WO2015007001A1

WO2015007001A1 - Data processing method for space mouse and control method for mouse pointer

Info

Publication number: WO2015007001A1
Application number: PCT/CN2013/080985
Authority: WO
Inventors: 龙涛; 乔磊; 滕敏
Original assignee: 江苏惠通集团有限责任公司
Priority date: 2013-07-16
Filing date: 2013-09-03
Publication date: 2015-01-22
Also published as: CN103389807A; CN103389807B

Abstract

A data processing method for a space mouse and a control method for a mouse pointer. The space mouse comprises an inertial device which is suitable for collecting space coordinate data. The data processing method for a space mouse comprises: recording space coordinate data which is collected at the last time before an inertial device is closed; after the inertial device is restarted, acquiring a compensation value of current space coordinates, the compensation value of the current space coordinates being the difference value of the space coordinate data which is collected at the previous time and the recorded space coordinate data; and using the compensation value of the current space coordinates to compensate the currently collected space coordinate data, so as to obtain an output value of the current space coordinate data. The technical solution of the present invention can effectively solve the problem that the space coordinate data output by a space mouse has an error, so that the space coordinate data output by the space mouse is accurate and reliable, and the locating accuracy of the space mouse is improved.

Description

The data processing method of the space mouse and the control method of the mouse pointer The present application claims to be submitted to the Chinese Patent Office on July 16, 2013, the application number is 201310298200.5, and the invention name is "the data processing method of the space mouse and the control method of the mouse pointer". Priority of the patent application, the entire contents of which is incorporated herein by reference. TECHNICAL FIELD The present invention relates to the field of space mouse technologies, and in particular, to a data processing method for a space mouse and a method for controlling a mouse pointer. BACKGROUND OF THE INVENTION At present, the positioning of computer mouse pointers is mostly realized by optical sensors or laser sensors, which are based on physical optical principles, so that the sensors need to be implemented by a platform such as a desktop. However, in many occasions, such as computer multimedia teaching, users want to manipulate the mouse pointer in the air or manipulate the mouse pointer in the air to realize multimedia TV playback, web browsing and other applications, which can not be achieved by using only traditional sensors, so the space mouse It came into being. The space mouse is an input device that operates the mouse pointer (screen cursor) like a traditional mouse, but does not need to be placed on any plane. In the air, it can directly control the mouse pointer by sensing the attitude of the air movement. In order to realize the perception of the attitude of the air movement, the inertial device is generally set in the space mouse, and the attitude of the motion carrier is tracked by the inertial device measurement technology. The basic principle of the inertial tracking system is to measure the angular velocity and linear acceleration of the object motion using inertial devices such as gyro sensors and acceleration sensors based on the known initial position and attitude of the target, and then obtain the position of the object by integration. attitude. However, in the actual use process, when the space mouse is turned off, the motion process of the space mouse can no longer be detected, and when the space mouse is turned on again, its coordinate zero point cannot be compared with the coordinate zero point before the space mouse is closed. Coincidence, this is because of the space mouse The initial point, that is, the coordinate zero point is assumed by the system of the space mouse, the system re-determines the coordinate zero point each time the space mouse is turned on, and the re-determined coordinate zero point is 4 艮 difficult and the last time the space is closed before the mouse The coordinate zeros coincide, and the initial point of the space mouse will be problematic. The spatial coordinates of the space mouse obtained based on this will have errors, and then the position and posture of the space mouse will be determined. If there is an error, there will be an error in the mouse positioning. A related art is disclosed in U.S. Patent Application Serial No. US-A-2009 295 729 A1, which is incorporated herein by reference. SUMMARY OF THE INVENTION The problem solved by the present invention is the problem that there is an error in the spatial coordinate data output by the space mouse. In order to solve the above problems, the present invention provides a data processing method for a space mouse, the space mouse comprising an inertial device adapted to acquire spatial coordinate data, the method comprising: recording a space collected last time before the inertial device is turned off Coordinate data; after the inertial device is re-opened, acquiring a compensation value of the current spatial coordinate, where the compensation value of the current spatial coordinate is a difference between the previously acquired spatial coordinate data and the recorded spatial coordinate data; The compensation value of the current spatial coordinate compensates the currently acquired spatial coordinate data to obtain an output value of the current spatial coordinate data. Optionally, when the compensation value of the current spatial coordinate reaches the compensation threshold, the currently collected spatial coordinate data is no longer compensated. Optionally, the compensation threshold is 0. Optionally, the output value of the spatial coordinate data obtained for the first time after the inertial device is turned back on is discarded. Optionally, the amount of change in the displacement of the space mouse is obtained based on an output value of the spatial coordinate data. Optionally, the obtaining the space mouse based on the output value of the spatial coordinate data The displacement variation includes: calculating the displacement variation of the space mouse from the output value of the current spatial coordinate data and the output value of the previous spatial coordinate data. Optionally, the obtaining the displacement change amount of the space mouse based on the output value of the spatial coordinate data comprises: receiving the coordinate output close command after receiving the coordinate output close command or receiving the coordinate output close command after receiving the coordinate output close command The coordinate output open command calculates the displacement change amount of the space mouse from the output value of the current spatial coordinate data and the output value of the previous spatial coordinate data; if the coordinate output close command is received, the calculation of the displacement of the space mouse is stopped The amount of change; if the coordinate output open command is not received within the preset time range after receiving the coordinate output close command, the inertial device is turned off. Optionally, the spatial coordinate data collected by the inertial device is recorded within a preset time range after receiving the coordinate output close command. Optionally, the preset time range is greater than or equal to 5s. Optionally, the obtaining, by the output value of the spatial coordinate data, the displacement variation of the space mouse further comprises: discarding a displacement variation of the space mouse calculated by the inertia device after being restarted for the first time. Optionally, the obtaining the displacement change amount of the space mouse based on the output value of the spatial coordinate data further includes: after discarding the displacement variation of the space mouse calculated for the first time after the inertial device is re-opened, The data discard flag is set; the data discard flag is reset when the space mouse is initialized and when the inertial device is turned off. Optionally, the amount of change in the displacement of the space mouse is corrected based on the motion state of the space mouse. Optionally, the motion state of the space mouse is obtained by data of a gravity acceleration sensor, and the motion state includes motion in a horizontal state, motion in a vertical state, and motion in a side vertical state. Optionally, the correcting the displacement change of the space mouse based on the motion state of the space mouse comprises: if the space mouse moves in a horizontal state, maintaining the a displacement variation of the space mouse; if the space mouse moves in a vertical state, reducing a component of the displacement variation of the space mouse in the X direction and the y direction; if the space mouse moves in a side state, Then, the component of the displacement variation of the space mouse in the y direction is enlarged. Optionally, if the space mouse moves in a vertical state, the components that reduce the displacement variation of the space mouse in the X direction and the y direction include: The output value of the space coordinate data of the space mouse in the z direction is more Large, the smaller the amount of displacement of the space mouse in the X direction and the y direction is smaller, the smaller the output value of the spatial coordinate data of the space mouse in the z direction is, and the displacement variation of the space mouse is in the X direction. The greater the reduction in the component in the y direction. Optionally, if the space mouse moves in a vertical state, reducing a component of the displacement variation of the space mouse in the X direction and the y direction is implemented by: the displacement variation of the space mouse is The component dx in the X direction is reduced to (f(z)/a) xdx, and the component dy of the displacement variation of the space mouse in the y direction is reduced to (f(z)/a) xdy, where f(z ) is the output value of the spatial coordinate data of the space mouse in the z direction, a is the attenuation coefficient, la 5. Optionally, if the space mouse moves in a vertical