TWI534659B - 3d pointing device and method for compensating movement thereof - Google Patents

Description

3D pointing device and method for compensating for its movement

The present invention relates to a 3D pointing device using a motion sensing module and a method for compensating and converting a signal emitted by the motion sensing module, wherein the signal sent by the motion sensing module corresponds to The 3D points to the movement and rotation of the device. More particularly, the present invention relates to a 3D pointing device using a motion sensing module, and the motion sensing module has an enhanced comparison mechanism for calculating and compensating for accumulated errors associated with the motion sensing module. And obtain the resulting deviation angles in the spatial pointing reference coordinates and the dynamic environment.

FIG. 1 illustrates a user indicating a pointer on a screen 122 of a 2D display device 120 using a handheld 3D pointing device 110. That is, when the handheld 3D pointing device 110 emits a light, the indicator is where the light touches the screen 122. For example, the handheld 3D pointing device 110 can be a mouse of a computer or a handle of a video game, and the display device 120 can be part of a computer or video game. There are two reference coordinates in the figure, such as spatial pointing reference coordinates and display coordinates, which are associated with the pointing device 110 and display device 120, respectively. The first reference coordinate or spatial pointing reference coordinate associated with pointing device 110 is defined by three axes as shown in FIG. 1, namely: X _P , Y _P , and Z _P . The second reference coordinate or display coordinates associated with display device 120 are defined by three axes as shown in FIG. 1, namely: X _D , Y _D , and Z _D . A display screen 122 of apparatus 120 is a subset of the reference coordinates X _D Y _D Z _D X _D Y _D in the plane of the reference coordinate X _D Y _D Z _D are associated with the display device 120. Therefore, the X _D Y _D plane can in turn be regarded as the display plane of the display device 120.

The pointing device can be manipulated by the user to achieve a particular purpose, such as playing a video game or the like on the display device 120 via an indicator located on the screen 122. In order to have good interaction when using the pointing device, when the user moves the pointing device 110, the indicator on the screen 122 should move corresponding to the direction, direction, and distance moved by the pointing device 110, and the display device 120 should also display The indicator changes to a new location on the screen 122 of the display device 120 as described above. The orientation of the pointing device 110 can be represented by three deflection angles of the 3D pointing device 110 on the reference coordinate X _P Y _P Z _P , which are respectively a yaw angle 111, a pitch angle 112, With a roll angle 113. Here, the sway angle 111, the pitch angle 112, and the roll angle 113 are defined by a general standard of spatial angles associated with commercial vehicles such as ships and airplanes. In general, the sway angle 111 refers to the rotation of the pointing device 110 relative to the axis Z _P , the pitch angle 112 refers to the rotation of the pointing device 110 relative to the axis Y _P , and the rolling angle 113 refers to the pointing device 110 relative to the axis The rotation of the X _P.

In the conventional technique shown in FIG. 1, when the yaw angle 111 of the pointing device 110 is changed, the above-described index on the screen 122 must relatively move in the horizontal direction as the yaw angle 111 changes. Figure 2 shows the situation when the user rotates the pointing device 110 counterclockwise by 90° with respect to the axis X _P . In another conventional technique shown in FIG. 2, when the yaw angle 111 is changed, the above-described index on the screen 122 will correspond to the movement in the vertical direction. The change in the sway angle 111 can be detected by a gyroscope that senses the angular velocity ω _{x of the} pointing device 110 relative to the axis X _P . 1 and 2 show different actions in which the same change in the sway angle 111 may be transformed into an indicator on the screen 122. Therefore, an appropriate compensation mechanism is needed to compensate for the orientation of the pointing device 110 so that it can correctly and desirably correspond to the index on the screen 122 of the display device 120. In U.S. Patent Nos. 7,158,118, 7,262,760, and 7,414,611 (inventors are Liberty), "compensation" refers to the correction and compensation of signals that are affected by gravity or additional rotation relative to the axis of rotation. Further, in the present invention, the "alignment" refers to calculating and acquiring the 3D pointing device 110 by the signal generated by the sensing device and reducing or eliminating the noise associated with the sensing device. The actual deflection angle at the first reference coordinate or space pointing coordinate X _P Y _P Z _P . In addition, "transformation" refers to: calculating and converting the deflection angle on the coordinate point X _P Y _P Z _P to the display plane of the 2D display device 120 located on the second reference coordinate or display coordinate X _D Y _D Z _D The indicator on the.

Compensating for pointing devices using a five-axis motion sensor (measuring Ax, Ay, Az, ω _Y , and ω _Z ) is common in the art, for example, in U.S. Patent Nos. 7,158,118, 7,262,760, and 7,414,611 (invention Such a pointing device with a five-axis motion sensor is proposed by Liberty, and a compensation mechanism is also proposed, which uses two gravity sensing devices ω _Y and ω _Z to detect relative to Yp and Zp. Two-axis rotation, and the compensation mechanism also uses three acceleration sensors Ax, Ay, and Az to detect acceleration on the three axes of the pointing device along the reference coordinate X _P Y _P Z _P . The pointing device described above by Liberty using a five-axis motion sensor may not be able to output the deflection angle of the pointing device on the 3D reference coordinate. In other words, due to the limitation of the acceleration sensor and the gravity sensing device in the five-axis motion sensor, the above-mentioned Liberty pointing device cannot immediately output the deflection angle on the 3D reference coordinate, but can only output to the 2D reference. On the coordinates, that is, the output of the pointing device using the five-axis motion sensor described above is only the planar graphic mode on the 2D reference coordinate. Moreover, when the pointing device experiences unintended movement while acquiring the signal generated by the motion sensor, especially when experiencing unintended drift or acceleration along the direction of gravity, the pointing device and the compensation mechanism described above cannot be accurate or appropriate. The movement, angle, and direction of the pointing device are calculated or obtained. In other words, when a dynamic action or additional acceleration is applied to the pointing device provided by the above Liberty with a compensation mechanism, especially in a direction parallel or substantially parallel to gravity, the above Liberty provides The pointing device cannot properly and accurately output the actual yaw angle, pitch angle, and roll angle on the spatial reference coordinate X _P Y _P Z _P , and thus when converting the solid angle to the 2D display reference coordinate, for example: reference coordinate X _D Y _D Z _D , its mapping program is severely affected and generates errors. For example, since the compensation axis Liberty not provided directly and accurately detect or compensate for the rotation axis X _P, so with respect to the rotation axis X _P to be detected by the gravitational acceleration from the acceleration sensors to In the middle of it. Furthermore, due to the limitations of the existing acceleration sensor, the reading on the acceleration sensor is accurate only when the pointing device is static, because these sensors cannot extract the gravitational acceleration from other The accelerations of the type are distinguished by accelerations such as accelerations generated by centripetal forces or additional accelerations of other types applied by the user.

Moreover, the prior art can only output a relative moving template on the 2D reference coordinate based on the result of the signal generated by the motion sensor. For example, the foregoing proposal proposed by Liberty can only output a 2D moving template in a relative manner and display an indicator on a screen to correspond to the above 2D relative moving template. More specifically, the indicator can only be moved from a first position to a second position relative to the first position. A relative movement like this one that moves from the previous position to the next position over time cannot accurately determine and output the next position, especially if the previous position is an incorrect position, or if the previous position is incorrectly In the case where it is determined that one of the next positions is an incorrect reference point, the next position is derived by the incorrect reference point and its relative movement. The erroneous output is caused by the intention of moving the indicator out of the boundary of the display screen as an example to clearly explain the drawback of obtaining a moving template by a relative movement relationship in the prior art. In the case where the indicator in the prior art reaches the boundary of a display and then exceeds the boundary by an extra distance, the indicator cannot be displayed when the indicator comes to a new position, whether in the display or still outside the boundary. A correct or actual mode. In other words, when reaching a new position, the prior art indicator does not take the above extra distance beyond the boundary in an absolute way, but instead discards the extra distance beyond the boundary and also uses the indicator. The relative movement relationship causes a wrong next position to be output. Since the correct position cannot be obtained at the boundary of the display, and the relative position of the above-mentioned relative movement is used to obtain the next position of the index, the actual moving template cannot be estimated.

