CN110537053A

CN110537053A - The interactive system of input based on depth

Info

Publication number: CN110537053A
Application number: CN201780084958.5A
Authority: CN
Inventors: 拉尔夫·布伦纳; 简欣怡; 约翰·菲利普·斯托达德; 陈柏瑞; 维维·布伦纳
Original assignee: Uspace
Current assignee: Uspace
Priority date: 2016-12-05
Filing date: 2017-04-13
Publication date: 2019-12-03
Also published as: WO2018106275A1

Abstract

Various open embodiments present the user interactive system based on depth.By anticipating various installations constraint and the factor in the design at interface, various open embodiments promote the benefit of such as complementary depth visual field and display orientation flexibility etc.Some embodiments include the frame case for depth transducer.In shell, depth transducer can be fixed on installation part, so that the visual field of each sensor is in different angles.These different angles can promote the gesture identification that may be otherwise difficult or impossible to realize.When binding modules unit is installed, shell can provide the fexible unit for being integrated into multiple modular units in compound interface.

Description

The interactive system of input based on depth

Cross reference to related applications

This application claims entitled " the CALIBRATION SYSTEMS AND METHODS FOR submitted on December 5th, 2016 DEPTH-BASED INTERFACES WITH DISPARATE FIELDS OF VIEW (with different visual fields based on depth The calibration system and method at interface) " U.S. Non-provisional Patent application 15/369,799 equity and priority and 2017 4 Entitled " the INTERACTIVE SYSTEMS FOR DEPTH-BASED INPUT (friendship of the input based on depth that the moon is submitted on the 3rd Mutual formula system) " U.S. Non-provisional Patent application 15/478,209 equity and priority, entire contents are for all purposes It is incorporated herein by reference in their entirety.

Technical field

Disclosed various embodiments are related to the optimization and improvement of the human-computer interaction based on depth.

Background technique

Human-computer interaction (HCI) system becomes increasingly prevalent in our society.With this increasingly increased prevalence Degree, the property of this interaction are developed.Punch card is surmounted by keyboard, and keyboard itself is supplemented by mouse, mouse sheet Body supplement by touch-screen display, etc. now.Even now, various machine vision methods can promote the user of vision Feedback, rather than mechanical user feedback.Machine vision allows computer to explain the image in their environment, thus example Such as identify the face and gesture of user.Some NI Vision Builder for Automated Inspections depend on gray scale or the RGB image of its ambient enviroment to infer User behavior.Some NI Vision Builder for Automated Inspections can also use the sensor based on depth, or only rely upon the biography based on depth Sensor, to identify user behavior (for example, Microsoft Kinect^TM、Intel RealSense^TM、Apple PrimeSense^TM、Structure Sensor^TM、Velodyne HDL-32E LiDAR^TM、Orbbec Astra^TMDeng).

It may be abnormal challenging when being installed in a manner of uniform validity based on the user interface system of depth.This is chosen War is at least partially attributed to various limitations associated with various depth transducers, display and computer system and benefit, And it is relevant to by the environment of installation system and by identified gesture interaction.In order to be succeeded, system must be abided by often Various constraint conditions, such as complementary depth visual field, display orientation flexibility, various installation orientations etc..In some instances, depth Sensor may be sensitive to physical damage and needs protectiveness shell appropriate, while still allowing enough depth visual fields.Although Mounting technique personnel can solve the systems that are some, but can adapting to these constraints in advance in these challenges at the scene, or The system that person at least support technician is installed, can provide more easily with more consistent installation.Therefore, it is necessary to promote spirit The system and structure of living but effective interface installation.

Detailed description of the invention

In conjunction with the accompanying drawings with reference to described in detail below, the various embodiments introduced herein may be better understood, wherein Identical appended drawing reference indicates identical or intimate element:

Fig. 1 is a series of Use Case Maps illustrated in the various situations that various open embodiments wherein may be implemented；

Fig. 2 is to illustrate the perspective interacted with the example user of example display structure that can occur in some embodiments Use Case Map；

Fig. 3 is a series of perspective views and side view for the example depth data that can be used in some embodiments；

Fig. 4 be illustrate the depth data that can be applied to Fig. 3 in some embodiments via Plane Crop (clipping) a series of views of data isolation；

Fig. 5 is the exemplary components classification for the isolated data that can be applied to Fig. 4 in some embodiments；

Fig. 6 is the flow chart for illustrating some example depth data processing operations that can be executed in some embodiments；

Fig. 7 is to illustrate the exemplary hardware that can be used to execute depth data processing operation in some embodiments to realize Hardware block diagram；

Fig. 8 is that the example wide screen with multi-angle depth transducer shell that may be implemented in some embodiments is shown The schematic diagram of device；

Fig. 9 is the exemplary projection display with multi-angle depth transducer shell that may be implemented in some embodiments Schematic diagram；

Figure 10 is the compound display of example with multi-angle depth transducer shell that may be implemented in some embodiments The schematic diagram of device；

Figure 11 is the compound aobvious of the multi-angle depth transducer shell with Figure 10 that may be implemented in some embodiments The schematic diagram for showing device, the turnover (turnaround) including modular assembly in systems；

Figure 12 A is the compound aobvious of the multi-angle depth transducer shell with Figure 10 that may be implemented in some embodiments Show the elevational schematic view of device；Figure 12 B is the multi-angle depth transducer shell with Figure 10 that may be implemented in some embodiments The schematic top plan view of the composite display of body；Figure 12 C is the multi-angle depth with Figure 10 that may be implemented in some embodiments Spend the schematic side view of the composite display of sensor housing；

Figure 13 A is point of the component in the frame for the multi-angle depth transducer shell that may be implemented in some embodiments Solve schematic diagram；Figure 13 B is the component in the frame for the multi-angle depth transducer shell that may be implemented in some embodiments Assembling schematic diagram；

Figure 14 A is the interval of Figure 13 A that may be implemented in some embodiments seen from two visual angles (perspective) The view of part component；Figure 14 B is the mirror image spacer group from Figure 13 A that may be implemented in some embodiments in terms of two visual angles The view of part；

Figure 15 is the view from the scaffold bracket component of Figure 13 A that may be implemented in some embodiments in terms of two visual angles Figure；

Figure 16 is point of the component in the frame for the multi-angle depth transducer shell that may be implemented in some embodiments Solve schematic diagram comprising sensor is to received scaffold bracket spacer；

Figure 17 is in the multi-angle depth transducer shell for the example user interface that may be implemented in some embodiments Possible sensor places the schematic diagram of configuration；

Figure 18 is the multiple schematic diagrames for the substitution bracket mounting assembly that can be used in some embodiments；

Figure 19 A is the substitution bracket for the Figure 18 in the unassembled state decomposed that may be implemented in some embodiments The perspective diagram of the part of mounting assembly；Figure 19 B is the substitution bracket installation for the Figure 18 that may be implemented in some embodiments The perspective diagram of the part of component, wherein bracket support is coupled with sensor mount；Figure 19 C is in some embodiments The perspective diagram of the part of the substitution bracket mounting assembly for the Figure 18 that may be implemented, wherein bracket support and sensor installation Part is coupled with example depth sensor；

Figure 20 A is " perspective " of the case frame for the multi-angle depth transducer shell that may be implemented in some embodiments View, the case frame include the depth transducer being attached without bracket but via " independently installed part "；Figure 20 B is some The schematic diagram for the horizon sensor installation part that may be implemented in embodiment；Figure 20 C be may be implemented in some embodiments hang down The schematic diagram of straight sensor mount；Figure 20 D is the sensing using Figure 20 B or Figure 20 C that can occur in some embodiments The schematic diagram of the depth areas visual field for the variation that device installation part is realized；

Figure 21 A be may be implemented in some embodiments in its relative position have transparent depth transducer indicate The schematic diagram of the example multi-angle independence depth transducer installation part of 2110a, 2110b；Figure 21 B is in some embodiments can be with The schematic diagram for the multi-angle depth transducer installation part without depth transducer realized；

Figure 22 is the various dimensions for the example multi-angle independence depth transducer installation part that may be implemented in some embodiments The schematic side elevation of degree；

Figure 23 is that the only multi-angle depth including independently installed sensor pair that may be implemented in some embodiments passes The decomposition diagram of component in the frame of sensor shell and the diagrammatic sectional top plan view of package assembly；

Figure 24 is that be may be implemented in some embodiments includes the polygonal of the sensor pair of independently installed and bracket installation Spend the decomposition diagram of the component in the frame of depth transducer shell and the diagrammatic sectional top plan view of package assembly；

Figure 25 A is the example interactive system with multi-angle depth transducer shell that may be implemented in some embodiments Various dimensions side view；Figure 25 B is the schematic side elevation for the combination visual angle of the system of Figure 25 A；

Figure 26 is " perspective " for the frame for multi-angle depth transducer shell that may be implemented in some embodiments View, wherein being mounted with both depth transducer and image visual transducer；

Figure 27 A is the schematic diagram of the depth visual field for the modular system unit that can occur in some embodiments, wherein Depth transducer does not have scope limitation；Figure 27 B is the depth view for the modular system unit that can occur in some embodiments The schematic diagram of field, wherein depth transducer has scope limitation；Figure 27 C is the modularization system that can occur in some embodiments Unite unit depth visual field schematic diagram, wherein depth transducer has scope limitation and compound extends beyond modular system The width of unit；Figure 27 D is being made of three units discribed in such as Figure 27 B of can occurring in some embodiments The schematic diagram of composite module system and corresponding composite depth visual field；Figure 27 E can occur in some embodiments By the signal of composite module system and corresponding composite depth visual field that two units discribed in such as Figure 27 C form Figure；

Figure 28 A is the user that may be implemented in some embodiments and is made of three units with " three foldings " oriented arrangement Composite module system interaction schematic diagram；Figure 28 B is that user bows with the schematic of the composite module system interaction of Figure 28 A View；

Figure 29 A be the user that may be implemented in some embodiments with by being formed with six units of " ring " oriented arrangement The schematic diagram of composite module system interaction；Figure 29 B is the diagrammatic top of the composite module system interaction of user and Figure 29 A Figure；

Figure 30 A be the central computer system that may be implemented in some embodiments and one or more depth transducers it Between clock and bus relationship schematic diagram；Figure 30 B is that can occur in some embodiments in user interface computer system Depth frame at system reaches the schematic diagram of queue；

Figure 31 be illustrate may be implemented in some embodiments for coordinating the computer systems division in Figure 30 A from figure The flow chart of the feature of the instantiation procedure of received depth frame in one or more depth transducers of 30A；

Figure 32 A is the schematic diagram of " corridor " the composite module system that may be implemented in some embodiments；Figure 32 B is figure The schematic plan of the composite module system of 32A；Figure 32 C is may be implemented in some embodiments from Figure 32 A The schematic diagram of the end unit of composite module system, end unit have longitudinal depth transducer；Figure 32 D is in some implementations The schematic diagram for the varying depth region visual field that the sensor mount using Figure 32 C that may be implemented in example is realized；

Figure 33 A is showing for the modular system unit with the addition of multiple sensors that may be implemented in some embodiments It is intended to；Figure 33 B is the varying depth region that the sensor mount using Figure 33 A that may be implemented in some embodiments is realized The schematic diagram of visual field；With

Figure 34 be can come in conjunction with some embodiments using example computer system block diagram.