state, reducing the component of the displacement variation of the space mouse in the X direction and the y direction further includes: if the reduced displacement of the space mouse is reduced The components in the X direction and the y direction are larger than the component threshold, and the components in the X direction and the y direction of the displacement variation of the space mouse are set as the component threshold. Optionally, the component threshold is 100. Optionally, if the space mouse moves in a side-up state, the component that magnifies the displacement variation of the space mouse in the y direction comprises: the larger the output value of the space coordinate data of the space mouse in the z direction, The smaller the degree of magnification of the displacement variation of the space mouse in the y direction, the larger the output value of the spatial coordinate data of the space mouse in the z direction, and the degree of component magnification of the displacement variation of the space mouse in the y direction. The bigger. Optionally, if the space mouse moves in a side state, the component of the displacement change of the space mouse in the y direction is realized by: the displacement variation of the space mouse is in the y direction The upper component dy is magnified as ( b / f(z) ) x dy , where f(z) is the output value of the spatial coordinate data of the space mouse in the z direction, b is the amplification factor, K b < 5 „ The technical solution of the present invention further provides a method for controlling a mouse pointer, comprising: acquiring a displacement variation of the space mouse by using a data processing method of a space mouse as described above; The displacement change amount controls the movement of the mouse pointer. Compared with the prior art, the technical solution of the present invention has the following advantages: after the inertial device is re-opened, the space coordinate data acquired before and the recorded inertial device are closed for the last time. The difference value of the collected spatial coordinate data is used as a compensation value of the current spatial coordinate, and the currently collected spatial coordinate data is compensated. Obtaining the output value of the current spatial coordinate data, after the inertial device is re-opened, after the above compensation process, the output value of the spatial coordinate and the spatial coordinate value acquired before the inertial device is turned off are in the same space coordinate system. The problem that the spatial coordinate data caused by the initial point position is different after the re-opening of the inertial device has an error, so that the spatial coordinate data of the output is accurate and reliable. In an alternative, after the inertial device is turned on, Discarding the displacement variation of the space mouse obtained in the first calculation can effectively avoid the problem that the subsequent data processing is inaccurate due to the error of the displacement variation of the space mouse obtained in the first calculation. In the alternative, in the receiving After the coordinate output close command is executed, the space coordinate data collected by the inertial device is continuously recorded within a preset time range, and the calculation of the displacement variation of the space mouse is stopped, and the coordinate output open command is received again within the preset time range. When you can, according to the record Spatial coordinates of the data acquisition device quickly, accurately obtain an output value of the displacement of the spatial variation of the mouse. In an alternative embodiment, according to the motion state of the space of the mouse, the mouse father positive space The displacement change amount can accurately obtain the displacement variation of the space mouse. 1 is a schematic diagram of a motion trajectory of a space mouse according to a first embodiment of the present invention; FIG. 2 is a schematic flowchart of a data processing method of a space mouse according to a first embodiment of the present invention; 4 is a schematic flow chart of a data processing method of a space mouse according to a third embodiment of the present invention; FIG. 5 is a schematic flowchart of a data processing method of a space mouse according to a fourth embodiment of the present invention; FIG. 7 is a flow chart of a data processing method for a space mouse according to Embodiment 6 of the present invention; FIG. 8 is a flow chart of a data processing method for a space mouse according to Embodiment 7 of the present invention; FIG. 9 is a flow chart showing a data processing method of a space mouse according to Embodiment 8 of the present invention. DETAILED DESCRIPTION OF THE INVENTION When the space mouse is in normal use, the power switch of the space mouse and the terminal must be turned on first. After the wireless communication link between the space mouse and the terminal is established, the space mouse enters the working state. Specifically, after the space mouse enters the working state, the space coordinate data is first collected by the inertial device, wherein the inertial device may be a gyro sensor or a gravity acceleration sensor. The spatial coordinate data of the space mouse may be obtained by measuring parameter information such as the angular velocity measured by the gyro sensor, or the spatial coordinate data of the space mouse may be obtained by using parameter information such as linear acceleration measured by the gravity acceleration sensor, or The spatial coordinate data of the space mouse is obtained by combining the parameter information measured by the gyro sensor and the gravity acceleration sensor, and the method for obtaining the spatial coordinate data of the space mouse can be performed by using various methods known to those skilled in the art. , will not repeat them here. After the terminal receives the spatial coordinate data of the space mouse, the displacement variation of the space mouse can be obtained according to the spatial coordinate data twice before and after, and then converted into mouse pointer data by conversion calculation, such as a mouse on the display screen. The amount of change in the plane coordinate or plane coordinate of the pointer completes the control of the mouse pointer by the space mouse. If the memory of the space mouse is allowed, the conversion process of the space coordinate data to the mouse pointer data can be performed inside the space mouse, and then the mouse pointer data is directly sent to the terminal, and then the terminal completes the movement of the mouse pointer on the display screen. control. In the process of obtaining spatial coordinate data based on the inertial device, obtaining the displacement variation of the space mouse, and finally obtaining the mouse pointer data, an error may occur in any stage. In the prior art, there is a displacement variation on the space mouse. The related techniques for calibration, but there is no complete and effective method to make the data obtained in each stage mentioned above accurate and effective. In the above process, there is an error in obtaining spatial coordinate data based on the inertial device. This is because, each time the inertial device is turned on (the turning on the inertial device means that the inertial device is in an operating state, and the space coordinate data of the space mouse can be collected by the inertial device), the system needs to re-determine the initial point of the space mouse. That is, the coordinate zero point needs to be re-determined, and the coordinate zero point is assumed by the space mouse system, and the re-determined coordinate zero point is 4 艮 coincides with the coordinate zero point before the inertial device was last turned off. For any point in space, its spatial coordinate data (ie, absolute coordinate data) should be based on the same coordinate system and should be unique and should not be different due to turning off or turning on the inertial device. This is not handled in the prior art, so the initial point of the spatial coordinates determined by turning on the inertial device each time will result in an initial with different spatial coordinates. The space coordinate data of the inertial device obtained on the basis of the point will have errors, which will cause errors in the data of each stage of the space mouse, which makes the space mouse positioning inaccurate. Moreover, in the process of moving the space mouse, due to the influence of the earth's gravitational acceleration, there will be errors in the process of outputting data, which will also lead to the problem of inaccurate mouse positioning. In order to solve the above problems, the technical solution of the present invention provides a data processing method for a space mouse, the space mouse includes an inertial device adapted to acquire spatial coordinate data, and the method includes: recording the last acquisition before the inertial device is turned off The spatial coordinate data; after the inertial device is re-opened, acquiring a compensation value of the current spatial coordinate, where the compensation value of the current spatial coordinate is a difference between the previously acquired spatial coordinate data and the recorded spatial coordinate data; The currently acquired spatial coordinate data is compensated by using the compensation value of the current spatial coordinate to obtain an output value of the current spatial coordinate data. The above described objects, features and advantages of the present invention will become more apparent from the aspects of the appended claims. In the first embodiment, after the space mouse is re-opened, the currently collected spatial coordinate data is compensated, and the inertial device contained in the space mouse is closed by compensating the currently collected spatial coordinate data. After the state is turned on again, the currently acquired spatial coordinate data is in the same coordinate system as the spatial coordinate data acquired before the inertial device was last turned off, that is, the spatial coordinate system of the inertial device before being turned on again and before the last shutdown. The zero coordinate (the coordinate origin of the spatial