CN1303494A - Control device and method of controlling object - Google Patents

Control device and method of controlling object Download PDF

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CN1303494A
CN1303494A CN 99806673 CN99806673A CN1303494A CN 1303494 A CN1303494 A CN 1303494A CN 99806673 CN99806673 CN 99806673 CN 99806673 A CN99806673 A CN 99806673A CN 1303494 A CN1303494 A CN 1303494A
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control
image
apparatus
control device
adapted
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CN 99806673
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Chinese (zh)
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克里斯特·法雷尤斯
奥拉·雨果森
彼得·埃里森
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C技术公司
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    • GPHYSICS
    • G06COMPUTING; CALCULATING; COUNTING
    • G06FELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00Input 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
    • G06F3/01Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/03Arrangements for converting the position or the displacement of a member into a coded form
    • G06F3/0304Detection arrangements using opto-electronic means
    • G06F3/0317Detection arrangements using opto-electronic means in co-operation with a patterned surface, e.g. absolute position or relative movement detection for an optical mouse or pen positioned with respect to a coded surface
    • GPHYSICS
    • G06COMPUTING; CALCULATING; COUNTING
    • G06FELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00Input 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
    • G06F3/01Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/03Arrangements for converting the position or the displacement of a member into a coded form
    • G06F3/033Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
    • G06F3/0346Pointing 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
    • GPHYSICS
    • G06COMPUTING; CALCULATING; COUNTING
    • G06FELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00Input 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
    • G06F3/01Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/03Arrangements for converting the position or the displacement of a member into a coded form
    • G06F3/033Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
    • G06F3/0354Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor with detection of 2D relative movements between the device, or an operating part thereof, and a plane or surface, e.g. 2D mice, trackballs, pens or pucks
    • G06F3/03545Pens or stylus

Abstract

一种控制设备,例如一个计算机鼠标,具有适于被移动,最好是手动移动的图像记录装置,用于根据图像记录装置的移动控制一个对象,例如在计算机屏幕上的一个光标。 A control device, for example a computer mouse, having adapted to be moved, preferably the image recording apparatus manually movable for controlling the object based on a moving image recording apparatus, for example, a cursor on the computer screen. 该控制设备适于在图像记录装置被移动时记录带有部分重叠内容的一组图像,该图像的部分重叠内容能使图像处理装置产生指示图像记录装置如何被移动的控制信号。 The control device is adapted to record a set of images with partially overlapping contents of the image recording apparatus is moved, partially overlapping contents of the images enables the image processing apparatus generates a control signal indicating how the image recording apparatus is moved. 以图像记录装置的旋转为基础的一种控制方法和控制设备也被表示。 To rotate the image recording apparatus based on a control method and a control device it is also represented.

Description

控制一个对象的控制设备和方法 Controlling a control object apparatus and method

本发明涉及一种具有适于移动,最好是手动移动的图象记录装置的控制设备,用于根据图象记录装置的移动控制一个对象。 The present invention relates to a suitable moving, the control apparatus preferably manually moving image recording apparatus for a control object based on the moving image recording apparatus. 本发明也涉及一种控制一个对象的方法。 The present invention also relates to a control method of an object.

今天,个人计算机通常装备一种控制设备,一个所谓的计算机鼠标,它被用于定位在计算机屏幕上的光标。 Today, personal computers are usually equipped with a control apparatus, a so-called computer mouse, which is used to position a cursor on a computer screen. 该定位通过用户使鼠标移过一个表面来进行。 The positioning by the user causes the mouse to move over a surface. 手的移动指示鼠标应该如何定位。 How to movement of the hand indicates that the mouse should be positioned. 近来,最常用的鼠标在它的下表面具有一个球,它在鼠标移过上述表面时由于反向摩擦而旋转并用这种关系,驱动又产生定位信号的位置传感器。 Recently, the most commonly used mouse with a ball on its lower surface, and due to the reverse rotation by friction of this relationship, and the driving signal generates the position sensor is positioned over said surface as it moves the mouse. 通常,鼠标也可以通过用户击一个或多个按钮用于提供指令给计算机。 Typically, a user can also click the mouse one or more buttons used to provide instructions to the computer.

光学的计算机鼠标也是已知的。 The optical computer mouse is also known. JP09190277表示了具有一个用于X轴的CCD线性传感器和一个用于Y轴的CCD线性传感器的一个光学鼠标。 JP09190277 shows a CCD linear sensor having optical mouse for the X-axis and the CCD linear sensor for the Y-axis. 借助于在某一时刻CCD线性传感器记录的数据与随后时刻记录的数据相比较,由此鼠标在X方向和在Y方向的移动可以被确定。 By means of a comparison with the time data is then recorded in the data recording CCD linear sensor at a time, whereby the mouse may be determined in the X direction and in the Y direction.

鼠标由此被用于控制一个虚拟的对象。 Whereby mouse is used to control a virtual object. 然而,还有其它其结构类似于鼠标的结构的控制设备但被用于控制对象。 However, there are other control device of the structure similar to the structure but the mouse is used to control the object.

此外,控制设备用于控制二维控制对象,即一个平面,或三维控制对象,即一个空间。 In addition, dimensional control for controlling the control target device, i.e. a planar, or a three-dimensional control target, i.e. a space.

WO98/11528描述了装有三维信息的计算机的控制设备。 WO98 / 11528 describes a computer controlled device with three-dimensional information. 该设备以被放在相互垂直方向并能测量在一至三个方向上的加速值或倾斜角的三个加速传感器为基础。 The device to be placed in mutually perpendicular directions and can measure acceleration values ​​of the one to three directions in the three acceleration or inclination angle sensor is based. 该设备,例如,可以被放在使用者的头上或可以手持。 The device, for example, may be placed on the user's head or may be handheld.

用于输入三维信息给计算机的计算机鼠标在美国专利5,506,605中被叙述。 For inputting dimensional information to a computer mouse in the computer it is described in U.S. Patent No. 5,506,605. 这种计算机鼠标被手持以及在空间中被自由地保持。 This mouse is a handheld computer and is free to remain in space. 此外,它可以包括,用于测量由合适的电子装置连续翻译,转换成数字格式,并输入到计算机的各种物理参数的传感器。 Further, it may comprise, for measuring continuously translated by a suitable electronic device, converted to digital format and input to sensors of various physical parameters of the computer. 鼠标在空间中的位置由位置传感器确定,它以光,加速度,陀螺仪等为基础。 Mouse position in space is determined by a position sensor, it is the light, acceleration, gyroscopes basis. 在所述的实施例中,采用一个超声传感器和一个磁性传感器构成。 In the embodiment described, the use of a ultrasonic sensor and a magnetic sensor. 在输入的基础上,计算机能以振动的方式连续产生触觉反馈,例如,提供给使用者关于鼠标的位置相对于它所希望的位置的信息。 On the basis of the input, the computer can produce continuous vibration of the tactile feedback, e.g., provided to the user on the mouse position information with respect to its desired position.

本发明的目的是要提供一种改进的控制设备和控制适于二维和三维控制的实际对象以及虚拟对象的一种改进方法。 Object of the present invention is to provide an improved control apparatus and control two and three dimensional actual object is adapted to control and an improved method of virtual objects.

