WO2018205478A1 - 一种指向型设备的定位装置 - Google Patents

一种指向型设备的定位装置 Download PDF

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Publication number
WO2018205478A1
WO2018205478A1 PCT/CN2017/102281 CN2017102281W WO2018205478A1 WO 2018205478 A1 WO2018205478 A1 WO 2018205478A1 CN 2017102281 W CN2017102281 W CN 2017102281W WO 2018205478 A1 WO2018205478 A1 WO 2018205478A1
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WIPO (PCT)
Prior art keywords
pointing
module
electronic device
pointing device
intelligent electronic
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Ceased
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PCT/CN2017/102281
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English (en)
French (fr)
Inventor
王俊凯
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Guangzhou Shiyuan Electronics Thecnology Co Ltd
Guangzhou Shirui Electronics Co Ltd
Original Assignee
Guangzhou Shiyuan Electronics Thecnology Co Ltd
Guangzhou Shirui Electronics Co Ltd
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Publication of WO2018205478A1 publication Critical patent/WO2018205478A1/zh
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Ceased legal-status Critical Current

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    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
    • G06F3/033—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
    • G06F3/0346—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor with detection of the device orientation or free movement in a three-dimensional [3D] space, e.g. 3D mice, 6-DOF [six degrees of freedom] pointers using gyroscopes, accelerometers or tilt-sensors
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B17/00—Teaching reading
    • G09B17/02—Line indicators or other guides or masks

Definitions

  • the present invention relates to an electronic device, and in particular to a pointing device for a pointing device.
  • the most common device used is a traditional mouse, but it must be moved by sliding on a certain surface to generate image shift, which is converted into a cursor movement on the display device by computer detection, the operator It is necessary to operate on the operation surface of a specific location, which is especially inconvenient when the operator needs to leave the room.
  • the invention of the squirrel device allows the user to no longer be limited to a single plane using a mouse.
  • the gyroscope principle is designed, the user can use the mouse, the internal six-axis or nine-axis gyroscope and the G-SENSOR sensing gesture. Change, calculate the spatial trajectory of the empty mouse device, and realize the function of the mouse. By moving the mouse in the air, the cursor on the screen is controlled to move up and down and left and right.
  • the traditional empty mouse device cannot achieve absolute positioning and has poor experience.
  • the laser pen will project a light spot or a light to indicate the content displayed on the screen. Since the front panel of the display screen is generally covered with a layer of glass material, the glass material reflects the light including the laser light, and the laser spot is hardly seen when the display is illuminated by the laser pointer, so the auxiliary presentation cannot be performed using a laser pointer or the like.
  • the embodiment of the invention provides a positioning device for the pointing device.
  • the technical solution proposed by the embodiment of the present invention is as follows.
  • a positioning device for a pointing device comprising an intelligent electronic device, a plurality of receiver modules and a pointing device;
  • the pointing device includes a transmitter module and a pointing state detecting module, the transmitter module is configured to transmit a signal, and the pointing state detecting module is configured to detect pointing state data of the pointing device.
  • the plurality of receiver modules are disposed on the smart electronic device for receiving signals transmitted by the transmitter module;
  • the smart electronic device is respectively connected to the plurality of receiver modules and the pointing device, and the smart electronic device receives the pointing state data and the receiver module according to the pointing state detection module.
  • the condition of the signal transmitted by the transmitter module determines the pointing position of the pointing device towards the intelligent electronic device and displays it on the smart electronic device.
  • the intelligent electronic device calculates a pointing state of the pointing device according to the pointing state data detected by the pointing state detecting module, and calculates a situation according to a situation in which the receiver module receives a signal transmitted by the transmitter module. Determining a spatial position of the pointing device relative to the smart electronic device, and determining a pointing position of the pointing device toward the smart electronic device according to the pointing state of the pointing device and the spatial position.
  • the intelligent electronic device calculates a spatial position of the pointing device relative to the smart electronic device according to a transmission time of the signal transmitted by the transmitter module to a receiver module that receives the signal.
  • the plurality of receiver modules are disposed at least on two different sides of the smart electronic device, and at least three receiver modules are located on different sides and not in a straight line.
