Positioning interaction method, interaction device and interaction system

Abstract

The present invention provides a positioning interaction method, an interaction device, and an interaction system for realizing interaction between a positioning device and a display device. The positioning device is operated by a user and includes at least one light-emitting portion. The method includes: acquiring an image of the positioning device captured by an image acquisition device in real time; calculating spatial position information of the positioning device based on position information of the light-emitting portion in the image; sending the spatial position information to the display device to change the display content of the display device or sending feedback information to the positioning device; and using the image acquisition device to capture the active light-emitting device, thereby reducing the complexity of existing spatial positioning technology and improving calculation efficiency.

Description

Technical Field

[0001] The present invention relates to the fields of image display and image positioning, and in particular to a positioning interaction method, an interaction device and an interaction system. Background Art

[0002] At present, in order to realize real-time monitoring of the position changes of the device operated by the user in the two-dimensional or three-dimensional display content, the displayed content can be changed according to the user's movements and other actions, or the information triggered in the scene can be fed back to the user according to the scene in the display content, thereby completing the interaction between the user and the display content. The current technologies for realizing spatial positioning of the device mainly include infrared optics, laser tower positioning, etc., and these positioning devices are currently very expensive. Summary of the Invention

[0003] In order to overcome the above-mentioned deficiencies in the prior art, the present invention provides a positioning interaction method, an interaction device and an interaction system to improve the above-mentioned problems.

[0004] In order to achieve the above objectives, the technical solutions provided by the embodiments of the present invention are as follows:

[0005] In a first aspect, an embodiment of the present invention provides a positioning interaction method for realizing interaction between a positioning device and a display device, wherein the positioning device is operated by a user and includes at least one light-emitting unit. The method includes:

[0006] Acquire in real time the image of the positioning device captured by the image acquisition device;

[0007] Calculate the spatial position information of the positioning device based on the position information of the light-emitting part in the image;

[0008] Send spatial position information to the display device to change the display content of the display device or send feedback information to the positioning device.

[0009] With reference to the first aspect, in some possible implementations, calculating the spatial position information of the positioning device based on the position information of the light-emitting portion in the image includes:

[0010] Calculating contour information of the positioning device in the image based on the position information of the light-emitting portion and a pre-obtained contour of the positioning device;

[0011] The spatial position information of the positioning device and its centroid is calculated based on the contour information of the positioning device and the positional relationship between the positioning device and the light-emitting portion.

[0012] In conjunction with the first aspect, in some possible implementations, the image acquisition device includes at least two groups of image acquisition devices and calibration plates at different positions, the calibration plates are placed in front of the image acquisition devices, and the images acquired by each of the image acquisition devices include the complete calibration plate;

[0013] The calculating and obtaining the spatial position information of the positioning device according to the position information of the light-emitting portion in the image includes:

[0014] generating a grid image of the calibration plate region in each image acquired by the image acquisition device, wherein each grid represents the same area on the calibration plate;

[0015] Generate three-dimensional positioning information of each grid according to the preset distance between the positioning device and the display device;

[0016] Calculate and obtain contour information of the positioning device in the at least two groups of images based on the position information of the at least two groups of light-emitting parts and the contour of the positioning device obtained in advance;

[0017] Obtaining at least two groups of grids corresponding to the positioning device according to the contour information of the positioning device and the positional relationship between the positioning device and the light-emitting portion;

[0018] The three-dimensional positioning information of the corresponding grid is subjected to coordinate transformation and fusion to obtain the three-dimensional spatial position information of the positioning device.

[0019] In conjunction with the first aspect, in some possible implementations, the positioning device includes at least two light-emitting units; and the method further includes:

[0020] Calculating angle information of the positioning device according to the position information of the at least two light-emitting parts and the contour information of the positioning device;

[0021] The angle information is sent to the display device to change the display content of the display device or to send feedback information to the positioning device.

[0022] In conjunction with the first aspect, in some possible implementations, the positioning device is provided with a gyroscope, and after calculating the spatial position information of the positioning device based on the position information of the light-emitting portion in the image, the method further includes:

[0023] Obtaining angle information of the positioning device according to the gyroscope, and determining whether the spatial position information is located at the positioning device;

[0024] If yes, correct the angle information obtained by the gyroscope according to the angle information of the positioning device;

[0025] If the answer is no, the angle information of the positioning device is corrected according to the angle information of the gyroscope.

