CN101551718B - 3D micro-inertia sensing method and system - Google Patents
3D micro-inertia sensing method and system Download PDFInfo
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- CN101551718B CN101551718B CN2009101375210A CN200910137521A CN101551718B CN 101551718 B CN101551718 B CN 101551718B CN 2009101375210 A CN2009101375210 A CN 2009101375210A CN 200910137521 A CN200910137521 A CN 200910137521A CN 101551718 B CN101551718 B CN 101551718B
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Abstract
The invention provides a 3D micro-inertia sensing method and system capable of sensing the micro-inertia sensing module and he horizontal plane angle change to control the cursor movement of a displayand sensing the hand swing to control the flip over of the display; wherein a micro-inertia sensor senses the gravity change of the micro-inertia sensing module due to incline of the micro-inertia se nsing module in the space and a wireless sender sends the signal to a micro-processor and the micro-processor makes the signal pass through the filtering and the display cursor movement is controlled after performing the cross intercomparison between the inclined angle and the cursor relative position and the two signal numbers of the cursor control circuits. The effect of another axle shake is reduced based on the variant of the signal of each axle of the micro-inertial sensing module. The effect of the centrifugal force on the Y axle is eliminated using the centrifugal force difference sensed by the two Y axle accelerometers.
Description
The application is Dec 25 2006 applying date, application number 200610161770.X, and denomination of invention " 3D micro-inertia sensing method and system " divides an application.
Technical field
What the present invention relates to is a kind of 3D micro-inertia sensing method and system, especially refer to that a kind of angle of detecting micro-inertia sensing module and surface level that relies on changes, and then the method that moves of control display cursor, can control cursor accurately and move to desired location, and its mode of operation is simple, also can utilize the page turning of hand swing control display, not only meets ergonomics, can cooperate simultaneously specific action to reach the effect of continuous page turning, fit at cursor control and use and the manufacturing association area.
Background technology
Press, existing cursor control device has numerous species, and for example, control computer display cursor adopts the mouse form mostly, the bulletin device of control projector then has a telepilot external form, with mouse, can generally be divided into spin type and optical type two major types, its operator scheme all must slide on a plane, rely on the displacement of control spin to produce mechanical type signal or shade variation sensing light signal, reaching the purpose that moves of control cursor, change speech, operation planar and spacial influence the quality of signal; Again with the bulletin device, because major function is to indicate transparency, therefore great majority adopt wireless transmission, cooperate the relevant control circuit and the button of functions such as open and close, upper and lower, page turning, reach bulletin indication purpose; Only, when having graphoscope and projector simultaneously, two kinds of cursor control devices must be set, take up space and seem mixed and disorderly.
Though the cursor control device of visible on the market at present comprehensive mouse and bulletin device dual-use function, right its control mode is escape conditional electronic and mechanical control model not yet, visible in recent years a kind of multifunctional mouse that utilizes the inertia assembly, utilize accelerometer sensing human motion acceleration, through after the calculation process, signal is presented at graphoscope or other interactive device, owing to be not subjected to workplace material and surface roughness affect, can be in arbitrary surfaces or space running.
At patent, see also No. 5874941, United States Patent (USP) shown in Figure 1 " Presentation supportingdevice ", described case discloses a kind of bulletin device 2, it is to rely on an X-axis acceleration transducer 1A, one Y-axis acceleration transducer 1B sensing device tilts the acceleration change produced and produces the acceleration signal, again via acceleration signal processor 10A, 10B handles and produces cursor and moves signal, so reach the purpose of control cursor, for example, when the user turns forward described when installing to certain angle, be that the may command cursor begins to move, under the ideal state, when cursor moves to desired location, the user returns back to initial angle with device should make cursor stop to move, yet, during practical application because acceleration of gravity influence, cursor continues mobile phenomenon though cause device to reset, cursor can't accurately be positioned desired location and stability is low, the user must waste many times and repeat to revise and can control cursor and rest on accurate position, moreover, when healing when big in the device angle of inclination, its accekeration is higher, cursor moving speed also with quickening, make the user be difficult to stable control; Moreover described device also can't reach continuous page-turning function.
Again as shown in Figure 2, tw Taiwan patent application case number No. 90221010 " gravity type mouse ", it is the potential energy that relies on gravity detection IC Measuring Object, potential energy is converted to the signal that kinetic energy produces, be transmitted in microprocessor IC and calculate, and microprocessor IC can detect the time of gravity detection IC motion, and receive the acceleration value that gravity detection IC motion produces, in addition computing and convert actual Moving Unit to is transmitted in main frame and controls display light target trend; The main computing means of described case are when described mouse during in spatial movement, utilizing the above accelerometer of diaxon to carry out integral operation moves with the control cursor, only, utilize translation brief acceleration integration can produce cumulative errors and can't eliminate, cause vernier location distortion; Moreover described mouse also can't reach continuous page-turning function.