  • the intelligent electronic device includes a data processing unit, a first communication module, and a display unit;
  • the smart electronic device separately from the plurality of receiver modules by the first communication module And performing signal connection with the pointing device, where the first communication module is configured to receive signals and data sent by the multiple receiver modules and the pointing device;
  • the smart electronic device calculates, by the data processing unit, a pointing state of the pointing device and a spatial position of the pointing device relative to the smart electronic device, and according to the pointing state of the pointing device and the The spatial position determines a pointing position of the pointing device toward the smart electronic device;
  • the display unit is configured to display a pointing position of the pointing device.
  • the pointing state detecting module is a direction sensor.
  • the pointing state data includes a pitch angle of the pointing device and a yaw angle of the pointing device.
  • the pointing device is a smart pen.
  • the receiver module is an infrared receiver module, and the transmitter module is an infrared emitter module; or the receiver module is an ultrasonic receiver module, and the transmitter module is an ultrasonic transmitter module.
  • the pointing device further includes a control module, a trigger device, and a second communication module;
  • the pointing device is connected to the intelligent electronic device by the second communication module;
  • the triggering device is configured to send a control signal that triggers a signal transmitted by the transmitter module
  • the control module triggers the triggering time of the triggering device to be sent to the intelligent electronic device by using the second communication module.
  • the pointing device of the pointing device determines the pointing device toward the smart electronic device by the pointing state of the pointing device and the spatial position of the pointing device relative to the smart electronic device.
  • the pointing position enables absolute positioning of the pointing device relative to the intelligent electronic device, and can be applied to products such as smart electronic devices and pointing devices.
  • FIG. 1 is a schematic structural diagram of a positioning device of a pointing device according to an embodiment of the present invention
  • FIG. 2 is a schematic diagram of a use state of a pointing device of a pointing device according to an embodiment of the present invention
  • FIG. 3 is a schematic diagram of a direction of a pointing device according to an embodiment of the present invention.
  • FIG. 4 is a schematic diagram of positioning of a pointing device of a pointing device according to an embodiment of the present invention.
  • FIG. 5 is a schematic structural diagram of a preferred embodiment of a pointing device for a pointing device according to an embodiment of the present invention.
  • the positioning device of the pointing device includes an intelligent electronic device 1, a plurality of infrared receiver modules, and a pointing device 5.
  • the smart electronic device 1 includes a data processing unit 12, a first communication module 11 and a display unit 13, and the first communication module 11 is configured to receive signals sent by a plurality of infrared receiver modules and a pointing device 5, the data
  • the processing unit 12 processes the signal received by the first communication module 11 to obtain the spatial position and the pointing state of the pointing device 5, thereby determining the pointing position of the pointing device 5, and the display unit 13 is for displaying the pointing device 5 Point to the location.
  • the smart electronic device 1 can be an electronic device that can be used with the pointing device 5, such as a smart tablet or a smart display.
  • the plurality of infrared receiver modules are disposed on at least two sides of the smart electronic device 1, and wherein at least three of the infrared receiver modules are not in a straight line, and each infrared receiving device is received when the infrared receiver module is disposed
  • the relative position at which the modules are placed is known. 2 shows a case where the infrared receiver module has at least three, and the three infrared receiver modules 2, 3, 4 are respectively disposed on the upper side, the left side and the right side of the smart electronic device 1, and three Infrared receivers 2, 3, 4 are not in one On a straight line.
  • the three infrared receiver modules 2, 3, 4 are respectively disposed at an intermediate position of the upper side of the smart electronic device 1, an intermediate position of the left side, and an intermediate position of the right side.
  • the pointing device 5 includes a direction sensor 52, an infrared emitter module 53, a control module 54, a trigger device 55, and a second communication module 51.
  • control module 54 may be disposed inside the housing of the pointing device 5, and the direction sensor 52 and the second communication module 51 are disposed inside the housing or the surface of the housing of the pointing device 5, and the infrared emitter module 53 is generally disposed. It is on the surface of the housing of the pointing device 5 and is located at the front end of the pointing device 5.
  • the pointing device 5 herein may be a smart pen with a pointing function, and may also be a smart pen having functions such as pointing and/or touch and/or writing.
  • the pointing device 5 transmits data or signals to the intelligent electronic device 1 through the second communication module 51.
