CN101281590A - Operating unit as well as video system containing the same - Google Patents
Operating unit as well as video system containing the same Download PDFInfo
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Abstract
The invention discloses an operating unit and a video system including the same, wherein the operating unit includes an imaging device for shooting the imaging target image; a recognition unit for recognizing the imaging target in the imaging target image; a computing unit for computing the position coordinates of the imaging target output and recognized from the recognition unit and performing the mathematical manipulation on the position coordinates to output the position of the operating unit.
Description
Technical field
The present invention relates to a kind of operating unit and comprise the video system of described operating unit.
Background technology
Along with the fast development of interactive multimedia video equipment, the function of video equipment makes for the requirement of the information handling system of video equipment especially control system more and more higher from strength to strength.Response speed, processing speed and stability to control system and video equipment have all proposed increasing requirement.
Chinese patent CN200610087120.5 discloses a kind of control method and controller, this controller is provided with the image-forming information calculating part, take and be calculated to be bright spot and the image of fixed point and the two-dimensional vector of set of coordinates in the picture target image, last calculated value move operation unit on predetermined direction according to two-dimensional vector.The problem that this controller exists is: three axial directions that must adopt acceleration transducer to detect controller when the specific implementation of controller reach determines the rotation angle of controller around the Z axle; Or adopt two axis linear accelerometers only to detect each linear acceleration in X-axis and the Y-axis; Or employing gyrosensor.Because acceleration transducer and control circuit have operating lag, for sensitivity and the degree of accuracy that guarantees acceleration transducer, the algorithm that adopts this moment is very complicated, makes the signal Processing response speed very slow.And because the influence of the manufacturing process of sensor manufacturing and sensor and controller, in controller, acceleration transducer stable bad is damaged easily.Even, on technology, improve for the stability of enhanced system, must be cost also, and good acceleration transducer cost an arm and a leg with great amount of manpower, financial resources, material resources, improved the cost of controller greatly.
Summary of the invention
An object of the present invention is to provide the fast operating unit of a kind of signal Processing response speed and comprise the video system of described operating unit.
For addressing the above problem, the present invention by the following technical solutions:
First aspect the invention provides a kind of operating unit, and the control display unit comprises:
Imaging device is used to take the imageable target image;
Recognition device is used for imageable target in the recognition imaging target image;
Calculation element is used for calculating the position from the imageable target after the identification of recognition device output, and non-vector mathematic(al) manipulation is carried out in described position, obtains the position of operating unit, the position signalling of output function unit.
Non-vector mathematic(al) manipulation mode in the aforementioned calculation device is linear transformation or quadratic transformation.
Above-mentioned linear transformation mode is imaging subject location/removable width mode of imaging device resolution * operating unit or matrixing mode.
The removable width in aforesaid operations unit is the resolution of display unit.
Above-mentioned imaging subject location is the center of imageable target or the centre of gravity place of imageable target.
Second aspect the invention provides a kind of video system, comprises display unit, also comprises:
Imaging device is used to take the imageable target image;
Recognition device is used for imageable target in the recognition imaging target image;
Calculation element is used for calculating the position from the imageable target after the identification of recognition device output, and non-vector mathematic(al) manipulation is carried out in described position, obtains the position of operating unit, the position signalling of output function unit;
Actuating unit is used to receive the operating unit position signalling from calculation element output, shows described pseudo operation unit at described display unit.
Non-vector mathematic(al) manipulation mode in the aforementioned calculation device is mode or the mode of matrixing or the mode of quadratic transformation of imaging subject location/removable width of imaging device resolution * operating unit.
The aforementioned calculation device also comprises:
The fitting a straight line calculation element is used for calculating the fitting a straight line of imageable target;
The angle calculation device is used for calculating the angle of described fitting a straight line and level.
Above-mentioned video-unit also comprises:
Position changing device is used for receiving the operating unit position of calculation element, and is transformed to the pseudo operation cell position in display unit.
Above-mentioned recognition device also comprises the binaryzation device, is used for the imageable target image binaryzation;
Searcher is used for the binary image after the described identification is communicated with search, obtains connected region;
Scoring apparatus is used for calculating the ratio apart from position between sum and the described connected region of described connected region fitting a straight line, obtains scoring;
Determine device,, determine the position of described imageable target according to the score value of scoring apparatus output.
The present invention passes through calculating and the conversion to the position of imageable target image, has improved the speed of the conversion speed and the signal response of operating unit and video system greatly.The present invention is described in detail below in conjunction with accompanying drawing, and these and other purpose of the present invention, feature, aspect and advantage will become more obvious.