Summary of the invention
Because the disappearance of prior art, fundamental purpose of the present invention is to propose a kind of 3D micro-inertia sensing method and system, can control cursor accurately and move to desired location, and its mode of operation is simple.
Secondary objective of the present invention is to propose a kind of 3D micro-inertia sensing method and system, utilizes hand swing control page turning, not only meets ergonomics, can cooperate specific action to reach the effect of continuous page turning simultaneously.
Another object of the present invention is to propose a kind of 3D micro-inertia sensing method and system, can restrain the influence of another dither axis according to the variable quantity of each signal of micro-inertia sensing module.
A further object of the present invention is to propose a kind of 3D micro-inertia sensing method and system, can utilize two Y-axis accelerometers to experience centrifugal force difference, to eliminate the influence of centrifugal force to Y-axis.
For achieving the above object, the present invention proposes a kind of 3D micro-inertia sensing method, and it comprises:
By a micro-inertia sensing module senses change in gravitational acceleration and send the original dip signal;
Described original dip signal is carried out low-pass filtering, and draw stable signal;
The sense mode state, detecting described micro-inertia sensing module is to be in cursor control model or page turning pattern, carries out cursor controlled step or page turning step in order to decision.
Preferably, described cursor controlled step is to comprise:
Note down the start signal of described micro-inertia sensing module;
According to described original dip signal, stablize signal and calculate the signal variable quantity, and described original dip signal is compensated described signal variable quantity;
The inclination signal after the calculating compensation and the difference of start signal; And
With difference signal ratio is point coordinate.
Preferably, described micro-inertia sensing module is to comprise an X-axis accelerometer and a Y-axis accelerometer at least.
Preferably, wherein:
Described X-axis accelerometer is the change in gravitational acceleration that tilts and caused in order to the described micro-inertia sensing module of sensing;
Described Y-axis accelerometer is to tilt forward and back the change in gravitational acceleration that is caused in order to the described micro-inertia sensing module of sensing.
Preferably, according to described original dip signal, stablize signal and calculate the signal variable quantity, and the method that described original dip signal is compensated described signal variable quantity is to comprise:
Modified chi axle signal variable quantity: the X-axis signal that tilts is deducted X-axis shake signal;
Revise Y-axis signal variable quantity: the Y-axis signal that tilts is deducted Y-axis shake signal;
Record X-axis signal signal variable quantity: the X-axis signal that tilts is deducted the X-axis start signal; And
Record Y-axis signal signal variable quantity: the Y-axis signal that tilts is deducted the Y-axis start signal.
Preferably, the accelerometer of described plural number more comprises a Z axis accelerometer, be in order to the variation of the gravity that causes that overturns continuously according to described X-axis accelerometer and described Y-axis accelerometer, learn the variation of described micro-inertia sensing module placement state.
Preferably, the accelerometer of described plural number more comprises one second Y-axis accelerometer, has certain distance between described second Y-axis accelerometer and the described Y-axis accelerometer.
Preferably, it is the acceleration difference correction centrifugal force that utilizes described second Y-axis accelerometer and described Y-axis accelerometer, is to calculate from following equation:
Ay＝(R+R2)/R*(Tvy-Tvy2)；
Wherein,
Ay is the centrifugal force of Y-axis accelerometer;
R is the distance of described Y-axis accelerometer and the described second Y-axis accelerometer;
R2 is the distance of described second Y-axis accelerometer and axis of rotation;
Tvy is the inclination signal of described Y-axis accelerometer;
Tvy2 is the inclination signal of the described second Y-axis accelerometer; And
Revise the original Tvy-Ay of Tvy=;
The Y-axis original dip signal Tvy that described Y-axis accelerometer is measured deducts centrifugal force Ay, can draw a revised Y-axis inclination signal Tvy.
Preferably, the step of described correction centrifugal force is to carry out before the step of described generation compensating signature variable quantity.
Preferably, described page turning step is to comprise:
Whether detect present X-axis and Y-axis tilts in equilibrium state; If then carry out subsequent step; If not, then continue detecting until reaching equilibrium state;
Whether the instantaneous variation of detecting X-axis signal exceeds a range of balance; If then carry out page turning; If not, then return previous step detecting again suddenly, exceed described range of balance until the instantaneous variation of detecting described original dip signal.
