1246586 八 、本案若有化學式時，請揭示最發明特徵的化 學式 九、發明說明： 【發明所屬之技術領域】 本發明尤指其提供一種於慣性感測 峰態之=運：=多· 捕捉 t二人 :等找理係利用影像分= 要強大且昂ΐ的計管;備:中，動之情形’由於其需 測元件可^由作制、1=能輕易地處理其訊號’而且慣性感 』兀件了措心衣造技術使元件微小化，而可便於 術而里程碑’惟就目前所發展的技 丁而:際上部仍有諸多的問題存在。 『慣Ξΐϋ ί所示’其係為本國專利公告第519263號 搖i fitt置』專職，其㈣三維朗操作的慣性 計Γ同時三維空間^軸旋轉角度之加速度 偵測出慣性二鱼垂直的平面為參考基準面，而1246586 VIII. If there is a chemical formula in this case, please disclose the chemical formula of the most invented features. IX. Description of the invention: [Technical field of the invention] The present invention particularly provides a method for detecting peak states in inertia ==multiple·capture t Two people: Waiting for the reasoning system to use the image points = strong and expensive accounting; preparation: medium, moving situation 'because its components to be tested can be made, 1 = can easily handle its signal' and used to Sexy 兀 了 了 措 措 措 措 措 措 措 措 措 措 措 措 措 措 措 措 措 措 措 措 措 措 措 措 措 措 措 措 措 措 措 措 措 措 措 措"The Ξΐϋ Ξΐϋ ί ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' For reference datum, and
於電腦或多媒體裝置中顯示出人體旋轉角度的互H 1246586 『會所示’其係為本國專利公告第526975號 ^式㈣』專利案’其係為三維空間操作的慣性滑鼠， ΐί IC感測加速度的G值’再將加速度G值的 如虎傳如至破控制器’經由微控制器加以運算In the computer or multimedia device, the mutual rotation angle of the human body is displayed. H 1246586 "It will be shown in the national patent announcement No. 526975 ^ (4) patent case" which is a three-dimensional operation of the inertia mouse, ΐί IC sense The G value of the acceleration is measured and the acceleration G value is passed through the microcontroller.
Si訊號，以糊或多媒體裝置中顯示出人體ΐ移 然而，前述兩專利案中，不管是將慣性残 ，输刪測時，其在操作時皆以= 判斷人體動作的變化量，亦即在三維空間的參考 i老其·/懷姻度或平移，如此就必須域測裝置保持在 ☆==，Γ會因為重力的影響產生誤差， 使用上非巾不讀，亦不符合人體卫學；因此在實 躺方&二維空間時，人體的動作加諸於慣性搖桿，將不單是旋 ί角’伴隨著也會因人體動作誤差而產生傾斜的現 動作加諸於慣性㈣，也將不單是平移而已， 因人體動作誤差而產生傾斜的現象，故不論慣性 ，而疋需同時感測傾斜角度的訊號；雖然，加速 二L 物轉角度或是平移的感測，但是卻無法同時作 s、fii财移的感測，其·在於傾斜角度與平移間會有 及生的誤差存在，若是以加速度計同時輸出角度 3測汛號，此輸出訊號不僅無法修正補償互相影塑 旦ΐ生的誤差，使得訊號無法準確反映人體的動作，且相i η因素越大時，造成的誤差將會更脫離實_狀態；例 :測f貝性滑鼠的平移時，由於人體實際於三維空間操作 :維：p了4:移的變動量外’兼而可能產生傾斜的情形（於 ί付5人體工學的操作上，係會將滑鼠傾斜握持，而 2 ί確Γ絕對水平的參考基準面上作平移），而此傾斜的情 /守胃影¥到加速度計所量測到的重力加速度，若沒有修正 !246586 4除掉Ad素所造成的，加速度計便可能完全誤判為平 ηΐίί速度ΐ化，而使得訊號無法準確反映人體的動 二由5口為如此，丽述兩專利案，其在操作時皆需於三維空 ΐ二:絕:t平的ΐ考基準面，藉以排除可能造成誤判 與二2 ί疋卻又以成使用上的限制，亦不符合人體工 予，口此到目前為止’仍無法提供實際應用。 【發明内容】 其係提Γ 一種空間慣性運動感測裝置， _ 、、感d衣置中衣设數顆加速度計及角度感測器，當 十貝性感測7L件感測在三維空間作動的位置變化時，可利 2感:則器獲得角度的訊號修正補償加速度計因傾斜而受到 哭五度影響所產生的誤差，以獲致準確的訊號，微控制 透過介面電路的訊號轉換，由訊號輸出模組傳輪 σ k接收端的電腦或多媒體裝置，而於電腦或多 正確顯示出互動的狀態。 ’ ’、^ 1本發明之另一目的係提供一種空間慣性運動感測裝置， 用'百亚σ亥怕性感測裝置之微控制器於計算感測訊號時，係利 二I均值或者利用取區間的方式，掏取出加速度的訊號， 果。示口造成後續計算的誤差，而提升使用時的順暢效 1本，明之又一目的係提供一種空間慣性運動感測裝置， 传用士 °亥丨貝性感測裝置中設有一切換開關，於桌面二維空間 咸、了、利用桌面頂壓開關可控制微控制器切換於二維空間 莫式’當脫離桌面三維空間使用0寺，利用開關自動彈開， 求切換於三料間感測模式，進而可依使用需 【實施方式】 感、、則睛^閱第3®，本發明之慣性感測裝置，主要齡慣性 〜疋件10、微控制器2〇、介面電路3〇及訊號輸出模 1246586 ϊί r’u t a慣性感測元件1 ◦包括有χ軸加速度 轴角度感測器10 4、γ軸角度感測器0 = ::t§ 1 0 6，微控制器2 〇係處i X軸加速度^二 轴加速度計i (3 2、z軸加速料丨Q ^ 1 04、Y轴角;ηί t及軸角度感測裔 10 6 ^ 輸出訊號轉換成電腦i多媒體; ΐ: =1輸出模組4 0將訊號傳出至電腦或多媒體裝 為了便於傳輸及操作’本發明的訊號輸^ ===，明於裝置内設有:切換‘ 控制i胸器2 0切換於二維空間感測模式;脫 桌面於二，空間使用時，利用切換開關5 〇自 控制微控制器2 0切換於三維空間残測模1 品幵 需求選擇操作模式。I⑽顺式，進而可依使用 、請參閱第4圖，本發明之慣性感測裝置，於初 二切換Pj關感測判斷其操作模式’當切換開關沒有。時， ，二維慣性滑鼠的❹_式（即位㈣面上操物 ’ 3過f ΪίΓΪΐ計及Y轴加速度計的感測訊號傳輪至微&制 咨’即可轉換成滑鼠移動驗移，並透過介面魏的訊^ 換及無線訊錄th池的峨魏，触端之触模= 3到ΐ性滑3位移訊號，透過處理單元的轉換後，即可 在頒不早兀（如笔腦或電視）顯示出人體動作的位 ^ 切換開關彈起時，為三維慣性運動的感測模 二二 :於三維空間操作慣性裝置)，三轴向之的平移或旋= 透過X軸加速度計、γ軸加速度計及ζ軸加速度計== 仔，但在平移或旋轉角度的過程中，χ軸加速度計又 速度計及Ζ軸加速度計極可能並非在絕對水平的基準面上^ 1246586 下’此傾斜的狀態便 ，，度計及z軸加速度計改變其感測的加度= 7 ；!? ^ifm 5 0 'U，J ^x ^ ^-i γ $，ΤΛ ΐ 制器 於二4、 S度:ίίΓΐϊΐί值扣除因%_造成 ίίίίίΓ ：^ΐ-ίί 作互動ί狀態ρ。