CN114827727B - Television control method, television control device, television and computer readable storage medium - Google Patents
Television control method, television control device, television and computer readable storage medium Download PDFInfo
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- CN114827727B CN114827727B CN202210439598.9A CN202210439598A CN114827727B CN 114827727 B CN114827727 B CN 114827727B CN 202210439598 A CN202210439598 A CN 202210439598A CN 114827727 B CN114827727 B CN 114827727B
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- 238000000034 method Methods 0.000 title claims abstract description 43
- 239000011159 matrix material Substances 0.000 claims description 16
- 230000001815 facial effect Effects 0.000 claims description 15
- 230000009466 transformation Effects 0.000 claims description 15
- 230000036541 health Effects 0.000 claims description 13
- 230000006870 function Effects 0.000 claims description 11
- 238000013507 mapping Methods 0.000 claims description 7
- 238000010276 construction Methods 0.000 claims description 6
- 238000004364 calculation method Methods 0.000 claims description 5
- 238000009434 installation Methods 0.000 description 7
- 238000004891 communication Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 3
- 230000007613 environmental effect Effects 0.000 description 3
- 208000004350 Strabismus Diseases 0.000 description 2
- 238000003491 array Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000033001 locomotion Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000006399 behavior Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000002592 echocardiography Methods 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 239000000523 sample Substances 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Classifications
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N21/00—Selective content distribution, e.g. interactive television or video on demand [VOD]
- H04N21/40—Client devices specifically adapted for the reception of or interaction with content, e.g. set-top-box [STB]; Operations thereof
- H04N21/43—Processing of content or additional data, e.g. demultiplexing additional data from a digital video stream; Elementary client operations, e.g. monitoring of home network or synchronising decoder's clock; Client middleware
- H04N21/442—Monitoring of processes or resources, e.g. detecting the failure of a recording device, monitoring the downstream bandwidth, the number of times a movie has been viewed, the storage space available from the internal hard disk
- H04N21/44213—Monitoring of end-user related data
- H04N21/44218—Detecting physical presence or behaviour of the user, e.g. using sensors to detect if the user is leaving the room or changes his face expression during a TV program
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
- F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/64—Constructional details of receivers, e.g. cabinets or dust covers
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- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Social Psychology (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- General Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Databases & Information Systems (AREA)
- Mechanical Engineering (AREA)
- Two-Way Televisions, Distribution Of Moving Picture Or The Like (AREA)
Abstract
The invention discloses a television control method and device, a television and a computer readable storage medium, and belongs to the technical field of intelligent television control. According to the method, an initial map is established according to a target environment around a television by determining the target environment; acquiring an initial pose of the television in the initial map; and acquiring the current eye pose corresponding to the eye information of the user in the initial map, and adjusting the position of the television according to the current eye pose and the initial television pose. When a user watches the television, the television can automatically track the eye pose of the user without manually adjusting the position of the television, thereby realizing automatic adjustment of the position of the television and improving the convenience of television position control.
Description
Technical Field
The present invention relates to the field of intelligent television control technologies, and in particular, to a television control method, a television control device, a television, and a computer readable storage medium.
Background
Along with the rapid development of technology, smart televisions have generally moved into people's daily life, smart television devices are usually placed on a bracket or mounted on a wall, and on this basis, the position of the television is usually changed by manpower according to a scheme of adjusting the position of the television, and along with the current increasing size of television panels, the disadvantage of traditional manual adjustment also increasingly affects user experience. Therefore, the conventional scheme for adjusting the position of the television has the defect of inconvenient adjustment.
Disclosure of Invention
The invention mainly aims to provide a television control method, a television control device, a television and a computer readable storage medium, and aims to solve the technical problem that the adjustment is inconvenient in the traditional scheme for adjusting the television position.
In order to achieve the above object, the present invention provides a television control method, including:
determining a target environment around a television, and establishing an initial map according to the target environment;
acquiring an initial pose of the television in the initial map;
And acquiring the current eye pose corresponding to the eye information of the user in the initial map, and adjusting the position of the television according to the current eye pose and the initial television pose.
Optionally, the step of establishing an initial map according to the target environment includes:
establishing an overall map according to the target environment;
Determining the current position of the television, acquiring a local environment in the target environment based on the current position, and establishing a local map according to the local environment;
and establishing an initial map according to the whole map and the local map.
Optionally, the step of establishing an initial map from the global map and the local map includes:
template matching is carried out on the whole map and the local map, and a transformation matrix is obtained;
and performing matrix transformation on the integral map according to the transformation matrix to obtain an initial map.
