CN101593037A - Indicator device and determine the method for the rotational angle of this indicator device - Google Patents
Indicator device and determine the method for the rotational angle of this indicator device Download PDFInfo
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Abstract
The present invention discloses a kind of indicator device and determines the method for the rotational angle of this indicator device, and indicator device comprises first sensing cell, second sensing cell and processing unit.First sensing cell is in order to first rotational angle of sensing indicator device with respect to absolute coordinate system.Second sensing cell is in order to second rotational angle of sensing indicator device with respect to absolute coordinate system.Processing unit then is in order to receiving first rotational angle and second rotational angle, to calculate the absolute difference of first rotational angle and second rotational angle, and judges that whether absolute difference is less than predetermined threshold value.When judged result for being that processing unit is promptly exported first rotational angle.When judged result is that processing unit is not promptly proofreaied and correct first rotational angle with second rotational angle, and the rotational angle behind the output calibration.Indicator device of the present invention utilizes two sensing cells to calculate and proofread and correct the rotational angle of indicator device, and whereby, the resolution that moves control can significantly promote.
Description
Technical field
The present invention relates to a kind of indicator device (pointing device), refer to a kind of indicator device especially and determine the method for the rotational angle of this indicator device.
Background technology
At present, computing machine become gradually in everyone daily life indispensable electronic product.Generally speaking, the user can utilize keyboard, indicator device (pointing device), as mouse, joystick, contact panel, trace ball etc., come input instruction, and then the operational computations machine is finished specific function.
Recently, because video game (TV game) and computer game (PC game) is flourish, indicator device also develops into and can operate in three dimensions by operating in the plane gradually.For indicator device can be operated in the space, generally be to use as gyroscope (gyroscope), gravity sensor (G sensor) or magnetometric sensor sensing cells such as (magnetic sensor) and come the sensing rotational angle.
Gyroscope mainly is to be positioned at the rotatable wheel in axle center by one to constitute.Gyroscope is a kind of sensing and device of keeping direction of being used for, and comes out based on the Design Theory of conservation of angular momentum.Generally speaking, though gyrostatic resolution is higher, gyroscope can only be done relative output, can't be corresponding with user's absolute coordinate system (absolute coordinate system).See also Fig. 1.Figure 1 shows that the synoptic diagram of absolute coordinate system 1.In three dimensions, absolute coordinate system 1 comprises X-axis, Y-axis and Z axle.As shown in Figure 1, the angle of rotating around X-axis is θ, and the angle of rotating around Y-axis is
And the angle around the rotation of Z axle is ψ.
See also Fig. 2.Figure 2 shows that traditional gravity sensor 2 is used for the synoptic diagram of sensing rotational angle.As shown in Figure 2, because gravity is downward, when gravity sensor 2 rotated with respect to the X-axis of the absolute coordinate system among Fig. 11 or Y-axis, gravity sensor 2 can obtain angle θ that rotates around X-axis or the angle of rotating around Y-axis by sensing
See also Fig. 3.Figure 3 shows that traditional magnetometric sensor 3 is used for the synoptic diagram of sensing rotational angle.As shown in Figure 3, suppose the Y direction of the absolute coordinate system 1 of magnetic north in Fig. 1, when magnetometric sensor 3 rotated with respect to the X-axis of absolute coordinate system 1 or Z axle, magnetometric sensor 3 can obtain angle θ that rotate around X-axis or the angle ψ that rotates around the Z axle by sensing.
Yet no matter be to select above-mentioned gravity sensor 2 or magnetometric sensor 3 for use, its resolution is all come poorly than gyroscope.In addition, no matter be gravity sensor or gyroscope, all have born electronic noise and produce, and then the degree of accuracy on the reduction location.
Because traditional 3D indicator device all uses the signal of single sensing cell, and there is above-mentioned shortcoming in traditional sensing cell (as gyroscope, gravity sensor, magnetometric sensor etc.), makes traditional 3D indicator device can't control moving of cursor exactly when single shaft points to.
Summary of the invention
A scheme of the present invention is to provide a kind of indicator device, and it utilizes two or more sensing cells to calculate and proofread and correct the rotational angle of indicator device, and then improves resolution.
According to a specific embodiment, indicator device of the present invention comprises first sensing cell, second sensing cell and processing unit.Processing unit couples first sensing cell and second sensing cell respectively.First sensing cell can be gyroscope or other rotary sensing unit.Second sensing cell can be gravity sensor or magnetometric sensor.