[0026] With reference to the first aspect, in some possible implementations, acquiring the image of the positioning device captured by the image capture device in real time includes:

[0027] The original image captured by the image capture device is corrected according to a preset distortion coefficient to obtain the image.

[0028] In a second aspect, an embodiment of the present invention further provides an interactive device for implementing interaction between a positioning device and a display device, wherein the positioning device is operated by a user and includes at least one light-emitting portion, and the interactive device includes:

[0029] an acquisition unit, configured to acquire an image of the positioning device in real time;

[0030] a processing unit, configured to calculate spatial position information of the positioning device based on the position information of the light-emitting portion in the image;

[0031] A sending unit, configured to send the spatial position information to the display device to change the display content of the display device or send feedback information to the positioning device.

[0032] In a third aspect, an embodiment of the present invention further provides an interactive system, the interactive system comprising: a positioning device and a display device, the positioning device being operated by a user;

[0033] The positioning device includes at least one light emitting portion;

[0034] The display device includes an image acquisition device, a processor and a display, and the camera component is used to obtain an image of the positioning device;

[0035] The processor is configured to calculate the spatial position information of the positioning device based on the position information of the light-emitting portion in the image;

[0036] The display changes display content or feeds back to the positioning device according to the spatial position information.

[0037] In combination with the third aspect, in some possible implementations, the image acquisition device includes a visible light filtering device, and the visible light filtering device is used to filter images in the image that belong to a different wavelength band from the light emitted by the light-emitting portion.

[0038] In conjunction with the third aspect, in some possible implementations, the positioning device includes a feedback device and at least one button;

[0039] The feedback device includes at least one vibrator, and the vibrator is used to vibrate the positioning device according to the feedback of the display;

[0040] The button is used to send action information to the display device. Correspondingly, the display changes display content or sends feedback information to the positioning device according to the action information.

[0041] The beneficial effects of the present invention include:

[0042] The positioning device is held by the user or controlled by other means. A light-emitting portion is installed on the positioning device, and an image acquisition device is set up to capture an image containing the positioning device. The spatial position information of the positioning device is then calculated based on the position information of the light-emitting portion. After the display device obtains the spatial position information of the positioning device, it changes the display content accordingly or gives feedback to the positioning device, thereby using the positioning device to feedback to the user, realizing interaction between the user and the displayed content. Compared with existing methods, the cost of the equipment is not high and the complexity of the system is reduced.

[0043] In order to make the above-mentioned objects, features and advantages of the present invention more clearly understood, embodiments of the present invention are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying any creative work.

[0045] Figure 1 A schematic diagram of the system structure of an interactive system provided in Example 1 of the present invention;

[0046] Figure 2 A schematic diagram of the flow of the positioning interaction method provided in Example 2 of the present invention;

[0047] Figure 3 Schematic diagram of the outline and light-emitting part model of the positioning device provided in Example 2 of the present invention;

[0048] Figure 4 This is a functional block diagram of an interactive device provided in Example 3 of the present invention. DETAILED DESCRIPTION

[0049] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings herein can be arranged and designed in various different configurations.

[0050] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention as claimed, but rather merely represents selected embodiments of the present invention. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without creative effort shall fall within the scope of protection of the present invention.

[0051] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments may be combined with each other.

[0052] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not need to be further defined or explained in subsequent drawings.

[0053] In the description of the embodiments of the present invention, it should be noted that the indicated orientation or position relationship is based on the orientation or position relationship shown in the accompanying drawings, or is the orientation or position relationship in which the invented product is usually placed when in use, or is the orientation or position relationship commonly understood by those skilled in the art, or is the orientation or position relationship commonly placed when the invented product is in use. This is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0054] In describing the embodiments of the present invention, it should be noted that, unless otherwise specified or limited, the terms "disposed," "installed," and "connected" should be understood broadly. For example, they may refer to fixed connections, detachable connections, or integral connections; and they may refer to direct connections or indirect connections via an intermediary. Those skilled in the art will understand the specific meanings of these terms in the present invention based on the specific circumstances.

[0055] In order to facilitate those skilled in the art to better understand the present solution, a schematic diagram of the system structure of the interactive system is first introduced.

[0056] Example 1

[0057] Please refer to Figure 1 , Figure 1 This is a schematic diagram of the system structure of an interactive system 10 provided in Example 1 of the present invention.

