TW201310277A - Three-dimensional human-machine interface system and method thereof - Google Patents

Abstract

Disclosed are a three- dimensional human-machine interface system and method thereof. A lens is used in combination with a digital signal processing (DSP) function to detect and calculate the relative position or movement of a characteristic body on a X-Y axis two-dimensional plane in order to synchronously generate the corresponding two dimensional coordinates of X and Y axis and movement on a display. Further, at the same time, a proximity sensor is used in combination with an infrared (IR) light source and the DSP function to detect and calculate the data of relative depth or movement of the characteristic body on a dimension Z axis other than the X-Y two dimensional plane in order to synchronously generate the corresponding one dimensional coordinate of Z axis and movement on the display. Further, the DSP function of the system software is further used to have the two dimensional coordinates of X, Y axis or movement coupled with the one dimensional coordinate of Z axis or movement in order to calculate and output the data of the relative position or movement of the characteristic body in the three-dimensional space of X, Y, Z axis for synchronously generating the corresponding coordinates of X, Y, Z and movement on the display thereby achieving the effectiveness of three-dimensional human-machine interface system and eliminating the troubles of most of the prior art that uses at least two lens to capture a speckle pattern of at least one reference surface in order to establish three-dimensional mapping to serve as a comparison database, which showing the advantages of simple structure and saving cost.

Description

Three-dimensional human-machine interface system and method thereof

The present invention relates to a 3D human interface system and method thereof, and more particularly to a proximity sensor using a lens and a pair of infrared light sources, and is processed by a digital signal. (DSP) function to separately detect and calculate the relative position and motion information of a feature object on a two-dimensional plane of an XY axis and the relative depth value and motion information on the corresponding third axis Z axis, and then Using the system software to further coordinate the X, Y coordinates or motion data with the Z-axis coordinates or motion data, and calculate and output the relative position and motion information of the feature object in the X, Y, Z three-dimensional space, The corresponding X, Y, Z coordinates and actions are generated synchronously on a display screen to achieve the use effect of a three-dimensional human-machine interface system.

There are a number of different types of user interface systems and methods that can be divided into touch-sensitive and remote-controlled user interfaces. The touch-based user interface system includes a variety of different touch systems. Methods such as Resistive, Capacitive, Surface Acoustic Wave (SAW), Infrared (IR), Optical Imaging, etc., by means of a touch object such as A finger or a stylus is directly touched on a touch-sensitive display screen to control various functions of the display, such as clicking a job, switching a screen, zooming in/out of a screen, or a touch game, etc., instead of the commonly used button type or Rocker-type control mode; and the remote-controlled user interface system utilizes a feature object such as a gesture or a part of the human body to cause relative position and movement changes in an X, Y, Z three-dimensional space, by remote control The mode controls the functions of the display, that is, the feature object is not directly touched on the display screen.

There are a number of prior art in the related art of remote-controlled user interface systems and methods, including: PCT International Publication No. WO 03/071410; US Patent: US 7,348,963, US 7,433,024, US 6,560,019; Patent Publication No.: US 2008/0240502, US 2008/0106746, US 2009/0185274, US 2009/0096783, US 2009/0034649, US 2009/0185274, US 2009/0183125, US 2010/0020078, etc.; and Taiwan Patent Publication No. :200847061, 201033938, 201003564, 201010424, 201112161, and so on.

The main techniques of the prior art related to the user interface system and method of the remote control are to first establish a 3D mapping as a comparison database, when a feature object exists in the field of view. When the action is generated, the data of the relative position and motion of the feature object in the three-dimensional space is obtained by comparison to further generate corresponding X, Y, Z coordinates on a matching display screen. Action to achieve the use of a three-dimensional user gesture interface system. Some of the prior art in these prior art are summarized here and described below:

No. 7,433,024, which discloses a method for mapping, comprising the steps of: projecting a primary speckle pattern from an illumination assembly into a target region by a lighting component. Capturing a plurality of reference images of the primary speckle pattern at different, respect distances from the illumination assembly In the target region); a test image of the primary speckle pattern that is projected onto a surface of an object in the target Comparing the test image with the plurality of reference images to determine that the primary spot pattern on one of the reference images closely matches the main spot pattern on the test image (comparing the test image to the reference images so As to identify a Reference image in which the primary speckle pattern most closely matches the primary speckle pattern in the test image); and the distance from the illumination component based on the determined reference image to calculate the location of the item (estimating a location of the Object based on a distance of the identified reference image from the illumination assembly). Thus, US 7,433,024 discloses an apparatus for mapping, which comprises: an illumination assembly, which is configured to project a primary speckle pattern into a target Region image; an image component for capturing a plurality of reference images, the image of the main spot pattern in the target area that is different from the illumination component, and extracting a test image of the main spot pattern An imaging assembly, which is configured to capture a plurality of reference images of the primary speckle pattern at different, respective distances of the illumination assembly in the target region, and tocapture a test image And the image processor is combined to compare the test image with the plurality of reference images to determine one of the reference images The main spot pattern is very close Speckle pattern on the main closing the test image, video image and the distance from the lighting assembly of the determined based on the reference of calculating the location of the items. (a image processor, which is coupled to compare the test image to the reference images so as to identify a reference image in which the primary speckle pattern most closely matches the primary speckle pattern in the test image, and to estimate a location of the object Based on a distance of the identified reference image from the illumination assembly).

No. US 2009/0183125, which discloses a three-dimensional user interface method and apparatus, wherein the steps of the method include a step of: capturing the human body At least one part of the depth of the body of a human subject, wherein the device includes a component: A sensing device, which is configured to capture a sequence of depth maps over time of at least a part of a body of a human subject.

As can be seen from the above, the establishment of a 3D mapping as a comparison database is a necessary key technical means for the prior art in the three-dimensional user interface method. The method of the user interface and its system equipment, that is, the device necessary for the implementation of the method, first establish a three-dimensional map as a technical solution of the comparison database to at least generate a more complicated processing program And the problem of wasted cost, which is not conducive to the mass production and generalization of the technology; for example, when the prior art is to take multiple reference images, its imaging assembly ) At least two lenses must be utilized for separately detecting image data of the main spot pattern on a two-dimensional plane (here defined as the XY plane) in the target area and in another dimension (defined herein as the Z-axis) Image data of different depths are coupled, and image data of the main spot pattern on the two-dimensional plane is coupled with image data of different depths in another dimension, thereby establishing a plurality of reference images, The plurality of reference images are regarded as a 3D mapping for comparison, that is, as a comparison database; therefore, the use of the prior art requires at least two on the system device. a lens and a processor having a digital signal processing (DSP) function, and a method for using the two lenses to separately capture a plurality of two-dimensional reference images and corresponding ones Images of different depths are used to construct a three-dimensional map (3D mapping), which is relatively complicated and wastes the cost of construction.

It can be seen from the above that in the technical field of the remote user interface, a three-dimensional map is not required to be used on the system equipment and it is not necessary to establish a three-dimensional map for comparison (3D mapping). The three-dimensional user gesture interface system and its method with simplified structure, cost saving and efficiency requirements do have their needs.

The main object of the present invention is to provide a 3D human interface system and method thereof, which uses a lens and a digital signal processing (DSP) function to detect and calculate a feature object. A relative position or motion data on a two-dimensional plane of an XY axis for synchronizing the corresponding X- and Y-axis two-dimensional coordinates and motion on a display screen; and simultaneously using an IR light source Proximity sensor and digital signal processing (DSP) function to detect and calculate the relative depth value or motion data of the feature object on another dimension Z axis relative to the XY two-dimensional plane, Providing a corresponding Z-axis one-dimensional coordinate and action in the display screen; and reusing the digital signal processing (DSP) function of the system software, so that the X, Y two-dimensional coordinate or motion data is further The Z-axis one-dimensional coordinates or motion data are coupled to calculate and output the relative position and motion information of the feature object in the three-dimensional space of the X, Y, and Z axes, thereby enabling simultaneous production on the display screen. Corresponding to the X, Y, Z coordinate and operation, to achieve the effect of using a three-dimensional human-machine interface system.

A further object of the present invention is to provide a three-dimensional human-machine interface system and method thereof, which utilizes a proximity sensor coupled with an infrared light source for detecting and calculating the feature object in relative The relative depth value or motion data on the other dimension of the XY two-dimensional plane, in place of or avoiding and related prior art, requires at least one lens to capture multiple one-dimensional (Z-axis) images for reuse. Through the image processing, a three-dimensional mapping (3D mapping) database is first established with a corresponding one-dimensional (Z-axis) image, and the trouble of using the three-dimensional map (3D mapping) database is achieved, and the use efficiency and the cost-saving use effect are achieved.