这个目的通过以下控制设备和方法来实现:一种控制设备,具有适于移动,最好是手动移动的图像记录装置,用于根据图像记录装置的移动控制一个对象,其特征在于控制设备适合于在该图像记录装置被移动时记录带有部分重叠内容的一组图像,该图像的部分重叠内容能够确定图像记录装置如何被移动。 This object is achieved by a control apparatus and method: a control apparatus, having adapted to move, preferably manually moving image recording apparatus for a control object based on the moving image recording apparatus, characterized in that the control device is adapted to recording a set of images with partially overlapping contents while the image recording apparatus is moved, partially overlapping contents of the images to determine how the image recording apparatus is moved.

一种控制设备,具有适于被旋转,最好是手动旋转的图像记录装置,用于根据所述图像记录装置的旋转控制一个对象,其特征在于所述的控制设备适于在所述图像记录装置被旋转时记录带有部分重叠内容的一组图像,所述图像的部分重叠内容能确定所述图像记录装置是如何旋转的。 A control apparatus, having adapted to be rotated, preferably manual rotation of the image recording apparatus for recording image according to the rotation control apparatus of an object, wherein said control apparatus is adapted to record the image recording a set of images with partially overlapping contents when the device is rotated, partially overlapping contents of the images can be determined how the image recording apparatus is rotated.

一种控制一个对象的方法,包括如下步骤:移动控制设备;借助所述控制设备在该控制设备移动期间记录一组带有重叠内容的图像,及借助于重叠图像的内容,确定所述控制设备的移动。 A control method of an object, comprising the steps of: the mobile control apparatus; the control device by means of a set of recording images with overlapping content, and content by means of a superimposed image during the movement control apparatus, the control apparatus determines movement.

因此,根据本发明的第一个方面,本发明涉及具有图像记录装置的控制设备,它适于由使用者移动,最好是手动移动,根据图像记录装置的移动用于控制一个可能是实际的或虚拟的对象。 Thus, according to a first aspect of the present invention, the present invention relates to an image recording apparatus having a control apparatus, which is adapted to be moved by a user, preferably manually moved, it may be a real image recording apparatus for controlling the movement of or virtual objects. 该图像记录装置适于在它们被移动时记录带有部分重叠内容的一组图像,部分重叠的内容使得能够确定图像记录装置如何移动。 The image recording apparatus adapted to record a set of images with partially overlapping contents while they are moved, partially overlapping contents such that the image recording apparatus to determine how to move.

本发明因此是以利用图像确定一个单元怎样移动的想法为基础。 Thus the present invention is determined by the image of the idea of ​​how to move a unit basis. 这个技术可以被用于二维以及三维控制。 This technique can be used for two-dimensional and three-dimensional control. 这是有优点的,因为它需要很少的传感器并且没有移动部件。 This is advantageous because it requires fewer sensors and no moving parts. 整个移动信息包含于图像的重叠内容。 Movement information included in the entire content of the image overlap. 因为设备记录了周围的图像,一个“绝对”位置指示被获得,使它能在图像记录装置处于一个特殊位置时,例如在利用根据测量加速度的控制设备不能检测时,能够检测。 Because the apparatus records an image around an "absolute" position indication is obtained, it can in the image recording apparatus is in a special position, for example, when using the measurement of acceleration can not be detected according to the control device, it can be detected. 此外,对于移动、旋转也能检测并被用于控制一个对象。 Further, for the movement, rotation can be detected and used to control an object.

在一个实施例中,控制设备被设计为在一个平面内控制一个对象。 In one embodiment, the control device is designed to control an object in one plane. 在这种情况下,重叠的图像使得不仅图像记录装置的移动而且它们在平面内的转动也能确定,这例如在使用带有一个球的传统的鼠标时是不可能的。 In this case, the superimposed image such that only moving image recording apparatus and they rotate in a plane can be determined, for example, which when used with a conventional mouse ball is impossible. 此外,控制设备有益之处是适于控制平面内对象的角度位置。 Further, the device is beneficial in controlling is adapted to control the angular position of the object plane. 当设备被设计为平面控制时,图像记录装置有益之处是装有具有二维传感器表面的光感应传感器,一个用于记录图像的所谓区域(area)传感器。 When the control device is designed as a plane, the image recording apparatus is provided with the benefits of the light-sensitive sensor having a two-dimensional sensor surface, a recording area for so-called image (area) sensor. 在这篇上下文中,二维传感器表面实际上是指传感器表面必须能使带有象素(pixels)矩阵的表面成象。 In this context, the fact the two-dimensional sensor surface refers to a sensor surface can be a surface having the image forming pixels (pixels) of the matrix. CCD传感器和CMOS传感器就是合适的传感器。 CCD sensor and a CMOS sensor is suitable sensor. 单个的传感器由此足以在一个平面进行控制。 Whereby the single sensor is sufficient for a control plane.

在另一个实施例中,设备被设计为在空间控制一个对象。 Embodiment, the device is designed to control an object in a space in another embodiment. 也是在这种情况下,控制设备有利地适于控制对象的角度位置,其中控制能围绕着三个轴发生。 Also in this case, the control device advantageously adapted to control the angular position of the object, wherein the control can occur around the three axes. 在一个经济的实施例中,对于设备具有两个每个具有一个二维传感器表面的光感应传感器用于在二个不同的方向记录所述的图像就可能是足够的。 In an economical embodiment, the apparatus has two each for the light-sensitive sensor with a two-dimensional sensor surface of the image recording in two different directions may be sufficient for it.

然而,为了在空间中更精确的控制,图像记录装置最好包括三个用于记录图像在三个最好是垂直方向上的传感器更合适。 However, in order to more precisely control space, the image recording apparatus for recording an image preferably comprises three preferably three sensors in the vertical direction is more appropriate. 这能够确定沿三个相互垂直轴的平移以及借助于相对简单计算确定围绕这些轴的旋转。 This can be determined in three mutually perpendicular translational axes and by means of a relatively simple calculation to determine the rotation around these axes.

相适应地,控制设备具有用于为控制对象提供控制信号的图像处理装置。 Suitably, the control apparatus having an image processing apparatus for providing a control signal to the control target. 该图像处理装置与图像记录装置一样处于同一物理外壳中,从这个物理外壳输出的信号由此构成用于控制要被控制的对象的控制信号。 The image processing apparatus as the image recording apparatus in the same physical enclosure, the signal is outputted from the physical enclosure thereby constituting a control signal for controlling an object to be controlled. 然而,该图像处理装置也可以处于另一个物理外壳中,例如在其光标构成要控制的对象的计算机内,或者在又控制,或者构成借助于控制设备控制的实际对象的部件的计算机内,从图像处理装置输出的信号构成用于控制该对象的控制信号。 However, the image processing apparatus may also be in another physical enclosure, such as a cursor in a computer which constitutes an object to be controlled, or control and, by means of a computer or a control device constituting the actual object of the control member, from the image signal processing apparatus outputting a control signal for controlling the configuration of the object. 在这篇上下文中,应该注意到,从图像处理装置输出的控制信号在它们直接用于对象的控制以前可能需要进一步的处理。 In this context, it should be noted that the image processing apparatus control signal outputted from the further processing may be needed to control them directly to a subject before. 图像处理装置借助于处理器和软件被有利地执行,而且也完全可以借助于硬件被执行。 The image processing apparatus is advantageously performed by means of a processor and software, but can also be performed by means of hardware.

图像处理装置相应地适于根据用于提供所述的控制信号的部分重叠内容确定图像的相对位置。 The image processing apparatus adapted to determine the relative position of the corresponding image in accordance with partially overlapping contents for providing a control signal according to the. 如果控制设备被用于三维控制,这就适合于对于所有的传感器并行地进行。 If the control device is used for three-dimensional control, which is adapted to performed in parallel for all sensors. 移动的距离和方向,以及现在的位置,可以在图像的相对位置的基础上被确定。 Distance and direction of movement, and the current position can be determined based on the relative position of the image.

