Directional interaction system

Abstract

The invention discloses a pointing interaction system, which comprises a receiving device and a pointing device, and is characterized in that the receiving device comprises a display screen and three UWB tags arranged on the display screen in a right triangle shape; the pointing device comprises an AOA measurement module arranged in the pointing device and three UWB antennas arranged in a right triangle. The pointing device measures included angles between three vectors and three coordinate axes, wherein the included angles are formed when the right-angle vertexes of the right triangle formed by the three UWB antennas point to the three UWB labels respectively, and the receiving device calculates the pointing position of the pointing device on the display screen according to the included angles. By adopting the technical scheme of the invention, the interaction between the pointing device and the screen across the air can be realized.

Description

Technical Field

[0001] The invention relates to the field of wireless interactive positioning, and in particular to a pointing interactive system. Background Art

[0002] In meetings or teaching courses, speakers are often required to use tools to do some pointing operations on the screen. Currently, most speakers use laser pens as pointing tools. However, in existing technologies, laser pens cannot interact with the display screen or mark the content of the presentation; and laser pens may irradiate the eyes of the audience below, causing vision damage.

[0003] Therefore, a UWB-based pointing interaction system is needed that can point as accurately as a laser pen and interact with the screen and mark on the screen. Summary of the invention

[0004] The purpose of the present invention is to provide a pointing interaction system in view of the defects of the above-mentioned prior art.

[0005] In an embodiment of the present invention, a pointing interaction system is provided, which includes a receiving device and a pointing device.

[0006] The receiving device includes a display screen and three UWB tags arranged in a right triangle on the display screen, the pointing device includes a pointing device body, an AOA measurement module arranged in the pointing device body, and three UWB antennas arranged in a right triangle.

[0007] The pointing device constructs a three-dimensional coordinate system, the three UWB antennas respectively receive signals from the three UWB tags and send them to the AOA measurement module, and the AOA measurement module measures the angles between the three coordinate axes and the three vectors formed by the right-angle vertices of the right-angle triangle formed by the three UWB antennas pointing to the three UWB tags respectively;

[0008] The receiving device calculates the position on the display screen that the pointing device is pointing to based on the angles between the three vectors and the three coordinate axes and the distances between any two of the three UWB tags.

[0009] In the embodiment of the present invention, the receiving device calculates the position pointed to by the pointing device on the display screen using the following equation group:

[0010]

[0011] (x1-x0)(x2-x0)+(y1-y0)(y2-y0)+(z1-z0)(z2-z0)=0 (9)

[0012] (-x0)(x2-x0)+(y M -y0)(y2-y0)+(z M -z0)(z2-z0)=0 (10)

[0013] (-x0)(x1-x0)+(y M -y0)(y1-y0)+(z M -z0)(z1-z0)=0 (11)

[0014] The right-angle vertices of the three UWB tags arranged in a right-angle triangle on the display screen are taken as the origin of the three-dimensional coordinate system, one of the right-angle sides points to the Y axis, and the other right-angle side points to the Z axis. (x0, y0, z0), (x1, y1, z1), and (x2, y2, z2) are the coordinates of the three antennas in the three-dimensional coordinate system respectively. (0, y M , z M ) is the coordinate of the pointing device pointing to the display screen, h and d are the lengths of the two right-angled sides of the right triangle formed by the three UWB tags, l1 and l2 are the lengths of the two right-angled sides of the right triangle formed by the three UWB antennas, α0 and β0 are and The angles of and The angles of and The angle of The right-angled vertices of the right-angled triangle formed by the three UWB antennas point to the vectors formed by the other two vertices. The right-angle vertices of the right-angle triangle formed by the three UWB antennas point to the vectors formed by the three UWB tags.

[0015] In the embodiment of the present invention, an inertial sensor is further provided on the pointing device for collecting accelerometer data of the pointing device on the three coordinate axes, and thereby determining the roll angle and pitch angle of the pointing device.

[0016] In the embodiment of the present invention, when calculating the position pointed to by the pointing device on the display screen, the receiving device corrects the angles between the three vectors and the three coordinate axes according to the roll angle and the pitch angle of the pointing device.

