Air writing method and device, storage medium and electronic equipment

Abstract

The invention discloses an aerial writing method and device, a storage medium and electronic equipment, and is applied to an aerial writing pen, and the method comprises the following steps: determining a spatial three-dimensional coordinate of the aerial writing pen based on a wireless positioning communication signal between the aerial writing pen and corresponding display equipment; calculating a screen two-dimensional coordinate of the aerial writing pen based on the spatial three-dimensional coordinate; and sending the screen two-dimensional coordinates to a display device, so that the display device displays a cursor corresponding to the aerial writing pen based on the screen two-dimensional coordinates. In the movement process of the aerial writing pen, the movement position change between the aerial writing pen and the display device can be sensed based on the wireless positioning communication signal, the space three-dimensional coordinate of the aerial writing pen is obtained, then the screen two-dimensional coordinate of a display cursor of the aerial writing pen in the display device is determined, the calculation power consumption needed for processing the wireless positioning communication signal is low, and the calculation efficiency is high. Accurate aerial handwriting positioning can be completed with less computing power.

Description

Technical Field

[0001] The present application relates to the field of computer technology, and in particular to an air writing method, device, storage medium and electronic device. Background Art

[0002] Traditional human-computer interaction technology relies heavily on external input devices, such as mouse, keyboard, display screen, etc. The limitations of these hardware interaction devices can no longer meet users' more intelligent interaction needs. As a new means of human-computer interaction, air writing allows users to control smart devices (such as writing pen devices) to write in the air without touching other external devices. The display device can recognize the air writing trajectory to obtain the writing data that the user expects to input. Therefore, a method of air writing is needed to achieve fast and stable text input operations. Summary of the invention

[0003] The present application provides an air writing method, device, storage medium and electronic device, which can solve the technical problem of inaccurate capture of air writing handwriting in the related art.

[0004] In a first aspect, an embodiment of the present application provides an aerial writing method, which is applied to an aerial writing pen, and the method includes:

[0005] Determine the spatial three-dimensional coordinates of the air writing pen based on a wireless positioning communication signal between the air writing pen and a display device corresponding to the air writing pen;

[0006] Calculate the two-dimensional screen coordinates corresponding to the aerial writing pen based on the three-dimensional spatial coordinates;

[0007] The two-dimensional screen coordinates are sent to the display device, so that the display device displays a cursor corresponding to the air writing pen based on the two-dimensional screen coordinates.

[0008] In a second aspect, an embodiment of the present application provides an aerial writing method, which is applied to a display device, and the method includes:

[0009] Determine the spatial three-dimensional coordinates of the air writing pen based on a wireless positioning communication signal between the display device and the air writing pen corresponding to the display device;

[0010] Calculate the two-dimensional screen coordinates corresponding to the aerial writing pen based on the three-dimensional spatial coordinates;

[0011] A cursor corresponding to the air writing pen is displayed based on the two-dimensional coordinates of the screen.

[0012] In a third aspect, an embodiment of the present application provides an aerial writing method, which is applied to an aerial writing pen, and the method includes:

[0013] Determine the spatial three-dimensional coordinates of the air writing pen based on a wireless positioning communication signal between the air writing pen and a display device corresponding to the air writing pen;

[0014] The spatial three-dimensional coordinates are sent to the display device, so that the display device calculates the screen two-dimensional coordinates corresponding to the air writing pen based on the spatial three-dimensional coordinates, and displays a cursor corresponding to the air writing pen based on the screen two-dimensional coordinates.

[0015] In a fourth aspect, an embodiment of the present application provides an aerial writing method, which is applied to a display device, and the method includes:

[0016] Receiving a three-dimensional spatial coordinate sent by an air writing pen corresponding to the display device, wherein the three-dimensional spatial coordinate is a coordinate determined by the air writing pen according to a wireless positioning communication signal between the display device and the air writing pen;

[0017] The two-dimensional screen coordinates corresponding to the air writing pen are calculated based on the three-dimensional spatial coordinates, and the cursor corresponding to the air writing pen is displayed based on the two-dimensional screen coordinates.

[0018] In a fifth aspect, an embodiment of the present application provides an aerial writing device, which is applied to an aerial writing pen, and the device includes:

[0019] A positioning module, used to determine the spatial three-dimensional coordinates of the air writing pen based on a wireless positioning communication signal between the air writing pen and a display device corresponding to the air writing pen;

[0020] A calculation module, used for calculating the two-dimensional screen coordinates corresponding to the aerial writing pen based on the three-dimensional spatial coordinates;

[0021] The display module is used to send the two-dimensional screen coordinates to the display device, so that the display device displays a cursor corresponding to the air writing pen based on the two-dimensional screen coordinates.

[0022] In a sixth aspect, an embodiment of the present application provides an aerial writing device, which is applied to a display device, and the device includes:

[0023] A data receiving module, used to determine the spatial three-dimensional coordinates of the air writing pen based on a wireless positioning communication signal between the display device and the air writing pen corresponding to the display device;

[0024] A coordinate calculation module, used for calculating the two-dimensional screen coordinates corresponding to the aerial writing pen based on the three-dimensional spatial coordinates;

[0025] The cursor display module is used to display the cursor corresponding to the air writing pen based on the two-dimensional coordinates of the screen.

[0026] In a seventh aspect, an embodiment of the present application provides an aerial writing device, which is applied to an aerial writing pen, and the device includes:

[0027] A coordinate acquisition module, used to determine the spatial three-dimensional coordinates of the air writing pen based on a wireless positioning communication signal between the air writing pen and a display device corresponding to the air writing pen;

[0028] The coordinate sending module is used to send the three-dimensional spatial coordinates to the display device, so that the display device calculates the two-dimensional screen coordinates corresponding to the air writing pen based on the three-dimensional spatial coordinates, and displays the cursor corresponding to the air writing pen based on the two-dimensional screen coordinates.

[0029] In an eighth aspect, an embodiment of the present application provides an aerial writing device, which is applied to a display device, and the device includes:

[0030] A coordinate receiving module, used to receive the three-dimensional spatial coordinates sent by the air writing pen corresponding to the display device, wherein the three-dimensional spatial coordinates are coordinates determined by the air writing pen according to the wireless positioning communication signal between the display device and the air writing pen;

[0031] The positioning display module is used to calculate the two-dimensional screen coordinates corresponding to the air writing pen based on the three-dimensional spatial coordinates, and to display the cursor corresponding to the air writing pen based on the two-dimensional screen coordinates.

[0032] In a ninth aspect, an embodiment of the present application provides a computer storage medium, wherein the computer storage medium stores a plurality of instructions, wherein the instructions are suitable for being loaded by a processor and executing the steps of the above-mentioned method.

[0033] In a tenth aspect, an embodiment of the present application provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is suitable for being loaded by the processor and executing the steps of the above-mentioned method.

[0034] In an eleventh aspect, an embodiment of the present application provides an aerial writing system, comprising: an aerial writing pen and a display device; wherein:

[0035] The air writing pen is used for:

[0036] Determine the spatial three-dimensional coordinates of the air writing pen based on a wireless positioning communication signal between the air writing pen and a display device corresponding to the air writing pen;

[0037] Calculate the two-dimensional screen coordinates corresponding to the aerial writing pen based on the three-dimensional spatial coordinates;

[0038] Sending the screen two-dimensional coordinates to the display device;

[0039] The display device is used for:

[0040] A cursor corresponding to the air writing pen is displayed based on the two-dimensional coordinates of the screen.

[0041] In a twelfth aspect, an embodiment of the present application provides an aerial writing system, including: an aerial writing pen and a display device; wherein:

[0042] The air writing pen is used for:

[0043] Based on a wireless positioning communication link between the air writing pen and a display device corresponding to the air writing pen, sending a wireless positioning communication signal to the display device;

[0044] The display device is used for:

[0045] Determine the spatial three-dimensional coordinates of the air writing pen based on a wireless positioning communication signal between the display device and the air writing pen corresponding to the display device;

[0046] Calculate the two-dimensional screen coordinates corresponding to the aerial writing pen based on the three-dimensional spatial coordinates;

[0047] A cursor corresponding to the air writing pen is displayed based on the two-dimensional coordinates of the screen.

[0048] In a thirteenth aspect, an embodiment of the present application provides an aerial writing system, including: an aerial writing pen and a display device; wherein:

[0049] The air writing pen is used for:

[0050] Determine the spatial three-dimensional coordinates of the air writing pen based on a wireless positioning communication signal between the air writing pen and a display device corresponding to the air writing pen;

[0051] Sending the spatial three-dimensional coordinates to the display device;

[0052] The display device is used for:

[0053] Receiving the three-dimensional spatial coordinates sent by the air writing pen corresponding to the display device;

[0054] The two-dimensional screen coordinates corresponding to the air writing pen are calculated based on the three-dimensional spatial coordinates, and the cursor corresponding to the air writing pen is displayed based on the two-dimensional screen coordinates.