最好,控制设备具有一个校准模式,其中图像记录装置以其能使图像处理装置让图像的相对位置与图像记录装置的实际移动相联系的方式被移动。 Preferably, the control device has a calibration mode in which the image recording apparatus moves its actual relative position of the image recording apparatus enables an image processing apparatus so that the image is moved linked manner. 作为一种选择,控制设备可以装有借助于传感器测量到成象表面距离的测距仪,当然它将更加昂贵。 As an alternative, by means of a control device may be equipped with sensors to measure the distance of the image forming surface of the rangefinder, of course, it will be more expensive.

图像处理装置相应地适于在从图像的相对位置获得的至少一个矢量的基础上产生所述的控制信号。 Accordingly, the image processing apparatus adapted to generate a control signal on the basis of the relative position of the image obtained from at least one of the vectors.

此外,或可供选择地,图像处理装置可适于在从图像的相对位置获得的至少一个旋转指示的基础上产生所述的控制信号。 In addition, or alternatively, the image processing apparatus may be adapted to generate a control signal based on the at least one rotary indicating a relative position obtained from the image on the. 控制信号由此可以被用于控制对象的旋转及它的移动,它与传统的机械计算机鼠标相比是一个优点。 Whereby the control signal may be used to control its movement and rotation of an object, it is compared with a conventional computer mouse is a mechanical advantage.

在控制设备用于三维控制的情况下,图像处理装置可以从所有的传感器根据图像的相对位置合成信息以便产生一个移动矢量和一个旋转矢量。 In the case where the control apparatus for controlling a three-dimensional image processing apparatus may generate a motion vector and to a rotation vector from the relative positions of all sensor information image synthesis. 用这种方式,图像记录装置的位置可以明确地被确定。 In this manner, the position of the image recording apparatus can be unambiguously determined. 换句话说,控制设备能进行通过用手移动图像记录装置时完成的移动的数字转换,以便能使计算机在这个移动的基础上控制一个对象。 In other words, the control device can be converted by the digital motion image recording apparatus by hand movement is completed, in order to enable the computer to control a moving object on the basis of this.

在一个实施例中,图像处理装置可适于根据图像记录装置被移动的速度产生所述的控制信号,该速度由图像的相对位置和图像记录频率确定。 In one embodiment, the image processing means may be adapted to generate a control signal in accordance with the speed of the image recording apparatus is moved, the speed is determined by the relative position and the image recording frequency of the image.

相适应地,控制信号的接收器应该知道该控制信号是控制信号,以便了解信号如何被连续处理。 Suitably, the control signal receiver should know that the control signal is a control signal, in order to understand how the signal is processed continuously. 接着,图像处理装置最好适于以这样一种方式输出所述的控制信号,即接收器能识别想要控制一个对象的控制信号。 Next, the image processing means is preferably adapted to output said control signal in such a way that the receiver can identify a control signal to control a desired object. 这例如可以通过利用预定的协议被实现。 This may be achieved by using a predetermined protocol.

使用一个基于图像控制装置的优点是能够确定何时图像记录装置在预定的位置上,因为这个位置借助于一个或几个图像可以被限定下来。 An advantage of using the image control apparatus is based on an image recording apparatus capable of determining when the predetermined position, because this position by means of one or more defined image may be down. 例如,当图像记录装置已转到它们的初始位置时,能够检测到。 For example, when the image recording apparatus has been transferred to their initial position, it can be detected. 为此,图像处理装置适于储存至少一幅参考图像并将连续记录的图像与这个图像相比较,以便在基本上完全重叠的情况下产生一个信号。 For this reason, the image processing apparatus is adapted to store at least one image on the image and the reference image is compared continuously recorded, so as to generate a signal in case substantially completely overlap. 例如,使用者可以通过在这个部分上击控制设备将某一位置规定为参考位置。 For example, a user can click on this portion of the control device to a position predetermined as a reference position.

如果图像记录装置和图像处理装置处于不同的物理外壳中时,图像记录装置可以有利地包括用于将图像从图像记录装置无线传输到图像处理装置的一个发射器。 If the image recording apparatus and an image processing apparatus in a different physical enclosure, the image recording apparatus may advantageously comprise an image for a wireless transmission from a transmitter to the image processing apparatus the image recording apparatus. 此外,如果图象记录和图像处理装置处于同样的物理外壳中,只要图像处理装置包括用于控制信号无线输出的一个发射机,比如其光标要被控制的一台计算机,它可能也是个优点。 Also a computer, if the image recording and the image processing apparatus in the same physical housing, a transmitter for as long as the image processing apparatus comprises a wireless control signal output, such as a cursor which is to be controlled, it may also be an advantage. 在两种情况下,控制设备很容易使用,因为信息传递不需要皮线。 In both cases, the control device is easy to use, because the information transmitted need not flex. 例如,一个使用者可能具有一个个人图像记录装置或控制设备并借助不同的计算机或控制信号的接收机使用它。 For example, a user may have a personal image recording apparatus or the control apparatus and the receiver means of a control signal or a different computer to use it. 发射机可以是一个IR发射机比如使用所谓的蓝牙标准的无线电发射机,或者适合于在相互较近设置的二个单元之间传递无线信息的一些其它发射机。 IR transmitter may be a transmitter such as a so-called Bluetooth standard radio transmitter, or other transmitters suitable for transmitting information between two wireless units are disposed close.

在一个最佳实施例中,控制设备是一个计算机鼠标,即,能被连接到计算机并被用于设定一维、二维或多维光标位置的一种设备。 In a preferred embodiment, the control device is a computer mouse, i.e., can be connected to a computer and an apparatus for setting a one-, two- or multi-dimensional position of the cursor.

控制设备可以被用在第一绝对模式或第二相对模式中。 The control device may be used in a first mode or a second opposite absolute mode. 在绝对模式中,控制对象的移动是与图像记录装置的移动成比例的。 In absolute mode, the movement of the control object is a moving image recording apparatus according to scale. 换句话说,对象以对应于图像记录装置的移动的方式移动,而不管它们放在哪儿。 In other words, the object corresponding to the movement of the moving image recording apparatus, regardless of where they are placed. 然而,在相对模式中,控制设备被配置,以便在图像记录装置和预定的坐标原点之间的距离增加时控制对象的速度和加速度增加。 However, in relative mode, the control device is configured to control object when the distance between the image recording apparatus and a predetermined speed and acceleration of the origin of coordinates is increased. 用这种方式,通过保持图像记录装置离预定的原点更远,可能获得对象的更快的移动,而在同时,精密的控制可以通过保持图像记录装置靠近原点而获得。 In this manner, by holding the image recording apparatus further from a predetermined origin, it is possible to obtain a faster movement of the object, while at the same time, precise control may be obtained by means remains near the origin of the image recording.

根据本发明的第二方面,它涉及一种具有适于被旋转,最好是手动旋转的图像记录装置的控制设备,用于根据图像记录装置的旋转控制对象。 According to a second aspect of the present invention, which relates to a adapted to be rotated, preferably manual rotation of the control device of the image recording apparatus, for controlling the rotation of the object image recording apparatus according to. 该控制设备适于在图像记录装置被旋转时记录带有部分重叠内容的一组图像,图像的部分重叠内容能确定图像记录装置是如何被旋转的。 The control device is adapted to set the content of partially overlapping images, images with partially overlapping contents can be determined how the image recording apparatus is rotated at the time of recording an image recording apparatus is rotated.