Therefore, there is an urgent need in the art for a more advanced pointing device that is equipped with an enhanced calculation or comparison method to accurately calculate and obtain the actual deflection angle on the spatial pointing coordinates in a dynamic environment and situation. The deflection angle is precisely transformed to the indicator located on the coordinates of the display. In addition, with the advancement of 3D technology and its wide range of applications, such as display and interactive systems, it is a 3D that can accurately output its deviation on 3D or spatial reference coordinates. The need for pointing devices is also becoming more and more urgent. Moreover, the need for an enhanced alignment method is more and more urgent, and the comparison method can process the signal sent by the motion sensor to correct or remove the signal or signal sent from the slave motion sensor. Fusion of associated error signals or noise. Furthermore, depending on the field of application, the output deviations on the 3D reference coordinates can be further transformed or converted to a mode that can be applied to the 2D reference coordinates.

It is an object of the present invention to provide a 3D pointing device that uses a six-axis motion sensing module. The 3D pointing device includes an acceleration sensor for measuring or detecting axial accelerations Ax, Az, Ay, and a rotation sensor for measuring or The angular velocities ω _x , ω _y , ω _{z are} detected. Thereby, a result deviation including a result angle including a 3D pointing device that is flat on a reference point in a space when moving and rotating in a dynamic environment can be obtained. Swing angle, pitch angle, and roll angle. Moreover, the above-described deviation of the results, including the resulting angle, can be taken and output in an absolute manner, i.e., can reflect the actual movement and rotation of the 3D pointing device of the present invention on the spatial pointing reference coordinates.

Another object of the present invention is to provide an enhanced comparison method which can improve error signals and noise accumulated over time, and these error signals and noises are emitted by a plurality of motion sensors. The signal is associated. The signals emitted by these motion sensors include the signals generated by the acceleration sensors A _x , A _z , A _y in the dynamic environment, and the signals generated by the gyroscopes ω _x , ω _y , ω _z . In other words, the accumulated error signals can be eliminated or corrected, wherein the accumulated error signals are associated with the signal fusion sent by a motion sensing module, and the motion sensing module includes a plurality of motion sensors. These motion sensors are used to detect movement and rotation corresponding to different axes.

It is yet another object of the present invention to provide an enhanced alignment method for correctly calculating and outputting a result bias that includes a set of outcome angles that include a swing angle on a spatial pointing coordinate a pitch angle, and a roll angle, the sway angle, the pitch angle, and the roll angle are three mutually perpendicular coordinate axes corresponding to the coordinate points of the space. By comparing the signal of the rotational sensor related to the angular velocity and the signal of the acceleration sensor associated with the axial acceleration, the above-mentioned result angles can be accurately obtained and output, and the resulting angles can be further transformed to another A different reference coordinate from the coordinate point of the space.

A further object of the present invention is to provide a mapping method for transforming the above-mentioned result angles located on a spatial pointing reference coordinate onto a display coordinate, and the resulting angles preferably correspond to three of the spatial pointing reference coordinates respectively. The axis, that is, the sway angle, the pitch angle, and the roll angle. By the above transformation, a moving template can be obtained on the display coordinates different from the spatial pointing reference coordinates, that is, the result angle of the result deviation is converted or converted to the moving template.

In an embodiment of the invention, a 3D pointing device is provided. The 3D pointing device uses a six-axis motion sensing module and is deleted by the enhanced alignment method to delete the six-axis motion sensing module. Accumulating the error signal to obtain a deflection angle located on a spatial pointing reference coordinate and corresponding to the movement and rotation of the 3D pointing device. The 3D pointing device and the comparison method provided by the present invention can compare the signals generated by the six-axis motion sensing module, and the axis motion sensing module can detect that the 3D pointing device corresponds to the X _P axis , Y _P axis, and Z _P axis rotational speed or angular velocity, and can also detect the axial acceleration of the 3D pointing device along the X _P axis, the Y _P axis, and the Z _P axis. In other words, the present invention can eliminate or reduce accumulated error signals and noise generated in a dynamic environment to accurately output the deflection angle of the 3D pointing device on the reference coordinate in a 3D space, the deflection angle including the yaw Angle, pitch angle, and roll angle. The dynamic environment described above includes continuous movement, rotation, exposure to external gravity, additional acceleration in multiple directions, or non-linear movement and rotation that varies over time. Moreover, the deflection angle located on the reference coordinate of the 3D space and compensated and accurately output can be further transformed or converted into another reference coordinate, such as the above-mentioned display coordinates, which is, for example, a 2D. Reference coordinates.

In another embodiment of the present invention, a 3D pointing device is provided that uses a six-axis motion sensing module. The six-axis motion sensing module of the 3D pointing device includes at least one gyroscope and at least one acceleration sensor. In a preferred embodiment of the present invention, the six-axis motion sensing module includes a rotation sensor and an acceleration sensor, and the rotation sensor can be used to detect angular velocities ω _x , ω _y , ω _z and generate Corresponding signals, and the acceleration sensor can be used to detect the axial accelerations Ax, Ay, Az and generate corresponding signals. It should be understood by those skilled in the art that in a preferred embodiment, the rotation sensor may include three gyroscopes corresponding to the angular velocities ω _x , ω of the 3D pointing device pointing to the reference coordinates in the 3D space, respectively. _y , ω _z ; Furthermore, the acceleration sensor described above may include three acceleration sensors respectively corresponding to the axial accelerations Ax, Ay, Az of the 3D pointing device pointing in the 3D space to the reference coordinates. The rotation sensor detects the rotation of the 3D pointing device on a reference coordinate associated with the 3D pointing device and provides an output signal with a rotational rate or an angular velocity information. The above output signal with angular velocity information includes three parts corresponding to the first axis, the second axis, and the third axis of the reference coordinate, that is, the Xp axis, the Yp axis, and the Zp of the 3D space pointing coordinates. axis. The acceleration sensor detects the axial acceleration of the 3D pointing device on the spatial pointing reference coordinate and provides an output signal with acceleration information, such as a reference coordinate, for example, a 3D pointing reference coordinate. The above output signal with axial acceleration includes three parts, which respectively correspond to the first axis, the second axis, and the third axis of the reference coordinate, that is, the Xp axis, the Yp axis, and the 3D space pointing coordinates Zp axis. The above-mentioned 3D space pointing coordinates of the Xp axis, the Yp axis, and the Zp axis may also be simply referred to as the X axis, the Y axis, and the Z axis.

In another embodiment of the present invention, a compensation method is provided for compensating for a cumulative error of a signal emitted by the six-axis motion sensing module. The six-axis motion sensing module is located at The space points to the dynamic environment associated with the reference coordinates. In one embodiment, the compensation method is performed or processed by a hardware processor. By performing a data comparison, the signal from the rotary sensor that will be used to measure the angular velocity is compared with the signal from the acceleration sensor used to measure the axial acceleration. The hardware processor can be used. To compensate for the accumulated error associated with the deviation of the result, the cumulative error is derived from the signal emitted by the six-axis motion sensing module when the 3D pointing device moves and rotates in the spatial pointing coordinates and the dynamic environment. Therefore, in a dynamic environment, the result of the movement and rotation corresponding to the 3D pointing device under the coordinate in the 3D space can be accurately obtained.