  • the control module 54 receives the control signal from the trigger device 55 of the pointing device 5 and transmits the control signal and data to the smart electronic device 1 through the second communication module 51.
  • the trigger device 55 includes a button for triggering the infrared emitter module 53 to emit an infrared signal. When the button is pressed, the button emits a control signal for triggering the infrared emitter module 53, and the infrared emitter module 53 emits an infrared signal according to the control signal.
  • the control module 54 receives the trigger time, and sends the trigger time to the first communication module 11 of the smart electronic device 1 through the second communication module 51, indicating that the pointing device 5 performs the positioning operation.
  • the direction sensor 52 is used to detect the pointing state of the pointing device 5, and the direction sensor 52 is fixed on the pointing device 5, and the direction of the pointing sensor 52 relative to the pointing device 5 is determined and fixed, and therefore, The direction in which the pointing device 5 is pointed is determined by the direction sensor 52.
  • the direction sensor 52 includes pitch, yaw, roll data, as shown in FIG.
  • pitch indicates that the pointing device rotates around the x-axis, which may be referred to as a pitch angle of the pointing device
  • yaw indicates that the pointing device rotates around the y-axis, It can be referred to as the yaw angle of the pointing device
  • roll indicates that the pointing device rotates around the z axis, which can be referred to as the roll angle of the pointing device.
  • roll can be omitted, so roll data support is not required.
  • the infrared emitter module 53 is used in conjunction with an infrared receiver module that receives an infrared signal emitted by the infrared emitter module 53.
  • the infrared emitter module 53 emits an infrared signal under the control of the trigger device 55, and the three infrared receiver modules 2, 3, 4 on the smart electronic device 1 respectively receive the infrared emitter module 53 of the pointing device 5 to transmit
  • the infrared communication signal the first communication module 11 acquires the time when the three infrared receiver modules 2, 3, 4 respectively receive the infrared signals emitted by the infrared emitter module 53 of the pointing device 5, and the data processing unit 12 according to the trigger
  • the time and the time when the three infrared receiver modules 2, 3, 4 respectively receive the infrared signals emitted by the infrared emitter module 53 of the pointing device 5 can obtain the infrared signal emitted by the infrared emitter module 53 from the infrared emitter
  • the positions of the three infrared receiver modules 2, 3, and 4 disposed on the smart electronic device 1 are respectively A, B, and C, so the lengths of AB, AC, and BC are known values, and the angle of the ⁇ BAC is a known value;
  • the position of the infrared emitter module 53 on the pointing device 5 is D, and the distance of the infrared emitter module 53 relative to the three infrared receiver modules 2, 3, 4 can be calculated according to the transmission time, so AD, BD, CD
  • the length is determined, ⁇ ABD is a known angle;
  • O is the vertical projection of D in the plane of the intelligent electronic device 1, and the OD is perpendicular to the plane of the intelligent electronic device 1, and is perpendicular to all the straight lines on the plane of the intelligent electronic device 1;
  • E is the vertical point of O to AB
  • F is the vertical point of O to AC
  • G is the vertical point of O to BC
  • OE is perpendicular to AB
  • OF is perpendicular to AC
  • OG is perpendicular to BC
  • OE is DE in intelligent electronic equipment 1 plane projection
  • OG is the projection of the DG in the plane of the intelligent electronic device 1; according to "a straight line in the plane, if a diagonal line passing through this plane is perpendicular to the projection in this plane, Then it is also perpendicular to this oblique line", DE is perpendicular to AB, DF is perpendicular to AC, DG is perpendicular to BC;
  • AE AF and known angle ⁇ BAC, EF, ⁇ AEF, ⁇ AFE can be calculated
  • the data processing unit 12 can determine the pointing position of the pointing device 5 toward the smart electronic device 1 and display it through the display unit 13 by the pointing state of the pointing device 5 and the spatial position of the pointing device 5 with respect to the smart electronic device 1 The absolute positioning of the pointing device 5 to the position is achieved.
  • the embodiment is different from the embodiment 1 in that the receiver module in the embodiment 1 is an infrared receiver module, and the transmitter module 53 is an infrared emitter module.
  • the receiver module is an ultrasonic receiver module
  • the transmitter module is an infrared receiver module.
  • the module is an ultrasonic transmitter module.