[0055] The beneficial effects brought about by the technical solutions provided by some embodiments of the present application include at least:

[0056] The present application provides an air writing method, which is applied to an air writing pen. Based on the wireless positioning communication signal between the air writing pen and the display device corresponding to the air writing pen, the spatial three-dimensional coordinates of the air writing pen are determined; based on the spatial three-dimensional coordinates, the screen two-dimensional coordinates corresponding to the air writing pen are calculated; the screen two-dimensional coordinates are sent to the display device, so that the display device displays the cursor corresponding to the air writing pen based on the screen two-dimensional coordinates. Since a wireless positioning communication link is established between the air writing pen and the display device corresponding to the air writing pen, the air writing pen can sense the change of the movement position between the air writing pen and the display device based on the wireless positioning communication signal during the movement process, and obtain the spatial three-dimensional coordinates of the air writing pen, and the spatial three-dimensional coordinates are converted to determine the screen two-dimensional coordinates of the cursor displayed by the air writing pen in the display device. The computing power consumption required for processing the wireless positioning communication signal is low, and accurate air writing handwriting positioning can be completed with less computing power. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without paying any creative work.

[0058] Figure 1 An exemplary system architecture diagram of an air writing method provided in an embodiment of the present application;

[0059] Figure 2 A schematic diagram of a flow chart of a method for writing in the air provided in an embodiment of the present application;

[0060] Figure 3 A schematic flow chart of a method for writing in the air provided in another embodiment of the present application;

[0061] Figure 4 A schematic diagram of the module architecture of an air writing pen and a display device provided in an embodiment of the present application;

[0062] Figure 5 A schematic diagram of the pen body structure of an air writing pen provided in an embodiment of the present application;

[0063] Figure 6 A schematic flow chart of a method for writing in the air provided in another embodiment of the present application;

[0064] Figure 7 A schematic flow chart of a method for writing in the air provided in another embodiment of the present application;

[0065] Figure 8A schematic flow chart of a method for writing in the air provided in another embodiment of the present application;

[0066] Fig. 9 A structural block diagram of an air writing device provided in another embodiment of the present application;

[0067] Fig.10 A structural block diagram of an air writing device provided in another embodiment of the present application;

[0068] Fig.11 A structural block diagram of an air writing device provided in another embodiment of the present application;

[0069] Fig.12 A structural block diagram of an air writing device provided in another embodiment of the present application;

[0070] Fig.13 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0071] In order to make the features and advantages of the present application more obvious and easy to understand, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0072] When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Instead, they are only examples of devices and methods consistent with some aspects of the present application as detailed in the attached claims.

[0073] Traditional human-computer interaction technology relies heavily on external input devices, such as mouse, keyboard, display screen, etc. The limitations of these hardware interaction devices can no longer meet users' more intelligent interaction needs. The stylus pen can replace the traditional external mouse and keyboard to complete the input function due to its advantages such as portability, lightness, and compliance with user writing habits. However, the conventional stylus pen needs to contact the screen of the display device to determine the input content, which limits the user's range of action to the screen. In some writing scenarios, users may need to indicate or input the cursor even when they are not touching the display device. For example, in lectures, meetings, classrooms, etc., users may walk to other locations in the venue or classroom during the explanation and presentation. At this time, in order to meet the user's needs for indicating and writing on non-contact touch devices, a new human-computer interaction method, air writing, has emerged.

[0074] As a new means of human-computer interaction, air writing allows users to control smart devices (such as writing pen devices) to write in the air without contacting other external devices. The display device can identify the air writing trajectory to obtain the writing data that the user expects to input. In the existing common air writing solutions, the recognition of air writing trajectories is mainly divided into absolute position recognition and relative position recognition. Absolute position recognition can determine the three-dimensional absolute position of the air writing pen in space, while relative position recognition can only determine the relative motion state of the air writing pen from the end point to the starting point of the motion in a movement. Among them, the absolute position recognition method is generally to capture the movement between the air writing pen and the display device through a camera device, and the device equipped with the camera device captures the motion trajectory of another device into a video to determine the motion position of the air writing pen in the air. However, this solution has high requirements for the pixels of the camera device and the computing power of the processor for image and video processing, and the cost is high, which is difficult to popularize and generalize; the relative position recognition method generally uses an accelerometer and a gyroscope to complete the judgment of the pen trajectory.

[0075] Therefore, an embodiment of the present application provides an aerial writing method, which is applied to an aerial writing pen. Based on the wireless positioning communication signal between the aerial writing pen and the display device corresponding to the aerial writing pen, the spatial three-dimensional coordinates of the aerial writing pen are determined; the screen two-dimensional coordinates corresponding to the aerial writing pen are calculated based on the spatial three-dimensional coordinates; the screen two-dimensional coordinates are sent to the display device, so that the display device displays the cursor corresponding to the aerial writing pen based on the screen two-dimensional coordinates, so as to solve the above-mentioned technical problem of inaccurate capture of aerial writing handwriting.

[0076] See also Figure 1 , Figure 1 An exemplary system architecture diagram of an air writing method provided in an embodiment of the present application.

[0077] like Figure 1 As shown, the system architecture may include an air writing pen 101, a network 102, and a display device 103. The network 102 is used to provide a medium for a communication link between the air writing pen 101 and the display device 103. The network 102 may include various types of wired communication links or wireless communication links, for example: the wired communication link includes an optical fiber, a twisted pair, or a coaxial cable, and the wireless communication link includes a Bluetooth communication link, a Wireless-Fidelity (Wi-Fi) communication link, a microwave communication link, an ultra-wideband wireless communication link, etc.

[0078] The air writing pen 101 can interact with the display device 103 through the network 102 to receive messages from the display device 103 or send messages to the display device 103, or the air writing pen 101 can interact with the display device 103 through the network 102 to receive messages or data sent to the display device 103 by other users.

[0079] The display device 103 may be a business display device that provides various services. It should be noted that the display device 103 may be hardware or software. When the display device 103 is hardware, it may be implemented as a distributed display device cluster consisting of multiple display devices, or it may be implemented as a single display device. When the display device 103 is software, it may be implemented as multiple software or software modules (for example, for providing distributed services), or it may be implemented as a single software or software module, which is not specifically limited here.

[0080] In an embodiment of the present application, the air writing pen 101 can determine the spatial three-dimensional coordinates of the air writing pen 101 based on the wireless positioning communication signal between the air writing pen 101 and the display device 103 corresponding to the air writing pen 101; then, the air writing pen 101 calculates the screen two-dimensional coordinates corresponding to the air writing pen 101 based on the spatial three-dimensional coordinates; finally, the air writing pen 101 sends the screen two-dimensional coordinates to the display device 103, so that the display device 103 displays the cursor corresponding to the air writing pen 101 based on the screen two-dimensional coordinates.

[0081] In another embodiment of the present application, the display device 103 can determine the spatial three-dimensional coordinates of the air writing pen 101 based on the wireless positioning communication signal between the display device 103 and the air writing pen 101 corresponding to the display device 103; further, the display device 103 calculates the two-dimensional screen coordinates corresponding to the air writing pen 101 based on the spatial three-dimensional coordinates; finally, the display device 103 displays the cursor corresponding to the air writing pen 101 based on the two-dimensional screen coordinates.

[0082] In another embodiment of the present application, the air writing pen 101 determines the spatial three-dimensional coordinates of the air writing pen 101 based on the wireless positioning communication signal between the air writing pen 101 and the display device 103 corresponding to the air writing pen 101; the air writing pen 101 sends the spatial three-dimensional coordinates to the display device 103; the display device 103 receives the spatial three-dimensional coordinates sent by the air writing pen 101 corresponding to the display device 103; then, the display device 103 calculates the screen two-dimensional coordinates corresponding to the air writing pen 101 based on the spatial three-dimensional coordinates, and displays the cursor corresponding to the air writing pen 101 based on the screen two-dimensional coordinates.

[0083] It should be understood that Figure 1The number of air writing pens, networks, and display devices in the figure is only illustrative, and any number of air writing pens, networks, and display devices may be used according to implementation requirements.

[0084] See also Figure 2 , Figure 2 A flowchart of an air writing method provided for an embodiment of the present application. The execution subject of the embodiment of the present application can be an electronic device that executes air writing, or a processor in an electronic device that executes the air writing method, or an air writing service in an electronic device that executes the air writing method. For the convenience of description, the specific execution process of the air writing method is introduced below by taking the execution subject being a processor in an electronic device as an example.

[0085] like Figure 2 As shown, the air writing method is applied to an air writing pen and may at least include:

[0086] S202: Determine the spatial three-dimensional coordinates of the air writing pen based on the wireless positioning communication signal between the air writing pen and the display device corresponding to the air writing pen.

[0087] Optionally, when using a camera to perform video fitting to capture the movement trajectory of the air writing pen, taking the positioning camera installed in the air writing pen as an example, by setting more than three anchor points on the display device, it is ensured that the lines connecting adjacent anchor points among the three anchor points can form a polygonal closed figure. During the movement of the air writing pen, it moves relative to the display device, and then moves relative to the figure formed by the anchor points. At this time, the anchor point figure captured by the positioning camera will change with the movement. Based on the change of the figure, the position and orientation of the air writing pen can be converted to determine the movement trajectory of the air writing pen.

[0088] Optionally, however, the quality of the image captured by the camera is greatly affected by the ambient light, and the image quality directly affects the accuracy of handwriting positioning. Therefore, the accuracy of handwriting positioning determined by this solution is not stable, and the equipment use environment requirements are strict. It cannot be used in a wider range of scenarios and meet the needs of users in various scenarios. At the same time, the pixel of the camera is also highly related to the quality of the captured image. The higher the pixel, the higher the cost of the camera, which is not conducive to the cost control of the air writing pen and is not popular. In addition, the efficient processing of a large number of images and videos in a short period of time requires a high level of processor computing power in the air writing pen, and the computing power pressure is relatively large, which easily leads to the high cost of the air writing pen and insufficient battery life.

