CN1303494A - Control device and method of controlling object - Google Patents
Control device and method of controlling object Download PDFInfo
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- CN1303494A CN1303494A CN99806673A CN99806673A CN1303494A CN 1303494 A CN1303494 A CN 1303494A CN 99806673 A CN99806673 A CN 99806673A CN 99806673 A CN99806673 A CN 99806673A CN 1303494 A CN1303494 A CN 1303494A
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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
- G06F3/0354—Pointing 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
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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
- G06F3/0304—Detection arrangements using opto-electronic means
- G06F3/0317—Detection 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
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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
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- G—PHYSICS
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- 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
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- 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
- G06F3/0354—Pointing 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
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- G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
- G06F3/041—Digitisers, e.g. for touch screens or touch pads, characterised by the transducing means
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Abstract
A control device, for example a computer mouse, has image-recording means which are adapted to be moved, preferably manually, for controlling an object, for example a cursor on a computer screen, as a function of the movement of the image-recording means. The control device is adapted to record a plurality of images with partially overlapping contents when the image-recording means are being moved, the partially overlapping contents of the images enabling image-processing means to generate control signals indicating how the image-recording means have been moved. A method of controlling and a control device based on the turning of the image-recording means are also shown.
Description
The present invention relates to a kind of have be suitable for moving, preferably the opertaing device of the image recording that manually moves is used for the object of mobile control according to image recording.The present invention also relates to the method for an object of a kind of control.
Today, personal computer is equipped a kind of opertaing device usually, a so-called computer mouse, and it is used to be positioned at the cursor on the computer screen.This location makes mouse move past a surface by the user to carry out.How the mobile indication mouse of hand should locate.Recently, the most frequently used mouse has a ball at its lower surface, and it rotates owing to oppositely rubbing when mouse moves past above-mentioned surface and uses this relation, drives the position transducer that produces positioning signal again.Usually, mouse also can hit one or more buttons by the user and is used to provide instruction to computing machine.
The computer mouse of optics also is known.JP09190277 has represented to have an optical mouse that is used for the ccd linear sensor and a ccd linear sensor that is used for Y-axis of X-axis.By means of the data of the record of ccd linear sensor at a time with subsequently constantly the data of record compare, mouse can be determined at directions X with the mobile of Y direction thus.
Mouse is used to control a virtual object thus.Yet, also have other its similar in the opertaing device of the structure of mouse but be used to controlling object.
In addition, opertaing device is used to control two-dimentional controlling object, i.e. plane, or three-dimensional controlling object, i.e. a space.
WO98/11528 has described the opertaing device of the computing machine that three-dimensional information is housed.This equipment is to be placed in mutually perpendicular direction and the energy measurement acceleration figure on one to three direction or three acceleration sensors at pitch angle.This equipment, for example, can be placed in the user the head on maybe can hand.
Be used to import computer mouse that three-dimensional information gives computing machine at United States Patent (USP) 5,506, narrated in 605.This computer mouse is handed and is freely kept in the space.In addition, it can comprise that the electronic installation that is used to measure by suitable is translated continuously, converts digital format to, and is input to the sensor of the various physical parameters of computing machine.The position of mouse in the space determined that by position transducer it is with light, and acceleration, gyroscope etc. are the basis.In described embodiment, adopt a sonac and a magnetic sensor to constitute.On the basis of input, calculate function and produce tactile feedback continuously in the mode of vibration, for example, offer the user about the position of mouse information with respect to its desirable position.
Practical object and a kind of of virtual objects of the objective of the invention is to provide a kind of improved opertaing device and control to be suitable for two and three dimensions control improve one's methods.
This purpose realizes by following opertaing device and method:
A kind of opertaing device, have and be suitable for moving, preferably manually mobile image recording structure, be used for object of mobile control according to image recording structure, it is characterized in that opertaing device is suitable for the overlap set of diagrams picture of content of when this image recording structure is moved recording strip, the content of overlapping of this image can determine how image recording structure is moved.
A kind of opertaing device, have and be suitable for being rotated, the preferably manual image recording structure that rotates, be used for object of Spin Control according to described image recording structure, it is characterized in that described opertaing device is suitable for the overlap set of diagrams picture of content of when described image recording structure is rotated recording strip, the content of overlapping of described image can determine how described image recording structure rotates.
The method of an object of a kind of control comprises the steps: mobile control device; During this opertaing device moves, write down one group of image that has overlapping content by described opertaing device, reach content, determine moving of described opertaing device by means of superimposed images.