[0017] In the embodiment of the present invention, the receiving device calculates the position pointed to by the pointing device on the display screen using the following equation group:

[0018]

[0019] (x1-x0)(x2-x0)+(y1-y0)(y2-y0)+(z1-z0)(z2-z0)=0 (9)

[0020] (-x0)(x2-x0)+(y M -y0)(y2-y0)+(z M -z0)(z2-z0)=0 (10)

[0021] (-x0)(x1-x0)+(y M -y0)(y1-y0)+(z M -z0)(z1-z0)=0 (11)

[0022] Where η1 is the acceleration due to gravity and vector The angle between the two is η2, which is the gravitational acceleration. and vector Angle.

[0023] Compared with the prior art, with the pointing interaction system of the present invention, the pointing device measures, through the AOA measurement module, the angles between the three vectors formed by the right-angled vertices of the right-angled triangle formed by the three UWB antennas in the pointing device pointing to the three UWB tags and the three coordinate axes respectively, and the receiving device calculates the position on the display screen pointed by the pointing device based on this, thereby realizing the interaction between the pointing device and the screen through the air; further, the roll angle and pitch angle measured by the inertial sensor are used to correct the angles between the three vectors and the three coordinate axes, so that the position on the display screen pointed by the pointing device can be calculated more accurately. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a structural diagram of the pointing interaction system according to the first embodiment of the present invention.

[0025] Figure 2 This is a schematic diagram of the pointing interaction system calculating the pointing in the first embodiment of the present invention.

[0026] Figure 3 It is a structural diagram of a pointing interaction system according to a second embodiment of the present invention. DETAILED DESCRIPTION

[0027] like Figure 1 As shown, in the first embodiment of the present invention, a pointing interaction system is provided, which includes a receiving device 1 and a pointing device 2 which is in communication connection with the receiving device. The following will describe them separately.

[0028] The receiving device 1 includes a display screen 11 and three UWB (UltraWideband) tags 12 arranged in a right triangle on the display screen 11. The pointing device 2 includes an AOA measurement module 21 arranged in the pointing device and three UWB antennas 22 arranged in a right triangle. It should be noted that the pointing device 2 can be a remote control or a handheld device similar to a remote control.

[0029] The pointing device 2 constructs a three-dimensional coordinate system, the three UWB antennas 22 respectively receive the signals of the three UWB tags 12 and send them to the AOA measurement module 21, and the AOA measurement module 21 measures the angles between the three vectors formed by the right-angled vertices of the right-angled triangle formed by the three UWB antennas 12 pointing to the three UWB tags 12 and the three coordinate axes. It should be noted that the AOA measurement module 21 uses the angle-of-arrival (AOA) algorithm to measure the angle. The AOA algorithm is a positioning algorithm based on the angle of arrival of the signal. It is a typical positioning algorithm based on ranging. It senses the arrival direction of the transmitting node signal through certain hardware devices, and calculates the relative orientation or angle of the base station and the tag. It has the advantage of low algorithm communication overhead.

[0030] The pointing device 2 measures the angles between the three vectors formed by the right-angled vertices of the right-angled triangle formed by the three UWB antennas 12 and the three coordinate axes, and sends the measurement results to the receiving device 1. The receiving device 1 calculates the position pointed by the pointing device 2 on the display screen 11 according to the angles between the three vectors and the three coordinate axes and the distances between the three UWB tags.

[0031] Combine the following Figure 2 The calculation process of the receiving device 1 calculating the position pointed by the pointing device 2 on the display screen 11 is described.

[0032] The right-angled vertices O of the three UWB tags 12 arranged in a right-angled triangle on the display screen 11 are as follows: n Construct a three-dimensional right-handed coordinate system for the origin. The coordinates of the other two vertices of the triangle, points P and Q, are (0, d, 0) and (0, 0, h), respectively. Point P points in the same direction as the y-axis, and its coordinates are (0, d, 0); In the same direction as the z-axis.

[0033] The three UWB antennas 22 are arranged in a right triangle. b)’s coordinates in the above coordinate system are (x0, y0, z0), the coordinates of antenna 2 are (x1, y1, z1), and the coordinates of antenna 3 are (x2, y2, z2).

[0034] It is agreed that antenna 1 is the vertex of the right angle, and antenna 1 and antenna 2 form a vector Antenna 1 and antenna 3 form a vector

[0035] The coordinates of the point M on the display screen 11 pointed to by the pointing device 2 are (0, y M , z M ).

