Error detection method, processing method, device and equipment for laser radar touch screen

Abstract

The invention discloses an error detection method, an error processing method, an error processing device and error processing equipment for a laser radar touch screen. The error detection method comprises the following steps: acquiring an actual measurement angle of each preset position point on a touch screen through a laser radar; the actually measured angle of the preset position point is an included angle between the first vector and the positive direction of the horizontal axis of the rectangular coordinate system; the first vector is a vector taking an original point of the rectangular coordinate system as a starting point and a preset position point as an end point; and obtaining a measurement error angle of the laser radar based on all the preset position points, the actually measured angle of each preset position point and the rectangular coordinate system. According to the error detection method for the laser radar touch screen provided by the embodiment of the invention, the measurement error angle of the laser radar to the touch point can be accurately obtained, so that the error of the laser radar touch screen can be conveniently corrected, and the accuracy of positioning the touch point by the laser radar is improved.

Description

Technical Field

[0001] The present application relates to the field of touch recognition technology, and specifically to an error detection method, processing method, device and equipment for a laser radar touch screen. Background Art

[0002] Many display products on the market, such as projectors, commercial monitors, and TVs, have touch interaction functions. The touch interaction function improves the convenience, interactive fun, and competitiveness of the product. The touch interaction function is usually achieved through a capacitive touch screen or an infrared frame touch screen. In related technologies, laser radar is used to achieve touch positioning. The laser transceiver rotates 360° by clicking, forming a laser scanning surface on the screen surface. When an object clicks the screen, it blocks the radar scanning line. The specific position of the object is obtained based on the laser scanning data, thereby locating the touch point.

[0003] Due to the influence of external factors such as the environment, there will be measurement angle errors when the laser radar locates the touch point. The related technology lacks a technical solution for accurately detecting the positioning angle error of the laser radar touch screen, resulting in the inability to accurately obtain the positioning angle error of the laser radar for the touch point, and it is also impossible to further accurately correct the positioning angle error.

[0004] The above statements are only used to provide background information related to the present application and do not necessarily constitute prior art. Summary of the invention

[0005] The purpose of this application is to provide an error detection method, processing method, device and equipment for a laser radar touch screen, so as to detect the measurement error angle of the laser radar touch screen and accurately obtain the measurement error angle of the laser radar to the touch point, so as to correct the error of the laser radar touch screen, improve the accuracy of the laser radar positioning of the touch point, and reduce the error of the positioning result. In order to have a basic understanding of some aspects of the disclosed embodiments, a simple summary is given below. This summary section is not a general review, nor is it intended to identify key / important components or describe the scope of protection of these embodiments. Its only purpose is to present some concepts in a simple form as a preface to the detailed description that follows.

[0006] According to one aspect of an embodiment of the present application, a method for detecting an error of a laser radar touch screen is provided, comprising:

[0007] The measured angle of each preset position point on the touch screen is obtained by using a laser radar; the measured angle of the preset position point is the angle between the first vector and the positive direction of the horizontal axis of the rectangular coordinate system; the first vector is a vector with the origin of the rectangular coordinate system as the starting point and the preset position point as the end point; there are multiple preset position points on the touch screen; the rectangular coordinate system is pre-set with the center point of the laser radar as the origin and the polar axis of the polar coordinates of the laser radar as the horizontal axis;

[0008] Based on all the preset position points, the measured angle of each of the preset position points, and the rectangular coordinate system, the measurement error angle of the laser radar is obtained.

[0009] In some embodiments of the present application, the step of obtaining the measurement error angle of the laser radar based on all the preset position points, the measured angle of each of the preset position points, and the rectangular coordinate system includes:

[0010] According to the measurement error angle, the measured angle of each of the preset position points, and the preset triangle corresponding to each of the preset position points, a set of equations with the measurement error angle as an unknown variable is constructed; the preset triangle corresponding to the preset position point is a right triangle pre-constructed with the preset position point, the origin, and the perpendicular point from the preset position point to the longitudinal axis of the rectangular coordinate system as vertices;

[0011] According to the set of equations, the measurement error angle of the laser radar is calculated.

[0012] In some embodiments of the present application, constructing a set of equations with the measurement error angle as an unknown variable according to the measurement error angle, the measured angle of each of the preset position points, and the preset triangle corresponding to each of the preset position points includes:

[0013] According to the numerical relationship between the measurement error angle, the measured angle of the first point and the first acute angle of the preset triangle, and the tangent function value of the first acute angle is equal to the absolute value of the ratio of the abscissa to the ordinate of the first point, an equation with the measurement error angle as an unknown is constructed; the first point is any one of all the preset position points;

[0014] The equations corresponding to the preset position points are used to form an equation group.

[0015] In some embodiments of the present application, the horizontal axis of the rectangular coordinate system is parallel to an edge of the touch screen; the touch screen has a first preset position point and a second preset position point, the horizontal coordinate of the first preset position point is a negative value, and the vertical axis of the rectangular coordinate system perpendicularly bisects a line segment connecting the first preset position point and the second preset position point.

[0016] In some embodiments of the present application, the horizontal axis of the rectangular coordinate system is parallel to an edge of the touch screen; the touch screen has a first preset position point, a second preset position point, a third preset position point and a fourth preset position point;

[0017] The horizontal coordinate of the first preset position point and the horizontal coordinate of the fourth preset position point are both negative and equal;

[0018] The longitudinal axis of the rectangular coordinate system is perpendicular to and bisects a line segment connecting the first preset position point and the second preset position point and a line segment connecting the third preset position point and the fourth preset position point.

[0019] In some embodiments of the present application, the error detection method further includes:

[0020] Obtaining the measured length of a line connecting a preset position point on the touch screen and the laser radar through the laser radar;

[0021] Calculating the theoretical length between the preset position point and the origin;

[0022] The length error coefficient of the laser radar measurement is calculated according to the measured length and the theoretical length.