Therefore, according to a first aspect of the invention, the present invention relates to have the opertaing device of image recording structure, it is suitable for being moved by the user, preferably manually moves, and being used to control one according to image recording structure mobile may be actual or virtual object.This image recording structure is suitable for the overlap set of diagrams picture of content of when they are moved recording strip, and partly overlapping content makes it possible to determine how image recording structure moves.
Therefore the present invention is to utilize image to determine the idea how a unit moves.This technology can be used to two dimension and three-dimensional control.This is advantageous, because it needs sensor seldom and does not have moving-member.Whole mobile message is contained in the overlapping content of image.Because equipment records around image, the indication of " definitely " position is obtained, makes it can be when image recording structure is in a specific position, for example when utilizing opertaing device according to the measurement acceleration not detect, can detect.In addition, also can detect and be used to control an object for moving, rotating.
In one embodiment, opertaing device is designed at object of a plane inner control.In this case, overlapping image makes moving of image recording structure not only but also their rotations planar also can be determined, this is impossible when use has the traditional mouse of a ball for example.In addition, the opertaing device usefulness is the angle position that is suitable for object in the control plane.When equipment was designed to plane control, the image recording structure usefulness was that the photoinduction sensor with dimension sensor surface is housed, so-called zone (area) sensor that is used for document image.In this piece context, in fact the dimension sensor surface is meant that sensor surface must be able to make the surface imagery that has pixel (pixels) matrix.Ccd sensor and cmos sensor are exactly right sensors.Single sensor is enough to control on a plane thus.
In another embodiment, equipment is designed at object of spatial control.Also be in this case, opertaing device advantageously is suitable for the angle position of controlling object, and wherein control can take place round three axles.In the embodiment of an economy, it just may be enough having for equipment that two each photoinduction sensors with a dimension sensor surface are used for writing down described image in two different directions.
Yet for more accurate control in the space, image recording structure preferably includes three and is used for document image preferably the sensor on the vertical direction is more suitable at three.This can determine along the translation of three mutual Z-axises and by means of the definite rotation around these of simple computation relatively.
Adaptably, opertaing device has the image processing apparatus that the controlling object of being used to provides control signal.This image processing apparatus is the same with image recording structure to be in the same physical enclosure, and the signal of exporting from this physical enclosure is configured for controlling the control signal of wanting controlled object thus.Yet, this image processing apparatus also can be in another physical enclosure, for example in its cursor constitutes the computing machine of the object that will control, perhaps in control again, perhaps constitute in the computing machine by means of the parts of the practical object of opertaing device control, be configured for controlling the control signal of this object from the signal of image processing apparatus output.In this piece context, should be noted that, before being directly used in the control of object, they may need further processing from the control signal of image processing apparatus output.Image processing apparatus is advantageously carried out by means of processor and software, and can be performed by means of hardware fully.
Image processing apparatus correspondingly is suitable for determining according to the content of overlapping that is used to provide described control signal the relative position of image.If opertaing device is used to three-dimensional control, this just is suitable for carrying out concurrently for all sensors.The distance and the direction that move, and present position can be determined on the basis of the relative position of image.
Best, opertaing device has a calibration mode, and wherein image recording structure is moved in the mode that it can make image processing apparatus get in touch by the actual mobile phase of the relative position of image and image recording structure.As a kind of selection, opertaing device can be equipped with by means of the stadimeter of sensor measurement to the imaging surface distance, and it will be expensive more certainly.
Image processing apparatus correspondingly is suitable for producing described control signal on the basis of at least one vector that obtains from the relative position of image.
In addition, or alternatively, the described control signal of basis generation of at least one rotation indication that image processing apparatus can be suitable for obtaining at the relative position from image.Control signal can be used to the rotation of controlling object and moving of it thus, and it is compared with traditional mechanical computer mouse is an advantage.
Be used at opertaing device under the situation of three-dimensional control, image processing apparatus can be from all sensors according to the relative position composite signal of image so that produce a mobile vector and a rotating vector.In this way, the position of image recording structure can be determined clearly.In other words, the digital conversion that moves that opertaing device can carry out finishing by with the hand motion image recording apparatus time is so that can make computing machine control an object on this basis of moving.
In one embodiment, image processing apparatus can be suitable for producing described control signal according to the speed that image recording structure is moved, and this speed is determined by the relative position and the image recording frequency of image.
