirelessly transmits the result to the computer equipment, and the computer equipment selects corresponding execution operation according to the magnitude of the current value and transmits data to the AR display equipment.
Preferably, the laser light is illuminated when the selection button is pressed.
Preferably, the front end of the laser pen is of a specific color.
The invention also provides a drawing tracking implementation method of the laser pen kit, which comprises the following steps:
s1, based on color characteristics, identifying a specific color through a camera to perform preliminary detection on the position of a laser pen;
s2, carrying out dynamic motion detection on the laser pen with the specific color at the front end through a five-frame difference algorithm;
s3, performing background updating by using mixed Gaussian background modeling, and extracting a target;
and S4, carrying out logic and operation on the results of the color identification, the five-frame difference and Gaussian mixture detection, and obtaining a complete laser pen target through a communication area.
Preferably, the step S2 specifically operates as follows:
s201, continuously selecting adjacent 5 frames of images:
f k-2 (x，y)、f k-1 (x，y)、f k (x，y)、f k+1 (x，y)、f k+2 (x，y)
convert it to the corresponding gray map:
I k-2 (x，y)、I k-1 (x，y)、I k (x，y)、I k+1 (x，y)、I k+2 (x，y)；
s202, performing frame difference operation on the 5-frame gray level image to obtain a difference result d i (x，y)(i＝1，2，3，4)：
d 1 (x，y)＝|I k (x，y)-I k-2 (x，y)|
d 2 (x，y)＝|I k (x，y)-I k-1 (x，y)|
d 2 (x，y)＝|I k (x，y)-I k+1 (x，y)|
d 4 (x，y)＝|I k (x，y)-I k+2 (x，y)|；
S203, binarization processing:
s204, carrying out logical OR operation on the binarization result:
s205, carrying out logical AND operation to obtain the laser pen profile of the K frame image:
preferably, the step S3 specifically operates as follows:
s301, using the pixel value X of each pixel point at the time t =1 t As the mean value μ of the 1 st Gaussian distribution 1 And given a variance σ 1 ；
S302、X t And comparing the current K Gaussian models according to the following formula to find a matched distribution model:
|X t -μ i，t-1 |≤2.5*σ i，t-1 ；
s303, if the matched model meets the background requirement, the pixel belongs to the background, otherwise, the pixel belongs to the foreground;
s304, adjusting the weight of Gaussian distribution in the model according to the following formula:
ω k，t ＝(1-α)*ω k，t-1 +α*M k，t
where α is the learning rate, for a matched model M k，t =1, otherwise its value is 0;
s305, updating the mean value and the variance:
μ t ＝(1-ρ)*μ t-1 +ρ*X t
σ t 2 ＝(1-ρ)*σ t-1 2 +ρ*(X t -μ t ) T (X t -μ t )；
s306, arranging the models according to omega/sigma descending order, wherein the models with large weight and small standard deviation are arranged in front;
s307, selecting the first B models as a background, determining the number of Gaussian distributions capable of expressing a background image according to the following formula, wherein the parameter T represents the proportion of the background, and if the detected pixel value is matched with any one of the first B Gaussian distributions in the background model, the pixel is considered to belong to the background, otherwise, the pixel is considered to be the foreground:
preferably, the method further comprises performing median filtering processing on the image.
Preferably, the operation of obtaining the complete laser pointer target through the connected region is as follows:
calculating the area of each connected region, setting a contour area threshold value, taking the region smaller than the threshold value as noise and discarding the region, filling the inside of the contour with foreground color to obtain a complete moving target.