[0089] Optionally, with the development of communication technology and the gradual maturity of wireless communication technology, two devices can send signals and transmit data to each other through a wireless communication link. Then, when there is a wireless positioning communication link between the air writing pen and the display device corresponding to the air writing pen, the air writing pen and the display device can transmit their respective positioning data based on the wireless positioning communication signal. For example, when the air writing pen acts as a base station, it can determine the three-dimensional position information of the display device based on the signal characteristics of the wireless positioning communication signal, and the three-dimensional position information is the three-dimensional coordinates in a three-dimensional coordinate system with the air writing pen as the origin of the coordinate system; when the display device acts as a base station, it can determine the three-dimensional position information of the air writing pen based on the signal characteristics of the wireless positioning communication signal, and the three-dimensional position information is the three-dimensional coordinates in a three-dimensional coordinate system with the display device as the origin of the coordinate system.

[0090] Then in the embodiment of the present application, taking the air writing pen as a base station as an example, in order to accurately capture the position of the air writing pen, the air writing pen can determine the position and distance relationship between the air writing pen and the display device corresponding to the air writing pen based on the wireless positioning communication signal between the air writing pen and the display device corresponding to the air writing pen according to the signal characteristics, thereby determining the spatial three-dimensional coordinates of the air writing pen. The device cost of the wireless positioning communication link is low, and the signal transmission is not affected by the brightness of the environmental background. The processing algorithm of the wireless positioning communication signal is also relatively simple, and it can quickly respond to the correct and accurate handwriting position based on the signal, which can improve the user experience in all aspects.

[0091] S204, calculating the two-dimensional screen coordinates corresponding to the air writing pen based on the three-dimensional spatial coordinates.

[0092] Optionally, since the position information of the air writing pen is determined in order to accurately display the pointing position of the cursor of the air writing pen on the display device, and when the cursor is displayed on the screen of the display device, its coordinates are a two-dimensional coordinate for the display device. Therefore, after the air writing pen determines the spatial three-dimensional coordinates of the air writing pen, it is necessary to further determine the two-dimensional screen coordinates required to display the cursor in the display device based on the spatial three-dimensional coordinates.

[0093] S206: Send the two-dimensional screen coordinates to a display device, so that the display device displays a cursor corresponding to the air writing pen based on the two-dimensional screen coordinates.

[0094] Optionally, when displaying the cursor of the air writing pen, the two-dimensional coordinates of the screen need to be sent to the display device so that the display device can obtain the position information of the air writing pen and display the cursor indication position of the air writing pen based on this. The communication method used when sending the two-dimensional coordinates of the screen to the display device can be a common data transmission method such as Bluetooth, Wi-Fi, etc. Considering cost control, in a feasible implementation, there is Bluetooth communication between the air writing pen and the display device, and the air writing pen sends the two-dimensional coordinates of the screen to the display device via the Bluetooth communication link. The display device receives the two-dimensional coordinates of the screen via Bluetooth communication and displays the cursor corresponding to the air writing pen based on the two-dimensional coordinates of the screen.

[0095] Furthermore, considering the flexible settings of various display devices such as the size of the display device, the size of the display screen, and the display settings, in order to enable flexible adaptation between multiple display devices and multiple air writing pens, when the display device receives the two-dimensional screen coordinates, it can perform adaptive display conversion processing on the two-dimensional screen coordinates according to its own device settings and display parameters, obtain the screen display coordinates corresponding to the air writing pen, and display the cursor corresponding to the air writing pen based on the screen display coordinates. This can enhance the adaptability between multiple display devices and multiple air writing pens, make the use of display devices and air writing ratios more extensive, and enhance the user experience of using air writing pens.

[0096] In an embodiment of the present application, an air writing method is provided, which is applied to an air writing pen. Based on the wireless positioning communication signal between the air writing pen and the display device corresponding to the air writing pen, the spatial three-dimensional coordinates of the air writing pen are determined; the screen two-dimensional coordinates corresponding to the air writing pen are calculated based on the spatial three-dimensional coordinates; the screen two-dimensional coordinates are sent to the display device, so that the display device displays the cursor corresponding to the air writing pen based on the screen two-dimensional coordinates. Since a wireless positioning communication link is established between the air writing pen and the display device corresponding to the air writing pen, the air writing pen can sense the change of the movement position between the air writing pen and the display device based on the wireless positioning communication signal during the movement process, and obtain the spatial three-dimensional coordinates of the air writing pen, and the spatial three-dimensional coordinates are converted to determine the screen two-dimensional coordinates of the cursor displayed by the air writing pen in the display device. The computing power consumption required for processing the wireless positioning communication signal is low, and accurate air writing handwriting positioning can be completed with less computing power.

[0097] See also Figure 3 , Figure 3 A schematic flow chart of an air writing method provided in accordance with another embodiment of the present application.

[0098] like Figure 3 As shown, the air writing method, applied to the air writing pen, may at least include:

[0099] S302, the air writing pen includes a first positioning module, the display device includes a second positioning module, a wireless positioning communication link exists between the first positioning module and the second positioning module, and the air writing pen includes a motion trajectory acquisition module; in response to a pointing tracking signal, entering a pointing tracking mode.

[0100] Optionally, the air writing pen, as a hardware device, relies on a processor installed therein to receive, send and process data. Considering the small size of the air writing pen, a microcontroller unit (MCU), also known as a single chip microcomputer or a single chip microcomputer, can be installed in the air writing pen as a main control chip to realize processor work such as data processing. Figure 4 , Figure 4 A schematic diagram of the module architecture of an air writing pen and a display device provided in an embodiment of the present application. Figure 4 As shown in the figure, taking the air writing pen as the base station, the main control chip (MCU) of the air writing pen is to appropriately reduce the frequency and specifications of the central processing unit (CPU), and integrate the memory, counter (Timer), USB, A / D conversion, UART, PLC, DMA and other peripheral interfaces, and even LCD drive circuits on a single chip to form a chip-level computer, which can perform different combination controls for different application scenarios and is suitable for air writing pens with limited size specifications. Please continue to read Figure 4 Both the air writing pen and the display device have Bluetooth modules for Bluetooth communication, so that the air writing pen can send the coordinate data of the absolute position of the air writing pen to the display device through the Bluetooth communication link, and the display device receives the coordinate data and displays the cursor corresponding to the air writing pen based on the coordinate data. It should be noted that the main control chip and the Bluetooth module of the air writing pen can also be replaced by a system-level chip (SOC) with both functions.

[0101] For further information, please refer to Figure 4From the above embodiments, it can be known that there is a wireless positioning communication link between the aerial writing pen and the display device. Specifically, the aerial writing pen includes a first positioning module, and the display device includes a second positioning module. There is a wireless positioning communication link between the first positioning module and the second positioning module. The wireless positioning communication between the aerial writing pen and the display device is actually the wireless positioning communication between the first positioning module and the second positioning module. Furthermore, when the first positioning module of the aerial writing pen acts as a base station, it reports the data information of the absolute position of the aerial writing pen obtained through the wireless positioning communication signal to the main control chip of the aerial writing pen, and the main control chip further processes the data information to obtain the coordinate data of the absolute position of the aerial writing pen and sends it to the display device through the Bluetooth communication link.

[0102] Optionally, in addition to the first positioning module for locating the coordinate data of the absolute position of the air writing pen, the air writing pen may also include other types of positioning modules, for example, Figure 4 The air writing pen may include a motion trajectory acquisition module for acquiring the continuous motion trajectory of the air writing pen. Similarly, the motion trajectory acquisition module reports the acquired motion trajectory of the air writing pen to the main control chip, which performs data processing and calculation. The processing and calculation results are also sent to the display device via the Bluetooth communication link, so that the display device displays the writing handwriting of the air writing pen based on the motion trajectory of the air writing pen.

[0103] Optionally, the user can wake up the working mode of the air writing pen when he needs to use it, and turn off the air writing pen to put it into sleep mode when he does not need it. In order to facilitate the user to control the air writing pen, a switch button can be set in the air writing pen. For details, please refer to Figure 5 , Figure 5 A schematic diagram of the pen body structure of an air writing pen provided in an embodiment of the present application is shown in FIG. Figure 5 (A) As shown in the top view of the air writing pen, the switch button 520 is externally disposed on the pen body 510 of the air writing pen, and may be slightly raised relative to the pen body 510 of the air writing pen, making it easier for the user to press. Figure 4The air writing pen includes a switch button. When the user presses the switch button, the main control chip of the air writing pen senses the state change of the switch button, and learns the pointing tracking signal triggered by the switch button being pressed when the air writing pen is in the sleep state. In response to the pointing tracking signal, the air writing pen enters the pointing tracking mode, starts the relevant circuit modules for controlling the wireless positioning communication link, and starts to capture the movement trajectory of the air writing pen. At this time, the switch button is only used to wake up the working mode of the air writing pen. Then, pressing it once triggers the pointing tracking signal to indicate that the air writing pen enters the pointing tracking mode. It does not need to be kept pressed. That is, the switch button automatically rebounds after being pressed once. When the air writing pen is in the working mode, if the switch button is pressed once, the end of work signal can be triggered. The air writing pen enters the sleep mode based on the end of work signal to achieve the effect of shutting down the function. The simple button operation makes it easy for users to control the air writing pen to achieve the function requirements such as indication and shutdown.