Adaptably, the receiver of control signal will be appreciated that this control signal is a control signal, how to be handled continuously so that understand signal.Then, image processing apparatus preferably is suitable for exporting in such a way described control signal, and promptly receiver can be discerned the control signal of wanting to control an object.This for example can be implemented by utilizing predetermined agreement.
Using an advantage based on image control apparatus is can determine when image recording structure on preposition, because this position can be defined by means of one or several image.For example, when image recording structure has forwarded their initial position to, can detect.For this reason, image processing apparatus is suitable for storing at least one width of cloth reference picture and continuous recording image is compared with this image, so that produce a signal under situation about substantially completely overlapping.For example, the user can be defined as the reference position with a certain position by hit opertaing device on this part.
When if image recording structure is in the different physical enclosure with image processing apparatus, image recording structure can advantageously comprise a transmitter that is used for image is wirelessly transmitted to from image recording structure image processing apparatus.In addition, if picture record and image processing apparatus are in the same physical enclosure, as long as image processing apparatus comprises a transmitter that is used for the wireless output of control signal, want a controlled computing machine such as its cursor, it may also be an advantage.In both cases, opertaing device is easy to use, because the information transmission does not need rubber-insulated wire.For example, user may have people's image recording structure one by one or opertaing device and use it by the receiver of different computing machines or control signal.Transmitter can be the radio transmitter of an IR transmitter such as the so-called bluetooth standard of use, perhaps is suitable for transmitting between two unit of mutual nearer setting some other transmitters of wireless messages.
In a most preferred embodiment, opertaing device is a computer mouse, that is, can be connected to computing machine and be used to set a kind of equipment of one dimension, two dimension or multidimensional cursor position.
Opertaing device can be used in first absolute mode or the second relative pattern.In absolute mode, controlling object mobile is mobile proportional with image recording structure.In other words, object moves in the mode that moves corresponding to image recording structure, and no matter where they are placed on.Yet in relative pattern, opertaing device is configured, so as the distance between image recording structure and predetermined true origin when increasing the speed and the acceleration of controlling object increase.In this way, farther by keeping image recording structure from predetermined initial point, may obtain moving faster of object, and at the same time, accurate control can obtain by keeping image recording structure near initial point.
According to a second aspect of the invention, it relate to a kind of have be suitable for being rotated, preferably the manual opertaing device of the image recording structure of rotation is used for the Spin Control object according to image recording structure.This opertaing device is suitable for the overlap set of diagrams picture of content of when image recording structure is rotated recording strip, and the content of overlapping of image can determine how image recording structure is rotated.
This opertaing device institute foundation with opertaing device mentioned above be same idea, be that it is according to rotation and Be Controlled but replace according to the mobile controlling object of image recording structure.For example this opertaing device can be a tracking ball.Embodiment discussed above also can be applicable to Spin Control equipment basically, and can obtain same advantage.
According to a third aspect of the invention we, it relates to the method for an object of a kind of control, comprises the steps: mobile control device; During moving, writes down by opertaing device one group of image that has overlapping content by means of opertaing device; And determine moving of opertaing device by means of the content of superimposed images.Obtained about equipment mentioned above with described identical advantage.
The present invention will be hereinafter by using the mode with reference to description of drawings embodiment to be described in detail, wherein
Fig. 1 schematically represents an embodiment of opertaing device according to the present invention;
Fig. 2 is according to the present invention, the block diagram of the electronic circuit part of an embodiment of opertaing device;
Fig. 3 schematically represents according to opertaing device second embodiment of the present invention;
Fig. 4 is the process description that explanation is used for an opertaing device operation of two dimension control;
Fig. 5 schematically represent one " box of opening " wherein the opertaing device in Fig. 3 can be used;
Fig. 6 schematically represents having an e according to moving of opertaing device of the present invention
x, e
yAnd e
zAn orthogonal coordinate system in from a point (x, y is z) to a point (x+ δ x, y+ δ y, z+ δ z);
Fig. 7 represents that schematically the translation scalar is output (subscript represents that sensor is just producing scalar separately) from separately sensor when opertaing device is moved; And
Fig. 8 is illustrated in schematically how opertaing device will be moved in the calibration mode.
May in the embodiment of two kinds of main types, be provided substantially according to opertaing device of the present invention.First kind of embodiment of opertaing device will be narrated hereinafter according to the present invention, and this embodiment will be used as two-dimentional mouse.Then, second embodiment of opertaing device will be narrated, and this embodiment will be used as 3D mouse.At last, the operation of two and three dimensions mouse will be narrated.In described two embodiment, image recording structure is in the identical physical enclosure with image processing apparatus, and control signal is output thus.As mentioned above, image processing apparatus also may be installed in the physical enclosure of separation.It is very simple will carrying out such modification for those skilled in the art.
