CN110264516A - A kind of light rifle laser pen direction position determination system - Google Patents
A kind of light rifle laser pen direction position determination system Download PDFInfo
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- CN110264516A CN110264516A CN201910443447.9A CN201910443447A CN110264516A CN 110264516 A CN110264516 A CN 110264516A CN 201910443447 A CN201910443447 A CN 201910443447A CN 110264516 A CN110264516 A CN 110264516A
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- 238000007792 addition Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
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- 239000004973 liquid crystal related substance Substances 0.000 description 1
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/20—Design optimisation, verification or simulation
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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Abstract
The invention discloses a kind of light rifle laser pens to be directed toward position determination system, and in particular to light rifle laser positioning technical field.When the light rifle laser pen based on particle swarm algorithm is started to work, the scene image of the photographic device intake of light rifle laser pen installation is obtained every preset time；According to preset display screen template, screen area is detected in the scene image of acquisition；When detecting screen area in the scene image in acquisition, according to the size of the central point of the scene image of the acquisition and the screen area detected, the coordinate on the display screen of the aiming point of light rifle laser pen in three dimensions is calculated；When the controller of the light rifle laser pen is triggered, the calculated coordinate is sent to display screen, luminous point is shown with designated position on control display screen.
Description
Technical field
The present invention relates to light rifle laser positioning technical fields, and in particular to a kind of light rifle laser pen direction position determines
System.
Background technique
Laser pen used in the projector of system, principle are to emit in column of red light to projection projection screen used, by
It can the clear hot spot that is irradiated of reflection laser pen in canvas rough surface.Since in recent years, LCD Panel is popularized,
Traditional projector and used projection screen are gradually replaced by LCD Panel, due to liquid crystal display scene plot
Face is smooth, and the hot spot that traditional laser pen is irradiated is without being clearly reflected into the eyes of participant, so as to cause laser pen
User, which can not understand, effectively indicates target.And traditional light rifle method instruction target is inaccurate.
Summary of the invention
The purpose of the present invention is in view of the above deficiencies, propose a kind of light rifle laser pen direction based on particle swarm algorithm
Position determination system can obtain light rifle laser pen front region by being mounted on the photographic device in front of light rifle laser pen
Scene image calculate the light rifle laser pen in three dimensions when detecting screen area in the scene image
Video screen on direction position.
The present invention specifically adopts the following technical scheme that
A kind of light rifle laser pen direction position determination system, including display screen detecting module, computing module, transmission mould
Block and three-dimensional template establish module,
The display screen detecting module is used to be detected in the scene image of acquisition according to preset display screen template
Screen area；
The computing module is used for when detecting screen area in the scene image in acquisition, according to the scene of the acquisition
Image
The size of central point and the screen area detected calculates taking aim at for light rifle laser pen by particle swarm algorithm
Coordinate on display screen in three dimensions on schedule；
The delivery module is used for when the controller of light rifle laser pen is triggered, and calculated coordinate is sent to sharp
The processing system of light pen, and location spot is shown by the coordinate position of wireless transmission on the screen；
The three-dimensional template establishes module for the camera lens according to preset characteristic point and photographic device in the display screen
The distance between information establish display screen template, and the display screen template is stored in the memory of light rifle laser pen
In.
Preferably, the display screen detecting module is detected screen area in the scene image of acquisition and is specifically included:
Preset display screen template is obtained from light rifle laser pen memory, and is obtained and shown from display screen template
Display screen curtain to camera head lens pre-determined distance, show screen default the ratio of width to height, show screen default size；
If there are a certain selection region satisfactions in scene image: the pixel of the preset number in selection region is taken the photograph to this
As the distance of device camera lens is equal to the pre-determined distance, the ratio of width to height of selection region is equal to the default the ratio of width to height, and the selection region
Size be equal to the default size, then determine the selection region for screen area.
Preferably, the computing module calculates on the display screen of the aiming point of light rifle laser pen in three dimensions
Coordinate includes:
Coordinate system is established by origin of the predeterminated position of the screen area detected, obtains the aiming point of light rifle laser pen
Coordinate in the screen area detected, the aiming point of light rifle laser pen are the central point of the scene image of the acquisition；
According to the proportionate relationship between the actual size for showing screen in the size of the screen area detected and three-dimensional space, light is determined
Coordinate on the display screen of the aiming point of line rifle laser pen in three dimensions.