Preferably, described range of balance is the scope that is positioned at 0g ± 0.3g acceleration of gravity, wherein, and g=9.8m/s
2
Preferably, when the instantaneous variation of the described original dip signal of detecting exceeds described range of balance, and described inclination signal then carries out continuous page turning when continuing to be fixed in certain angle of inclination.
Preferably, when the described inclination signal of detecting is not when continuing to be fixed in certain angle of inclination, then stops page turning and return detecting and whether tilt at present in the step of equilibrium state.
Preferably, described micro-inertia sensing module is to comprise an X-axis accelerometer and a Y-axis accelerometer at least.
Preferably, described X and Y-axis accelerometer be in order to about the described micro-inertia sensing module of sensing with tilt forward and back the change in gravitational acceleration that is caused.
Preferably, described micro-inertia sensing module is to connect a central processing unit, is received and is handled described change in gravitational acceleration and produce the original dip signal by described central processing unit.
Preferably, described central processing unit is to connect a radio transmitters, relies on described radio transmitters that described inclination signal is outwards launched.
Preferably, described radio transmitters is corresponding at a wireless receiver, rely on described wireless receiver to receive the original dip signal that described radio transmitters transmits, and described original dip signal can be sent to a microprocessor, by described microprocessor described original dip signal is carried out low-pass filtering and follow-up every step.
Preferably, described microprocessor is to be connected a display by a cursor control integrated circuit, controls described display cursor by described cursor control integrated circuit and moves or carry out page turning or continuously page turning.
Preferably, described micro-inertia sensing module is connected an operating key, and described operating key is to switch cursor control model or page turning pattern in order to automatic or manual.
For achieving the above object, the present invention more proposes a kind of 3D micro-inertia sensing system, and it comprises:
One micro-inertia sensing module is in order to the sensing change in gravitational acceleration, and sends the original dip signal, and described micro-inertia sensing module comprises:
One X-axis accelerometer is the change in gravitational acceleration that tilts and caused in order to the described micro-inertia sensing module of sensing;
One first Y-axis accelerometer is to tilt forward and back first change in gravitational acceleration that is caused in order to the described micro-inertia sensing module of sensing;
One second Y-axis accelerometer is to tilt forward and back second change in gravitational acceleration that is caused in order to the described micro-inertia sensing module of sensing;
One receiving end is in order to receive and to handle the original dip signal that described micro-inertia sensing module is sent.
Preferably, described micro-inertia sensing module more comprises a Z axis accelerometer, be in order to the variation of the gravity that causes that overturns continuously according to described X-axis accelerometer and described Y-axis accelerometer, learn the variation of described micro-inertia sensing module placement state.
Preferably, described first Y-axis accelerometer and the described second Y-axis accelerometer have certain distance.
Preferably, described micro-inertia sensing module is to connect a central processing unit, is in order to receive and to handle described change in gravitational acceleration and produce the original dip signal.
Preferably, described central processing unit is to connect a radio transmitters, relies on described radio transmitters that described inclination signal is outwards launched.
Preferably, described radio transmitters is corresponding at a wireless receiver, rely on described wireless receiver to receive the original dip signal that described radio transmitters transmits, and described original dip signal can be sent to a microprocessor, by described microprocessor described original dip signal is carried out low-pass filtering and follow-up every step.
Preferably, described microprocessor is to be connected a display by a cursor control integrated circuit, controls described display cursor by described cursor control integrated circuit and moves or carry out page turning or continuously page turning.
Preferably, described micro-inertia sensing module is connected an operating key, and described operating key is to switch cursor control model or page turning pattern in order to automatic or manual.
Further understand and approval for your juror is had for structure purpose of the present invention and effect, cooperate diagram to describe in detail now as after.