[0104] In a feasible embodiment, after the air writing pen enters the pointing tracking mode, it will continuously transmit its own coordinate data to the display device. The display device will display the cursor of the air writing pen at the position pointed by the air writing pen according to the coordinate data received each time. At this time, the air writing pen can be directly used as a simulated laser pointer, making the application scenarios of the air writing pen more extensive.

[0105] S304, completing the initialization process and configuring the initial parameters of the first positioning module, the second positioning module and the motion trajectory acquisition module.

[0106] Optionally, after the air writing pen is awakened, it can first perform an initialization process before starting to work, mainly for the main control chip of the air writing pen to initialize itself, and the main control chip of the air writing pen to configure the initial parameters of the first positioning module, the second positioning module and the motion trajectory acquisition module, so as to clear the data left over from the last use of the air writing pen to avoid affecting the use of the air writing pen this time.

[0107] S306: Based on the wireless positioning communication link, the first positioning module senses the positioning position information of the second positioning module.

[0108] Optionally, since there is a wireless positioning communication link between the first positioning module and the second positioning module, the first positioning module and the second positioning module can send and receive wireless positioning communication signals to each other. Therefore, when the user moves the aerial writing pen, the relative positions of the first positioning module and the second positioning module change, and the signal characteristics of the wireless positioning communication signal between the two will also change. Furthermore, based on the wireless positioning communication link, the positioning position information of the aerial writing pen can be perceived according to the changes in the wireless positioning communication signal when the aerial writing pen is writing.

[0109] Specifically, in order to determine accurate positioning location information, in a preferred feasible embodiment, the first positioning module and the second positioning module are ultra-wideband wireless communication modules. Ultra-wideband (Ultra Wide Band, UWB) technology is a wireless carrier communication technology that does not use a sinusoidal carrier but uses nanosecond-level non-sinusoidal narrow pulses to transmit data, so the spectrum range it occupies is very wide. UWB technology has the advantages of low system complexity, low power spectrum density of transmitted signals, insensitivity to channel fading, low interception capability, and high positioning accuracy. It is particularly suitable for high-speed wireless access in dense multipath places such as indoors, and is therefore suitable as a wireless positioning communication module for an aerial writing pen.

[0110] Optionally, when the first positioning module and the second positioning module are ultra-wideband wireless communication modules, the wireless positioning communication is mainly realized by the RF positioning antennas included in the first positioning module and the second positioning module to transmit and receive RF signals. Then, according to the number of RF positioning antennas included in the first positioning module and the second positioning module, there are multiple feasible methods for obtaining positioning position information.

[0111] It is understandable that the fewer the number of RF positioning antennas included in the first positioning module and the second positioning module, the less signal transmission, and the lower the accuracy of calculating the positioning location information. Therefore, in a feasible embodiment, when the first positioning module is used as a base station, the first positioning module includes at least two first positioning antennas, and the second positioning module includes at least one second positioning antenna, based on which the positioning location information of the air writing pen can be determined by calculating the Phase Difference of Arrival (PDOA).

[0112] Specifically, in the arrival phase difference calculation method, since there is a certain distance between each first positioning antenna, there is a phase difference between the phase of the same second positioning antenna and each first positioning antenna. Based on this phase difference, the signal reception direction can be calculated to determine the direction of the second positioning module relative to the first positioning module itself, and the signal transmission distance between the second positioning module and the first positioning module can be determined by using the phase difference and signal transmission time. That is, during ultra-wideband wireless positioning communication, the positioning position information at least includes the signal phase difference received by each first positioning antenna from the same second positioning antenna and the signal transmission distance from each first positioning antenna to each second positioning antenna. Compared with a one-to-one single antenna, the arrival phase difference calculation method can utilize the amplification effect of multiple antennas to indirectly estimate a more difficult to measure quantity by obtaining a more easily measured quantity, so that the angle data and distance data finally obtained are more accurate, thereby improving the positioning accuracy of the air writing pen.

[0113] Furthermore, in order to ensure the integrity of the information received by the first positioning module during ultra-wideband wireless communication, the signal frequency band received by the first positioning antenna needs to cover the full frequency band of the ultra-wideband signal, so the distance between every two antennas is preferably half the signal wavelength of ultra-wideband wireless communication. In addition, considering the cylindrical side shape of the air writing pen, the center of the polygon formed by the connecting lines of each pair of adjacent first positioning antennas in the first positioning module is the geometric center position of the first positioning module. Then in a preferred feasible embodiment, the geometric center position of the first positioning module is preferably the geometric center position of the air writing pen, which can reduce the deviation between the position of the first positioning module and the pen tip position of the air writing pen.

[0114] Based on the above considerations, the setting of the first positioning antenna in the first positioning module of the aerial writing pen needs to meet the distance conditions and the three-dimensional center conditions. Therefore, the first positioning module can be set to include three first positioning antennas, all of which are located on the inner side wall of the aerial writing pen. The connecting lines of every two adjacent first positioning antennas among the three first positioning antennas form an equilateral triangle, which further improves the accuracy of the handwriting position.

[0115] S308: Process the positioning position information based on a preset algorithm to obtain the spatial three-dimensional coordinates of the air writing pen.

[0116] Alternatively, if Figure 5 (A) As shown in the top view of the air writing pen, the geometric three-dimensional center position of the air writing pen is the origin, and there is a three-dimensional coordinate system, in which the vertical arrow 530 is the y-axis and the horizontal arrow 540 is the z-axis; Figure 5 (B) As shown in the front view of the air writing pen, at this time, based on the origin of the same three-dimensional coordinate system, the vertical arrow 550 is the x-axis and the horizontal arrow 540 is the z-axis; Figure 5 (C) As shown in the right side view of the air writing pen, based on the origin of the same three-dimensional coordinate system, the inner side wall of the pen body 510 of the air writing pen, and the connection line of every two adjacent first positioning antennas of the three first positioning antennas 560 form an equilateral triangle, the vertical arrow 530 is the y-axis, and the horizontal arrow 550 is the x-axis. The positioning position information of the second positioning module sensed by the first positioning module includes the signal phase difference of each first positioning antenna receiving the same second positioning antenna and the signal transmission distance from each first positioning antenna to each second positioning antenna. After the first positioning module obtains the positioning position information, it reports it to the main control chip of the air writing pen, so that the main control chip processes the positioning position information based on the preset algorithm to obtain the spatial three-dimensional coordinates of the air writing pen.

[0117] Specifically, since the first positioning module is a base station at this time, the main control chip of the air writing pen can first determine the three-dimensional coordinates of the display screen of the display device relative to the air writing pen based on the positioning position information, and the three-dimensional coordinates of the display screen are the coordinates in the three-dimensional coordinate system with the geometric three-dimensional center position of the air writing pen as the origin. Then, based on the three-dimensional coordinates of the display screen of the display device relative to the air writing pen, it can be converted into the spatial three-dimensional coordinates of the air writing pen relative to the display device, and the spatial three-dimensional coordinates of the air writing pen are the coordinates in the three-dimensional coordinate system with the geometric three-dimensional center position of the display device as the origin.

[0118] Furthermore, in order to further improve the accuracy of the three-dimensional spatial coordinates, the preset algorithm processing may also include at least one of the mean algorithm, Kalman filter algorithm, and smoothing algorithm. That is, multiple positioning position information can be obtained continuously for multiple times in one acquisition cycle, and the multiple positioning position information can be processed by algorithm to obtain a three-dimensional spatial coordinate. The algorithms that can be implemented include but are not limited to the mean algorithm, Kalman filter algorithm, smoothing algorithm, etc. Taking the mean algorithm as an example, 10 consecutive positioning position information can be obtained in one calculation, and the mean processing is performed based on the 10 positioning position information to obtain a final three-dimensional spatial coordinate.

[0119] S3010, performing spatial trigonometric function calculation on the three-dimensional spatial coordinates to obtain the two-dimensional screen coordinates corresponding to the air writing pen.

[0120] Optionally, after obtaining the three-dimensional spatial coordinates of the air writing pen, it is necessary to convert them into two-dimensional screen coordinates on the two-dimensional display screen. In a feasible embodiment, spatial trigonometric functions can be performed on the three-dimensional spatial coordinates to obtain the two-dimensional screen coordinates corresponding to the air writing pen.

[0121] S3012. Collect the motion trajectory of the air writing pen based on the motion trajectory collection module. The motion trajectory is the position change trajectory of the air writing pen relative to the motion end point position collected last time.

[0122] Optionally, from the introduction of the above embodiments, it can be known that in addition to the first positioning module used to locate the coordinate data of the absolute position of the air writing pen, the air writing pen may also include other types of positioning modules. The first positioning module and the second positioning module can determine the coordinate value of the absolute spatial position of the air writing pen. It can be understood that there are many calculation processes for the absolute spatial position. When the communication distance between the air writing pen and the display device is far, the duration of the overall process from data collection to processing the calculation results will be increased, which means that the update frame rate of the absolute spatial position of the air writing pen will be reduced to single-digit seconds.