In order to achieve the above object, the present invention utilizes a lens, such as a general VGA lens, and uses a digital signal processing (DSP) function to detect and calculate a feature object such as a hand or a part of a human body. In the dimension plane, it is defined as the relative position and motion data of the XY plane, that is, the X, Y coordinate data or action data such as up, down, left, right, rotation or zoom, for display The upper synchronization generates the corresponding X, Y coordinates and actions; and simultaneously uses a proximity sensor and an IR light source, and uses a digital signal processing (DSP) function to detect and calculate The feature object is defined in the other dimension relative to the two-dimensional plane (XY plane) as the relative depth value data of the Z-axis, ie, the Z coordinate data or as forward or backward relative to the proximity sensor Keep away from the gesture data, so that the corresponding Z-axis coordinates and actions can be generated simultaneously in the display screen; then use the digital signal processing (DSP) function of the system software to make the above X, Y coordinates or their action data further In combination with the Z coordinate or its motion data, the feature object is calculated in the three-dimensional space, and is defined herein as the relative position and motion data of the XYZ three-dimensional space, that is, the XYZ coordinate or its action data, for outputting the feature The relative position and motion of the object in the XYZ three-dimensional space, in order to synchronously generate corresponding XYZ coordinates and actions on the display screen, forming a remote control synchronous interaction relationship, thereby achieving a three-dimensional user gesture interface system, that is, a three-dimensional human machine The effect of the interface system.

By using the three-dimensional human-machine interface system of the present invention and the method thereof, it can be avoided that the related prior art mostly utilizes at least two lenses to capture a speckle pattern of at least one reference surface to establish a three-dimensional comparison for a field of view. The trouble of the 3D mapping database, that is, when a feature object is caused by motion in the field of view to form a three-dimensional map with a change of the spot pattern, the prior art must be compared with the three-dimensional map database. The corresponding XYZ coordinates and actions can be generated on the display screen, so that the present invention has the advantages of simplified method, simplified structure, and cost saving as compared with the prior art.

In order to make the present invention more clear and detailed, the structure, technical features and design methods of the present invention are described in detail in the following figures:

Referring to FIG. 1 , it is a three-dimensional human interface system of the present invention, or a three-dimensional user gesture interface system, a system architecture and an operational state perspective view of an embodiment. The three-dimensional human-machine interface system 10 includes: at least one lens 20, at least one proximity sensor 30, at least one infrared light source 40, and at least one monitor 50 for at least one user 60 The operation is used in front of the three-dimensional human-machine interface system 10, and the "front" is defined herein as the direction and range of action of the lens 20, the proximity sensor 30, the infrared light source 40, and the display 50. The monitor 50 can be formed by various display screens (or screens, panels) 51 of different image display modes, such as a cathode ray tube (CRT, Cathode Ray Tube) screen, liquid crystal (LCD, Liquid). Crystal Display) Backlit screens and LED backlights.

The lens 20, such as a general VGA lens, is used to detect and calculate a feature object 61, such as a hand 61 of a user 60 or a part of a human body, by a digital signal processing (DSP) function. The relative position and motion data of a XY plane as shown in FIG. 1 on a two-dimensional plane, that is, the X, Y coordinate data of the feature object 61 or the feature object 61 is either up, or down, or to the left. Or to the right, or rotate, or zoom, etc., for synchronizing the corresponding X, Y coordinates and actions on the display 51 of the display 50, as shown in the display screen 51 shown in FIG. The corresponding image 61a of the feature object 61 can be moved to a certain point 52a of the plurality of positions 52 indicated by the display screen 51.

