CN106980393A - Intelligent position follows the trail of manipulation pen and posture original data processing method - Google Patents
Intelligent position follows the trail of manipulation pen and posture original data processing method Download PDFInfo
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- CN106980393A CN106980393A CN201710320427.3A CN201710320427A CN106980393A CN 106980393 A CN106980393 A CN 106980393A CN 201710320427 A CN201710320427 A CN 201710320427A CN 106980393 A CN106980393 A CN 106980393A
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- 238000003672 processing method Methods 0.000 title claims abstract description 14
- 238000012545 processing Methods 0.000 claims abstract description 76
- 230000033001 locomotion Effects 0.000 claims abstract description 74
- 230000002452 interceptive effect Effects 0.000 claims abstract description 55
- 238000004891 communication Methods 0.000 claims abstract description 23
- 230000003993 interaction Effects 0.000 claims abstract description 9
- 238000000034 method Methods 0.000 claims abstract description 8
- 230000001133 acceleration Effects 0.000 claims description 27
- 230000004927 fusion Effects 0.000 claims description 16
- 230000005540 biological transmission Effects 0.000 claims description 9
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- 239000000700 radioactive tracer Substances 0.000 abstract 1
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- 238000005516 engineering process Methods 0.000 description 4
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- 238000012546 transfer Methods 0.000 description 3
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
- G06F3/033—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
- G06F3/0346—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor with detection of the device orientation or free movement in a 3D space, e.g. 3D mice, 6-DOF [six degrees of freedom] pointers using gyroscopes, accelerometers or tilt-sensors
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
- G06F3/033—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
- G06F3/038—Control and interface arrangements therefor, e.g. drivers or device-embedded control circuitry
- G06F3/0383—Signal control means within the pointing device
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Abstract
The invention discloses the processing method that a kind of intelligent position follows the trail of manipulation pen and spatial interaction sensor raw data, manipulating pen includes lip pencil housing and intelligent control circuit plate, intelligent control circuit plate is in lip pencil housing cavity volume, intelligent control circuit plate includes motion sensor, processing unit, communication unit, feedback prompts unit and space coordinate signal element, and method includes：Motion sensor senses manipulate a sensor parameters；Processing unit reads a manipulation sensor raw data, judges whether sensor raw data is effective；Processing unit carries out mean filter to sensor raw data, obtains the Euler's angular dimensions and quaternary number of manipulation pen；The Euler's angular dimensions and quaternary number that manipulate pen are transferred to by specific interactive device by communication unit, it is determined that the airborne sensor of manipulation pen；Implement the present invention, solve " drift " phenomenon, with reference to nine axis movement sensors and infrared tracer technique, the precision for following the trail of a manipulation spatial motion sensor is greatly improved, and improves Consumer's Experience.
Description
Technical field
The present invention relates to 3D stereo technologies field, more particularly to a kind of intelligent position follows the trail of manipulation pen and posture initial data
Processing method.
Background technology
Existing interaction manipulation pen, in-built motion sensor and infrared transmitter, pass through HDMI cables and 3D display devices
Use cooperatively, HDMI cables are handled the spatial data transmission for manipulating pen to 3D display devices, and 3D display devices pass through red
The infrared transmitter that outer tracing module follows the trail of manipulation pen determines to manipulate the approximate location of pen, the sky that superposition HDMI cable transmissions come
Between data determine the exact position of cursor, to operate the 3D contents on 3D display devices, but this manipulation pen is mainly deposited
The problem of the following aspects：
1st, 3D display devices are transmitted and are carried out by the space of a motion sensor senses, exercise data is manipulated by HDMI cables
Processing, has aggravated 3D display apparatus processes unit burden, and the response time extends, especially when manipulation pen acts frequently, seriously
In the case of occur 3D contents play interim card even 3D display devices crash phenomenon.
2nd, motion sensor uses six axis movement sensors, causes 3D display devices to follow the trail of manipulation spatial movement precision drop
It is low, and then cause the cursor on 3D display devices " drift " phenomenon occur, user is caused cursor from effective in operation
Operate 3D contents.
