CN204013938U - Based on the intelligent remote control system of OTT TV - Google Patents

Abstract

The utility model provides an intelligent remote control system based on OTT TV, wherein the control system includes a remote control sheet and its OTT box; the remote control sheet includes an MCU main controller, a 3-axis accelerometer sensor, a 3-axis gyroscope sensor, Axis magnetometer sensor, bluetooth sending module, described MCU main controller is connected with 3-axis accelerometer sensor, 3-axis gyroscope sensor, 3-axis magnetometer sensor, bluetooth sending module respectively; Described OTT box includes control chip, bluetooth A receiving module, the control chip is connected with the bluetooth receiving module. The utility model provides an intelligent remote control system based on an OTT TV and a control method thereof. Traditional mechanical buttons are no longer needed, but through the integration of voice recognition and gesture recognition technology, it can not only input voice, but also combine sensors to control the movement of the screen cursor and recognize a series of simple to complex gestures, so as to further realize richer content .

Description

Intelligent remote control system based on OTT TV

technical field

The utility model relates to the technical field of communication, in particular to an intelligent remote control system based on an OTT TV and a control method thereof.

Background technique

The OTT box is a small computing terminal device. As long as it is simply connected to a traditional TV through HDMI or color difference cable technology, it can realize web browsing, online video playback, and application installation on the traditional TV. It can even connect mobile phones, Photos and videos from the tablet are projected to the big screen TV in the home. The OTT box must be used with a remote control. At present, there are two traditional remote control methods: one is based on the traditional button-type infrared remote control, and the other is based on the mobile phone remote control app. The mobile phone remote control app is implemented by simulating buttons, which are essentially the same as traditional remote controls. This mechanical button method is relatively poor in user experience. In view of this, people began to think about replacing the traditional remote control with a somatosensory method. The emerging flying mouse remote control on the market has basically realized the movement control of the remote control as a cursor on the Internet TV screen by using the movement of the remote control. It acts as a gamepad in the game, but the flying mouse remote control can only realize its movement on the screen as a cursor, and the operation sensitivity is not high, and the remote control of the prior art cannot realize gesture recognition, that is, it cannot Make the OTT box to execute the corresponding operation command.

To sum up, the traditional remote control is based on the button principle, and its operation method is too mechanized; although the existing somatosensory remote control can realize the control of the cursor, due to the large error in the movement data of the control cursor, the operation is not sensitive enough. The experience is poor; and the existing somatosensory remote control cannot realize gesture recognition, and the user performance is not good.

Utility model content

The purpose of the utility model is to solve the above-mentioned defects in the prior art, and provide an OTT smart box remote control sheet that can not only precisely control the movement of the cursor, but also realize gesture recognition.

An intelligent remote control system based on OTT TV, including a remote control sheet and an OTT box thereof;

The remote control sheet includes an MCU main controller, a 3-axis accelerometer sensor, a 3-axis gyroscope sensor, a 3-axis magnetometer sensor, a Bluetooth sending module, a capacitive touch switch, an LED indicator light, and a battery connected to the MCU main controller respectively. Voltage detection circuit, MIC voice input module;

The OTT box includes a control chip and a bluetooth receiving module connected with the control chip.

Further, in the above-mentioned intelligent remote control system based on OTT TV, the remote control sheet includes a MIC voice input module, and the MIC voice input module is connected to the MCU main controller.

Further, in the above-mentioned intelligent remote control system based on OTT TV, the remote control sheet includes a battery voltage detection circuit, and the MCU main controller is connected to the battery voltage detection circuit.

Further, in the above-mentioned intelligent remote control system based on OTT TV, the OTT box includes a camera, and the camera is connected to the control chip.

The intelligent remote control system based on OTT TV provided by the utility model, since the 3-axis accelerometer sensor, the 3-axis gyroscope sensor and the 3-axis magnetometer sensor are integrated on the remote control chip, the complementary filtering technology is first used on the MCU main controller to eliminate The error of the gyroscope is then based on the processed sensor data to achieve more accurate remote control. The intelligent remote control system based on OTT TV provided by the utility model can control the movement of the screen cursor, recognize a series of simple to complex gestures, and also support voice input, can be used as a game handle, and can also realize real Enhanced, so that the remote control can further achieve richer content. In addition, the remote control piece of the utility model has a small and exquisite appearance, and can be held by hand, or buckled on a matching bracelet or finger ring for use, which further improves user experience.

Description of drawings

Fig. 1 is the structural representation of the utility model based on the intelligent remote control system of OTT TV;

Fig. 2 is the top view of the utility model OTT box intelligent remote control sheet;

Fig. 3 is the perspective view of the utility model OTT box intelligent remote control sheet;

Fig. 4 is a schematic diagram of speech recognition;

Figure 5 is a schematic diagram of low voltage detection.

Detailed ways

In order to make the purpose, technical solutions and advantages of the utility model clearer, the technical solutions in the utility model are described clearly and completely below. Obviously, the described embodiments are some embodiments of the utility model, rather than all implementations example. Based on the embodiments of the present utility model, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of the present utility model.

Fig. 1 is the structural representation of the intelligent remote control system based on OTT TV of the present utility model, as shown in Figure 1, the intelligent remote control system based on OTT TV provided by the utility model includes remote control sheet and OTT box thereof;

The remote control sheet includes an MCU main controller, a 3-axis accelerometer sensor, a 3-axis gyroscope sensor, a 3-axis magnetometer sensor, a Bluetooth sending module, a capacitive touch switch, and an LED indicator light connected to the MCU main controller respectively;

The OTT box includes a control chip and a bluetooth receiving module connected to the control chip, and the bluetooth receiving module corresponds to the bluetooth sending module integrated in the remote control chip.

The intelligent remote control based on OTT TV provided by the utility model, since a 3-axis accelerometer sensor, a 3-axis gyroscope sensor and a 3-axis magnetometer sensor are integrated on the remote control chip at the same time, the MCU main controller of the remote control chip is based on the 3-axis acceleration Gauge sensor, 3-axis gyroscope sensor and 3-axis magnetometer sensor respectively measure raw acceleration a _0(x,y,z) , angular velocity g _0(x,y,z) , and magnetic field measurement value m _{0(x,y, z)} , and use complementary filtering technology to correct the original data g _0(x,y,z) measured by the 3-axis gyroscope sensor, and then send the corrected angular velocity g′ _0(x,y,z) via Bluetooth The module is sent to the OTT box, and the control chip of the OTT box realizes the following functions according to the data measured by g′ _{0(x, y, z)} and other sensors:

1. Realize the control of screen cursor movement based on the filtered angular velocity value;

Specifically, the MCU main controller uses the angular velocity g′ _{0(x, y, z)} corrected by filtering to calculate the moving distance Δx of the screen cursor on the x-axis and the moving distance Δy on the Y-axis within a sampling interval T , and then, the MCU main controller sends the moving distance Δx of the screen cursor on the x-axis and the moving distance Δy of the screen cursor on the Y-axis to the Bluetooth receiving module of the OTT box through the Bluetooth sending module, and the control chip of the OTT box according to the received Δx , Δy executes the relative displacement distance of the remote control piece on the screen, so that the user can see the movement of the cursor on the screen. Because the utility model adopts complementary filtering technology, the movement of the cursor is more accurate and sensitive.