[0023] According to another aspect of an embodiment of the present application, a method for error processing of a laser radar touch screen is provided, comprising:

[0024] Obtaining the measured angle and measured distance of the line connecting the touch point on the touch screen and the laser radar through the laser radar;

[0025] Correcting the measured angle using a pre-acquired measurement error angle to obtain a corrected angle; the measurement error angle is pre-acquired according to the error detection method described in any embodiment of the present application;

[0026] Correcting the measured distance using a pre-acquired length error coefficient to obtain a corrected distance;

[0027] Acquiring the coordinates of the touch point according to the corrected distance and the corrected angle;

[0028] Acquisition of the length error coefficient includes: acquiring the actual measured length of a line connecting a preset position point on the touch screen and the laser radar through a laser radar; calculating the theoretical length between the preset position point and the origin; and calculating the length error coefficient measured by the laser radar based on the actual measured length and the theoretical length.

[0029] According to another aspect of an embodiment of the present application, there is provided an error detection device for a laser radar touch screen, comprising:

[0030] The measured angle acquisition module is used to acquire the measured angle of each preset position point on the touch screen through the laser radar; the measured angle of the preset position point is the angle between the first vector and the positive direction of the horizontal axis of the rectangular coordinate system; the first vector is a vector with the origin of the rectangular coordinate system as the starting point and the preset position point as the end point; there are multiple preset position points on the touch screen; the rectangular coordinate system is pre-set with the center point of the laser radar as the origin and the polar axis of the polar coordinates of the laser radar as the horizontal axis;

[0031] The measurement error angle acquisition module is used to acquire the measurement error angle of the laser radar based on all the preset position points, the measured angle of each of the preset position points, and the rectangular coordinate system.

[0032] According to another aspect of an embodiment of the present application, there is provided an error processing device for a laser radar touch screen, comprising:

[0033] A measured acquisition module, used to acquire a measured angle and a measured distance between a touch point on the touch screen and a line connecting the laser radar through a laser radar;

[0034] An angle correction module, used to correct the measured angle using a pre-acquired measurement error angle to obtain a corrected angle; the measurement error angle is pre-acquired according to the error detection method of any embodiment of the present application;

[0035] A distance correction module, used to correct the measured distance using a pre-acquired length error coefficient to obtain a corrected distance; the length error coefficient is pre-acquired by the method according to claim 6;

[0036] A touch point coordinate acquisition module is used to acquire the coordinates of the touch point according to the corrected distance and the corrected angle.

[0037] According to another aspect of an embodiment of the present application, an electronic device is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the method described in any embodiment of the present application.

[0038] According to another aspect of an embodiment of the present application, a computer-readable storage medium is provided, on which a computer program is stored. The computer program is executed by a processor to implement the method described in any embodiment of the present application.

[0039] The technical solution provided by one aspect of the embodiments of the present application may have the following beneficial effects:

[0040] The error detection method for the laser radar touch screen provided in the embodiment of the present application obtains the actual measured angle of each preset position point on the touch screen through the laser radar, and obtains the measurement error angle of the laser radar based on the actual measured angle of each preset position point and the coordinates of each preset position point in the rectangular coordinate system. The measurement error angle of the laser radar to the touch point can be accurately obtained, which overcomes the technical defect of the related art that there is a lack of technical solutions for accurately detecting the positioning angle error of the laser radar touch screen, thereby facilitating further use of the measurement error angle to correct the angle error of the touch point obtained by the laser radar touch screen, thereby improving the accuracy of the laser radar in locating the touch point and reducing the error of the positioning result.

[0041] The above description is only an overview of the technical solution of the embodiment of the present application. In order to more clearly understand the technical means of the embodiment of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the embodiment of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0043] Figure 1 A flow chart of an error detection method for a laser radar touch screen according to an embodiment of the present application is shown.

[0044] Figure 2 A schematic diagram of a rectangular coordinate system in an embodiment of the present application is shown.

[0045] Figure 3 A schematic diagram of a rectangular coordinate system in an embodiment of the present application is shown.

[0046] Figure 4 A flow chart of an error detection method for a laser radar touch screen according to an embodiment of the present application is shown.

[0047] Figure 5 A flow chart of an error processing method for a laser radar touch screen according to an embodiment of the present application is shown.

[0048] Figure 6 A flow chart of an error processing method for a laser radar touch screen according to an embodiment of the present application is shown.

[0049] Figure 7 A structural block diagram of an error detection device for a laser radar touch screen according to an embodiment of the present application is shown.

[0050] Figure 8 A structural block diagram of an error processing device for a laser radar touch screen according to an embodiment of the present application is shown.

[0051] Fig. 9 A structural block diagram of an electronic device according to an embodiment of the present application is shown.

[0052] Fig.10 A schematic diagram of a computer-readable storage medium according to an embodiment of the present application is shown. DETAILED DESCRIPTION

[0053] In order to make the purpose, technical solutions and advantages of the present application clearer, the present application is further described below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not intended to limit the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of the present application.

[0054] It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as those generally understood by those skilled in the art to which this application belongs. It should also be understood that terms such as those defined in general dictionaries should be understood to have meanings consistent with the meanings in the context of the prior art, and will not be interpreted with idealized or overly formal meanings unless specifically defined as here.

[0055] In view of the problem that the related art lacks a technical solution for accurately detecting the positioning angle error of the laser radar touch screen, resulting in the inability to accurately obtain the positioning angle error of the laser radar for the touch point, the embodiment of the present application provides an error detection method for the laser radar touch screen, which obtains the actual measured angle of each preset position point on the touch screen through the laser radar, and obtains the measurement error angle of the laser radar based on the actual measured angle of each preset position point and the coordinates of each preset position point in the rectangular coordinate system. The measurement error angle of the laser radar for the touch point can be accurately obtained, which overcomes the technical defect of the related art lacking a technical solution for accurately detecting the positioning angle error of the laser radar touch screen, thereby facilitating further use of the measurement error angle to correct the angle error of the touch point obtained by the laser radar touch screen, thereby improving the accuracy of the laser radar positioning of the touch point and reducing the error of the positioning result.