In another embodiment of the present invention, there is provided a method for obtaining a result deviation, the result deviation comprising a result angle of the 3D pointing device in a spatial pointing coordinate, and a six-axis motion sensing mounted in the 3D pointing device The module, and the 3D pointing device is moved and rotated in a dynamic environment in the spatial pointing coordinates described above. The above method for obtaining the result deviation includes the following steps: First, a previous state is obtained, which is associated with the previous angular velocities ω _x , ω _y , ω _z , and the previous angular velocity ω _x , ω _y , ω _z are obtained from the signals emitted by the six-axis motion sensing module at the previous time period T-1; and, by taking the measured angular velocities ω _x , ω _y , ω _z , In order to obtain the current state of the six-axis motion sensing module, the measured angular velocities ω _x , ω _y , ω _z are obtained from the motion sensing signals in a current time period T; thereafter, the axial acceleration is measured by taking Ax, Ay, Az, in order to obtain a measurement state of the six-axis motion sensing module, the measured axial accelerations Ax, Ay, Az are obtained by the motion sensing signals in the current time period T, and by nowadays The measured angular velocities ω _x , ω _y , ω _{z of the state are used} to calculate the predicted axial accelerations Ax′, Ay′, Az′; and then, by comparing the current state and the measured state of the six-axis motion sensing module, Obtaining an updated state of the six-axis motion sensing module; then, calculating and transferring The updated state of the six-axis motion sensing module is changed to the resulting deviation, and the resulting deviation includes the resulting angle of the 3D pointing device in the spatial pointing coordinate.

In another embodiment of the present invention, a mapping method is provided for converting a deflection angle to a display coordinate of a display having a predetermined screen size, and the above-described deflection angle is The 3D pointing device is associated with movement and rotation in a space pointing coordinate. In one embodiment, the deflection angle on a space pointing coordinate, including the sway angle, the pitch angle, and the roll angle, is transformed or converted to be located on a display coordinate, and preferably on a 2D reference coordinate. A pointing object that moves, such as an indicator. The mapping method includes the steps of: obtaining a boundary information of the display coordinates by calculating a predetermined sensitivity associated with the coordinates of the display, and performing angles and distances on the coordinates of the display by using the above-described deflection angle and boundary information. Conversion.

3 is an exploded view of a 3D pointing device 300 that can be moved and rotated in a 3D space pointing reference coordinates and a dynamic environment, in accordance with an embodiment of the present invention. This 3D space pointing reference coordinates are similar to the reference coordinates X _P Y _P Z _P illustrated in FIGS. 1 and 2. Relative to the time axis, the movement and rotation of the 3D pointing device 300 in the 3D space directed reference coordinates and dynamic environment described above may be continuous and non-linear.

The 3D pointing device includes an upper cover 310, a printed circuit board (PCB) 340, a rotation sensor 342, an acceleration sensor 344, a data transmission unit 346, an operation processor 348, a lower cover 320, and a battery. Group 322. The upper cover 310 includes a plurality of control buttons 312 for the user to issue a predetermined command upon remote control. In an embodiment, the housing 330 includes an upper cover 310 and a lower cover 320. In the dynamic environment described above, the housing 330 can be moved and rotated in the space pointing reference coordinates while being manipulated by the user or subjected to forces in any direction. As shown in FIG. 3, in one embodiment, the rotation sensor 342, the acceleration sensor 344, the data transfer unit 346, and the arithmetic processor 348 can all be attached to the printed circuit board 340. The printed circuit board 340 is covered by the housing 330. The printed circuit board 340 includes at least one substrate having a long side that is substantially parallel to the long side of the housing. In addition, an additional battery pack 322 provides power to the entire 3D pointing device 300.

4 is a block diagram of a 3D pointing device 300 showing a hardware component of the 3D pointing device 300, in accordance with an embodiment of the present invention. The 3D pointing device 300 includes a six-axis motion sensing module 302 and a processing and transmission module 304. The six-axis motion sensing module 302 includes a rotation sensor 342 and an acceleration sensor 344 for processing and transmission. The module 304 includes a data transfer unit 346 and an arithmetic processor 348.

The rotation sensor 342 of the six-axis motion sensing module 302 is configured to detect and generate a first signal group, where the first signal group includes angular velocities ω _x , ω _y , ω _z , angular velocities ω _x , ω _y , ω _z is the angular velocity of the three mutually perpendicular coordinate axes X _P , Y _P , Z _P of the 3D pointing device 300 with respect to the spatial pointing reference coordinate when moving and rotating. The angular velocities ω _x , ω _y , and ω _z described above correspond to the three coordinate axes X _P , Y _P , and Z _{P , respectively} . The acceleration sensor 344 is configured to detect and generate a second signal group, where the second signal group includes axial accelerations Ax, Ay, and Az, and the axial accelerations Ax, Ay, and Az refer to the 3D pointing device 300 when moving and rotating. The axial acceleration of the three mutually perpendicular coordinate axes X _P , Y _P , Z _P pointing along the space to the reference coordinate. The axial accelerations Ax, Ay, and Az described above correspond to the three coordinate axes X _P , Y _P , and Z _{P , respectively} . The above "six-axis" means three angular velocities ω _x, ω _y, ω _z with three axial acceleration Ax, Ay, Az. Therefore, those of ordinary skill in the art should understand that the above-mentioned "six-axis" does not necessarily have to be perpendicular in a specific orientation, and it can also be rotated in different orientations. The above coordinate system disclosed in the present invention is for illustrative purposes only, and other coordinate axes located at different orientations and/or having different numbers may also be suitable for use in the present invention.

The data transmission unit 346 is electrically connected to the six-axis motion sensing module 302 to transmit the first signal group and the second signal group. The data transmission unit 346 transmits the first signal group and the second signal group sent by the six-axis motion sensing module 302 to the operation processor 348 by the electrical connection on the printed circuit board 340. The operation processor 348 receives and processes the first signal group and the second signal group transmitted by the data transmission unit 346. The arithmetic processor 348 can calculate the result deviation of the 3D pointing device 300 by performing communication with the six-axis motion sensing module 302. The resulting deviation includes three result angles, which preferably correspond to the space pointing reference coordinates respectively. Axis. The result angles described above include the sway angle 111, the pitch angle 112, and the roll angle 113 as shown in FIGS. 1 and 2. In order to calculate the deviation of the result, the operation processor 348 uses a comparison mechanism to eliminate the accumulated error caused by the first signal group and the second signal group sent by the six-axis motion sensing module 302; In the dynamic environment, the result deviation of the six-axis motion sensing module 302 of the 3D pointing device 300 can be obtained. The result deviation includes the angle of the result in the spatial pointing reference coordinate, preferably three perpendicular to the spatial pointing reference coordinate. Coordinate axis. Therefore, the resulting angle can be taken and output in an absolute manner, and the so-called absolute mode refers to the actual movement and rotation of the 3D pointing device of the present invention in the spatial pointing reference coordinate. In addition, the comparison mechanism used by the operation processor 348 further includes an update program. In the update program, an update state of the six-axis motion sensing module is obtained by a previous state associated with a first signal group and a measurement state associated with a second signal group. The signal group is related to the angular velocities ω _x , ω _y , ω _z , and the second signal group is related to the axial accelerations Ax, Ay, Az. The above measurement states include the axial accelerations Ax, Ay, Az measured or measured for the second signal group, and the estimated measurements made on the axial accelerations Ax', Ay', Az' (predicted measurement), the axial accelerations Ax', Ay', Az' are based on or calculated by the first signal group. The various states of the six-axis motion sensing module in the 3D pointing device of the present invention will be described in detail later.

In the present embodiment, the arithmetic processor 348 of the processing and transmission module 304 further includes a mapping program to convert the resulting angle of the result deviation located in the spatial pointing reference coordinate into a moving template in a display reference coordinate. This display reference coordinate is different from the spatial pointing reference coordinate, but is similar to the reference coordinate X _D Y _D Z _D in Figures 1 and 2. The moving template described above can be displayed on a screen of a 2D display device similar to the display device 120 shown in FIGS. 1 and 2. Based on a sensitivity input associated with the display reference coordinates, the mapping program converts the resulting angle into a moving template, preferably corresponding to three mutually perpendicular coordinate axes that point in space to the reference coordinate.