2. Realize the recognition of simple gestures in 6 directions of up, down, left, right, front and back based on the acceleration value, and realize the recognition of simple gestures in 2 directions of left and right based on the filtered angular velocity value, and then execute corresponding commands according to the movements in these 8 directions.

Specifically, the user holds a remote control sheet and draws a gesture in the air, and the three-axis acceleration sensor of the remote control sheet outputs the original three-axis acceleration measurement value a _{0 (x, y, z)} according to the motion state of the remote control sheet; Use the quaternion to convert a _0(x,y,z) from the body coordinate system to the geographic coordinate system a′ _0(x,y,z) , and the MCU main controller will a′ _0(x,y,z) through The Bluetooth wirelessly sends it to the OTT box, and the OTT box pre-stores a threshold (the threshold includes thresholds in six directions, front, back, left, right, up, down, and each threshold has a corresponding value range on the x, y, and z axes), Compare the received a' _{0 (x, y, z)} of the OTT box with the threshold value of the value range of the corresponding coordinate axis, and then determine the movement direction of the remote control piece according to the comparison result, and then the control chip of the OTT box performs the motion according to the determined movement direction. Execute the corresponding command.

3. Based on the acceleration value and the filtered angular velocity value, use the existing complex gesture recognition technology to perform complex gesture recognition, and users can customize corresponding execution commands for different gestures.

4. Based on the acceleration value, magnetic field value and filtered angular velocity value as the input value of the somatosensory game, the remote control piece acts as a gamepad.

Specifically, the realization of this function includes the following steps:

(1) The user holds a remote control chip and draws a gesture in the air, and each sensor of the remote control chip outputs the original three-axis acceleration measurement value a _0(x,y,z) and three-axis angular velocity measurement value g ₀ according to the motion trajectory of the remote control chip _(x,y,z) , three-axis magnetic field measurement value m _0(x,y,z) ;

_{( 2} ) The MCU main controller calculates _the angular velocity value g′ _{0(x ,y,z)} , the bluetooth sending module wirelessly transmits g′ _0(x,y,z) and the three-axis acceleration measurement value a _0(x,y,z) to the OTT box;

(3) The control chip of the OTT box is based on the received acceleration a _0(x,y,z) and angular velocity g′ _0(x,y,z) to realize the recognition of complex gestures or realize the function of the remote control tablet as a somatosensory gamepad .

Further, in order to improve the performance, the utility model is based on the intelligent remote control system of the OTT TV, the remote control sheet includes a battery voltage detection circuit, and the MCU main controller is connected to the battery voltage detection circuit. The OTT box includes a camera, and the camera is connected with a control chip.

Figure 5 is a schematic diagram of low-voltage detection. As shown in Figure 5, the remote controller has an AD conversion circuit for battery power detection, and its battery voltage alarm value and low-voltage sleep value are set through the program. When the detected voltage value is lower than the low voltage alarm value, the remote control chip reminds the user that the battery power is low by making the indicator light flash. When the detected voltage value is lower than the low-voltage sleep value, the remote control chip will automatically sleep, and the indicator light will be on for a period of time before sleep to remind the user to charge.

The utility model uses the MIC voice input module to collect user voice input information, and sends it to the OTT box, and uses the existing voice recognition technology to recognize the user's voice. When the OTT box is connected with an external camera, it can capture and locate the remote control film, and use the existing reality augmentation technology to change and control the display mode of the remote control film on the screen. In order to realize the wireless transmission of the remote control sheet and the OTT box, the utility model adopts bluetooth technology for data transmission. In order to improve the battery life of the remote control chip, the utility model adds a power management mechanism to the remote control chip.

The OTT box smart remote control piece has an exquisite appearance, only the size of a dial, without any mechanical buttons, it can be held by hand, or buckled on a matching bracelet or ring, as a smart wearable device for remote control. It integrates a 9-axis sensor module, a microprocessor, a Bluetooth module, a microphone, an LED indicator, a battery voltage detection circuit and a capacitive touch switch. When the remote control chip is in a sleep state, touching the switch can wake up the remote control chip. In the working state, touch this switch to enter the main menu with one key, which is equivalent to the "home" key.

The block diagram of the OTT box smart remote control sheet and the OTT box hardware is shown in Figure 1, and the 3D renderings of the exterior design are shown in Figures 2 and 3. The concave part in the middle of the top layer of the remote control sheet is the touch switch, and the surrounding area is the floodlight area of the indicator light.

The utility model also provides an intelligent remote control system control method based on OTT TV.

Specifically, the 9-axis sensor includes a 3-axis accelerometer sensor for measuring acceleration, a 3-axis gyro sensor for measuring angular velocity, and a 3-axis magnetometer sensor for measuring magnetic field, a 3-axis accelerometer sensor and a 3-axis gyro The gyroscope sensor measures the acceleration and angular velocity of the sensor (that is, the remote control tablet), and the 3-axis gyro sensor measures the geomagnetic field where the remote control tablet is located. Since the original angular velocity measured by the gyroscope contains drift errors, it will be difficult to apply it directly. Larger errors are caused. Therefore, at first the MCU main controller is required to filter the original angular velocity. The utility model uses complementary filtering technology to correct the angular velocity. The specific implementation steps are as follows:

(1) The MCU main controller obtains the original measurement values of the 3-axis accelerometer, 3-axis gyroscope, and 3-axis magnetometer respectively according to the motion state of the remote control chip, where a _0(x,y,z) represents the three-axis acceleration The original measurement value, g _0(x,y,z) represents the original measurement value of the three-axis angular velocity, m _0(x,y,z) represents the original measurement value of the three-axis magnetic field;

(2) The MCU main controller calculates the normalized value according to the obtained original measurement value a _0(x,y,z) , g _0(x,y,z) , m _0(x,y,z) , respectively expressed as a _x,y,z , g _x,y,z , m _x,y,z ;

(3) The MCU main controller calculates the error vector e _{x,y,z according to a x,y,z} , g _x,y,z , m _{x, y,z} ,