Discribed specific example is had selected in attached drawing in order to understand.Therefore, the disclosed embodiments should not limit Detail in attached drawing or corresponding disclosure.For example, attached drawing may be not drawn on scale, the dimension of some elements in attached drawing Degree may be adjusted in understanding, and the operation of embodiment associated with flow chart may include than being retouched here Those of draw more, substitution or less operation.Therefore, some components and/or operation can be divided into different block or Person by be different from it is discribed in a manner of be combined into single block.It is not intended to described by being limited to embodiment or the specific of description is shown Example.On the contrary, embodiment is intended to cover all modifications, equivalents, and substitutions object fallen into the range of disclosed example.

Specific embodiment

Example use-case is summarized

Disclosed various embodiments can be used in combination with installation or fixed depth camera system to detect for example User gesture.Fig. 1 is to show that a series of of the various situation 100a-100c of various open embodiments wherein may be implemented Use Case Map.In situation 100a, user 105 just stands before self-service terminal (kiosk) 125, and self-service terminal 125 can To include graphic alphanumeric display 125a.It is not required items of interest of the user physically on touch display 125a, but system It can permit user " indication " or " doing gesture " at project, and to be interacted with self-service terminal 125.

Depth transducer 115a can be mounted on self-service terminal 125 or be connected to self-service terminal 125 or Near self-service terminal 125 so that depth transducer 115a depth capture field 120a (also referred herein as " depending on ") it include the gesture 110 that (encompass) is made by user 105.Therefore, when user is by capturing field 120a in depth data When inside making gesture and being directed toward the icon on such as display 125a, depth transducer 115a can provide depth to processing system Value, the operation that processing system may infer that selected icon or is performed.Processing system, which can be configured as, executes this paper Disclosed various operations, and can be configured specifically or designed for depth transducer carry out interface (indeed, it is possible to It is embedded in depth transducer).Therefore, processing system may include the combination of hardware, firmware, software or these components. Processing system can be located in depth transducer 115a, in self-service terminal 125, at remote location etc., or can divide Cloth is at various locations.The application run on self-service terminal 125 can only receive the instruction of selected icon, and can be with It is not specifically designed and considers it is to determine via physical touch or based on the selection of depth to be selected.Therefore, some In embodiment, depth transducer 115a and processing system can be the stand-alone product separated with self-service terminal 125 or equipment.

In situation 100b, user 105 is just standing in the home environment, which may include one or more deep Spend sensor 115b, 115c and 115d, each depth transducer be respectively provided with themselves corresponding depth capture field 120b, 120c and 120d.Depth transducer 115b can be located on or near TV or other displays 130.Depth transducer 115b can Be used to capture the gesture input from user 105 and by depth data be forwarded on the display 130 or with display 130 The application run together.For example, the operation of display 130 can be used in game system, computer conferencing system etc., and can ring It should be in the gesture input of user 105.In contrast, depth transducer 115c can passively observe user 105, as individual Gesture or a part of behavioral value application.For example, domestic automation system can be responded independent by user 105 or be combined various The gesture that voice command is made.In some embodiments, depth transducer 115b and 115c can be with its depth of single Application share Degree evidence, in order to from multiple view users 105.Barrier and non-user dynamic and stationary body, such as sofa 135, It can reside in environment, and can be included or be not included in depth capture field 120b, 120c.

Note that although depth transducer can be placed on to the visible position of user 105 (for example, as depicted, adhering to Top in television set, self-service terminal etc. or the side that is mounted on television set, self-service terminal etc., such as with sensing Television set, self-service terminal of device 115a-115c etc.), but depth transducer can be integrated in another object.This The integrated sensor of sample can collect depth data and be not easy to be seen by user 105.For example, can be by depth transducer 115d is integrated into the subsequent TV 130 of one-way mirror and sensor 115b is replaced to be used to collect data.One-way mirror can permit Depth transducer 115d collects data and user 105 may not realize that data are just collected.This can permit user theirs Less show more natural deliberately and during interaction in movement.

Although depth transducer 115a-115d can be positioned in parallel to wall, or with the normal direction from floor There is depth field, but not such was the case with for situation on the orthogonal direction of vector.Indeed, it is possible to by depth transducer 115a- 115d is positioned to various angles, some of angles by depth data capture field 120a-120d be positioned to favour floor and/or The angle of wall.For example, depth transducer 115c can be located near ceiling and be guided to overlook the use on floor Family 105.

In some cases, this relationship between depth transducer and floor may be extreme and dynamic.For example, In situation 100c, depth transducer 115e is located at the rear portion of lorry 140.Lorry can be parked in front of sloping platform 150 with Convenient for loading and unloading.Depth transducer 115e can be used to infer user gesture with instruct lorry operation (for example, to Before, move backward) or execute other operations (for example, initiate call).Because lorry 140 is periodically into new environment, New barrier and object 145a, b can be periodically into the depth capture field 120e of depth transducer 115e.In addition, inclination is flat Platform 150 and the landform irregularly raised can often by depth transducer 115e and corresponding depth capture field 120e relative to " floor " that user 105 is stood is positioned to tilt angle.This variation meeting is so that about the depth in static and/or controlled environment The hypothesis of degree evidence complicates (for example, hypothesis that the position about floor is made).

Disclosed various embodiments consider user and the feedback system including two or more depth transducers Interaction.In some embodiments, depth transducer equipment can also include image visual transducer, such as RGB sensor.Example Such as, Fig. 2 be show can occur in some embodiments with example show structure 205 example user interact 200 Have an X-rayed Use Case Map.Display structure 205 can be placed in market, shopping center, grocery store, foreground etc..In some implementations In example, height 220a is big or slightly larger at least as user 210, such as 7-10 feet.Length 220b can be the width of user 210 Several times of degree, for example, to promote interaction when user 210 passes by the length for showing structure 205.

Example shows that structure 205 includes screen 230.Screen 230 may include single large screen, placed adjacent one another more It is a compared with the small screen, projection etc..In an example interaction, user can do gesture 215 and system at a part of place of screen Visual feedback can be presented, such as on the screen cursor 230b at position corresponding with the projection of gesture 225.Show structure 205 can be used one or more depth transducer C₁, C₂..., C_NIn one or a movement and hand to monitor user 210 Gesture.In the example described in Fig. 2, at least there are three cameras.There may be more in some embodiments for the instruction of ellipsis 245 In three cameras, and it can correspondingly adjust the length 220b of display structure 205.In this example, sensor is tied in display It is evenly spaced apart on the top of structure 205, but in some embodiments, they can be spaced unevenly.

Although term " camera " and " sensor " may be used interchangeably in this application, it is recognized that depth passes Sensor does not need or promotes " the camera capture " of optical imagery, such as RGB or gray level image, although in addition depth transducer can be Including the functionality.In some embodiments, computer system 250 can take various forms, for example, preprogrammed chips, electricity Road, field programmable gate array (FPGA), minicomputer etc..It is recognized that " computer system ", " processing system " etc. Etc. can be used interchangeably herein.Similarly, people are it will be readily understood that be employed to create system for identifying a gesture Training system can with but need not be and execute the identical system of the test macro of on-site identification.Therefore, in some embodiments, " system " can be the computer different from the interface of Fig. 1 and Fig. 2, be present in for example occur to classify in situ it is over-the-counter.

Example depth data

Similar to ordinary optical image camera, depth transducer Error！Reference source not found.15a-Error！Reference source not found.15e, C₁, C₂..., C_NDepth can be captured at any time Each " frame " of data.Each " frame " (frame) may include the set of the three-dimensional value of the depth measured in visual field (although people Will easily identify a variety of representations, such as the ToF analysis determined for depth).These three-dimensional values can be expressed For point, distance of light emitted from depth transducer with various angles etc. in such as three-dimensional space.Fig. 3 is can be one A series of perspective view 300a and side view 300b of example depth data 305 used in a little embodiments.In this example, user Depth transducer is directed toward with its right hand when standing before wall.He is also trapped in visual field the desk on the left side.Therefore, with The associated depth value in family 310 includes and the associated part head 310a of user and related with the extension right arm 310b of user The part of connection.Similarly, the background of user behind is reflected in depth value 320, including those values associated with the desk 315。

In order to make it easy to understand, side view 300b further includes the retouching to the visual field of depth transducer 335 at the time of frame-grab It draws.The angle 330 of depth transducer at the origin makes the upper trunk of user rather than the leg of user has been trapped in frame. Equally, provide the example only to adapt to the understanding of reader, and it will be appreciate that, some embodiments can capture entire visual field and Any position of user is not ignored.For example, the embodiment described in Figure 1A-Fig. 1 C can capture the letter all or fewer than interactive user Breath, and the embodiment of Fig. 2 can capture entire interactive user (in some embodiments, be more than from the ground all the elements of 8cm all It appears in depth visual field).Certainly, depending on the orientation of system, depth camera, landform etc., vice versa.Therefore, people will Understand, has taken explicitly into account the modification in disclosed example (for example, the classification with reference to metastomium is discussed below, still Some embodiments will also consider the classification of leg, foot, clothes, user's pairing, user's posture etc.).

