CN1942924A - User interface devices and methods employing accelerometers - Google Patents
User interface devices and methods employing accelerometers Download PDFInfo
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Abstract
Systems and methods according to the present invention address these needs and others by providing a free space pointing device and methods for free space pointing which provide accurate translation of movement of the free space pointing device into user interface commands, e.g., cursor movement. Accordingly, to exemplary embodiments of the present invention, a free space pointing device includes a plurality of accelerometers.
Description
Related application
That the application relates on October 23rd, 2003 and submits to, be entitled as the 60/513rd, No. 869 U.S. Provisional Patent Application of " user interface device that uses accelerometer " and require its right of priority, its full content is incorporated herein by reference.The 60/566th, No. 444 U.S. Provisional Patent Application that the application also relates on April 30th, 2004 and submits to, be entitled as " free space pointing devices " also requires its right of priority, and its full content is incorporated herein by reference.In addition, the 60/612nd, No. 571 U.S. Provisional Patent Application that the application also relates on September 23rd, 2004 and submits to, be entitled as " free space pointing devices and method " also requires its right of priority, and its full content is incorporated herein by reference.
Background technology
The invention describes the free space pointing devices that can be used for multiple different application, described application comprises, for example, is used to organize, select and start the framework of media item.
The technology relevant with the communication of information had development rapidly in the past few decades.TV, cell phone, internet and optical communication technology (only listing a few here) combine the consumer are submerged in during available information and amusement select.With the TV is example, has introduced CATV (cable television) service, satellite TV, pay-per-use film and video request program over nearest 30 years.Yet, perhaps, it is four or five wireless TV channels that the televiewer of the sixties in 20 century is merely able to receive on their televisor usually, the televiewer of today have an opportunity number in hundred, thousand with potential millions of program and info-channel in select.At present mainly the video on demand techniques that uses in hotel etc. provides a kind of potential that is used for carrying out from thousands of movie program lists the home entertaining selection.
Provide the technology of the ability of so many information and content to provide chance and challenge to system designer and service supplier for the terminal user.A challenge is, is unwilling although the terminal user more is ready to have more selection usually to select to tail off, this hobby and they wish promptly simple again fast select to handle opposing.Unfortunately, the terminal user by its development that visits the system of media program and interface make select to handle neither remarkable again fast.Consider the example of TV programme once more.When TV is in the initial stage, determine to see which program is relative simple thing, this is because selectable number is less.People can consult the program guide of printing, this program guide is formatted as for example a series of row and column, and these row and columns have demonstrated at (1) contiguous television channel, program that (2) are transferred to these channels and the corresponding relation between (3) date and time.By regulating tuner knob, TV is tuned to required channel, and spectators watch selected program.After this, allow the telechiric device of spectators' distant tuning TV to be introduced into.This mutual increasing produced the phenomenon that is called as " channel surfing " to user-TV, and whereby, spectators can promptly watch the short-movie section of broadcasting in a large amount of channels, thereby can learn fast at any given what program of time and can see.
Although the fact that exists the quantity of channel and the content that can watch sharply to increase, available usually user interface, the opertaing device that is used for TV are selected and in the past 30 years of framework in do not change too many.The program guide of printing remains the most popular mechanism that is used to transmit programme information.Having up and down, many button remote control of arrow remain most popular channel/content selecting apparatus.The people of design and realization TV user interface has become the existing selection processing and the direct extension of interface object to the reaction of the increase of available media content.Like this, the line number in the program guide of printing is increased to hold more channel.The number of the button in the telechiric device also is increased with the function and content supporting to add and handles, for example, shown in the image pattern 1 like that.Yet this method has increased spectators greatly and has browsed the required time of the information that can obtain and carry out the complexity of selecting required action.Controversially be, the essence of the trouble at existing interface has hindered the commerce of some services (for example video request programs) to be used, and this is because the consumer opposes to being the new service that too slow and too complicated interface has increased complexity again In the view of them.
Except increasing aspect bandwidth and the content, the integrated bottleneck problem of also aggravating user interface of technology.The consumer is making a response energetically and will select to buy integrated system rather than a large amount of separable modules.A combination that example is TV/VCR/DVD of this trend, three ingredients wherein were three independently assemblies in the past, were nowadays then frequently bought as an integrated unit.This trend can continue, potential net result is, major part (if not the whole) communication facilities that can find in the family at present will be combined as integrated unit, for example, and TV/VCR/DVD/ internet access/radio/stereo unit.Even if those people that continue to buy separation assemblies also can expect mutual mutually between the seamless control of above-mentioned independent assembly and these discrete assemblies.Along with the growth of this integrated level, produced the potential possibility that makes user interface complicated more.For example, when being suggested, the number of the button on these general remote-control units is usually more than the number of buttons on single TV remote control unit or the VCR remote control unit in so-called " general " remote control unit (for example combination of TV remote control unit and VCR remote control unit function).If can not find the correct button in this telechiric device exactly, these have increased the button of number and function makes the people except can only be difficult to control other anything aspect control TV or VCR the simplest.In the time of many, these general telechiric devices can not provide enough button to visit control or the characteristic on the peculiar many aspects of some TV.In this case, still need the remote control unit of original device, and since the user interface issues that causes of integrated complexity still exist so handle the initial arguement of many remote controls.Some remote control unit have solved this problem by " soft " button that increases available expert order establishment.These soft key have subsidiary LCD display device sometimes and indicate their action.This mode also has defective, that is, if sight line is not transferred to telechiric device from TV, they just are difficult to use.Another defective of these remote control unit is to have adopted multi-mode, to attempt to reduce number of buttons.In the general remote-control unit of these " medellings ", exist special button to select this telechiric device whether to communicate by letter with TV, DVD player, cable set top box and VCR etc.The problem that this has produced many usability comprises sending a command to wrong device, forcing the user to be sure of by watching telechiric device whether it is in correct pattern, and it can not give many devices integratedly provide any simplification.The largest benefit of these general remote-control units is that it can be organized into telechiric device by the command sequence that allows the user will be used for multiple arrangement certain integrated level is provided.This is task of difficulty, to such an extent as to many users employ the qualified installation person to come their general remote-control unit is carried out program composition.
