CN105094377A - Cursor display method, device and system of intelligent controller - Google Patents
Cursor display method, device and system of intelligent controller Download PDFInfo
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- CN105094377A CN105094377A CN201510431221.9A CN201510431221A CN105094377A CN 105094377 A CN105094377 A CN 105094377A CN 201510431221 A CN201510431221 A CN 201510431221A CN 105094377 A CN105094377 A CN 105094377A
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Abstract
The application discloses a cursor display method, device and system of an intelligent controller. The concrete embodiment of the cursor display method comprises following steps: acquiring spatial shifting information of the intelligent controller; determining first distance between the intelligent controller and a display screen used for displaying a cursor of the intelligent controller; and adjusting the display position of the cursor based on spatial shifting information and first distance. By adoption of the embodiment, the cursor display method, device and system of the intelligent controller have following beneficial effects: based on distance between the intelligent controller and the display screen, sensitivity of the intelligent controller is adjusted in order to improve accuracy of the display position of the cursor.
Description
Technical field
The application relates to field of terminal technology, is specifically related to intelligent controller technical field, particularly relates to the cursor display method of intelligent controller, equipment and system.
Background technology
Along with the development of terminal technology, the various smart machine that can realize the display of large scale picture, such as Intelligent set top box, intelligent television and intelligent projector equipment etc., owing to can better view and admire experience for user provides, be therefore more and more subject to liking of people.In order to operate these large-sized pictures easily, intelligent controller (SmartController) arises at the historic moment.User is by rocking the intelligent controller for controlling smart machine aloft, and such as air mouse, just can move the cursor be presented in the display screen of smart machine.
In the prior art, according to the skyborne deflection angle of intelligent controller, the distance that cursor is moved within display screen can be determined.Such as, Fig. 1 shows an application scenarios schematic diagram of intelligent controller in prior art.As shown in Figure 1, it illustrates a vertical view of intelligent television 101, the display screen of this intelligent television 101 is positioned at XY plane.When intelligent controller 102 rotates clockwise θ angle around Y-axis, display position of cursor always transfers to C point from B point.This is due in the prior art, and the sensitivity of intelligent controller 102 is changeless, therefore the distance X that always jointly determined by sensitivity and deflection angle theta of cursor displacement.
But as can be seen from Figure 1, when intelligent controller 102 is positioned at A1 point, the distance between itself and intelligent television 101 is D1.Now, if intelligent controller 102 rotates clockwise θ angle around Y-axis, in fact the intersection point of its Direction Line and intelligent television 101 has transferred to C1 point from B point, and displacement is X1.And when intelligent controller 102 is positioned at A2 point, the distance between itself and intelligent television 101 is D2.Now, if intelligent controller 102 rotates clockwise θ angle around Y-axis equally, then in fact the intersection point of its Direction Line and intelligent television 101 can transfer to C2 point from B point, and displacement is X2, and X2 ≠ X1.As can be seen here, the cursor displacement obtained by deflection angle and the fixing sensitivity of intelligent controller, is likely inconsistent with the distance of cursor actual needs movement, cursor therefore can be caused to show nonsynchronous problem.
Summary of the invention
This application provides a kind of cursor display method of intelligent controller, equipment and system.
First aspect, this application provides a kind of cursor display method of intelligent controller, the method comprises: the spatial deviation information obtaining described intelligent controller; Determine the first distance between described intelligent controller and display screen, described display screen is for showing the cursor of described intelligent controller; And based on described spatial deviation information and described first distance, adjust the display position of described cursor.
In some embodiments, describedly determine that the first distance between described intelligent controller and display screen comprises: detect the second distance between described intelligent controller and the first reference position; Detect the direction vector of described intelligent controller relative to the second reference position; And based on described second distance and described direction vector, determine described first distance; Wherein, described first reference position, the second reference position and the position of described display screen in predetermined space coordinate system are known.
In some embodiments, based on described second distance and described direction vector, determine that described first distance comprises: determine candidate point set, the distance in described candidate point set between each candidate point and described first reference position is described second distance; Based on described direction vector, from described candidate point set, determine the location point of a candidate point as described intelligent controller; And based on the volume coordinate of described location point, determine described first distance.
In some embodiments, determine that the first distance between described intelligent controller and display screen comprises: determine the initial distance between described intelligent controller and described display screen; Based on described initial distance and described spatial deviation information, determine described first distance.
In some embodiments, based on described spatial deviation information and described first distance, the display position adjusting described cursor comprises: based on described first distance, determine the movement rule of described cursor; According to described spatial deviation information and described movement rule, adjust the display position of described cursor.
