Medium-free holographic imaging equipment and control method thereof

Abstract

The invention provides medium-free holographic imaging equipment and a control method thereof, and relates to the technical field of man-machine interaction. The media-free holographic imaging equipment comprises a media-free holographic imaging assembly which is configured to generate a suspended media-free holographic image in a preset imaging area, and the media-free holographic image comprises a plurality of interaction areas which can be operated by a user; and a sensor assembly comprising a plurality of first sensors configured to generate first perceptual data about an execution subject when the user operates an interaction region of the media-free holographic image through the execution subject; wherein the plane where the emitted light beams of the plurality of first sensors are located is parallel to the medium-free holographic image, and the emitted light beams of two adjacent first sensors in the plurality of first sensors form an overlapping area; and each interaction area in the plurality of interaction areas is covered by an overlapping area formed by the light beams emitted by the plurality of first sensors.

Description

Technical Field

[0001] This manual relates to the field of human-computer interaction technology, and in particular to a medium-free holographic imaging device and its control method. Background Technology

[0002] Screen-to-screen interactive devices refer to devices that use a display screen or virtual display screen as an interactive interface, combining touch, gestures, buttons, and other methods to achieve two-way information transmission between the user and the device. Screen-to-screen interactive devices based on virtual display screens (e.g., media-free holographic imaging devices) typically require infrared sensors to recognize user gestures. Conventional infrared sensor-based gesture recognition usually requires building complex gesture recognition models, increasing costs and resulting in low gesture recognition efficiency.

[0003] Therefore, there is a need to provide a medium-free holographic imaging device and its control method for interaction, which can reduce the complexity of user operation and recognition, improve recognition efficiency, and reduce costs. Summary of the Invention

[0004] This specification provides one or more embodiments of a medium-free holographic imaging device. The medium-free holographic imaging device includes a medium-free holographic imaging component configured to generate a suspended medium-free holographic image in a preset imaging region, the medium-free holographic image including multiple user-operable interactive regions; and a sensor component including multiple first sensors configured to generate first perceptual data about the executing subject when the user operates the interactive regions of the medium-free holographic image through an executing subject. The plane containing the emission beams of the multiple first sensors is parallel to the medium-free holographic image, the emission beams of two adjacent first sensors form an overlapping region in the plane, and each of the multiple interactive regions is covered by an overlapping region formed by the emission beams of the multiple first sensors.

[0005] In some embodiments, the emitted beam of each of the plurality of first sensors is a planar fan-shaped beam.

[0006] In some embodiments, the emitted beams of three or more consecutive first sensors form the same overlapping region.

[0007] In some embodiments, each of the plurality of first sensors includes a light emitter and an optical element. The light emitter is used to emit an initial emitted beam, and the optical element is disposed on the transmission path of the initial emitted beam of each first sensor to adjust the initial emitted beam from a conical beam to a planar beam.

[0008] In some embodiments, the optical element includes a beamforming block for blocking a portion of the initial emitted beam transmission, the beamforming block including a light-transmitting slit, the emitted beam being adjusted into a planar beam after passing through the light-transmitting slit.

[0009] In some embodiments, the light-transmitting slit is trapezoidal.

[0010] In some embodiments, the medium-free holographic imaging device further includes a controller configured to: acquire first perception data generated when a user's execution subject operates on a target interaction area, collected by a plurality of target first sensors, wherein the emitted beams of the plurality of target first sensors exist in the same overlapping area; determine the distance between each of the plurality of target first sensors and the execution subject based on the first perception data; determine the position of the target interaction area in the medium-free holographic image based on the distance between each target first sensor and the execution subject; and control the medium-free holographic imaging device to provide a response based on the position of the target interaction area in the medium-free holographic image.

[0011] In some embodiments, the medium-free holographic imaging device further includes a controller configured to: update the medium-free holographic image to obtain an updated medium-free holographic image in response to a user's operation on the medium-free holographic image; determine candidate first sensors among a plurality of first sensors based on the position of the interactive region in the updated medium-free holographic image, wherein the overlapping region formed by the emitted beams of the candidate first sensors covers the interactive region in the updated medium-free holographic image; and control the candidate first sensors to be in an operating state and control the remaining first sensors to be in a closed state.

[0012] In some embodiments, the sensor assembly further includes a second sensor configured to acquire second sensing data, the second sensing data including the appearance of the user's executive body and / or the user's biometric features.

[0013] This specification provides one or more embodiments of a control method for a medium-free holographic imaging device, characterized by comprising: acquiring first sensing data collected by multiple target sensors of the medium-free holographic imaging device, wherein the emitted beams of the multiple target sensors exist in the same overlapping region, and the first sensing data is generated by a user's execution subject when operating on a target interactive region of a medium-free holographic image generated by the medium-free holographic imaging device; determining the distance between each target sensor and the execution subject based on the first sensing data; determining the position of the target interactive region in the medium-free holographic image based on the distance between each target sensor and the execution subject; and controlling the medium-free holographic imaging device to provide a response based on the position of the target interactive region in the medium-free holographic image. Attached Figure Description

[0014] This specification will be further described by way of exemplary embodiments, which will be described in detail with reference to the accompanying drawings. The same numbers in the drawings denote the same structures or steps.

[0015] Figure 1 It is a medium-free holographic imaging device according to some embodiments shown in this specification.

[0016] Figure 2 yes Figure 1 The diagram shows the viewing angle of the medium-free holographic imaging device in the x1 axis direction.

[0017] Figure 3 yes Figure 1 A schematic diagram of the viewing angle of the medium-free holographic imaging device in the y1 axis direction is shown.

[0018] Figure 4 yes Figure 1 Another schematic diagram showing the field of view of the medium-free holographic imaging device in the y1 axis direction.

[0019] Figure 5 This is a schematic diagram of a first sensor according to some embodiments of this specification.

[0020] Figure 6 These are schematic diagrams of the bundled block shown in different views according to some embodiments of this specification.

[0021] Figure 7 This is a schematic flowchart illustrating the control of a medium-free holographic imaging device according to some embodiments of this specification.

[0022] Figure 8 This is a schematic diagram illustrating the method for determining the position of a target interactive region in a mediumless holographic image according to some embodiments of this specification.

[0023] Figure 9 This is a schematic diagram of another module of a control device for a medium-free holographic imaging apparatus, as shown in some embodiments of this specification.

[0024] Figure 10 This is a schematic diagram of a module for controlling a medium-free holographic imaging device, according to some embodiments of this specification. Detailed Implementation

[0025] To more clearly illustrate the technical solutions of the embodiments in this specification, the embodiments will be described in detail below with reference to the accompanying drawings. Obviously, the content described below are some examples or embodiments of this specification. For those skilled in the art, without creative effort, the technical solutions or means disclosed in this specification can be applied to other scenarios based on this technical content.

[0026] It should be understood that the terms "system," "device," "unit," and / or "module" used in this specification are a method of distinguishing different components, elements, parts, sections, or assemblies at different levels. However, if other terms can achieve the same purpose, they may be replaced by other expressions.

[0027] Unless otherwise specified, the technical terms used to describe components, elements, etc. in this specification are not singular but may include plural. Generally speaking, terms such as "comprising" or "including" only indicate that explicitly identified steps, elements, or components are included, and these steps, elements, and components do not constitute an exclusive list, as the described method or apparatus may also include other steps or components.

[0028] This specification uses flowcharts to illustrate the operational steps performed by the apparatus or system of related embodiments. However, unless otherwise specified, the order in which these steps are described should not be construed as a limitation on the order of execution. Those skilled in the art can adjust the order of these steps based on the knowledge and information conveyed by the embodiments in this specification. Such adjustments include, but are not limited to, reversing the order of steps, merging multiple steps, and splitting a step.

[0029] Interactive display devices refer to devices that use a display screen or virtual display screen as an interactive interface, combining touch, gestures, buttons, and other methods to achieve two-way information transmission between users and the device. Interactive display devices can be applied to consumer electronics (e.g., smartphones / tablets), tactile points for smart wearable devices (e.g., quick control), smart homes and appliances (e.g., smart central control screens, appliance interactive screens), self-service terminals (e.g., self-service cash registers, digital signage), industrial control (e.g., industrial control panels, elevator control panels), medical devices (e.g., medical equipment interactive screens, self-service health terminals), transportation and travel (e.g., in-vehicle infotainment systems, public transportation terminals (e.g., subway ticketing screens)), etc.

[0030] In some embodiments, the screen display interaction device can be implemented using medium-free holographic imaging technology (also referred to herein as a medium-free holographic imaging device or a medium-free holographic imaging interaction device). Medium-free holographic imaging technology generates suspended 3D images (also called medium-free holographic images) in the air using optical techniques, without relying on a physical screen or medium for image display. Combined with interactive technologies (such as gesture recognition and haptic feedback), medium-free holographic imaging technology enables direct interaction between the user and the virtual image.

[0031] In some embodiments, the medium-free holographic imaging interactive device can use sensing technology to identify user operations on the medium-free holographic image (e.g., clicking, swiping, grabbing, etc.), map the user's operations on the medium-free holographic image to specific interactive areas of the medium-free holographic image, and trigger feedback based on the position of the interactive area.