Among first embodiment of the opertaing device of representing in Fig. 1, it comprises a shell 1 of the approximately same shape of high light pen that has and use always.A minor face of shell has a window 2, is read into equipment by its image.The slightly recessed in the enclosure shell of window 2 is interior not damage following surface.
Shell 1 comprises 3, one electronic circuit components 4 of an optics and a power supply unit 5 substantially.
Optics 3 comprises the image recording structure of the form of 6, one lens combinations 7 of a light emitting diode and photoinduction sensor 8, and it has constituted the interface with electronic circuit component 4.
The task of light emitting diode 6 is to illuminate a following surface that is sitting at window now, and here opertaing device faces toward the surface or very closely directly kept thus in this case.The front that diffusing globe 9 is installed in light emitting diode 6 is used for diffused ray.
The task of lens combination 7 be throw as far as possible exactly be placed on the surface under the window 2 image to photoinduction sensor 8.
In this example, photoinduction sensor 8 comprises a two dimension, the square CCD unit (CCD=charged coupled device (charge couple device)) of dress A/D converter in having.Such sensor can be commercial.This sensor 8 is installed on its circuit board 11 facing to window 2 with a low-angle.
Power supply supply to opertaing device is obtained by battery 12, and it is installed in the interior isolation cabin 13 of shell.
In Fig. 2 block diagram, schematically represented electronic circuit component 4.It is set on the circuit board and comprises a processor 20, it is connected to the ROM22 that the program of processor wherein is stored by bus 21, be connected to the working storage that constitutes processor and be stored wherein read/writable memory device 23 from the image of sensor, be connected to steering logic unit 24, and sensor 8 and light emitting diode 6.Processor 20, bus 21, storer 22 and 23, steering logic unit 24, and relevant software composing images treating apparatus together.
Fig. 3 represents second embodiment of the opertaing device according to the present invention.Be similar to first embodiment, this embodiment comprises a form of a stroke or a combination of strokes shell 31.Except the window 32 on the minor face of shell, this equipment also has two additional windows 32 ' and 32 ".Window 32,32 ', 32 " in the recessed a little shell of each in so as not to when it use or when idle opertaing device collide some surfaces and cause and damage or scuffing.
Under superincumbent situation, shell 1 comprises 33, one electronic circuit parts 34 of an opticator and a power unit 5 substantially.
Opticator 33 comprises a lens kit (not shown) that has three lens combinations and has one group of sensor (not shown) of three photoinduction sensors that the interface that they are formed into electronic circuit component 34 is respectively applied for window 32,32 ', 32 ".There is not light emitting diode in this embodiment.Opertaing device will be maintained at apart from will be by surperficial certain distance of imaging, and as a rule, light on every side is enough to allow image be recorded.
The task of lens combination is a projection window 32,32 ', 32 as far as possible exactly " be directed thereon surface image to the photoinduction sensor.
As in the above embodiments, the photoinduction sensor comprise have in the two dimensional surface CCD unit of dress A/D converter.Each sensor is installed on its circuit board.
Also in this embodiment, the power supply supply of opertaing device is obtained by a battery, it is installed in the cabin that isolates in the shell.
In this second embodiment, the design of electronic circuit part basically according to first embodiment with mentioned above identical.The electronic circuit part is shared by three all sensors.Equipment is as the application of two-dimentional mouse
Equipment according to first embodiment can be used as the mouse that is used to import mobile message, by means of its cursor can be on computer screen Be Controlled.
The user is at patterned surfaces, for example, and the window 2 of guiding opertaing device on Mouse pad.He presses a button in the button 27 to start image recording structure, so 6 beginnings of processor 20 order light emitting diodes are at least 50Hz suitably with a predetermined frequency, produces strobe pulse.Subsequently, the user moves past the surface as the same mode with traditional mouse with opertaing device, is write down and is stored in the read/writable memory device 23 by sensor so have the image of the content of overlapping.Image promptly by means of one group of pixel, is stored as image, and each picture has from white gray-scale value in black scope.
Flowcharting among Fig. 4 two-dimentional mouse operate in more detail.In step 400, a beginning image is recorded.In step 401, following piece image is recorded.The content of this width of cloth image and the content part of preceding piece image are overlapping.