Preferably, the system determine be directed toward position when, specifically includes the following steps:
Image capturing is obtained every preset time and is installed on light rifle laser pen when light rifle laser pen is started to work
Photographic device intake scene image；
It shows screen detecting, according to preset display screen template, detects screen area in the scene image of acquisition；
It calculates, when detecting screen area in the scene image in acquisition, the central point of the scene image of the root acquisition
And the size of the screen area detected, the aiming point of light rifle laser pen is calculated in three-dimensional space by particle swarm algorithm
In display screen on coordinate；
Calculated coordinate, when the controller of light rifle laser pen is triggered, is sent to the processing of laser pen by transmission
System, and location spot is shown by the coordinate position of wireless transmission on the screen.
Preferably, in image capturing, according in the display screen between preset characteristic point and the camera lens of photographic device
Range information establish display screen template, and the display screen template is stored in the memory of light rifle laser pen.
Preferably, the display screen detecting specifically includes, and obtains preset display from light rifle laser pen memory
Screen template, and display screen is obtained from display screen template to the pre-determined distances of camera head lens, the display screen
Default the ratio of width to height, the default size of the display screen, if there are a certain selection region satisfactions in scene image: in selection region
The distance of pixel to the camera head lens of preset number be equal to the pre-determined distance, the ratio of width to height of selection region is equal to should
Default the ratio of width to height, and the size of selection region is equal to the default size, then determines the selection region for screen area.
Preferably, the calculating specifically includes, and establishes coordinate system as origin using the predeterminated position of the screen area detected,
Coordinate of the aiming point of light rifle laser pen in the screen area detected is obtained, the aiming point of light rifle laser pen is should
The central point of the scene image of acquisition is big according to the reality for showing screen in the size of the screen area detected and three-dimensional space
Proportionate relationship between small determines the coordinate on the display screen of the aiming point of light rifle laser pen in three dimensions.
The invention has the following beneficial effects:
The light rifle laser pen is directed toward position determination system can be by the photographic device that is mounted in front of light rifle laser pen
The scene image for obtaining light rifle laser pen front region calculates this when detecting screen area in the scene image
It is excellent to positioning progress to use particle swarm algorithm for direction position on the video screen of light rifle laser pen in three dimensions
Change, more accurately to be indicated, even if the display screen smooth using surfaces such as LCD Panels, the light that laser pen is irradiated
Spot also can be clearly reflected into the eyes of participant, to enable a user to clearly effectively indicate target.
Detailed description of the invention
Fig. 1 is the flow diagram that the light rifle laser pen based on particle swarm algorithm is directed toward position determination system work；
Specific embodiment
A specific embodiment of the invention is described further in the following with reference to the drawings and specific embodiments:
As shown in Figure 1, a kind of light rifle laser pen is directed toward position determination system, including display screen detecting module, calculating
Module, delivery module and three-dimensional template establish module,
Show that screen detecting module is used to detect screen in the scene image of acquisition according to preset display screen template
Region；
Computing module is used for when detecting screen area in the scene image in acquisition, according to the scene image of the acquisition
's
The size of central point and the screen area detected calculates taking aim at for light rifle laser pen by particle swarm algorithm
Coordinate on display screen in three dimensions on schedule；
Delivery module is used for when the controller of light rifle laser pen is triggered, and calculated coordinate is sent to laser pen
Processing system, and location spot is shown by wireless transmission coordinate position on the screen；
Three-dimensional template establishes module for according in the display screen between preset characteristic point and the camera lens of photographic device
Range information establish display screen template, and the display screen template is stored in the memory of light rifle laser pen.
Display screen detecting module is detected screen area in the scene image of acquisition and is specifically included:
Preset display screen template is obtained from light rifle laser pen memory, and is obtained and shown from display screen template
Display screen curtain to camera head lens pre-determined distance, show screen default the ratio of width to height, show screen default size；
If there are a certain selection region satisfactions in scene image: the pixel of the preset number in selection region is taken the photograph to this
As the distance of device camera lens is equal to the pre-determined distance, the ratio of width to height of selection region is equal to the default the ratio of width to height, and the selection region
Size be equal to the default size, then determine the selection region for screen area.