In some embodiments, based on described first distance, determine that the movement rule of described cursor comprises: the displacement determining described cursor according to following formula:
(ΔX，ΔY)＝kd(S
x，S
y),
Wherein, Δ X and Δ Y is respectively the displacement of described cursor along X-axis and Y-axis, S
xand S
ybe respectively the displacement of described intelligent controller along X-axis and Y-axis, d is described first distance, k be greater than 0 constant.
In some embodiments, obtain the spatial deviation information of described intelligent controller, comprising: the acceleration information and the angular velocity information that obtain described intelligent controller; Based on described angular velocity information, determine the acceleration error caused by gravity; By acceleration information described in described acceleration error correction; And based on revised acceleration information, determine the spatial deviation information of described intelligent controller.
In some embodiments, described method also comprises: carry out error correction by Kalman filter to described acceleration information and/or described angular velocity information.
In some embodiments, described method also comprises: detect described first distance whether in the threshold range preset; If so, then perform described based on described spatial deviation information and described first distance, adjust the display position of described cursor
Second aspect, this application provides a kind of cursor display device of intelligent controller, this equipment comprises: processor, communications component and display module, wherein: communications component, for obtaining the spatial deviation information of described intelligent controller; Processor, for determining the first distance between described intelligent controller and display screen, described display screen is for showing the cursor of described intelligent controller; And display module, for based on described spatial deviation information and described first distance, adjust the display position of described cursor.
In some embodiments, described equipment also comprises: ranging component, and for detecting the second distance between described intelligent controller and the first reference position, described ranging component is positioned at described first reference position; Direction finding assembly, for detecting the direction vector of described intelligent controller relative to the second reference position, described direction finding assembly is positioned at described second reference position; Described processor is further used for, based on described second distance and described direction vector, determining described first distance; Wherein, described first reference position, the second reference position and the position of described display screen in predetermined space coordinate system are known.
In some embodiments, described processor is further used for: determine candidate point set, and the distance in described candidate point set between each candidate point and described first reference position is described second distance; Based on described direction vector, from described candidate point set, determine the location point of a candidate point as described intelligent controller; And based on the volume coordinate of described location point, determine described first distance.
In some embodiments, described processor is further used for determining the initial distance between described intelligent controller and described display screen; Based on described initial distance and described spatial deviation information, determine described first distance.
In some embodiments, described processor is further used for, and based on described first distance, determines the movement rule of described cursor; Described display module is further used for, and according to described spatial deviation information and described movement rule, adjusts the display position of described cursor.
In some embodiments, described processor is further used for the displacement determining described cursor according to following formula:
(ΔX，ΔY)＝kd(S
x，S
y),
Wherein, Δ X and Δ Y is respectively the displacement of described cursor along X-axis and Y-axis, S
xand S
ybe respectively the displacement of described intelligent controller along X-axis and Y-axis, d is described first distance, k be greater than 0 constant.
In some embodiments, described communications component is further used for, and obtains acceleration information and the angular velocity information of described intelligent controller; Described processor is further used for, and based on described angular velocity information, determines the acceleration error caused by gravity; By acceleration information described in described acceleration error correction; And based on revised acceleration information, determine the spatial deviation information of described intelligent controller.
In some embodiments, described processor is further used for carrying out error correction by Kalman filter to described acceleration information and/or described angular velocity information.
In some embodiments, described processor is also for detecting described first distance whether in the threshold range preset; If so, then notify that described display module is based on described spatial deviation information and described first distance, adjusts the display position of described cursor.
The third aspect, this application provides a kind of cursor display system of intelligent controller, this system comprises: the cursor display device of the intelligent controller in intelligent controller, display screen and above-mentioned second aspect, wherein: described intelligent controller for obtaining the spatial deviation information of self, and sends to described cursor display device; Described display screen is for showing the cursor of described intelligent controller.
The cursor display method of the intelligent controller that the application provides, equipment and system, first the spatial deviation information of intelligent controller can be obtained, then the first distance between intelligent controller and display screen is determined, finally determine the relation between the offset distance of cursor and spatial deviation information according to the first distance, and adjust the display position of cursor accordingly.The application can based on the distance between intelligent controller and display screen, to the offset relationship between cursor and intelligent controller, the namely sensitivity of intelligent controller adjusts, thus guarantee that cursor is shown in the Direction Line of intelligent controller and the intersection point of display screen all the time, avoid cursor and show nonsynchronous problem.