The effects provided in the summary of the invention are only the effects of the embodiments, not all of the effects of the invention, and one of the above technical solutions has the following advantages or beneficial effects:
compared with the prior art, the invention provides a design scheme of a laser pen kit, the Kinect equipment is combined with an AR interaction algorithm and a laser pen button, the operation of remotely and randomly drawing a straight line or a curve can be realized only by acting in front of the Kinect equipment, in addition, the selection, rotation and translation operations can be carried out, when an object is selected, the laser pen can emit laser, so that the object can be selected, the mathematical graph can be drawn in a simple mode, and the remote teaching is facilitated. And on the basis of a drawing tracking algorithm, the detection based on color characteristics, a five-frame difference algorithm and a Gaussian mixture model are combined. And performing logical AND operation on the three detected results, and then obtaining a complete moving target through connectivity detection. Therefore, the phenomena of illumination change noise interference and cavities are effectively overcome, and robustness and accuracy are achieved.
Drawings
FIG. 1 is a side view of a laser pointer kit according to an embodiment of the present invention;
FIG. 2 is a top view of a laser pointer kit according to an embodiment of the present invention;
FIG. 3 is a circuit diagram of an internal circuit of a laser pointer for drawing a straight line or a curved line according to an embodiment of the present invention;
FIG. 4 is a circuit diagram of an internal circuit of a laser pointer for selecting or translating an object according to an embodiment of the present invention;
FIG. 5 is a circuit diagram of an internal circuit of a laser pointer for rotating an object according to an embodiment of the present invention;
FIG. 6 is a circuit diagram of an internal circuit of a laser pointer for zooming an object according to an embodiment of the present invention;
fig. 7 is a flowchart of a drawing tracking implementation method of a laser pen kit according to an embodiment of the present invention.
Detailed Description
In order to clearly explain the technical features of the present invention, the present invention is explained in detail by the following embodiments and the accompanying drawings. The following disclosure provides many different embodiments, or examples, for implementing different features of the invention. To simplify the disclosure of the present invention, specific example components and arrangements are described below. Moreover, the present disclosure may repeat reference numerals and/or letters in the various examples. This repetition is for the purpose of simplicity and clarity and does not in itself dictate a relationship between the various embodiments and/or configurations discussed. It should be noted that the components illustrated in the figures are not necessarily drawn to scale. Descriptions of well-known components and processing techniques and procedures are omitted so as to not unnecessarily limit the invention.
The laser pen kit and the drawing tracking implementation method thereof provided by the embodiment of the invention are explained in detail below with reference to the accompanying drawings.
As shown in fig. 1 and 2, an embodiment of the present invention discloses a laser pen kit, including:
4 buttons, 1 zooming slide button, a resistor, an ammeter, a power supply, a laser lamp and a singlechip;
the buttons comprise a selection button, a rotation button, a straight line button and a curve button;
the selection button is connected with the rotary button in parallel and then connected with the laser lamp in series, and is connected with the linear button and the curve button in parallel and forms a loop with other components, when different buttons are pressed, different loops are formed, and the current values in the different loops are different;
the single chip microcomputer judges the current value and wirelessly transmits the result to the computer equipment, and the computer equipment selects corresponding execution operation according to the current value and transmits data to the AR display equipment.
The single chip microcomputer is an STM32 development board, processes current data and judges the current value. And wirelessly transmitting the current value to the computing equipment, wherein the wireless transmission is in a WIFI (wireless fidelity) or GPRS (general packet radio service) communication mode and the like. The computer equipment judges which operation needs to be executed according to the magnitude of the current value, and can select, rotate, draw a straight line or a curve and the like, and sends an operation instruction needing to be executed to the AR display equipment.
When a user needs to draw a straight line, pressing a straight line button at one end of a position, needing drawing, of a screen and dragging the straight line button to the other end of the position, needing drawing, of the screen, and obtaining the drawn straight line according to the positions of a starting point and an end point. When the user pressed the sharp button, the touch panel contact resistance that the sharp button corresponds formed closed circuit, has the electric current to pass through in the circuit, and the resistance size in the return circuit was 10 ohm this moment, and the ampere meter acquires data and uploads to computer equipment, and computer equipment transmits the result for AR equipment after the analysis calculation, and in the same way, when the user need draw the curve, the curve button was pressed and the operation was operated, and the loop resistance size was 1 ohm this moment, and later the camera trails the orbit of nib, draws arbitrary curve. Fig. 3 is a circuit diagram of the interior of the laser pen when drawing a straight line or a curve.