FIG. 5 illustrates a 3D pointing device 500 according to another embodiment of the present invention. The 3D pointing device 500 uses a six-axis motion sensing module and is located in a 3D space pointing reference coordinate. As shown in FIG. 5, the 3D pointing device 500 includes two parts, namely: 560 and 570, which are capable of transmitting data to each other. In one embodiment, the first portion 560 includes an upper cover (not shown), a printed circuit board 540, a six-axis motion sensing module 502, a data transmission unit 546, a lower cover 520, and a battery pack 522. The six-axis motion sensing module 502 includes a rotation sensor 542 and an acceleration sensor 544. The data transmission unit 546 converts the first signal group generated by the rotation sensor 542 of the six-axis motion sensing module 502 by wireless transmission, for example, wireless local area network or Bluetooth standard wireless transmission based on the IEEE 802.11 standard ( ω _x , ω _y , ω _z ) and the second signal group (Ax, Ay, Az) generated by the acceleration sensor 544 are transmitted to the data receiving unit 552 of the second portion 570. It should be understood by those of ordinary skill in the art that in other embodiments, the first portion 560 and the second portion 570 can be connected by wired transmission, such as a cable or wire.

In one embodiment, the second portion 570 is an external processing device that is interleaved with other electronic computing devices or systems, such as a personal computer 580. For example, the second portion 570 is plugged or coupled to a notebook computer via a standard interface (such as the universal serial bus shown in FIG. 5). The first portion 560 and the second portion 570 are in communication with each other by the data transfer unit 546 and the data receiving unit 552. As described above, the data transmission unit 546 and the data receiving unit 552 can communicate with each other by wireless transmission or wired transmission. In other words, in a hardware configuration and data transmission, in one embodiment of the present invention, the six-axis motion sensing module 502 including the rotation sensor 542 and the acceleration sensor 544 is The signal sent from the six-axis motion sensing module 502 can be transmitted to the computing processor 554 by wire or wireless transmission by the data transmission unit 546, 552. Among them, wireless transmission is, for example, wireless transmission based on the IEEE 802.11 standard or the Bluetooth standard.

In an embodiment of the invention, the second portion 570 of the 3D pointing device 500 includes a data transfer unit 552 and an arithmetic processor 554. As previously described, the data transfer unit 552 of the second portion 570 can perform data transfer with the data transfer unit 546 that is separate and disposed in the first portion 560. The data transmission unit 552 in the second portion 570 can receive the first signal group and the second signal group transmitted from the data transmission unit 546 of the first portion 560 and transmit it to the operation processor 554. In the present embodiment, the arithmetic processor 554 can perform the above-described comparison of the operation and the signal. In an embodiment, the comparison mechanism executed by the operation processor 554 further includes an update program, wherein the update program is a previous state associated with the first signal group and a second associated with the second signal group. The status is measured to obtain an update status. The measurement state further includes measuring the second signal group and predicting the measurement based on the first signal group. As shown in Figure 5, the arithmetic processor 554 is external to the housing of the 3D pointing device. In one embodiment, the arithmetic processor 554 converts the result angle of the result deviation of the 3D pointing device to a moving template located at a reference coordinate of the display by a transformation mechanism, wherein the resulting angle is located in the spatial pointing reference coordinate. And preferably refers to three mutually perpendicular coordinate axes corresponding to the spatial pointing reference coordinates, and the above-described display reference coordinates are associated with the notebook computer 580. The mobile template described above is displayed on the screen 582 of the notebook computer 580.

FIG. 6 is an exploded view of a 3D pointing device 600 according to another embodiment of the present invention. The 3D pointing device 600 has a six-axis motion sensing module and is located in a 3D space pointing reference coordinate. The 3D pointing device 600 further includes a built-in display 682. In other words, from a hardware configuration perspective, the display reference coordinates associated with the display described above need not be located outside of the spatial pointing coordinates. In one embodiment, the 3D pointing device 600 includes a lower cover 620, a printed circuit board 640, a battery pack 622, a rotation sensor 642, an acceleration sensor 644, a data transmission unit 646, an arithmetic processor. 648, a display 682, and an upper cover 610. Likewise, in one embodiment, the housing 630 includes an upper cover 610 and a lower cover 620. The built-in display 682 is integrated in the housing 630, and the six-axis motion sensing module 602 includes a rotation sensor 642 and an acceleration sensor 644. The data transfer unit 646 and the arithmetic processor 648 can also be integrated into the processing and transfer module 604 of the 3D pointing device 600.

The arithmetic processor 648 of the processing and transmission module 604 can also perform a transformation mechanism that converts the resulting deviations in the spatial pointing coordinates or 3D reference coordinates onto a display reference coordinate, such as a 2D reference. coordinate. In the above transformation mechanism, the result angle in the result deviation of the 3D pointing device 600 in the spatial pointing coordinate is converted into a moving template located in a display reference coordinate, which is related to the 3D pointing device 600 itself. Preferably, the above result angle is preferably the angle of three mutually perpendicular coordinate axes corresponding to the spatial pointing coordinates. Display 682 shows the moving template described above. The upper cover 610 includes a transparent area 614 for the user to see the display 682.

FIG. 7 is an exemplary flow chart illustrating a method of obtaining and/or outputting a result deviation according to an embodiment of the present invention, the result deviation including a result angle of the 3D pointing device located at a spatial pointing coordinate, The 3D pointing device can be moved and rotated in a 3D space pointing to a reference coordinate and dynamic environment. In various embodiments of the present invention, the method shown in FIG. 7 may be a comparison program or a comparison model, and the comparison program or the comparison model is an operation embedded in the processing unit or the processing and transmission module. The processor 348, 554, 648 may or may be executed by it.

Therefore, in an embodiment of the invention, a method for obtaining a deviation of the result is provided, the result deviation comprising a result angle of the 3D pointing device pointing in the space to the reference coordinate, wherein the 3D pointing device comprises a six-axis motion sensing module And moving and rotating in the dynamic environment and the space pointing reference coordinates, the above method for obtaining the result deviation includes the following steps. First, as shown in FIG. 7, various states of the six-axis motion sensing module, such as the previous state, the current state, the measured state, and the updated state, refer to the above method for obtaining the result deviation in the 3D reference coordinate ( Preferably, it is a step or a group of steps in an absolute manner. In an embodiment, the above method comprises the following steps. First, a previous state of the six-axis motion sensing module is obtained (eg, as described in steps 705 and 710). Wherein, the previous state includes an initial value set or a first quaternary value, and the initial quaternion value is associated with the front angular velocity ω _x , ω _y , ω _z , and the front angular velocity ω _x , ω _y and ω _z are obtained from the motion sensing signal sent by the six-axis motion sensing module in the previous period T-1. Thereafter, a current state of the six-axis motion sensing module is obtained by taking the measured angular velocities ω _x , ω _y , ω _z , wherein the measured angular velocities ω _x , ω _y , ω _z are sensed from the six-axis motion The module is obtained in the action sensing signal sent by the current time period T (for example, as described in steps 715 and 720). Then, a measurement state of the six-axis motion sensing module is obtained by taking the measured axial accelerations Ax, Ay, and Az, wherein the measured axial accelerations Ax, Ay, and Az are six-axis motion senses. The test module is obtained in the action sensing signal sent by the current time period T (for example, as described in step 725). The predicted axial accelerations Ax', Ay', Az' are then calculated by the six-axis motion sensing module's measured angular velocities ω _x , ω _y , ω _z in the present state (eg, as described in step 730). Then, an update state of the six-axis motion sensing module is obtained by comparing the current state and the measured state of the six-axis motion sensing module (eg, as described in step 735). Thereafter, the updated state of the six-axis motion sensing module is calculated and converted to a resulting deviation, and the resulting bias includes the resulting angle of the 3D pointing device in space pointing to the reference coordinate (eg, as described in step 745). In order to establish a continuous loop, the updated state of the obtained six-axis motion sensing module is preferably output to the previous state. In an embodiment, the update status may be a quaternary value, that is, a third quaternary value as shown in the figure; the quaternary value may be directly output to the previous state of another quaternary value, ie, as shown in the figure. The previous state of the first quaternion value shown (eg, as described in step 740).

