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

Abstract

The present application discloses a remote control pointing and alignment method, device, equipment and storage medium. The method includes: obtaining local horizontal angle data, remote horizontal angle data, ranging data and heading angle data; correcting the heading angle data based on the local horizontal angle data to obtain target heading angle data; when the cursor horizontal movement distance is near zero, that is, 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, updating the remote horizontal angle data and the ranging data to avoid large jumps of the cursor caused by fluctuations in the remote horizontal angle and ranging data, and realizing smooth transition of the cursor horizontal movement distance; controlling the display device to adjust the cursor position of the remote control on the display unit based on the cursor horizontal movement distance data. The present application can compensate for the cursor horizontal movement distance deviation caused by the remote control not being in the middle line of the control box and prevent cursor jitter, realize smooth data switching, and stabilize the cursor.

Description

Technical Field

[0001] This application relates to the technical field of remote controls, and in particular, to a method, device, equipment, and storage medium for remote control pointing and alignment. Background Art

[0002] A pointing remote control usually calculates the horizontal movement distance of the cursor on the screen based on the trigonometric function principle using the heading angle and ranging data. However, this calculation method is only applicable when the remote control is located at the midline position of the TV box. When the remote control is not at the midline of the TV box, there is a large error in the calculated horizontal movement distance, resulting in a large deviation between the cursor position and the actual pointing of the remote control; moreover, the farther the remote control deviates from the midline of the TV box, the greater the calculation error of the horizontal movement distance. Summary of the Invention

[0003] This application provides a method, device, equipment, and storage medium for remote control pointing and alignment to solve the technical problem of the pointing calculation error existing in the current pointing remote control.

[0004] To solve the above technical problem, in a first aspect, this application provides a method for remote control pointing and alignment, which is applied to a remote control. The remote control is communicatively connected to a control box, and the control box is disposed at the top position of the midline of the display device. The method includes:

[0005] Obtain the local horizontal angle data, the remote horizontal angle data, the ranging data, and the heading angle data. The local horizontal angle data represents the angle between the connection line between the remote control and the control box and the pointing direction of the remote control. The remote horizontal angle data represents the angle between the midline of the control box and the connection line. The ranging data represents the straight-line distance between the remote control and the control box. The heading angle data is the heading angle data output by the inertial sensor on the remote control;

[0006] Based on the local horizontal angle data, correct the heading angle data to obtain the target heading angle data;

[0007] 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 calculate the cursor horizontal movement distance data of the remote control based on the remote horizontal angle data, the ranging data, and the target heading angle data;

[0008] Based on the cursor horizontal movement distance data, control the display device to adjust the cursor position of the remote control on the display unit.

[0009] In some of these embodiments, the step of correcting the heading angle data based on the local horizontal angle data to obtain the target heading angle data includes:

[0010] Based on the local horizontal angle data and the heading angle data, determine the compensation angle data of the heading angle data;

[0011] Based on the compensation angle data, correct the heading angle data to obtain the target heading angle data.

[0012] In some embodiments, the calculating the horizontal cursor movement distance data of the remote controller based on the remote end horizontal angle data, the ranging data, and the target heading angle data includes:

[0013] If the remote controller is located on the left side of the center line of the control box and the remote controller 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 the remote controller points to the right side of the display device, then based on the first horizontal distance function, calculate the first horizontal cursor movement distance data of the remote controller according to the remote end horizontal angle data, the ranging data, and the target heading angle data;

[0014] If the remote controller is located on the left side of the center line of the control box and the remote controller points to the right side of the display device, or the remote controller is located on the right side of the center line of the control box and the remote controller points to the left side of the display device, then based on the second horizontal distance function, calculate the second horizontal cursor movement distance data of the remote controller according to the remote end horizontal angle data, the ranging data, and the target heading angle data.

[0015] In some embodiments, the expression of the first horizontal distance function is:

[0016] ;

[0017] Wherein, is the first horizontal cursor movement distance data, is the ranging data, is the target heading angle data, is the remote end horizontal angle data.

[0018] In some embodiments, the expression of the second horizontal distance function is:

[0019] ;

[0020] Wherein, is the second horizontal cursor movement distance data, is the ranging data, is the target heading angle data, is the remote end horizontal angle data.

[0021] In some of these embodiments, after correcting the heading angle data based on the local horizontal angle data to obtain the target heading angle data, the method further includes:

[0022] 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;

[0023] 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 proceed to the step of calculating the cursor horizontal movement distance data of the remote controller based on the remote horizontal angle data, the ranging data, and the target heading angle data;

[0024] 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.

