CN102411440A - Wireless head-controlled mouse based on accelerometer and gyro sensor - Google Patents

Wireless head-controlled mouse based on accelerometer and gyro sensor Download PDF

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CN102411440A
CN102411440A CN2011104433408A CN201110443340A CN102411440A CN 102411440 A CN102411440 A CN 102411440A CN 2011104433408 A CN2011104433408 A CN 2011104433408A CN 201110443340 A CN201110443340 A CN 201110443340A CN 102411440 A CN102411440 A CN 102411440A
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accelerometer
angle
gyroscope
wireless
mouse
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CN102411440B (en
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高同跃
沈春涛
高新闻
丁卫
饶进军
罗均
龚振邦
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University of Shanghai for Science and Technology
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Abstract

The invention relates to a wireless head-controlled mouse based on an accelerometer and a gyro sensor. The wireless head-controlled mouse comprises an acquisition module, a receiving module and a computer, wherein the acquisition module consists of an accelerometer, a gyroscope, a master control chip and a wireless transmitting module; the receiving module consists of a wireless receiving module and a USB interface chip; and the master control chip is used for carrying out fusion processing on signals of the accelerator and signals of the gyroscope by using a weighting algorithm to obtain an optimal attitude angle, mapping change of the attitude angle into a mouse moving distance by using a mapping function and eliminating influence of unconscious head shaking on the mouse. In the invention, the accelerator and the gyro sensor are used simultaneously, and therefore the wireless head-controlled mouse is more stable and has higher precision.