[0056] refer to Figure 1 As shown, an embodiment of the present application provides an error detection method for a laser radar touch screen, which may include steps S10 to S20:

[0057] S10. Obtain the actual measured angle of each preset position point on the touch screen through a laser radar.

[0058] Among them, the measured angle of the preset position point is the angle between the first vector and the positive direction of the horizontal axis of the rectangular coordinate system; the first vector is a vector with the origin of the rectangular coordinate system as the starting point and the preset position point as the end point; there are multiple preset position points on the touch screen; the rectangular coordinate system is pre-set with the center point of the laser radar as the origin and the polar axis of the polar coordinates of the laser radar as the horizontal axis.

[0059] Due to the influence of external factors such as the environment, there are errors in the angle detection results of the touch point by the laser radar. The laser radar detects the preset position point on the touch screen and detects the measured angle of the preset position point. There is an error between the measured angle and the true angle, which is the measurement error angle.

[0060] refer to Figure 2 As shown, Figure 2 A rectangular coordinate system is shown in , which is pre-set with the center point of the laser radar as the origin and the polar axis of the laser radar's polar coordinates as the horizontal axis. The laser radar's polar coordinates are pre-set with the center point of the laser radar as the origin. The angle actually measured by the laser radar for a certain measured point (i.e., the measured angle of the laser radar) is the angle between the line connecting the measured point and the origin O and the positive direction of the x-axis of the rectangular coordinate system, and the interval of the angle is [0,360°]. The first preset position point M, the second preset position point N, the laser radar is located at the origin O, when the laser radar detects the first preset position point M, due to the error, the actual measured point is M0; when the laser radar detects the second preset position point N, due to the error, the actual measured point is N0; the first measured angle is the angle between the vector OM0 and the positive direction of the x-axis, and the second measured angle is the angle between the vector ON0 and the positive direction of the x-axis. The angle ∠NON0 between ON and ON0 is the measurement error angle, denoted as θ; the angle ∠MOM0 between OM and OM0 is also θ. The intersection of line segment MN and the y-axis is G.

[0061] S20. Based on all preset position points, the measured angle of each preset position point, and the rectangular coordinate system, obtain the measurement error angle of the laser radar.

[0062] In some embodiments, based on all preset position points, the measured angle of each preset position point, and a rectangular coordinate system, obtaining a measurement error angle of a laser radar includes:

[0063] According to the measurement error angle, the measured angle of each preset position point, and the preset triangle corresponding to each preset position point, a group of equations with the measurement error angle as the unknown variable is constructed; the preset triangle corresponding to the preset position point is a right triangle pre-constructed with the preset position point, the origin, and the perpendicular point from the preset position point to the longitudinal axis of the rectangular coordinate system as vertices; according to the group of equations, the measurement error angle of the laser radar is calculated.

[0064] refer to Figure 2 As shown, the measured angle of the preset position point M is the angle between OM0 and the positive direction of the x-axis, recorded as ∠M0Ox; the measured angle of the preset position point N is the angle between ON0 and the positive direction of the x-axis, recorded as ∠N0Ox. The preset triangle corresponding to the preset position point M is pre-constructed based on the preset position point M and the rectangular coordinate system. Specifically, the preset triangle corresponding to the preset position point M is a right triangle △MOG pre-constructed with the preset position point M, the origin O, and the perpendicular point G from the preset position point M to the longitudinal axis of the rectangular coordinate system as vertices. The geometric relationship between the measurement error angle Θ, the measured angle ∠M0Ox of the preset position point M, and the preset triangle △MOG corresponding to the preset position point M includes: the acute angle ∠MOG of the preset triangle △MOG = measurement error angle Θ + measured angle ∠M0Ox-90°. The geometric relationship between the measurement error angle Θ, the measured angle ∠N0Ox of the preset position point N, and the preset triangle △NOG corresponding to the preset position point N includes: the acute angle ∠NOG of the preset triangle △NOG = 90° - the measured angle ∠N0Ox - the measurement error angle Θ. ∠MOG is denoted as ∠e, ∠NOG is denoted as ∠f, ∠e = Θ + ∠M0OG, ∠f = ∠N0OG - Θ.

[0065] Exemplarily, constructing a group of equations with the measurement error angle as an unknown variable based on the measurement error angle, the measured angle of each preset position point, and the preset triangle corresponding to each preset position point may include: constructing an equation with the measurement error angle as an unknown variable based on the numerical relationship between the measurement error angle, the measured angle of the first point and the first acute angle of the preset triangle, and the tangent function value of the first acute angle being equal to the absolute value of the ratio of the horizontal coordinate to the vertical coordinate of the first point; the first point is any one of all the preset position points; the preset triangle is a right triangle pre-constructed with the first point, the origin, and the perpendicular point from the first point to the vertical axis of the coordinate system as vertices; and the group of equations is constructed using the equations corresponding to each preset position point.

[0066] refer to Figure 2 As shown, tan∠e=tan(Θ+∠M0OG)=MG / OG, tan∠f=tan(∠N0OG-Θ)=NG / OG. The lengths of MG, OG and NG can be obtained according to the coordinates of M and N. The first acute angle of △MOG is ∠e. The first acute angle of △NOG is ∠f.

