Remote controller pointing alignment method, device and equipment and storage medium

Abstract

The invention discloses a remote controller pointing alignment method, device and equipment and a storage medium. The method comprises the following steps: acquiring home terminal horizontal angle data, opposite terminal horizontal angle data, ranging data and course angle data; correcting the course angle data based on the local end horizontal angle data to obtain target course angle data; when the cursor horizontally moves near the zero point, namely, the local-end horizontal angle data is smaller than the first preset angle data, and the target course angle data is smaller than the second preset angle data, the opposite-end horizontal angle data and the distance measurement data are updated, so that large-amplitude jumping of the cursor caused by fluctuation of the opposite-end horizontal angle data and the distance measurement data is avoided; the smooth transition of the horizontal movement distance of the cursor is realized; and controlling the display equipment to adjust the cursor position of the remote controller on the display unit based on the cursor horizontal movement distance data. The cursor horizontal movement distance deviation caused by the fact that the remote controller is not in the center line of the control box can be compensated, cursor jumping is prevented, smooth data switching is achieved, and the cursor is stabilized.

Description

Technical Field

[0001] The present application relates to the field of remote control technology, and in particular to a remote control pointing alignment method, device, equipment and storage medium. Background Art

[0002] Pointing remote controls typically use trigonometric principles to calculate the horizontal distance the cursor moves on the screen using heading angles and distance measurement data. However, this calculation method only works when the remote control is located at the centerline of the TV box. If the remote control is not located at the centerline of the TV box, the horizontal distance calculated using this method will have a large error, resulting in a significant deviation between the cursor position and the actual pointing direction of the remote control. Furthermore, the further the remote control deviates from the centerline of the TV box, the greater the error in the calculated horizontal distance. Summary of the Invention

[0003] The present application provides a remote control pointing alignment method, apparatus, device and storage medium to solve the technical problem of pointing calculation error in current pointing remote controls.

[0004] In order to solve the above technical problems, in a first aspect, the present application provides a remote control pointing alignment method, which is applied to a remote control, wherein the remote control is communicatively connected to a control box, and the control box is arranged at the top position of the center line of a display device. The method comprises: Acquire local horizontal angle data, opposite-end horizontal angle data, ranging data, and heading angle data, wherein the local horizontal angle data represents the angle between a line connecting the remote controller and the control box and the pointing direction of the remote controller; the opposite-end horizontal angle data represents the angle between a centerline of the control box and the connecting line; the ranging data represents the straight-line distance between the remote controller and the control box; and the heading angle data is heading angle data output by an inertial sensor on the remote controller; Based on the local horizontal angle data, the heading angle data is corrected to obtain target heading angle data; If the local horizontal angle data is less than the first preset angle data, and the target heading angle data is less than the second preset angle data, then calculating the horizontal movement distance data of the cursor of the remote controller based on the opposite horizontal angle data, the distance measurement data, and the target heading angle data; Based on the cursor horizontal movement distance data, the display device is controlled to adjust the cursor position of the remote controller on the display unit.

[0005] In some embodiments, the correcting the heading angle data based on the local horizontal angle data to obtain the target heading angle data includes: Determining compensation angle data of the heading angle data based on the local horizontal angle data and the heading angle data; Based on the compensation angle data, the heading angle data is corrected to obtain the target heading angle data.

[0006] In some embodiments, the calculating the horizontal movement distance data of the cursor of the remote controller based on the opposite end horizontal angle data, the distance measurement data, and the target heading angle data includes: If the remote controller is located to the left of the center line of the control box and is pointing to the left side of the display device, or if the remote controller is located to the right of the center line of the control box and is pointing to the right side of the display device, then calculating the first cursor horizontal movement distance data of the remote controller according to the opposite end horizontal angle data, the distance measurement data, and the target heading angle data based on a first horizontal distance function; If the remote control is located on the left side of the center line of the control box and is pointed at the right side of the display device, or if the remote control is located on the right side of the center line of the control box and is pointed at the left side of the display device, then based on the second horizontal distance function, the second cursor horizontal movement distance data of the remote control is calculated according to the opposite end horizontal angle data, the ranging data, and the target heading angle data.