$\left\{\begin{array}{c}{\mathrm{<span\; class="notranslate">\; e</span>}}_{\mathrm{<span\; class="notranslate">\; x</span>}}<span\; class="notranslate">\; =</span><span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; a</span>}}_{\mathrm{<span\; class="notranslate">\; the\; y</span>}}<span\; class="notranslate">\; *</span>{\mathrm{<span\; class="notranslate">\; v</span>}}_{\mathrm{<span\; class="notranslate">\; z</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; a</span>}}_{\mathrm{<span\; class="notranslate">\; z</span>}}<span\; class="notranslate">\; *</span>{\mathrm{<span\; class="notranslate">\; v</span>}}_{\mathrm{<span\; class="notranslate">\; the\; y</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; +</span><span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; m</span>}}_{\mathrm{<span\; class="notranslate">\; the\; y</span>}}<span\; class="notranslate">\; *</span>{\mathrm{<span\; class="notranslate">\; w</span>}}_{\mathrm{<span\; class="notranslate">\; z</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; m</span>}}_{\mathrm{<span\; class="notranslate">\; z</span>}}<span\; class="notranslate">\; *</span>{\mathrm{<span\; class="notranslate">\; w</span>}}_{\mathrm{<span\; class="notranslate">\; the\; y</span>}}<span\; class="notranslate">\; )</span>\\ {\mathrm{<span\; class="notranslate">\; e</span>}}_{\mathrm{<span\; class="notranslate">\; the\; y</span>}}<span\; class="notranslate">\; =</span><span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; a</span>}}_{\mathrm{<span\; class="notranslate">\; z</span>}}<span\; class="notranslate">\; *</span>{\mathrm{<span\; class="notranslate">\; v</span>}}_{\mathrm{<span\; class="notranslate">\; x</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; a</span>}}_{\mathrm{<span\; class="notranslate">\; x</span>}}<span\; class="notranslate">\; *</span>{\mathrm{<span\; class="notranslate">\; v</span>}}_{\mathrm{<span\; class="notranslate">\; z</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; +</span><span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; m</span>}}_{\mathrm{<span\; class="notranslate">\; z</span>}}<span\; class="notranslate">\; *</span>{\mathrm{<span\; class="notranslate">\; w</span>}}_{\mathrm{<span\; class="notranslate">\; x</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; m</span>}}_{\mathrm{<span\; class="notranslate">\; x</span>}}<span\; class="notranslate">\; *</span>{\mathrm{<span\; class="notranslate">\; w</span>}}_{\mathrm{<span\; class="notranslate">\; z</span>}}<span\; class="notranslate">\; )</span>\\ {\mathrm{<span\; class="notranslate">\; e</span>}}_{\mathrm{<span\; class="notranslate">\; z</span>}}<span\; class="notranslate">\; =</span><span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; a</span>}}_{\mathrm{<span\; class="notranslate">\; x</span>}}<span\; class="notranslate">\; *</span>{\mathrm{<span\; class="notranslate">\; v</span>}}_{\mathrm{<span\; class="notranslate">\; the\; y</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; a</span>}}_{\mathrm{<span\; class="notranslate">\; the\; y</span>}}<span\; class="notranslate">\; *</span>{\mathrm{<span\; class="notranslate">\; v</span>}}_{\mathrm{<span\; class="notranslate">\; x</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; +</span><span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; m</span>}}_{\mathrm{<span\; class="notranslate">\; x</span>}}<span\; class="notranslate">\; *</span>{\mathrm{<span\; class="notranslate">\; w</span>}}_{\mathrm{<span\; class="notranslate">\; the\; y</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; m</span>}}_{\mathrm{<span\; class="notranslate">\; the\; y</span>}}<span\; class="notranslate">\; *</span>{\mathrm{<span\; class="notranslate">\; w</span>}}_{\mathrm{<span\; class="notranslate">\; x</span>}}<span\; class="notranslate">\; )</span>\end{array}\right.<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; ;</span>$

In the formula, v _{x, y, z} are the acceleration reference vectors, that is, the values after the gravity unit vector in the geographic coordinate system is converted to the body coordinate system, and the quaternion vector at the current moment is expressed as Q=q ₀ +q ₁ i+ q ₂ j+q ₃ k (the quaternions q ₀ , q ₁ , q ₂ , and q ₃ are initialized to 1,0,0,0 respectively), then the calculation formulas of v _x,y,z are as follows:

$\left\{\begin{array}{c}{\mathrm{<span\; class="notranslate">\; v</span>}}_{\mathrm{<span\; class="notranslate">\; x</span>}}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; 2</span>}<span\; class="notranslate">\; *</span><span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; q</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}{\mathrm{<span\; class="notranslate">\; q</span>}}_{\mathrm{<span\; class="notranslate">\; 3</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; q</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}}{\mathrm{<span\; class="notranslate">\; q</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; )</span>\\ {\mathrm{<span\; class="notranslate">\; v</span>}}_{\mathrm{<span\; class="notranslate">\; the\; y</span>}}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; 2</span>}<span\; class="notranslate">\; *</span><span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; q</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}}{\mathrm{<span\; class="notranslate">\; q</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; q</span>}}_{\mathrm{<span\; class="notranslate">\; 3</span>}}{\mathrm{<span\; class="notranslate">\; q</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; )</span>\\ {\mathrm{<span\; class="notranslate">\; v</span>}}_{\mathrm{<span\; class="notranslate">\; z</span>}}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; q</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}}{\mathrm{<span\; class="notranslate">\; q</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; q</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}{\mathrm{<span\; class="notranslate">\; q</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; q</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}{\mathrm{<span\; class="notranslate">\; q</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; q</span>}}_{\mathrm{<span\; class="notranslate">\; 3</span>}}{\mathrm{<span\; class="notranslate">\; q</span>}}_{\mathrm{<span\; class="notranslate">\; 3</span>}}\end{array}\right.<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 2</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; ;</span>$

w _{x, y, z} is the magnetic field reference vector, which is the value after the magnetic field unit vector in the geographic coordinate system is converted to the body coordinate system. The magnetic field unit vector in the geographic coordinate system is set to b _{x, y, z} , and the calculation formula is as follows :

