Pointing point positioning system and method based on optical signal

Abstract

The invention discloses a pointing point positioning system and method based on an optical signal, and relates to the technical field of man-machine interaction, and the system comprises a handheld device which is provided with a first optical signal transceiver and an angle sensor; the pointed device is provided with at least three coplanar second optical signal transceivers; a positioning device; the first optical signal transceiver transmits a first optical signal; the second optical signal transceiver transmits a second optical signal when receiving the first optical signal; the positioning device obtains the emission time when the first optical signal transceiver emits the first optical signal, receives the receiving time when each second optical signal transceiver receives the first optical signal, and the incident angle of each second optical signal collected by the angle sensor. And determining the spatial position of the first optical signal transceiver according to the transmitting moment and each receiving moment, and determining the spatial position of a pointing point of the handheld device on the pointed device according to the spatial position of the first optical signal transceiver and the incident angle of each second optical signal.

Description

Technical Field

[0001] This application relates to the field of human-computer interaction technology, and more specifically, to a pointing point positioning system and method based on optical signals. Background Technology

[0002] With the widespread adoption of smart TVs, large-screen projectors, and other display terminals, human-computer interaction methods are constantly innovating. Currently, for the positioning of the pointing point on the display interface of a display terminal, the following two types of interaction schemes are commonly used: The first type is directional navigation. This method relies on physical remote controls or directional buttons (up, down, left, and right) on a virtual interface to locate the target point. Users gradually switch the target point from the current location to the target location by pressing the buttons multiple times. Although this solution is technically mature and has low implementation costs, selecting a target location far from the current target point requires multiple button presses, making the interaction cumbersome and inefficient, and difficult to meet the needs of fast and accurate positioning in large-screen display scenarios.

[0003] The second type is the ultra-wideband (UWB) pointing method. In this method, a remote control is used to establish the pointing point. A UWB tag built into the remote control measures distance to UWB base stations deployed around the display device. The pointing point is located by calculating the relative displacement between the UWB tag and the UWB base stations. However, in this scheme, the UWB signal is an electrical signal, which is susceptible to interference from multipath effects, obstacle obstruction, and signal reflection in complex indoor environments. This leads to cumulative errors and drift in the pointing point positioning results, manifesting as pointing point jumps and unstable positions, severely impacting the accuracy of selection and user experience.

[0004] Therefore, a new pointing point positioning scheme urgently needs to be proposed. Summary of the Invention

[0005] One objective of this application is to provide a new technical solution for optical signal-based pointing point positioning.

[0006] According to a first aspect of this application, a point positioning system based on optical signals is provided, comprising: The handheld device is equipped with a first optical signal transceiver and an angle sensor; The device being pointed to is equipped with at least three coplanar second optical transceivers; Positioning devices; The first optical transceiver is used to transmit the first optical signal; For any of the second optical transceivers, it is used to transmit a second optical signal upon receiving the first optical signal; The positioning device is used to acquire the transmission time of the first optical transceiver transmitting the first optical signal, the reception time of the first optical transceiver receiving the second optical signal transmitted by each second optical transceiver when receiving the first optical signal, and the incident angle of each second optical signal collected by the angle sensor. Based on the transmission time and each reception time, the spatial position of the first optical transceiver is determined. Based on the spatial position of the first optical transceiver and the incident angle of each second optical signal, the spatial position of the pointing point of the handheld device on the pointed device is determined.

[0007] Optionally, the first optical transceiver and either of the second optical transceivers are infrared transceivers.

[0008] Optionally, the characteristic parameters of the second optical signals emitted by the at least three coplanar second optical transceivers are different, and the characteristic parameters of any second optical signal are different from the characteristic parameters of the first optical signal, the characteristic parameters being used to distinguish the optical signals.

[0009] Optionally, the characteristic parameters include one of the following: transmission time, different encoding methods, and carrier frequency.

[0010] Optionally, the positioning device is integrated into the pointed-to device, or the positioning device is integrated into the handheld device.

[0011] According to a second aspect of this application, a point-of-sight positioning method based on optical signals is provided, applied to a positioning device in a point-of-sight positioning system based on optical signals as described in any one of the first aspects, comprising: The transmission time of the first optical signal transceiver transmitting the first optical signal, the reception time of the second optical signal transmitted by each second optical transceiver when the first optical signal transceiver receives the first optical signal, and the incident angle of each second optical signal collected by the angle sensor are obtained. The spatial position of the first optical transceiver is determined based on the transmission time and each of the reception times. Based on the spatial position of the first optical transceiver and the incident angle of each of the second optical signals, the spatial position of the pointing point of the handheld device on the pointed device is determined.