When the user selects the object, press the selection button, then laser pen the place ahead launches laser, inside closed circuit that forms, the resistance size is 8 ohms in the return circuit this moment, the ampere meter is with data transfer for computer equipment, and the retransmission is to AR equipment, and equipment is through the position of discernment pen touch laser come confirm with virtual scene in which object contacts, then which object is selected, also will show the suggestion that which object was selected on AR equipment screen. When the user is carrying out the translation operation, press the selection button, carry out the translation to the object, the orbit of laser pen is the orbit of object translation, also will discern the movement track of laser pen through the algorithm in AR equipment simultaneously, unclamp the selection button, the translation of object is accomplished, and this process is clearly visible on AR equipment. Fig. 4 is a circuit diagram of the interior of the laser pointer when an object is selected or translated.
When a user rotates an object, the user firstly presses the selection button to select the object to be operated, the AR device prompts that the object to be operated is in a selected state, then the rotation button is pressed, a closed circuit is formed at the moment, the resistance value in the loop is 6 ohms, and after current data is transmitted to the AR device, the user can rotate the object. Fig. 5 is a circuit diagram of the interior of the laser pen when the object is rotated.
When a user zooms an object, firstly, a selection button is pressed down, the object to be operated is selected, the AR device prompts that the object to be operated is in a selected state, then the user adjusts a zooming sliding button, slides forwards to reduce the selected object, slides backwards to enlarge the selected object, the resistance in a loop changes within a certain range in the sliding process, the resistance changes between 1 ohm and 6 ohm, and the default normal size is 4 ohm. After the current data is delivered to the AR device, the user is free to zoom the selected object on the AR device. Fig. 6 is a circuit diagram of the interior of the laser pen when the object is zoomed.
The front end of the laser pen is designed to have a specific color, and the specific color is recognized through the camera, so that the position of the laser pen is preliminarily detected, and a virtual point model replacing the pen is presented on the AR equipment. Utilizing a five-frame difference algorithm to perform dynamic motion detection on the laser pen with the specific color at the front end; meanwhile, background updating is carried out by utilizing Gaussian mixture background modeling, so that a target is extracted; and performing logical AND operation on the results detected by the three methods of color identification, five-frame difference and Gaussian mixture, and obtaining a complete laser pen target through a communication area.
The invention provides a design scheme of a laser pen kit, which is characterized in that a Kinect device is combined with an AR interaction algorithm and a laser pen button, so that the operation of drawing a straight line or a curve at will in a remote way can be realized only by acting in front of the Kinect device, and in addition, the selection, rotation and translation operations can be carried out.
As shown in fig. 7, an embodiment of the present invention further discloses a drawing tracking implementation method of a laser pen kit, including the following steps:
s1, based on color features, identifying specific colors through a camera to perform primary detection on the position of a laser pen;
s2, carrying out dynamic motion detection on the laser pen with the specific color at the front end through a five-frame difference algorithm;
s3, performing background updating by using mixed Gaussian background modeling, and extracting a target;
and S4, carrying out logic and operation on the results of the color identification, the five-frame difference and Gaussian mixture detection, and obtaining a complete laser pen target through a communication area.
The embodiment of the invention carries out dynamic motion detection on the laser pen with the specific color at the front end by a five-frame difference algorithm; meanwhile, background updating is carried out by utilizing Gaussian mixture background modeling, so that a target is extracted; and performing logical AND operation on the results detected by the three methods of color identification, five-frame difference and Gaussian mixture, and obtaining a complete laser pen target through the communication area.
In order to avoid the influence of image noise, the image is subjected to median filtering processing to ensure the image quality.