[0032] In some embodiments, sensing technologies may include optical sensor technology, ultrasonic sensor technology, millimeter-wave radar technology, etc. Optical sensor technology can use an infrared sensor to emit infrared light and calculate the reflection time to generate a depth map to determine the position of the user's finger, or use multiple cameras to locate and reconstruct the 3D position of the hand. For example, taking the finger clicking a floating button as an example, the infrared camera calculates the distance between the finger and the infrared camera by the time difference between the infrared pulse emission and reflection, and then constructs a depth map; key point detection is performed on the depth map to build a 3D hand model to obtain the position of each point of the hand in the 3D coordinate system; the position of each point of the hand in the 3D coordinate system is mapped to the virtual coordinate system of the mediumless holographic image by an algorithm; it is determined whether the fingertip is close to the interactive area of ​​the "floating button"; if it is determined that the fingertip is close to or has reached the interactive area of ​​the "floating button", feedback is triggered (e.g., the button is highlighted or deformed and the system responds to a click event, such as opening a menu). Millimeter-wave radar technology can use the emitted millimeter waves with varying frequencies to calculate the frequency difference between the echo and the emitted wave to obtain the distance; it can calculate the angle information by receiving the phase difference of the signals by multiple antennas; and it can determine the coordinate information of the user's finger in three-dimensional space based on the distance and angle information. Ultrasonic sensing technology can collect information synchronously through multiple receivers, calculate distance by calculating the time difference or phase difference between the ultrasonic wave emitted and received, and determine the three-dimensional coordinate information of the user's finger based on the distances corresponding to multiple receivers.

[0033] However, traditional hand localization methods using infrared sensors or multiple cameras require building complex hand recognition models (e.g., skeletal keypoint detection models), which are computationally intensive and inefficient. Ultrasonic sensing or millimeter-wave radar technologies, on the other hand, suffer from weak and noisy finger-reflected signals, requiring specific algorithms to extract effective echoes, which are also computationally intensive and inefficient.

[0034] Therefore, some embodiments of this specification propose a medium-free holographic imaging device and its control method. The medium-free holographic imaging device may include a medium-free holographic imaging component configured to generate a suspended medium-free holographic image in a preset imaging area, the medium-free holographic image including multiple user-operable interactive areas; and a sensor component including multiple first sensors configured to generate first perception data about the executing subject when the user operates the interactive areas of the medium-free holographic image through an executing subject; wherein the plane of the emitted beam of the first sensor is parallel to the medium-free holographic image, the emitted beams of two adjacent first sensors form an overlapping area in the plane (i.e., the plane of the emitted beam), and each interactive area is covered by the overlapping area formed by the emitted beams of the multiple first sensors.

[0035] Through the aforementioned configuration of the sensor components, the determination of the three-dimensional coordinates of the user's interactive subject in three-dimensional space can be transformed into the determination of the two-dimensional coordinates of the corresponding pixels in the medium-free holographic image. Specifically, when a user interacts with any interactive area in the medium-free holographic image, the user's subject will be located within the overlapping area of ​​the illumination range of two or more target first sensors after beam shaping. Each target first sensor can then measure the distance between the user's subject and each target first sensor based on the received reflected beam. Furthermore, based on multiple distances, the two-dimensional position of the user's subject in the plane of the first sensor's emitted beam can be determined, thus determining the position of the interactive area operated on by the subject in the medium-free holographic image. Based on the position of the interactive area operated on by the subject in the medium-free holographic image, it can be determined which interactive area the user's subject is operating on.

[0036] According to the embodiments in this application, the position of the target interaction area can be determined without a complex gesture recognition model. Furthermore, the position of the target interaction area can be used to control the medium-free holographic imaging device to provide a response. This can reduce computational complexity, improve interaction efficiency, and reduce costs.

[0037] Figure 1 This is a schematic diagram of a medium-free holographic imaging device according to some embodiments of this description. Figure 2 yes Figure 1 The diagram shows the viewing angle of the medium-free holographic imaging device in the x1 axis direction; Figure 3 yes Figure 1 A schematic diagram showing the viewing angle of a medium-free holographic imaging device along the y1 axis. (See diagram.) Figure 1 As shown, the medium-free holographic imaging device 100 includes a medium-free holographic imaging component 110, a sensor component 120, a controller 130, and an optical component 140.

[0038] The medium-free holographic imaging component 110 is used to generate suspended images (also known as medium-free holographic images) in the air using optical technology, without relying on a physical screen or medium for image display. The medium-free holographic imaging component 110 may include an imaging source 112 and an optical transmission component 114.

[0039] Imaging source 112 is used to generate and / or adjust an interactive light field, which can form a light source image 116. Optical transmission device 114 is used to process and transmit the light source image generated by imaging source 112 to project the light source image onto a preset imaging area to form a medium-free holographic image (i.e., a medium-free holographic image 118). Optical transmission device 114 can adjust the divergence angle, focus position, and energy distribution of the light waves in the light source image to ensure the display effect of the medium-free holographic image. The position of the light source image 116 and the position of the medium-free holographic image 118 are symmetrical about the optical transmission device 114.

[0040] A medium-free holographic image may include one or more interactive areas. The interactive area of ​​a medium-free holographic image refers to the spatial range within which a user can interact with the virtual image suspended in mid-air through clicking, touching, or other operations. Users can perform operations on the interactive area of ​​the medium-free holographic image (e.g., clicking, swiping, grabbing) to achieve bidirectional information exchange with the medium-free holographic imaging device 100. The interactive area can be marked on the medium-free holographic image using virtual buttons, focus cursors, etc. For example, virtual buttons can be displayed with a semi-transparent color or an luminous border to mark the operable area (i.e., the interactive area).

[0041] Two-way information transmission between the user and the mediumless holographic imaging device 100 may include the user transmitting instruction information to the mediumless holographic imaging device 100 by operating the interactive area of ​​the mediumless holographic image, while the mediumless holographic imaging device 100 responds (or provides feedback) based on the user's operation of the interactive area.

[0042] The response can include visual response, tactile response, auditory response, etc.

[0043] The visual response may include dynamic or static adjustments made by the medium-free holographic imaging device 100 (e.g., imaging source 112) to the interactive area of ​​the medium-free holographic image operated by the user, such as highlighting or distorting it. Further, for example, the imaging source 112 may adjust the light field to increase the light intensity or color of the interactive area of ​​the medium-free holographic image operated by the user. Yet another example is that the imaging source 112 may adjust the light field to generate halo or ripple animations to distort the interactive area of ​​the medium-free holographic image operated by the user. Still another example is that the imaging source 112 may adjust the light field to magnify the interactive area of ​​the medium-free holographic image operated by the user.

[0044] Haptic response refers to simulating the realistic tactile sensation of a user interacting with an area by providing pressure. For example, a perceptible tactile point can be created at the finger location by focusing sound pressure in the air using an ultrasonic sensor (e.g., a phased array ultrasonic transducer (typically at a frequency of 40-70 kHz)).

[0045] Auditory responses may include providing voice prompts or effects based on interactive areas operated by the user. For example, each interactive area may correspond to a different voice effect. When a user operates a specific interactive area, the medium-free holographic imaging device 100 may generate a corresponding voice effect (e.g., a "click" sound) through an ultrasonic sensor (e.g., an ultrasonic transducer array).

[0046] Imaging source 112 may include a display for generating and / or adjusting light source image 116. The display generates or adjusts the light source image by modulating the phase / amplitude of the light waves.

[0047] In some embodiments, the display may include a display, such as a liquid crystal display (LCD).

[0048] In some embodiments, the display device may include a display and a light source, the light source being a laser diode or an LED light source, which can provide backlighting, enhance display brightness and color gamut, and ensure display light intensity and color accuracy.

[0049] In some embodiments, the display may include a display, a light source, and a modulator. The modulator is used to adjust the image of the light source by modulating the phase / amplitude of the light waves; for example, the modulator may include a phase-type spatial light modulator.

[0050] In some embodiments, the display device can be based on laser scanning imaging. For example, the display device may include a laser diode, a galvanometer, and a modulator. The galvanometer controls the laser diode to emit a laser beam in either raster or vector mode to rapidly scan a virtual plane to form a medium-free holographic image. For example, the laser emitted by the laser diode scans pixels (e.g., the outline of a floating button) point by point on the virtual plane under the control of the galvanometer to form a medium-free holographic image. It should be noted that the medium-free holographic imaging device based on laser scanning imaging may not include the optical transmission element 114, and may not generate a light source image during the imaging process.

[0051] In some embodiments, the optical transmission element 114 may include optical elements or devices as described in any of the Chinese patent applications Nos. 202210060077.2, 202221492951.1, and 201920104395.8. The optical waveguide plate transmits light waves or light fields (i.e., light source images) in a thin-film medium through the principle of total internal reflection, achieving transparent transmission and expansion of the light source image. The optical waveguide plate may also include other geometric optical waveguide plates, diffractive optical waveguide plates, etc. Geometric optical waveguide plates achieve light wave transmission and processing based on prism or mirror arrays. Diffractive optical waveguide plates utilize surface relief gratings or volume holographic gratings to couple light beams, achieving light wave transmission and processing.

[0052] In some embodiments, the optical transmission element 114 may include free optical elements, such as lens groups (e.g., aspherical lenses, Fresnel lenses), mirrors (e.g., high-speed galvanometers or multifaceted prisms), etc.

[0053] In some embodiments, the optical transmission element 114 may include holographic optical elements that enable complex optical device functions (such as lenses or beam splitters) through a holographic recording medium (such as a photosensitive polymer).

[0054] Sensor component 120 is configured to acquire perceptual data related to the user and / or the user's actuator when the user interacts with an interactive area of ​​the medialess hologram via an actuator. The actuator that the user interacts with the interactive area can be a finger, a stylus, etc. Sensor component 120 can determine which interactive area in the medialess hologram the user's actuator is pointing to or located in.

[0055] In some embodiments, the sensor assembly 120 is arranged on the side of the optical transmission element 114 facing the medium-free holographic image.

[0056] The sensor assembly 120 may include a plurality of first sensors. Each first sensor can generate and emit a light beam, which is reflected when transmitted to an actuator operating an interactive area in a medium-free holographic image to produce a reflected light beam. The first sensor can receive the reflected light beam to generate first sensing data.