Description of drawings
Fig. 1 is the outside synoptic diagram of video system embodiment 1;
Fig. 2 is the outside synoptic diagram of video system embodiment 2;
Fig. 3 is the internal frame diagram of video system embodiment;
Fig. 4 is the internal process block diagram of recognition device embodiment;
Fig. 5 is the internal process block diagram of binaryzation device embodiment;
Fig. 6 is the internal process block diagram of comparer embodiment;
Fig. 7 is the internal process block diagram of calculation element embodiment;
Fig. 8 is the outside synoptic diagram of operating unit embodiment;
Fig. 9 is the internal process block diagram of operating unit embodiment;
Figure 10 is the process flow diagram of control method embodiment;
Figure 11 is based on the process flow diagram of the step S3 embodiment on Figure 10.
Embodiment
In order to make those skilled in the art person understand the present invention program better, and above-mentioned purpose of the present invention, feature and advantage can be become apparent more, the present invention is further detailed explanation below in conjunction with embodiment and embodiment accompanying drawing.
Referring to figs. 1 to 3, with the television equipment telechirics of explanation as an embodiment who implements video system of the present invention.Fig. 1, Fig. 2 are the external views of example television arrangement telecontrol system, comprise televisor 1, display screen 2, service data are sent to the telepilot 4 of televisor.Be provided with monumented point 3 near display screen 2, the mark point sets that several monumented points 3 are formed is an imageable target 14.
Monumented point 3 is specially infrared LED, sends the light of infrared band.In order to enlarge the visible angle of the infrared light that monumented point 3 sent, can on monumented point 3, stick the floodlight film, the floodlight film is preferably thin frosted glass.Monumented point 3 can be arranged on any position that 4 of telepilots can photograph, and both can be arranged on (as shown in Figure 1) on the televisor 1, and monumented point 3 also can be independent is arranged on (as shown in Figure 2) on the device for marking 5.Monumented point 3 is for being distributed in the top that is positioned at precalculated position and predetermine one and the point of bottom respectively, and is positioned at the diacritical point on top and the bottom profile point line, and this diacritical point is unequal apart from the distance of the point of top and bottom.Point can be told the profile (as shape) of imageable target according to the distribution situation of point.Diacritical point can be distinguished each point according to the distance feature of this diacritical point and point.Point be 2 and more than, diacritical point be 1 and more than, point and diacritical point are many more, can represent the present position attitude of imageable target more.When imaging target 14 expression be a symmetry visual the time, in order to distinguish the direction of imageable target, in imageable target 14, also be provided with one and above direction point.Monumented point can also be formed a polygon, except that direction point, and the corresponding polygonal summit of each monumented point.The direction point can be positioned near some polygon vertexs.On the television system of present embodiment, preferred, imageable target 14 is equally spaced 4 monumented points.Monumented point also can for 6,8,10 and more than.In the view data of the imageable target 14 of being clapped.The predetermined distribution characteristicss of imageable target 14 are to tell this distribution characteristics the infraluminescence point from image, from a plurality of luminous points differentiation each to put that be point, diacritical point or direction point.
Fig. 3 is the interior views of example television telechirics, is divided into two classes: telepilot end and the TV end corresponding with the telepilot end.The telepilot end comprises imaging device 6, recognition device 7, calculation element 8, position changing device 9, transmitter 10; The TV end comprises imageable target 14, receiver 11, position changing device 9, performance element 13.Each monumented point 3 in the imageable target 14 sends infrared light.
In but telepilot was in opereating specification, imaging device 6 was taken the image of imageable target 14, and obtained the view data of the image of clapping.
Then this image enters in the recognition device 7 and discerns: in the view data of the image of clapping, high-brightness region can occur, these high-brightness regions are formed by the image of our imageable target and the light of some a spot of noise hot spots and other fluorescent light.Can be directly in the view data of bat image, each monumented point 3 image detection in the imageable target 14 that will occur as high-brightness region are the first-selected person of target image.Based on each detected high-brightness region, because target image has predetermined size range, only need compare by the high-brightness region that each is detected, see whether it has the size in the predetermined size range, during size in high-brightness region has predetermined size range, this high-brightness region is confirmed as the imageable target image, and when high-brightness region had the size that is in outside the predetermined size range, high-brightness region was confirmed as non-imageable target image.But in the present invention, in order to improve the precision of monitoring and identification, we are provided with binaryzation device 22 in recognition device 7, can will take the imageable target image binaryzation, the image of each monumented point 3 in the imageable target 14 is kept, and other the institute gray-level of having powerful connections is all erased.Present image binaryzation method is a lot, and threshold method, Boundary Detection method and region-growing method are arranged.Can be applied among the present invention.At this, below highlight threshold method application in the present invention.
As Fig. 5, shown in Figure 6, at first be entered as picture target image 26, the imageable target image is entered in the comparer 27 compare again.
Below for the concrete workflow of comparer 27: the imageable target image is divided into different zones according to picture element, calculate the picture element gradation of image of destination object (being the imageable target image of input comparator) this moment, in each zone, be provided with a gray threshold, the brightness value of each pixel is compared with gray threshold, be higher than this gray threshold, then be expressed as 1, be lower than this gray threshold, then be expressed as 0.Through binaryzation, the picture that is illustrated in the imageable target image is the digital picture by 0 and 1 expression, and this digital picture enters register 29 and preserves, and image data information is provided for next step work.