$\left\{\begin{array}{c}{\mathrm{<span\; class="notranslate">\; b</span>}}_{\mathrm{<span\; class="notranslate">\; x</span>}}<span\; class="notranslate">\; =</span>\sqrt{\begin{array}{c}{<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 2</span>}{\mathrm{<span\; class="notranslate">\; m</span>}}_{\mathrm{<span\; class="notranslate">\; z</span>}}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; q</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}{\mathrm{<span\; class="notranslate">\; q</span>}}_{\mathrm{<span\; class="notranslate">\; 3</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; q</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}}{\mathrm{<span\; class="notranslate">\; q</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; 2</span>}{\mathrm{<span\; class="notranslate">\; m</span>}}_{\mathrm{<span\; class="notranslate">\; the\; y</span>}}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; q</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}{\mathrm{<span\; class="notranslate">\; q</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; q</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}}{\mathrm{<span\; class="notranslate">\; q</span>}}_{\mathrm{<span\; class="notranslate">\; 3</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; 2</span>}{\mathrm{<span\; class="notranslate">\; m</span>}}_{\mathrm{<span\; class="notranslate">\; x</span>}}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 0.5</span>}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; q</span>}}_{\mathrm{<span\; class="notranslate">\; 3</span>}}{\mathrm{<span\; class="notranslate">\; q</span>}}_{\mathrm{<span\; class="notranslate">\; 3</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; q</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}{\mathrm{<span\; class="notranslate">\; q</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}\\ <span\; class="notranslate">\; +</span>{<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 2</span>}{\mathrm{<span\; class="notranslate">\; m</span>}}_{\mathrm{<span\; class="notranslate">\; z</span>}}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; q</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}{\mathrm{<span\; class="notranslate">\; q</span>}}_{\mathrm{<span\; class="notranslate">\; 3</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; q</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}}{\mathrm{<span\; class="notranslate">\; q</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; 2</span>}{\mathrm{<span\; class="notranslate">\; m</span>}}_{\mathrm{<span\; class="notranslate">\; x</span>}}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; q</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}{\mathrm{<span\; class="notranslate">\; q</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; q</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}}{\mathrm{<span\; class="notranslate">\; q</span>}}_{\mathrm{<span\; class="notranslate">\; 3</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; 2</span>}{\mathrm{<span\; class="notranslate">\; m</span>}}_{\mathrm{<span\; class="notranslate">\; the\; y</span>}}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 0.5</span>}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; q</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}{\mathrm{<span\; class="notranslate">\; q</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; q</span>}}_{\mathrm{<span\; class="notranslate">\; 3</span>}}{\mathrm{<span\; class="notranslate">\; q</span>}}_{\mathrm{<span\; class="notranslate">\; 3</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}\end{array}}\\ {\mathrm{<span\; class="notranslate">\; b</span>}}_{\mathrm{<span\; class="notranslate">\; the\; y</span>}}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; 0</span>}\\ {\mathrm{<span\; class="notranslate">\; b</span>}}_{\mathrm{<span\; class="notranslate">\; z</span>}}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; 2</span>}{\mathrm{<span\; class="notranslate">\; m</span>}}_{\mathrm{<span\; class="notranslate">\; x</span>}}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; q</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}{\mathrm{<span\; class="notranslate">\; q</span>}}_{\mathrm{<span\; class="notranslate">\; 3</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; q</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}}{\mathrm{<span\; class="notranslate">\; q</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; 2</span>}{\mathrm{<span\; class="notranslate">\; m</span>}}_{\mathrm{<span\; class="notranslate">\; the\; y</span>}}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; q</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}{\mathrm{<span\; class="notranslate">\; q</span>}}_{\mathrm{<span\; class="notranslate">\; 3</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; q</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}}{\mathrm{<span\; class="notranslate">\; q</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; 2</span>}{\mathrm{<span\; class="notranslate">\; m</span>}}_{\mathrm{<span\; class="notranslate">\; z</span>}}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 0.5</span>}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; q</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}{\mathrm{<span\; class="notranslate">\; q</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; q</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}{\mathrm{<span\; class="notranslate">\; q</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; )</span>\end{array}\right.<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 3</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; ;</span>$

$\left\{\begin{array}{c}{\mathrm{<span\; class="notranslate">\; w</span>}}_{\mathrm{<span\; class="notranslate">\; x</span>}}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; 2</span>}{\mathrm{<span\; class="notranslate">\; b</span>}}_{\mathrm{<span\; class="notranslate">\; x</span>}}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 0.5</span>}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; q</span>}}_{\mathrm{<span\; class="notranslate">\; 3</span>}}{\mathrm{<span\; class="notranslate">\; q</span>}}_{\mathrm{<span\; class="notranslate">\; 3</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; q</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}{\mathrm{<span\; class="notranslate">\; q</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; 2</span>}{\mathrm{<span\; class="notranslate">\; b</span>}}_{\mathrm{<span\; class="notranslate">\; z</span>}}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; q</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}{\mathrm{<span\; class="notranslate">\; q</span>}}_{\mathrm{<span\; class="notranslate">\; 3</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; q</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}}{\mathrm{<span\; class="notranslate">\; q</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; )</span>\\ {\mathrm{<span\; class="notranslate">\; w</span>}}_{\mathrm{<span\; class="notranslate">\; the\; y</span>}}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; 2</span>}\mathrm{<span\; class="notranslate">\; b</span>}}_{\mathrm{<span\; class="notranslate">\; x</span>}}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; q</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}{\mathrm{<span\; class="notranslate">\; q</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; q</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}}{\mathrm{<span\; class="notranslate">\; q</span>}}_{\mathrm{<span\; class="notranslate">\; 3</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; 2</span>}{\mathrm{<span\; class="notranslate">\; b</span>}}_{\mathrm{<span\; class="notranslate">\; z</span>}}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; q</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}{\mathrm{<span\; class="notranslate">\; q</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; q</span>}}_{\mathrm{<span\; class="notranslate">\; 3</span>}}{\mathrm{<span\; class="notranslate">\; q</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; )</span>\\ {\mathrm{<span\; class="notranslate">\; w</span>}}_{\mathrm{<span\; class="notranslate">\; z</span>}}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; 2</span>}\mathrm{<span\; class="notranslate">\; b</span>}}_{\mathrm{<span\; class="notranslate">\; x</span>}}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; q</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}{\mathrm{<span\; class="notranslate">\; q</span>}}_{\mathrm{<span\; class="notranslate">\; 3</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; q</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}}{\mathrm{<span\; class="notranslate">\; q</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; 2</span>}{\mathrm{<span\; class="notranslate">\; b</span>}}_{\mathrm{<span\; class="notranslate">\; z</span>}}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 0.5</span>}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; q</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}{\mathrm{<span\; class="notranslate">\; q</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; q</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}{\mathrm{<span\; class="notranslate">\; q</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; )</span>\end{array}\right.<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 4</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; ;</span>$

(4) The MCU main controller uses the error vector e _{x, y, z} to filter the gyroscope data, and obtains the corrected three-axis angular velocity measurement value, expressed as g′ _{0(x, y, z)} ,