  • Other contents are the same as those in Embodiment 1, and are not described herein again.
  • the emission angle of the transmitter module (for example, the ultrasonic transmitter module or the infrared emitter module 53) of the pointing device 5 should be as large as possible to ensure the intelligent electronic device 1
  • the receiver module disposed on the receiver module can receive the signal from the transmitter module, or at least ensure that three receiver modules disposed on three different sides of the smart electronic device 1 and not in a straight line can receive the transmitter module. signal of.
  • the number of the receiver modules is increased to adapt to the application scenario that the signals transmitted by the transmitter module cannot completely cover the three receiver modules 2, 3, and 4 described above. For example, a close-up application scenario.
  • one or more receiver modules may be added to the underside of the smart electronic device 1, preferably, the one receiver module is disposed at an intermediate position of the lower side of the smart electronic device 1, or the plurality of receiver modules They are placed at equal intervals on the lower side of the smart electronic device 1.
  • one or more receiver modules may be added to the upper, left and/or right side of the smart electronic device 1, preferably all of the receiver modules on each side are equally spaced.
  • two receiver modules 6, 6' are added to the lower side of the intelligent electronic device 1, and the receiver modules 6, 6' are equally spaced on the lower side of the intelligent electronic device 1.
  • a receiver module is added to the upper side, the left side, and the right side of the smart electronic device 1, and two receiver modules on each side are equally spaced.
  • the difference between this embodiment and the foregoing embodiment is that the manner of calculating the spatial position of the pointing device 5 relative to the smart electronic device 1 is different.