The proximity sensor 30 is used in conjunction with the infrared light source 40. The infrared light source 40 is directed toward the user 60, and particularly includes the position of the feature object 61 or a range of areas covering the feature object. The infrared sensor of a certain intensity is used to sense the reflected light of the infrared light, and particularly includes the infrared light reflected by the infrared light after the characteristic object 61 is reflected. When the feature object 61 generates a relative movement in the Z-axis direction, the red light source 40 may be affected by the intensity of the red light reflected by the feature object 61, such as relatively enhanced or relatively weakened to some extent. The intensity of the light, the proximity sensor 30 can change the intensity of the red light light, for example, when the movement of the feature object 61 in the Z-axis direction is relatively close to the infrared light source 40, the proximity sensor The intensity of the red light light induced by the device 30 is relatively enhanced; when the movement of the characteristic object 61 in the Z-axis direction is relatively backwards away from the infrared light source 40, the intensity of the red light light induced by the proximity sensor 30 is It is relatively weakened; therefore, the relative enhancement or weakening of the intensity of the red light light induced by the proximity sensor 30 can be used to determine that the movement of the feature object 61 in the Z-axis direction is relatively forward or The infrared light source 40 is left behind. Therefore, the proximity sensor 30 is used in conjunction with the infrared light source 40, and is further used to detect and calculate the feature object 61 in relation to the two-dimensional XY plane by a digital signal processing (DSP) function. The relative depth value data on the one-dimensional Z-axis, that is, the Z-coordinate data or the gesture of moving forward or backward relative to the proximity sensor 30 (ie, moving the feature object 61 before and after), for display on the display screen 51 synchronously generates a corresponding Z-axis coordinate and action, such as the corresponding image 61a of the feature object 61 on the display screen 51 shown in FIG. 1 synchronously generates a forward pressing action at the certain point position 52a (eg, similar to the point selection) Action) or leave the action backwards.

The three-dimensional human-machine interface system 10 of the present invention reuses the digital signal processing (DSP) function of the system software, so that the data of the X, Y coordinates or the motion obtained by the lens 20 is further combined with the above The Z coordinate obtained by the sensor 30 or the data of the action thereof are coupled to calculate the relative position and motion data of the feature object 61 in the XYZ three-dimensional space, that is, the XYZ coordinate or the motion data thereof, for outputting the feature object 61. The relative position of the XYZ three-dimensional space and the motion data are synchronously generated on the display screen 51 to generate the XYZ coordinates and actions corresponding to the corresponding image 61a of the feature object 61 at the fixed point position 52a, that is, at the feature object 61 and The display screen 51 forms a remote-controlled and synchronized interaction relationship to achieve a three-dimensional human interface or a user gesture interface system.

Referring to FIG. 1 again, in the embodiment, the lens 20, the proximity sensor 30, and the infrared light source 40 are arranged on the same structure 11, but are not used to limit the lens 20, the proximity sensor 30, and the infrared light source 40. The arrangement between the three; that is, the lens 21, the proximity sensor 22, and the infrared light source 23 may be disposed on the same structure 11 as shown in FIG. 1, or may be separately disposed on different structures, or three. Any two of them can be combined on the same structure, so there are various structural designs in the structural arrangement, and the most advantageous way can be selected according to the convenience of the manufacturer or the user. In this embodiment, the positions of the lens 20, the proximity sensor 30, and the infrared light source 40 are arranged in a longitudinal line in the structure 11, but are not used to limit the position and arrangement between the three. That is, the lens 21, the proximity sensor 22, and the infrared light source 23 may be arranged out of order, or may not be arranged in a vertical or horizontal line. However, in order to improve the use efficiency of the three-dimensional human-machine interface system 10 of the present invention, the X, Y two-dimensional coordinates or motion data can be efficiently coupled with the Z-axis one-dimensional coordinates or motion data in a subsequent step. The lens 21, the proximity sensor 22, and the infrared light source 23 are preferably in an overlapping state to form an overlapping state, that is, the lens 21, the proximity sensor 22, and the infrared light source 23 lens 20 and the proximity of the present invention. The direction and range of the action of the sensor 30 are not required to be optimal as much as possible. However, the related prior art utilizes one or two lenses to capture a speckle pattern of at least one reference surface for establishing When used as a 3D mapping database for comparison, the direction and range of the lens or light source device for capturing a reference spot pattern, that is, the field of view of the lens or the light source device, is It is required to form an overlapping state, otherwise a processor is additionally used to calculate the degree of field of view difference between the two and to compensate, as disclosed in US Patent Publication No. US 2009/0096783. A related technique showing that a processor is used to perform a specific calculation and compensation function when the degree of difference in field of view is generated is as shown in FIG. 2 and FIG. 3; therefore, the present invention does not require the use of a processor as compared with the related prior art. (processor) for performing specific calculations and compensations, which can be regarded as one of the advantages of the use efficiency of the present invention.