这个控制设备所依据的和上文所述的控制设备是同样的想法,但取代根据图像记录装置的移动控制对象的是它根据旋转而被控制。 The control apparatus and a control apparatus according to the above are the same idea, but instead of the control object based on the moving image recording apparatus is that it is controlled according to the rotation. 例如这个控制设备可以是一个跟踪球。 This control device may be, for example, a trackball. 上面讨论的实施例基本上也可应用于旋转控制设备,并可获得同样的优点。 Embodiment discussed above may be applied to substantially the rotation control device, and the same advantages can be obtained.

根据本发明的第三方面,它涉及一种控制一个对象的方法,包括如下步骤:移动控制设备;借助于控制设备在控制设备移动期间记录一组带有重叠内容的图像;并借助于重叠图像的内容确定控制设备的移动。 According to a third aspect of the present invention, which relates to a method of controlling an object, comprising the steps of: a mobile control device; control device by means of a set of images with overlapping contents recorded during movement of the control device; superimposed image by means determining the control content of the mobile device. 关于上文提到的设备与所述的相同的优点被获得。 About the same advantages as the apparatus mentioned above is obtained.

本发明将在下文通过用参照附图说明实施例的方式被详细叙述,其中图1根据本发明示意地表示控制设备的一个实施例;图2是根据本发明,控制设备一个实施例的电子电路部分的框图;图3示意地表示根据本发明的一个控制设备第二实施例;图4是说明用于二维控制的一个控制设备操作的流程说明;图5示意地表示一个“打开的盒子”其中在图3中的控制设备可以被使用;图6示意地表示根据本发明的控制设备的移动在带有轴ex,ey和ez的一个正交坐标系中从一个点(x,y,z)到一个点(x+δx,y+δy,z+δz);图7示意地表示平移标量在控制设备被移动时从各自的传感器被输出(下标表示传感器正产生各自的标量);以及图8示意地表示在校准模式中控制设备要如何被移动。 The present invention will hereinafter be described in detail by way of illustration by way of example with reference to the accompanying drawings, wherein FIG 1 schematically shows an embodiment of a control apparatus according to the present invention; FIG. 2 in accordance with the present invention is a control device of an electronic circuit of this embodiment block diagram portion; FIG. 3 schematically shows a second embodiment of the control apparatus of the present invention; FIG. 4 is a flow illustrating an apparatus for controlling the operation of the two-dimensional control; FIG. 5 schematically shows an "open box" which may be used in the control device of FIG. 3; FIG. 6 schematically shows the movement control apparatus of the present invention in an orthogonal coordinate system with axes ex, ey and ez from the point (x, y in accordance with, z ) to a point (x + δx, y + δy, z + δz); FIG. 7 schematically shows translate scalar when the control device is moved to be output from the respective sensors (the subscript indicates that the sensor is producing a respective scalar); and 8 schematically showing a control apparatus in a calibration mode of how to be moved.

根据本发明的控制设备可能基本在两种主要类型的实施例中被提供。 It may be provided substantially in two main types of embodiment of the control apparatus according to the present invention. 根据本发明控制设备第一种实施例将在下文被叙述,该实施例要被用作二维鼠标。 The control device according to a first embodiment of the present invention will be described hereinafter, the embodiment to be used as two-dimensional mouse. 接着,控制设备的第二个实施例将被叙述,该实施例要被用作三维鼠标。 Next, a second embodiment of the control apparatus will be described embodiments, this embodiment is to be used as a three-dimensional mouse. 最后,二维和三维鼠标的操作将被叙述。 Finally, two-dimensional and three-dimensional mouse operation will be described. 在所述的两个实施例中,图像记录装置和图像处理装置处于相同的物理外壳中,由此控制信号被输出。 In the two embodiments, the image recording apparatus and an image processing apparatus in the same physical housing, whereby a control signal is output. 如上文所提到的,图像处理装置也可能被装在分隔的物理外壳中。 As mentioned above, the image processing apparatus may also be mounted in separate physical enclosure. 对于熟练的技术人员要进行这样的修改是很简单的。 For the skilled personnel to carry out such a modification is very simple.

在图1中表示的控制设备的第一实施例中,它包括具有和常用的强光笔大约同样形状的一个外壳1。 A first embodiment of the control apparatus shown in FIG. 1, which includes a light pen and commonly approximately the same shape of a housing 1. 外壳的一个短边具有一个窗2,通过它图像被读入设备。 A short side of housing 2 having a window, through which the device is read into the image. 窗2在外壳内略微地凹入壳内以不损坏下面的表面。 Window 2 is recessed slightly below shell not to damage the inner surface of the housing.

外壳1基本包括一个光学部件3,一个电子电路部件4,和一个电源部件5。 1 essentially comprises a housing 3 of the optical component, an electronic circuit section 4, and a power member 5.

光学部件3包括一个发光二极管6,一个透镜系统7,和光感应传感器8的形式的图像记录装置,它构成了与电子电路部件4的接口。 The optical part 3 comprises an LED 6, 7, and an image recording apparatus in the form of a light-sensitive sensor 8, a lens system, which forms the interface with the electronic circuit component 4.

发光二极管6的任务是要照亮现在正位于窗的下面的一个表面,在这种情况下在这里控制设备对着表面或由此很接近地被直接保持。 6 is the task of the light emitting diode to illuminate the surface of a positive now located below the window, in this case where the control device against a surface or very close to thereby be held directly. 一个漫射器9被安装在发光二极管6的前面用于漫射光线。 A diffuser 9 is mounted in front of the light emitting diode 6 for diffusing light.

透镜系统7的任务是尽可能准确地投射放在窗2下的表面的图像到光感应传感器8上。 Task of the lens system 7 is projected on the image as accurately as possible in the window surface 2 onto the light-sensitive sensor 8.

在这个例子中,光感应传感器8包括一个二维,带有内装A/D转换器的方形CCD单元(CCD=充电耦合装置(charge couple device))。 In this example, the light-sensitive sensor 8 comprises a two dimensional square CCD unit with a built-in A / D converter (CCD = charge coupled device (charge couple device)). 这样的传感器是可以商用的。 Such a sensor can be commercially available. 该传感器8以一个小角度对着窗2被装在它自己的电路板11上。 The sensor 8 at a small angle to the window 2 is mounted on its own circuit board 11.

对控制设备的电源供应由电池12获得,它被装在外壳内的隔离仓13内。 The power supply control apparatus 12 is supplied by the battery is obtained, which is mounted in the cartridge housing spacer 13.

在图2框图中示意地表示了电子电路部件4。 2 schematically shows a block diagram of the electronic circuit components 4. 它被设置在电路板上并包括一个处理器20,它借助总线21被连接到其中处理器的程序被储存的ROM22,连接到构成处理器的工作存储器并且来自传感器的图像被储存其中的读/写存储器23,连接到控制逻辑单元24,以及传感器8和发光二极管6。 It is disposed on the circuit board and includes a processor 20, which by means of a bus 21 is connected to the processor where the program is stored in the ROM 22, a working memory connected to the processor and configured from the image sensor is stored therein read / write memory 23, connected to the control logic unit 24, and the sensor 8 and the light emitting diode 6. 处理器20,总线21,存储器22和23,控制逻辑单元24,以及相关的软件一起构成图像处理装置。 The processor 20, bus 21, the memories 22 and 23, control 24, and related software logic unit together constitute the image processing apparatus.