[0057] The first sensor can be used to determine the position of the executing entity when the user interacts with the interactive area, and further, to determine the position of the interactive area operated by the executing entity in the mediumless holographic image. For example, the first sensor can be used to measure the distance between the user's executing entity and the first sensor, and the measured distance can be used to determine the position of the executing entity. The first sensor may include an infrared sensor, a laser sensor, etc.

[0058] In some embodiments, the first sensor may include a light emitter, a light receiver, etc. The light emitter (e.g., an infrared LED) is used to emit a light beam. The light receiver (e.g., a photodiode or phototransistor) is used to receive the reflected light beam and convert it into an electrical signal (i.e., an echo signal) to obtain first sensing data. For example, the first sensing data is the echo signal. Alternatively, the echo signal may be processed to remove interference signals in order to generate the first sensing data.

[0059] In some embodiments, the optical transmitter and the optical receiver can be integrated into the same structure.

[0060] The ranging algorithm for the first sensor includes time-of-flight (TOF) and phase-shift methods. A TOF-based first sensor may include a laser (for emitting laser light), a receiver (for detecting reflected light), and a time-to-data converter (for measuring the time difference between the emitted laser light and the received reflected light). The distance between the actuator and the first sensor can be further determined based on this time difference. A phase-shift-based first sensor may include a laser (for emitting laser light and detecting reflected light), a drive circuit (for generating a high-frequency sinusoidal signal), and a phase-locked loop (for measuring the phase difference). The distance between the actuator and the first sensor can be further determined based on this phase difference.

[0061] The emitted beam of the first sensor is parallel to the medium-free holographic image. The emitted beams of two adjacent first sensors form an overlapping region in the plane, and each of the multiple interactive regions is covered by an arbitrary overlapping region formed by the emitted beams of the multiple first sensors. It should be noted that the emitted beam of the first sensor described in this application refers to an emitted beam capable of illuminating the region of the medium-free holographic image. In some embodiments, the first sensor includes a light emitter and an optical element. The emitted beam emitted by the light emitter can be beam-shaped by the optical element and then illuminate the region of the medium-free holographic image. The beam-shaped emitted beam can then be referred to as the emitted beam of the first sensor (i.e., the beam emitted from the optical element). Further description of the optical element is provided below.

[0062] The statement that the emitted beam of the first sensor is parallel to the medium-free holographic image means that the emitted beam of the first sensor is planar light, that is, the light rays in the emitted beam of the first sensor are parallel to the same plane, i.e., a medium-free holographic image. It should be noted that the planar light in this application does not only refer to surface structured light, but can also be thin-surface light, that is, the planar light has a certain thickness in the direction perpendicular to the medium-free holographic image.

[0063] In some embodiments, the distance between the plane containing the emitted beam of the first sensor and the medium-free holographic image is less than a threshold. For example, the distance between the plane containing the emitted beam of the first sensor and the medium-free holographic image is 0, and the emitted beam overlaps with the medium-free holographic image.

[0064] By configuring the first sensor so that the distance between the plane where the emitted beam is located and the medium-free holographic image is equal to 0, when the user operates the interactive area of ​​the medium-free holographic image, the user's execution subject needs to reach the location of the interactive area of ​​the medium-free holographic image before the emitted beam of the first sensor can be reflected by the execution subject. Furthermore, the location of the interactive area operated by the user can be determined based on the reflected beam, which can improve the accuracy of the interactive area determination and reduce erroneous operations.

[0065] For example, the distance between the plane of the emitted beam of the first sensor and the medium-free holographic image is less than a threshold, which includes a distance greater than 0 and less than a threshold. This threshold can be 0.5 mm, 1 mm, 2 mm, etc. By setting the distance between the plane of the emitted beam of the first sensor and the medium-free holographic image to be greater than 0 and less than a threshold, when the user operates the interactive area of ​​the medium-free holographic image, the user's execution subject can reflect the plane of the beam-shaped emitted beam even when it has not reached the interactive area, i.e., when there is a certain distance between it and the medium-free holographic image. This allows interaction with the medium-free holographic imaging device to be achieved even when close to the medium-free holographic image, meaning the user's execution subject can interact with the medium-free holographic imaging device without contacting the medium-free holographic image.

[0066] The overlapping region formed by the emitted beams of two adjacent first sensors in a plurality of first sensors refers to the fact that the field of view of two adjacent first sensors at least partially overlaps to form an overlapping region. The field of view of a first sensor can represent the range in space that the beam emitted by the first sensor can cover. In some embodiments, the field of view of a first sensor can be represented by the angular range (also known as the divergence angle) or the illumination range of the emitted beam.

[0067] All overlapping regions formed by the illumination areas of the emitted beams of all the first sensors in the sensor assembly cover all interactive regions in the medium-free holographic image, so as to identify any interactive region operated by the user based on the reflected beams. That is, each interactive region needs to be covered by one or more overlapping regions. With this configuration, when the user operates any interactive region in the medium-free holographic image, the user's execution subject will be located within the overlapping region of the emitted beams of two or more target first sensors. Then, each target first sensor can measure the distance between the user's execution subject and each target first sensor based on the received reflected beams. Furthermore, the position of the user's execution subject in the plane (i.e., the two-dimensional coordinate system) where the emitted beams are located can be determined based on these multiple distances, thus determining the position of the interactive region operated by the user in the medium-free holographic image, thereby determining which interactive region the user's execution subject operated on.

[0068] To facilitate the explanation of the positions of the various components in the medium-free holographic imaging device 100, such as Figure 1 As shown, a three-dimensional spatial coordinate system and a two-dimensional coordinate system for the medium-free holographic image can be established. The three-dimensional spatial coordinate system includes mutually perpendicular x1, y1, and z1 axes. The z1 axis can be vertical, i.e., the direction from the light source image to the medium-free holographic image or the direction perpendicular to the optical transmission device 114. The plane defined by the x1 and z1 axes can be the front of the medium-free holographic imaging device 100, where the user can typically interact with the device from the front. The plane defined by the y1 and z1 axes can be the side of the medium-free holographic imaging device 100. The two-dimensional coordinate system for the medium-free holographic image includes x2 and y2 axes. The x2 axis is parallel to the x1 axis in the three-dimensional coordinate system; the y2 axis is perpendicular to the x2 axis and parallel to the plane containing the medium-free holographic image. Figure 2 The image shown is a side projection of the medium-free holographic imaging device 100 and the medium-free holographic image 118. Figure 3 The image shown is a frontal projection of the medium-free holographic imaging device 100 and the medium-free holographic image 118. It should be noted that when determining the coordinates of the interactive area, the three-dimensional spatial coordinate system can also be associated with the two-dimensional coordinate system, that is, the two-dimensional coordinates [x,y] and the three-dimensional coordinates [x,y,z] can be associated and mapped. When the two-dimensional coordinates are obtained, the three-dimensional coordinates can be determined through the association relationship. Therefore, when it is necessary to link or cooperate with other devices and the three-dimensional coordinates are needed, they can be used directly.

[0069] In some embodiments, the emitted beams of any two adjacent first sensors form an overlapping region. For example... Figure 3As shown, the first sensor includes first sensor a121 and first sensor b123; the emitted beams of first sensor a121 and first sensor b123 are both planar beams. The illumination area of ​​the planar beam corresponding to first sensor a121 overlaps with the illumination area of ​​the planar fan-shaped beam corresponding to first sensor b123 in a region F. The overlapping region F covers the interaction region A and the interaction region B.

[0070] In some embodiments, the emitted beams of three or more first sensors arranged consecutively in space form a common overlapping region (also called a sub-overlapping region). Among the three or more first sensors arranged consecutively with a common overlapping region, the emitted beams of any two adjacent first sensors have an overlapping region (also called a parent overlapping region), and the sub-overlapping region is located within the parent overlapping region. The more first sensors corresponding to an overlapping region, the more accurately the location of the user's execution subject can be determined within that overlapping region, and the more accurately the interaction area for the user's execution subject operation can be determined.

[0071] like Figure 4 As shown, the first sensor a121, the first sensor b123, and the first sensor c125 are three sensors arranged consecutively in space. The illumination ranges of the emitted beams of the first sensor a121, the first sensor b123, and the first sensor c125 share a common overlapping region E. The overlapping region E can cover the interaction region A.

[0072] By configuring the first sensor so that the plane of the emitted beam is parallel to the medium-free holographic image, when the distance between the plane of the emitted beam of the first sensor and the medium-free holographic image is 0, multiple interactive regions of the medium-free holographic image can be located on the transmission path of the emitted beam of the first sensor, that is, the plane of the emitted beam of the first sensor (including the overlapping area between the beams after beam shaping) overlaps with the interactive region of the medium-free holographic image; when the distance between the plane of the emitted beam of the first sensor and the medium-free holographic image is not 0, the emitted beam of the first sensor (including the overlapping area between the beams) overlaps with multiple interactive regions of the medium-free holographic image in the projection area of ​​the medium-free holographic image along a direction perpendicular to the medium-free holographic image (also called the projection direction, or the third direction in this paper). For simplicity, in this paper, "the projection area of ​​the emitted beam (including the overlapping area between the beams) in the projection area of ​​the medium-free holographic image along a direction perpendicular to the medium-free holographic image" can be abbreviated as "the projection area of ​​the emitted beam in the medium-free holographic image". Both "the plane containing the emitted beam (including the overlapping area between emitted beams) overlaps with the interactive area of ​​the mediumless holographic image" and "the projection area of ​​the emitted beam in the mediumless holographic image overlaps with the interactive area of ​​the mediumless holographic image" can be referred to as the emitted beam (including the overlapping area between emitted beams) covering the interactive area of ​​the mediumless holographic image.