Moreover, those skilled in the art should understand that the comparison mechanism executed by the processing and transmission module and including the update program can refer to various six-axis motion sensing modules as shown in FIG. 7 and FIG. status. As described above, the update program executed by the processor can obtain the update status of the six-axis motion sensing module by using the previous state associated with the first signal group and the measurement state associated with the second signal group. The first signal group is about angular velocity ω _x , ω _y , ω _z , and the second signal group is about axial acceleration Ax, Ay, Az. The measuring state includes measuring the second signal group, that is, measuring the axial accelerations Ax, Ay, and Az, and including the estimated measured values Ax' and Ay calculated from the first signal group. ', Az'. The steps associated with the various states described above for the six-axis motion sensing mode organization and the method of obtaining the resulting deviation of the 3D pointing device in the 3D reference coordinate are described in detail below.

Referring to FIG. 7 again, in an embodiment of the present invention, in the method for obtaining a deviation of the result, first, a previous state of the six-axis motion sensing module is first obtained, wherein the result deviation includes a 3D pointing device in space. The angle of the result pointing to the reference coordinate. In an embodiment, the previous state of the six-axis motion sensing module is preferably a first quaternary value, and the first quaternary value is preferably initialized at the beginning of the process or method and is used as a start. The previous state (step 705). In other words, in an embodiment of the invention, the signal of the six-axis motion sensing module is preferably represented by a quaternion value and associated with a sway angle, and its initial value is zero. The four elements of the first quaternion value are initially preset to a predetermined set of initial values. Alternatively, the first quaternion value can also be replaced by another signal group, which is a signal group generated by the rotation sensor and the acceleration sensor in the next period to make the signal shown in FIG. The method is a continuous loop between the previous period T-1 and the current time period T. How the first quaternary value at the time period T-1 is replaced by the quaternary value outputted after the time period T will be described later in detail. Those of ordinary skill in the art should be able to understand the available "Eulerian angles" to represent quaternary values. Similarly, those skilled in the art should understand that the previous time period T-1 and the current time period T can be replaced by the current time period T and the next time period T+1, respectively, and fall within the spirit and scope of the present invention. .

As shown in FIG. 7, the first quaternary value of the previous time period T is obtained in step 710. The method as shown in Figure 7 can be performed in successive time periods. In an embodiment of the invention, steps 710-745 may be a loop that performs one step at a time. In other embodiments, multiple steps can be performed simultaneously, for example, multiple signals sent by the six-axis motion sensing module can be simultaneously acquired, instead of only one signal being acquired at a time. It should be understood by those skilled in the art that the steps herein are for illustrative purposes only, and other possible sequence of steps, whether performed sequentially or simultaneously, are intended to be within the scope of the present invention. When step 710 is performed for the first time, the first quaternion value initialized in step 705 is obtained. Otherwise, the first quaternion value of T in the current time period is obtained in the previous period T-1. In other words, step 710 is generally in contrast to the previous state of the six-axis motion sensing module described above. According to another embodiment of the invention, the previous state may be compared to step 705 or step 710.

The next step may be to obtain the first signal group generated by the rotation sensor. In the embodiment, the first signal group includes the measured angular velocities ω _x , ω _y , ω _z shown in step 715. In step 720, the second quaternion value of the current time period T can be calculated and obtained by the angular velocities ω _x , ω _y , ω _z . Steps 715 and 720 generally refer to the current state of the six-axis motion sensing module described above. In an embodiment, the arithmetic processor may use a data conversion means to convert the angular velocities ω _x , ω _y , ω _z to a second quaternary value. The data conversion means can be a program or an instruction, and the program or instruction can be expressed by the following equation (1).

Equation (1) is a differential equation. The quaternion value to the left of the equal sign is the first derivative of the quaternion value (q ₀ , q ₁ , q ₂ , q ₃ ) to the right of the equal sign with respect to time. The data conversion means uses the first quaternary value as the initial value of the differential equation (1), and calculates the solution of the differential equation (1). The second quaternion is the solution of the differential equation (1).

As shown in the figure, in the present embodiment, the "measurement state" of the six-axis motion sensing module is generally compared with step 725 and step 730. In step 725, a second signal group generated by the acceleration sensor is obtained. The second signal group includes measuring axial accelerations Ax, Ay, and Az, that is, Ax, Ay, and Az are measured values of the axial acceleration. . In order to obtain the measurement state of the six-axis motion sensing module of the present invention, in an embodiment, based on the current state of the six-axis motion sensing module or the second quaternary value as shown in step 730, The predicted axial accelerations Ax', Ay', Az' are obtained. In other words, two sets of axial accelerations representing the measured state of the six-axis motion sensing module can be obtained, one of which is the measured axial accelerations Ax, Ay, Az in step 725, and the other is a step. The predicted axial accelerations Ax', Ay', Az' in 730 are determined based on the current state or the second quaternary value associated with the measured angular velocity. Moreover, in an embodiment, the arithmetic processor can utilize a data conversion means to convert the measured axial accelerations Ax, Ay, Az into a quaternary value. The data conversion means can be a software program, which can be represented by the following equations (2), (3), (4).

Ax=2(q ₁ q ₃ -q ₀ q ₂ ).................................... ....(2)

Ay=2(q ₂ q ₃ +q ₀ q ₁ ).................................... ..(3)

The above operational processor can be used to calculate the solutions (q ₀ , q ₁ , q ₂ , q ₃ ) of equations (2), (3), (4).

In an embodiment in which the resulting error is obtained, a comparison mechanism is preferably used to compare the current state and the measured state of the six-axis motion sensing module in the current time period T, wherein the result error includes using the six-axis motion The 3D pointing device of the sensing module points in a space to the resulting angle in the reference coordinate. In other words, in the embodiment shown in step 735, it is preferred to measure the second quaternary value with the measured axial accelerations Ax, Ay, Az and the predicted axial accelerations Ax', Ay' in the present time period T. Az' is compared, wherein the second quaternion value is associated with the measured angular velocity in the current time period T. Then, the obtained result can be used as an update state of the six-axis motion sensing module in the current time period T. Instructions including equations associated with the present state, measurement state, and update state described above are described below.

According to an embodiment of the invention, in the alignment mechanism shown in step 735 of the figure, the current state associated with the second quaternary value and associated with the angular velocity of the gyroscope can be obtained by the following equation.

x(t|t-1)=f(x _t-1 ,u _t )............................... ......................(5)

In a preferred embodiment, a first probability (state transition probability) associated with the current state can be obtained by the equations described below.

P(x _t |x _t-1 ,u _t )=F _x P(x _t-1 |x _t-1 )F _x ^T +F _u P(u _t-1 |u _t-1 )F _u ^T + Q _t

Among them, Q _t is additional motion noise.

Similarly, the measurement state associated with the second axial acceleration described above and related to the axial acceleration measured by the acceleration sensor and the current state can be obtained by the following equation.

z _t (t|t-1)=h(x(t|t-1))............................. ....(8)

In a preferred embodiment, a second probability (measurement probability) associated with the measurement state can be obtained from the equation:

P(z _t |x _t )=H _x P(x _t |x _t-1 )H _x ^T +R _t ......................( 9)

Where R _t is measurement noise.

In an embodiment, the first probability and the second probability may be further used to obtain an updated state of the six-axis motion sensing module based on the following equations related to data association:

D _t ={[z _t -h(x(t|t-1))]P(z _t |x _t )[z _t -h(x(t|t-1))] ^-1 } ^1/2 .....(11)

In an embodiment, the updated state of the obtained six-axis motion sensing module preferably includes an alignment mechanism or data association represented by an equation, which may be a third quaternary value as shown. Moreover, in the next step as shown, the updated state of the obtained six-axis motion sensing module can be output and used to obtain a result bias that includes the resulting angle of a reference to the reference coordinate in a space. Those of ordinary skill in the art should understand that the present state, the measurement state, the update state, the data association, and the probability in the comparison mechanism in the above embodiments are for illustrative purposes only and are not intended to limit the present invention.