[0025] In some of these embodiments, the remote controller and the control box perform ranging and angle measurement based on UWB communication to collect the local horizontal angle data, the remote horizontal angle data, and the ranging data.

[0026] In a second aspect, the present application further provides a remote controller pointing and alignment device, which is applied to a remote controller. The remote controller is communicatively connected to a control box, and the control box is disposed at the top position of the center line of a display device. The device includes:

[0027] An acquisition module, configured to acquire local horizontal angle data, remote horizontal angle data, ranging data, and heading angle data. The local horizontal angle data represents the angle between the connection line between the remote controller and the control box and the pointing direction of the remote controller. The remote horizontal angle data represents the angle between the center line of the control box and the connection line. The ranging data represents the straight-line distance between the remote controller and the control box. The heading angle data is the heading angle data output by an inertial sensor on the remote controller;

[0028] A correction module, configured to correct the heading angle data based on the local horizontal angle data to obtain target heading angle data;

[0029] A calculation module, configured to calculate the cursor horizontal movement distance data of the remote controller based on the remote horizontal angle data, the ranging data, and the target heading angle data if the local horizontal angle data is less than a first preset angle data and the target heading angle data is less than a second preset angle data;

[0030] A control module, 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.

[0031] In a third aspect, the present application further provides a remote control device, including a processor and a memory. The memory is used to store a computer program, and when the computer program is executed by the processor, it implements the remote controller pointing and alignment method as described in the first aspect.

[0032] In a fourth aspect, the present application further provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a processor, it implements the remote controller pointing and alignment method as described in the first aspect.

[0033] Compared with the prior art, the present application at least has the following beneficial effects:

[0034] The present application corrects the heading angle data through the local horizontal angle data to obtain target heading angle data, so as to eliminate the cursor jitter and calculation error caused by the volatility of the heading angle data itself and the reference angle error; when near the zero point of the cursor horizontal movement distance, 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, update the remote horizontal angle data and the ranging data to avoid large cursor jumps caused by fluctuations in the remote horizontal angle and ranging data, and achieve a smooth transition of the cursor horizontal movement distance; 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, so as to compensate for the cursor horizontal movement distance deviation caused by the remote controller not being on the center line of the control box, and prevent cursor jitter, realize smooth data switching, and stabilize the cursor. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 is a schematic flowchart of the remote controller pointing and alignment method shown in the embodiments of the present application;

[0036] Figure 2A is a schematic diagram of an application scenario when the remote controller is on the center line of the control box shown in the embodiments of the present application;

[0037] Figure 2B is a schematic diagram of an application scenario when the remote controller is not on the center line of the control box shown in the embodiments of the present application;

[0038] Figure 2C is another schematic diagram of an application scenario when the remote controller is not on the center line of the control box shown in the embodiments of the present application;

[0039] Figure 2D is still another schematic diagram of an application scenario when the remote controller is not on the center line of the control box shown in the embodiments of the present application;

[0040] Figure 3A Schematic diagram of deviation when the horizontal angle of the opposite end is 10° in the application scenario shown in the embodiments of the present application; Figure 2C

[0041] Figure 3B Figure 2C Schematic diagram of cursor horizontal shift deviation when the horizontal angle of the opposite end is 20° in the application scenario shown in the embodiments of the present application;

[0042] Figure 3C Figure 2C Schematic diagram of cursor horizontal shift deviation when the horizontal angle of the opposite end is 30° in the application scenario shown in the embodiments of the present application;

[0043] Figure 3D Figure 2D

[0044] Schematic diagram of cursor horizontal shift deviation when the horizontal angle of the opposite end is 10° in the application scenario shown in the embodiments of the present application; Figure 3E Figure 2D

[0045] Figure 3F Schematic diagram of cursor horizontal shift deviation when the horizontal angle of the opposite end is 20° in the application scenario shown in the embodiments of the present application; Figure 2D

[0046] Figure 4A Schematic diagram of cursor horizontal shift deviation when the horizontal angle of the opposite end is 30° in the application scenario shown in the embodiments of the present application;

[0047] Figure 4B

[0048] Figure 5A Schematic diagram of data fluctuation of ranging data output by UWB shown in the embodiments of the present application;

[0049] Figure 5B Schematic diagram of data fluctuation of UWB data shown in the embodiments of the present application;

[0050] Figure 6 Schematic diagram of the fourth application scenario when the remote control is not on the center line of the control box shown in the embodiments of the present application;

