CN107168556A - Air mouse multi-data fusion method, air mouse and air mouse control system - Google Patents
Air mouse multi-data fusion method, air mouse and air mouse control system Download PDFInfo
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- CN107168556A CN107168556A CN201710220992.2A CN201710220992A CN107168556A CN 107168556 A CN107168556 A CN 107168556A CN 201710220992 A CN201710220992 A CN 201710220992A CN 107168556 A CN107168556 A CN 107168556A
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- mouse
- air mouse
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- finger
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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
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Theoretical Computer Science (AREA)
- Human Computer Interaction (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Position Input By Displaying (AREA)
Abstract
The present invention relates to a kind of air mouse multi-data fusion method, air mouse and air mouse control system, wherein multi-data fusion method includes：Obtain the three-dimensional acceleration data of finger in real time by the acceleration transducer in air mouse, obtain the three-dimensional angular velocity data of finger in real time by the gyroscope in air mouse, using three-dimensional acceleration data and angular velocity data described in association type multi-data fusion algorithm process, accurate air mouse control information is generated；The association type multi-data fusion algorithm includes a senior filter and multiple subfilters, multiple subfilters receive the three-dimensional acceleration data and angular velocity data, generate sub- estimated information, retransmit to senior filter and be fused into final estimated information, for generating accurate air mouse control information.The present invention can improve the manipulation precision of mouse, and give a kind of technical scheme of the aerial finger ring mouse of high accuracy, have the advantages that performance accuracy height, small volume.
Description
Technical field
The invention belongs to computer-aided equipment field, and in particular to a kind of air mouse multi-data fusion method, aerial
Mouse and air mouse control system.
Background technology
It presently, there are two kinds of mouse-techniques, one is traditional mechanical rollers and optics D mouse, and the laser for being is aerial
3D mouse.Traditional roller optical mouse has a disadvantage that：(1) can only be manipulated in two dimensional surface, and have to plane finish compared with
High request.(2) mouse can not move on a large scale cause shoulder keep for a long time with a posture, cause shoulder to ache, cause " mouse
Mark hand " problem.(3) mouse left and right press key, can send " card is wiped " noise when using.
Current aerial 3D mouse has a disadvantage that：(1) Traditional movement sensors data algorithm easily causes data distortion,
It is low that air mouse manipulates precision.(2) volume is larger, heavier, there is larger burden for user.(3) power consumption is larger, by battery
Capacity impact, endurance is not strong.(4) cost is high, expensive.
The content of the invention
For the deficiencies in the prior art, the present invention proposes a kind of multi-data fusion side for air mouse
Method, can improve the manipulation precision of mouse, and give a kind of technical scheme of the aerial finger ring mouse of high accuracy, with operation essence
Degree is high, the advantage of small volume.
The present invention uses following technical scheme：
A kind of multi-data fusion method for air mouse, including：
Obtain the three-dimensional acceleration data of finger in real time by the acceleration transducer in air mouse, pass through air mouse
In gyroscope obtain the three-dimensional angular velocity data of finger in real time, using three-dimensional described in association type multi-data fusion algorithm process plus
Speed data and angular velocity data, generate accurate air mouse control information；The association type multi-data fusion algorithm includes
One senior filter and multiple subfilters, multiple subfilters receive the three-dimensional acceleration data and angular velocity data, raw
Into sub- estimated information, retransmit to senior filter and be fused into final estimated information, for generating accurate air mouse control
Information.
Further, after three-dimensional acceleration data and angular velocity data that finger is obtained in real time, mended first using temperature
Repay algorithm to pre-process it, the control accuracy for improving air mouse.
Further, the senior filter and subfilter use Kalman filter.
Further, the association type Kalman filtering algorithm uses following equation：
Xi(k)=Ai(k)Xi(k-1)+Bi(k)wi(k)
Yi(k)=Ci(k)Xi(k)+Vi(k)
In above formula and Fig. 2, Xi(k) the multi-dimensional state vector of i-th group of state variable is represented；Ai(k)、Bi(k) all it is to have system
Structure determination and Xi(k) i-th corresponding of matrix；wi(k) it is i-th group of pumping signal；P (k) is error covariance；Ci
(K) it is i-th group of measurement vector；vi(k) it is measurement noise sequence, and wiAnd v (k)i(k) it is orthogonal zero-mean gaussian white noise
Sound；Yi(k) it is that in i-th group, the kth moment is carved into for the moment, makees k times and observe k obtained to observe data Y (1), Y (2), Y
(3) ..., Y (n)；Q (k) is system noise variance matrix, and R (k) is measurement noise variance matrix.