People have also made some and have attempted making the screen interface between terminal user and the media system to adapt to modern needs.Yet, except other shortcoming, these trials have can not be easily between the small set of the big collection of media item and media item the problem of resize ratio (scale).For example, can work well for little collections of media items in the interface that depends on the rendition list, but is tedious for browsing big collections of media items still.Compare with list interface, set can have and travels through speed faster for the media giant program at the interface that depends on graduate navigation (navigation) (for example tree construction), but not too is suitable for little collections of media items.In addition, the user trends towards losing the interest of selecting processing, and wherein, the user has to move through three layers or more multi-layered in tree construction.For these all situations, present remote control unit travels through above-mentioned tabulation or hierarchy by pressing button and knob down repeatedly by forcing the user, makes these selections handle more tedium.Can use (for example going up page turning and following page turning) when select jumping control, the user often has to watch attentively this telechiric device, and finding these concrete buttons, or the process of having to is trained and learnt their lucky existence.
The problem that this instructions is concerned about be can with the telechiric device that described framework and other are used and system is used.Described in the above application of incorporating this paper into, various dissimilar telechiric devices can use with described framework, and described framework comprises, for example tracking ball, " mouse " type locating device, light pen etc.Yet the telechiric device of the other types that can use with described framework (and other use) comprises free space pointing devices.Word " free space location " be meant in this manual input equipment can be in the air of for example display screen front in the mode locomotivity of three-dimensional (or more multidimensional), and user interface directly is converted to these motions the respective capabilities of user interface instructs (for example the cursor on the display screen moves).And this data-switching between the free space pointing devices can wirelessly be carried out, and perhaps carries out by the line between free space pointing devices and other devices.Therefore, " free space location " is different with for example traditional computer mouse location technology, traditional computer mouse location technology is that as auxiliary surface, mouse moves at the cursor that the relative motion on the auxiliary surface is converted on the computer display on utilization surface (for example desktop or mouse pad).The 5th, 440, can find an example of free space pointing devices in No. 326 United States Patent (USP)s.
Except other content, described 5,440, No. 326 patents have also been described a kind of vertical gyro, and it is suitable for use as the locating device that is used for the cursor position on the control computer display.The motor that is positioned at the gyroscope center hangs with respect to hand-held control device by the gimbal (gimbal) of two pairs of quadratures, and by pendulous device and its turning axle perpendicular line nominal orientation.When the user handles hand-held control device, its orientation of photo electric axis angle code translator sensing, and the electricity that will produce output is converted to the form that computing machine can move by the cursor on its control computer indicator screen.Yet, still need lower, the accurate and friendly free space pointing devices of user interface of cost at present.
Summary of the invention
System and a method according to the invention satisfies this demand and otherwise requirement by a kind of free space pointing devices and free space localization method are provided, its motion accurate transformation with free space pointing devices is the instruction of user interface, and for example cursor moves.According to exemplary of the present invention, free space pointing devices comprises a plurality of accelerometers.
According to an exemplary of the present invention, a kind of hand-held user interface device comprises: a plurality of accelerometers, and each described accelerometer provides the acceleration information relevant with the motion of described device; Processing unit is used for described acceleration information is converted to the data that can produce the two dimensional cursor exercise data; Wherein, described processing unit is further handled described acceleration information, when is in static state with definite described hand-held user interface device, and when described hand-held user interface device is in static state, described hand-held user interface device is recalibrated.
Brief Description Of Drawings
Exemplary of the present invention has been shown in the accompanying drawing, wherein:
Fig. 1 has described traditional remote control unit of entertainment systems;
Fig. 2 has described a kind of exemplary media system, can use exemplary of the present invention therein;
Fig. 3 shows the free space pointing devices according to exemplary of the present invention;
Fig. 4 shows the partial sectional view of the free space pointing devices that comprises two rotation sensors and an accelerometer among Fig. 4;
Fig. 5 shows the block scheme that the data that are associated with free space pointing devices according to exemplary of the present invention are handled;
Fig. 6 (a)-6 (d) shows the effect of inclination;
Fig. 7 has described the hardware configuration according to the free space pointing devices of exemplary of the present invention;
Fig. 8 is the constitutional diagram of having described according to the static detection device of exemplary of the present invention;
Fig. 9 shows the six-freedom degree that is associated with another exemplary of the present invention;
Figure 10 has described to be used for the algorithm handled according to the acceleration information of another exemplary of the present invention;
Figure 11 has described the hardware configuration according to the free space pointing devices of the exemplary among Figure 10;
Figure 12 has described the software configuration according to the free space pointing devices of the exemplary among Figure 10;
Figure 13 shows the exemplary of Fig. 9 and Figure 10 from the angle of algorithm.
Embodiment
Followingly describe the present invention with reference to accompanying drawing.Same numeral in the different accompanying drawings is represented identical or similar elements.In addition, below describing in detail is not limitation of the present invention.On the contrary, scope of the present invention limits in claims.
For better context relation being provided for following discussion, at first be described implementing exemplary collection media system 200 of the present invention therein with reference to Fig. 2.Yet it will be appreciated by those of skill in the art that the present invention is not restricted to implement in the media system of this type, and wherein can comprise more or less assembly.Wherein, I/O (I/O) bus 210 links together the system component in the media system 200.210 expressions of I/O bus are used for transmitting any a large amount of different devices and the technology of signal between the media system assembly.For example, I/O bus 210 can comprise independent audio " plug type (the patch) " cable of the transmit audio signals of right quantity, transmit the concentric cable of vision signal, transmit the two-wire string line or the infrared or radio-frequency (RF) transceiver of control signal, transmit optical fiber or any other conveyer of other types signal.
In this exemplary, media system 200 comprises with television/monitor 212, video cassette recorder (VCR) 214, the digital video disk (DVD) of I/O bus 210 coupling to be recorded/playing device 216, audio/video tuner 218 and Disc player 220.VCR214, DVD216 and Disc player 220 can be single disc or single tape cartridge device, perhaps can be many dishes or many tape cartridge devices alternatively.More than device can be unit or combine independently.In addition, media system 200 comprises microphone/speaker system 222, video camera 224 and wireless I/O control device 226.According to exemplary of the present invention, wireless I/O control device 226 is the free space pointing devices according to one of exemplary described below.Wireless I/O control device 226 can be communicated by letter with entertainment systems 200 by IR for example or RF transmitter or transceiver.Alternatively, the I/O control device can be connected with entertainment systems 200 by line.
As further shown in Figure 2, media system 200 can be constructed to from various source of media and ISP's receiving media project.In this exemplary, any one or all receiving media input of media system 200 from following source, and alternatively to its transmission information, described source comprises: the very high frequency(VHF) (VHF) of cablecast 230, satellite broadcasting 232 (for example passing through satellite dish), broadcasting and television network 234 or ultrahigh frequency (UHF) radio communication (for example passing through antenna), telephone network 236 and cable modem 238 (perhaps other internet content source).It will be appreciated by those skilled in the art that about media component and the source of media that goes out and describe shown in Figure 2 only be exemplary, and this media system 200 can comprise more or less assembly.For example, the input of the other types of system comprises AM/FM radio broadcasting and radio broadcast via satellite.