[0051] Figure 7 Schematic diagram of the fifth application scenario when the remote control is not on the center line of the control box shown in the embodiments of the present application;

[0052] Figure 8A Schematic diagram of data fluctuation when transitioning rho and dst_azi near the 0° yaw angle shown in the embodiments of the present application;

[0051] Figure 7 Schematic diagram of the application process of the remote control pointing alignment method shown in the embodiments of the present application;

[0052] Figure 8ASchematic diagram of an application scenario when the remote control position and the remote control pointing direction are on the same side of the display device as shown in the embodiments of the present application;

[0053] Figure 8B Schematic diagram of an application scenario when the remote control position and the remote control pointing direction are on different sides of the display device as shown in the embodiments of the present application;

[0054] Figure 9 Block diagram of the structure of the remote control pointing alignment device as shown in the embodiments of the present application;

[0055] Figure 10 Block diagram of the structure of the remote control device as shown in the embodiments of the present application. Detailed implementation manners

[0056] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without making creative efforts shall fall within the protection scope of the present application.

[0057] As recorded in the background art, there is a problem of calculation error in the current calculation method of the horizontal movement distance of the pointing remote control. As Figure 2A shown, when the remote control is on the midline of the BOX (TV control box), when calculating the horizontal movement distance dx of the pointing remote control cursor on the screen, using the heading angle yaw and the ranging data rho, dx = rho×tan(yaw) is obtained through trigonometric operations, and no error will occur at this time. However, when the remote control is not on the midline of the BOX and still uses dx = rho×tan(yaw) to calculate the horizontal movement distance, the calculation result of dx will be inaccurate and the cursor position will deviate. As Figure 2B shown, when the remote control is on the left side of the midline 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 calculated by 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 calculated by dx = rho×tan(yaw2), 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.

[0058] As Figure 2CAs shown, assuming that the ranging data rho is all 200 cm, with different opposite-end horizontal angles deviating to the left from the center line of the BOX (dst_azi = 10°, dst_azi = 20°, dst_azi = 30°), rotate the heading angle of the remote control from the 0-degree line of the yaw angle to the left boundary of the screen, and the comparison results of the cursor movement distance dx1 calculated 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 all 200 cm, with different opposite-end horizontal angles deviating to the left from the center line of the BOX (dst_azi = 10°, dst_azi = 20°, dst_azi = 30°), rotate the heading angle of the remote control from the 0-degree line of the yaw angle to the right boundary of the screen, and the comparison results of the cursor movement distance dx2 calculated using dx = rho×tan(yaw) and the theoretical cursor movement distance d2 are respectively as Figure 3D 、 Figure 3E 、 Figure 3F 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. 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.

[0059] At the same time, as shown in Figure 4, due to certain fluctuations in the ranging data rho sent by UWB, if directly used to calculate the horizontal offset of the cursor, the cursor will jump due to the fluctuations of rho.

[0060] Therefore, the embodiment of the present application realizes a method for accurately aligning the pointing remote control based on a dynamic UWB ranging and angle measurement data smoothing transition algorithm, which can correct the horizontal shift deviation value (horizontal movement distance error) of the cursor by adding dynamic ranging data rho and dynamic opposite-end heading angle data dst_azi, so as to achieve accurate alignment of the pointing remote control. At the same time, a smoothing transition algorithm is used to avoid the problem that the calculated and corrected horizontal offset of the cursor jumps due to changes and jumps in the UWB dynamic ranging data and dynamic opposite-end heading angle data.

[0061] Please refer to Figure 1 , Figure 1 which is a schematic flow chart of a remote control pointing and alignment method provided by the embodiment of the present application. The remote control pointing and alignment method of the embodiment of the present application can be applied to a remote control, and the remote control is communicatively connected to a control box, and the control box is set at the top position of the center line of the display device. Optionally, the remote control and the control box use UWB communication for ranging and angle measurement. As Figure 1As shown, the remote control pointing alignment method of this embodiment includes steps S101 to S104, which are described in detail as follows:

[0062] Step S101, obtain the local horizontal angle data, the remote horizontal angle data, the ranging data, and the heading angle data. The local horizontal angle data represents the angle between the line connecting the remote control and the control box and the direction pointed by the remote control. The remote horizontal angle data represents the angle between the center line of the control box and the connection line. The ranging data represents the straight-line distance between the remote control and the control box. The heading angle data is the heading angle data output by the inertial sensor on the remote control;

