TWI411939B - Moving trajectory reconstruction system and a signal input apparatus - Google Patents

Abstract

The invention proposed a moving trajectory reconstruction system and a signal input apparatus thereof. The trajectory reconstruction system detects motions of the signal input apparatus by a movement detector and an orientation detector of the apparatus to respectively generate a movement signal and an orientation signal. Furthermore, a central processing apparatus compensates and corrects the movement signal with the orientation signal, and reconstructs a trajectory signal. A control unit determines whether a function mode of the system has to be change or not based on the reconstructed trajectory signal, generates a display signal, and sends the display signal to a image output apparatus for showing an image on a display screen.

Description

Moving track reconstruction system and its signal input device

The invention relates to a mobile trajectory reconstruction system and a signal input device thereof, in particular to a mobile trajectory reconstruction system for generating a moving trajectory signal in a three-dimensional space through the signal input device for performing projection screen manipulation.

A conventional mobile trajectory reconstruction system, such as the "integrated input device" of the Republic of China Patent No. M313840, the integrated input device performs the operation mode switching of the integrated input device by hand movement, and simultaneously controls the image. The cursor position of the processing device. The integrated input device comprises an inertial sensing unit, a signal processing unit and a wireless transmitting unit. The inertial sensing unit includes a gyroscope and a multi-axis accelerometer for sensing an angular velocity of the integrated input device when the Z-axis rotates, the multi-axis accelerometer for sensing the integrated input device a linear acceleration in the X-axis, the Y-axis, and the Z-axis, and the gyroscope and the multi-axis accelerometer respectively generate an electronic signal; the signal processing unit is electrically connected to the inertial sensing component unit for capturing the inertia Sexyly measuring the electronic signal of the component unit, and converting the electronic signal processing into a cursor position signal, and the signal processing unit captures the Z-axis electronic signal of the multi-axis accelerometer for determining the operation of the integrated input device The wireless transmitting unit is electrically connected to the signal processing unit for capturing the cursor position signal of the signal processing unit, and transmitting the cursor position signal to an image processing device provided with the receiving device.

In the integrated input device described above, the electronic signal generated by the inertial sensing component unit is directly converted into the cursor position signal after being processed by the signal processing unit, and there is no mechanism for correcting the compensation of the cursor position error, so that the cursor position is compared. Large offset. Moreover, since the above-mentioned integrated input device uses only the two deflection angles at a fixed position as the cursor position signal, the integrated input device is obviously not suitable for the case where it is displaced in three-dimensional space.

Moreover, the coordinate position of the projection screen generated by the display device cannot be integrated with the electronic signal generated by the inertial sensing component unit, that is, the cursor position cannot be accurately displayed on the correct relative position of the projection screen. In addition, the above-mentioned conventional motion trajectory reconstruction system can only be used to control the position of the cursor, and obviously does not provide other functions such as drawing or handwriting recognition, and does not provide switching between several manipulation modes and is convenient to use. Apparatus and method. Therefore, the conventional mobile trajectory reconstruction system is necessary for improvement.

The object of the present invention is to improve the above disadvantages to provide a moving trajectory reconstruction system and a signal input device thereof, which have the purpose of reconstructing a spatial movement trajectory.

A second object of the present invention is to provide a mobile trajectory reconstruction system and a signal input device thereof, which compensates a mobile signal by a direction signal to achieve the purpose of reducing the reconstruction trajectory error.

Still another object of the present invention is to provide a mobile trajectory reconstruction system and a signal input device thereof for a user to switch between several manipulation modes in a non-contact manner.

The mobile track reconstruction system according to the present invention comprises: a signal input device, a central processing device, a control unit and an image output device. The signal input device is provided with a motion sensing module, a direction sensing module and a signal transmission module. The motion sensing module detects the motion of the signal input device and generates a mobile signal. The measuring module detects the displacement direction of the signal input device when moving and generates a direction signal, and the signal transmission module is connected to the motion sensing module and the direction sensing module to receive the mobile signal and direction. Signal. The central processing device is coupled to the signal transmission module and receives the mobile signal and the direction signal. The central processing device compensates the error of the mobile signal with the direction signal to generate a reconstructed track signal. The control unit searches for whether any one of the plurality of mode signals is included in the reconstructed track signal to determine whether to adjust a control mode, and the control unit generates a display signal by using the reconstructed track signal and the control mode. The image output device receives the display signal and generates a display screen on a display screen.

