CN104298342B

CN104298342B - A kind of detection method of three dimensional space coordinate, three-dimensional input method and related device

Info

Publication number: CN104298342B
Application number: CN201310306094.0A
Authority: CN
Inventors: 李小建
Original assignee: ZTE Corp
Current assignee: ZTE Corp
Priority date: 2013-07-19
Filing date: 2013-07-19
Publication date: 2019-02-05
Anticipated expiration: 2033-07-19
Also published as: CN104298342A; WO2014161276A1

Abstract

A kind of detection method of three dimensional space coordinate, three-dimensional input method and related device, the detection method include: by be arranged in mobile terminal surrounding, three groups or more of supersonic range finder not on the same line measure the anomalistic distance and far point distance of quasi- finger object respectively, and use obtained three groups or more of anomalistic distance and far point distance, in conjunction with the space coordinate of corresponding supersonic range finder, the calculating center point coordinate of the quasi- finger object is calculated.The three-dimensional input method includes: when detecting that preset trigger action is triggered, by be arranged in mobile terminal surrounding, three groups or more of supersonic range finder start-up trace not on the same line measure the three dimensional space coordinate of quasi- finger target position, correspondence is shown in the mobile terminal.The present invention does not need user using other additional auxiliary electronic devices such as additional remote controler, lettering pen or fingerstall, input operation manually can be completed, operation is more free, convenient.

Description

Three-dimensional space coordinate detection method, three-dimensional input method and corresponding device

Technical Field

The present invention relates to an input device of a mobile terminal, and more particularly, to a method for detecting a three-dimensional space coordinate, a three-dimensional input method, and a corresponding device.

Background

The mobile terminal is used as personal portable electronic equipment of modern people, has various functions and outstanding performance, and is a good tool for both work and entertainment. A mobile terminal broadly includes: a mobile phone, a notebook, a tablet computer, a POS (point of Sale) machine, and even a vehicle-mounted computer, but in most cases, the mobile phone or a smart phone and a tablet computer having a plurality of application functions are referred to. The input function, which is an indispensable function of the mobile terminal, has a great influence on the user experience.

Most of the input modes of the mobile terminals on the market adopt plane input. The input mode of inputting information by moving a cursor through keys and then pressing the keys or the input mode of inputting information by clicking through touch screen positioning is characterized in that the coordinate positioning is firstly carried out on an input plane and then the information input is carried out, and the input mode belongs to the input mode of a two-dimensional plane. By adopting the two-dimensional plane input mode, the input effective area of the user is limited to a plane with a limited size, the input mode is greatly limited, and the freedom is small.

Three-dimensional input electronic equipment on the market, such as a remote controller, a writing pen, or an auxiliary electronic device like a finger stall, can input various information in a three-dimensional space. However, for the user to use these input methods, the user must hold the corresponding auxiliary electronic device to perform the input operation of information, which is relatively inconvenient.

Disclosure of Invention

The technical problem to be solved by the present invention is to provide a method for detecting a three-dimensional space coordinate, a three-dimensional input method and a corresponding device, so that when a user uses a mobile terminal, the user can operate in a three-dimensional space by hands without holding an additional auxiliary electronic device.

In order to solve the above problem, the present invention provides a method for detecting a three-dimensional space coordinate, including:

the method comprises the steps that more than three groups of ultrasonic ranging devices which are arranged on the periphery of the mobile terminal and are not on the same straight line respectively measure the near point distance and the far point distance of a quasi-finger target object, and the calculated central point coordinate of the quasi-finger target object is calculated and obtained by using the obtained more than three groups of near point distances and far point distances and combining the space coordinates of the corresponding ultrasonic ranging devices.

Further, the air conditioner is provided with a fan,

the method for measuring the near point distance and the far point distance of the quasi-finger target object specifically comprises the following steps:

transmitting ultrasonic waves and starting timing for each ultrasonic ranging device; recording a time point T1 of a first reflected wave received within an effective measurement duration and a time point T2 of a last reflected wave received within said effective measurement duration; wherein the value of the effective measuring time length is equal to 2 times of the quotient of the maximum measuring effective distance of the ultrasonic ranging device and the ultrasonic wave speed;

calculating the near point distance and the far point distance of the quasi-finger target object according to the T1, the T2 and the time point T0 when the time counting is started; wherein the near point distance of the finger-like target object is equal to the product of the difference between T1 and T0 and half of the ultrasonic wave speed; the far point distance of the quasi-finger target is equal to the product of the difference of T2 and T0 and half of the ultrasonic wave speed.

Further, the air conditioner is provided with a fan,

if the ultrasonic ranging device receives only one reflected wave within the effective measurement time period, the value of the time point T2 is set to the sum of T0 and the effective measurement time period.

Further, the air conditioner is provided with a fan,

the ultrasonic ranging device that is set up around mobile terminal, not on the collinear more than three groups measures respectively and plans close point distance and the distance of the finger target object, specifically includes:

and under the control of the mobile terminal, the ultrasonic distance measuring devices alternately measure the near point distance and the far point distance of the finger-like target object according to a certain sequence.

Further, the air conditioner is provided with a fan,

the ultrasonic ranging devices which are arranged on the periphery of the mobile terminal and are not on the same straight line are used for measuring the near point distance and the far point distance of the finger-like target object respectively by using different transmitting wave frequencies.

Further, the air conditioner is provided with a fan,

before the calculation of the coordinates of the center point of the quasi-finger target object is obtained, the method further comprises the following steps: respectively judging whether the ultrasonic distance measuring devices of the near point distance and the far point distance obtained by each group are front end points;

the calculating to obtain the coordinates of the calculating center point of the quasi-finger target object specifically comprises the following steps:

and calculating to obtain the coordinate of the calculation center point of the quasi-finger target object by using the near point distance and the far point distance measured by the front end point and combining the space coordinates of the corresponding ultrasonic ranging device.

The invention also provides a three-dimensional input method, which comprises the following steps:

when the preset trigger action is triggered, more than three groups of ultrasonic ranging devices which are arranged on the periphery of the mobile terminal and are not on the same straight line start to track and measure the three-dimensional space coordinates of the quasi-finger target position, and the three-dimensional space coordinates are correspondingly displayed in the mobile terminal.

Further, the air conditioner is provided with a fan,

the detecting that the preset trigger action is triggered comprises any one of the following modes:

detecting that the finger-like target clicks a start icon of a three-dimensional input application displayed on a display touch screen on the front side of the mobile terminal; or,

detecting that the finger-like target object clicks a key set for starting a three-dimensional input application on the front side of the mobile terminal; or,

detecting that the finger-like target object hovers at a specified position on the front surface of the mobile terminal for a period of time; or,

and detecting that the finger-like object draws a preset graph on the front side of the mobile terminal.

Further, the air conditioner is provided with a fan,

the measuring of the three-dimensional space coordinates of the quasi-finger target object specifically comprises the following steps:

in each measurement process, the more than three groups of ultrasonic ranging devices respectively measure the near point distance and the far point distance of the quasi-finger target object, and the obtained more than three groups of near point distances and far point distances are used and combined with the space coordinates of the corresponding ultrasonic ranging devices to calculate and obtain the coordinates of the calculation center point of the quasi-finger target object.

