Method for generating cursor position of remote controller and remote controller

Abstract

The present invention relates to a method for generating a cursor position of a remote controller and a remote controller. The method for generating a cursor position of the remote controller comprises: determining an absolute pitch angle and a relative heading angle of the remote controller; determining a first observation angle of the remote controller and a distance from the remote controller to a smart TV screen; determining a vertical movement distance of the cursor on the screen according to the absolute pitch angle and the distance from the remote controller to the smart TV screen; converting the relative heading angle to an absolute heading angle based on the first observation angle by a Kalman filter fusion algorithm; determining a horizontal movement distance of the cursor on the screen by the absolute heading angle and the distance from the remote controller to the smart TV screen; and sending the vertical movement distance and the horizontal movement distance to the smart TV to display the cursor. The method for generating a cursor position of the remote controller of the present invention can convert the relative heading angle of the remote controller to an absolute heading angle for cursor position display by a wireless communication box installed on the smart TV, and the hardware cost is low, which is conducive to popularization and application.

Description

Technical Field

[0001] The present invention relates to the technical field of remote controllers, and in particular to a method for generating a cursor position of a remote controller and the remote controller. Background Art

[0002] The remote controller can control the smart TV through buttons to meet the needs of users. As the functions of smart TVs increase, the buttons of the remote controller are increasingly unable to meet the needs of diversified scenarios.

[0003] In order to meet the needs of diversified scenarios, the related technologies mostly use dedicated remote controllers with mouse functions. However, the remote controllers in the related technologies require complex hardware design, resulting in high development costs, which is not conducive to large-scale promotion and application. Summary of the invention

[0004] Based on this, it is necessary to provide a method for generating a cursor position of a remote control and a remote control to address the problem that the remote control in the related art requires complex hardware design, resulting in high development costs and is not conducive to large-scale promotion and application.

[0005] A method for generating a cursor position of a remote controller, applied to a remote controller, the method comprising:

[0006] Acquire raw measurement data of an inertial measurement unit, and determine an absolute pitch angle and a relative heading angle of the remote controller according to the raw measurement data of the inertial measurement unit;

[0007] Acquire raw measurement data of the wireless communication box, and determine a first observation angle of the remote control and a distance from the remote control to the smart TV screen according to the raw measurement data of the wireless communication box, wherein the first observation angle is a horizontal angle between a line connecting the wireless communication box and the remote control and a pointing line of the remote control, and the wireless communication box is installed on the smart TV;

[0008] Determine the vertical movement distance of the cursor on the screen according to the absolute pitch angle and the distance from the remote control to the smart TV screen;

[0009] By using a Kalman filter fusion algorithm, the relative heading angle is converted into an absolute heading angle based on the first observation angle;

[0010] Determine the horizontal movement distance of the cursor on the screen by using the absolute heading angle and the distance from the remote control to the smart TV screen;

[0011] The vertical moving distance and the horizontal moving distance are sent to the smart TV so that the screen of the smart TV displays the cursor position.

[0012] When the cursor position generation method of the remote control is executed, the original measurement data of the inertial measurement unit is first obtained, and the absolute pitch angle and relative heading angle of the remote control are determined according to the original measurement data of the inertial measurement unit; the original measurement data of the wireless communication box is then obtained, and the first observation angle of the remote control and the distance from the remote control to the smart TV screen are determined according to the original measurement data of the wireless communication box; the vertical movement distance of the cursor on the screen is determined according to the absolute pitch angle and the distance from the remote control to the smart TV screen; the relative heading angle is converted into the absolute heading angle based on the first observation angle by the Kalman filter fusion algorithm; the horizontal movement distance of the cursor on the screen is determined by the absolute heading angle and the distance from the remote control to the smart TV screen; the vertical movement distance and the horizontal movement distance are sent to the smart TV so that the cursor position is displayed on the screen of the smart TV. It can be seen that by setting the inertial measurement unit and the wireless communication box, the relative heading angle of the remote control can be converted into the absolute heading angle, so that the user's action on the remote control can be reflected in the movement of the screen cursor in real time, thereby facilitating the user's operation of the smart TV and expanding the application scenarios of the smart TV, with low hardware cost, which is conducive to large-scale promotion and application.