Final position for further accurately image target, in recognition device 7, also be provided with searcher 23 and scoring apparatus 24, as shown in Figure 4, the digital picture of high-brightness region or binaryzation is communicated with search, obtain independently connected region, calculate the ratio apart from position between sum and the described connected region of described connected region fitting a straight line again, obtain scoring, according to the score value of scoring apparatus output, determine the final position of described imageable target then.Described connected region also can be a high-brightness region hot spot independently, also can be that each monumented point in the imageable target 14 after the binaryzation is through (through behind the video camera imaging) forms after projective transformation hot spot.Described projective transformation referring in the geometry about the theorem and the character of projective transformation, do not give unnecessary details at this.For example: 4 equally spaced monumented points 3 that send infrared light are arranged in the imageable target 14, calculate the fitting a straight line of 4 monumented points 3 in the imageable target 14, and calculate each monumented point 3 to this fitting a straight line apart from sum, and the ratio of position between these 4 monumented points 3.Because our imageable target is four equally spaced luminous points, so through also having between the hot spot that (through behind the video camera imaging) forms after the projective transformation: 4 conllinear, the feature that spacing equates is provided with point system according to this principle, obtains a scoring of these several monumented points 3.Monumented point 3 is more little apart from sum to these several monumented point fitting a straight lines, and ratio is more near 1, and it is high more to mark.Their scoring is asked in all possible combinations (appoint get 4 points), and that of mark the highest organized and just thought the formed imageable target of our monumented point.
The method of the fitting a straight line of 4 monumented points 3 of aforementioned calculation can adopt the minimum method (being least square method) of the quadratic sum of asking residual error, ask the minimum method of absolute value sum of the minimum method of maximum value of residual error, residual error or other etc., with the least square method is example, structure fitting a straight line y=a+bx, the coordinate of supposing 4 monumented points is (xi, yi), i=1,2 ... N.N＝1，2，3，4。Separate following equation and obtain a, b value, obtain fitting a straight line.
Other modes are not given unnecessary details at this.
Picture signal after the identification of recognition device 7 outputs enters calculation element 8 and calculates, and obtains the position of imageable target 14.Calculation element 8 comprises as follows as shown in Figure 7: position calculating apparatus 35, and the position of the picture signal after the identification of calculating recognition device 7 outputs, this position signalling enters and carries out mathematic(al) manipulation in the mathematic(al) manipulation device 36 then.What position calculating apparatus 35 calculated is centre of gravity place, center or other precalculated positions of imageable target 14, can calculate the coordinate in described precalculated position, also can calculate the distance or the displacement of described precalculated position to a desired location, the distance that also can calculate described precalculated position to two desired location than or the displacement ratio, embodiment is not limit.Be preferably: the precalculated position is a centre of gravity place, and what position calculating apparatus 35 calculated is the two-dimensional coordinate of the centre of gravity place of imageable target 14.This centre of gravity place coordinate signal enters mathematic(al) manipulation device 36 and carries out mathematic(al) manipulation then, obtains the outgoing position of operating unit.
Described mathematic(al) manipulation mode is a lot, adopt the mathematic(al) manipulation of non-vector at this, such as: quadratic transformation, homogeneous coordinate transformation, Galilean transformation, Lorentz transformation, spherical coordinate transformation, projection matrix conversion, linear transformation etc., above mapping mode all are to adopt algorithmic transformation to obtain the final position coordinates of imageable target and then obtain final control data.
As: in quadratic transformation, with the precalculated position coordinate signal square directly as the final outgoing position of imageable target.Or in the projection matrix conversion, can earlier imageable target be set in the view coordinate, the definition model matrix is embodied as translation, rotation and the convergent-divergent of picture target image.Define corresponding projection matrix again, the coordinate position of imageable target is carried out projective transformation, from view coordinate, be transformed in the projected coordinate system imageable target, DYSK matrix once more, carry out the viewport transform and reduction, determine the size of imageable target image, determine the final position coordinate of imageable target according to the size of imageable target image.Other mapping modes such as homogeneous coordinate transformation, Galilean transformation, Lorentz transformation, spherical coordinate transformation, projection matrix conversion are all made accurate judgement to the direction of imageable target, displacement, space etc., do not enumerate one by one at this as embodiments of the invention.
In the present invention, preferably adopt the linear transformation mode.Below highlight the embodiment of linear transformation: promptly mathematic(al) manipulation device 36 carries out linear transformation, obtains the final outgoing position of operating unit.