In this embodiment, first sensing cell is in order to first rotational angle of sensing indicator device with respect to absolute coordinate system, and second sensing cell is in order to second rotational angle of sensing indicator device with respect to absolute coordinate system.Processing unit then is in order to receive first rotational angle and second rotational angle, to calculate the absolute difference of first rotational angle and second rotational angle.When processing unit was judged this absolute difference greater than a predetermined threshold value, processing unit was proofreaied and correct first rotational angle with second rotational angle, and exported the rotational angle after the correction.
According to above-mentioned indicator device, wherein, above-mentioned first sensing cell is a gyroscope, and the above-mentioned indicator device of its sensing is with respect to the angular velocity varies of above-mentioned absolute coordinate system, and obtains above-mentioned first rotational angle.
According to above-mentioned indicator device, wherein, above-mentioned second sensing cell is a gravity sensor, and the above-mentioned indicator device of its sensing is with respect to the Gravity changer of above-mentioned absolute coordinate system, and obtains above-mentioned second rotational angle.
According to above-mentioned indicator device, wherein, above-mentioned second sensing cell is a magnetometric sensor, and the above-mentioned indicator device of its sensing is with respect to the magnetic force change of above-mentioned absolute coordinate system, and obtains above-mentioned second rotational angle.
According to above-mentioned indicator device, wherein, the rotational angle after the above-mentioned correction calculates via following formula:
A_out＝(A1*W1+A2*W2)/(W1+W2)，
Wherein, A_out represents the rotational angle after the above-mentioned correction, and A1 represents above-mentioned first rotational angle, and W1 represents first weights, and A2 represents above-mentioned second rotational angle, and W2 represents second weights.
According to above-mentioned indicator device, wherein, above-mentioned first weights are greater than above-mentioned second weights.
Another program of the present invention is to provide a kind of method that determines the rotational angle of indicator device, and it comprises the following step: the sensing indicator device is with respect to first rotational angle of absolute coordinate system; The sensing indicator device is with respect to second rotational angle of absolute coordinate system; Calculate the absolute difference of first rotational angle and second rotational angle; And, proofread and correct first rotational angle, and export a rotational angle after proofreading and correct with second rotational angle when absolute difference during greater than a predetermined threshold value.
According to above-mentioned method, wherein, above-mentioned first rotational angle is to obtain by the angular velocity varies of the above-mentioned indicator device of sensing with respect to above-mentioned absolute coordinate system.
According to above-mentioned method, wherein, above-mentioned second rotational angle is to obtain by the Gravity changer of the above-mentioned indicator device of sensing with respect to above-mentioned absolute coordinate system.
According to above-mentioned method, wherein, above-mentioned second rotational angle is to obtain by the magnetic force change of the above-mentioned indicator device of sensing with respect to above-mentioned absolute coordinate system.
According to above-mentioned method, wherein, the rotational angle after the above-mentioned correction calculates via following formula:
A_out＝(A1*W1+A2*W2)/(W1+W2)，
Wherein, A_out represents the rotational angle after the above-mentioned correction, and A1 represents above-mentioned first rotational angle, and W1 represents first weights, and A2 represents above-mentioned second rotational angle, and W2 represents second weights.
According to above-mentioned method, wherein, above-mentioned first weights are greater than above-mentioned second weights.
In practical application, the first above-mentioned rotational angle or proofread and correct after rotational angle promptly can be used to control object in moving of cursor or the manipulation space.
Therefore, when the difference between first rotational angle and second rotational angle is in tolerable scope, indicator device of the present invention promptly with first rotational angle as output.
Beneficial effect of the present invention is that when the difference between first rotational angle and second rotational angle was excessive, indicator device of the present invention promptly utilized second rotational angle to proofread and correct first rotational angle, and then improved resolution.
Can be further understood by the following detailed description and accompanying drawings about the advantages and spirit of the present invention.
Description of drawings
Figure 1 shows that the synoptic diagram of absolute coordinate system.
Figure 2 shows that traditional gravity sensor is used for the synoptic diagram of sensing rotational angle.
Figure 3 shows that traditional magnetometric sensor is used for the synoptic diagram of sensing rotational angle.
Figure 4 shows that synoptic diagram according to the indicator device of a specific embodiment of the present invention.