[0067] In a specific example, the horizontal axis of the coordinate system is parallel to an edge of the touch screen. For example, the horizontal axis may be parallel to an edge of the touch screen along a horizontal direction. Figure 2 As shown, the touch screen has a first preset position point M and a second preset position point N, the horizontal coordinate of the first preset position point M is a negative value, and the vertical axis of the coordinate system perpendicularly bisects the connecting line segment MN of the first preset position point and the second preset position point; the intersection of MN and the y-axis is G. The measured angle of the first preset position point M is the angle between the vector OM0 and the positive direction of the x-axis. The measured angle of the second preset position point N is the angle between the vector ON0 and the positive direction of the x-axis. The numerical relationship between the measured error angle Θ, the measured angle of the first preset position point M, and the first acute angle ∠e includes that the sum of the measured angle of the first preset position point M and the measured error angle Θ minus 90° is equal to ∠e. The numerical relationship between the measured error angle Θ, the measured angle of the second preset position point N, and the first acute angle ∠f includes: 90°-the measured angle of the second preset position point N-the sum of the measured error angle Θ=∠f.

[0068] Specifically, according to the numerical relationship between the measurement error angle, the measured angle of the first point and the first acute angle of the preset triangle, and the tangent function value of the first acute angle is equal to the absolute value of the ratio of the abscissa to the ordinate of the first point, constructing an equation with the measurement error angle as an unknown variable may include:

[0069] According to the fact that the sum of the actual measured angle of the first preset position point and the measurement error angle minus 90° is equal to the first acute angle corresponding to the first preset position point, and the tangent function value of the first acute angle corresponding to the first preset position point is equal to the absolute value of the ratio of the abscissa to the ordinate of the first preset position point, a first equation with the measurement error angle as an unknown variable is constructed;

[0070] According to the fact that the complementary angle of the sum of the actual measured angle of the second preset position point and the measurement error angle is equal to the first acute angle corresponding to the second preset position point, and the tangent function value of the first acute angle corresponding to the second preset position point is equal to the absolute value of the ratio of the horizontal coordinate to the vertical coordinate of the second preset position point, a second equation with the measurement error angle as the unknown variable is constructed.

[0071] refer to Figure 2 As shown, the first preset position point M and the second preset position point N, the measured angle of the first preset position point M is the angle between OM0 and the positive direction of the x-axis, which can be called the first measured angle of the radar; the measured angle of the second preset position point N is the angle between ON0 and the positive direction of the x-axis, which can be called the second measured angle of the radar.

[0072] The measurement error angle is expressed as Θ, the first acute angle corresponding to the first preset position point is expressed as ∠e, and the first acute angle corresponding to the second preset position point is expressed as ∠f, then ∠e=radar first measured angle+Θ-90°, ∠f=90°-radar second measured angle-Θ.

[0073] The tangent function value of ∠e is equal to the absolute value of the ratio of the horizontal coordinate to the vertical coordinate of the first preset position point M, that is, tan∠e=MG / OG. G is the intersection of MN and the y-axis, and MG / OG is the absolute value of the ratio of the horizontal coordinate to the vertical coordinate of M. The first equation constructed is tan(first actual angle of radar + Θ-90°)=MG / OG.

[0074] The tangent function value of ∠f is equal to the absolute value of the ratio of the horizontal coordinate to the vertical coordinate of the second preset position point N, that is, tan∠f=NG / OG; NG / OG is the absolute value of the ratio of the horizontal coordinate to the vertical coordinate of N. The second equation constructed is tan(90°-the second actual angle of the radar-Θ)=NG / OG.

[0075] According to the equation group composed of the first equation and the second equation, the measurement error angle of the laser radar is calculated.

[0076] Specifically, since tan(radar first measured angle + Θ - 90°) = MG / OG, tan(90° - radar second measured angle - Θ) = NG / OG, MG = NG, so tan(radar first measured angle + Θ - 90°) = tan(90° - radar second measured angle - Θ), the measurement error angle Θ can be solved.

[0077] In some embodiments, the horizontal axis of the coordinate system is parallel to an edge of the touch screen, for example, the horizontal axis can be parallel to an edge of the touch screen along the horizontal direction; the touch screen has a first preset position point, a second preset position point, a third preset position point and a fourth preset position point; the horizontal coordinate of the first preset position point and the horizontal coordinate of the fourth preset position point are both negative and equal; the vertical axis of the coordinate system is perpendicular to and bisects the line segment connecting the first preset position point and the second preset position point and the line segment connecting the third preset position point and the fourth preset position point.

[0078] In a specific example, refer to Figure 3As shown, the touch screen has a first preset position point A, a second preset position point B, a third preset position point C and a fourth preset position point D, O is the origin, in this embodiment, the center of the laser radar is used as the origin, A, B, C, D form a rectangle, A, B, C, D are respectively the first vertex, the second vertex, the third vertex and the fourth vertex of the rectangle ABCD, the preset rectangle can be, for example, a rectangle that completely overlaps with the outer edge of the touch screen, or it can be a rectangle inside the touch screen. If the preset rectangle is a rectangle that completely overlaps with the outer edge of the touch screen, then A, B, C and D are respectively the four vertices (actual coordinates) of the touch screen, or they can be the four vertices of any rectangle inside the touch screen (the four sides of the preset rectangle are parallel to the four sides of the touch screen). AB, CD, AD, BC are respectively the side lengths (actual lengths) of the four sides of the preset rectangle.

[0079] like Figure 3 As shown, due to the existence of errors, when the laser radar measures A, B, C, and D respectively, the actual corresponding measured points are A0, B0, C0, and D0 respectively. The first acute angle ∠a corresponding to the first preset position point A is the angle between OA and the positive direction of the longitudinal axis, the first acute angle ∠b corresponding to the second preset position point B is the angle between OB and the positive direction of the longitudinal axis, the first acute angle ∠c corresponding to the third preset position point C is the angle between OC and the positive direction of the longitudinal axis, and the first acute angle ∠d corresponding to the fourth preset position point D is the angle between OD and the positive direction of the longitudinal axis.