  • the time difference value of the signals received by the three receiver modules is used to calculate the pointing.
  • FIG. 3 The present embodiment will be described by taking FIG. 3 as an example.
  • A, B, C, and D point coordinates be A(xa, ya, za), B(xb, yb, zb), C(xc, yc, zc), D(x, y, z), respectively.
  • the speed at which the transmitter module transmits signals is c.
  • the D point coordinate value z can be obtained, and finally the D point coordinate value (x, y, z) is finally determined.

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Abstract

一种指向型设备的定位装置，包括智能电子设备、多个接收器模块和指向型设备；其中，所述指向型设备包括发射器模块和指向状态检测模块，发射器模块用于发射信号，指向状态检测模块用于检测所述指向型设备的指向状态数据；所述多个接收器模块设置在所述智能电子设备上，用于接收发射器模块发射的信号；所述智能电子设备分别与所述多个接收器模块和所述指向型设备进行信号连接，智能电子设备根据所述指向状态数据和所述接收器模块接收发射信号的情况确定指向型设备朝向所述智能电子设备的指向位置，并在智能电子设备上进行显示。本发明能够实现指向型设备相对于智能电子设备的绝对定位，可应用在智能电子设备、指向型设备等产品领域。

Description

一种指向型设备的定位装置 技术领域
本发明涉及一种电子设备，具体涉及一种指向型设备的定位装置。
背景技术
在现有的计算机交互系统中，使用最为普遍的设备为传统的鼠标，但其必须通过在某一个表面上滑动来产生像移，通过电脑侦测而转化成显示设备上的光标移动，操作者需要在特定位置的操作面上进行操作，在需要操作者离席讲解时尤为不便。
空鼠设备的发明让使用者不再局限于某一个平面上使用鼠标，其利用陀螺仪原理设计，使用者可以手握使用鼠标，内部的六轴或九轴陀螺仪及G-SENSOR感应手势的变化、计算空鼠设备的空间轨迹，而实现鼠标的功能，通过在空中移动鼠标，控制到屏幕上的光标做上下左右移动。但是，传统的空鼠设备无法实现绝对定位，体验性差。
目前，在汇报、教学过程中，讲解人员越来越多的使用激光笔配合讲解内容进行指示，激光笔会投映一个光点或一条光线指示屏幕上显示的内容。由于显示屏前面板一般有一层玻璃材质覆盖，该玻璃材质会对光线包括激光进行反射，导致使用激光笔照射显示屏时基本看不到激光点，因此无法使用激光笔等进行辅助演示。
发明内容
为了解决上述空鼠设备无法实现绝对定位的技术问题，本发明实施例提供了一种指向型设备的定位装置。本发明实施例提出的技术方案如下。
一种指向型设备的定位装置，包括智能电子设备、多个接收器模块和指向型设备；
其中，所述指向型设备包括发射器模块和指向状态检测模块，所述发射器模块用于发射信号，所述指向状态检测模块用于检测所述指向型设备的指向状态数据；
所述多个接收器模块设置在所述智能电子设备上，用于接收发射器模块发射的信号；
所述智能电子设备分别与所述多个接收器模块和所述指向型设备进行信号连接，所述智能电子设备根据所述指向状态检测模块检测到的指向状态数据和所述接收器模块接收所述发射器模块发射的信号的情况确定所述指向型设备朝向所述智能电子设备的指向位置，并在智能电子设备上进行显示。
进一步地，所述智能电子设备根据所述指向状态检测模块检测到的指向状态数据计算所述指向型设备的指向状态，根据所述接收器模块接收所述发射器模块发射的信号的情况计算所述指向型设备相对于所述智能电子设备的空间位置，并根据所述指向型设备的指向状态和所述空间位置确定所述指向型设备朝向所述智能电子设备的指向位置。
进一步地，所述智能电子设备根据所述发射器模块发射的信号传输到接收到所述信号的接收器模块的传输时间，计算所述指向型设备相对于智能电子设备的空间位置。
进一步地，所述多个接收器模块至少设置在所述智能电子设备的两个不同侧边上，并且至少有三个接收器模块位于不同侧边且不在一条直线上。
进一步地，所述智能电子设备包括数据处理单元、第一通信模块和显示单元；
其中，所述智能电子设备通过所述第一通信模块分别与所述多个接收器模块 和所述指向型设备进行信号连接，所述第一通信模块用于接收所述多个接收器模块和所述指向型设备发送的信号和数据；