[0007] In some embodiments, the expression of the first horizontal distance function is: ; in, The horizontal moving distance data of the first cursor, is the ranging data, is the target heading angle data, is the horizontal angle data of the opposite end.

[0008] In some embodiments, the expression of the second horizontal distance function is: ; in, The horizontal movement distance data for the second cursor, is the ranging data, is the target heading angle data, is the horizontal angle data of the opposite end.

[0009] In some embodiments, after the heading angle data is corrected based on the local horizontal angle data to obtain the target heading angle data, the method further includes: Determining whether the local horizontal angle data is less than a first preset angle data, and whether the target heading angle data is less than a second preset angle data; If the local horizontal angle data is less than the first preset angle data, and the target heading angle data is less than the second preset angle data, then entering the step of calculating the horizontal movement distance data of the cursor of the remote controller based on the opposite end horizontal angle data, the distance measurement data, and the target heading angle data; If the local horizontal angle data is not less than the first preset angle data, and / or the target heading angle data is not less than the second preset angle data, wait for the local horizontal angle data and target heading angle data at the next moment, and return to the step of determining whether the local horizontal angle data is less than the first preset angle data and whether the target heading angle data is less than the second preset angle data for the next judgment.

[0010] In some embodiments, the remote controller and the control box perform distance and angle measurement based on UWB communication to collect the local horizontal angle data, the opposite horizontal angle data and the distance measurement data.

[0011] In a second aspect, the present application further provides a remote control pointing alignment device, which is applied to a remote control, wherein the remote control is communicatively connected to a control box, and the control box is arranged at the top position of the center line of the display device, and the device comprises: an acquisition module, configured to acquire local horizontal angle data, opposite-end horizontal angle data, ranging data, and heading angle data, wherein the local horizontal angle data represents the angle between a line connecting the remote controller and the control box and the pointing direction of the remote controller; the opposite-end horizontal angle data represents the angle between a centerline of the control box and the connecting line; the ranging data represents the straight-line distance between the remote controller and the control box; and the heading angle data is the heading angle data output by an inertial sensor on the remote controller; a correction module, configured to correct the heading angle data based on the local horizontal angle data to obtain target heading angle data; a calculation module, configured to calculate horizontal movement distance data of the cursor of the remote controller based on the opposite end horizontal angle data, the distance measurement data, and the target heading angle data, if the local end horizontal angle data is less than the first preset angle data and the target heading angle data is less than the second preset angle data; The control module is configured to control the display device to adjust a cursor position of the remote controller on the display unit based on the cursor horizontal movement distance data.

[0012] In a third aspect, the present application further provides a remote control device, comprising a processor and a memory, wherein the memory is used to store a computer program, and when the computer program is executed by the processor, the remote control pointing alignment method as described in the first aspect is implemented.

[0013] In a fourth aspect, the present application further provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the remote control pointing alignment method as described in the first aspect.