Optionally, the step of obtaining the current eye pose corresponding to the eye information of the user on the initial map includes:
acquiring a facial image of a user, and determining eye information of the user in the facial image;
And acquiring the current eye pose corresponding to the eye information of the user in the initial map according to the mapping relation between the facial image and the initial map.
Optionally, the step of adjusting the position of the television according to the current eye pose and the initial pose of the television comprises:
acquiring a preset health distance between the television initial pose and the user eye pose in the initial map;
And if the current distance between the current eye pose and the initial pose of the television is not matched with the preset healthy distance, adjusting the position of the television according to the preset healthy distance.
Optionally, the step of adjusting the position of the television according to the preset health distance includes:
According to the preset healthy distance, calculating a final point pose of which the distance from the current eye pose in the initial map is within the preset healthy distance range;
planning a path according to the end point pose and the television initial pose to obtain a target path;
And driving the television to move to a position corresponding to the end position and the pose according to the target path through a television bracket with three degrees of freedom.
Optionally, before the step of obtaining the current eye pose corresponding to the eye information of the user in the initial map, the method further includes:
Judging whether a face following function is started before the last shutdown;
if yes, executing the step of acquiring the current eye pose of the eyes of the user on the initial map.
In addition, in order to achieve the above object, the present invention also provides a television control device, including:
the map construction module is used for determining a target environment around the television and establishing an initial map according to the target environment;
the pose calculation module is used for acquiring the initial pose of the television in the initial map;
And the position adjusting module is used for acquiring the current eye pose corresponding to the eye information of the user in the initial map and adjusting the position of the television according to the current eye pose and the initial television pose.
In addition, in order to achieve the above object, the present invention also provides a television including a memory, a processor, and a television control program stored on the memory and executable on the processor, the television control program implementing the steps of the television control method as described above when executed by the processor.
In addition, in order to achieve the above object, the present invention also provides a computer-readable storage medium having stored thereon a television control program which, when executed by a processor, implements the steps of the television control method as described above.
The invention provides a television control method, a television control device, a television and a computer readable storage medium, wherein an initial map is established according to a target environment around the television, the initial pose of the television in the initial map is obtained, then the current eye pose corresponding to eye information of a user in the initial map is obtained, and the position of the television is adjusted according to the current eye pose and the initial pose of the television.
Drawings
FIG. 1 is a schematic diagram of a television of a hardware operating environment according to an embodiment of the present invention;
FIG. 2 is a flowchart of a television control method according to a first embodiment of the present invention;
Fig. 3 is a schematic diagram of the structure of the television control device according to the present invention.
The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Referring to fig. 1, fig. 1 is a schematic diagram of a television structure of a hardware running environment according to an embodiment of the present invention.
As shown in fig. 1, the television may include: a processor 1001, such as a CPU (Central Processing Unit ), a communication bus 1002, a user interface 1003, a network interface 1004, a memory 1005. Wherein the communication bus 1002 is used to enable connected communication between these components. The user interface 1003 may include a Display, an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., wireless FIdelity (WI-FI.) the Memory 1005 may be a high-speed random access Memory (Random Access Memory) Memory or a stable Non-Volatile Memory (NVM), such as disk Memory, the Memory 1005 may optionally be a storage device independent of the processor 1001.
Optionally, the television may further include an RF (Radio Frequency) circuit, a sensor, an audio circuit, and a WiFi module; an input unit such as a display screen, a touch screen; the network interface may optionally be other than WiFi in a wireless interface, bluetooth, probe, etc.
It will be appreciated by those skilled in the art that the structure shown in fig. 1 is not limiting and may include more or fewer components than shown, or may be combined with certain components, or a different arrangement of components.
As shown in fig. 1, an operating system, a network communication module, a user interface module, and a television control program may be included in a memory 1005, which is a type of computer storage medium.
In the television shown in fig. 1, the network interface 1004 is mainly used for connecting to a background server and performing data communication with the background server; the user interface 1003 is mainly used for connecting a client (user side) and performing data communication with the client; and the processor 1001 may be configured to call a screen-drop control program stored in the memory 1005, and perform the following operations:
determining a target environment around a television, and establishing an initial map according to the target environment;
acquiring an initial pose of the television in the initial map;
And acquiring the current eye pose corresponding to the eye information of the user in the initial map, and adjusting the position of the television according to the current eye pose and the initial television pose.
Based on the above hardware structure, various embodiments of the television control method of the present invention are provided.