The linear transformation mode that mathematic(al) manipulation device 36 adopts is a lot, and one of embodiment can adopt the matrixing form, supposes that display space is a linear space, sets a base.The centre of gravity place of imageable target 14 is set at matrix, by the matrix linear transformation, obtains another matrix coordinate then, this matrix coordinate is exactly the position of last operation unit.Such mode can be applied to the two-dimensional virtual space also can be applied to virtual three dimensional space, specifically is applied to three dimensions and can be described in detail in the back.We introduce another way at this, and mathematic(al) manipulation device 36 adopts imaging subject location/removable width mapping mode of imaging device resolution * operating unit.Wherein the removable width of operating unit is traditionally arranged to be the resolution of display unit.As embodiment: when imaging device 6 is 320 * 240 as the resolution of video camera, barycentric coordinates position by position calculating apparatus 35 outputs is (100.3,300.2), the zone of supposing pseudo operation cell moving on the tv display screen is that width is the image-region of (1024 * 768), then the operating unit position that obtains through linear transformation is: (100.3/320*1024,300.2/240*768).Such mode can be applied to the two-dimensional virtual space also can be applied to virtual three dimensional space, specifically is applied to virtual three dimensional space and can be described in detail in the back.Such mode is compared with other modes has a lot of advantages: 1, this mode has significantly reduced the complexity of computing, makes calculated response speed up.2, be easy in product, realize, especially in conventional control devices, only need to increase new algorithm and just can realize.Preferably in remote control system of TV set, it is the easiest to realize, and does not need to add in addition and put new device and just can realize.The manner can both cover all special circumstances in this control system.
In-position converting means 9, position changing device 9 is used for receiving the operating unit position of calculation element, and be transformed to the pseudo operation cell position, described mapping mode adopts in a viewing area, the pseudo operation cell position consistent with imaging subject location is set, and the mode of carrying out projective transformation, output pseudo operation cell position.The following function of its specific implementation:
1, according to the move operation unit, position of the operating unit of described calculation element output.Also can be according to move operation unit in a predetermined direction, the position of the operating unit of described calculation element output.Described " predetermined direction " can be operator's direction of being scheduled to or variable definite direction, also can be to depend on the fixing predetermined direction of display interface demonstration or variable definite direction, for example: operating unit can be configured to operator's appointed positions and move.Its embodiment is not limit.
2, position changing device 9 is an initial position (0 according to picture element of size setting of tv display screen, 0), this initial position is consistent with the initial position that imaging device is taken the centre of gravity place of imageable target, and the pseudo operation cell position and the imaging subject location that show on this picture element are consistent.Described concord refers to: one-to-one relationship or many-one relationship or many-to-one relationship.The resolution that depends on the pixel and the video camera of display unit such as tv display screen.When the resolution of picture element on the tv display screen and video camera was the same, the position of described pseudo operation unit and the centre of gravity place of imageable target were one to one; Picture element on tv display screen is greater than the resolution of video camera, and the position of described pseudo operation unit and the centre of gravity place of imageable target are many-to-one relations; Picture element on tv display screen is less than the resolution of video camera, and the position of described pseudo operation unit and the centre of gravity place of imageable target are the relations of one-to-many.Be preferably one-one relationship.
When position changing device 9 receives final position coordinate data from calculation element 8 output function unit, by projective transformation, obtain the picture element position of pseudo operation unit on tv display screen, and this picture element position is sent to TV pick-up attacnment.
The TV end corresponding with the telepilot end comprises receiver 11, performance element 13.Receiver 11 receives the operating unit remote position control instruction from telepilot 4 emissions, sends performance element 13 to, and performance element 13 is presented at the pseudo operation unit on the tv display screen.
The concrete function of position changing device 9 is realized both can realizing in telepilot, also can be realized in televisor.Preferably in televisor,, realizes position changing device 9 by being set.
When move the position of telepilot, televisor receives the position coordinate data of operating unit always, when receiving from the operating unit remote position control of telepilot 4 emissions, receiver 11 instructs, and when passing to position changing device 9, obtain the position of pseudo operation unit on tv display screen by the mode of position changing device 9 by projective transformation, and be shown on the tv display screen by performance element 13.When move the position of telepilot, televisor receives the position coordinate data of operating unit always, by the work of position changing device 9, obtain the position of pseudo operation unit on the TV display interface, this pseudo operation unit is along with the position of telepilot is moved and moved.
Operating unit is actual to be a kind of position signalling.Can be three dimensional signal, 2D signal or other high dimensional signals.Operating unit is the numeral performance that remote controller position changes, and telepilot is the performance a kind of in kind of operating unit, and the material object performance of operating unit can also be mobile phone, game operation handle or other opertaing devices.Operating unit shows that the visible form on the tv display screen is the pseudo operation unit, the form of expression of pseudo operation unit can be varied, Virtual Space formal freedom according to display screen is determined, the form that the pseudo operation cell list is shown on the tv display screen can be the cursor form, it also can be the handgrip shape, also can be the form that lovely cartoon character or other people like, as smiling face, apple, jewel, double-edged sword or the like.