[0063] In this step, optionally, the remote control and the control box perform ranging and angle measurement based on UWB communication to collect the local horizontal angle data, the remote horizontal angle data, and the ranging data. Specifically, the remote control communicates with the BOX end through UWB, and UWB sends ranging data and angle measurement data at 20Hz. As Figure 5A shown, the ranging data is the straight-line distance rho from the BOX end to the remote control, the local horizontal angle data is the angle azi from the connection line between the remote control and the BOX end to the direction pointed by the remote control, and the remote horizontal angle data is the angle dst_azi from the center line of the BOX end to the connection line between the remote control and the BOX end. The heading angle data is the heading angle imu_heading stably output by the inertial sensor IMU on the remote control at a preset frequency (such as 100Hz).

[0064] Step S102, based on the local horizontal angle data, correct the heading angle data to obtain the target heading angle data.

[0065] In this step, as Figure 4B shown, due to the fluctuation of the data output by UWB, directly using the local horizontal angle data azi output by UWB for horizontal movement distance calculation will cause the cursor to jump. The heading angle output by the IMU is a relative heading angle based on 0 degrees at the initial power-on moment, and directly using it for horizontal movement distance calculation will also result in calculation errors. Therefore, in this embodiment, the local horizontal angle data azi is used as the parameter angle for heading angle data correction, and the heading angle imu_heading output by the IMU is corrected to the direction of azi to obtain the target heading angle data yaw.

[0066] Optionally, step 102 includes: determining the compensation angle data of the heading angle data based on the local horizontal angle data and the heading angle data; correcting the heading angle data based on the compensation angle data to obtain the target heading angle data.

[0067] In this optional embodiment, as Figure 5AAs shown, taking the local horizontal angle data azi as the reference angle, calculate the compensation angle data phi between the heading angle data imu_heading and azi, and correct imu_heading with phi to obtain the target heading angle data yaw. That is, the 0-degree baseline of yaw is the connection line between the BOX end and the remote control to avoid cursor jitter and result errors.

[0068] 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, calculate the cursor horizontal movement distance data of the remote control based on the remote horizontal angle data, the ranging data, and the target heading angle data.

[0069] In this step, use the current azi data and the compensated yaw angle to update and judge the ranging data rho and the remote horizontal angle data dst_azi, so that when the remote control is in any position and points to the BOX end, the yaw angle is 0° (as Figure 5B shown), the horizontal offset dx of the cursor is 0, and at this time the cursor is at the horizontal center line position of the screen. Based on this, near yaw = 0°, that is, when the cursor is at the center line position of the screen, the influence of the dx data jitter caused by updating the ranging data rho and the dst_azi data will be minimized. As Figure 6 shown, when the ranging data rho and the dst_azi change drastically (rho changes by 30 cm, dst_azi changes by 26°), limit the azi data within 3° and the yaw angle within 0.5°, update rho and dst_azi, and finally the calculated cursor horizontal movement distance dx can transition smoothly without large fluctuations.

[0070] Step S104: Control the display device to adjust the cursor position of the remote control on the display unit based on the cursor horizontal movement distance data.

[0071] In this step, the remote control is communicatively connected to the control box, and the control box is communicatively connected to the display device. The display device moves the cursor by the cursor horizontal movement distance data dx.

[0072] In this embodiment, the heading angle data is corrected by the local horizontal angle data to obtain the target heading angle data, so as to eliminate the cursor jitter and calculation error caused by the volatility of the heading angle data itself and the reference angle error; when the cursor horizontal movement distance is near zero, that is, 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 remote horizontal angle data and the ranging data are updated to avoid large cursor jumps caused by fluctuations in the remote horizontal angle and ranging data, and achieve 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, so as to compensate for the cursor horizontal movement distance deviation caused by the remote control not being on the center line of the control box and prevent cursor jitter, realizing smooth data switching and stabilizing the cursor.

[0073] In some embodiments, as Figure 7 shown, step S103 includes:

[0074] If the remote control is on the left side of the center line of the control box and the remote control points to the left side of the display device, or the remote control is on the right side of the center line of the control box and the remote control points to the right side of the display device, then based on the first horizontal distance function, according to the remote horizontal angle data, the ranging data and the target heading angle data, calculate the first cursor horizontal movement distance data of the remote control;

[0075] If the remote control is 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 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 remote horizontal angle data, the ranging data and the target heading angle data, calculate the second cursor horizontal movement distance data of the remote control.