[0014] Compared with the prior art, this application has at least the following beneficial effects: The present application uses the local horizontal angle data to correct the heading angle data to obtain target heading angle data, so as to eliminate cursor jumps and calculation errors caused by the volatility of the heading angle data itself and the reference angle error; when the horizontal movement distance of the cursor is near zero, that is, when the local horizontal angle data is less than the first preset angle data, and the target heading angle data is less than the second preset angle data, the opposite end horizontal angle data and ranging data are updated to avoid large cursor jumps caused by fluctuations in the opposite end horizontal angle and ranging data, thereby achieving a smooth transition of the cursor horizontal movement distance; based on the cursor horizontal movement distance data, the display device is controlled to adjust the cursor position of the remote control on the display unit to compensate for the cursor horizontal movement distance deviation caused by the remote control being not in the center line of the control box, and to prevent cursor jumps, thereby achieving smooth data switching and stabilizing the cursor. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a flow chart of a remote control pointing and aiming method according to an embodiment of the present application; Figure 2A This is a schematic diagram of an application scenario when the remote control is in the center of the control box shown in an embodiment of the present application; Figure 2B This is a schematic diagram of an application scenario when the remote control is not in the center line of the control box shown in an embodiment of the present application; Figure 2C This is a schematic diagram of another application scenario when the remote control is not in the center line of the control box shown in the embodiment of the present application; Figure 2D This is another application scenario shown in the embodiment of the present application when the remote control is not in the center line of the control box; Figure 3A The embodiment of this application shows Figure 2C Schematic diagram of the deviation when the horizontal angle of the opposite end is 10° in the application scenario; Figure 3B The embodiment of this application shows Figure 2C Schematic diagram of cursor lateral deviation in an application scenario when the peer horizontal angle is 20°; Figure 3C The embodiment of this application shows Figure 2C Schematic diagram of cursor lateral deviation in the application scenario when the horizontal angle of the peer end is 30°; Figure 3D The embodiment of this application shows Figure 2DSchematic diagram of cursor lateral deviation in an application scenario when the peer horizontal angle is 10°; Figure 3E The embodiment of this application shows Figure 2D Schematic diagram of cursor lateral deviation in an application scenario when the peer horizontal angle is 20°; Figure 3F The embodiment of this application shows Figure 2D Schematic diagram of cursor lateral deviation in the application scenario when the horizontal angle of the peer end is 30°; Figure 4A This is a schematic diagram of data fluctuations of ranging data output by UWB according to an embodiment of the present application; Figure 4B A schematic diagram of data fluctuations of UWB data shown in an embodiment of the present application; Figure 5A This is a schematic diagram of a fourth application scenario when the remote control is not in the center line of the control box shown in the embodiment of the present application; Figure 5B This is a schematic diagram of a fifth application scenario when the remote control is not in the center line of the control box shown in the embodiment of the present application; Figure 6 This is a schematic diagram of data fluctuations when rho and dst_azi transition near a yaw angle of 0°, shown in an embodiment of the present application; Figure 7 This is a schematic diagram of the application process of the remote control pointing alignment method shown in an embodiment of the present application; Figure 8A This is a schematic diagram of an application scenario in which the remote control position and the remote control pointing to the same side of the display device are shown in an embodiment of the present application; Figure 8B This is a schematic diagram of an application scenario in which the remote control is positioned and pointed at different sides of a display device, as shown in an embodiment of the present application; Figure 9 This is a structural block diagram of a remote control pointing and aiming device shown in an embodiment of the present application; Figure 10 This is a structural block diagram of a remote control device according to an embodiment of the present application. DETAILED DESCRIPTION

[0016] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0017] As mentioned in the background technology, the current method of calculating the horizontal movement distance of the remote controller has the problem of calculation error. Figure 2A As shown, when the remote control is in the center line of the BOX (TV control box), when calculating the horizontal movement distance dx of the cursor on the screen by pointing the remote control, using the yaw angle and the ranging data rho, through trigonometric operation, we get dx = rho×tan(yaw), and there will be no error at this time. However, when the remote control is not in the center line of the BOX, if we still use dx = rho×tan(yaw) to calculate the horizontal movement distance, it will lead to inaccurate calculation results of dx and deviation of the cursor position. As Figure 2B shown, when the remote control is on the left side of the center line of the BOX and the remote control points to point A on the left side of the screen, the theoretical landing point of the cursor should be A, and the theoretical horizontal movement distance of the cursor should be d1. If we calculate with dx = rho×tan(yaw1), the actual landing point of the cursor obtained is A’, and the actual horizontal movement distance of the cursor is dx1 (dx1>d1), and the deviation from the theoretical landing point is d1 - dx1. When the remote control is at the same position and points to point B on the right side of the screen, the theoretical landing point of the cursor should be B. If we use dx = rho×tan(yaw2) to calculate, the actual landing point of the cursor is B’, and the actual horizontal distance of the cursor is dx2 (dx2<d2), and the deviation from the theoretical landing point is d2 - dx2.