Description

A kind of wireless head-controlled mouse based on accelerometer and gyro sensor
Technical field
The present invention relates to a kind of wireless head-controlled mouse, particularly a kind of wireless head-controlled mouse based on accelerometer and gyro sensor.
Background technology
The more motion that is to use head of mouse research that is directed against disabled person's use of mutilated hand at present comes mouse beacon to move.Mainly contain two kinds of methods and come moving of head: a kind of imageing sensor that is to use, through algorithm the head in the image to be discerned, followed the tracks of, the displacement that calculates it comes mouse beacon to move; A kind of in addition is to come the motion of head through use MEMS (MEMS) sensor, thereby comes moving of mouse beacon, and at present more is to use accelerometer separately or use gyroscope to come the motion of head separately.Two kinds of methods are compared, and are comparatively responsive for environmental impact based on the detection method of imageing sensor, and algorithm complicacy take the computer ample resources; And basically environment is had no requirement based on the detection method of using MEMS, do not take computer resource, but use accelerometer separately or use gyrostatic measuring-signal to have noise usually separately, the precision that influence is measured.Accelerometer and gyrostatic noise have characteristics separately, also do not see the mouse system that uses accelerometer and gyroscope to improve measuring accuracy simultaneously at present.
Summary of the invention
Defective to the prior art existence; The purpose of this invention is to provide a kind of wireless head-controlled mouse based on accelerometer and gyro sensor; Through weighting algorithm accelerometer and gyrostatic data are merged the measuring accuracy that improves attitude angle, obtain optimum attitude angle.The measurement data of accelerometer has higher confidence level than gyrostatic measurement data under quiescent conditions, and gyrostatic data have higher confidence level than accelerometer under dynamic condition.Through using a weighting coefficient to merge the data and the gyrostatic data of accelerometer, can so that mouse under quiescent conditions with dynamic condition under ratio of precision more stable when using accelerometer or gyroscope separately.
For achieving the above object, the present invention adopts following technical scheme:
A kind of wireless head-controlled mouse based on accelerometer and gyro sensor comprises acquisition module, receiver module and computer; Said acquisition module is made up of accelerometer, gyroscope, main control chip and wireless transmitter module; Said main control chip is connected with said gyroscope with said accelerometer through digital I2C interface, and said main control chip is connected with wireless transmitter module through the SPI interface; Said receiver module is made up of wireless receiving module and USB interface chip; Said USB interface chip is connected with said wireless receiving module through the SPI interface, and is connected with said computer through USB interface;
Said main control chip uses weighting algorithm that the signal and the said gyrostatic signal of said accelerometer are carried out fusion treatment, obtains optimum attitude angle, and uses mapping function to be mapped as mouse moving distance to the variation of attitude angle, and said weighting algorithm is following:
1) establishes that the attitude angle calculated is
Figure 434081DEST_PATH_IMAGE001
; Wherein
Figure 214080DEST_PATH_IMAGE003
is the angle of pitch;
Figure 96586DEST_PATH_IMAGE005
is roll angle, and the computing formula of attitude angle is:
Wherein
Figure 776966DEST_PATH_IMAGE007
is attitude angle of using said accelerometer (1) data computation to obtain;
Figure 2011104433408100002DEST_PATH_IMAGE008
attitude angle for using said gyro data to calculate;
Figure 453935DEST_PATH_IMAGE009
is weighting coefficient in the formula;
2) accelerometer calculated as described in the pitch angle
Figure 750924DEST_PATH_IMAGE003
The formula for
Figure 437120DEST_PATH_IMAGE011
; roll angle
Figure 644111DEST_PATH_IMAGE005
is calculated as
Figure 2011104433408100002DEST_PATH_IMAGE012
, where
Figure 318412DEST_PATH_IMAGE013
,
Figure 2011104433408100002DEST_PATH_IMAGE014
,
Figure 305960DEST_PATH_IMAGE015
respectively accelerometer X, Y, Z values of the acceleration isometric, g is the acceleration of gravity;
3)
Figure 2011104433408100002DEST_PATH_IMAGE016
Described in gyroscope calculate the angle of pitch
Figure 530268DEST_PATH_IMAGE003
Formula do Roll angle
Figure 469591DEST_PATH_IMAGE005
Computing formula do
Figure 2011104433408100002DEST_PATH_IMAGE018
( k=1,2 ..., n, n are positive integer), wherein
Figure 616538DEST_PATH_IMAGE019
With
Figure 2011104433408100002DEST_PATH_IMAGE020
For kThe angle of pitch and roll angle constantly;
Figure 441275DEST_PATH_IMAGE021
,
Figure 2011104433408100002DEST_PATH_IMAGE022
It is respectively rotational angular velocity around X, Y axle;
Figure 622858DEST_PATH_IMAGE023
Be the sampling period;
4) computing formula of weighting coefficient is:
Figure 2011104433408100002DEST_PATH_IMAGE024
; Wherein
Figure 641891DEST_PATH_IMAGE025
is attenuation coefficient;
Figure 2011104433408100002DEST_PATH_IMAGE026
, g is an acceleration of gravity.
Said accelerometer is a three axis accelerometer, and said gyroscope is a three-axis gyroscope.
The wireless transmission of said wireless transmitter module and wireless receiving module is operated in open 2.4GHz industry, science, medical frequency range.
To make the angle that records be the data that corresponding mouse moves through this Function Mapping through constructing a function in the present invention, and transverse axis is represented the angle imported, and the longitudinal axis representes to export the distance that mouse moves.The angle of rotating when the head value of hour function is zero.Make head to the control of mouse nature and eliminated the mouse that the unconscious shake of head causes and moved more through this function of continuous adjustment.Then move on the mouse when coming back, the mouse of bowing then is to moving down, and head inclines to the left then that mouse is moved to the left, and moves right to the Right deviation mouse.