[0012] Optionally, determining the spatial position of the pointing point of the handheld device on the pointed device based on the spatial position of the first optical transceiver and the incident angle of each of the second optical signals includes: Based on the spatial position of the first optical transceiver, the incident angle of each second optical signal, and the dot product algorithm, the spatial position of the pointing point of the handheld device on the pointed device is determined.

[0013] Optionally, determining the spatial location of the first optical transceiver based on the transmission time and each of the reception times includes: Obtain a preset delay, wherein the preset delay includes the transmission delay of the first optical transceiver, the reception delay of the first optical transceiver, the transmission delay of the second optical transceiver, and the reception delay of the second optical transceiver; The spatial location of the first optical transceiver is determined based on the preset delay, the transmission time, and each of the reception times.

[0014] Optionally, the positioning device is integrated into the handheld device of the optical signal-based pointing point positioning system. The acquisition of the transmission time of the first optical signal transceiver transmitting the first optical signal, the reception time of the second optical signal transceiver receiving the second optical signal transmitted by each second optical transceiver upon receiving the first optical signal, and the incident angle of each second optical signal collected by the angle sensor includes: Control the first optical transceiver to transmit the first optical signal according to the corresponding characteristic parameters, and record the transmission time of the first optical signal transmitted by the first optical transceiver; For any second optical transceiver, when the first optical transceiver receives the second optical signal transmitted by the second optical transceiver in the case of receiving the first optical signal, the reception time of the received second optical signal is recorded, and the characteristic parameters of the second optical signal are identified. The second optical transceiver that transmits the second optical signal is determined based on the characteristic parameters of the second optical signal; Wherein, the characteristic parameters of the second optical signals emitted by at least three coplanar second optical transceivers are different, and the characteristic parameters of any second optical signal are different from the characteristic parameters of the first optical signal, the characteristic parameters being used to distinguish the optical signals.

[0015] Optionally, the positioning device is integrated into the pointed-to device of the optical signal-based pointing point positioning system. The acquisition of the transmission time of the first optical signal transceiver transmitting the first optical signal, the reception time of the second optical signal transceiver receiving the second optical signal transmitted by each second optical transceiver upon receiving the first optical signal, and the incident angle of each second optical signal collected by the angle sensor includes: For any second optical transceiver, upon receiving the first optical signal, the second optical transceiver is controlled to transmit a second optical signal with corresponding characteristic parameters; Wherein, the characteristic parameters of the second optical signals emitted by at least three coplanar second optical transceivers are different, and the characteristic parameters of any second optical signal are different from the characteristic parameters of the first optical signal, the characteristic parameters being used to distinguish the optical signals.

[0016] Based on the above, this application provides a light signal-based pointing point positioning system, comprising: a handheld device equipped with a first optical transceiver and an angle sensor; a device to be pointed to, equipped with at least three coplanar second optical transceivers; and a positioning device. The first optical transceiver is used to transmit a first optical signal; for any second optical transceiver, it is used to transmit a second optical signal upon receiving the first optical signal. The positioning device is used to acquire the transmission time of the first optical transceiver transmitting the first optical signal, the reception time of the first optical transceiver receiving the second optical signal transmitted by each second optical transceiver upon receiving the first optical signal, and the incident angle of each second optical signal collected by the angle sensor. Based on the transmission time and each reception time, the spatial position of the first optical transceiver is determined. Based on the spatial position of the first optical transceiver and the incident angle of each second optical signal, the spatial position of the pointing point of the handheld device on the device to be pointed to is determined. This light signal-based pointing point positioning system can achieve pointing point positioning. Based on this optical signal-based point-of-sight positioning system, users only need to hold their handheld device so that it points to a desired location on the display screen of the target device to achieve positioning of the corresponding point. Compared to directional navigation methods, this is simpler to operate and more efficient. Furthermore, compared to ultra-bandwidth-based methods, optical signals have stronger anti-interference capabilities than electrical signals, resulting in higher positioning accuracy and stability.

[0017] Other features and advantages of this application will become clear from the following detailed description of exemplary embodiments with reference to the accompanying drawings. Attached Figure Description

[0018] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments of the present application and, together with their description, serve to explain the principles of the present application.