An embodiment of the present invention provides a television control method, referring to fig. 2, fig. 2 is a schematic flow chart of a first embodiment of the television control method of the present invention.
In this embodiment, the television control method includes:
Step S10, determining a target environment around a television, and establishing an initial map according to the target environment;
Step S20, acquiring the initial pose of the television in the initial map;
Step S30, obtaining the current eye pose corresponding to the eye information of the user in the initial map, and adjusting the position of the television according to the current eye pose and the initial pose of the television.
In this embodiment, an initial map is established according to a target environment around a television, an intelligent face following function of the television is realized based on the initial map, specifically, a current eye pose corresponding to eye information of a user in the initial map is obtained, when the user uses the television and starts the intelligent face following function, the current eye pose corresponding to eyes of the user on the initial map is obtained, and automatic adjustment of the television position is performed according to the current eye pose and the initial pose of the television. In this embodiment, the initial map may be established by a sensor, environmental parameters in the target environment are acquired by the sensor, the initial map is established according to the environmental parameters, and the sensor in this embodiment may preferably be a laser radar, specifically may be a single-line 2D laser radar, and of course, the sensor in this embodiment may also be an ultrasonic sensor or other sensors such as a binocular camera. In this embodiment, a sensor is used as a laser radar to perform description, the laser radar scans a target environment, and an initial map is established according to the scanned target environment. A laser radar (LASER RADAR) detects the characteristic quantities such as the position, speed and the like of an obstacle in a target environment by emitting a laser beam. The laser radar emits detection signals (laser beams) to the obstacle, and then compares the received signals (echoes) reflected from the obstacle with the emission signals to obtain parameters of target environments such as distance, azimuth, altitude, speed, gesture and shape of the obstacle, and the like, so that an initial map is built based on a SLAM algorithm according to the parameters of the target environments, wherein SLAM is (Simultaneous Localization AND MAPPING) for synchronous positioning and map construction, and can be used for solving the problems of positioning navigation and map construction when the mobile robot runs in an unknown environment. In this embodiment, the initial map is a grid map, and all objects in the target environment can be mapped into the grid map, although the initial map may also be other maps.
In this embodiment, a physical model of the sensor may be further constructed before the environmental parameters are acquired by the sensor, and the physical model of the sensor may be calibrated, specifically, parameters of the physical model may be adjusted according to actual conditions of the target environment, for example, the number of emissions of the laser beam may be adjusted, so as to obtain more detailed information, thereby adjusting the accuracy of the initial map, or by calibrating the physical model, interference of the reflective object may be reduced. Because the indoor space is smaller than the outdoor space and the environment complexity is in a certain range, the single-line 2D laser radar is selected as an observation sensor, a physical model is built, and the model parameters are calibrated by testing the field environment, so that the model parameters are more suitable for the current environment, and the accuracy of map construction is improved. The laser radar is used for scanning the indoor environment to establish an initial map (grid map), the resolution of the initial map can be adjusted according to the calculation power of the CPU and the environment complexity in the embodiment, and specifically, the higher the environment is, the higher the resolution is, the stronger the calculation power of the CPU indicates that the higher the accuracy can be supported, and the higher the resolution is. In this embodiment, the physical model is calibrated before the target environment is scanned and acquired, so that the physical model can be ensured to be scanned accurately. The embodiment solves the defects of labor consumption and inconvenient adjustment of the traditional scheme caused by manually changing the position of the television.
According to the method, when the user watches the television, the television can automatically follow the eye pose of the user without manually adjusting the position of the television, so that automatic adjustment of the position of the television is realized, and convenience in television position adjustment is improved. Compared with the scheme of traditional manual adjustment, the scheme of the intelligent-adjustment pose television bracket based on computer control is provided, the traditional manual adjustment is changed into intelligent automatic adjustment, and the manpower is saved.
Further, based on the first embodiment, a second embodiment of the television control method of the present invention is provided, in this embodiment, in the step S10, the step of establishing an initial map according to the target environment includes:
step A, an overall map is built according to the target environment;
Step B, determining the current position of the television, acquiring a local environment in the target environment based on the current position, and establishing a local map according to the local environment;
And C, establishing an initial map according to the whole map and the local map.