coordinate system) is coincident, so that the obtained spatial coordinate data is determined based on the same coordinate system, and the spatial coordinate data output by the mouse in the same position space is unique, and will not It varies depending on turning off or turning on the inertial device. In the present embodiment, an iterative algorithm is used to make the inertial device coincide with the zero point coordinates (the coordinate origin of the coordinate system) of the coordinate system of the spatial coordinate data after the re-opening and before the last time the inertial device is turned off. As shown in Figure 1, during the operation of the space mouse, the spatial coordinate data of the space mouse is acquired by the inertial device, and the positions of the points (such as point L, Λ A, Λ Β, point C) shown in the figure are each time. The spatial coordinate data of the acquired space mouse. It is assumed that the trajectory a is the trajectory of the space mouse before the inertial device is turned off, wherein the point L is the position where the space mouse is located in the space before the inertial device is turned off, and the space coordinate data acquired by the inertial device at the point L is (X, y). , z), here the space coordinate data of the point L is denoted as L(x, y, z), assuming that the track b is the running track of the space mouse after the inertial device is re-opened, and the point A is the space mouse after the inertial device is turned back on. The starting point position of the motion, when the space mouse starts running from point A, the inertial device first collects the spatial coordinate data (xl, yl, zl) of the space mouse at point A, which is denoted as A (xl, yl, Zl), when the space mouse moves from point A to point B, the inertial device collects the spatial coordinate data (x2, y2, z2) of the space mouse at point B, which is denoted as B (x2, y2, z2), When the space mouse moves from point B to point C, the inertial device collects the spatial coordinate data (x3, y3, z3) of the space mouse at point C, which is denoted as C (x3, y3, z3), and so on. . In order to make the zero point coordinates of the coordinate system of the space coordinate data acquired by the inertial device after the re-opening and the last time the inertia device is turned off, it is necessary to compensate the spatial coordinate data collected by the inertial device each time, that is, The inertial device compensates for the spatial coordinate data acquired at points, B, C, and subsequent points. In this embodiment, the spatial coordinate data acquired before and the spatial coordinate data collected last time before the inertial device is closed are used. The difference compensates for the currently acquired spatial coordinate data. For example, during the operation of the space mouse, when the space mouse runs from point A to point B, it can be collected at the point L at the last time before the space coordinate data acquired at point A and the inertial device are turned off. The difference of the spatial coordinate data compensates for the spatial coordinate data of the currently acquired point B. Specifically, the difference between the spatial coordinate data A (xl, yl, zl) of the point A and the spatial coordinate data L (x, y, z) of the point L, which is the point A and the point L, is first calculated. The vector difference between the two, here the difference is recorded as Am, the value of Am is used to compensate the spatial coordinate data B (x2, y2, z2) of the currently acquired point B, B (x2, y2) , z2 ) and the sum of A as the empty point B The value compensated by the coordinate data, that is, the final output value of the spatial coordinate data as point B, is denoted here as B (x2)_L, y2_L, z2_L ). When the space mouse continues to run from point B to point C, the difference between the spatial coordinate data acquired at point B and the spatial coordinate data collected at the last point L before the inertia device is turned off may be used. The spatial coordinate data of the acquired point C is compensated. When the spatial coordinate data C (x3, y3, z3) of the point C is compensated, the spatial coordinate data B (x2, y2, z2) of the point B and the point L are used. The difference between the spatial coordinate data L (x, y, z) is compensated, and the spatial coordinate data B (x2, y2, z2) of point B and the spatial coordinate data L (x, y of point L) of point B are compensated. The vector difference between z) is denoted by ΔΜ, and the sum of C (x3, y3, z3) is used as the value compensated by the spatial coordinate data of point C, that is, the final output value of the spatial coordinate data as point C, Recorded here as C (x3_L, y3_L, z3, and so on, using the above iterative process to compensate the spatial coordinate data collected by each point in the running track after the inertial device is re-opened, as described above, the spatial coordinate data collected by the previous time (for example, A (xl , yl, zl)) and the difference between the last acquired spatial coordinate data (L (X, y, z)) before the inertial device is turned off (for example, A ) for the currently acquired spatial coordinate data (for example, B (x2, Y2, z2)) compensate to get the final output value of the current coordinate data of the current space (for example, B( x2_L, y2_L, Z2L)). It should be noted that, through the above iterative process, it can be seen that for the spatial coordinate data of the initial point A, since A (xl, yl, zl) is the spatial coordinate data collected for the first time after the inertial device is re-opened, the previous time The acquired spatial coordinate data is actually the last acquired spatial coordinate data before the inertial device is turned off. If the above compensation method is used, the spatial coordinate data collected by the previous time (for point A, the last time before the inertial device is turned off) The difference between the acquired spatial coordinate data and the spatial coordinate data collected last time before the inertial device is turned off (the difference is 0 in this calculation result), the space coordinate data collected at point A is compensated, Without compensating the spatial coordinate data of point A, the spatial coordinate data of point A is still problematic, so in the specific implementation, the space coordinate data A (xl, yl, zl) for point A can usually not be output. , which is The output value of the spatial coordinate data of point A is discarded. In the above iterative process, if the difference between the spatial coordinate data acquired before and the spatial coordinate data collected last time before the inertia device is turned off is gradually reduced, when the difference approaches 0, that is, When the compensation value of the currently collected spatial coordinate data approaches 0, it means that it is no longer necessary to compensate the currently acquired spatial coordinate data, that is, the coordinate system where the spatial coordinate data collected by the current inertial device is located and The coordinate system in which the spatial coordinate data acquired before the inertial device was last turned off is basically in the same coordinate system, that is, the zero point coordinates of the coordinate system of the inertial device when re-opening and before the last shutdown are coincident. The spatial coordinate data error acquired by the output inertial device has been substantially eliminated, and the spatial coordinate data acquired by the inertial device can be directly used as the output value of the spatial coordinate data. Based on the above description, the data processing method of the space mouse provided in this embodiment is as shown in FIG. 2. First, step S201 is executed to record the spatial coordinate data collected last time before the inertial device is turned off. Step S202 is performed to obtain a compensation value of the current spatial coordinate after the inertial device is turned back on. The compensation value of the current spatial coordinate is the difference between the previously acquired spatial coordinate data and the recorded spatial coordinate data. Step S203 is executed to discard the output value of the spatial coordinate data obtained for the first time after the inertial device is turned back on. Step S204 is performed to compensate the currently collected spatial coordinate data by using the compensation value of the current spatial coordinate. The currently acquired spatial coordinate data is added to the compensation value obtained in step S202 as the output value of the current spatial coordinate data. Step S205 is performed, when the compensation value of the current spatial coordinate reaches the compensation threshold, the currently collected spatial coordinate data is no longer compensated. The compensation threshold may be set according to the processing capability of the actual system and the specific requirements for the accuracy of the spatial coordinate data, and may be set to a threshold close to 0. In this embodiment, the compensation threshold is set to 0. . It can be seen by the embodiment that the method for obtaining the output value of the current spatial coordinate data by compensating the currently acquired spatial coordinate data can make the spatial coordinate data acquired by the inertial device re-opening and the previous shutdown. The spatial coordinate data collected before the inertial device is in the same space coordinate system, which effectively solves the problem that the spatial coordinate data of the output has errors due to the difference of the zero position after re-opening the inertial device, so that the collected space The coordinate data is accurate and reliable. Embodiment 2 This embodiment is a displacement change of a space mouse calculated for the first time after the inertia device is turned on in the process of obtaining the offset value of the spatial coordinate data after the compensation is obtained based on the first embodiment. The amount is filtered off. After the output value of the spatial coordinate data is obtained based on the first embodiment, the displacement variation of the space mouse can be obtained from the output value of the current spatial coordinate data and the output value of