Accompanying drawing explanation
By reading the detailed description done non-limiting example done with reference to the following drawings, the other features, objects and advantages of the application will become more obvious:
Fig. 1 is an application scenarios schematic diagram of intelligent controller in prior art;
Fig. 2 is the process flow diagram of an embodiment of the cursor display method of the application's intelligent controller;
Fig. 3 is the process flow diagram of an embodiment of the first distance between the application's determination intelligent controller and display screen;
Fig. 4 be the application based on spatial deviation information and the first distance, the process flow diagram of an embodiment of the display position of adjustment cursor;
Fig. 5 is the process flow diagram that the application obtains an embodiment of the spatial deviation information of intelligent controller;
Fig. 6 is the coordinate system change schematic diagram caused by the upset of space of the application's intelligent controller;
Fig. 7 is the structural representation of an embodiment of the cursor display device of the application's intelligent controller;
Fig. 8 is the structural representation of an embodiment of the cursor display system of the application's intelligent controller.
Embodiment
Below in conjunction with drawings and Examples, the application is described in further detail.Be understandable that, specific embodiment described herein is only for explaining related invention, but not the restriction to this invention.It also should be noted that, for convenience of description, in accompanying drawing, illustrate only the part relevant to Invention.
It should be noted that, when not conflicting, the embodiment in the application and the feature in embodiment can combine mutually.Below with reference to the accompanying drawings and describe the application in detail in conjunction with the embodiments.
Please refer to Fig. 2, it illustrates the flow process 200 of an embodiment of the cursor display method of intelligent controller.The present embodiment is mainly applied to the cursor display device being configured with intelligent controller in this way and illustrates, this equipment can include but not limited to intelligent television, Intelligent set top box and smart projector etc.The cursor display method of described intelligent controller, comprises the following steps:
As shown in Figure 2, in step 201, the spatial deviation information of intelligent controller is obtained.
In the present embodiment, intelligent controller and cursor display device can carry out data communication by the mode of various wireless connections.Therefore, cursor display device can receive its spatial deviation information from intelligent controller one end.Alternatively, spatial deviation information can comprise angular velocity information or acceleration information.When being configured with gyroscope in intelligent controller, the angular velocity information of intelligent controller can be obtained.When being configured with acceleration transducer in intelligent controller, the acceleration information of intelligent controller can be obtained.Radio connection in the present embodiment includes but not limited to the radio connection that 2.4G wireless connections (2.4GhzRFtransceiver/receivermodule), WiFi connection, bluetooth connection, WiMAX connection, Zigbee connection, UWB (ultrawideband) connection or other future will develop.
Then, in step 202., determine the first distance between intelligent controller and display screen, display screen is for showing the cursor of intelligent controller.
In the present embodiment, the cursor of intelligent controller can be presented in a display screen.When determining this cursor display packing within display screen, can first utilize various distance-finding method, determining the first distance between intelligent controller and display screen.Particularly, the position of display screen itself can be represented with the planimetric position at display screen place, and represent the position of whole intelligent controller with certain any position on intelligent controller.Like this, determine the first distance between intelligent controller and display screen, just can change the distance determined between some points and a plane into.Alternatively, when determining the distance a little and between face, can be that benchmark builds space coordinates with plane, then determining this position coordinates in space coordinates, so just can obtain distance therebetween.Such as, when a plane is in XY plane, volume coordinate is the point of (x, y, z) is z apart from the distance of this plane.
Finally, in step 203, based on spatial deviation information and the first distance, the display position of adjustment cursor.
In the present embodiment, when get in above-mentioned steps 201 intelligent controller spatial deviation information and step 202 determine first distance in after, just can change the display position of current cursor according to the two.Particularly, first can determine the offset relationship between cursor and intelligent controller according to the first distance, also just determine the sensitivity of intelligent controller.Then according to offset relationship, determine and the cursor offset distance corresponding to the spatial deviation information of intelligent controller.Last based on cursor offset distance, adjustment cursor display position on the display screen.
In an optional implementation of the present embodiment, described method also comprises: detect the first distance whether in the threshold range preset; If so, then perform based on spatial deviation information and the first distance, the display position of adjustment cursor.In the present embodiment, the span of the first distance can be pre-set.Before the display position based on spatial deviation information and the first distance adjustment cursor, first can judge that the first distance of current acquisition is whether in the threshold range preset.If the first distance is in this threshold range, illustrate that intelligent controller distance display screen is not very near, neither be far, intelligent controller is positioned at effective manipulation scope.Now need the sensitivity according to the first distance adjustment intelligent controller, namely can based on the first Distance geometry spatial deviation information, the display position of adjustment cursor.If the first distance exceeds this threshold range, illustrate that intelligent controller distance display screen is very near or far, now do not need the sensitivity adjusting intelligent controller.