[0058] The interactive system 10 includes a positioning device 101 and a display device.

[0059] The positioning device 101 is operated by a user and is provided with a light emitting unit 1011 .

[0060] The display device includes an image acquisition device 103 , a processor 104 and a display 102 . The image acquisition device 103 is used to acquire an image of the positioning device 101 .

[0061] The processor 104 is configured to calculate the spatial position information of the positioning device 101 according to the position information of the light emitting portion 1011 in the image.

[0062] The display 102 changes the display content or feeds back to the positioning device according to the spatial position information.

[0063] Optionally, the processor 104 corrects the original image captured by the image capture device 103 according to a preset distortion coefficient to obtain the image.

[0064] Optionally, the processor 104 is further configured to calculate contour information of the positioning device 101 in the image according to the position information of the light-emitting unit 1011 and the contour of the positioning device 101 obtained in advance;

[0065] Then, according to the contour information of the positioning device 101 and the positional relationship between the positioning device 101 and the light emitting unit 1011 , the spatial position information of the positioning device 101 is calculated.

[0066] Optionally, the image acquisition device 103 includes at least two groups of image acquisition lenses and calibration plates at different positions, wherein the calibration plates are placed in front of the image acquisition lenses, and the images acquired by each image acquisition lens include the complete calibration plate;

[0067] The image acquisition device 103 generates a grid image of the calibration plate area portion in the image acquired by each of the image acquisition devices, wherein the area of the calibration plate represented by each grid is the same;

[0068] The processor 104 generates three-dimensional positioning information for each grid according to the preset distance between the positioning device 101 and the display 102;

[0069] The processor 104 then calculates the contour information of the positioning device 101 in at least two groups of the images based on the position information of at least two groups of the light-emitting parts 1011 and the contour of the positioning device 101 obtained in advance, and further obtains at least two groups of grids corresponding to the positioning device 101 based on the contour information of the positioning device 101 and the positional relationship between the positioning device 101 and the light-emitting part 1011; then, the three-dimensional positioning information of the corresponding grids is coordinate-transformed and fused to obtain the three-dimensional spatial position information of the positioning device 101.

[0070] Optionally, the processor 104 can also calculate the angle information of the positioning device 101 based on the position information of the at least two light-emitting parts 1011 and the contour information of the positioning device 101; the processor 104 then sends the angle information to the display 102 to change the display content of the display 102 or send feedback information to the positioning device 101.

[0071] It should be noted that in this embodiment, the positioning device 101, the display 102, the processor 104 and the image acquisition device 103 are connected via a USB serial cable. In other embodiments, transmission methods such as WiFi, Bluetooth and Zigbee may also be used, and this embodiment does not impose specific restrictions on this.

[0072] Optionally, the image acquisition device 103 includes a visible light filtering device, and the image acquisition device 103 includes a visible light filtering device, and the visible light filtering device is used to filter out images in the image that belong to a different wavelength band from the light emitted by the light emitting unit 1011.

[0073] The use of the visible light filtering system effectively reduces the interference of ambient light on the positioning algorithm, facilitates the positioning of the light-emitting portion 1011, and the influence of other light on the outline of the positioning device 101, thereby improving the spatial positioning efficiency and stability of the positioning algorithm.

[0074] Optionally, the positioning device 101 is provided with a gyroscope, and the processor obtains angle information of the positioning device 101 according to the gyroscope, and determines whether the spatial position information is located at the positioning device 101;

[0075] If yes, the angle information obtained by the gyroscope is corrected according to the angle information of the positioning device 101;

[0076] If the answer is no, the angle information of the positioning device 101 is corrected according to the angle information of the gyroscope.

[0077] Optionally, the positioning device 101 includes a feedback device and at least one button 1012;

[0078] The feedback device includes at least one vibrator, and the vibrator is used to vibrate the positioning device 101 according to the feedback of the display 102;

[0079] The button is used to send action information to the display 102 . Correspondingly, the display 102 changes display content or sends feedback information to the positioning device 101 according to the action information.