[0073] It should be noted that the light beam itself cannot be projected onto a plane along a direction perpendicular to its transmission direction. The projection area of ​​the emitted light beam of the first sensor in the medium-free holographic image mentioned in this application can refer to the equivalent projection area. The equivalent projection area refers to the projection area formed by the physical object along a third direction on the imaging plane (e.g., the plane where the medium-free holographic image is located) after simulating the emitted light beam of the first sensor as a physical object with the same shape as the emitted light beam. This projection area can be equivalent to the projection area of ​​the emitted light beam of the first sensor in the medium-free holographic image.

[0074] If it is necessary for the emitted beams of two adjacent first sensors to form an overlapping area, then the emitted beam of each first sensor is divergent in the x2 axis direction (also known as the first direction) of the two-dimensional coordinate system of the medium-free holographic image, and converges in the y2 axis direction (also known as the second direction) of the two-dimensional coordinate system of the medium-free holographic image.

[0075] In some embodiments, different first sensors have different fields of view.

[0076] In some embodiments, the fields of view of different first sensors are the same.

[0077] In some embodiments, each first sensor may include an optical element. Each optical element is used to beam-shape the emitted beam of the light emitter of the first sensor to obtain a beam-shaped emitted beam. The emitted beam of the light emitter is also referred to as the initial emitted beam. The emitted beam output by the optical element (i.e., the beam-shaped emitted beam) is referred to as the emitted beam of the first sensor.

[0078] Beamforming the initial emitted beam includes adjusting its shape, divergence angle, and / or illumination range. The shape of the initial emitted beam (which may be called the initial shape) can be represented by the outline of the illumination area. The divergence angle of the initial emitted beam (which may be called the initial divergence angle) is the divergence angle of the light emitter of the first sensor itself, and can represent the field of view of the light emitter of the first sensor itself (which may be called the initial field of view). The illumination range of the initial emitted beam (which may be called the initial illumination range) is the illumination range of the light emitter of the first sensor itself, and can represent the field of view of the light emitter of the first sensor itself. After the initial emitted beam is processed by optical elements (i.e., beamformed), it is output as a beamformed emitted beam. Correspondingly, the initial divergence angle, initial illumination range, and initial shape will change accordingly to the divergence angle, illumination range, and shape of the emitted beam of the first sensor. In some embodiments, the divergence angle of the emitted beam of the first sensor (i.e., the divergence angle of the beamformed emitted beam) can be in the range of 10-25 degrees, for example, 25 degrees, 20 degrees, 15 degrees, 10 degrees, etc. In some embodiments, the divergence angle of the emitted beam of the first sensor (i.e., the divergence angle of the emitted beam after beamforming) can be in the range of 10-40 degrees.

[0079] In some embodiments, the initial shape can be conical, approximately conical (e.g., elliptical cone), cuboid, cylinder, etc. The shape of the emitted beam of the first sensor (i.e., the emitted beam after beam shaping) can be a planar beam, such as a planar rectangular beam, a planar fan-shaped beam, a planar elliptical beam, a planar near-fan-shaped beam, a planar trapezoidal beam, etc.

[0080] In some embodiments, adjusting the shape of the initial emitted beam may include transforming the three-dimensional emitted beam into a two-dimensional planar diverging beam (i.e., a planar beam), that is, adjusting the outline of the illumination area of ​​the emitted beam from a three-dimensional shape to a two-dimensional shape. For example, optical elements may transform a cone-shaped beam or a volumetric (e.g., cylindrical, cuboid, etc.) beam emitted by a light emitter into a planar fan-shaped beam, thereby adjusting the shape of the initial emitted beam.

[0081] In some embodiments, adjusting the shape of the initial emitted beam may include adjusting a rectangular beam (i.e., beams that are parallel to each other) in a two-dimensional plane into a fan-shaped beam in a two-dimensional plane.

[0082] In some embodiments, the optical element can adjust the shape of the initial emitted beam to a planar beam, and at the same time adjust the divergence angle or illumination range of the initial emitted beam in a first direction, thereby adjusting the field of view of the planar beam.

[0083] In some embodiments, optical elements may include cylindrical lenses, galvanometer scanning systems, etc.

[0084] A cylindrical lens has curvature in only one direction, while it is flat in the direction perpendicular to it. Therefore, a cylindrical lens focuses the emitted beam in the direction of curvature (i.e., its "power" direction), while having no effect on the other direction, and the beam continues to propagate as is. For example, the initial emitted beam of the first sensor is a conical beam, and the conical beam in the first direction (… Figure 1 (x2 axis direction) and second direction ( Figure 1 The beam diverges along the y2 axis (in the image), with the first direction perpendicular to the second direction. To ensure that the plane containing the emitted beam from the first sensor (i.e., the beam-shaped emitted beam) is parallel to the plane containing the medium-free holographic image, it is necessary to diverge along the second direction (in the image). Figure 1 If the diverging beams in the y2 direction (in the first direction) are converged, while the diverging beams in the first direction continue to diverge, forming a planar diverging beam, then a cylindrical lens can be placed in the optical path of the first sensor, with the curvature of the cylindrical lens parallel to the second direction. After the initial emitted beam from the first sensor passes through the cylindrical lens, the light rays diverging in the y2 direction are compressed into a thin line, while the light rays in the x2 direction continue to diverge, thus forming a planar fan-shaped beam (this fan expands in the x2 axis direction), which is parallel to the medium-free holographic image.

[0085] Cylindrical lenses can include concave cylindrical lenses, convex cylindrical lenses, etc. Concave and convex cylindrical lenses can adjust the shape of the initial emitted beam as well as the divergence angle of the initial emitted beam.

[0086] In some embodiments, the optical element may further include a collimating lens disposed between the cylindrical lens and the light emitter of the first sensor. The collimating lens can initially shape the highly divergent emitted beam from the first sensor into a collimated conical beam (circular spot). Then, the cylindrical lens adjusts the conical beam into a planar fan-shaped beam.

[0087] A galvanometer scanning system may include a collimating lens, a reflecting mirror (i.e., a galvanometer), and an electromagnetic actuator. The electromagnetic actuator drives the reflecting mirror to rotate back and forth at high speed and high frequency. A thin laser beam, collimated by the collimating lens, is shone onto the reflecting mirror. As the reflecting mirror oscillates rapidly, the reflected laser points form a continuous fan-shaped scanning surface at a distance. Furthermore, the divergence angle of the planar fan-shaped beam can be changed by controlling the deflection angle of the reflecting mirror.

[0088] In some embodiments, the optical elements may include a first optical element and a second optical element. The first optical element can be used to adjust the shape of the initial emitted beam. The second optical element can be used to adjust the divergence angle or illumination range of the initial emitted beam. The first optical element may include a cylindrical lens, a galvanometer scanning system, etc. The second optical element may include a concave lens, a convex lens, etc. The first optical element is disposed between the light emitter of the first sensor and the second optical element. After the initial emitted beam passes through the first optical element, it can be adjusted into a planar beam. After the planar beam passes through the second optical element, the divergence angle can be further adjusted, for example, increased or decreased.

[0089] like Figure 5 As shown, Figure 5 This is a schematic diagram of a first sensor according to some embodiments of this specification. The first sensor 500 includes a light emitter 510 and an optical element 520. The optical element 520 is disposed in the optical path of the initial emitted beam of the light emitter 510. After the initial emitted beam passes through the optical element 520, the conical beam that diverges in both the x2 and y2 directions can be adjusted into a planar beam that diverges only in the x2 direction, and the divergence angle of the planar beam in the x2 direction is greater than the divergence angle of the conical beam in the x2 direction (i.e., the initial divergence angle).

[0090] In some embodiments, the initial emitted beam of the first sensor is a conical beam, and the optical element may include a beamforming block for blocking a portion of the initial emitted beam transmission. The beamforming block includes a first surface and a second surface parallel to the first surface. The beamforming block includes a light-transmitting slit extending through the first and second surfaces. The light-transmitting slit includes an entrance on the first surface, an exit on the second surface, and a light channel connecting the entrance and the exit. The entrance on the first surface and the exit on the second surface are parallel to each other. The light channel is trapezoidal. A portion of the initial emitted beam of the first sensor can enter through the entrance on the first surface and exit through the exit on the second surface along the light channel.

[0091] As mentioned earlier, the initial emitted beam of the first sensor is a conical beam, and the conical beam is in the first direction ( Figure 1 (x2 axis direction) and second direction ( Figure 1 The beam diverges along the y2 axis (in the image), with the first direction perpendicular to the second direction. To adjust the conical beam into a planar fan-shaped beam, ensuring the plane of the planar fan-shaped beam is parallel to the plane of the medium-free holographic image, it is necessary to adjust the second direction (…). Figure 1 The diverging beam in the y2 axis direction is shielded, and the first direction (i.e. Figure 1A diverging beam along the x2 axis (in the image) can pass through a light-transmitting slit to form a planar fan-shaped beam parallel to the medium-free holographic image. Therefore, a beamforming block can be positioned on the transmission path of the initial emitted beam from the first sensor, making the first direction of the medium-free holographic image parallel to the extension directions of the entrances of the first and second surfaces.

[0092] The beam-forming block can be made of a material that has a shielding or blocking function for the emitted beam of the first sensor. For example, anodized black aluminum, black foam, or other metal materials with a coating (e.g., black paint) on the surface (e.g., aluminum plate, steel plate, etc.).

[0093] like Figure 6 As shown, Figure 6 This is a schematic diagram of a bundled block shown from different perspectives according to some embodiments of this specification. The bundled block includes an inlet 602 disposed on a first surface (e.g., Figure 6 As shown in Figure a), the outlet 604 is located on the second surface (as shown in Figure a). Figure 6 (as shown in b) and the light-transmitting slit 606 that runs through the inlet 602 and the outlet 604 (as shown in b) Figure 6 (As shown in c and d). The light-transmitting slit 606 is trapezoidal. When the emitted beam of the first sensor passes through the light-transmitting slit 606, it is adjusted into a planar fan-shaped beam.