控制逻辑单元24又被连接到一些外围的单元,包括用于传送/来自一台外部计算机的信息的一个无线电收发信机26,借助其使用者可以控制图像记录装置并也可用作传统鼠标掣子按钮的按钮27,以及指示鼠标何时准备使用的指示器29,如一个发光二极管。 The control logic unit 24 in turn is connected to some peripheral unit includes means for transmitting / radio transceiver a message from an external computer 26, by means of which a user may control the image recording apparatus may be used as a traditional mouse and detent when child button button 27, and indicates that the mouse pointer 29 is ready for use, such as a light emitting diode. 送到存储器、传感器和外围单元的控制信号在控制逻辑单元24内产生。 A control signal to the memory, the peripheral units and the sensor generated within control logic unit 24. 控制逻辑也控制中断信号的发生和优先次序给处理器。 The control logic also controls interruption and priority signal to the processor. 按钮27、无线电收发信机26和发光二极管6通过处理器在控制逻辑单元24中的寄存器内写和读被存取。 Button 27, a radio transceiver 26 and the light emitting diodes 6 are read and write access within the control logic unit 24 of the processor registers. 按钮27在它们被启动时产生中断信号给处理器20。 Button 27 generates an interrupt signal to the processor 20 when they are activated.

图3表示根据本发明控制设备的第二实施例。 FIG 3 shows a second embodiment of a control apparatus according to the present invention. 类似于第一实施例,这个实施例包括一个笔形外壳31。 Like the first embodiment, this embodiment includes a pen-type housing 31. 除了在外壳的一个短边上的窗32以外,该设备还具有两个附加窗32'和32”。窗32,32',32”中的每个稍微凹入壳内以免在它使用时或闲置时控制设备碰撞到某一个表面造成损坏或划伤。 In addition to a short edge of the window 32 of the housing, the apparatus further comprising two additional windows 32 'and 32. "Windows 32, 32', 32 'each housing recessed slightly or not when it is used the control device to a certain idle collision surface damage or scratches.

如在上面的情况下,外壳1基本包含一个光学部分33,一个电子电路部分34和一个电源部分5。 As in the above case, the housing 1 comprises a basic optical section 33, an electronic circuit portion 34 and a power supply section 5.

光学部分33包括带有三个透镜系统的一个透镜盒(未表示)和带有三个光感应传感器一组传感器(未表示),它们构成到电子电路部件34的接口分别用于窗32,32',32”。在这个实施例中没有发光二极管。控制设备要被保持在距要被成象的表面一定的距离,并且在多数情况下,周围的光线足以让图像被记录。 The optical portion 33 comprises a lens cartridge having a three lens system (not shown) and three light sensitive sensor with a set of sensors (not shown), which constitute an interface to an electronic circuit for a window member 34, respectively 32, 32 ', 32. "those in the embodiment of an LED control device to be held in a certain distance from the surface to be imaged, and in most cases, enough to ambient light image is recorded.

透镜系统的任务是尽可能准确地投射窗32,32',32”被引导在其上的表面图像到光感应传感器。 The task of the lens system is projected as accurately as possible the window 32, 32 ', 32' are guided to the surface of the image on which the light-sensitive sensor.

如在上面的实施例中,光感应传感器包括带有内装A/D转换器的二维平面CCD单元。 As in the above embodiment, the light-sensitive sensor comprises a two-dimensional CCD unit with a built A / D converter. 每个传感器被装在它自己的电路板上。 Each sensor is mounted in its own circuit board.

也在这个实施例中,对控制设备的电源供应由一个电池获得,它被装在外壳内隔离的舱室内。 Also in this embodiment, the power supply control device is obtained from a battery, which is mounted within the housing in a separated compartment.

在这个第二实施例中,电子电路部分的设计基本上按照第一实施例与上文所述相同。 In this second embodiment, the design of the electronic circuit part according to the first embodiment is substantially the same as described above. 电子电路部分由所有的三个传感器所共享。 The electronic circuit portion is shared by all of the three sensors. 设备用作二维鼠标的应用根据第一实施例的设备可以被用作用于输入移动信息的鼠标,借助于它一个光标可以在计算机屏幕上被控制。 Device as two-dimensional mouse can be used as the application apparatus according to a first embodiment of a mouse input movement information, by means of which a cursor may be controlled on a computer screen.

使用者在图案表面,例如,一个鼠标垫板上引导控制设备的窗2。 User pattern surface, e.g., a guidance control device on the mouse pad window 2. 他按动按钮27中的一个按钮以启动图像记录装置,于是处理器20命令发光二极管6开始以一个预定的频率,合适地至少为50Hz,产生选通脉冲。 He presses a button 27 button to start the image recording apparatus, and the processor 20 commands the LED 6 starts at a predetermined frequency, suitably at least 50Hz, generates a strobe pulse. 随后,使用者如用传统的鼠标的同样的方式将控制设备移过表面,于是带有部分重叠内容的图像由传感器所记录并储存在读/写存储器23中。 Subsequently, the user in the same manner as with the conventional mouse control device will move over the surface, partially overlapping with the contents of the image thus recorded by the sensor and is stored in the read / write memory 23. 图像作为图像,即借助于一组象素,被储存,每个画面具有从白到黑范围内的灰度值。 Image as an image, i.e., by means of a set of pixels, are stored, each picture having a gradation value from white to black within the range.

图4中的流程图表示了二维鼠标更详细的操作。 The flowchart in FIG 4 shows a more detailed operation of two-dimensional mouse. 在步骤400中,一个开始图像被记录。 In step 400, a start image is recorded. 在步骤401中,下一幅图像被记录。 In step 401, the next image is recorded. 这幅图像的内容与前一幅图像的内容部分重叠。 This image content with the content portion of the previous image overlap.

一旦一幅图像在步骤401中被记录,确定它如何重叠前一幅图像的过程开始,步骤402,即其中相对位置的最好比较在图像的内容之间被获得。 Once an image is recorded in step 401, it is determined before the start of an image process how it overlaps, step 402, comparing the relative positions in which the best is obtained between the contents of the image. 这个确定通过相互垂直和水平平移图像及通过相互旋转图像被进行。 This determination is carried out by horizontal translation perpendicular to each other and to each other by rotating the image and the image. 为此,在图像之间每个可能的重叠位置在象素级上被检验,并且一个重叠测量被确定如下:1)对于每个重叠象素的位置,如果二个相关象素不是白的,二者的灰度值被加起来。 For this reason, the image between every possible overlap position is verified at the pixel level, and an overlap measurement is determined as follows: 1) For each overlapping pixel position, if the two are not related to white pixel, gradation values ​​of both are added together. 其中没有一个象素是白的这样一个象素位置被指定为一个加位置。 Wherein there is no such a pixel is a white pixel position is designated a plus position.

2)对于所有加位置的灰度和被加起来。 2) For all the gradation and the positions are added together.

3)每个象素位置的相邻位置被检验。 3) a position adjacent to the position of each pixel is checked. 如果一个重叠象素位置不是加位置的相邻位置并且是由白色的象素和一个不是白色的象素位置所组成,则非白色象素的灰度值被乘以一个常数从第2)条的和中减去。 If an overlapping pixel position is not a position adjacent to and applied by a white pixel and a white pixel position is not composed, the non-white pixel gray scale value is multiplied by a constant from 2) and subtracted.

4)提供如上面所表示的最高重叠测量的重叠位置被选择。 4) The overlap position provides the highest overlap measurement indicated above is selected.