[0019] Figure 1 This is a schematic diagram of a pointing point positioning system based on optical signals provided in this application; Figure 2 This application provides a schematic diagram of the structure of a pointed-to device and the relative position between the handheld device and the pointed-to device. Figure 1 ; Figure 3 This application provides a schematic diagram of the structure of a handheld device and the relative position between the handheld device and the pointed-to device. Figure 2 ; Figure 4 This is a flowchart illustrating a pointing point localization method based on optical signals provided in this application; Figure 5 This is a schematic diagram of the structure of a pointing point positioning device based on optical signals provided in this application; Figure 6 This is a schematic diagram of the positioning device in a light signal-based pointing point positioning system provided in this application. Detailed Implementation

[0020] Various exemplary embodiments of the present application will now be described in detail with reference to the accompanying drawings. It should be noted that, unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the present application.

[0021] The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the scope of this application and its application or use.

[0022] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and equipment should be considered part of the specification.

[0023] In all the examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values.

[0024] It should be noted that similar labels and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be discussed further in subsequent figures.

[0025] This application provides a point-of-sight positioning system 100 based on optical signals, such as... Figure 1 As shown, the application method of the system 100 is as follows: The user holds the handheld device 101, points to a location on the pointed device 102 that meets their needs, and triggers the operation of selecting the location. After the operation of selecting the aforementioned location is triggered, the handheld device 101 emits a light signal, and the pointed device 102 also emits a light signal when it detects the light signal emitted by the handheld device 101. The location selected by the user through the handheld device 101 is the pointing point, and the positioning device 103 calculates the spatial position of the pointing point.

[0026] In one example, the handheld device 101 can be a remote control or a gamepad, etc. The pointed-to device 102 can be a television, projection screen, or a head-up display (HUD) system in a car, etc. The pointed-to device may include a display interface, and the pointing point is located on the display interface. The positioning device 103 can be integrated into the pointed-to device 102 or into the handheld device 101. Of course, the positioning device 103 can also be independent of the handheld device 101 and the pointed-to device 102. This application does not limit this.

[0027] like Figure 1 As shown, the optical signal-based pointing point positioning system 100 provided in this application includes: The handheld device 101 is equipped with a first optical signal transceiver 1011 and an angle sensor 1012; The pointed device 102 is provided with at least three coplanar second optical transceivers 1021; Positioning device 103; The first optical transceiver 1011 is used to transmit the first optical signal; For any second optical transceiver, it is used to transmit a second optical signal upon receiving a first optical signal.

[0028] The positioning device 103 is used to perform the following steps S1 to S3.

[0029] Step S1: Obtain the transmission time of the first optical signal transceiver transmitting the first optical signal, the reception time of the second optical signal transceiver receiving the second optical signal transmitted by each second optical signal transceiver when the first optical signal is received, and the incident angle of each second optical signal collected by the angle sensor.

[0030] In this embodiment, a first optical transceiver transmits an optical signal (denoted as the first optical signal). The transmission time of the first optical signal is obtained by recording the transmission time of the first optical transceiver. The first optical signal transmitted by the first optical transceiver is a cone-shaped optical signal, which can be received by each second optical transceiver. The central axis of the cone-shaped first optical signal transmitted by the first optical transceiver forms a pointing point on the pointed device. For any second optical transceiver, the second optical transceiver transmits an optical signal after receiving the first optical signal (denoted as the second optical signal). Similarly, the second optical signal is a cone-shaped optical signal, which is received by the first optical transceiver that transmitted the first optical signal and the angle sensor. Based on this, the reception time of the second optical signal is recorded after the first optical transceiver receives it, thus obtaining the reception time of the second optical signal transmitted by each second optical transceiver when the first optical signal is received. At the same time, the angle sensor collects the incident angle of each second light signal.

[0031] In this embodiment, the angle reference line (0°) of the angle sensor is parallel to the central axis of the first optical signal, and the incident angle of the second optical signal acquired by the angle sensor is the angle between the angle reference line and the second optical signal reaching the angle sensor. In one embodiment of this application, the angle sensor can be a multi-channel angle sensor, so that the incident angles of the second optical signals emitted by four second optical transceivers can be acquired by one angle sensor. Of course, the angle sensor can also be four sub-angle sensors to acquire the incident angles of the second optical signals emitted by the four second optical transceivers respectively.

[0032] In one embodiment of this application, to facilitate the first optical transceiver in distinguishing which second optical transceiver emitted the second optical signal, the characteristic parameters of the second optical signals emitted by at least three coplanar second optical transceivers are different. Similarly, to avoid interference between the first optical signal and the second optical signal, the characteristic parameters of any second optical signal are different from those of the first optical signal, wherein the characteristic parameters are used to distinguish the optical signals (including the first optical signal and the second optical signal).

[0033] In one embodiment of this application, the characteristic parameters include one of the following: transmission time, different encoding methods, and carrier frequency.