[0080] The sum of the measured angle of the first preset position point A and the measurement error angle θ minus 90° is equal to the first acute angle ∠a corresponding to the first preset position point A; the measured angle of the first preset position point A can be called the first measured angle of the radar, that is, the angle between OA' and the positive direction of the x-axis.

[0081] The complementary angle of the sum of the measured angle of the second preset position point B and the measurement error angle Θ is equal to the first acute angle ∠b corresponding to the second preset position point B; the measured angle of the second preset position point B can be called the second measured angle of the radar, that is, the angle between OB' and the positive direction of the x-axis.

[0082] The complementary angle of the sum of the measured angle of the third preset position point C and the measurement error angle Θ is equal to the first acute angle ∠c corresponding to the third preset position point C; the measured angle of the third preset position point C can be called the third measured angle of the radar, that is, the angle between OC' and the positive direction of the x-axis.

[0083] The sum of the measured angle of the fourth preset position point D and the measurement error angle Θ minus 90° is equal to the first acute angle ∠d corresponding to the fourth preset position point D; the measured angle of the fourth preset position point D can be called the fourth measured angle of the radar, that is, the angle between OD' and the positive direction of the x-axis.

[0084] If there is no measurement error angle, the y-axis is perpendicular to AB and DC, and AE=DF. However, due to the measurement error angle, the y-axis is not perpendicular to AB and DC, and AE≠DF.

[0085] After knowing the value of the measurement error angle, the actual angle collected by the laser radar is increased or decreased by the measurement error angle, and the calibration is completed to obtain the accurate true angle. After calibration, the y-axis will be perpendicular to AB and DC, and AE = DF. So in this example, calculating the measurement error angle is actually calculating: the angle data collected by the laser radar should be increased or decreased by a certain angle so that the y-axis is perpendicular to AB and DC, and AE = DF.

[0086] Assuming that there is no distance error, A and A0 are completely overlapped, but due to the distance error, although A and A0 are on the same straight line, they cannot overlap, and OA≠OA0. Therefore, calculating the distance error is actually to find a distance error coefficient p, so that OA = OA0*p, and p = OA / OA0.

[0087] Assuming that there is no error in the angle value collected by the radar,

[0088] ∠a = radar first measured angle - 90°;

[0089] ∠b = 90° - radar's second measured angle;

[0090] ∠c=90°-the third measured angle of the radar;

[0091] ∠d = radar fourth measured angle -90°.

[0092] Assuming that there is no measurement error angle and the y-axis is perpendicular to AB and DC, according to the following trigonometric relationship:

[0093] tan∠a=AE / OE,

[0094] tan∠b=BE / OE,

[0095] AB=AE+BE,

[0096] tan∠c=CF / OF,

[0097] tan∠d=DF / OF,

[0098] CD=CF+DF,

[0099] It can be concluded that

[0100] AE=(AB*tan∠a) / (tan∠a+tan∠b),

[0101] BE=(AB*tan∠b) / (tan∠a+tan∠b),

[0102] DF=(CD*tan∠d) / (tan∠c+tan∠d),

[0103] CF=(CD*tan∠c) / (tan∠c+tan∠d).

[0104] In the case where there is a measurement error angle in radar detection, the measurement error angle can be expressed as Θ, and the measurement error angle Θ can be solved according to the following calculation formula.

[0105] ∠a=first measured angle of radar+Θ-90°;

[0106] ∠b=90°-second measured angle of radar-Θ;

[0107] ∠c=90°-the third measured angle of radar-Θ;

[0108] ∠d = radar fourth measured angle + Θ-90°;

[0109] AE=(AB*tan∠a) / (tan∠a+tan∠b);

[0110] DF=(CD*tan∠d) / (tan∠c+tan∠d);

[0111] diff = |AE-DF|,

[0112] The above equations all use Θ as an unknown variable. According to the equation group formed by the above equations, the value of ∠Θ corresponding to the preset minimum value of diff is calculated, which is the measurement error angle.

[0113] For example, if the preset minimum value of diff is 0, then AE = (AB*tan∠a) / (tan∠a+tan∠b) = DF = (CD*tan∠d) / (tan∠c+tan∠d), that is, tan∠a / (tan∠a+tan∠b) = tan∠d / (tan∠c+tan∠d), and ∠a = radar first measured angle + Θ-90°, ∠b = 90°-radar second measured angle - Θ, ∠c = 90°-radar third measured angle - Θ, ∠d = radar fourth measured angle + Θ-90°, and Θ can be calculated. When the preset minimum value of diff is 0, the accuracy of the obtained measurement error angle Θ is the highest.

[0114] In another implementation, according to the equation group formed by the above calculation formula, the initial value of the measurement error angle θ can be preset, and diff is calculated. According to diff, θ is stepped within a certain range (such as -5° to 5°, and the step value of θ can be +0.01° each time), so that the values ​​of ∠a, ∠b, ∠c, ∠d, AE and DF change with the step change of θ, and the absolute value of the difference between AE and DF, diff, is calculated at the same time. When diff reaches the preset minimum value, the corresponding θ is the measurement error angle that meets the preset accuracy requirements. For example, the preset minimum value can be 0, or it can be set to other values ​​according to the actual accuracy requirements. The method of obtaining the measurement error angle that meets the preset accuracy requirements is suitable for situations where the accuracy requirements for the measurement error angle are not high, the amount of calculation is small, and the measurement error angle that meets the preset accuracy requirements can be quickly obtained.

[0115] Due to the different reflectivity of various parts on the touch screen, when the laser radar locates the touch point on the touch screen, there will be a length measurement error of the positioning distance. The related technology lacks a technical solution that can accurately obtain the length error of the touch point positioning.

[0116] In some embodiments, reference Figure 4 As shown, the error detection method of the laser radar touch screen may also include steps S30 to S50:

[0117] S30, obtaining the actual measured length of a line connecting a preset position point on the touch screen and the laser radar through the laser radar.