the previous spatial coordinate data. In practical applications, the user often turns off the inertial device of the space mouse for a short time or a long time according to various practical use requirements. However, when the inertial device is reopened, there is a problem with the amount of displacement change at the initial point position. This is because the displacement variation is the difference between the currently acquired spatial coordinate data and the recorded previously acquired spatial coordinate data, and the spatial mouse system is used when the inertial device of the space mouse is turned off for a short time or a long time. During the period when the inertial device is turned off, the motion of the inertial device cannot be detected. The last spatial coordinate data recorded by the system is the spatial coordinate data collected last time before the inertial device is turned off, and the inertial device is turned back on. When the initial point position is used, the spatial coordinate data acquired by the previous time is the spatial coordinate data collected last time before the inertial device is turned off, and the displacement variation of the space mouse calculated by the initial point position may be Problematic because inertial devices are usually turned off and on again It won't be in the same position or in a similar position. In this embodiment, after the inertial device is turned on, the displacement variation of the space mouse calculated by the inertia device for the first time (ie, the displacement change amount of the initial point position) is discarded, and since it is calculated after this The displacement variation of the space mouse does not exist as the problem of calculating the initial point position, so the displacement variation of the space mouse can be directly output. FIG. 3 is a schematic flowchart of the data processing method of the space mouse according to the embodiment. As shown in FIG. 3, step S301 is first performed to obtain an output value of the current spatial coordinate data. Step S301 can refer to step S201 to step S205 of the first embodiment. In other embodiments, the output values of the current spatial coordinate data may also be obtained by using various methods in the prior art, without using the method for compensating the spatial coordinate data provided in steps S201 to S205 of the first embodiment. The output value of the current spatial coordinate data. Step S302: Calculate the displacement variation of the space mouse from the output value of the current spatial coordinate data and the output value of the previous spatial coordinate data. Step S303, determining whether the data discard flag is set. In this embodiment, a data discard flag may be preset to indicate whether the calculated displacement of the spatial mouse is discarded. This data discard flag is reset when the space mouse is initialized or when the inertial device is turned off. The amount of change in the displacement of the space mouse obtained after the first opening or reopening of the inertial device is required to be discarded, and the space calculated for the first time after the inertial device is first turned on or reopened is discarded. After the amount of change in the displacement of the mouse, the flag bit is discarded for the data. In this step, it is judged whether the data discard flag is set, and if so, step S305 is performed, otherwise step S304 is performed. Step S304, discarding the displacement change amount of the space mouse, and setting the data discard flag bit. That is to say, the displacement variation of the space mouse obtained by the first calculation after the inertial device is first turned on or re-opened is directly discarded, and no subsequent data is needed. Reason. When the data discard flag is not set, that is, in the case of reset, it indicates that the currently obtained packet data is the displacement of the space mouse that is calculated for the first time after the inertial device is first turned on or re-turned on. The amount of change in the displacement of the spatial mouse obtained by the first calculation is problematic as described above, at which time the displacement variation of the current space mouse is discarded, and the data discard flag position is discarded. After discarding the displacement change amount of the space mouse calculated for the first time, the output value of the spatial coordinate data after the acquisition is continued, and the displacement change amount of the space mouse is calculated, that is, the process returns to step S301. It should be noted that when the space mouse is initialized (the first time the space mouse is turned on), there is no output value of the previous spatial coordinate data. In this case, the output value of the previous spatial coordinate data can be set to 0 in advance, and the initial point is calculated. When the displacement of the position is changed, the difference between the output value of the current spatial coordinate data and 0, that is, the output value of the current spatial coordinate data is used as the displacement variation of the space mouse calculated for the first time, in this step, The amount of displacement change of the spatial mouse obtained by the first calculation is discarded, and the data discard flag position is set. Step S305, outputting a displacement variation of the space mouse. When the data discard flag is set, it indicates that the displacement of the space mouse that was calculated for the first time has been discarded after the inertial device is turned on. The displacement of the space mouse obtained at this time is correct, and can be directly The displacement variation of the space mouse is output for subsequent data processing. Steps S301 to S305 of the present embodiment can be performed each time the inertial device acquires the spatial coordinate data. The data processing method of the space mouse of the embodiment not only effectively solves the problem that the spatial coordinate data of the output has an error due to the difference in the position of the zero point after the inertia device is restarted; moreover, in this embodiment, the inertia is turned on. After the device, by first filtering out the displacement change of the initial point position when the displacement variation of the space mouse is obtained, the space mouse position calculated by the first calculation after the inertia device is turned on can be effectively avoided. There is an error in the amount of shift change, which leads to inaccurate subsequent data processing. Embodiment 3 This embodiment is an output value of the spatial coordinate data obtained after compensation according to the first embodiment, and the displacement variation of the space mouse according to different motion states of the space mouse during the process of obtaining the displacement variation of the space mouse Carry out the correction. After obtaining the output value of the spatial coordinate data based on the first embodiment, the displacement variation of the space mouse can be obtained from the output value of the current spatial coordinate data and the output value of the previous spatial coordinate data. In the prior art, in order to solve various The influence of factors on the accuracy of data processing of space mouse has a variety of methods for compensating the displacement changes dx and dy of the space mouse during motion, but it does not involve the displacement of the spatial mouse according to the motion state of the space mouse. The amount of change dx, dy. Where dx is the component of the displacement change amount in the X direction, and dy is the component of the displacement change amount in the y direction. Usually, the X direction corresponds to the horizontal direction of the screen, the y direction corresponds to the vertical direction of the screen, and the z direction is perpendicular to the X direction and the y direction. In the actual use of the space mouse, when the space mouse moves, the rotation angle of the space mouse can be compensated by the data in the z direction, and the displacement changes dx and dy of the space mouse during the motion are obtained. Under normal circumstances, the data in the z direction is affected by the gravitational acceleration, and the gravitational acceleration is used as the reference point. However, when the space mouse is in the vertical state, the value of the gravitational acceleration in the z direction is close to The zero point of the reference point of gravity acceleration, that is, the equivalent of no gravity acceleration for reference, the measured data in the z direction is error, the measured value will be larger, and a larger value is used for the space. When the rotation angle of the mouse is compensated, the displacement changes dx and dy of the space mouse during the motion are also large, and the more vertical the space mouse moves, the more the displacement changes dx and dy are. Big. Similarly, for the motion of the space mouse in the horizontal state and the motion in the side state, the displacement of the space mouse in the output direction is the component dx in the X direction and in the y direction due to the acceleration of gravity. The value of the component dy on it may be error. In this embodiment, the displacement variation of the space mouse is corrected based on the motion state of the space mouse. The motion state of the space mouse may be judged based on data of the gravity acceleration sensor, and the motion state may be motion in a horizontal state, motion in a vertical state, and motion in a side state. 4 is a schematic flow chart of a data processing method of a space mouse according to the embodiment, which mainly shows a specific process for correcting the displacement variation of the space mouse when the space mouse is in different motion states. As shown in Fig. 4, step S401 is first executed to obtain the output value of the current spatial coordinate data. Step S401 can refer to step S201 to step S205 of the first embodiment. Step S402, calculating the displacement variation of the space mouse from the output value of the current spatial coordinate data and the output value of the previous spatial coordinate data. Step S403, determining a motion state of the space mouse.