As described above, as shown in step 740 of the figure, it is preferable to input the acquired update state (preferably in the form of a third quaternary value) to the previous state of the six-axis motion sensing module. In other words, in an embodiment, the first quaternion value may be replaced by the third quaternary value described above, or the third quaternary value may directly replace the first quaternary value in the previous period T-1. The value of the next loop. In other words, the third quaternion value of T in the current time period will become the first quaternion value of the next time period T+1. Or, the third quaternary value outputted in the previous period T-1 can be used as the first quaternion value of the current time period T.

In step 745, the updated state of the six-axis motion sensing module of the present invention may be further processed and converted to a result bias, the resulting bias including the resulting angle in the spatial pointing coordinate, wherein the resulting angle is included in the spatial pointing coordinate The 3D pointing device has a sway angle, a pitch angle, and a roll angle. Preferably, the sway angle, the pitch angle, and the roll angle respectively correspond to angles of three mutually perpendicular coordinate axes of the spatial pointing coordinates. In one embodiment, the arithmetic processor uses a data conversion means to convert the third quaternary value representing the updated state of the six-axis motion sensing module to a sway angle, a pitch angle, and a roll angle. The data conversion means can be a program or an instruction, which can be represented by the following equations (12), (13), and (14).

Pitch=arcsin(2(q ₀ q ₂ -q ₃ q ₁ ))..........................(13)

The variables q ₀ , q ₁ , q ₂ , and q ₃ are the four elements of the third quaternion value.

In an embodiment of the invention, a temporally continuous loopback method is provided, the method executed by the arithmetic processor in communication with the six-axis motion sensing module returns to step 710 to execute in the next time period T. +1 alignment program or method. In addition, the above-mentioned result deviation is preferably obtained and output in an absolute manner, and can reflect the true movement and rotation of the 3D pointing device of the present invention on the spatial pointing reference coordinate, the result deviation including the result angle, and the result angle Then, the sway angle, the pitch angle, and the roll angle of the space conversion coordinate converted by the third quaternary value are included. It should be understood by those skilled in the art that the actual movement and rotation of the above-mentioned 3D pointing device on the spatial pointing reference coordinate can be instantaneous movement and rotation in a dynamic environment, and the instantaneous movement and rotation can be represented by a vector. The vector has a certain size and direction with respect to the coordinate axis whose space points to the mutually perpendicular to the reference coordinates.

FIG. 8 is a flow chart illustrating a mapping method of another embodiment of the present invention, the mapping method mapping a result deviation of a 3D pointing device to a display reference coordinate, the result deviation including a 3D pointing The resulting angle of the device on the coordinates of the coordinates, the 3D pointing device can be moved and rotated in a 3D space pointing to a reference coordinate or dynamic environment. Figure 9 is a schematic diagram showing how the resulting deviations from the resulting angles of the 3D pointing device are mapped. For purposes of illustration, the differences between FIG. 7 and FIG. 8 may be represented by an additional mapping step 750 as shown in FIG. Steps 705-745 in Fig. 8 are the same as the steps corresponding to those in Fig. 7, which perform an alignment procedure with respect to the 3D pointing device. Step 750 is to perform a mapping procedure for the 3D pointing device. The arithmetic processor can include a mapping program for performing the mapping step 750. In step 750, the processing and transmission module obtains display data, for example, including screen size and boundary information, and based on a sensitivity input, processing and transmission module conversion and spatial pointing reference coordinates associated with the display reference coordinates The result of the correlation result deviation is a moving template of the mapping area in the display reference coordinate, preferably three mutually perpendicular coordinate axes respectively pointing to the reference coordinate with respect to the space. Those of ordinary skill in the art will appreciate that the above display information includes the form of the display, such as an LED display, an LCD display, a touch screen or a 3D display, and the frequency of the display, such as 120 Hz or 240 Hz. In an embodiment, the display reference coordinate associated with the display can be a 2D display reference coordinate. In another embodiment, the display reference coordinate can be a 3D display reference coordinate of a 3D display.

The display data further includes a sensitivity input, and the sensitivity input is a parameter, and the user can input and adjust the parameter by using a control button disposed on the outer casing of the 3D display device. The sensitivity input can be used to indicate the sensitivity of the display device corresponding to the movement of the 3D pointing device. Please refer to Figure 9 for a further explanation of the mapping procedure. In one embodiment, the sensitivity input is a parameter that represents the relationship of the display to the 3D pointing device of the present invention, such as a distance relationship. The output of the 3D pointing device includes an offset at the 3D pointing reference coordinate, the pitch angle, and the roll angle, which offset can be transformed to a moving template on the 2D display reference coordinate of the display. In another embodiment, the sensitivity input can be a screen size including boundary information that is predetermined by the user, such as by user input or operation. In yet another embodiment, the movement template includes a distance, or a number of strokes that are moved or shifted from the movement of the 3D pointing device. To increase or decrease the movement template, the sensitivity input is preset in the mapping program to allow sensitivity. The input parameter is a preset value.

Figure 9 is a bird's eye view of a screen 910 of a 3D pointing device 930 and a display device in accordance with one embodiment of the present invention. The screen 910 has a center point 922, a target point 924, and a boundary point 926. The center point 922 is the coincidence center of the screen 910, the target point 924 is the position pointed by the 3D pointing device 930, and the boundary point 926 is a point located on the right border of the screen 910. The points 922, 924, 926 and the 3D pointing device 930 described above are located on a common plane which is parallel to the X _D axis and the Z _D axis of the display reference coordinates X _D Y _D Z _D . The virtual beams 942, 944, 946 are three imaginary beams that are transmitted from the 3D pointing device 930 to the center point 922, the target point 924, and the boundary point 926, respectively. The distance P is the distance between the center point 922 and the target point 924, the distance _Pmax is the distance between the center point 922 and the boundary point 926, and the distance d is the distance between the center point 922 and the 3D pointing device 930. The sway angle in the result deviation of the 3D pointing device 930 is the angle θ between the virtual beam 942 and the virtual beam 944, and the angle θ _max is the angle between the virtual beam 942 and the virtual beam 946. The mapping area described above is a plane located on the display reference coordinates and including the display surface of the screen 910, and the display surface of the screen 910 is a subset of the mapping area.

In the present embodiment, the sensitivity input described above is provided by the user of the 3D pointing device 930. The sensitivity β can be defined by the following formula (15).

Among them, the sensitivity β in the equation (15) is provided by the user.

The following equation (16) can be derived from equation (15) and the geometric relationship.

Equation (17) below can be derived from equation (16).

In equation (17), the distance _Pmax can be derived from the width of the screen, and the width of the screen is the display data obtained in step 750. In addition, the angle θ is the sway angle obtained in the step, and the sensitivity β is provided by the user. Therefore, the arithmetic processor of the 3D pointing device 930 can calculate the distance P according to equation (17). Then, the arithmetic processor can easily obtain the position of the target point on the lateral coordinate according to the distance P and the width of the screen 910. Moreover, in a similar manner, the arithmetic processor can easily obtain the position of the target point on the screen 910 on the longitudinal coordinate in accordance with the pitch angle.

The mapping procedure in step 750 can be exemplified by the above description, that is, the sway angle and the pitch angle in the result angle are converted into two-dimensional coordinates of the target point 924 on the screen 910 for explanation. Thereby, the arithmetic processor obtains the coordinates of the target point 924 at the current time. The arithmetic processor subtracts the coordinates of the target point 924 of the current time period from the coordinates of the target point 924 of the previous time period, and the result is the horizontal offset and the vertical offset of the target point 924 of the current time period. The horizontal and vertical offsets described above can be communicated to the display device to enable the display device to track the position of the target point 924. The display device can display a cursor or certain visual effects on the screen 910 to emphasize the position of the target point 924. When the user moves the 3D pointing device 930, the cursor or visual effect described above can display a moving template on the screen 910.

Similarly, in an embodiment of the invention, a temporally continuous loopback method is provided, and the method performed by the arithmetic processor in communication with the six-axis motion sensing module returns to step 710 to execute A program or method of alignment and transformation in the next time period T+1.