In the Virtual Space that TV shows, be deposited at the colourful multimedia interface and the option icons of television system inside, can set by menu by the pseudo operation unit and select, after the pseudo operation unit receives move, select option icons.Realize predetermined function.
Along with the development of information network technique, video control apparatus will have increasing function.When the present invention can make user's operating operation equipment, for example during remote controller, in the virtual world that tv display screen shows, finish the virtual life of own avatar, as life, study, work, make money, consumption or the like.So just require the pseudo operation unit can be along with the rotation of user's body action or telepilot and change, for example: when avatar is carried out tennis tournament on virtual tennis competition field, tennis racket in the virtual skill is the pseudo operation unit, and the direction variation of pseudo operation unit is just rotated along with the direction of the telepilot in user's hand and changed.The linear transformation that the present invention adopts in calculation element has just well realized above-mentioned functions.As one of embodiment, linear transformation device 27 adopts the matrixing form, supposes that display space is a linear space, sets a base.The precalculated position of each monumented point in the imageable target 14 is set at matrix, by the matrix linear transformation, obtains another matrix coordinate then, this matrix coordinate is exactly the position of last pseudo operation unit.In three dimensions, can be set at cylindricality coordinate system or xyz coordinate, positive and negatively can represent direction.Angle and direction according to the position calculation of matrix coordinate itself and horizontal line, perpendicular line obtain the spatial movement displacement of pseudo operation unit.Two of embodiment, linear transformation device 27 adopts the mapping mode of imageable target centre of gravity place/removable width of imaging device resolution * operating unit.The removable width in general operation unit is set to the resolution of display unit.When imaging device 6 is 320 * 240 as the resolution of video camera, barycentric coordinates position by position calculating apparatus 35 outputs is (100.3,300.2), the zone of supposing pseudo operation cell moving on the tv display screen is that width is the image-region of (1024 * 768), then the operating unit position that obtains through linear transformation is: (100.3/320*1024,300.2/240*768).This moment can be in the hope of the straight line that is simulated by these several monumented points owing to having obtained the position of each monumented point 3 in the imageable target.This mode of trying to achieve fitting a straight line can adopt least square method or ask the minimum method of maximum value of residual error, the minimum method of absolute value sum of residual error etc., is example with the least square method, structure fitting a straight line y=a+bx, the coordinate of supposing 4 monumented points for (xi, yi), i=1,2 ... N.N＝1，2，3，4。Separate following equation and obtain a, b value, obtain fitting a straight line.
Set a horizontal line then, try to achieve this fitting a straight line and horizontal angle, this angle is exactly the direction in space that control operation unit such as telepilot move.Fitting a straight line and horizontal distance are the displacement of operating unit.This angle and displacement can be sent instruction by position changing device 9, and the pseudo operation unit is moved in a predetermined direction.The rotation of the telepilot that this angle is handed along with us and changing.
Or the position of having learnt each monumented point 3 in the imageable target, use the location estimation method of multiple spot coplane to calculate or calculate according to the corresponding relation of planar structure in affined transformation, obtain the pointing direction of telepilot 4, concrete calculating and the existing computing formula of implementation reference do not given unnecessary details one by one at this.
As from the foregoing, adopted mathematic(al) manipulation device 28 such account forms to bring very big advantage in calculation element 8: 1, this mode has significantly reduced the complexity of computing, has accelerated the response speed of control system and video equipment.2, this mode not only can have huge advantage in the two-dimensional virtual space, and the advantage in virtual three dimensional space is obvious especially.Especially this mode does not need existing opertaing device of picture such as game remote controller, the acceleration induction device must inside be set realizes control pseudo operation cell orientation and displacement, and directly by the such algorithm of linear transformation and coordinate system is set realizes control to pseudo operation cell orientation and displacement, not only saved the cost of control module greatly, and realized conveniently.For example adopted telepilot of the present invention, its cost is not only saved greatly, and can directly directly improve on traditional telepilot basis.Do not need picture some production line of remote control now, in order to satisfy its technical requirement, and will spend manpower, financial resources, novel telepilot structure and the internal process of material resources design.3, good reliability.Because this mode can adopt algorithm to write form, and present inside is provided with the technology of acceleration induction device and can has many-sided factors such as structure, technology.It is stronger to compare reliability of the present invention.