In case piece image is recorded in step 401, determine it how overlapping before the process of piece image begin step 402, i.e. relative position preferably relatively obtained between the content of image wherein.This definite reaching by vertically mutual and horizontal translation image is carried out by mutual image rotating.For this reason, be verified on pixel level in each possible lap position between the image, and an overlapping measurement is determined as follows:
1) for the position of each overlapping pixel, if two relevant pixels are not white, the gray-scale value of the two is added up.Wherein the neither one pixel is that white such pixel location is designated as one and adds the position.
2) add the gray scale of position for all and added up.
3) adjacent position of each pixel location is verified.If overlapping pixel location is not to add the adjacent position of position and be made up of pixel and a pixel location that is not white of white, then the gray-scale value of non-white pixel is multiplied by a constant from the 2nd) bar with deduct.
4) provide selected as the lap position of top represented the highest overlapping measurement.
Our Swedish patent application 9704924-1 and corresponding U. S. application No.024641 have narrated a kind of replacement method of movement images, so that find best lap position.The content of these applications is combined thus.
In case best lap position is determined between the present image and the image of front, the image of front is abandoned, so present image has become the image of front with respect to the image of next record.
By determining the relative position of two images, how far obtained with a mobile vector of direction the presentation video pen recorder has moved between two record images.If mouse also rotates between two images, the measurement of this rotation is also obtained.Subsequently, comprise that a control signal of mobile vector and wheel measuring is launched by radio set 26, step 403, the computing machine of operating as a mouse to opertaing device for it.Computing machine utilizes the measurement of mobile vector and rotation to determine the position of cursor on its screen.Then, get back to step 401.For pick up speed, each step is partly parallel carries out, and begins next width of cloth record images when promptly just being brought together by the image in present image and front.
When mouse was activated, button 27 can be used as to be clicked button and is used for input instruction and gives computing machine.Equipment is as the application of 3D mouse
Can be used as a mouse according to the equipment of second embodiment and be used to import mobile message, by means of this, a cursor can be by three-dimensional control, promptly a space inner control on computer screen.
As mentioned above, 3D mouse comprises three sensors 32,32 ', 32 with two-dimentional photoinduction sensor surface ".Along X-, Y-and Z axle orientation also have the two-dimensional space resolution of n * n pixel and the temporal resolution of per second m width of cloth image to the main shaft of sensor in orthogonal coordinate system.The sensor surface that each lens combination provides a visual field that has a v radian visual angle to be used to be correlated with.
When equipment in use, mouse moving is carried out in " box of opening " 50 according to Fig. 5, it by each other at right angles at least two sidewalls 51 of direction and 52 and bottom surface 53 limited.Also may freely be remained in the space by mouse, but these need be than the computing method of the following complexity that will narrate.
When equipment in use, determine that the said method of image relative position is used to each sensor.Therefore, operation in this case also can be narrated by means of the process flow diagram among Fig. 4, but replacement record single image, be one group of image quilt of forming by three images record simultaneously.A mobile vector and a rotating vector are produced by means of the image by each photoinduction sensor record thus, this vector described by between the record of two consecutive images mouse carried out moves.These vectors are comprised in to be launched in the control signal by mouse subsequently wants controlled object.
In addition, the mouse that utilizes of energy success, need such illumination condition, promptly the photoinduction sensor can write down enough high-quality image to allow them carry out processing mentioned above.
How to move controlling object in order further to be convenient to reader understanding's mouse, determine that the calculation specifications that mouse moves will be provided now by way of example and with reference to Fig. 6.In the calculating below, suppose that the image comparison algorithm is a kind of simple types, promptly only calculate in the translation on two orthogonal directions between two images for each sensor.Suppose mouse be positioned at the position (x, y, z) and it have one can be by means of the rotation of quadrature rotation matrix R explanation.The X-axis of mouse is pointed to R.e thus
xDirection, the y axle points to R.e
yDirection, the z axle points to R.e
zDirection.Also suppose between two record images the mouse foundation:
(x,y,z)→(x+δx,y+δy,z+δz)
R → R δ R carries out translation motion and/or rotatablely moves.In the local coordinate system of mouse, translation vector can be defined as shown in Figure 7.First sensor is recorded in moving of x and y direction, and second sensor record is moving of y and z direction and the 3rd sensor record moving in x and z direction.Then, for any ternary consecutive image, the translation scalar (x1, y1, y2, z2, x3, z3) detection of having described mouse is moved.The translation scalar is made up of the output that is used for each sensor from the image comparison algorithm.