In this embodiment, the specific step of establishing the global map according to the target environment may include determining an initial origin, acquiring the global environment in the target environment acquired by the sensor based on the initial origin, and establishing the global map according to the global environment, where in this embodiment, the initial origin is any position in the target environment, for example, any position in a space where the television is located, determining the initial origin, acquiring the global environment acquired by the sensor based on the initial origin, and establishing the global map according to the global environment, where the sensor laser radar scans the target environment in the target environment based on the initial origin as the global environment, for example, determining the initial origin as a position of a doorway in space, where the sensor (laser radar) can scan the global environment of the target environment, and further, an global map may be constructed based on the global environment, in this embodiment, the overall map is identified as m 0, in this embodiment, after the overall map is acquired, the current position of the television is determined, the local environment in the target environment is acquired based on the current position, and the local map is built according to the local environment, in this embodiment, in order to better estimate the position of the sensor lidar, the sensor is installed in the television, and determine the installation origin point where the sensor is located after the installation is completed, since the sensor is installed in the television, the current position of the television can be used as the installation origin point, after the overall map is acquired, the current position of the television in the overall map can be determined in the overall map, the installation origin point is the position where the sensor is located after the installation is completed, the local environment acquired based on the installation origin point is acquired, and the local map is built according to the local environment, in this embodiment, the local map is identified as m 1, and then an initial map is established according to the whole map and the local map. In this embodiment, the local environment is the local environment scanned when the sensor is installed in the television, and it should be noted that the global map may be a global map established based on the initial origin before the step of installing the sensor in the television.
Further, in the step C, the step of establishing an initial map according to the global map and the local map includes:
Step c1, performing template matching on the whole map and the local map to obtain a transformation matrix;
And c2, performing matrix transformation on the whole map according to the transformation matrix to obtain an initial map.
In this embodiment, template matching is performed on the whole map and the local map, a transformation matrix optimal for the whole map m 0 is calculated, and the whole map is transformed according to the transformation matrix, so as to obtain an initial map. In this embodiment, the television is connected with a television bracket with three degrees of freedom, the television and the television bracket are installed on a wall, the laser radar is installed at an initial position of the television, then a current target environment is scanned, a local environment with a smaller range than an overall environment in the target environment is scanned, the range of the overall environment is larger than that of the local environment, current obstacle information in the local environment is scanned, a local map is built according to the current obstacle information, the local map m 1 and the global map m 0 are subjected to template matching, and because the global map m 0 may be in a situation of being not matched in angle with the local map m 1, namely, the global map m 0 may be in a situation of being transverse, vertical or oblique in angle with respect to the local map m 1, or in a situation of being not matched in left and right positions with respect to the local map m 1, at this moment, the angle or the up and down matrix is transformed by using a template matching algorithm, the overall map and the local map are a group of multidimensional arrays, when the data similarity of the two arrays is higher than a preset threshold, an optimal transformation matrix can be determined, the local map m 0 and the local map m 1 is not required to be transformed in real-time, and the position of the local map m is not required to be transformed in a real-time.
Further, based on the first embodiment, a third embodiment of the television control method of the present invention is provided, in this embodiment, in the step S30, the step of obtaining the current eye pose corresponding to the eye information of the user on the initial map includes:
step D, acquiring a facial image of a user, and determining eye information of the user in the facial image;
And E, acquiring the current eye pose corresponding to the eye information of the user in the initial map according to the mapping relation between the facial image and the initial map.
In this embodiment, when intelligent face following is performed, a current eye pose corresponding to eye information of a user in the initial map is obtained, specifically, a face image of the user may be obtained, eye information of the user in the face image may be determined, and according to a mapping relationship between the face image and the initial map, a current eye pose of the user's eyes in the face image, which is mapped on the initial map, is calculated, where the eye pose includes a position of a human eye and a direction of the human eye, that is, coordinate position information and a coordinate vector where the human eye of the user is located. In this embodiment, the camera may capture a facial image of the user, and map the eye position of the user in the facial image to the initial map according to the mapping relationship between the facial image and the initial map, so as to obtain the current eye pose corresponding to the eye information of the user in the initial map.
According to the embodiment, the pose which is needed to be achieved by the television is judged according to the pose of the eyes of the human, for families with children, the function can effectively avoid strabismus when the children watch the television, the risk of the developed strabismus eyes is reduced, the eyes of adults can be healthier, and the appearance of the television is obviously improved.
Further, in the step S30, the step of adjusting the position of the television according to the current eye pose and the initial pose of the television includes:
Step F, obtaining a preset healthy distance between the initial pose of the television and the pose of the eyes of the user in the initial map;
and G, if the current distance between the current eye pose and the initial pose of the television is not matched with the preset healthy distance, adjusting the position of the television according to the preset healthy distance.
