CN203502917U - Finger type air mouse - Google Patents

Abstract

The utility model discloses a finger type air mouse. The mouse can be worn on fingers such as an index finger, actions can be perceived through an inertial sensor, in addition, the actions such as the cursor moving, the left click, the double click, the right click, the rolling and the dragging can be distinguished through the index finger action recognition, and results are sent to a wireless receiving module of a PC (personal computer) end through a wireless sending module, so a mouse function is realized, and a data collecting and analysis module worn on the index finger adopts lithium batteries for power supply. The mouse miniaturization is realized, the finger type air mouse can be worn on the index finger, the mouse operation is realized through action recognition, and the human-computer interaction experience can be greatly improved.

Description

A kind of finger-type air mouse

Technical field

The utility model relates to a kind of novel human-machine interaction mode, is by the action recognition of finger being completed to a series of completed by mouse mutual, completing thus the control for computing equipments such as PC, Set Top Box, game machines specifically.

Background technology

Mouse is a visual plant in current man-machine interaction, and roller type, photo-electric and present laser type have been passed through in the development of the locator meams of cursor of mouse, with the connected mode of computing equipment also by there being alignment wireless development.However, traditional mouse still can not leave desktop, need to take desktop as reference, thus mouse in use still exist some restriction, still not perfect aspect man-machine combination.

In recent years, along with the fast development of network intelligence TV, on TV browsing page, see video, playing games etc. has become the ingredient of parlor life gradually, the mouse that therefore can leave desktop has become the new lover in market.The mouse that in addition, can leave desktop also has very large practicality in teaching, speech.Therefore, occurred multiple air mouse on market, the appearance of these air mouse has met the demand in market to a certain extent, but also has very large room for improvement.These air mouse similarly are more a telepilot to a certain extent, only realize cursor control and do not relied on the reference substances such as desktop, other action need is realized by the little button on mouse, because these air mouse have been left desktop, cannot be as desktop mouse light stable movement and button, this has reduced the experience of air mouse undoubtedly.

Utility model content

In order to solve the deficiencies in the prior art, the utility model provides finger-type air mouse, realized the microminiaturization of mouse, can be worn on finger, the operation of mouse realizes by action recognition, do not grasp the action of mouse,, without the process of navigation button on mouse, greatly improved man-machine interaction experience yet.

The technical solution of the utility model is: a kind of finger-type air mouse, comprises the data collection and analysis module that can be worn on finger.

Further improvement of the utility model comprises:

Also comprise the wireless receiving module that can insert in PC end, described data collection and analysis module is connected with described wireless receiving module by Wireless Data Transmission mode.

Described data collection and analysis module is positioned in the shell being provided with for the through hole of nested finger.

Described data collection and analysis module comprises an inertial sensor, by described inertial sensor, moves perception, and by the action recognition to finger.

Described inertial sensor is MEMS six degree of freedom inertial sensor, comprises three axis accelerometer and three-axis gyroscope.

Described data collection and analysis module comprises primary processor, the inertial sensor being connected with primary processor, be connected with primary processor for radio-frequency transmissions chip, and lithium battery.

The wireless receiving module of described PC end is by USB interface and PC communication, and this wireless receiving part also provides hot swappable interface to can be used for to lithium cell charging.

To finger action recognition, directly adopt attitude algorithm algorithm to carry out real-time resolving to the attitude of finger, obtaining the real-time attitude of finger under reference frame, comprising the angle of pitch, roll angle and position angle.

The variable quantity of finger position angle and the angle of pitch, and when meeting rate of change and being less than the threshold value of setting and two conditions of threshold value that roll angle is less than setting, represent respectively left and right and the amount of moving up and down of controlled cursor.

Identification to finger left click action has adopted derivative method, the angle of pitch change curve of finger is carried out to differentiate, in certain section of curve, exists derived indice contrary, and derivative absolute value sign is while being greater than the threshold value of setting, represents to occur click action; Recognition methods to the action of finger right click is to the identification of right click it is that azimuthal change curve is carried out to derived function.