The motion sensing module of the mobile trajectory reconstruction system has an accelerometer and a gyroscope, and the acceleration measures three acceleration values in three mutually perpendicular axial directions of the signal input device, and the gyroscope amount Three angular velocity values generated when the signal input device rotates along the three axial directions are measured, and the three acceleration values and angular velocity values are used as the movement signal.

The central processing unit of the moving trajectory reconstruction system corrects the angle value obtained by integrating the angular velocity values in the mobile signal after the time is integrated by the direction signal.

The central processing unit of the mobile trajectory reconstruction system corrects an angle value obtained by integrating an angular velocity value of the mobile signal after the time is integrated by the direction signal, and the angle value is indicative of the signal input device. The yaw angle of the lateral yaw state.

The signal input device of the mobile track reconstruction system is further provided with a mode switching switch connected to the signal transmission module, and the central processing device is further provided with a switching signal processor connected between the signal transmission module and the control unit. The mode switching switch is configured to generate a switching signal sent to the control unit through the signal transmission module and the switching signal processor, and the control unit searches for the number of the reconstructed track signal only when the switching signal is received. Any one of the mode signals to determine whether to adjust a control mode.

The mobile trajectory reconstruction system further includes a positioning sensing device, the positioning sensing device has a transmitter and a plurality of receivers, the transmitter is coupled to the signal input device, and the receiver is coupled to the imaging device The screen is electrically connected to the central processing device, the receiver senses the position of the transmitter and generates a position signal sent to the central processing device, and the central processing device coordinates the position signal with an image processing algorithm. Convert and transfer to the image output device.

The signal input device according to the present invention comprises: a mobile sensing module, a direction sensing module and a signal transmission module. The motion sensing module detects motion of the signal input device and generates a mobile signal; the direction sensing module detects a displacement direction of the signal input device when moving, and generates a direction signal; The signal transmission module is connected to the motion sensing module and the direction sensing module to receive and transmit the mobile signal and the direction signal.

The above and other objects, features, and advantages of the present invention will become more apparent from the aspects of the appended claims. The first embodiment of the mobile trajectory reconstruction system of the present invention, wherein the mobile trajectory reconstruction system comprises a signal input device 1, a central processing device 2, a control unit 3, an image output device 4, and a positioning sensing device. 5. The signal input device 1 is for the user to hold and move, rotate or oscillate along a desired input trajectory in a three-dimensional space, and sends a signal to the central processing device 2 for movement, rotation or swing. The central processing unit 2 receives the signal generated by the signal input device 1 and performs signal processing on the signal to generate a reconstructed track signal, and sends the reconstructed track signal to the control unit 3. The control unit 3 is electrically connected to the central processing device 2, and determines whether to adjust the control mode of the mobile track reconstruction system according to the reconstructed track signal, and generates a display signal corresponding to the determination result of the reconstructed track signal and the control mode. The image output device 4 is electrically connected to the control unit 3 to receive the display signal and generate a display screen, and the display screen is presented on a development screen 6. The position sensing device 5 senses the relative position of the signal input device 1 and the display screen 6, and generates a position signal to be transmitted to the central processing device 2 to more accurately locate an input point of the display screen. The position in the display screen.

The signal input device 1 is provided with a mobile sensing module 11, a directional sensing module 12 and a signal transmission module 13, and the signal input device 1 preferably has a further a detachable light source, and Preferably, the light source is a laser light source, so that the signal input device 1 is in the form of a laser pen, and the laser light emitted by the laser light source is projected onto the development screen 6. The motion sensing module 11 is configured to detect a movement trajectory of the signal input device 1 along the desired input trajectory in a three-dimensional space, and generate a mobile signal. The motion sensing module 11 is preferably provided with an accelerometer and a gyroscope for measuring three acceleration values generated in three mutually perpendicular axes of the signal input device 1 by using the acceleration, and using the The gyroscope measures three angular velocity values generated when the signal input device 1 rotates in the three axial directions, and further uses the three acceleration values and the triangular velocity values as the movement signals. On the other hand, the direction sensing module 12 is preferably provided with a magnetometer or an electronic compass to detect and generate a direction signal for the direction of displacement of the signal input device 1 when moving in a three-dimensional space. More precisely, the direction of displacement of the signal input device 1 is oriented with reference to the three axes. The signal transmission module 13 is connected to the mobile sensing module 11 and the direction sensing module 12 to receive the mobile signal and the direction signal generated by the two modules 11 and 12; and the signal transmission module 13 Connected to the central processing unit 2 to communicate the two signals to the central processing unit 2. In detail, in order to make the signal input device 1 have a large degree of freedom in the three-dimensional movement, the signal transmission module 13 is preferably selected as a wireless transmission module, and the wireless transmission module is powered by a wireless device. The signal transmitter and the wireless signal receiver are connected to the mobile sensing module 11 and the direction sensing module 12, and the wireless signal receiver is coupled to the central processing device 2. In addition, the transmission mode of the wireless transmission module may be selected as a radio frequency transmission mode, an infrared transmission mode, or a Bluetooth transmission mode.