The content of the invention
For existing manipulation pen when being used cooperatively with 3D display devices, 3D display devices are played interim card even 3D and shown
Equipment crashes, cursor " drift " phenomenon occurs the problem of cause poor user experience, propose a kind of intelligent position follow the trail of manipulate pen and
Processing unit is set in the processing method of posture initial data, the intelligent control circuit plate for manipulating pen, nine axle sensors are detected
Acceleration parameter, angular speed parameter and the directioin parameter of the three degree of freedom arrived carry out fusion treatment, obtain the Europe of manipulation pen
Angular dimensions and quaternary number are drawn, specific interactive device is transferred to and to follow the trail of intelligent position manipulation airborne sensor positioning, greatly
The direction sensor data pair of geomagnetic sensors detection in the big processing load for reducing interactive device, nine axle sensor units
The space based sensor data that existing intelligent position follows the trail of manipulation pen is effectively corrected, and is improved to follow the trail of intelligent position and is grasped
Control space motion location is followed the trail of to be connected in precision, the present invention using the USB data line of HID protocol with interactive device, versatility
By force.
On the one hand manipulation pen, including lip pencil housing and intelligent control circuit plate are followed the trail of there is provided a kind of intelligent position, it is described
Intelligent control circuit plate is located in the lip pencil housing, including：
Processing unit, the sensor raw data for being transmitted to motion sensor carries out fusion treatment, by logical
Sensing data and key command after fusion treatment is transferred to specific interactive device by letter unit, is received the interaction and is set
Standby feedback command, control feedback prompts unit sends prompt message；
Motion sensor, is electrically connected with the processing unit, for detecting that intelligent position follows the trail of the space sensing of manipulation pen
Device, and by airborne sensor original data transmissions to processing unit processes；
Push-button unit, is electrically connected with the processing unit, right for output function key command to specific interactive device
Content on the interactive device is operated；
Communication unit, is electrically connected with the processing unit, for being communicated with the interactive device；
Feedback prompts unit, is electrically connected with the processing unit, right for following the trail of manipulation pen by intelligent position to user
The operation behavior of display content is fed back on the interactive device；
Space coordinate signal element, is electrically connected with the processing unit, for launch coordinate signal to the interactive device.
With reference in a first aspect, motion sensor described in the first possible implementation is nine axis movement sensors.
With reference to the first possible implementation of first aspect, the motion of nine axles described in second of possible implementation
Sensor includes acceleration transducer unit, gyro unit and geomagnetic sensor unit.
With reference in a first aspect, communication unit is carried out by using USB data line described in the third possible implementation
Communication.
With reference in a first aspect, intelligent control circuit plate described in the 4th kind of possible implementation also includes electric managed source list
Member and indicator unit, the PMU and indicator unit are electrically connected with the processing unit respectively, the electricity
Source control unit is used to make the intelligent control circuit plate voltage stabilization in working range, and the indicator unit is used to indicate
Intelligent position follows the trail of the data transmission scenarios between pen and interactive device.
With reference in a first aspect, processing unit described in the 5th kind of possible implementation utilizes data anastomosing algorithm to motion
The sensor raw data of sensor carries out before processing, first judges whether the sensor raw data read is effective, if effectively,
Mean filter further is carried out to sensor raw data.
With reference in a first aspect, processing unit to motion sensor by being transmitted across described in the 6th kind of possible implementation
The sensor raw data come obtained after fusion treatment the Euler's angular dimensions and quaternary number of a manipulation spatial attitude.
With reference in a first aspect, space coordinate signal element described in the 7th kind of possible implementation is infrared emission list
Member, the infrared emission unit at least includes an infrared emission device, and the infrared emission device is located at the intelligent position
Follow the trail of the apical position of manipulation pen.
Second aspect utilizes the intelligence described in first aspect there is provided a kind of processing method for manipulating a posture initial data
Location tracking manipulates pen, the treating method comprises：
A, by nine axis movement sensors obtain it is described manipulation a spatial attitude initial data, be transferred to the processing unit
Handled；
B, the processing unit read the initial data, judge whether the initial data is effective, if it is not, then performing step
Rapid A, if so, then performing step C；
C, the processing unit carry out mean filter to the initial data, and obtain the behaviour by data anastomosing algorithm
Control the Euler's angular dimensions and quaternary number of pen；
D, by communication unit by it is described manipulation pen Euler's angular dimensions and quaternary number be transferred to specific interactive device, really
The spatial attitude of fixed manipulation pen；
Wherein, nine axis movement sensor includes acceleration transducer unit, gyro unit and geomagnetic sensor
Unit.
With reference to second aspect, communication unit is communicated by USB data line described in the first possible implementation.