The motion state of the current space mouse is judged according to the data of the gravity acceleration sensor. For example, in the process of the space mouse, the spatial acceleration data based on the gravity acceleration sensor can be obtained by the parameter information such as the linear acceleration measured by the gravity acceleration sensor, and the spatial coordinate based on the gravity acceleration sensor obtained at least twice before and after. The data is used to determine the motion state of the current space mouse.

Specifically, if there is no change in the component of the displacement of the spatial mouse output in the z direction, and only when the component in the y direction changes, it is determined that the current space mouse is in the horizontal state, and then step S404 is performed to determine the current The space mouse moves in a horizontal state.

If the displacement of the spatial mouse output changes only when the component in the z direction changes, and the components in the X direction and the y direction do not change, it is determined that the current space mouse is in the vertical state, and step S405 is performed. Determine the current space mouse is in the vertical state Exercise.

If the amount of displacement of the spatial mouse output changes only when the component in the x direction has a change, and the components in the y direction and the z direction do not change, it is determined that the current space mouse is in the side state, and the step is performed. S406. Determine that the current space mouse is in a side state.

Then, according to the different motion states of the space mouse, the displacement variation of the space mouse is corrected. Specifically, if the space mouse moves in a horizontal state, no correction may be performed; if the space mouse moves in a vertical state, when the spatial coordinate data of the space mouse has a larger output value in the z direction, The smaller the degree of reduction of the displacement of the spatial mouse in the X direction and the y direction, the smaller the output value of the spatial coordinate data of the space mouse in the z direction (ie, the more vertical the space mouse), the space mouse The amount of displacement change is larger in the X direction and the y direction; if the space mouse moves in the side state, when the spatial mouse data of the space mouse has a larger output value in the z direction, the space mouse The smaller the degree of magnification of the displacement change amount in the y direction is, the larger the output value of the spatial mouse of the space mouse is in the y direction.

When it is determined in step S404 that the current space mouse is in a horizontal state, the steps are performed.

5407, maintaining the displacement variation of the space mouse.

Since the influence of the gravitational acceleration on the spatial mouse motion is substantially negligible due to the movement in the horizontal state, the spatial mouse displacement variation obtained by the step S402 can be directly corrected without any correction.

When it is determined in step S405 that the current space mouse is in a vertical state, the steps are performed.

5408. Reduce the components of the displacement variation of the space mouse in the X direction and the y direction.

When the space mouse moves in the vertical state, due to the influence of gravity acceleration, the obtained dx and dy are too large. At this time, the dx and dy should be appropriately attenuated, that is, the displacement variation of the space mouse is reduced. The components in the X and y directions.