[0013] In one embodiment, converting the relative heading angle into an absolute heading angle based on the first observation angle by using a Kalman filter fusion algorithm comprises:

[0014] When the first observation angle is updated, the absolute heading angle corresponding to the current frame is calculated using the following formula:

[0015]

[0016] in, Indicates the absolute heading angle corresponding to the current frame, Indicates the absolute heading angular velocity corresponding to the current frame, Indicates the absolute heading angular acceleration corresponding to the current frame, Indicates the absolute heading angle corresponding to the previous frame, Indicates the absolute heading angular velocity corresponding to the previous frame, Indicates the absolute heading angular acceleration corresponding to the previous frame, represents the first observation angle, and They respectively represent the relative heading angular velocity and the relative heading angular acceleration determined according to the original measurement data of the inertial measurement unit, KT represents the first filter coefficient, KV represents the second filter coefficient, and KA represents the third filter coefficient.

[0017] In one embodiment, the converting the relative heading angle into an absolute heading angle based on the first observation angle by using a Kalman filter fusion algorithm further comprises:

[0018] When the first observation angle is not updated, the following formula is used to predict the absolute heading angle corresponding to the next frame:

[0019]

[0020] in, Indicates the absolute heading angle corresponding to the next frame, Indicates the absolute heading angular velocity corresponding to the next frame, Indicates the absolute heading angular acceleration corresponding to the next frame, Indicates the time interval between two adjacent frames of data.

[0021] In one of the embodiments, before converting the relative heading angle into an absolute heading angle based on the first observation angle by using a Kalman filter fusion algorithm, the method further includes:

[0022] The heading angle, the heading angular velocity, the heading angular acceleration, the first filter coefficient, the second filter coefficient, and the third filter coefficient are initialized.

[0023] In one embodiment, the method comprises:

[0024] Determine an initial value of the heading angular velocity and an initial value of the heading angular acceleration according to the relative heading angle;

[0025] The first frame data of the first observation angle is determined as the initial value of the heading angle.

[0026] In one embodiment, the method further comprises:

[0027] Determining whether the remote control moves laterally according to the first observation angle;

[0028] If it is determined that the remote control has moved horizontally, the KT value is increased;

[0029] If it is determined that the remote controller does not generate lateral movement, the KT value is reduced.

[0030] In one embodiment, the method further comprises:

[0031] When the first observation angle is updated, determining whether the first observation angle is credible;

[0032] If it is determined that the first observation angle is not credible, the KT value is set to zero.

[0033] In one embodiment, determining the absolute pitch angle and relative heading angle of the remote controller according to the raw measurement data of the inertial measurement unit comprises:

[0034] Deducting the three-axis acceleration bias and angular velocity bias according to the original measurement data of the inertial measurement unit;

[0035] Perform attitude calculation to obtain the quaternion representation of the remote controller's attitude;

[0036] The Euler angle representation of the remote controller is obtained according to the quaternion representation, and the absolute pitch angle and relative heading angle are determined according to the Euler angle representation.

[0037] In one embodiment, the original measurement data of the wireless communication box includes the distance between the wireless communication box and the remote control, a second observation angle and a third observation angle, wherein the second observation angle is the horizontal angle between the line connecting the wireless communication box and the remote control and the center line of the wireless communication box, and the third observation angle is the vertical angle between the line connecting the wireless communication box and the remote control and the center line of the wireless communication box; the method further includes:

[0038] The distance from the remote control to the smart TV screen is determined by the distance between the wireless communication box and the remote control, the second observation angle and the third observation angle.