In addition, for the system software disclosed in the present invention or the digital signal processing (DSP) function thereof, a processor 70 can be provided as shown in FIG. 1 to provide the system software or The digital signal processing (DSP) function is not limited, that is, the system software or the digital signal processing (DSP) function thereof may be built in the structure 11 or the display screen 51.

Please refer to FIG. 2 again, which is a schematic flowchart of an embodiment of a method for operating a 3D human interface system of the present invention. The method for operating the 3D human interface system of the present invention comprises the following steps: Step 81: Using a lens 20 to capture an image including a feature object 61, and using a digital signal processing function, To detect and calculate the relative position or motion information of the feature object 61 on a two-dimensional plane of the XY axis; Step 82: utilize a proximity sensor 30 to cooperate with an infrared light source 40, and use digital digits a signal processing function for detecting and calculating data of relative depth values or actions of the feature object 61 on another dimension Z axis relative to the XY two-dimensional plane; Step 83: processing by using a system software digital signal a function for coupling the X, Y two-dimensional coordinates or motion data to the Z-axis one-dimensional coordinates or motion data to calculate the relative position of the feature object 61 in the three-dimensional space of the X, Y, and Z axes And the action data, and output the relative position of the feature object 61 in the X, Y, Z axis three-dimensional space and the action data to a display screen; and step 84: control the application of the display screen 51 to synchronously correspond The X, Y, Z coordinate and operation.

For the method of the three-dimensional human-machine interface system 10 of the present invention, a processor 70 can be further provided as shown in FIG. 1 for coordinating the digital signal processing (DSP) in each of the above steps 81, 82, 83 and 84. The function, that is, coordinating the calculation work in the above steps 81, 82, 83, 84.

The functional device of the lens 20, the proximity sensor 30, the infrared light source 40, the display 50, and the like, and the digital signal processing (DSP) function used by the three-dimensional human-machine interface system 10 of the present invention are Each of the above functional devices (20, 30, 40, 50) and digital signal processing (DSP) functions can utilize the prior art in the art to achieve the functions and functions of the functional devices themselves in the present invention, and such functions The individual devices (20, 30, 40, 50) and digital signal processing (DSP) functions are not the main technical features of the three-dimensional human-machine interface system 10 and methods thereof. That is to say, each body itself is not the focus of the invention patent, so the function of each body itself will not be described in detail.

With the three-dimensional human-machine interface system 10 of the present invention and the method thereof, it can be avoided that the related prior art mostly utilizes at least two lenses to capture a speckle pattern of at least one reference surface to establish a comparison for a field of view. The trouble of the 3D mapping database, that is, when a feature object is caused by motion in the field of view to form a three-dimensional map with a change of the spot pattern, the prior art must be performed with the three-dimensional map database. The comparison can initially produce corresponding XYZ coordinates and actions on the display screen, so the present invention has the advantages of simplified method, simplified structure, and cost saving compared with the prior art.

The above are only the preferred embodiments of the present invention, and are merely illustrative and not restrictive. It will be apparent to those skilled in the art that many changes, modifications, and equivalents may be made without departing from the spirit and scope of the invention.

10. . . 3D human interface system

11. . . Structure

20. . . Lens

30. . . Proximity sensor

40. . . Infrared light source

50. . . monitor

51. . . Display screen

52. . . position

52a. . . Fixed position

60. . . user

61. . . Characteristic object (hand)

61a. . . Corresponding image

70. . . processor

81, 82, 83, 84. . . step

1 is a perspective view of an embodiment of a three-dimensional human-machine interface system of the present invention.

2 is a diagram showing the method of the three-dimensional human-machine interface system of the present invention.