以不早疋（如電腦或電視）顯示出人體動 量避測裝置在計算位移或旋轉角度時，應盡 S3 tti的訊號，使得加速度的訊號平順化，以減少 【圖式3=的預，㈣細瓣朗日細暢效果。 弟2圖 第3圖 第4圖 ^ 1圖口 /弓公告第519263號專利之控制流程示意圖。 台灣公告第526975號專利之控制流程示意圖。 本發明之架構示意圖。 本發明之控制流程圖。 【主要元件符號說明】 本發明部分： 101 :x轴加速度計 1 0 4 · v 1 0 3 ·· Ζ 軸加速度計 1 η β ·· 7軸角度感測器1 Q 5 : γ軸角度感測器 Ub ·ζ轴角度感測器20 ·•微控制器 1246586 4 0 3 Ο :介面電路 5 〇 :切換開關 訊號輸出模組 十、申請專利範圍： 1 · 一種空間慣性運動感測裝置，其主要係由慣性感測元 件、微控制器、介面電路及訊號輸出模組所组成，其中， f貝性感/則元件更包括有加速度計及角度感測器，於力口速 度計感測在三維空間作動的位置變化時，利用角度感測 為獲ί于角度的訊號修正補償加速度計因傾斜而受到重 力加速度影響所產生的誤差，以獲致準確的電子訊號， Μ控制為再將訊號透過介面電路的訊號轉換，由訊號輸 出模組傳輸訊號至接收端，而於電腦或多媒體裝置正確 絲頁不出互動的狀態。 2 ·依申請專利範圍第1項所述之空間慣性運動感測裝 置，其中，该微控制器係連接一切換開關，以切換選擇 二維空間感測操作模式或三維空間感測操作模式。 •依申請專利範圍第1項所述之空間慣性運動感測裝 置，其中，該加速度計係有χ軸加速度計、γ軸加速度 計及ζ軸加速度計。 4·依中請專利範圍第i項所述之空間慣性運動感測裝 置’、其中，該角度感測器係有X軸角度感測器、Y軸角 度感測器及Z軸角度感測器。 5 ·依中請專利範圍料項所述之空間慣性運動感測裝 置，其中，該訊號輸出模組係為無線傳輸輸出模組。 依申清專利範圍第1項所述之空間慣性運動感測裝 置’其中’該微控制器係將加速度計所產生的訊號取平 ^值或者取區間的方式，操取出加速度的訊號，使得加 U的訊餅概，喊少雜訊舰測訊號的干擾。The Si signal shows the human body shifting in a paste or multimedia device. However, in the above two patent cases, regardless of whether the inertia is disabled or not, the amount of change in the human body motion is judged by the operation when the operation is performed, that is, The reference of the three-dimensional space is old and/or the degree of translation or translation, so the domain measuring device must be kept at ☆==, and the error will be caused by the influence of gravity, and it is not suitable for human health; Therefore, in the real lying square & two-dimensional space, the movement of the human body is added to the inertia rocker, which will not only be the angle of rotation, but also the current action of tilting due to human body motion error, which is added to inertia (4). It will not only be a translation, but also a tilting phenomenon due to human motion errors. Therefore, regardless of the inertia, it is not necessary to simultaneously sense the tilt angle signal; although, the acceleration of the two L object rotation angle or translational sensing, but not simultaneously For the sensing of s and fii, it depends on the error between the tilt angle and the translation. If the accelerometer outputs the angle 3 at the same time, the output signal can not only correct the compensation. The error of the twins makes the signal unable to accurately reflect the movement of the human body, and the larger the phase i η factor, the more the error will be deviated from the real state; for example, when the translation of the f-sex mouse is measured, the human body actually Three-dimensional space operation: dimension: p 4: shifting outside the amount of 'may also produce a tilt situation (in the ergonomic operation of the lus, the system will hold the mouse tilted, and 2 ί Γ absolutely The horizontal reference plane is translated), and the tilted/shouldered image is measured by the accelerometer. If there is no correction! 