Further, the air conditioner is provided with a fan,

and the ultrasonic distance measuring devices measure the near point distance and the far point distance of the finger-like target object in turn under the control of the mobile terminal.

Further, the air conditioner is provided with a fan,

before the calculation of the coordinates of the center point of the quasi-finger target object is obtained, the method further comprises the following steps: respectively judging whether the ultrasonic ranging devices of the measuring sides of the near point distance and the far point distance of each group are front end points;

Correspondingly, the invention also provides a device for detecting the three-dimensional space coordinate, which comprises: the ultrasonic positioning module and the control and processing module;

the ultrasonic positioning module comprises more than three groups of ultrasonic ranging devices which are arranged on the periphery of the mobile terminal and are not on the same straight line, and each group of ultrasonic ranging devices is used for measuring the near point distance and the far point distance of the quasi-finger target object respectively and sending the distances to the control and processing module;

the control and processing module is used for calculating to obtain the coordinate of the calculation center point of the quasi-finger target object by using the received more than three groups of near point distances and far point distances and combining the space coordinates of the corresponding ultrasonic ranging devices.

Further, the air conditioner is provided with a fan,

the ultrasonic ranging device is used for measuring the near point distance and the far point distance of the quasi-finger target object, and specifically comprises:

the ultrasonic ranging device is used for transmitting ultrasonic waves and starting timing; recording a time point T1 of a first reflected wave received within an effective measurement duration and a time point T2 of a last reflected wave received within said effective measurement duration; wherein the value of the effective measuring time length is equal to 2 times of the quotient of the maximum measuring effective distance of the ultrasonic ranging device and the ultrasonic wave speed;

the distance measuring device is also used for calculating the near point distance and the far point distance of the finger-like target object according to the T1, the T2 and the time point T0 when the time counting is started; wherein the near point distance of the finger-like target object is equal to the product of the difference between T1 and T0 and half of the ultrasonic wave speed; the far point distance of the quasi-finger target is equal to the product of the difference of T2 and T0 and half of the ultrasonic wave speed.

Further, the air conditioner is provided with a fan,

the ultrasonic ranging device is further configured to set a value of time T2 to a sum of T0 and the effective measurement duration if only one reflected wave is received within the effective measurement duration.

Further, the air conditioner is provided with a fan,

each group of ultrasonic ranging devices are respectively used for measuring the near point distance and the far point distance of the quasi-finger target object, and specifically comprise:

and each group of ultrasonic ranging devices is used for measuring the near point distance and the far point distance of the finger-like target object in turn according to a certain sequence under the control of the control and processing module.

Further, the air conditioner is provided with a fan,

and the ultrasonic ranging devices respectively use different transmitting wave frequencies to measure the near point distance and the far point distance of the quasi-finger target object.

Further, the air conditioner is provided with a fan,

the control and processing module is further used for respectively judging whether the ultrasonic distance measuring devices of the near point distance and the far point distance obtained by each group are front end points before the coordinates of the calculation central point of the quasi-finger target object are obtained through calculation;

the control and processing module is used for calculating and obtaining the coordinates of the calculation central point of the quasi-finger target object, and specifically comprises the following steps:

the control and processing module is used for calculating to obtain the coordinate of the calculation center point of the quasi-finger target object by using the near point distance and the far point distance measured by the front end point and combining the space coordinate of the corresponding ultrasonic ranging device.

Correspondingly, the invention also provides a three-dimensional input device, which comprises:

the control and processing module is used for controlling more than three groups of ultrasonic ranging devices which are arranged on the periphery of the mobile terminal and are not on the same straight line to start tracking and measuring the three-dimensional space coordinates of the quasi-finger target positions when the preset trigger action is triggered; the mobile terminal is also used for receiving the measurement results sent by each group of ultrasonic ranging devices, carrying out corresponding calculation and then sending the result to the mobile terminal side;

and each group of ultrasonic ranging devices is used for tracking and measuring the three-dimensional space coordinates of the quasi-finger target position under the control of the control and processing module and sending the measurement result to the control and processing module.

Further, the air conditioner is provided with a fan,

the control and processing module learns that the preset trigger action is triggered, and the method comprises any one of the following modes:

the control and processing module acquires that the finger-like target object clicks a starting icon of a three-dimensional input application displayed on a display touch screen on the front side of the mobile terminal; or,

the control and processing module learns that the finger-like target object clicks a key set for starting the three-dimensional input application on the front side of the mobile terminal; or,

the control and processing module learns that the quasi-finger target object is suspended at the designated position on the front surface of the mobile terminal for a period of time; or,

and the control and processing module acquires that the finger-like object draws a preset graph on the front side of the mobile terminal.

Further, the air conditioner is provided with a fan,

each group of ultrasonic ranging devices is used for measuring the three-dimensional space coordinate of the quasi-finger target object, and specifically comprises the following components:

each group of ultrasonic ranging devices is used for respectively measuring the near point distance and the far point distance of the quasi-finger target object in each measurement process and reporting the near point distance and the far point distance to the control and processing module as the measurement results;

the control and processing module is further configured to receive measurement results sent by each group of ultrasonic ranging devices, and perform corresponding calculation, specifically including:

the control and processing module is further used for calculating to obtain the coordinate of the calculation center point of the quasi-finger target object by using the obtained more than three groups of near point distances and far point distances and combining the space coordinates of the corresponding ultrasonic ranging devices.

Further, the air conditioner is provided with a fan,

each group of ultrasonic ranging devices is used for measuring the near point distance and the far point distance of the quasi-finger target object, and specifically comprises:

the ultrasonic ranging devices of each group transmit ultrasonic waves and start timing; recording a time point T1 of a first reflected wave received within an effective measurement duration and a time point T2 of a last reflected wave received within said effective measurement duration; wherein the value of the effective measuring time length is equal to 2 times of the quotient of the maximum measuring effective distance of the ultrasonic ranging device and the ultrasonic wave speed; calculating the near point distance and the far point distance of the quasi-finger target object according to the T1, the T2 and the time point T0 when the time counting is started; wherein the near point distance of the finger-like target object is equal to the product of the difference between T1 and T0 and half of the ultrasonic wave speed; the far point distance of the quasi-finger target is equal to the product of the difference of T2 and T0 and half of the ultrasonic wave speed.

Further, the air conditioner is provided with a fan,

each group of ultrasonic ranging devices is further configured to set the value of time T2 to the sum of T0 and the effective measurement duration if only one reflected wave is received within the effective measurement duration.

Further, the air conditioner is provided with a fan,

and each group of ultrasonic ranging devices is used for measuring the near point distance and the far point distance of the finger-like target object in turn under the control of the control and processing module.

Further, the air conditioner is provided with a fan,

the control and processing module is further used for respectively judging whether the ultrasonic ranging devices of the measuring sides of the near point distance and the far point distance of each group are front end points before the coordinates of the calculation central point of the quasi-finger target object are obtained through calculation;

According to the invention, the user can complete the input operation by bare hand without using additional remote controllers, writing pens or other additional auxiliary electronic devices such as finger sleeves and the like, so that the operation is more free and convenient.