[0123] Based on this, in order to smooth the handwriting movement display effect of the air writing pen, a motion trajectory collection module can be added to the air writing pen to collect the motion trajectory of the air writing pen. The motion trajectory is the position change trajectory of the air writing pen relative to the position of the motion end point collected last time, that is, the position change based on the absolute spatial position. Figure 4 The motion trajectory acquisition module reports the collected motion trajectory of the air writing pen to the main control chip of the air writing pen, and the main control chip processes and calculates the motion trajectory.

[0124] In a feasible embodiment, the motion trajectory acquisition module can be an inertial measurement unit (IMU), which can include at least multiple sensors such as accelerometers, gyroscopes, and geomagnetic sensors. The accelerometer detects the acceleration signals of the object in the three independent axes of the carrier coordinate system, and the gyroscope detects the angular velocity signal of the carrier relative to the navigation coordinate system, measures the angular velocity and acceleration of the object in three-dimensional space, and uses this to calculate the posture of the object. The geomagnetic sensor can more effectively determine the direction of the pen tip. The motion trajectory acquisition module has a small amount of data calculation and the update speed can reach milliseconds. In this way, when the absolute spatial position is not updated, the motion trajectory of the air writing pen during this period can be captured, and the cursor position display effect of the complete air writing pen can be displayed.

[0125] S3014: Send the motion trajectory to the display device, so that the display device moves the display cursor corresponding to the air writing pen according to the motion trajectory.

[0126] Optionally, see Figure 4 The main control chip of the air writing pen sends the motion trajectory to the display device through Bluetooth wireless communication, so that the display device displaces the display cursor corresponding to the air writing pen according to the motion trajectory, thereby supplementing the motion trajectory of the air writing pen, making its displacement effect smoother and improving the user experience.

[0127] S3016: In the pointing tracking mode, when a writing trajectory display signal is detected, instruct the display device to display the writing trajectory of the air writing pen based on the two-dimensional coordinates of the screen and the motion trajectory.

[0128] Furthermore, in the pointing tracking mode, the air writing pen only displays a cursor on the display device. In some scenarios, the user needs to use the air writing pen for handwriting input, so the writing handwriting of the air writing pen needs to be displayed on the display device, that is, the movement traces of the air writing pen need to be retained and displayed.

[0129] Optionally, based on this application scenario, a writing button can be provided on the pen body of the air writing pen. For details, please refer to Figure 5 ,like Figure 5 (A) As shown in the top view of the air writing pen, the writing button 570 is externally mounted on the pen body 510 of the air writing pen, and can be slightly raised compared to the pen body 510 of the air writing pen, making it easier for the user to press. In addition, to avoid the accidental retention of the writing track, the writing button can be kept in a pressed state to retain the writing track. Please refer to Figure 4 The air writing pen includes a writing button. When the user presses the writing button, the main control chip of the air writing pen senses the change in the state of the writing button, and learns that the writing trajectory display signal is currently monitored in the pointing tracking mode. In response to the pointing tracking signal, the display device is instructed to display the writing trajectory of the air writing pen based on the two-dimensional coordinates of the screen and the motion trajectory; when the user stops pressing the writing button and the writing button rebounds normally, the writing trajectory display signal disappears and the writing trajectory is no longer retained. This not only meets the user's writing needs, but also avoids the impact of the unreserved writing traces on the display screen.

[0130] In an embodiment of the present application, an air writing method is provided, which is applied to an air writing pen, wherein the air writing pen includes a first positioning module, the display device includes a second positioning module, a wireless positioning communication link exists between the first positioning module and the second positioning module, and the air writing pen includes a motion trajectory acquisition module; in response to a pointing tracking signal, a pointing tracking mode is entered; the positioning position information of the second positioning module is sensed by the first positioning module, and the computing power consumption required for processing the wireless positioning communication signal is low, so that accurate air writing handwriting positioning can be completed with less computing power; at the same time, a motion trajectory acquisition module is added to capture the motion trajectory of the air writing pen with a smaller amount of data calculation, and the cursor position and displacement of the air writing pen are completely and smoothly displayed; based on the writing trajectory display signal, the display device is instructed to display the writing trajectory of the air writing pen based on the two-dimensional screen coordinates and the motion trajectory, which can meet the writing needs of the user and avoid the influence of the writing trace on the display screen.

[0131] See also Figure 6 , Figure 6 A schematic flow chart of an air writing method provided in accordance with another embodiment of the present application.

[0132] like Figure 6 As shown, the air writing method, applied to a display device, may at least include:

[0133] S602: Determine the spatial three-dimensional coordinates of the air writing pen based on the wireless positioning communication signal between the display device and the air writing pen corresponding to the display device.

[0134] Optionally, in a specific implementation process, when there is a wireless positioning communication link between the air writing pen and the display device, the display device can also serve as a positioning base station, and can determine the three-dimensional position information of the air writing pen based on the signal characteristics of the wireless positioning communication signal. The three-dimensional position information is a three-dimensional coordinate in a three-dimensional coordinate system with the display device as the origin of the coordinate system, that is, the display device determines the spatial three-dimensional coordinates of the air writing pen based on the wireless positioning communication signal between the display device and the air writing pen corresponding to the display device. It should be noted that the process and calculation method of determining the spatial three-dimensional coordinates of the air writing pen are the same as the principle when the air writing pen serves as a base station, and will not be repeated here.

[0135] Optionally, the corresponding wireless positioning module in the display device can also be made into an external device mode. For example, the display device can be a conference tablet, a TV and other devices, and the wireless positioning module can be an external antenna. The specific situation is not limited in this embodiment of the application.

[0136] S604: Calculate the two-dimensional screen coordinates corresponding to the air writing pen based on the three-dimensional spatial coordinates.

[0137] Optionally, when the display device acts as a base station, the spatial three-dimensional coordinates of the air writing pen can be directly obtained, and the screen two-dimensional coordinates corresponding to the air writing pen can be calculated based on the spatial three-dimensional coordinates for subsequent display. It should be noted that the process and method of calculating the two-dimensional screen coordinates are the same as the principle when the air writing pen acts as a base station, and will not be repeated here.

[0138] S606: Display a cursor corresponding to the air writing pen based on the two-dimensional coordinates of the screen.

[0139] Optionally, when the display device acts as a base station, the display device directly displays the cursor corresponding to the air writing pen based on the two-dimensional coordinates of the screen, without the need to transmit coordinate data with the air writing pen, thereby reducing data transmission delays and increasing the applicable scenarios of the air writing pen and the display device. It should be noted that the process and calculation method of displaying the cursor corresponding to the air writing pen are the same as the principle when the air writing pen acts as a base station, and will not be repeated here.

[0140] In an embodiment of the present application, an air writing method is provided, which is applied to a display device, and determines the spatial three-dimensional coordinates of the air writing pen based on a wireless positioning communication signal between the display device and the air writing pen corresponding to the display device; calculates the screen two-dimensional coordinates corresponding to the air writing pen based on the spatial three-dimensional coordinates; and displays the cursor corresponding to the air writing pen based on the screen two-dimensional coordinates. The display device acts as a base station, determines the spatial three-dimensional coordinates of the air writing pen, directly processes the data, and displays the cursor position of the air writing pen after the data processing on its own display screen, thereby reducing the data transmission delay and increasing the applicable scenarios of the air writing pen and the display device.

[0141] See also Figure 7 , Figure 7 A schematic flow chart of an air writing method provided in accordance with another embodiment of the present application.

[0142] like Figure 7 As shown, the air writing method, applied to the air writing pen, may at least include:

[0143] S702: Determine the spatial three-dimensional coordinates of the air writing pen based on the wireless positioning communication signal between the air writing pen and the display device corresponding to the air writing pen.

[0144] Optionally, in another feasible embodiment, the air writing pen serves as a positioning base station, and the air writing pen determines the spatial three-dimensional coordinates of the air writing pen based on the wireless positioning communication signal between the air writing pen and the display device corresponding to the air writing pen. It should be noted that the process and calculation method of determining the spatial three-dimensional coordinates of the air writing pen are the same as the principle when the air writing pen serves as a base station, and will not be repeated here.

[0145] S704: Send the three-dimensional spatial coordinates to the display device, so that the display device calculates the two-dimensional screen coordinates corresponding to the air writing pen based on the three-dimensional spatial coordinates, and displays the cursor corresponding to the air writing pen based on the two-dimensional screen coordinates.

[0146] Optionally, after the space writing pen determines the three-dimensional spatial coordinates, the three-dimensional spatial coordinates are directly sent to the display device, so that the display device calculates the two-dimensional screen coordinates corresponding to the air writing pen based on the three-dimensional spatial coordinates, and displays the cursor corresponding to the air writing pen based on the two-dimensional screen coordinates. The display device calculates the two-dimensional screen coordinates corresponding to the air writing pen based on the three-dimensional spatial coordinates. It should be noted that the process and method of calculating the two-dimensional screen coordinates are the same as the principle when the above-mentioned air writing pen is used as a base station, and the process and method of displaying the cursor corresponding to the air writing pen are also the same as the principle when the above-mentioned air writing pen is used as a base station, which will not be repeated here.