In this embodiment, the component for reducing the displacement variation of the space mouse in the X direction and the y direction is implemented by: the displacement variation of the space mouse is on the X side. The upward component dx is reduced to (f(z)/a) xdx, and the component dy of the spatial mouse displacement variation in the y direction is reduced to (f(z)/a) xdy, where f(z) is The data of the spatial coordinate data based on the gravity acceleration sensor in the z direction, a is the attenuation coefficient, la 5. Further, a component threshold may also be set in advance for controlling the degree of dx and dy reduction. For example, a component threshold corresponding to dx and dy (in units of length) may be preset, and if the component of the spatial variation of the displacement of the reduced space in the X direction is greater than a component threshold corresponding to dx, And a component of the displacement variation of the space mouse in the X direction is forcibly set to the component threshold corresponding to dx; if the reduced displacement of the space mouse, the component of the displacement in the y direction is greater than a component corresponding to dy The threshold value forcibly sets a component of the displacement variation of the space mouse in the y direction to the component threshold corresponding to dy. The component threshold corresponding to dx and the component threshold corresponding to dy are empirical values, and may be set to the same value according to the actual application, for example, 100, or may be set to different values, which is not limited herein. When it is determined in step S406 that the current space mouse is moving in the side state, step S409 is performed to enlarge the component of the displacement variation of the space mouse in the y direction. When the space mouse is in the side-up state, the gravity acceleration will have the greatest influence on the motion in the y direction. Compared with the data in the z direction, this is equivalent to making a reference with a larger gravity acceleration. The data value in the direction is relatively small. When a small value is used to compensate the rotation angle of the space mouse, the displacement dy of the space mouse during the motion is also small. The dy is appropriately amplified, that is, the component of the displacement variation of the space mouse in the y direction is enlarged. In this embodiment, the component for amplifying the displacement variation of the space mouse in the y direction is realized by: the component dy of the displacement variation of the space mouse in the y direction is enlarged to (b/f ( z) ) xdy, where f(z) is the data in the z direction based on the spatial coordinate data of the gravitational acceleration sensor, and b is the amplification factor, lb 5. Step S410 is executed to output a displacement change amount of the space mouse. The above-mentioned displacement of the space mouse according to the different motion states of the space mouse The amount of change is output as the final value. Steps S401 to S410 of the present embodiment can be performed each time the inertial device acquires the spatial coordinate data. The data processing method of the space mouse of the embodiment not only effectively solves the problem that the spatial coordinate data of the output has an error due to the difference in the position of the zero point after the inertial device is re-opened. Moreover, in the present embodiment, in consideration of the displacement variation of the mouse in the output space, due to the gravity acceleration, the displacement variation of the output space mouse is different due to the motion state (horizontal, vertical, and lateral). The motion in the state generates different errors. Therefore, according to the motion state of the space mouse, the displacement variation of the output space mouse is correspondingly corrected, so that the displacement variation of the output space mouse can be more accurate. Embodiment 4 This embodiment is a displacement of a space mouse which is calculated for the first time after the inertial device is turned on in the process of obtaining the displacement value of the spatial coordinate data after the compensation is obtained based on the first embodiment. The amount of change is filtered out, and then the amount of displacement of the space mouse is corrected according to the different motion states of the space mouse. As shown in FIG. 5, step S501 is performed first, and the output value of the current spatial coordinate data is obtained. For example, refer to step S201 to step S205 of the first embodiment. Then, step S502 is executed to calculate the displacement variation of the space mouse from the output value of the current spatial coordinate data and the output value of the previous spatial coordinate data. After the displacement variation of the space mouse is obtained, data of the initial point position of the displacement variation of the space mouse is first filtered out. Specifically, step S503 and step S504 are performed, and steps S303 and S304 of the second embodiment can be referred to. Then, according to the different motion states of the space mouse, the displacement variation of the space mouse is corrected. Specifically, step S505 to step S511 are performed. For details, refer to the third step S403 to step S409. Step S512 is executed to output the displacement change amount of the space mouse. According to the different motion states of the space mouse, the corrected displacement amount of the space mouse is output as the final value. It should be noted that, after the determination result in step S503 is YES and before step S505 is performed, or after step S509, S510 or S511 is performed and before step S512 is performed, some existing pairs may be further adopted according to actual application situations. The displacement change amount dx, dy is corrected or compensated to eliminate the influence of other factors on the displacement variation of the space mouse, which can make the displacement variation of the mouse in the final output space more accurate. The data processing method of the space mouse of the embodiment not only effectively solves the problem that the spatial coordinate data of the output has an error due to the difference in the position of the zero point after the inertial device is re-opened. Moreover, the data processing method of the space mouse of the embodiment can also effectively avoid the problem that the displacement variation of the space mouse obtained by the first calculation after the inertia device is turned on and the displacement of the output space mouse due to the gravity acceleration. The amount of change causes an error due to the difference in motion state. Embodiment 5 This embodiment is an output value of the spatial coordinate data obtained after compensation according to the first embodiment, and in the process of obtaining the displacement variation of the space mouse, the space mouse is turned off for a short time but the inertial device is not turned off. Data processing performed below. During the use of the space mouse, a coordinate output close command for turning off the coordinate output function can be issued by a specific key operation on the space mouse to control the space mouse to pause to the receiving terminal (such as a computer that controls the movement of the mouse pointer on the screen). The device transmits coordinate data (such as the displacement of the space mouse or the output value of the spatial coordinate data), but does not turn off the inertial device at this time, that is, the inertial device still collects the spatial coordinate data of the space mouse without interruption. Generally, considering the problem of system power consumption, after receiving the coordinate output close command, if the coordinate output open command is not received again within the preset time range, the system can automatically turn off the inertial device of the space mouse. And if the coordinate output is turned off in a short time (such as the preset time range described above) If the collected spatial coordinate data is compensated by the iterative method or the displacement of the spatial mouse is still calculated according to the first embodiment, the following problems may occur: Since the system performs compensation and calculation, it requires a certain amount. The system consumes, and the coordinate data does not need to be output in a short time when the coordinate output is turned off. The compensation calculation in a short time may cause unnecessary system consumption. In view of the above problem, in this short period of time, the compensation of the spatial coordinate data and the calculation of the displacement variation of the space mouse may not be performed to reduce the consumption of the system. Therefore, for the case where the space mouse closes the coordinate output in a short time but does not close the inertial device, the data processing method of the space mouse of the embodiment continues to collect the space coordinate data and record it when receiving the coordinate output close command, but The displacement variation of the space mouse is not calculated. If the coordinate output enable command is received again within the preset time range, the space may be directly calculated from the currently acquired spatial coordinate data and the recorded previous spatial coordinate data. The displacement variation of the mouse can quickly and accurately obtain the displacement variation of the space mouse. The preset time range should be a reasonable time range. If the setting is too short, the inertial device may be turned off and on frequently, thereby causing unnecessary system consumption; if the setting is too long, the system does not need to output. In the case of coordinate data, the acquisition and recording of spatial coordinate data also results in system consumption. Of course, if you do not consider the power consumption problem, the preset time range can also be set longer. In this embodiment, the preset time range is set to 5s. The data processing method of the space mouse of the embodiment shown in FIG. 6 first performs step S601 to obtain an output value of the current spatial coordinate data. Step S201 to step S205. Step S602 and step S603 are performed to calculate the displacement variation of the space mouse from the output value of the current spatial coordinate data and the output value of the previous spatial coordinate data, and then output the displacement variation of the space mouse. Step S604 is executed to determine whether a coordinate output close command is received. The system determines in real time whether a coordinate output close command is received, and if yes, performs the step S605; if no, continue to calculate and output the displacement change amount of the space mouse from the spatial coordinate data, that is, return to step S601. Step S605, recording spatial coordinate data collected by the inertial device. Since the coordinate output close command has been received at this time, it is not necessary to calculate the displacement variation of the space mouse, and the spatial coordinate data collected by the inertial device is recorded to receive the coordinate output again within the preset time range. When the command is turned on, the displacement variation of the space mouse can be directly calculated from the spatial coordinate data recorded last time. Step S606 is performed to determine whether a coordinate output enable command is received. If yes, the calculation and outputting the displacement change amount of the space mouse is resumed, that is, the process returns to step S601; if not, step S607 is executed to determine that the coordinate output close command is continued. Whether the time exceeds 5s. If the result of the determination in step S607 is YES, that is, the coordinate output enable command is not received within 5 seconds, step S608 is executed to close the inertial device of the space mouse; if the result of the determination in step S607 is no, step S609 is performed to collect the current The space coordinate data is then executed in step S605 to record the spatial coordinate data acquired by the inertial device. It should be noted that if the coordinate output ON command is received again after more than 5 s, the inertial device is turned on first, and then the execution is started from step S601. The data processing method of the space mouse of the embodiment can stop the compensation of the spatial coordinate data and the calculation and output of the displacement variation of the space mouse within the preset time range after receiving the coordinate output close command, thereby reducing the system power consumption; And continuously recording the spatial coordinate data collected by the inertial device within a preset time range, so that when the coordinate output open command is received again within the preset time range, the spatial coordinate data collected by the recorded inertial device can be quickly, Accurately calculate the displacement variation of the space mouse. Embodiment 6 This embodiment is an output value of the spatial coordinate data obtained after compensation according to the first embodiment, and the displacement variation of the space mouse according to different motion states of the space mouse in the process of obtaining the displacement variation of the space mouse Make corrections and target the space mouse for a short time Data processing with the coordinate output turned off without turning off the inertial device. As shown in FIG. 7, step S701 is first executed to obtain an output value of the current spatial coordinate data. Reference may be made to the first step S201 to the step S205. Step S702 is executed to calculate the displacement variation of the space mouse from the output value of the current spatial coordinate data and the output value of the previous spatial coordinate data. Step S703 and step S704 are performed to correct the displacement variation of the space mouse according to different motion states of the space mouse. For details, refer to Embodiment 3, Step S403 to Step S409. Step S705 is executed to output a displacement change amount of the space mouse. Steps S706 to S711 are performed to perform data processing for the space mouse to close the coordinate output in a short time without turning off the inertial device. For details, refer to Embodiment 5, Step S604 to Step S609. The data processing method of the space mouse of the embodiment not only effectively solves the problem that the spatial coordinate data of the output has an error due to the difference in the position of the zero point after the inertial device is re-opened. Moreover, the data processing method of the space mouse of the present embodiment can also effectively avoid the problem that the displacement variation of the output space mouse is caused by the difference in the motion state due to the gravity acceleration. Moreover, for the space mouse to close the coordinate output in a short time without turning off the inertial device for data processing, the system power consumption can be effectively reduced, and the displacement variation of the space mouse can be obtained quickly and accurately. Embodiment 7 This embodiment is a displacement of a space mouse which is calculated for the first time after the inertial device is turned on in the process of obtaining the displacement value of the spatial coordinate data after the compensation is obtained based on the first embodiment. The amount of change is filtered out, and then the data processing is performed with the space mouse turning off the coordinate output for a short time without turning off the inertial device.