The cursor display method of the intelligent controller that the present embodiment provides, first the spatial deviation information of intelligent controller can be obtained, then the first distance between intelligent controller and display screen is determined, finally determine the relation between the offset distance of cursor and spatial deviation information according to the first distance, and adjust the display position of cursor accordingly.The application can based on the distance between intelligent controller and display screen, to the offset relationship between cursor and intelligent controller, the namely sensitivity of intelligent controller adjusts, thus guarantee that cursor is shown in the Direction Line of intelligent controller and the intersection point of display screen all the time, avoid cursor and show nonsynchronous problem.
With further reference to Fig. 3, it illustrates the flow process 300 of an embodiment of the first distance determined between intelligent controller and display screen.
As shown in Figure 3, in step 301, the second distance between intelligent controller and the first reference position is detected.
In the present embodiment, the method for measurement distance between two points of the prior art can be utilized, detect the second distance between intelligent controller and the first reference position.Particularly, the ranging component in cursor display device can be arranged at the first reference position, then measure the distance between itself and intelligent controller, just can obtain second distance.Ranging component in the present embodiment includes but not limited to infrared range-measurement system, laser range finder and ultrasonic range finder etc.
Then, in step 302, the direction vector of intelligent controller relative to the second reference position is detected.
In the present embodiment, when detecting the direction vector of intelligent controller relative to the second reference position, direction finding assembly in cursor display device can be arranged at the second reference position, then measure intelligent controller relative to the direction vector of direction finding assembly, just can obtain required direction vector.Alternatively, direction finding assembly can be imaging device of the prior art, such as, make a video recording first-class.This imaging device can be analyzed the image obtained, and according to intelligent controller position in the images, determines the direction vector of intelligence control device relative to imaging device.Particularly, the image that imaging device obtains, can be regarded as the mapping of all objects on imaging plane in its view frustums, can be mapped as a point by all objects in a sight line.Therefore by object analysis position in the picture, the direction vector of this object relative to imaging device can be obtained.
Finally, in step 303, based on second distance and direction vector, the first distance is determined.
In the present embodiment, after detect second distance and direction vector respectively in above-mentioned steps 301 and 302, data analysis can be carried out to the two further, thus obtain the first distance.Particularly, space coordinates can be built in advance, such as, can with the center of display screen for true origin, display screen place plane is XY plane, builds space coordinates.Because the first reference position, the position of the second reference position in these space coordinates are all known, therefore comprehensively can analyze second distance and direction vector based on the first reference position and the second reference position, just can obtain the volume coordinate of intelligent controller.Then, can further by this volume coordinate, obtain the distance between the known display screen in itself and position, i.e. the first distance.
In an optional implementation of the present embodiment, based on second distance and direction vector, determine that the first distance comprises: determine candidate point set, the distance in candidate point set between each candidate point and the first reference position is second distance; Based on direction vector, from candidate point set, determine the location point of a candidate point as intelligent controller; And the volume coordinate of position-based point, determine described first distance.Particularly, after determining the second distance between intelligent controller and the first reference position, can with the first reference position for the centre of sphere, second distance is that radius builds a virtual sphere.Because the distance between intelligent controller and the first reference position is fixing, therefore intelligent controller be probably positioned on this sphere certain a bit.That is, the candidate point set that a little can together constitute on this sphere, in this candidate point set, each point may represent the position of intelligent controller.Further, according to the direction vector of intelligent controller relative to the second reference position, the location point of a candidate point as intelligent controller can be determined from above-mentioned candidate point set.Particularly, intelligent controller, relative to the direction vector of the second reference position, can represent with from the second reference position to the direction vector of the line of intelligent controller, and determine the position of intelligent controller accordingly.Such as, with the second reference position for end points, the virtual ray of intelligent controller can be constructed by.The intersection point of this virtual ray and above-mentioned virtual spherical surface just can be considered to the location point of intelligent controller.Finally, according to this location point volume coordinate in a coordinate system, the first distance between itself and display screen just can be determined.