$\left\{\begin{array}{c}{\mathrm{<span\; class="notranslate">\; g</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}\mathrm{<span\; class="notranslate">\; x</span>}}^{<span\; class="notranslate">\; \&prime;</span>}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; g</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}\mathrm{<span\; class="notranslate">\; x</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; K</span>}}_{\mathrm{<span\; class="notranslate">\; p</span>}}<span\; class="notranslate">\; *</span>{\mathrm{<span\; class="notranslate">\; e</span>}}_{\mathrm{<span\; class="notranslate">\; x</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; e</span>}}_{\mathrm{<span\; class="notranslate">\; x</span>}}\mathrm{<span\; class="notranslate">\; Int</span>}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; e</span>}}_{\mathrm{<span\; class="notranslate">\; x</span>}}<span\; class="notranslate">\; *</span>{\mathrm{<span\; class="notranslate">\; K</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}<span\; class="notranslate">\; *</span>\mathrm{<span\; class="notranslate">\; T</span>}<span\; class="notranslate">\; /</span>\mathrm{<span\; class="notranslate">\; 2</span>}\\ {\mathrm{<span\; class="notranslate">\; g</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}\mathrm{<span\; class="notranslate">\; the\; y</span>}}^{<span\; class="notranslate">\; \&prime;</span>}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; g</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}\mathrm{<span\; class="notranslate">\; the\; y</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; K</span>}}_{\mathrm{<span\; class="notranslate">\; p</span>}}<span\; class="notranslate">\; *</span>{\mathrm{<span\; class="notranslate">\; e</span>}}_{\mathrm{<span\; class="notranslate">\; the\; y</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; e</span>}}_{\mathrm{<span\; class="notranslate">\; the\; y</span>}}\mathrm{<span\; class="notranslate">\; Int</span>}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; e</span>}}_{\mathrm{<span\; class="notranslate">\; the\; y</span>}}<span\; class="notranslate">\; *</span>{\mathrm{<span\; class="notranslate">\; K</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}<span\; class="notranslate">\; *</span>\mathrm{<span\; class="notranslate">\; T</span>}<span\; class="notranslate">\; /</span>\mathrm{<span\; class="notranslate">\; 2</span>}\\ {\mathrm{<span\; class="notranslate">\; g</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}\mathrm{<span\; class="notranslate">\; z</span>}}^{<span\; class="notranslate">\; \&prime;</span>}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; g</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}\mathrm{<span\; class="notranslate">\; z</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; K</span>}}_{\mathrm{<span\; class="notranslate">\; p</span>}}<span\; class="notranslate">\; *</span>{\mathrm{<span\; class="notranslate">\; e</span>}}_{\mathrm{<span\; class="notranslate">\; z</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; e</span>}}_{\mathrm{<span\; class="notranslate">\; z</span>}}\mathrm{<span\; class="notranslate">\; Int</span>}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; e</span>}}_{\mathrm{<span\; class="notranslate">\; z</span>}}<span\; class="notranslate">\; *</span>{\mathrm{<span\; class="notranslate">\; K</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}<span\; class="notranslate">\; *</span>\mathrm{<span\; class="notranslate">\; T</span>}<span\; class="notranslate">\; /</span>\mathrm{<span\; class="notranslate">\; 2</span>}\end{array}\right.<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 5</span>}<span\; class="notranslate">\; )</span>$

In the formula, e _{x, y, z} Int is the error integral of the three-axis gyroscope, T is the sampling interval, the constant coefficient K _i represents the integral gain to control the convergence rate of the gyroscope zero bias, and K _p represents the convergence rate of the control accelerometer and magnetometer proportional gain.

Based on the correction and compensation of the above angular velocity, the utility model also provides a method for controlling the movement of the screen cursor.

Specifically, the movement of the cursor only needs to use the data of the gyroscope sensor in two directions, where the filtered angular velocity g′ _0z represents the rate of change of the heading angle, so as to determine the moving distance of the screen cursor on the x-axis within the T time interval Δx, the filtered angular velocity g′ _0y represents the rate of change of the pitch angle, so as to determine the movement Δy of the screen cursor on the Y axis within the T time interval, so that Δx,y can be determined according to the proportional relationship between the moving distance and the angular velocity :

$\left\{\begin{array}{c}\mathrm{<span\; class="notranslate">\; \&Delta;x</span>}<span\; class="notranslate">\; =</span>\frac{{\mathrm{<span\; class="notranslate">\; g</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}\mathrm{<span\; class="notranslate">\; z</span>}}^{<span\; class="notranslate">\; \&prime;</span>}<span\; class="notranslate">\; *</span>\mathrm{<span\; class="notranslate">\; speed</span>}<span\; class="notranslate">\; \_</span>\mathrm{<span\; class="notranslate">\; mode</span>}}{\mathrm{<span\; class="notranslate">\; Segmentations</span>}<span\; class="notranslate">\; *</span>\mathrm{<span\; class="notranslate">\; control</span>}<span\; class="notranslate">\; \_</span>\mathrm{<span\; class="notranslate">\; sensitivity</span>}}\\ \mathrm{<span\; class="notranslate">\; \&Delta;y</span>}<span\; class="notranslate">\; =</span>\frac{{\mathrm{<span\; class="notranslate">\; g</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}\mathrm{<span\; class="notranslate">\; the\; y</span>}}^{<span\; class="notranslate">\; \&prime;</span>}<span\; class="notranslate">\; *</span>\mathrm{<span\; class="notranslate">\; speed</span>}<span\; class="notranslate">\; \_</span>\mathrm{<span\; class="notranslate">\; mode</span>}}{\mathrm{<span\; class="notranslate">\; Segmentations</span>}<span\; class="notranslate">\; *</span>\mathrm{<span\; class="notranslate">\; control</span>}<span\; class="notranslate">\; \_</span>\mathrm{<span\; class="notranslate">\; sensitivity</span>}}\end{array}\right.<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 6</span>}<span\; class="notranslate">\; )</span>$

This formula is a formula for calculating the quantitative proportional relationship between angular velocity and cursor movement, where speed_mode and Segmentations are predefined constants of the sensor fusion algorithm, and control_sensitivity indicates the sensitivity of the gyroscope.

The utility model also provides a method for pre-defined simple gesture recognition, including the recognition of 8 simple gesture motion directions, that is, up, down, left, right, forward, and left-handed and right-handed.

① Judgment of the direction of movement up, down, left, right, front and back

Set the corresponding threshold for the acceleration of the three axes to determine the direction of the user's gesture movement (up, down, left, right, front, back). Integrating the acceleration value can also calculate the displacement of the gesture in space. If the gesture movement trajectory is displayed on the screen in real time On the screen, you can mark, draw, etc. on the screen.