Display screen detecting module detects screen area in the scene image of acquisition to include:
The preset display screen template is obtained from light rifle laser pen memory, and is obtained from display screen template
Show screen to the pre-determined distance of camera head lens, the default the ratio of width to height for showing screen, the default size of display screen；If
There are a certain selection region satisfactions in scene image: the pixel of the preset number in selection region to the camera head lens
In the first preset range, error of the ratio of width to height of selection region and the default the ratio of width to height exists the error of distance and the pre-determined distance
In second preset range, and the error of the size of selection region and the default size then determines to select in third preset range
Region is screen area.
The coordinate that computing module calculates on the aiming point display screen in three dimensions of light rifle laser pen includes:
Coordinate system is established by origin of the predeterminated position of the screen area detected, obtains the aiming point of light rifle laser pen
Coordinate in the screen area detected, the aiming point of light rifle laser pen are the central point of the scene image of the acquisition；
According to the proportionate relationship between the actual size for showing screen in the size of the screen area detected and three-dimensional space, light is determined
Coordinate on the display screen of the aiming point of line rifle laser pen in three dimensions.
System determine be directed toward position when, specifically includes the following steps:
Image capturing is obtained every preset time and is installed on light rifle laser pen when light rifle laser pen is started to work
Photographic device intake scene image；
It shows screen detecting, according to preset display screen template, detects screen area in the scene image of acquisition；
It calculates, when detecting screen area in the scene image in acquisition, the central point of the scene image of the root acquisition
And the size of the screen area detected, counterclockwise from the upper left corner, four apexes name A point, B to display screen respectively
Point, C point, D point, the distance of four vertex distance light rifle laser pens is respectively RA、RB、RC、RDIf light rifle laser pen and electricity
The linear distance of sub- display screen is d, then (desired indicate and light rifle is same for horizontal target point when light rifle laser pen level
The point of one horizontal plane) distance on four vertex of distance is respectively shown in formula (1)-(4):
Assuming that A point coordinate is (x1,y1), B point coordinate is (x2,y2), C point coordinate is (x3,y3), D point coordinate is (x4,y4),
Coordinate of ground point is (x, y), and actual range and the error for measuring distance are E.Using particle swarm algorithm to the x in formula (5), y's
Specific value carries out optimizing, acquires E minimum, i.e., most accurate horizontal target point:
Particle swarm algorithm (as shown in Equation 6)
Level meter is installed inside light rifle laser pen, when light rifle laser pen has inclination angle theta, calculates mesh according to formula (7)
Punctuate coordinate:
Final goal point coordinate is (x, y').
Calculated coordinate, when the controller of light rifle laser pen is triggered, is sent to the processing of laser pen by transmission
System, and location spot is shown by the coordinate position of wireless transmission on the screen.
In image capturing, believed according to the distance between camera lens of preset characteristic point and photographic device in the display screen
Breath establishes display screen template, and the display screen template is stored in the memory of light rifle laser pen.
Display screen detecting specifically includes, and preset display screen template is obtained from light rifle laser pen memory, and
Obtained from display screen template display screen to the pre-determined distances of camera head lens, the display screen default the ratio of width to height,
The default size of the display screen, if there are a certain selection region satisfactions in scene image: the preset number in selection region
The distances of pixel to the camera head lens be equal to the pre-determined distance, it is default wide high that the ratio of width to height of selection region is equal to this
Than, and the size of selection region is equal to the default size, then determines the selection region for screen area.
Calculating specifically includes, and establishes coordinate system by origin of the predeterminated position of the screen area detected, obtains light rifle
Coordinate of the aiming point of laser pen in the screen area detected, the aiming point of light rifle laser pen are the scene of the acquisition
The central point of image, according to the ratio between the actual size for showing screen in the size of the screen area detected and three-dimensional space
Example relationship determines the coordinate on the display screen of the aiming point of light rifle laser pen in three dimensions.
Certainly, the above description is not a limitation of the present invention, and the present invention is also not limited to the example above, this technology neck
The variations, modifications, additions or substitutions that the technical staff in domain is made within the essential scope of the present invention also should belong to of the invention
Protection scope.
Claims (7)
1. a kind of light rifle laser pen is directed toward position determination system, including display screen detecting module, computing module, delivery module
Module is established with three-dimensional template, which is characterized in that
The display screen detecting module is used to detect screen in the scene image of acquisition according to preset display screen template
Region；
The computing module is used for when detecting screen area in the scene image in acquisition, according to the scene image of the acquisition
Central point and the screen area detected size, existed by the aiming point that particle swarm algorithm calculates light rifle laser pen
The coordinate on display screen in three-dimensional space；
The delivery module is used for when the controller of light rifle laser pen is triggered, and calculated coordinate is sent to laser pen
Processing system, and location spot is shown by wireless transmission coordinate position on the screen；
The three-dimensional template establishes module for according in the display screen between preset characteristic point and the camera lens of photographic device
Range information establish display screen template, and the display screen template is stored in the memory of light rifle laser pen.