Implement the processing method that a kind of intelligent position proposed by the present invention follows the trail of manipulation pen and spatial attitude initial data, behaviour
Processing unit is set in the intelligent control circuit plate for controlling pen, to the acceleration transducer unit in nine axle sensors, gyroscope list
Acceleration parameter, angular speed parameter and the directioin parameter for the three degree of freedom that member and geomagnetic sensor unit are detected respectively
Fusion treatment is carried out, the Euler's angular dimensions and quaternary number of manipulation pen is obtained, is transferred to specific interactive device and comes to intelligent position
Manipulation airborne sensor positioning is followed the trail of, the earth magnetism in the processing load of interactive device, nine axis movement sensors is greatly reduced
The space based sensor data that the direction sensor data of sensor detection follow the trail of existing intelligent position manipulation pen is carried out effectively
Amendment, improve and follow the trail of intelligent position manipulation space motion location and follow the trail of in a precision, the present invention using HID protocol
USB data line is connected with interactive device, data line interface highly versatile.Implement instant invention overcomes it is existing manipulation pen with friendship
When mutual equipment is used cooperatively, interactive device, which plays interim card or even deadlock phenomenon, cursor appearance " drift " phenomenon occurs, causes user
The problem of experience difference.
Brief description of the drawings
Technical scheme in order to illustrate the embodiments of the present invention more clearly, makes required in being described below to embodiment
Accompanying drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the present invention, for
For those of ordinary skill in the art, on the premise of not paying creative work, other can also be obtained according to these accompanying drawings
Accompanying drawing.
Fig. 1 is a kind of structural representation of an intelligent position tracking manipulation front view embodiment in the present invention；
Fig. 2 is a kind of schematic diagram of an intelligent position tracking manipulation rear view embodiment in the present invention；
Fig. 3 is the signal that the circuit composition logic that a kind of intelligent position is followed the trail of in manipulation pen in the present invention connects embodiment
Figure；
Fig. 4 is a kind of infrared emission device implementation of an intelligent position tracking manipulation space coordinate signal element in the present invention
Illustrate and be intended to；
Fig. 5 is the function button composition embodiment signal that a kind of intelligent position follows the trail of in a manipulation push-button unit in the present invention
Figure；
Fig. 6 is a kind of intelligent position tracking manipulation pen nine axis movement sensor composition embodiment schematic diagram in the present invention；
Fig. 7 is a kind of processing method embodiment schematic diagram for manipulating a posture initial data in the present invention；
The toponym that each numeral is referred in accompanying drawing is：10 --- lip pencil housing, 20 --- intelligent control circuit plates,
21 --- --- nine axis movement sensors, 22a --- acceleration transducer unit, 22b --- gyroscope lists of processing unit, 22
Member, --- --- power subsystem, 24 --- space coordinate signal element, 24a --- first is red for geomagnetic sensor unit, 23 by 22c
External transmitter part, 24b --- the second infrared emission device, 25 --- feedback prompts unit, 26 --- push-button unit, 26a ---
First button, 26b --- the second button, 26c --- the 3rd button, 27 --- indicator unit, 28 --- communication unit,
28a --- USB interface.
Embodiment
Below in conjunction with the accompanying drawing in invention, the technical scheme in the present invention is clearly and completely described, it is clear that
Described embodiment is only a part of embodiment of the present invention, rather than whole embodiments.Based on the reality in the present invention
Example is applied, the other embodiment that those of ordinary skill in the art are obtained under the premise of creative work is not paid belongs to this
Invent the scope of protection.
It refer to Fig. 3, Fig. 3 is the circuit group that a kind of intelligent position follows the trail of in manipulation pen (referred to below as manipulating pen) in the present invention
Into logic connect embodiment schematic diagram, the invention provides a kind of intelligent position follow the trail of manipulation pen, for interactive device example
Such as 3D display devices are used cooperatively, when in use, the position that 3D display devices are transmitted using infrared follow-up mechanism and manipulation pen
Euler's angular dimensions and quaternary number are put, it is determined that position of the manipulation cursor on 3D display devices, equivalent to will manipulation pen " mapping "
To 3D display devices, user is moved the cursor in the 3D content icons to be operated, then again by manipulating the button on pen to 3D
Content is played out, the operation such as mobile and closing.
It should be noted that the interactive device (not marked in figure) described in the present embodiment refers to manipulation pen to be believed
Breath is interactive and with the 3D display devices or 2D display devices for being particularly shown function, and 3D display devices or 2D display devices have
The processing unit system of itself and display system, can be positioned, simultaneously according to Euler's angular dimensions and quaternary number to manipulation pen
There is but be not limited to play the function of 3D contents.
