TWI472957B - Motion detecting device and motion detecting method having rotation calibration function - Google Patents

Description

Motion sensing device and method with rotation correction function

The invention relates to a motion sensing device and method with a rotation correcting function, in particular to a motion sensing device and method for using a gravity sensor to assist in calculating the relative motion of a reference light source and a motion object to be tested.

Recently, many electronic interactive systems have provided user game joysticks or remote controls for more motion sensing operations, in which an external reference light source is used to assist in calculating the relative motion between the external reference light source and the joystick or remote control.

Referring to Fig. 1, a first prior art diagram of an optical index control device 10 is shown. The image sensing and analyzing component 121 is disposed on the remote controller 12 to capture the optical image formed from the reference light source 11. When the remote controller 12 swings left and right, the light image will change the position of the image on the image sensing and analyzing component 121, so that the corresponding amount of motion displacement of the remote controller 12 with respect to the reference light source 11 can be calculated.

However, when the user holds the remote controller 12, the remote controller 12 does not necessarily have a horizontal state with respect to the reference light source 11. In fact, the user usually has a certain angle of rotation when holding the remote controller 12, and this rotation may cause The moving direction of the image on the image sensing and analyzing component 121 is judged to be wrong, and the relative movement of the image may change direction due to the rotation, for example, the horizontal movement of the remote controller 12 with respect to the ground surface, due to the rotation of the user when holding the remote controller 12, The imaging position of the reference light source 11 on the image sensing analysis element 121 is caused to move obliquely, thereby causing a false positive. Although the user can carefully manipulate the remote controller 12 to alleviate this misjudgment, it is inconvenient to use and the operation is blunt, which reduces the user's interactive fun.

The present invention is directed to the disadvantages of the prior art described above, and provides a motion sensing device. It has the advantages of simple design and convenient operation. In particular, when the remote controller has a rotation angle, the motion sensing device that can sense the motion state of the remote controller can still be sensed by sensing the light image.

The invention provides a motion sensing device with a rotation correction function, which senses the relative movement of a reference light source and a motion object to be tested to perform motion sensing of the motion object to be tested. The motion sensing device comprises: a rotation angle sensing component is disposed on the motion object to be sensed for sensing rotation of the motion object to generate a rotation information; and an image sensor having an associated coordinate system The image sensor captures the image of the reference light source and obtains an absolute coordinate on the coordinate system of the image sensor according to the captured image; and a label conversion processor, according to the rotation information and the absolute coordinate The absolute coordinates are corrected to produce corrected coordinates.

In the above motion sensing device, the rotation angle sensing element may include a gravity sensor, a gyroscope, or an electronic compass.

The motion sensing device may further calculate the displacement according to the coordinates before and after the motion of the object to be tested.

In the above motion sensing device, the image sensor is disposed inside the action object to be tested, and the reference light source is disposed outside the action object to be tested; or the image sensor is disposed outside the action object to be tested, and The reference light source is disposed inside the action object to be tested.

The action object to be tested may further comprise a vibration motor, a voice component or a sound effect component disposed in the action object to be tested.

In one embodiment, the reference light source has a light-emitting element and an optical lens, the optical lens changing a light path of the light-emitting element to increase the reference Test the light source's angle of illumination.

In another aspect, the present invention also provides a motion sensing method with a rotation correction function, which senses the relative movement of a reference light source and an action object to perform motion sensing of the action object to be tested. The motion sensing method includes: sensing a rotation of the motion object to be detected to generate a rotation information; mapping the reference light source to a landmark system to obtain an absolute coordinate; and determining the absolute according to the rotation information and the absolute coordinate The coordinates are corrected to produce corrected coordinates.

The corrected coordinates can be converted to coordinates of another coordinate system as required.

The purpose, technical content, features, and effects achieved by the present invention will become more apparent from the detailed description of the embodiments.

The above and other technical contents, features and advantages of the present invention will be apparent from the following detailed description of the preferred embodiments. The directional terms mentioned in the following embodiments, such as up, down, left, right, front or back, etc., are only directions referring to the additional drawings. The drawings in the present invention are intended to illustrate the functional relationship between the various devices and the various elements, and the shapes, thicknesses, and widths are not drawn to scale.

FIG. 2 is a schematic diagram of the motion sensing device 20 according to an embodiment of the present invention, which senses the relative movement of a reference light source 21 and a motion object to be tested 22 to perform motion sensing of the object to be tested 22, wherein A rotation angle sensing element (gravity sensor 221 in this embodiment), an image sensor 222, and a label conversion processor 223 are included. The gravity sensor 221 is, for example but not limited to, fabricated using MEMS technology, and the image sensor 222 is, for example but not limited to, CMOS The image sensor, and the coordinate conversion processor 223 is, for example but not limited to, a microprocessor.