[0076] In this embodiment, the calculation method of the cursor horizontal movement distance data is determined according to the position and pointing direction of the remote control to improve the accuracy of the calculation result.

[0077] Optionally, the expression of the first horizontal distance function is:

[0078] ;

[0079] where is the first cursor horizontal movement distance data, is the ranging data, is the target heading angle data, is the remote horizontal angle data;

[0080] Optionally, the expression of the second horizontal distance function is:

[0081] ;

[0082] Wherein, is the data of the horizontal movement distance of the second cursor, is the ranging data, is the data of the target heading angle, is the data of the horizontal angle of the opposite end.

[0083] In this alternative embodiment, as Figure 8A shown, when the position of the remote control and the direction pointed by the remote control are on the same side of the display device, calculate , calculate ; According to the sine function: ; Calculate the corrected position of the cursor , that is .

[0084] As Figure 8B shown, when the position of the remote control and the direction pointed by the remote control are on different sides of the display device, calculate , calculate ; According to the sine function: ; Calculate the corrected of the cursor, that is .

[0085] In some embodiments, as Figure 7 shown, after the step S102, it further includes:

[0086] 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;

[0087] 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 enter the step of calculating the horizontal movement distance data of the cursor of the remote control based on the horizontal angle data of the opposite end, the ranging data and the target heading angle data;

[0088] 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.

[0089] In this embodiment, the first preset angle data may be 3°, and the second preset angle data may be 0.5°. By judging the local horizontal angle data and the target heading angle data, the requirement of transitioning the cursor near the 0° yaw angle without causing the dx to jump is met. When the angle requirement is not satisfied, the UWB ranging and angle measurement data and the heading angle data of the IMU at the next moment are obtained for the next update.

[0090] To execute the remote control pointing and alignment method corresponding to the above method embodiment to achieve the corresponding functions and technical effects. Refer to Figure 9 , Figure 9 FIG. shows a structural block diagram of a remote control pointing and alignment 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 alignment device provided by the embodiment of the present application includes:

[0091] An acquisition module 901, configured to acquire local horizontal angle data, remote horizontal angle data, ranging data, and heading angle data. The local horizontal angle data represents the angle between the connection line between the remote control and the control box and the pointing direction of the remote control. The remote horizontal angle data represents the angle between the midline of the control box and the connection line. The ranging data represents the straight-line distance between the remote control and the control box. The heading angle data is the heading angle data output by the inertial sensor on the remote control;

[0092] A correction module 902, configured to correct the heading angle data based on the local horizontal angle data to obtain target heading angle data;

[0093] A calculation module 903, configured to calculate the cursor horizontal movement distance data of the remote control based on the remote horizontal angle data, the ranging data, and the 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;

[0094] A control module 904, configured to control the display device to adjust the cursor position of the remote control on the display unit based on the cursor horizontal movement distance data.

[0095] In some embodiments, the correction module 902 is specifically configured to:

[0096] Determine the compensation angle data of the heading angle data based on the local horizontal angle data and the heading angle data;

[0097] Correct the heading angle data based on the compensation angle data to obtain the target heading angle data.

[0098] In some embodiments, the calculation module 903 is specifically configured to:

[0099] If the remote control is located on the left side of the midline of the control box and the remote control points to the left side of the display device, or the remote control is located on the right side of the midline of the control box and the remote control points to the right side of the display device, then based on the first horizontal distance function, according to the peer horizontal angle data, the ranging data, and the target heading angle data, calculate the first cursor horizontal movement distance data of the remote control;

[0100] If the remote control is located on the left side of the midline 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 midline 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 peer horizontal angle data, the ranging data, and the target heading angle data, calculate the cursor horizontal movement distance data of the remote control.

[0101] In some embodiments, the expression of the first horizontal distance function is:

[0102] ;

[0103] Wherein, is the first cursor horizontal movement distance data, is the ranging data, is the target heading angle data, is the peer horizontal angle data.

[0104] In some embodiments, the expression of the second horizontal distance function is:

[0105] ;

[0106] Wherein, is the second cursor horizontal movement distance data, is the ranging data, is the target heading angle data, is the peer horizontal angle data.

[0107] In some embodiments, the device further includes:

[0108] 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;

[0109] An entry module, configured to enter the step of calculating the cursor horizontal movement distance data of the remote control based on the peer horizontal angle data, the ranging data, and the 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;

[0110] A return module, configured to 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 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.