In an optional implementation of the present embodiment, determine that the first distance between intelligent controller and display screen comprises: determine the initial distance between intelligent controller and display screen; Based on initial distance and spatial deviation information, determine the first distance.Particularly, first can utilize the method described in above-mentioned steps 301 to 303, determine the initial distance between intelligent controller and display screen.After intelligent controller deflects or be mobile, the offset information of intelligent controller can be obtained.This offset information can comprise the displacement of intelligent controller on each solid axes and direction.Like this, be benchmark with initial distance, be superimposed with this and offset the distance change caused, just can obtain the first distance.Such as, for the intelligent controller using display screen as XY face, the z in its volume coordinate (x, y, z) just represents the first distance between itself and display screen.If having recorded above-mentioned initial distance is d0, then after intelligent controller moves Δ Z along Z axis, the first distance is then (d0+ Δ Z).Due in the present embodiment, only need first to detect an initial distance, just according to the skew of intelligent controller, the first distance after offseting can be determined.And do not need each method all performed in above-mentioned steps 301 to 303, therefore improve the detection efficiency of the first distance.
As can be seen from Figure 3, the present embodiment has described in further detail the example implementations of the first distance how determined between intelligent controller and display screen.The present embodiment can detect the second distance between intelligent controller and the first reference position respectively, and relative to the direction vector of the second reference position, and according to the two spatial relation in predetermined space coordinate system, determine the first distance, thus the distance between intelligent controller and display screen can be obtained accurately and rapidly.
With further reference to Fig. 4, it illustrates based on spatial deviation information and the first distance, the flow process 400 of an embodiment of the display position of adjustment cursor.
As shown in Figure 4, in step 401, based on the first distance, the movement rule of cursor is determined.
In the present embodiment, the movement rule of cursor can be the corresponding relation between the displacement of cursor and the displacement of intelligent controller.As can be seen from the application scenarios shown in Fig. 1, when the distance between intelligent controller from display screen is different, even if intelligent controller deflects same angle, the distance of its direction line movement on the display screen is also different.As can be seen from Figure 1, when intelligent controller deflects same angle, intelligent controller distance display screen is far away, and the distance of its direction line movement is on the display screen longer.Therefore, in order to ensure the synchronism of cursor display, when determining the movement rule of cursor, the first distance can be determined benchmark as one.
In an optional implementation of the present embodiment, based on the first distance, determine that the movement rule of cursor comprises:
The displacement of cursor is determined according to following formula (1):
(ΔX，ΔY)＝kd(S
x，S
y)(1)
Wherein, Δ X and Δ Y is respectively the displacement of cursor along X-axis and Y-axis, S
xand S
ybe respectively the displacement of intelligent controller along X-axis and Y-axis, d is the first distance, k be greater than 0 constant.
As can be seen from above-mentioned formula (1), the displacement of cursor is directly proportional to the displacement of intelligent controller, and this proportionate relationship along with the spacing of intelligent controller and display screen increase and increase.
Then, in step 402, according to spatial deviation information and movement rule, the display position of adjustment cursor.
When after the movement rule determining cursor in above-mentioned steps 401, can according to the spatial deviation information of intelligent controller and movement rule, adjustment cursor display position on the display screen.Spatial deviation information can comprise the moving direction of intelligent controller in each coordinate axis and displacement.Be example using display screen as the volume coordinate in XY face, spatial deviation information can comprise the displacement of intelligent controller in X-axis, Y-axis and Z axis three coordinate axis and direction.The actual displacement in X-axis and Y-axis according to above-mentioned movement rule and intelligent controller, just can calculate cursor displacement along X-axis and Y-axis in display screen, and adjust the display position of cursor accordingly.
As can be seen from Figure 4, how the present embodiment describes in further detail based on the first Distance geometry spatial deviation information, the example implementations of the display position of adjustment cursor.First the present embodiment can determine the movement rule of cursor according to the first distance, then according to movement rule, the offset information of intelligent controller is mapped as the displacement of cursor, finally based on the display position of displacement adjustment cursor, improve the accuracy of display position of cursor.
With further reference to Fig. 5, it illustrates the flow process 500 of an embodiment of the spatial deviation information obtaining intelligent controller.
As shown in Figure 5, in step 501, acceleration information and the angular velocity information of intelligent controller is obtained.
Intelligent controller can be configured with acceleration transducer and gyroscope usually, is respectively used to the acceleration information and the angular velocity information that detect intelligent controller.Intelligent controller, after obtaining these information, by various wireless connected mode, can be transferred to the cursor display device of intelligent controller.
