CN115291738A

CN115291738A - Pointing sensing device, position information determining method and system

Info

Publication number: CN115291738A
Application number: CN202110413314.4A
Authority: CN
Inventors: 欧健
Original assignee: Huawei Technologies Co Ltd
Current assignee: Huawei Technologies Co Ltd
Priority date: 2021-04-16
Filing date: 2021-04-16
Publication date: 2022-11-04

Abstract

The application provides a pointing sensing device, a position information determining method and a position information determining system, relates to the technical field of man-machine interaction, and is used for improving user experience. The device is applied to remote control equipment and comprises: a power detection module including a plurality of detectors respectively disposed on a plurality of planes, the plurality of planes including at least three planes perpendicular to each other, the plurality of detectors for detecting a plurality of transmission signals to obtain a plurality of signal powers, the plurality of transmission signals being transmitted by a plurality of transmitters disposed on a display screen and located on two straight lines perpendicular to each other; the inertial sensor is used for acquiring the axial rotation angle when the remote control equipment points to the display screen; and the processor is used for determining the position information of a target intersection point according to the plurality of signal powers, the axial rotation angle and the distance between the at least three transmitters on each straight line, wherein the target intersection point is the intersection point between the pointing extension line of the remote control equipment and the display screen.

Description

Pointing sensing device, position information determining method and system

Technical Field

The application relates to the technical field of human-computer interaction, in particular to a pointing sensing device, a position information determining method and a position information determining system.

Background

The pointing sensing apparatus generally refers to a device for realizing human-computer interaction by sensing movement or operation of a person (e.g., limbs) and displaying a cursor moving in real time on a display device according to displacement data of the movement. The optical mouse is a traditional pointing sensing device, and the moving direction and distance are determined by the image movement generated by sliding on a horizontal plane, so that the optical mouse is applied to desktop devices such as desktop computers and notebook computers, and the application range is limited. The air mouse is a novel pointing sensing device, and the position and the tracking of a cursor can be realized by sensing the rotation and the movement change of the air mouse through a built-in inertial sensor, so that the air mouse is applied to various display devices of different types, such as televisions, game machines and the like, and the application range is wide.

In the prior art, when a user controls a television through an air mouse, the user can change the pointing direction of the air mouse or move the position of the air mouse, and at the moment, a cursor on the television moves in equal proportion, so that the user can remotely control the television. Specifically, the working principle of the air mouse is generally as follows: the rotation angle and the movement distance of the air mouse are obtained through a built-in inertial sensor, the relative displacement of the air mouse in the pointing and translation directions is calculated according to the rotation angle, the movement distance and the preset virtual distance between a user and a display screen, and the relative displacement is sent to the television through Bluetooth, so that the television can correspondingly move a cursor on the display screen.

However, since the virtual distance preset between the user and the display screen is fixed, when the cursor on the display screen is moved based on the relative displacement of the air mouse in the pointing and translating directions, a problem that the relative displacement is not matched with the size of the display screen usually occurs, for example, the position of the cursor after being moved may exceed the boundary of the display screen, so that the television cannot move the cursor on the display screen according to the relative displacement, and further the user experience is poor.

Disclosure of Invention

The application provides a pointing sensing device, a position information determining method and a position information determining system, which solve the problem that the movement of the pointing sensing device is not matched with the size of a display screen in the prior art, thereby improving the user experience.

In order to achieve the purpose, the technical scheme is as follows:

in a first aspect, a pointing sensing apparatus is provided, which is applied to a remote control device, and includes: the power detection module comprises a plurality of detectors which are respectively arranged on a plurality of planes, the plurality of planes at least comprise three planes which are vertical to each other, the plurality of detectors are used for detecting a plurality of emission signals to obtain a plurality of signal powers, the plurality of emission signals are emitted by a plurality of emitters which are arranged on a display screen of the display device and positioned on two straight lines which are vertical to each other, and at least three emitters are arranged on each straight line of the two straight lines; the inertial sensor is used for acquiring the axial rotation angle of the remote control equipment when the remote control equipment points to the display screen; and the processor is used for determining the position information of a target intersection point according to the plurality of signal powers, the axial rotation angle and the distance between the at least three transmitters on each straight line, wherein the target intersection point is the intersection point between the pointing extension line of the remote control equipment and the display screen.

In the pointing sensing device provided by the technical scheme, the plurality of detectors arranged on the plurality of planes which are perpendicular to each other can be used for detecting the transmitting signals of the plurality of transmitters positioned on the two straight lines which are perpendicular to each other so as to obtain a plurality of signal powers, the inertial sensor can be used for acquiring the axial rotation angle when the remote control equipment points to the display screen, so that the processor can determine the position information of a target intersection point between the pointing extension line of the remote control equipment and the display screen according to the information, the position of the target intersection point is an absolute position and is irrelevant to the size of the display screen, and the intuitive effect of' which the user points when the cursor is displayed on the display equipment according to the position information of the target intersection point can be realized, thereby improving the user experience.

In a possible implementation manner of the first aspect, the apparatus further includes: and the communication module is used for sending the position information of the target intersection point to the display equipment so as to enable the display equipment to display a corresponding cursor on the display screen. In the possible implementation manner, the remote control device may send the position information of the target intersection point to the display device through the communication module, so that the display device displays a corresponding cursor on a display screen or performs a response operation corresponding to the cursor position, and the like, thereby implementing control over the display device.

In a possible implementation manner of the first aspect, the two straight lines are straight lines where two mutually perpendicular frames of the display screen are located. In the above possible implementation manner, when the two straight lines are two frames of the display screen, it may be avoided that the transmission signals of the transmitters disposed on the two straight lines are affected by the display screen of the display device, and meanwhile, the two frames are perpendicular to each other, which may effectively reduce the complexity of the processor determining the position information of the target intersection point.

In a possible implementation manner of the first aspect, the processor is further configured to: for each emitter in the plurality of emitters, determining a first included angle between a connecting line between the emitter and the power detection module and a reference plane according to at least two signal powers corresponding to an emission signal of the emitter, where the at least two signal powers are obtained by detecting the emission signal of the emitter by two detectors on the at least three planes, and the reference plane is a plane in the plurality of planes; respectively correcting a plurality of first included angles corresponding to the plurality of transmitters according to the axial rotation angle to obtain a plurality of second included angles; and determining the position information of the target intersection point according to the plurality of second included angles and the distances between the at least three transmitters on each straight line. In the possible implementation modes, a simple and effective mode for determining the position information of the target intersection point is provided, the position of the target intersection point can be uniquely determined based on the mode, the target intersection point is an absolute position and is irrelevant to the size of the display screen, and the intuitive effect of' which is pointed by a user to play when a cursor is displayed on display equipment according to the position information of the target intersection point can be realized, so that the user experience is improved.

In a possible implementation manner of the first aspect, the two straight lines include a horizontal straight line and a vertical straight line, the reference plane includes a first reference plane and a second reference plane that are perpendicular to each other, the first included angle includes a first horizontal included angle between the connection line and the first reference plane and a first pitch included angle between the connection line and the second reference plane, and the processor is further configured to: for each transmitter in the at least three transmitters on the horizontal straight line, determining a second horizontal included angle corresponding to the transmitter according to the axial rotation angle, a first pitching included angle corresponding to the transmitter and a first horizontal included angle corresponding to the transmitter; and for each transmitter in the at least three transmitters on the vertical straight line, determining a second pitching angle corresponding to the transmitter according to the axial rotation angle, a first horizontal angle corresponding to the transmitter and a first pitching angle corresponding to the transmitter. In the above possible implementation manner, a simple and effective manner is provided for determining the second included angle corresponding to each emitter, where the second included angle determined in this manner is the included angle of each emitter with respect to the horizontal direction or the vertical direction after calibration.

In a possible implementation manner of the first aspect, the two straight lines include a horizontal straight line and a vertical straight line, the second included angles include at least three second horizontal included angles and at least three second pitch included angles, the position information includes a horizontal position and a vertical position, and the processor is further configured to: determining the horizontal position of the target intersection point according to the at least three second horizontal included angles and the distances between the at least three transmitters on the horizontal straight line; and determining the vertical position of the target intersection point according to the at least three second pitch angles and the distances between the at least three transmitters on the vertical straight line. In the possible implementation modes, a simple and effective mode for determining the position information of the target intersection point is provided, the position of the target intersection point can be uniquely determined based on the mode, the target intersection point is an absolute position and is irrelevant to the size of the display screen, and the intuitive effect of' which is pointed by a user to play when a cursor is displayed on display equipment according to the position information of the target intersection point can be realized, so that the user experience is improved.

In one possible implementation manner of the first aspect, the transmission signals of the plurality of transmitters are transmitted in a time division manner. In the foregoing possible implementation manner, when the plurality of transmitters transmit the corresponding transmission signals according to time division, the plurality of detectors on the power detection module can effectively detect the signal powers corresponding to the transmission signals of different transmitters.

In one possible implementation form of the first aspect, the transmission signals of the plurality of transmitters are orthogonal to each other. In the above possible implementation manner, when the transmission signals of the multiple transmitters are orthogonal to each other, it is convenient for the multiple detectors to be able to effectively identify, from the received signals, the signal powers corresponding to the transmission signals of different transmitters.

In a second aspect, a pointing sensing apparatus is provided, which is applied to a display device, and includes: the remote control device comprises a plurality of detectors which are respectively arranged on two straight lines which are vertical to each other, at least three detectors are arranged on each straight line on the two straight lines, the detectors are used for detecting a plurality of emission signals to obtain a plurality of signal powers, the emission signals are emitted by a plurality of emitters which are respectively arranged on a plurality of planes in a signal emission module, the signal emission module is positioned in the remote control device, and the planes at least comprise three planes which are vertical to each other; the communication module is used for receiving the axial rotation angle of the remote control equipment when the remote control equipment points to the display screen of the display equipment; and the processor is used for determining the position information of a target intersection point according to the plurality of signal powers, the axial rotation angle and the distance between the at least three detectors on each straight line, wherein the target point is the intersection point between the pointing extension line of the remote control device and the display screen.