所述智能电子设备通过所述数据处理单元计算所述指向型设备的指向状态以及所述指向型设备相对于所述智能电子设备的空间位置，并根据所述指向型设备的指向状态和所述空间位置确定所述指向型设备朝向所述智能电子设备的指向位置；
所述显示单元用于显示指向型设备的指向位置。
进一步地，所述指向状态检测模块为方向传感器。
进一步地，所述指向状态数据包括指向型设备的俯仰角和指向型设备的偏航角。
进一步地，所述指向型设备为智能笔。
进一步地，所述接收器模块为红外线接收器模块，发射器模块为红外线发射器模块；或者，所述接收器模块为超声波接收器模块，所述发射器模块为超声波发射器模块。
进一步地，所述指向型设备还包括控制模块、触发设备以及第二通信模块；
所述指向型设备通过所述第二通信模块与所述智能电子设备信号连接；
所述触发设备用于发出触发所述发射器模块发射信号的控制信号；
所述控制模块将所述触发设备触发所述发射器模块的触发时间，通过第二通信模块发送给智能电子设备。
本发明实施例的有益效果：本发明实施例提出的指向型设备的定位装置通过指向型设备的指向状态和指向型设备相对于智能电子设备的空间位置来确定指向型设备朝向所述智能电子设备的指向位置，实现指向型设备相对于智能电子设备的绝对定位，可应用在智能电子设备、指向型设备等产品领域。
附图说明
图1为本发明实施例提出的指向型设备的定位装置的结构示意图；
图2为本发明实施例提出的指向型设备的定位装置的使用状态示意图；
图3为本发明实施例提出的指向型设备的方向示意图；
图4是本发明实施例提出的指向型设备的定位装置的定位示意图；
图5是本发明实施例提出的指向型设备的定位装置的优选实施例的结构示意图。
具体实施方式
为使本发明的目的、技术方案和优点更加清楚明白，以下结合具体实施例，并参照附图，对本发明进一步详细说明。但本领域技术人员知晓，本发明并不局限于附图和以下实施例。
实施例1：
本发明实施例提出的指向型设备的定位装置如图1和图2所示，包括智能电子设备1、多个红外线接收器模块和指向型设备5。
所述智能电子设备1包括数据处理单元12、第一通信模块11和显示单元13，所述第一通信模块11用于接收多个红外线接收器模块和指向型设备5发送的信号，所述数据处理单元12对第一通信模块11接收的信号进行处理，以得到指向型设备5的空间位置和指向状态，从而确定指向型设备5的指向位置，所述显示单元13用于显示指向型设备5的指向位置。所述智能电子设备1可以为智能平板、智能显示屏等可以和指向型设备5配合使用的电子设备。
所述多个红外线接收器模块安置在智能电子设备1的至少两个侧边上，并且其中至少有三个红外线接收器模块不在一条直线上，当红外线接收器模块被安置好后，每个红外线接收器模块被安置的相对位置即为已知。图2中示出了红外线接收器模块最少为三个的情形，三个红外线接收器模块2、3、4分别安置在智能电子设备1的上侧边、左侧边和右侧边，并且三个红外线接收器2、3、4不在一 条直线上。优选地，三个红外线接收器模块2、3、4分别安置在智能电子设备1的上侧边的中间位置、左侧边的中间位置和右侧边的中间位置。
所述指向型设备5包括方向传感器52、红外线发射器模块53、控制模块54、触发设备55以及第二通信模块51。
其中，控制模块54可以设置在指向型设备5的壳体内部，方向传感器52和第二通信模块51设置在指向型设备5的壳体内部或壳体表面，所述红外线发射器模块53一般设置在指向型设备5壳体表面并位于指向型设备5的前端。
这里的指向型设备5可以为具有指向功能的智能笔，并且也可以为具有指向和/或触控和/或书写等功能的智能笔。
指向型设备5通过所述第二通信模块51向智能电子设备1发送数据或信号。
所述控制模块54接收指向型设备5的触发设备55发出的控制信号，并通过第二通信模块51发送该控制信号和数据给智能电子设备1。该触发设备55包括触发红外线发射器模块53发射红外线信号的按键，当该按键被按下，该按键发出触发红外线发射器模块53的控制信号，红外线发射器模块53根据该控制信号发射红外线信号，同时所述控制模块54接收到该触发时间，通过第二通信模块51将触发时间一同发送给智能电子设备1的第一通信模块11，表明指向型设备5定位操作开始。
所述方向传感器52用于检测指向型设备5的指向状态，方向传感器52固定在指向型设备5上，所述方向传感器52相对指向型设备5的指示方向位置是确定并固定的，因此，可以通过方向传感器52确定指向型设备5的指示方向。所述方向传感器52包含pitch、yaw、roll数据，如图3所示，其中pitch表示指向型设备围绕x轴旋转，可称为指向型设备的俯仰角；yaw表示指向型设备围绕y轴旋转，可称为指向型设备的偏航角；roll表示指向型设备围绕z轴旋转，可称为指向型设备的翻滚角，在本实施例中可以不考虑roll，因此可以不需要roll数据支持。当指向型设备5发生运动时，所述方向传感器52检测到的数据会通 过第二通信模块51同步发送给智能电子设备1的第一通信模块11，智能电子设备1的数据处理单元12获取到这些数据后通过计算可得出指向型设备5朝向智能电子设备1的指向位置。