Figure 5 shows that the functional block diagram of pointing to device among Fig. 4.
Figure 6 shows that the method flow diagram that points to the rotational angle of device among decision Fig. 4.
Embodiment
See also Fig. 4 and Fig. 5.Figure 4 shows that synoptic diagram according to the indicator device 5 of a specific embodiment of the present invention.Figure 5 shows that the functional block diagram of pointing to device 5 among Fig. 4.Indicator device of the present invention can be mouse, joystick, trace ball etc., decides on practical application.Indicator device 5 shown in Fig. 4 is to be example with the mouse, but not as limit.
As shown in Figure 5, indicator device 5 comprises first sensing cell 50, second sensing cell 52 and processing unit 54.Processing unit 54 couples first sensing cell 50 and second sensing cell 52 respectively.In this embodiment, first sensing cell 50 can be gyroscope or other rotary sensing unit.Second sensing cell 52 can be gravity sensor or magnetometric sensor.
When the user rotates indicator device 5, make when the inclination angle changes that first sensing cell 50 gets final product first rotational angle of sensing indicator device 5 with respect to absolute coordinate system (as shown in Figure 1).That is first rotational angle is for relatively rotating angle.For example, if first sensing cell 50 is a gyroscope, it is by the angular velocity varies of sensing indicator device 5 with respect to absolute coordinate system, and obtains first rotational angle.
In addition, when the user rotates indicator device 5, second sensing cell 52 also can sensing indicator device 5 with respect to second rotational angle of absolute coordinate system.That is second rotational angle is the absolute coordinates angle.For example, if second sensing cell 52 is a gravity sensor, it is by the Gravity changer of sensing indicator device 5 with respect to absolute coordinate system, and obtains second rotational angle.On the other hand, if second sensing cell 52 is a magnetometric sensor, it then is by the magnetic force change of sensing indicator device 5 with respect to absolute coordinate system, and obtains second rotational angle.
Please consult Fig. 5 again.54 of processing units are in order to receive second rotational angle that first rotational angle that first sensing cell, 50 sensings obtain and second sensing cell, 52 sensings obtain.Then, processing unit 54 can calculate the absolute difference of first rotational angle and second rotational angle, and judges that whether absolute difference is less than predetermined threshold value.When above-mentioned judged result for being, that is absolute difference is less than predetermined threshold value, processing unit 54 is promptly exported first rotational angle, the control signal that moves as the control cursor.Otherwise, when above-mentioned judged result for not, that is absolute difference is more than or equal to predetermined threshold value, processing unit 54 is promptly proofreaied and correct first rotational angle with second rotational angle, and the rotational angle behind the output calibration, the control signal that moves as the control cursor.
In this embodiment, the rotational angle after the above-mentioned correction can calculate via following formula one.
Formula one: A_out=(A1*W1+A2*W2)/(W1+W2).
In above-mentioned formula one, the rotational angle after the A_out representative is proofreaied and correct, A1 represents first rotational angle, and W1 represents first weights, and A2 represents second rotational angle, and W2 represents second weights.The first weights W1 and the second weights W2 can be designed voluntarily by the deviser.Preferably, the first weights W1 can be designed to greater than the second weights W2, but not as limit.
For example, if first rotational angle that first sensing cell, 50 sensings obtain is 10 degree, second rotational angle that second sensing cell, 52 sensings obtain is 9 degree, and predetermined threshold value is 3 degree.Because the absolute difference of first rotational angle and second rotational angle is 1 degree, less than predetermined threshold value, processing unit 54 i.e. direct output first rotational angle (promptly 10 spend), as controlling the control signal that cursor moves.
If first rotational angle that first sensing cell, 50 sensings obtain is 10 degree, second rotational angle that second sensing cell, 52 sensings obtain is 5 degree, and predetermined threshold value is 3 degree.Because the absolute difference of first rotational angle and second rotational angle is 5 degree, greater than predetermined threshold value, processing unit 54 is promptly proofreaied and correct first rotational angle according to above-mentioned formula one, and the rotational angle behind the output calibration, as controlling the control signal that cursor moves.If the first weights W1 is made as 2, and the second weights W2 is made as 1, and the rotational angle after then proofreading and correct is 8.33 degree.