In the pointing sensing device provided by the technical scheme, the detectors arranged on the two straight lines which are perpendicular to each other can be used for detecting the transmitting signals of the transmitters on the planes which are perpendicular to each other so as to obtain a plurality of signal powers, the communication module can be used for acquiring the axial rotation angle when the remote control equipment points to the display screen, so that the processor can determine the position information of a target intersection point between the pointing extension line of the remote control equipment and the display screen according to the information, the position of the target intersection point is an absolute position and is irrelevant to the size of the display screen, and the intuitive effect of' which the user points when the cursor is displayed on the display equipment according to the position information of the target intersection point can be realized, thereby improving the user experience.

In one possible implementation manner of the second aspect, the processor is further configured to: and displaying a corresponding cursor on a display screen of the display equipment according to the position information of the target intersection point. In the possible implementation manner, the processor may display a corresponding cursor on a display screen according to the position information of the target intersection point, or perform a response operation corresponding to the cursor position, so as to implement control over the display device.

In a possible implementation manner of the second aspect, the two straight lines are straight lines where two mutually perpendicular frames of the display screen are located. In the possible implementation manner, when the two straight lines are two frames of the display screen, the signal power detected by the detectors arranged on the two straight lines can be prevented from being influenced by the display screen of the display device, and meanwhile, the two frames are perpendicular to each other, so that the complexity of the processor for determining the position information of the target intersection point can be effectively reduced.

In one possible implementation manner of the second aspect, the processor is further configured to: for each detector in the plurality of detectors, determining a first included angle between a connecting line between the detector and the signal transmitting module and a reference plane according to at least two signal powers corresponding to the detector, wherein the at least two signal powers are obtained by detecting the transmitting signals of two transmitters on the at least three planes by the detector, and the reference plane is a plane in the plurality of planes; respectively correcting a plurality of first included angles corresponding to the plurality of detectors according to the axial rotation angle to obtain a plurality of second included angles; and determining the position information of the target intersection point according to the plurality of second included angles and the distances between the at least three detectors on each straight line. In the possible implementation modes, a simple and effective mode for determining the position information of the target intersection point is provided, the position of the target intersection point can be uniquely determined based on the mode, the target intersection point is an absolute position and is irrelevant to the size of the display screen, and the intuitive effect of' which is pointed by a user to play when a cursor is displayed on display equipment according to the position information of the target intersection point can be realized, so that the user experience is improved.

In a possible implementation manner of the second aspect, the two straight lines include a horizontal straight line and a vertical straight line, the reference plane includes a first reference plane and a second reference plane that are perpendicular to each other, the first included angle includes a first horizontal included angle between the connection line and the first reference plane and a first pitch included angle between the connection line and the second reference plane, and the processor is further configured to: for each detector in the at least three detectors on the horizontal straight line, correcting a first horizontal included angle corresponding to the detector according to the axial rotation angle and a first pitching included angle corresponding to the detector to obtain a second horizontal included angle corresponding to the detector; and for each detector in the at least three detectors on the vertical straight line, correcting a first pitching included angle corresponding to the detector according to the axial rotation angle and a first horizontal included angle corresponding to the detector to obtain a second pitching included angle corresponding to the detector. In the above possible implementation manner, a simple and effective manner is provided for determining the second included angle corresponding to each emitter, where the second included angle determined in this manner is the included angle between each emitter and the horizontal direction or the vertical direction after calibration.

In a possible implementation manner of the second aspect, the two straight lines include a horizontal straight line and a vertical straight line, the plurality of second included angles include at least three second horizontal included angles and at least three second pitch included angles, the position information includes a horizontal position and a vertical position, and the processor is further configured to: determining the horizontal position of the target intersection point according to the at least three second horizontal included angles and the distances between the at least three detectors on the horizontal straight line; and determining the vertical position of the target intersection point according to the at least three second pitch angles and the distances between the at least three detectors on the vertical straight line. In the possible implementation mode, a simple and effective mode for determining the position information of the target intersection point is provided, the position of the target intersection point can be uniquely determined based on the mode, the target intersection point is an absolute position and is irrelevant to the size of the display screen, and the intuitive effect of 'which the user points and types' can be realized when the cursor is displayed on the display equipment according to the position information of the target intersection point, so that the user experience is improved.

In one possible implementation manner of the second aspect, the transmission signals of the plurality of transmitters are transmitted in a time division manner. In the foregoing possible implementation manner, when the plurality of transmitters transmit the corresponding transmission signals according to time division, the plurality of detectors on the power detection module can effectively detect the signal powers corresponding to the transmission signals of different transmitters.

In one possible implementation form of the second aspect, the transmission signals of the plurality of transmitters are orthogonal to each other. In the above possible implementation manner, when the transmission signals of the plurality of transmitters are orthogonal to each other, it is convenient for the plurality of detectors to be able to effectively identify the signal powers corresponding to the transmission signals of different transmitters from the received signals.

In a third aspect, a method for determining position information is provided, which is applied to a remote control device including a pointing sensing device, the device including a power detection module, an inertial sensor, and a processor, the power detection module including a plurality of detectors respectively disposed on a plurality of planes, the plurality of planes including at least three planes perpendicular to each other, the method including: the plurality of detectors detect a plurality of emission signals to obtain a plurality of signal powers, the plurality of emission signals being emitted by a plurality of emitters disposed on a display screen of the display device and located on two straight lines perpendicular to each other, at least three emitters being disposed on each of the two straight lines; the inertial sensor acquires an axial rotation angle of the remote control equipment when the remote control equipment points to the display screen; the processor determines position information of a target intersection point, which is an intersection point between a pointing extension line of the remote control device and the display screen, according to the plurality of signal powers, the axial rotation angle, and distances between the at least three transmitters on each straight line.

In a possible implementation manner of the third aspect, the apparatus further includes a communication module, and the method further includes: and the communication module sends the position information of the target intersection point to the display equipment so that the display equipment displays a corresponding cursor on the display screen.

In one possible implementation manner of the third aspect, the determining, by the processor, position information of a target intersection point according to the plurality of signal powers, the axial rotation angle, and distances between the at least three transmitters on each straight line includes: for each emitter in the plurality of emitters, determining a first included angle between a connecting line between the emitter and the power detection module and a reference plane according to at least two signal powers corresponding to the emission signals of the emitter, wherein the at least two signal powers are obtained by detecting the emission signals of the emitter by two detectors on the at least three planes, and the reference plane is a plane in the plurality of planes; respectively correcting a plurality of first included angles corresponding to the plurality of transmitters according to the axial rotation angle to obtain a plurality of second included angles; and determining the position information of the target intersection point according to the plurality of second included angles and the distances between the at least three transmitters on each straight line.

In a possible implementation manner of the third aspect, the two straight lines include a horizontal straight line and a vertical straight line, the reference surface includes a first reference surface and a second reference surface that are perpendicular to each other, and the first included angle includes a first horizontal included angle between the connection line and the first reference surface and a first pitch included angle between the connection line and the second reference surface; correcting a plurality of first included angles corresponding to the plurality of transmitters according to the axial rotation angle respectively to obtain a plurality of second included angles, including: for each transmitter in the at least three transmitters on the horizontal straight line, determining a second horizontal included angle corresponding to the transmitter according to the axial rotation angle, a first pitching included angle corresponding to the transmitter and a first horizontal included angle corresponding to the transmitter; and for each transmitter in the at least three transmitters on the vertical straight line, determining a second pitching angle corresponding to the transmitter according to the axial rotation angle, a first horizontal angle corresponding to the transmitter and a first pitching angle corresponding to the transmitter.

In a possible implementation manner of the third aspect, the two straight lines include a horizontal straight line and a vertical straight line, the plurality of second included angles include at least three second horizontal included angles and at least three second pitch included angles, and the position information includes a horizontal position and a vertical position; the determining the position information of the target intersection point according to the plurality of second included angles and the distances between the at least three transmitters on each straight line includes: determining the horizontal position of the target intersection point according to the at least three second horizontal included angles and the distances between the at least three transmitters on the horizontal straight line; and determining the vertical position of the target intersection point according to the at least three second pitch angles and the distances between the at least three transmitters on the vertical straight line.

In a fourth aspect, a method for determining position information is provided, which is applied to a display device including a pointing sensing device, where the device includes a plurality of detectors, a communication module, and a processor, the plurality of detectors are respectively disposed on two straight lines perpendicular to each other, and each of the two straight lines is disposed with at least three detectors, and the method includes: the plurality of detectors detect a plurality of transmission signals to obtain a plurality of signal powers, the plurality of transmission signals being transmitted by a plurality of transmitters respectively disposed on a plurality of planes in a signal transmission module, the signal transmission module being located in the remote control device, the plurality of planes including at least three planes perpendicular to each other; the communication module receives an axial rotation angle when the remote control equipment points to a display screen of the display equipment; the processor determines position information of a target intersection point according to the plurality of signal powers, the axial rotation angle, and the distance between the at least three detectors on each straight line, wherein the target point is an intersection point between a pointing extension line of the remote control device and the display screen.

In one possible implementation manner of the fourth aspect, the processor determines the position information of the target intersection point according to the plurality of signal powers, the axial rotation angle, and the distances between the at least three detectors on each straight line, and includes: for each detector in the plurality of detectors, determining a first included angle between a connecting line between the detector and the signal transmitting module and a reference plane according to at least two signal powers corresponding to the detector, where the at least two signal powers are obtained by the detector detecting transmitting signals of two transmitters on the at least three planes, and the reference plane is a plane in the plurality of planes; respectively correcting a plurality of first included angles corresponding to the plurality of detectors according to the axial rotation angle to obtain a plurality of second included angles; and determining the position information of the target intersection point according to the plurality of second included angles and the distances between the at least three detectors on each straight line.

In a possible implementation manner of the fourth aspect, the two straight lines include a horizontal straight line and a vertical straight line, the reference plane includes a first reference plane and a second reference plane that are perpendicular to each other, and the first included angle includes a first horizontal included angle between the connection line and the first reference plane and a first pitch included angle between the connection line and the second reference plane; should correct a plurality of first contained angles that these a plurality of detectors correspond respectively according to this axial rotation angle to obtain a plurality of second contained angles, include: for each detector in the at least three detectors on the horizontal straight line, correcting a first horizontal included angle corresponding to the detector according to the axial rotation angle and a first pitching included angle corresponding to the detector to obtain a second horizontal included angle corresponding to the detector; and for each detector in the at least three detectors on the vertical straight line, correcting a first pitching included angle corresponding to the detector according to the axial rotation angle and a first horizontal included angle corresponding to the detector to obtain a second pitching included angle corresponding to the detector.