Drawings

FIG. 1 is a schematic structural diagram of a three-dimensional input device according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of an ultrasonic ranging device for transmitting and receiving ultrasonic waves according to an embodiment of the present invention;

FIG. 3 is a schematic view of a spatial hemisphere in accordance with an embodiment of the present invention;

FIG. 4 is a schematic diagram of a plurality of spatial hemispheres formed by data respectively measured by a plurality of sets of ultrasonic ranging devices according to an embodiment of the present invention;

FIG. 5 is a diagram illustrating a start time of a trajectory tracking operation according to an embodiment of the present invention;

FIG. 6 is a schematic diagram of an instantaneous measurement polygon upon initiation of a trajectory tracking operation in an embodiment of the present invention;

FIG. 7 is a diagram illustrating finger movement according to an embodiment of the present invention;

FIG. 8 is a schematic diagram illustrating the movement of the centers of a preset measuring sphere and a preset space sphere according to an embodiment of the present invention;

FIG. 9 is a diagram illustrating the result of shifting the centers of the preset measuring sphere and the preset space sphere according to the embodiment of the present invention;

FIG. 10 is a schematic diagram illustrating the installation positions of 6 ultrasonic transducers according to an embodiment of the present invention;

fig. 11 is a schematic diagram illustrating an installation manner and an included angle of an ultrasonic transducer on a front surface of a tablet computer according to an embodiment of the present invention;

FIG. 12 is a schematic diagram illustrating an input process of a user clicking a start icon of a three-dimensional input application with a finger to start an input according to an embodiment of the present invention;

FIG. 13 is a schematic diagram illustrating the position of a front end point according to an embodiment of the present invention;

FIG. 14 is a diagram illustrating an example of a potentially inexpensive angle for a user's finger in accordance with an embodiment of the present invention;

FIG. 15 is a diagram illustrating sets of valid measurement data according to an embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be noted that the embodiments and features of the embodiments in the present application may be arbitrarily combined with each other without conflict.

In this embodiment, a method for detecting a three-dimensional space coordinate includes:

Preferably, the first and second liquid crystal films are made of a polymer,

In this embodiment, a three-dimensional input device includes an ultrasound positioning module and a control and processing module. The ultrasonic positioning module is used for measuring distance information between each ultrasonic ranging device and a measured target object and transmitting the distance information to the control and processing module; the control and processing module is used for controlling the ultrasonic positioning module to carry out distance measurement operation and receiving corresponding data information, and calculating the three-dimensional space coordinate of the measured target object.

As shown in fig. 1, the ultrasonic positioning module includes three or more groups of ultrasonic ranging devices that are not on the same straight line and are disposed around the mobile terminal. Wherein the three-dimensional space coordinates of each group of ultrasonic ranging devices are known, the normal of the ultrasonic transmitting port in each group of ultrasonic ranging devices intersects with the perpendicular bisector of the installation plane, and the intersection point is located on the same side of the installation plane (the side of the intersection point relative to the installation plane is subsequently referred to as the front face of the mobile terminal). The included angle between the normal of the ultrasonic emitting port in each group of ultrasonic ranging devices and the mounting plane is equal to the half angle of the effective measuring range angle of the ultrasonic ranging devices.

The control and processing module comprises: a control microprocessor chip, a connecting device of the ultrasonic positioning module and a connecting device of the computer host. The algorithms required for processing the data information can be stored in the control microprocessor chip or on one side of the computer host.

The target object to be measured, in this embodiment, is limited to an object with a finger action function (hereinafter referred to as a finger-like target object), including but not limited to: a finger of a user, a manipulator that can perform a finger action, or other mechanical object with a finger action function. The finger-like target is positioned in the intersection of the effective measuring ranges of the at least three groups of ultrasonic ranging devices.

In this embodiment, a method for obtaining data information of a spatial polyhedron by three-dimensional positioning a reflection surface of a finger-like object and calculating a three-dimensional space coordinate of a calculation center point of the spatial polyhedron (hereinafter referred to as a detection method of the three-dimensional space coordinate) is as follows:

as shown in fig. 2, the ultrasonic ranging device transmits ultrasonic waves, the frequency of the ultrasonic waves transmitted by the ultrasonic ranging device is K, and the preset maximum effective measurement distance is L (measurement information larger than the distance is ignored, the object is too far away, and the reflected wave is not waited to return). The time counting is started while the ultrasonic wave is transmitted (assuming that the time point is T0 at this time), and the return of the reflected wave is waited for. The ultrasonic ranging apparatus records a time point T1 (hereinafter, referred to as a near-point reflection time point T1) at which the near-point reflected wave is received, using the first reflected wave received within the effective measurement period as the near-point reflected wave, and records a time point T2 (hereinafter, referred to as a far-point reflection time point T2) at which the far-point reflected wave is received, using the last reflected wave received within the effective measurement period as the far-point reflected wave. Here, the effective measurement time period T3 is equal to 2 times the quotient of the maximum measurement effective distance and the ultrasonic wave speed C, i.e., T3=2 × L ÷ C. If only one reflected wave is received within the effective measurement period, the value of time T2 is set to the sum of T0 and the effective measurement period.

As shown in fig. 3, time points T1 and T2 are converted into a near point distance S1 and a far point distance S2 of a finger-like object, and a space hemisphere is obtained by using S1 as an inner diameter, S2 as an outer diameter, the central position of an ultrasonic wave emitting port in the ultrasonic distance measuring device as a spherical center, and a plane where the ultrasonic wave emitting port is located in the ultrasonic distance measuring device as a bottom surface, respectively; here, S1= (T1-T0) × C ÷ 2, S2= (T2-T0) × C ÷ 2. The hollow hemisphere is the area of the finger-like target object obtained by the ultrasonic distance measuring device through measurement in the three-dimensional space.

The measurement result of the ultrasonic ranging device on the finger-like target object only comprises the reflection surface information of the finger-like target object, and cannot represent the position information of the whole finger-like target object. The invention refers to the mark points which can represent the three-dimensional motion information of the finger-like object as the effective points of the object. The measurement result obtained by the ultrasonic ranging apparatus is referred to as valid measurement data if the target valid point is included, and is referred to as invalid measurement data if the target valid point is not included. Whether the obtained measurement result is valid measurement data or not can be judged through algorithm analysis, the measurement result which is valid measurement data is reserved, and the measurement result which is invalid measurement data is discarded. The hollow hemisphere formed by the valid measurement data is called the valid hollow hemisphere.

(valid data, invalid data) = f1 (T1, T2);

the specific algorithm implementation is detailed in the description example.