[0018] As Figure 2C shown, assuming that the ranging data rho is 200cm for each, for different opposite horizontal angles (dst_azi = 10°, dst_azi = 20°, dst_azi = 30°) deviating left from the center line of the BOX, turning the yaw angle of the remote control from the 0-degree line of the yaw angle to the left boundary of the screen, the comparison results of the cursor movement distance dx1 calculated by using dx = rho×tan(yaw) and the theoretical cursor movement distance d1 are respectively as Figure 3A 、 Figure 3B and Figure 3C shown, where the abscissa is the rotation angle of the yaw angle (0° to 40°), and the ordinate is the horizontal movement distance of the cursor. As Figure 2D shown, assuming that the ranging rho is 200cm for each, for different opposite horizontal angles (dst_azi = 10°, dst_azi = 20°, dst_azi = 30°) deviating left from the center line of the BOX, turning the yaw angle of the remote control from the 0-degree line of the yaw angle to the right boundary of the screen, the comparison results of the cursor movement distance dx2 calculated by using dx = rho×tan(yaw) and the theoretical cursor movement distance d2 are respectively as Figure 3D 、 Figure 3E 、 Figure 3F , where the abscissa is the rotation angle of the yaw angle (0° to 40°), and the ordinate is the horizontal movement distance of the cursor. It can be seen that the farther the distance between the remote control and the center line of the BOX, the greater this deviation will be.

[0019] At the same time, as shown in FIG4 , since the ranging data rho sent by UWB has certain fluctuations, if it is directly used to calculate the horizontal offset of the cursor, the cursor will jump due to the rho fluctuation.

[0020] To this end, embodiments of the present application provide a method for achieving precise alignment of a pointing remote control based on a smooth transition algorithm for dynamic UWB ranging and angle measurement data. By incorporating dynamic ranging data rho and dynamic peer-end heading angle data dst_azi, the cursor's lateral deviation (horizontal movement distance error) is corrected, achieving precise alignment of the pointing remote control. The use of a smooth transition algorithm also avoids fluctuations in the calculated and corrected cursor lateral offset caused by changes and fluctuations in the UWB dynamic ranging data and dynamic peer-end heading angle data.

[0021] Please refer to Figure 1 , Figure 1 A flowchart of a remote control pointing and aiming method provided in an embodiment of the present application. The remote control pointing and aiming method of the embodiment of the present application can be applied to a remote control, wherein the remote control is connected to a control box for communication, and the control box is arranged at the top position of the center line of the display device. Optionally, the remote control and the control box use UWB communication to measure distance and angle. Figure 1 As shown, the remote control pointing alignment method of this embodiment includes steps S101 to S104, which are described in detail as follows: Step S101, acquiring local horizontal angle data, opposite-end horizontal angle data, ranging data, and heading angle data, wherein the local horizontal angle data represents the angle between a line connecting the remote controller and the control box and the pointing direction of the remote controller, the opposite-end horizontal angle data represents the angle between the centerline of the control box and the connecting line, the ranging data represents the straight-line distance between the remote controller and the control box, and the heading angle data is the heading angle data output by an inertial sensor on the remote controller; In this step, optionally, the remote controller and the control box perform distance and angle measurement based on UWB communication to collect the local horizontal angle data, the opposite horizontal angle data and distance measurement data. Specifically, the remote controller and the BOX end communicate via UWB, and UWB sends the distance measurement data and angle measurement data at 20Hz. Figure 5A As shown, the distance data is the straight-line distance rho from the BOX to the remote controller. The local horizontal angle data is the angle azi from the line connecting the remote controller and the BOX to the direction the remote controller is pointing. The remote horizontal angle data is the angle dst_azi from the BOX centerline to the line connecting the remote controller and the BOX. The heading angle data is the heading angle imu_heading, which is output stably by the inertial sensor (IMU) on the remote controller at a preset frequency (e.g., 100 Hz).

[0022] Step S102: Based on the local horizontal angle data, the heading angle data is corrected to obtain target heading angle data.

[0023] In this step, if Figure 4B As shown in the figure, due to fluctuations in UWB output data, using the local horizontal angle data (azi) directly for horizontal distance calculations can cause cursor jitter. The heading angle output by the IMU is a relative heading angle based on the initial power-on moment of 0 degrees, so using it directly for horizontal distance calculations can also result in calculation errors. Therefore, this embodiment uses the local horizontal angle data (azi) as the parameter angle for heading angle correction, correcting the IMU's heading angle (imu_heading) to the direction of azi to obtain the target heading angle data (yaw).

[0024] Optionally, the step 102 includes: determining compensation angle data of the heading angle data based on the local horizontal angle data and the heading angle data; and correcting the heading angle data based on the compensation angle data to obtain the target heading angle data.