First, the system in the technical program
When the technical program aims to overcome that the manipulation pen that existing manipulation pen is present is used cooperatively with interactive device, interaction
Device plays interim card even crashes and the problem of " drift " phenomenon causes poor user experience, intelligent control circuit plate occurs in cursor
20 include lip pencil housing 10 and its intelligent control circuit plate 20 being located in the cavity volume of lip pencil housing 10, and intelligent control circuit plate 20 is wrapped
Include motion sensor, processing unit 21, PMU 23, space coordinate signal element 24, communication unit 28, feedback prompts
Unit 25, push-button unit 26 and indicator unit 27, intelligent control circuit plate 20 use nine axis movement sensors 22, can be more smart
Really follow the trail of the spatial attitude of manipulation pen, it is to avoid " drift " phenomenon, processing occurs in the manipulation cursor being shown on interactive device
Unit 21 can be carried out after fusion treatment to the manipulation airborne sensor initial data that manipulation pen is transmitted, and obtain Eulerian angles
Parameter and quaternary number are simultaneously transferred to interactive device, and interactive device only needs to enter the attitude data and space coordinate parameters that manipulate pen
Row superposition, without carrying out fusion treatment, greatly reduces the processing unit burden of interactive device, user can also be connect by USB
Mouth 28a units carry out wired connection with interactive device, greatly facilitate user.
Below in conjunction with accompanying drawing, the technical program is explained in detail.
2nd, system embodiment
Fig. 1 is refer to, Fig. 1 is a kind of structural representation of an intelligent position tracking manipulation front view embodiment in the present invention
A kind of figure, intelligent position follows the trail of manipulation pen, including lip pencil housing 10 and intelligent control circuit plate 20, and intelligent control circuit plate 20 is set
In in the cavity volume of lip pencil housing 10.Intelligent control circuit plate 20 includes processing unit 21, and processing unit 21 utilizes data fusion and card
Kalman Filtering algorithm detects a manipulation location parameter to nine axis movement sensors 22 and handled, and obtains manipulating the Eulerian angles of pen
Parameter and quaternary number, are sent to interactive device, overcome existing manipulation and connect the airborne sensor original number that will be detected straight
Handled according to interactive device is transferred to, cause the problem of crashing over-burden because of processing unit occurs in interactive device.
Processing unit 21 carries out before processing using data anastomosing algorithm to the initial data of nine axis movement sensor 22, first judges
Whether the initial data of reading is effective, if effectively, further carrying out mean filter to the initial data.Processing unit 21 is read
After initial data, first determine whether whether the initial data is effective, easily occur overflowing now when carrying out data sampling to each data
As if there is spillover, initial data is invalid, then needs re-request to obtain initial data, if being overflowed without data, to reading
The initial data taken carries out digital mean filter, and motion sensor is vulnerable in feedback prompts unit 25 when detecting initial data
Interference, the influence of noise such as motor, power supply and operating personnel operation behavior itself, it is therefore desirable to the sensor to reading
Initial data carries out mean filter, and 21 pairs of initial data of processing unit carry out mean filter, and are obtained by data anastomosing algorithm
Take the Euler's angular dimensions and quaternary number of manipulation pen.
Processing unit 21 in the technical program is preferably MCU, and MCU disposal ability is strong, small volume, cheap, non-
Often suitable for the present embodiment manipulation pen, in the case where volume requirement relaxes, processing unit 21 can also use DSP,
FPGA etc. has the process chip of data-handling capacity.
Fig. 6 is refer to, Fig. 6 is a kind of intelligent position tracking manipulation pen nine composition implementation of axis movement sensor 22 in the present invention
Illustrate and be intended to.
Further, motion sensor is electrically connected with processing unit 21, is used as a kind of preferred embodiment, the motion-sensing
Device is nine axis movement sensors 22, and the infrared signal that interactive device tracking infrared emission device is sent can only determine to manipulate the sky of pen
Between coordinate position, can not follow the trail of manipulation pen relative to interactive device screen entire motion posture.Nine axis movement sensors 22
It is the combination of three kinds of sensors：3-axis acceleration sensor unit 22a, three-axis gyroscope unit 22b and three axle geomagnetic sensors
Unit 22c, three parts cooperate, effect.Using acceleration sensor unit and gyro unit 22b, it can describe substantially
The entire motion state of equipment.But with prolonged exercise, can also produce Accumulated deviation, it is impossible to accurate description athletic posture,
Such as operation control picture run-off the straight.Geomagnetic sensor unit 22c is repaiied using magnetic field of the earth is measured by absolute direction-pointing function
Positive compensation, can effectively solve Accumulated deviation, so as to correct the direction of motion, attitude angle, motion dynamics and the speed of manipulation pen
Deng.Improve the precision followed the trail of the dynamic posture position of manipulation pen by using nine axis movement sensors 22, it is to avoid manipulation pen exists
The appearance of " drift " problem of cursor on interactive device.