By the data collection and analysis module that can be worn on finger, formed with the wireless receiving module two parts that can insert in PC end, the data collection and analysis module that can be worn on finger is carried antenna by inertial sensor, primary processor, radio frequency chip and plate and is formed, and adopts lithium battery power supply.The wireless receiving module that can insert in PC end carries out communication by USB interface and PC, and extra interface is provided, for giving lithium cell charging.

In can being worn on the data collection and analysis module of finger, inertial sensor adopts the MEMS sensor of six degree of freedom, comprises three axis accelerometer and three-axis gyroscope, is responsible for perceive motion, comprises linear acceleration and angular acceleration.Primary processor, by after interface read sensor data, adopts attitude algorithm algorithm to carry out real-time resolving to the attitude of finger, obtains the real-time attitude of finger under reference frame, comprises the angle of pitch, roll angle and position angle.

Because the angular acceleration that the linear acceleration that accelerometer detects and gyroscope detect output is fixed with respect to finger, therefore when pointing in different attitude, do move up and down cannot complete corresponding mouse pointer variation.The object that adopts attitude algorithm is to obtain the attitude of finger under geographic coordinate system, and the variation by the variation of attitude corresponding to cursor of mouse can make finger action and can not affect the control of cursor arbitrarily in space.Resolving of attitude is exactly to point under certain initial attitude, with gyroscope output, calculates next attitude of constantly pointing, can adopt Quaternion Method, Euler's horn cupping, cosine matrix method etc., and a kind of realization has here adopted Quaternion Method.

Because there is very large dynamic error in MEMS gyroscope, only adopt gyroscope output to calculate attitude, to there is great error, therefore also need with data anastomosing algorithm, the static data that will speed up meter compensates error, here adopt expanded Kalman filtration algorithm to carry out data fusion, obtain finger gesture data steady in a long-term.

In the motion process of finger, when finger position angle and the angle of pitch change when meeting rate of change and being less than the threshold value of setting and two conditions of threshold value that roll angle is less than setting, point the variable quantity of position angle and the angle of pitch, represent respectively left and right and the amount of moving up and down of controlled cursor.Identification to finger left click action has adopted derivative method, the angle of pitch change curve of finger is carried out to differentiate, in certain section of curve, exists derived indice contrary, and derivative absolute value sign is while being greater than the threshold value of setting, represents to occur click action.Identification to finger right click action has also adopted derivative method, the azimuthal variation curve of finger is carried out to differentiate, in certain section of curve, exists derived indice contrary, and derivative absolute value sign is while being greater than the threshold value of setting, represents to occur click action.

The mouse being worn on finger partly adopts lithium battery power supply, and this part provides plug-in interface, and lithium battery can mount and dismount by hot plug easily.The wireless receiving part of PC end is by USB interface and PC communication, and this wireless receiving part also provides hot swappable interface to can be used for to lithium cell charging.Whole mouse system provides two lithium battery modules, one for power supply, another can back up charging, by dismantling easily and install the long-time request for utilization that meets this mouse.

Accompanying drawing explanation

Fig. 1 is overall schematic of the present utility model.

Fig. 2 is that attitude algorithm merges the calculation process that obtains attitude in conjunction with Kalman filtering.

In figure: 1, be worn on the data collection and analysis module of finger, 2, standing finish, 3, the wireless receiving module of PC end, 1, plate carries microstrip antenna, 12, lithium battery, 13, radio frequency chip, 14, primary processor, 15, inertial sensor, 31, USB interface, 32, battery charging inlet.

Embodiment

Below in conjunction with accompanying drawing, the utility model is elaborated.

As shown in Figure 1, first this finger-type air mouse needs a shell and is worn on the standing finish of finger, and shell is provided with a power button and relay indicating light, and leaves an interface for powered battery.Standing finish can adopt elastic cord.