Below highlight a kind of operating unit of the present invention such as telepilot 4, Fig. 8 and Fig. 9 are the examples of the telepilot of one embodiment of the present of invention.To shown in Figure 9, some buttons commonly used are arranged on the telepilot 4 as Fig. 8, also be provided with imaging device 6 on the telepilot 4, imaging device 6 can be video camera, digital camera or other dot matrix cameras.Imaging device 6 is preferably the CCD camera.CCD camera outer setting has cutoff filter, and this cutoff filter is that cutoff frequency is the bandpass filter of 760nm-960nm, that is to say, has only the light of wavelength in the 760nm-960nm scope could pass through this optical filter.This frequency range belongs to the near-infrared region, and most of visible lights can both well be filtered out, stability and reliability that can Enhanced Imaging device 6.When the camera of telepilot 4 was taken imageable target, other visible light was well filtered out by cutoff filter, and the infrared light that the monumented point 3 of imageable target sends is well caught to take by camera and is formed into the picture target image.Preferably, imageable target 14 is equally spaced 4 monumented points 3.Monumented point 3 each all with view angle theta 1 irradiating infrared light, imaging device 6 receives incident light thereon with view angle theta 2.The operator grasps telepilot 4, each monumented point 3 that in the view angle theta 2 of imaging device 6, has imageable target, and telepilot 4 is present in the view angle theta 1 of each monumented point of imageable target, makes the imaging device 6 of telepilot 4 can receive the infrared light from the monumented point 3 of imageable target.In this scope, change the position and the direction of telepilot 4, can televideo equipment televisor especially.When the position and the direction of telepilot 4 exceeds described angle and position range, just can not carry out the operation of telepilot 4.Especially adopted the such mode of linear transformation because in calculation element, adopted above-mentioned mathematic(al) manipulation, make the various visual angles that can have each monumented point in the imageable target in the view angle theta 2 of imaging device 6, so do not need the focal length of active adjustment camera.Camera can be focused automatically according to the distance of imageable target, and shows the position of current operating unit on video display devices.Certainly accuracy and the stability in order to improve The whole control system also can be provided with a function button by telepilot 4, is used for the focal length of auxiliary adjustment camera.Can also regulate the pseudo range of telepilot and television system Virtual Space according to operator's needs.
Telepilot 4 also comprises recognition device 7, calculation element 8, position changing device 9, is all realized by treatment circuit.When the imaging target image enters recognition device 7, be introduced into binaryzation device 22 binaryzations in the recognition device 7.The binarization method that is adopted adopts the threshold method binaryzation, at first the imageable target image is entered in the comparer to compare.Comparer 27 comprises: calculate destination object gradation of image 30, threshold value be provided with 31, with threshold value compare 32 and output be provided with 33.The concrete workflow of comparer 27: the imageable target image is divided into different zones according to picture element, and calculate the picture element gradation of image of destination object (being the imageable target image of input comparator) this moment, is provided with a gray threshold in each zone.The brightness value of each pixel is compared with gray threshold, be higher than this gray threshold, then be expressed as 1, be lower than this gray threshold, then be expressed as 0.Such as: the gray-scale value of image is generally 0～255, and setting gray threshold is 100, and the brightness value of pixel＞100 then are denoted as 1 with this pixel, and the brightness value of pixel＜100 then are denoted as 0 with this pixel.
Through binaryzation, the picture that is illustrated in the imageable target image is the digital picture by 0 and 1 expression, and this digital picture enters register holds.The image of binaryzation enters searcher 23 again the image of described binaryzation is communicated with search afterwards, obtain independently connected region, enter the ratio apart from position between sum and the described connected region of the described connected region fitting a straight line of scoring apparatus 24 calculating again, obtain scoring, according to the score value of scoring apparatus 24 outputs, determine the final position of imageable target at last.The final position signal of imageable target enters the centre of gravity place coordinate that calculation element 8 calculates imageable target then, and the mode that described centre of gravity place coordinate carries out centre of gravity place/removable width of imaging device resolution * operating unit carried out linear transformation, the position coordinates of output function unit.The position coordinates signal in-position converting means 9 of this operating unit then, position changing device 9 is used for receiving the operating unit position of calculation element, and be transformed to the pseudo operation cell position, described mapping mode adopts in a viewing area, the pseudo operation cell position consistent with imaging subject location is set, and the mode of carrying out projective transformation, output pseudo operation cell position.Its specific implementation is: it is initial position (0 that position changing device 9 is set a picture element according to the size of tv display screen, 0), this initial position is consistent with the initial position that imaging device is taken the centre of gravity place of imageable target, and the pseudo operation cell position and the imaging subject location that show on this picture element are consistent.Described concord refers to: one-to-one relationship or many-one relationship or many-to-one relationship.The resolution that depends on the pixel and the video camera of display screen.When the resolution of picture element on the tv display screen and video camera was the same, the position of described pseudo operation unit and the centre of gravity place of imageable target were one to one; Picture element on tv display screen is greater than the resolution of video camera, and the position of described pseudo operation unit and the centre of gravity place of imageable target are many-to-one relations; Picture element on tv display screen is less than the resolution of video camera, and the position of described pseudo operation unit and the centre of gravity place of imageable target are the relations of one-to-many.Be preferably one-one relationship.When position changing device 9 receives final position coordinate data from calculation element 8 output function unit, by projective transformation, obtain the picture element position of pseudo operation unit on tv display screen, and send to video display devices by send infrared device 16 or radio frequency dispensing device.