[0025] In this optional embodiment, if Figure 5A As shown, the local horizontal angle data azi is used as the reference angle, and the compensation angle data phi between the heading angle data imu_heading and azi is calculated. Imu_heading is corrected with phi to obtain the target heading angle data yaw. That is, the 0-degree reference line of yaw is the line between the BOX end and the remote control to avoid cursor jumping and result errors.

[0026] Step S103: If the local horizontal angle data is less than the first preset angle data and the target heading angle data is less than the second preset angle data, the horizontal movement distance data of the cursor of the remote controller is calculated based on the opposite horizontal angle data, the distance measurement data and the target heading angle data.

[0027] In this step, the current azi data and the compensated yaw angle are used to update the distance data rho and the horizontal angle data dst_azi of the opposite end, so that when the remote control is at any position and the remote control points to the BOX end, the yaw angle is 0° (such as Figure 5B As shown in the figure), the horizontal offset dx of the cursor is 0, and the cursor is at the horizontal center line of the screen. Based on this, when yaw is near 0°, that is, when the cursor is at the center line of the screen, the impact of dx data jitter caused by updating the ranging data rho and dst_azi data will be minimized. Figure 6As shown in the figure, when the ranging data rho and dst_azi change dramatically (rho changes by 30cm, dst_azi changes by 26°), the azi data is limited to within 3°, and the yaw angle is limited to within 0.5°. Then rho and dst_azi are updated. Finally, the calculated horizontal movement distance dx of the cursor can be smoothly transitioned without large fluctuations.

[0028] Step S104 : Based on the cursor horizontal movement distance data, controlling the display device to adjust the cursor position of the remote controller on the display unit.

[0029] In this step, the remote controller is connected to the control box for communication, the control box is connected to the display device for communication, and the display device moves the cursor according to the cursor horizontal movement distance data dx.

[0030] This embodiment uses the local horizontal angle data to correct the heading angle data to obtain target heading angle data, thereby eliminating cursor jitter and calculation errors caused by the fluctuation of the heading angle data itself and the reference angle error. When the cursor horizontal movement distance is near zero, that is, when the local horizontal angle data is less than the first preset angle data and the target heading angle data is less than the second preset angle data, the opposite end horizontal angle data and ranging data are updated to avoid large cursor jitter caused by fluctuations in the opposite end horizontal angle and ranging data, thereby achieving a smooth transition of the cursor horizontal movement distance. Based on the cursor horizontal movement distance data, the display device is controlled to adjust the cursor position of the remote control on the display unit to compensate for the cursor horizontal movement distance deviation caused by the remote control being off the center line of the control box, and to prevent cursor jitter, thereby achieving smooth data switching and stabilizing the cursor.

[0031] In some embodiments, as Figure 7 As shown, the step S103 includes: If the remote controller is located to the left of the center line of the control box and is pointing to the left side of the display device, or if the remote controller is located to the right of the center line of the control box and is pointing to the right side of the display device, then calculating the first cursor horizontal movement distance data of the remote controller according to the opposite end horizontal angle data, the distance measurement data, and the target heading angle data based on a first horizontal distance function; If the remote control is located on the left side of the center line of the control box and is pointed at the right side of the display device, or if the remote control is located on the right side of the center line of the control box and is pointed at the left side of the display device, then based on the second horizontal distance function, the second cursor horizontal movement distance data of the remote control is calculated according to the opposite end horizontal angle data, the ranging data, and the target heading angle data.

[0032] In this embodiment, the calculation method of the cursor horizontal movement distance data is determined according to the position and direction of the remote controller to improve the accuracy of the calculation result.

[0033] Optionally, the expression of the first horizontal distance function is: ; in, The horizontal moving distance data of the first cursor, is the ranging data, is the target heading angle data, is the horizontal angle data of the opposite end; Optionally, the expression of the second horizontal distance function is: ; in, The horizontal movement distance data for the second cursor, is the ranging data, is the target heading angle data, is the horizontal angle data of the opposite end.

[0034] In this optional embodiment, if Figure 8A As shown, when the remote control position and the remote control are on the same side of the display device, the calculation ,calculate ; According to the sine function: ; Calculate the corrected cursor position ,Right now .

[0035] like Figure 8B As shown, when the remote control position and the remote control pointing to the display device are different, the calculation ,calculate ; According to the sine function: ; Calculate the cursor correction ,Right now .