Description of drawings
Fig. 1 is the structural representation of No. 5874941, United States Patent (USP) " Presentation supporting device ";
Fig. 2 is the control flow synoptic diagram of TaiWan, China patent application case number No. 90221010 " gravity type mouse ";
Fig. 3 is the system architecture diagram of the present invention's first preferred embodiment;
Fig. 4 is the start calcspar of the present invention's first preferred embodiment;
Fig. 5 is the control method process flow diagram of the present invention's first preferred embodiment;
Fig. 6 (a) is the accurate position of the X-axis curve map before shake is revised;
Fig. 6 (b) is the accurate position of the revised X-axis of a shake curve map;
Fig. 7 (a) is the accurate position of the Y-axis curve map before shake is revised;
Fig. 7 (b) is the accurate position of the revised Y-axis of a shake curve map;
Fig. 8 is the system architecture diagram of the present invention's second preferred embodiment;
Fig. 9 is the start calcspar of the present invention's second preferred embodiment;
Figure 10 is the control method process flow diagram of the present invention's second preferred embodiment;
Figure 11 is the Y-axis accelerometer, the second Y-axis accelerometer of the present invention's second preferred embodiment and concerns position view with centrifugal force produces;
Figure 12 (a) is the curve map of centrifugal force to the accurate position influence of Y-axis accelerometer;
Figure 12 (b) is that centrifugal force for Figure 12 (a) is through revised curve map;
Figure 13 (a) is the curve map of circular motion centrifugal force to the accurate position influence of Y-axis accelerometer;
Figure 13 (b) is that circular motion centrifugal force for Figure 13 (a) is through revised curve map.
Description of reference numerals: 10-3D-micro-inertia sensing cursor control system; 20,20 '-micro-inertia sensing module; 21,21 '-micro-inertia sensor; 211,211 '-X-axis accelerometer; 212,212 '-Y-axis accelerometer; 213 '-Z axis accelerometer; 214 '-the second Y-axis accelerometer; The 22-central processing unit; The 23-radio transmitters; The 24-housing; The 30-receiving end; The 31-wireless receiver; The 32-microprocessor; 33-cursor control integrated circuit; The 40-display; The 41-vernier.
Embodiment
For reaching employed technological means of purpose and effect, and following graphic cited embodiment only is an aid illustration hereinafter with reference to the graphic the present invention of description who encloses.
See also a Fig. 3 and a preferred embodiment of the present invention shown in Figure 4, described 3D micro-inertia sensing cursor control system 10, it mainly is by the transmitting terminal of a micro-inertia sensing module 20 as signal, and the receiving end 30 that can receive described signal, described micro-inertia sensing module 20 comprises a micro-inertia sensor 21, described micro-inertia sensor 21 is to comprise that one can detect the tilt X-axis accelerometer 211 of the change in gravitational acceleration that caused of described micro-inertia sensing module 20, and can detect the Y-axis accelerometer 212 that described micro-inertia sensing module 20 tilts forward and back the change in gravitational acceleration that is caused, described micro-inertia sensor 21 is sent to a central processing unit 22 with the change in gravitational acceleration of institute's sensing to carry out signal and handles and produce an inclination signal, then more described inclination signal is sent to a radio transmitters 23, described inclination signal is sent by described radio transmitters 23; Aforementioned described micro-inertia sensor 21, central processing unit 22 all electrically connect by means of a peripheral circuit mutually with radio transmitters 23, aforementioned each member can be arranged in the housing 24, be electrically connected at the set control knob (not shown) in described housing 24 outsides again, to provide the user can grip described housing 24 and automatic or manual operation setting control knob thereon with the emission signal, this technology is known clearly by general personage to be known, so specifically be not presented in the icon.
Secondly, described receiving end 30 is to be a main frame or multimedia device, and it comprises a wireless receiver 31, a microprocessor 32 and a cursor control integrated circuit 33, and described cursor control integrated circuit 33 is to connect a display 40; Described wireless receiver 31 is signals of being launched in order to the radio transmitters 23 that receives described micro-inertia sensing module 20, and the signal that is received can be sent to described microprocessor 32 and carry out filtering and signal and handle, comparison, by described microprocessor 32 comparison result is sent to described cursor control integrated circuit 33 again, after described cursor control integrated circuit 33 receives described microprocessor 32 handled signals, be that cursor 41 on the described display 40 of may command moves to opposite position, or the picture on the described display 40 is carried out page turning.
See also Fig. 5 (and please cooperate simultaneously Fig. 4), illustrate that the present invention controls cursor and moves control method and flow process thereof with page turning:
(a): the original dip signal (Tilt-Value) that each acceleration of gravity meter of sensing is present; By about described X-axis accelerometer 211 and Y-axis accelerometer 212 sensings with tilt forward and back the change in gravitational acceleration that is caused, and be sent to central processing unit 22 and be treated to X-axis original dip signal Tvx, and Y-axis original dip signal Tvy, be sent to described receiving end 30 by described radio transmitters 23 again, receive and deliver to described microprocessor 32 by described wireless receiver 31.
(b): the X-axis original dip signal Tvx and the Y-axis original dip signal Tvy that are received by 32 pairs of described microprocessors carry out low-pass filtering (low-Pass filter), draw two and stablize signal Avx, Avy.