A definite key 15 is arranged on telepilot 4, when the inter-process circuit is finished above function, press and determine key 15, should determine that signal sent to televisor by send infrared device 16, finish distant control function.The embodiments of the invention telepilot has significantly reduced the complexity of computing owing to adopted the linear transformation device in its calculation element, has accelerated the signal response speed of telepilot.The stability and the reliability of telechirics have been strengthened greatly.This telepilot is when finishing the operations function, and the button above it is also simplified greatly.A definite key 15 just can be realized the function that 10 of present normal remote control and above function button are realized.Alleviate operator's burden greatly.And this telepilot is along with the simplification of function button, and it also can realize optimization in outward appearance and structural design, becomes exquisite and practical more.
Also be provided with the direction navigation key on the telepilot, can finish promptly that the random direction of pseudo operation unit moves on the common TV, can also finish the direction navigation feature in the Virtual Space.The specific implementation of this direction navigation key is because the calculation element of telepilot inside also is provided with the fitting a straight line calculation element, is used for calculating the fitting a straight line of imageable target, and the angle calculation device, is used for calculating the angle of described fitting a straight line and level.Determined the position of each monumented point in the imageable target when, by the straight line of each monumented point match of calculating imageable target and the angle of level, this angle is exactly the direction of pseudo operation unit at virtual world, and this angle changes along with the rotation of the telepilot in operator's hand.By the calculating of calculation element, displacement and the direction of pseudo operation unit in the Virtual Space just determined like this.In virtual world, the virtual image that the operator sets is in the face of one fixedly during the project image of optional item, and the direction navigation key automatically switches to the project image of the optional item of just facing.As, when virtual image wanted to enter virtual movie institute, the direction navigation key can be according to the present position of telepilot, automatically the scene of just facing for the virtual image front is cut by cinema, after virtual image enters cinema, by the selection of telepilot to setting item, the selection of finishing the work.Further strengthened the function of telepilot.
Based on above control principle, we have proposed a kind of control method, and Figure 10 to Figure 11 is the example of TV remote-control method of an embodiment of control method of the present invention.
This TV remote-control method utilizes telepilot to control television display screen, and remote control thereof may further comprise the steps:
S1 is provided with imageable target; This imageable target 14 is arranged in 4 scopes that can take of telepilot, preferred, imageable target 14 is arranged on the televisor, preferred imageable target 14 is the monumented point 3 of 4 equidistant line spread.
S2 utilizes operating unit to take the imageable target image; Operating unit is a telepilot 4 at this, and the CCD camera that is provided with on the telepilot 4 is caught the instant image of taking imageable target, in order to strengthen the image effect of shooting, is provided with cutoff filter in the outside of CCD camera, is used for other visible light is filtered out.
S3 discerns the imageable target in the imageable target image; S3 is further comprising the steps of:
S31 is to the imageable target image binaryzation; Preferred binarization method is the threshold method binaryzation, and concrete principle of work and performing step see before and state, and do not give unnecessary details at this.
S32 is communicated with search to the image of binaryzation, obtains connected region;
S33 calculates the ratio apart from position between sum and the described connected region of described connected region fitting a straight line, obtains scoring; Preferably, the computing method of fitting a straight line adopt least square method.For example: calculate the fitting a straight line of each monumented point 3 in the imageable target, and calculate each monumented point 3 to this fitting a straight line apart from sum, and the ratio of position between described each monumented point 3 obtains a scoring of these several monumented points 3.
S34 determines the final position of described imageable target according to score value.
S4 calculates the position of the imageable target after the identification, and the linear transformation of imaging subject location/removable width of imaging device resolution * operating unit is carried out in described position, and the set positions after the conversion is the position of operating unit, the position of output function unit; Further comprising the steps of in S4:
S42 calculates the imageable target fitting a straight line.This step application is extensive, can calculate the fitting a straight line of connected region before step S33, in the time of also can being applied in the displacement of operating operation unit in the three dimensions and direction, calculates the fitting a straight line of the final position of the imageable target after the identification.
S43 calculates the angle of described fitting a straight line and level.By this step, the direction that this angle can be moved as operating unit.
Step after step S4 is as follows:
S41 is transformed to the pseudo operation cell position with the operating unit position signalling, and described mapping mode adopts on tv display screen, and the pseudo operation cell position consistent with imaging subject location is set, and the mode of carrying out projective transformation, output pseudo operation cell position.
The removable width of operating unit in step S4 is the removable width in pseudo operation unit.
The S5 display unit receives the also position signalling of display operation unit.When the pseudo operation cell position signal that receives from step S41, on tv display screen, show the pseudo operation unit.