[0080] The feedback device provided on the positioning device 101 includes a vibrator, a heating element, etc. When, for example, a tennis racket hits a tennis ball in the displayed content, the processor 104 feeds vibration information to the feedback device. The vibrator vibrates the positioning device 101, thereby providing feedback of the hitting sensation to the user. For another example, when the user's hand is close to some hot objects in the displayed content, the processor 104 feeds back the heating and the heating temperature to the heating element based on the distance between the two, thereby also providing feedback of some heat in the displayed content to the user, thereby enhancing the immersion in the virtual environment. Other feedback devices may also be added in other embodiments, and this embodiment does not limit this.

[0081] Furthermore, some functional buttons 1012 are provided on the positioning device 101. When a user presses a zoom button, for example, the zoom button, the displayed content can be magnified, allowing the user to easily view details of a portion of the displayed content. In other embodiments, the functional buttons 1012 may also include a rotation button, etc., which is not limited in this embodiment.

[0082] Example 2

[0083] Please refer to Figure 2 and Figure 3 , Figure 2 This is a flow chart of the positioning interaction method provided in Example 2 of the present invention. Figure 3 This is a schematic diagram of the outline of a positioning device 101 and a model of a light-emitting portion 1011 provided in this embodiment 1.

[0084] The steps for locating an interaction method include:

[0085] S201: Acquire an image of the positioning device 101 captured by the image capture device 103 in real time;

[0086] S202: Calculating spatial position information of the positioning device 101 according to the position information of the light-emitting unit 1011 in the image;

[0087] S203 : Sending the spatial position information to the display device to change the display content of the display device or sending feedback information to the positioning device 101 .

[0088] It should be noted that the light-emitting portion 1011 can be a light-emitting diode or a small lamp, etc. In this embodiment, two light-emitting portions 1011 are provided on the positioning device 101 to facilitate the explanation of the working principle of the present invention. In other embodiments, the light-emitting portion 1011 can also be provided as one or three, etc., which can also achieve the effect of the present invention, and this embodiment is not limited thereto.

[0089] Furthermore, in this embodiment, the light emitted by the light emitting unit 1011 is invisible ultraviolet light. Optionally, before step S201, this embodiment uses a visible light filtering method. After filtering the visible light, the influence of ambient light on the calculation in step S202 is effectively reduced, thereby improving the efficiency and stability of spatial positioning. The light emitting unit 1011 can also use other light source devices such as light bulbs, and this embodiment does not limit this.

[0090] An image including the positioning device 101 is captured, and then the spatial position information of the positioning device 101 is calculated based on the position information of the light-emitting portion 1011. After the display device obtains the spatial position information of the positioning device 101, the display content is changed accordingly or feedback is given to the positioning device 101, thereby using the positioning device 101 to feedback to the user, thereby enabling the user to interact with the displayed content. Compared with existing methods, the cost of the equipment is not high and the complexity of the system is reduced.

[0091] Optionally, step S201 includes:

[0092] The original image captured by the image capture device 103 is corrected according to a preset distortion coefficient to obtain the image.

[0093] It should be noted that the lens of the image acquisition device 103 used in this embodiment is a short-focus wide-angle lens, and the distortion coefficient of the lens can be obtained by using a fisheye calibration algorithm. In other embodiments, the distortion coefficient can also be obtained by using the Tsai calibration method in the camera calibration algorithm, and the distortion coefficient can be obtained in advance as a preset value, or can be obtained by calculation before step S202 provided in this embodiment. This embodiment does not impose any restrictions.

[0094] The original positioning information is corrected according to the calculated distortion coefficient, thereby avoiding the distortion problem of the image produced by the wide-angle lens used in this embodiment and improving the accuracy of spatial positioning.

[0095] Optionally, step S202 includes:

[0096] The contour information of the positioning device 101 in the image is calculated based on the position information of the light-emitting unit 1011 and the pre-obtained contour of the positioning device 101 .

[0097] The spatial position information of the positioning device 101 is calculated based on the contour information of the positioning device 101 and the positional relationship between the positioning device 101 and the light emitting unit 1011 .

[0098] according to Figure 2 The position of the positioning device 101 shown, the positional relationship between the two light-emitting parts 1011 and between the light-emitting parts 1011 and the positioning device 101, that is, the two light-emitting parts 1011 are located on the front and back sides of the positioning device 101 shown. According to the outline of the positioning device 101, the position of the positioning device 101 in the image can be segmented from the obtained image based on the positional relationship between the two light-emitting parts 1011 and the positioning device 101.