In addition, before using indicator device 5 of the present invention, the user can utilize 50 pairs of indicator devices 5 of first sensing cell to make zero earlier, to make follow-up mobile control more accurate.For example: if the output valve of first sensing cell 50 is zero, judge that then first sensing cell 50 is static, at this moment, then write down the usefulness of the value of second sensing cell 52 as correction.In other embodiments, also can utilize alternate manner that indicator device 5 is carried out flyback action.For example: it is all constant that the value of second sensing cell 52 is kept a period of time (for example: 10 seconds), then can be with the value of second sensing cell 52 of this moment as the usefulness of correction.
See also Fig. 6.Figure 6 shows that the method flow diagram that points to the rotational angle of device 5 among decision Fig. 4.At first, execution in step S10, sensing indicator device 5 is with respect to first rotational angle of absolute coordinate system.Simultaneously, execution in step S12, sensing indicator device 5 is with respect to second rotational angle of absolute coordinate system.Then, execution in step S14 calculates the absolute difference of first rotational angle and second rotational angle.Afterwards, execution in step S16 judges that whether absolute difference is less than predetermined threshold value.If the judged result of step S16 is for being that then execution in step S18 exports first rotational angle.If the judged result of step S16 is not for, then execution in step S20 proofreaies and correct first rotational angle with second rotational angle, afterwards, and execution in step S22 again, the rotational angle behind the output calibration.
If first sensing cell 50 in the indicator device 5 is a gyroscope, then step S10 is the angular velocity varies of sensing indicator device 5 with respect to absolute coordinate system, and obtains first rotational angle.If second sensing cell 52 in the indicator device 5 is a gravity sensor, then step S12 is the Gravity changer of sensing indicator device 5 with respect to absolute coordinate system, and obtains second rotational angle.If second sensing cell 52 in the indicator device 5 is a magnetometric sensor, then step S12 is the magnetic force change of sensing indicator device 5 with respect to absolute coordinate system, and obtains second rotational angle.
In other words, indicator device 5 of the present invention can utilize gyroscope or other rotary sensing unit and gravity sensor to do collocation, also can utilize gyroscope or other rotary sensing unit and magnetometric sensor to do collocation, decides on practical application.
Compared to prior art, indicator device of the present invention utilizes two sensing cells to calculate and proofread and correct the rotational angle of indicator device.When the difference between first rotational angle and second rotational angle is in tolerable scope, indicator device of the present invention promptly with first rotational angle as output.And when the difference between first rotational angle and second rotational angle was excessive, indicator device of the present invention promptly utilized second rotational angle to proofread and correct first rotational angle, again the rotational angle behind the output calibration.Whereby, moving the resolution of controlling can obtain to promote significantly.
By the above detailed description of preferred embodiments, hope can be known description feature of the present invention and spirit more, and is not to come category of the present invention is limited with the above-mentioned preferred embodiment that is disclosed.On the contrary, its objective is that hope can contain in the category of claim of being arranged in of various changes and tool equality institute of the present invention desire application.Therefore, the category of the claim that the present invention applied for should be done the broadest explanation according to above-mentioned explanation, contains the arrangement of all possible change and tool equality to cause it.
Claims (12)
1. indicator device is characterized in that comprising:
First sensing cell is in order to first rotational angle of the above-mentioned indicator device of sensing with respect to absolute coordinate system;
Second sensing cell is in order to second rotational angle of the above-mentioned indicator device of sensing with respect to above-mentioned absolute coordinate system; And
Processing unit, couple above-mentioned first sensing cell and above-mentioned second sensing cell respectively, in order to receive above-mentioned first rotational angle and above-mentioned second rotational angle, calculate the absolute difference of above-mentioned first rotational angle and above-mentioned second rotational angle, when above-mentioned processing unit is judged above-mentioned absolute difference greater than predetermined threshold value, above-mentioned processing unit is proofreaied and correct above-mentioned first rotational angle with above-mentioned second rotational angle, and the rotational angle behind the output calibration.
2. indicator device according to claim 1 is characterized in that above-mentioned first sensing cell is a gyroscope, and the above-mentioned indicator device of its sensing is with respect to the angular velocity varies of above-mentioned absolute coordinate system, and obtains above-mentioned first rotational angle.
3. indicator device according to claim 1 is characterized in that above-mentioned second sensing cell is a gravity sensor, and the above-mentioned indicator device of its sensing is with respect to the Gravity changer of above-mentioned absolute coordinate system, and obtains above-mentioned second rotational angle.