[0036] The AOA measurement module 21 performs AOA measurement on three UWB tags and can obtain and The angles α0 and β0, and The angles α1, β1 and and The included angles α2 and β2.

[0037] vector and They are orthogonal to each other, that is, the inner product is 0.

[0038] The antenna spacing on the pointing device is known, that is, The lengths of are known and are denoted as l1 and l2 respectively.

[0039] Using the above conditions, we can construct a system of 11 simultaneous equations:

[0040]

[0041] (x1-x0)(x2-x0)+(y1-y0)(y2-y0)+(z1-z0)(z2-z0)=0 (9)

[0042] (-x0)(x2-x0)+(y M -y0)(y2-y0)+(z M -z0)(z2-z0)=0 (10)

[0043] (-x0)(x1-x0)+(y M -y0)(y1-y0)+(z M -z0)(z1-z0)=0 (11)

[0044] Among them, equations (1)-(6) are relationship equations obtained by AoA measurement, equations (7)-(8) are antenna spacing relationships, and equations (9)-(11) are intersection relationships between the pointing device 2 and the display screen 11.

[0045] In the above equations, the known quantities are h, d, α0, β0, α1, β1, α2, β2, l1, l2. The unknown quantities are x0, y0, z0, x1, y1, z1, x1, y1, z2, y M , z M , a total of 11. Therefore, the unknown quantity y can be solved M , z M , that is, the pointing coordinates of the pointing device 2 on the display screen 11.

[0046] h and d are respectively the lengths of two right-angled sides of the right triangle formed by the three UWB tags 12 , and l1 and l2 are respectively the lengths of two right-angled sides of the right triangle formed by the three UWB antennas 22 .

[0047] like Figure 3 As shown, the difference from the first embodiment of the present invention is that, in the second embodiment of the present invention, an inertial sensor 23 is also provided on the pointing device 2, which is used to collect accelerometer data of the pointing device 2 on the three coordinate axes, and thereby determine the roll angle and pitch angle of the pointing device 2.

[0048] In the embodiment of the present invention, when calculating the position pointed to by the pointing device on the display screen, the receiving device 2 corrects the angles between the three vectors and the three coordinate axes according to the roll angle and pitch angle of the pointing device 2. This is described in detail below.

[0049] Subtracting equations (1) and (5), and (2) and (6) in the first embodiment, we can obtain the vector vector The inner product between .

[0050]

[0051] The roll angle and pitch angle measured by the inertial sensor can be used to obtain the gravitational acceleration. and vector The angle η1, and the vector The angle η2. Because the vector and the acceleration due to gravity are parallel to each other, so the vectors With vector The inner product between can be written as

[0052]

[0053] Since the variance of UWB data measurement is large, that is, α0, β0, α2, β2 in the above equations (12) and (13) may not match the actual angle. However, the measurement variance of the inertial sensor is small, and the measurement frequency is high. By averaging multiple measurements, we can get η1 and η2 with smaller measurement errors. Using equations (14) and (15) to replace equations (5) and (6) in the previous equation group, we can solve the unknown quantity y more accurately. M , z M .

[0054] To summarize, using the pointing interaction system of the present invention, the pointing device measures through the AOA measurement module the angles between the three vectors formed by the right-angled vertices of the right-angled triangle formed by the three UWB antennas in the pointing device pointing to the three UWB tags and the three coordinate axes respectively, and the receiving device calculates the position on the display screen pointed by the pointing device based on this, thereby realizing the interaction between the pointing device and the screen through the air; further, the roll angle and pitch angle measured by the inertial sensor are used to correct the angles between the three vectors and the three coordinate axes, so that the position on the display screen pointed by the pointing device can be calculated more accurately.

[0055] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A pointing interaction system, characterized in that: comprising a receiving device and a pointing device, The receiving device includes a display screen and three UWB tags arranged in a right triangle on the display screen, the pointing device includes a pointing device body, an AOA measurement module arranged in the pointing device body, and three UWB antennas arranged in a right triangle. The pointing device constructs a three-dimensional coordinate system, the three UWB antennas respectively receive signals from the three UWB tags and send them to the AOA measurement module, and the AOA measurement module measures the angles between the three coordinate axes and the three vectors formed by the right-angle vertices of the right-angle triangle formed by the three UWB antennas pointing to the three UWB tags respectively; The receiving device calculates the position on the display screen that the pointing device is pointing to based on the angles between the three vectors and the three coordinate axes and the distances between any two of the three UWB tags.

