201101234 六、發明說明： 【發明所屬之技術領域】 本發明係雜-贿純跡重建紋及 是針對三維空間中之二維及：唯’’尤其 重建方法及跑。 執㈣—種運動軌跡 【先前技術】 -種習狀運_跡重建方法及其裝置， 專利第腦_號之「整合型輸人裝置」所揭示 含-整合型輸人裝置’以及受該整合型輸人裝置所控制之 影像處理裝置。該整合型輸人裝置具有—難感測單元、 -訊號處理單元及-無線發射單元，以簡由該慣 單元根據該整合型輸人裝置的擺動狀缝生電子訊^ 由該訊號纽單元將該電子訊號馳騎標倾訊 由該無線發射單元將該職处喊傳紅該影像處理 置顯最ί置==、置即可根據該游標位置訊號移動 -顯不裝置所顯福游標至指定位置。其中，當 輸入裝置受使用者操作而在—三維空間中作偏擺轉動時， 該慣性感測單元喊測該整合型輸人裝置在— 向 的重力加速度、重力加速度之變化、在—y軸方向的重力 加速度分量，以及在-X㈣向的偏擺角速度以作為該 電子訊號，並由該魏驗單福上狀電子訊號轉換為 分別以X轴及Z軸為轉轴之二偏轉角度，以作為該游標位 置訊號。 然而，由於上述習用裝置係將慣性感測單元所產生的 201101234 絲直接轉換為該游標位置訊號並傳送至該影像處 理裝置’因此轉合型輸人裝置無法對贿性感測單元的 漂移誤差進行修正，導致該整合型輸入裝置之使用者難以 將該顯不裝置所顯示的游標確實定位於—指定位置。此 外由於在上述習用方法僅是以該整合型輸入裝置位在 -固疋位置時的二偏轉角度作為該游標位置訊號，導致此 種方法顯然不適用於該整合型輸入裝置本身在三維空間中 Ο201101234 VI. Description of the Invention: [Technical Field to Be Invented by the Invention] The present invention is a hybrid-brittle trace reconstruction pattern and is directed to a two-dimensional and three-dimensional reconstruction method and running in three-dimensional space. (4) - a kind of motion trajectory [previous technology] - a kind of habit _ trace reconstruction method and its device, the patented brain _ "integrated input device" revealed by the integrated-integrated input device' and the integration An image processing device controlled by a type of input device. The integrated input device has a hard-to-sensing unit, a signal processing unit and a wireless transmitting unit, so that the inertial unit is sewn into an electronic signal according to the swinging shape of the integrated input device. The electronic signal is ridiculed by the wireless transmitting unit, and the image processing is performed by the wireless transmitting unit. The image processing is displayed at the most ===, and the signal can be moved according to the cursor position signal-display device to display the cursor to the specified position. Wherein, when the input device is operated by the user to perform a yaw rotation in the three-dimensional space, the inertial sensing unit spoofs the change of the gravitational acceleration and the gravitational acceleration of the integrated input device in the -y axis The gravitational acceleration component of the direction, and the yaw rate in the -X (four) direction as the electronic signal, and converted into the two deflection angles of the X-axis and the Z-axis as the rotation axis respectively As the cursor position signal. However, since the conventional device directly converts the 201101234 wire generated by the inertial sensing unit into the cursor position signal and transmits it to the image processing device, the transfer type input device cannot correct the drift error of the bribe sensing unit. It is difficult for the user of the integrated input device to position the cursor displayed by the display device to the designated location. In addition, since the above-mentioned conventional method uses only the two-deflection angle of the integrated input device at the solid-state position as the cursor position signal, the method is obviously not applicable to the integrated input device itself in three-dimensional space.
G 進行位移的情況下。惟，當使用者握持該整合型輸入裝置 在二維空财進行實際操作時，極難維持該整合型輸入裝 置不產生位移而僅進行偏擺轉動，故上述训裝置及方法 顯然有加以改善之必要。 【發明内容】 本發日⑽提供-麵純跡重建方法及其裝置，主要 係藉由一_重建單元降辑算歧演算法計算量， 以增加硬體運算效能並實現即時作業之功能，為其主要之 發明目的。 本發明係提供-種運動軌跡重建方法及其裂置，主要 係藉由-動態開關單元降低運動細誤差，為其另一發明 目的。 為達到前述發明目的，本發明所運用之技術手段及夢 由該技術手段所能達到之功效包含有· -種運動軌跡重建裝置，其包含—訊號感測模組、— 運算模組及-訊號傳送模組。該訊號感測模組感測該訊號 感測模組本身之義並產生-組感測訊號；該運算触接 201101234 收，感測訊號’並具有串接之—_、關單元及—軌跡重 建單元以運异產生一二維運動軌跡訊號；該訊號傳送模 ，有^部分別連接該訊號感測模組及該運算模組之動 «關單元，讀遞該感測訊號至該純開關單元。其中 摘恶開關單元縣數個門棱值，當該感測訊號之數個數 值分別大於或等於魏俯m值時，該㈣開關單元係呈 導通狀態’並㈣❹彳域及運㈣果駐雜跡重建單 ^而當該數錄值分別小於該數_植值時 ，該動態開 關單7G係呈戴止狀態’即無訊號送至該執跡重建單元；該 執跡重建單元根據該動態開關單元輸出之感測訊號及運算 2果產生-投影執跡簡，再由該投影軌跡訊號形成該二 維運動執跡訊號。 模㈣軌跡重建方法，其步驟包含：以—訊號感測 =測訊號;以—訊號傳送模組將該感測訊號 生職動相鮮元之運算結果投影至虛擬投影平 面而產生-投雜跡訊號；以該感測訊 地座標之-_影平面之心夹= 至該軌=;面該=:係供將該虚擬投影平面轉換 為-二維縣細訊^轉換_將織雜跡訊號轉換 201101234 【實施方式】 為讓本發明之上述及其他目的、特徵及優點能更明顯 易懂，下文特舉本發明之較佳實施例，並配合所附圖式， 作詳細說明如下： Ο Ο 。月乡…、第1圖所示’其係繪示藉由本發明較佳實施例 之運動軌跡重建裝置所實施之運動軌跡重建方法的運作流 程圖。該魏執跡重建裝置包含-訊號感測模組卜-訊 號傳送模組2、—運算模組3，其中能號感賴組！係供 使用者握持並沿-欲輪入執跡在三維空間中進行移動，以 藉由-訊號感測步驟對應於該輸人執跡產生—組感測訊 #U，該訊號傳送餘2則將該訊號朗额丨所產生之 =訊號傳送至該運算模组3;該運算模組3在接收該訊號 感測模組1所產生之感測訊號之後，執行-軌跡重建運曾 f驟^得—二維運動軌跡訊號。藉此，該訊號感測模^ 、成號傳#組2及運算棋組3可將該欲輸人軌 該二維運動軌跡訊號。此外，該運算 罨馮 :辨維運動執跡訊號進行辨識， 不杈、、且4 ,，肩示該一維運動執跡訊號的辨識結果。 ‘‘、、 该訊號感測模組1具有一加速度 及-磁力計13分別連接至該訊號傳送模組12 11係供在該訊號感測模組1受到移動時，、八別1逮度計 測模組1的三個相互垂直之初始轴向各二== 模組1分別一 201101234 速度值’且以該X，軸、γ，軸及z，軸為轉軸所產生的旋轉方 向係依序為該訊號感測模組丨之滚轉角〔r〇u angle〕、俯 仰角〔pitch angle〕及偏航角〔yaw angle〕，藉此可獲得該 訊號感測模組1之各初始軸向與一重力方向g之角度關 係；該磁力計13則供產生一補償訊號，以補償該陀螺儀 12在偏航角所輸出之旋轉方向上的角度。其中，該加速度 計11所產生的三個加速度值入丨、該陀螺儀12所產生的三 個角速度值及該重力方向g、該磁力計13所產生的補償訊 號即構成該感測訊號。此外，該加速度計11、陀螺儀U 及磁力計13亦可透過一濾波單元14連接該訊號傳送模組 2，以便利用該濾波單元14濾除該感測訊號中之雜訊。 。丨.刀π %侵錄肌现欵剛； 組1及運料組3。當觀號傳送模組2選擇為-訊號> 輸線’利时線方式進行訊號傳輸時，該訊號傳送模^ 之二端部即為二訊麟輪接頭；而#觀麟送模組^ 擇為-無線傳輪模組，無線方式進行訊麟輸時，^ 訊號傳送馳2之二端部係分鹏—鱗職發射器及] 無線訊號魏且該鱗訊號發㈣係連接該訊號感$ 模組1 ’該無線訊號接收器則連接該運算模組3。此外二^ 訊號傳送模組2為無線傳輸時，其傳輸方式係可選擇為; 頻傳輸方式、紅外線傳輸方式或藍芽傳輪方式。 一G is in the case of displacement. However, when the user holds the integrated input device for practical operation in two-dimensional empty money, it is extremely difficult to maintain the integrated input device without displacement and only yaw rotation, so the training device and method are obviously improved. Necessary. [Description of the Invention] The present invention (10) provides a face-to-face reconstruction method and a device thereof, which mainly reduces the computational complexity by a _ reconstruction unit to increase the hardware performance and realize the function of real-time operation. Its main purpose of the invention. The invention provides a method for reconstructing a motion trajectory and a cleavage thereof, mainly by reducing a motion fine error by a dynamic switching unit, which is another object of the invention. In order to achieve the foregoing object, the technical means and dreams of the present invention can be achieved by the technical means, including a motion track reconstruction device, including a signal sensing module, an operation module and a signal. Transfer module. The signal sensing module senses the meaning of the signal sensing module itself and generates a group sensing signal; the operation touches 201101234, the sensing signal 'has a serial connection — _, a closed unit and a trajectory reconstruction The unit generates a two-dimensional motion track signal by using a different signal; the signal transmission mode has a portion connected to the signal sensing module and the moving element of the computing module, and the sensing signal is read to the pure switching unit. . Wherein the number of gate edges of the switch unit is selected, when the number of the sense signals is greater than or equal to the value of Wei, respectively, the (four) switch unit is in a conducting state and (4) the domain and the transport (four) When the number of records is less than the number_plant value, the dynamic switch 7G is in a wearing state, that is, no signal is sent to the tracking reconstruction unit; the tracking reconstruction unit is based on the dynamic switch The sensing signal and the operation output of the unit are generated - the projection is performed, and the two-dimensional motion tracking signal is formed by the projection track signal. The module (4) trajectory reconstruction method comprises the steps of: sensing signal = signal signal; and transmitting the operation result of the sensing signal to the virtual projection plane by the signal transmission module to generate a trace Signal; the heart-clip of the -- shadow plane of the sensed ground coordinate = to the track =; face =: for the virtual projection plane to be converted into - two-dimensional county information ^ conversion _ will be woven track signal The above and other objects, features, and advantages of the present invention will become more apparent and understood. . Yuexiang..., shown in Fig. 1 is a flowchart showing the operation of the motion trajectory reconstruction method implemented by the motion trajectory reconstruction apparatus of the preferred embodiment of the present invention. The Wei falsification reconstruction device comprises a signal sensing module, a signal transmission module 2, an operation module 3, and a sensible group! For the user to hold and move along the wheel to be executed in the three-dimensional space, by means of the - signal sensing step corresponding to the input of the person to generate a sense sensor #U, the signal transmission of the remaining 2 Transmitting the signal generated by the signal to the computing module 3; after receiving the sensing signal generated by the signal sensing module 1, the computing module 3 performs the trajectory reconstruction process. ^ get - two-dimensional motion track signal. Thereby, the signal sensing module, the numbering group #2, and the computing group 3 can input the two-dimensional motion track signal. In addition, the operation 罨 Feng: the identification of the movement of the movement tracking signal, not 杈,, and 4, the shoulder of the identification of the one-dimensional motion tracking signal. '', the signal sensing module 1 has an acceleration and - the magnetometer 13 is respectively connected to the signal transmitting module 12 11 for when the signal sensing module 1 is moved, and the eight different 1 degree measurement The three mutually perpendicular initial axes of the module 1 are two == the module 1 is a 201101234 speed value 'and the rotation direction generated by the X, the axis, the γ, the axis and the z axis is the rotation direction The signal sensing module has a roll angle, a pitch angle, and a yaw angle, thereby obtaining the initial axial directions of the signal sensing module 1 and The angular relationship of the gravitational direction g; the magnetometer 13 is configured to generate a compensation signal to compensate the angle of the gyroscope 12 in the direction of rotation of the yaw angle output. The three acceleration values generated by the accelerometer 11 and the three angular velocity values generated by the gyroscope 12 and the gravitational direction g and the compensation signal generated by the magnetometer 13 constitute the sensing signal. In addition, the accelerometer 11 , the gyroscope U and the magnetometer 13 can also be connected to the signal transmission module 2 via a filtering unit 14 for filtering the noise in the sensing signal by the filtering unit 14 . .丨. Knife π % Invading muscle is now 欵 just; Group 1 and transport group 3. When the view transmission module 2 selects the -signal>transmission line's time line mode for signal transmission, the two ends of the signal transmission module ^ are the two-in-one wheel joint; and #观麟送模块^ Select as the - wireless transmission module, when the wireless way to carry out the transmission, ^ signal transmission Chi 2 of the end of the division of the division - scale transmitter and] wireless signal Wei and the scale signal (four) is connected to the signal $ Module 1 'The wireless signal receiver is connected to the computing module 3. In addition, when the signal transmission module 2 is wirelessly transmitted, its transmission mode can be selected as: frequency transmission mode, infrared transmission mode or Bluetooth transmission mode. One
該運算模組3具有依序串聯連接之_動態開關單. 3i、-執職建單元32、—儲存單元％及—辨識單元^ 該動態開關單元31與該訊號傳送模組2連接，並利用該/ 測訊號之各加速度值Ai的變化即時_該職感測模I 201101234 的運動m動態開關單元 向在-預定時間内-二以: v ; =Ai對時間進行積分後所取得的速度值 :丄動態開關單元31呈-導通狀態〔⑽〕時 ==_測訊號及該訊號感測模組！在各該初始轴向 ί ;惟，若該動態開關單元 元3 '態⑽F〕、，縣輸出訊號至錄跡重建單The computing module 3 has a _ dynamic switch unit connected in series. 3i, - the escrow unit 32, the storage unit % and the identification unit ^ the dynamic switch unit 31 is connected to the signal transmission module 2, and utilizes The change of the acceleration value Ai of the / test signal is instantaneous. The motion m dynamic switch unit of the job sense module I 201101234 is in the - predetermined time - two: v; = Ai is the speed value obtained after integrating the time :丄The dynamic switch unit 31 is in the -on state [(10)]==_test signal and the signal sensing module! In each of the initial axes ί; however, if the dynamic switch unit 3 'state (10)F], the county output signal to the track reconstruction
Ο 預机右二外，針對各該初始轴向’該動態開關單元31均 ，二明錄’藉崎低該感測訊號的漂移誤差。更 本發明之動態開關單元31在各該初始軸向上所預 =個門植值較佳係為一加逮度門禮值i及一速度；; f值〜。其中’當欲決定該加速度值TAi時，較佳係 =該= 號感測模組i處於—歸零狀態下並維持該預定時 ^取㈣訊號制模組丨在該預定時㈣之加速度值4 =大值之後，以該最大值的i至3-倍作為該加速度門播 而若欲決定該速度門檻值Tvi，較佳則將該預定時 曰内之迷度值Vi的最大.值取〇.5至丨倍料該速度門檀值 Ίνί。 靖參照第2圖所示，其係緣示本發明之動態開關單元 =之操作流糊。該動態關單元31首先接收該感測訊 唬，並將其本身設定為該截止狀態。隨後執行一第一判斷 式，判斷「該動態開關單元31是否呈導通狀態」。若該 第’判斷式Dl ^_結果為「是」，特各該加速度值 Al對時間進行積分以取得各該速度值Y，並執行一第二判 斷式D2 ;而若該第一判斷式D1之判斷結果為「否」，則 201101234 =該力1度值Ai取絕對值崎得—加速度絕對 並執订一第三判斷式D3。 _早％ 31之第二判斷式Μ係判斷「是否 = ==，第二判斷式D2之判斷結】 初始轴向上的位移量1^將二二時:日1進打積分以取得各該 得-Η _ 麵H加速度值Ai取絕對值以獲 得D 2對值^ ’且將各該速度值Vi取絕對值以獲 1斷t D2憤^，再執行—第四判斷式D4 ;而若該第 =斷式m之判斷結果為「否」，則執行一第五判斷式 度絕:Π開，31之第三判斷式D3係比較「該加速 斤信τ ^ "^大於各該初钟向上所預朗加速度門 :Ai」。若該第三判斷式03之判斷結果為 關單元^設定為該導通狀態，並將各該加速度值 斯：，行積分取得各該速度值Vi之後，執行該第五判 :巧；若該第三判斷式D3之判斷結果為，即重 新執行該第一判斷式D1。 、該動態開關單元31之第四判斷式D4得比較「是否該 ，度絕對值EAi小於該加速度門触，且該速度絕對 社ν:小於該速度門捏值Tvi」。若該第四判斷式w之判斷 :果為「是」，則設定該速度值Vi為〇，並執行—第六判斷 ，D6 ’·若該第四判斷式D4之判斷結果為「否 重新 執行該第一判斷式D1。 ^ Λ動態開關單元31之第五判斷式D5係判斷「在該預 疋時間内，前一步驟所取得之各該速度值乂是否為最大 201101234 值」。若該第五判斷式D5之判斷結果為 定該速度狀值Tvi，並將各該速度值Vi ‘重= 取得各，向上的位移量，再重新執行該第’= D1 ’而右5亥第五判斷式〇5之判斷結果為「否 工 各，度值Vi對時間進行積分取得各該初2= 移量，並執行該第-_^D1。 的位 該動關關單心之第六判斷式06係_ Ο Ο 箱單元31之感測訊號均已經過該動“ S 處理」。若該第六判斷式D6之判斷結果為「曰 即結束該動態開關單元31之運作；而若該第六判為斷= 之判斷結果為「否」’則再將該動態開關單㈣設定為該 截止狀態，並重新執行該第-觸式D卜 ’… 藉由上述之操作流程，該動態開關單元31係可在其 本身呈導通狀料’將該—纽積分運算崎之位移 結果送至該獅;f建單元&，且可_該加速度門權值 丁^及速度門檻值Tviit行判斷，以便適時的將該速度值％ 知零’進而可纽轉傾職制餘丨隨時間增加而 累積的誤差〔即所謂的漂移誤差〕。 此清，參照第1目，且—併參照第3圖所示，根據該動 悲開，單元31所輪出之各該初始軸向上的位移量，該執跡 重建單元32係產生—虛擬投影平面ρι，其中該三個初始 軸向之中具有最小平均位移量的初始轴向〔例如第3圖中 所示之z軸〕即為該虛擬投影平面ρι之法向量，而另二 初始軸向〔例如，第3圖巾所示之X，轴及γ，軸〕即為該虚 擬才又衫平面Ρ1之二基底向量。藉此，即可將該欲輸入執跡 201101234 投影於該虛擬投影平面P1而產生一 ”跡重建單元32欲計算獲得該 二T據該:測訊號之各初始轴向上的加速度值Ai == 最小加速度值A，初始軸向作為該虛擬 平面：之St’並以另二初始轴向作為該虛擬投影 千面P1之-基底向量。隨後，該軌 步藉由作為該虛擬投影平面P1之:兀32更進— 如第3圖之z，軸〕與該重力方向 早 ρι 號。：中影平面P2而獲得該二維運動軌跡訊 J二中’雜跡投影平面卩2可選擇為大地鋪之 平面或一垂直平面，而如第3圖所 影平面P7总 、會不者，即疋該執跡投 平^ 躺^練之Z軸料法向量所構成之水平 軸作軌跡投影平面P2選擇為大地座標之z 秭邗马去向1所構成之水平平面， :二為轉轴旋轉該-Θ進行投影：=:: 「1 〇 〇 · 0 cos(<9) sin(6>) 〇 - sin(i9) cos(<9)」 藉此’在該轉換矩陣與該投影執跡訊號進行矩陣場 ，卩可將剌該二維運動執跡訊號。此外，如第4 仍ϊ藉影平面P1 _於錄崎影平面P μ轉換矩陣將该投影執跡訊號投影至該軌跡损 —12 201101234 平面Ρ2 ’以獲得位於該執跡投影平 跡訊號。最後，該儲存輩元U α 上的一維運動軌 運算獲得之-唯運動軌 '系儲存該執跡重建單元32 ^一維建動執跡訊號；而該钺钟结_ ^ 二維運動執跡職以影像_ 5疋則針對該 调連接至該顯示模組4，以:::辨識，且該辨識單 識單元34之辨識結果。另，組4顯示該辨 Ο Ο 至該軌跡«單幻2,賴即==直接連接 行影像辨識。 /一維運動執跡訊號進 跡重建單幻2，係_該加速度值 並將ιΛ冑力方向g，即可產生該虛擬投影平面Ρ1， =、，#空財的欲輸人軌跡投影至該虛擬投影平面P1 輕成—維空間軌跡訊號〔即該投影軌跡訊號〕，故可有 算投f平面P1及進行該影像辨識時的計 戶信Δ又及料法計算量。此外’更由於以具有最小加速 X值4的初始軸向作為該虛擬投影平面P1的法向量，可 2時取得該虚擬投影平面P1，使本發明之運動執跡重建方 法不會受到僅能進行離線作業之限制。 藉由該訊號感測模組i在三維空間中依二維軌跡進行 移動’本發明之運動軌跡重建裝置不僅可供進行軌跡位置 控制〔例如游標位置控制〕之使用，亦可供書寫字符並辨 識後β該顯示模組4顯示所描繪之字符〔例如進行簡報時 可即時投影字符及簽名辨識〕，更可用於追蹤使用者之肢 體移動的軌跡〔例如醫療復健及運動員訓練〕。或者，也 可持该訊號感測模組1依一物件的邊緣移動以精確測得該 物件之形狀。 ^ —13 — 201101234 雖然本發明已利用上述較佳實施例揭示，然其並許用 以限定本發明，任何熟習此技藝者衫麟^明之精神 和範圍之内，㈣上述實施规行各種更動與修改 發明所保護之技術_，因此本發明 之申請專·_界定者鱗。 —I現後附 【圖式簡單說明】 重建方法及其聚 第1圖：本發明較佳實施例之運動執跡 置的運作流程圖。 第2圖：本發明較佳實關之運錄 置之動態關單元的操作難圖。 逐万在及其裳 第1 2 3 4®:树雜佳實關之挪 置之軌跡重建單元產生_唯運 您乃凌及其裝 跡訊號的操作示意圖。 第4圖.本發明較佳實施例之運動軌 置之軌跡；f建單元在虛擬投影平面 _其震 產生二維運純跡訊號的操作示_。. 斜面時 【主要元件符號說明】 11 加速度計 13磁力計 2 訊號傳送模組 31動態開關單元 32 軌跡重建單元 34 辨識單元 EAi加速度絕對值 —14 一 1 訊號感測模組 2 12陀螺儀 14濾波單元 3 運算模I且 311暫存器 33 儲存單元 4 顯示模矣且 Ai加速度值 201101234 EVi 速度絕對值 D1 D2 第二判斷式 D3 D4 第四判斷式 D5 D6 第六判斷式 g P1 虛擬投影平面 P2 TAi 加速度門檻值 Tvi Vi 速度值 θ 第一判斷式 第三判斷式 第五判斷式 重力方向 軌跡投影平面 速度門檻值 夾角Ο In the right second of the pre-set, for each of the initial axes, the dynamic switching unit 31, the two clear recordings, lowers the drift error of the sensing signal. Further, the dynamic switch unit 31 of the present invention preferably has a threshold value of a threshold value i and a speed in each of the initial axial directions; f value ~. When 'when the acceleration value TAi is to be determined, it is preferred that the sensing module i is in the -return to zero state and maintains the predetermined time ^ (4) the acceleration value of the signal system module at the predetermined time (four) 4 = After the large value, i to 3-times of the maximum value is used as the acceleration gate broadcast, and if the speed threshold value Tvi is to be determined, it is preferable to take the maximum value of the fascia value Vi within the predetermined time 〇 .5 to 丨 times the speed of the door threshold Ίνί. Referring to Fig. 2, the entanglement shows the dynamic switching unit of the present invention. The dynamic off unit 31 first receives the sense signal and sets itself to the off state. Then, a first judgment expression is executed to determine "whether the dynamic switching unit 31 is in an on state". If the result of the first judgment formula D1 ^_ is YES, the acceleration value A1 is integrated to integrate the time to obtain each of the speed values Y, and a second judgment formula D2 is executed; and if the first judgment formula D1 If the result of the determination is "NO", then 201101234 = the force 1 degree value Ai takes the absolute value - the acceleration is absolute and a third judgment formula D3 is imposed. _ early % 31 of the second judgment type is judged "whether = ==, the judgment of the second judgment formula D2] The amount of displacement in the initial axial direction 1 ^ will be 22: Day 1 into the score to obtain each得 Η _ H H acceleration value Ai takes the absolute value to obtain the D 2 pair value ^ ' and takes each of the speed values Vi to take an absolute value to obtain 1 break t D2 anger ^, and then - the fourth judgment formula D4; If the judgment result of the first = break type m is "NO", then a fifth judgment formula is executed: the third judgment formula D3 of 31 is compared with "the acceleration credit τ ^ " ^ is larger than each of the initial The acceleration gate of the clock is pre-arranged: Ai". If the judgment result of the third judgment formula 03 is that the off unit is set to the on state, and each of the acceleration values is: and the line is integrated to obtain each of the speed values Vi, the fifth judgment is performed; if the The judgment result of the three judgment formula D3 is that the first judgment formula D1 is re-executed. The fourth judgment formula D4 of the dynamic switch unit 31 compares "whether or not, the degree absolute value EAi is smaller than the acceleration door touch, and the speed is absolute ν: less than the speed gate pinch value Tvi". If the judgment of the fourth judgment formula w is YES, the speed value Vi is set to 〇, and the sixth judgment is performed, and D6 '· If the fourth judgment formula D4 is judged as "No re-execution" The first judgment formula D1. The fifth judgment formula D5 of the dynamic switch unit 31 determines whether "the speed value 乂 obtained in the previous step is the maximum 201101234 value during the preview time." If the determination result of the fifth judgment formula D5 is to determine the speed value Tvi, and each of the speed values Vi 'heavy = obtain each, the upward displacement amount, and then re-execute the first '= D1 ' and the right 5 The judgment result of the fifth judgment type 〇5 is "no work, the degree value Vi is integrated over time to obtain each of the first 2 = shift amount, and the position of the first -_^D1 is executed. The sensing signal of the judgment unit 06 _ Ο 箱 box unit 31 has passed the "S processing". If the judgment result of the sixth judgment formula D6 is "曰, the operation of the dynamic switch unit 31 is ended; and if the judgment result of the sixth judgment is OFF = "NO", then the dynamic switch unit (four) is set to The cut-off state, and re-executing the first-touch D-'... By the above-mentioned operational flow, the dynamic switch unit 31 can send the displacement result of the --integral calculation to the self-conducting material The lion; f build unit &, and _ the acceleration gate weight value D and the speed threshold value Tviit line judgment, in order to timely zero the speed value of the value of the 丨 倾 倾 倾 倾 倾 丨 丨 丨Cumulative error (so-called drift error). With reference to the first item, and - as shown in FIG. 3, the tracking reconstruction unit 32 generates a virtual projection according to the amount of displacement in the initial axial direction of the unit 31 which is rotated according to the dynamic sorrow. a plane ρι, wherein the initial axis having the smallest average displacement amount among the three initial axes (for example, the z-axis shown in FIG. 3) is the normal vector of the virtual projection plane ρι, and the other initial axes [For example, X, axis and γ, axis shown in the 3rd towel] is the base vector of the virtual plane. Thereby, the desired input track 201101234 can be projected on the virtual projection plane P1 to generate a "track reconstruction unit 32 to calculate and obtain the acceleration value Ai == in each initial axis of the signal. The minimum acceleration value A, the initial axis is the virtual plane: St' and the other initial axis is the base vector of the virtual projection thousand face P1. Subsequently, the track step is taken as the virtual projection plane P1:兀32 is further advanced - as shown in Figure 3, z, the axis is earlier than the direction of gravity ρι.: The middle shadow plane P2 to obtain the two-dimensional motion trajectory J 2 in the 'chaotic projection plane 卩 2 can be selected as the ground paving Plane or a vertical plane, and the plane P7 as shown in Fig. 3 will not be the total, that is, the horizontal axis formed by the Z-axis method normal vector of the Z-axis material normal vector is selected as the trajectory projection plane P2. The earth coordinates z 秭邗 horse goes to the horizontal plane formed by 1 , : 2 is the rotation axis rotation of the - Θ projection: =:: "1 〇〇 · 0 cos (<9) sin(6>) 〇- sin (i9) cos(<9)" thereby performing a matrix field on the conversion matrix and the projection tracking signal, The assassination of two-dimensional motion execution trace signals. In addition, as in the fourth, the projection plane P1 _ is recorded on the recording plane P μ conversion matrix to project the projection tracking signal to the trajectory loss 1212 201101234 plane Ρ 2 ′ to obtain the projection projection signal located at the trajectory. Finally, the one-dimensional motion track operation on the storage generation U α is obtained - the only motion track is stored in the reconstruction reconstruction unit 32 ^ one-dimensional construction tracking signal; and the clock junction _ ^ two-dimensional motion The image is connected to the display module 4 for the image, and the identification result is:::, and the identification result of the identification unit 34 is recognized. In addition, group 4 displays the discrimination 至 to the trajectory «Single Magic 2, which is == Direct connection line image recognition. /One-dimensional motion tracking signal to rebuild the single magic 2, the acceleration value and the ι force direction g, can generate the virtual projection plane Ρ1, =,, #空财The virtual projection plane P1 is a light-dimensional spatial trajectory signal (that is, the projection trajectory signal), so that the calculation of the f-plane P1 and the calculation of the subscriber's letter Δ and the calculation method of the image can be performed. Furthermore, the virtual projection plane P1 can be obtained at a time when the initial axis having the minimum acceleration X value of 4 is used as the normal vector of the virtual projection plane P1, so that the motion reconstruction reconstruction method of the present invention can be performed only Limitations of offline work. The signal sensing module i moves in a three-dimensional space according to a two-dimensional trajectory. The motion trajectory reconstruction device of the present invention can be used not only for track position control (for example, cursor position control) but also for writing characters and recognizing After the display module 4 displays the depicted characters (for example, the character and signature can be instantly projected when the briefing is made), and can be used to track the trajectory of the user's limb movement (for example, medical rehabilitation and athlete training). Alternatively, the signal sensing module 1 can be moved according to the edge of an object to accurately measure the shape of the object. 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 The technology protected by the invention is modified, and therefore the application of the present invention defines the scale. - I will be attached later [Simplified description of the drawings] Reconstruction method and its aggregation Fig. 1 is a flow chart showing the operation of the motion execution of the preferred embodiment of the present invention. Fig. 2 is a diagram showing the operation of the dynamic shut-off unit of the preferred embodiment of the present invention. The trajectory reconstruction unit of the 1 2 3 4®: Tree Miscellaneous is generated by _ _ _ You Yun is the operation diagram of the signal. Fig. 4 is a view showing the trajectory of the moving rail of the preferred embodiment of the present invention; the operation unit _ is generated in the virtual projection plane _. Inclination [Major component symbol description] 11 Accelerometer 13 Magnetometer 2 Signal transmission module 31 Dynamic switching unit 32 Trajectory reconstruction unit 34 Identification unit EAi acceleration absolute value - 14 1 Signal sensing module 2 12 Gyro 14 filtering Unit 3 Operational Mode I and 311 Register 33 Storage Unit 4 Display Module and Ai Acceleration Value 201101234 EVi Speed Absolute Value D1 D2 Second Judgment D3 D4 Fourth Judgment D5 D6 Sixth Judgment g P1 Virtual Projection Plane P2 TAi acceleration threshold value Tvi Vi speed value θ first judgment type third judgment type fifth judgment type gravity direction trajectory projection plane speed threshold value
—15 ——15 —