The present invention has following outstanding advantage compared with prior art:
1) under the mouse quiescent conditions, owing to used accelerometer among the present invention, it is more stable therefore to compare independent use gyroscope, and precision is higher.
2) under the mouse dynamic condition, owing to used gyroscope among the present invention, it is more stable therefore to compare independent use accelerometer, and precision is higher.
3) through using a mapping function to eliminate the influence of a unconscious shake to mouse.
Description of drawings:
Fig. 1 is the one-piece construction block diagram of mouse of the present invention;
Fig. 2 is the mapping function of the present invention's structure;
Fig. 3 is the operation interface of mouse of the present invention.
Embodiment:
Below in conjunction with accompanying drawing and embodiment the inventive method is further specified.
As shown in Figure 1, a kind of wireless head-controlled mouse based on accelerometer and gyro sensor comprises acquisition module 5, receiver module 8 and computer 9; Said acquisition module 5 is made up of accelerometer 1, gyroscope 2, main control chip 3 and wireless transmitter module 4; Said main control chip 3 is connected with said gyroscope 2 with said accelerometer 1 through digital I2C interface, and said main control chip 3 is connected with wireless transmitter module 4 through the SPI interface; Said receiver module 8 is made up of wireless receiving module 6 and USB interface chip 7; Said USB interface chip 7 is connected with said wireless receiving module 6 through the SPI interface, and is connected with said computer 9 through USB interface; In the present embodiment, the acquisition module 5 main measurements that realize the head inclination angle.The main control chip 3 (STM32F103) of this module uses iic bus to read the signal of accelerometer 1 (MMA8452) and gyroscope 2 (L3G4200D).The main control chip of acquisition module uses the weighting fusion algorithm that the signal of sensor is handled then, obtains the optimum attitude angle.
Said weighting algorithm is following:
1) establishes that the attitude angle calculated is
Figure 541714DEST_PATH_IMAGE001
; Wherein
Figure 435721DEST_PATH_IMAGE003
is the angle of pitch;
Figure 471810DEST_PATH_IMAGE005
is roll angle, and the computing formula of attitude angle is:
Figure 97963DEST_PATH_IMAGE027
Wherein
Figure 2011104433408100002DEST_PATH_IMAGE028
is attitude angle of using said accelerometer (1) data computation to obtain;
Figure 16241DEST_PATH_IMAGE029
attitude angle for using said gyroscope (2) data computation to obtain;
Figure 386042DEST_PATH_IMAGE009
is weighting coefficient in the formula;
2)
Figure 542217DEST_PATH_IMAGE007
in the accelerometer (a) calculate the pitch angle
Figure 339272DEST_PATH_IMAGE003
The formula for ; roll angle
Figure 10425DEST_PATH_IMAGE005
is calculated as
Figure 918338DEST_PATH_IMAGE012
, where
Figure 484012DEST_PATH_IMAGE013
,
Figure 451968DEST_PATH_IMAGE014
,
Figure 548100DEST_PATH_IMAGE015
respectively accelerometer X, Y, Z values of the acceleration isometric, g is the acceleration of gravity;
3)
Figure 259704DEST_PATH_IMAGE016
Described in gyroscope (2) calculate the angle of pitch
Figure 452788DEST_PATH_IMAGE003
Formula do
Figure 591645DEST_PATH_IMAGE031
Roll angle
Figure 909494DEST_PATH_IMAGE005
Computing formula do
Figure 2011104433408100002DEST_PATH_IMAGE032
( k=1,2 ..., n, n are positive integer), wherein
Figure 752685DEST_PATH_IMAGE019
With
Figure 737959DEST_PATH_IMAGE020
For kThe angle of pitch and roll angle constantly;
Figure 47717DEST_PATH_IMAGE033
, It is respectively rotational angular velocity around X, Y axle;
Figure 649600DEST_PATH_IMAGE023
Be the sampling period;
4) computing formula of weighting coefficient is:
Figure 703007DEST_PATH_IMAGE035
; Wherein
Figure 542787DEST_PATH_IMAGE025
is attenuation coefficient; , g is an acceleration of gravity.
As shown in Figure 2, main control chip is through a mapping function, the optimum angle of pitch and roll angle is mapped as the mouse mobile data of two bytes.The expression formula of mapping function is: as x
Figure 2011104433408100002DEST_PATH_IMAGE037
greater than 0 the time; As x
Figure 2011104433408100002DEST_PATH_IMAGE038
less than 0 the time.Wherein x is the attitude angle degrees of data; Y is the mouse moving data, and is scale-up factor.
Figure 915124DEST_PATH_IMAGE039
gets 1.5.The effect of this mapping function mainly is to eliminate a unconscious shake and make moving that mouse produces.
Main control chip 3 uses spi bus that the mouse data of two bytes is passed to wireless transmitter module 4 (nRF24L01), realizes the wireless transmission of data.
Wireless receiving module 6 (nRF24L01) receives the mouse mobile data with corresponding two bytes in optimum attitude angle, and the data reception module main control chip adopts the USB interface chip 7 (C8051F320) with usb communication function.USB interface chip 7 is read data through spi bus from wireless receiving module 6, and it is expanded to the standard mouse control signal of nybble.Because mouse does not have the click of right and left key and middle key and the data that roller rolls, and can two bytes of this expansion directly be taken as 0.USB interface chip 7 uses HID (human interface device) the mouse program of standard that the nybble data are sent to computer, realizes mouse moving control.
As shown in Figure 3, use click software to realize clicking operation.Behind the static mobile certain hour of mouse, on computer monitor, the operation interface of Fig. 3 appears in the mouse lower left corner or the lower right corner.Rolling mouse is accomplished the operation that indicates on the button to button 10,11,12 or 13 then.For example; Want to realize desktop icons " my computer " are double-clicked opening operation; Concrete operations are following: at first mouse is moved on " my computer " desktop icons; Mouse operation interface will occur after static 2 seconds near mouse, mouse is moved on the button 8, and mouse can carry out the left button double click operation after static 2 seconds automatically on the icon of " my computer ".