In a possible implementation manner of the fourth aspect, the two straight lines include a horizontal straight line and a vertical straight line, the plurality of second included angles include at least three second horizontal included angles and at least three second pitch included angles, and the position information includes a horizontal position and a vertical position; the determining the position information of the target intersection point according to the plurality of second included angles and the distances between the at least three detectors on each straight line includes: determining the horizontal position of the target intersection point according to the at least three second horizontal included angles and the distances between the at least three detectors on the horizontal straight line; and determining the vertical position of the target intersection point according to the at least three second pitch angles and the distances between the at least three detectors on the vertical straight line.

In another aspect of the present application, a pointing sensing system is provided, the system comprising a remote control device and a display device, the remote control device comprising the pointing sensing apparatus as provided by the first aspect or any one of the possible implementations of the first aspect, or the display device comprising the pointing sensing apparatus as provided by the second aspect or any one of the possible implementations of the second aspect.

In another aspect of the present application, a readable storage medium is provided, where instructions are stored, and when the instructions in the readable storage medium are executed on a processor, the processor is caused to execute one or more steps corresponding to the processor in the method provided by the third aspect or any possible implementation manner of the third aspect.

In another aspect of the present application, a readable storage medium is provided, where instructions are stored, and when the instructions in the readable storage medium are executed on a processor, the processor is caused to execute one or more steps corresponding to the processor in the method provided by the fourth aspect or any one of the possible implementation manners of the fourth aspect.

In another aspect of the present application, a computer program product is provided, which includes instructions that, when executed on a processor, cause the processor to perform one or more steps corresponding to the processor in the method provided in the third aspect or any one of the possible implementation manners of the third aspect.

In another aspect of the present application, a computer program product is provided, which includes instructions that, when executed on a processor, cause the apparatus to perform one or more steps corresponding to the processor in the method provided in any one of the above-mentioned fourth aspect or the fourth aspect.

It is understood that any one of the position information determining method, the pointing sensing system, the readable storage medium and the computer program product provided above all include all the contents of the pointing sensing apparatus provided above, and therefore, the beneficial effects achieved by the method can refer to the beneficial effects of the pointing sensing apparatus provided above, and are not described herein again.

Drawings

Fig. 1 is a schematic diagram of an optical mouse according to an embodiment of the present disclosure;

fig. 2 is a schematic diagram of a television controlled by an air mouse according to an embodiment of the present application;

fig. 3 is a schematic structural diagram of a pointing sensing device according to an embodiment of the present application;

fig. 4 is a schematic diagram of a power detection module according to an embodiment of the present application;

fig. 5 is a schematic diagram of a remote control device provided in an embodiment of the present application;

fig. 6 is a schematic view of a display device provided in an embodiment of the present application;

FIG. 7 is a schematic diagram of another remote control device provided in an embodiment of the present application;

FIG. 8 is a schematic diagram of a target intersection provided by an embodiment of the present application;

FIG. 9 is a schematic diagram illustrating an angle between a connection line and a reference plane according to an embodiment of the present disclosure;

FIG. 10 is a schematic diagram of a plurality of angles between a plurality of connecting lines and a reference plane according to an embodiment of the present disclosure;

fig. 11 is a schematic structural diagram of another pointing sensing device provided in the embodiment of the present application;

FIG. 12 is a schematic view of an angle between a reference plane and another connection line provided in an embodiment of the present application;

fig. 13 is a schematic flowchart of a method for determining location information according to an embodiment of the present application;

fig. 14 is a flowchart illustrating another method for determining location information according to an embodiment of the present application.

Detailed Description

The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application.

In this application, "at least one" means one or more, "a plurality" means two or more. "and/or" describes the association relationship of the associated objects, meaning that there may be three relationships, e.g., a and/or B, which may mean: a alone, A and B together, and B alone, wherein A and B may be singular or plural. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship. "at least one of the following" or similar expressions refer to any combination of these items, including any combination of the singular or plural items. For example, at least one (one) of a, b, or c, may represent: a, b, c, a and b, a and c, b and c or a, b and c, wherein a, b and c can be single or multiple.

The embodiments of the present application use the words "first" and "second" to distinguish between objects having similar names or functions, and those skilled in the art will appreciate that the words "first" and "second" do not limit the number or order of execution. The term "coupled" is used to indicate electrical connection, including direct connection through wires or connections, or indirect connection through other devices. Thus, "coupled" should be considered as an electronic communication connection in a broad sense.

It is noted that, in the present application, words such as "exemplary" or "for example" are used to mean exemplary, illustrative, or descriptive. Any embodiment or design described herein as "exemplary" or "e.g.," is not necessarily to be construed as preferred or advantageous over other embodiments or designs. Rather, use of the word "exemplary" or "such as" is intended to present relevant concepts in a concrete fashion.

The pointing sensing device according to the present application may refer to a device that realizes human-computer interaction by sensing movement or operation of a person (e.g., an extremity) and displaying a cursor moving in real time on a display device according to displacement data of the movement. Currently, common pointing sensing devices may include optical mice and air mice. The optical mouse may also be referred to as a mouse, which is a traditional pointing sensing device and is widely used in desktop devices such as desktop computers and notebook computers. The air mouse can also be called as an air mouse or a remote controller, is a novel pointing sensing device, can realize the positioning and tracking of a cursor by sensing the change of the rotation and the movement of the air mouse through a built-in inertial sensor, and is applied to various display devices such as televisions, game machines and the like.

Fig. 1 (a) is a schematic diagram of an optical mouse, and fig. 1 (b) is a schematic diagram of a structure of the optical mouse, where the optical mouse includes: a Light Emitting Diode (LED), a collimating lens (collimating lens), an imaging lens (imaging lens), and an image sensor (image sensor). The working principle of the optical mouse is generally as follows: the method comprises the steps that infrared light is emitted through an LED, the infrared light irradiates on a sensed plane (such as a desktop or a mouse pad) after passing through a collimating lens, corresponding reflected light irradiates on an image sensor after passing through an imaging lens, the image sensor can pick up two frames of images before and after the movement of the optical mouse, and displacement data (such as the movement direction and the distance) of the optical mouse can be determined by comparing the two frames of images, so that a cursor is displayed at a corresponding position of a display screen of a display device based on the displacement data. When the optical mouse is used for human-computer interaction, a sensed plane must exist, and the optical mouse needs to determine the moving direction and distance by means of image movement generated by sliding on the sensed plane, so that the application range of the optical mouse is limited.

The invention of the air mouse enables a user not to use the mouse on a certain plane, and the user can realize the function of the mouse by changing the pointing direction of the air mouse or moving the position of the air mouse. As shown in fig. 2, when the user controls the television through the air mouse (i.e. the remote controller), the user may change the pointing direction of the air mouse or move the position of the air mouse, and at this time, the inertial sensor built in the air mouse may obtain the rotation angle and the movement distance of the air mouse, and the rotation angle and the movement distance may be used to generate an equal-proportion moving cursor on the television. The air mouse has the advantages of small size, convenience in carrying, no space limitation, good user experience and the like, and is widely applied to televisions, game machines, virtual Reality (VR) equipment, augmented Reality (AR) equipment and the like.

The pointing sensing device provided by the embodiment of the application mainly relates to electronic equipment applying an air mouse, and the pointing sensing device can be applied to remote control equipment and can also be applied to display equipment matched with the remote control equipment, wherein the display equipment can comprise a television, a game machine, a smart screen, a projector, a computer and other equipment with a display function.

Fig. 3 is a schematic structural diagram of a pointing sensing apparatus according to an embodiment of the present application, where the pointing sensing apparatus may be applied to a remote control device, and the remote control device may be used to control a display device, and the pointing sensing apparatus includes: a power detection module 1, an inertial sensor 2 and a processor 3.

The power detection module 1 includes: the display device comprises a plurality of detectors arranged on a plurality of planes respectively, wherein the planes and the detectors can be in one-to-one correspondence, the planes at least comprise three planes which are perpendicular to each other, the detectors are used for detecting a plurality of emission signals to obtain a plurality of signal powers, the emission signals are emitted by a plurality of emitters which are arranged on a display screen of the display device and located on two straight lines which are perpendicular to each other, and at least three emitters are arranged on each of the two straight lines.

Wherein, the power detection module 1 may be a polyhedron, the plurality of planes may include a plurality of surfaces of the polyhedron, at least one plane of the plurality of planes may be parallel to at least one surface of the remote control device, and a plane of the plurality of planes may include a plane of the remote control device for pointing at the display device may be parallel. For example, as shown in fig. 4, the power detection module 1 may be a rectangular hexahedron, and the plurality of planes may include three or more surfaces of the rectangular hexahedron. For example, the plurality of planes may include 5 surfaces of the rectangular parallelepiped; alternatively, when the plurality of planes includes three planes perpendicular to each other, the three planes may be the plane 1, the plane 2, and the plane 3 of the rectangular hexahedron. Alternatively, as shown in fig. 5, the power detection module 1 may be located at the front end of the remote control device, and a light-shielding coating may be disposed around the power detection module 1, and may be used to shield the incidence of noise light such as sunlight and lamp light, for example, the light-shielding coating may be V-shaped.