[0111] In some embodiments, the remote controller and the control box perform ranging and angle measurement based on UWB communication to collect the local horizontal angle data, the remote horizontal angle data, and the ranging data.

[0112] The above remote controller pointing alignment device can implement the remote controller pointing alignment method in the above method embodiments. The optional items in the above method embodiments are also applicable to this embodiment and will not be elaborated here. The remaining content of the embodiments of the present application can refer to the content of the above method embodiments and will not be repeated in this embodiment.

[0113] Figure 10 It is a schematic structural diagram of a remote control device provided by an embodiment of the present application. As Figure 10 shown, the remote control device 10 in 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. When the processor 100 executes the computer program 102, the steps in any of the above method embodiments are implemented.

[0114] The remote control device 10 may be a computing device such as a smart phone, a tablet computer, a desktop computer, and a cloud server. The remote control device may include but is not limited to the processor 100 and the memory 101. Those skilled in the art can understand that Figure 10 this is only an example of the remote control device 10 and does not constitute a limitation on the remote control device 10. It may include more or fewer components than shown in the figure, or combine some components, or different components. For example, it may also include input / output devices, network access devices, etc.

[0115] The so-called processor 100 may be a Central Processing Unit (CPU), and the processor 100 may also be other general-purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field-Programmable Gate Arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0116] In some embodiments, the memory 101 may be an internal storage unit of the remote control device 10, such as the hard disk 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 disk, Smart Media Card (SMC), Secure Digital (SD) card, Flash Card, etc. equipped on the remote control device 10. Further, the memory 101 may also include both the internal storage unit and the external storage device of the remote control device 10. The memory 101 is used to store an operating system, application programs, a BootLoader, data, and other programs, such as the program code of the computer program, etc. The memory 101 may also be used to temporarily store data that has been output or is to be output.

[0117] In addition, an embodiment of the present application also provides a computer-readable storage medium storing a computer program, and when the computer program is executed by a processor, the steps in any of the above method embodiments are implemented.

[0118] An embodiment of the present application provides a computer program product, and when the computer program product runs on a remote control device, the remote control device is caused to implement the steps in each of the above method embodiments when executed.

[0119] In several embodiments provided by the present application, it can be understood that each block in the flowchart or block diagram may represent a module, a program segment, or a part of code, and the module, the program segment, or the part of code includes one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in an order different from that marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in the reverse order, depending on the functions involved.

[0120] If the above 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 such an understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art, or a part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a remote control device to execute all or part of the steps of the methods described in various embodiments of the present application. The foregoing storage medium includes: USB flash drives, mobile hard disks, read-only memories (ROMs), random access memories (RAMs), magnetic disks, or optical discs and other various media that can store program codes.

[0121] The specific embodiments described above further elaborate on the purpose, technical solution, and beneficial effects of the present application. It should be understood that the above description is only for the specific embodiments of the present application and is not used to limit the protection scope of the present application. It is particularly pointed out that for those skilled in the art, any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present 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, controlling the display device to adjust the cursor position of the remote controller on the display unit; The correcting the heading angle data based on the local horizontal angle data to obtain the target heading angle data includes: Using the local horizontal angle data as a reference angle, calculating compensation angle data between the heading angle data and the local horizontal angle data; Based on the compensation angle data, the heading angle data is corrected to the direction of the local horizontal angle data to obtain the target heading angle data, and the 0 degree reference line of the target heading angle data is the connection line between the remote controller and the control box.

2. 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.

3. The remote control pointing method according to claim 2, characterized in that: The expression of the first horizontal distance function is: Among them, d1 is the horizontal moving distance data of the first cursor, rho is the ranging data, yaw is the target heading angle data, dst azi It is the horizontal angle data of the opposite end.

4. The remote control pointing method according to claim 2, characterized in that: The expression of the second horizontal distance function is: Among them, d2 is the horizontal moving distance data of the second cursor, rho is the ranging data, yaw is the target heading angle data, dst azi It is the horizontal angle data of the opposite end.

5. 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.

6. 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.

7. 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; A control module, configured to control the display device to adjust a cursor position of the remote controller on a display unit based on the cursor horizontal movement distance data; The correction module is specifically used for: Using the local horizontal angle data as a reference angle, calculating compensation angle data between the heading angle data and the local horizontal angle data; Based on the compensation angle data, the heading angle data is corrected to the direction of the local horizontal angle data to obtain the target heading angle data, and the 0 degree reference line of the target heading angle data is the connection line between the remote controller and the control box.

8. 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 6 is implemented.

9. 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 6.

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