所述红外线发射器模块53与红外线接收器模块配合使用，红外线接收器模块接收红外线发射器模块53发射的红外线信号。
所述红外线发射器模块53在触发设备55的控制下发射红外线信号，智能电子设备1上的三个红外线接收器模块2、3、4分别接收指向型设备5的所述红外线发射器模块53发送的红外线信号，第一通信模块11获取三个红外线接收器模块2、3、4分别接收到指向型设备5的所述红外线发射器模块53发射的红外线信号的时间，数据处理单元12根据该触发时间和三个红外线接收器模块2、3、4分别接收到指向型设备5的所述红外线发射器模块53发射的红外线信号的时间，可以得到红外线发射器模块53发射的红外线信号从红外线发射器模块53到三个红外线接收器模块2、3、4的传输时间，根据该传输时间可计算出红外线发射器模块53相对于三个红外线接收器模块2、3、4的距离，并由此计算出指向型设备5相对于智能电子设备1的空间位置。下面结合图2和图4对空间位置的计算方法进行示例性描述。
三个红外线接收器模块2、3、4安置在智能电子设备1上的位置分别为A、B、C，因此AB、AC、BC的长度为已知值，∠BAC的角度为已知值；
红外线发射器模块53在指向型设备5上的位置为D，根据传输时间可计算出红外线发射器模块53相对于三个红外线接收器模块2、3、4的距离，因此AD、BD、CD的长度确定，∠ABD为已知角度；
O为D在智能电子设备1平面的垂直投影，则OD与智能电子设备1平面垂直，垂直于智能电子设备1平面上的所有直线垂直；
E为O到AB的垂点，F为O到AC的垂点，G为O到BC的垂点，因此OE垂直于AB，OF垂直于AC，OG垂直于BC；OE为DE在智能电子设备1平面的射影，OF 为DF在智能电子设备1平面的射影，OG为DG在智能电子设备1平面的射影；根据“在平面内的一条直线，如果和穿过这个平面的一条斜线在这个平面内的射影垂直，那么它也和这条斜线垂直”可知，DE垂直于AB，DF垂直于AC，DG垂直于BC；
由已知角∠ABD和已知长度BD可计算出BE＝BD*COS∠ABD，DE＝BD*SIN∠ABD；
由已知角∠BAD和已知长度AD可计算出AE＝AD*COS∠BAD；
由已知角∠CAD和已知长度AD可计算出AF＝AD*COS∠CAD；
根据AE、AF以及已知角∠BAC可计算出EF、∠AEF、∠AFE；
根据∠AEF计算出∠FEO，根据∠AFE计算出∠EFO，根据∠FEO和∠EFO计算出∠EOF；
根据EF、∠FEO、∠EFO、∠EOF计算出OE、OF，则可获得O点在智能电子设备1平面上的坐标位置；
因DO垂直于智能电子设备1平面，则
Figure PCTCN2017102281-appb-000001
从而获得D点相对智能电子设备1平面的空间位置。
数据处理单元12通过所述指向型设备5的指向状态和所述指向型设备5相对于智能电子设备1的空间位置可以确定指向型设备5朝向智能电子设备1的指向位置并通过显示单元13显示，实现指向型设备5指向位置的绝对定位。
实施例2：
本实施例与实施例1不同之处在于，实施例1中接收器模块为红外线接收器模块，发射器模块53为红外线发射器模块；而本实施例中接收器模块为超声波接收器模块，发射器模块为超声波发射器模块。其他内容同实施例1，在此不再赘述。
在实施例1和实施例2中，指向型设备5的发射器模块(例如超声波发射器模块或红外线发射器模块53)的发射角度应尽可能大，以保证智能电子设备1 上安置的接收器模块均能接收到发射器模块发出的信号，或者至少保证智能电子设备1上有三个在三个不同侧边安置且不在一条直线上的接收器模块能够接收到发射器模块发出的信号。
实施例3：
本实施例在实施例1和实施例2的基础上，增加了接收器模块的数量，以适应发射器模块发射的信号不能完全覆盖住前述的三个接收器模块2、3、4的应用场景，例如近距离应用场景。
例如，可以在智能电子设备1的下侧边增加一个或多个接收器模块，优选地，该一个接收器模块安置在智能电子设备1的下侧边的中间位置，或该多个接收器模块等间隔地安置在智能电子设备1的下侧边上。
或者可以在智能电子设备1的上侧边、左侧边和/或右侧边增加一个或多个接收器模块，优选地，每侧边的所有接收器模块等间隔安置。
如图5所示，在智能电子设备1的下侧边增加了两个接收器模块6、6’，接收器模块6、6’等间隔地安置在智能电子设备1的下侧边上。在智能电子设备1的上侧边、左侧边和右侧边增加一个接收器模块，每侧边的两个接收器模块等间隔安置。
对于每侧边有多个接收器模块的情况，在计算D点相对智能电子设备1平面的空间位置时，只需选取接收到发射器模块发射的信号且不在一条直线上的三个接收器模块来计算即可。
实施例4：