Similarly, although depth data is portrayed as " point cloud " (point cloud) by Fig. 3, people will easily recognize Know from the received data of depth transducer to occur in many different forms.For example, depth transducer, such as depth pass Sensor 115a or 115d may include latticed detector array.These detectors can capture field 120a from depth respectively The image of scene is obtained with the visual angle of 120d.For example, some depth detectors include " transmitter " for generating electromagnetic radiation.From hair Object of the emitter into scene, to one of grid cell detector traveling time can correspond to it is associated with the grid cell Depth value.The depth at each of these detectors place can be determined into the two-dimensional grid exported as depth value.Make herein " depth frame " may refer to such two-dimensional grid, but also may refer to the three dimensional depth number obtained from depth transducer According to other indicate (for example, point cloud, ultrasound image etc.).

Example depth data cut-out method

The gesture that user is inferred from depth data 305 is wanted in many applications.Realize that this point may from original depth data It is very challenging, therefore interested depth value is isolated in some embodiment application preprocessing process.For example, Fig. 4 is figure The a series of of the data isolation via Plane Crop that can be applied to the depth data 305 of Fig. 3 in some embodiments are shown View.Particularly, perspective view 405a and side view 410a shows (including the portion associated with user 310 of depth data 305 Point and part associated with background 320).Perspective view 405b and side view 410b shows the depth relative to floor level 415 Degree is according to 305.Floor level 415 is not a part of depth frame data 305.On the contrary, floor level 415 can be by processing system Estimation is assumed based on context.

Perspective view 405c and side view 410c introduces wall plane 420, can also be assumed or be estimated by processing system.Floor " cutting out plane " is used as with wall plane to exclude depth data from subsequent processing.For example, based on being passed using depth Wall plane 420 can be placed on the maximum magnitude of the visual field of depth transducer by the hypothesis context of sensor, processing system It is intermediate.The subsequent depth data value of the plane can be excluded from subsequent processing.For example, the portion of background depth data can be excluded Divide 320a, but part 320b can be retained, as shown in perspective view 405c and side view 410c.

It is desirable that the part 320b of background will be also excluded from subsequent processing, because it does not include number related to user According to.As shown in perspective view 405d and side view 410d, some embodiments are by " being raised floor level 415 " based on context Depth data is further excluded to position 415a.This may cause part 320b and is excluded except the processing in future.These The part (for example, lower trunk) of the user data 310d of gesture will not included by cutting out operation and can also removing.As previously mentioned, It will be appreciate that providing the example is intended merely to facilitate understanding, and in some embodiments (for example, as appeared in Fig. 2 Those of system), can be completely omitted and cut out, or can only very close to floor place cut out, so as to still Capture leg even foot data.Therefore, it is left part 310c only with the processing for future.It is recognized that Fig. 4 is simply retouched A kind of possible tailoring process for given context is drawn.Different contexts can be solved in a similar way, such as Gesture includes those of lower trunk of user situation.Many such operations may still need flat to floor 415 and wall 420 Face carries out accurate evaluation and is accurately cut out with executing.

Example depth data classification method

It (may may not occur) in some embodiments comprising the depth value of interested gesture data in isolation Afterwards, depth value can be classified as various User Parts by processing system.These parts or " classification " can reflect user's body Privileged site and can be used to infer gesture.Fig. 5 is in some embodiments to can be applied to the isolated data of Fig. 4 to show Example component classification.It is initially 500a, the data 310c being extracted can be non-classified.After the 500b that classifies, each depth Value can be associated with given classification.The granularity of classification can reflect the feature of interested gesture.For example, some applications can The direction that can be checked to user is interested, and therefore head can be divided into " head " classification 515 and " nose " classification 520.Relative orientation based on " head " classification 515 He " nose " classification 520, system can be inferred that the head rotation of user Direction.Since chest and trunk are usually uncorrelated to interested gesture in this example, be used only extensive classification " on Trunk " 525 and " lower trunk " 535.Similarly, the details of upper arm is related unlike other parts, therefore can be used single Classification " right arm " 530c and single classification " left arm " 530b.

On the contrary, lower arm and hand may be very related to gesture determination, and more fine-grained classification can be used.For example, " bottom right arm " classification 540, " right finesse " classification 545, " right hand " classification 555, " right thumb " classification 550 and the " right hand can be used Refer to " classification 560.It, can also be for the complementary classification used for lower-left arm although having been not shown.Utilize these granularities point Direction that for example user is directed toward is inferred in class, the relative orientation of the depth point that system can be classified by comparing.

Example depth data processing pipeline

Fig. 6 is the process for illustrating some example depth data processing operations 600 that can be executed in some embodiments Figure.At frame 605, processing system can receive depth transducer data frame (for example, frame of such as frame 305 etc).It is general and Speech, data may then pass through " pretreatment " 610, " classification " 615 and " application " 620 stage.During " pretreatment " 610, place Reason system can be used frame data or based on the assumption that or depth camera configuration detail execute " plane monitoring-network " (again at frame 625 It is secondary, although pretreatment and plane monitoring-network can not be applied in many examples).This may include for example about Fig. 4 discussion Cut out plane, such as 415 plane of floor and wall plane 420.It is emerging that these planes can for example be used to the isolation sense at frame 630 The depth value of interest, for example, as above for described by Fig. 4.

During classification 615, system can at frame 635 by clusters of depth values and classification (or in some embodiments In, multiple classifications) it is associated.For example, classification as discussed with respect to FIG. 5 can be used to determine classification in system.In frame 640 Place, system can determine every classification statistical data (for example, the quantity of depth value associated with each classification, to carrying out Systematic training and the influence of calibration etc.).Example categories may include: nose, left index finger, left hand other fingers, the left centre of the palm, Left finesse, right hand index finger, the right hand other fingers, the right centre of the palm, right finesse and other.

During 620 operation of application, system can be used classification and determine to infer user relevant to application-specific target Behavior.For example, the interface HCI can be sought to determine the position that user currently points to their hand.In this example, in frame 645 Selection/isolation is classified as depth value associated with " hand " and/or " finger " by place, system.According to these depth values (and May depth value associated with the arm of user), system can be estimated in the particular frame pointed by user at frame 650 Direction (it is recognized that other gestures other than the instruction example can also be executed).It then can be by the data publication To application program, for example, self-service terminal operating system, game console operating system etc..At frame 655, it can be directed to Received additional frame executes operation again.It will be recognized that the process can be used to by comparing such as classification in each frame Between displacement (for example, when user moves from left to right their hand) infer the gesture across each frame.

Fig. 7 is to illustrate the exemplary hardware that can be used to execute depth data processing operation in some embodiments to realize 705 hardware block diagram.Frame, which receives system 710, can receive depth frame from depth transducer.Frame receives system 710 and can be admittedly Part, software or hardware (for example, FPGA realization, system on chip etc.).Frame can be directly passed or cache and then pass It is delivered to preprocessing module 715.Preprocessing module 715 is also possible to firmware, software or hardware (for example, FPGA is realized, system on chip Deng).Preprocessing module can execute the pretreatment operation 610 discussed in Fig. 6.It is then possible to by pre-processed results (for example, every From depth value 310c) be supplied to categorization module 720.Categorization module 720 can be firmware, software or hardware (for example, FPGA is real Existing, system on chip etc.).Categorization module 720 can execute the sort operation 615 discussed in Fig. 6.It then can be by the depth of classification Value is supplied to release module 725.Release module 725, which can be configured as classification results to be packaged into, is suitable for various different applications Form (for example, as specified at 620).For example, can be mentioned for self-service terminal operating system, game operating system etc. For interface specification, the depth value classified with reception simultaneously therefrom infers various gestures.

Example interactive system shape factor (form factor)

Various embodiments may include the case frame for one or more depth transducers.Case frame can be special Door designs input and behavior to predict user.In some embodiments, display system can be integrated to be formed with case frame Modular unit.Fig. 8 is that the example widescreen with multi-angle depth transducer shell that may be implemented in some embodiments is shown Show the schematic diagram of device.For example, system may include big individual monitor 835, such as their hand is can be used in user 840 845, arm or entire body are interacted via various spaces, time and space-time gesture 830 with display 835.For example, passing through use The finger of their hand 845 is directed toward, and user can guide the movement of cursor 825.Display 835 can be via for example direct route Connection 810a, it is wirelessly connected 815c and 815a or comes for transmitting any other suitable device that desired display exports It is communicated with computer system 805.Similarly, computer system 805 can be via direct connection 810b, wireless connection 815b Any other suitable device with 815a or for transmitting desired display output comes and is included in case frame 820a- One or more depth transducers communication in 820c.Although separately shown in this example, in some embodiments, meter Calculation machine system 805 can be integrated with case frame 820a-820c or display 835, or outside the venue by comprising.

Each of case frame 820a-820c may include one or more depth transducers, as herein other Fang Suoshu.Computer system 805 can have the depth data that can be used for obtaining at each sensor and relative to display The associated transformation of the global coordinate system of device 835.Calibration process can be used to realize in these transformation, or can for example preset For factory-default.Although in some embodiments, frame 820a-820c can be shown herein as individual frame Single frame.Frame 820a-820c can be fixed to display 835, neighbouring wall, individual mounting platform etc..