In addition, each of the plurality of detectors may be a signal receiver operable to receive electromagnetic waves (e.g., electromagnetic wave signals having a frequency of 100kHz to 100 THz), light (electromagnetic wave signals having a frequency of more than 100 THz), or ultrasonic waves (mechanical wave signals having a frequency of 20kHz to 30 MHz), etc., and for example, the plurality of detectors may be a plurality of infrared receiving diodes. The plurality of emitters may include at least five emitters, each emitter of the plurality of emitters may be operable to emit a respective electromagnetic wave, light, or ultrasonic wave, etc., for example, the plurality of emitters may be a plurality of infrared light emitting diodes. Optionally, the two straight lines where the plurality of emitters are located may be straight lines where two frames perpendicular to each other of a display screen of the display device are located. Exemplarily, as shown in fig. 6 (a), when the display device is a television, the two straight lines may be an upper frame and a left frame of a display screen of the television, the upper frame is parallel to a ground plane, the left frame is perpendicular to the ground plane, an infrared light emitting diode XY is disposed at an intersection of the upper frame and the left frame, X2 and X1 are further disposed on the upper frame, and Y2 and Y1 are further disposed on the left frame. Optionally, as shown in fig. 6 (b), a modulator for modulating the plurality of infrared light emitting diodes may be further included in the television. It should be noted that the two straight lines may not be a frame of the display screen, for example, the two straight lines may be located inside the display screen, and this is not specifically limited in this embodiment of the application.

The inertial sensor 2 may include an acceleration sensor and a gyroscope for acquiring an axial rotation angle of the remote control device when pointing to the display screen, and a central axis of the remote control device may be a straight line in which the remote control device is pointed. For example, as shown in fig. 7, assuming that the remote control device is a rectangular parallelepiped, a surface of the remote control device for pointing to the display device is a front end surface, and a surface perpendicular to and above the front end surface is an upper surface, the pointing direction of the remote control device may refer to a direction perpendicular to the front end surface and parallel to the upper surface, and the axial rotation angle refers to an angle of rotation around the pointing direction as an axis.

The processor 3 is coupled to the power detection module 1 and the inertial sensor 2, and configured to receive the multiple signal powers detected by the multiple detectors in the power detection module 1 and the axial rotation angle obtained by the inertial sensor 2, and determine position information of a target intersection point according to the multiple signal powers, the axial rotation angle, and distances between at least three transmitters on each straight line, where the target intersection point is an intersection point between a pointing extension line of the remote control device and the display screen. Illustratively, as shown in fig. 8, when the display device is a television, the two straight lines are the upper frame and the left frame of the display screen of the television and are provided with a plurality of transmitters, the intersection point between the pointing extension line and the display screen when the remote control device is pointed at the display screen can be a point O, and the position of the point O can be used for displaying a cursor.

In the embodiment of the application, the detectors arranged on the planes perpendicular to each other can be used for detecting the transmitting signals of the emitters positioned on the two straight lines perpendicular to each other to obtain a plurality of signal powers, the inertial sensor 2 can be used for acquiring the axial rotation angle when the remote control device points to the display screen, the processor 3 can determine the position information of the intersection point between the pointing extension line of the remote control device and the display screen according to the information, the position of the intersection point is an absolute position, so that the position information is irrelevant to the size of the display screen, and the intuitive effect of' which the user points when the cursor is displayed according to the position information of the intersection point can be realized, so that the user experience is improved.

Further, the transmission signals of the plurality of transmitters may be transmitted simultaneously; accordingly, the plurality of detectors may be configured to simultaneously detect the transmitted signals of the plurality of transmitters to obtain a plurality of signal powers. Optionally, when the transmission signals of the multiple transmitters are sent simultaneously, the transmission signals of the multiple transmitters may be mutually orthogonal signals obtained by orthogonal modulation, where the orthogonal modulation may include code division modulation or frequency division modulation, and the like, so that when each of the multiple detectors receives the transmission signals of the multiple transmitters, the transmission signal of each transmitter may be obtained by corresponding code division demodulation or frequency division demodulation, and then corresponding signal power is obtained.

Alternatively, the transmission signals of the plurality of transmitters may not be transmitted simultaneously, for example, the plurality of transmitters may transmit the respective transmission signals in a time division manner; accordingly, the plurality of detectors may correspondingly receive the transmission signals of the plurality of transmitters in a time division manner. Optionally, when the plurality of emitters emit the corresponding emission signals in a time division manner, waveforms of the emission signals of the plurality of emitters may be different, so that each detector in the plurality of detectors may identify the emission signal of each emitter according to the waveform corresponding to the emission signal of the emitter, and further obtain corresponding signal power.

Further, the process of determining the position information of the target intersection by the processor 3 may include: determining a first included angle between a connecting line between each transmitter in the plurality of transmitters and the power detection module and a reference surface; respectively correcting a plurality of first included angles corresponding to the plurality of transmitters according to the axial rotation angle to obtain a plurality of second included angles; and determining the position information of the target intersection point according to the plurality of second included angles and the distances among the at least three transmitters on each straight line.

Specifically, for each of the plurality of transmitters, the determining, by the processor 3, a first angle between a line between the transmitter and the power detection module and a reference plane may include: and determining a first included angle between a connecting line between the emitter and the power detection module and a reference plane according to at least two signal powers corresponding to the emission signals of the emitter, wherein the at least two signal powers are obtained by detecting the emission signals of the emitter by two detectors on the at least three planes, and the reference plane is a plane in the planes.

The emitter may be a point-like radiation source, that is, the emitter meets the requirement of a point-like radiation source, for example, the size of the emitter is smaller than the product of a remote control distance and 0.1, where the remote control distance may be a distance between the remote control device and the display device when the remote control device is available for operating the display device. The detectors in the at least three planes may be point receivers, i.e. the detectors meet the requirements of point receivers, e.g. if the detectors in any two planes perpendicular to each other are denoted as I and Q, the size of I, the size of Q, and the distance between I and Q may be smaller than the product of the remote steering distance and 0.1.

In addition, the first angle may include a first horizontal angle and a first pitch angle, the reference plane may include a first reference plane and a second reference plane, the at least two signal powers may include a first signal power and a second signal power, the processor 3 may determine a first horizontal angle between a connection line between the transmitter and the power detection module and the first reference plane according to the first signal power and the second signal power, and determine a first pitch angle between a connection line between the transmitter and the power detection module and the second reference plane according to the first signal power and the second signal power. The first signal power may be detected by a detector in a first reference plane and the second signal power may be detected by a detector in a second reference plane.

Illustratively, taking one of the first reference surface or the second reference surface as an example, as shown in fig. 9, assuming that the transmitter is denoted as S, and the detectors on two planes perpendicular to each other are denoted as I and Q, if the transmitter transmits a transmission signal with power P _S The signal power of the transmitted signal reaching the detectors I and Q after transmission over a distance is P ₀ If the angle between the connection line between the transmitter and the power detection module and the reference plane is θ, and the signal powers detected by the detectors I and Q are P1 and P2, then P1 and P2 satisfy the following formula (1-1). In the formula, K _I Denotes the sensitivity coefficient, K, of the detector I _Q Representing the sensitivity coefficient of the detector Q.

P ₁ ＝P ₀ ×K _I ×sinθ，P ₂ ＝P ₀ ×K _Q ×cosθ (1-1)

Wherein, the formula (1-2) can be obtained according to the ratio of P1 to P2, so that the included angle θ can be expressed as the formula (1-3). If the reference surface is a first reference surface, the processor 3 determines a first horizontal included angle according to the first signal power and the second signal power through a formula (1-3); if the reference surface is the second reference surface, the processor 3 may determine the first pitch angle according to the first signal power and the second signal power through the formula (1-3).

After the processor 3 determines a first included angle between a connection line between each of the plurality of transmitters and the power detection module and the reference plane, the processor 3 may correct a plurality of first included angles corresponding to the plurality of transmitters according to the axial rotation angle, so as to obtain a plurality of second included angles.

Specifically, the two straight lines include a horizontal straight line and a vertical straight line, and each of the plurality of first included angles includes a first horizontal included angle and a first pitch included angle, then the processor 3 may be specifically configured to: for each transmitter in the at least three transmitters on the horizontal straight line, determining a second horizontal included angle corresponding to the transmitter according to the axial rotation angle, a first pitching included angle corresponding to the transmitter and a first horizontal included angle corresponding to the transmitter; and for each transmitter in the at least three transmitters on the vertical straight line, determining a second pitching angle corresponding to the transmitter according to the axial rotation angle, the first horizontal angle corresponding to the transmitter and the first pitching angle corresponding to the transmitter.

Illustratively, for each of the plurality of first included angles, assume that the first included angle comprises a first horizontal included angle θ ₁ And a first pitch angle

The axial rotation angle is alpha, and the processor 3 can be according to theta ₁ 、

And alpha the second horizontal angle theta is determined by the following formula (1-4) ₂ And a second pitch angle

Wherein, for at least three emitters on the horizontal straight line, the processor 3 may determine only the second horizontal included angle corresponding to each emitter; for at least three emitters in a vertical line, the processor 3 may determine only the second pitch angle for each emitter.

When the processor 3 obtains a plurality of second angles, the processor 3 may determine the position information of the target intersection point according to the plurality of second angles and the distances between the at least three transmitters on each straight line. Specifically, the plurality of second included angles include at least three second horizontal included angles and at least three second pitch included angles, and the processor 3 is specifically configured to: determining the horizontal position of the target intersection point according to at least three second horizontal included angles and the distances between at least three transmitters on the horizontal straight line; and determining the vertical position of the target intersection point according to the at least three second pitching included angles and the distances between the at least three transmitters on the vertical straight line.

Illustratively, as shown in fig. 10, three transmitters are uniformly arranged on a horizontal straight line and are respectively denoted as S1, S2 and S3, the distance between two adjacent transmitters is d, the distance between the three transmitters and the remote control device is y, the horizontal distance between the transmitter S1 and the remote control device is x, and the first horizontal included angles corresponding to the transmitters S1 to S3 are respectively theta ₁₁ 、θ ₁₂ And theta ₁₃ And the first reference plane is at an angle γ with respect to the display plane in the horizontal direction, the processor 3 may determine x, y and γ according to the following equations (1-5). Processor 3 may then determine the distance x of the target intersection point in the horizontal direction relative to transmitter S1 according to equations (1-6) below ₁ I.e. the horizontal position at which the target intersection is determined.

y＝tan(θ ₁₁ -γ)x

y＝tan(θ ₁₂ -γ)(x-d) (1-5)

y＝-tan(180°-θ ₁₃ +γ)(x-2d)

x ₁ ＝x-y×tanγ (1-6)

It should be noted that, the above description is only given by taking as an example that three emitters are uniformly arranged on a horizontal straight line, and the horizontal position of the intersection point is a distance in the horizontal direction with respect to the emitter S1, and the above description does not constitute a limitation to the embodiment of the present application.