Inertial sensor in module adopts the MPU6050 six degree of freedom MEMS inertial sensor of InvenSense company, and this sensor has integrated three axis accelerometer and three-axis gyroscope, can communicate by letter with primary processor by IIC interface.Can carry out by this chip internal register is set the detection range of setting sensor.Primary processor is selected the STM32f103 of ST company here, and this processor can be supported the dominant frequency up to 72M, has the Peripheral Interfaces such as IIC, SPI, can meet attitude algorithm, action recognition etc. calculation requirement and with the communicating requirement of sensor, radio frequency chip.Radio frequency chip has been selected the NRF24L01 chip of NORDIC company, and this is the wireless communication chips of the open ISM band in a 2.4Ghz of the working in whole world, by SPI interface, communicates by letter with primary processor.

At wireless interface receiving end internal main, to be formed by wireless received RF chip and primary processor.Wireless receiving chip is still selected the NRF24L01 chip of NORDIC company, and primary processor is selected C8051F320, and this chip has usb communication interface, can conveniently realize HID agreement, and separately this chip also provides SPI interface and radio frequency chip to communicate.

The attitude algorithm and the fusion that adopt Quaternion Method to point in conjunction with expanded Kalman filtration algorithm below.

1 i of He Sange imaginary unit of hypercomplex number Shi Youyige real number unit, j, the number that contains four units that k forms, its expression formula is:

Q=（q ₀，q ₁，q ₂，q ₃）=q ₀+q ₁i+q ₂j+q ₃k=q ₀+q （1）

Q wherein ₀that q is vector.

In the rotational motion of a rigid body with a fixed point theory, according to theorem of Euler, the orientation of moving coordinate system relative reference coordinate system, is equivalent to moving coordinate system and rotates an angle θ around some Equivalent Axis.If represent the vector of unit length of Equivalent Axis direction with u, the orientation of moving coordinate system is determined by u and two parameters of θ completely.With u and θ, can construct a hypercomplex number:

$Q=\cos \frac{\mathrm{\θ}}{2}+u\sin \frac{\mathrm{\θ}}{2}---\left(2\right)$

The norm of this hypercomplex number is be called versor.This has just connected three dimensions and a four-dimentional space, and it is zero hypercomplex number that a three-dimensional vector can be regarded as scalar.

Suppose that vector r has rotated an angle θ around a certain axle by fixed point O, rotating hypercomplex number is (2) formula.As the r ' for vector after rotating represents, with the r ' of quaternion representation and the coordinate transform of r pass, be:

R '=Q*r*Q ' wherein $Q^{\′}=\cos \frac{\mathrm{\θ}}{2}-u\sin \frac{\mathrm{\θ}}{2}$

If vector maintains static, and moving coordinate system relative reference coordinate system has rotated an angle, take the vector of the quaternion representation component on two coordinate systems transformation relation as:

R _b=Q′*R _r*Q （3）

Thus, the quaternary of the attitude matrix element kinematics differential equation can be expressed as:

$\left[\begin{array}{c}{q}_0^{\&prime;}\\ q_1^{\&prime;}\\ {\mathrm{<figure-callout\; id="2"\; label="q"\; filenames="HDA00003554157600011.png"\; state="\{\{state\}\}">q</figure-callout>}}_2^{\&prime;}\\ {\mathrm{<figure-callout\; id="3"\; label="q"\; filenames="HDA00003554157600011.png"\; state="\{\{state\}\}">q</figure-callout>}}_3^{\&prime;}\end{array}\right]=\frac{1}{2}{\mathrm{\&omega;}}_{\mathrm{nb}}^b\left[\begin{array}{c}{q}_0\\ q_1\\ q_2\\ {\mathrm{<figure-callout\; id="3"\; label="q"\; filenames="HDA00003554157600011.png"\; state="\{\{state\}\}">q</figure-callout>}}_3\end{array}\right]=\frac{1}{2}\left[\begin{array}{cccc}0& {-\mathrm{\&omega;}}_{\mathrm{nbx}}^b& {-\mathrm{\&omega;}}_{\mathrm{nby}}^b& {-\mathrm{\&omega;}}_{\mathrm{nbz}}^b\\ {\mathrm{\&omega;}}_{\mathrm{nbx}}^b& 0& {\mathrm{\&omega;}}_{\mathrm{nbz}}^b& {-\mathrm{\&omega;}}_{\mathrm{nby}}^b\\ {\mathrm{\&omega;}}_{\mathrm{nby}}^b& {-\mathrm{\&omega;}}_{\mathrm{nbz}}^b& 0& {\mathrm{\&omega;}}_{\mathrm{nbx}}^b\\ {\mathrm{\&omega;}}_{\mathrm{nbz}}^b& {-\mathrm{\&omega;}}_{\mathrm{nby}}^b& {-\mathrm{\&omega;}}_{\mathrm{nbx}}^b& 0\end{array}\right]\left[\begin{array}{c}{q}_0\\ q_1\\ q_2\\ {\mathrm{<figure-callout\; id="3"\; label="q"\; filenames="HDA00003554157600011.png"\; state="\{\{state\}\}">q</figure-callout>}}_3\end{array}\right]$

（4）

Attitude matrix speed

by measurements and calculations, obtain:

${\mathrm{\&omega;}}_{\mathrm{nb}}^b={\mathrm{\&omega;}}_{\mathrm{ib}}^b-C_n^b{\mathrm{\&omega;}}_{\mathrm{ie}}^n$

Wherein

the value that gyroscope survey obtains,

previous step attitude matrix,

the projection of earth angle speed in geographic coordinate system.

The attitude differential equation (4) can solve with quadravalence dragon lattice-Ku Tafa in primary processor.

By calculating above after the real-time attitude of finger, next carry out action recognition.Here the left click of take describes as example.Set up the fifo queue of a length 100, for depositing angle of pitch result of calculation.The difference sum of current 50 data is negative value, the difference of rear 50 data is positive number, and when the absolute value sum of two differences is greater than 100, and roll angle is less than 20 degree and is, think and have click event to occur, otherwise the angle of pitch is changed and is mapped as vertically moving of cursor of mouse.In like manner the right click of mouse can be detected, while not having right click to occur, position angle is mapped to the transverse shifting of cursor of mouse.

More than show and described ultimate principle of the present utility model and principal character and advantage of the present utility model.The technician of the industry should understand; the utility model is not restricted to the described embodiments; that in above-described embodiment and instructions, describes just illustrates principle of the present utility model; do not departing under the prerequisite of the utility model spirit and scope; the utility model also has various changes and modifications, and these changes and improvements all fall within the scope of claimed the utility model.The claimed scope of the utility model is defined by appending claims and equivalent thereof.

Claims (3)

1. a finger-type air mouse, it is characterized in that, comprise the data collection and analysis module that can be worn on finger, also comprise the wireless receiving module that can insert in PC end, described data collection and analysis module is connected with described wireless receiving module by Wireless Data Transmission mode, described data collection and analysis module is positioned in the shell being provided with for the through hole of nested finger, described data collection and analysis module comprises primary processor, the inertial sensor being connected with primary processor, by described inertial sensor, move perception, and by the action recognition to finger, be connected with primary processor for radio-frequency transmissions chip, and lithium battery.

2. a kind of finger-type air mouse according to claim 1, is characterized in that, described inertial sensor is MEMS six degree of freedom inertial sensor, comprises three axis accelerometer and three-axis gyroscope.

3. a kind of finger-type air mouse according to claim 1, is characterized in that, the wireless receiving module of described PC end is by USB interface and PC communication, and this wireless receiving part also provides hot swappable interface to can be used for to lithium cell charging.

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