[0036] In some embodiments, as Figure 7 As shown, after step S102, the following steps are further included: Determining whether the local horizontal angle data is less than a first preset angle data, and whether the target heading angle data is less than a second preset angle data; If the local horizontal angle data is less than the first preset angle data, and the target heading angle data is less than the second preset angle data, then entering the step of calculating the horizontal movement distance data of the cursor of the remote controller based on the opposite end horizontal angle data, the distance measurement data, and the target heading angle data; If the local horizontal angle data is not less than the first preset angle data, and / or the target heading angle data is not less than the second preset angle data, wait for the local horizontal angle data and target heading angle data at the next moment, and return to the step of determining whether the local horizontal angle data is less than the first preset angle data and whether the target heading angle data is less than the second preset angle data for the next judgment.

[0037] In this embodiment, the first preset angle data can be 3°, and the second preset angle data can be 0.5°. By determining the local horizontal angle data and the target heading angle data, the requirement of transitioning the cursor near a yaw angle of 0° without causing dx jumps is met. If the angle requirements are not met, the next UWB ranging and angle data and IMU heading angle data are obtained for the next update.

[0038] In order to execute the remote control pointing method corresponding to the above method embodiment, to achieve the corresponding functions and technical effects. Figure 9 , Figure 9 The following is a block diagram of a remote control pointing and aiming device provided by an embodiment of the present application. For ease of explanation, only the parts related to this embodiment are shown. The remote control pointing and aiming device provided by an embodiment of the present application includes: Acquisition module 901 is configured to acquire local horizontal angle data, peer horizontal angle data, ranging data, and heading angle data, wherein the local horizontal angle data represents the angle between a line connecting the remote controller and the control box and the pointing direction of the remote controller; the peer horizontal angle data represents the angle between the centerline of the control box and the connecting line; the ranging data represents the straight-line distance between the remote controller and the control box; and the heading angle data is the heading angle data output by the inertial sensor on the remote controller; A correction module 902 is configured to correct the heading angle data based on the local horizontal angle data to obtain target heading angle data; a calculation module 903 configured to calculate horizontal movement distance data of the cursor of the remote controller based on the opposite end horizontal angle data, the distance measurement data, and the target heading angle data if the local end horizontal angle data is less than the first preset angle data and the target heading angle data is less than the second preset angle data; The control module 904 is configured to control the display device to adjust the cursor position of the remote controller on the display unit based on the cursor horizontal movement distance data.

[0039] In some embodiments, the correction module 902 is specifically configured to: Determining compensation angle data of the heading angle data based on the local horizontal angle data and the heading angle data; Based on the compensation angle data, the heading angle data is corrected to obtain the target heading angle data.

[0040] In some embodiments, the calculation module 903 is specifically configured to: If the remote controller is located to the left of the center line of the control box and is pointing to the left side of the display device, or if the remote controller is located to the right of the center line of the control box and is pointing to the right side of the display device, then calculating the first cursor horizontal movement distance data of the remote controller according to the opposite end horizontal angle data, the distance measurement data, and the target heading angle data based on a first horizontal distance function; If the remote control is located on the left side of the centerline of the control box and is pointed at the right side of the display device, or if the remote control is located on the right side of the centerline of the control box and is pointed at the left side of the display device, then based on the second horizontal distance function, the horizontal movement distance data of the cursor of the remote control is calculated according to the horizontal angle data of the opposite end, the ranging data, and the target heading angle data.

[0041] In some embodiments, the expression of the first horizontal distance function is: ; in, The horizontal moving distance data of the first cursor, is the ranging data, is the target heading angle data, is the horizontal angle data of the opposite end.

[0042] In some embodiments, the expression of the second horizontal distance function is: ; in, The horizontal movement distance data for the second cursor, is the ranging data, is the target heading angle data, is the horizontal angle data of the opposite end.

[0043] In some embodiments, the apparatus further comprises: a determination module, configured to determine whether the local horizontal angle data is less than a first preset angle data, and whether the target heading angle data is less than a second preset angle data; an entry module, configured to enter the step of calculating the horizontal movement distance data of the cursor of the remote controller based on the opposite end horizontal angle data, the distance measurement data, and the target heading angle data if the local end horizontal angle data is less than the first preset angle data and the target heading angle data is less than the second preset angle data; A return module is used to wait for the local horizontal angle data and target heading angle data at the next moment if the local horizontal angle data is not less than the first preset angle data and / or the target heading angle data is not less than the second preset angle data, and return to the step of determining whether the local horizontal angle data is less than the first preset angle data and whether the target heading angle data is less than the second preset angle data for the next judgment.