For the rotation of computing mouse, the effect of the rotation of translation scalar is calculated.Suppose that mouse has turned over an angle [alpha], its very little sin α ≈ α that makes.For the sake of clarity, suppose that rotation centers on the z axle and carried out α z radian.This rotation result is a scalar
Here n is along the quantity of sensor one side pixel and γ is the visual angle of the sensor surface represented with radian.Therefore, following content is applied to all axles:
By understanding:, might calculate for the rotating vector (α x, α y, α z) of mouse around x, y and the rotation of z axle along the pixel number n on a side senser surface and the visual angle γ of sensor from the translation scalar value of the signal of image comparison algorithm output.
In addition, in order to calculate translation motion, must know from each sensor to the operating distance of geometric configuration (functional distance) on every side.This operating distance is to make a constant that is associated with translation motion from the output of image comparison algorithm.This operating distance is determined by means of the calibration that will narrate hereinafter.Under special circumstances, mouse moves in the inside at " box of opening " 50 as indicated above, operating distance corresponding to from the middle part of mouse to each wall 51,52 of box 50 and 53 geometric distance.
For the sake of clarity, being examined along the translation of x axle apart from δ x.Therefore, the effect according to scalar x1 and x3 translation will be respectively:
With
Here d
1And d
3Be from mouse to about (x1, y1) and (x3, the operating distance of projection surface z3).If summarize all axles, following formula is obtained
By the translation scalar value of understanding as obtaining from the output signal of image comparison algorithm: along the picture point quantity n on a side senser surface, the visual field γ of sensor and to the operating distance d of projection surface
1-d
3, might calculate thus for the translation vector (δ x, δ y, δ z) of mouse along x, y and the translation of z axle.
In a word the translation scalar that obtains in relatively at image (x1, y1, y2, z2, x3 z3) depends on the rotation and the translation of mouse.Understand these and other parameter recited above, translation vector (δ x, δ y, δ z) and rotating vector (α
x, α
y, α
z) can be obtained by the following equation system of answer, it can be answered.These vectors are contained in the control signal that is launched into by means of the mouse control object, this signal indication the reposition of object.
Calibration, i.e. operating distance d
1, d
2And d
3Calculating can be by carrying out along the box limit rolling mouse opened.Along x, y and z axle move mouse according to A-B-C order shown in Figure 8.Each moves and draws two equatioies, and they provide following equation system together:
This tight (overdefine) equation system has comprised all and need calculate operating distance d
1, d
2And d
3The information of value.
In addition, by means of the mouse of this embodiment, the user can be chosen in image storage that the some time writing down sensor now in a storer.Then, that group image of the image of every group record and storage is compared and is existed fully when overlapping, and the user is produced a signal.The user can carry out the accurate control of object like this, because can find to get back to the mouse method of residing definite position under the situation in front.Nature, same principle can be used in the two dimension control of object.
In the Another application of mouse, it is detected only to rotatablely move.In this case, do not need to calibrate and be enough to answer the equation relevant above-mentioned with the discussion that relates to rotation.In this was used, mouse can be installed on the similar articles of dressing such as the helmet or by the user and it is such as being used in various types of virtual reality applications.
Claims (25)
1. opertaing device, have and be suitable for moving, preferably manually mobile image recording structure, be used for object of mobile control according to image recording structure, it is characterized in that opertaing device is suitable for the overlap set of diagrams picture of content of when this image recording structure is moved recording strip, the content of overlapping of this image can determine how image recording structure is moved.
2. opertaing device as claimed in claim 1, wherein said opertaing device are suitable for planar controlling described object.
3. opertaing device as claimed in claim 2, wherein opertaing device is suitable for the angle position at the described object of described plane inner control.
4. as claim 2 or 3 described opertaing devices, further comprise a photoinduction sensor device (8) with dimension sensor surface that is used for document image.
5. opertaing device as claimed in claim 1, wherein said opertaing device are designed to the described object of control in the space.
6. opertaing device as claimed in claim 5, wherein said opertaing device are suitable for the angle position at the described object of described space inner control.
7. as claim 5 or 6 described opertaing devices, further comprise having at least two the two-dimentional photoinduction sensor devices (8) that are used for a dimension sensor surface of the described image of record on two different directions.
8. as claim 5 or 6 described opertaing devices, further comprise having being used at three linearities, three photoinduction sensor devices (8) on a dimension sensor surface of the described image of record on the direction independently.
9. as any one described opertaing device among the claim 1-8, further comprise the image processing apparatus (20-24) that is used to the described object of control that control signal is provided.