[0034] In one embodiment of this application, both the first optical transceiver and any second optical transceiver are infrared transceivers. That is, both the first optical signal and the second optical signal are infrared signals. Based on this, the optical signal-based pointing point positioning system 100 provided in this application is low in cost and easy to implement.

[0035] Step S2: Determine the spatial location of the first optical transceiver based on the transmission time and each reception time.

[0036] In one embodiment of this application, taking the pointed device as including a display interface and the pointing point located on the display interface as an example, such as... Figure 2 As shown, the pointed-to device 102 includes four second optical transceivers, which are located at the four vertices of the display interface of the pointed-to device 102. The position of the pointing point on the display interface is designated as point 102. The four second optical transceivers are respectively denoted as , , and Furthermore, the spatial positions of the four second optical transceivers are pre-calibrated, meaning that the spatial positions of the four second optical transceivers are known.

[0037] The following is based on Figure 2 The above step S2 will be explained using an example. For any second optical transceiver... First optical transceiver The transmission time of the first optical signal is Second optical transceiver After receiving the first optical signal, it transmits the second optical signal. (First optical signal transceiver) Upon receiving the second optical signal The receiving time is recorded after the second transmitted optical signal. .in, It can be 1, 2, 3, or 4.

[0038] In one embodiment of this application, the second optical transceiver can be determined according to the following formula. With the first optical transceiver Distance between .

[0039] (Formula 1) in, for and The difference between them The speed of light (approximately 3 × 10⁸ in air) ).

[0040] With the second optical transceiver The spatial location is The spatial location of the first optical transceiver is For example, in one embodiment of this application, based on the trilateration principle, the second optical transceiver... The first optical transceiver satisfies the following formula two.

[0041] (Formula 2) Based on Formula 2 above, the spatial location of the first optical transceiver can be calculated as follows: .

[0042] In one embodiment of this application, to reduce computational load, at least three coplanar second optical transceivers can be configured with their corresponding planes parallel to the coordinate plane and spaced at a preset distance. For example... Figure 2 As shown, with a preset distance of 0 and the coordinate plane as... Plane. Regarding this, the spatial positions of the four second optical transceivers... The coordinate value of the axis is 0, and the spatial position of the first optical transceiver is obtained by solving the following method: .

[0043] For any second optical transceiver Then it satisfies the following formula three.

[0044] (Formula 3) This will be aimed at the second optical transceiver. The above-described Formula 3 and its application to the second optical transceiver Subtracting the above formula three from each other, we can obtain the following formula four.

[0045] (Formula 4) Simplifying Formula 4 above, we can obtain Formula 5 below.

[0046] (Formula 5) Let the constant on the right side of the above formula be... Then, we can obtain the linear equation shown in Formula 6 below.

[0047] (Formula 6) Similarly, this will apply to the second optical transceiver. The above-described Formula 3 and its application to the second optical transceiver The constructed formula of three-phase subtraction will be applied to the second optical transceiver. The above-described Formula 3 and its application to the second optical transceiver Subtracting the three formulas constructed above, and simplifying and matrixing them based on formulas five and six, a matrix as shown in formula seven can be constructed.

[0048] (Formula 7) The least squares method can be used to solve the problem in Formula 7 above. and After obtaining and Afterwards, and Substituting into Equation 3 above for any second optical transceiver, we can obtain... .

[0049] In order to improve For accuracy, the results can be calculated using Formula 3 corresponding to each second optical transceiver. Then take the average and then the square root, as shown in Formulas 8, 9 and 10 below.

[0050] (Formula 8) (Formula 9) (Formula 10) in, This refers to the second optical transceiver. Calculated , This represents the result obtained based on Formula 7 above. The estimated value, This represents the result obtained based on Formula 7 above. The estimated value, It means The estimated value.

[0051] Step S3: Determine the spatial position of the pointing point on the pointed device based on the spatial position of the first optical transceiver and the incident angle of each second optical signal.

[0052] Because the angle reference line of the angle sensor (angle of 0°) is parallel to the central axis of the first optical signal, and the central axis of the cone-shaped first optical signal emitted by the first optical signal transceiver forms a pointing point on the pointed device, therefore, as Figure 3 As shown, the incident angle of the second optical signal is also the angle between the second optical signal and the ray from the first optical signal transceiver to the pointing point.

[0053] In one embodiment of this application, step S3 is specifically implemented through step S31.

[0054] Step S31: Determine the spatial position of the pointing point on the pointed device by the handheld device based on the spatial position of the first optical transceiver, the incident angle of each second optical signal, and the dot product algorithm.