As shown in FIG. 8, step S801 is first performed to obtain an output value of the current spatial coordinate data. For example, step S201 to step S205 of Embodiment 1 may be referred to. Step S802, calculating a displacement variation amount of the space mouse from an output value of the current spatial coordinate data and an output value of the previous spatial coordinate data.

After obtaining the displacement variation of the space mouse, first, the data of the initial point position of the displacement variation of the space mouse is filtered out. Specifically, step S803 and step S804 are performed, and steps S303 and S304 of the second embodiment can be referred to.

After the data of the initial point position of the displacement variation of the space mouse is filtered out, step S805 is performed to output the displacement variation amount of the space mouse.

Steps S806 to S811 are performed, and data processing is performed for the space mouse to close the coordinate output in a short time but the inertia device is not turned off. For details, refer to Embodiment 5, Step S604 to Step S609. The data processing method of the space mouse of the present embodiment not only effectively solves the problem that the spatial coordinate data of the output is misaligned due to the difference in the position of the zero point after the inertial device is turned on again. Moreover, the data processing method of the space mouse of the embodiment can also effectively avoid the problem that the displacement variation of the space mouse obtained by the first calculation after the inertia device is turned on, and the coordinate output of the space mouse is closed for a short time but not When the inertia device is turned off for data processing, the system power consumption can be effectively reduced, and the displacement variation of the space mouse can be obtained quickly and accurately.

Example eight

In this embodiment, in the process of obtaining the compensated spatial coordinate data output value according to the first embodiment, in the process of obtaining the displacement variation of the space mouse, the displacement variation of the space mouse calculated for the first time after the inertial device is turned on is performed. Filter out, and then modify the displacement variation of the space mouse according to the different motion states of the space mouse, and perform data processing for the space mouse to close the coordinate output in a short time without turning off the inertial device.

As shown in FIG. 9, step S901 is first executed to obtain an output value of the current spatial coordinate data. Reference may be made to the first step S201 to the step S205.

Step S902: Calculate the displacement variation of the space mouse from the output value of the current spatial coordinate data and the output value of the previous spatial coordinate data. Step S903 and step S904 are performed to filter out the data of the initial point position of the displacement variation of the space mouse. Reference may be made to steps S303 and S304 of the second embodiment. Then, according to the different motion states of the space mouse, the displacement variation of the space mouse is corrected. Specifically, step S905 and step S906 are performed. For details, refer to the third step S403 to step S409. Step S907 is executed to output a displacement change amount of the space mouse. Steps S908 to S913 are performed to perform data processing for the space mouse to close the coordinate output in a short time without turning off the inertial device. For details, refer to Embodiment 5, Step S604 to Step S609. The data processing method of the space mouse of the embodiment not only effectively solves the problem that the spatial coordinate data of the output has an error due to the difference in the position of the zero point after the inertial device is re-opened. Moreover, the data processing method of the space mouse of the embodiment can also effectively avoid the problem that the displacement variation of the space mouse obtained by the first calculation after the inertia device is turned on and the displacement of the output space mouse due to the gravity acceleration. The amount of change causes an error due to the difference in motion state. Moreover, for the space mouse to close the coordinate output in a short time but do not close the inertial device for data processing, the system power consumption can be effectively reduced, and the displacement variation of the space mouse can be obtained quickly and accurately. Through the method provided in this embodiment, the data obtained in each stage of the space mouse can be made accurate and effective. The technical solution of the present invention further provides a method for controlling a mouse pointer, wherein the method uses the data processing method of the space mouse to acquire the displacement variation of the space mouse, and controls the movement of the mouse pointer according to the displacement variation of the space mouse. . Although the present invention has been disclosed above, the present invention is not limited thereto. Any changes and modifications may be made by those skilled in the art without departing from the spirit and scope of the invention, and the scope of the invention should be determined by the scope defined by the appended claims.