2. The pointing interaction system according to claim 1, characterized in that: The receiving device calculates the position pointed by the pointing device on the display screen using the following equations: (x1-x0)(x2-x0)+(y1-y0)(y2-y0)+(z1-z0)(z2-z0)=0 (9) <h2 style=";text-align:left;direction:ltr">(-x0)(x2-x0)+(y<h2 style=";text-align:left;direction:ltr"> M <h2 style=";text-align:left;direction:ltr"> -y0)(y2-y0)+(z<h2 style=";text-align:left;direction:ltr"> M <h2 style=";text-align:left;direction:ltr"> -z0)(z2-z0)=0 (10) (-x0)(x1-x0)+(y M -y0)(y1-y0)+(z M -z0)(z1-z0)=0 (11) The right-angle vertices of the three UWB tags arranged in a right-angle triangle on the display screen are taken as the origin of the three-dimensional coordinate system, one of the right-angle sides points to the Y axis, and the other right-angle side points to the Z axis. (x0, y0, z0), (x1, y1, z1), and (x2, y2, z2) are the coordinates of the three antennas in the three-dimensional coordinate system respectively. (0, y M , z M ) is the coordinate of the pointing device pointing to the display screen, h and d are the lengths of the two right-angled sides of the right triangle formed by the three UWB tags, l1 and l2 are the lengths of the two right-angled sides of the right triangle formed by the three UWB antennas, α0 and β0 are and The angles of and The angles of and The angle of The right-angled vertices of the right-angled triangle formed by the three UWB antennas point to the vectors formed by the other two vertices. The right-angle vertices of the right-angle triangle formed by the three UWB antennas point to the vectors formed by the three UWB tags.

3. The pointing interaction system according to claim 1, characterized in that: The pointing device is also provided with an inertial sensor for collecting accelerometer data of the pointing device on the three coordinate axes, and thereby determining the roll angle and pitch angle of the pointing device.

4. The pointing interaction system according to claim 3, characterized in that: When calculating the position pointed to by the pointing device on the display screen, the receiving device corrects the angles between the three vectors and the three coordinate axes according to the roll angle and the pitch angle of the pointing device.

5. The pointing interaction system according to claim 4, characterized in that: The receiving device calculates the position pointed by the pointing device on the display screen using the following equations: (x1-x0)(x2-x0)+(y1-y0)(y2-y0)+(z1-z0)(z2-z0)=0 (9) <h2 style=";text-align:left;direction:ltr">(-x0)(x2-x0)+(y<h2 style=";text-align:left;direction:ltr"> M <h2 style=";text-align:left;direction:ltr"> -y0)(y2-y0)+(z<h2 style=";text-align:left;direction:ltr"> M <h2 style=";text-align:left;direction:ltr"> -z0)(z2-z0)=0 (10) (-x0)(x1-x0)+(y M -y0)(y1-y0)+(z M -z0)(z1-z0)=0 (11) The right-angle vertices of the three UWB tags arranged in a right-angle triangle on the display screen are taken as the origin of the three-dimensional coordinate system, one of the right-angle sides points to the Y axis, and the other right-angle side points to the Z axis. (x0, y0, z0), (x1, y1, z1), and (x2, y2, z2) are the coordinates of the three antennas in the three-dimensional coordinate system respectively. (0, y M , z M ) is the coordinate of the pointing device pointing to the display screen, h and d are the lengths of the two right-angled sides of the right triangle formed by the three UWB tags, l1 and l2 are the lengths of the two right-angled sides of the right triangle formed by the three UWB antennas, α0 and β0 are and The angles of and The angles of and The angle of The right-angled vertices of the right-angled triangle formed by the three UWB antennas point to the vectors formed by the other two vertices. The right-angled vertices of the right-angled triangle formed by the three UWB antennas point to the vectors formed by the three UWB tags, and η1 is the gravitational acceleration and vector The angle between the two is , and η is the gravitational acceleration and vector Angle.

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