(c): the sense mode state; What step (b) was drawn two stablizes the operator scheme that signal Avx, Avy must cooperate described micro-inertia sensing module 20, and detecting is described carries out gesture page turning pattern d by described microprocessor 32, or 3D cursor control model e; Operator scheme as for described micro-inertia sensing module 20, be to rely on an operating key (not shown) to reach the switching purpose, described operating key can adopt elasticity push switch or change-over switch, be arranged on the described housing 24 shown in Figure 3, can set when described operating key is not touched, the expression operator desires to carry out gesture page turning pattern d, and described operating key represents that then the operator desires to carry out 3D cursor control model e if be touched; Simultaneously, the signal of record each acceleration of gravity meter this moment is start signal (initial-value, inx; Therefore iny) (step c1), the described micro-inertia sensor 21 of present embodiment comprises an X-axis accelerometer 211, and a Y-axis accelerometer 212, can obtain X-axis initial point obliquity inx, and two signals such as Y-axis initial point obliquity iny.
(d): gesture page turning pattern; Detecting described micro-inertia sensing module 20 when described microprocessor 32 is when being in gesture page turning pattern, the step of then carrying out page turning:
(d1): detect present X and Y-axis and whether tilt in stability; In described microprocessor 32, set the about 0g ± 0.3g of a range of balance in advance, (g=9.8m/s2, gravity acceleration value), whether then compare described inclination signal (Tvx, Tvy) drops in this range of balance, if, represent that then described micro-inertia sensing module 20 is in equilibrium state, its inclination signal variation does not reach the acceleration change value that can carry out page turning as yet, its purpose is to prevent to cause page turning because of staff slightly shakes or rocks, setting as for described over balance scope there is no necessarily, can user's operating habit sets; Anti-, if inclination signal (Tvx, Tvy) over balance scope represents that then described micro-inertia sensing module 20 is in non-equilibrium state, then get back to step (c) sense mode again;
(d2) the whether over balance scope of instantaneous variation of inclination signal; After the described micro-inertia sensing module 20 of described microprocessor 32 detectings is in equilibrium state, when the inclination signal that receives an X-axis acceleration of gravity instantaneous variation, and described instantaneous variation value over balance scope, also be that the operator stirs described micro-inertia sensing module 20 about moment, the situation of emulation staff page turning, then described microprocessor 32 is sent to described cursor control integrated circuit 33 with signal, and the picture of controlling described display 40 by described cursor control integrated circuit 33 carries out page turning (steps d 21); If the instantaneous variation of the described X-axis inclination signal of detecting does not exceed described range of balance, then get back to step (c) sense mode again;
(d3): when the instantaneous variation of the described X-axis inclination signal of detecting exceeds described range of balance, and described inclination signal then carries out continuous page turning (steps d 4) when continuing to be fixed in certain angle of inclination; If repeat the flow process of steps d to d31, also be staff back and forth about no doubt page turning continuously during upset, yet when number of pages is too much, this mode is also inconvenient and time-consuming, therefore, the present invention proposes this page-turning function continuously, during concrete enforcement, grasp described micro-inertia sensing module 20 staff if moment do once big swing and be still in a certain angle of inclination, described microprocessor 32 can carry out continuous page turning automatically, because staff needn't swing as continuous several times and get final product continuous page turning, therefore can promote the convenience of continuous page turning; If the described inclination signal of detecting does not continue to be fixed on a certain angle of inclination, then continuous page turning is not carried out in expression, is returned to step (d) sense mode again again.
(e) 3D cursor control model, detecting described micro-inertia sensing module 20 when described microprocessor 32 is when being in 3D cursor control model, then carries out the step of moving cursor:
(e1): calculate X-axis wobble variation amount (Difx=(Tvx-Avx)/2), also promptly calculate X-axis original dip signal Tvx and X-axis and stablize signal Avx difference, and get its intermediate value; And Y-axis wobble variation amount (Dify=(Tvy-Avy)/2), also promptly calculate Y-axis original dip signal Tvy and Y-axis and stablize signal Avy difference, and get its intermediate value; Again according to described wobble variation amount (Difx, Dify), with X-axis tilt signal compensate for jitter variable quantity (Tvx '=Tvx-Difx) and with Y-axis tilt signal compensate for jitter variable quantity (Tvy '=Tvy-Dify).