2. a kind of light rifle laser pen as described in claim 1 is directed toward position determination system, which is characterized in that the display screen
Curtain detecting module is detected screen area in the scene image of acquisition and is specifically included:
Preset display screen template is obtained from light rifle laser pen memory, and obtains display screen from display screen template
Curtain to camera head lens pre-determined distance, show screen default the ratio of width to height, show screen default size；
If there are a certain selection region satisfactions in scene image: the pixel of the preset number in selection region to the camera shooting fills
The distance for setting camera lens is equal to the pre-determined distance, and the ratio of width to height of selection region is equal to the default the ratio of width to height, and the selection region is big
It is small to be equal to the default size, then determine the selection region for screen area.
3. a kind of light rifle laser pen as described in claim 1 is directed toward position determination system, which is characterized in that the calculating mould
The coordinate that block calculates on the aiming point display screen in three dimensions of light rifle laser pen includes:
Coordinate system is established by origin of the predeterminated position of the screen area detected, obtains the aiming point of light rifle laser pen at this
The coordinate in screen area detected, the aiming point of light rifle laser pen are the central point of the scene image of the acquisition；According to
The proportionate relationship between the actual size of screen is shown in the size and three-dimensional space of the screen area detected, determines light rifle
Coordinate on the display screen of the aiming point of laser pen in three dimensions.
4. a kind of light rifle laser pen as described in claim 1 is directed toward position determination system, which is characterized in that the system is true
When being directed toward position surely, specifically includes the following steps:
Image capturing is taken the photograph when light rifle laser pen is started to work every what is installed on preset time acquisition light rifle laser pen
The scene image absorbed as device；
It shows screen detecting, according to preset display screen template, detects screen area in the scene image of acquisition；
Calculate, when detecting screen area in the scene image in acquisition, the central point of the scene image of the root acquisition and should
The size of the screen area detected calculates the aiming point of light rifle laser pen in three dimensions by particle swarm algorithm
Show the coordinate on screen；
Calculated coordinate, when the controller of light rifle laser pen is triggered, is sent to the processing system of laser pen by transmission,
And location spot is shown by the coordinate position of wireless transmission on the screen.
5. a kind of light rifle laser pen as claimed in claim 4 is directed toward position determination system, which is characterized in that in image capturing
In, display screen mould is established according to the distance between camera lens of preset characteristic point and photographic device information in the display screen
Plate, and the display screen template is stored in the memory of light rifle laser pen.
6. a kind of light rifle laser pen as claimed in claim 4 is directed toward position determination system, which is characterized in that the display screen
Curtain detecting specifically includes, and obtains preset display screen template from light rifle laser pen memory, and from display screen template
It is middle obtain display screen to the pre-determined distance of camera head lens, default the ratio of width to height of the display screen, the display screen it is pre-
If size, if there are a certain selection region satisfactions in scene image: the pixel of the preset number in selection region is taken the photograph to this
As the distance of device camera lens is equal to the pre-determined distance, the ratio of width to height of selection region is equal to the default the ratio of width to height, and selection region
Size is equal to the default size, then determines the selection region for screen area.
7. a kind of light rifle laser pen as claimed in claim 4 is directed toward position determination system, which is characterized in that the calculating tool
Body includes establishing coordinate system by origin of the predeterminated position of the screen area detected, obtaining the aiming point of light rifle laser pen
Coordinate in the screen area detected, the aiming point of light rifle laser pen are the central point of the scene image of the acquisition,
According to the proportionate relationship between the actual size for showing screen in the size of the screen area detected and three-dimensional space, light is determined
Coordinate on the display screen of the aiming point of line rifle laser pen in three dimensions.
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| CN201910443447.9A CN110264516A (en) | 2019-05-27 | 2019-05-27 | A kind of light rifle laser pen direction position determination system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111833581A (en) * | 2020-07-14 | 2020-10-27 | 北京仁光科技有限公司 | Multi-screen laser remote control method and system |
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