Claims (3)

1. the wireless head-controlled mouse based on accelerometer and gyro sensor is characterized in that: comprise acquisition module (5), receiver module (8) and computer (9); Said acquisition module (5) is made up of accelerometer (1), gyroscope (2), main control chip (3) and wireless transmitter module (4); Said main control chip (3) is connected with said gyroscope (2) with said accelerometer (1) through digital I2C interface, and said main control chip (3) is connected with wireless transmitter module (4) through the SPI interface; Said receiver module (8) is made up of wireless receiving module (6) and USB interface chip (7); Said USB interface chip (7) is connected with said wireless receiving module (6) through the SPI interface, and is connected with said computer (9) through USB interface; Said main control chip (3) uses weighting algorithm that the signal of said accelerometer (1) and the signal of said gyroscope (2) are carried out fusion treatment; Obtain optimum attitude angle; And use mapping function to be mapped as mouse moving distance to the variation of attitude angle, said weighting algorithm is following:
1) establishes that the attitude angle calculated is
Figure 268651DEST_PATH_IMAGE001
; Wherein
Figure 561092DEST_PATH_IMAGE003
is the angle of pitch;
Figure 418190DEST_PATH_IMAGE005
is roll angle, and the computing formula of attitude angle is:
Figure 440373DEST_PATH_IMAGE006
；
Wherein
Figure 91934DEST_PATH_IMAGE007
is attitude angle of using said accelerometer (1) data computation to obtain;
Figure 137250DEST_PATH_IMAGE008
attitude angle for using said gyroscope (2) data computation to obtain; is weighting coefficient in the formula;
2)
Figure 143569DEST_PATH_IMAGE010
in the accelerometer (a) calculate the pitch angle The formula for
Figure 498644DEST_PATH_IMAGE011
; roll angle is calculated as
Figure 661696DEST_PATH_IMAGE012
where
Figure 920639DEST_PATH_IMAGE013
,
Figure 471706DEST_PATH_IMAGE014
,
Figure 474297DEST_PATH_IMAGE015
respectively accelerometer X, Y, Z values of the acceleration isometric, g is the acceleration of gravity;
3)
Figure 997683DEST_PATH_IMAGE016
Described in gyroscope (2) calculate the angle of pitch
Figure 161948DEST_PATH_IMAGE003
Formula do
Figure 200311DEST_PATH_IMAGE017
Roll angle
Figure 741014DEST_PATH_IMAGE005
Computing formula do
Figure 118905DEST_PATH_IMAGE018
( k=1,2 ..., n, n are positive integer), wherein With For kThe angle of pitch and roll angle constantly;
Figure 855283DEST_PATH_IMAGE021
, It is respectively rotational angular velocity around X, Y axle;
Figure 2011104433408100001DEST_PATH_IMAGE023
Be the sampling period;
4) computing formula of weighting coefficient is:
Figure 2011104433408100001DEST_PATH_IMAGE024
; Wherein
Figure 2011104433408100001DEST_PATH_IMAGE025
is attenuation coefficient;
Figure 2011104433408100001DEST_PATH_IMAGE026
, g is an acceleration of gravity.
2. a kind of wireless head-controlled mouse based on accelerometer and gyro sensor according to claim 1, it is characterized in that: said accelerometer (1) is a three axis accelerometer, and said gyroscope (2) is a three-axis gyroscope.
3. a kind of wireless head-controlled mouse based on accelerometer and gyro sensor according to claim 1 is characterized in that: the wireless transmission of said wireless transmitter module (4) and wireless receiving module (6) is operated in open 2.4GHz industry, science, medical frequency range.
CN201110443340.8A 2011-12-27 2011-12-27 Wireless head-controlled mouse based on accelerometer and gyro sensor Expired - Fee Related CN102411440B (en)