[0094] It should be noted that in the embodiments described in this application, the optical element and the light emitter are integrated into the same structure. However, in some embodiments, the optical element and the light emitter may be located in two different structures and exist independently of each other.

[0095] The first sensor in the sensor assembly 120 may be positioned on the side of the optical transmission element 114 facing the medium-free holographic image, that is, above the optical transmission element 114 along the z1 axis.

[0096] In this application, by configuring the first sensor and optical elements such that the emitted beam of the first sensor, after beamforming, is parallel to the plane of the medium-free holographic image, and the distance between it and the medium-free holographic image is less than a threshold, and the overlapping area formed by the illumination range of the emitted beams of multiple first sensors after beamforming covers all interactive areas of the medium-free holographic image, the determination of the three-dimensional coordinates of the user's action subject in three-dimensional space can be transformed into the determination of the two-dimensional coordinates of the pixels corresponding to the interactive area of ​​the medium-free holographic image. Specifically, when a user operates any interactive area in the medium-free holographic image, the user's action subject will be located within the overlapping area of ​​the illumination range of two or more target first sensors after beamforming. Each target first sensor can then measure the distance between the user's action subject and each target first sensor based on the received reflected beam. Furthermore, based on multiple distances, the two-dimensional position of the user's action subject in the plane of the emitted beam of the first sensor can be determined, thus determining the position of the interactive area operated on by the action subject in the medium-free holographic image. Based on the position of the interactive area operated on by the action subject in the medium-free holographic image, it can be determined which interactive area the user's action subject is operating on. According to the embodiments in this application, the location of the interaction area can be determined without a complex gesture recognition model, reducing computational complexity, improving interaction efficiency, and reducing costs.

[0097] For more details on the location recognition of interactive areas for user-operated media-free holographic images, please refer to [link / reference]. Figure 7 Detailed description is provided.

[0098] In order to adjust the initial emission beam of the first sensor into a beam-shaped emission beam parallel to the plane of the medium-free holographic image, such that the distance between the plane of the beam-shaped emission beam and the medium-free holographic image is less than a threshold, and the overlapping area between the beam-shaped emission beams covers the interactive area of ​​the medium-free holographic image, the first sensor (emitter and / or optical element) can be configured.

[0099] For example, in order to make the plane of the emitted beam of the first sensor parallel to the medium-free holographic image, after the beamforming block is placed on the transmission path of the emitted beam of the transmitter, the plane of the optical channel in the beamforming block (i.e. the plane passing through the entrance and exit of the beamforming block) needs to be parallel to the medium-free holographic image, so that the beam of light entering from the entrance of the light-transmitting slit of the beamforming block (i.e. the incident beam) passes through the optical channel and exits from the exit (i.e. the outgoing beam) is parallel to the medium-free holographic image.

[0100] For example, in order to make the emitted beams of adjacent first sensors overlap in a wide area, the divergence angle of the beam emitted from the optical element can be increased by designing the optical parameters of the optical element.

[0101] To ensure that the emitted beams of as many first sensors as possible share a common overlapping area, the spacing between the first sensors can be minimized, thereby maximizing the divergence angle of the beam after beamforming. In some embodiments, the spacing between adjacent first sensors can be in the range of 5-25 mm. In some embodiments, the spacing between adjacent first sensors can be in the range of 1-30 mm.

[0102] In some embodiments, the number and arrangement of the first sensors can be set based on the number and location of the interactive regions in the medium-free holographic image. For example, for regions with a dense distribution of interactive regions, the accuracy of interactive region recognition can be improved by increasing the number of first sensors whose emitted beams have the same overlapping area, reducing the spacing between adjacent first sensors, and configuring optical elements to make the divergence angle of the planar fan-shaped beam larger.

[0103] In some implementations, the number and arrangement of the first sensors can be designed based on the accuracy of the interactive area recognition. The higher the accuracy requirement, the more first sensors can be set where the emitted beams have the same overlapping area, the smaller the spacing between adjacent first sensors can be set, and the divergence angle of the planar fan-shaped beam can be made larger by configuring optical elements.

[0104] In some embodiments, when the emitted beams of adjacent first sensors overlap (i.e., field-of-view overlap), it can interfere with the receiver detection of the reflected beam of the first sensor. For example, as Figure 3 As shown, the first sensor a121 should only receive the light beam emitted by its transmitter and reflected back from the user execution subject. However, if the emitted light beam from the first sensor b123 also enters the field of view of the first sensor a121 after being reflected back from the user execution subject, it will be received by the receiver of the first sensor a121, generating an interference signal, resulting in a decrease in signal-to-noise ratio, inaccurate measurement, or even spurious signals. In some embodiments, to reduce or eliminate interference between different first sensors, a filter element can be provided in front of each receiver. The filter element can filter the light beam emitted by the transmitters of other first sensors, receiving only the light beam emitted by the transmitter of its corresponding first sensor. The filter element may include an aperture, a spectral filter, etc. An aperture can receive light beams from a specific direction (i.e., the direction of the reflected light beam expected by the first sensor), thereby limiting the field of view of the receiver. A spectral filter is a narrowband filter with a center wavelength matched to the wavelength of the emitted light beam of its corresponding first sensor, used to block ambient light and other light sources (such as the first sensor b123) with wavelengths different from those of its corresponding first sensor (e.g., first sensor a121).

[0105] In some embodiments, signal-level processing can be performed on the echo signals received by the receiver of the first sensor to distinguish the echo signals from different first sensors, thereby generating first sensing data from the first sensor. For example, techniques such as encoding and modulation, and spectral recognition can be used to differentiate the echo signals received by different first sensors. Figure 3 As shown, when the user's execution subject operates the target interaction area A, the emitted beams of the first sensor a121 and the first sensor b123 are reflected after being transmitted to the execution subject. The emitted beams of the first sensor a121 and the second sensor b123, after being reflected by the execution subject, respectively generate reflected beams. The reflected beam generated by the emitted beam of the first sensor a121 is at least partially received by the receiver of the first sensor a121, generating a first echo signal. The reflected beam generated by the emitted beam of the first sensor b123 is at least partially received by the receiver of the first sensor a121, generating a second echo signal. The first echo signal and the second echo signal constitute mixed data. Through encoding and modulation techniques, the emitted beams of the first sensor a121 and the first sensor b123 can be encoded and modulated differently. For example, different digital sequences can be used to encode the beam intensity or beam frequency of the emitted beams of different first sensors (i.e., emission encoding). When processing the mixed data collected by the first sensor a121, a template matching the emission code corresponding to the emission beam of the first sensor a121 can be used to process the mixed data, so that only the first echo signal in the mixed data is identified to generate the first sensing data.

[0106] In some embodiments, sensor assembly 120 may further include a second sensor. The second sensor may be used to acquire second sensing data, which may be used to detect whether the entity or user performing the operation on the medialess holographic image is a preset object. In some embodiments, the preset object may include a finger, a stylus, etc. In some embodiments, the preset object may include a user with a specific identity.

[0107] The second sensor may include an ultrasonic sensor, an image sensor, etc.

[0108] In some embodiments, the second sensor may be disposed opposite to the first sensor. For example, the first sensor may be disposed above the first side of the optical transmission member 114, and the second sensor may be disposed above the second side of the optical transmission member 114. The first side and the second side are parallel.

[0109] In some embodiments, the second sensor may be disposed adjacent to the first sensor. For example, the first sensor may be disposed above the first side of the optical transmission member 114, and the second sensor may be disposed above the second side of the optical transmission member 114, with the first side and the second side being perpendicular.

[0110] The controller can be used to control the operation of other components or elements in the medium-free holographic imaging device 100. For example, the controller can control the medium-free holographic imaging component 110 to generate and display medium-free holographic images. As another example, the controller can control the sensor component 120 to emit light beams in a cyclical or simultaneous manner. In some embodiments, the controller can execute the control method of the medium-free holographic imaging device shown in the embodiments of the present invention. For example, the controller controls the first sensor to emit a light beam toward the area where the medium-free holographic image is located. When a user operates on an interactive area (i.e., the target interactive area) of the medium-free holographic image through an execution subject (e.g., a finger or stylus), the light beams emitted by multiple target first sensors are reflected by the user's execution subject and thus received by multiple target first sensors to generate first perception data. The first perception data can reflect the distance between each target first sensor and the execution subject. The controller can determine the position of the target interactive area in the medium-free holographic image based on the first perception data. For example, the controller can determine the distance between each target first sensor and the execution subject based on the first perception data, and further determine the position of the user's execution subject based on this distance, and determine the position of the target interactive area in the medium-free holographic image based on the position of the user's execution subject. The controller can generate a response based on the position of the target interactive region on the medium-free holographic image. For example, the controller can generate control commands based on the position of the target interactive region on the medium-free holographic image, and the control commands can drive the imaging source 112 to adjust the light field to provide feedback.

[0111] In some embodiments, the controller may update the medium-free holographic image in response to user interaction with the image. The interactive regions in the updated medium-free holographic image may differ in location and / or function from those in the previous image. For example, the controller may control the medium-free imaging device to generate a sub-menu corresponding to the target interactive region based on its location in the image. The controller may further determine candidate first sensors among a plurality of first sensors based on the location of the updated interactive region; and control the candidate first sensors to be in an operating state while controlling the remaining first sensors to be in a closed state. The overlapping region of the emitted beams of any two adjacent candidate first sensors covers at least one of the updated interactive regions.

[0112] In some embodiments, the controller can determine candidate first sensors based on the correspondence between the location of the interaction area and the first sensors. For example, the location of each first sensor and its corresponding interaction area is preset among a plurality of first sensors. The controller can obtain the updated location of the interaction area and determine candidate first sensors from the plurality of first sensors based on the correspondence.