[0039] A remote controller comprises a processor and a memory, wherein the memory is used to store a computer program, and when the computer program is executed by the processor, the method for generating a cursor position of the remote controller is implemented. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 A schematic diagram of a flow chart of a method for generating a cursor position of a remote controller according to the present invention;

[0041] Figure 2 It is a top view structural diagram of the remote control and the smart TV of the present invention;

[0042] Figure 3 It is a side view structural diagram of the remote control and the smart TV of the present invention;

[0043] Figure 4 It is a schematic structural diagram of the remote controller of the present invention. DETAILED DESCRIPTION

[0044] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present invention, so the present invention is not limited by the specific embodiments disclosed below.

[0045] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may also be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. In contrast, when an element is referred to as being "directly on" another element, there is no intermediate element. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only."

[0046] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0047] The invention discloses a method for generating a cursor position of a remote controller and the remote controller.

[0048] like Figures 1 to 4 As shown, the method for generating the cursor position of the remote controller is applied to the remote controller, and includes:

[0049] Step S01: Acquire raw measurement data of an inertial measurement unit, and determine the absolute pitch angle and relative heading angle of the remote controller according to the raw measurement data of the inertial measurement unit.

[0050] In this step, the inertial measurement unit is IMU (Inertial Measurement Unit), which is installed on the remote control. The inertial measurement unit is a six-axis IMU, including an accelerometer and a gyroscope. The accelerometer can obtain the acceleration information of the three axes of space xyz, and the gyroscope can obtain the angular velocity information of the three axes of space xyz. The heading angle, roll angle and pitch angle of the IMU are output through the attitude solution algorithm. The solution of the roll angle and pitch angle comes from the component of gravity in the plane where the roll angle and pitch angle are located, which are absolute angles.

[0051] Among them, determining the absolute pitch angle and relative heading angle of the remote controller according to the original measurement data of the inertial measurement unit further includes: deducting the three-axis acceleration zero bias and angular velocity zero bias according to the original measurement data of the inertial measurement unit; performing attitude solution to obtain the quaternion representation of the attitude of the remote controller; obtaining the Euler angle representation of the remote controller according to the quaternion representation, and determining the absolute pitch angle and relative heading angle according to the Euler angle representation. Since the measurement values ​​of the accelerometer and gyroscope have errors such as zero bias, the zero bias needs to be deducted before the attitude solution is performed to ensure the accuracy and stability of the solved attitude data.

[0052] Step S02: Acquire original measurement data of the wireless communication box, and determine a first observation angle of the remote control and a distance from the remote control to the smart TV screen according to the original measurement data of the wireless communication box, wherein the first observation angle is a horizontal angle between a line connecting the wireless communication box and the remote control and a pointing line of the remote control, and the wireless communication box is installed on the smart TV.

[0053] In this step, the wireless communication box can be an SLP communication box or a UWB communication box. The SLP (Sparkling Position) communication box is based on the sparkling positioning technology. The absolute distance between two points can be calculated by multiplying the signal's time of flight (TOF) by the speed of light, and the first observation angle can be calculated by the signal's phase difference of arrival (PDOA). The UWB (Ultra Wide Band) communication box is based on wireless carrier communication technology and uses nanosecond non-sinusoidal narrow pulses to transmit data. The absolute distance between two points can be calculated by multiplying the signal's time of flight (TOF) by the speed of light, and the first observation angle can be calculated by the signal's phase difference of arrival (PDOA).

[0054] Among them, the original measurement data of the wireless communication box also includes the distance between the wireless communication box and the remote control, the second observation angle and the third observation angle, the second observation angle is the horizontal angle between the line connecting the wireless communication box and the remote control and the center line of the wireless communication box, and the third observation angle is the vertical angle between the line connecting the wireless communication box and the remote control and the center line of the wireless communication box. This step further includes: determining the distance from the remote control to the smart TV screen by the distance between the wireless communication box and the remote control, the second observation angle and the third observation angle. It can be understood that the distance from the remote control to the smart TV screen is the shortest distance from the remote control to the smart TV screen.