[0099] It should be noted that this method obtains positioning information in the two-dimensional display content, which can solve the positioning of the positioning device 101 in the world of the two-dimensional display content and realize the interaction between the user and the two-dimensional display content.

[0100] Optionally, the image acquisition device 103 includes at least two sets of image acquisition devices and calibration plates at different positions, the calibration plates are placed in front of the image acquisition device 103, and each image acquired by the image acquisition device 103 includes a complete calibration plate; the corresponding step S202 further includes:

[0101] Generating a grid image of the calibration plate region in each image acquired by the image acquisition device 103 , wherein each grid represents the same area on the calibration plate;

[0102] Generate three-dimensional positioning information for each grid according to a preset distance between the positioning device 101 and the display 102;

[0103] Calculate and obtain contour information of the positioning device 101 in the at least two sets of images based on the position information of the at least two sets of light-emitting units 1011 and the pre-obtained contour of the positioning device 101;

[0104] Obtain at least two groups of grids corresponding to the positioning device 101 according to the contour information of the positioning device 101 and the positional relationship between the positioning device 101 and the light-emitting unit 1011;

[0105] The three-dimensional positioning information of the corresponding grids is subjected to coordinate transformation and fusion to obtain the three-dimensional spatial position information of the positioning device 101.

[0106] It should be noted that, in this embodiment, the grid size is set to 20 cm×20 cm. In other embodiments, the grid size may be set to be smaller, thereby further reducing the noise introduced by the distortion error of the image acquisition device.

[0107] In this embodiment, the spatial position information of the grid corresponding to the positioning device 101 obtained by the two sets of image acquisition devices 103 is transformed by using the point cloud matching method using the closest point iterative algorithm (ICP) to obtain the final interactively fused three-dimensional coordinate information, thereby obtaining the three-dimensional coordinate information of the positioning device 101 to achieve three-dimensional positioning. In other embodiments, point cloud matching methods such as the normal distribution transformation method (NDT) may also be used, and this embodiment does not specifically limit this.

[0108] Through two groups of image acquisition devices 103, the positioning information of the positioning device 101 in the world of the three-dimensional display content can be obtained, thereby enabling the user to interact with the three-dimensional display content. In other embodiments, three or more groups of image acquisition devices can also be used, and this embodiment does not limit this.

[0109] Optionally, the positioning interaction method further includes:

[0110] Calculating angle information of the positioning device 101 according to the position information of the at least two light-emitting units 1011 and the contour information of the positioning device 101;

[0111] The angle information is sent to the display 102 to change the display content of the display 102 or to send feedback information to the positioning device 101 .

[0112] Please refer again Figure 2 When the positioning device 101 is not a sphere or other surface with the same function or meaning, obtaining the angle information of the positioning device 101 can more finely detect the user's operation on the positioning device 101. For example, when the positioning device 101 represents a tennis racket in the display device, hitting the tennis ball at different angles will produce significantly different effects. Therefore, by obtaining the angle information of the positioning device 101, the realism of the virtual environment is further improved.

[0113] By arranging the two light-emitting parts 1011 at other positions of the positioning device 101 except the midpoint of its length, the front and rear ends of the positioning device 101 can be further analyzed to obtain further angle information, which is not specifically limited in this embodiment.

[0114] Optionally, the positioning device 101 is provided with a gyroscope. After step S202, the positioning interaction method further includes:

[0115] Obtaining angle information of the positioning device 101 according to the gyroscope, and determining whether the spatial position information is located at the positioning device 101;

[0116] If yes, the angle information obtained by the gyroscope is corrected according to the angle information of the positioning device 101;

[0117] If the answer is no, the angle information of the positioning device 101 is corrected according to the angle information of the gyroscope.

[0118] The gyroscope can provide high-precision instantaneous spatial position. When positioning is successful, the parameters in the angle information obtained by the gyroscope can be corrected according to the angle information of the positioning device 101, thereby ensuring that the angles obtained by the two methods are aligned; when positioning fails, the angle information obtained by the image acquisition device can be corrected and compensated according to the angle information obtained by the gyroscope, thereby improving the stability and accuracy of positioning.