As shown in fig. 4, there are three or more sets of ultrasonic ranging devices which are not collinear, have fixed positions relative to each other, and have known spatial three-dimensional coordinates, which are respectively labeled as a, b, and c … …, the three-dimensional spatial coordinates of the center position of the ultrasonic transmission port in these three sets of ultrasonic ranging devices are respectively labeled as (Xa, Ya, Za), (Xb, Yb, Zb), (Xc, Yc, and Zc) … …, the frequencies of the transmitted ultrasonic waves are respectively set as Ka, Kb, and Kc … … (to exclude mutual acoustic interference), and the maximum measurement effective distance L is set (this sets all the ultrasonic ranging devices to be common). The multiple groups of ultrasonic ranging devices measure the same finger-like target object in turn according to a certain sequence (such as Index) under the control of the control and processing module (the multiple groups of ultrasonic ranging devices measure in turn according to the Index, and the mutual interference among the multiple groups of ultrasonic ranging devices in the measurement can be avoided to the greatest extent). And determining that the measurement result is valid measurement data according to an algorithm f1(), reserving the measurement result if the measurement result is valid measurement data, discarding the measurement result if the measurement result is invalid measurement data, and converting the near-point reflection time point T1 and the far-point reflection time point T2 of each group of valid measurement data to obtain an effective hollow hemisphere-a, an effective hollow hemisphere-b and an effective hollow hemisphere-c … …. More than three effective hollow hemispheroids are intersected to obtain a spatial polyhedron-abc. The spatial region in which the spatial polyhedron-abc is located necessarily contains the effective point of the target object.

The more the number of the ultrasonic ranging devices is, the more the effective hollow hemispheroids are formed, the more the number of the surfaces of the space polyhedrons obtained by mutual intersection is, and the closer the shape of the space polyhedrons is to the shape of the real finger-like target object.

In order to represent the movement of the polyhedron-abc in three-dimensional space, the present embodiment is embodied using the change in the position of the calculated center point (x, y, z) of the polyhedron-abc. Because the space polyhedron-abc is obtained by intersecting a plurality of effective hollow hemispheres, and each surface of the space polyhedron-abc belongs to a part of the inner surface or the outer surface of one effective hollow hemisphere, the distance from each surface of the space polyhedron-abc to the spherical center of the corresponding effective hollow hemisphere is known, namely: when a surface of the spatial polyhedron-abc is part of the outer surface of the corresponding effective hollow hemisphere, the distance of the surface from the center of the corresponding effective hollow hemisphere is equal to the outer diameter of the corresponding effective hollow hemisphere; when a surface of the spatial polyhedron-abc is part of the inner surface of the corresponding effective hollow hemisphere, the surface is at a distance from the center of the corresponding effective hollow hemisphere equal to the inner diameter of the corresponding effective hollow hemisphere. The distance from the spatial polyhedron-abc to the spherical center of each effective hollow hemisphere can be obtained by using an algorithm, and then the three-dimensional space coordinate of the calculation center point is obtained by calculation. According to the principles of space geometry, if the distance between a point and three points with known positions which are not on the same straight line can be obtained, the coordinates of the point are uniquely determined in a certain half space area taking the plane where the three points are positioned as a boundary (another symmetrical point exists in another half space area).

The calculated center point (x, y, z) of the spatial polyhedron-abc

=f2（S1a，S2a，S1b，S2b，S1c，S2c……）；

=f3（T1a，T2a，T1b，T2b，T1c，T2c……）；

The implementation of the specific algorithm is described in detail in the following description examples.

In this embodiment, a method for tracking a motion trajectory of a finger-like target and extracting a change of a three-dimensional space coordinate (hereinafter referred to as a three-dimensional input method) based on the three-dimensional space coordinate detection method is also provided. The method is described as follows:

the known preconditions are: there are three or more sets of ultrasonic ranging devices which are not on the same straight line, have fixed positions with respect to each other, and have known spatial three-dimensional coordinates, which are respectively marked as a, b, and c … …, and the three-dimensional spatial coordinates of the ultrasonic transmission ports in these three or more sets of ultrasonic ranging devices are respectively marked as (Xa, Ya, Za), (Xb, Yb, Zb), (Xc, Yc, and Zc) … …, the frequencies of the transmitted ultrasonic waves are respectively set as Ka, Kb, and Kc … … (excluding mutual acoustic interference), and the maximum measurement effective distance L is set (this sets all the ultrasonic ranging devices to be common). The multiple groups of ultrasonic ranging devices measure the same finger-like target object in turn according to a certain sequence (such as Index) under the control of the control and processing module (the multiple groups of ultrasonic ranging devices measure in turn according to the Index, and the mutual interference among the multiple groups of ultrasonic ranging devices in the round of measurement can be avoided to the greatest extent).

In the first step of the three-dimensional input method, after the preset trigger action is detected to be triggered, the tracking operation of the motion trail of the finger-like target object is started, a preset space sphere is set, a preset measurement sphere is set, and initialization preparation is completed.

As shown in fig. 5, when the moment that the preset triggering action is triggered is detected, the whole trajectory tracking operation flow is started, and the relevant parameters of the preset space sphere and the preset measurement sphere are determined.

The preset triggering action refers to a designated action preset on the mobile terminal by a user, and when the designated action is triggered, the preset triggering action is associated to start and execute the tracking operation of the action track of the finger-like target object. At the moment that the preset trigger action is triggered, the finger-like target object is limited to a preset known three-dimensional space region, and the coordinates of the three-dimensional space region are known (hereinafter referred to as initial three-dimensional space coordinates, and as for how to obtain the initial three-dimensional space coordinates, the method can be diversified. Preset trigger actions including, but not limited to, including: the finger-simulating target clicks a start icon of the three-dimensional input application displayed on a display touch screen on the front surface of the mobile terminal (in this case, the spatial coordinates of the start icon are initial three-dimensional spatial coordinates), or the finger-simulating target clicks a button set to start the three-dimensional input application on the front surface of the mobile terminal (in this case, the spatial coordinates of the button are initial three-dimensional spatial coordinates), or the finger-simulating target object is hovered at a specified position on the front surface of the mobile terminal for a period of time (in this case, the coordinate of the three-dimensional space position where the hovering finger tip is located is the initial three-dimensional space coordinate), or the finger-simulating target object draws a preset figure (such as a circle or a figure 8) on the front surface of the mobile terminal (in this case, the coordinate of the three-dimensional space position where the finger tip is located at the moment of stopping moving is the initial three-dimensional space coordinate).

At the moment when the preset trigger action is triggered and the whole track tracking operation is started, the initial three-dimensional space coordinate is known, the initial three-dimensional space coordinate is taken as the sphere center (the space coordinate is recorded as (preset x, preset y, preset z), and is subsequently called as the sphere center of a preset sphere), the preset radius (preset R) and the measurement radius (measurement R) (the numerical values can be set according to actual requirements, the requirements of the algorithm are seen, and no rigid specified numerical value exists) are respectively taken as the radius, and two concentric space spheres (hereinafter called as the preset space sphere and the preset measurement sphere respectively) can be obtained. The near point distance and the far point distance between the preset space sphere and each group of ultrasonic ranging devices can be obtained through calculation, and can be converted into the related near point reflection time point and far point reflection time point:

((Preset space T1 a), (Preset space T2 a))

= f4 ((preset space S1 a), (preset space S2 a))

= f5 ((Xa, Ya, Za), ((preset x), (preset y), (preset z)), (preset R));

. . . . . . (other groups)

((Preset measurement T1 a), (Preset measurement T2 a))

= f4 ((preset measurement S1 a), (preset measurement S2 a))

= f5 ((Xa, Ya, Za), ((preset x), (preset y), (preset z)), (measure R));

. . . . . . (other groups)

The specific algorithm implementation is detailed in the following illustrative examples.