[0055] With the point of reference The spatial location is For example, based on the dot product algorithm, the incident angle of the second optical signal has the relationship shown in Formula 11.

[0056] (Formula Eleven) in, The calculation is performed using the following formula, number twelve. Calculate using the following formula thirteen. The following formula fourteen is used for calculation. The calculation is performed using the following formula, number fifteen.

[0057] (Formula 12) (Formula Thirteen) (Formula Fourteen) (Formula Fifteen) Based on Formulas 12 and 13 above, Formula 16 is established as follows.

[0058] (Formula Sixteen) For each second optical transceiver, substituting Formulas 14, 15, and 16 into Formula 11, we can establish Formula 17 as follows.

[0059] (Formula 17) The pointing point can be solved using the least squares method. The spatial location is .

[0060] Based on the above, this application provides a light signal-based pointing point positioning system, comprising: a handheld device equipped with a first optical transceiver and an angle sensor; a device to be pointed to, equipped with at least three coplanar second optical transceivers; and a positioning device. The first optical transceiver is used to transmit a first optical signal; for any second optical transceiver, it is used to transmit a second optical signal upon receiving the first optical signal. The positioning device is used to acquire the transmission time of the first optical transceiver transmitting the first optical signal, the reception time of the first optical transceiver receiving the second optical signal transmitted by each second optical transceiver upon receiving the first optical signal, and the incident angle of each second optical signal collected by the angle sensor. Based on the transmission time and each reception time, the spatial position of the first optical transceiver is determined. Based on the spatial position of the first optical transceiver and the incident angle of each second optical signal, the spatial position of the pointing point of the handheld device on the device to be pointed to is determined. This light signal-based pointing point positioning system can achieve pointing point positioning. Based on this optical signal-based point-of-sight positioning system, users only need to hold their handheld device so that it points to a desired location on the display screen of the target device to achieve positioning of the corresponding point. Compared to directional navigation methods, this is simpler to operate and more efficient. Furthermore, compared to ultra-bandwidth-based methods, optical signals have stronger anti-interference capabilities than electrical signals, resulting in higher positioning accuracy and stability.

[0061] This application also provides a light signal-based pointing point positioning method, applicable to the positioning device in any of the light signal-based pointing point positioning systems provided in the above system embodiments, such as... Figure 4 As shown, the process includes steps S4100 to S4300.

[0062] Step S4100: Obtain the transmission time of the first optical signal transceiver transmitting the first optical signal, the reception time of the second optical signal transceiver receiving the second optical signal transmitted by each second optical signal transceiver when the first optical signal is received, and the incident angle of each second optical signal collected by the angle sensor.

[0063] Step S4200: Determine the spatial location of the first optical transceiver based on the transmission time and each reception time.

[0064] Step S4300: Determine the spatial position of the pointing point of the handheld device on the pointed device based on the spatial position of the first optical transceiver and the incident angle of each second optical signal.

[0065] It should be noted that the specific implementation of step S4100 is the same as that of step S1, the specific implementation of step S4200 is the same as that of step S2, and the specific implementation of step S4300 is the same as that of step S3, and will not be repeated here.

[0066] In one embodiment of this application, the above step S4300 is implemented by the following step S4310.

[0067] Step S4310: Determine the spatial position of the pointing point on the pointed device by the handheld device based on the spatial position of the first optical transceiver, the incident angle of each second optical signal, and the dot product algorithm.

[0068] It should be noted that the specific implementation of step S4310 is the same as that of step S31, and will not be repeated here.

[0069] In one embodiment of this application, step S4200 is specifically implemented through the following steps S4210 and S4211.

[0070] Step S4210: Obtain the preset delay.

[0071] The preset delays include the transmission delay of the first optical transceiver, the reception delay of the first optical transceiver, the transmission delay of the second optical transceiver, and the reception delay of the second optical transceiver.

[0072] Step S4211: Determine the spatial position of the first optical transceiver based on the preset delay, transmission time, and each reception time.

[0073] In this embodiment, the preset delay can be set based on experience or experimentation, and the preset delay is denoted as... Therefore, Formula 1 above can be updated to Formula 18 below.

[0074] (Formula 18) Based on Formula 18 above, an accurate second optical transceiver can be obtained. With the first optical transceiver Distance between Based on accurate Then the accurate spatial location of the first optical transceiver can be obtained.

[0075] In one embodiment of this application, the positioning device is integrated into a handheld device of a pointing point positioning system based on optical signals. Based on this, the above step S4100 is specifically implemented through the following steps S4110 to S4112.