" be used for organizing, selecting and start the control architecture of having of media item of scalable graphic user interface " at above-mentioned merging U.S. Patent application as a reference and can find the more details of this exemplary entertainment system and associated framework.Alternatively, also can use, such as comprising for example computer system of display, processor and storage system, perhaps various other systems and application in conjunction with other system according to telechiric device of the present invention.
As described in the background technology part, this instructions is focussed in particular on the telechiric device as the free space indicator.Described device makes it possible to motion (for example gesture) is converted to the instruction of user interface.Described a kind of exemplary free space pointing devices 400 among Fig. 3.Wherein, the free space located subscriber moves and can be defined by the combination of direction (driftage) motion of the height (pitching) of the posture (waving) of the x axle of for example free space pointing devices 400, y axle and/or z axle.In addition, some exemplary of the present invention also can be measured the linear movement of free space pointing devices 400 along x, y and z axle, moves or other user interface instructs to produce cursor.In the exemplary of Fig. 3, free space pointing devices 400 comprises two buttons 402 and 404, and roller 406, and other exemplary will comprise other physical arrangement.According to exemplary of the present invention, according to expection, free space pointing devices 400 is held by the user in display 408 the place aheads, and the motion of free space pointing devices 400 will be converted to output by free space pointing devices, described output can be used for the information generation effect to demonstration on the display 408, for example, the cursor 410 on the mobile display 408.For instance, free space pointing devices 400 can be sensed by free space pointing devices 400 around the rotation of y axle, and is converted to and can be used for system with the y along display 408
2The output of axle moving cursor 410.Similarly, free space pointing devices 408 can be sensed by free space pointing devices 400 around the rotation of z axle, and is converted to and can be used for system with the x along display 408
2The output of axle moving cursor 410.Be to be appreciated that, the output of free space pointing devices 400 can be used for acting on display 408 to be different from many modes that cursor moves or the many modes except cursor moves, for example, it can be controlled cursor and fades in, and volume or medium transmit (broadcast, time-out, F.F. and retreat).Input instruction can comprise the operation except cursor moves, for example, and the amplification on specific region on the display or dwindle.Cursor can be visible or sightless.Similarly, can utilize (perhaps as a kind of selection) except rotating around y axle and/or z axle, the free space pointing devices that senses 400 around the rotation of its x axle so that the input for user interface to be provided.
According to an exemplary of the present invention, in free space pointing devices shown in Figure 4 400, can use two rotation sensors 502 and 504 and accelerometers 506 as sensor.Rotation sensor 502 and 504 can use for example ADXRS150 sensor of Analog Devices, Inc (Analog Device) manufacturing.Those skilled in the art will appreciate that the rotation sensor that can use other types is as rotation sensor 502 and 504, and ADXRS150 only is an example.Different with traditional gyroscope, the ADXRS150 rotation sensor utilizes the MEMS technology that the resonance piece is provided, and it is attached on the framework, thereby can be only along a direction resonance.When sensor attached main body when the sensor sensing axes is rotated, the resonance piece is shifted.Utilize the Coriolis acceleration effect to measure to described displacement, with determine with along the relevant angular velocity of the rotation of sensing axes.If rotation sensor 502 and 504 has single sensing axes (for example ADXRS150), it can be installed in the free space pointing devices 400 so, make their sensing axes and rotational alignment to be measured.For of the present invention exemplary, to be installed to be its sensing axes parallel with the y axle for this expression rotation sensor 502, and that rotation sensor 504 is installed to be its sensing axes is parallel with the z axle, as shown in Figure 4.Yet, should be noted that, do not need the sensing axes of rotation sensor 502 and 504 is parallel to desired measurement axis alignment, because exemplary of the present invention also provides the technology that the skew between the axis is compensated of being used for.
When implementing according to exemplary free space pointing devices 400 of the present invention, a use that challenge is an assembly of facing, rotation sensor 500 and 502 for example, it is not very expensive, but it simultaneously provides the high degree of correlation between the motion of free space pointing devices 400, and how the user responds the special exercise of free space pointing devices for user interface and user interface in response to the expectation of the performance of the reality of described motion.For example, if not motion of free space pointing devices 400, the user will expect that cursor can not drift about on screen so.Similarly, if the user only rotates free space pointing devices 400 around the y axle, he or she will expect can not see that cursor produces has comprised any significant X on display 408
2The motion of axle component.In order to realize these and other aspects of exemplary of the present invention, various measurements and calculations have been carried out by hand-held device 400, with the output of adjusting one or more sensors 502,504 and 506 and/or be used for output according to sensor 502,504 and 506 as processor and be identified for the part of input of the suitable output of user interface.Described measurements and calculations are used for following factor is compensated, it is divided into two classes substantially: the intrinsic factor of (1) free space pointing devices 400, for example with device used particular sensor 502,504 and 506 or the mounting means relevant error of sensor on device 400 in 400, and (2) be not free space pointing devices 400 intrinsic, but use the relevant factor of mode of free space pointing devices 400 with the user, for example, linear acceleration, inclination and vibration.Below use description to handle the example technique of these effects.
A kind of processing module 600 has been shown among Fig. 5, and it has described the general operation of the free space pointing devices of an exemplary according to the present invention.Rotation sensor 502 and 504, and accelerometer 506 produces the simulating signal of periodic samples (for example 200 times/second).Purpose for this discussion, one group of input should be expressed as (x, y, z, α y, α z), wherein x, y, z are the sampling output valves of exemplary three axis accelerometer 506, it is relevant with the axial acceleration of z at x axle, y axle with free space pointing devices respectively, and α y is and the sampling output valve of free space pointing devices around the relevant rotation sensor 502 of the rotation of y axle that α z is and the sampling output valve of free space pointing devices 400 around the relevant rotation sensor 504 of the rotation of z axle.