10. opertaing device as claimed in claim 9, wherein said image processing apparatus (20-24) is suitable for determining by the content of overlapping the relative position of image, is used to provide described control signal.
11. as any one described opertaing device among the claim 5-8, further comprise image processing apparatus (20-24), it is suitable for determining for all photoinduction sensor devices (8) simultaneously by the content of overlapping the relative position of image, is used to provide described control signal.
12. opertaing device as claimed in claim 11, described opertaing device has a calibration mode in addition, wherein image recording structure is moved in such a way, can make image processing apparatus (20-24) that the relative position of image is related with the actual mobile phase of image recording structure.
13. as any one described opertaing device among the claim 10-12, wherein said image processing apparatus (20-24) is suitable for producing described control signal on the basis of at least one mobile vector that obtains from the relative position of image.
14. as any one described opertaing device among the claim 10-13, the basis of at least one rotation indication that wherein said image processing apparatus (20-24) is suitable for obtaining at the relative position from image produces described control signal.
15. as any one described opertaing device among the claim 10-14, wherein said image processing apparatus (20-24) is suitable for producing described control signal on the basis of the speed that image recording structure moves with it, described speed is determined by the relative position of described image.
16. as any one described opertaing device among the claim 9-15, wherein said image processing apparatus (20-24) is suitable for exporting described control signal by this way, even a receiver goes to discern the control signal of wanting to control an object.
17. as any one described opertaing device among the claim 9-16, wherein said image processing apparatus (20-24) is suitable for storing at least one width of cloth reference picture in addition and the image that will write down is subsequently compared with this image, so as under situation about substantially completely overlapping signal of generation.
18. as any one described opertaing device among the claim 9-17, wherein said image processing apparatus (20-24) comprises a transmitter (26) that is used for the wireless output of control signal.
19. as any one described opertaing device among the claim 9-18, wherein said image recording structure comprises a transmitter (26) that image wireless is transferred to described image processing apparatus (20-24).
20. as any one described opertaing device in the claim of front, wherein said opertaing device is a mouse.
21. as any one described opertaing device in the claim of front, wherein said equipment has one first operator scheme, wherein this opertaing device is suitable for controlling described object so that the ratio that is moved into of its mobile and described image recording structure.
22. as any one described opertaing device in the claim of front, wherein said equipment has one second operator scheme, and wherein this opertaing device is suitable for controlling described object so that its translational speed and the distance between described image recording structure and predetermined initial point are proportional.
23. opertaing device, have and be suitable for being rotated, the preferably manual image recording structure that rotates, be used for object of Spin Control according to described image recording structure, it is characterized in that described opertaing device is suitable for the overlap set of diagrams picture of content of when described image recording structure is rotated recording strip, the content of overlapping of described image can determine how described image recording structure rotates.
24. the method for an object of a control comprises the steps:
-mobile control device;
-during moving, writes down by this opertaing device one group of image that has overlapping content by described opertaing device, and
-by means of the content of superimposed images, determine moving of described opertaing device.
25. the method for an object of control as claimed in claim 24 further comprises the following steps:
-determine the relative position of described image to be used to controlling object that control signal is provided by the content of overlapping.