The functions to predefine 6 moving directions are as follows:

Up: After the channel selection menu pops up, it is used to increase the number of TV channels. The increase in the number of channels is proportional to the displacement, and increases until the upward gesture stops;

Bottom: After the channel selection menu pops up, it is used to reduce the number of TV channels. The reduction of the channel number is proportional to the displacement, until the downward gesture stops;

Left: the content on the screen moves to the left (scroll);

When playing video and music, reduce the volume until the gesture stops, and the volume reduction is proportional to the displacement;

When viewing electronic data or in PPT presentation mode, turn the page to the left;

Right: the content in the screen moves to the right (scroll);

When playing video and music, increase the volume until the gesture stops, and the volume increase is proportional to the displacement;

In electronic data viewing or PPT presentation mode, turn the page to the right;

Front: zoom in on pictures, text, etc. until the gesture stops, and the zoom ratio is proportional to the displacement;

After: the picture, text, etc. are reduced until the gesture stops, and the reduction ratio is proportional to the displacement amount;

When implementing, first use the quaternion to convert the three-axis acceleration vector from the body coordinate system to the geographic coordinate system, and then judge the moving direction of the remote control piece according to a' _{0 (x, y, z)} (as shown in Table 1).

The MCU master uses the quaternion to convert a _0(x,y,z) from the body coordinate system to the geographic coordinate system a′ _0(x,y,z) , and the conversion formula is:

$\left[\begin{array}{c}{\mathrm{<span\; class="notranslate">\; a</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}\mathrm{<span\; class="notranslate">\; x</span>}}^{<span\; class="notranslate">\; \&prime;</span>}\\ {\mathrm{<span\; class="notranslate">\; a</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}\mathrm{<span\; class="notranslate">\; the\; y</span>}}^{<span\; class="notranslate">\; \&prime;</span>}\\ {\mathrm{<span\; class="notranslate">\; a</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}\mathrm{<span\; class="notranslate">\; z</span>}}^{<span\; class="notranslate">\; \&prime;</span>}\end{array}\right]<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; Q</span>}<span\; class="notranslate">\; *</span>\left[\begin{array}{c}{\mathrm{<span\; class="notranslate">\; a</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}\mathrm{<span\; class="notranslate">\; x</span>}}\\ {\mathrm{<span\; class="notranslate">\; a</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}\mathrm{<span\; class="notranslate">\; the\; y</span>}}\\ {\mathrm{<span\; class="notranslate">\; a</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}\mathrm{<span\; class="notranslate">\; z</span>}}\end{array}\right]<span\; class="notranslate">\; *</span>{\mathrm{<span\; class="notranslate">\; Q</span>}}^{<span\; class="notranslate">\; *</span>}<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 9</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; ;</span>$

Table 1 Judgment basis for up, down, left, right, front, back

Comparing the calculated a' _0xyzx to Table 1, it can be judged that it is the movement in the direction of up, down, left, right, front and back, and then execute the corresponding command according to the direction of movement.

② Rotation direction judgment

The MCU main controller of the remote control chip calculates the attitude according to the filtered angular velocity to obtain three attitude angles (the heading angle , roll angle λ, pitch angle θ), and transmit it to the OTT box via Bluetooth to judge the two rotation directions (left-handed and right-handed). The judgment basis is shown in Table 2. The functions of the predefined two rotations are as follows:

Rotate right: When the TV is turned off, turn right once to turn it on;

In the power-on state, turn right once to indicate "OK";

Turn left: In the case of the main menu, turn left once to pop up a confirmation box for closing, turn right to confirm shutdown, and turn left to return to the main menu;

In the case of non-main menu, turning left once means "return";

When implementing, first update the quaternion derivative according to the quaternion differential equation

$\left[\begin{array}{c}{\stackrel{<span\; class="notranslate">\; \&Center\; Dot;</span>}{\mathrm{<span\; class="notranslate">\; q</span>}}}_{\mathrm{<span\; class="notranslate">\; o</span>}}\\ {\stackrel{<span\; class="notranslate">\; \&CenterDot;</span>}{\mathrm{<span\; class="notranslate">\; q</span>}}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}\\ {\stackrel{<span\; class="notranslate">\; \&CenterDot;</span>}{\mathrm{<span\; class="notranslate">\; q</span>}}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}\\ {\stackrel{<span\; class="notranslate">\; \&CenterDot;</span>}{\mathrm{<span\; class="notranslate">\; q</span>}}}_{\mathrm{<span\; class="notranslate">\; 3</span>}}\end{array}\right]<span\; class="notranslate">\; =</span>\frac{\mathrm{<span\; class="notranslate">\; 1</span>}}{\mathrm{<span\; class="notranslate">\; 2</span>}}\left[\begin{array}{cccc}\mathrm{<span\; class="notranslate">\; 0</span>}& <span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; g</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}\mathrm{<span\; class="notranslate">\; x</span>}}^{<span\; class="notranslate">\; \&prime;</span>}& <span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; g</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}\mathrm{<span\; class="notranslate">\; the\; y</span>}}^{<span\; class="notranslate">\; \&prime;</span>}& <span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; g</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}\mathrm{<span\; class="notranslate">\; z</span>}}^{<span\; class="notranslate">\; \&prime;</span>}\\ {\mathrm{<span\; class="notranslate">\; g</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}\mathrm{<span\; class="notranslate">\; x</span>}}^{<span\; class="notranslate">\; \&prime;</span>}& \mathrm{<span\; class="notranslate">\; 0</span>}& {\mathrm{<span\; class="notranslate">\; g</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}\mathrm{<span\; class="notranslate">\; z</span>}}^{<span\; class="notranslate">\; \&prime;</span>}& <span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; g</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}\mathrm{<span\; class="notranslate">\; the\; y</span>}}^{<span\; class="notranslate">\; \&prime;</span>}\\ {\mathrm{<span\; class="notranslate">\; g</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}\mathrm{<span\; class="notranslate">\; the\; y</span>}}^{<span\; class="notranslate">\; \&prime;</span>}& <span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; g</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}\mathrm{<span\; class="notranslate">\; z</span>}}^{<span\; class="notranslate">\; \&prime;</span>}& \mathrm{<span\; class="notranslate">\; 0</span>}& {\mathrm{<span\; class="notranslate">\; g</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}\mathrm{<span\; class="notranslate">\; x</span>}}^{<span\; class="notranslate">\; \&prime;</span>}\\ {\mathrm{<span\; class="notranslate">\; g</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}\mathrm{<span\; class="notranslate">\; z</span>}}^{<span\; class="notranslate">\; \&prime;</span>}& {\mathrm{<span\; class="notranslate">\; g</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}\mathrm{<span\; class="notranslate">\; the\; y</span>}}^{<span\; class="notranslate">\; \&prime;</span>}& <span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; g</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}\mathrm{<span\; class="notranslate">\; x</span>}}^{<span\; class="notranslate">\; \&prime;</span>}& \mathrm{<span\; class="notranslate">\; 0</span>}\end{array}\right]\left[\begin{array}{c}{\mathrm{<span\; class="notranslate">\; q</span>}}_{\mathrm{<span\; class="notranslate">\; o</span>}}\\ {\mathrm{<span\; class="notranslate">\; q</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}\\ {\mathrm{<span\; class="notranslate">\; q</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}\\ {\mathrm{<span\; class="notranslate">\; q</span>}}_{\mathrm{<span\; class="notranslate">\; 3</span>}}\end{array}\right]<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 7</span>}<span\; class="notranslate">\; )</span>$

