1253005 五、發明說明（1/) 【發明所屬之技術領域】 本發明係關於一種定位裝置，特別是關於一種運用 影像感測器之3維指標輸入裝置。 【先前技術】 目前的光學滑鼠，皆為運用影像感測器感測近接的 (p r ο X i m a 1 :)平面影像後，再依據前後不同的平面影像資 料計算影像感測器部（亦即滑鼠部）與平面的相對運動， 進而計算出滑鼠的位移。 A g 1 1 e n t 白勺專利 U S 6，0 5 7，5 4 0 與 U S 6，6 2 1，4 8 3 ，運用同 樣的演算法來作為另一種光學滑鼠的應用。其係運用影 像感測器將近距離的手指影像拍攝下來後，作前後兩張 影像的比對，進而計算為二維座標的位移。惟A g i 1 e n t的 新架構僅需動手指，即可計算『手指』的位移值而不需 要有真的滑鼠。 然而，滑鼠除了位移值的計算外，還需要有『按 鍵』的功能。由於 A g i 1 e n t 的 U S 6，0 5 7，5 4 0 與 U S 6，6 2 1，4 8 3 兩篇專利並不具有『按鍵』的功能，於是，原來的滑鼠 按鍵（如左鍵、右鍵）仍然必須透過別的按鍵來實現，如 U S 6，6 2 1，4 8 3當中所示者。因此，其有不易商品化的問 題，所以，目前市面上仍未見到相關的產品。 這種近接的（Proximal)取像方式，僅能處理近距離 (1 c m以内）的影像，並無法以近接的平面以外的影像、動 作等來作位移的判斷。 【發明内容】1253005 V. INSTRUCTION DESCRIPTION (1/) BACKGROUND OF THE INVENTION 1. Field of the Invention This invention relates to a positioning device, and more particularly to a three-dimensional index input device using an image sensor. [Prior Art] The current optical mouse uses the image sensor to sense the proximity (pr ο X ima 1 :) plane image, and then calculates the image sensor portion based on the different front and back plane image data (ie, The mouse's relative motion with the plane, and then the displacement of the mouse is calculated. A g 1 1 e n t patent U S 6,0 5 7,5 4 0 and U S 6,6 2 1,4 8 3 , using the same algorithm as another optical mouse application. It uses an image sensor to take a close-up finger image and compare it with the two images before and after, and then calculate the displacement as a two-dimensional coordinate. However, the new architecture of A g i 1 e n t can calculate the displacement value of the "finger" without the need of a real mouse. However, in addition to the calculation of the displacement value, the mouse also needs to have the function of "pressing the key". Since the US 6,0 5 7,5 4 0 and US 6,6 2 1,4 8 3 of A gi 1 ent do not have the function of “button”, the original mouse button (such as the left button) , right button) must still be achieved through other buttons, as shown in US 6,6 2 1,4 8 3 . Therefore, it is difficult to commercialize, so there are still no related products on the market. This proximity imaging method can only process images at close distances (within 1 cm), and cannot judge the displacement by images, motions, etc. other than the close plane. [Summary of the Invention]
1253005 五、發明說明（2) 鑑於以上習知技術的問題，本發明提供一種3 D指標 輸入裝置，可達到以遠端物體進行二維位移計算的目 的。 本發明之另一目的在於，提供一種3 D指標輸入裝 置，以實現遠端的三維位移計算。 為達上述目的，本發明提供一種3 D指標輸入裝置， 係用於感測一遠端物體以輸出可控制電腦螢幕之三維游 標位置至電腦，包含有：影像感測模組，用以接收該遠 端物體所反射之光線，藉以形成影像訊號；以及，位置 計算單元，用以接收該影像訊號，並依據統計法轉換該 影像訊號為一二維座標值（X - Y轴），並依據該影像感測模 組所擷取的前後兩張的影像訊號的統計量來判斷該遠端 物體的Z軸位移量。 其中本發明之3D指標輸入裝置更包含一光發射器， 可發射紅外光或者其他頻譜之光線，藉以讓移動物體反 射。此外，遠端物體亦可包含一反光裝置，以協助移動 物體的反光。 以本發明之3 D指標輸入裝置，亦可改裝為3 D滑鼠。 藉由一些簡單的動作，作為滑鼠控制指令的判斷，以及Z 軸的位移來作滑鼠輸入的判斷，即可製作為3D滑鼠。 為讓本發明之上述和其他目的、特徵、和優點能更 明顯易懂，下文特舉數個較佳實施例，並配合所附圖 式，作詳細說明如下： 【實施方式】1253005 V. INSTRUCTION DESCRIPTION (2) In view of the above problems of the prior art, the present invention provides a 3D index input device capable of achieving two-dimensional displacement calculation with a distal object. Another object of the present invention is to provide a 3D index input device for performing three-dimensional displacement calculation of the distal end. To achieve the above objective, the present invention provides a 3D index input device for sensing a remote object to output a three-dimensional cursor position of a controllable computer screen to a computer, comprising: an image sensing module for receiving the The light reflected by the remote object is used to form an image signal; and the position calculation unit is configured to receive the image