Acceleration of the posture initial data that further, nine axis movement sensors 22 are detected including three degree of freedom,
Angular speed and direction, nine axis movement sensors 22 are passed by acceleration transducer unit 22a, gyro unit 22b and magnetic field
Sensor cell 22c is constituted, and the absolute direction of nine axis movement sensors 22 output comes from the gravitational field of the earth and the magnetic field of the earth,
The whole precision of static state of nine axis movement sensors 22 depends on the measurement accuracy to magnetic field and the measurement accuracy to gravity, and dynamic
Gyro unit 22b can be depended on.Acceleration transducer unit 22a and gyroscope list in the axis movement sensor 22 of consumer level nine
First 22b interference noises are very big, are integrated the 2 degree of left sides that can drift about for one minute with ADI gyro unit 22b by taking plane gyro as an example
The right side, it is this under the premise of if no magnetic field and gravitational field come if correcting three axis accelerometer, then object after substantially 3 minutes
Actual posture and measurement output posture are just changed completely, so, low price gyro unit 22b and acceleration transducer unit
It must be modified under 22a framework with field vector.Nine axis movement sensors 22 in the present embodiment utilize three-dimensional top
Spiral shell instrument unit 22b carrys out the quick intelligent position that tracks and follows the trail of the 3 d pose for manipulating pen, and it is using gyro unit 22b units as core
The heart, while also the direction in measurement acceleration and earth's magnetic field provides reliable reference for system.Three directions of specific measurement carrier
Absolute angular speed, acceleration and magnetic field intensity, and calculation method and Kalman filtering information fusion are merged using particular pose
Obtain manipulating quaternary number, attitude data of pen etc..Need real-time Integrated Algorithm to be provided accurately for system, reliably, in time and
Stable posture output.From the gyro unit 22b in nine axis movement sensors 22, acceleration transducer unit 22a and ground
Magnetic sensor unit 22c is all transferred in processing unit 21.Processing unit 21 according to specific data anastomosing algorithm and
The nominal data processing being stored in flash storage comes from the initial data of nine axis movement sensor 22, as its rudimentary algorithm,
Processing unit 21 uses adaptive Kalman filter algorithm, the dynamic condition that adjust automatically and adaptation are continually changing, without outside
Artificial intervention.
Further, Fig. 2 is refer to, Fig. 2 is an a kind of intelligent position tracking manipulation rear view embodiment in the present invention
Schematic diagram.The profile and size of lip pencil housing 10 can just be held with user to be advisable, and the shape of intelligent control circuit plate 20 should be fitted
The cavity volume of lip pencil housing 10 is answered, intelligent control circuit plate 20 includes communication unit 28, and the transmission line section of communication unit 28, which is divided into, adopts
With the USB data line of HID host-host protocols, when communication unit 28 is transmitted using USB data line, USB data line and processing unit 21
Electrical connection, lip pencil housing 10 is provided with the breach used cooperatively with USB interface 28a, compared to traditional HDMI data wires, USB
Data wire versatility is stronger.
Further, intelligent control circuit plate 20 also feeds back including PMU 23, space coordinate signal element 24
Tip element 25, push-button unit 26 and indicator unit 27, PMU 23 are electrically connected with processing unit 21, for intelligence
Energy control board 20 is powered, and makes the voltage stabilization of intelligent control circuit plate 20 in working range, such as intelligent control circuit plate
20 operating voltage is 3.3V, and PMU 23 is changed to input power, and by voltage stabilization in 3.3V, it is ensured that intelligence
Can the normal work of control board 20.
Specifically, space coordinate signal element 24 is electrically connected with processing unit 21, the control space coordinate letter of processing unit 21
Number unit 24 transmitting infrared signal, interactive device catches an infrared signal for manipulation infrared emission device transmitting, it is determined that manipulation pen
X, Y, Z three-dimensional coordinate position in interactive device, is mapped on interactive device equivalent to by manipulation pen, by catching infrared letter
Number can also determine to manipulate pen to the distance of interactive device screen and manipulate the inclined degree of pen, and by with manipulation pen processing
Euler's angular dimensions that unit 21 is transmitted is overlapped, the accurate dynamic posture position for determining manipulation pen, and then produces movement
Cursor, feedback prompts unit 25 electrically connects with processing unit 21, when mobile cursor of the manipulation pen on interactive device is moved to
During the operable position of 3D contents, interactive device transmission is fed back signal in the processing unit 21 of manipulation pen, and processing unit 21 is controlled
Feedback prompts unit 25 processed sends prompt message, informs that user can make further operation.