The invention also provides the aerial finger ring mouse of a high accuracy using the above method, including finger ring and it is attached to finger
Multi-sensor Fusion module on ring；The Multi-sensor Fusion module includes upper lid and lower cover, is provided between upper lid and lower cover
Microprocessor module, displacement sensing module, first communication module and the power supply being sequentially connected；
The displacement sensing module obtains finger three-dimensional data and sent to microprocessor module, built in microprocessor module
There is association type multi-data fusion algorithm, for carrying out fusion estimation to the finger three-dimensional data, generate accurate air mouse
Control information；
The first communication module receives the accurate air mouse control information, and sends to communication terminal.
Further, the Multi-sensor Fusion module replaces with including closing housing and is fixed on micro- place of enclosure interior
Manage device module, displacement sensing module, first communication module and power supply.
Further, the first communication module is using Bluetooth communication, WIFI communications or Zigbee communication module.
Further, the finger ring is made of elastomeric material.
Further, the volume of the Multi-sensor Fusion module is not more than 10cm3。
The invention also provides a kind of air mouse control system using above-mentioned high-precision control finger ring mouse, including：
Aerial finger ring mouse, including finger ring and the Multi-sensor Fusion module being attached on finger ring, for obtaining user's hand
The three-dimensional angular velocity data and acceleration information of finger；
Communication terminal, communication terminal, with second communication module, parsing module and display unit, second communication module is used
In the control information for receiving aerial finger ring mouse transmission, parsing module is used for the posture for parsing finger, and is converted to corresponding behaviour
Make.
Further, the system has multiple aerial finger ring mouses, is respectively used to obtain the three-dimensional angular velocity of different fingers
Data and acceleration information, by communication terminal, parse the posture of different fingers, and be converted to corresponding operation.
Beneficial effects of the present invention：
1. performance accuracy is high, nearly 74% is improved compared with current air mouse precision, close to the manipulation precision of conventional optical mouse.
2. small volume, finger ring upper shell volume is 9.5cm3；Lightweight, gross weight is 21.5 grams.
3. noiseless when using.
4. the problem of solving " mouse hand " that conventional mouse is brought.
Brief description of the drawings
Fig. 1 is the flow chart of air mouse application method of the present invention；
The association type Kalman filtering algorithm schematic diagram that Fig. 2 uses for the present invention；
Fig. 3 is the aerial finger ring mouse product final assemble figure of a kind of high accuracy of the invention；
Fig. 4 is the aerial finger ring mouse product structure figure of a kind of high accuracy of the invention；
Fig. 5 is the circuit diagram of the first communication module of the present invention；
Fig. 6 is microprocessor module circuit diagram of the invention；
Fig. 7 is gyro module circuit diagram of the invention；
Fig. 8 is acceleration sensor circuit figure of the invention；
Embodiment：
The invention will be further described with embodiment below in conjunction with the accompanying drawings：
It is noted that described further below is all exemplary, it is intended to provide further instruction to the application.Unless another
Indicate, all technologies used herein and scientific terminology are with usual with the application person of an ordinary skill in the technical field
The identical meanings of understanding.
It should be noted that term used herein above is merely to describe embodiment, and be not intended to restricted root
According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singulative
It is also intended to include plural form, additionally, it should be understood that, when in this manual using term "comprising" and/or " bag
Include " when, it indicates existing characteristics, step, operation, device, component and/or combinations thereof.
A kind of exemplary embodiments of the present invention are a kind of multi-data fusion methods for air mouse：Pass through air mouse
In acceleration transducer obtain the three-dimensional acceleration data of finger in real time, hand is obtained by the gyroscope in air mouse in real time
The three-dimensional angular velocity data of finger, it is raw using association type multi-data fusion algorithm process three-dimensional acceleration data and angular velocity data
Into accurate air mouse control information；The association type multi-data fusion algorithm includes a senior filter and many height are filtered
Device, multiple subfilters receive the three-dimensional acceleration data and angular velocity data, generate sub- estimated information, retransmit to main filter
Ripple device is fused into final estimated information, for generating accurate air mouse control information.