[0076] Step S4110: Control the first optical transceiver to transmit the first optical signal according to the corresponding characteristic parameters, and record the transmission time of the first optical signal transmitted by the first optical transceiver.

[0077] Step S4111: For any second optical transceiver, when the first optical transceiver receives the second optical signal transmitted by the second optical transceiver in the case of receiving the first optical signal, record the reception time of the received second optical signal and identify the characteristic parameters of the second optical signal.

[0078] Step S4112: Determine the second optical transceiver that transmits the second optical signal based on the characteristic parameters of the second optical signal.

[0079] Among them, the characteristic parameters of the second optical signals emitted by at least three coplanar second optical transceivers are different, and the characteristic parameters of any second optical signal are different from the characteristic parameters of the first optical signal. The characteristic parameters are used to distinguish the optical signals.

[0080] In this embodiment, corresponding characteristic parameters are set for the first optical transceiver. Through step S4110, the positioning device controls the first optical transceiver to transmit a first optical signal according to the corresponding characteristic parameters. The second optical transceivers are also set with corresponding characteristic parameters, and the characteristic parameters of the second optical signals transmitted by at least three coplanar second optical transceivers are different, and the characteristic parameters of any second optical signal are different from the characteristic parameters of the first optical signal. Thus, through steps S4111 and S4112, the positioning device determines which second optical transceiver transmitted the second optical signal received by the first optical transceiver.

[0081] In one embodiment of this application, the positioning device is integrated into the pointed device of the optical signal-based pointing point positioning system. Based on this, the above step S4100 is specifically implemented through the following step S4120.

[0082] Step S4120: For any second optical transceiver, upon receiving the first optical signal, control the second optical transceiver to transmit a second optical signal with corresponding characteristic parameters.

[0083] Among them, the characteristic parameters of the second optical signals emitted by at least three coplanar second optical transceivers are different, and the characteristic parameters of any second optical signal are different from the characteristic parameters of the first optical signal. The characteristic parameters are used to distinguish the optical signals.

[0084] In this embodiment, corresponding characteristic parameters are set for the second optical transceiver. Through the above step S4120, the positioning device can emit different second optical signals for the first optical signal emitted by the first optical transceiver. This makes it easy to distinguish which second optical transceiver emitted the second optical signal through each first optical transceiver.

[0085] This application also provides a light signal-based pointing point positioning device 500, which is applied to the positioning device in the pointing point positioning system provided in any of the above system embodiments, such as... Figure 5 As shown, it includes: The acquisition module 510 is used to acquire the transmission time of the first optical signal transceiver transmitting the first optical signal, the reception time of the first optical signal transceiver receiving the second optical signal transmitted by each second optical signal transceiver when the first optical signal transceiver receives the first optical signal, and the incident angle of each second optical signal collected by the angle sensor. The first positioning module 520 is used to determine the spatial position of the first optical transceiver based on the transmission time and each of the receiving times. The second positioning module 520 is used to determine the spatial position of the pointing point of the handheld device on the pointed device based on the spatial position of the first optical transceiver and the incident angle of each second optical signal.

[0086] In one embodiment of this application, the second positioning module 530 is specifically used to determine the spatial position of the pointing point of the handheld device on the pointed device based on the spatial position of the first optical transceiver, the incident angle of each second optical signal, and the dot product algorithm.

[0087] In one embodiment of this application, the first positioning module 520 is specifically used to obtain a preset delay, the preset delay including the transmission delay of the first optical transceiver, the reception delay of the first optical transceiver, the transmission delay of the second optical transceiver, and the reception delay of the second optical transceiver. The spatial location of the first optical transceiver is determined based on the preset delay, the transmission time, and each of the reception times.

[0088] In one embodiment of this application, the positioning device is integrated into the handheld device of the optical signal-based pointing point positioning system. The acquisition module 510 is specifically used to control the first optical transceiver to transmit the first optical signal according to the corresponding characteristic parameters, and to record the transmission time of the first optical signal transmitted by the first optical transceiver. For any second optical transceiver, when the first optical transceiver receives the second optical signal transmitted by the second optical transceiver in the case of receiving the first optical signal, the reception time of the received second optical signal is recorded, and the characteristic parameters of the second optical signal are identified. The second optical transceiver that transmits the second optical signal is determined based on the characteristic parameters of the second optical signal; Wherein, the characteristic parameters of the second optical signals emitted by at least three coplanar second optical transceivers are different, and the characteristic parameters of any second optical signal are different from the characteristic parameters of the first optical signal, the characteristic parameters being used to distinguish the optical signals.

