KR20030009577A - Three-dimensional input device using a gyroscope - Google Patents

Abstract

PURPOSE: A three-dimensional input device using a gyroscope is provided to display the velocity and the track of 3D movement in a space on a 2D monitor plane and make various application of the data by using a computer. CONSTITUTION: A three-dimensional input device using a gyroscope includes a vibration type gyro sensor(11) for measuring an angular velocity for the rotation of the 3D input device, a low pass filter(21) for blocking a vibration damping signal among output signals from the sensor, an amplifier(22) for amplifying the output from the low pass filter, and a processor(30) for calculating the amplifier output signal, a rotation radius of the movement of the input device, a position movement value or a movement velocity on a plane surface of a hemisphere where the input device is orthogonally projected from the moved angle.

Description

Input device in three-dimensional space using a gyroscope {THREE-DIMENSIONAL INPUT DEVICE USING A GYROSCOPE}

The present invention relates to an input device in three-dimensional space, and more particularly to a three-dimensional mouse device using an inertial sensor such as a gyro sensor.

The present invention is an input pointing device of a general computer, a computer game, a television game, an arcade game, or an Internet television remote control. The present invention provides a conventional computer mouse through a rotational movement or movement of the device in the air without contacting the floor surface. As described above, the present invention relates to a three-dimensional input device capable of inputting up, down, left, and right movements of a mouse cursor.

As a conventional position input device, a mouse is typical, and a joystick for playing a game and a PC game machine (for example, a play station) are also based on a two-dimensional mouse technology according to the prior art.

In the case of a general ball mouse including a track ball mouse according to the prior art, the amount of rotation of the mouse ball is converted into an electrical signal of an encoder that detects the state of the wheel to control the movement of the mouse, so as to rotate the mouse ball. There is an inconvenience to use only on the plane.

Furthermore, the mechanical life of the encoder is shorter than that of other electronic components, and dust or foreign matter on the floor is often caught between the wheel shafts through the mouse ball, which frequently causes a malfunction of the mouse. As a result, in the case of the mouse device according to the prior art, it is inconvenient to clean the ball and wheel shaft inside the mouse every time.

On the other hand, although the optical mouse solves the above-mentioned inconveniences, it should be operated only on the floor like a general ball mouse, so when used in a special application such as a presentation, a new device suitable for it is used separately from the mouse. Or, there is a discomfort to assist the operation with more auxiliary personnel.

In addition, the game machine for the PC game machine has a short lifespan because it performs up, down, left and right movement through a mechanical switch. In addition, there is an inconvenience in that only one hand is used for an operation for a situation other than the position movement because the one hand is almost fixed to the movement switch for the position movement.

Accordingly, a first object of the present invention is to provide an input device using position information through up, down, left and right movement in a three-dimensional space.

In addition to the first object, a second object of the present invention is to provide an input device capable of inputting the movement of the mouse cursor up, down, left, and right through rotation or movement of the device in the air without contacting the bottom surface.

1 is a view showing an embodiment of the configuration of a gyro sensor according to the present invention.

2 is a diagram illustrating an application example of an input device in a three-dimensional space to which a gyro sensor according to the present invention is applied.

3 is a diagram illustrating an orthogonal plane motion trajectory output for a spatial motion trajectory of a three-dimensional input device according to the present invention;

4 is a diagram showing the configuration of an input device in a three-dimensional image according to the present invention;

<Explanation of symbols for the main parts of the drawings>

10: detection unit

11: Gyro sensor

12 Accelerometer Sensor

13: low pass filter stage

14: High pass filter

20: intermediate conversion unit

21: filter stage

22: feedback amplification stage

23 pulse width modulation

24: pulse code modulation

25: A / D conversion stage

30: processor unit

40: transmission unit

111: travel distance

112: plane movement signal, plane movement displacement

120: moving angle

121: Angle

122: instantaneous velocity of space rotational motion

123: plane movement speed

In order to achieve the above object, the present invention is a three-dimensional input device for detecting a user's movement in a three-dimensional space, and correspondingly move the mouse cursor on the monitor screen, the three-dimensional input device is the space in the When the user grabs and moves, a vibration gyro sensor for measuring the angular velocity of the rotation of the three-dimensional input device, a low pass filter for blocking the vibration attenuation signal of the output signal of the vibration gyro sensor, amplifying the output of the low pass filter A three-dimensional input comprising an amplifier and a processor for calculating a positional movement value or a movement speed at which the input device moved on a plane on the orthographically projected hemisphere from the rotational radius and angle at which the amplifier output signal is moved; Provide the device.