我们的瑞典专利申请号9704924-1和对应的美国申请No.024641叙述了一种比较图像的替换方法,以便找到最好的重叠位置。 Our Swedish patent application No. 9704924-1 and the corresponding U.S. Application No.024641 describes an alternative method of comparing images in order to find the best overlap position. 这些申请的内容由此被结合起来。 Whereby the contents of these applications are combined.

一旦现在的图像和前面的图像之间最佳重叠位置被确定,前面的图像被放弃,于是现在的图像相对于下一个记录的图像变成了前面的图像。 Once the position of the best overlap between the current image and the previous image are determined, the previous image is abandoned, then the current image with respect to a recorded image in front of the image becomes.

通过确定两个图像的相对位置,表示图像记录装置在二个图像的记录之间已经移动了多远和方向的一个移动矢量被获得。 By determining the relative position of the two images representing the image recording apparatus has been moved between the recording of two images and how far a motion vector direction is obtained. 如果鼠标也已在二个图像之间旋转,这个旋转的测量也被获得。 If the mouse has also been rotated between two images, the measurement of the rotation is also obtained. 随后,包括移动矢量和旋转测量的一个控制信号通过无线电收发信机26被发射,步骤403,到对其来说控制设备作为一个鼠标正在操作的计算机。 Subsequently, the control signal includes a motion vector and a rotation measurement is transmitted via radio transceiver 26, in step 403, the control device for which a mouse as a computer is operating. 计算机利用移动矢量和旋转的测量来确定光标在它的屏幕上的位置。 Determining a cursor on the computer screen it using the motion vector measurement position and rotation. 接着,回到步骤401。 Then, back to step 401. 为了加快速度,各步骤部分地并行进行,即通过在现在的图像和前面的图像正被放在一起时开始下一幅图像的记录。 For speed, the steps performed partially in parallel, i.e., by the current image and the previous image are being brought together at the start recording an image.

当鼠标被启动时,按钮27可以被用作单击按钮用于输入指令给计算机。 When the mouse is actuated, the button 27 may be used as the click of a button for inputting an instruction to the computer. 设备用作三维鼠标的应用根据第二实施例的设备可以被用作一个鼠标用于输入移动信息,借助于此,一个光标可以在计算机屏幕上被三维控制,即在一个空间内控制。 3D mouse device as the application can be used as a mouse according to a second embodiment of the apparatus for inputting movement information, by means of a three-dimensional cursor may be controlled on a computer screen, i.e., within a controlled space.

如上所述,三维鼠标包括具有二维光感应传感器表面的三个传感器32,32',32”。传感器的主轴在正交坐标系中沿X-,Y-和Z轴取向并具有n×n象素的二维空间分辨率和每秒m幅图像的时间分辩率。每个透镜系统提供一个带有v弧度视角的视野用于相关的传感器表面。 As described above, the three-dimensional sensor having a three-dimensional mouse comprising a light-sensitive sensor surface 32, 32 ', 32. "Spindle sensor along an orthogonal coordinate system, X-, Y- and Z-axis orientation and having n × n pixel resolution and a temporal resolution of two-dimensional spatial images m per second. each lens system provides a field of view with the viewing angle for the v rad related sensor surface.

当设备在使用时,鼠标的移动在根据图5的一个“打开的盒子”50中进行,它由彼此之间呈直角方向的至少二个侧壁51和52及底面53所限定。 When the device is in use, movement of the mouse 50 in FIG. 5 in accordance with one of the "open box", which consists of a direction at right angles to each other at least two side walls 51 and 52 and the bottom surface 53 is defined. 也可能鼠标被自由保持在空间中,但这需要比下面将要叙述的复杂的计算方法。 Mouse may be kept free in space, but this method requires complex calculations than to be described below.

当设备在使用时,确定图像相对位置的上述方法被用于每个传感器。 When the device is in use, the above-described method for determining the relative position of an image is used for each sensor. 因此,在这种情况下的操作也可以借助于图4中的流程图被叙述,但取代记录单个图像的,是一组由三个图像组成的图像被同时记录。 Thus, the operation in this case may be by means of a flow chart in FIG. 4 is described, but substituted a single image recording, a set of three images consisting of images are simultaneously recorded. 一个移动矢量和一个旋转矢量由此借助于由每个光感应传感器记录的图像所产生,该矢量描述了由在二个连续图像的记录之间的鼠标所进行的移动。 A motion vector and a rotation vector thereby generated by means of the image recording each of the light-sensitive sensor, which vector describes the movement performed by recording mouse between two successive images. 这些矢量随后被包含在控制信号中被发射到借助鼠标要被控制的对象。 These vectors are then transmitted to the object by means comprises a mouse to be controlled in the control signal.

此外,要能成功的利用鼠标,需要这样的光照条件,即光感应传感器能够记录足够高质量的图像以让它们进行上文所述的处理。 Further, to be able to successfully use the mouse, in need of such lighting conditions, i.e., light-sensitive sensor capable of recording a high quality image enough to allow them to be processed as described above.

为了进一步便于读者理解鼠标移动能如何控制对象,进行确定鼠标移动的计算说明现在将通过举例的方式和参照图6被提供。 To further facilitate the reader in understanding how the control object can move the mouse, the mouse movement is calculated to determine the description will now be provided by way of example and with reference to FIG. 6. 在下面的计算中,假设图像比较算法是一种简单类型,即对于每个传感器仅计算在二个图像之间在二个相互垂直的方向上的平移。 In the following calculations, assuming that the image comparison algorithm is a simple type, i.e., each sensor is calculated only for the translation between the two images on two mutually perpendicular directions. 假定鼠标位于位置(x,y,z)并且它具有一个可借助于正交旋转矩阵R说明的旋转。 Mouse is assumed position (x, y, z) and which has a rotation orthogonal rotation matrix R by means of the description. 由此鼠标的X轴指向R.ex方向,y轴指向R.ey方向,z轴指向R.ez方向。 Whereby the X-axis pointing mouse R.ex direction, y-axis points R.ey direction, z axis pointing R.ez direction. 也假定在二个图像的记录之间,鼠标依据:(x,y,z)→(x+δx,y+δy,z+δz)R→R·δR进行平移运动和/或旋转运动。 Is also assumed that the recording between the two images, based on the mouse: (x, y, z) → (x + δx, y + δy, z + δz) R → R · δR translational movement and / or rotational movement. 在鼠标的局部坐标系中,平移矢量可以如图7所示的被限定。 In the local coordinate system of the mouse, the translation vector may be defined as shown in FIG. 7. 第一传感器记录在x和y方向的移动,第二传感器记录在y和z方向的移动而第三传感器记录在x和z方向的移动。 A first sensor records the movement of the x and y directions, the second sensor and the third record in the movement of the mobile sensor y and z directions are recorded in the x and z directions. 接着,对于任何三个一组的连续图像,平移标量(x1,y1,y2,z2,x3,z3)描述了鼠标的检测移动。 Next, a group of any three consecutive images, translate scalar (x1, y1, y2, z2, x3, z3) describes the detection of movement of the mouse. 平移标量由来自图像比较算法用于每个传感器的输出组成。 Translation scalar output from each sensor from the comparison algorithm used to compose the image.