(e2): behind step (e1) correction shake signal, can calculate difference (Dx=(Avx '-inx)), and the difference (Dy=(Avy '-iny)) that calculates Y-axis inclination signal after the compensation and start signal of X-axis inclination signal after the compensation and start signal; The purpose of step (e1), (e2) is that shake compensates and corrects at signal, see also Fig. 6 (a), Fig. 6 (b) with shown in Fig. 7 (a) and (b), Fig. 6 (a), Fig. 7 (a) are respectively the accurate position of X-axis, Y-axis before revising, figure Fig. 6 (b), Fig. 7 (b) are respectively revised X-axis, the accurate position of Y-axis, by diagram as can be known, after this step compensation correction, can get milder X-axis, the Y-axis acceleration change curve of a fluctuating, also promptly, can improve the accuracy of cursor positioning.
(e3): it is the point coordinate of display 40 that step (e2) is calculated gained X-axis and Y-axis difference Dx and Dy ratio, exports described cursor control circuit 33 to, controls described display 40 moving cursors 41 to correspondence position by described cursor control circuit 33 again.
Please continue and consult Fig. 8 and another preferred embodiment of the present invention shown in Figure 9, described 3D micro-inertia sensing cursor control system 100 is based on embodiment illustrated in fig. 3, has a micro-inertia sensing module 20 ' as the signal transmitting terminal, and the receiving end 30 that can receive described signal, described micro-inertia sensing module 20 ' comprises a micro-inertia sensor 21 ', one central processing unit 22, one radio transmitters 23, the characteristics of present embodiment are, described micro-inertia sensor 21 ' comprises an X-axis accelerometer 211 ', one Y-axis accelerometer 212 ', one Z axis accelerometer 213 ' and one second Y-axis accelerometer 214 ', described X-axis accelerometer 211 ' is the change in gravitational acceleration that tilts and caused in order to the described micro-inertia sensing module 20 ' of sensing, described Y-axis accelerometer 212 ' is to tilt forward and back the change in gravitational acceleration that is caused in order to the described micro-inertia sensing module 20 ' of sensing, the X-axis accelerometer 211 of its effect and described embodiment shown in Figure 3, Y-axis accelerometer 212 is identical; Described Z axis accelerometer 213 ' then is the variation in order to the gravity that causes that overturns continuously according to described X-axis accelerometer 211 ' and described Y-axis accelerometer 212 ', learn the variation of described micro-inertia sensing module 20 ' placement state, for example when the operator incorrect put or any external force effect make described micro-inertia sensing module 20 ' to the right (or left) upset, when causing described micro-inertia sensing module 20 ' bottom-up, described Z axis accelerometer 213 ' can be detected and learn and drive reverse operating page turning or control cursor; In addition, the described second Y-axis accelerometer 214 ' is in order to providing the described micro-inertia sensing module 20 ' of sensing to tilt forward and back another change in gravitational acceleration that is caused, after its sensing mode will be described in detail in.
Similarly, described micro-inertia sensor 21 ', central processing unit 22, radio transmitters 23 can be arranged in the housing 24, and be electrically connected at the set control knob in described housing 24 outsides, grip and control in order to staff, described micro-inertia sensor 21 ' is sent to central processing unit 22 with the change in gravitational acceleration of institute's sensing, radio transmitters 23, by described radio transmitters 23 described inclination signal is sent to receiving end 30, via described microprocessor 32, moving of display 40 page turnings or cursor 41 handled and controlled to cursor control integrated circuit 33, its principle is identical with described embodiment shown in Figure 3 with mode, is no longer given unnecessary details herein.
See also Figure 10 (and please cooperate simultaneously Fig. 9), illustrate that the present invention controls cursor and moves control method and flow process thereof with page turning:
(a): the original dip signal (Tilt-Value) that each acceleration of gravity meter of sensing is present; Because present embodiment has an X-axis accelerometer 211 ', a Y-axis accelerometer 212 ', a Z axis accelerometer 213 ' and one second Y-axis accelerometer 214 ', therefore can obtain Tvx, Tvy, four original dip signals of Tvz, Tvy2 respectively.
(b): the original dip signal done learn after the low-pass filtering (low-Pass filter) and stablize signal Avx, Avy, Avz; The original dip signal of the described second Y-axis accelerometer 214 ' can be ignored herein.
(c): the sense mode state.
(c1) signal of record each acceleration of gravity meter this moment is start signal (initial-value, inx; Iny).
(d): gesture page turning pattern:
(d1): whether detecting tilts at present in equilibrium state.
(d2): whether the instantaneous variation of inclination signal exceeds described range of balance.
(d3): whether the signal of detecting X-axis is fixed in certain angle of inclination.