In an optional implementation of the present embodiment, by Kalman filter, error correction is carried out to acceleration information and/or angular velocity information.Produce error because acceleration transducer is very easily subject to the interference of external signal, and the angular speed measured by gyroscope can be obtained by integration, but obvious error can be produced in the process of long-time integration.Therefore, the acceleration information that can record the two and angular velocity information carry out error correction.Particularly, Kalman filter can be used to carry out error correction.Kalman filter can be described by a series of recurrence mathematical formulae, and these recurrence mathematical formulaes provide a kind of efficient computable method to estimate the state of intelligent controller in motion process, and make estimation square error minimum.Such as, can do low-pass filtering to angular velocity by Kalman filter, high-pass filtering is done to acceleration, thus improve the accuracy rate of acceleration information and/or angular velocity information.
Then, in step 502, based on angular velocity information, the acceleration error caused by gravity is determined.
Because acceleration transducer cannot distinguish acceleration of gravity and external force acceleration, the angular velocity that therefore can be obtained by gyroscope, determines the acceleration error caused by gravity.Particularly, the offset component of acceleration of gravity on each axle of XYZ can be calculated by following steps.
Hypothesis space absolute coordinates is OXYZ, and the ordinate transform that the space because of intelligent controller overturns the acceleration transducer XYZ axle composition caused is coordinate system OX ' Y ' Z '.This switching process can be rotated by three times and realize, and namely first OXYZ rotates γ around-Z axis
1obtain OX
1y
1z
1coordinate system; Then, OX
1y
1z
1around X
1axle rotates γ
2obtain OX
2y
2z
2coordinate system; Finally, OX
2y
2z
2around Y
2axle rotates γ 3 and obtains OX ' Y ' Z ' coordinate system.As shown in Figure 6, the rule of above-mentioned rotation is right hand rule.Like this, be converted to OX ' Y ' Z ' from coordinate system XYZ axle and can pass through following formula (2) expression:
So, the component of acceleration of gravity on acceleration transducer XYZ axle, the acceleration error (g namely caused by gravity
x, g
y, g
z) can be designated as:
Then, in step 503, by acceleration error correction acceleration information.
After determine the acceleration error caused by gravity in above-mentioned steps 502, can revise the acceleration information that acceleration transducer detects further.Particularly, suppose that acceleration transducer is a (t) at the acceleration that t exports, deduct the acceleration error (g calculated in step 502 with a (t)
x, g
y, g
z), just can obtain revised acceleration a (t) '.
Finally, in step 504, based on revised acceleration information, the spatial deviation information of intelligent controller is determined.
After obtain revised acceleration a (t) ' in above-mentioned steps 503, the speed v (t) of t can be calculated:
Like this, displacement s (t) of t can be calculated by following formula:
Wherein, v (t
0), s (t
0) be respectively t
0the speed in moment, displacement.Due in actual test process, the acceleration information that acceleration transducer exports is discrete data, so above-mentioned two integral formulas (4) and (5) can be launched according to integral principle, thus s (n) can be calculated by multiplexing s (n-1), to save time and space.
Like this, aforementioned formula (1) can be expressed as:
(ΔX，ΔY)＝kd(S(n)
x，S(n)
y)(6)
Display position of cursor (x, y) then after adjustment can be:
Wherein, (x
0, y
0) for intelligent controller offset before cursor position.
Alternatively, this point can be judged whether in display screen according to coordinate (x, y), if, then at this position display highlighting; If do not exist, then at the screen edge display highlighting the shortest apart from this position.
As can be seen from Figure 5, the present embodiment has described in further detail the example implementations of the spatial deviation information how obtaining intelligent controller.The present embodiment can utilize angular velocity information to remove the error produced because of acceleration of gravity in acceleration information, thus can obtain spatial deviation information more accurately.
Although it should be noted that the operation describing the inventive method in the accompanying drawings with particular order, this is not that requirement or hint must perform these operations according to this particular order, or must perform the result that all shown operation could realize expectation.On the contrary, some step described in process flow diagram can change execution sequence.Additionally or alternatively, some step can be omitted, multiple step be merged into a step and perform, and/or a step is decomposed into multiple step and perform.
With further reference to Fig. 7, it illustrates the structural representation of an embodiment of the cursor display device of intelligent controller.
As shown in Figure 7, the cursor display device that the present embodiment provides comprises: communications component 710, processor 720 and display module 730.
Communications component 710, for obtaining the spatial deviation information of intelligent controller.