10. . . 3D human interface system

11. . . Structure

20. . . Lens

30. . . Proximity sensor

40. . . Infrared light source

50. . . monitor

51. . . Display screen

52. . . position

52a. . . Fixed position

60. . . user

61. . . Characteristic object

61a. . . Corresponding image

70. . . processor

Claims (8)

A method for a three-dimensional human-machine interface, comprising: using a lens and using a digital signal processing function to detect and calculate data of a relative position or motion of a feature object on a two-dimensional plane of the X and Y axes, that is, forming X, Y axis two-dimensional coordinates or motion data; using a proximity sensor to match an infrared light source, and using digital signal processing to detect and calculate the feature object relative to the X , the relative depth value of the Z-axis of the Y-axis two-dimensional plane or the data of the action, that is, the data forming the Z-axis one-dimensional coordinate or action; using the digital signal processing function of a system software to make the X, Y The data of the two-dimensional coordinate or motion of the axis is further coupled with the data of the one-dimensional coordinate or motion of the Z-axis to calculate the relative position and motion information of the characteristic object in the three-dimensional space of the X, Y, and Z axes, that is, the X is formed. , Y, Z-axis three-dimensional coordinates or motion data, and output X, Y, Z-axis three-dimensional coordinates or motion data of the feature object to a display screen of the display; and control the application of the display screen to synchronize corresponding to the X , Y, Z coordinates and movements. The method of claim 3, wherein the feature system is a part of a user's hand or a user's human body. The method of claim 3, wherein the X, Y axis two-dimensional coordinates or motion data comprises X, Y two-dimensional coordinate data of the feature object or the feature object goes upwards and upwards Down, left, right, rotate, zoom action data, for the corresponding X, Y coordinates and actions can be synchronized on the display screen. The method of claim 3, wherein the proximity sensor is used in conjunction with the infrared light source, the infrared light source is directed toward the feature object, including the location of the feature object or the feature object a range of regions, projecting a certain intensity of infrared light, the proximity sensor for sensing a change in the intensity of the reflected light of the infrared light, and when the characteristic object produces a relative movement in the Z-axis direction, if the proximity sensor senses red light When the change of the intensity of the reflected light is relatively enhanced, that is, the movement of the characteristic object in the Z-axis direction is relatively close to the infrared light source, and if the proximity sensor senses the change of the light intensity of the red light reflected light, When it is relatively weak, it is judged that the movement of the characteristic object in the Z-axis direction is relatively backward and away from the infrared light source, that is, the Z-axis one-dimensional coordinate or motion data is formed. A three-dimensional human-machine interface system comprising: a lens for detecting a relative position or action of a feature object on a two-dimensional plane of an X, Y axis by a digital signal processing (DSP) function, that is, forming an X, Y-axis two-dimensional coordinates or motion data; a proximity sensor and at least one matching IR light source for detecting another dimension of the feature object relative to the XY two-dimensional plane A relative depth value or action on the Z axis, that is, a data forming a Z-axis one-dimensional coordinate or motion; a processor for processing the X, Y two-dimensional coordinates or motion data to further coordinate with the Z-axis one-dimensional coordinate or The data of the action is coupled to calculate the relative position and action data of the feature object in the three-dimensional space of the X, Y, and Z axes, that is, to form data of the three-dimensional coordinate or action of the X, Y, and Z axes, and output the feature object. The X, Y, Z axis three-dimensional coordinates or motion data to a display screen; and a display screen for accepting control of the processor to synchronously generate three-dimensional coordinate coordinates corresponding to the X, Y, and Z axes on the display screen And the application of motion to achieve a three-dimensional human machine The use of the planes. The three-dimensional human-machine interface system according to claim 5, wherein the feature system is a part of a user's hand or a user's human body. The three-dimensional human-machine interface system according to claim 5, wherein the X- or Y-axis two-dimensional coordinate or motion data includes X, Y two-dimensional coordinate data of the characteristic object or the feature object is upward and downward. , to the left, to the right, rotate, zoom action data, in order to synchronize the corresponding X, Y coordinates and actions on the display. The three-dimensional human-machine interface system according to claim 5, wherein the proximity sensor is used with the infrared light source, and the infrared light source is directed to the feature object, including the position of the feature object or covering one of the feature objects. a range region that projects a certain intensity of infrared light, the proximity sensor is configured to sense a change in the intensity of the reflected light of the infrared light, and when the feature object generates a relative movement in the Z-axis direction, if the proximity sensor senses a red light reflection When the change of the light intensity of the light is relatively enhanced, it is determined that the movement of the characteristic object in the Z-axis direction is relatively close to the infrared light source, and if the proximity sensor senses the change of the light intensity of the red light reflected light, the relative change is When weakened, it is judged that the movement of the characteristic object in the Z-axis direction is relatively backward and away from the infrared light source, that is, the Z-axis one-dimensional coordinate or motion data is formed.