Although some embodiments specifically consider to provide the display system that connect with case frame, people are by easy reason Solution, can construct system in an alternative way to realize essentially identical function.For example, Fig. 9 is in some embodiments can be with The schematic diagram for the exemplary projection display with multi-angle depth transducer case frame 920a-920c realized.Here, frame 920a-920c has been secured to the wall in wall 935, such as 940 office of user, family or shopping environment.Projector 950 (it is to be understood that if the material of wall 935 is suitably, also to can be used after wall 935 in some embodiments The rear projection in face).As indicated by ellipsis 955a-955c, wall 935 can extend beyond interaction area in many directions. Projector 950 can be located so that desired image projection on wall 935.In this way, user can be again The secondary hand 945 using them does gesture 930, and thereby guides the movement of cursor 925.Similarly, projector 950 can be via Direct connection 910a, 910b, wireless connection 915a-915c or any other suitable communication mechanism come and computer system Depth transducer communication in 905 and frame 920a-920c.

Although Fig. 8 and Fig. 9 describe the example embodiment with " monolithic " (monolithic) display, some In embodiment, display and frame case can be designed so as to be formed be can integrate as whole " modularization " unit.Example Such as, Figure 10 is that the example with multi-angle depth transducer case frame set that may be implemented in some embodiments is compound aobvious Show the schematic diagram of device 1035.Equally, 1045 gesture 1030 of hand and shown project such as cursor can be used in user 1040 1025 interactions.Computer system 1050 (show and separated at the scene here with other assemblies) can be via direct connection 1010a, 1010b, wireless communication 1015a, 1015b, 1015c or any other suitable communication means come with depth transducer and Display communication.

However, in this example embodiment, each vertical section of composite system 1035 may include individual module.Example Such as, a module 1060 may include depth transducer case frame 1020a and three display 1035a-1035c.Computer System 1050 can generate the set conjunction across one or more of which using each display of each vertical module At image.Remaining depth transducer case frame 1020b, 1020c can be similarly associated with the display of themselves. It is to be understood that in some embodiments, each module is and as shown here by the computer system with their own, one In a little embodiments, may exist single computer systems associated with several or all modules.(one or more) computer System can handle depth data and supply images to the display on (one or more) their corresponding modules.

Example modular interactive system dimension

Figure 11 is the compound aobvious of the multi-angle depth transducer shell with Figure 10 that may be implemented in some embodiments The schematic diagram for showing device, the turnover including modular assembly 1110c in systems.Particularly, from perspective view 1115a, front view 1115b and side view 1115c show modular assembly 1110c.Computer system 1105 can be used to control for all groups The display and processing data of part 1110a-1110c, or single component is only controlled, such as component 1110c.

Figure 12 A- Figure 12 C provides the more details of the specific dimension about particular example composite display.Particularly, scheme 12A is looking up for the composite display for the multi-angle depth transducer shell with Figure 10 that may be implemented in some embodiments Schematic diagram.In this example, module is arranged to generation display grid 1240 together, and display grid 1240 is in some implementations In example with about 365 centimetres compound width 1215d and there is about 205 centimetres of height 1215b in some embodiments.In In some embodiments, depth transducer body height 1215a can be about 127mm.Each display can be in some embodiments In with about 122 centimetres width 1215c and in some embodiments with about 69 centimetres of height 1215f.In some realities It applies in example, display can be the HDMI display of the resolution ratio with 1920 × 1080 pixels.In some embodiments, it shows Device 1240 can increase about 10 centimetres of distance 1215e via support construction 1245 from ground 1225.On the top of display 1240 Portion can be one or more depth transducer case frames 1205, pellucidly be shown here, to expose depth transducer One or more of 1210a-1210c.

Figure 12 B is the compound aobvious of the multi-angle depth transducer shell with Figure 10 that may be implemented in some embodiments Show the schematic top plan view of device.It note that and depth transducer and shell are no longer shown in order to understand.In the 1225d of region, depth Sensor can collect depth data.Therefore, when with system interaction, user 1235 will stand in the area.One In a little embodiments, which can have about 300 centimetres of distance 1230f before display 1240, and be approximately display Width 1215d.In this embodiment it is possible to exclude lateral side regions 1225a and 1225c from interaction.For example, can notify to use Family avoids try to interact in these regions, because they include and the depth transducer that is distributed in system is relatively paid no attention to The relative angle (in some embodiments, these regions may only generate excessive noise but insecure) thought.Installation Technical staff correspondingly can mark or block these regions.These regions 1225a and 1225c may include in some embodiments It is middle apart from wall 1250 be about 350 centimetres length 1230b, 1230g and in some embodiments apart from effective coverage 1225d About 100 centimetres of distance 1230a, 1230h.Region 1225b can be provided in support construction 1245 and wall supporting structure Between 1250 or other barriers, to promote the space for one or more computing systems.Here, it is directed in some embodiments The computing system space can be with length in reserve 1215d, and uses about 40 centimetres of distance 1230d.In some embodiments, it props up Support structure 1245 can extend over region 1225b, and computer system can stop it is on it or internal.

Figure 12 C is the compound aobvious of the multi-angle depth transducer shell with Figure 10 that may be implemented in some embodiments Show the schematic side view of device.

It is to be understood that example provided above dimension is only in conjunction with the specific example to help user to understand particular implementation Example.Therefore, dimension can be easily varied to realize essentially identical purpose.

The example depth sensor frame of modular system-bracket installation

In different embodiments, it can be taken many forms for the case frame of protection depth sensor.Figure 13 A be The decomposition diagram of component in the frame for the multi-angle depth transducer case frame that may be implemented in some embodiments.Figure 13B is the assembling schematic diagram of the component in the frame for the multi-angle depth transducer shell that may be implemented in some embodiments.

Frame may include upper cover 1310, rear cover 1315, bottom plate 1340 and two sensors viewing panel 1355a and 1355b (for vision economy (visual economy), is illustrated, but do not illustrate in figure 13a) in Figure 13 B.It can be with Will viewing panel 1355a and 1355b be screwed into place (for example, be screwed into one or more bracket spacer 1305a-1305f, Such as be fixed on washer on opposite sides using by screw), clamp or be otherwise mechanically coupled to shell, and can also To be held in place by angled part 1335 and 1340a.Upper cover 1310 can have about in some embodiments The length 1360b of 1214mm and the width 1360a that can have about 178mm in some embodiments.In some embodiments In, height 1360c may be about 127mm.

End plate 1305a and 1305f can be configured to expected upper cover 1310, rear cover 1315 and two sensor viewing panels The desired angle of 1355a and 1355b.Particularly, in some embodiments, angle 1370a can be about 25 °, in some realities It applies in example, angle 1370b can be about 35 °, and in some embodiments, and angle 1370c can be about 30 °.In order to clear For the sake of, in the embodiment depicted, upper cover 1310 and bottom plate 1340 are substantially parallel.Therefore, in this example, top plate 1310 Angle between backboard 1315 can be about 90 °.Similarly, the angle between bottom plate 1340 and backboard 1315 can be about 90°.More attractive design can be not only presented in these angles, but also by meeting spacer dimension, they can also promote shell The structural intergrity of body as a whole.

In some embodiments, length 1375a can be about 97mm, and in some embodiments, length 1375b can be about 89mm, in some embodiments, the length 1375c of lid ridge 1335 can be about 6mm, in some embodiments, sensor viewing The length 1375d of panel 1355a can be about 56mm, and in some embodiments, sensor watches the length of panel 1355b 1375e can be about 54mm, and in some embodiments, and length 1375f can be about 10mm.

Upper cover 1310 may include the part 1325 substantially parallel with bottom parts 1340, angled portion 1330 and For keeping the angled holding part angled portion 1335 of upper sensor viewing panel 1355a.

Backboard 1315 may include four notch recess or insertion section 1320a, 1320b, 1320c and 1320d.Such as this paper institute It discusses, there may be these grooves in some embodiments to receive spacer 1305b-1305e, so that it is guaranteed that they are consolidated It is scheduled in the intracorporal desired locations of shell.It is to be understood that the quantity of groove can be identical or different with the quantity of spacer, because It may want to only fixed some spacers.

Bottom plate 1345 may include angled front 1340a (lug or folding part) and angled rear portion 1340b, use In at least partly keeping adjacent panel.Bottom plate 1345 can include that two notch are inserted on its angled rear portion 1340b Enter portion 1350a and 1350b.This can lead to " protrusion " part 1345a, 1345b and 1345c of angled rear portion 1340b.

Can be in frame one in spacer bracket 1305a-1305f (also referred to as " spacer " or " bracket ") or It is multiple.Although spacer 1305a and 1305f may be used as end plate, spacer 1305b-1305e can be completely or substantially In case frame.Spacer bracket 1305a-1305f does not need dimension having the same.For example, scaffold bracket 1305d can be with With the length more shorter than spacer bracket 1305b, 1305c, 1305e.As discussed below, spacer bracket 1305a- Even if 1305c, 1305e and 1305f can be used to ensure that the structural intergrity of shell --- load for example ought be placed on portion When dividing 1325 top.Shorter scaffold bracket 1305d provides space to be used to install sensor pair, but can also contribute to shell Structural intergrity.In some embodiments, scaffold bracket 1305d can be fixed to bottom plate 1340 and upper cover by screw 1310。

Figure 14 A is from the interval of Figure 13 A that may be implemented in some embodiments in terms of two visual angles 1405a and 1405b The view of part component such as component 1305a or 1305e.Visual angle 1405a rotates substantially 90 ° relative to visual angle 1405b, to be in The concave portions now formed by extension 1425a-1425f.Extension 1425a-1425f itself can be by space 1410a- 1410f is separated.Figure 14 B is the mirror from Figure 13 A that may be implemented in some embodiments in terms of two angles 1420a and 1420b As the view of spacer element such as component 1305b or 1305f.Visual angle 1420b rotates substantially 90 ° relative to visual angle 1420a, To which the concave portions formed by extension 1430a-1430f be presented.Extension 1430a-1430f itself can be by space 1415a-1415f is separated.

Figure 15 is the support base from Figure 13 A that may be implemented in some embodiments in terms of two angles 1505a and 1505b The view of frame component such as component 1305d.Visual angle 1505a rotates substantially 90 ° relative to visual angle 1505b, to present by prolonging The concave portions that extending portion 1520a-1520e is formed.Extension 1520a-1520e itself can be separated by space 1515a-1515d.