In summary, the present invention provides a six-axis alignment method that is a signal generated and converted by the rotation of the index device relative to the three coordinate axes, and a signal generated and converted by the acceleration of the index device along the three coordinate axes. After the comparison, in an embodiment, the six-axis comparison method outputs a deviation of the result, the deviation of the result includes a sway angle, a pitch angle, and a roll angle at a spatial pointing reference coordinate, and the space pointing to the reference coordinate is, for example, The 3D points to a 3D reference coordinate on the device. In another embodiment, the six-axis alignment method further includes the step of transforming the resulting deviation to a display reference coordinate, the resulting deviation including a yaw angle, a pitch angle, and a roll angle at a spatial pointing reference coordinate, and the display reference The coordinates are, for example, 2D display reference coordinates on a screen of a display device. The six-axis comparison method of the present invention includes the steps of comparing the motion sensing signals, calculating and converting the quaternary values, and the like, and outputting the sway angle, the elevation angle, and the rolling angle including the 3D reference coordinates. The deviation of the results, the six-axis alignment method of the present invention is novel and is not easily inferred from the prior art by those skilled in the art, and is also progressive.

In summary, it should be understood by those of ordinary skill in the art that in the present invention, it is novel to include the 3D angle at a spatial pointing reference coordinate in an absolute manner. Moreover, the enhanced 3D pointing device has the novelty method and program proposed by the present invention, so that the above-described deviation can be obtained and output in an absolute manner, which is not easily known by those having ordinary knowledge in the art. It is also advanced in technology and is therefore progressive. The above-mentioned "absolute" associated with the result deviation refers to the actual movement and rotation of the 3D pointing device of the present invention in the spatial pointing reference coordinate, wherein the resulting deviation is obtained from the enhanced 3D pointing device and output, and the resulting deviation includes the result. The angle, and the resulting angle is, for example, the sway angle, the pitch angle, and the roll angle in the spatial pointing reference coordinates. It should be understood by those of ordinary skill in the art that conventional techniques that can only output planar angles or relative movements do not provide the relevant insights that provide deviations from the results of the present invention in an absolute manner. Moreover, since the noise generated and accumulated by the movement and rotation of the six-axis motion sensing module in the dynamic environment can be effectively deleted or compensated, the six-axis alignment method of the present invention can accurately output the deviation. This deviation includes the angle in the 3D reference coordinate. In the above method, the current state, the measurement state, and the update state of the six-axis motion sensing module are used to obtain a deviation of the result and the error accumulated by the six-axis motion sensing module of the 3D pointing device of the present invention is deleted. It is novel and is not easily inferred by those who have ordinary knowledge in the field, so it is also progressive. Moreover, in the present invention, the resulting deviation, including the resulting angle, can be further transformed to another display reference coordinate or 2D reference coordinate, wherein the resulting angle is located in a spatial pointing reference coordinate or a 3D reference coordinate. Moreover, it is novel to transform the movement and rotation of the enhanced 3D pointing device of the present invention into the display reference coordinates in an absolute manner, and is not easily inferred from the prior art by those skilled in the art, and thus Progressive.

The present invention has been described above by way of examples, and is not intended to limit the scope of the claims. The scope of patent protection is subject to the scope of the patent application and its equivalent fields. Modifications or modifications made by those skilled in the art, without departing from the spirit or scope of the invention, are equivalent to the equivalents or modifications made in the spirit of the invention and should be included in the following claims. Inside. Moreover, in the description of the invention, "a" or "an" For example, it should be understood by those skilled in the art that a printed circuit board can refer to a plurality of printed circuit boards, and the six-axis motion can be used as a rotation sensor or gyroscope of the sensing module, and/or a sense of acceleration. The detector can be mounted on a plurality of printed circuit boards.

110. . . Handheld 3D pointing device

111. . . Flat swing angle

112. . . Pitch angle

113. . . Rolling angle

120. . . 2D display device

122. . . Screen

X _P , Y _P , Z _P . . . axis

X _D , Y _D , Z _D . . . axis

300, 500, 600, 930. . . 3D pointing device

302, 502, 602. . . Six-axis motion sensing module

304, 604. . . Processing and transmission module

310, 610. . . Upper cover

320, 520, 620. . . lower lid

322, 522, 622. . . Battery

330. . . case

340, 540, 640. . . A printed circuit board

342, 542, 642. . . Rotary sensor

344, 544, 644. . . Acceleration sensor

346, 546, 646. . . Data transmission unit

348, 648. . . Arithmetic processor

552. . . Data receiving unit

554. . . Arithmetic processor

560. . . first part

570. . . the second part

580. . . personal computer

582, 910. . . Screen

682. . . monitor

705~750. . . step

922. . . Center point

924. . . Target

926. . . Boundary point

942, 944, 946. . . Virtual beam

θ, θ _max . . . angle

d, P, P _max . . . distance

FIG. 1 illustrates a conventional technique of having a five-axis motion sensor at a 2D reference coordinate.

2 is a prior art diagram of FIG. 1 with a five-axis motion sensor that rotates about the Xp axis and is subject to further dynamic interaction.

FIG. 3 is an exploded view of a 3D pointing device according to an embodiment of the present invention. The 3D pointing device is located in a 3D space pointing reference coordinate and has a six-axis motion sensing module.

4 is a block diagram of a 3D pointing device in accordance with an embodiment of the present invention, showing the hardware components of the 3D pointing device.

FIG. 5 illustrates a 3D pointing device according to another embodiment of the present invention. The 3D pointing device is located in a 3D space pointing reference coordinate and has a six-axis motion sensing module.

FIG. 6 is an exploded view of a 3D pointing device according to another embodiment of the present invention. The 3D pointing device is located in a 3D space pointing reference coordinate and has a six-axis motion sensing module.

FIG. 7 is a flow chart of a compensation method for compensating a deflection angle of a 3D pointing device according to an embodiment of the present invention. The 3D pointing device is directed to a reference coordinate and a dynamic environment in a 3D space. Move and rotate in the middle.

FIG. 8 is a flowchart of a mapping method for transforming a deflection angle of a 3D pointing device to a display reference coordinate according to another embodiment of the present invention. The 3D pointing device is in a 3D space. Moves and rotates in a dynamic environment pointing to the reference coordinates.

Figure 9 is a diagram showing an embodiment of transforming the result angle of the result of the 3D pointing device of the present invention.

300. . . 3D pointing device

310. . . Upper cover

320. . . lower lid

322. . . Battery

330. . . case

340. . . A printed circuit board

342. . . Rotary sensor

344. . . Acceleration sensor

346. . . Data transmission unit

348. . . Arithmetic processor

Claims (19)