As a kind of preferred embodiment, feedback prompts unit 25 is preferably vibrating motor, the control vibration of processing unit 21
Motor vibrations, operating personnel do further operation, feedback prompts list according to vibration signal to the 3D display contents in interactive device
Member 25 can also point out the technological means of operating personnel using auditory tone cues, LED promptings etc..
Further, the data transfer feelings that indicator unit 27 is used between indicating intelligent location tracking pen and interactive device
Condition, when intelligent position follows the trail of pen and inter device communication is normal, the indicator lamp in indicator unit 27 shows that the first color is excellent
Elect green as, when intelligent position follows the trail of pen with inter device communication exception, it is preferably red to be shown as the second color, reminds and uses
Family is handled.
Further, Fig. 4 is refer to, Fig. 4 is an a kind of intelligent position tracking manipulation space coordinate signal list in the present invention
First 24 embodiment schematic diagrams；In the embodiment of the technical program, space coordinate signal element 24 is preferably infrared emission unit,
Infrared communication technique cost is low, cross-platform, point-to-point high-speed data connection, has necessarily especially in terms of embedded system
Advantage.In the case where cost factor and volume conditions limitation are relaxed, space coordinate signal element 24 can also be used but do not limited
The technical program is realized in technologies such as ultrasonic wave, laser positioning, image recognition and radars.
Above-mentioned infrared emission unit includes at least one infrared emission device, is used as a kind of preferred embodiment, this technology
Infrared emission device count amount in scheme is preferably two：First infrared emission device 24a and the second infrared emission device 24b,
First and second infrared emission device (24a, 24b) is separately positioned on two apical positions of intelligent control circuit plate 20, accordingly even when its
In there is an infrared emission device to be blocked also to can guarantee that manipulation pen can be effectively tracked by interactive device, it is necessary to illustrate
It is that the quantity of infrared emission device can be multiple, not be limited here, specific infrared emission device count amount should be according to reality
Need to determine.
Specifically, Fig. 5 is refer to, Fig. 5 is a kind of intelligent position tracking manipulation embodiment of a push-button unit 26 in the present invention
Schematic diagram, push-button unit 26 includes the first button 26a, the second button 26b and the 3rd button 26c, and the first button 26a is used for 3D
The high first class catalogue of display content is operated, before 3D display contents are entered, and manipulation pen is being handed over equivalent to the function of common mouse
Moved on the display screen of mutual equipment, choose 3D resources, for example, click to enter 3D contents, or, play 3D contents；Second button
26b is used to click on popup menu shortcut when 3D display contents are located at high first class catalogue, and quickly 3D display contents are operated；
When 3rd button 26c is used to enter second-level directory, 3D contents therein are operated：Crawl, dragging next stage catalogue, each
The movement in direction, 3D resources can be 3D videos or 3D teaching interaction formula coursewares, not be limited here, student passes through
Manipulation pen operates the content in the courseware, reaches the destination of study.
3rd, embodiment of the method
Fig. 7 is refer to, Fig. 7 is a kind of processing method embodiment signal of spatial interaction sensor raw data in the present invention
Figure.
A kind of processing method of posture initial data, the intelligent position provided using system embodiment follows the trail of manipulation pen, on
Stating intelligent position tracking manipulation pen includes processing unit 21, motion sensor 22 and communication unit 28, and processing method includes：
A, motion sensor obtain a manipulation posture initial data, are transferred to processing unit 21 and are handled, wherein, nine axles
Motion sensor 22 includes acceleration transducer unit 22a, gyro unit 22b and geomagnetic sensor unit 22c.Motion-sensing
Device is nine axis movement sensors 22, and the infrared signal that interactive device tracking infrared emission device is sent can only determine to manipulate the sky of pen
Between coordinate position, can not follow the trail of manipulation pen relative to interactive device screen entire motion posture.Nine axis movement sensors 22
It is the combination of three kinds of sensors：3-axis acceleration sensor unit 22a, three-axis gyroscope unit 22b and three axle geomagnetic sensors
Unit 22c, three parts cooperate, effect.Using acceleration sensor and gyro unit 22b, equipment can be described substantially
Entire motion state.But with prolonged exercise, can also produce Accumulated deviation, it is impossible to accurate description athletic posture, such as
Operation control picture run-off the straight.Electronic compass (geomagnetic sensor unit 22c) passes through absolute direction-pointing function using magnetic field of the earth is measured
Compensation is modified, Accumulated deviation can be effectively solved, so as to correct the direction of motion, attitude angle, the motion dynamics of manipulation pen
With speed etc..
B, processing unit 21 read the initial data, judge whether the initial data is effective, if it is not, then performing step
A, if so, then performing step C；
Easily there is spillover in nine each data progress data samplings of axis movement sensor 22, if occurring overflowing now
As the initial data of nine axis movement sensor 22 is invalid, then needs re-request to obtain the data, if being overflowed without data, to reading
Initial data carry out mean filter.