As shown in fig. 6, at the moment of starting the trajectory tracking operation, the tip of the pseudo-finger target (i.e. the portion of the pseudo-finger target for triggering the preset trigger action) must be located in the preset measurement sphere, and the point on the tip of the pseudo-finger target is taken as the target valid point, and the target valid point must be contained in the preset measurement sphere. The method comprises the steps of measuring a finger-like target object through a plurality of groups of ultrasonic ranging devices to obtain a space polyhedron, and calling a three-dimensional space region obtained by intersecting the space polyhedron and a preset measuring sphere as a measuring polyhedron. The three-dimensional space coordinate change of the finger-like target object is extracted by tracking and measuring the motion track of the polyhedron in the preset space sphere.

And in the second step of the three-dimensional input method, after the movement of the finger-like target object is detected, a new space polyhedron obtained by measuring the finger-like target object by each ultrasonic ranging device is determined again, and a new measuring polyhedron obtained by intersecting a preset measuring sphere is determined.

As shown in fig. 7, at the moment when the quasi-finger target object moves, the sphere center of the preset measurement sphere (coordinate position is noted as (preset x, preset y, preset z)) has not changed. Each group of ultrasonic distance measuring devices respectively measures the finger-like target to obtain more than three groups of effective hollow hemispheroids (the effective hollow hemispheroids consist of effective measuring data, the measuring result must be selected through f1() first, and invalid data is discarded), and the effective hollow hemispheroids are intersected to obtain a new space polyhedron. The new space polyhedron is intersected with the preset measuring sphere to form a new measuring polyhedron. The calculation center point of the new measurement polyhedron is separated from the sphere center of the preset measurement sphere, and the coordinates of the calculation center point of the new measurement polyhedron are recorded as (measurement x, measurement y, measurement z). The coordinate calculation method for the calculated center point of the new measurement polyhedron is described in the following example.

And the third step of the three-dimensional input method, the sphere centers of the preset measurement sphere and the preset space sphere are moved towards the direction of the calculation central point of the new measurement polyhedron.

As shown in fig. 8, the sphere centers (coordinate position is recorded as (preset x, preset y, preset z)) of the preset measurement sphere and the preset space sphere are moved in the direction of the calculation center point (coordinate position is recorded as (new x, new y, new z)) of the new measurement polyhedron. According to the adjusted system parameters, a new preset measurement sphere and the sphere center of the new preset measurement sphere (coordinate position is recorded as (new preset x, new preset y, new preset z)) can be obtained, as shown in fig. 9. And the new preset measuring sphere is intersected with the new space polyhedron to obtain a new measuring polyhedron. The coordinates (preset x, preset y, preset z) of the sphere centers of the preset space sphere and the preset measurement sphere are reset to the coordinates (new preset x, new preset y, new preset z) of the sphere center of the new preset measurement sphere, the system parameters of the preset space sphere and the preset measurement sphere are reset, and the new measurement polyhedron is reset.

And fourthly, transmitting the sphere center coordinates (preset x, preset y and preset z) of the current preset measurement sphere and the preset space sphere to the computer host to wait for the next movement measurement of the finger-like object.

And sequentially executing the second step, the third step and the fourth step of the three-dimensional input method to finish one-time tracking operation of the action track of the finger-like target object. When the system is in the initial state of the second step, the sphere centers of the preset measuring sphere and the preset space sphere coincide with the calculating central point of the finger-like target, and the effective point of the target is certainly contained in the measuring polyhedral. The continuous circulation is ceaseless, the three-dimensional space coordinate information of the motion track of the finger-like target object can be ceaseless tracked, and the three-dimensional space coordinate of the motion track is reported to the computer host. And in the operation flow of the motion trail tracking, if a problem occurs, jumping to the fifth step of the three-dimensional input method.

And step five, processing flow errors.

The ultrasonic ranging device extracts effective measurement data through an f1() algorithm according to a measurement result obtained by measuring a quasi-finger target object. If the effective measurement data is less than three groups, the space polyhedron of the finger-like object cannot be obtained through conversion, and the calculation central point cannot be obtained.

And moving the centers of the preset measuring sphere and the preset space sphere until the centers are moved out of the effective measuring range of the ultrasonic distance measuring device, so that the measuring result cannot be obtained.

In the measuring process, if the ultrasonic ranging device is shielded by other objects, the measured data is incorrect, the situation of the simulated finger target object cannot be faithfully reflected, and effective measured data cannot be obtained.

When the situation occurs, the action track tracking operation of the finger-like target object fails, preset wrong three-dimensional space coordinates are transmitted to the computer host, the action track tracking operation process is closed, the three-dimensional input operation fails, the next three-dimensional input is waited to restart, namely the preset triggering action is waited, and the initialization is carried out again. (the preset wrong three-dimensional space coordinate means a designated three-dimensional space coordinate preset by the mobile terminal, including but not limited to (-1, -1, -1)).

The three-dimensional input device and method are described in detail below by way of example.

In this example, the mobile terminal is a tablet computer. Ultrasonic transducer is selected for use to ultrasonic ranging device, and the quantity is 6. The mounting positions of the ultrasonic transducers are as follows:

as shown in fig. 10, around the tablet computer, 6 ultrasonic transducers are mounted as shown. The three-dimensional space coordinates of each ultrasonic transducer are known as (Xa, Ya, Za), (Xb, Yb, Zb), (Xc, Yc, Zc), (Xd, Yd, Zd), (Xe, Ye, Ze) and (Xf, Yf, Zf), the frequencies of the emitted ultrasonic waves are set as 40kHz, 45kHz, 50kHz, 55kHz, 60kHz and 65kHz, the maximum measurement effective distance L is set as 50cm, and the effective measurement time period is (1/340) seconds (this sets all ultrasonic transducers to be common). And multiple groups of ultrasonic transducers are used for measuring the same finger-like target object in turn according to the sequence of a- > b- > c- > d- > e- > f under the control of the control and processing module (the multiple groups of ultrasonic transducers can avoid mutual interference of all groups of devices in the measurement as much as possible). Each group of ultrasonic transducers was assigned a measurement time of 1/300 seconds, and the total time required for 6 groups of ultrasonic transducers to complete a round of testing was 6 × (1/300) seconds =20 milliseconds.

As shown in fig. 11, the installation manner and the included angle of the ultrasonic transducer on the front surface of the tablet computer are described. In the example, wide-angle ultrasonic transducers are selected, the effective measurement angle is 150 degrees, the normal of the effective measurement angle of each ultrasonic transducer intersects with the perpendicular bisector of the display plane of the tablet computer, and the intersection point is positioned on the same side of the display plane (the intersection point is positioned on the side of the front display face of the tablet computer). An included angle between the normal of each group of ultrasonic transducers and the display plane of the tablet personal computer is equal to 75 degrees, and the three-dimensional input effective angle of the tablet personal computer is 120 degrees.

In this example, the control microprocessor chip in the control and processing module is mounted on the tablet pc motherboard, and the algorithm is stored on the tablet pc side.