Firstly, based on color characteristics, the specific color is recognized through a camera to carry out preliminary detection on the position of the laser pen, the method is fast in recognition, but the specific color changes color due to the influence of external illumination, so that the laser pen in motion is detected under inaccurate conditions, and therefore the uncertainty caused by background disturbance and illumination change when only the color recognition method is used is solved through a five-frame difference algorithm.
The dynamic motion detection of the laser pen with the specific color at the front end through the five-frame difference algorithm comprises the following steps of:
s201, continuously selecting adjacent 5 frames of images:
f k-2 (x，y)、f k-1 (x，y)、f k (x，y)、f k+1 (x，y)、f k+2 (x，y)
convert it to the corresponding gray map:
I k-2 (x，y)、I k-1 (x，y)、I k (x，y)、I k+1 (x，y)、I k+2 (x，y)
s202, performing frame difference operation on the 5-frame gray level image to obtain a difference result d i (x，y)＝(i＝1，2，3，4)：
d 1 (x，y)＝|I k (x，y)-I k-2 (x，y)|
d 2 (x，y)＝|I k (x，y)-I k-1 (x，y)|
d 2 (x，y)＝|I k (x，y)-I k+1 (x，y)|
d 4 (x，y)＝|I k (x，y)-I k+2 (x，y)|
S203, binarization processing:
s204, carrying out logical OR operation on the binarization result:
s205, because the target overlapping phenomenon can occur after the logical OR operation, in order to eliminate the overlapping, the logical AND operation is carried out to obtain the laser pen profile of the K frame image:
the background updating by using mixed Gaussian background modeling comprises the following steps:
s301, calculating a pixel value X of each pixel at time t =1 t As the mean value μ of the 1 st Gaussian distribution 1 And is given a large variance σ 1 ；
S302、X t And comparing the current K Gaussian models according to the following formula to find a matched distribution model:
|X t -μ i，t-1 |≤2.5*σ i，t-1
s303, if the matched model meets the background requirement, the pixel belongs to the background, otherwise, the pixel belongs to the foreground;
s304, adjusting the weight of Gaussian distribution in the model according to the following formula:
ω k，t ＝(1-α)*ω k，t-1 +α*M k，t
where α is the learning rate, for the matched model M k，t =1, otherwise its value is 0;
s305, updating mean value and variance:
μ t ＝(1-ρ)*μ t-1 +ρ*X t
σ t 2 ＝(1-ρ)*σ t-1 2 +ρ*(X t -μ t ) T (X t -μ t )
s306, arranging the models according to omega/sigma descending order, and arranging the models with large weight and small standard deviation in front;
s307, selecting the first B models as a background, determining the number of Gaussian distributions capable of expressing a background image according to the following formula, wherein the parameter T represents the proportion of the background, and if the detected pixel value is matched with any one of the first B Gaussian distributions in the background model, the pixel is considered to belong to the background, otherwise, the pixel is considered to be the foreground:
and combining the detection based on the color characteristics, the five-frame difference algorithm and the Gaussian mixture model, and performing logical AND operation on the three detection results.
Calculating the area of each connected region, setting a contour area threshold, discarding the region smaller than the threshold as noise, filling the inside of the contour with foreground color to obtain a complete moving target, thereby effectively overcoming the phenomena of illumination change noise interference and cavities, and having robustness and accuracy.
The above description is intended to be illustrative of the preferred embodiment of the present invention and should not be taken as limiting the invention, but rather, the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention.