Accelerometer 506 provides output, and if accelerometer 506 be output as simulation output, its output will be sampled and by the digitizing of A/D converter (not shown), to produce the accelerometer output 602 of sampling.The output valve of sampling is converted into unit of acceleration by original unit, and for example gravity (g) is represented by conversion functional module 604.Acceleration calibration block 606 provides the value of using for conversion functional module 604.This calibration of accelerometer output module 602 can comprise, for example one or more and accelerometer 506 relevant ratio (scale), skew and axis misalignments compensated.Exemplary transformation for accelerometer data can realize by following equation:
A＝S*((M-P).*G(T)) (1)
Wherein M be by the sampling output valve (x, y, z) 3 * 1 column vectors of Zu Chenging, P is 3 * 1 a column vector of sensor offset, S is 3 * 3 matrixes that comprise ratio, a misalignment and sensor rotation compensation.G (T) is the gain coefficient as temperature funtion.Operator " * " representing matrix multiplies each other, and operator " .* " expression element multiplies each other.Exemplary accelerometer 506 have exemplary full scale+/-2g.Sensor output M when sensor offset P represents that accelerometer measures is 0g.Ratio is represented the unit value of sampling and the conversion factor between the g.Because the difference in the manufacture process for example, the ratio of any given accelerometer reality may depart from the nominal scale value.Therefore, the scale factor in the above equation will with described depart from proportional.
Can record accelerometer 506 ratios and deviation by power and the measurement result R1 that for example applies 1g along an axis.Apply then ,-power of 1g to be to produce measured value R2.Independent axis scale s and independent axle offset p can followingly calculate:
s＝(R1-R2)/2 (2)
p＝(R1+R2)/2 (3)
Under this simple situation, P is the column vector for each p, the diagonal matrix of l/s for each that S is.
Yet except ratio and skew, the reading that accelerometer 506 is produced also is subjected to the influence of intersecting axle (cross-axis) effect.The intersecting axle effect comprise the axle misalignment, for example, when accelerometer 506 is installed in the free space pointing devices 400, its one or more sensing axes not with the reference inertial coordinates system in corresponding axis alignment; Perhaps with the relevant machine error of processing of accelerometer 506 itself, for example, even under the situation that axle is aimed at fully, simple y axle acceleration power may produce along the sensor reading of the z axle of accelerometer 506.More than these errors can be measured, and increase to the calibration of carrying out by functional module 606.
In the exemplary free space pointing devices according to exemplary of the present invention, accelerometer 506 plays multiple effect.For instance, if rotation sensor 502 and 504 realizes that by above-mentioned exemplary Coriolis effect rotation sensor rotation sensor 502 and 504 output will change according to the linear acceleration that each rotation sensor sensed so.Therefore, the compensation of accelerometer 506 exemplary application by the variation of linear acceleration produce, fluctuation in rotation sensor 502 and 504 the reading.This point can multiply by gain matrix 610 by the accelerometer readings after will changing and deduct gained result (perhaps with gained result and 612 additions of corresponding sampling rotation sensor data) from corresponding sampling rotation sensor data 612 and realize.For instance, for linear acceleration, can be in module 614 the rotation data α y of the sampling that comes from rotation sensor 502 be compensated:
αy′＝αy-C*A (4)
Wherein C is a rotation sensor for 1 * 3 row vector of the sensitivity of linear acceleration under given unit/g along each, and A is the linear acceleration of calibration.The linear acceleration compensation of the sampling rotation data α z of rotation sensor 504 can be provided in module 614 similarly.Because the difference in the manufacturing process, the gain matrix C of different rotation sensors is different.For a plurality of rotation sensors, C can utilize mean value calculation, perhaps can carry out specific calculation for each rotation sensor.
Similar with accelerometer data, at functional module 616 places the rotation data 612 of sampling is converted to the value relevant with angular rotational velocity, for example radian per second from the unit value of sampling then.The calibration that is provided by functional module 618 can also be provided this switch process, compensates with for example ratio and the skew of rotation data to sampling.Can carry out the conversion/calibration of α y and α z by for example following equation:
α radian per second=(α '-skew (T)) * ratio+d is offset (5)
α ' expression the value that is converted/calibrates wherein, the off-set value of " skew (T) " expression and temperature correlation, the unit value of " ratio " expression sampling and the conversion factor between the radian per second, " d skew " represents the dynamic deflection value.Equation (5) can be used as matrix equation and is performed, and in this case, all variablees except that ratio are vector.Under matrix form equation, ratio is proofreaied and correct the axle misalignment and the pivot offset factor.Below will be described in detail each described variable.
Off-set value " skew (T) " and " d skew " can be determined by several different methods.When free space pointing devices 400 not when for example the y direction of principal axis rotates, sensor 502 will be exported its off-set value.Yet this off-set value can greatly be subjected to Temperature Influence, so it is likely variation.The offset temperatures calibration can be carried out in factory, and in this case, the value (s) of " skew (T) " can be pre-programmed in the free space pointing devices 400, perhaps, alternatively, also can dynamically learn the offset temperatures calibration in the serviceable life of device.In order to realize dynamic offset compensation, in rotation calibration function module 618, use the input that comes from temperature sensor 619, to calculate the currency of " skew (T) "." skew (T) " parameter has been removed main offset from sensor reading.Yet removing nearly all cursor drift when zero motion is useful for making high performance locating device.Therefore, can when using, dynamically calculate free space pointing devices 400 the additional factor " d skew ".Static (stationary) measuring ability module 608 determines when hand-held devices may be stablized and when need to recomputate skew.Below will describe the example technique that realizes Static Detection functional module 608 with and other purposes.
The exemplary implementation method that " d skew " calculates has been utilized the sensor output through the calibration of low-pass filtering.Static output measuring ability module 608 provides indication to trigger for example calculating of low-pass filter output mean value to rotation calibration function module 618.Mean value and existing " d skew " value that when static output measuring ability module 608 can also be controlled latest computed multiply each other.One skilled in the art will recognize that and to use multiple different technology cause existing " d skew " value to calculate new " d skew " value, and new mean value includes but not limited to simply average, low-pass filtering and Kalman filtering.In addition, one skilled in the art will recognize that and to use rotation sensor 502 and 504 multiple different migration.For instance, " skew (T) " functional module can have steady state value (for example, temperature-resistant amount), for migration, can use the migration value more than two, and/or only calculate/use single off-set value.
After module 616 places carry out conversion/calibration, can in functional module 620, further handle the input that comes from rotation sensor 502 and 504, so that these inputs are turned to reference to inertial coordinates system, that is, compensate gripping the relevant inclination of the mode of free space pointing devices 400 with the user.Tilt correction is another importance of some exemplary of the present invention, and it is with being intended to compensate the difference that exists according in the free space pointing devices use pattern of the present invention.More specifically, usefulness according to the tilt correction of exemplary of the present invention is intended to such fact is compensated, promptly, the user holds locating device with different x axle turned positions in hand, but rotation sensor 502 in the free space pointing devices 400 and 504 sensitive axis are fixed.Wish that translation that cursor passes display 408 can not be subjected to the influence of the mode of user's grasping free space pointing devices 400 basically, for example do not consider that the user holds the direction of free space pointing devices 400, with common horizontal dimensions (x corresponding to display 508
2Axle) mode comes back rotation free space pointing devices 400 will make cursor along x
2The axle translation, and with common vertical dimensions (y corresponding to display 508
2Axle) mode is rotated free space pointing devices up and down will make cursor along y
2The axle translation.