The following description starts with a flow method for performing three-dimensional input operation through a three-dimensional input device, which tracks the spatial motion of a quasi-finger target object through the three-dimensional input method and transmits the three-dimensional spatial coordinates of the motion trajectory to the operating system of the tablet computer. In this example, the finger-like target is a user's finger, with the target valid point located at the tip of the user's finger. The action track of the finger of the user is embodied by tracking the three-dimensional space coordinate change of the tip of the finger of the user, the tip of the finger of the user is called as an effective tracking target, and the other parts are called as non-effective tracking targets.

In the first step of the three-dimensional input method, the tracking operation of the motion trail of the finger-like target object is started through the preset trigger action, a preset space sphere is set, a preset measurement sphere is set, and initialization preparation is completed.

As shown in fig. 12, in this example, a user's finger is selected to click on a start icon of a three-dimensional input application as a preset trigger action, three-dimensional space coordinates of the icon are known to be (x 0, y0, z 0), that is, initial three-dimensional space coordinates are (x 0, y0, z 0), a preset sphere center = (x 0, y0, z 0) is set, a (preset R) =2cm is set, a (measurement R) =1cm is set, a preset space sphere and a preset measurement sphere are obtained, and correlation function equations of three-dimensional space point coordinates (x, y, z) of each point in the sphere are respectively:

root number ((x, y, z), (x 0, y0, z 0)) < =2 cm;

root number ((x, y, z), (x 0, y0, z 0)) < =1 cm;

the algorithm f4 () and f5 () calculate the near point distance and the far point distance from the preset space sphere and the preset measurement sphere to each group of ultrasonic transducers through the preset sphere center, the preset sphere radius and the three-dimensional space coordinates of the ultrasonic transducers (S1, S2), which are respectively as follows: the distance between the preset space sphere and the near point of the ultrasonic transducer is the distance between the coordinates of the ultrasonic transducer and the coordinates of the center of the sphere of the preset space sphere minus the radius of the preset space sphere, the distance between the preset space sphere and the far point of the ultrasonic transducer is the distance between the coordinates of the ultrasonic transducer and the coordinates of the center of the preset space sphere plus the radius of the preset space sphere, the distance between the preset measurement sphere and the near point of the ultrasonic transducer is the distance between the coordinates of the ultrasonic transducer and the coordinates of the center of the preset measurement sphere minus the radius of the preset measurement sphere, and the distance between the preset measurement sphere and the far point of the ultrasonic transducer is the distance between the coordinates of the ultrasonic transducer and the coordinates of the center of the preset measurement sphere plus the radius of the preset space sphere.

L = C × T, the transmission rate of the ultrasonic wave in the air is 340m/s,

(preset space T1 a) = (2 × (preset space S1 a))/340;

(preset space T2 a) = (2 × (preset space S2 a))/340;

(preset measurement T1 a) = (2 × (preset measurement S1 a))/340;

(preset measurement T2 a) = (2 × (preset measurement S2 a))/340;

the other groups are treated similarly … ….

At the end of the first step, the preset measurement sphere must contain the valid tracking target and must contain the valid point of the target object. Each ultrasonic transducer measures the user's finger and stores the measurement data.

And in the second step of the three-dimensional input method, after the fingers of the user move, the new space polyhedron obtained by re-measurement is intersected with the preset measurement sphere to obtain a new measurement polyhedron.

The respective ultrasonic transducers a, b, c, d, e and f measure the user's fingers, and the respective sets of near point reflection time and far point reflection time are respectively recorded as (T1 a, T2 a), (T1 b, T2 b), (T1 c, T2 c), (T1 d, T2 d), (T1 e, T2 e), (T1 f, T2 f).

L = C × T, the transmission rate C of the ultrasonic wave in the air is 340m/S, and the near point distance and the far point distance (S1 a, S2 a), (S1 b, S2 b), (S1C, S2C), (S1 d, S2 d), (S1 e, S2 e), (S1 f, S2 f) are calculated, respectively.

In the measuring process of each ultrasonic transducer, the f1() algorithm is used for selecting the measured measuring result, effective measuring data containing the effective point of the target object are selected, and ineffective measuring data are discarded.

The selection method of the algorithm f1() is explained as follows:

description 1: the effective measured distance of the user's finger and the ultrasonic transducer.

The ultrasonic transducer has a blind area in the measuring process and has a minimum measuring effective distance. Ultrasonic waves propagate in air, signals are attenuated, and in order to guarantee the accuracy and precision of measurement, the maximum effective measurement distance can be obtained by filtering and attenuating signals and noise. The minimum measurement effective distance and the maximum measurement effective distance are the effective measurement range of the ultrasonic transducer.

After the user's finger moves, the user's finger may exceed the effective measurement range of the ultrasonic transducer, and the position of the center of the preset sphere before the user's finger moves needs to be determined.

Description 2: before the user's finger moves, the relationship between the user's finger and the tablet computer is as follows:

as shown in fig. 13, in this example, if the near point reflection point is inside the preset measurement sphere and the far point reflection point is outside the preset measurement sphere in the measurement result of the ultrasonic transducer, this ultrasonic transducer is referred to as a front end point. In the present f1() algorithm, valid measurement data must be the measurement result of the front end point in addition to the target object valid point. Not the measurements of the front-end points are all marked as non-valid measurement data. The valid measurement data refers to the measurement result of the front-end point.

The measurement result after the user's finger is moved must satisfy the following conditions: the preset measuring sphere must contain a valid tracking target and a valid point of a target object, and more than three groups of valid measuring data must be contained in the measuring result.

Because the installation position of 6 ultrasonic transducers surrounds the tablet computer for a circle, the average included angle is 60 degrees, the included angle between every two adjacent ultrasonic transducers is about 120 degrees, and the reflection included angle of the finger of the user is smaller than 90 degrees, at least three continuous front end points exist in the measurement result before the finger of the user moves, and the continuous front end points are respectively called as a left front end point, a middle front end point and a right front end point. The extension endpoints of the three continuous front endpoints, which are not the front endpoints, are called the left outer endpoint and the right outer endpoint respectively.

If the front end points do not exist in the measurement result before the user finger moves, or the number of the front end points is less than three, the second step of the three-dimensional input method fails to be executed after the user finger moves, the fifth step of the three-dimensional input method is switched to, and the process is mistaken.

Description 3: after the user finger moves, the change of the user finger in the preset space sphere is as follows:

as shown in fig. 14, in the present example, the preset spatial sphere radius (preset R) =2cm, the preset measurement sphere radius (measurement R) =1cm, and the test time period per round of 6 groups of ultrasonic transducers is 20 msec. And setting the upper limit of the moving speed of the finger of the user to be 50cm/s, wherein at least part of effective tracking targets still exist in the preset measuring sphere under any condition after the finger of the user moves, the effective tracking targets still exist in the preset measuring sphere, and the effective points of the target objects are also in the preset measuring sphere. (if the user's finger is moving too fast, the valid tracking object moves completely out of the preset measurement sphere, or even out of the preset space sphere, it is marked as invalid measurement data)

In conjunction with the above descriptions 1, 2, and 3, the following methods of selecting data can be obtained:

1. setting a measurement effective range, and intercepting measurement effective data from each group of measurement results (filtering out data outside the effective measurement range);

as shown in fig. 15, in this example, the minimum effective measurement distance of the ultrasonic transducer is set to 2cm, resulting in an effective threshold T1= (2 × 0.02)/340 seconds (the ultrasonic wave speed is related to the specific model of the ultrasonic transducer), and the maximum effective measurement distance is set to 50cm, resulting in an effective threshold T2= (2 × 0.5)/340 seconds. And respectively taking the intersection of each group of measurement results (the time of the near point reflection point-the measurement starting time and the time of the far point reflection point-the measurement starting time) and the effective measurement range (the effective threshold T1 and the effective threshold T2) to obtain and record effective measurement data (the effective T1 and the effective T2).