[0044] In some embodiments, the remote controller and the control box perform distance and angle measurement based on UWB communication to collect the local horizontal angle data, the opposite horizontal angle data and the distance measurement data.

[0045] The above-mentioned remote control pointing alignment device can implement the remote control pointing alignment method of the above-mentioned method embodiment. The optional options in the above-mentioned method embodiment also apply to this embodiment and are not described in detail here. The remaining contents of the embodiment of this application can refer to the contents of the above-mentioned method embodiment and are not repeated in this embodiment.

[0046] Figure 10 This is a schematic diagram of the structure of a remote control device provided in one embodiment of the present application. Figure 10 As shown, the remote control device 10 of this embodiment includes: at least one processor 100 ( Figure 10 Only one is shown in the figure), a memory 101 and a computer program 102 stored in the memory 101 and executable on the at least one processor 100, wherein the processor 100 implements the steps of any of the above method embodiments when executing the computer program 102.

[0047] The remote control device 10 may be a computing device such as a smart phone, a tablet computer, a desktop computer, or a cloud server. The remote control device may include but is not limited to a processor 100 and a memory 101. It will be understood by those skilled in the art that Figure 10 This is merely an example of the remote control device 10 and does not constitute a limitation on the remote control device 10 . The remote control device 10 may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, it may also include input and output devices, network access devices, etc.

[0048] The processor 100 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. A general-purpose processor may be a microprocessor or any conventional processor.

[0049] In some embodiments, the memory 101 may be an internal storage unit of the remote control device 10, such as a hard drive or memory of the remote control device 10. In other embodiments, the memory 101 may also be an external storage device of the remote control device 10, such as a plug-in hard drive, a Smart Media Card (SMC), a Secure Digital (SD) card, a flash memory card, etc. equipped with the remote control device 10. Furthermore, the memory 101 may include both an internal storage unit of the remote control device 10 and an external storage device. The memory 101 is used to store an operating system, application programs, a boot loader, data, and other programs, such as the program code of the computer program. The memory 101 may also be used to temporarily store data that has been output or is about to be output.

[0050] In addition, an embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps in any of the above method embodiments are implemented.

[0051] An embodiment of the present application provides a computer program product. When the computer program product is run on a remote control device, the remote control device implements the steps in the above-mentioned method embodiments.

[0052] In several embodiments provided in the present application, it is understood that each box in the flow chart or block diagram can represent a part of a module, program segment or code, and the part of the module, program segment or code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in an order different from that marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, which depends on the functions involved.

[0053] If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a number of instructions for enabling a remote control device to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), disk or optical disk, and other media that can store program codes.

[0054] The specific embodiments described above further illustrate the objectives, technical solutions, and beneficial effects of this application. It should be understood that the above descriptions are merely specific embodiments of this application and are not intended to limit the scope of protection of this application. In particular, it should be noted that any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of this application by those skilled in the art should be included within the scope of protection of this application.

Claims

1. A remote control pointing method, characterized in that: Applied to a remote controller, the remote controller is communicatively connected to a control box, the control box is communicatively connected to a display device, the control box is arranged at the top position of the midline of the display device, the method comprises: Acquire local horizontal angle data, opposite horizontal angle data, distance measurement data and heading angle data, wherein the local horizontal angle data represents the angle between the line connecting the remote controller and the control box and the pointing direction of the remote controller, the opposite horizontal angle data represents the angle between the center line of the control box and the connecting line, the distance measurement data represents the straight-line distance between the remote controller and the control box, and the heading angle data is the heading angle data output by the inertial sensor on the remote controller; Based on the local horizontal angle data, the heading angle data is corrected to obtain target heading angle data; If the local horizontal angle data is less than the first preset angle data, and the target heading angle data is less than the second preset angle data, then calculating the horizontal movement distance data of the cursor of the remote controller based on the opposite horizontal angle data, the distance measurement data and the target heading angle data; Based on the cursor horizontal movement distance data, the display device is controlled to adjust the cursor position of the remote controller on the display device.