Figure 16 is point of the component in the frame for the multi-angle depth transducer shell that may be implemented in some embodiments Solve schematic diagram comprising sensor is to received scaffold bracket spacer.Again, although showing in the picture certain amount of Spacer in order to understand, it will be appreciated that, in various embodiments there may be than depicted herein more or Less spacer.As discussed above, shell may include upper plate 1610, backboard 1615 and bottom plate 1640 (for vision warp Sensor viewing panel is not shown in Ji).Although spacer 1605a, 1605b, 1605c, 1605e and 1605f provide knot for shell Structure support, but relative to other spacers 1605a, 1605b, 1605c, 1605e and 1605f, spacer support frame part bracket 1605d Can be shorter and recessed, to adapt to the coupling with a pair of of depth transducer 1660.In this example, in isolated view There are two hole 1670a, 1670b for the tool of spacer support frame part bracket 1605d shown in 1600a, for receiving screw, nail, bolt Or other devices for depth transducer 1660 to be fixed to spacer support frame part bracket 1605d.For example, depth transducer 1660 It itself may include mounting hole, screw can pass through the mounting hole to be secured in position sensor (it is for example certain versions RealSense^TMThe case where depth transducer system).

In some embodiments, when spacer 1605a and 1605f to be fixed to each end of shell, spacer 1605b-1605e can be moved freely in shell.In this way, system configuration can be system ring by mounting technique personnel The specific environment that border and plan use.However, in some embodiments, groove 1620a-1620d can receive spacer bracket Each of 1605b-1605e, so that it is guaranteed that they are placed in the intracorporal specific position of shell.The intended orientation may be to have , such as when shell will be mounted as a shell in shell set by transporting using a part as set composite When.In some embodiments, groove can only accommodate specific interval part, so that technical staff be forced to install specific configuration.However, In some embodiments, for example, as shown here, each groove can receive any one of four spacers.In In these embodiments, therefore technical staff can freely select which in four positions by depth transducer best orientation A place, to realize their task.Therefore, in schematic plan 1600b shown here, spacer 1605d and solid Fixed sensor can be located off at the position of casing center to 1660.

In order to further elucidate refer to Figure 16 discussion spacer place can Mechanical-power-producing mechanism, Figure 17 is in some embodiments Possible sensor in the multi-angle depth transducer shell for the example user interface that may be implemented places the schematic diagram of configuration. Particularly, user interface 1700 includes concatenated three unit 1705a-1705c.Each unit may include three vertically adjacent to Display and corresponding sensor housing 1710a-1710c.In each sensor housing 1710a-1710c, spacer position Set effect of the depth transducer that can be configured as expected shell in entire user interface.For example, the position of sensor pair It can slightly change between each module, because the optical interval of depth transducer is different from the interval of each display screen.

Therefore, it as shown in the diagrammatic top cross-sectional view 1715b for intermediate sensor housing 1710b, can will contract Short scaffold bracket 1720b and corresponding depth transducer are to the center for being located in shell 1710b.In contrast, as the right side It, can be by the scaffold bracket 1720c and correspondence of shortening shown in the diagrammatic top cross-sectional view 1715c of side senser shell 1710c Depth transducer to being located at the offset 1725b relative to the center of shell 1710c.Similarly, as sensed for left side It, can be by the scaffold bracket 1720a of shortening and corresponding depth shown in the diagrammatic top cross-sectional view 1715a of device shell 1710a Sensor is to being located at the offset 1725a relative to the center of shell 1710a.

The example depth sensor frame of modular system-substitution bracket installation

Figure 18 is the multiple schematic diagrames for the substitution bracket mounting assembly that can be used in some embodiments.Some sensors System, such as RealSense^TM300, it can have the installation point better adapted to by certain form factors.The bracket of Figure 18 Mounting assembly can more preferably promote to install this system.

Particularly, as shown in side view 1800a, spacer bracket 1805 may include multiple extensions.These extend Portion may include extension 1805a and extension 1805b, and wherein extension 1805a has at least partly keeping top The lip of panel 1825a is observed, extension 1805b includes the lip at least partly keeping lower part observation panel 1825b. As discussed above, these extensions can form packaging body.Bracket support 1820 can be placed in the packaging body.Bracket branch Support member may include adjacent with the surface of spacer bracket 1805 or the part thereof of flat planar side 1820d of formation.From flat The top planes part 1820b and lower flat part 1820c that surface side 1820d extends can be used to bracket support 1820 It is fixed in bracket spacer 1805.Front view 1800b is (that is, people's standing is saturating before depth transducer 1815a and 1815b View) remove the spacer bracket 1805 shown in side view 1800a and observation panel 1825a, 1825b and from " just View " shows bracket support 1820.Therefore, reader can more easily distinguish from bracket support in view 1800b The top planes part 1820b and lower flat part 1820c that 1820 planar side 1820d extends.

Top planes part 1820b and lower flat part 1820c can be used to fix bracket support in various ways Part 1820.For example, screw can extend through portion 1805a and top planes part 1820b, but only rub in some embodiments Wiping can be enough.

Bracket support 1820 can also include the flat surfaces 1820a extended.The flat surfaces 1820a of extension can be by For bracket support 1820 is coupled with sensor mount 1810.The view 1800f of bracket support 1820 removes other Component (spacer bracket 1805, sensor mount 1810, observation panel 1825a, 1825b).It therefore, in this view can be with More easily distinguish surface 1820a (in 1800b dotted line instruction, in terms of front, sensor mount 1810 and surface 1820a Each section may be blocked by sensor 1815a, 1815b).

Sensor mount 1810 can be provided to be fixed for receiving stablizing for depth transducer system 1815a and 1815b Device.View 1800c provide from terms of the right side of sensor mount 1810 view (when see to receive depth transducer system " right side " when the part of the sensor mount 1810 of 1815a and 1815b).View 1800d is provided from sensor mount The view that 1810 left side is seen.View 1800e is provided from the view in terms of the front of sensor mount 1810.Sensor installation Part 1810 may include multiple holes, for receiving screw or other fixation devices, will observe panel 1825a, 1825b, depth Sensing system 1815a and 1815b, sensor mount 1810 and the engagement of bracket support 1820 become composite construction.

Particularly, discribed example has eight holes for fixing composite construction.Bracket hole 1830c and 1830d can To be used to that sensor mount 1810 is fixed to bracket support 1820 via surface 1820a.Observing panel hole 1830a can Be used to by top observe panel 1825a be fixed to sensor mount 1810, and observe panel hole 1830b can by with Lower part observation panel 1825b is fixed to sensor mount 1810.Gauge hole 1830f and 1830e can be used to by Top depth transducer system 1815a is fixed to sensor mount 1810.Similarly, gauge hole 1830h and 1830g can be with It is used to lower depth sensing system 1815b being fixed to sensor mount 1810.

Figure 19 A is the substitution bracket for the Figure 18 in the unassembled state decomposed that may be implemented in some embodiments The perspective diagram of each section of mounting assembly.In unassembled state, sensor mount 1810,1820 and of bracket support Depth transducer system 1815a and 1815b can be not connected.Figure 19 B illustrate how by via hole 1830c and 1830d insertion screw, pin or other coupling mechanisms come coupling sensor installation part 1810 and bracket support 1820.Figure 19 C is Sensor mount 1810, bracket support 1820 and depth transducer system 1815a and 1815b are all coupled saturating Depending on schematic diagram.Show as is noted in the figures, can be inserted into screw, pin or other coupling mechanisms with through hole 1830f and 1830e, to divide Not Jin Ru the fixed mechanism 1905a and 1905b of depth transducer system 1815a (although invisible in figure, people will be managed Solution, although not identified in Figure 19 C, can similarly by hole 1830h and 1830g visible in Figure 18 by screw, pin Or the insertion of other coupling mechanisms) into the fixed mechanism of sensing system 1815b.May then pass through make screw, pin or other Coupling mechanism passes through top observation panel 1825a and access aperture 1830a to fix top observation panel 1825a.Similarly, then Lower part viewing surface can be fixed by making screw, pin or other coupling mechanisms pass through observation panel 1825b and access aperture 1830b Plate 1825b.Can be used friction or groove for example ensure for respective screws, pin or other coupling mechanisms each hole Secure fit in 1830a-1830h.

The example depth sensor frame-" independence " of modular system is installed

As described above, not instead of by one or more depth transducers to being fixed on one or more scaffold brackets, Various embodiments can be by depth transducer to being affixed directly on shell, or is fixed to the intracorporal fixed installation structure of shell On.For example, Figure 20 A is the case frame 2005 for the multi-angle depth transducer shell that may be implemented in some embodiments " perspective " view comprising be not the depth transducer being attached via bracket but via " independently installed part ".Particularly, in frame One or more pairs of sensor arrangement 2010a and 2010b can be placed in frame 2005.In this example, depth transducer It is similar to RealSense again^TMThe form factor of depth transducer system, but people will readily appreciate that and be passed using other depth The modification of sensor.As indicated by ellipsis 2015, may exist more than two illustrated sensor mount, and can be with Installation part is arranged with substantial linear arrangement.

Installation part itself usually may include the sensor and a mounting bracket of two different angles.For example, Figure 20 B is The schematic diagram for the horizon sensor installation part that may be implemented in some embodiments.It can be by top depth sensing system 2020 It is mounted on above depth transducer system 2030 and angled relative to depth transducer system 2030.Each sensor It can be (such as in RealSense^TMIn the example of depth transducer system) it include such as infrared transmitter 2020c, infrared remote receiver 2020b (for example, some embodiments can operate within the scope of about 850nm), and to management module unit as a whole or The connection 2020a of the computer system of display system is (for example, USB connection, FireWire^TMConnection, wireless BlueTooth^TMEven It connects).Some depth transducers also comprise RGB sensor, as discussed in more detail below, still, and as illustrated here, It is not necessarily such case in all embodiments.For being horizontally mounted part, extension 2025b can be attached by installation part 2025a It is connected to frame case or is attached to the shelf of support display system.Figure 20 C is the vertical biography that may be implemented in some embodiments The schematic diagram of sensor installation part.For being horizontally mounted part, installation part 2030a can be attached to frame case by extension 2030b Or it is attached to the shelf of support display system.In some embodiments, it can will be used to receive extension 2025b or extension The screw hole of 2030b is provided in same installation part, to allow mounting technique personnel structurally to have flexibility at it.