Main and sub wave filter uses Kalman filter in the present embodiment, and three are handled using association type Kalman filtering algorithm
Acceleration information and angular velocity data are tieed up, using Information Sharing principle, the Information Sharing between subfilter is realized.Each height filter
Ripple device will from senior filter sharing information.Each subfilter is not separate, and senior filter full utilization son filter
The estimated information of ripple device is fused into the estimated information of system, different with parallel filtering algorithm, and parallel filtering algorithm needs subsystem
The status prediction information and system mode information of forecasting of system.The association type Kalman filtering algorithm schematic diagram that Fig. 2 present invention is used,
The crucial calculation formula of the present embodiment is as follows：
Xi(k)=Ai(k)Xi(k-1)+Bi(k)wi(k)
Yi(k)=Ci(k)Xi(k)+Vi(k)
In above formula and Fig. 2, Xi(k) the multi-dimensional state vector of i-th group of state variable is represented；Ai(k)、Bi(k) all it is to have system
Structure determination and Xi(k) i-th corresponding of matrix；wi(k) it is i-th group of pumping signal；P (k) is error covariance；Ci
(K) it is i-th group of measurement vector；vi(k) it is measurement noise sequence, and wiAnd v (k)i(k) it is orthogonal zero-mean gaussian white noise
Sound；Yi(k) it is that in i-th group, the kth moment is carved into for the moment, makees k times and observe k obtained to observe data Y (1), Y (2), Y
(3) ..., Y (n)；Q (k) is system noise variance matrix (nonnegative definite), and R (k) is measurement noise variance matrix (positively definite matrix).
Improved as one kind to above-described embodiment, three-dimensional acceleration number is being handled using association type Kalman filtering algorithm
According to before angular velocity data, preliminary treatment can be carried out to the data of each sensor using temperature compensation algorithm, to improve mouse
Mark precision.
Yet another embodiment of the invention is a kind of aerial finger ring mouse of high accuracy, including finger ring and many biographies for being attached on finger ring
Sensor Fusion Module；Multi-sensor Fusion module includes upper lid and lower cover, provided with the micro- place being sequentially connected between upper lid and lower cover
Manage device module, displacement sensing module, first communication module and power supply；Displacement sensing module obtains finger three-dimensional data and sent extremely
Microprocessor module, microprocessor module is built-in with association type multi-data fusion algorithm, for melting to finger three-dimensional data
Estimation is closed, accurate air mouse control information is generated；The first communication module receives the accurate air mouse control
Information, and send to communication terminal.
Finger ring in the present embodiment uses elastomeric material, and mouse can be worn on finger by the rubber finger ring of mouse,
Mouse structure layout is three-dimensional layout, and orlop is 2 lower covers, upper strata be successively 3 microprocessor modules, 4 displacement transducers and
Bluetooth communication, 5 power supplys, cover on 6, its monnolithic case is as shown in figure 3, structure is as shown in Figure 4.
The main control unit and circuit element of mouse are powered using poly-lithium battery in the present embodiment.Pass through acceleration
Sensor gathers the three-dimensional acceleration and three-dimensional angular velocity signal of finger with gyroscope dual sensor, and using association type, Kalman filters
Ripple blending algorithm is handled the data-signal collected.Mouse is communicated by Bluetooth technologies with PC ends, and PC ends pass through
Instruction of the mouse driver to mouse is handled, and is converted into computer control instruction.The aerial finger ring mouse of high accuracy
Overall structure it is as shown in Figure 1.
Bluetooth communication can be replaced other manner, such as Wi-Fi communications, Zigbee communication communication mode.
Deformed as one kind to above-described embodiment, Multi-sensor Fusion module includes closing housing and is fixed in housing
Microprocessor module, displacement sensing module, first communication module and the power supply in portion.The circuit element and power supply of mouse are by poly- carbonic acid
Ester plastic casing is protected, and mouse structure layout is similarly three-dimensional layout.
Finger ring upper shell volume is 9.5cm in the present embodiment3, gross weight is 21.5 grams, with lightweight, small volume excellent
Point.
Power supply can select solar-electricity source module simultaneously, can conveniently obtain electric energy, save the trouble of charging.
Another embodiment of the present invention is a kind of air mouse control system, including：Aerial finger ring mouse, including finger ring and
The Multi-sensor Fusion module on finger ring is attached to, three-dimensional angular velocity data and acceleration information for obtaining user's finger；
Communication terminal, with second communication module, parsing module and display unit, second communication module is used to receive aerial
The control information of finger ring mouse transmission, parsing module is used for the postures such as click, the movement of real time parsing finger, is converted into logical
Believe the operation such as click, movement of cursor on terminal diaplay unit.
System can have multiple aerial finger ring mouses, be respectively used to obtain three-dimensional angular velocity data and the acceleration of different fingers
Degrees of data, by communication terminal, parses the posture of different fingers, and be converted to corresponding operation.
Fig. 5 to Fig. 8 is respectively circuit diagram, microprocessor module circuit diagram, the gyroscope of the first communication module of the present invention
Circuit diagram and acceleration sensor circuit figure.