[0055] Step S03: Determine the vertical movement distance of the cursor on the screen according to the absolute pitch angle and the distance from the remote control to the smart TV screen.

[0056] In this step, since the absolute pitch angle is an absolute angle, no conversion is required. When the distance from the remote control to the smart TV screen is determined, the vertical movement distance of the cursor on the screen can be directly calculated. The calculation process can use a conventional calculation formula, which will not be repeated here.

[0057] Step S04: Using a Kalman filter fusion algorithm, the relative heading angle is converted into an absolute heading angle based on the first observation angle.

[0058] In this step, the heading angle has no external reference data as a reference, so the heading angle of the six-axis IMU is based on the initial moment when the IMU is powered on as 0 degrees. It is a relative angle and cannot sense the direction of the screen. It is necessary to combine the wireless communication box to convert the relative heading angle into an absolute heading angle.

[0059] Furthermore, when the relative heading angle is converted into the absolute heading angle based on the first observation angle by the Kalman filter fusion algorithm, when the first observation angle is updated, the absolute heading angle corresponding to the current frame is calculated using the following formula:

[0060]

[0061] in, Indicates the absolute heading angle corresponding to the current frame, Indicates the absolute heading angular velocity corresponding to the current frame, Indicates the absolute heading angular acceleration corresponding to the current frame, Indicates the absolute heading angle corresponding to the previous frame, Indicates the absolute heading angular velocity corresponding to the previous frame, Indicates the absolute heading angular acceleration corresponding to the previous frame, represents the first observation angle, and They respectively represent the relative heading angular velocity and the relative heading angular acceleration determined according to the original measurement data of the inertial measurement unit, KT represents the first filter coefficient, KV represents the second filter coefficient, and KA represents the third filter coefficient.

[0062] Furthermore, when the relative heading angle is converted into the absolute heading angle based on the first observation angle by the Kalman filter fusion algorithm, when the first observation angle is not updated, the following formula is used to predict the absolute heading angle corresponding to the next frame:

[0063]

[0064] in, Indicates the absolute heading angle corresponding to the next frame, Indicates the absolute heading angular velocity corresponding to the next frame, Indicates the absolute heading angular acceleration corresponding to the next frame, Indicates the time interval between two adjacent frames of data.

[0065] Furthermore, before the relative heading angle is converted into an absolute heading angle based on the first observation angle by the Kalman filter fusion algorithm, the heading angle, the heading angular velocity, the heading angular acceleration, the first filter coefficient, the second filter coefficient and the third filter coefficient may be initialized to make the calculation process more accurate. Furthermore, the initial value of the heading angular velocity and the initial value of the heading angular acceleration may be determined according to the relative heading angle; and the first frame data of the first observation angle may be determined as the initial value of the heading angle.

[0066] Among them, when the first observation angle is updated, if the remote control does not move laterally, it is often due to abnormal interference. In order to eliminate the influence of abnormal interference, in the process of converting the relative heading angle into the absolute heading angle, it is determined whether the remote control has moved laterally according to the first observation angle. If it is determined that the remote control has moved laterally, the KT value is increased to increase the degree of trust in the first observation angle; if it is determined that the remote control has not moved laterally, the KT value is reduced to reduce the degree of trust in the first observation angle. Furthermore, when the first observation angle is updated, it can be determined whether the first observation angle is credible. If it is determined that the first observation angle is not credible, the KT value is set to zero to prevent interference with the first observation angle. For example, when the first observation angle jumps or reverses, the KT value is set to zero.

[0067] Step S05: Determine the horizontal movement distance of the cursor on the screen according to the absolute heading angle and the distance from the remote control to the smart TV screen.