本实施例与前述实施例的不同之处在于计算指向型设备5相对于智能电子设备1的空间位置的方式不同，本实施例是通过三个接收器模块接收到信号的时间差值来计算指向型设备5相对于智能电子设备1的空间位置。
仍然以图3为例对本实施例进行说明。
设A、B、C、D点坐标分别为A(xa，ya，za)、B(xb，yb，zb)、C(xc，yc，zc)、D(x，y，z)，已知发射器模块发射信号的速度为c，已知D点到A、B、C点的时间分别为ta、tb、tc，由于A、B、C点在一个平面，为简化计算，可以设za＝zb＝zc＝0，则根据发射器模块发射的信号由D点到达A、B、C点的时间差可以得到TDOA(Time Difference of Arrival，到达时间差)方程为：
Figure PCTCN2017102281-appb-000002
Figure PCTCN2017102281-appb-000003
根据上述TDOA方程可得出D点在智能电子设备1显示平面上的投影O点的坐标(x，y)，再由下述公式
Figure PCTCN2017102281-appb-000004
可得出D点坐标值z，进而最终确定D点坐标值(x，y，z)。
本实施例中与前述实施例相同的内容不再赘述。
以上，对本发明的实施方式进行了说明。但是，本发明不限定于上述实施方式。凡在本发明的精神和原则之内，所做的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。

Claims (10)

  1. 一种指向型设备的定位装置，其特征在于，包括智能电子设备、多个接收器模块和指向型设备；
    其中，所述指向型设备包括发射器模块和指向状态检测模块，所述发射器模块用于发射信号，所述指向状态检测模块用于检测所述指向型设备的指向状态数据；
    所述多个接收器模块设置在所述智能电子设备上，用于接收发射器模块发射的信号；
    所述智能电子设备分别与所述多个接收器模块和所述指向型设备进行信号连接，所述智能电子设备根据所述指向状态检测模块检测到的指向状态数据和所述接收器模块接收所述发射器模块发射的信号的情况确定所述指向型设备朝向所述智能电子设备的指向位置，并在智能电子设备上进行显示。
  2. 根据权利要求1所述的定位装置，其特征在于，所述智能电子设备根据所述指向状态检测模块检测到的指向状态数据计算所述指向型设备的指向状态，根据所述接收器模块接收所述发射器模块发射的信号的情况计算所述指向型设备相对于所述智能电子设备的空间位置，并根据所述指向型设备的指向状态和所述空间位置确定所述指向型设备朝向所述智能电子设备的指向位置。
  3. 根据权利要求2所述的定位装置，其特征在于，所述智能电子设备根据所述发射器模块发射的信号传输到接收到所述信号的接收器模块的传输时间，计算所述指向型设备相对于智能电子设备的空间位置。
  4. 根据权利要求1-3中任一项所述的定位装置，其特征在于，所述多个接 收器模块至少设置在所述智能电子设备的两个不同侧边上，并且至少有三个接收器模块位于不同侧边且不在一条直线上。
  5. 根据权利要求1-3中任一项所述的定位装置，其特征在于，所述智能电子设备包括数据处理单元、第一通信模块和显示单元；
    其中，所述智能电子设备通过所述第一通信模块分别与所述多个接收器模块和所述指向型设备进行信号连接，所述第一通信模块用于接收所述多个接收器模块和所述指向型设备发送的信号和数据；
    所述智能电子设备通过所述数据处理单元计算所述指向型设备的指向状态以及所述指向型设备相对于所述智能电子设备的空间位置，并根据所述指向型设备的指向状态和所述空间位置确定所述指向型设备朝向所述智能电子设备的指向位置；
    所述显示单元用于显示指向型设备的指向位置。
  6. 根据权利要求1-3中任一项所述的定位装置，其特征在于，所述指向状态检测模块为方向传感器。
  7. 根据权利要求6所述的定位装置，其特征在于，所述指向状态数据包括指向型设备的俯仰角和指向型设备的偏航角。
  8. 根据权利要求1-3中任一项所述的定位装置，其特征在于，所述指向型设备为智能笔。
  9. 根据权利要求1-3中任一项所述的定位装置，其特征在于，所述接收器模块为红外线接收器模块，发射器模块为红外线发射器模块；或者，所述接收器模块为超声波接收器模块，所述发射器模块为超声波发射器模块。
  10. 根据权利要求1-3中任一项所述的定位装置，其特征在于，所述指向型 设备还包括控制模块、触发设备以及第二通信模块；
    所述指向型设备通过所述第二通信模块与所述智能电子设备信号连接；
    所述触发设备用于发出触发所述发射器模块发射信号的控制信号；
    所述控制模块将所述触发设备触发所述发射器模块的触发时间，通过第二通信模块发送给智能电子设备。
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