signal and convert the image signal into a two-dimensional coordinate value (X-Y axis) according to a statistical method, and according to the The statistics of the image signals of the two front and back images captured by the image sensing module determine the Z-axis displacement of the remote object. The 3D index input device of the present invention further comprises a light emitter that emits infrared light or other spectrum light to reflect the moving object. In addition, the distal object may also include a retroreflective device to assist in the reflection of moving objects. The 3D index input device of the present invention can also be modified into a 3D mouse. It can be made into a 3D mouse by some simple actions, as a judgment of the mouse control command, and a displacement of the Z axis for the mouse input. The above and other objects, features and advantages of the present invention will become more <RTIgt;
1253005 五、發明說明（3) 本發明係運用影像感測器擷取影像。當影像感測器 固定時，環境景物即為固定者，而影像感測器所擷取到 遠端的移動物體影像的框（f r a m e )影像，將會隨著不同時 間點而有所不同。本發明將移動物體的影像訊號抽離出 來，進行分析，·並將其轉換為3 D的點座標值。以下，將 詳細說明本發明的具體實施方式。 請參考「第1圖」，本發明之3 D指標輸入裝置2 0包含 了幾個都分：鏡頭組2 1 、影像感測器2 2、紅外線發射器 2 3與位置計算單元2 4。透過紅外線發射器2 3發射紅外 線，即可照射遠方的物體，如「第1圖」中的手1 0。影像 感測器2 2透過鏡頭組2 1可感測到手1 0反射紅外線發射器 2 3所發射的紅外線。通常影像感測器皆與鏡頭組組合在 一起而作成影像感測模組。藉由位置計算單元2 4的轉 換，將手1 0的影像訊號轉換為一個相對的點座標值。當 手1 0左右移動時，影像感測器2 2藉由擷取到新的影像， 計算出新的『手座標值』後，即可可計算出X、Y軸的位 移變化。當手1 0做與3 D指標輸入裝置2 0相對的前後移動 時，位置計算單元2 4可依據影像的統計量的變化，計算 出Z軸的位移變化。 其中·位置計算單元2 4可運用重心法或者統計法來 計算X - Y軸的座標值與位移值。於是，我們可以利用如此 的3 D位移變化，將X、Y軸的位移變化，轉換為螢幕的游 標變化。 此外·本發明可將Z軸的位移變化，設定為按鍵的輸1253005 V. INSTRUCTIONS (3) The present invention uses an image sensor to capture images. When the image sensor is fixed, the environment scene is the fixer, and the frame (f r a m e ) image captured by the image sensor to the far-end moving object image will vary with different time points. The present invention extracts the image signal of the moving object, analyzes it, and converts it into a 3 D point coordinate value. Hereinafter, specific embodiments of the present invention will be described in detail. Referring to Fig. 1, the 3D index input device 20 of the present invention includes several points: a lens group 2 1 , an image sensor 2 2, an infrared emitter 23 and a position calculating unit 24. By emitting infrared light through the infrared emitter 2 3, it is possible to illuminate a distant object, such as the hand 10 in "Fig. 1". The image sensor 2 2 can sense the infrared rays emitted by the hand 10 reflecting the infrared emitter 23 through the lens group 2 1 . Usually, the image sensor is combined with the lens group to form an image sensing module. The image signal of the hand 10 is converted into a relative point coordinate value by the conversion of the position calculating unit 24. When the hand 10 moves to the left or right, the image sensor 2 2 can calculate the shift of the X and Y axes by calculating a new "hand sign value" by capturing a new image. When the hand 10 moves back and forth as opposed to the 3D index input device 20, the position calculating unit 24 calculates the displacement change of the Z-axis based on the change in the statistical amount of the image. The position calculation unit 24 can calculate the coordinate value and the displacement value of the X-Y axis by using the center of gravity method or the statistical method. Thus, we can use this 3D displacement change to convert the displacement of the X and Y axes into a cursor change of the screen. In addition, the present invention can change the displacement of the Z axis and set the input of the button.