2. The remote control pointing method according to claim 1, characterized in that: The correcting the heading angle data based on the local horizontal angle data to obtain the target heading angle data includes: Determining compensation angle data of the heading angle data based on the local horizontal angle data and the heading angle data; Based on the compensation angle data, the heading angle data is corrected to obtain the target heading angle data.

3. The remote control pointing method according to claim 1, characterized in that: The calculating the horizontal movement distance data of the cursor of the remote controller based on the opposite end horizontal angle data, the distance measurement data and the target heading angle data comprises: If the remote controller is located on the left side of the center line of the control box and points to the left side of the display device, or the remote controller is located on the right side of the center line of the control box and points to the right side of the display device, then based on the first horizontal distance function, the first cursor horizontal movement distance data of the remote controller is calculated according to the opposite end horizontal angle data, the distance measurement data and the target heading angle data; If the remote control is located on the left side of the center line of the control box and the remote control points to the right side of the display device, or the remote control is located on the right side of the center line of the control box and the remote control points to the left side of the display device, then based on the second horizontal distance function, according to the opposite end horizontal angle data, the ranging data and the target heading angle data, the second cursor horizontal movement distance data of the remote control is calculated.

4. The remote control pointing method according to claim 3, characterized in that: The expression of the first horizontal distance function is: ； in, The horizontal moving distance data of the first cursor. is the ranging data, is the target heading angle data, It is the horizontal angle data of the opposite end.

5. The remote control pointing method according to claim 3, characterized in that: The expression of the second horizontal distance function is: ； in, The horizontal movement distance data for the second cursor. is the ranging data, is the target heading angle data, It is the horizontal angle data of the opposite end.

6. The remote control pointing method according to claim 1, characterized in that: After the heading angle data is corrected based on the local horizontal angle data to obtain the target heading angle data, the method further includes: Determine whether the local horizontal angle data is less than the first preset angle data, and whether the target heading angle data is less than the second preset angle data; If the local horizontal angle data is less than the first preset angle data, and the target heading angle data is less than the second preset angle data, then entering the step of calculating the horizontal movement distance data of the cursor of the remote controller based on the opposite end horizontal angle data, the distance measurement data and the target heading angle data; If the local horizontal angle data is not less than the first preset angle data, and / or the target heading angle data is not less than the second preset angle data, then wait for the local horizontal angle data and the target heading angle data at the next moment, and return to the step of determining whether the local horizontal angle data is less than the first preset angle data, and whether the target heading angle data is less than the second preset angle data for the next judgment.

7. The remote control pointing method according to claim 1, characterized in that: The remote controller and the control box perform distance and angle measurement based on UWB communication to collect the local horizontal angle data, the opposite horizontal angle data and the distance measurement data.

8. A remote control pointing device, characterized in that: Applied to a remote controller, the remote controller is connected to a control box for communication, the control box is arranged at the top position of the midline of the display device, and the device comprises: an acquisition module, used to acquire local horizontal angle data, opposite-end horizontal angle data, distance measurement data, and heading angle data, wherein the local horizontal angle data represents the angle between the line connecting the remote controller and the control box and the pointing direction of the remote controller, the opposite-end horizontal angle data represents the angle between the center line of the control box and the line, the distance measurement data represents the straight-line distance between the remote controller and the control box, and the heading angle data is the heading angle data output by the inertial sensor on the remote controller; A correction module, used to correct the heading angle data based on the local horizontal angle data to obtain target heading angle data; a calculation module, configured to calculate the horizontal movement distance data of the cursor of the remote controller based on the opposite end horizontal angle data, the distance measurement data and the target heading angle data if the local end horizontal angle data is less than the first preset angle data and the target heading angle data is less than the second preset angle data; The control module is used to control the display device to adjust the cursor position of the remote controller on the display unit based on the cursor horizontal movement distance data.

9. A remote control device, characterized in that: The method comprises a processor and a memory, wherein the memory is used to store a computer program, and when the computer program is executed by the processor, the remote control pointing alignment method according to any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium, characterized in that: It stores a computer program, which, when executed by a processor, implements the remote control pointing alignment method as described in any one of claims 1 to 7.

Images