C, 21 pairs of the processing unit initial data carry out mean filter, and obtain manipulation pen by data anastomosing algorithm
Euler's angular dimensions and quaternary number；
Acceleration transducer unit 22a and gyro unit 22b interference noises in the axis movement sensor 22 of consumer level nine
Very big, being integrated by taking plane gyro as an example with ADI gyro unit 22b can drift about 2 degree or so for one minute, it is this under the premise of
If correcting three axis accelerometer if no magnetic field and gravitational field, then after substantially 3 minutes the actual posture of manipulation pen and
Measurement output posture is just changed completely, so, under low price gyro unit 22b and acceleration transducer unit 22a framework
It must be modified with field vector.Nine axle sensors in the present embodiment are using three-dimensional gyro unit 22b come quick
Track intelligent position follow the trail of manipulation pen three-dimensional posture, it using gyro unit 22b as core, while also measurement acceleration and
The direction in earth's magnetic field provides reliable reference for system.The absolute angular speed in three directions of specific measurement carrier, acceleration with
And magnetic field intensity, and use particular sensor initial data fusion method and Kalman filtering information fusion obtain the quaternary of carrier
Number, attitude data etc..Real-time Integrated Algorithm is needed to be provided accurately for system, reliably, timely and stable posture output.From
Gyro unit 22b, acceleration transducer unit 22a and geomagnetic sensor unit 22c in nine axis movement sensors 22 is complete
Portion is transferred in processing unit 21.Processing unit 21 is according to specific algorithm and the demarcation being stored in flash storage
Data processing comes from nine axis movement sensor initial data, and as its rudimentary algorithm, processing unit 21 uses adaptive Kalman
The dynamic condition that filtering algorithm, adjust automatically and adaptation are continually changing, without outside artificial intervention, nine axis movement sensors 22
It is vulnerable to interference, the influences of noise such as feedback motor, power supply and operating personnel operation behavior itself when detecting data, therefore
Need to carry out mean filter to the sensing data to reading, processing unit 21 carries out mean filter to sensor raw data,
And the Euler's angular dimensions and quaternary number for manipulating pen are obtained by data anastomosing algorithm..
D, by communication unit 28 by manipulate pen Euler's angular dimensions and quaternary number be transferred to specific interactive device, it is determined that
Manipulate the spatial attitude of pen.
Interactive device receives from intelligent position and follows the trail of Euler's angular dimensions and the quaternary number that manipulation pen is transmitted, in real time dynamic
The corresponding manipulation cursor of display, without doing further fusion treatment to initial data.
Communication unit 28 is communicated by USB data line or HID cables with interactive device.
The transmission line section of communication unit 28 is divided into the USB data line using HID host-host protocols, and communication unit 28 uses USB
During data line transfer, USB data line is electrically connected with processing unit 21, and lip pencil housing 10 is provided with and used cooperatively with USB interface 28a
Breach, compared to traditional HDMI data wires, USB data line versatility is stronger.
Implement the processing method that a kind of intelligent position proposed by the present invention follows the trail of manipulation pen and posture initial data, manipulate pen
Intelligent control circuit plate in processing unit is set, to acceleration transducer unit 22a, the gyroscope in nine axis movement sensors
The acceleration parameter of the three degree of freedom that unit 22b and geomagnetic sensor unit 22c are detected respectively, angular speed parameter and
Directioin parameter carries out fusion treatment, obtains the Euler's angular dimensions and quaternary number of manipulation pen, is transferred to specific interactive device, interaction
Equipment only needs to the space coordinate and sensor raw data that manipulate pen being overlapped, without doing further fusion treatment, greatly
The direction sensor of geomagnetic sensors detection in the big processing load for reducing interactive device, nine axis movement sensors 22 is original
The space based sensor data that data follow the trail of existing intelligent position manipulation pen carries out effective amendment, improves to intelligent position
Follow the trail of and be connected in manipulation space motion location tracking precision, the present invention using the USB data line of HID protocol with interactive device,
Improve the reliability of data transfer.Implement instant invention overcomes existing manipulation pen when being used cooperatively with interactive device, hand over
Even there is deadlock phenomenon, cursor and the problem of " drift " phenomenon causes poor user experience occurs in mutual device plays interim card.
Presently preferred embodiments of the present invention is these are only, is not intended to limit the invention, it is all in the spirit and principles in the present invention
Within, any modification, equivalent substitution and improvements made etc. should be included in the scope of the protection.