Applications Claiming Priority (8)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| SE98015357 | 1998-04-30 | ||
| SE9801535A SE511855C2 (en) | 1998-04-30 | 1998-04-30 | Handwritten character recording device for characters, symbols, graphs, calligraphy |
| US9132398P | 1998-06-30 | 1998-06-30 | |
| US60/091,323 | 1998-06-30 | ||
| SE9803456A SE512182C2 (en) | 1998-04-30 | 1998-10-09 | Hand held input unit such as input pen for personal computer |
| SE98034564 | 1998-10-09 | ||
| US10581698P | 1998-10-27 | 1998-10-27 | |
| US60/105,816 | 1998-10-27 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN1303494A true CN1303494A (en) | 2001-07-11 |
Family
ID=27484810
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN99806673A Pending CN1303494A (en) | 1998-04-30 | 1999-04-30 | Control device and method of controlling object |
Country Status (9)
| Country | Link |
|---|---|
| EP (1) | EP1073946A1 (en) |
| JP (1) | JP2002516429A (en) |
| KR (1) | KR20010052283A (en) |
| CN (1) | CN1303494A (en) |
| AU (1) | AU758514B2 (en) |
| BR (1) | BR9910572A (en) |
| CA (1) | CA2331075A1 (en) |
| IL (1) | IL139103A0 (en) |
| WO (1) | WO1999060469A1 (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1641683B (en) * | 2004-01-16 | 2010-05-26 | 微软公司 | Strokes localization by m-array decoding and fast image matching |
| CN101859205A (en) * | 2009-04-08 | 2010-10-13 | 鸿富锦精密工业（深圳）有限公司 | Hand input device and hand input system |
| CN1667565B (en) * | 2004-03-11 | 2011-07-06 | 艾勒博科技股份有限公司 | Image sensor, optical pointing device and motion calculating method of optical pointing device |
| CN105387802A (en) * | 2015-10-13 | 2016-03-09 | 东莞市微大软件科技有限公司 | Method for controlling movement of worktable of automatic image measuring instrument |
Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7054487B2 (en) | 2000-02-18 | 2006-05-30 | Anoto Ip Lic Handelsbolag | Controlling and electronic device |
| US6839453B1 (en) | 2000-05-16 | 2005-01-04 | The Upper Deck Company, Llc | Method and apparatus for authenticating unique items such as sports memorabilia |
| KR100408518B1 (en) * | 2001-04-12 | 2003-12-06 | 삼성전자주식회사 | Pen input device and Measuring method of coordinate |
| EP2012221A3 (en) | 2002-11-20 | 2009-05-13 | Koninklijke Philips Electronics N.V. | User interface system based on pointing device |
| SE0303370D0 (en) | 2003-12-16 | 2003-12-16 | Anoto Ab | Method, apparatus, computer program and storage medium for recording a movement of a user unit |
| US7136054B2 (en) * | 2004-01-06 | 2006-11-14 | Microsoft Corporation | Camera-pen-tip mapping and calibration |
| US7536051B2 (en) * | 2005-02-17 | 2009-05-19 | Microsoft Corporation | Digital pen calibration by local linearization |
| JP2009020718A (en) * | 2007-07-12 | 2009-01-29 | Nec Commun Syst Ltd | Radio input device and equipment operation system |
| US8054512B2 (en) | 2007-07-30 | 2011-11-08 | Palo Alto Research Center Incorporated | System and method for maintaining paper and electronic calendars |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3275769D1 (en) * | 1982-12-22 | 1987-04-23 | Ibm | A method and apparatus for continuously updating a display of the coordinates of a light pen |
| CN1122925A (en) * | 1994-11-07 | 1996-05-22 | 颜艮山 | Instant look mouse scanner |
-
1999
- 1999-04-30 CA CA002331075A patent/CA2331075A1/en not_active Abandoned
- 1999-04-30 WO PCT/SE1999/000719 patent/WO1999060469A1/en not_active Application Discontinuation
- 1999-04-30 KR KR1020007012071A patent/KR20010052283A/en not_active Application Discontinuation
- 1999-04-30 AU AU43033/99A patent/AU758514B2/en not_active Ceased
- 1999-04-30 CN CN99806673A patent/CN1303494A/en active Pending
- 1999-04-30 IL IL13910399A patent/IL139103A0/en unknown
- 1999-04-30 JP JP2000550020A patent/JP2002516429A/en active Pending
- 1999-04-30 BR BR9910572-1A patent/BR9910572A/en not_active IP Right Cessation
- 1999-04-30 EP EP99952125A patent/EP1073946A1/en not_active Withdrawn
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1641683B (en) * | 2004-01-16 | 2010-05-26 | 微软公司 | Strokes localization by m-array decoding and fast image matching |
| CN1667565B (en) * | 2004-03-11 | 2011-07-06 | 艾勒博科技股份有限公司 | Image sensor, optical pointing device and motion calculating method of optical pointing device |
| CN101859205A (en) * | 2009-04-08 | 2010-10-13 | 鸿富锦精密工业（深圳）有限公司 | Hand input device and hand input system |
| CN105387802A (en) * | 2015-10-13 | 2016-03-09 | 东莞市微大软件科技有限公司 | Method for controlling movement of worktable of automatic image measuring instrument |
Also Published As
| Publication number | Publication date |
|---|---|
| EP1073946A1 (en) | 2001-02-07 |
| KR20010052283A (en) | 2001-06-25 |
| BR9910572A (en) | 2001-01-16 |
| CA2331075A1 (en) | 1999-11-25 |
| AU4303399A (en) | 1999-12-06 |
| WO1999060469A1 (en) | 1999-11-25 |
| IL139103A0 (en) | 2001-11-25 |
| AU758514B2 (en) | 2003-03-20 |
| JP2002516429A (en) | 2002-06-04 |
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