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CN107436692A (en) * 2016-05-25 2017-12-05 何舒平 A kind of air mouse control method based on gyro sensor
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CN110515465A (en) * 2019-08-29 2019-11-29 张洋 Control method and device based on brain wave and gesture recognition
CN111078029A (en) * 2019-12-05 2020-04-28 广州视源电子科技股份有限公司 Air mouse information determination method, device, equipment and storage medium

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Cited By (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102743252A (en) * 2012-06-04 2012-10-24 南京智启软件开发有限公司 Intelligent head-wearing eyesight protection instrument
CN102743252B (en) * 2012-06-04 2014-06-18 南京智松电子科技有限公司 Intelligent head-wearing eyesight protection instrument
CN102722248B (en) * 2012-06-04 2015-09-16 宋子健 Shoes are utilized to replace keyboard and mouse as the method for computer peripheral equipment and implement device
CN102722248A (en) * 2012-06-04 2012-10-10 宋子健 Method for utilizing shoes as computer peripheral in place of keyboard and mouse and implementation device
CN103902024A (en) * 2012-12-25 2014-07-02 苏州薇思雨软件科技有限公司 Novel mouse based on vision
CN103513770A (en) * 2013-10-09 2014-01-15 中国科学院深圳先进技术研究院 Man-machine interface equipment and man-machine interaction method based on three-axis gyroscope
CN104267837A (en) * 2014-10-04 2015-01-07 上海工程技术大学 Two-dimensional wireless mouse
CN105572870A (en) * 2014-11-05 2016-05-11 优利科技有限公司 Head-mounted display device
CN107436692A (en) * 2016-05-25 2017-12-05 何舒平 A kind of air mouse control method based on gyro sensor
CN106028107A (en) * 2016-06-20 2016-10-12 昆明理工大学 Wireless English text input system based on accelerometer and gyroscope sensor
CN106028107B (en) * 2016-06-20 2018-12-14 昆明理工大学 A kind of wireless English text input system based on accelerometer and gyro sensor
CN106774996A (en) * 2016-12-30 2017-05-31 上海集成电路研发中心有限公司 One kind fixed point gesture stability mouse
CN107990901A (en) * 2017-11-28 2018-05-04 元力云网络有限公司 A kind of sensor-based user direction localization method
CN108762528A (en) * 2018-08-15 2018-11-06 苏州大学 Attitude algorithm method suitable for aerial flying squirrel
CN108762528B (en) * 2018-08-15 2021-03-23 苏州大学 Attitude calculation method suitable for airborne flying mouse
CN110515465A (en) * 2019-08-29 2019-11-29 张洋 Control method and device based on brain wave and gesture recognition
CN111078029A (en) * 2019-12-05 2020-04-28 广州视源电子科技股份有限公司 Air mouse information determination method, device, equipment and storage medium

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