Processor 720, for determining the first distance between intelligent controller and display screen, display screen is for showing the cursor of intelligent controller.And
Display module 730, for based on spatial deviation information and the first distance, adjusts the display position of cursor.
In an optional implementation of the present embodiment, cursor display device also comprises: ranging component, and for detecting the second distance between intelligent controller and the first reference position, ranging component is positioned at the first reference position; Direction finding assembly, for detecting the direction vector of intelligent controller relative to the second reference position, direction finding assembly is positioned at described second reference position; Processor 720 is further used for, based on second distance and direction vector, determining the first distance; Wherein, the first reference position, the second reference position and the position of display screen in predetermined space coordinate system are known.
In an optional implementation of the present embodiment, processor 720 is further used for: determine candidate point set, and the distance in candidate point set between each candidate point and the first reference position is second distance; Based on direction vector, from candidate point set, determine the location point of a candidate point as intelligent controller; And the volume coordinate of position-based point, determine the first distance.
In an optional implementation of the present embodiment, processor 720 is further used for the initial distance determined between intelligent controller and display screen; Based on initial distance and spatial deviation information, determine the first distance.
In an optional implementation of the present embodiment, processor 720 is further used for, and based on the first distance, determines the movement rule of cursor; Display module 730 is further used for, according to spatial deviation information and movement rule, and the display position of adjustment cursor.
In an optional implementation of the present embodiment, processor 720 is further used for the displacement according to following formula determination cursor:
(ΔX，ΔY)＝kd(Sx，Sy),
Wherein, Δ X and Δ Y is respectively the displacement of cursor along X-axis and Y-axis, Sx and Sy is respectively the displacement of intelligent controller along X-axis and Y-axis, and d is the first distance, k be greater than 0 constant.
In an optional implementation of the present embodiment, communications component 710 is further used for, and obtains acceleration information and the angular velocity information of described intelligent controller; Processor 720 is further used for, and based on angular velocity information, determines the acceleration error caused by gravity; By acceleration error correction acceleration information; And based on revised acceleration information, determine the spatial deviation information of intelligent controller.
In an optional implementation of the present embodiment, processor 720 is further used for carrying out error correction by Kalman filter to acceleration information and/or angular velocity information.
In an optional implementation of the present embodiment, processor 720 is also for detecting the first distance whether in the threshold range preset; If so, then notify that display module is based on spatial deviation information and the first distance, the display position of adjustment cursor.
Should be appreciated that all modules recorded in Fig. 7 are corresponding with each step in the method described with reference to figure 2-5.Thus, above for the module that operation and the feature of method description are equally applicable to the equipment in Fig. 5 and wherein comprise, do not repeat them here.
The cursor display device of the intelligent controller that the application provides, first communications component can obtain the spatial deviation information of intelligent controller, then the first distance between processor determination intelligent controller and display screen, last display module determines the relation between the offset distance of cursor and spatial deviation information according to the first distance, and adjusts the display position of cursor accordingly.The application can based on the distance between intelligent controller and display screen, to the offset relationship between cursor and intelligent controller, the namely sensitivity of intelligent controller adjusts, thus guarantee that cursor is shown in the Direction Line of intelligent controller and the intersection point of display screen all the time, avoid cursor and show nonsynchronous problem.
With further reference to Fig. 8, it illustrates the structural representation of a kind of embodiment of the cursor display system of intelligent controller.
Particularly, as shown in Figure 8, this system 800 comprises: the cursor display device 830 of the intelligent controller described in intelligent controller 810, display screen 820 and Fig. 7.
Intelligent controller 810, for obtaining the spatial deviation information of self, and sends to cursor display device 830.
Display screen 820, for showing the cursor of intelligent controller 810.
The cursor display device 830 of intelligent controller, for obtaining the spatial deviation information that intelligent controller 810 sends; Determine the first distance between intelligent controller 810 and display screen 820; And based on spatial deviation information and the first distance, the display position of cursor on display screen 820 of adjustment intelligent controller 810.
More than describe and be only the preferred embodiment of the application and the explanation to institute's application technology principle.Those skilled in the art are to be understood that, invention scope involved in the application, be not limited to the technical scheme of the particular combination of above-mentioned technical characteristic, also should be encompassed in when not departing from described inventive concept, other technical scheme of being carried out combination in any by above-mentioned technical characteristic or its equivalent feature and being formed simultaneously.The technical characteristic that such as, disclosed in above-mentioned feature and the application (but being not limited to) has similar functions is replaced mutually and the technical scheme formed.