Similarly, the processor 3 may determine the vertical position of the target intersection point in a similar manner to the above-described determination of the horizontal position of the target intersection point according to the distance between at least three transmitters arranged on the vertical line and the corresponding first pitch angle, and for the specific description, reference is made to the above description of determining the horizontal position, which is not repeated herein in this embodiment of the present application.

Further, as shown in fig. 3, the pointing sensing device may further include: and the communication module 4 is used for sending the position information of the target intersection point to the display device.

The communication module 4 may send the position information of the target intersection to the display device through wired communication or wireless communication. Optionally, the communication module 4 may be a communication module such as a bluetooth module or a WiFi module, which is not limited in this embodiment of the application.

Specifically, when the processor 3 determines the position information of the target intersection, the communication module 4 may send the position information of the target intersection to the display device through wired communication or wireless communication, so that when the display device receives the position information of the target intersection, the display device may display a corresponding cursor on a display screen according to the position information or perform a response operation corresponding to the cursor position, and the like.

In the pointing sensing apparatus provided in the embodiment of the present application, the plurality of detectors disposed on the plurality of planes perpendicular to each other may be configured to detect the transmission signals of the plurality of transmitters located on two straight lines perpendicular to each other to obtain a plurality of signal powers, the inertial sensor 2 may be configured to obtain an axial rotation angle when the remote control device points to the display screen, so that the processor 3 may determine, according to the above information, position information of a target intersection between a pointing extension line of the remote control device and the display screen, and the communication module 4 transmits the position information to the display device, so that the display device displays a corresponding cursor on the display screen or performs a response operation corresponding to the cursor position, and the like. In the scheme, the position of the target intersection point is an absolute position, so that the position is irrelevant to the size of the display screen, and the intuitive effect of ' which is pointed by a user ' when the cursor is displayed according to the position information of the target intersection point ' can be realized, so that the user experience is improved.

Fig. 11 is a schematic structural diagram of a pointing sensing apparatus according to an embodiment of the present application, where the pointing sensing apparatus may be applied to a display device, and the display device may be used in cooperation with a remote control device to implement control over the display device, and the pointing sensing apparatus includes: a power detection module 1, a communication module 2 and a processor 3.

The power detection module 1 includes: the remote control device comprises a plurality of detectors which are respectively arranged on two straight lines which are perpendicular to each other, at least three detectors are arranged on each straight line of the two straight lines, the detectors are used for detecting a plurality of transmitting signals to obtain a plurality of signal powers, the transmitting signals are transmitted by a plurality of transmitters which are respectively arranged on a plurality of planes in a signal transmitting module, the planes and the transmitters can be in one-to-one correspondence, the signal transmitting module is positioned in the remote control device, and the planes at least comprise three planes which are perpendicular to each other.

Wherein the signal transmitting module may be a polyhedron, the plurality of planes may include a plurality of surfaces of the polyhedron, at least one of the plurality of planes may be parallel to at least one surface of the remote control device, and a face of the plurality of planes that may include the remote control device for pointing at the display device may be parallel. Illustratively, the signal transmitting module may be a rectangular hexahedron, and the plurality of planes may include three or more surfaces of the rectangular hexahedron. For example, the plurality of planes may include 5 surfaces of the rectangular parallelepiped; alternatively, the plurality of planes includes three planes that are perpendicular to each other. Alternatively, the signal transmitting module may be located at the front end of the remote control device.

In addition, each of the plurality of detectors may be a signal receiver operable to receive electromagnetic waves (e.g., electromagnetic wave signals having a frequency of 100kHz to 100 THz), light (electromagnetic wave signals having a frequency greater than 100 THz), or ultrasonic waves (mechanical wave signals having a frequency of 20kHz to 30 MHz), etc., and for example, the plurality of detectors may be a plurality of infrared receiving diodes. Optionally, the two straight lines where the plurality of detectors are located may be straight lines where two frames perpendicular to each other of a display screen of the display device are located. The plurality of transmitters in the signal transmitting module may include at least three transmitters, each of the plurality of transmitters may be configured to transmit a corresponding electromagnetic wave, light, or ultrasonic wave, for example, the plurality of transmitters may be a plurality of infrared light emitting diodes. Optionally, a modulator for modulating the plurality of infrared light emitting diodes may also be included in the remote control device. It should be noted that the two straight lines may not be the frame of the display screen, for example, the two straight lines may be located inside the display screen, and this is not specifically limited in this embodiment of the application.

The communication module 2 is used for receiving the axial rotation angle when the remote control device points to the display screen of the display device. The communication module 2 can receive the axial rotation angle through wired communication or wireless communication; optionally, the communication module 2 may be a bluetooth module or a WiFi module. In addition, the axial rotation angle may be sent to the display device by the remote control device, an inertial sensor may be built in the remote control device, the inertial sensor may include an acceleration sensor and a gyroscope, the inertial sensor is configured to obtain the axial rotation angle when the remote control device points to the display screen, and a central axis of the remote control device may be a straight line where the remote control device points. For example, assuming that the remote control device is a rectangular parallelepiped, a surface of the remote control device for pointing to the display device is a front end surface, and a surface perpendicular to and above the front end surface is an upper surface, the pointing direction of the remote control device may refer to a direction perpendicular to the front end surface and parallel to the upper surface, and the axial rotation angle refers to an angle rotated with the pointing direction as an axis.

The processor 3 is coupled to the power detection module 1 and the communication module 2, and configured to receive a plurality of signal powers detected by a plurality of detectors in the power detection module 1 and an axial rotation angle received by the communication module 2, and determine location information of a target intersection point according to the plurality of signal powers, the axial rotation angle, and distances between at least three detectors on each straight line, where the target intersection point is an intersection point between a pointing extension line of the remote control device and the display screen.

In this embodiment of the application, the detectors arranged on the two mutually perpendicular straight lines may be used to detect the transmission signals of the transmitters located on the three mutually perpendicular planes to obtain a plurality of signal powers, the communication module 2 may be used to receive the axial rotation angle when the remote control device points to the display screen, the processor 3 may determine the position information of the intersection point between the pointing extension line of the remote control device and the display screen according to the above information, the position of the intersection point is an absolute position, so as to be unrelated to the size of the display screen, and the intuitive effect of "which the user points when the cursor is displayed according to the position information of the intersection point" may be realized, so as to improve the user experience.

Further, the transmission signals of the plurality of transmitters may be transmitted simultaneously; accordingly, the plurality of detectors may be configured to simultaneously detect the transmitted signals of the plurality of transmitters to obtain a plurality of signal powers. Optionally, when the transmission signals of the multiple transmitters are sent simultaneously, the transmission signals of the multiple transmitters may be mutually orthogonal signals obtained through orthogonal modulation, where the orthogonal modulation may include code division modulation or frequency division modulation, and the like, so that when each of the multiple detectors receives the transmission signals of the multiple transmitters, the transmission signal of each transmitter may be obtained through corresponding code division demodulation or frequency division demodulation, and further, the corresponding signal power is obtained.

Alternatively, the transmission signals of the plurality of transmitters may not be transmitted simultaneously, for example, the plurality of transmitters may transmit the respective transmission signals in a time division manner; accordingly, the plurality of detectors may correspondingly receive the transmission signals of the plurality of transmitters in a time division manner. Optionally, when the plurality of emitters emit the corresponding emission signals in a time division manner, waveforms of the emission signals of the plurality of emitters may be different, so that each detector in the plurality of detectors may identify the emission signal of each emitter according to the waveform corresponding to the emission signal of the emitter, and further obtain the corresponding signal power.

Further, the process of determining the position information of the target intersection by the processor 3 may include: determining a first included angle between a connecting line between each detector in the plurality of detectors and the signal transmitting module and a reference surface; respectively correcting a plurality of first included angles corresponding to the plurality of detectors according to the axial rotation angle to obtain a plurality of second included angles; and determining the position information of the target intersection point according to the plurality of second included angles and the distances among the at least three detectors on each straight line.

Specifically, for each detector in the plurality of detectors, the determining, by the processor 3, a first angle between a line connecting the detector and the signal transmitting module and a reference plane may include: and determining a first included angle between a connecting line between the detector and the signal transmitting module and a reference plane according to at least two signal powers corresponding to the detector, wherein the at least two signal powers are obtained by detecting the transmitting signals of the two transmitters on the at least three planes by the detector, and the reference plane is a plane in the planes.

The detector may be a point receiver, i.e. the detector meets the requirements of the point receiver, for example, the size of the detector is smaller than the product of the remote control distance and 0.1, and the remote control distance may be the distance between the remote control device and the display device when the remote control device is available for operating the display device. The emitters in the at least three planes may be point-like radiation sources, i.e. the emitters fulfill the requirements of point-like radiation sources, e.g. if the emitters in any two planes perpendicular to each other are denoted as I and Q, the size of I, the size of Q, and the distance between I and Q may be smaller than the product of the remote steering distance and 0.1.

In addition, the first angle may include a first horizontal angle and a first pitch angle, the reference plane may include a first reference plane and a second reference plane, the at least two signal powers may include a first signal power and a second signal power, the processor 3 may determine a first horizontal angle between a connection line between the detector and the signal transmission module and the first reference plane according to the first signal power and the second signal power, and determine a first pitch angle between a connection line between the detector and the signal transmission module and the second reference plane according to the first signal power and the second signal power. The first signal power may be a result of the detector detecting the transmitted signal of the transmitter on the first reference plane and the second signal power may be a result of the detector detecting the transmitted signal of the transmitter on the second reference plane.

Illustratively, as shown in fig. 12, taking one of the first reference plane or the second reference plane as an example, assuming that the detector is denoted by S, and the emitters on the two planes perpendicular to each other are denoted by I and Q, if the power of the transmission signal emitted by the emitter I is P _I The power of the transmitted signal emitted by the transmitter Q is P _Q An included angle between a connecting line between the detector and the signal transmitting module and the reference plane is θ, and signal powers of the I and Q transmitting signals detected by the detector S are P1 and P2, respectively, and then P1 and P2 satisfy the following formula (2-1). In the formula, G _I Denotes the gain factor, G, of the transmitter I _Q Representing the gain factor, G, of the transmitter Q _LOS Which are losses in the path of the transmitted signal of the transmitters I and Q propagating to the detector S.