[0118] exist Figure 2 In the example shown, when the length of the line OM between the preset position point M and the laser radar is obtained by the laser radar, due to the existence of measurement errors, the actual measured length finally obtained is the length of OM0.

[0119] exist Figure 3 In the example shown, when the length of the line OA between the preset position point A and the laser radar is obtained by the laser radar, due to the existence of measurement errors, the actual measured length finally obtained is the length of OA0.

[0120] S40, calculating the theoretical length between the preset position point and the origin according to the coordinates of the preset position point.

[0121] In some examples, the theoretical length between the preset position point and the origin can be calculated according to the coordinates of the preset position point. Assuming that the coordinates of the preset position point are (w, z), the theoretical length between the preset position point and the origin is (w 2 +z 2 ) 1 / 2 .

[0122] In some examples, the theoretical length between the preset position point and the origin can be calculated according to the trigonometric function relationship. Specifically, refer to Figure 3 As shown, after the angle error θ is calculated, ∠a and AE are adjusted, and the theoretical length between the preset position point A and the origin O is calculated to obtain OA=AE / sin∠a.

[0123] S50, calculating the length error coefficient of the laser radar measurement according to the actually measured length and the theoretical length.

[0124] exist Figure 2 In the example shown, the theoretical length is the length of OM, the measured length is the length of OA0, and the length error coefficient p=OA / OA0.

[0125] exist Figure 3 In the example shown, the theoretical length between the preset position point M and the origin O is the length of OM, the measured length is the length of OM0, and the length error coefficient p=OM / OM0.

[0126] Specifically, in Figure 3 In the example shown, after calculating the angle error ∠Θ, ∠a and AE are adjusted, and OA and OA0 are calculated. OA = AE / sin∠a; OA0 = the distance of point A collected by the radar; distance error coefficient p, p = OA / OA0.

[0127] The method of this embodiment can obtain the length error coefficient of laser radar measurement, thereby overcoming the technical defect of the related art that there is a lack of a technical solution that can accurately obtain the length error of touch point positioning, so as to accurately obtain the length error of touch point positioning, so as to facilitate the correction of the length error of touch point positioning and improve the accuracy of laser radar positioning.

[0128] refer to Figure 5 As shown, another embodiment of the present application provides an error processing method for a laser radar touch screen, which may include steps 101 to 102:

[0129] Step 101: Obtain the measured angle and measured distance of the line connecting the touch point on the touch screen and the laser radar through the laser radar.

[0130] Step 102: Correct the measured angle using the pre-acquired measurement error angle to obtain a corrected angle; the measurement error angle is pre-acquired according to the error detection method of any of the above embodiments.

[0131] Through the error processing method of the laser radar touch screen of this embodiment, the measured angle of the touch point detected by the laser radar is corrected using the pre-acquired measurement error angle, thereby improving the angle accuracy of the laser radar in locating the touch point and reducing the error of the positioning result.

[0132] refer to Figure 6 As shown, in some embodiments, the error processing method of the laser radar touch screen, in addition to the above steps 101 and 102, may also include steps 103 to 104:

[0133] Step 103, using the pre-acquired length error coefficient to correct the measured distance to obtain the corrected distance; obtaining the length error coefficient includes: obtaining the measured length of the line connecting a preset position point on the touch screen and the laser radar through the laser radar; calculating the theoretical length between the preset position point and the origin; calculating the length error coefficient of the laser radar measurement based on the measured length and the theoretical length.

[0134] The measured distance is corrected by using the pre-acquired length error coefficient, which improves the accuracy of the measured distance of the touch point positioning by the laser radar and reduces the error of the positioning result.

[0135] Step 104: Obtain the coordinates of the touch point according to the corrected distance and the corrected angle.

[0136] In the above-mentioned embodiment, the measurement error angle θ and the length error coefficient p are calculated, and the data collected by the subsequent radar can be calibrated to obtain the calibrated data (angle and distance).

[0137] Calibrated angle = angle collected by radar + Θ;

[0138] Calibrated distance = distance collected by radar * p.

[0139] Through the above calculation, the error can be eliminated, thus obtaining the accurate touch point coordinates (x, y);

[0140] x = calibrated distance * cos calibrated angle;

[0141] y = calibrated distance * sin calibrated angle.

[0142] The error processing method of the laser radar touch screen in the embodiment of the present application corrects the error of the laser radar touch screen, improves the accuracy of the laser radar in locating the touch point, and reduces the error of the positioning result.

[0143] refer to Figure 7 As shown, another embodiment of the present application provides an error detection device for a laser radar touch screen, comprising:

[0144] The measured angle acquisition module is used to acquire the measured angle of each preset position point on the touch screen through the laser radar; the measured angle of the preset position point is the angle between the first vector and the positive direction of the horizontal axis of the rectangular coordinate system; the first vector is a vector with the origin of the rectangular coordinate system as the starting point and the preset position point as the end point; there are multiple preset position points on the touch screen; the rectangular coordinate system is pre-set with the center point of the laser radar as the origin and the polar axis of the polar coordinates of the laser radar as the horizontal axis;

[0145] The measurement error angle acquisition module is used to acquire the measurement error angle of the laser radar based on all the preset position points, the measured angle of each of the preset position points, and the rectangular coordinate system.

[0146] In some embodiments, the measurement error angle acquisition module includes:

[0147] A construction unit is used to construct a set of equations with the measurement error angle as an unknown variable according to the measurement error angle, the measured angle of each of the preset position points, and the preset triangle corresponding to each of the preset position points; the preset triangle corresponding to the preset position point is a right triangle pre-constructed with the preset position point, the origin, and the perpendicular point from the preset position point to the longitudinal axis of the rectangular coordinate system as vertices;

[0148] A calculation unit is used to calculate the measurement error angle of the laser radar according to the equation group.