[0113] In some embodiments, the medium-free holographic imaging device 100 may further include a housing, the housing comprising one or more cavities. In some embodiments, the imaging source 112 and the optical transmission element 114 are disposed in the same cavity of the housing. In some embodiments, the imaging source 112 and the optical transmission element 114 may be disposed in different cavities of the housing.

[0114] In some embodiments, the two cavities include a first cavity and a second cavity. The medium-free holographic imaging component 110 may be located in the first cavity, and the sensor component 120 may be located in the second cavity. In some embodiments, the medium-free holographic image may be located in the second cavity.

[0115] In some embodiments, the first cavity and the second cavity are separated by a partition. The optical transmission element 114 is disposed on one side of the partition, and the sensor assembly 120 is disposed on the other side of the partition.

[0116] It should be noted that the above description is provided for illustrative purposes only and is not intended to limit the scope of this specification. Various changes and modifications can be made by those skilled in the art based on the content of this specification. Features, structures, methods, and other features of the exemplary embodiments described herein can be combined in various ways to obtain other and / or alternative exemplary embodiments. For example, the functionality of the controller may be implemented based on a cloud computing platform (e.g., public cloud, private cloud, community cloud, and hybrid cloud). As another example, the medialess holographic imaging device 100 may further include communication components to enable data transmission between the various devices. However, these changes and modifications do not depart from the scope of this specification.

[0117] This specification also provides a control method for a medium-free holographic imaging device. Figure 7 This is a schematic flowchart illustrating a control method for a medium-free holographic imaging apparatus according to some embodiments of this specification. In some embodiments, process 700 may be... Figure 1 The controller 130, the control device 900 for controlling a medium-free holographic imaging device, or the electronic device 1000 of a medium-free holographic imaging device described herein are executed. In some embodiments, such as Figure 7 As shown, process 700 may include the following steps.

[0118] Step 702 involves acquiring first perception data collected by multiple target first sensors of the medium-free holographic imaging device. This first perception data is generated by the target first sensors when the user's execution subject operates on the target interactive area of ​​the medium-free holographic image of the medium-free holographic imaging device. The first perception data is related to the user's execution subject. In some embodiments, step 702 can be performed by the acquisition module 902.

[0119] In some embodiments, the entity performing the user interaction area may be a finger, a stylus, or the like.

[0120] A medium-free holographic imaging device refers to a device that uses medium-free holographic imaging technology to generate medium-free holographic images as an interactive interface, combining touch, gestures, buttons, and other methods to achieve two-way information transmission between the user and the device. A medium-free holographic imaging device includes a medium-free holographic imaging component and a sensor component.

[0121] In some embodiments, the medium-free holographic imaging component may include an imaging source and an optical transmission element. The imaging source is used to generate and / or adjust an interactive light field, which can constitute a light source image. The optical transmission element is used to process and transmit the light source image generated by the imaging source to project the light source image onto a preset imaging area to form a medium-free holographic image (i.e., a medium-free holographic image). The medium-free holographic image may include one or more interactive areas, which users can manipulate (e.g., click, swipe, grab) through an action (e.g., a finger) to achieve bidirectional information transmission with the medium-free holographic imaging device. The interactive areas may be marked on the medium-free holographic image using virtual buttons, focus cursors, etc. For example, virtual buttons may be displayed with a semi-transparent color or an luminous border to mark the operable areas (i.e., interactive areas).

[0122] Medium-free holographic imaging devices may also include sensor components.

[0123] The sensor assembly includes multiple first sensors, and the target first sensor is two or more adjacent first sensors among the multiple first sensors. The first sensors are also called ranging sensors, and may include infrared sensors, laser sensors, etc.

[0124] The first sensor may include optical elements. The optical elements are positioned along the transmission path of the initial emitted beam of the first sensor to beam-shape the initial emitted beam into a beam-shaped emitted beam (i.e., the emitted beam of the first sensor). The illumination ranges of the initial emitted beams of multiple targets after beam-shaping overlap in the same region, and this overlapping region covers the target interaction area.

[0125] As described above, the first perception data is generated by multiple target first sensors when the user's execution subject operates on the target interactive area of ​​the mediumless holographic image of the mediumless holographic imaging device. For example, multiple first sensors emit light beams simultaneously or cyclically towards the area of ​​the mediumless holographic image at a preset frequency. When the user's execution subject operates on the target interactive area, each first sensor generates and emits a light beam, which is then beamed by an optical element positioned above each first sensor. Since the illumination areas of the beams emitted by the multiple target first sensors after beamforming overlap and this overlapping area covers the target interactive area, the beams emitted by the multiple target first sensors are reflected after being transmitted to the execution subject operating the interactive area, generating reflected light beams. Each target first sensor can receive the corresponding reflected light beam and generate an electrical signal (i.e., an echo signal) based on the reflected light beam. The first perception data can then be generated based on the electrical signal. For example, as described above, the first perception data is generated after identifying the first echo signal and the second echo signal.

[0126] The initial sensing data acquired by the target's first sensor can be used to determine which interactive region in the medium-free holographic image the user's executing entity is pointing to or located in. For more information on medium-free holographic imaging devices, please refer to... Figure 1 The detailed description is in the text.

[0127] In some embodiments, the first sensing data may reflect the distance between the user's action and the first sensor of each target.

[0128] In some embodiments, the first sensing data includes the distance between the user's executive body and the first sensor of each target.

[0129] In some embodiments, the first sensing data includes the time difference (also known as time of flight) between the time when the first sensor of each target emits a beam and the time when it receives the reflected beam.

[0130] In some embodiments, the first sensing data includes the phase difference between the phase of the emitted beam and the phase of the received reflected beam of each target's first sensor.

[0131] Step 704: Determine the distance between the first sensor of each target and the user's execution entity based on the first sensing data. In some embodiments, step 704 may be performed by the location determination module 906.

[0132] In some embodiments, the first sensing data may include the time difference (also known as time of flight) between the time when each target first sensor emits a light beam and the time when it receives the reflected light beam. The distance between the actuator and the target first sensor can be determined based on the time of flight. For example, the distance between the actuator and the target first sensor may be equal to half the product of the speed of light and the time of flight.

[0133] In some embodiments, the first sensing data includes the phase difference (also known as phase offset) between the emitted and reflected beams of each target first sensor. The distance between the actuator and each target first sensor can be determined based on the phase difference. For example, the distance between the actuator and each target first sensor can be determined based on the following formula: D= , Where c is the speed of light (3 × 10⁻⁶) 8 m / s), f is the modulation frequency of the light wave (unit: Hz), Δ Phase difference (unit: radians).

[0134] Step 706: Based on the distance between each target's first sensor and the user's execution entity, determine the position of the target interaction area in the medium-free holographic image. In some embodiments, step 706 may be performed by the position determination module 906.

[0135] The following example, using two target sensors, illustrates how to determine the position of the target interaction area in the medium-free holographic image based on the distance between each target sensor and the user's execution subject. The distances between the two target sensors and the user's execution subject can be defined as the first distance and the second distance, respectively. Since the plane where the emission beam of the target sensor is located is parallel to the plane of the medium-free holographic image and the distance is less than a threshold, it can be assumed that the position of the user's execution subject on the two-dimensional plane where the emission beam of the target sensor is located is consistent with the position of the target interaction area in the medium-free holographic image. Therefore, the position of the user's execution subject in the first coordinate system (i.e., the first coordinate) of the plane where the emission beam of the target sensor is located (hereinafter referred to as the reference plane) can be determined first based on the first and second distances. Then, based on the transformation relationship between the image coordinate system (also called the second coordinate system) of the medium-free holographic image and the first coordinate system, the position of the user's execution subject in the first coordinate system can be transformed to the position in the second coordinate system (i.e., the second coordinate). Furthermore, the position of the interaction area in the medium-free holographic image in the second coordinate system is known; therefore, based on the second coordinate, it can be determined which of the multiple interaction areas the target interaction area belongs to.

[0136] Further with Figure 8 Provide an illustrative explanation, such as Figure 8As shown, an image coordinate system (i.e., the second coordinate system) can be established with one vertex of the mediumless holographic image 118 as the origin, and the row and column directions as the x2 and y2 axes, respectively. For ease of calculation, the x3 and y3 axes of the first coordinate system of the reference plane can be set to be parallel to the x2 and y2 axes, respectively, and the target first sensor a121 can be set as the origin of the first coordinate system. Assume that the user's execution subject has the coordinates (x3, y3, ..., y3) in the first coordinate system. p y p The coordinates of the first target sensor a121 in the first coordinate system are (0, 0), and the coordinates of the first target sensor b123 in the first coordinate system are (a, 0). 'a' represents the distance between the first sensor a121 and the second sensor b123 in the x3 circumferential direction (i.e., the third distance). The first distance between the first target sensor a121 and the user's execution entity is L1, and the second distance between the first target sensor b123 and the user's execution entity is L2. Based on the first, second, and third distances, the following formula can be established: x p 2 +y p 2 =L1 2 (1), (x p a) 2 +y p 2 =L2 2 (2), By solving formulas (1) and (2), the first coordinate (x) of the user's execution subject in the first coordinate system can be determined. p y p Furthermore, the second coordinates of the target interaction region in the second coordinate system can be determined through the transformation relationship between the first and second coordinate systems. For example, Figure 8 The transformation relationship between the first and second coordinate systems shown can be represented by a translation matrix. Multiplying the translation matrix by the first coordinates yields the second coordinates of the target interaction region in the second coordinate system. Further, for example, the coordinates of the target interaction region on the x2 axis of the second coordinate system are equal to x... p The sum of the distances from the origins of the first and second coordinate systems along the x2 or x3 axis; the coordinates of the target interaction area on the y2 axis of the second coordinate system are equal to y. p The difference in distance from the origin of the first coordinate system and the origin of the second coordinate system along the y2 or y3 axis.