为了计算鼠标的旋转,平移标量的旋转的效果被计算。 In order to calculate the rotation of the mouse, the effect of the rotation translation scalar is calculated. 假定鼠标转过了一个角度α,它很小使得sinα≈α。 Mouse assumed rotated by an angle α, so that it is small sinα≈α. 为了清楚起见,假设旋转围绕z轴进行了αz弧度。 For clarity, assume that the rotation of αz radians about the z axis. 这个旋转结果为标量 The result is a scalar rotation 在这里n是沿传感器一侧象素的数量而γ是用弧度表示的传感器表面的视角。 Where n is the number of pixels along the side of the sensor surface and the sensor viewing angle γ is in radians. 因此,下列内容应用于所有的轴: Thus, the following applies to all axes:

通过了解从图像比较算法输出的信号的平移标量值:沿一侧传感器表面的象素数量n和传感器的视角γ,有可能计算对于鼠标绕x、y和z轴旋转的旋转矢量(αx,αy,αz)。 By knowing the magnitude of the signal from the labeled translation image output from the comparison algorithm: the number of pixels along Angle γ n and the sensor surface side of the sensor, it is possible to calculate the mouse around the x, y and z-axis rotation vector ([alpha] x, αy, αz).

此外,为了计算平移运动,必须知道从每个传感器到周围几何形状的作用距离(functional distance)。 Further, in order to calculate a translational movement, from each sensor must be known to the effect from the surrounding geometry (functional distance). 该作用距离是使从图像比较算法的输出与平移运动相关联的一个常数。 The effect is to make a constant distance from the translational movement of the output image comparison algorithms associated. 该作用距离借助于将在下文叙述的校准来确定。 The effect of distance will be determined by means of the calibration described below. 在特殊情况下,鼠标在如上文所述的在一个“打开的盒子”50的内部移动,作用距离对应于从鼠标的中部到盒子50的各个壁51,52和53的几何距离。 In special cases, inside the mouse moves as described above in a "open box" 50, corresponding to the distance from the central role of the mouse to the geometric distance of each wall 50 a box 51, 52 and 53.

为了清楚起见,沿x轴平移的距离δx被检查。 For clarity, δx is checked distance along the x axis. 因此,根据标量x1和x3平移的作用将分别为:x1=n2d1tanv2δx]]>和x3=n2d3tanv2δx]]>这里d1和d3是从鼠标到关于(x1,y1)和(x3,z3)的投射表面的作用距离。 Thus, according to the scalar x1 and x3 translating action respectively as: x1 = n2d1tanv2 & delta; x]]> and x3 = n2d3tanv2 & delta; x]]> where d1 and d3 from mouse on (x1, Y1) and (x3, Z3 ) action from the surface of the projection. 如果要概括所有轴,下列式子被获得 If you want to summarize all axes, the following equation is obtained

通过了解如从图像比较算法的输出信号获得的平移标量值:沿一侧传感器表面的像点数量n,传感器的视野γ和到投射表面的作用距离d1-d3,由此有可能计算对于鼠标沿x、y和z轴平移的平移矢量(δx、δy、δz)。 Translation scalar output signal as obtained from an image comparison algorithm by knowing: n number of image points along one side of the sensor surface, the sensor field of view γ and applied to the surface of the projection distance d1-d3, whereby it is possible to calculate the mouse along the x, y and z-axis translation of the translation vector (δx, δy, δz).

总之在图像比较中获得的平移标量(x1,y1,y2,z2,x3,z3)取决于鼠标的旋转及平移。 Translation scalar sum (x1, y1, y2, z2, x3, z3) obtained in the image comparison of the mouse depending on the rotational and translational. 了解上面所述的这些和其它的参数,平移矢量(δx、δy、δz)和旋转矢量(αx、αy、αz)可以通过解答下列等式系统被获得,它可以被解答。 The above understanding of these and other parameters, the translation vector (δx, δy, δz), and rotation vector (αx, αy, αz) can be obtained by solving the following equation system, which can be answered. 这些矢量包含于被发射到借助于鼠标控制对象的控制信号,该信号表示了对象的新位置。 The vector is contained in the control signal is transmitted by means of a mouse control to the target, which signal indicates the new location of the object. 校准,即作用距离d1,d2和d3的计算可以通过沿打开的盒边移动鼠标来进行。 Calibration, i.e. the role of distances d1, d2 calculated moving the mouse cartridge side and d3 can be opened along. 鼠标根据图8所示的ABC顺序沿x,y,和z轴移动。 The ABC mouse sequence shown in Figure 8 along the x, y, and z-axis. 每个移动得出二个等式,它们一起给出下列的等式系统: Each mobile obtain two equations, which together gives the following system of equations: 这个严密的(overdefine)等式系统包含了所有需要计算作用距离d1,d2和d3值的信息。 This tight (overdefine) equation system contains all the information necessary to calculate effect distances d1, d2 and d3 values.

此外,借助于这个实施例的鼠标,使用者可以选择在某一个时间将传感器现在正在记录的图像储存于一个存储器内。 Further, by means of the mouse of this embodiment, the user can select an image at a certain time the sensors are now being recorded is stored in a memory. 接着,每组记录的图像与储存的那组图像相比较并在存在完全重叠时,对使用者产生一个信号。 Next, each set of recorded image and the stored images is compared and, when there is complete overlap, the user generates a signal. 这样能进行对象的精确控制,因为使用者可以发现回到鼠标在前面情况下所处的确定位置的方法。 Such object can be precisely controlled, since the user can be found back in front of the mice on the determined position is located. 自然,同样原理可以被用在对象的二维控制。 Naturally, the same principle can be used in two-dimensional control object.

在鼠标的另一个应用中,只有旋转运动被检测。 In another application in the mouse, only rotational movement is detected. 在这种情况下,不需要校准并且足以解答上面提到的与涉及旋转的讨论有关的等式。 In this case, no calibration is required and is sufficient to solve the equation related discussion relates to the above-mentioned rotation. 在这个应用中,鼠标可以被装在比如头盔或者由使用者穿戴的类似物品上并且它比如被用在各种类型的虚拟现实应用中。 In this application, the mouse may be mounted on the article such as a helmet worn by a user or the like and it is used in various types such as virtual reality applications.

Claims (25)