Figure 20 D is the change that the sensor mount using Figure 20 B or Figure 20 C that may be implemented in some embodiments is realized Change the schematic diagram of depth areas visual field.Although here shown as not being overlapped in order to understand, it will be appreciated that, some In embodiment, for example, as shown in Figure 25 A and Figure 25 B, it can be substantially for the visual field of each sensor of sensor centering (for disclosed any Setup Type including such as bracket mount, independently installed part etc., this may be for overlapping Really).Particularly, given depth sensor 2050a and 2050b passes through installation institute using the installation part of Figure 20 B or Figure 20 C Caused angle can produce correspondence the visual field 2055a and 2055b relative to floor 2040.

Figure 21 A be may be implemented in some embodiments in its relative position have transparent depth transducer indicate The schematic diagram of example multi-angle independence depth transducer installation part 2105.Figure 21 B is the nothing that may be implemented in some embodiments The schematic diagram of the multi-angle depth transducer installation part 2105 of Figure 21 A of depth transducer.As illustrated, installation part 2105 can be with Including keep extension 2115, keep extension 2115 include angled portion 2115a and 2115b, be configured to receive and Keep depth transducer 2110a, 2110b.However, as discussed herein, instead of keeping extension 2115 or as holding Screw, fixture or other fixation devices can be used by sensor and installation part in the supplement of extension 2115, various embodiments Coupling.

For example, Figure 22 is each of the example multi-angle independence depth transducer installation part that may be implemented in some embodiments The schematic side elevation of kind dimension.The supplement side view 2205a of installation part 2210 is the projection in the plane below installation part View 2205b.As indicated, it can be incited somebody to action via the means of vertical screws (for example, the bottom for passing through shell) of entrance receiver 2240 The installation part 2210 is installed on shell.Region 2220a and 2220b indicate each in the first and second depth transducer systems A position that may reside on installation part (still, as discussed herein, does not need two positions of filling in each example It sets).Each sensing system can have receiver to receive mounting screw, pinion gear or other fixed mechanisms.Into channel 2215a and 2215b allows this fixed mechanism to enter receiver, so that depth transducer system is coupled to installation part 2210. It (is approximately depth transducer system that these can enter and correspond to the position of distance 2230a and 2230b away from installation part in this embodiment The half of system width).In some embodiments, distance 2230a and 2230b can be substantially 5mm.In some embodiments, Angle 2245 can be substantially 25 °.In some embodiments, length 2225a and 2225d can be substantially 12mm.One In a little embodiments, length 2225b and 2225c can be substantially 38mm.

It therefore, in some embodiments, can be by depth transducer system mounted in pairing mode to independently installed part or and bracket Bracket coupling.In some embodiments, this is to can directly be bolted on case panel (such as without holder).People It will be understood that, specific sensor placement mechanism can be used only in various embodiments, or the intracorporal mechanism of shell can be used Combination.

For example, Figure 23 is the only multi-angle depth including independently installed sensor pair that may be implemented in some embodiments Spend the decomposition diagram of the component in the frame of sensor housing and the diagrammatic sectional top plan view of package assembly.By upper In the shell that lid 2310, backboard 2315, bottom plate 2340 and observation panel (not shown) are formed, it can be one or more independent peaces The depth transducer of dress to 2360a-2360e (in some embodiments, when using separate bracket, can be from backboard 2315 Omit groove 1620a-1620d).These by zero or more spacer 2305a-2305e to can be separated.Such as it can be based on The desired structure integrality of shell for the material of shell and for being expected deployed environment determines intermediate spacer 2305b- The quantity of 2305d.

Dedicated independently installed part with Figure 23 is on the contrary, Figure 24 is may be implemented in some embodiments including independently installed With the decomposition diagram of the component in the frame of the multi-angle depth transducer shell of the sensor pair of bracket installation, and assembling The diagrammatic sectional top plan view of structure.Equally, shell may include backboard 2415, top plate 2410 and bottom plate 2440.In spacer Can be placed between 2405a-2405c, 2405e, 2405f independently installed depth transducer to 2460a, 2460b, 2460d and The depth transducer of bracket installation is to 2460c (being installed to such as scaffold bracket 2405d).In this example, installation part keeps it complete The possible attachment point in portion is packed with sensor, however, can be used in some embodiments all or less than point.In addition, interval An installation part is separated between each of between part.It is to be understood that in some embodiments, one can be placed in an interval A above installation part, and some intervals can be fitted without part.In addition, though be not shown here, it will be appreciated that, Some or all of depth transducers are to can be mounted directly to sensor viewing panel 1355a and 1355b or be installed to shell Rest part.

Figure 25 A is may be implemented in some embodiments for the example with multi-angle depth transducer shell 2520 The side view of the various dimensions of interactive system.Figure 25 B is the schematic side elevation for the combination visual angle of the system of Figure 25 A.Note Meaning, can be used be installed to the depth transducer pairing of shell, independently installed part, scaffold bracket etc. realizing such as Figure 25 A and

Discribed depth field result in Figure 25 B.Angle 2505a reflects sensor viewing panel 1355a relative to floor The angle of plane, and can be about 65 ° in some embodiments.Angle 2505b reflects that sensor viewing panel 1355b is opposite Angle in floor level, and can be about 30 ° in some embodiments.In some embodiments, upper in shell 2520 Portion's sensor can have about 60 ° of visual field 2510a.In some embodiments, the lower sensor in shell 2520 can also be with With about 60 ° of visual field 2510b.Top depth transducer can be the height 2515a apart from floor 2530 (in some embodiments In, about 2.065 meters), and (in some embodiments, lower depth sensor can be the height 2515b apart from floor 2530 About 2.019 meters).In this example, the zone of action for interacting with interface system can be from display extended distance 2525a (in some embodiments, about 3 meters).

Visual field 2510a and 2510b can lead to complex visual field 2510 together, can be about 95 ° in some embodiments.

Example depth sensor frame-RGB camera modification of modular system

Figure 26 is the case frame for multi-angle depth transducer shell 2605 that may be implemented in some embodiments " perspective " view, wherein being mounted with both depth transducer and image visual transducer.For example, depth transducer system 2620a can have depth transducer transmitter 2625b and depth transducer receiver 2625a (depth transducer system 2620b It equally can have corresponding transmitter and receiver).Although depth transducer viewing panel 2640b and 2640a can permit Such as infrared frequency passes through, but when emitting from depth transducer transmitter 2625b and when in depth transducer receiver When receiving at 2625a, viewing panel 2640b and 2640a can be visual frequency opaque (for example, as user is prevented See the aesthstic or functional hope of depth transducer).Therefore, some embodiments consider hole or alternative materials being integrated to position In depth transducer viewing panel 2640b and 2640a at 2635a-2635d, to promote the image in vision wavelength range Capture.For example, such as in RealSense^TMIn the case where depth transducer, RGB camera 2630a, 2630b may be integrated into depth It spends in sensing system.In some embodiments, the independent RGB camera 2630c dedicated for visual pattern capture can be used And 2630d.Installation part can be adjusted and be reused for these RGB sensor specials, to assist in ensuring that they are real Now with the same or similar visual field of various depth transducers.In some embodiments, dedicated for the sensing of depth capturing information Device, such as sensor 2645, can also exist in case frame.Therefore, as indicated by ellipsis 2610a and 2610b, shell There may be than more installation parts depicted herein and sensor in vivo.

Example depth sensor frame-visual field of modular system

Figure 27 A is showing for the depth visual field 2710a for the modular system unit 2705a that can occur in some embodiments It is intended to, wherein depth transducer does not have scope limitation.For example, in order to make it easy to understand, the depth for modular unit 2705a passes There is no limit then visual field zone of action 2710a can extend to the farthest object that blocks, such as floor to the visual field of sensor.

However, in general, depth transducer will not have such extensive range.Figure 27 B is in some embodiments can be with The schematic diagram of the depth visual field 2710b of the modular system unit 2705b of realization, wherein depth transducer has scope limitation. In these embodiments, depth transducer can be restricted to particular range.Beyond this limitation, acquired data are for expectation Or effective gesture determine for may be not accurate enough.

Although Figure 27 A and Figure 27 B show the visual field emitted in the width of modular unit, in some embodiments In, the visual field of depth transducer has extended beyond the width.Therefore, Figure 27 C is the module that can occur in some embodiments Change the schematic diagram of the depth visual field 2710c of system unit 2705c, wherein depth transducer has scope limitation and compound extension Width beyond modular system unit.Data from the region may introduce noise, and therefore in some embodiments, User can be forbidden to enter region 1225a and 1225c.In some embodiments, system is readily modified as filtering edge data to arrange Except these may noisy region.

Figure 27 D is that can occur in some embodiments by discribed in such as Figure 27 B (for example, unit 2705b) Three composite module systems of unit 2705d, 2705e, 2705f composition and showing for corresponding composite depth visual field 2710d It is intended to.When being changed to the unit using such as 2705c etc, the visual field of each sensor can be Chong Die with its neighbour.

Figure 27 E is that can occur in some embodiments by discribed in such as Figure 27 C (for example, unit 2705c) The schematic diagram of composite module system and corresponding composite depth visual field 2710e that two units 2705g and 2705h are formed.

Example depth sensor frame-example arrangement of modular system and modification

Composite depth visual field can be used in various applications.For example, Composite Field can promote with an independent unit not Gesture identification in the cards.For example, possibly can not see certain bimanual inputs from individual unit.