[0137] When the number of target first sensors is greater than 2, the method for determining the location of the target interaction area is the same as when the number of target first sensors is equal to 2, and will not be described again in this application.

[0138] In some embodiments, a pre-defined correspondence can be established between the location of the user's execution subject and the locations of multiple interactive regions in the mediumless holographic image; that is, each location of the execution subject can correspond to one interactive region. Once the location of the user's execution subject is determined, the positions between the target interactive regions can be determined.

[0139] Step 708: Based on the position of the target interactive region within the medium-free holographic image, control the medium-free holographic imaging device to provide a response. In some embodiments, step 708 may be performed by the response module 908.

[0140] Once the location of the target interactive area in the mediumless holographic image is determined, it is possible to determine which interactive area the user is interacting with.

[0141] In some embodiments, the response may include a general response, meaning that different interactive areas can correspond to the same response. This general response is a processing of the interactive area, such as highlighting or deformation. For example, adjusting the light field by the imaging source 112 can increase the light intensity of the target interactive area operated by the user in the medium-free holographic image, or adjust the color of the interactive area operated by the user in the medium-free holographic image for highlighting. As another example, adjusting the light field by the imaging source 112 can generate ripple animation or magnify the target interactive area to deform the target interactive area operated by the user in the medium-free holographic image.

[0142] In some embodiments, the response may include a personalized response, i.e., different responses may be provided for different target interaction areas.

[0143] Personalized responses can include visual responses, tactile responses, auditory responses, etc.

[0144] The visual response can be processing of the target interactive area displayed. The visual response can include dynamic or static adjustments, such as highlighting or distorting, made by a medium-free holographic imaging device (e.g., imaging source 112) to the target interactive area in the medium-free holographic image that the user is interacting with.

[0145] Haptic responses can include simulating the realistic tactile sensation of a user interacting with a target area by providing pressure. For example, a perceptible tactile point can be generated at the finger location by focusing sound pressure in the air using a phased array ultrasonic transducer (typically with a frequency of 40-70 kHz).

[0146] Auditory responses may include providing voice prompts or effects based on the target interactive area operated by the user. For example, each interactive area may correspond to a different voice effect. When the user operates the target interactive area, the medium-free holographic imaging device 100 may generate the corresponding voice effect (e.g., a "click" sound) through an ultrasonic array.

[0147] In some embodiments, the response may include executing system functions corresponding to the target interactive area. The system functions can be configured based on the specific application scenario of the media-free holographic imaging device. For example, when the media-free holographic imaging device is applied to a smart home system, the interactive areas in the media-free holographic image can each correspond to different smart appliances. When a user interacts with the target interactive area, the next-level menu of the target smart appliance corresponding to that area can be opened. Furthermore, the media-free holographic imaging device can update the media-free holographic image to display the control panel of the target smart appliance.

[0148] According to some embodiments of the present invention, by configuring multiple first sensors such that the emitted beams of the multiple first sensors are beam-shaped and parallel to the medium-free holographic image, and the distance between them and the medium-free holographic image is less than a threshold, all overlapping areas formed by the emitted beams of the first sensors after beam-shaping cover all interactive areas in the medium-free holographic image. The determination of the three-dimensional coordinates of the user's execution subject in three-dimensional space can be transformed into the two-dimensional coordinates of the corresponding pixels of the interactive area in the medium-free holographic image. Further, when the user operates any interactive area in the medium-free holographic image, the user's execution subject will be located within the overlapping area of ​​the illumination range of two or more target first sensors after beam-shaping. Then, each target first sensor can measure the distance between the user's execution subject and each target first sensor based on the received reflected beam, and further determine the position of the user's execution subject based on these multiple distances, thereby determining the position of the target interactive area in the medium-free holographic image. Based on the position of the target interactive area in the medium-free holographic image, it can be determined which interactive area the user's execution subject is operating. In this application, the determination of three-dimensional coordinates in three-dimensional space is transformed into the determination of two-dimensional coordinates of a medium-free holographic image by configuring the first sensor and optical elements. Furthermore, the position of the target interaction area can be determined based on multiple distances, simplifying the calculation process, improving interaction efficiency, and reducing costs.

[0149] In some embodiments, steps S11, S13, and S15 may also be performed before the medium-free holographic imaging device provides a response.

[0150] In step S11, second sensing data is acquired by the second sensor of the medium-free holographic imaging device. In some embodiments, the second sensor is used to acquire personalized data of the user and / or the user's executive body, such as morphology, biometric features, etc.

[0151] The appearance of a user-executing entity can include its thickness, length, shape, texture, and outline. For example, a user-executing entity can be a finger, and its appearance can include the thickness of the finger.

[0152] In some embodiments, the shape-related data of the user's execution subject can be acquired by a second sensor when the user's execution subject operates on the target interactive area of ​​the mediumless holographic image of the mediumless holographic imaging device.

[0153] A user's biometric features may include their fingerprints, irises, voiceprints, etc.

[0154] In some embodiments, the second sensor may include an ultrasonic sensor, millimeter-wave radar, infrared camera, etc. The shape of the user-executing entity can be determined based on the second sensing data collected by the second sensor.

[0155] In some embodiments, the second sensor may include a fingerprint sensor, an iris scanner, a voiceprint scanner, etc., which can be used to collect the user's fingerprint, iris, voiceprint, etc.

[0156] In some embodiments, the first sensing data and the second sensing data can be collected simultaneously. In some embodiments, the second sensing data can be collected earlier than the first sensing data.

[0157] Step S13: Based on the second perception data, determine whether the user and / or the user execution subject conforms to the preset object to obtain the judgment result.

[0158] The second perception data can be compared with the preset standards of the preset object to determine whether the user and / or the user execution subject conforms to the preset object.

[0159] For example, the second perceptual data may include the shape of the user's executing subject. By comparing the shape of the user's executing subject (e.g., thickness) with a preset standard range (e.g., finger thickness range), it can be determined whether the user's executing subject conforms to a preset object (finger). If the shape of the user's executing subject deviates from the preset standard range, it can be determined that the user's executing subject does not conform to the preset object; if the shape of the user's executing subject is within the preset standard range, it can be determined that the user's executing subject conforms to the preset object.

[0160] For example, the second sensing data may include the user's biometric features (e.g., fingerprints, iris scans, voiceprints). By comparing the user's biometric features with the biometric features (e.g., fingerprints) of a preset object, it can be determined whether the user matches the preset object. If the similarity between the user's biometric features and the preset object's biometric features is greater than a threshold, the user is determined to match the preset object; if the similarity is less than the threshold, the user is determined not to match the preset object.

[0161] Step S15: Based on the judgment result, determine whether to provide a response to control the medium-free holographic imaging device.

[0162] If the determination result indicates that the user and / or the user execution subject matches a preset object, then the medium-free holographic imaging device is allowed to respond to operations on the medium-free holographic image. For example, in response to the user and / or the user execution subject matching a preset object, response operation 708 can be executed.

[0163] If the determination result indicates that the user and / or the user execution subject does not conform to the preset object, the medium-free holographic imaging device is not allowed to respond to operations on the medium-free holographic image. For example, in response to the user and / or the user execution subject not conforming to the preset object, response operation 708 is not executed.

[0164] The second sensing data can determine whether the user and / or the user's execution subject matches a preset object, reducing the probability of erroneous operations. For example, when the controller detects that a non-executing subject is performing an operation in the interactive area, it can choose not to respond to the operation. Similarly, when the controller detects that the execution subject is not a preset object bound to the medialess holographic imaging device, it can choose not to respond to the operation, improving the security of user interaction.

[0165] This specification also provides a control device for a medium-free holographic imaging device. Figure 9 This is a schematic diagram of a control device for a medium-free holographic imaging apparatus according to some embodiments of this specification. In some embodiments, Figure 9 The control device shown can be Figure 1 One specific implementation of the controller. In some embodiments, Figure 9 The control device shown can be Figure 10 One specific implementation of the processor in the control device 900 may include an acquisition module 902, a distance determination module 904, a position determination module 906, and a response module 908.

[0166] The acquisition module 902 is used to acquire sensor data collected by sensors (e.g., first sensor data collected by multiple target first sensors and second sensor data collected by second sensors). The first sensor data is generated by the target first sensor when the user's execution subject operates on the target interactive area of ​​the mediumless holographic image provided by the mediumless holographic imaging device. The second sensor is used to acquire personalized data of the user and / or the user's execution subject, such as morphology, biometric features, etc.

[0167] The distance determination module 904 is used to determine the distance between the first sensor of each target and the user's execution entity based on the first perception data.

[0168] The position determination module 906 is used to determine the position of the target interactive area in the medium-free holographic image based on the first perception data.

[0169] The response module 908 is used to control the medium-free holographic imaging device to provide a response based on the position of the target interactive area in the medium-free holographic image.

[0170] In some embodiments, the acquisition module 902 is used to acquire second sensing data collected by the second sensor. The response module 908 is further used to determine, based on the second sensing data, whether the user and / or the user's execution subject conforms to a preset object to obtain a determination result; and to determine, based on the determination result, whether to control the medium-free holographic imaging device to provide a response.

[0171] This specification also provides an electronic device for controlling a medium-free holographic imaging device. Figure 10 This is a schematic diagram of a module for controlling a medium-free holographic imaging device, according to some embodiments of this specification. Figure 10 The electronic device shown may be Figure 1 Another specific implementation of the controller shown. For example... Figure 9 As shown, in some embodiments, the electronic device 1000 includes a processor 1002 and a memory 1004. The memory stores a program for a control method for a medium-free holographic imaging device. After the control device is powered on and runs the program for the control method for the medium-free holographic imaging device through the processor, it performs the following steps: acquiring first sensing data collected by multiple target sensors of the medium-free holographic imaging device, wherein the emitted beams of the multiple target sensors exist in the same overlapping area, and the first sensing data is generated by the user's execution subject when operating on the target interactive area of ​​the medium-free holographic image generated by the medium-free holographic imaging device; determining the distance between each of the multiple target sensors and the execution subject based on the first sensing data; determining the position of the target interactive area in the medium-free holographic image based on the distance between each target sensor and the execution subject; and controlling the medium-free holographic imaging device to provide a response based on the position of the target interactive area in the medium-free holographic image.