[0068] In this step, since the absolute heading angle is an absolute angle, when the distance from the remote control to the smart TV screen is determined, the horizontal movement distance of the cursor on the screen can be directly calculated. The calculation process can use a conventional calculation formula, which will not be repeated here.

[0069] It should be noted that since the update frequencies of the relative heading angle and the first observation angle are often not the same, and the update frequency of the first observation angle is often lower, when the first observation angle is updated, the absolute heading angle corresponding to the current frame can be directly used to calculate the horizontal movement distance of the cursor on the screen; when the first observation angle is not updated, the predicted absolute heading angle corresponding to the next frame is used to calculate the horizontal movement distance of the cursor on the screen. Therefore, when the update frequency of the first observation angle is low, the horizontal movement distance can still be generated at a higher frequency.

[0070] Step S06: sending the vertical moving distance and the horizontal moving distance to the smart TV so that the screen of the smart TV displays the cursor position.

[0071] In this step, after the smart TV obtains the vertical moving distance and the horizontal moving distance, it can update the cursor position in real time through the screen.

[0072] When the cursor position generation method of the remote control is executed, the original measurement data of the inertial measurement unit is first obtained, and the absolute pitch angle and relative heading angle of the remote control are determined according to the original measurement data of the inertial measurement unit; the original measurement data of the wireless communication box is then obtained, and the first observation angle of the remote control and the distance from the remote control to the smart TV screen are determined according to the original measurement data of the wireless communication box; the vertical movement distance of the cursor on the screen is determined according to the absolute pitch angle and the distance from the remote control to the smart TV screen; the relative heading angle is converted into the absolute heading angle based on the first observation angle by the Kalman filter fusion algorithm; the horizontal movement distance of the cursor on the screen is determined by the absolute heading angle and the distance from the remote control to the smart TV screen; the vertical movement distance and the horizontal movement distance are sent to the smart TV so that the cursor position is displayed on the screen of the smart TV. It can be seen that by setting the inertial measurement unit and the wireless communication box, the relative heading angle of the remote control can be converted into the absolute heading angle, so that the user's action on the remote control can be reflected in the movement of the screen cursor in real time, thereby facilitating the user's operation of the smart TV and expanding the application scenarios of the smart TV, with low hardware cost, which is conducive to large-scale promotion and application.

[0073] The present invention also discloses a remote controller. The remote controller 40 includes a processor 41 and a memory 42, wherein the memory 42 is used to store a computer program 43, and when the computer program 43 is executed by the processor 41, the remote controller cursor position generation method is implemented. By implementing the remote controller cursor position generation method, the remote controller can conveniently control the smart TV by controlling the movement of the cursor, thereby improving the user experience, having a low cost, and being conducive to promotion and application.

[0074] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0075] The above-mentioned embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A method for generating a cursor position of a remote controller, characterized in that: Applied to a remote controller, the method includes: Acquire raw measurement data of an inertial measurement unit, and determine an absolute pitch angle and a relative heading angle of the remote controller according to the raw measurement data of the inertial measurement unit; Acquire raw measurement data of the wireless communication box, and determine a first observation angle of the remote control and a distance from the remote control to the smart TV screen according to the raw measurement data of the wireless communication box, wherein the first observation angle is a horizontal angle between a line connecting the wireless communication box and the remote control and a pointing line of the remote control, and the wireless communication box is installed on the smart TV; Determine the vertical movement distance of the cursor on the screen according to the absolute pitch angle and the distance from the remote control to the smart TV screen; By using a Kalman filter fusion algorithm, the relative heading angle is converted into an absolute heading angle based on the first observation angle; Determine the horizontal movement distance of the cursor on the screen by using the absolute heading angle and the distance from the remote control to the smart TV screen; Sending the vertical moving distance and the horizontal moving distance to the smart TV so that the screen of the smart TV displays the cursor position; The converting the relative heading angle into an absolute heading angle based on the first observation angle by using a Kalman filter fusion algorithm comprises: When the first observation angle is updated, the absolute heading angle corresponding to the current frame is calculated using the following formula: in, Indicates the absolute heading angle corresponding to the current frame, Indicates the absolute heading angular velocity corresponding to the current frame, Indicates the absolute heading angular acceleration corresponding to the current frame, Indicates the absolute heading angle corresponding to the previous frame, Indicates the absolute heading angular velocity corresponding to the previous frame, Indicates the absolute heading angular acceleration corresponding to the previous frame, represents the first observation angle, and They respectively represent the relative heading angular velocity and the relative heading angular acceleration determined according to the original measurement data of the inertial measurement unit, KT represents the first filter coefficient, KV represents the second filter coefficient, and KA represents the third filter coefficient.