P ₁ ＝P _I ×G _I ×sinθ÷G _LOS ，P ₂ ＝P _Q ×G _Q ×cosθ÷G _LOS (2-1)

Wherein, the formula (2-2) can be obtained according to the ratio of P1 to P2, and thus the included angle θ can be expressed as the formula (2-3). If the reference surface is a first reference surface, the processor 3 determines a first horizontal included angle according to the first signal power and the second signal power through a formula (2-3); if the reference surface is the second reference surface, the processor 3 may determine the first pitch angle according to the second signal power and the third signal power through equation (2-3).

After the processor 3 determines a first included angle between a connection line between each of the plurality of detectors and the signal transmitting module and the reference plane, the processor 3 may correct a plurality of first included angles corresponding to the plurality of detectors respectively according to the axial rotation angle to obtain a plurality of second included angles.

Specifically, the two straight lines include a horizontal straight line and a vertical straight line, and each of the plurality of first included angles includes a first horizontal included angle and a first pitch included angle, then the processor 3 may be specifically configured to: for each detector in at least three detectors on the horizontal straight line, determining a second horizontal included angle corresponding to the detector according to the axial rotation angle, a first pitching included angle corresponding to the detector and a first horizontal included angle corresponding to the detector; and for each detector in the at least three detectors on the vertical straight line, determining a second pitching angle corresponding to the detector according to the axial rotation angle, the first horizontal angle corresponding to the detector and the first pitching angle corresponding to the detector.

And alpha is determined as a second horizontal angle theta by the following formula (2-4) ₂ And a second included pitch angle

Wherein, for at least three detectors on the horizontal straight line, the processor 3 may determine only the second horizontal included angle corresponding to each detector; for at least three detectors in a vertical line, processor 3 may determine only the second pitch angle for each detector.

When the processor 3 obtains a plurality of second angles, the processor 3 may determine the position information of the target intersection point according to the plurality of second angles and the distances between the at least three detectors on each straight line. Specifically, the plurality of second included angles include at least three second horizontal included angles and at least three second pitch included angles, and the processor 3 is specifically configured to: determining the horizontal position of the target intersection point according to at least three second horizontal included angles and the distances between at least three detectors on the horizontal straight line; and determining the vertical position of the target intersection point according to the at least three second pitch angles and the distances between the at least three detectors on the vertical straight line.

Illustratively, three detectors are uniformly arranged on a horizontal straight line and are respectively represented as S1, S2 and S3, the distance between two adjacent detectors is d, the distance between the three detectors relative to the remote control device is y, the horizontal distance between the detector S1 relative to the remote control device is x, and first horizontal included angles corresponding to the detectors S1 to S3 are respectively represented as theta ₁₁ 、θ ₁₂ And theta ₁₃ And the first reference plane is at an angle γ to the display plane in the horizontal direction, the processor 3 may determine x, y and γ according to the following equations (2-5). Processor 3 may then determine the distance x of the target intersection point in the horizontal direction relative to detector S1 according to equation (2-6) below ₁ I.e. the horizontal position at which the target intersection is determined.

y＝tan(θ ₁₁ -γ)x

y＝tan(θ ₁₂ -γ)(x-d) (2-5)

y＝-tan(180°-θ ₁₃ +γ)(x-2d)

x ₁ ＝x-y×tanγ (2-6)

It should be noted that, the above description is only given by taking as an example that three detectors are uniformly arranged on a horizontal straight line, and the horizontal position of the intersection is a distance in the horizontal direction with respect to the detector S1, and the above description does not limit the embodiment of the present application.

Similarly, the processor 3 may determine the vertical position of the target intersection point in a manner similar to the above-mentioned manner for determining the horizontal position of the target intersection point according to the distances between at least three detectors arranged on the vertical line and the corresponding first pitch included angles, and for the specific description, reference is made to the above-mentioned description for determining the horizontal position, which is not described herein again in this embodiment of the present application.

When the processor 3 determines the horizontal position and the vertical position of the target intersection, i.e., determines the position information of the target intersection, the processor 3 may also display a corresponding cursor on the display screen or make a response operation corresponding to the cursor position, etc., according to the position information.

Further, the communication module 2 can receive the axial rotation angle sent by the remote control device through wired communication or wireless communication. Correspondingly, the remote control device may also include a communication module, and when the inertial sensor in the remote control device detects the axial rotation angle, the communication module in the remote control device sends the axial rotation angle to the display device through wired communication or wireless communication, so that the channel module 4 in the display device receives the axial rotation angle. Optionally, the channel module 4 in the display device or the communication module in the remote control device may be a bluetooth module, a WiFi module, or another communication module, which is not specifically limited in this embodiment of the present application.

In the pointing sensing apparatus provided in the embodiment of the present application, the plurality of detectors disposed on two straight lines perpendicular to each other may be configured to detect the transmission signals of the plurality of transmitters located on a plurality of planes perpendicular to each other, so as to obtain a plurality of signal powers, and the communication module 2 may be configured to obtain an axial rotation angle when the remote control device points to the display screen, so that the processor 3 may determine, according to the above information, position information of a target intersection between a pointing extension line of the remote control device and the display screen, and display a corresponding cursor on the display screen or perform a response operation corresponding to a position of the cursor. In the scheme, the position of the target intersection point is an absolute position, so that the position is irrelevant to the size of the display screen, and the intuitive effect of ' which is pointed by a user ' when the cursor is displayed according to the position information of the target intersection point ' can be realized, so that the user experience is improved.

Fig. 13 is a position information determining method provided by an embodiment of the present application, which may be applied to a remote control device including a pointing sensing device, which may be the pointing sensing device described in fig. 3 above, the device including a power detection module, an inertial sensor, and a processor, the power detection module including a plurality of detectors respectively disposed on a plurality of planes, the plurality of planes including at least three planes perpendicular to each other, and the method may include the following steps.

S401: the plurality of detectors detects the plurality of transmitted signals to obtain a plurality of signal powers. Wherein the plurality of emission signals are emitted by a plurality of emitters arranged on a display screen of the display device and located on two straight lines perpendicular to each other, at least three emitters being arranged on each of the two straight lines.

Wherein the power detection module may be a polyhedron, the plurality of planes may include a plurality of faces of the polyhedron, at least one of the plurality of planes may be parallel to at least one face of the remote control device, and a face of the plurality of planes that may include the remote control device for pointing at the display device may be parallel. Optionally, the power detection module may be located at a front end of the remote control device, and a light-shielding coating may be disposed around the power detection module, and the light-shielding coating may be used to shield the incident of noise light such as sunlight and lamplight, for example, the light-shielding coating may be V-shaped.

In addition, each of the plurality of detectors may be a signal receiver for receiving electromagnetic waves, light, ultrasonic waves, or the like, for example, the plurality of detectors may be a plurality of infrared receiving diodes. The plurality of emitters may include at least five emitters, each emitter of the plurality of emitters may be configured to emit a respective electromagnetic wave, light, or ultrasonic wave, etc., for example, the plurality of emitters may be a plurality of infrared light emitting diodes. Optionally, the two straight lines where the plurality of emitters are located may be straight lines where two mutually perpendicular frames of a display screen of the display device are located.

S402: the inertial sensor obtains the axial rotation angle of the remote control device when the remote control device points to the display screen.

The inertial sensor may include an acceleration sensor and a gyroscope, and is configured to obtain an axial rotation angle when the remote control device points at the display screen, and a central axis of the remote control device may be a straight line where the remote control device points. For example, assuming that the remote control device is a rectangular parallelepiped, a surface of the remote control device for pointing to the display device is a front end surface, and a surface perpendicular to and above the front end surface is an upper surface, the pointing direction of the remote control device may refer to a direction perpendicular to the front end surface and parallel to the upper surface, and the axial rotation angle refers to an angle rotated with the pointing direction as an axis.

S403: and the processor determines the position information of a target intersection point according to the plurality of signal powers, the axial rotation angle and the distance between the at least three transmitters on each straight line, wherein the target intersection point is the intersection point between the pointing extension line of the remote control equipment and the display screen.

In a possible embodiment, S403 may specifically include: for each emitter in the plurality of emitters, determining a first included angle between a connecting line between the emitter and the power detection module and a reference plane according to at least two signal powers corresponding to an emission signal of the emitter, where the at least two signal powers are obtained by detecting the emission signal of the emitter by two detectors on the at least three planes, and the reference plane is a plane in the plurality of planes; respectively correcting a plurality of first included angles corresponding to the plurality of transmitters according to the axial rotation angle to obtain a plurality of second included angles; and determining the position information of the target intersection point according to the plurality of second included angles and the distances between the at least three transmitters on each straight line.

The two straight lines comprise a horizontal straight line and a vertical straight line, the reference surface comprises a first reference surface and a second reference surface which are perpendicular to each other, and the first included angle comprises a first horizontal included angle between the connecting line and the first reference surface and a first pitching included angle between the connecting line and the second reference surface. Correspondingly, the correcting the plurality of first included angles corresponding to the plurality of transmitters according to the axial rotation angle to obtain a plurality of second included angles may specifically include: for each transmitter in at least three transmitters on the horizontal straight line, determining a second horizontal included angle corresponding to the transmitter according to the axial rotation angle, a first pitching included angle corresponding to the transmitter and a first horizontal included angle corresponding to the transmitter; and for each transmitter in at least three transmitters on the vertical straight line, determining a second pitching angle corresponding to the transmitter according to the axial rotation angle, the first horizontal angle corresponding to the transmitter and the first pitching angle corresponding to the transmitter.

In addition, the two straight lines include a horizontal straight line and a vertical straight line, the plurality of second included angles include at least three second horizontal included angles and at least three second pitching included angles, and the position information includes a horizontal position and a vertical position. Correspondingly, the determining the position information of the target intersection point according to the plurality of second included angles and the distances between the at least three transmitters on each straight line may specifically include: determining the horizontal position of the target intersection point according to the at least three second horizontal included angles and the distances between the at least three transmitters on the horizontal straight line; and determining the vertical position of the target intersection point according to the at least three second pitch angles and the distances between the at least three transmitters on the vertical straight line.