Claims

Rights request

1. A data processing method for a space mouse, wherein the space mouse includes an inertial device suitable for collecting spatial coordinate data, characterized by: recording the last spatial coordinate data collected before the inertial device is turned off; After the inertial device is reopened, the compensation value of the current spatial coordinate is obtained. The compensation value of the current spatial coordinate is the difference between the previously collected spatial coordinate data and the recorded spatial coordinate data; using the current spatial coordinate The compensation value compensates the currently collected spatial coordinate data to obtain the output value of the current spatial coordinate data.

2. The data processing method of a space mouse according to claim 1, further comprising: when the compensation value of the current spatial coordinate reaches a compensation threshold, no compensation is performed on the currently collected spatial coordinate data.

3. The data processing method of the space mouse according to claim 2, characterized in that the compensation threshold is 0.

4. The data processing method of a space mouse according to claim 1, further comprising: discarding the output value of the spatial coordinate data obtained for the first time after the inertial device is reopened.

5. The data processing method of the space mouse according to claim 1, further comprising: obtaining the displacement change amount of the space mouse based on the output value of the space coordinate data.

6. The data processing method of a space mouse according to claim 5, characterized in that, obtaining the displacement variation of the space mouse based on the output value of the space coordinate data includes: using the output value of the current space coordinate data. Calculate the displacement change of the spatial mouse with the output value of the previous spatial coordinate data.

7. The data processing method of a space mouse according to claim 5, characterized in that, obtaining the displacement change amount of the space mouse based on the output value of the space coordinate data includes: if a coordinate output close command is not received. Or if a coordinate output turn-on command is received within a preset time range after receiving the coordinate output turn-off command, the displacement change amount of the spatial mouse is calculated from the output value of the current spatial coordinate data and the output value of the previous spatial coordinate data; if When the coordinate output close command is received, the calculation of the displacement change of the space mouse is stopped; if the coordinate output open command is not received within the preset time range after the coordinate output close command is received, the inertial device is turned off.

8. The data processing method of a space mouse according to claim 7, further comprising: recording the spatial coordinate data collected by the inertial device within a preset time range after receiving the coordinate output close command.

9. The data processing method of a space mouse according to claim 7, wherein the preset time range is greater than or equal to 5 seconds.

10. The data processing method of a space mouse according to claim 6 or 7, wherein said obtaining the displacement variation of the space mouse based on the output value of the space coordinate data further includes: discarding the inertial device. The displacement change of the space mouse calculated for the first time after restarting.

11. The data processing method of a space mouse according to claim 10, characterized in that, obtaining the displacement variation of the space mouse based on the output value of the space coordinate data further includes: discarding the inertial device and re- After the displacement change of the space mouse is calculated for the first time after being turned on, the data discard flag is set; the data discard flag is reset when the space mouse is initialized and when the inertial device is turned off.

12. The data processing method of the space mouse according to claim 5, characterized in that: The method includes: based on the motion state of the space mouse, correcting the displacement variation of the space mouse.

13. The data processing method of the space mouse according to claim 12, characterized in that the movement state of the space mouse is obtained from the data of the gravity acceleration sensor, and the movement state includes movement in a horizontal state and movement in a vertical state. Movement and movement while standing sideways.

14. The data processing method of the space mouse according to claim 12, characterized in that, based on the motion state of the space mouse, the displacement variation of the space mouse includes: if the space mouse is horizontal If the space mouse moves in the vertical state, the displacement change amount of the space mouse is maintained; if the space mouse moves in the vertical state, the components of the displacement change amount of the space mouse in the X direction and the y direction are reduced; if the space mouse moves in the vertical state, the displacement change amount of the space mouse is reduced. When the mouse moves in the side-standing state, the component of the displacement variation of the spatial mouse in the y direction is amplified.

15. The data processing method of the space mouse according to claim 14, characterized in that if the space mouse moves in a vertical state, the displacement variation of the space mouse in the X direction and the y direction is reduced. The components include: The greater the output value of the space coordinate data of the space mouse in the z direction, the smaller the reduction degree of the displacement variation of the space mouse in the X direction and the y direction. The spatial coordinate data of the space mouse in the z direction. The smaller the output value, the greater the reduction in the components of the displacement variation of the spatial mouse in the X direction and the y direction.

16. The data processing method of the space mouse according to claim 14 or 15, characterized in that if the space mouse moves in a vertical state, the displacement change amount of the space mouse is reduced in the X direction and the y direction. The component on is realized in the following way: The component dx of the displacement variation of the space mouse in the X direction is reduced to (f(z)/a) xdx, and the component of the displacement variation of the space mouse in the y direction dy shrinks to (f(z)/a) xdy, where f(z) is the output value of the spatial coordinate data of the space mouse in the z direction, a is the attenuation coefficient, la 5.

17. The data processing method of the space mouse according to claim 14, characterized in that if the space mouse moves in a vertical state, the displacement variation of the space mouse in the X direction and the y direction is reduced. The components also include: if the reduced components of the displacement change amount of the space mouse in the X direction and the y direction are greater than the component threshold, then setting the components of the displacement change amount of the space mouse in the X direction and the y direction as The component threshold.

18. The data processing method of the space mouse according to claim 17, characterized in that the component threshold is 100.

19. The data processing method of a space mouse according to claim 14, wherein if the space mouse moves in a side-standing state, amplifying the component of the displacement variation of the space mouse in the y direction includes: : The greater the output value of the space coordinate data of the space mouse in the z direction, the smaller the amplification degree of the component of the displacement variation of the space mouse in the y direction, and the greater the output value of the space coordinate data of the space mouse in the z direction. The greater the amplification of the component of the displacement variation of the space mouse in the y direction.

20. The data processing method of the space mouse according to claim 14 or 19, characterized in that if the space mouse moves in a side-standing state, the displacement variation of the space mouse in the y direction is amplified. The component is realized in the following way: The component dy of the displacement variation of the space mouse in the y direction is amplified to ( b/ f(z) ) xdy, where f(z) is the spatial coordinate data of the space mouse in the z direction. The output value, b is the amplification coefficient, l b 5.

21. A method of controlling a mouse pointer, characterized in that it includes: using the data processing method of the space mouse according to any one of claims 1 to 20 to obtain the displacement variation of the space mouse; The displacement delta controls the movement of the mouse pointer.