2. The method for generating a cursor position of a remote controller according to claim 1, characterized in that: The converting the relative heading angle into an absolute heading angle based on the first observation angle by using a Kalman filter fusion algorithm also includes: When the first observation angle is not updated, the following formula is used to predict the absolute heading angle corresponding to the next frame: in, Indicates the absolute heading angle corresponding to the next frame, Indicates the absolute heading angular velocity corresponding to the next frame, Indicates the absolute heading angular acceleration corresponding to the next frame, Indicates the time interval between two adjacent frames of data.

3. The method for generating a cursor position of a remote controller according to claim 2, characterized in that: Before converting the relative heading angle into an absolute heading angle based on the first observation angle by using a Kalman filter fusion algorithm, the method further includes: The heading angle, the heading angular velocity, the heading angular acceleration, the first filter coefficient, the second filter coefficient, and the third filter coefficient are initialized.

4. The method for generating a cursor position of a remote controller according to claim 3, characterized in that: The method comprises: Determine an initial value of the heading angular velocity and an initial value of the heading angular acceleration according to the relative heading angle; The first frame data of the first observation angle is determined as the initial value of the heading angle.

5. The method for generating a cursor position of a remote controller according to any one of claims 1 to 4, characterized in that: The method further comprises: Determining whether the remote control moves laterally according to the first observation angle; If it is determined that the remote control has moved horizontally, the KT value is increased; If it is determined that the remote controller does not generate lateral movement, the KT value is reduced.

6. The method for generating a cursor position of a remote controller according to claim 5, characterized in that: The method further comprises: When the first observation angle is updated, determining whether the first observation angle is credible; If it is determined that the first observation angle is not credible, the KT value is set to zero.

7. The method for generating a cursor position of a remote controller according to any one of claims 1 to 4, characterized in that: Determining the absolute pitch angle and relative heading angle of the remote controller according to the original measurement data of the inertial measurement unit includes: Deducting the three-axis acceleration bias and angular velocity bias according to the original measurement data of the inertial measurement unit; Perform attitude calculation to obtain the quaternion representation of the remote controller's attitude; The Euler angle representation of the remote controller is obtained according to the quaternion representation, and the absolute pitch angle and relative heading angle are determined according to the Euler angle representation.

8. The method for generating a cursor position of a remote controller according to any one of claims 1 to 4, characterized in that: The original measurement data of the wireless communication box includes the distance between the wireless communication box and the remote control, the second observation angle and the third observation angle, wherein the second observation angle is the horizontal angle between the line connecting the wireless communication box and the remote control and the center line of the wireless communication box, and the third observation angle is the vertical angle between the line connecting the wireless communication box and the remote control and the center line of the wireless communication box; the method further includes: The distance from the remote control to the smart TV screen is determined by the distance between the wireless communication box and the remote control, the second observation angle and the third observation angle.

9. A remote controller, characterized in that: The remote controller comprises a processor and a memory, wherein the memory is used to store a computer program, and when the computer program is executed by the processor, the method for generating a cursor position of the remote controller according to any one of claims 1 to 8 is implemented.

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