In order to understand necessity better, please refer to the example among Fig. 6 (a) according to the slope compensation of exemplary of the present invention.Wherein, the user holds free space pointing devices 400 in exemplary reference inertial coordinates system, and its rotational value that can be defined on the x axle is 0 degree.Described with reference to inertial coordinates system can (only as example) corresponding to the direction shown in Fig. 6 (a), perhaps can be defined as other directions.The rotation of free space pointing devices 400 on y axle or z direction of principal axis will be respectively by rotation sensor 502 and 504 sensings.For instance, the amount that free space pointing devices 400 is done around the z axle is the rotation (shown in Fig. 6 (b)) of Δ z, will produce the x of cursor on display 408
2Corresponding translation Δ x on the direction of principal axis
2(that is, the dashed line form of cursor 410 and the distance between the full lines).
On the other hand, if the user holds free space pointing devices 400 with different directions, for example tying up to respect to the reference inertial coordinate has a certain amount of rotation on the x axle, then sensor 502 and 504 information that produced can (have slope compensation) and represent exactly the user to want the interface motion that realizes.For instance, with reference to Fig. 6 (c), consider such a case, promptly the user has 45 degree and holds free space pointing devices 400 rotationally to tie up to respect to the exemplary reference inertial coordinate shown in Fig. 6 (a) on the x axle.Suppose that the user carries out identical z axle and rotates Δ z, cursor 410 will be at x
2Axle and y
2Produce translation on the axle both direction, shown in Fig. 6 (d).This is because the sensing axes of rotation sensor 502 is oriented in (direction by the device in user's hand is caused) between y axle and the z axle.Similarly, the sensing axes of rotation sensor 504 also is oriented in (though being at different quadrants) between y axle and the z axle.For to be provided at free space pointing devices 400 are the aspects of how to be held for the user is as can be known interface, be treated to the part of processing procedure of the rotational motion of expression free space pointing devices 400 as the reading that will come from rotation sensor 502 and 504, the reading output that will come from rotation sensor 502 and 504 according to the slope compensation of exemplary of the present invention is transformed into reference in the inertial coordinates system.
Turn back to Fig. 5,, can be received from the input y of accelerometer 506 and the inclination that z determines free space pointing devices 400 by utilization, thereby realize this point in functional module 622 according to exemplary of the present invention.More specifically, after the conversion of having carried out acceleration information as described above and calibration, can carry out low-pass filtering to acceleration information at LPF 624 places, thereby for tilting to determine that functional module 622 provides average acceleration (gravity) value.Can in functional module 622, be calculated as follows then cant angle theta:
Value θ can (y z) carries out mathematical computations, serves as zero and provides correct symbol to prevent divisor by atan2.Functional module 620 will utilize following equation to realize the input α y of conversion/calibration and the rotation R of α z then:
Thereby the input α y and the α z of rotation conversion/calibration are with compensating for tilt θ.
In case to the sensor reading of calibration carried out linear acceleration compensation and with its be treated to expression free space pointing devices 400 angle rotation reading and carried out can in module 626 and 628, carrying out aftertreatment after the slope compensation.Exemplary aftertreatment can comprise the compensation of various factors (for example people's vibration).Can use multiple diverse ways to remove vibration, wherein a kind of method of removing vibration is to utilize delayed action (hysteresis).The angular velocity that rotating function module 620 is produced is integrated to produce the position, angle.Diagonal position is used the delayed action of the magnitude of calibration then.To the output differentiate of hysteresis block to produce angular velocity once more.At functional module 628 places the output that obtains is converted (for example according to the sampling period) then, and utilize described output in the interface, to bear results, for example motion of cursor 410 on display 408.
After the processing procedure description that provides according to exemplary free space pointing devices of the present invention, Fig. 7 shows a kind of exemplary hardware configuration.Wherein processor 800 is communicated by letter with other elements of free space pointing devices, comprises roller 802, JTAG 804, LED 806, switch matrix 808, IR photodetector 810, rotation sensor 812, accelerometer 814 and transceiver 816.Roller 802 is optional input blocks, and it makes that the user can be by clockwise or rotate counterclockwise roller 802 and come to provide input for the interface.JTAG 804 provides the programming and the debugging at interface for processor.LED 806 is for the user provides visual feedback, for example when button is pressed.Switch matrix 808 receives input, and for example indication that is pressed or unclamps of the button on the free space pointing devices 400 is transferred to it processor 800 then.Exemplary free space pointing devices optional IR photodetector 810 can be set so that can receive the IR sign indicating number from other telechiric devices.Rotation sensor 812 provides about the y axle of for example above-mentioned free space pointing devices and the reading of z axle rotation for processor 800.Accelerometer 814 is for processor 800 provides reading about the linear acceleration of free space pointing devices 400, can utilize linear acceleration to carry out slope compensation for example as described above or the error that for example linear acceleration is incorporated in the rotation reading that rotation sensor 812 produces compensates.Transceiver 816 is used for carrying out information communication, the processor that for example send information to system controller 228 or link to each other with computing machine with free space pointing devices 400.Transceiver 816 can be (for example carrying out work according to the bluetooth standard that is used for short-distance wireless communication) wireless transceiver, perhaps infrared transceiver.Alternatively, free space pointing devices 400 can communicate by wired connection and system.
The Static Detection functional module of below once briefly mentioning 608 can be used for determining that free space pointing devices 400 is in (for example) static or dynamic (active) (motion state).This classification can realize by multiple diverse ways.According to exemplary of the present invention, a kind of method is the variation that data are imported in the sampling of calculating all inputs (x, y, z, α y, α z) in predetermined window (for example 1/4th of per second).Then described variation and threshold value are compared, be in static state or dynamic to divide space positioning apparatus.