[0147] In an embodiment of the present application, an air writing method is provided, which is applied to an air writing pen, and the spatial three-dimensional coordinates of the air writing pen are determined based on the wireless positioning communication signal between the air writing pen and the display device corresponding to the air writing pen; the spatial three-dimensional coordinates are sent to the display device, so that the display device calculates the screen two-dimensional coordinates corresponding to the air writing pen based on the spatial three-dimensional coordinates, and displays the cursor corresponding to the air writing pen based on the screen two-dimensional coordinates. The air writing pen acts as a base station, determines the spatial three-dimensional coordinates of the air writing pen, and then sends the spatial three-dimensional coordinates to the display device, which performs subsequent data processing and displays the cursor position of the air writing pen after data processing on its own display screen. The air writing pen and the display device are each responsible for a part of the calculation, thereby increasing the applicable scenarios of the air writing pen and the display device.

[0148] See also Figure 8 , Figure 8 A schematic flow chart of an air writing method provided in accordance with another embodiment of the present application.

[0149] like Figure 8 As shown, the air writing method, applied to a display device, may at least include:

[0150] S802, receiving the spatial three-dimensional coordinates sent by the air writing pen corresponding to the display device, where the spatial three-dimensional coordinates are coordinates determined by the air writing pen according to the wireless positioning communication signal between the display device and the air writing pen.

[0151] Optionally, the display device can directly receive the three-dimensional spatial coordinates sent by the corresponding air writing pen, wherein the three-dimensional spatial coordinates are the coordinates determined by the air writing pen according to the wireless positioning communication signal between the display device and the air writing pen when the air writing pen acts as a positioning base station.

[0152] S804: Calculate the two-dimensional screen coordinates corresponding to the air writing pen based on the three-dimensional spatial coordinates, and display the cursor corresponding to the air writing pen based on the two-dimensional screen coordinates.

[0153] Optionally, after receiving the three-dimensional spatial coordinates, the display device calculates the two-dimensional screen coordinates corresponding to the air writing pen based on the three-dimensional spatial coordinates, and displays the cursor corresponding to the air writing pen based on the two-dimensional screen coordinates. The process and method of calculating the two-dimensional screen coordinates are the same as the principle when the air writing pen is used as a base station, and the process and method of displaying the cursor corresponding to the air writing pen are also the same as the principle when the air writing pen is used as a base station, which will not be repeated here.

[0154] In an embodiment of the present application, an air writing method is provided, which is applied to a display device, receiving a spatial three-dimensional coordinate sent by an air writing pen corresponding to the display device, the spatial three-dimensional coordinate is the coordinate determined by the air writing pen according to the wireless positioning communication signal between the display device and the air writing pen; the screen two-dimensional coordinate corresponding to the air writing pen is calculated based on the spatial three-dimensional coordinate, and the cursor corresponding to the air writing pen is displayed based on the screen two-dimensional coordinate. The air writing pen acts as a base station, and the display device directly receives the spatial three-dimensional coordinate determined by the air writing pen, and then the display device performs subsequent data processing, and displays the cursor position of the air writing pen after data processing on its own display screen. The air writing pen and the display device are each responsible for a part of the calculation, which increases the applicable scenarios of the air writing pen and the display device.

[0155] See also Fig. 9 , Fig. 9 This is a structural block diagram of an air writing device provided in an embodiment of the present application. Fig. 9 As shown, the air writing device 900 is applied to an air writing pen, and includes:

[0156] A positioning module 910, for determining the spatial three-dimensional coordinates of the air writing pen based on a wireless positioning communication signal between the air writing pen and a display device corresponding to the air writing pen;

[0157] A calculation module 920, used to calculate the two-dimensional screen coordinates corresponding to the air writing pen based on the three-dimensional spatial coordinates;

[0158] The display module 930 is used to send the two-dimensional screen coordinates to the display device, so that the display device displays the cursor corresponding to the air writing pen based on the two-dimensional screen coordinates.

[0159] Optionally, the aerial writing pen includes a first positioning module, the display device includes a second positioning module, and a wireless positioning communication link exists between the first positioning module and the second positioning module; the positioning module 910 is also used to perceive the positioning position information of the second positioning module through the first positioning module based on the wireless positioning communication link; and process the positioning position information based on a preset algorithm to obtain the spatial three-dimensional coordinates of the aerial writing pen.

[0160] Optionally, the first positioning module and the second positioning module are ultra-wideband wireless communication modules.

[0161] Optionally, the first positioning module includes at least two first positioning antennas, and the second positioning module includes at least one second positioning antenna; the positioning position information includes at least the signal phase difference when each first positioning antenna receives the same second positioning antenna and the signal transmission distance from each first positioning antenna to each second positioning antenna.

[0162] Optionally, the preset algorithm includes at least one of a mean algorithm, a Kalman filter algorithm, and a smoothing algorithm.

[0163] Optionally, the calculation module 920 is further used to perform spatial trigonometric function calculation on the three-dimensional spatial coordinates to obtain the two-dimensional screen coordinates corresponding to the air writing pen.

[0164] Optionally, the air writing pen includes a motion trajectory collection module, and the air writing device 900 also includes: a motion trajectory collection module, which is used to collect the motion trajectory of the air writing pen based on the motion trajectory collection module, and the motion trajectory is the position change trajectory of the air writing pen relative to the position of the motion end point collected last time; the motion trajectory is sent to the display device, so that the display device moves the display cursor corresponding to the air writing pen according to the motion trajectory.

[0165] Optionally, the aerial writing device 900 further includes: an initialization module, which is used to enter a pointing tracking mode in response to a pointing tracking signal; complete initialization processing, and configure initial parameters of the first positioning module, the second positioning module, and the motion trajectory acquisition module.

[0166] Optionally, the aerial writing device 900 further includes: a writing trace display module, which is used to instruct the display device to display the writing trace of the aerial writing pen based on the two-dimensional screen coordinates and the motion trajectory when a writing trace display signal is detected in the pointing tracking mode.

[0167] In an embodiment of the present application, an aerial writing device is provided, which is applied to an aerial writing pen, wherein a positioning module is used to determine the spatial three-dimensional coordinates of the aerial writing pen based on a wireless positioning communication signal between the aerial writing pen and a display device corresponding to the aerial writing pen; a calculation module is used to calculate the screen two-dimensional coordinates corresponding to the aerial writing pen based on the spatial three-dimensional coordinates; and a display module is used to send the screen two-dimensional coordinates to the display device, so that the display device displays the cursor corresponding to the aerial writing pen based on the screen two-dimensional coordinates. Since a wireless positioning communication link is established between the aerial writing pen and the display device corresponding to the aerial writing pen, the aerial writing pen can sense the change of the motion position between the aerial writing pen and the display device based on the wireless positioning communication signal during the movement process, obtain the spatial three-dimensional coordinates of the aerial writing pen, transform the spatial three-dimensional coordinates to determine the screen two-dimensional coordinates of the cursor displayed by the aerial writing pen in the display device, and the computing power consumption required to process the wireless positioning communication signal is low, and accurate aerial writing handwriting positioning can be completed with less computing power.

[0168] See also Fig.10 , Fig.10 This is a structural block diagram of an aerial writing device provided by another embodiment of the present application. Fig.10 As shown, the sky writing device 1000 is applied to a display device, including:

[0169] The data receiving module 1010 is used to determine the spatial three-dimensional coordinates of the air writing pen based on the wireless positioning communication signal between the display device and the air writing pen corresponding to the display device;

[0170] A coordinate calculation module 1020, for calculating the two-dimensional screen coordinates corresponding to the air writing pen based on the three-dimensional spatial coordinates;

[0171] The cursor display module 1030 is used to display the cursor corresponding to the air writing pen based on the two-dimensional coordinates of the screen.

[0172] In an embodiment of the present application, an air writing device is provided, which is applied to a display device, wherein a data receiving module is used to determine the spatial three-dimensional coordinates of the air writing pen based on a wireless positioning communication signal between the display device and the air writing pen corresponding to the display device; a coordinate calculation module is used to calculate the screen two-dimensional coordinates corresponding to the air writing pen based on the spatial three-dimensional coordinates; and a cursor display module is used to display the cursor corresponding to the air writing pen based on the screen two-dimensional coordinates. The display device acts as a base station, determines the spatial three-dimensional coordinates of the air writing pen, directly processes the data, and displays the cursor position of the air writing pen after the data processing on its own display screen, thereby reducing the data transmission delay and increasing the applicable scenarios of the air writing pen and the display device.

[0173] See also Fig.11 , Fig.11 This is a structural block diagram of an aerial writing device provided by another embodiment of the present application. Fig.11 As shown, the air writing device 1100 is applied to an air writing pen, and includes:

[0174] A coordinate acquisition module 1110 is used to determine the spatial three-dimensional coordinates of the air writing pen based on a wireless positioning communication signal between the air writing pen and a display device corresponding to the air writing pen;

[0175] The coordinate sending module 1120 is used to send the three-dimensional spatial coordinates to the display device, so that the display device calculates the two-dimensional screen coordinates corresponding to the air writing pen based on the three-dimensional spatial coordinates, and displays the cursor corresponding to the air writing pen based on the two-dimensional screen coordinates.