If the set of the effective measurement data is empty, the data which represents the current measurement result is not in the effective measurement range, and the data is marked as ineffective measurement data;

2. and judging the position of the sphere center of the preset sphere on the basis of the measured valid data (valid T1 and valid T2). (filtering measurements of the user's finger at the edge of the valid measurement range, which may have moved beyond the measurement boundary)

The range of (preset space T1, preset space T2) is within (valid threshold T1, valid threshold T2), and if the boundary is exceeded, it indicates that the user's finger is located too far or too close, and the location of the valid tracking target may exceed the valid measurement range after moving. Marking the data of the current measurement result as non-effective measurement data;

3. on the basis of the measurement validity data (valid T1, valid T2), the measurement data in the pre-set measurement sphere are analyzed. (Filtering the measurement result that the user's finger is moving too fast and the preset measurement sphere has no effective tracking target)

And taking the intersection of the measurement valid data (valid T1, valid T2) and the near point reflection time point and the far point reflection time point (preset measurement T1, preset measurement T2) of the preset measurement sphere, and obtaining and recording (valid measurement T1, valid measurement T2). If (valid measurement T1, valid measurement T2) is empty, this indicates that in the measurement result there is no reflected signal falling within the area of the preset measurement sphere, within which it is naturally impossible to track a valid target. Marking the data of the current measurement result as non-effective measurement data;

4. on the basis of the non-empty set (valid measurement T1, valid measurement T2), the measurement data within the preset space sphere is analyzed to filter the measurement results of the non-front-end points.

After the user's finger moves, the effective tracking target must still exist in the preset space sphere, the measurement results of all the near point reflection points outside (the preset space T1, the preset space T2) cannot be the measurement results of the front point, and the data of the current measurement result is marked as the ineffective measurement data.

5. And analyzing the measurement data of the measurement results meeting the conditions 3 and 4, and judging the front end point of the finger of the user to obtain effective measurement data.

In the measurement data satisfying the above condition, the finding of the near-point reflection point is a measurement result of reflection of the effective tracking target, which is a front-end point of the finding, and the measurement result is marked as effective measurement data.

The measuring time of one round of the ultrasonic transducer is 20ms, and the upper limit of the moving angle of the user finger in each round of measuring time is 36 degrees, namely the angular speed of the user finger per second is 1800 degrees (5 circles). Because the installation position of 6 ultrasonic transducer is around the panel computer a week, and the average contained angle is 60 degrees, the angle change in user's finger horizontal direction squints one ultrasonic transducer at most. At least three continuous front end points exist in the measurement result before the user finger moves, wherein the middle front end point is still the front end point necessarily in the horizontal direction after the user finger moves, and the near point reflection point is the reflection of the effective tracking target. The left front end point and the right front end point depend on the angle change of the user finger. (the change in angle in the vertical direction of the user's finger results in the measurement of all front points, the change in the near point reflection from the reflection of an effectively tracked object to the reflection of a non-effectively tracked object.)

The change of the measurement result of the current round and the change of the measurement result of the upper round are analyzed, the change of the measurement result of each group of ultrasonic transducers can be obtained, and if the numerical value of the near point reflection point becomes smaller, the finger of the user is close to the finger; if the value of the near point reflection point is increased, the finger of the user is far away; if the value of the near point reflection point is not changed, the user's finger is translated.

The near point reflection point in the measurement result of the ultrasonic transducer is the whole reflection of the finger of the user, not necessarily the reflection of the effective tracking target, but also the reflection of the ineffective tracking target. As the user's finger moves, it may change from a reflection of an active tracking target to a reflection of an inactive tracking target. In the measurement result of the current wheel, the angle change of the user finger in the horizontal direction is considered, and the left outer endpoint and the left front endpoint are the first group, the left front endpoint and the middle front endpoint are the middle front endpoint, the right front endpoint is the second group, the middle front endpoint and the right front endpoint are the right front endpoint, and the right outer endpoint is the third group. The near point reflection points of the three groups of measurement data are known, and the spatial region where the reflection surface of the user finger of the three groups of data is located can be calculated. The comparison result shows that the reflecting surface of the user finger in the horizontal direction is the reflection of the effective tracking target in the group with the smallest spatial region of the reflecting surface in the three groups of data. (if there is a near point reflection point obtained from the front end point, the calculated spatial region where the reflection surface is located will become large from the reflection change of the effective tracking target to the reflection of the ineffective tracking target.)

In the upper round measurement result and the current round measurement result, if the whole space area where the reflecting surface is located is enlarged, it indicates that in the vertical direction, the near-point reflecting point is changed from the reflection of the effective tracking target to the reflection of the ineffective tracking target, that is, the front end points are not the front end points in the current round measurement result any more, and are marked as ineffective measurement data.

According to the method, the front end point in the current round of measurement results is found and marked as valid measurement data. And if the number of the effective measurement data is less than three groups, the measurement data cannot meet the required standard, and the step five of the three-dimensional input method is skipped to for processing the error flow.

More than three groups of effective measurement data are selected through an algorithm f1() to form effective hollow hemispheroids which are mutually intersected to form a spatial polyhedron-abcdef. The spatial polyhedron-abcdef necessarily contains the effective tracking target and necessarily contains the effective point of the target object. And intersecting the spatial polyhedron-abcdef and the preset measuring sphere to obtain a measuring polyhedron-abcdef. In the above-described inventive content, the algorithm f2 (), f3 () uses the valid measurement data to calculate the three-dimensional space coordinates of the measurement polyhedron-abcdef calculation center point. In this example, a simple algorithm is chosen to obtain the distance from the calculated center point of the measured polyhedron-abcdef to each ultrasonic transducer:

(effective Sa) = ((effective S1 a) + (effective S2 a))/2;

(effective Sb) = ((effective S1 b) + (effective S2 b))/2;

(effective Sc) = ((effective S1 c) + (effective S2 c))/2;

according to the principles of space geometry, if the distance between a point and three points with known positions which are not on the same straight line can be obtained, the coordinates of the point are uniquely determined in a certain half space area taking the plane where the three points are positioned as a boundary (another symmetrical point exists in the other half space area). The three-dimensional space coordinates of each ultrasonic transducer are known as (Xa, Ya, Za), (Xb, Yb, Zb), (Xc, Yc, Zc), (Xd, Yd, Zd), (Xe, Ye, Ze), (Xf, Yf, Zf), respectively. It is known that there are more than three sets of distances from the calculated center point of the measuring polyhedron abcdef to each ultrasonic transducer. Therefore, in a specific implementation, three sets of distances from the calculation center point of the three or more sets of measurement polyhedrons-abcdef to each ultrasonic transducer are selected, and three-dimensional space coordinates (measurement x, measurement y, measurement z) of the calculation center point of the measurement polyhedrons-abcdef are calculated.