Comprise by for example the input data being carried out fast Fourier transform (FFT) according to another Static Detection technology of exemplary of the present invention input is transformed in the frequency domain.Then, for example can utilize peak-value detection method that data are analyzed, be in static state or dynamically to determine free space pointing devices.In addition, also can distinguish the 3rd class, particularly hold free space pointing devices 400 but move under its situation (being also referred to as stable state (stable)) at this user.By detect when free space pointing devices 400 is held by the user, by the little motion of the free space pointing devices 400 of the vibration introducing of user's hand, can and dynamically make a distinction described the 3rd class and static state (not holding), also can utilize peak value to detect and carry out described judgement by Static Detection functional module 608.Peak value (for example being generally 8-12Hz) in the human tremor frequency range will typically surpass the about 20dB of noise floor (installing value not static and when not held) of device.
In above-mentioned example, be the variation in the sensing frequency domain in specific frequency range, yet treat that actual frequency scope monitored and that be used for definite free space pointing devices 400 states can be different.For instance, according to the weight of for example ergonomics and free space pointing devices 400, the tremor frequency range of nominal can be displaced to 4-7Hz from 8-12Hz.
According to another exemplary of the present invention, Static Detection functional module 608 can comprise state machine.Exemplary state machine has been shown among Figure 12.Wherein, in this example, dynamically be default conditions, during described default conditions, free space pointing devices 400 is moved and is used to for example to provide input for user interface.Free space pointing devices 400 can enter under the state of device energising dynamically, and it is by the input expression that resets.If free space pointing devices 400 stops to move, it will enter non-dynamically (INACTIVE).The conversion of different conditions shown in Figure 12 can be triggered by a plurality of different conditions, and described condition includes but not limited to: come from rotation sensor 502 and 504 one or two data output, come from data output, time domain data, frequency domain data or its any combination of accelerometer 506.In this state transition condition of generally mentioning by convention by " condition
State A → state B" expression.For instance, when satisfying the requirements
Dynamically → non-dynamicThe time, free space pointing devices 400 will be non-dynamic from dynamically changing into.Only for purposes of illustration, in exemplary free space pointing devices 400, when mean value that comes from rotation sensor and accelerometer and/or standard deviation value under first predetermined threshold at first predetermined period of time time, think condition
Dynamically → non-dynamicCan take place.
According to the sensor output after resolving, can determine state exchange by a large amount of different conditions.Exemplary condition module is included in the variation of the signal of resolving on the time window, reference value and can be used for determining state exchange in threshold value and reference value between the threshold value between the signal of resolving on the time window, reference value and the signal in the parsing of filtering on the time window and the threshold value that comes between the signal of parsing of starting time.Whole or its combination in any of these condition modules can be used to trigger state exchange.Alternatively, also can use other modules.According to an exemplary of the present invention, dynamically take place under following any one situation to dynamic conversion from non-: the mean value of (1) time window upper sensor output is greater than predetermined threshold, perhaps the variation of (2) time window upper sensor output valve is greater than predetermined threshold, and perhaps the moment increment (Δ) between (3) sensor values is greater than predetermined threshold.
The non-static detection device 608 that dynamically makes can be distinguished time-out (interval free space pointing devices 400 still is used, for example about about 1/10th seconds) and actual converted to stable state or quiescent conditions.Make can by mistake not carried out between the operating period of the following stated like this at free space pointing devices in the function of carrying out between stable state and quiescent period.When condition non-dynamically → when dynamically taking place, for example, if free space pointing devices 400 begins again to move, thereby the measurement output that comes from rotation sensor and accelerometer non-second predetermined period of time in dynamically in the past before above first threshold, then free space pointing devices 400 will be changed the attitude of reversing.
After second predetermined period of time warp, free space pointing devices 400 will be converted to stable state or static state.As previously mentioned, but stable state is represented free space pointing devices 400 and is held by the people and do not have the state that moves basically, and the state that static representations free space pointing devices 400 is not held by the people.Therefore, if there be the minimum movement relevant, so after second predetermined period of time warp, can provide conversion according to exemplary state machine of the present invention, otherwise will be transformed into static state to stable state with the vibration of hand.
Stable state and static state define the period that free space pointing devices 400 can be carried out various functions within it.For instance, because meaning, stable state represents that the user holds free space pointing devices 400 and still moves its period, then described device can be for example by the output of rotation sensor and/or accelerometer in this state of storage, write down free space pointing devices 400 and be in motion between steady state period.The measurement result of these storages can be used for the specific user's of definite the following stated flutter mode.Similarly, when being in static state, free space pointing devices 400 can obtain reading to be used for compensating offset, as mentioned above from rotation sensor and/or accelerometer.
If free space pointing devices 400 begins to move under the situation that is in stable state or static state, then it can trigger and turn back to dynamically.Otherwise after having obtained measurement result, device can change dormant state over to.When being in dormant state, device can enter power-down mode, and wherein the power consumption of free space pointing devices reduces, and for example the sampling rate of rotation sensor and/or accelerometer also reduces.Also can enter dormant state, make free space pointing devices 400 enter dormant state thereby user or other devices can send instruction by external command.
After receiving another instruction, if perhaps free space pointing devices 400 begins when mobile, described device can be converted to wake-up states from dormant state.With non-dynamically the same, whether correctly wake-up states confirms to be converted to dynamically the chance of (for example, free space pointing devices 400 is not by mistake promoted) for device provides.
The condition that is used for state-transition can be symmetrical, also can be different.Therefore, with condition
Dynamically → non-dynamicRelated threshold value can same and condition
Non-dynamically → dynamicallyRelated threshold value identical (or different).This just feasible input that can catch the user more exactly according to free space pointing devices of the present invention.For example, the exemplary that comprises state machine especially allows to be used to be converted to static threshold value and is different from and is used for the threshold value that changes out from static state.
Enter or leave other functions that state can also be used to flip flop equipment.For example, user interface can be based on being energized from free position to dynamic transformation.On the contrary, free space device and/or user interface can be closed (entering park mode) at the free space device when dynamically (or stable state) is converted to static state (or non-dynamic).As a kind of selection, cursor 410 can change or is converted to static state from static state based on free space pointing devices 400, disappears and be presented on the screen or from screen.
As mentioned above, stable state can be used for writing down the vibration data.Usually, each user can have different flutter mode.This attribute of user's vibration can also be used to discerning the user.For example, needing the user free space pointing devices to be kept as much as possible in the middle of stable (for example) the initialization process process in 20 seconds, user's flutter mode (be stored in the free space pointing devices 400, or be transferred in the system) can be remembered by system.This pattern can be used as user's unique signature and carry out various user interface capabilities.For example, user interface can be discerned the user by current flutter mode and the pattern in the storer of being stored in are compared from user's group.This identification can then be used to for example to obtain the preference setting that is associated with the user who is identified.For example, if the media system that free locating device is described in the patented claim of incorporating into by reference uses, then system by flutter mode is compared identify the user after, can activate the medium option related and show preference with this user.Use vibration identification can also realize security of system, for example,, can forbid or limit its visit system based on pick up of the identification of free space pointing devices 400 backs the user to the user.