Further, the apparatus may further include a communication module; accordingly, the method may further include S404.

S404: and the communication module sends the position information of the target intersection point to the display equipment so that the display equipment displays a corresponding cursor on a display screen.

Specifically, when the processor determines the position information of the target intersection, the communication module may send the position information of the target intersection to the display device through wired communication or wireless communication, so that when the display device receives the position information of the target intersection, the display device may display a corresponding cursor on a display screen according to the position information or perform a response operation corresponding to the cursor position, and the like.

It should be noted that all the contents of the pointing sensing device provided above may be correspondingly incorporated into the embodiment of the method for determining location information provided above, and the embodiment of the present application is not described herein again.

In the method provided by the embodiment of the application, the detectors arranged on the planes perpendicular to each other can detect the transmission signals of the emitters positioned on two straight lines perpendicular to each other to obtain a plurality of signal powers, the inertial sensor can acquire the axial rotation angle when the remote control device points to the display screen, so that the processor can determine the position information of the target intersection point between the pointing extension line of the remote control device and the display screen according to the information, and the communication module 4 sends the position information to the display device, so that the display device displays a corresponding cursor on the display screen or performs a response operation corresponding to the cursor position and the like. In the scheme, the position of the target intersection point is an absolute position, so that the position is irrelevant to the size of the display screen, and the intuitive effect of ' which is pointed by a user ' when the cursor is displayed according to the position information of the target intersection point ' can be realized, so that the user experience is improved.

Fig. 14 is a position information determining method provided in an embodiment of the present application, and the method may be applied to a display device including a pointing sensing device, where the pointing sensing device may be the pointing sensing device described in fig. 11 above, the device includes a plurality of detectors, a communication module, and a processor, the plurality of detectors are respectively disposed on two lines perpendicular to each other, and at least three detectors are disposed on each of the two lines, and the method may include the following steps.

S501: the plurality of detectors detects the plurality of transmitted signals to obtain a plurality of signal powers. Wherein the plurality of transmission signals are transmitted by a plurality of transmitters respectively disposed on a plurality of planes in a signal transmission module, the signal transmission module being located in the remote control device, the plurality of planes including at least three planes perpendicular to each other.

Wherein the signal transmitting module may be a polyhedron, the plurality of planes may include a plurality of surfaces of the polyhedron, at least one of the plurality of planes may be parallel to at least one surface of the remote control device, and a face of the plurality of planes that may include the remote control device for pointing at the display device may be parallel. Optionally, the signal transmitting module may be located at a front end of the remote control device, and a light shielding coating may be disposed around the signal transmitting module, and the light shielding coating may be used to shield the incident of noise light such as sunlight and lamplight, for example, the light shielding coating may be V-shaped.

In addition, each of the plurality of detectors may be a signal receiver for receiving electromagnetic waves, light, ultrasonic waves, or the like, for example, the plurality of detectors may be a plurality of infrared receiving diodes. Optionally, the two straight lines where the plurality of detectors are located may be straight lines where two frames perpendicular to each other of a display screen of the display device are located. The plurality of transmitters in the signal transmitting module may include at least three transmitters, each of the plurality of transmitters may be configured to transmit a corresponding electromagnetic wave, light, or ultrasonic wave, for example, the plurality of transmitters may be a plurality of infrared light emitting diodes. Optionally, a modulator for modulating the plurality of infrared light emitting diodes may also be included in the remote control device.

S502: the communication module receives the axial rotation angle when the remote control device points to the display screen of the display device.

The communication module can receive the axial rotation angle in a wired communication or wireless communication mode; optionally, the communication module may be a bluetooth module or a WiFi module. In addition, the axial rotation angle may be sent to the display device by the remote control device, an inertial sensor may be built in the remote control device, the inertial sensor may include an acceleration sensor and a gyroscope, the inertial sensor is configured to obtain the axial rotation angle when the remote control device points to the display screen, and a central axis of the remote control device may be a straight line where the remote control device points. For example, assuming that the remote control device is a rectangular parallelepiped, a surface of the remote control device for pointing to the display device is a front end surface, and a surface perpendicular to and above the front end surface is an upper surface, the pointing direction of the remote control device may refer to a direction perpendicular to the front end surface and parallel to the upper surface, and the axial rotation angle refers to an angle rotated with the pointing direction as an axis.

S503: and the processor determines the position information of a target intersection point according to the plurality of signal powers, the axial rotation angle and the distance between the at least three detectors on each straight line, wherein the target point is the intersection point between the pointing extension line of the remote control device and the display screen.

In a possible embodiment, S503 may specifically include: for each detector in the plurality of detectors, determining a first included angle between a connecting line between the detector and the signal transmitting module and a reference plane according to at least two signal powers corresponding to the detector, wherein the at least two signal powers are obtained by detecting the transmitting signals of two transmitters on the at least three planes by the detector, and the reference plane is a plane in the plurality of planes; respectively correcting a plurality of first included angles corresponding to the plurality of detectors according to the axial rotation angle to obtain a plurality of second included angles; and determining the position information of the target intersection point according to the plurality of second included angles and the distances between the at least three detectors on each straight line.

The two straight lines comprise a horizontal straight line and a vertical straight line, the reference surface comprises a first reference surface and a second reference surface which are perpendicular to each other, and the first included angle comprises a first horizontal included angle between the connecting line and the first reference surface and a first pitching included angle between the connecting line and the second reference surface. Correspondingly, the correcting the plurality of first included angles corresponding to the plurality of detectors according to the axial rotation angle to obtain a plurality of second included angles may specifically include: for each detector in the at least three detectors on the horizontal straight line, correcting a first horizontal included angle corresponding to the detector according to the axial rotation angle and a first pitching included angle corresponding to the detector to obtain a second horizontal included angle corresponding to the detector; and for each detector in the at least three detectors on the vertical straight line, correcting a first pitching included angle corresponding to the detector according to the axial rotation angle and a first horizontal included angle corresponding to the detector to obtain a second pitching included angle corresponding to the detector.

In addition, the two straight lines include a horizontal straight line and a vertical straight line, the plurality of second included angles include at least three second horizontal included angles and at least three second pitching included angles, and the position information includes a horizontal position and a vertical position. Correspondingly, the determining the position information of the target intersection point according to the plurality of second included angles and the distances between the at least three detectors on each straight line may specifically include: determining the horizontal position of the target intersection point according to the at least three second horizontal included angles and the distances between the at least three detectors on the horizontal straight line; and determining the vertical position of the target intersection point according to the at least three second pitching included angles and the distances between the at least three detectors on the vertical straight line.

Further, the method may further include S504.

S504: and the processor displays a corresponding cursor on a display screen of the display equipment according to the position information of the target intersection point.

Specifically, when the processor determines the position information of the target intersection, the processor may display a corresponding cursor on the display screen or perform a response operation corresponding to the cursor position, or the like, according to the position information of the target intersection.

In the method provided by the embodiment of the application, the detectors arranged on two straight lines perpendicular to each other can detect the transmission signals of the transmitters on multiple planes perpendicular to each other to obtain multiple signal powers, the communication module can acquire the axial rotation angle of the remote control device when the remote control device points to the display screen, so that the processor can determine the position information of the target intersection point between the pointing extension line of the remote control device and the display screen according to the information, and display a corresponding cursor on the display screen or perform a response operation corresponding to the cursor position and the like. In the scheme, the position of the target intersection point is an absolute position, so that the position is irrelevant to the size of the display screen, and the intuitive effect of 'which the user points to play when the cursor is displayed according to the position information of the target intersection point' can be realized, so that the user experience is improved.

In another aspect of the present application, there is also provided a pointing sensing system comprising a remote control device and a display device, the remote control device may comprise the pointing sensing apparatus provided in fig. 3 above, or the display device may comprise the pointing sensing apparatus provided in fig. 11 above. For a specific description of the pointing sensing apparatus, refer to the description in the pointing sensing apparatus provided above, and the description of the embodiments of the present application is not repeated herein.

In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described device embodiments are merely illustrative, and for example, the division of the modules or units is only one type of logical functional division, and other divisions may be realized in practice, for example, multiple units or components may be combined or integrated into another device, or some features may be omitted, or not executed.

The units described as separate parts may or may not be physically separate, and parts displayed as units may be one physical unit or a plurality of physical units, that is, may be located in one place, or may be distributed in a plurality of different places. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.

The integrated unit, if implemented as a software functional unit and sold or used as a stand-alone product, may be stored in a readable storage medium, which may include: u disk, removable hard disk, read only memory, random access memory, magnetic or optical disk, etc. for storing program codes. Based on such understanding, the technical solutions of the embodiments of the present application may be embodied in the form of software products, in essence, or as a part of or all of the technical solutions contributing to the prior art.

In another aspect of the present application, a readable storage medium is provided, where instructions are stored, and when the instructions in the readable storage medium are executed on a processor, the processor is caused to execute one or more steps corresponding to the processor in the position information determination method provided in fig. 13.

In another aspect of the present application, a readable storage medium is provided, where instructions are stored in the readable storage medium, and when the instructions in the readable storage medium are executed on a processor, the processor is caused to execute one or more steps corresponding to the processor in the location information determination method provided in fig. 14.

In another aspect of the present application, a computer program product including instructions is provided, which when executed on a processor, causes the processor to perform one or more steps corresponding to the processor in the position information determination method provided in fig. 13.

In another aspect of the present application, a computer program product is provided, which includes instructions, when executed on a processor, cause the apparatus to perform one or more steps corresponding to the processor in the position information determination method provided in fig. 14.

Finally, it should be noted that: the above description is only an embodiment of the present application, but the scope of the present application is not limited thereto, and any changes or substitutions within the technical scope of the present disclosure should be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A pointing sensing apparatus, for use in a remote control device, comprising:

the power detection module comprises a plurality of detectors which are respectively arranged on a plurality of planes, wherein the plurality of planes at least comprise three planes which are vertical to each other, the plurality of detectors are used for detecting a plurality of emission signals to obtain a plurality of signal powers, the plurality of emission signals are emitted by a plurality of emitters which are arranged on a display screen of the display equipment and positioned on two straight lines which are vertical to each other, and at least three emitters are arranged on each straight line of the two straight lines;

the inertial sensor is used for acquiring the axial rotation angle of the remote control equipment when the remote control equipment points to the display screen;

and the processor is used for determining the position information of a target intersection point according to the plurality of signal powers, the axial rotation angle and the distance between the at least three transmitters on each straight line, wherein the target intersection point is an intersection point between a pointing extension line of the remote control equipment and the display screen.