In this embodiment, the specific process of adjusting the position of the television according to the current eye pose and the initial pose of the television may be: acquiring a current eye pose acquired in real time, acquiring a preset health distance between an initial pose of the television in an initial map and the eye pose of the user in the initial map, further judging whether the current distance between the current eye pose and the initial pose of the television is matched with the preset health distance, and if the current distance is not matched with the preset health distance, adjusting the position of the television according to the preset health distance.
Further, in the step G, the step of adjusting the position of the television according to the preset health distance includes:
step g1, calculating a final point pose of which the distance from the current eye pose in the initial map is within the preset healthy distance range according to the preset healthy distance;
Step g2, path planning is carried out according to the end point pose and the television initial pose, and a target path is obtained;
And g3, driving the television to move to a position corresponding to the end position and the pose according to the target path through a television bracket with three degrees of freedom.
In this embodiment, according to a preset health distance, a final point pose of a distance between an initial map and a current eye pose within a preset health distance range is calculated, that is, a final point pose of the initial map, which is to be reached by a television, is calculated, for example, the preset health distance is 2.5-8 meters, if the current distance between the current eye pose and the initial pose of the television is outside the preset health distance range, the final point pose of the television, which is within the preset health distance range, is calculated, path planning is performed according to the final point pose and the initial pose of the television through an a-algorithm to obtain a target path, specifically, the final point pose s of the initial map, which is to be reached by the television, is calculated, the final point pose s is transmitted into a path planning program, and then the television is driven to a position corresponding to the final point pose according to the target path by a three-degree-of-freedom television bracket, and the television is driven to a corresponding position according to a motion model of the bracket, so that the face following behavior of the television to a user is realized.
In this embodiment, a television bracket with three degrees of freedom is selected, and the television bracket has three movable positions, each movable position uses a motor as a joint, and the movement of the television bracket can be realized by driving the motor. And establishing a kinematic model of the bracket, adjusting the rotation angle of the whole television or the television panel on the horizontal plane according to the kinematic model, adjusting the pitching angle and the left-right inclination angle of the television, or adjusting the vertical height of the television. Compared with the 2-degree-of-freedom bracket commonly used in the traditional manual adjustment scheme, the embodiment also provides a bracket with three degrees of freedom, so that the television adjustment can be more flexible, the limitation on the position of the traditional scheme is eliminated, and compared with the process that the traditional manual adjustment scheme needs the user to continuously adjust, the embodiment only needs to carry out functional configuration in the early stage of installation, and the later stage of use is completely interacted with the user by software, so that the whole hardware structure is not changed in the later stage, and the service life of the whole system is prolonged.
In this embodiment, the pose estimation and the change of the television are performed by adopting the slam algorithm and the modeled mechanical support, and compared with the adjustment precision of the traditional manual adjustment scheme, the precision is guaranteed. The use of numerals for the description in terms of accuracy improves one level over conventional schemes using perceptual descriptions.
Further, based on the first embodiment, a fourth embodiment of the television control method of the present invention is provided, in this embodiment, before the step of obtaining the current eye pose corresponding to the eye information of the user in the initial map in the step S30, the method further includes:
step H, judging whether a face following function is started before the last shutdown;
and step I, if yes, executing the step of acquiring the current eye pose of the eyes of the user on the initial map.
In this embodiment, before the current eye pose corresponding to the eye information of the user in the initial map is obtained, it may be further determined whether the face following function is turned on before the television is turned off last time, if the television is turned on before the television is turned off last time, it is indicated that the user may tend to always turn on the face following function, then the step of obtaining the current eye pose corresponding to the eye information of the user in the initial map is performed, if the television is not turned on before the television is turned off last time, it is indicated that the user may tend to not always turn on the face following function, then the step of obtaining the current eye pose is not performed, and meanwhile, prompt information for turning on the face following function may be displayed, thereby improving the intelligent degree of the intelligent face following function of the television.
The present invention also provides a television control device, as shown in fig. 3, comprising: the map construction module A10 is used for determining a target environment around the television and establishing an initial map according to the target environment; the pose calculation module A20 is used for acquiring the initial pose of the television in the initial map; and the position adjusting module A30 is used for acquiring the current eye pose corresponding to the eye information of the user in the initial map and adjusting the position of the television according to the current eye pose and the initial television pose. The specific embodiment of the television control device of the present invention is substantially the same as the embodiments of the television control method described above, and will not be described herein.