In exemplary shown in Figure 4, free space pointing devices 400 comprises two rotation sensors 502 and 504, and accelerometer 506.Yet according to another exemplary embodiment of the present invention, free space pointing devices can only comprise a rotation sensor (for example, being used for measuring at the axial angular velocity of z) and accelerometer alternatively.For this exemplary embodiment, can determine the not angular velocity along axis of sensing of above-mentioned rotation sensor by using accelerometer, and obtain above-mentioned similar function.For example, can use data that accelerometer produces and following formula to calculate rotational speed around the y axle:
In addition, can also remove the unmeasured parasitic acceleration effect of rotation sensor.These effects comprise actual linear acceleration, because the acceleration that rotational speed and rotary acceleration produce and owing to artificially tremble the acceleration that produces.
According to another exemplary embodiment of the present invention, user interface device only uses accelerometer.As shown in Figure 9, measure 6 degree of freedom (6DOF) according to the 3-D hand-held device of this exemplary of the present invention, that is, and x, y, z, driftage, pitching and wave.Though Fig. 9 has shown Eulerian angle (driftage, pitching and wave), those skilled in the art will appreciate that this exemplary embodiment also comprises other expression mode, for example quaternary mode (quaternion).The 6DOF device can carry out the mapping of nature between display and user's input.For example, for indicator is moved up, the user moves up hand-held device.According to the hand-held device of this exemplary alternative more intuitively.For example, the user can with hand-held device towards or move rather than button click away from screen.Again for example, the user can be simply forward or the mouse that recedes, rather than use front and back button on the general screen.
Appearance based on the accurate and cheap accelerometer of MEMS (micro electro mechanical system) (MEMS) makes the family consumer might use this technology.Different with the gyroscope that measured angular is rotated, accelerometers measure linear acceleration.Traditional inertial navigation depends on three gyroscopes and three accelerometers, and each in them all is used for six-freedom degree.But the cost of traditional inertial navigation system and size have all limited consumer's hand-held device.The hand-held device of this exemplary has used the combination of three three-dimensional accelerometers to determine its position and direction at any time.Yet, can use identical algorithm to use other quaternary and arrangements of accelerometers.
Hand-held device according to exemplary depends on 3 basic geometrical principles of determining a plane.The point that can increase other improves accuracy.Three common acceleration of accelerometer represent that whole hand-held device is quickening (moving with x, y or z direction).The direction of the different expression of acceleration between accelerometer hand-held device has produced change (with driftage, pitching and wave direction and move).
Below several aspects make the realization based on the 6DOF system of accelerometer become complicated.At first, because acceleration is carried out the double product calculating location of assigning to, so the acceleration analysis error can cause the errors in position measurement of second power.Secondly, must accurately follow the tracks of gravitational vector, this is because gravity is the constant acceleration vector that the orientation with respect to hand-held device changes.For measuring error, mems accelerometer is not an absolutely accurate, can introduce error when calculating location.Yet, linear inaccurate unimportant in the acceleration.Although site error is a second power, can use absolute and relative coordinate system according to the device of this exemplary.For the relative coordinate system, actual displacement (being represented by foot or rice) can use responsive be provided with (for example, as known in mouse-driven) to adjust arbitrarily.Yet, follow time and temperature and the non-vanishing nonlinearity erron (also be called as " drift ", it is the characteristic of mems accelerometer) of mean value that produces can make mouse produce constant acceleration.Do not need suitable processing, will occur frameing out quickening for the indicator of the hand-held device of static state.When original analog acceleration signal is converted into digital signal, quantizes to introduce measuring error, thereby make calculating difficulty more.
The algorithm that comprises according to the device of this exemplary of the present invention has linearity and non-linear component, tolerate with the corrected acceleration meter in known error mode, as shown in figure 10.Wherein, accelerometer data samples 1000 is provided to error filtering function module 1010 with for example 3 * 3 matrix form.Following basis and ratio and/or the relevant calibration data of skew through the value of filtering, is unit of acceleration (g) from voltage unit/gravitational unit (V/g) conversion (module 1020), and for example above-mentioned exemplary is described like that.Original acceleration information in module 1030 by deducting gravity value relevant and acceleration error (in module 1040 and 1050, calculating respectively) with the orientation of hand-held device precision.Gravity is the constant acceleration that changes with respect to hand-held device when the user tilts hand-held device.If gravity is misinterpreted as actual acceleration, then the indicator on the screen will quicken indefinitely.The user interface that makes out of control of indicator will be no longer available.This exemplary embodiment is used vector to handle original acceleration information is treated to the orientation.Then calculate gravity vector, and from the result, it is deducted.Calculate afterwards by gravity vector and measure the error that produces, and will deduct in its measurement from behind.Then, at how much states (geometry) of module 1060, will where change through the accekeration of precision is several based on hand-held device.Output to module 1060 is proofreaied and correct, and is used for module 1090 is determined actual position according to acceleration information before, carries out site error and estimates (module 1070 and 1080).Then, before position data is output as velocity information,, and in module 1110, it is carried out Nonlinear Processing with its differential (module 1100).Geometric transformation unit 1060 can also output to data orientation determining unit 1020, orientation determining unit 1020 is determined the orientation of hand-held device in for example similar to aforesaid way mode, thereby for azimuthal error estimation unit 1050 and gravity vector computing unit 1040 provide input, and the indication of the angle orientation of output hand-held device.
Above-mentioned algorithm can be calibrated hand-held device to utilize conventional user interface action, shown in module 1130 and 1140 more alternatively in conjunction with user interaction patterns.For example, the user can stop mobile indicator usually selecting object or " click " before.Under this pattern, the algorithm of hand-held device uses the weighted mean at the particular stage reading, is provided for the input that gravity and position are calibrated again.
Exemplary of the present invention can make algorithm process carry out on hand-held device (being used for independently solution) or main frame.Link between hand-held device and the main frame can be a kind of (the including but not limited to) in following any technology: RF, bluetooth, Zigbee and IR, some in these technology illustrate respectively in the hardware and software platform of the example block diagram of Figure 11 and 12.In solution independently, hand-held device sends treated position and azimuth information to main frame.When the main frame execution algorithm was handled, hand-held device sent to main frame with raw acceleration data.Figure 13 shows exemplary of the present invention from the angle of algorithm.In Figure 13, the triangle 1300 of grey has been expressed at its turning hand-held device has three accelerometers (round dot).Accelerometer is measured the acceleration of hand-held device as described above, for example passes through arrow A
0-A
3Represent.A pair of axle 1302 and 1304 is represented hand-held device part (locally) respectively and with respect to the current orientation of any reference point.