And the third step of the three-dimensional input method, moving the sphere center of the preset sphere to move the preset sphere toward the calculation center point of the new measurement polyhedron.

In this example, the center point of the measurement polyhedron-abcdef is taken as the sphere center of the new preset sphere after the movement. Setting the sphere center coordinates of the new preset sphere to ((measurement x), (measurement y), (measurement z)), setting (preset R) =2cm, (measurement R) =1 cm), obtaining a new preset space sphere and a new preset measurement sphere, wherein the correlation function equations of the three-dimensional space point coordinates (x, y, z) of each point in the sphere are respectively as follows:

root number ((x, y, z), ((measure x), (measure y), (measure z))) < =2 cm;

root number ((x, y, z), ((measure x), (measure y), (measure z))) < =1 cm;

due to the fact that the sphere center of the preset sphere is in the center, the space sphere is in the center, the preset measurement sphere is reset, the new preset measurement sphere is intersected with the space polyhedron-abcdef, the new measurement polyhedron-abcdef is obtained, and the new calculation center point is calculated. (the algorithm used was the same as the algorithms f2 (), f3 (), f4 (), f5 () used above.)

And fourthly, transmitting the sphere centers (measuring x, measuring y and measuring z) of the current preset measuring sphere and the preset space sphere to an operating system of the tablet personal computer, and waiting for the next finger movement of the user.

And sequentially executing the second step, the third step and the fourth step of the three-dimensional input method to finish one-time tracking operation of the action track of the fingers of the user. When the action track tracking operation is completed once, the system returns to the initial state of the second step of the method, the sphere center of the preset sphere is overlapped with the calculation central point of the finger of the user, the effective tracking target and the effective point of the target object are certainly contained in the measured polyhedral body, and more than three sharp points exist in the measurement result.

The tracking operation of the action track of the fingers of the user is continuously circulated, the three-dimensional space coordinate information of the action track of the fingers of the user can be continuously tracked, and the three-dimensional space coordinate of the action track is reported to an operating system of the tablet computer. And in the operation flow of the motion trail tracking, if a problem occurs, jumping to the fifth step of the three-dimensional input method.

And fifthly, processing errors in the process.

If an error occurs in the flow steps of the method, the method jumps to the fifth step to execute error processing. And emptying all system parameters, and uploading preset error three-dimensional space coordinates ((-1), (-1), (-1)) to an operating system of the tablet computer. After the operating system of the tablet computer receives the wrong three-dimensional space coordinate, the display screen prompts that the three-dimensional input operation fails, the three-dimensional input operation of the current round is closed, and the next round of three-dimensional input is waited to restart.

It will be understood by those skilled in the art that all or part of the steps of the above methods may be implemented by instructing the relevant hardware through a program, and the program may be stored in a computer readable storage medium, such as a read-only memory, a magnetic or optical disk, and the like. Alternatively, all or part of the steps of the above embodiments may be implemented using one or more integrated circuits. Accordingly, each module/unit in the above embodiments may be implemented in the form of hardware, and may also be implemented in the form of a software functional module. The present invention is not limited to any specific form of combination of hardware and software.

The above description is only for the preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Various other embodiments may be devised in accordance with the teachings of the present invention without departing from the spirit and scope thereof, and it should be understood that various changes and modifications may be effected therein by those skilled in the art without departing from the spirit and scope of the invention.

Claims

1. A method for detecting three-dimensional space coordinates comprises the following steps:

respectively measuring the near point distance and the far point distance of a quasi-finger target object by more than three groups of ultrasonic ranging devices which are arranged on the periphery of the mobile terminal and are not on the same straight line, and calculating to obtain the coordinate of the calculation center point of the quasi-finger target object by using the obtained more than three groups of near point distances and far point distances and combining the space coordinates of the corresponding ultrasonic ranging devices;

before the calculating center point coordinates of the quasi-finger target object are obtained through calculation, the method further comprises the following steps: respectively judging whether the ultrasonic distance measuring devices of the near point distance and the far point distance obtained by each group are front end points;

2. The method of claim 1, comprising:

3. The method of claim 2, wherein:

4. The method of claim 1, wherein:

5. The method of claim 1 or 4, wherein:

6. A three-dimensional input method, comprising:

when triggering of a preset triggering action is detected, starting tracking and measuring three-dimensional space coordinates of a finger-like target object by more than three groups of ultrasonic ranging devices which are arranged on the periphery of the mobile terminal and are not on the same straight line, and correspondingly displaying the three-dimensional space coordinates in the mobile terminal;

in each measurement process, the more than three groups of ultrasonic ranging devices respectively measure the near point distance and the far point distance of the quasi-finger target object, and the more than three groups of near point distances and far point distances are used to be combined with the space coordinates of the corresponding ultrasonic ranging devices to calculate and obtain the coordinates of the calculation center point of the quasi-finger target object;

7. The method of claim 6, wherein:

8. The method of claim 6, wherein:

9. The method of claim 8, wherein:

10. The method of claim 6, wherein:

11. The method of claim 6 or 10, wherein:

12. A device for detecting three-dimensional spatial coordinates, comprising: the ultrasonic positioning module and the control and processing module;

the control and processing module is used for calculating to obtain the coordinate of the calculation center point of the quasi-finger target object by using the received more than three groups of near point distances and far point distances and combining the space coordinates of the corresponding ultrasonic ranging devices;

the control and processing module is further used for respectively judging whether the ultrasonic distance measuring devices of the near point distance and the far point distance obtained by each group are front end points or not before the coordinates of the calculation central point of the quasi-finger target object are obtained through calculation;

13. The apparatus of claim 12, wherein:

14. The apparatus of claim 13, wherein:

15. The apparatus of claim 12, wherein:

16. The apparatus of claim 12 or 15, wherein:

17. A three-dimensional input device comprising:

the control and processing module is used for controlling more than three groups of ultrasonic ranging devices which are arranged on the periphery of the mobile terminal and are not on the same straight line to start tracking and measuring the three-dimensional space coordinates of the finger-like target object when the preset trigger action is triggered; the mobile terminal is also used for receiving the measurement results sent by each group of ultrasonic ranging devices, carrying out corresponding calculation and then sending the result to the mobile terminal side;

each group of ultrasonic ranging devices is used for tracking and measuring the three-dimensional space coordinate of the quasi-finger target position under the control of the control and processing module and sending the measurement result to the control and processing module;

each group of ultrasonic ranging devices is used for measuring the three-dimensional space coordinate of the quasi-finger target object, and specifically comprises:

the control and processing module is further used for calculating to obtain the coordinate of the calculation center point of the quasi-finger target object by using the obtained more than three groups of near point distances and far point distances and combining the space coordinates of the corresponding ultrasonic ranging devices;

18. The apparatus of claim 17, wherein:

19. The apparatus of claim 17, wherein:

20. The apparatus of claim 19, wherein:

21. The apparatus of claim 20, wherein:

22. The apparatus of claim 17 or 20, wherein: