201203019 六、發明說明： 【發明所屬之技術領域】 本發明係有I種執跡平滑化的方法，_是指一種可 動態調整計算方式的軌跡平滑化方法。 種了 先刖技射，胁複錄舰平魏的枝，201203019 VI. Description of the Invention: [Technical Field of the Invention] The present invention relates to a method for smoothing a trace, and _ refers to a trajectory smoothing method capable of dynamically adjusting a calculation method. Planted a sneak shot, threatening the re-recording of the ship's branches,
均法來達成’以計算該複數軌跡點的移動平均座標，其中 動平均座標係以-平均她⑻作為分母進行笪二 考第i圖為平均個數的值與曲線平滑度的_，其。^ 值越高時’曲線的平滑效果越好。但平均個數二:數n的 時間的延遲越久；請再參見第2圖， 的值^時’ η與時間延遲的_。鱗以 ^砰均健 數η計算移動平均座標 f C5為利用不同平均個 4;曲線。的平均個數為：：=^^ 的值越高，平滑化的轨跡跟上實際 需η 綜合以上所述，先齡㈣⑯Μ的時間越久。The average method is used to calculate the moving average coordinates of the complex trajectory points, wherein the moving average coordinates are averaged by (8) as the denominator, and the i-th image is the average number of values and the smoothness of the curve. ^ The higher the value, the better the smoothing effect of the curve. However, the average number of two: the delay of the time of the number n is longer; please refer to the value of ^, the time η and the time delay _. The scale is calculated by the mean 健 η of the moving average η f C5 is the use of different average 4; The average number of ::=^^ is higher, and the smoothed trajectory keeps up with the actual need of η. The longer the age is (four) 16 Μ.
均個數η作為移動中軌跡平滑之C較少之平 =系統達到-個可以兩邊兼顧的=。’白有其優缺點’無 【發明内容J 二的之一在提供-種轨跡平滑化的方法。 跡平滑化的方法，目用^ ^中^個觀點言，本發明提供了軌 h化—物體之移動軌跡，包含··依據 Ί 201203019 該物體之飾細；，產域錄舰並轉該複 座標；依雜解触，計算簡錄舰_辭均座標的 ，中該移辭均絲細_平均健(n)作為分料行平均計 算、及依據„亥物體移動的速度，適應性地調整該 值，其中，當該物體移動的速度較快時，採用較低的平== 值’虽物體移動速度較慢時，採用較高的平均個數值。 在其中-種難實施形式中’該移動平均法係依以下公 式產生移動平均座標avgT: sumT=sum(T.iravg(T.1)+new ； avST=sumT/n > 其中avgT和avga^分別代表目前時間τ所產生出的移動平均 座標和前-時0 Τ-1所產生出的移動平均座標，議丁和 分別代表目前時間τ的座標值總和和前一時間的 座標值總和，new代表目前時間τ所得的執跡點座標，n代 表平均個數。 在其中另一種較佳實施形式中，該依據該物體移動的速 度’適應性地調整該平均個數值之步驟包括：提供至少一個速 度臨界值；判斷該物體移動速度是否高於該速度臨界值；以及 根據判斷結果，適應性地調整該平均個數值。 在其中一另種較佳實施形式中’該依據該物體移動的速 度’適應性地調整該平均個數的數值之步驟包括：提供至少一 組速度遲滯臨界值’此速度遲滯臨界值包含一高限值與一低限 值；當該物體移動速度增加以致高於該高限值時，採用較低的 平均個數值；以及當該物體移動速度降低以致低於該低限值 時，採用較向的平均個數值。 201203019 在其中再-種較佳實施形式中，所取得的軌跡點座標值 為絕對座標值。在其中再—種較佳實施形式巾，所取得的軌 跡點座標值為姆座魏，且料Μ含：將軸對座標鋪 換為絕對座標值。所述物體例如為遙控器或滑鼠。 底下藉由具體實施例詳加說明，當更容易瞭解本發明之 目的、技術内容、特點及其所達成之功效。 L貫施方式】The average number η is less flat for C in the smoothing of the trajectory in motion = the system reaches - a value that can be considered on both sides. 'White has its advantages and disadvantages'. None of the inventions provides a method for smoothing the trajectory. The method of track smoothing, the purpose of the present invention is to provide a track h-object-moving trajectory, including · according to Ί 201203019 the decoration of the object; Coordinates; according to the disambiguation, calculate the slogan _ resignation of the coordinates, the middle of the transfer is fine _ average health (n) as the average calculation of the distribution line, and according to the speed of the movement of the hai object, adaptive adjustment The value, wherein when the object moves faster, the lower flat == value is used. Although the moving speed of the object is slower, a higher average value is used. In the hard-to-implement form, the The moving average method produces a moving average coordinate avgT according to the following formula: sumT=sum(T.iravg(T.1)+new; avST=sumT/n > where avgT and avga^ represent the movements produced by the current time τ, respectively. The moving coordinates of the average coordinate and the pre-time 0 Τ-1, the sum of the coordinate values representing the current time τ and the coordinate value of the previous time, and the new point representing the coordinates of the current time τ , n represents the average number. In another preferred embodiment The step of adaptively adjusting the average value according to the speed at which the object moves includes: providing at least one speed threshold; determining whether the moving speed of the object is higher than the speed threshold; and adaptively adjusting the sound according to the judgment result The average value. In one of the other preferred embodiments, the step of adaptively adjusting the average number of values according to the speed at which the object moves comprises: providing at least one set of velocity hysteresis thresholds 'this speed hysteresis threshold The value includes a high limit value and a low limit value; when the moving speed of the object increases above the high limit value, a lower average value is used; and when the moving speed of the object decreases below the low limit value In the preferred embodiment, the obtained track point coordinate value is an absolute coordinate value. In the preferred embodiment, the obtained track point coordinates are obtained. The value is the Wei, and the material contains: the axis is replaced by the coordinates of the coordinates. The object is for example a remote control or a mouse. Example embodiments thereof described in detail, the effect easier to understand when the object of the present invention, technical contents, characteristics and the reached. L applied consistently embodiment]
如前所述’先前技射，林是以較多或較少之平均個 數η作為執跡平滑化之基準，皆有其缺點。械於此，本發 上述絲技術之不足’提出—種赌平滑化“ 依f物體移動的速度，調整計算移動平均座標的平均個數 ^詳言之’當物體移動速度較慢時，依據物體移動執跡所產 數軌跡點的座標容易受到雜訊的干擾而導致軌跡有不 j録狀的情形發生。相對地，#物體移動較快時由於 例如Ϊ ’雜輯產生的效應較低，不平滑的情況較不顯著。 ίο單位虽雜:的值為士1單位時，如果單位時間移動的距離為 單位 =雜 例為1〇%;而當單位時間移動的距離為2 :遲 :本發 =系統運作的效率，·當物體移動的逮提 -個數η計算複數軌跡點的移動平均座標^，以過二： 201203019 跡的雜訊，並提高物體移動軌跡的平滑度。 計算移解均座標avg的方法有鮮，可依據使用者的需 使:入不同!!公式運算，產生移動平均座標avg。舉例而言， ”中-種計算移動平均座標avg的公式為· sumT=sum(T.,ravg(x.1)+new ； avgT=sum/n， ，中⑽和avg㈣分別代表目前時間τ所產生出的移動As mentioned above, the previous technique, Lin is based on the average number η of more or less as the benchmark for smoothing, has its shortcomings. In this case, the shortcomings of the above-mentioned silk technology of the present invention proposes that the gambling smoothing "adjusts the average number of moving average coordinates according to the speed at which the f object moves. ^In detail, when the object moves at a slower speed, the object is The coordinates of the number of track points produced by the mobile obstruction are easily interfered by the noise and the trajectory is not recorded. In contrast, when the object moves faster, for example, the effect of the Ϊ 'mixture is lower, no The smoothing situation is less significant. ίο Units are mixed: the value is ± 1 unit, if the distance moved per unit time is unit = the number of cases is 1〇%; and when the unit time moves by 2: late: this hair = efficiency of system operation, · when the object moves, the number of η calculates the moving average coordinate of the complex track point ^, to pass the second: 201203019 trace noise, and improve the smoothness of the object's moving trajectory. The method of the coordinate avg is fresh, and can be made according to the user's needs: the formula is calculated to generate the moving average coordinate avg. For example, the formula for calculating the moving average coordinate avg is · sumT=sum(T .,ravg(x.1)+new ; avgT=sum/n, , medium (10) and avg (four) represent the movement generated by the current time τ
f票^和前—時間了·1所產生出的移動平均座標avg ’ sumT 和酿㈣分別代表目前時間τ的座標值總和和前一時間w =標值總和，new代表目前時間τ所得的執跡 代表平均個數。 根據本發明，依據物體移動速度調整平均個數η有多種 施：式’其中物體移動速度與平均個數η之關係例如可 ^線性峨如吟㈣]，其巾a，b為常數，η可取整數， 明 > 見第3圖）、反比調整(如η抽+0]，其中屯b為常數， η可匕取整數，請參見第4圖）、或階級調整(請參見第$圖）。 整的方法為例，請參見第6圖為階級調整的流程 ，並對照第5圖，其中n〇>nl>n2, Vt2>Vti ·· 在步驟sioo t ’系統開始初始化;接著，進入步驟si〇i。 /步驟sioi中，以階級stg〇的預設平均個數值㈣）， 仃移動平均座標avg運算；接著，進入步驟難。 在步驟S102中，偵測物體的速度，如果物體的移動速 :超過第_速度臨界值％，平均錄轉麵始階級蝴 nG酬步驟S1G1 ;當物體鶴速度增加到超過第 逮度臨界值ντι時，進入步驟si〇3。 201203019 在步驛S103 + ’以階級_的預設平均個數值 ’進行移動平均座標avg運算；接著，進人襲 與步驟S107。 在步驟麗與步驟S107中，镇測物體的速度，如果 物體的移紐度未倾第—速度臨界值％ 速度臨界值VT2，平均個數維持在階級剛的值_，回^ 步驟SU)3。當倾祕較減低舰於第—聽臨界值^f ticket ^ and pre-time - time 1 generated moving average coordinates avg ' sumT and brewing (four) respectively represent the sum of the coordinate values of the current time τ and the previous time w = the sum of the values, new represents the current time τ obtained Traces represent the average number. According to the present invention, there are a plurality of applications for adjusting the average number η according to the moving speed of the object: where the relationship between the moving speed of the object and the average number η can be linear, for example, 吟(4), the towel a, b is a constant, and η can be taken. Integer, Ming > see Figure 3), inverse ratio adjustment (such as η pumping +0), where 屯b is a constant, η can take an integer, see Figure 4), or class adjustment (see Figure $) . For the whole method, for example, please refer to Fig. 6 for the process of class adjustment, and refer to Fig. 5, where n〇>nl>n2, Vt2>Vti··in step sioo t 'the system starts initialization; then, enter the step Si〇i. /Step sioi, with the preset average value of the class stg〇 (four)), 仃 moving the average coordinate avg operation; then, the entry step is difficult. In step S102, the speed of the object is detected. If the moving speed of the object exceeds the threshold value of the _th speed, the average recording plane starts to be the step S1G1; when the speed of the object crane increases to exceed the threshold value of the first threshold ντι When, proceed to step si〇3. 201203019 The moving average coordinate avg operation is performed in step S103 + 'with the preset average value of the class_'; then, the attack is stepped on with step S107. In step 丽 and step S107, the speed of the object is measured, and if the movement degree of the object is not tilted, the speed threshold value is the speed threshold value VT2, and the average number is maintained at the value of the class _, back ^ step SU) 3 . When the secret is lower, the ship is at the first - listening threshold ^
時’回到步驟當物體移動速度增加到超過第二速度臨 界值VT2時’進入步驟S105。其中，步驟S1〇4與步驟S107 叮平行或以任意次序先後執行。 在步驟S1〇5中，以階級stg2的預設平均個數值㈣& 進仃移動平均鍊avg響；接著，進崎驟S106。 在步驟SU)6中，偵測物體的速度，如果物體的移動速 度持續超過第二速度臨界值Vt2，平均個數維持在階級吨2 的值㈣2，回到娜Sl〇5 ;當物體移動速度減小到低於第 一速度臨界值VT2時，回到步驟sl〇3。 上述階級調整之優點為，平均個數n的值不需因物體移 動速度的微幅改變而變動，有助於維持系統的穩紐並降低 電路的複雜度。除上述外，階級調整的方法尚有許多安排方 式，熟悉本技術者於了解本發_内容後，應可思及各種變 化丄皆應包含在本發明的專利範圍内。例如，在各階變換處 可安排-個遲滯區間，舉例而言請參見第7圖並對照第8圖， 其中 n0>ni>n2, VT2Ji>VT2 L>VTi H>Vn—l ·· 第7圖中在步驟S200時，系統開始初始化；接 入步驟S201。 201203019 在步驟S201中’以階級stgO的預設平均個數值(n=n〇)， 進行移動平均 avg運算；接著，進人步驟S202。 在步驟S2〇2中，偵測物體的速度，如果物體的移動速 又未超過帛遲/(^臨界值的高限值Vt〗_h，平均個數維持在起 始階級stgO的值n0，回到步驟S2〇1 ;當物體移動速度增加 到超過第—遲滯臨界值的高限值VT1H時，進入步驟S2〇3。 在步驟S203 +，以階級stgl的預設平均個數值 (n=nl) ’進行移動平均座標％運算；接著，進人步驟隨 與步驟S207。 _ 在步驟S204與步驟S207中，偵測物體的速度；如果 物體的移動速度未低於第一遲滯臨界值的低限值％ l、或未 超過第二遲滯臨界值的高限值Vt2_h，平均個數維持在階級 吨1的值n=n卜回到步驟S2〇3。當物體移動速度減低到低 於第遲滯臨界值的低限值VT1_L時，回到步驟S201 ;當物 體移動速度增加到超過第二遲滯臨界值的高限值Yu η時， 進入步驟S205。其中，步驟S2〇4與步驟S2〇7可平行或以任 意次序先後執行。 鲁 在步驟S205中，以階級stg2的預設平均個數值(η=η2)， 進行移動平均座標avg運算；接著，進入步驟S2〇6。 在步驟S206中，偵測物體的速度，如果物體的移動速 度持續超過第二遲滯臨界值的低限值vT2_l時，平均個數維 持在階級stg2的值n=n2，回到步驟S205 ;當物體移動速度 減小到低於第二遲滞臨界值的低限值VT2_L時，回到步驟 S203。 上述第6或7圖的流程中，系統於起始後並不必須由階 8 201203019 級stg〇開始，而可由Stg0，Stgl或Stg2中任一階級開始； 平均個數η的起始預設值不必須為n〇(最大值，對應於最低 速度），而當然也可以從最小預設值n=n2(對應於最高速度) 開始調整，或從任一中間步驟(如n=nl值)開始調整，亦即系 統於起始後可銜接第6或7圖中任一步驟sl〇1〜si〇7或 S201-S207 〇 / 上述實施例中，依據物體移動軌跡所產生之複數軌跡點The time 'returning step' proceeds to step S105 when the moving speed of the object increases beyond the second speed threshold value VT2. Wherein, step S1〇4 is performed in parallel with step S107叮 or sequentially in any order. In step S1〇5, the preset average value (4) & the moving average chain avg is sounded by the step stg2; then, the process proceeds to S106. In step SU) 6, the speed of the object is detected. If the moving speed of the object continues to exceed the second speed threshold value Vt2, the average number is maintained at the value of the class ton 2 (four) 2, back to Na Sl 〇 5; when the object moves speed When it is decreased below the first speed threshold VT2, it returns to step sl3. The advantage of the above-mentioned class adjustment is that the value of the average number n does not need to be changed due to a slight change in the moving speed of the object, which helps to maintain the stability of the system and reduce the complexity of the circuit. In addition to the above, there are many ways to arrange the class adjustment. Those who are familiar with the present technology should understand that the various changes should be included in the scope of the present invention. For example, a hysteresis interval can be arranged at each order transformation. For example, see Fig. 7 and compare with Fig. 8, where n0>ni>n2, VT2Ji>VT2 L>VTi H>Vn-1 ··Fig. 7 In step S200, the system starts initialization; access to step S201. 201203019 In step S201, the moving average avg operation is performed with the preset average value (n=n〇) of the class stgO; then, the process proceeds to step S202. In step S2〇2, the speed of the object is detected. If the moving speed of the object does not exceed the late/(^ threshold high value Vt〗_h, the average number is maintained at the value n0 of the starting class stgO, back Go to step S2〇1; when the moving speed of the object increases to exceed the high limit value VT1H of the first hysteresis threshold value, proceed to step S2〇3. In step S203+, the preset average value of the class stgl (n=nl) 'Performing the moving average coordinate % operation; then, the step of entering is followed by step S207. _ In steps S204 and S207, the speed of the object is detected; if the moving speed of the object is not lower than the lower limit of the first hysteresis threshold % l, or the high limit value Vt2_h of the second hysteresis threshold is not exceeded, the average number is maintained at the value of the class t 1 n = n b back to step S2 〇 3. When the moving speed of the object is reduced below the hysteresis threshold When the low limit value VT1_L is reached, the process returns to step S201; when the moving speed of the object increases to exceed the high limit value Yu η of the second hysteresis threshold value, the process proceeds to step S205, where step S2〇4 and step S2〇7 may be parallel or Execute sequentially in any order. Lu in step S205, in order The preset average value of stg2 (η=η2) is subjected to the moving average coordinate avg operation; then, the process proceeds to step S2〇6. In step S206, the velocity of the object is detected, if the moving speed of the object continues to exceed the second hysteresis limit When the lower limit value of the value vT2_l, the average number is maintained at the value of the class stg2 n=n2, returning to step S205; when the moving speed of the object is reduced to a lower limit value VT2_L lower than the second hysteresis threshold, returning Step S203. In the above process of Figure 6 or 7, the system does not have to start from the order 8 201203019 stg〇, but can start from any of Stg0, Stgl or Stg2; the starting of the average number η The preset value does not have to be n〇 (maximum value, corresponding to the lowest speed), but of course it can also be adjusted from the minimum preset value n=n2 (corresponding to the highest speed), or from any intermediate step (eg n=nl) Value) Start adjustment, that is, the system can be connected to any of the steps in the 6th or 7th step sl1~1〇i7 or S201-S207 起始/ in the above embodiment, the complex trajectory generated according to the movement trajectory of the object point
的座標可為絕對座標，亦可為相對座標；唯，當複數執跡點的 座標為鱗座標時，計算移動平均座標avg前，宜先轉換相對 座標為絕對座標’以利系統運算。所述物體可為在絕對紳下 移動的物體’亦可為在相對座標下移動之物體嘴述物體例如 可為遙控器或滑鼠等。 此外，還需朗：本如上所述的座標計算，可適用於 1 _以x'y:維座標系統來 說月，i_本發月不限於應用在二維座標 =限多維度。如維度等於或超過二維，二 ^的座標可时開平行運算、或依序分時運算、或 、，示口 ’可視硬體成本與運算效率來做取捨。 僅係實施例來說明本發明，唯以上所述者， 來限定本發明之權利範圍。凡此種種，在：相=用 下’熟悉本技術者可以思及各種等 t 明的範圍之内。 夂π叼應包含在本發 【圖式簡單說明】 第1圖示出複數轨跡點平滑化的方法中，不同平均個數的 9 201203019 曲線之比較。 第2圖示不同平均個數η所計算出的平滑化轨跡曲線 間延遲的關係圖。 ^ 第3-5圖示出數個實施例’揭露依據物體移動速度決 均個數η的方法。 第6圖示出依據物體移動速度對平均個數η作階級調整的 流程圖。 第7圖示出階級變換設有遲滯區間時的流程圖。 第8圖示出階級變換設有遲滯區間時，^體移動速度與平 均個數η的關係。 【主要元件符號說明】 C1，C2，C3，C4，C5 曲線 n，n0，nl，n2平均個數 stg〇，stgl，stg2 階級 S101 〜S107, S201 〜S207 步驟 t時間The coordinates can be absolute coordinates or relative coordinates. Only when the coordinates of the complex tracking points are scale coordinates, before calculating the moving average coordinate avg, the relative coordinates should be converted to absolute coordinates first to facilitate system operation. The object may be an object that moves under absolute squatting, or an object that moves under relative coordinates, such as a remote control or a mouse. In addition, it is also necessary to: the coordinates calculation as described above can be applied to 1 _ x'y: dimensional coordinate system to say the month, i_ this month is not limited to the application in two-dimensional coordinates = limited multi-dimensional. If the dimension is equal to or exceeds two-dimensional, the coordinates of the two ^ can be parallel-calculated, or sequentially time-separated, or , , and the cost of the hardware can be traded off. The invention is described by way of example only, and the scope of the invention is defined by the scope of the invention. All of these are in the range of: phase = use. Those who are familiar with the technology can think of various kinds of specifications.夂π叼 should be included in this issue [Simplified description of the figure] Figure 1 shows the comparison of the curves of the different average number of 9 201203019 in the method of smoothing the complex track points. The second graph shows the relationship between the delays between the smoothed trajectories calculated by the different average numbers η. ^ Figures 3-5 show a number of embodiments 'exposing a method of averaging the number η depending on the moving speed of the object. Fig. 6 is a flow chart showing the class adjustment of the average number n in accordance with the moving speed of the object. Fig. 7 is a flow chart showing the case where the class transition is provided with a hysteresis section. Fig. 8 is a view showing the relationship between the moving speed of the body and the average number η when the step conversion is provided with the hysteresis section. [Main component symbol description] C1, C2, C3, C4, C5 curve n, n0, nl, n2 average number stg〇, stgl, stg2 class S101 ~ S107, S201 ~ S207 Step t time
Vti，VT2速度臨界值Vti, VT2 speed threshold
Vti丄VT1_H，VT2丄VT2_H遲滯速度臨界值Vti丄VT1_H, VT2丄VT2_H hysteresis speed threshold