246586 4, the accelerometer may be completely removed by the removal of the Ad element. Misjudgment is flat ηΐίί speed smashing, so that the signal can not accurately reflect the human body's movement two by five, so Lishao two patent cases, which are required to operate in three-dimensional space two: absolutely: t flat reference In order to eliminate the possibility of misjudgment and the use of 2 疋 疋 又 又 使用 使用 使用 使用 使用 使用 使用 使用 使用 使用 使用 使用 使用 使用 使用 使用 使用 使用 使用 使用 人体 人体 人体 人体 人体 人体 人体 人体 人体SUMMARY OF THE INVENTION The present invention provides a spatial inertial motion sensing device, _, and a plurality of accelerometers and angle sensors for the clothing, and when the 10th sensing is measured in a three-dimensional space, When the position changes, the sensation of 2: the signal correction of the angle of the device is compensated by the error caused by the five degrees of crying due to the tilt, so as to obtain an accurate signal, and the signal is converted by the signal through the interface circuit. The module transmits the computer or multimedia device at the receiving end of the σ k, and the interactive state is displayed correctly on the computer. ' ', ^ 1 Another object of the present invention is to provide a space inertial motion sensing device, using the 'Bai Ya 亥 怕 怕 性感 性感 性感 性感 之 之 计算 计算 计算 计算 计算 计算 计算 计算 计算 计算 计算 计算 计算 计算 计算 计算 计算 计算 计算 计算In the way of the interval, the signal of the acceleration is taken out. The display port causes the error of subsequent calculation, and the smoothness of the use is improved. Another purpose of the invention is to provide a space inertial motion sensing device, which is provided with a switch in the desktop. The two-dimensional space is salty, and the desktop top pressure switch can be used to control the switching of the microcontroller to the two-dimensional space. When using the 0 temple from the desktop three-dimensional space, the switch is automatically bounced off, and the switching mode is switched between the three materials. Further, depending on the application, the third embodiment, the inertial sensing device of the present invention, the main inertia, the device 10, the microcontroller 2, the interface circuit 3, and the signal output mode can be used. 1246586 ϊί r'u ta inertial sensing element 1 ◦ includes χ axis acceleration axis angle sensor 10 4 , γ axis angle sensor 0 = ::t§ 1 0 6, microcontroller 2 〇 at i x Axis acceleration ^ two-axis accelerometer i (3 2, z-axis acceleration material 丨 Q ^ 1 04, Y-axis angle; ηί t and shaft angle sensing descent 10 6 ^ output signal converted to computer i multimedia; ΐ: =1 output Module 40 transmits the signal to a computer or multimedia device for transmission and operation. The signal input of the present invention is ^===, which is provided in the device: switching 'control i chest 2 0 switch to the two-dimensional spatial sensing mode; off the desktop in two, when using the space, using the switch 5 The control microcontroller 20 switches to the three-dimensional residual test mode 1 product demand selection operation mode. I (10) cis, and then according to the use, please refer to FIG. 4, the inertial sensing device of the present invention switches Pj off in the second day. Sensing and judging its operation mode 'When the switch is not in use, the two-dimensional inertia mouse's ❹_ type (ie, the position on the (four) face's 3' f Ϊ ΓΪΐ ΓΪΐ and the Y-axis accelerometer's sense signal passes to the micro & 咨询' can be converted into a mouse movement check, and through the interface Wei Wei and the wireless recording th pool of Wei Wei, the touch of the touch mode = 3 to the slippery 3 displacement signal, through the processing After the unit is converted, the position of the human body movement can be displayed early (such as a pen or brain). When the switch is popped up, the sensing mode for the