[0089] In one embodiment of this application, the positioning device is integrated into the handheld device of the optical signal-based pointing point positioning system. The acquisition module 510 is specifically used to control the second optical signal transceiver to transmit a second optical signal with corresponding characteristic parameters when the first optical signal is received for any second optical signal transceiver. Wherein, the characteristic parameters of the second optical signals emitted by at least three coplanar second optical transceivers are different, and the characteristic parameters of any second optical signal are different from the characteristic parameters of the first optical signal, the characteristic parameters being used to distinguish the optical signals.

[0090] This application also provides a positioning device, which includes any of the optical signal-based pointing point positioning devices 500 provided in the above-described device embodiments; Or, such as Figure 6 As shown, the positioning device 600 includes a memory 610 and a processor 620. The memory 610 is used to store computer instructions, and the processor 620 is used to retrieve the computer instructions from the memory 610 to execute the method as described in any of the above method embodiments.

[0091] This application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method according to any one of the above-described method embodiments.

[0092] This application may be a system, method, and / or computer program product. A computer program product may include a computer-readable storage medium having computer-readable program instructions loaded thereon for causing a processor to implement various aspects of this application.

[0093] Computer-readable storage media can be tangible devices capable of holding and storing instructions for use by an instruction execution device. Computer-readable storage media can be, for example—but not limited to—electrical storage devices, magnetic storage devices, optical storage devices, electromagnetic storage devices, semiconductor storage devices, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of computer-readable storage media include: portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), static random access memory (SRAM), portable compact disc read-only memory (CD-ROM), digital multifunction disc (DVD), memory sticks, floppy disks, mechanical encoding devices, such as punch cards or recessed protrusions storing instructions thereon, and any suitable combination of the foregoing. The computer-readable storage media used herein are not to be construed as transient signals themselves, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through waveguides or other transmission media (e.g., light pulses through fiber optic cables), or electrical signals transmitted through wires.

[0094] The computer-readable program instructions described herein can be downloaded from computer-readable storage media to various computing / processing devices, or downloaded via a network, such as the Internet, local area network, wide area network, and / or wireless network, to an external computer or external storage device. The network may include copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers, and / or edge servers. A network adapter card or network interface in each computing / processing device receives the computer-readable program instructions from the network and forwards them to the computer-readable storage media in the respective computing / processing device.

[0095] The computer program instructions used to perform the operations of this application may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, status setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Smalltalk, C++, etc., and conventional procedural programming languages ​​such as the "C" language or similar programming languages. The computer-readable program instructions may be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or may be connected to an external computer (e.g., via the Internet using an Internet service provider). In some embodiments, electronic circuits, such as programmable logic circuits, field-programmable gate arrays (FPGAs), or programmable logic arrays (PLAs), are personalized by utilizing the status information of the computer-readable program instructions. These electronic circuits can execute the computer-readable program instructions to implement various aspects of this application.

[0096] Various aspects of this application are described herein with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It should be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer-readable program instructions.

[0097] These computer-readable program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing apparatus to produce a machine such that, when executed by the processor of the computer or other programmable data processing apparatus, they create means for implementing the functions / actions specified in one or more blocks of the flowchart and / or block diagram. These computer-readable program instructions can also be stored in a computer-readable storage medium that causes a computer, programmable data processing apparatus, and / or other device to operate in a particular manner; thus, the computer-readable medium storing the instructions comprises an article of manufacture that includes instructions for implementing aspects of the functions / actions specified in one or more blocks of the flowchart and / or block diagram.

[0098] Computer-readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other device to cause a series of operational steps to be performed on the computer, other programmable data processing apparatus, or other device to produce a computer-implemented process, thereby causing the instructions executed on the computer, other programmable data processing apparatus, or other device to perform the functions / actions specified in one or more boxes of a flowchart and / or block diagram.

[0099] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of an instruction containing one or more executable instructions for implementing a specified logical function. In some alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions. It will be well known to those skilled in the art that implementation in hardware, implementation in software, and implementation using a combination of software and hardware are equivalent.

[0100] The various embodiments of this application have been described above. These descriptions are exemplary and not exhaustive, nor are they limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles, practical applications, or technical improvements to the technology in the market, or to enable others skilled in the art to understand the embodiments disclosed herein. The scope of this application is defined by the appended claims.