4. indicator device according to claim 1 is characterized in that above-mentioned second sensing cell is a magnetometric sensor, and the above-mentioned indicator device of its sensing is with respect to the magnetic force change of above-mentioned absolute coordinate system, and obtains above-mentioned second rotational angle.
5. indicator device according to claim 1 is characterized in that the rotational angle after the above-mentioned correction calculates via following formula:
A_out＝(A1*W1+A2*W2)/(W1+W2)，
Wherein, A_out represents the rotational angle after the above-mentioned correction, and A1 represents above-mentioned first rotational angle, and W1 represents first weights, and A2 represents above-mentioned second rotational angle, and W2 represents second weights.
6. indicator device according to claim 5 is characterized in that above-mentioned first weights are greater than above-mentioned second weights.
7. method that determines the rotational angle of indicator device is characterized in that comprising the following step:
The above-mentioned indicator device of sensing is with respect to first rotational angle of absolute coordinate system;
The above-mentioned indicator device of sensing is with respect to second rotational angle of above-mentioned absolute coordinate system;
Calculate the absolute difference of above-mentioned first rotational angle and above-mentioned second rotational angle; And
When above-mentioned absolute difference during greater than predetermined threshold value, proofread and correct above-mentioned first rotational angle with above-mentioned second rotational angle, and the rotational angle behind the output calibration.
8. method according to claim 7 is characterized in that above-mentioned first rotational angle is to obtain by the angular velocity varies of the above-mentioned indicator device of sensing with respect to above-mentioned absolute coordinate system.
9. method according to claim 7 is characterized in that above-mentioned second rotational angle is to obtain by the Gravity changer of the above-mentioned indicator device of sensing with respect to above-mentioned absolute coordinate system.
10. method according to claim 7 is characterized in that above-mentioned second rotational angle is to obtain by the magnetic force change of the above-mentioned indicator device of sensing with respect to above-mentioned absolute coordinate system.
11. method according to claim 7 is characterized in that the rotational angle after the above-mentioned correction calculates via following formula:
A_out＝(A1*W1+A2*W2)/(W1+W2)，
Wherein, A_out represents the rotational angle after the above-mentioned correction, and A1 represents above-mentioned first rotational angle, and W1 represents first weights, and A2 represents above-mentioned second rotational angle, and W2 represents second weights.
12. method according to claim 11 is characterized in that above-mentioned first weights are greater than above-mentioned second weights.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102572088A (en) * | 2010-12-31 | 2012-07-11 | 广州三星通信技术研究有限公司 | Device and method for adjusting ringing strength of portable terminal |
| CN103917940A (en) * | 2011-11-09 | 2014-07-09 | 三星电子株式会社 | Method for controlling rotation of screen and terminal and touch system supporting the same |
| CN114838301A (en) * | 2021-02-02 | 2022-08-02 | 深圳慧安康科技有限公司 | Desk lamp |
| CN115609590A (en) * | 2022-11-07 | 2023-01-17 | 成都睿乐达机器人科技有限公司 | Method and device for acquiring rotation instruction and service robot |
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2008
- 2008-05-30 CN CNA2008100998794A patent/CN101593037A/en active Pending
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102572088A (en) * | 2010-12-31 | 2012-07-11 | 广州三星通信技术研究有限公司 | Device and method for adjusting ringing strength of portable terminal |
| CN102572088B (en) * | 2010-12-31 | 2013-12-25 | 广州三星通信技术研究有限公司 | Device and method for adjusting ringing strength of portable terminal |
| CN103917940A (en) * | 2011-11-09 | 2014-07-09 | 三星电子株式会社 | Method for controlling rotation of screen and terminal and touch system supporting the same |
| US9785202B2 (en) | 2011-11-09 | 2017-10-10 | Samsung Electronics Co., Ltd. | Method for controlling rotation of screen and terminal and touch system supporting the same |
| CN114838301A (en) * | 2021-02-02 | 2022-08-02 | 深圳慧安康科技有限公司 | Desk lamp |
| CN115609590A (en) * | 2022-11-07 | 2023-01-17 | 成都睿乐达机器人科技有限公司 | Method and device for acquiring rotation instruction and service robot |
| CN115609590B (en) * | 2022-11-07 | 2023-04-07 | 成都睿乐达机器人科技有限公司 | Method and device for acquiring rotation instruction and service robot |
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Open date: 20091202 |