1253005 五、發明說明（4) 入。例如，前後移動一次，即為按一次按鍵，移動兩次 即代表按兩次按鍵。如此，即可將本發明的3 D指標輸入 裝置2 0變為3 D滑鼠。做法可以是：配合將一些特殊動作 判讀為滑鼠的左右鍵，如左旋為滑鼠左鍵，右旋為滑鼠 右鍵，即可輸入滑鼠的指令。此種方式的例子：左旋一 次，前後移動一次，則代表按下滑鼠左鍵。其他的可能 性非常地多，依此類推，在此不加贅述。 而要實現以上的滑鼠功能，則必須在位置計算單元 2 4當中加入滑鼠按鍵判斷的演算法。 或者，本發明可直接作為3 D的座標輸入，運用在3 D 立體遊戲當中。 此外，有時環境的色彩與移動物體非常接近，會導 致對移動物體的判斷。此時，可在移動物體上增加一反 光裝置，可選擇對紅外線發射器2 3特別有反射效果的材 質c 另外，紅外線發射器2 3也可用其他的光發射器所取 代。原則是，要能讓移動物體能充分的反射光線，以 及，光發射器所發射的光在影像感測器所能感測的頻譜 當中。同樣地，也可適當選擇反光材料來協助光線的反 射。 或者，不需要紅外線發射器2 3，直接採用環境光的 反射方式來進行。不過，此種方式在光線不充足的地方 不適合採用。 為了更清楚說明本發明的實施，請參考「第2圖」，1253005 V. Description of invention (4) Entry. For example, moving back and forth once means pressing the button once, and moving twice means pressing the button twice. Thus, the 3D index input device 20 of the present invention can be changed to a 3D mouse. The practice can be: with some special actions as the left and right keys of the mouse, such as left-handed as the left mouse button and right-handed as the right mouse button, you can input the mouse command. An example of this type: left-handed once, moving back and forth once means pressing the left mouse button. Other possibilities are very much, and so on, so I won't go into details here. In order to implement the above mouse function, an algorithm for determining the mouse button must be added to the position calculating unit 24. Alternatively, the present invention can be directly used as a 3D coordinate input for use in a 3D stereo game. In addition, sometimes the color of the environment is very close to the moving object, which leads to the judgment of the moving object. At this time, a reflecting means can be added to the moving object, and the material which is particularly reflective to the infrared emitter 23 can be selected. Alternatively, the infrared emitter 23 can be replaced by other light emitters. The principle is to allow the moving object to reflect the light sufficiently, and the light emitted by the light emitter is in the spectrum that the image sensor can sense. Similarly, reflective materials can be appropriately selected to assist in the reflection of light. Alternatively, the infrared emitter 23 is not required to be directly reflected by the ambient light. However, this method is not suitable for use in places where there is insufficient light. In order to more clearly illustrate the implementation of the present invention, please refer to "Figure 2".