Above-mentioned exemplary is used as example of the present invention, rather than the present invention is limited.Therefore, the present invention can carry out multiple variation when realizing in detail, and these variations are that those skilled in the art can derive from comprise explanation in this application.For example, though aforesaid exemplary has used inertial sensor to come the motion of pick-up unit, but can make and be used for the sensor (for example, ultrasound wave, magnetic or optics) of other types and replace inertial sensor or, cooperate and carry out aforesaid signal Processing as the interpolation of inertial sensor.All such changes and modifications should be thought in the spirit and scope of the present invention that appended claim limits.Unless offer some clarification on, otherwise in the application's description, it is crucial and necessary not having which element, action or instruction.In addition, in this article, article " " is intended to comprise one or more.
Claims (11)
1. user interface device comprises:
At least four accelerometer device of arranging with non-coplanar structure, each in described at least four accelerometer device exported acceleration information respectively; And
Algorithm, described algorithm will come from described four accelerometer device the described acceleration information of each at least and be converted to two-dimentional indicator motion.
2. user interface device as claimed in claim 1, wherein, each accelerometer device comprises two accelerometers.
3. user interface device as claimed in claim 1, wherein, each accelerometer device comprises three accelerometers.
4. user interface device as claimed in claim 1, wherein, described algorithm reduces error by restriction based on the motion of the device of user movement feature.
5. user interface device as claimed in claim 4, wherein, the scope of the user movement that one of utilizes in user's finger, wrist, arm and the shoulder is at least carried out restriction.
6. user interface device as claimed in claim 4 wherein, utilizes user's vibration to carry out restriction.
7. user interface device as claimed in claim 1, wherein, described algorithm is further resolved to produce clicking of mouse button posture.
8. user interface device as claimed in claim 1, wherein, described algorithm is further resolved to produce thump or operational system message posture.
9. user interface device comprises:
A plurality of accelerometers are used to measure the acceleration relevant with described user interface device; And
Algorithm, it utilizes gravity along with the time measurement of bearing that makes steady progress.
10. hand-held user interface device comprises:
A plurality of accelerometers are used to measure the acceleration relevant with described user interface device; And
Algorithm, it detects described hand-held user interface device and when is in static state, and when detecting described static state described a plurality of accelerometers is calibrated.
11. a hand-held user interface device comprises:
A plurality of accelerometers, each described accelerometer provide the relevant acceleration information of motion with described hand-held user interface device;
Processing unit is used for described acceleration information is converted to the data that can produce the two dimensional cursor exercise data;
Wherein, described processing unit is further handled described acceleration information, when is in static state with definite described hand-held user interface device, and when described hand-held user interface device is in static state, described hand-held user interface device is recalibrated.
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| US51386903P | 2003-10-23 | 2003-10-23 | |
| US60/513,869 | 2003-10-23 | ||
| US60/566,444 | 2004-04-30 | ||
| US60/612,571 | 2004-09-23 |
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| CN1942924A true CN1942924A (en) | 2007-04-04 |
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| CN 200480031397 Pending CN1942924A (en) | 2003-10-23 | 2004-10-25 | User interface devices and methods employing accelerometers |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102197351A (en) * | 2008-10-28 | 2011-09-21 | 硅立康通讯科技株式会社 | Grid signal receiver and wireless pointing system including same |
| CN102939576A (en) * | 2010-06-16 | 2013-02-20 | 高通股份有限公司 | Methods and apparatuses for gesture based remote control |
| CN103246388A (en) * | 2012-02-01 | 2013-08-14 | 罗技欧洲公司 | System and method of calibration of input device |
| CN103941886A (en) * | 2014-03-26 | 2014-07-23 | 深圳市创荣发电子有限公司 | Switch-on rousing method for air mouth |
| CN104246657A (en) * | 2012-01-06 | 2014-12-24 | 莫韦公司 | Device for gestural control of a system, and associated method |
| US9261968B2 (en) | 2006-07-14 | 2016-02-16 | Ailive, Inc. | Methods and systems for dynamic calibration of movable game controllers |
| CN105573630A (en) * | 2015-12-14 | 2016-05-11 | 北京奇虎科技有限公司 | Method and device for detecting shaking event of terminal device and terminal device |
| CN108027852A (en) * | 2015-09-17 | 2018-05-11 | 索尼移动通讯有限公司 | For verifying the electronic equipment and method of trusted user |
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2004
- 2004-10-25 CN CN 200480031397 patent/CN1942924A/en active Pending
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9261968B2 (en) | 2006-07-14 | 2016-02-16 | Ailive, Inc. | Methods and systems for dynamic calibration of movable game controllers |
| US9405372B2 (en) | 2006-07-14 | 2016-08-02 | Ailive, Inc. | Self-contained inertial navigation system for interactive control using movable controllers |
| CN102197351A (en) * | 2008-10-28 | 2011-09-21 | 硅立康通讯科技株式会社 | Grid signal receiver and wireless pointing system including same |
| CN102939576A (en) * | 2010-06-16 | 2013-02-20 | 高通股份有限公司 | Methods and apparatuses for gesture based remote control |
| CN102939576B (en) * | 2010-06-16 | 2016-10-19 | 高通股份有限公司 | For the method and apparatus remotely controlled based on gesture |
| CN104246657A (en) * | 2012-01-06 | 2014-12-24 | 莫韦公司 | Device for gestural control of a system, and associated method |
| CN103246388A (en) * | 2012-02-01 | 2013-08-14 | 罗技欧洲公司 | System and method of calibration of input device |
| CN103941886A (en) * | 2014-03-26 | 2014-07-23 | 深圳市创荣发电子有限公司 | Switch-on rousing method for air mouth |
| CN108027852A (en) * | 2015-09-17 | 2018-05-11 | 索尼移动通讯有限公司 | For verifying the electronic equipment and method of trusted user |
| CN105573630A (en) * | 2015-12-14 | 2016-05-11 | 北京奇虎科技有限公司 | Method and device for detecting shaking event of terminal device and terminal device |
| CN105573630B (en) * | 2015-12-14 | 2018-09-07 | 北京奇虎科技有限公司 | Detection terminal equipment shakes the method, apparatus and terminal device of event |
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