  1. 1. 1. 一种控制设备,具有适于移动,最好是手动移动的图像记录装置,用于根据图像记录装置的移动控制一个对象,其特征在于控制设备适合于在该图像记录装置被移动时记录带有部分重叠内容的一组图像,该图像的部分重叠内容能够确定图像记录装置如何被移动。 A control apparatus has adapted to move, preferably manually moving image recording apparatus for a control object based on the moving image recording apparatus, characterized in that the control device is adapted to record at the time of the image recording apparatus is moved with a set of partially overlapping contents of the images partially overlapping content of the image recording apparatus can determine how the image is moved.
  2. 2. 2. 如权利要求1所述的控制设备,其中所述的控制设备适于在平面内控制所述的对象。 The control apparatus as claimed in claim 1, wherein said subject said control apparatus is adapted to control the plane.
  3. 3. 3. 如权利要求2所述的控制设备,其中控制设备适于在所述的平面内控制所述对象的角度位置。 The control apparatus as claimed in claim 2, wherein the control device is adapted to control the angular position of the object in the plane of the.
  4. 4. 4. 如权利要求2或3所述的控制设备,进一步包括具有用于记录图像的一个二维传感器表面的一个光感应传感器装置(8)。 The control device of claim 2 or claim 3, further comprising a light-sensitive sensor means (8) having a two-dimensional sensor surface for recording images.
  5. 5. 5. 如权利要求1所述的控制设备,其中所述的控制设备被设计为在空间中控制所述对象。 The control apparatus as claimed in claim 1, wherein said control device is designed to control the target in space.
  6. 6. 6. 如权利要求5所述的控制设备,其中所述的控制设备适于在所述的空间内控制所述对象的角度位置。 The control device as claimed in claim 5, wherein said control apparatus is adapted to control the angular position of the object within the space.
  7. 7. 7. 如权利要求5或6所述的控制设备,进一步包括具有用于在二个不同方向上记录所述图像的一个二维传感器表面的至少二个二维光感应传感器装置(8)。 The control device of claim 5 or claim 6, further comprising at least two two-dimensional light sensitive sensor device (8) a two-dimensional sensor surface for recording the images of two different directions.
  8. 8. 8. 如权利要求5或6所述的控制设备,进一步包括具有用于在三个线性独立的方向上记录所述图像的一个二维传感器表面的三个光感应传感器装置(8)。 The control device of claim 5 or claim 6, further comprising three light sensitive sensor device (8) having a two-dimensional sensor surface for recording the image in three linearly independent directions.
  9. 9. 9. 如权利要求1-8中任何一项所述的控制设备,进一步包括用于为控制所述的对象提供控制信号的图像处理装置(20-24)。 The control device of any one of claim 1-8, further comprising means for providing an image processing apparatus (20-24) a control signal to said control object.
  10. 10. 10. 如权利要求9所述的控制设备,其中所述图像处理装置(20-24)适于借助部分重叠内容确定图像的相对位置,用于提供所述控制信号。 The control device according to claim 9, the relative position of the images partially overlapping contents of the image processing apparatus wherein determining (20-24) is adapted by means, for providing said control signal.
  11. 11. 11. 如权利要求5-8中任何一项所述的控制设备,进一步包括图像处理装置(20-24),它适于借助部分重叠内容同时对于所有光感应传感器装置(8)确定图像的相对位置,用于提供所述控制信号。 The control device according to any one of claims 5-8, further comprising an image processing means (20-24), which is adapted to determine the relative position of the image simultaneously for all light-sensitive sensor means (8) by means of partially overlapping contents, for providing the control signal.
  12. 12. 12. 如权利要求11所述的控制设备,所述控制设备此外具有一个校准模式,其中图像记录装置以这样一种方式被移动,即能使图像处理装置(20-24)将图像的相对位置与图像记录装置的实际移动相关联。 The control device as claimed in claim 11, wherein the control device further has a calibration mode in which the image recording apparatus is moved in such a manner that enables the image processing means (20-24) and the relative position of the image associated with the actual movement of the recording apparatus.
  13. 13. 13. 如权利要求10-12中任何一项所述的控制设备,其中所述的图像处理装置(20-24)适于在从图像的相对位置获得的至少一个移动矢量的基础上产生所述的控制信号。 The control device of any one of claim 10-12, wherein said image processing means (20-24) adapted to control at least one mobile base generating vector obtained from a relative position of the image on signal.
  14. 14. 14. 如权利要求10-13中任何一项所述的控制设备,其中所述的图像处理装置(20-24)适于在从图像的相对位置获得的至少一个旋转指示的基础上产生所述的控制信号。 The control apparatus of any one of claims 10-13, wherein said image processing means (20-24) adapted to control the rotation produced on the basis of at least one indication obtained from the relative position of the image on signal.
  15. 15. 15. 如权利要求10-14中任何一项所述的控制设备,其中所述的图像处理装置(20-24)适于在图像记录装置以其移动的速度的基础上产生所述的控制信号,所述的速度由所述图像的相对位置确定。 The control device according to any one of claims 10-14, wherein said image processing means (20-24) adapted to generate a control signal on the basis of the speed of its movement on said image recording apparatus, and the said velocity is determined by the relative position of the image.
  16. 16. 16. 如权利要求9-15中任何一项所述的控制设备,其中所述的图像处理装置(20-24)适于以这样的方式输出所述的控制信号,即使一个接收器去识别想要控制一个对象的控制信号。 The control device of any one of claim 9-15, wherein said image processing means (20-24) is adapted to output a control signal in such a manner as described, even if one wants to control the receiver to identify a control object signal.
  17. 17. 17. 如权利要求9-16中任何一项所述的控制设备,其中所述图像处理装置(20-24)此外还适于储存至少一幅参考图像并将随后记录的图像与该图像相比较,以便在基本上完全重叠的情况下产生一个信号。 The control device according to any one of claims 9-16, wherein said image processing means (20-24) also adapted to store at least one reference image and subsequent image recording and the image is compared to generating a signal in the case of a substantially completely overlap.
  18. 18. 18. 如权利要求9-17中任何一项所述的控制设备,其中所述图像处理装置(20-24)包括一个用于控制信号无线输出的发射器(26)。 9-17 to any one of the control apparatus as claimed in claim, wherein said image processing means (20-24) includes a transmitter (26) for controlling the output signal wirelessly.
  19. 19. 19. 如权利要求9-18中任何一项所述的控制设备,其中所述图像记录装置包括一个将图像无线传输到所述图像处理装置(20-24)的发射器(26)。 In any one of claims 9-18 control apparatus as claimed in claim, wherein said image recording apparatus comprises a wireless transmission of the image to the image processing means (20-24) of the transmitter (26).
  20. 20. 20. 如前面的权利要求中任何一项所述的控制设备,其中所述的控制设备是一个鼠标。 As in the preceding control apparatus claimed in any preceding claim, wherein said control device is a mouse.
  21. 21. twenty one. 如前面的权利要求中任何一项所述的控制设备,其中所述的设备具有一个第一操作模式,其中该控制设备适于控制所述的对象以使得它的移动与所述图像记录装置的移动成比例。 As in the preceding control apparatus claimed in any preceding claim, wherein said device has a first mode of operation, wherein the object is adapted to control the control device such that it moves the image recording apparatus proportional to the movement.
  22. 22. twenty two. 如前面的权利要求中任何一项所述的控制设备,其中所述的设备具有一个第二操作模式,其中该控制设备适于控制所述对象以便它的移动速度与在所述图像记录装置和一个预定原点之间的距离成比例。 As in the preceding control apparatus claimed in any preceding claim, wherein said device has a second mode of operation, so that its speed of movement of the image recording apparatus and the target apparatus is adapted to control the control wherein proportional to the distance between a predetermined origin.
  23. 23. twenty three. 一种控制设备,具有适于被旋转,最好是手动旋转的图像记录装置,用于根据所述图像记录装置的旋转控制一个对象,其特征在于所述的控制设备适于在所述图像记录装置被旋转时记录带有部分重叠内容的一组图像,所述图像的部分重叠内容能确定所述图像记录装置是如何旋转的。 A control apparatus, having adapted to be rotated, preferably manual rotation of the image recording apparatus for recording image according to the rotation control apparatus of an object, wherein said control apparatus is adapted to record the image recording a set of images with partially overlapping contents when the device is rotated, partially overlapping contents of the images can be determined how the image recording apparatus is rotated.
  24. 24. twenty four. 一种控制一个对象的方法,包括如下步骤:-移动控制设备;-借助所述控制设备在该控制设备移动期间记录一组带有重叠内容的图像,及-借助于重叠图像的内容,确定所述控制设备的移动。 A control method of an object, comprising the steps of: - a mobile control device; - by means of the control device records a series of images with overlapping contents, and during movement of the control device - by means of overlapping image content, determining said movement control device.
  25. 25. 25. 如权利要求24所述的控制一个对象的方法,进一步包括下列步骤:-借助部分重叠内容确定所述图像的相对位置,用于为控制对象提供控制信号。 The method of controlling an object according to claim 24, further comprising the steps of: - means of determining the relative position partially overlapping contents of the images, for providing a control signal as a control object.
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