[0119] The working process of the positioning display interaction method is illustrated by taking an example: assuming that two groups of image acquisition devices are used, and two light-emitting parts 1011 are provided in the positioning device 101, after the two groups of image acquisition devices and the two light-emitting parts 1011 are provided, the structural relationship between the image acquisition device 103, the two light-emitting parts 1011, and the light-emitting parts 1011 and the positioning device 101 can be obtained. The lens of the image acquisition device adopts a short-focus wide-angle lens, and the distortion coefficient of the short-focus wide-angle lens is obtained.

[0120] The processing process after the single image acquisition device 103 acquires the filtered image is as follows: the acquired image is first corrected using the distortion coefficient, the luminous point of the luminous part 1011 is obtained in the corrected image, and then the position information of the luminous part 1011 in the two sets of images is obtained.

[0121] Both sets of images contain a calibration plate, which is divided into grids of the same size, with a grid size of 20 cm × 20 cm. The three-dimensional point information of each grid is set according to the preset distance between the user and the display device. Further, based on the position information of the two light-emitting parts 1011, it is determined in which grid the two light-emitting parts 1011 are located in the two images, thereby obtaining the coordinate position information of the two light-emitting parts 1011 in the two images. Furthermore, the point cloud matching algorithm is used to calculate the grid spatial information in the two sets of images respectively, and obtain the spatial position information of the two light-emitting parts 1011 in the three-dimensional coordinates. Based on the structural relationship between the two light-emitting parts 1011 and between the light-emitting parts 1011 and the positioning device 101, as well as the outline of the positioning device 101, the three-dimensional position information and three-dimensional angle information of the positioning device 101 in the image are obtained according to the image segmentation method.

[0122] After positioning, the success of the positioning can be determined based on user feedback. If successful, the gyroscope angle information can be corrected based on the three-dimensional angle information of the positioning. If the user feedback is unsuccessful, the three-dimensional position information calculated based on the image captured by the image acquisition device can be compensated according to the gyroscope angle information.

[0123] After completing all positioning operations, the display device modifies the display content according to the positioning information, or feeds back information to the positioning device 101 according to the trigger conditions in the preset display content. The positioning device 101 performs some operations such as vibrating the positioning device 101 and feeding back the vibration feeling to the user, thereby realizing information interaction between the positioning device 101 and the display device, and then completing the interaction between the user and the display content, realizing two-way interaction between man and machine.

[0124] Example 3

[0125] Based on the same inventive concept, the embodiment of the present invention further provides an interactive device 40 for executing the following Figure 2 The positioning interaction method shown. Please refer to Figure 4 , Figure 4 This is a functional block diagram of the interactive device 40 provided in Example 3 of the present invention.

[0126] The interactive device 40 is used to realize the interaction between the positioning device and the display device. The positioning device is operated by the user and includes at least one light-emitting unit. The interactive device 40 includes:

[0127] The acquisition unit 401 is used to acquire the image of the positioning device in real time.

[0128] The processing unit 402 is configured to calculate the spatial position information of the positioning device 101 according to the position information of the light emitting portion 1011 in the image.

[0129] The sending unit 403 is configured to send the spatial position information to the display 102 to change the display content of the display 102 or send feedback information to the positioning device 101 .

[0130] Optionally, the acquisition unit 401 corrects the original image acquired by the image acquisition device 103 according to a preset distortion coefficient to acquire the image.

[0131] Optionally, the processing unit 402 is further configured to calculate contour information of the positioning device 101 in the image according to the position information of the light-emitting portion and a pre-obtained contour of the positioning device 101 .

[0132] The processing unit 402 then calculates the spatial position information of the positioning device 101 according to the contour information of the positioning device 101 and the positional relationship between the positioning device 101 and the light emitting unit 1011 .

[0133] Optionally, the image acquisition module 103 includes at least two groups of image acquisition lenses and calibration plates at different positions, the calibration plates are placed in front of the image acquisition lenses, and the images acquired by each image acquisition lens include a complete calibration plate.

[0134] The acquisition unit 401 generates a grid image of the calibration plate area portion in each image acquired by the image acquisition device 103 , and the area on the calibration plate represented by each grid is the same.

[0135] The processing unit 402 generates three-dimensional positioning information for each grid based on a preset distance between the positioning device 101 and the display 102, and then calculates the contour information of the positioning device 101 in at least two groups of the images based on the positional relationship between at least two groups of the light-emitting parts 1011 and the pre-obtained contour of the positioning device 101; further, based on the contour information of the positioning device 101 and the positional relationship between the positioning device 101 and the light-emitting part 1011, obtains at least two groups of grids corresponding to the positioning device 101; and performs coordinate transformation and fusion on the three-dimensional positioning information of the corresponding grids to obtain the three-dimensional spatial position information of the positioning device 101.