[0149] In some embodiments, the construction unit is further specifically used to: construct an equation with the measurement error angle as an unknown variable based on the numerical relationship between the measurement error angle, the measured angle of the first point and the first acute angle of the preset triangle, and the tangent function value of the first acute angle is equal to the absolute value of the ratio of the horizontal coordinate to the vertical coordinate of the first point; the first point is any one of all the preset position points; and the equation group is constructed using the equations corresponding to each of the preset position points.

[0150] In some embodiments, the horizontal axis of the rectangular coordinate system is parallel to an edge of the touch screen; the touch screen has a first preset position point and a second preset position point, the horizontal coordinate of the first preset position point is a negative value, and the vertical axis of the rectangular coordinate system perpendicularly bisects a line segment connecting the first preset position point and the second preset position point;

[0151] The numerical relationship between the measurement error angle, the actual measured angle of the first point and the first acute angle includes that the sum of the actual measured angle of the first point and the measurement error angle minus 90° is equal to the first acute angle.

[0152] In some embodiments, the horizontal axis of the rectangular coordinate system is parallel to an edge of the touch screen; the touch screen has a first preset position point, a second preset position point, a third preset position point and a fourth preset position point; the horizontal coordinate of the first preset position point and the horizontal coordinate of the fourth preset position point are both negative and equal; the vertical axis of the rectangular coordinate system is perpendicular to and bisects the line segment connecting the first preset position point and the second preset position point and the line segment connecting the third preset position point and the fourth preset position point.

[0153] In some embodiments, the error detection device of the laser radar touch screen may also include a length error coefficient acquisition module, which is used to: obtain the actual measured length of the line connecting a preset position point on the touch screen and the laser radar through the laser radar; calculate the theoretical length between the preset position point and the origin; and calculate the length error coefficient measured by the laser radar based on the actual measured length and the theoretical length.

[0154] refer to Figure 8 As shown, another embodiment of the present application provides an error processing device for a laser radar touch screen, which may include:

[0155] A measurement module, used to obtain a measured angle and a measured distance between a touch point on the touch screen and a line connecting the laser radar through a laser radar;

[0156] An angle correction module is used to correct the measured angle using a pre-acquired measurement error angle to obtain a corrected angle; the measurement error angle is pre-acquired according to the error detection method described in any embodiment of the present application.

[0157] In some embodiments, the error processing device may further include:

[0158] A distance correction module, used to correct the measured distance using a pre-acquired length error coefficient to obtain a corrected distance;

[0159] A touch point coordinate acquisition module, used to acquire the coordinates of the touch point according to the corrected distance and the corrected angle;

[0160] The length error coefficient can be obtained through a length error coefficient acquisition module, which is used to: obtain the actual measured length of a line connecting a preset position point on the touch screen and the laser radar through a laser radar; calculate the theoretical length between the preset position point and the origin; and calculate the length error coefficient measured by the laser radar based on the actual measured length and the theoretical length.

[0161] Another embodiment of the present application provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement a method in any of the above embodiments.

[0162] refer to Fig. 9 As shown, the electronic device 10 may include: a processor 100, a memory 101, a bus 102 and a communication interface 103, and the processor 100, the communication interface 103 and the memory 101 are connected via the bus 102; the memory 101 stores a computer program that can be run on the processor 100, and when the processor 100 runs the computer program, it executes the method provided in any of the aforementioned embodiments of the present application.

[0163] The memory 101 may include a high-speed random access memory (RAM), and may also include a non-volatile memory, such as at least one disk storage. The communication connection between the device network element and at least one other network element is realized through at least one communication interface 103 (which may be wired or wireless), and the Internet, wide area network, local area network, metropolitan area network, etc. may be used.

[0164] The bus 102 may be an ISA bus, a PCI bus, or an EISA bus, etc. The bus may be divided into an address bus, a data bus, a control bus, etc. The memory 101 is used to store a program, and the processor 100 executes the program after receiving an execution instruction. The method disclosed in any implementation of the aforementioned embodiment of the present application may be applied to the processor 100, or implemented by the processor 100.

[0165] The processor 100 may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method can be completed by an integrated logic circuit of hardware in the processor 100 or an instruction in the form of software. The above processor 100 may be a general-purpose processor, which may include a central processing unit (CPU), a network processor (NP), etc.; it may also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The methods, steps and logic block diagrams disclosed in the embodiments of the present application can be implemented or executed. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc. The steps of the method disclosed in the embodiments of the present application can be directly embodied as a hardware decoding processor for execution, or a combination of hardware and software modules in the decoding processor for execution. The software module may be located in a mature storage medium in the field such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory or an electrically erasable programmable memory, a register, etc. The storage medium is located in the memory 101, and the processor 100 reads the information in the memory 101 and completes the steps of the above method in combination with its hardware.

[0166] The electronic device provided in the embodiment of the present application and the method provided in the embodiment of the present application are based on the same inventive concept and have the same beneficial effects as the method adopted, operated or implemented by them.

[0167] Another embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored, and the computer program is executed by a processor to implement the method of any of the above embodiments. Fig.10 As shown, the computer-readable storage medium shown is a CD 20 on which a computer program (ie, a program product) is stored. When the computer program is run by a processor, the method provided by any of the aforementioned embodiments will be executed.

[0168] It should be noted that examples of computer-readable storage media may also include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other optical or magnetic storage media, which are not listed here one by one.

[0169] The computer-readable storage medium provided in the above-mentioned embodiments of the present application and the method provided in the embodiments of the present application are based on the same inventive concept and have the same beneficial effects as the method adopted, run or implemented by the application program stored therein.

[0170] It should be noted that:

[0171] The term "module" is not intended to be limited to a specific physical form. Depending on the specific application, a module can be implemented as hardware, firmware, software, and / or a combination thereof. In addition, different modules can share common components or even be implemented by the same components. There may or may not be clear boundaries between different modules.