The gravity sensor 221 is disposed on the action object 22 and senses the rotation action of the action object 22 (refer to α, α', β, β', γ, γ' in FIG. 3) to generate a rotation. angle. In this embodiment, the reference light source 21 is disposed outside the action object 22 and the image sensor 222 is disposed on the action object 22, and the image sensor 222 is configured to capture the image of the external reference source 21, and according to This imaging results in absolute coordinates (which can be singular or complex). For example, the image sensor 222 has an associated coordinate system that can correspond to the entire image captured by the image sensor 222, and the imaging position of the external reference light source 21 on the coordinate system of the image sensor 222. Can occupy singular or complex pixels, when it occupies a single pixel, the coordinate position of the pixel can be used as the resulting absolute coordinates, and if the imaging position occupies a complex pixel, a representative value can be taken as the resulting absolute coordinate (for example, take a representative Pixel, or take the center, center of gravity, etc. of the complex pixel).

Referring to Fig. 4, there is shown a schematic diagram of gravity sensor 221 sensing gravity G. The gravity sensor 221 senses the change of the gravity G in the three dimensional directions X, Y, and Z. Gravity G produces projection components Gx, Gy, and Gz in three directions X, Y, and Z, respectively. The system can use the changes of the projection components Gx, Gy, and Gz to analyze the angular change of the rotation of the object to be tested to generate a correlation of the rotation angle. News.

The coordinate conversion processor 223 corrects the absolute coordinates based on the absolute coordinates obtained by the image sensor 222 and the information about the rotation provided by the gravity sensor 221 to generate the corrected coordinates.

In addition, coordinate conversion processor 223 can also convert the corrected coordinates to coordinates of another coordinate system, if desired. For example, the corrected coordinates It may be a coordinate system that conforms to the resolution of the image sensor, and the converted coordinate is a coordinate system that conforms to the resolution of an image display device (not shown). Of course, this is only an example, and the coordinate conversion processor 223 can perform the conversion of the corrected coordinates according to other requirements.

The action object 22 is, for example, but not limited to, a remote controller or a joystick. When the action object 22 is moved by the user, the image of the reference light source 21 captured by the image sensor 222 is relatively moved. The displacement can be calculated based on the coordinates before and after the movement. This displacement can be used to generate control information, such as controlling the movement of an upstream target of an image display device (not shown), or the action of a game character, and the like. The motion sensing device 20 can be connected to the image display device by wire or wirelessly.

Since the coordinates and the displacement are determined by the relative relationship between the reference light source 21 and the image sensor 222, the positions of the reference light source 21 and the image sensor 222 are interchangeable. That is, the reference light source 21 can be disposed on the action object 22 and the image sensor 222 can be disposed outside the action object 22 . The image captured by the image sensor 222 can be transmitted to the coordinate conversion processor 223 by wire or wirelessly; and the coordinate conversion processor 223 can be set to be in addition to the action of the object to be tested 22 The outside of the object to be tested 22.

The manner in which the rotation information is generated is not limited to the use of a gravity sensor; any component that can generate rotation information can be used, such as a gyro-sensor, an e-compass, and the like.

In addition, the motion sensing device 20 may further include a vibration motor (not shown), and the vibration motor may be disposed in the action object 22 . When the action object 22 receives a vibration command, the vibration motor can cause the action object 22 to vibrate to increase the interaction effect. For example, the specific actions of the interactive game such as impact, and for example, the simulation of bumpy roads, etc., can use the vibration motor to increase the user's interaction.

The above motion sensing device preferably includes a voice component or a tone The effect element, the voice element or the sound effect element is disposed in the action object 22 . The user can perform command manipulation by, for example, a voice component, such as performing a page change to display a screen, or entering a stage below the game. The effect of the sound effect element is to generate a sound effect by the action object 22, which may, for example, increase the sound field effect, and for example, when the user searches for the action object to be tested 22, the sound effect element is audible by the specific sound command to prompt the action object to be tested 22 Location and so on.

The reference light source 21 can be a point source, a line source or a surface source. In one embodiment, please refer to FIG. 2, the reference source 21 can have at least one illuminating element 211 and an optical lens 212, and the optical lens 212 is disposed on Before the light-emitting element 211, the light path of the light-emitting element 211 is changed to increase the light-emitting angle of the reference light source 21. The optical lens 212 can have the effect of expanding the astigmatism angle of the light source to increase the angle at which the light image can be sensed.