three-dimensional inertial motion is two: operating the inertial device in three-dimensional space. , three-axis translation or rotation = through X-axis accelerometer, γ-axis accelerometer ζ axis accelerometer == Aberdeen, but in the process of translation or rotation angle, the χ axis accelerometer and the speedometer and the Ζ axis accelerometer are probably not in the absolute horizontal reference plane ^ 1246586 'this tilt state, , the meter and the z-axis accelerometer change the sensitivity of the sense = 7 ;!? ^ifm 5 0 'U,J ^x ^ ^-i γ $,ΤΛ ΐ 二2, S degree: ίίΓΐϊΐί Deducted by %_ resulting in an ί _ _ ΐ 互动 以 以 以 以 以 以 以 以 以 以 以 以 以 以 以 以 以 以 以 以 以 以 以 以 以 以 以 以 以 以 以 以 以 以 以 以 以 以 人体 人体 人体 人体 人体 人体 人体 人体 人体 人体 人体 人体 人体The signal of the acceleration is smoothed to reduce the effect of [3], (4) fine-grained and smooth. 2, Fig. 3, Fig. 4, Fig. 1 Schematic diagram of the control flow of the patent of No. 519263. Schematic diagram of the control flow of Taiwan Patent No. 526975. Schematic diagram of the architecture of the present invention. Control flow chart of the present invention. [Main component symbol description] Part of the invention: 101: x-axis accelerometer 1 0 4 · v 1 0 3 ·· 轴 Axis accelerometer 1 η β ·· 7-axis angle sensor 1 Q 5 : γ-axis angle sensing Ub ·ζ axis angle sensor 20 ·•Microcontroller 1246586 4 0 3 Ο :Interface circuit 5 切换:Switching switch signal output module X. Patent scope: 1 · A space inertial motion sensing device, mainly The utility model is composed of an inertial sensing component, a microcontroller, a interface circuit and a signal output module, wherein the f-beauty/then component further comprises an accelerometer and an angle sensor, and the force velocity meter is sensed in a three-dimensional space. When the position of the actuation changes, the angle sensor is used to correct the error caused by the acceleration of the gravitational acceleration due to the inclination of the signal, so as to obtain an accurate electronic signal, and then control the signal to pass through the interface circuit. Signal conversion, the signal output module transmits the signal to the receiving end, and the correct silk page of the computer or multimedia device does not interact. The spatial inertial motion sensing device of claim 1, wherein the microcontroller is coupled to a switch to switch between selecting a two-dimensional spatial sensing mode of operation or a three-dimensional spatial sensing mode of operation. The space inertial motion sensing device according to claim 1, wherein the accelerometer is a x-axis accelerometer, a gamma-axis accelerometer, and a x-axis accelerometer. 4. The space inertial motion sensing device according to item i of the patent scope, wherein the angle sensor is provided with an X-axis angle sensor, a Y-axis angle sensor and a Z-axis angle sensor . 5 · The space inertial motion sensing device described in the patent scope item, wherein the signal output module is a wireless transmission output module. According to the space inertial motion sensing device described in the first paragraph of the patent scope of the patent application, wherein the microcontroller extracts the signal generated by the accelerometer or takes the interval, and extracts the acceleration signal, so that the signal is added. U's message is about the interference of the noise signal of the noise carrier.