Claims (12)
1. a cursor display method for intelligent controller, is characterized in that, described method comprises:
Obtain the spatial deviation information of described intelligent controller;
Determine the first distance between described intelligent controller and display screen, described display screen is for showing the cursor of described intelligent controller; And
Based on described spatial deviation information and described first distance, adjust the display position of described cursor.
2. method according to claim 1, is characterized in that, describedly determines that the first distance between described intelligent controller and display screen comprises:
Detect the second distance between described intelligent controller and the first reference position;
Detect the direction vector of described intelligent controller relative to the second reference position;
Determine candidate point set, the distance in described candidate point set between each candidate point and described first reference position is described second distance;
Based on described direction vector, from described candidate point set, determine the location point of a candidate point as described intelligent controller; And
Based on the volume coordinate of described location point, determine described first distance;
Wherein, described first reference position, the second reference position and the position of described display screen in predetermined space coordinate system are known.
3. method according to claim 1, is characterized in that, describedly determines that the first distance between described intelligent controller and display screen comprises:
Determine the initial distance between described intelligent controller and described display screen;
Based on described initial distance and described spatial deviation information, determine described first distance.
4. method according to claim 1, is characterized in that, described based on described spatial deviation information and described first distance, the display position adjusting described cursor comprises:
The cursor displacement corresponding with described spatial deviation information is determined by following formula:
（ΔX，ΔY）=kd（S
x，S
y）,
Wherein, Δ X and Δ Y is respectively the displacement of described cursor along X-axis and Y-axis, S
xand S
ybe respectively the displacement of described intelligent controller along X-axis and Y-axis, d is described first distance, k be greater than 0 constant;
Based on described cursor displacement, adjust the display position of described cursor.
5. method according to claim 1, is characterized in that, the spatial deviation information of the described intelligent controller of described acquisition, comprising:
Obtain acceleration information and the angular velocity information of described intelligent controller;
Based on described angular velocity information, determine the acceleration error caused by gravity;
By acceleration information described in described acceleration error correction; And
Based on revised acceleration information, determine the spatial deviation information of described intelligent controller.
6. method according to claim 5, is characterized in that, described method also comprises:
By Kalman filter, error correction is carried out to described acceleration information and/or described angular velocity information.
7. the method according to any one of claim 1 to 6, is characterized in that, described method also comprises:
Detect described first distance whether in the threshold range preset;
If so, then perform described based on described spatial deviation information and described first distance, adjust the display position of described cursor
8. a cursor display device for intelligent controller, is characterized in that, described equipment comprises:
Communications component, for obtaining the spatial deviation information of described intelligent controller;
Processor, for determining the first distance between described intelligent controller and display screen, described display screen is for showing the cursor of described intelligent controller; And
Display module, for based on described spatial deviation information and described first distance, adjusts the display position of described cursor.
9. equipment according to claim 8, is characterized in that, described equipment also comprises:
Ranging component, for detecting the second distance between described intelligent controller and the first reference position, described ranging component is positioned at described first reference position;
Direction finding assembly, for detecting the direction vector of described intelligent controller relative to the second reference position, described direction finding assembly is positioned at described second reference position;
Described processor is further used for, based on described second distance and described direction vector, determining described first distance;
Wherein, described first reference position, the second reference position and the position of described display screen in predetermined space coordinate system are known.
10. equipment according to claim 8, is characterized in that,
Described processor is further used for, and determines the cursor displacement corresponding with described spatial deviation information by following formula:
（ΔX，ΔY）=kd（S
x，S
y）,
Wherein, Δ X and Δ Y is respectively the displacement of described cursor along X-axis and Y-axis, S
xand S
ybe respectively the displacement of described intelligent controller along X-axis and Y-axis, d is described first distance, k be greater than 0 constant;
Described display module is further used for, and based on described cursor displacement, adjusts the display position of described cursor.
11. equipment according to claim 8, is characterized in that,
Described communications component is further used for, and obtains acceleration information and the angular velocity information of described intelligent controller;
Described processor is further used for, and based on described angular velocity information, determines the acceleration error caused by gravity; By acceleration information described in described acceleration error correction; And based on revised acceleration information, determine the spatial deviation information of described intelligent controller.
The cursor display system of 12. 1 kinds of intelligent controllers, is characterized in that, described system comprises the cursor display device of intelligent controller, display screen and the intelligent controller described in any one of claim 8 to 11, wherein:
Described intelligent controller for obtaining the spatial deviation information of self, and sends to described cursor display device;
Described display screen is for showing the cursor of described intelligent controller.
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