Claims (10)
1. a kind of intelligent position follows the trail of manipulation pen, it is characterised in that including lip pencil housing (10) and intelligent control circuit plate
(20), the intelligent control circuit plate (20) is interior located at the lip pencil housing (10), including：
Processing unit (21), the sensor raw data for being transmitted to motion sensor carries out fusion treatment, by logical
Sensing data and key command after fusion treatment is transferred to specific interactive device by letter unit (28), receives described hand over
The feedback command of mutual equipment, control feedback prompts unit sends prompt message；
Motion sensor, is electrically connected with the processing unit (21), for detecting that intelligent position follows the trail of the space sensing of manipulation pen
Device, and airborne sensor original data transmissions to processing unit (21) are handled；
Push-button unit (26), is electrically connected with the processing unit (21), is set for output function key command to specific interaction
It is standby, the stereo content on the interactive device is operated；
Communication unit (28), is electrically connected with the processing unit (21), for being communicated with the interactive device；
Feedback prompts unit (25), is electrically connected with the processing unit (21), is manipulated for being followed the trail of by intelligent position user
Pen feeds back to the operation behavior of display content on the interactive device；
Space coordinate signal element (24), is electrically connected with the processing unit (21), for launch coordinate signal to the interaction
Equipment.
2. a kind of intelligent position according to claim 1 follows the trail of manipulation pen, it is characterised in that the motion sensor is nine
Axis movement sensor (22).
3. a kind of intelligent position according to claim 2 follows the trail of manipulation pen, it is characterised in that nine axis movement sensor
(22) acceleration transducer unit (22a), gyro unit (22b) and geomagnetic sensor unit (22c) are included.
4. a kind of intelligent position according to claim 1 follows the trail of manipulation pen, it is characterised in that the communication unit (28) is led to
USB data line is crossed to be communicated.
5. a kind of intelligent position according to claim 1 follows the trail of manipulation pen, it is characterised in that the intelligent control circuit plate
(20) fulgurite reason source unit (23) and indicator unit (27), the PMU (23) and indicator unit are also included
(27) electrically connected respectively with the processing unit (21), the PMU (23) is used to make the intelligent control circuit plate
(20) voltage stabilization is in working range, the indicator unit (27) be used for indicating intelligent location tracking pen and interactive device it
Between data transmission scenarios.
6. a kind of intelligent position according to claim 1 follows the trail of manipulation pen, it is characterised in that processing unit (21) profit
Before processing is carried out to nine axis movement sensors (22) initial data with data anastomosing algorithm, first judges to read whether initial data has
Effect, if effectively, further carrying out mean filter to the initial data.
7. a kind of intelligent position according to claim 1 follows the trail of manipulation pen, it is characterised in that the processing unit (21) is led to
Cross the Eulerian angles that the initial data transmitted to nine axis movement sensors (22) obtained after fusion treatment a manipulation space
Parameter and quaternary number.
8. a kind of intelligent position according to claim 1 follows the trail of manipulation pen, it is characterised in that the space coordinate signal list
First (24) are infrared emission unit, and the infrared emission unit at least includes an infrared emission device, the infrared transmitter
Part follows the trail of the apical position of manipulation pen located at the intelligent position.
9. a kind of processing method for manipulating a posture initial data, it is characterised in that utilize the intelligent position described in claim 1
Manipulation pen is followed the trail of, be the treating method comprises：
A, by nine axis movement sensors (22) obtain it is described manipulation a spatial attitude initial data, be transferred to the processing unit
(21) handled；
B, the processing unit (21) read the initial data, judge whether the initial data is effective, if it is not, then performing step
Rapid A, if so, then performing step C；
C, the processing unit (21) carry out mean filter to the initial data, and obtain the behaviour by data anastomosing algorithm
Control the Euler's angular dimensions and quaternary number of pen；
D, by communication unit (28) by it is described manipulation pen Euler's angular dimensions and quaternary number be transferred to specific interactive device, really
The spatial attitude of fixed manipulation pen；
Wherein, nine axis movement sensor (22) include acceleration transducer unit (22a), gyro unit (22b) and
Geomagnetic sensor unit (22c).
10. a kind of processing method for manipulating a posture initial data according to claim 9, it is characterised in that described logical
Letter unit (28) is communicated by USB data line.
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| CN201710320427.3A CN106980393A (en) | 2017-05-09 | 2017-05-09 | Intelligent position follows the trail of manipulation pen and posture original data processing method |
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| CN109445620A (en) * | 2018-11-13 | 2019-03-08 | 宁波视睿迪光电有限公司 | A kind of interaction pen automatic identifying method |
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