Figure 28 A depicts a sample application using complex visual field.Particularly, Figure 28 A is in some embodiments may be used The compound die formed with the user 2815 of realization and by three units 2805a, 2805b and 2805c with " three foldings " oriented arrangement The schematic diagram of block system interaction.Figure 28 B is the schematic plan of the composite module system interaction of user and Figure 28 A.In In the orientation, user can stand convenient for one, two in visual field 2810a, 2810b and 2810c by unit Or all three positions for being watched.In discribed example, user 2815 is just standing in its foot to all three views At all visible position 2810a, 2810b and 2810c of field.The right hand and left hand of user is all in visual field 2810b as it can be seen that still existing In visual field 2810a only left hand as it can be seen that and only the right hand is visible in visual field 2810c.

Figure 29 A is another sample application that may be implemented in some embodiments, show user 2915 with by with The schematic diagram of the composite module system interaction of six unit 2910a-2910f composition of " ring " oriented arrangement.Figure 29 B is user With the schematic plan of the composite module system interaction of Figure 29 A.Equally, in discribed example, user 2915 just stands It stands at its foot is to all visible position all six visual fields 2910a-2910f.The right hand and left hand of user is all in visual field In 2910b and 2910e as it can be seen that still in visual field 2910a, 2910d only left hand as it can be seen that and in visual field 2910a, 2910d Only the right hand is visible.By providing the lateral side view of user, composite system can identify more complicated gesture and transmit than other Possible more fully information.For example, can use additional rear side information now indicates the three-dimensional of user at various positions It indicates.The gesture that may have been blocked from the angle of unit 2905b by the trunk of user now can from unit 2905e See.Even if such information can be used on 2905b generate display image --- its from the display be sightless (for example, when user is when gesture is made in their behind).

Example multiple-sensor integration method

In order to utilize difference or complex visual field as provided by various embodiments described herein, the meter of managing user interface Calculation machine system can be for example, Figure 30 A be the central computer system 3030 that may be implemented in some embodiments and one or more The schematic diagram of clock and bus relationship between a depth transducer 3010a-3010d.

Computer system 3030 can be identical as computer system 1050, can via wired or wireless bus 3025 with One or more depth transducer 3010a-3010d connections on one or more units.Computer system 3030 may include System clock 3035.Similarly, each depth transducer system, such as in RealSense^TMIn the case where depth transducer system, It may include internal clocking.For example, sensing system 3010a is the upper sensor in double cartridge sensor mount.It is internal Ground, sensing system 3010a carry clock 3005a.In the figure below sensing system 3010a, in systems identical It is the sensing system 3010b with internal clocking 3005b on installation part.When sensing system clock 3010c can be with inside Clock 3005d is associated and on residing in individual dual sensor installation part etc..As indicated by ellipsis 3015, these sensings Device system-internal clocking relationship can continue on for many different sensors (lower sensor system in user interface system 3010d can be associated with internal clocking 3005d).

According to its corresponding internal clocking, the depth for transmitting in bus 3025 is can be generated in depth transducer system Frame.For example, frame 3020a can be generated in sensing system 3010a, frame 3020b, sensor is can be generated in sensing system 3010b Frame 3020c can be generated in system 3010c and frame 3020d etc. can be generated in sensing system 3010d.In some embodiments, Clock 3005a-3005d can it is more more acurrate than system clock 3035 with it is consistent.In some embodiments, clock 3005a-3005d It can be started counting at the time of they are activated from 0, and in some embodiments, system clock 3035 can be from such as Unix Time in epoch starts to measure its time.Since system clock 3035 can be used for various purposes, it may be not so good as clock 3005a-3005d is accurate.

Figure 30 B is three at the user interface computer system depth transducer that can occur in some embodiments The depth frame of system reaches the schematic diagram of queue 3050a-3050c.For example, with reference to queue 3050a, in system time On 1489958962 (for example, relative to dates measured by Unix epoch, as unit of millisecond), computer system is from depth sensing Device receiving time stamp is the frame of time 400.Based on these depth transducer timestamps --- when system between each sensor Between corresponding relationship, system can determine " simultaneously " capture reach corresponding relationship 3050a frame.These frames may not be on literal Simultaneously, but may be substantially close to being thought of as being captured simultaneously by their value is sufficient for computer system 3030 Processing intent.For example, system can determine while capture frame associated with corresponding relationship 3060a-3060c.Below with reference to figure 31 provide the instantiation procedure for carrying out the determination in computer systems division.

Figure 31 be illustrate may be implemented in some embodiments for coordinating at the computer system 3030 of Figure 30 A From the flow chart of the feature of the instantiation procedure of one or more received depth frames of depth transducer 3010a-3010d of Figure 30 A. At frame 3105, computer system 3030 can receive the depth frame with timestamp from the depth transducer in bus 3025.In At frame 3110, computer system 3030 can storage has the frame with timestamp in discribed queue for example in such as Figure 30 B Current system time clock value.Once computer system 3030 has received enough numbers for each sensor at frame 3115 The depth frame of amount is (for example, as true via the default setting institute based on the universal experience to depth transducer and system clock difference It is fixed), at frame 3120, system can determine which frame from sensor be " while ".For example, in some embodiments In, system, which can be waited, receives at least five successive frames until being directed to each depth transducer.

Once computer system 3030 determines same time frame, so that it may export them at frame 3125 so that (example is applied in activity Such as, the program of gesture is identified) it uses.At frame 3130, the queue of depth frame can be refreshed, and for being passed to computer system 3030 next frame repeats the process.

Embodiment variant

People are it will be readily understood that each boundary element can be arranged in various ways.This section provides some exemplary variants, To ensure that reader understands these possibilities.For example, Figure 32 A is " corridor " composite module that may be implemented in some embodiments The schematic diagram of system.Figure 32 B is the schematic plan of the composite module system of Figure 32 A." corridor " may include phase each other To a series of unit 3205a and a series of unit 3205b of arrangement, in order to provide complementary depth visual field.Herein each Three units are shown, ellipsis 3210a and 3210b series indicated herein may be more or less than three lists in series Member.

A series of a series of end in the corridor formed by unit 3205a and unit 3205b can place one or Multiple end unit 3205e.Depth visual field 3215a-3215c and 3215d can correspond to the view of the unit along corridor side , that is, unit and unit 3205d in serial 3205a.Similarly, depth visual field 3215f and 3215g-3215i can be corresponded to Unit in the visual field of the unit along the corridor other side, i.e. in unit 3205c and series 3205b.As indicated, these are regarded Field can be overlapped in the 3250a-3250d of region, to provide the relative depth frame of the user to walk along corridor.When these are mutual When benefit frame crosses the length in corridor, these complementary frames can promote the identification to space-time gesture from the user.Unfortunately, with The walking path of user is orthogonal, they possibly can not recognize the various aspects of the gesture occurred in front of the user.For example, from user's Side can easily see that they are raising one's hand and are pointing out finger, but in the case where positive depth frame view, it may Do not know which finger user is stretching out.

Therefore, one or more end unit 3205e can be specifically configured to mention along the length in corridor as much as possible For the visual field 3215e of extension.In some embodiments, this can be by modification one or more end unit 3205e to include The additional orientation depth transducer for more easily recognizing positive feature is positioned to realize.For example, Figure 32 C is in some embodiments The schematic diagram of the end unit for the composite module system from Figure 32 A that may be implemented, wherein end unit has longitudinal deep Spend sensor 3225.Particularly, longitudinal depth transducer 3225 can be placed between display 3220a and 3220b.It can be with It is opaque to human vision before screen is placed on sensor, but allows such as infrared hair from depth transducer It penetrates.In some embodiments, longitudinal depth transducer 3225 can be placed on to a part of screen below or in screen Pixel is removed to promote such as infrared emission and detection, and has no substantial effect on perception of the user to seamless display.

Wider, broader visual field with the other sensors in unit is on the contrary, can be special by longitudinal depth transducer 3225 It is not selected as narrower but longer visual field, to supplement the length in corridor.Particularly, Figure 32 D is can to go out in some embodiments The schematic diagram of the depth areas visual field for the variation that the existing sensor mount using Figure 32 C is realized.As previously mentioned, upper body Two sensing systems 3230a and 3230b in frame can provide complementary visual field 3235a and 3235b (it is same, although this In overlapping is not shown, but in some embodiments, it is understood that visual field 3235a and 3235b are overlapped).Visual field 3235a and 3235b can even be angled so as to the part on capture floor 3240.In contrast, associated with longitudinal sensor system 3225 Visual field 3235c can more straitly focus, it is contemplated that its act on be for visual field as much as possible be overlapped 3250a-3250d provide just Face counterpart.

In some embodiments, the depth frame above capture user with front is not only facilitated, also contributes to capture Depth frame below user.For example, some gestures may relate to the movement that above user or the hand of front and trunk block (for example, subordinate that the thumb of a people is wrapped in a people when referring to forward).By the way that depth transducer system is placed on The pedestal of unit or the intermediate altitude point of unit hereinafter, these available regions being otherwise blocked depth frame.Figure 33 A is The schematic diagram for the modular system unit 3305 with the addition of multiple sensors that may be implemented in some embodiments.Especially Ground, in addition to as described herein including the upper frame shell 3310a of depth transducer installation part 3325a (equally, such as ellipsis Indicated by 3330a, may exist one or more sensors) and it is placed on (as shown in the figure) display 3315a and 3315b Between or except the subsequent intermediate altitude sensor 3320 of display 3315a and 3315b, unit 3305 can also be included in The lower case frame 3310b for depth transducer of its base position.It is similar with upper frame shell 3310a, it is used for depth The lower case frame of sensor may include one or more depth transducer installation part 3325b, as ellipsis 3330b is signified Show.However, different from upper frame shell 3310a, installation part 3325b can rotate 180 ° to refer to upwards.