Hereinafter, with reference to the accompanying drawings Figures 1 to 4 will be described in detail a preferred embodiment of the three-dimensional input device according to the present invention.

The present invention uses an inertial sensor, such as a gyrosensor or an accelerometer, as an input device using position information in the air, and the outputs of the sensors represent angular velocity and acceleration of a moving object, respectively. Here, velocity and acceleration are the same as the first derivative and the second derivative of the positions, respectively, and these two values correspond to the circular values from which position information can be obtained.

Referring to FIG. 1, a sensing unit 10 including a gyro sensor 11 or an accelerometer sensor 12 for obtaining an angular velocity or acceleration, and a filter stage 21 for filtering a circular signal output from the sensing unit 10. The feedback amplification stage 22 for amplifying the filtered signal is shown. In addition, a modulation stage for performing pulse width modulation (PWM) or pulse code modulation (PCM) 24 for the amplified signal, and an A / D conversion stage 25 for obtaining an encoded digital signal It includes an intermediate conversion unit 20 including a.

In addition, according to the configuration of the present invention, through the processor unit 30 for calculating the intermediate transformed value, position information related to the movement or rotation of an object in the air is calculated, and a computer or television requiring this information; It includes a transmission unit 40 is transmitted to the application device, such as an arcade game machine.

Referring back to FIG. 1, since the circular signal is filtered and amplified into a desired signal to be a digital signal that can be processed by a processor, the digital signal is digitized through a modulation stage such as pulse width modulation or pulse code modulation. Subsequently, the pulse width may be counted and used, or an A / D converted coded signal may be used. In addition, the processor 30 may perform arithmetic processing to output final position information, and finally transmit the information by wire or wirelessly.

The position input device manufactured according to the preferred embodiment of the present invention includes a gyro sensor 11 or an accelerometer sensor 12 therein, and generates an angular velocity or acceleration signal when the device moves. Since both signals are mathematically physically related to position, when the arithmetic processing is performed in the processor unit 30, the two signals are represented as positional amounts proportional to the amount of motion.

Since the circular signal generated by the gyro sensor 11 and the accelerometer sensor 12 according to the present invention includes a unique sensor frequency characteristic, a filter stage 21 capable of limiting the range according to the frequency suitable for the present invention is required. This filter stage 21 ensures an optimum movement position.

As a preferred embodiment according to the present invention, the output value may be insufficient for processing by the processor unit 30 depending on the sensor, and this increases the output level through the amplifier stage 22. As a preferred embodiment according to the invention, a negative feedback amplifier stage may be used.

Thus, the output of the amplifying stage 22 is a signal having an appropriate output magnitude in the optimum frequency range that can be processed by the processor unit 30. On the other hand, since the output of the amplifier stage 22 is an analog signal, it must be converted into a digital signal that can be processed by the processor unit 30. As a preferred embodiment of the present invention, a method of modulating while increasing or decreasing the width of a pulse of a predetermined period in proportion to the moving direction may be applied. That is, the pulse width can be increased when the moving direction is in the forward direction, and the pulse width can be decreased when in the negative direction. As a result, the processor unit 30 counts the increased / decreased pulse width and estimates how much the input device has moved in which direction.

As another embodiment according to the present invention, a pulse code modulation (PCM) method for outputting an output value alternately high and low according to a moving direction of an input device may be applied. For example, a method of outputting only a high value when moving in the forward direction and only a low value when moving in the negative direction may be applied. At this time, the processor unit 30 determines the moving direction and the moving displacement by counting a high or low value.

As another embodiment according to the present invention, the digital signal converted using the A / D converter may be input to the processor unit 30. As described above, since the analog value is a value related to a position, the output digital value has a one-to-one correspondence with the movement position, and may be immediately calculated as a position value when the processor 30 performs arithmetic processing.

The above-described digital signal processing method may be implemented using a microcontroller. In addition, a signal output through the modulation stages 23 and 24 and the conversion stage 25 is performed by the processor 30 to perform arithmetic processing corresponding to the corresponding scheme, and is generated as a signal having position information.

As such, when the calculated position information is used as a computer mouse, only two-dimensional signals of up, down, left, and right are generated, and the transmission unit 40 is a serial method, a PS2 method, a wired method such as USB, and IrDA or A wireless scheme using RF or Bluetooth scheme may be applied.

When the position signal calculated as described above is used for a television game, it generates not only two-dimensional signals of up, down, left, and right, but also three-dimensional signals including front and rear, and the transmission unit 40 has a wired method such as a dedicated port and an infrared IrDA or It may be a wireless method using RF or Bluetooth.

In another preferred embodiment of the present invention, when the position signal is used for a PC game, it generates not only two-dimensional signals of up, down, left, and right, but also three-dimensional signals including front and rear, and the transmission unit is a serial method or a game. Wired methods such as dedicated ports and wireless methods using IrDA, RF, or Bluetooth may be used.

As a preferred embodiment of the present invention, when the position signal is used for an arcade game, it generates not only two-dimensional signals of up, down, left, and right, but also three-dimensional signals including front and rear, and the transmission unit 40 uses a dedicated port. It uses a wired method, and a wireless method that may be stolen can be avoided.

Gyro sensor 11 according to the present invention is a kind of inertial sensor for measuring the rotational angular velocity, the integral value of the angular velocity corresponds to the position amount. Therefore, the gyro sensor 11 is a sensor widely used in the aerospace and military fields, but may have a disadvantage that the price is expensive to apply to the general field.

On the other hand, the low-cost vibration type sensor outputs the waveform of the government according to the direction of movement based on the reference value, even when only moving in one direction due to the vibration characteristics of the sensor includes a vibration component and exhibits a damped vibration characteristic.

As a result, in the case of processing only the signal component, the result is rotated in both directions, and is not used as an application for detecting position information, but is mainly used for measuring the vibration of a camcorder or a camera.

2 is a diagram showing an application example of an input device in a three-dimensional space to which a gyro sensor according to the present invention is applied. Referring to FIG. 2, two vibration type gyro sensors may be used to indicate a displacement of a device that a user lifts and uses, and the user's shoulder or elbow serves as an axis for rotating the gyro sensor. In addition, when the user moves with the gyro sensor, the angular velocity with respect to the rotation amount is output from the sensor and this amount is the angular velocity value of the rotational motion with the radius from the user's hand to the elbow.

On the other hand, the rotational angular velocity value is a three-dimensional amount because the user moves in space, but because the number of the sensor is used two it can not be recognized in three dimensions. In addition, the output rotational motion angular velocity value becomes an angular velocity value that moves a radius of curvature and is not a plane velocity value. Therefore, there is a need for converting spatial rotational motion into motion values in the plane. To this end, it is recognized that the instantaneous linear velocity is the product of the rotational angular velocity and the radius, and the orthogonal plane movement instantaneous linear velocity value ( ) Is the instantaneous linear velocity value ( And cosine of the angle.

Considering the above equation, if the angular velocity value is assumed to be unique at a particular angle, the cosine of the angle is also constant, so that the plane movement velocity value is the only value representing the angular velocity as the plane velocity on the plane. No extra hardware is required. In other words, if only the routine for multiplying the cosine value by software is processed in the controller, a sufficient solution for converting the spatial rotational motion into the planar translational motion can be provided.

3 is a diagram illustrating an orthogonal plane motion trajectory output for a spatial motion trajectory of a three-dimensional input device according to the present invention. Referring to Figure 3, a configuration of a general-purpose module for outputting the plane movement signal 112 using the vibration type gyro sensor 10 according to the present invention, instead of directly outputting the plane movement signal 112, the plane movement speed 123 instantaneous speed of space rotational movement The fact that it is the cosine of (122) and its angle (121) applies.

In the present invention, the rotational angular velocity value Is output, but the value is configured in consideration of that the controller can process the software. The present invention is the rotational angular velocity Sensor module for measuring the planar movement displacement 112 of the moving object in space using a vibrating gyro sensor that outputs the circumference, the movement distance S1 (111) on the circumference And each Equal to 120 times the angular velocity Is the derivative of 120 hours.

Also, instantaneous linear velocity on the circumference Reference numeral 122 is a derivative of the travel distance 111 with respect to time.

Meanwhile, the instantaneous velocity on the orthographic plane (123) is expressed by the following equation (8).

In addition, since the radius is constant, the distance 112 traveling on the plane on the orthogonal hemisphere is represented as follows.

That is, as can be seen in Equation 10, the position shift value 112 moved on the plane on the orthogonal hemisphere is a radius Angular velocity output from the gyro sensor 10 Wow, each of the two hours It is the integral of the cosine product of (120). Where radius Is the amount that can be measured in advance, and the angular velocity Since is output from the gyro sensor 10 is a known physical quantity. On the other hand, the value for the movement angle 120 is not known in hardware, and this physical quantity is calculated by the processor unit 30 according to the present invention.

4 is a diagram illustrating a configuration of an input device in a three-dimensional image according to the present invention. 4, the angular velocity of the moving object in space Vibration type gyro sensor (11) for outputting, low pass filter stage 13 for blocking the vibration damping output from the vibratory gyro sensor (11), and high pass filter for blocking low frequency components for DC voltage stabilization (14) And a feedback amplifier stage 22 for amplifying the filtered signal at a safe rate.

Since the rotational angular velocity output from the gyro sensor 11 according to the present invention multiplies the cosine value to represent the plane moving speed, the moving speed can be calculated by software. It is desirable to give.

As a preferred embodiment of the present invention, when the low pass filter 13 is configured with a cutoff frequency of 100 kHz, minute shaking of a person is also blocked. In addition, if the frequency component of 0.1 kHz or less is removed to stabilize the DC voltage, a band pass filter having a bandwidth of 1000 can be configured.

When the signal of this frequency band is negatively fed back through the amplification part, its output value is stabilized and is sufficient to calculate the amount of movement for the user's moving and moving motion. In addition, another characteristic of the damping oscillation is that it converges to the original reference value, so if it converges to the reference value, resetting the value to the origin for the current position detects a sufficiently large distance movement even in the 8-bit A / D converter. can do.

The foregoing has outlined rather broadly the features and technical advantages of the present invention to better understand the claims of the invention which will be described later. Additional features and advantages that make up the claims of the present invention will be described below. It should be appreciated by those skilled in the art that the conception and specific embodiments of the invention disclosed may be readily used as a basis for designing or modifying other structures for carrying out similar purposes to the invention.

In addition, the inventive concepts and embodiments disclosed herein may be used by those skilled in the art as a basis for modifying or designing other structures for carrying out the same purposes of the present invention. In addition, such modifications or altered equivalent structures by those skilled in the art may be variously changed, substituted, and changed without departing from the spirit or scope of the invention described in the claims.

As described above, the present invention, unlike a computer mouse moving on a work table according to the prior art, can display the moving speed and the trajectory of the movement in a three-dimensional monitor plane in space in three dimensions, and when applied to a computer input device Application in form is possible.

Claims (10)

In the three-dimensional input device for detecting the movement of the user to move in a three-dimensional space, and correspondingly to move the mouse cursor on the monitor screen, the three-dimensional input device is A vibration type gyro sensor which measures an angular velocity with respect to the rotation of the three-dimensional input device when the user grips and moves in space; A low pass filter for blocking a vibration attenuation signal among the output signals of the vibration type gyro sensor; An amplifier for amplifying the output of the low pass filter; And And a processor that calculates, from the amplifier output signal, the radius of rotation of the input device, and the angle of movement, the positional movement value or the speed of movement of the input device over a plane on the orthographic sphere projected by the input device. The 3D input device of claim 1, wherein the 3D input device further comprises a high pass filter for filtering waveforms in an undesired frequency band with respect to the output of the low pass filter and blocking low frequency components for DC voltage stabilization. . In the three-dimensional input device for detecting the movement of the user to move in a three-dimensional space, and correspondingly to move the mouse cursor on the monitor screen, the three-dimensional input device is A sensor unit extracting an angular velocity or acceleration with respect to a rotation of the 3D input device when the user grabs and moves in space; A filter stage filtering the circular signal output from the sensor unit; A feedback amplifier stage for amplifying the signal output from the filter stage at a predetermined ratio; A modulator for modulating an output signal of the feedback amplifier stage; And A processor unit for calculating position information from the modulated signal transmitted from the modulator Three-dimensional input device comprising a. The 3D input device of claim 3, wherein the modulator comprises a pulse width modulator configured to increase or decrease a pulse width of a predetermined period in proportion to a movement direction of the user in space. The 3D input device of claim 3, wherein the modulator comprises a pulse code modulator configured to alternately output a high value and a low value according to a moving direction of the user in space. The 3D input device of claim 3, wherein the 3D input device includes an A / D converter instead of the modulator. The 3D input device of claim 3, wherein the sensor unit comprises a gyro sensor or an accelerometer sensor. The 3D input apparatus of claim 1 or 3, wherein the 3D input device transmits a signal for moving the mouse cursor to the monitor screen through a wired communication method using a serial method, a PS2 method, or a USB method. Input device. The 3D input device of claim 1 or 3, wherein the 3D input device transmits a signal for moving the mouse cursor to a monitor screen in a wireless communication method using IrDA, RF, or Bluetooth. 4. The three-dimensional input device of claim 1 or 3, wherein the three-dimensional input device comprises an input device for inputting a computer, a PC game, a television game, an arcade game, or a television remote control.