Referring to FIG. 2 again, the central processing unit 2 includes a signal processing unit 21 and a label conversion unit 22. The signal processing unit 21 includes a first filter 211, a second filter 212, a first signal converter 213, a second signal converter 214, and a track signal generator 215. The first filter 211 and the second filter 212 are both connected to the signal transmission module 13 of the signal input device 1, and the two filters 211 and 212 are sequentially connected to the first signal converter 213 and the second The signal converter 214 is connected to the two signal converters 213, 214. The first filter 211 receives the mobile signal for signal filtering, and converts the mobile signal into an analog form by the first signal converter 213, and then transmits the signal to the track signal generator 215; The second filter 212 receives the direction signal for signal filtering processing, and converts the direction signal into an analog form by the second signal converter 214, and then transmits the direction signal to the track signal generator 215. Finally, the track signal generator 215 compensates the filtered digitalized mobile signal by using the filtered digitalized direction signal, and generates the reconstructed track signal by using the compensated digitalized mobile signal. In detail, the direction signal is mainly for compensating the angle value obtained by integrating the angular velocity values in the mobile signal after one time integration, especially for the yaw indicating the lateral yaw state of the signal input device 1. The yaw angle is compensated to reduce the error of the reconstructed trajectory signal at the yaw angle. The coordinate conversion unit 22 receives the position signal transmitted by the positioning sensing device 5, and converts the position signal to the image output device 4 through the image processing algorithm to further determine the signal input device 1 The position of the control input point in the display.

The control unit 3 is pre-configured with a plurality of mode signals, and the plurality of mode signals respectively correspond to a plurality of control modes, so that the control unit 3 searches for the reconstructed track signals after receiving the reconstructed track signals generated by the central processing device 2 Whether it contains any of the mode signals. If the result of the search is "Yes", the control mode of the mobile track reconstruction system is adjusted to the control mode corresponding to the mode signal, and the display signal is generated according to the reconstructed track signal other than the mode signal; and if the search is performed The result is "No", that is, maintaining the control mode of the moving track reconstruction system, and generating the display signal according to the complete content of the reconstructed track signal; thereby, whether the operating mode of the moving track reconstruction system is adjusted, the display signal The data that the user wants to display on the development screen 6 with the desired input track may be included. The plurality of control modes include at least a control mode such as "hand writing recognition input", "drawing", "cursor movement control", and "computer command control", and when the manipulation mode is the "hand writing recognition input" In the mode, the control unit 3 performs character recognition on the reconstructed track signal after performing the judgment of the control mode, and uses the result of the character recognition as the display signal. Finally, the control unit 3 sends the display signal to the image output device 4. As described above, by moving the signal input device 1 along a specific trajectory [eg, moving back and forth several times in a specific direction or moving along a trajectory of a specific shape] to generate one of the plurality of mode signals, the user may Only the manipulation of the signal input device 1 achieves the purpose of adjusting the manipulation mode of the movement trajectory reconstruction system, so that the user can easily switch between the above various manipulation modes. Furthermore, the control unit 3 can be coupled to the central processing unit 2.

Referring to FIGS. 1 and 2 again, when the image output device 4 is a projector, the development screen 6 is separately disposed from the image output device 4, so that the projector projects the display image to the display. Like the screen 6; however, when the image output device 4 is a display, the development screen 6 is the screen of the display.