A 3D pointing device adapted to move or rotate in a dynamic environment, the 3D pointing device comprising: a housing associated with the 3D pointing device for moving and rotating on a spatial pointing reference coordinate; The printed circuit board is covered by the casing; a six-axis motion sensing module is attached to the printed circuit board, and the six-axis motion sensing module includes a rotation sensor and an acceleration sensor. The rotation sensor is configured to detect and generate a first signal group, and the first signal group includes angular velocities ω _x , ω _y , ω related to movement and rotation of the 3D pointing device on the spatial pointing reference coordinate _z , the acceleration sensor is configured to detect and generate a second signal group, and the second signal group includes axial accelerations Ax, Ay related to movement and rotation of the 3D pointing device on the space pointing reference coordinates. And a processing and transmission module, comprising: a data transmission unit and an operation processor, the data transmission unit is electrically connected to the six-axis motion sensing module for transmitting the first signal group and the Second signal group, the operation The processor is configured to receive and calculate the first signal group and the second signal group transmitted from the data transmission unit, and the processing and transmission module is coupled to the six-axis motion sensing module and The comparison mechanism eliminates the accumulated error generated by the first signal group and the second signal group by comparing the first signal group and the second signal group to calculate a result deviation, where the result deviation includes multiple The space points to the result angle on the reference coordinate, thereby obtaining the result angle of the spatial pointing reference coordinate in the dynamic environment, the result angle being the result deviation of the six-axis motion sensing module belonging to the 3D pointing device . The 3D pointing device of claim 1, wherein the dynamic environment comprises a context, wherein movement and rotation of the 3D pointing device on the spatial pointing reference coordinates are continuous and non-linear with respect to the time axis. The 3D pointing device of claim 1, wherein the printed circuit board covered by the housing comprises at least one substrate, the substrate comprising a first long side, the first long side being substantially parallel to A long side of the housing. The 3D pointing device of claim 1, wherein the space pointing reference coordinate is a 3D pointing coordinate, and the result angle belonging to the result deviation comprises a swing angle, a pitch angle, and a roll angle, Corresponding to the space pointing to three mutually perpendicular coordinate axes in the reference coordinate. The 3D pointing device of claim 1, wherein the data transfer unit in the processing and transport module is attached to the printed circuit board covered by the housing, by using the printed circuit board The data transmission unit transmits the first signal group and the second signal group generated by the six-axis motion sensing module to the operation processor. The 3D pointing device of claim 1, wherein the processing processor of the processing and transmission module is external to the housing, and the computing processor is wirelessly received by the data transmission unit The first signal group and the second signal group transmitted by the six-axis motion sensing module. The 3D pointing device of claim 1, wherein the comparison mechanism used by the processing and transmission module further comprises an update program, wherein the update program is related to the first signal group Obtaining an update state of a previous state and a measurement state associated with the second signal group, the measurement state comprising measuring the second signal group and a predetermined amount according to the first signal group Measurement. The 3D pointing device of claim 1, wherein the comparison mechanism used by the processing and transmission module further comprises a data conversion means for converting the quaternion value into the spatial direction The result angle of the result deviation of the six-axis motion sensing module in the 3D pointing device on the reference coordinate, the quaternary value is the same as the first signal group sent by the six-axis motion sensing module The second signal The group is associated with the combined result. The 3D pointing device of claim 1, wherein the processing processor in the processing and transmission module further comprises a mapping program based on a sensitivity input associated with the display reference coordinate, the mapping program Converting the result angle of the result deviation of the six-axis motion sensing module in the 3D pointing device to the reference point on the space to a moving template in a display reference coordinate, the display reference coordinate Unlike this space, it points to the reference coordinate. The 3D pointing device of claim 9, wherein the sensitivity input associated with the display reference coordinate is determined by a user input and associated with boundary information of a display device, the display device There is a corresponding mapping area in the display reference coordinate. A 3D pointing device adapted to move or rotate in a dynamic environment, and the 3D pointing device is associated with a moving template in a 2D display reference coordinate, the 3D pointing device comprising: a housing, the housing Corresponding to movement and rotation of the 3D pointing device located on the 3D pointing reference coordinate; a printed circuit board covered by the housing; a six-axis motion sensing module attached to the printed circuit board The six-axis motion sensing module includes a rotation sensor and an acceleration sensor, wherein the rotation sensor is configured to detect and generate a first signal group, and the first signal group includes the 3D pointing device The angular velocity ω _x , ω _y , ω _z associated with the movement and rotation of the 3D pointing reference coordinate is used to detect and generate a second signal group, and the second signal group includes 3D is directed to the axial accelerations Ax, Ay, Az associated with the movement and rotation of the 3D pointing device on the reference coordinate; and a processing and transmission module comprising a data transmission unit and an arithmetic processor, the data transmission unit being electrically Connected to the six axes The sensing module is configured to transmit the first signal group and the second signal group, and the operation processor is configured to receive and calculate the first signal group and the second signal group transmitted from the data transmission unit The processing and transmission module is coupled to the six-axis motion sensing module and eliminates the first signal group and the second by comparing the first signal group and the second signal group by a comparison mechanism a cumulative error generated by the signal group to calculate a result deviation, the result deviation including a plurality of result angles on the 3D pointing reference coordinate, and the operation processor further includes a mapping program based on the reference coordinates associated with the 2D display a sensitivity input, the mapping program converts the result angle of the result deviation of the six-axis motion sensing module in the 3D pointing device on the 3D pointing reference coordinate into the reference coordinate of the 2D display The mobile template. The 3D pointing device of claim 11, wherein the data transfer unit in the processing and transport module is attached to the printed circuit board covered by the housing, by using the printed circuit board The data transmission unit transmits the first signal group and the second signal group sent by the six-axis motion sensing module to the operation processor. The 3D pointing device of claim 11, wherein the processing processor of the processing and transmission module is external to the housing, and the computing processor is wirelessly received by the data transmission unit The first signal group and the second signal group transmitted by the six-axis motion sensing module. The 3D pointing device of claim 1, wherein the comparison mechanism used by the processing and transmission module further comprises an update program to be based on a previous state associated with the first signal group and Obtaining an update status related to a measurement status associated with the second signal group, the measurement status includes measuring the second signal group and a predicted measurement according to the first signal group, and belonging to the result deviation The resulting angle includes a sway angle, a pitch angle, and a roll angle, respectively corresponding to the three coordinate axes of the space that are perpendicular to each other to the reference coordinate. The 3D pointing device of claim 11, wherein the sensitivity input associated with the display reference coordinate is predetermined by the mapping program of the processing processor of the processing and transmission module, the mapping program Using the boundary information of a display device, the display device has a corresponding mapping area in the 2D display reference coordinate, and the boundary information is defined by a user input. A method for obtaining a deviation of a result of a 3D pointing device, the resulting deviation comprising a plurality of resulting angles of a 3D pointing device on a spatial pointing reference coordinate, the 3D pointing device using a six-axis motion sensing located therein a module, and the 3D pointing device is adapted to move and rotate in a dynamic environment in which the space points to a reference coordinate, the method comprising: obtaining a previous state of the six-axis motion sensing module, wherein the previous state comprises An initial value group, wherein the initial value group is associated with a plurality of front segment angular velocities obtained from an action sensing signal of the six-axis motion sensing module during a previous time period T-1; Obtaining an instantaneous angular velocity ω _x , ω _y , ω _z obtained by the six-axis motion sensing module in a motion sensing signal of a current time period T, obtaining a current state of the six-axis motion sensing module; Obtaining the axial accelerations A _x , A _y , A _z obtained by the six-axis motion sensing module in the motion sensing signal of the current time period T, and obtaining a measurement of the six-axis motion sensing module State, and based on the six-axis motion The plurality of sensing the amount of the current state of the module measured angular velocity _{ω x, ω y, ω z} , the calculated expected axial acceleration _{A x ', A y',} A z '; by comparing the six-axis motion sensing module The current state of the group and the measurement state to obtain an updated state of the six-axis motion sensing module; calculating and converting the updated state of the six-axis motion sensing module to the result deviation, the result deviation includes The resulting angle of the 3D pointing device on the space pointing to the reference coordinate. The method also includes a mapping step of converting the resulting angle of the result deviation in the spatial pointing reference coordinate to a movement template located at one of the display reference coordinates, and the converting step includes obtaining a reference with the display The coordinate is associated with a sensitivity input, and the display reference coordinate is different from the spatial pointing reference coordinate. The method for obtaining a result deviation of a 3D pointing device according to claim 16 of the patent application, further comprising the steps of: outputting the updated state of the six-axis motion sensing module to the six-axis motion sensing module The previous state of the result deviation includes a sway angle, a pitch angle, and a roll angle corresponding to the three coordinate axes of the space pointing perpendicular to the reference coordinate. The method of claim 16, wherein the previous state of the six-axis motion sensing module is a one corresponding to the previous time period T-1. a quaternary value, the current state of the six-axis motion sensing module is a second quaternary value corresponding to the current time period T, and the updated state of the six-axis motion sensing module corresponds to the present A third quaternion value of time period T. The method for obtaining the deviation of the result of the 3D pointing device, as described in claim 16, wherein the step of obtaining the previous state of the six-axis motion sensing module further comprises: initializing the initial value group.