[0136] Optionally, the processing unit 402 may further calculate the angle information of the positioning device 101 according to the position information of the at least two light-emitting units 1011 and the contour information of the positioning device 101 .

[0137] The sending unit 403 sends the angle information to the display 102 to change the display content of the display 102 or sends feedback information to the positioning device 101 .

[0138] The interactive device 40 in this embodiment is similar to the aforementioned Figure 2 The positioning interaction method shown is an invention based on the same concept. Through the above detailed description of the positioning interaction method and its various variations, those skilled in the art can clearly understand the implementation process of the interaction device 40 in this embodiment 3. Therefore, for the sake of brevity of the specification, it will not be repeated here.

[0139] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are merely illustrative. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architectures, functions and operations of the devices, methods and computer program products according to multiple embodiments of the present invention. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a portion of code, and the module, program segment or a portion of code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in an order different from that marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of boxes in the block diagram and / or flowchart, can be implemented using a dedicated hardware-based system that performs the specified function or action, or can be implemented using a combination of dedicated hardware and computer instructions.

[0140] In addition, the functional modules in the various embodiments of the present invention may be integrated together to form an independent part, or each module may exist independently, or two or more modules may be integrated to form an independent part.

[0141] If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes various media that can store program code, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk. It should be noted that, in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not preclude the presence of additional identical elements in the process, method, article, or apparatus that includes the element.

[0142] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. A positioning interaction method, characterized in that: For realizing interaction between a positioning device and a display device, the positioning device is operated by a user, the positioning device includes at least one light-emitting portion, and the method includes: Acquire in real time the image of the positioning device captured by the image capture device; Calculating the spatial position information of the positioning device according to the position information of the light-emitting portion in the image; Sending the spatial position information to the display device to change the display content of the display device or sending feedback information to the positioning device; The image acquisition device includes at least two groups of image acquisition devices and calibration plates at different positions, wherein the calibration plates are placed in front of the image acquisition devices, and each image acquired by the image acquisition device includes a complete calibration plate; The calculating and obtaining the spatial position information of the positioning device according to the position information of the light-emitting portion in the image includes: generating a grid image of the calibration plate region in each image acquired by the image acquisition device, wherein each grid represents the same area on the calibration plate; Generate three-dimensional positioning information of each grid according to the preset distance between the positioning device and the display device; Calculate and obtain contour information of the positioning device in the at least two groups of images based on the position information of the at least two groups of light-emitting parts and the contour of the positioning device obtained in advance; Obtaining at least two groups of grids corresponding to the positioning device according to the contour information of the positioning device and the positional relationship between the positioning device and the light-emitting portion; Performing coordinate transformation and fusion on the three-dimensional positioning information of the corresponding grid to obtain the three-dimensional spatial position information of the positioning device; The positioning device includes at least two light-emitting parts; the method further includes: Calculating angle information of the positioning device according to the position information of the at least two light-emitting parts and the contour information of the positioning device; Sending the angle information to the display device to change the display content of the display device or sending feedback information to the positioning device; The positioning device is provided with a gyroscope. After calculating the spatial position information of the positioning device based on the position information of the light-emitting portion in the image, the method further includes: Obtaining angle information of the positioning device according to the gyroscope, and determining whether the spatial position information is located at the positioning device; If yes, correct the angle information obtained by the gyroscope according to the angle information of the positioning device; If the answer is no, the angle information of the positioning device is corrected according to the angle information of the gyroscope.

2. The positioning interaction method according to claim 1, characterized in that: The calculating the spatial position information of the positioning device according to the position information of the light-emitting portion in the image includes: Calculating contour information of the positioning device in the image based on the position information of the light-emitting portion and a pre-obtained contour of the positioning device; The spatial position information of the positioning device is calculated based on the contour information of the positioning device and the positional relationship between the positioning device and the light-emitting portion.

3. The positioning interaction method according to claim 1, characterized in that: The image of the positioning device acquired by the real-time image acquisition device includes: The original image captured by the image capture device is corrected according to a preset distortion coefficient to obtain the image.