The present invention has been described with reference to the preferred embodiments thereof, and the present invention is not intended to limit the scope of the present invention. In the same spirit of the invention, various equivalent changes can be conceived by those skilled in the art. For example, the light source illuminating frequency of the reference light source may be continuous illuminating or intermittent illuminating; the gravity sensor and the gyroscope or the electronic compass may be not limited to only one of them, and the two may be combined to confirm the rotation by comparing the sensed results. The various equivalents, which are all in the same spirit of the invention, are intended to be included within the scope of the invention.

10‧‧‧Optical indicator control device

11‧‧‧Reference light source

12‧‧‧Remote control

121‧‧‧Image sensing and analysis components

20‧‧‧ motion sensing device

21‧‧‧Reference light source

211‧‧‧Lighting elements

212‧‧‧Optical lenses

22‧‧‧Action object to be tested

221‧‧‧Gravity sensor

222‧‧‧Image sensor

223‧‧‧Coordinate conversion processor

G‧‧‧Gravity

Gx, Gy, Gz‧‧‧ projection components

α, α', β, β', γ, γ'‧‧‧ rotating action

X, Y, Z‧‧ Direction

Figure 1 is a schematic diagram of a prior art optical index control device.

FIG. 2 is a schematic diagram of a motion sensing device according to an embodiment of the present invention.

Figure 3 is a schematic diagram of the rotation of the action object to be tested.

Figure 4 is a schematic diagram of the gravity sensor's projected component of the sensed gravity.

20‧‧‧ motion sensing device

21‧‧‧External reference light source

211‧‧‧Single point light source

212‧‧‧Optical lenses

22‧‧‧Action object to be tested

221‧‧‧Gravity sensor

222‧‧‧Image sensor

223‧‧‧Coordinate conversion processor

Claims (12)

A motion sensing device with a rotation correcting function, which senses a relative movement of a reference light source and a motion object to be tested to perform motion sensing of the motion object to be tested, the motion sensing device comprising: a rotation angle a sensing component is disposed on the action object to sense three-dimensional rotation of the action object to generate a three-dimensional rotation information; an image sensor having an associated coordinate system, the image sensor The image sensor captures the imaging of the reference light source, and obtains an absolute coordinate on the coordinate system of the image sensor according to the captured image; and a label conversion processor, according to the three-dimensional rotation information and the absolute coordinate The absolute coordinate is corrected to generate a corrected coordinate; wherein the image sensor is disposed on the action object to be tested. The motion sensing device of claim 1, wherein the rotation angle sensing element comprises a gravity sensor, a gyroscope or an electronic compass. The motion sensing device according to claim 1, wherein the motion sensing device calculates the displacement according to the coordinates before and after the movement of the object to be tested. The action sensing device of claim 1, wherein the image sensor is disposed inside the action object, and the reference light source is disposed outside the action object; or the image sensor is set The action light source is disposed outside the action object, and the reference light source is disposed inside the action object. The action sensing device of claim 1, wherein the action object to be tested comprises a vibration motor, and the vibration motor is disposed in the action object. The action sensing device of claim 1, wherein the action object comprises a voice component or a sound component, the voice component or the sound effect element The piece is disposed in the action object to be tested. The motion sensing device of claim 1, wherein the reference light source has a light emitting element and an optical lens, and the optical lens changes a light path of the light emitting element to increase an illumination angle of the reference light source. The motion sensing device of claim 1, wherein the coordinate conversion processor converts the corrected coordinate to a coordinate of another coordinate system. A motion sensing method with a rotation correcting function, which senses a relative movement of a reference light source and an action object to perform motion sensing of the action object, the motion sensing method comprising: sensing the Actuating the three-dimensional rotation of the object to be tested to generate a three-dimensional rotation information; mapping the reference light source to a standard system to obtain an absolute coordinate; and correcting the absolute coordinate according to the three-dimensional rotation information and the absolute coordinate to generate a corrected The coordinate sensor is disposed on the motion object to be tested. The motion sensing method of claim 9, wherein the motion of the object to be tested is obtained by sensing using a gravity sensor, a gyroscope or an electronic compass. The motion sensing method of claim 9, further comprising: calculating the displacement according to the coordinates before and after the movement of the object to be tested. The motion sensing method of claim 9, further comprising: converting the corrected coordinate to a coordinate of another coordinate system.