Because above-mentioned flow process and described embodiment shown in Figure 3, also be that step shown in Figure 5 (a)～(d3) flow process is identical, so no longer given unnecessary details, the characteristics of present embodiment are, when the described micro-inertia sensing module 20 ' of step (c) detecting is the step of being carried out when being in 3D cursor control model (e ') 3D cursor control model, it comprises:
(e1 '): utilize two Y-axis acceleration differences to revise centrifugal force; By general normal mode of operation, operator's arm is to present circular arc or circular motion when rocking, and therefore can produce centrifugal force, causes the distortion of Gravity changer sensing, is big for the Y-axis acceleration action especially, must be revised; Please consult Figure 11, shown in Figure 8 simultaneously, described Y-axis accelerometer 212 ' is arranged on the position of nearer display 40, the described second Y-axis accelerometer 214 ' is arranged on described Y-axis accelerometer 212 ' rear, also be nearer at operator's (not shown) place, described Y-axis accelerometer 212 ' and the described second Y-axis accelerometer, 214 ' distance R, described second Y-axis accelerometer 214 ' and axis of rotation C distance R 2, according to the centrifugal force formula:
Tvy＝Ay+Gsinθ＝(R+R2)×ω
2+Gsinθ＝R×ω
2+R2×ω
2+Gsinθ
Tvy2＝Ay2+Gsinθ＝R2×ω
2+Gsinθ
Tvy-Tvt2＝R×ω
2
The Tvy:Y accekeration
The Tvy2:Y2 accekeration
Ay:Y centrifugal force
Ay2:Y2 centrifugal force
G: gravity
θ: the angle of accelerometer and level
ω: angular speed (can be rotate up and down or horizontally rotate)
R:Y, Y2 two accelerometer distances
The distance of R2:Y2 and axis of rotation C
Therefore can draw:
Centrifugal force Ay=(R+R2)/R* (Tvy-Tvy2)
Again described Y-axis accelerometer 212 ' the measured original Y-axis inclination signal Tvy of step (a) is deducted described centrifugal force Ay, can draw a revised Y-axis inclination signal Tvy.
See also Figure 12 and actual verification result shown in Figure 13, Figure 12 (a), Figure 13 (a) represent the influence to the accurate position of Y-axis accelerometer of centrifugal force and circular motion centrifugal force respectively, and Figure 12 (b), Figure 13 (b) represent revised result respectively, it can get the comparatively mild and smooth curve of a fluctuating after showing correction, can operation and the influence reduction of the issuable centrifugal force of circular motion to accurate of Y-axis.
(e2 '): calculate X-axis wobble variation amount (Difx=(Tvx-Avx)/2), and Y-axis wobble variation amount (Dify=(Tvy-Avy)/2), again according to described wobble variation amount (Difx, Dify), with X-axis tilt signal compensate for jitter variable quantity (Tvx '=Tvx-Difx) and with Y-axis tilt signal compensate for jitter variable quantity (Tvy '=Tvy-Dify).
(e3 '): the X-axis inclination signal after the calculating compensation and the difference of start signal (DX=(Avx '-inx)), and the difference of Y-axis inclination signal after the calculating compensation and start signal (Dy=(Avy '-iny)).
(e4 '): with the signal ratio of Dx and Dy is the point coordinate of display 40, exports described cursor control circuit 33 to, controls described display 40 moving cursors 41 to correspondence position by described cursor control circuit 33 again.
Above step (e2 ')～(e4 ') account form that is adopted and the effect that can reach thereof, identical with step (e1)～(e3) embodiment illustrated in fig. 5, will not give unnecessary details herein.
The framework of two preferred embodiments of the present invention in sum and method as can be known, the present invention has following characteristics:
(step c) of Fig. 5 and Figure 10 can be carried out gesture page turning pattern (step d) of Fig. 5 and Figure 10 or 3D cursor control model (Fig. 5 step e and Figure 10 step e ') to rely on the sense mode state.
May command single page turning attitude (steps d 21 of Fig. 5 and Figure 10) or continuous several times page turning attitude (steps d 4 of Fig. 5 and Figure 10).
Can revise (Fig. 5 step e1 and Figure 10 step e2 ') to the signal shake.
The Z axis accelerometer can be set,, learn the variation of described micro-inertia sensing module placement state, avoid maloperation (Figure 10 step a, b) in order to the variation of the gravity that causes that overturns continuously according to described X-axis accelerometer and Y-axis accelerometer.
But be provided with the accelerometer of two sensing Y-axis (also promptly tilting forward and back) change in gravitational acceleration, can utilize of the influence (Figure 10 step e1 ') of two Y-axis acceleration difference correction centrifugal force the accurate position of Y-axis.