[0176] In an embodiment of the present application, an aerial writing device is provided, which is applied to an aerial writing pen, wherein a coordinate acquisition module is used to determine the spatial three-dimensional coordinates of the aerial writing pen based on a wireless positioning communication signal between the aerial writing pen and a display device corresponding to the aerial writing pen; a coordinate sending module is used to send the spatial three-dimensional coordinates to the display device, so that the display device calculates the screen two-dimensional coordinates corresponding to the aerial writing pen based on the spatial three-dimensional coordinates, and displays the cursor corresponding to the aerial writing pen based on the screen two-dimensional coordinates. The aerial writing pen acts as a base station, determines the spatial three-dimensional coordinates of the aerial writing pen, and then sends the spatial three-dimensional coordinates to the display device, which performs subsequent data processing and displays the cursor position of the aerial writing pen after data processing on its own display screen. The aerial writing pen and the display device are each responsible for a part of the calculation, thereby increasing the applicable scenarios of the aerial writing pen and the display device.

[0177] See also Fig.12 , Fig.12 This is a structural block diagram of an aerial writing device provided by another embodiment of the present application. Fig.12 As shown, the sky writing device 1200 is applied to a display device, including:

[0178] The coordinate receiving module 1210 is used to receive the spatial three-dimensional coordinates sent by the air writing pen corresponding to the display device, and the spatial three-dimensional coordinates are the coordinates determined by the air writing pen according to the wireless positioning communication signal between the display device and the air writing pen;

[0179] The positioning display module 1220 is used to calculate the two-dimensional screen coordinates corresponding to the air writing pen based on the three-dimensional spatial coordinates, and display the cursor corresponding to the air writing pen based on the two-dimensional screen coordinates.

[0180] In an embodiment of the present application, an air writing device is provided, which is applied to a display device, wherein a coordinate receiving module is used to receive the spatial three-dimensional coordinates sent by the air writing pen corresponding to the display device, and the spatial three-dimensional coordinates are the coordinates determined by the air writing pen according to the wireless positioning communication signal between the display device and the air writing pen; a positioning display module is used to calculate the screen two-dimensional coordinates corresponding to the air writing pen based on the spatial three-dimensional coordinates, and display the cursor corresponding to the air writing pen based on the screen two-dimensional coordinates. The air writing pen acts as a base station, and the display device directly receives the spatial three-dimensional coordinates determined by the air writing pen, and then the display device performs subsequent data processing, and displays the cursor position of the air writing pen after data processing on its own display screen. The air writing pen and the display device are each responsible for a part of the calculation, which increases the applicable scenarios of the air writing pen and the display device.

[0181] An embodiment of the present application further provides a computer storage medium, which can store multiple instructions, and the instructions are suitable for being loaded by a processor and executing the steps of any method in the above embodiments.

[0182] See also Fig.13 , Fig.13 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. Fig.13 As shown, the electronic device 1300 may include: at least one electronic device processor 1301 , at least one network interface 1304 , a user interface 1303 , a memory 1305 , a wireless communication module 1306 , and at least one communication bus 1302 .

[0183] The wireless communication module 1306 may be a wireless positioning module, which may specifically include a first positioning module or a second positioning module, such as an ultra-wideband wireless communication module, or a Bluetooth module. In the embodiment of the present application, the wireless communication module 1306 may be used for wireless positioning communication, and may send and receive wireless positioning communication signals based on a wireless positioning communication link, and may perform Bluetooth wireless communication, etc.

[0184] The communication bus 1302 is used to realize the connection and communication between these components.

[0185] The user interface 1303 may include a display screen (Display) and a camera (Camera). The optional user interface 1303 may also include a standard wired interface and a wireless interface.

[0186] The network interface 1304 may optionally include a standard wired interface or a wireless interface (such as a WI-FI interface).

[0187] Among them, the electronic device processor 1301 may include one or more processing cores. The electronic device processor 1301 uses various interfaces and lines to connect various parts within the entire electronic device 1300, and executes various functions and processes data of the electronic device 1300 by running or executing instructions, programs, code sets or instruction sets stored in the memory 1305, and calling data stored in the memory 1305. Optionally, the electronic device processor 1301 can be implemented in at least one hardware form of digital signal processing (Digital Signal Processing, DSP), field programmable gate array (Field-Programmable Gate Array, FPGA), and programmable logic array (Programmable Logic Array, PLA). The electronic device processor 1301 can integrate one or more combinations of a central processing unit (Central Processing Unit, CPU), a graphics processor (Graphics Processing Unit, GPU) and a modem. Among them, the CPU mainly processes the operating system, user interface and application programs; the GPU is responsible for rendering and drawing the content to be displayed on the display screen; the modem is used to process wireless communications. It can be understood that the above-mentioned modem may not be integrated into the electronic device processor 1301, and it can be implemented separately through a chip.

[0188] Among them, the memory 1305 may include a random access memory (Random Access Memory, RAM) and may also include a read-only memory (Read-Only Memory, ROM). Optionally, the memory 1305 includes a non-transitory computer-readable storage medium. The memory 1305 can be used to store instructions, programs, codes, code sets or instruction sets. The memory 1305 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for at least one function (such as a touch function, a sound playback function, an image playback function, etc.), instructions for implementing the above-mentioned various method embodiments, etc.; the data storage area may store data involved in the above-mentioned various method embodiments, etc. The memory 1305 may also be optionally at least one storage device located away from the aforementioned electronic device processor 1301. As Fig.13 As shown, the memory 1305 as a computer storage medium may include an operating system, a network communication module, a user interface module, and an airwriting program.

[0189] When the electronic device 1300 is an air writing pen, Fig.13 In the electronic device 1300 shown, the user interface 1303 is mainly used to provide an input interface for the user and obtain the data input by the user; and the electronic device processor 1301 can be used to call the air writing program stored in the memory 1305 and specifically perform the following operations:

[0190] Determine the spatial three-dimensional coordinates of the air writing pen based on a wireless positioning communication signal between the air writing pen and a display device corresponding to the air writing pen;

[0191] Calculate the two-dimensional screen coordinates corresponding to the air writing pen based on the three-dimensional spatial coordinates;

[0192] The two-dimensional screen coordinates are sent to a display device, so that the display device displays a cursor corresponding to the air writing pen based on the two-dimensional screen coordinates.

[0193] In some embodiments, the air writing pen includes a first positioning module, the display device includes a second positioning module, and there is a wireless positioning communication link between the first positioning module and the second positioning module. When the electronic device processor 1301 determines the spatial three-dimensional coordinates of the air writing pen based on the wireless positioning communication signal between the air writing pen and the display device corresponding to the air writing pen, it specifically performs the following steps: based on the wireless positioning communication link, the positioning position information of the second positioning module is sensed through the first positioning module; based on a preset algorithm, the positioning position information is processed to obtain the spatial three-dimensional coordinates of the air writing pen.

[0194] In some embodiments, the first positioning module and the second positioning module are ultra-wideband wireless communication modules.

[0195] In some embodiments, the first positioning module includes at least two first positioning antennas, and the second positioning module includes at least one second positioning antenna; the positioning position information includes at least the signal phase difference when each first positioning antenna receives the same second positioning antenna and the signal transmission distance from each first positioning antenna to each second positioning antenna.

[0196] In some embodiments, the preset algorithm includes at least one of a mean algorithm, a Kalman filter algorithm, and a smoothing algorithm.

[0197] In some embodiments, when the electronic device processor 1301 calculates the two-dimensional screen coordinates corresponding to the air writing pen based on the three-dimensional spatial coordinates, it specifically performs the following steps: performing spatial trigonometric function calculations on the three-dimensional spatial coordinates to obtain the two-dimensional screen coordinates corresponding to the air writing pen.

[0198] In some embodiments, the air writing pen includes a motion trajectory collection module, and the electronic device processor 1301 is also used to execute the collection of the motion trajectory of the air writing pen based on the motion trajectory collection module, where the motion trajectory is the position change trajectory of the air writing pen relative to the position of the motion end point collected last time; the motion trajectory is sent to the display device, so that the display device moves the display cursor corresponding to the air writing pen according to the motion trajectory.

[0199] In some embodiments, before the electronic device processor 1301 determines the spatial three-dimensional coordinates of the air writing pen based on the wireless positioning communication signal between the air writing pen and the display device corresponding to the air writing pen, it also specifically performs the following steps: responding to the pointing tracking signal, entering the pointing tracking mode; completing the initialization processing, and configuring the initial parameters of the first positioning module, the second positioning module and the motion trajectory acquisition module.

[0200] In some embodiments, the electronic device processor 1301 is further configured to instruct the display device to display the writing trajectory of the air writing pen based on the two-dimensional screen coordinates and the motion trajectory when a writing trajectory display signal is detected in the pointing tracking mode.

[0201] When the electronic device 1300 is a display device, Fig.13 In the electronic device 1300 shown, the electronic device processor 1301 can be used to call the skywriting program stored in the memory 1305, and specifically perform the following operations:

[0202] Determine the spatial three-dimensional coordinates of the air writing pen based on a wireless positioning communication signal between the display device and the air writing pen corresponding to the display device;

[0203] Calculate the two-dimensional screen coordinates corresponding to the air writing pen based on the three-dimensional spatial coordinates;

[0204] The cursor corresponding to the air writing pen is displayed based on the two-dimensional coordinates of the screen.

[0205] When the electronic device 1300 is an air writing pen, Fig.13 In the electronic device 1300 shown, the electronic device processor 1301 can be used to call the skywriting program stored in the memory 1305, and specifically perform the following operations:

[0206] Determine the spatial three-dimensional coordinates of the air writing pen based on a wireless positioning communication signal between the air writing pen and a display device corresponding to the air writing pen;

[0207] The spatial three-dimensional coordinates are sent to a display device, so that the display device calculates the screen two-dimensional coordinates corresponding to the air writing pen based on the spatial three-dimensional coordinates, and displays a cursor corresponding to the air writing pen based on the screen two-dimensional coordinates.

[0208] When the electronic device 1300 is a display device, Fig.13 In the electronic device 1300 shown, the electronic device processor 1301 can be used to call the skywriting program stored in the memory 1305, and specifically perform the following operations:

[0209] Receiving the three-dimensional spatial coordinates sent by the air writing pen corresponding to the display device, the three-dimensional spatial coordinates are the coordinates determined by the air writing pen according to the wireless positioning communication signal between the display device and the air writing pen;

[0210] The two-dimensional screen coordinates corresponding to the air writing pen are calculated based on the three-dimensional spatial coordinates, and the cursor corresponding to the air writing pen is displayed based on the two-dimensional screen coordinates.

[0211] In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of modules is only a logical function division. There may be other division methods in actual implementation, such as multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or modules, which can be electrical, mechanical or other forms.

[0212] The modules described as separate components may or may not be physically separated, and the components shown as modules may or may not be physical modules, that is, they may be located in one place or distributed on multiple network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0213] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The above computer program product includes one or more computer instructions. When the above computer program instructions are loaded and executed on a computer, the above process or function according to the embodiment of this specification is generated in whole or in part. The above computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The above computer instructions can be stored in a computer-readable storage medium or transmitted by the above computer-readable storage medium. The above computer instructions can be transmitted from a website site, computer, server or data center to another website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (Digital Subscriber Line, DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode. The above computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server, data center, etc. that contains one or more available media integrated. The above-mentioned available media can be magnetic media (for example, floppy disks, hard disks, tapes), optical media (for example, digital versatile discs (DVD)), or semiconductor media (for example, solid state drives (SSD)), etc.

[0214] It should be noted that, for the above-mentioned method embodiments, for the sake of simplicity of description, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the described action sequence, because according to the present application, certain steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present application.

[0215] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0216] The above is a description of an air writing method, device, storage medium and electronic device provided by the present application. For technicians in this field, according to the ideas of the embodiments of the present application, there may be changes in the specific implementation methods and application scopes. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A method for writing in the air, characterized in that: Applied to an air writing pen, the method comprises: Determine the spatial three-dimensional coordinates of the air writing pen based on a wireless positioning communication signal between the air writing pen and a display device corresponding to the air writing pen; Calculate the two-dimensional screen coordinates corresponding to the aerial writing pen based on the three-dimensional spatial coordinates; The two-dimensional screen coordinates are sent to the display device, so that the display device displays a cursor corresponding to the air writing pen based on the two-dimensional screen coordinates.

2. The method according to claim 1, characterized in that The aerial writing pen includes a first positioning module, the display device includes a second positioning module, and a wireless positioning communication link exists between the first positioning module and the second positioning module; The determining of the spatial three-dimensional coordinates of the air writing pen based on the wireless positioning communication signal between the air writing pen and the display device corresponding to the air writing pen comprises: Based on the wireless positioning communication link, the first positioning module senses the positioning position information of the second positioning module; The positioning position information is processed based on a preset algorithm to obtain the spatial three-dimensional coordinates of the air writing pen.

3. The method according to claim 2, characterized in that The first positioning module and the second positioning module are ultra-wideband wireless communication modules.

4. The method according to claim 2, characterized in that The first positioning module includes at least two first positioning antennas, and the second positioning module includes at least one second positioning antenna; The positioning position information at least includes a phase difference of a signal received by each first positioning antenna from the same second positioning antenna and a signal transmission distance from each first positioning antenna to each second positioning antenna.

5. The method according to claim 2, characterized in that: The preset algorithm includes at least one of a mean algorithm, a Kalman filter algorithm, and a smoothing algorithm.

6. The method according to claim 1, characterized in that The calculating the two-dimensional screen coordinates corresponding to the air writing pen based on the three-dimensional spatial coordinates includes: A spatial trigonometric function calculation is performed on the three-dimensional spatial coordinates to obtain the two-dimensional screen coordinates corresponding to the air writing pen.

7. The method according to claim 2, characterized in that: The aerial writing pen includes a motion trajectory acquisition module, and the method further includes: The motion trajectory of the air writing pen is collected based on the motion trajectory collection module, where the motion trajectory is a position change trajectory of the air writing pen relative to the position of the motion end point collected last time; The motion trajectory is sent to the display device, so that the display device moves a display cursor corresponding to the air writing pen according to the motion trajectory.

8. The method according to claim 7, characterized in that Before determining the spatial three-dimensional coordinates of the air writing pen based on the wireless positioning communication signal between the air writing pen and the display device corresponding to the air writing pen, the method further includes: In response to the pointing tracking signal, entering a pointing tracking mode; The initialization process is completed, and the initial parameters of the first positioning module, the second positioning module, and the motion trajectory acquisition module are configured.

9. The method according to claim 8, characterized in that The method further comprises: In the pointing tracking mode, when a writing trajectory display signal is detected, the display device is instructed to display the writing trajectory of the air writing pen based on the two-dimensional screen coordinates and the motion trajectory.

10. A method for writing in the air, characterized in that: Applied to a display device, the method comprises: Determine the spatial three-dimensional coordinates of the air writing pen based on a wireless positioning communication signal between the display device and the air writing pen corresponding to the display device; Calculate the two-dimensional screen coordinates corresponding to the aerial writing pen based on the three-dimensional spatial coordinates; A cursor corresponding to the air writing pen is displayed based on the two-dimensional coordinates of the screen.

11. A method for writing in the air, characterized in that: Applied to an air writing pen, the method comprises: Determine the spatial three-dimensional coordinates of the air writing pen based on a wireless positioning communication signal between the air writing pen and a display device corresponding to the air writing pen; The spatial three-dimensional coordinates are sent to the display device, so that the display device calculates the screen two-dimensional coordinates corresponding to the air writing pen based on the spatial three-dimensional coordinates, and displays the cursor corresponding to the air writing pen based on the screen two-dimensional coordinates.

12. A method for writing in the air, characterized in that: Applied to a display device, the method comprises: Receiving a three-dimensional spatial coordinate sent by an air writing pen corresponding to the display device, wherein the three-dimensional spatial coordinate is a coordinate determined by the air writing pen according to a wireless positioning communication signal between the display device and the air writing pen; The two-dimensional screen coordinates corresponding to the air writing pen are calculated based on the three-dimensional spatial coordinates, and the cursor corresponding to the air writing pen is displayed based on the two-dimensional screen coordinates.

13. An air writing device, characterized in that: Applied to an air writing pen, the device comprises: A positioning module, used to determine the spatial three-dimensional coordinates of the air writing pen based on a wireless positioning communication signal between the air writing pen and a display device corresponding to the air writing pen; A calculation module, used for calculating the two-dimensional screen coordinates corresponding to the aerial writing pen based on the three-dimensional spatial coordinates; The display module is used to send the two-dimensional screen coordinates to the display device, so that the display device displays a cursor corresponding to the air writing pen based on the two-dimensional screen coordinates.

14. An air writing device, characterized in that: Applied to a display device, the device comprises: A data receiving module, used to determine the spatial three-dimensional coordinates of the air writing pen based on a wireless positioning communication signal between the display device and the air writing pen corresponding to the display device; A coordinate calculation module, used for calculating the two-dimensional screen coordinates corresponding to the aerial writing pen based on the three-dimensional spatial coordinates; The cursor display module is used to display the cursor corresponding to the air writing pen based on the two-dimensional coordinates of the screen.

15. An air writing device, characterized in that: Applied to an air writing pen, the device comprises: A coordinate acquisition module, used to determine the spatial three-dimensional coordinates of the air writing pen based on a wireless positioning communication signal between the air writing pen and a display device corresponding to the air writing pen; The coordinate sending module is used to send the three-dimensional spatial coordinates to the display device, so that the display device calculates the two-dimensional screen coordinates corresponding to the air writing pen based on the three-dimensional spatial coordinates, and displays the cursor corresponding to the air writing pen based on the two-dimensional screen coordinates.

16. An air writing device, characterized in that: Applied to a display device, the device comprises: A coordinate receiving module, used to receive the three-dimensional spatial coordinates sent by the air writing pen corresponding to the display device, wherein the three-dimensional spatial coordinates are coordinates determined by the air writing pen according to the wireless positioning communication signal between the display device and the air writing pen; The positioning display module is used to calculate the two-dimensional screen coordinates corresponding to the air writing pen based on the three-dimensional spatial coordinates, and to display the cursor corresponding to the air writing pen based on the two-dimensional screen coordinates.

17. A computer storage medium, characterized in that: The computer storage medium stores a plurality of instructions, which are suitable for being loaded by a processor and executing the steps of the method according to any one of claims 1 to 9 or 10 or 11 or 12.

18. An electronic device, characterized in that: The method comprises a memory, a processor and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the steps of the method according to any one of claims 1 to 9 or 10 or 11 or 12 are implemented.

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