Figure 33 B is the depth for the variation that the sensor mount using Figure 33 A that can occur in some embodiments is realized Spend the schematic diagram of region visual field.Particularly, the sensing system 3335a and 3335b on installation part 3325a can have as herein The visual field 3340a and 3340b elsewhere.Similarly, intermediate altitude sensor 3320 can have visual field 3340c.So And the addition of base housing 3310b and sensing system 3335d and 3335e make additional visual field 3335d and 3335e now It is available to system.Similar with visual field 3340c, these visual fields 3340d and 3340e can not include floor 3350.

Computer system

Figure 34 is can be in conjunction with the block diagram for the example computer system that some embodiments use.Computing system 3400 can wrap Interconnection 3405 is included, several components, such as one or more processors 3410, one or more memory assemblies are connected 3415, one or more input/outputs 3420, one or more stocking systems 3425, one or more network adapter 3430.Interconnection 3405 can be for example one or more bridges (bridge), trace (trace), bus (such as ISA, SCSI, PCI, I2C, fire wire bus etc.), electric wire, adapter or controller.

One or more processors 3410 may include such as Intel^TMProcessor chips, math co-processor, at figure Manage device etc..One or more memory assemblies 3415 may include such as volatile memory (RAM, SRAM, DRAM), it is non-easily The property lost memory (EPROM, ROM, flash memory etc.) or similar devices.One or more input-output apparatus 3420 may include example Such as show equipment, keyboard, indicating equipment, touch panel device.One or more storage facilities 3425 may include for example based on The reservoir of cloud, removable USB reservoir, disc driver etc..In some systems, memory assembly 3415 and storage are set Standby 3425 can be identical component.Network adapter 3430 may include for example wired network interface, wireless interface, Bluetooth^TMAdapter, sighting distance interface etc..

It will be recognized that in some embodiments there may be in those discribed components in Figure 34 more only The replacement assemblies of those discribed components or additional group other than those components discribed in Figure 34 in component, Figure 34 Part.Similarly, component can be combined in some systems or for dual purpose.Dedicated, hardwired circuit can be used to come in fact Existing component, such as one or more ASIC, PLD, FPGA etc..Therefore, some embodiments can for example with software and/or In the programmable circuit (for example, one or more microprocessors) of firmware programs or (it can not compiled with dedicated hardwired completely Journey) it is realized in circuit or in the combination of these forms.

It in some embodiments can be via data transmission media (for example, signal on communication link) via Network adaptation 3430 storage or transmission of device, data structure and message structure.Transmission can occur on a variety of media, such as internet, local Net, wide area network or point-to-point dial-up connection etc..Therefore, " computer-readable medium " may include computer-readable storage media (for example, " non-transitory " computer-readable medium) and computer-readable transmission medium.

One or more memory assemblies 3415 and one or more storage facilities 3425 can be computer-readable storage Medium.In some embodiments, one or more memory assemblies 3415 or one or more storage facilities 3425 can store Instruction, the instruction can execute or promote to execute various operations discussed in this article.In some embodiments, it can will be stored in Instruction in memory 3415 is embodied as software and/or firmware.These instructions must be used in one or more processors Operation is executed on 3410 to execute process described herein.It in some embodiments, can be for example, by via network adapter 3430 provide such instruction to one or more processors 3410 from another system download instruction.

Remarks

Above description and attached drawing are illustrative.Therefore, description and attached drawing are all not necessarily to be construed as the limitation disclosure.Example Such as, title or subtitle provides only for helping reader, in order to understand.Therefore, title or subtitle, which should not be construed, comes It limits the scope of the present disclosure, such as simply facilitates understanding by the way that the feature presented with particular order or together to be grouped.It removes Non- to define otherwise herein, otherwise all technical and scientific terms used herein has the ordinary skill with disclosure fields The identical meaning of the normally understood meaning of personnel.In the case of a conflict, this document is (including presented herein any fixed Justice) controlled.The narration of one or more synonyms in this paper is not excluded for the use of other synonyms.In this specification Exemplary use (example including any term described herein) Anywhere is merely illustrative, and be not intended into One step limits the range and meaning of the disclosure or any exemplary term.

Similarly, although having carried out specific presentation in the attached drawing of this paper, it will be appreciated, however, by one skilled in the art that being used for The actual data structure for storing information can be with shown difference.For example, data structure can be organized in different ways, it can Comprising that can be compressed and/or be encrypted than shown more or fewer information.Attached drawing and openly can be omitted it is general or Well-known details is to avoid obscuring.Similarly, attached drawing can describe the specific operation series for promoting to understand, these operations are only It is only the example of wider this kind of operational set.Therefore, people will readily appreciate that, can be commonly using additional, substitution Or it is less operation to realize discribed identical purpose or effect in some flow charts.For example, data can be added It is close, it, can be with different circulation pattern (" for " circulation, " while " circulation although not presenting so in flow charts Deng) to consider project, or project is ranked up in different ways, to realize the same or similar effect etc.

The reference of " one embodiment " or " embodiment " is meaned in this specification to combine the specific of embodiment description Feature, structure or characteristic are included at least one embodiment of the disclosure.Therefore, the phrase in specification everywhere is " one In a embodiment " it is not necessarily meant to refer to the identical embodiment in each of those different places.Individual or substitution implementation Example can not be with other embodiments mutual exclusion.It will be recognized that can be carried out each in the case where not departing from the range of embodiment Kind modification.

Claims

1. a kind of depth transducer case frame, comprising:

Backboard；

Top plate；

Bottom plate；

First allows frequency panel, and the first permission frequency panel is configured as substantially allowing associated with depth transducer Radiation pass through, but do not allow substantially visual frequency radiation pass through；

Second allows frequency panel, and the first permission frequency panel is configured as substantially allowing associated with depth transducer Radiation pass through, but do not allow substantially visual frequency radiation pass through；

One or more depth transducer installation parts；With

One or more spacers, one or more of spacers, which are located at, allows frequency by the backboard, top plate and bottom plate, first Rate panel and second allows in the packaging body of frequency panel formation, wherein

Each of one or more of depth transducer installation parts are located in one or more of spacers at least Between two spacers, and wherein,

Each depth transducer installation part of one or more of depth transducer installation parts is configured as receiving two depth Sensor, so that visual field associated with each depth transducer passes through at least one of described two permission frequency panels.

2. depth transducer case frame according to claim 1, wherein the top cover includes:

It is basically parallel to the first part of the bottom plate；With

From the first part with substantially 25 ° of angle towards the second part of the bottom plate.

3. depth transducer case frame according to claim 2, wherein the second part of the top cover includes lid Ridge, the lid ridge, which is configured to receive described first, allows a part of frequency panel.

4. depth transducer case frame according to claim 1, wherein described first allows frequency panel with substantially 35 ° of angle allows frequency panel adjacent with described second.

5. depth transducer case frame according to claim 4, wherein at least one of described spacer includes six A extension, wherein

First extension is oriented substantially 90 ° of angle relative to the second extension,

Second extension is oriented substantially 90 ° of angle relative to third extension,

Third extension is oriented the angle greater than 90 ° relative to the 4th extension,

4th extension is oriented the angle greater than 90 ° relative to the 5th extension,

5th extension is oriented the angle less than 90 ° relative to the 6th extension, and

6th extension is oriented the angle greater than 90 ° relative to the 5th extension, and wherein,

Six extensions are formed together concave regions.

6. depth transducer case frame according to claim 5, wherein at least one of described spacer includes not More than five extensions and have less than claim 5 at least one spacer length.

7. depth transducer case frame according to claim 5, wherein the second part of the top cover includes lid Ridge, the lid ridge, which is configured to receive described first, allows a part of frequency panel.

8. a kind of modularization depth boundary element, comprising:

One or more displays；With

Depth transducer case frame, the frame include:

Backboard；

Top plate；

Bottom plate；

One or more depth transducer installation parts；With

Each of one or more of depth transducer installation parts are located at least the two of one or more of spacers Between a spacer, and wherein,

Each depth transducer installation part in one or more of depth transducer installation parts is configured as receiving two depths Sensor is spent, so that visual field associated with each depth transducer passes through at least one in described two permission frequency panels It is a.

9. modularization depth boundary element according to claim 8, wherein one or more of displays include:

Above second display and substantially vertically the first adjacent display；With

Above the third display and substantially vertically adjacent second display, wherein the depth transducer Case frame is located above the first display and substantially vertically adjacent.

10. modularization depth boundary element according to claim 8, wherein the top cover includes:

It is basically parallel to the first part of the bottom plate；With

11. modularization depth boundary element according to claim 10, wherein the second part of the top cover includes Lid ridge, the lid ridge are configured as receiving a part of the first permission frequency panel.

12. modularization depth boundary element according to claim 8, wherein described first allows frequency panel with basic Upper 35 ° of angle allows frequency panel adjacent with described second.

13. modularization depth boundary element according to claim 12, wherein at least one of described spacer includes Six extensions, wherein

Six extensions are formed together concave regions.

14. modularization depth boundary element according to claim 13, wherein at least one of described spacer includes No more than five extensions and have less than claim 13 at least one spacer length.

15. modularization depth boundary element according to claim 13, wherein the second part of the top cover includes Lid ridge, the lid ridge are configured as receiving a part of the first permission frequency panel.

16. a kind of interface system based on depth, comprising:

At least one processor；

One or more displays；With

One or more depth transducer case frames, at least one frame in one or more of frames include:

Backboard；

Top plate；

Bottom plate；

One or more depth transducer installation parts；With

17. the interface system according to claim 16 based on depth, wherein one or more of displays include 3 The substantially adjacent display of × 3 grids.

18. the interface system according to claim 17 based on depth, wherein one or more of depth transducer shells Body frame includes:

The first depth transducer case frame above the upper left display of 3 × 3 grid；

The second depth transducer case frame in 3 × 3 grid above upper display；

Third depth transducer case frame above the upper right display of 3 × 3 grid.

19. the interface system according to claim 18 based on depth, wherein the top cover includes:

It is basically parallel to the first part of the bottom plate；With

20. the interface system according to claim 19 based on depth, wherein the second part of the top cover includes Lid ridge, the lid ridge are configured as receiving a part of the first permission frequency panel.