Control precision height avoids tradition to adopt the situation of integrated acceleration cumulative errors.
Mode of operation is simple.
The above only is preferred embodiment of the present invention, only is illustrative for the purpose of the present invention, and nonrestrictive.Those skilled in the art is understood, and can carry out many changes to it in the spirit and scope that claim of the present invention limited, revise, even equivalence, but all will fall within the scope of protection of the present invention.
Claims (3)
1. 3D micro-inertia sensing system, it is characterized in that: it comprises:
One micro-inertia sensing module is in order to the sensing change in gravitational acceleration, and sends the original dip signal, and described micro-inertia sensing module comprises:
One X-axis accelerometer is the change in gravitational acceleration that tilts and caused in order to the described micro-inertia sensing module of sensing;
One first Y-axis accelerometer is to tilt forward and back first change in gravitational acceleration that is caused in order to the described micro-inertia sensing module of sensing;
One second Y-axis accelerometer is to tilt forward and back second change in gravitational acceleration that is caused in order to the described micro-inertia sensing module of sensing; Has certain distance between described first Y-axis accelerometer and the described second Y-axis accelerometer;
One receiving end is in order to receive and to handle the original dip signal that described micro-inertia sensing module is sent;
Wherein, this 3D micro-inertia sensing system is the difference correction centrifugal force that utilizes between the acceleration of the acceleration of the described second Y-axis accelerometer and the described first Y-axis accelerometer, and its calculation equation is as follows:
Ay＝(R+R2)/R*(Tvy-Tvy2)；
Wherein, Ay is the centrifugal force of Y-axis accelerometer; R is the distance between described first Y-axis accelerometer and the described second Y-axis accelerometer; R2 is the distance of described second Y-axis accelerometer and axis of rotation; Tvy is the inclination signal of the described first Y-axis accelerometer; Tvy2 is the inclination signal of the described second Y-axis accelerometer; And
Revise the original Tvy-Ay of Tvy=;
The inclination signal Tvy that the described first Y-axis accelerometer is measured deducts centrifugal force Ay, can draw a revised Y-axis inclination signal---revise Tvy.
2. 3D micro-inertia sensing as claimed in claim 1 system, it is characterized in that: described micro-inertia sensing module more comprises a Z axis accelerometer, be in order to the variation of the gravity that causes that overturns continuously according to described X-axis accelerometer and the described first and second Y-axis accelerometers, learn the variation of described micro-inertia sensing module placement state.
3. 3D micro-inertia sensing as claimed in claim 1 system is characterized in that:
Described micro-inertia sensing module connects a central processing unit, in order to receive and to handle described change in gravitational acceleration and produce the original dip signal;
Described central processing unit connects a radio transmitters, relies on described radio transmitters that described original dip signal is outwards launched;
Corresponding with described radio transmitters, one wireless receiver is arranged, rely on described wireless receiver to receive the original dip signal that described radio transmitters transmits, and described original dip signal can be sent to a microprocessor, by described microprocessor described original dip signal is carried out low-pass filtering and draws stable signal; Sense mode state afterwards, detecting described micro-inertia sensing module is to be in cursor control model or page turning pattern, carries out cursor controlled step or page turning step in order to decision; Described microprocessor connects a display by a cursor control integrated circuit, controls described display cursor by described cursor control integrated circuit and moves or carry out page turning or continuously page turning.
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| CN106855779A (en) * | 2015-12-08 | 2017-06-16 | 北京握奇智能科技有限公司 | A kind of display methods and safety shield for safety shield |
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|---|---|---|---|---|
| US4839838A (en) * | 1987-03-30 | 1989-06-13 | Labiche Mitchell | Spatial input apparatus |
| US5874941A (en) * | 1994-09-28 | 1999-02-23 | Nec Corporation | Presentation supporting device |
| CN1598751A (en) * | 2004-07-27 | 2005-03-23 | 天津大学 | Control method for gradient induction mouse |
| CN1797292A (en) * | 2004-12-28 | 2006-07-05 | 业盛科技股份有限公司 | Inertial mouse with high sensitivity |
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2006
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4839838A (en) * | 1987-03-30 | 1989-06-13 | Labiche Mitchell | Spatial input apparatus |
| US5874941A (en) * | 1994-09-28 | 1999-02-23 | Nec Corporation | Presentation supporting device |
| CN1598751A (en) * | 2004-07-27 | 2005-03-23 | 天津大学 | Control method for gradient induction mouse |
| CN1797292A (en) * | 2004-12-28 | 2006-07-05 | 业盛科技股份有限公司 | Inertial mouse with high sensitivity |
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