1253005 五、發明說明（5) 其為影像感測器2 2與移動物體，亦即手1 0所在的位置之 相對空間示意圖。在遠端，例如2公尺之外，手1 0所在的 位置，對影像感測器2 2來說是處於一個映射平面1 0 0。也 就是，影像感測器2 2所看到的手1 0是在映射平面1 0 0上。 反之，手1 0所投影到影像感測器2 2上的影像訊號，也會 相對應於影像感測器2 2上的某個區塊。運用此一感測到 的影像感測區塊，本發明即可將之轉換為一相對應的平 面座標值（X - Y )。 轉換的方式可以有很多種，例如重心法或者統計 法。請參考「第3圖」，其為從影像感測器2 2的X軸訊號 所做的影像感測訊號的統計值。如前所述，由於背景為 固定的，所以，我們可以輕易地透過消除背景訊號的方 式獲得運動物體的影像訊號。於是，如「第3圖」的統計 值，可代表移動物體的影像統計值。本發明即運用此一 統計值來轉換為X軸座標，例如，取「第3圖」的重心， 或者最大值代表X軸座標。針對相同的移動物體來講，每 次的位置計算方式都相同，所以，座標偏移的誤差會相 當地小。同樣地，Y軸座標值也可用相同的方式來進行轉 換。 於是，本發明即可將如「第4 A圖」的影像訊號，轉 換為「第4B圖」的座標值。 請參考「第5 A、5 B圖」，其可說明本發明如何獲得Z 軸的變化量，請配合參考「第2圖」。在「第2圖」中， 影像感測器22所對應的映射平面100的大小，與距離成正1253005 V. Description of the Invention (5) It is a relative spatial diagram of the position where the image sensor 22 and the moving object, that is, the hand 10 is located. At the far end, for example, 2 meters away, the position where the hand 10 is located is at a mapping plane 1 0 0 for the image sensor 22. That is, the hand 10 seen by the image sensor 22 is on the mapping plane 1 0 0. On the contrary, the image signal projected by the hand 10 onto the image sensor 22 also corresponds to a certain block on the image sensor 22. Using the sensed image sensing block, the present invention can convert it to a corresponding planar coordinate value (X - Y ). There are many ways to convert, such as center of gravity or statistics. Please refer to "3", which is the statistical value of the image sensing signal from the X-axis signal of the image sensor 22. As mentioned above, since the background is fixed, we can easily obtain the image signal of the moving object by eliminating the background signal. Thus, the statistical value of "Fig. 3" can represent the statistical value of the image of the moving object. The present invention uses this statistic to convert to the X-axis coordinate, for example, the center of gravity of "Fig. 3", or the maximum value represents the X-axis coordinate. For the same moving object, the position calculation method is the same every time, so the error of the coordinate offset will be relatively small. Similarly, the Y-axis coordinate values can be converted in the same way. Therefore, the present invention can convert the image signal such as "Fig. 4A" into the coordinate value of "Fig. 4B". Please refer to "5A, 5B", which explains how the invention obtains the amount of change in the Z-axis. Please refer to "Figure 2" for reference. In "Fig. 2", the size of the mapping plane 100 corresponding to the image sensor 22 is positive with the distance.