[0172] This specification provides a computer-readable storage medium storing a program for a control method of a medium-free holographic imaging device. The program is executed by a processor and performs the following steps: acquiring first sensing data collected by multiple target sensors of the medium-free holographic imaging device, wherein the emitted beams of the multiple target sensors exist in the same overlapping region; the first sensing data is generated by a user's execution subject when operating on a target interactive region of a medium-free holographic image generated by the medium-free holographic imaging device; determining the distance between each target sensor and the execution subject based on the first sensing data; determining the position of the target interactive region in the medium-free holographic image based on the distance between each target sensor and the execution subject; and controlling the medium-free holographic imaging device to provide a response based on the position of the target interactive region in the medium-free holographic image.

[0173] Some embodiments of this specification also provide a computer program product, including a computer program / computer instructions, which, when at least a portion of the computer program / computer instructions is executed by a processor, can implement this specification. Figure 7 The method illustrated is for controlling a medium-free holographic imaging device. In some embodiments, the computer program product may relate only to computer instructions, which may be carried on a storage medium or processing device. In other embodiments, the computer program product may also be a storage medium or processing device containing the aforementioned computer instructions. The processing device may include one or more processors, and the storage medium.

[0174] In some embodiments, the processor may be a combination of one or more of the following processors: central processing unit (CPU), application-specific integrated circuit (ASIC), application-specific instruction set processor (ASIP), graphics processing unit (GPU), physical processing unit (PPU), digital signal processor (DSP), field-programmable gate array (FPGA), programmable logic device (PLD), programmable logic controller (PLC), reduced instruction set computer (RISC), and microprocessor.

[0175] In some embodiments, the storage medium may include one or more combinations of the following: mass storage, removable storage, volatile read-write memory, and read-only memory (ROM). Exemplary mass storage may include disks, optical disks, solid-state drives, etc. Exemplary removable storage may include flash drives, floppy disks, optical disks, memory cards, compressed hard disks, magnetic tapes, etc. Exemplary volatile read-write memory may include random access memory (RAM). Exemplary RAM may include dynamic random access memory (DRAM), dual data rate synchronous dynamic random access memory (DDRSDRAM), static random access memory (SRAM), silicon controlled retrieval memory (T-RAM), and zero-capacitance memory (Z-RAM), etc. Exemplary read-only memory may include masked read-only memory (MROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), compressed hard disk read-only memory (CD-ROM), and digital multifunction hard disk read-only memory, etc.

[0176] For more information on each module, please refer to [link / reference]. Figure 7 The relevant explanations will not be repeated here. It should be understood that... Figure 9 The systems and modules shown can be implemented in various ways. For example, in some embodiments, the systems and modules can be implemented by hardware, software, or a combination of both. The hardware portion can be implemented using dedicated logic; the software portion can be stored in memory and executed by an appropriate instruction execution system, such as a microprocessor or dedicated-design hardware. Those skilled in the art will understand that the methods and systems described above can be implemented using computer-executable instructions and / or included in the control code of a processor, such as on a media such as a disk, CD, or DVD-ROM, or in the memory of a programmable device. The systems and modules of this specification can be implemented not only by hardware circuits such as very large-scale integrated circuits or gate arrays, semiconductors such as logic chips and transistors, or programmable hardware devices such as field-programmable gate arrays and programmable logic devices, but also by software, for example, executed by various types of processors, or by a combination of the aforementioned hardware circuits and software (e.g., firmware).

[0177] It should be noted that the above description of the system and its modules is for convenience only and should not be construed as limiting this specification to the embodiments described. It is understood that those skilled in the art, after understanding the principles of this system, may arbitrarily combine the various modules without departing from these principles to form subsystems connected to other modules. Alternatively, some modules may be split to obtain more modules or multiple units under a single module. Such modifications are all within the scope of this specification.

[0178] The beneficial effects that the embodiments of this specification may bring include, but are not limited to: (1) By configuring the optical elements of the first sensor, the three-dimensional beam is converted into a planar beam, and the determination of the three-dimensional coordinates of the execution subject of the user operation interaction area in three-dimensional space can be converted into the determination of the two-dimensional coordinates of the pixel corresponding to the interaction area of ​​the mediumless holographic image. The position of the target interaction area can be determined without a complex gesture recognition model or a complex three-dimensional positioning algorithm. Furthermore, the position of the target interaction area can be used to control the mediumless holographic imaging device to provide a response. (2) By configuring the first sensor so that the emitted beams of adjacent first sensors have an overlapping area and cover the interaction area, when the user operates any interaction area in the mediumless holographic image, the user's execution subject will be located in the overlapping area of ​​the illumination area range of the emitted beams of two or more target first sensors after beam shaping. Then, each target first sensor can measure the distance between the user's execution subject and each target first sensor based on the received reflected beam. Furthermore, the two-dimensional position of the user's execution subject in the plane where the emitted beam of the first sensor is located can be determined based on multiple distances, so as to determine the position of the interaction area operated by the execution subject in the mediumless holographic image. This can reduce the computational complexity, improve the interaction efficiency, and reduce the cost. It should be noted that different embodiments may produce different beneficial effects. In different embodiments, the beneficial effects may be any one or a combination of the above, or any other possible beneficial effects.

[0179] The basic concepts have been described above. It is obvious that the detailed disclosure above is merely illustrative and does not constitute a limitation of this specification. Although not explicitly stated herein, various modifications, improvements, and corrections may be made to this specification by those skilled in the art. Such modifications, improvements, and corrections are taught in this specification and therefore remain within the spirit and scope of the exemplary embodiments described herein.

Claims

1. A medium-free holographic imaging device, characterized in that, include: A medium-free holographic imaging component is configured to generate a suspended medium-free holographic image in a preset imaging area, the medium-free holographic image including multiple user-operable interactive areas; as well as A sensor assembly, including a plurality of first sensors, is configured to generate first perceptual data about the executing subject when the user interacts with an interactive area of ​​the medialess holographic image through the executing subject; wherein, The plane in which the emitted beams of the plurality of first sensors lie is parallel to the medium-free holographic image. The emitted beams of two adjacent first sensors among the plurality of first sensors form an overlapping region in the plane, and Each of the multiple interactive regions is covered by an overlapping area formed by the emitted beams of the multiple first sensors.

2. The medium-free holographic imaging device according to claim 1, characterized in that, The emitted beam of each of the plurality of first sensors is a planar fan-shaped beam.

3. The medium-free holographic imaging device according to claim 1 or 2, characterized in that, The emitted beams of three or more consecutive first sensors in the plurality of first sensors form the same overlapping area.

4. The medium-free holographic imaging device according to claim 1 or 2, characterized in that, Each of the plurality of first sensors includes a light emitter and an optical element. The light emitter is used to emit an initial emitted beam, and the optical element is disposed on the transmission path of the initial emitted beam of each first sensor to adjust the initial emitted beam from a conical beam to a planar beam.

5. The medium-free holographic imaging device according to claim 4, characterized in that, The optical element includes a beamforming block for blocking part of the transmission of the initial emitted beam, the beamforming block including a light-transmitting slit, the emitted beam being adjusted into the planar beam after passing through the light-transmitting slit.

6. The medium-free holographic imaging device according to claim 5, characterized in that, The light-transmitting slit is trapezoidal.

7. The medium-free holographic imaging device according to claim 1, characterized in that, It also includes a controller, which is configured as follows: The user's execution entity generates first perception data when the user's execution entity operates on the target interaction area, which is collected by multiple target first sensors, and the emitted beams of the multiple target first sensors have the same overlapping area; Based on the first sensing data, the distance between each of the plurality of target first sensors and the execution entity is determined; The position of the target interaction area in the medium-free holographic image is determined based on the distance between the first sensor of each target and the execution subject; as well as Based on the position of the target interactive region in the medium-free holographic image, the medium-free holographic imaging device is controlled to provide a response.

8. The medium-free holographic imaging device according to claim 1, characterized in that, It also includes a controller, which is configured as follows: In response to the user's operation on the medium-free holographic image, update the medium-free holographic image to obtain an updated medium-free holographic image; Based on the position of the interactive region in the updated medium-free holographic image, a candidate first sensor is determined among the plurality of first sensors, and the overlapping region formed by the emitted beams of the candidate first sensors covers the interactive region in the updated medium-free holographic image. as well as The candidate first sensor is controlled to be in the running state, and the remaining first sensors are controlled to be in the off state.

9. The medium-free holographic imaging device according to claim 1, characterized in that, The sensor assembly further includes a second sensor configured to acquire second sensing data, which includes the appearance of the user's executive body and / or the user's biometric features.

10. A control method for a medium-free holographic imaging device, characterized in that, include: First perception data collected by multiple target sensors of a medium-free holographic imaging device is obtained, wherein the emitted beams of the multiple target sensors exist in the same overlapping area. The first perception data is generated by the user's execution subject when operating on the target interactive area of ​​the medium-free holographic image generated by the medium-free holographic imaging device. Based on the first sensing data, the distance between each of the plurality of target sensors and the execution entity is determined; The position of the target interaction area in the medium-free holographic image is determined based on the distance between each target sensor and the execution entity; as well as Based on the position of the target interactive region in the medium-free holographic image, the medium-free holographic imaging device is controlled to provide a response.

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