[0172] The algorithm and display provided herein are not inherently related to any specific computer, virtual device or other equipment. Various general devices can also be used together with examples based on this. According to the above description, it is obvious to construct the structure required for this type of device. In addition, the application is not directed to any specific programming language yet. It should be understood that various programming languages ​​can be utilized to realize the content of the application described herein, and the description made to specific languages ​​above is for the purpose of disclosing the best mode of implementation of the application.

[0173] It should be understood that, although the steps in the flowchart of the accompanying drawings are displayed in sequence as indicated by the arrows, these steps are not necessarily executed in sequence in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least a part of the steps in the flowchart of the accompanying drawings may include multiple sub-steps or multiple stages, and these sub-steps or stages are not necessarily executed at the same time, but can be executed at different times, and their execution order is not necessarily sequential, but can be executed in turn or alternately with other steps or at least a part of the sub-steps or stages of other steps.

[0174] The above embodiments only express the implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several modifications and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A laser radar touch screen error detection method, characterized in that: include: The actual measured angle of each preset position point on the touch screen is obtained through the laser radar; The measured angle of the preset position point is the angle between the first vector and the positive direction of the horizontal axis of the rectangular coordinate system; the first vector is a vector with the origin of the rectangular coordinate system as the starting point and the preset position point as the end point; there are multiple preset position points on the touch screen; the rectangular coordinate system is pre-set with the center point of the laser radar as the origin and the polar axis of the polar coordinates of the laser radar as the horizontal axis; Based on all the preset position points, the measured angle of each of the preset position points, and the rectangular coordinate system, the measurement error angle of the laser radar is obtained.

2. The method according to claim 1, characterized in that The obtaining of the measurement error angle of the laser radar based on all the preset position points, the measured angle of each of the preset position points, and the rectangular coordinate system includes: According to the measurement error angle, the measured angle of each of the preset position points, and the preset triangle corresponding to each of the preset position points, a set of equations with the measurement error angle as an unknown variable is constructed; the preset triangle corresponding to the preset position point is a right triangle pre-constructed with the preset position point, the origin, and the perpendicular point from the preset position point to the longitudinal axis of the rectangular coordinate system as vertices; According to the set of equations, the measurement error angle of the laser radar is calculated.

3. The method according to claim 2, characterized in that The step of constructing a set of equations with the measurement error angle as an unknown variable according to the measurement error angle, the measured angle of each of the preset position points, and the preset triangle corresponding to each of the preset position points comprises: According to the numerical relationship between the measurement error angle, the measured angle of the first point and the first acute angle of the preset triangle, and the tangent function value of the first acute angle is equal to the absolute value of the ratio of the abscissa to the ordinate of the first point, an equation with the measurement error angle as an unknown is constructed; the first point is any one of all the preset position points; The equations corresponding to the preset position points are used to form an equation group.

4. The method according to claim 3, characterized in that The horizontal axis of the rectangular coordinate system is parallel to an edge of the touch screen; the touch screen has a first preset position point and a second preset position point, the horizontal coordinate of the first preset position point is a negative value, and the vertical axis of the rectangular coordinate system perpendicularly bisects a line segment connecting the first preset position point and the second preset position point.

5. The method according to claim 3, characterized in that: The horizontal axis of the rectangular coordinate system is parallel to an edge of the touch screen; the touch screen has a first preset position point, a second preset position point, a third preset position point and a fourth preset position point; The horizontal coordinate of the first preset position point and the horizontal coordinate of the fourth preset position point are both negative and equal; The longitudinal axis of the rectangular coordinate system is perpendicular to and bisects a line segment connecting the first preset position point and the second preset position point and a line segment connecting the third preset position point and the fourth preset position point.

6. The method according to any one of claims 2 to 5, characterized in that: The method further comprises: Obtaining the measured length of a line connecting a preset position point on the touch screen and the laser radar through the laser radar; Calculating the theoretical length between the preset position point and the origin; The length error coefficient of the laser radar measurement is calculated according to the measured length and the theoretical length.

7. A laser radar touch screen error processing method, characterized in that: include: Obtaining the measured angle and measured distance of the line connecting the touch point on the touch screen and the laser radar through the laser radar; The measured angle is corrected using a pre-acquired measurement error angle to obtain a corrected angle; the measurement error angle is pre-acquired according to the error detection method described in any one of claims 1-6.

8. The method according to claim 7, characterized in that The error processing method further comprises: Correcting the measured distance using a pre-acquired length error coefficient to obtain a corrected distance; The coordinates of the touch point are acquired according to the corrected distance and the corrected angle.

9. A laser radar touch screen error detection device, characterized in that: include: The measured angle acquisition module is used to obtain the measured angle of each preset position point on the touch screen through the laser radar; The measured angle of the preset position point is the angle between the first vector and the positive direction of the horizontal axis of the rectangular coordinate system; the first vector is a vector with the origin of the rectangular coordinate system as the starting point and the preset position point as the end point; there are multiple preset position points on the touch screen; the rectangular coordinate system is pre-set with the center point of the laser radar as the origin and the polar axis of the polar coordinates of the laser radar as the horizontal axis; The measurement error angle acquisition module is used to acquire the measurement error angle of the laser radar based on all the preset position points, the measured angle of each of the preset position points, and the rectangular coordinate system.

10. An error processing device for a laser radar touch screen, characterized in that: include: A measured acquisition module, used to acquire a measured angle and a measured distance between a touch point on the touch screen and a line connecting the laser radar through a laser radar; An angle correction module is used to correct the measured angle using a pre-acquired measurement error angle to obtain a corrected angle; the measurement error angle is pre-acquired according to the error detection method described in any one of claims 1-6.

11. An electronic device, characterized in that: The device comprises a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the method according to any one of claims 1 to 8.

12. A computer-readable storage medium having a computer program stored thereon, characterized in that: The computer program is executed by a processor to implement the method according to any one of claims 1 to 8.

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