Referring to FIGS. 2 and 3 again, the positioning and sensing device 5 includes a transmitter 51 and a plurality of receivers 52. The transmitter 51 is coupled to the signal input device 1 and the receiver 52 is coupled. The display screen 6 is electrically connected to the central processing unit 2, and the receiver 52 generates the position signal and sends it to the coordinate conversion unit 22 of the central processing unit 2. Thereby, the plurality of receivers 52 can be used to sense the position of the transmitter 51 [ie, the position of the signal input device 1] and generate the position signal, and then transmit the position signal to the coordinate conversion in the central processing device 2. Processing unit 22 performs coordinate conversion.

In addition, the mobile track reconstruction system of the present invention may also omit the position sensing device 5, and only include the signal input device 1, the central processing device 2, the control unit 3, and the image output device 4. In the case where the positioning sensing device 5 is not provided, the central processing device 2 may be provided with only the signal processing unit 21.

Please refer to FIG. 4 of the present invention, which illustrates a second embodiment of the moving trajectory reconstruction system of the present invention. Compared with the first embodiment of the present invention, the signal input device 1 of the second embodiment further has a mode switch 14 , and the central processing device 2 also has a switch signal processor 216 corresponding to the mode switch 14 . . The mode switch 14 is connected to the signal transmission module 13 and is pressed by the user to determine whether a switching signal is generated and sent to the signal transmission module 13. The switching signal processor 216 is also connected to the signal transmission module 13 for receiving the switching signal and performing a signal processing procedure such as filtering, and then sending the processed switching signal to the control unit 3. Therefore, the control unit 3 searches for whether any of the mode signals are included in the reconstructed track signal only when the switching signal is received; and if the control unit 3 does not receive the switching signal, the reconstructed track is used. The complete content of the signal produces the display signal.

In summary, the conventional mobile trajectory reconstruction system does not compensate for the electronic signals generated by the inertial sensing component unit, nor does it provide a device and method that can be switched between several control modes and is convenient to use. The trajectory reconstruction system and the signal input device of the present invention can use the directional sensing module 12 to perform a relatively accurate trajectory reconstruction operation on the three-dimensional spatial trajectory signal, and the positioning sensing device 5 can be more accurately utilized. The position of the input point controlled by the signal input device 1 in the display screen is located. In addition, the control unit 3 of the present invention can be used for the "handwriting recognition input", "drawing", and "hand" in a non-contact manner by comparing the reconstructed track signal and the plurality of mode signals. Switch between several control modes, such as cursor movement control and computer command control.

While the invention has been described in connection with the preferred embodiments described above, it is not intended to limit the scope of the invention. The technical scope of the invention is protected, and therefore the scope of the invention is defined by the scope of the appended claims.

[this invention]

1. . . Signal input device

11. . . Mobile sensing module

12. . . Direction sensing module

13. . . Signal transmission module

14. . . Mode switch

2. . . Central processing unit

twenty one. . . Signal processing unit

211. . . First filter

212. . . Second filter

213. . . First signal converter

214. . . Second signal converter

215. . . Track signal generator

216. . . Switching signal processor

twenty two. . . Coordinate conversion unit

3. . . control unit

4. . . Image output device

5. . . Position sensing device

51. . . launcher

52. . . receiver

6. . . Imaging screen

Fig. 1 is a block diagram showing the construction of a moving trajectory reconstruction system according to a first embodiment of the present invention.

Fig. 2 is a flow chart showing the operation of the moving track reconstruction system of the first embodiment of the present invention.

Fig. 3 is a schematic view showing the arrangement of a position sensing device of the moving trajectory reconstruction system according to the first embodiment of the present invention.

Fig. 4 is a flow chart showing the operation of the moving track reconstruction system of the second embodiment of the present invention.

1. . . Signal input device

11. . . Mobile sensing module

12. . . Direction sensing module

13. . . Signal transmission module

2. . . Central processing unit

twenty one. . . Signal processing unit

211. . . First filter

212. . . Second filter

213. . . First signal converter

214. . . Second signal converter

215. . . Track signal generator

twenty two. . . Coordinate conversion unit

3. . . control unit

4. . . Image output device

5. . . Position sensing device

Claims (17)