The preferred embodiment of the application is the foregoing is only, the application is not limited to, for the skill of this area
For art personnel, the application can have various modifications and variations.It is all within spirit herein and principle, made any repair
Change, equivalent substitution, improvement etc., should be included within the protection domain of the application.
Claims (10)
1. a kind of multi-data fusion method for air mouse, it is characterised in that including：
The three-dimensional acceleration data of finger is obtained in real time by the acceleration transducer in air mouse, by air mouse
Gyroscope obtains the three-dimensional angular velocity data of finger in real time, using three-dimensional acceleration described in association type multi-data fusion algorithm process
Data and angular velocity data, generate accurate air mouse control information；The association type multi-data fusion algorithm includes one
Senior filter and multiple subfilters, multiple subfilters receive the three-dimensional acceleration data and angular velocity data, generation
Estimated information, retransmits to senior filter and is fused into final estimated information, for generating accurate air mouse control information.
2. according to the method described in claim 1, it is characterised in that：The three-dimensional acceleration data and angular speed of finger are obtained in real time
After data, it is pre-processed using temperature compensation algorithm first, the control accuracy for improving air mouse.
3. according to the method described in claim 1, it is characterised in that：The senior filter and subfilter use Kalman filtering
Device.
4. a kind of aerial finger ring mouse of high accuracy based on any one of claim 1-3, it is characterised in that：Including finger ring and attached
The Multi-sensor Fusion module on finger ring；The Multi-sensor Fusion module include upper lid and lower cover, upper lid and lower cover it
Between provided with the microprocessor module, displacement sensing module, first communication module and the power supply that are sequentially connected；
The displacement sensing module obtains finger three-dimensional data and sent to microprocessor module, and microprocessor module is built-in with connection
Box-like multi-data fusion algorithm, for carrying out fusion estimation to the finger three-dimensional data, generates accurate air mouse control
Information；
The first communication module receives the accurate air mouse control information, and sends to communication terminal.
5. aerial finger ring mouse according to claim 3, it is characterised in that：The Multi-sensor Fusion module replaces with bag
Include closing housing and be fixed on microprocessor module, displacement sensing module, first communication module and the power supply of enclosure interior.
6. aerial finger ring mouse according to claim 3, it is characterised in that：The first communication module is logical using bluetooth
Letter, WIFI communications or Zigbee communication module.
7. aerial finger ring mouse according to claim 3, it is characterised in that：The finger ring is made of elastomeric material.
8. aerial finger ring mouse according to claim 3, it is characterised in that：The volume of the Multi-sensor Fusion module is not
More than 10 cm3。
9. a kind of air mouse control system based on claim 4-8, it is characterised in that including：
Aerial finger ring mouse, including finger ring and the Multi-sensor Fusion module being attached on finger ring, for obtaining user's finger
Three-dimensional angular velocity data and acceleration information；
Communication terminal, communication terminal, with second communication module, parsing module and display unit, second communication module is used to connect
The control information of aerial finger ring mouse transmission is received, parsing module is used for the posture for parsing finger, and is converted to corresponding operation.
10. air mouse control system according to claim 9, it is characterised in that：With multiple aerial finger ring mouses, point
The three-dimensional angular velocity data and acceleration information of different fingers Yong Yu not be obtained, by communication terminal, the appearance of different fingers are parsed
State, and be converted to corresponding operation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710220992.2A CN107168556A (en) | 2017-04-06 | 2017-04-06 | Air mouse multi-data fusion method, air mouse and air mouse control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710220992.2A CN107168556A (en) | 2017-04-06 | 2017-04-06 | Air mouse multi-data fusion method, air mouse and air mouse control system |
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| CN107168556A true CN107168556A (en) | 2017-09-15 |
Family
ID=59849329
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| CN201710220992.2A Pending CN107168556A (en) | 2017-04-06 | 2017-04-06 | Air mouse multi-data fusion method, air mouse and air mouse control system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108762528A (en) * | 2018-08-15 | 2018-11-06 | 苏州大学 | Attitude algorithm method suitable for aerial flying squirrel |
| CN111831136A (en) * | 2019-03-26 | 2020-10-27 | 深圳Tcl新技术有限公司 | Bluetooth air mouse moving method, storage medium and smart television |
| CN116954395A (en) * | 2023-09-21 | 2023-10-27 | 深圳博骏科技有限公司 | Mouse displacement regulation and control system based on multisensor fusion |
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| CN116954395B (en) * | 2023-09-21 | 2023-11-21 | 深圳博骏科技有限公司 | Mouse displacement regulation and control system based on multisensor fusion |
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Application publication date: 20170915 |