Claims

1. A pointing point positioning system based on optical signals, characterized in that, include: The handheld device is equipped with a first optical signal transceiver and an angle sensor; The device being pointed to is equipped with at least three coplanar second optical transceivers; Positioning devices; The first optical transceiver is used to transmit the first optical signal; For any of the second optical transceivers, it is used to transmit a second optical signal upon receiving the first optical signal; The positioning device is used to acquire the transmission time of the first optical transceiver transmitting the first optical signal, the reception time of the first optical transceiver receiving the second optical signal transmitted by each second optical transceiver when receiving the first optical signal, and the incident angle of each second optical signal collected by the angle sensor. Based on the transmission time and each reception time, the spatial position of the first optical transceiver is determined. Based on the spatial position of the first optical transceiver and the incident angle of each second optical signal, the spatial position of the pointing point of the handheld device on the pointed device is determined.

2. The system according to claim 1, characterized in that, Both the first optical transceiver and any of the second optical transceivers are infrared transceivers.

3. The system according to claim 1, characterized in that, The characteristic parameters of the second optical signals emitted by the at least three coplanar second optical transceivers are different, and the characteristic parameters of any second optical signal are different from the characteristic parameters of the first optical signal. The characteristic parameters are used to distinguish the optical signals.

4. The system according to claim 3, characterized in that, The characteristic parameters include one of the following: transmission time, different encoding methods, and carrier frequency.

5. The system according to any one of claims 1-4, characterized in that, The positioning device is integrated into the device being pointed to, or the positioning device is integrated into the handheld device.

6. A method for locating a pointing point based on optical signals, characterized in that, A positioning device applied in a light signal-based pointing point positioning system as described in any one of claims 1-5, comprising: The transmission time of the first optical signal transceiver transmitting the first optical signal, the reception time of the second optical signal transmitted by each second optical transceiver when the first optical signal transceiver receives the first optical signal, and the incident angle of each second optical signal collected by the angle sensor are obtained. The spatial position of the first optical transceiver is determined based on the transmission time and each of the reception times. Based on the spatial position of the first optical transceiver and the incident angle of each of the second optical signals, the spatial position of the pointing point of the handheld device on the pointed device is determined.

7. The method according to claim 6, characterized in that, Determining the spatial position of the pointing point of the handheld device on the pointed device based on the spatial position of the first optical transceiver and the incident angle of each second optical signal includes: Based on the spatial position of the first optical transceiver, the incident angle of each second optical signal, and the dot product algorithm, the spatial position of the pointing point of the handheld device on the pointed device is determined.

8. The method according to claim 6, characterized in that, Determining the spatial location of the first optical transceiver based on the transmission time and each of the reception times includes: Obtain a preset delay, wherein the preset delay includes the transmission delay of the first optical transceiver, the reception delay of the first optical transceiver, the transmission delay of the second optical transceiver, and the reception delay of the second optical transceiver; The spatial location of the first optical transceiver is determined based on the preset delay, the transmission time, and each of the reception times.

9. The method according to claim 6, characterized in that, The positioning device is integrated into the handheld device of the optical signal-based pointing point positioning system. The acquisition of the transmission time of the first optical signal transceiver transmitting the first optical signal, the reception time of the second optical signal transceiver receiving the second optical signal transmitted by each second optical transceiver upon receiving the first optical signal, and the incident angle of each second optical signal collected by the angle sensor includes: Control the first optical transceiver to transmit the first optical signal according to the corresponding characteristic parameters, and record the transmission time of the first optical signal transmitted by the first optical transceiver; For any second optical transceiver, when the first optical transceiver receives the second optical signal transmitted by the second optical transceiver in the case of receiving the first optical signal, the reception time of the received second optical signal is recorded, and the characteristic parameters of the second optical signal are identified. The second optical transceiver that transmits the second optical signal is determined based on the characteristic parameters of the second optical signal; Wherein, the characteristic parameters of the second optical signals emitted by at least three coplanar second optical transceivers are different, and the characteristic parameters of any second optical signal are different from the characteristic parameters of the first optical signal, the characteristic parameters being used to distinguish the optical signals.

10. The method according to claim 6, characterized in that, The positioning device is integrated into the pointed-to device of the optical signal-based pointing point positioning system. The acquisition of the transmission time of the first optical signal transceiver transmitting the first optical signal, the reception time of the second optical signal transceiver receiving the second optical signal transmitted by each second optical transceiver upon receiving the first optical signal, and the incident angle of each second optical signal collected by the angle sensor includes: For any second optical transceiver, upon receiving the first optical signal, the second optical transceiver is controlled to transmit a second optical signal with corresponding characteristic parameters; Wherein, the characteristic parameters of the second optical signals emitted by at least three coplanar second optical transceivers are different, and the characteristic parameters of any second optical signal are different from the characteristic parameters of the first optical signal, the characteristic parameters being used to distinguish the optical signals.

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