The invention also provides a television, which is characterized in that the television comprises a memory, a processor and a television control program stored on the memory and capable of running on the processor, wherein the television control program is executed by the processor to realize the steps of the television control method according to any one of the embodiments. The specific embodiments of the television of the present invention are substantially the same as the embodiments of the television control method described above, and will not be described herein.
The present invention also provides a computer-readable storage medium having stored thereon a television control program which, when executed by a processor, implements the steps of the television control method according to any of the above embodiments. The specific embodiments of the computer readable storage medium of the present invention are substantially the same as the embodiments of the television control method described above, and will not be described herein.
It is appreciated that in the description herein, reference to the terms "one embodiment," "another embodiment," "other embodiments," or "first through nth embodiments," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The foregoing embodiment numbers of the present invention are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.
From the above description of the embodiments, it will be clear to those skilled in the art that the above-described embodiment method may be implemented by means of software plus a necessary general hardware platform, but of course may also be implemented by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (e.g. ROM/RAM, magnetic disk, optical disk) as described above, comprising instructions for causing a terminal device (which may be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) to perform the method according to the embodiments of the present invention.
The foregoing description is only of the preferred embodiments of the present invention, and is not intended to limit the scope of the invention, but rather is intended to cover any equivalents of the structures or equivalent processes disclosed herein or in the alternative, which may be employed directly or indirectly in other related arts.
Claims (5)
1. A television control method, characterized in that the television control method comprises the steps of:
determining a target environment around a television, and establishing an initial map according to the target environment;
acquiring an initial pose of the television in the initial map;
acquiring a facial image of a user, and determining eye information of the user in the facial image;
Acquiring a current eye pose corresponding to the eye information of the user in the initial map according to the mapping relation between the facial image and the initial map, and adjusting the position of the television according to the current eye pose and the initial television pose;
The step of establishing an initial map according to the target environment comprises the following steps:
establishing an overall map according to the target environment;
Determining the current position of the television, acquiring a local environment in the target environment based on the current position, and establishing a local map according to the local environment;
template matching is carried out on the whole map and the local map, and a transformation matrix is obtained;
performing matrix transformation on the integral map according to the transformation matrix to obtain an initial map;
the step of adjusting the position of the television according to the current eye pose and the initial pose of the television comprises the following steps:
acquiring a preset health distance between the television initial pose and the user eye pose in the initial map;
If the current distance between the current eye pose and the television initial pose is not matched with the preset healthy distance, calculating a final point pose of which the distance between the initial map and the current eye pose is within the preset healthy distance range according to the preset healthy distance;
planning a path according to the end point pose and the television initial pose to obtain a target path;
And driving the television to move to a position corresponding to the end position and the pose according to the target path through a television bracket with three degrees of freedom.
2. The television control method according to claim 1, wherein before the step of obtaining the current eye pose corresponding to the eye information of the user in the initial map, the method further comprises:
Judging whether a face following function is started before the last shutdown;
if yes, executing the step of acquiring the current eye pose of the eyes of the user on the initial map.
3. A television control device, the television control device comprising:
The map construction module is used for determining a target environment around the television, establishing an initial map according to the target environment, and particularly establishing an overall map according to the target environment; determining the current position of the television, acquiring a local environment in the target environment based on the current position, and establishing a local map according to the local environment; template matching is carried out on the whole map and the local map, and a transformation matrix is obtained; performing matrix transformation on the integral map according to the transformation matrix to obtain an initial map;
the pose calculation module is used for acquiring the initial pose of the television in the initial map;
The position adjusting module is used for acquiring a facial image of a user and determining eye information of the user in the facial image; acquiring a current eye pose corresponding to the eye information of the user in the initial map according to a mapping relation between the facial image and the initial map, and adjusting the position of a television according to the current eye pose and the television initial pose, specifically acquiring a preset healthy distance between the television initial pose and the user eye pose in the initial map; if the current distance between the current eye pose and the television initial pose is not matched with the preset healthy distance, calculating a final point pose of which the distance between the initial map and the current eye pose is within the preset healthy distance range according to the preset healthy distance; planning a path according to the end point pose and the television initial pose to obtain a target path; and driving the television to move to a position corresponding to the end position and the pose according to the target path through a television bracket with three degrees of freedom.
4. A television comprising a memory, a processor, and a television control program stored on the memory and executable on the processor, the television control program configured to implement the steps of the television control method of any of claims 1-2.
5. A computer-readable storage medium, on which a television control program is stored, which when executed by a processor implements the steps of the television control method according to any of claims 1 to 2.
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