After the integration, the quaternion q _0,1,2,3 at the current moment is obtained, and then the attitude is calculated by using the relationship between the quaternion and the coordinate transformation matrix, and between the coordinate transformation matrix and the attitude angle, as shown in the following formula :

Since the left and right rotations are only related to the roll angle, the threshold value of the roll angle is specified as follows:

Table 2 Judgment basis for left-handed and right-handed

turn around threshold left-handed -180°＜Δλ＜-90° Right-handed 90°<Δλ<180°

In Table 2, Δλ represents the amount of change in the roll angle within the time of the gesture.

The utility model also provides a self-defining complex gesture recognition method. Specifically, similar to the coding principle, users can set a series of complex gestures as shortcut keys to quickly open certain applications according to their preferences. Since complex gesture recognition requires a lot of complex real-time calculations and storage, it cannot be completed on the remote control chip alone. Therefore, it is necessary to transmit the error-eliminated sensor data to the OTT box via Bluetooth, and perform it in the box. Existing complex gesture recognition technologies can be implemented in one of the three ways provided below. Method 1: Based on HMM; Method 2: Based on input method; Method 3: Combined with voice. When implementing, the MCU of the remote control chip first sends the acceleration and the filtered angular velocity to the OTT box. Based on these data, the OTT box uses the existing complex gesture recognition technology to realize the recognition of complex gestures. The detailed principles of the existing complex gesture recognition technology will not be described. Let me repeat.

1. Complex gesture recognition based on hidden Markov model (HMM)

The application of Hidden Markov Model (HMM) in speech recognition is quite mature. Since the gesture sequence and the speech sequence are very similar, HMM is also gradually used in gesture recognition and has achieved a relatively high recognition rate. precision.

HMM complex gesture recognition method:

Step 1: Train a gesture library in advance and store it in the OTT box. These gestures include numbers 012...9 and English lowercase letters abc..., as well as some special graphics (for example: heart, tick, question mark...), each gesture Corresponding to an HMM model λ;

Step 2: The user can customize a shortcut function for each gesture (for example, love means playing the favorite TV channel immediately), the user inputs the corresponding gesture, and the remote control tablet sends the acceleration and filtered angular velocity to the OTT box;

Step 3: Based on these data, the OTT box control chip uses the HMM algorithm to calculate the probability of each model in the gesture library, and the gesture with the highest probability is the gesture made by the user;

A Method for Complex Gesture Recognition Based on Input Method

A current OTT box comes with or can be installed with an input method. Most of the input methods (such as Sogou input method, etc.) are based on image processing technology. According to the final image, fuzzy recognition is performed, and all similar characters are found in the text library. Provide user choices. After the user inputs the gesture, the remote control chip sends the sensor data to the OTT box, and the control chip then inputs the data as an input method to recognize the corresponding gesture.

A Method for Complex Gesture Recognition Combined with Speech

The remote control chip sends the voice data to the OTT box, and the voice recognition software finds the corresponding text from the voice library and displays it.

The utility model realizes the method of somatosensory game by using the remote controller

The remote control tablet sends the acceleration, magnetic field and filtered angular velocity data to the OTT box via Bluetooth, and the somatosensory game program calculates the corresponding actions represented by these data and sets corresponding game commands for it.

The utility model realizes the voice recognition method by using the remote controller

Bluetooth transmits the voice input information of the remote control tablet to the OTT box, and the control chip performs voice template matching to recognize the user's voice. Figure 4 is a schematic diagram of voice recognition. The smart remote control chip has a voice input module, which can collect the user's voice data, and after AD conversion, send it to the processing unit in the OTT box through the Bluetooth module, so as to parse out the user's common instructions and execute related commands. Operations, such as changing the channel, increasing or decreasing the volume, switching on and off, entering the PPT presentation mode, entering the somatosensory game, etc. With voice recognition processing and gesture recognition function, users can realize the start and confirmation of gestures, eliminating the need for traditional operations such as buttons. Voice data can also be processed in other ways, such as making a sound through a loudspeaker, sending it to a server through a network, and performing other functional processing.

voice capture

Before sampling and quantization, the speech signal must be pre-filtered. The purpose of pre-filtering is to prevent high-frequency noise, especially to filter out components higher than 1/2 sampling frequency. The designed bandpass filter has an upper limit frequency of 3400Hz and a lower limit frequency of 60Hz. And then get 16-bit binary digital voice signal through A/D conversion. After encoding, the Bluetooth module sends it to the OTT box processing center for identification or other processing.

speech recognition process

The voice input signal in the smart remote control chip of the OTT box is sent to the OTT box for voice recognition via Bluetooth. The non-person-specific isolated word recognition method is used for processing. Each word or phrase is counted as an independent entry in the vocabulary, and the trained common instruction model library is added to the OTT box. Therefore, the user only needs to point to the remote control tablet and say common commands such as power on, power off, sound down, sound up, confirm, return, etc., and the processing center of the OTT box extracts the features of the voice and matches with the template library to obtain out the verdict. In this way, various voice command operations can be realized.

The utility model utilizes the remote control piece to realize the method of reality enhancement

When an external camera is connected to the OTT box, the remote control tablet can be captured and positioned, and the remote control tablet in the picture can be transformed into another item by using the existing reality augmentation technology. For example, it becomes a bouquet of flowers, a teapot, a sword, etc., to achieve a magical AR effect.

bluetooth communication

The Bluetooth module is integrated on the remote control chip and the OTT box. After the network pairing is established successfully, the data on the remote control chip can be wirelessly transmitted to the OTT box. If the remote control tablet has not been operated for a period of time, it will automatically enter the dormant state, and the bluetooth will also enter the dormant state until the user touches the capacitor switch to wake up the MCU, and the MCU will wake up the bluetooth to perform other functions.