2. The apparatus of claim 1, further comprising:

and the communication module is used for sending the position information of the target intersection point to the display equipment so as to enable the display equipment to display a corresponding cursor on the display screen.

3. The apparatus according to claim 1 or 2, wherein the two straight lines are straight lines where two mutually perpendicular frames of the display screen are located.

4. The apparatus of any of claims 1-3, wherein the processor is further configured to:

for each emitter in the plurality of emitters, determining a first included angle between a connecting line between the emitter and the power detection module and a reference plane according to at least two signal powers corresponding to emission signals of the emitter, wherein the at least two signal powers are obtained by detecting the emission signals of the emitter by two detectors on at least three planes, and the reference plane is a plane in the plurality of planes;

respectively correcting a plurality of first included angles corresponding to the plurality of transmitters according to the axial rotation angle to obtain a plurality of second included angles;

and determining the position information of the target intersection point according to the plurality of second included angles and the distances between the at least three transmitters on each straight line.

5. The apparatus of claim 4, wherein the two lines comprise a horizontal line and a vertical line, the reference plane comprises a first reference plane and a second reference plane that are perpendicular to each other, the first angle comprises a first horizontal angle between the connection line and the first reference plane and a first pitch angle between the connection line and the second reference plane, and the processor is further configured to:

for each transmitter in the at least three transmitters on the horizontal straight line, determining a second horizontal included angle corresponding to the transmitter according to the axial rotation angle, a first pitching included angle corresponding to the transmitter and a first horizontal included angle corresponding to the transmitter;

and for each transmitter in the at least three transmitters on the vertical straight line, determining a second pitching included angle corresponding to the transmitter according to the axial rotation angle, the first horizontal included angle corresponding to the transmitter and the first pitching included angle corresponding to the transmitter.

6. The apparatus of claim 4 or 5, wherein the two straight lines comprise a horizontal straight line and a vertical straight line, the plurality of second angles comprise at least three second horizontal angles and at least three second pitch angles, the position information comprises a horizontal position and a vertical position, and the processor is further configured to:

determining the horizontal position of the target intersection point according to the at least three second horizontal included angles and the distances between the at least three transmitters on the horizontal straight line;

and determining the vertical position of the target intersection point according to the at least three second pitching included angles and the distances between the at least three transmitters on the vertical straight line.

7. The apparatus of any of claims 1-6, wherein the transmission signals of the plurality of transmitters are transmitted in a time division manner.

8. The apparatus of any of claims 1-7, wherein the transmission signals of the plurality of transmitters are orthogonal to each other.

9. A pointing sensing apparatus, applied to a display device, includes:

the remote control device comprises a plurality of detectors which are respectively arranged on two straight lines which are perpendicular to each other, wherein at least three detectors are arranged on each straight line on the two straight lines, the detectors are used for detecting a plurality of transmitting signals to obtain a plurality of signal powers, the transmitting signals are transmitted by a plurality of transmitters which are respectively arranged on a plurality of planes in a signal transmitting module, the signal transmitting module is positioned in the remote control device, and the planes at least comprise three planes which are perpendicular to each other;

the communication module is used for receiving the axial rotation angle when the remote control equipment points to the display screen of the display equipment;

and the processor is used for determining the position information of a target intersection point according to the plurality of signal powers, the axial rotation angle and the distance between the at least three detectors on each straight line, wherein the target point is the intersection point between the pointing extension line of the remote control equipment and the display screen.

10. The apparatus according to claim 9, wherein the two straight lines are straight lines where two mutually perpendicular frames of the display screen are located.

11. The apparatus of claim 9 or 10, wherein the processor is further configured to:

for each detector in the plurality of detectors, determining a first included angle between a connecting line between the detector and the signal transmitting module and a reference plane according to at least two signal powers corresponding to the detector, where the at least two signal powers are obtained by the detector detecting transmitting signals of two transmitters on the at least three planes, and the reference plane is a plane in the plurality of planes;

respectively correcting a plurality of first included angles corresponding to the plurality of detectors according to the axial rotation angle to obtain a plurality of second included angles;

and determining the position information of the target intersection point according to the plurality of second included angles and the distances between the at least three detectors on each straight line.

12. The apparatus of claim 11, wherein the two lines comprise a horizontal line and a vertical line, the reference plane comprises a first reference plane and a second reference plane that are perpendicular to each other, the first angle comprises a first horizontal angle between the connection line and the first reference plane and a first pitch angle between the connection line and the second reference plane, and the processor is further configured to:

for each detector in the at least three detectors on the horizontal straight line, correcting a first horizontal included angle corresponding to the detector according to the axial rotation angle and a first pitching included angle corresponding to the detector to obtain a second horizontal included angle corresponding to the detector;

and for each detector in the at least three detectors on the vertical straight line, correcting a first pitching included angle corresponding to the detector according to the axial rotation angle and a first horizontal included angle corresponding to the detector to obtain a second pitching included angle corresponding to the detector.

13. The apparatus of claim 11 or 12, wherein the two straight lines comprise a horizontal straight line and a vertical straight line, the plurality of second angles comprise at least three second horizontal angles and at least three second pitch angles, the position information comprises a horizontal position and a vertical position, and the processor is further configured to:

determining the horizontal position of the target intersection point according to the at least three second horizontal included angles and the distances between the at least three detectors on the horizontal straight line;

and determining the vertical position of the target intersection point according to the at least three second pitch included angles and the distances between the at least three detectors on the vertical straight line.

14. The apparatus according to any one of claims 9-13, wherein the transmission signals of the plurality of transmitters are transmitted in a time division manner.

15. The apparatus of any of claims 9-14, wherein the transmission signals of the plurality of transmitters are orthogonal to each other.

16. A method of determining position information, for use in a remote control device including a pointing sensing device including a power detection module, an inertial sensor, and a processor, the power detection module including a plurality of detectors respectively disposed on a plurality of planes, the plurality of planes including at least three planes that are perpendicular to each other, the method comprising:

the plurality of detectors detect a plurality of emission signals to obtain a plurality of signal powers, the plurality of emission signals are emitted by a plurality of emitters arranged on a display screen of the display device and located on two straight lines perpendicular to each other, and at least three emitters are arranged on each of the two straight lines;

the inertial sensor acquires an axial rotation angle of the remote control equipment when the remote control equipment points to the display screen;

and the processor determines the position information of a target intersection point according to the plurality of signal powers, the axial rotation angle and the distance between the at least three transmitters on each straight line, wherein the target intersection point is an intersection point between a pointing extension line of the remote control equipment and the display screen.

17. The method of claim 16, wherein the apparatus further comprises a communication module, the method further comprising:

and the communication module sends the position information of the target intersection point to the display equipment so that the display equipment displays a corresponding cursor on the display screen.

18. The method of claim 16 or 17, wherein the processor determines the position information of the target intersection point according to the plurality of signal powers, the axial rotation angle, and the distances between the at least three transmitters on each straight line, comprising:

19. The method of claim 18, wherein the two lines comprise a horizontal line and a vertical line, the reference plane comprises a first reference plane and a second reference plane that are perpendicular to each other, and the first angle comprises a first horizontal angle between the connecting line and the first reference plane and a first pitch angle between the connecting line and the second reference plane;

respectively correcting a plurality of first included angles corresponding to the plurality of transmitters according to the axial rotation angle so as to obtain a plurality of second included angles, and the method comprises the following steps:

20. The method according to claim 18 or 19, wherein the two straight lines comprise a horizontal straight line and a vertical straight line, the plurality of second included angles comprise at least three second horizontal included angles and at least three second pitch included angles, and the position information comprises a horizontal position and a vertical position;

the determining the position information of the target intersection point according to the plurality of second included angles and the distances between the at least three transmitters on each straight line comprises:

21. A method for determining position information, applied to a display device including a pointing sensing device, the device including a plurality of detectors, a communication module, and a processor, the plurality of detectors being respectively disposed on two lines perpendicular to each other, at least three detectors being disposed on each of the two lines, the method comprising:

the plurality of detectors detect a plurality of transmission signals to obtain a plurality of signal powers, the plurality of transmission signals being transmitted by a plurality of transmitters respectively disposed on a plurality of planes in a signal transmission module, the signal transmission module being located in a remote control device, the plurality of planes including at least three planes perpendicular to each other;

the communication module receives an axial rotation angle when the remote control equipment points to a display screen of the display equipment;

and the processor determines the position information of a target intersection point according to the plurality of signal powers, the axial rotation angle and the distance between the at least three detectors on each straight line, wherein the target point is the intersection point between the pointing extension line of the remote control equipment and the display screen.

22. The method of claim 21, wherein the processor determines position information of a target intersection point according to the plurality of signal powers, the axial rotation angle, and the distances between the at least three detectors on each straight line, comprising:

23. The method of claim 22, wherein the two lines comprise a horizontal line and a vertical line, the reference plane comprises a first reference plane and a second reference plane that are perpendicular to each other, and the first included angle comprises a first horizontal included angle between the connection line and the first reference plane and a first pitch included angle between the connection line and the second reference plane;

correcting the plurality of first included angles corresponding to the plurality of detectors according to the axial rotation angle to obtain a plurality of second included angles, including:

24. The method according to claim 22 or 23, wherein the two straight lines comprise a horizontal straight line and a vertical straight line, the plurality of second included angles comprise at least three second horizontal included angles and at least three second pitch included angles, and the position information comprises a horizontal position and a vertical position;

determining position information of a target intersection point according to the plurality of second included angles and the distances between the at least three detectors on each straight line, including:

25. A pointing perception system, characterized in that the system comprises a remote control device and a display device, the remote control device comprising the pointing perception apparatus according to any of the claims 1-8, or the display device comprising the pointing perception apparatus according to any of the claims 9-15.