The above, it only is the specific embodiment of the present invention, the present invention can also be applied in other video control apparatus, as computer system, man-machine games system, optical projection system, IPTV (Interactive personalTV and Interactive Protocol TV), cell phone system etc.Protection scope of the present invention is not limited thereto, and anyly is familiar with those skilled in the art in the technical scope that the present invention discloses, and the variation that can expect easily or replacement all should be encompassed within protection scope of the present invention.Therefore, protection scope of the present invention should be as the criterion with the protection domain that claim was defined.
Claims (10)
1, a kind of operating unit, the control display unit comprises:
Imaging device is used to take the imageable target image;
Recognition device is used for imageable target in the recognition imaging target image;
Calculation element is used for calculating the position from the imageable target after the identification of recognition device output, and non-vector mathematic(al) manipulation is carried out in described position, obtains the position of operating unit, the position signalling of output function unit.
2, operating unit according to claim 1 is characterized in that: the non-vector mathematic(al) manipulation mode in the described calculation element is linear transformation or quadratic transformation.
3, operating unit according to claim 2 is characterized in that: described linear transformation mode is imaging subject location/removable width mode of imaging device resolution * operating unit or matrixing mode.
4, operating unit according to claim 3 is characterized in that: the removable width of described operating unit is the resolution of display unit.
5, according to claim 3 or 4 arbitrary described operating units, it is characterized in that: described imaging subject location is the center of imageable target or the centre of gravity place of imageable target.
6, a kind of video system comprises display unit, also comprises:
Imaging device is used to take the imageable target image;
Recognition device is used for imageable target in the recognition imaging target image;
Calculation element is used for calculating the position from the imageable target after the identification of recognition device output, and non-vector mathematic(al) manipulation is carried out in described position, obtains the position of operating unit, the position signalling of output function unit;
Actuating unit is used to receive the operating unit position signalling from calculation element output, shows described pseudo operation unit at described display unit.
7, video system according to claim 6 is characterized in that: the non-vector mathematic(al) manipulation mode in the described calculation element is mode or the mode of matrixing or the mode of quadratic transformation of imaging subject location/removable width of imaging device resolution * operating unit.
8, video system according to claim 7 is characterized in that: described calculation element also comprises:
The fitting a straight line calculation element is used for calculating the fitting a straight line of imageable target;
The angle calculation device is used for calculating the angle of described fitting a straight line and level.
9, according to the arbitrary described video system of claim 6 to 8, it is characterized in that: described video-unit also comprises:
Position changing device is used for receiving the operating unit position of calculation element, and is transformed to the pseudo operation cell position in display unit.
10, according to the arbitrary described video system of claim 6 to 8, it is characterized in that: described recognition device also comprises the binaryzation device, is used for the imageable target image binaryzation;
Searcher is used for the binary image after the described identification is communicated with search, obtains connected region;
Scoring apparatus is used for calculating the ratio apart from position between sum and the described connected region of described connected region fitting a straight line, obtains scoring;
Determine device,, determine the position of described imageable target according to the score value of scoring apparatus output.
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| CN2008100136241A CN101281590B (en) | 2008-01-03 | 2008-01-03 | Operating unit as well as video system containing the same |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102498699A (en) * | 2009-04-27 | 2012-06-13 | 亚格斯有限公司 | Position tracking in a virtual world |
| CN102984563A (en) * | 2011-09-05 | 2013-03-20 | 富士通半导体（上海）有限公司 | Intelligent remote controlled television system and remote control method thereof |
| CN107358659A (en) * | 2017-07-21 | 2017-11-17 | 福建星网视易信息***有限公司 | More pictures fusion display methods and storage device based on 3D technology |
| CN112162718A (en) * | 2020-10-16 | 2021-01-01 | 深圳乐播科技有限公司 | Reverse interaction method, device, equipment and storage medium |
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2008
- 2008-01-03 CN CN2008100136241A patent/CN101281590B/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102498699A (en) * | 2009-04-27 | 2012-06-13 | 亚格斯有限公司 | Position tracking in a virtual world |
| CN102498699B (en) * | 2009-04-27 | 2015-12-16 | 亚格斯有限公司 | Location tracking in virtual world |
| CN102984563A (en) * | 2011-09-05 | 2013-03-20 | 富士通半导体（上海）有限公司 | Intelligent remote controlled television system and remote control method thereof |
| CN107358659A (en) * | 2017-07-21 | 2017-11-17 | 福建星网视易信息***有限公司 | More pictures fusion display methods and storage device based on 3D technology |
| CN107358659B (en) * | 2017-07-21 | 2021-06-22 | 福建星网视易信息***有限公司 | Multi-picture fusion display method based on 3D technology and storage device |
| CN112162718A (en) * | 2020-10-16 | 2021-01-01 | 深圳乐播科技有限公司 | Reverse interaction method, device, equipment and storage medium |
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| Publication number | Publication date |
|---|---|
| CN101281590B (en) | 2011-09-07 |
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