After the data on the remote control chip is transmitted to the box, the corresponding instructions can be generated and the corresponding operations can be completed. Because Bluetooth technology can transmit data information and voice information at the same time, it has the advantages of convenient use, strong anti-interference ability, low power consumption, and low radiation. This technology adopts the integrated Bluetooth module in the remote control tablet and OTT box to realize wireless data transmission.

Through the basic topology of bluetooth piconet (Piconet), the OTT box acts as the master device (Master), which can accept the control of up to 7 active remote control tablets at the same time, so as to realize the simultaneous control of the TV screen by both hands or multiple people or realize multi-person competition games etc. For different transmission content, Bluetooth uses different protocols:

The voice information is transmitted through the A2DP protocol, the headset protocol (Headset Profile), the hands-free protocol (Hands-Free Profile), etc., which can easily realize the voice transmission between the remote control tablet and the OTT box, and at the same time ensure the confidentiality of the voice information .

Data information is transmitted through the SPP protocol, different service types are applied to the host through the SDP protocol, and these different service types are distinguished through the self-defined Report ID (that is, the attribute ID).

The main working status of the Bluetooth module of the OTT box smart remote control tablet includes the following four types:

Sleep state: In the sleep state, the power consumption of the Bluetooth chip is extremely low. When awakened, if there is already reconnection information (the latest paired host information, including BD_Address and Pin Code) and the power is sufficient, it will enter the reconnection state , otherwise stay in sleep state.

Reconnection state: After entering the reconnection state, read the reconnection information and try to reconnect with the last paired host. If the reconnection is successful, it will enter the working state, and if it fails to reconnect multiple times, it will re-enter the sleep state.

Discoverable state: In any state, if the user presses the pairing key, the reconnection information will be cleared and the device will enter the discoverable state. At this time, the host OTT box can discover the remote control and perform pairing operation.

Working state: In the working state, normal data is sent and received. The remote control chip selects the required sensors and modules according to different message formats and controls whether to supply power to them and selects different sniff intervals to reduce power consumption. If the user does not use the remote control chip for a long time, the system will increase the sniff interval to reduce power consumption, and finally the system will enter the sleep state. If the OTT box host actively disconnects, the system will enter a sleep state. If the connection is accidentally disconnected, the system will enter the reconnection state.

power management

In order to improve the battery life of the remote control tablet, we improved the design of the remote control tablet. There are two ways to improve it. The first method is to increase the battery capacity of the remote control tablet, use a rechargeable battery, and charge it through USB or wireless charging. Although this slightly increases the weight of the remote control tablet, it reduces the inconvenience caused by frequent battery replacement, and is more environmentally friendly and economical. . The second method is to make the remote control chip energy-saving, that is, to reduce the current used by the remote control as much as possible, to select different sensors or modules under different working conditions and different message formats, and to adjust the Bluetooth packet sending interval and the power of the radio frequency.

sleep mode

When the pairing and reconnection of the remote control chip fails, or when no one is using it for a long time, most of the functions are turned off, and it enters a state of extremely low power consumption to save battery power. When any of the following conditions are met: pairing failure, reconnection failure, low battery power, no action for a long time, etc., the system will enter the sleep state.

Before entering the sleep state, the GPIO of the wake-up system should be set, the system will turn off the sensor module, and notify the Bluetooth controller to enter the sleep mode, and finally turn off the main crystal oscillator running on the chip to make the chip enter the sleep mode. In sleep mode, only a low-frequency LPO crystal oscillator provides clock for the system, and only the capacitive touch switch wake-up interrupt can wake up the system.

After the system wakes up, it will first initialize the GPIO, timer, voltage detection ADC, etc. After the initialization is completed, the battery voltage will be detected. If the battery voltage is lower than the alarm voltage, the remote control will turn on the voltage alarm LED to remind the user to charge in time. If the voltage is lower than the shutdown voltage, the remote will go back to sleep. After passing the low-voltage detection, the remote controller tries to reconnect with the server. After the reconnection fails or the Discovery timeout, the remote controller will enter the sleep state again.

Low voltage detection

Figure 5 is a schematic diagram of low-voltage detection. The main controller of the remote control chip has an AD conversion circuit for battery power detection, and its battery voltage alarm value and low-voltage sleep value are set through the program. When the detected voltage value is lower than the low voltage alarm value, the remote control chip reminds the user that the battery power is low by making the indicator light flash. When the detected voltage value is lower than the low-voltage sleep value, the remote control tablet will automatically sleep, and the indicator light will be on for a period of time before sleep to remind the user to charge.

The intelligent remote control sheet provided by the utility model can also be used in similar products such as Internet TVs, in addition to controlling OTT boxes.

The intelligent remote control sheet provided by the utility model is a smart remote control sheet of an OTT box with a small appearance, without any mechanical buttons, and other richer content is added on the basis of realizing the functions of the traditional remote control in a brand-new way. The remote control chip integrates an accelerometer, a gyroscope, and a magnetometer. The data of the accelerometer and magnetometer are used to compensate the data of the gyroscope, which can effectively filter out the zero drift error caused by the low level to the gyroscope, and greatly improve the precision. On the one hand, it converts the angular velocity value into the moving distance of the cursor on the two-dimensional space of the screen; on the other hand, it combines the acceleration value to perform a series of simple to complex gesture recognition, such as up, down, left, right, rotation, numbers, special patterns, etc., so as to replace the traditional The buttons on the remote control can also act as a mini gamepad for somatosensory games. In addition, the remote control tablet also integrates a microphone to realize voice control and make the operation easier.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present utility model, and are not intended to limit it; although the utility model has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: It is still possible to modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit of the technical solutions of the various embodiments of the present invention. and range.

Claims (4)

1. A kind of intelligent remote control system based on OTT TV, is characterized in that, comprises remote control piece and OTT box thereof; The remote control sheet includes an MCU main controller, a 3-axis accelerometer sensor, a 3-axis gyroscope sensor, a 3-axis magnetometer sensor, a Bluetooth sending module, a capacitive touch switch, an LED indicator light, and a battery connected to the MCU main controller respectively. Voltage detection circuit, MIC voice input module; The OTT box includes a control chip and a bluetooth receiving module connected with the control chip. 2. the intelligent remote control system based on OTT TV according to claim 1, is characterized in that, described remote control sheet comprises MIC voice input module, and described MIC voice input module is connected with MCU master controller. 3. The intelligent remote control system based on OTT TV according to claim 1, wherein the remote control sheet includes a battery voltage detection circuit, and the MCU main controller is connected with the battery voltage detection circuit. 4. the intelligent remote control system based on OTT TV according to claim 1, is characterized in that, described OTT box comprises camera, and described camera is connected with control chip.