Claims (4)
1. A drawing tracking implementation method of a laser pen kit is characterized by comprising the following steps:
s1, based on color features, identifying specific colors through a camera to perform primary detection on the position of a laser pen;
s2, carrying out dynamic motion detection on the laser pen with the specific color at the front end through a five-frame difference algorithm;
s3, updating the background by using mixed Gaussian background modeling, and extracting a target;
the step S3 specifically operates as follows:
s301, using the pixel value X of each pixel point at the time t =1 t As the mean value μ of the 1 st Gaussian distribution 1 And given a variance σ 1 ；
S302、X t And comparing the current K Gaussian models according to the following formula to find a matched distribution model:
|X t -μ i，t-1 |≤2.5*σ i，t-1 ；
s303, if the matched model meets the background requirement, the pixel belongs to the background, otherwise, the pixel belongs to the foreground;
s304, adjusting the weight of Gaussian distribution in the model according to the following formula:
ω k，t ＝(1-α)*ω k，t-1 +α*M k，t
where α is the learning rate, for the matched model M k，t 1, otherwise its value is 0;
s305, updating the mean value and the variance:
μ t ＝(1-ρ)*μ t-1 +ρ*X t
σ t 2 ＝(1-ρ)*σ t-1 2 +ρ*(X t -μ t ) T (X t -μ t )；
s306, arranging the models according to omega/sigma descending order, and arranging the models with large weight and small standard deviation in front;
s307, selecting the first B models as backgrounds, determining the number of Gaussian distributions capable of expressing background images according to the following formula, wherein the parameter T represents the proportion of the backgrounds, and if the detected pixel value is matched with any one of the first B Gaussian distributions in the background models, considering the pixel to belong to the background, otherwise, considering the pixel to be a foreground:
and S4, carrying out logic and operation on the results detected by the three methods of color identification, five-frame difference and Gaussian mixture, and obtaining a complete laser pen target through a communication area.
2. The method for realizing drawing tracking of the laser pen kit as claimed in claim 1, wherein the step S2 specifically operates as follows:
s201, continuously selecting adjacent 5 frames of images:
f k-2 (x，y)、f k-1 (x，y)、f k (x，y)、f k+1 (x，y)、f k+2 (x，y)
convert it to the corresponding gray map:
I k-2 (x，y)、I k-1 (x，y)、I k (x，y)、I k+1 (x，y)、I k+2 (x，y)；
s202, performing frame difference operation on the 5-frame gray level image to obtain a difference result d i (x，y)(i＝1，2，3，4)：
d 1 (x，y)＝|I k (x，y)-I k-2 (x，y)|
d 2 (x，y)＝|I k (x，y)-I k-1 (x，y)|
d 3 (x，y)＝|I k (x，y)-I k+1 (x，y)|
d 4 (x，y)＝|I k (x，y)-I k+2 (x，y)|；
S203, performing binarization processing:
s204, carrying out logical OR operation on the binarization result:
s205, carrying out logical AND operation to obtain the laser pen profile of the K frame image:
3. the method of claim 1, further comprising performing median filtering on the image.
4. The method for realizing drawing tracking of the laser pen kit as claimed in claim 1, wherein the operation of obtaining the complete laser pen target through the connected region is as follows:
calculating the area of each connected region, setting a contour area threshold value, taking the region smaller than the threshold value as noise and discarding the region, filling the inside of the contour with foreground color to obtain a complete moving target.
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Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6573887B1 (en) * | 1996-04-22 | 2003-06-03 | O'donnell, Jr. Francis E. | Combined writing instrument and digital documentor |
| CN102073395A (en) * | 2011-02-25 | 2011-05-25 | 上海交通大学 | Wireless laser pen interaction system based on field programmable gate array (FPGA) |
-
2019
- 2019-04-30 CN CN201910362144.4A patent/CN110175607B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6573887B1 (en) * | 1996-04-22 | 2003-06-03 | O'donnell, Jr. Francis E. | Combined writing instrument and digital documentor |
| CN102073395A (en) * | 2011-02-25 | 2011-05-25 | 上海交通大学 | Wireless laser pen interaction system based on field programmable gate array (FPGA) |
Non-Patent Citations (1)
| Title |
|---|
| 基于五帧帧差和混合高斯模型的运动目标检测;刘波等;《嘉应学院学报》;20170828(第08期);全文 * |
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