4. An interactive device, characterized in that: Used to realize interaction between a positioning device and a display device, the positioning device is operated by a user, the positioning device includes at least one light-emitting portion, and the interaction device includes: an acquisition unit, configured to acquire in real time an image of the positioning device acquired by an image acquisition device; a processing unit, configured to calculate spatial position information of the positioning device based on the position information of the light-emitting portion in the image; a sending unit, configured to send the spatial position information to the display device to change display content of the display device or send feedback information to the positioning device; The positioning device includes at least two light-emitting parts; the processing unit is further used to calculate the angle information of the positioning device according to the position information of the at least two light-emitting parts and the contour information of the positioning device; The image acquisition device includes at least two groups of image acquisition lenses and calibration plates at different positions, wherein the calibration plates are placed in front of the image acquisition lenses, and the images acquired by each image acquisition lens include a complete calibration plate; The acquisition unit is further configured to generate a grid image of the calibration plate region in the image acquired by each of the image acquisition devices, wherein the area of the calibration plate represented by each grid is the same; The processing unit is further configured to generate three-dimensional positioning information for each grid based on a preset distance between the positioning device and the display, and then calculate contour information of the positioning device in at least two sets of the images based on the positional relationship between the at least two sets of light-emitting portions and the pre-obtained contour of the positioning device; further obtain at least two sets of grids corresponding to the positioning device based on the contour information of the positioning device and the positional relationship between the positioning device and the light-emitting portion; and perform coordinate transformation and fusion on the three-dimensional positioning information of the corresponding grids to obtain three-dimensional spatial position information of the positioning device. The positioning device is provided with a gyroscope, and the processing unit is further used to obtain angle information of the positioning device according to the gyroscope, and determine whether the spatial position information is located at the positioning device; If yes, correct the angle information obtained by the gyroscope according to the angle information of the positioning device; If the answer is no, the angle information of the positioning device is corrected according to the angle information of the gyroscope.

5. An interactive system, characterized in that: The interactive system includes: a positioning device and a display device, wherein the positioning device is operated by a user; The positioning device includes at least one light emitting portion; The display device includes an image acquisition device, a processor and a display, wherein the image acquisition device is used to acquire an image of the positioning device; The processor is configured to calculate the spatial position information of the positioning device based on the position information of the light-emitting portion in the image; The display changes display content or feeds back to the positioning device according to the spatial position information; The positioning device includes at least two light-emitting parts; the processor can also calculate angle information of the positioning device based on position information of the at least two light-emitting parts and contour information of the positioning device; the processor then sends the angle information to the display to change the display content of the display or send feedback information to the positioning device; The image acquisition device includes at least two sets of image acquisition lenses and calibration plates at different positions, wherein the calibration plates are placed in front of the image acquisition lenses, and the images acquired by each image acquisition lens include the complete calibration plate; The processor is further configured to generate a grid image of an image of a portion of the calibration plate region in the image acquired by each of the image acquisition devices, wherein the area of the calibration plate represented by each grid is the same; The processor is further configured to generate three-dimensional positioning information for each grid based on a preset distance between the positioning device and the display, and then calculate contour information of the positioning device in at least two groups of the images based on a positional relationship between at least two groups of light-emitting portions and a pre-obtained contour of the positioning device; further obtain at least two groups of grids corresponding to the positioning device based on the contour information of the positioning device and the positional relationship between the positioning device and the light-emitting portion; and perform coordinate transformation and fusion on the three-dimensional positioning information of the corresponding grids to obtain three-dimensional spatial position information of the positioning device; The positioning device is provided with a gyroscope, and the processor obtains angle information of the positioning device according to the gyroscope, and determines whether the spatial position information is located at the positioning device; If yes, correct the angle information obtained by the gyroscope according to the angle information of the positioning device; If the answer is no, the angle information of the positioning device is corrected according to the angle information of the gyroscope.

6. The interactive system according to claim 5, characterized in that: The image acquisition device includes a visible light filtering device, and the visible light filtering device is used to filter images in the image that belong to a different wavelength band from the light emitted by the light-emitting portion.

7. The interactive system according to claim 5, characterized in that The positioning device includes a feedback device and at least one button; The feedback device includes at least one vibrator, and the vibrator is used to vibrate the positioning device according to the feedback of the display; The button is used to send action information to the display, and correspondingly, the display changes display content or sends feedback information to the positioning device according to the action information.

Images