A mobile track reconstruction system includes: a signal input device, a mobile sensing module, a direction sensing module and a signal transmission module, wherein the motion sensing module detects the signal input device Moving and generating a mobile signal, the direction sensing module detects the displacement direction of the signal input device when moving and generates a direction signal, and the signal transmission module is connected to the motion sensing module and the direction sensing The module is configured to receive the mobile signal and the direction signal; a central processing device is connected to the signal transmission module and receives the mobile signal and the direction signal, and the central processing device compensates the error of the mobile signal by using the direction signal to generate a reconstruction track signal; a control unit is configured to search whether the reconstructed track signal includes any one of a plurality of mode signals to determine whether to adjust a control mode, and the control unit uses the reconstructed track signal and the control mode to determine the result Generating a display signal; and an image output device receiving the display signal and generating a display image on a display screen . The mobile trajectory reconstruction system according to claim 1, wherein the motion sensing module has an accelerometer and a gyroscope, and the acceleration measures three of the three mutually perpendicular axes of the signal input device. The acceleration value is measured, and the gyroscope measures three angular velocity values generated by the signal input device rotating along the three axial directions, and the three acceleration values and angular velocity values are used as the movement signal. The mobile track reconstruction system according to claim 2, wherein the central processing unit corrects the angular value obtained by integrating each angular velocity value in the mobile signal after the time is integrated by the direction signal. The mobile trajectory reconstruction system according to claim 2, wherein the directional sensing module has a magnetometer, and the magnetometer orients the displacement direction of the signal input device based on the three axial directions, As the direction signal. The mobile trajectory reconstruction system according to claim 2, wherein the directional sensing module has an electronic compass, and the electronic compass is oriented with respect to the displacement direction of the signal input device based on the three axial directions, As the direction signal. The mobile track reconstruction system according to claim 2, wherein the central processing device corrects an angular value obtained by integrating the angular velocity value of the mobile signal with the direction signal by the direction signal, and the angle value is obtained. It is a yaw angle indicating the lateral yaw state of the signal input device. The mobile track reconstruction system according to claim 1, wherein the wireless transmission mode of the signal transmission module is selected from the group consisting of a radio frequency transmission mode, an infrared transmission mode, and a Bluetooth transmission mode. The mobile track reconstruction system of claim 1, wherein the signal input device is further provided with a mode switch connected to the signal transmission module, and the central processing device is further provided with a switching signal processor connected to the signal processing device. Between the signal transmission module and the control unit, the mode switching relationship is for generating a switching signal to be sent to the control unit through the signal transmission module and the switching signal processor, and the control unit searches only when receiving the switching signal. Whether the reconstructed track signal includes any one of the plurality of mode signals to determine whether to adjust the control mode. The mobile track reconstruction system of claim 1, further comprising a positioning sensing device, the positioning sensing device having a transmitter and a plurality of receivers, the transmitter being coupled to the signal input device The receiver is coupled to the display screen and electrically connected to the central processing device, the receiver senses the position of the transmitter and generates a position signal to the central processing device, and the central processing device calculates the image processing The position signal is coordinate-converted and transmitted to the image output device. The mobile track reconstruction system of claim 1, wherein the signal input device is further provided with a detachable laser light source. A signal input device includes: a mobile sensing module that detects motion of the signal input device and generates a mobile signal; and a direction sensing module detects when the signal input device moves Displacement direction and generate a direction signal; a signal transmission module is connected to the motion sensing module and the direction sensing module to receive and transmit the mobile signal and the direction signal. The signal input device according to claim 11, wherein the motion sensing module has an accelerometer and a gyroscope, and the acceleration measures three of three mutually perpendicular axes of the signal input device. The acceleration value, and the gyroscope measures three angular velocity values generated when the signal input device rotates along the three axial directions, and the three acceleration values and angular velocity values are used as the movement signal. The signal input device according to claim 12, wherein the direction sensing module has a magnetometer, and the magnetometer orients the displacement direction of the signal input device based on the three axial directions, as The direction signal. The signal input device according to claim 12, wherein the direction sensing module has an electronic compass, and the electronic compass is oriented with respect to the displacement direction of the signal input device based on the three axial directions. The direction signal. According to the signal input device of claim 12, the wireless transmission mode of the signal transmission module is selected from one of a radio frequency transmission mode, an infrared transmission mode, and a Bluetooth transmission mode. According to the signal input device of claim 11, wherein the signal input device is further provided with a mode switch connected to the signal transmission module, the mode switching relationship is for generating a switching signal, and the signal transmission module is The switching signal is received and transmitted. According to the signal input device described in claim 11 of the patent application, a detachable laser light source is additionally provided.