第10頁 1253005 五、發明說明（6) 比。亦即，距離越大，映射平面1 0 0越大。於是，固定大 小的移動物體，會因距離的遠距而反應到影像感測器2 2 當中的感測訊號。如「第5 A圖」為距離三公尺左右的影 像感測器2 2所感測的影像，而「第5 B圖」所示者則為距 離二公尺左右的影像感測器2 2所感測到的影像訊號。 「第5 A圖」和「第5 B圖」的影像訊號，皆可用第三 圖的方式來計算X或Y軸的統計量。而由於相類似的移動 物體影像訊號，我們可反過來由其影像的統計量變化來 計算出Z軸的位移量。而位移量的準確值，可用實際實驗 的方式來作校正。此點會因影像感測器2 2的影像擷取速 度而有所不同。不過，皆可用相同的原理來進行Z軸的位 移判斷。 前述僅能處理Z軸的相對座標的計算，亦即為位移 量。若要計算出Z軸的絕對座標，則必須事先經過校正的 程序。做法有許多種，例如，以固定的移動物體來作預 設值的輸入。可先將某個距離定義為Z軸的絕對座標0， 例如二公尺，接近影像感測器為負，遠離影像感測器為 正。接下來，再以上述的實驗方式，測試移動物體的移 動的距離與座標的轉換，並依據實際的需求來作調整即 c 雖然本發明之較佳實施例揭露如上所述，然其並非 用以限定本發明·任何熟習相關技藝者，在不脫離本發 明之精神和範圍内，當可作些許之更動與潤飾，因此本 發明之專利保護範圍須視本說明書所附之申請專利範圍Page 10 1253005 V. Description of invention (6) Ratio. That is, the larger the distance, the larger the mapping plane 1 0 0. Therefore, the moving object fixed in size will react to the sensing signal in the image sensor 2 2 due to the distance of the distance. For example, "Picture 5A" is an image sensed by an image sensor 22 that is about three meters away, and "Image 5B" is sensed by an image sensor 22 that is about two meters away. Image signal to. The image signals of "5A" and "5B" can be calculated by the third graph to calculate the X or Y axis statistics. And because of similar moving object image signals, we can in turn calculate the displacement of the Z axis from the statistical changes in its image. The exact value of the displacement can be corrected by the actual experiment. This point will vary depending on the image capture speed of Image Sensor 22. However, the same principle can be used to determine the displacement of the Z axis. The foregoing can only deal with the calculation of the relative coordinates of the Z axis, that is, the displacement amount. To calculate the absolute coordinates of the Z axis, you must pass the corrected procedure beforehand. There are many ways to do this, for example, using a fixed moving object as a pre-set value input. You can first define a distance as the absolute coordinate of the Z axis, for example, two meters, which is negative near the image sensor and positive from the image sensor. Next, in the above experimental manner, the distance between the moving object and the coordinate of the moving object is tested, and adjusted according to the actual demand, that is, although the preferred embodiment of the present invention is disclosed above, it is not used. </ RTI> </ RTI> </ RTI> </ RTI> </ RTI> <RTIgt; </ RTI> </ RTI> <RTIgt; </ RTI> </ RTI> </ RTI>
1253005 五、發明說明（7) 所界定者為準。 1253005 圖式簡單說明 第1圖係為本發明3 D指標輸入裝置之架構圖； 第2圖係為影像感測器與移動物體之相對空間示意 圖； 第3圖係為從影像感測器的X軸訊號所做的影像感測 訊號的統計值； 第4 A圖係為物體的反射影像訊號圖； 第4 B圖係為經換算之物體座標點； 第5 A圖係為距離三公尺左右的影像感測器所感測的 影像；以及 第5 B圖係為距離二公尺左右的影像感測器所感測的1253005 V. The definition of the invention (7) shall prevail. 1253005 BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a structural diagram of a 3D index input device of the present invention; Fig. 2 is a relative spatial view of an image sensor and a moving object; and Fig. 3 is a X from an image sensor The statistical value of the image sensing signal made by the axis signal; the 4A picture is the reflected image signal of the object; the 4th B picture is the coordinate point of the converted object; the 5A picture is the distance of about 3 meters The image sensed by the image sensor; and the 5th B image is sensed by an image sensor measuring about two meters
影像。 【圖示符號說明】 10 手 2 0 3 D指標輸入裝置 2 1 鏡頭組 2 2 影像感測器 2 3 紅外線發射器 2 4 位置計算單元 10 0 映射平面image. [Description of symbols] 10 hands 2 0 3 D indicator input device 2 1 lens group 2 2 image sensor 2 3 infrared emitter 2 4 position calculation unit 10 0 mapping plane
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