CN101551718B - 3D micro-inertia sensing method and system - Google Patents

Abstract

A3D micro-inertia sensing method and system are used for detecting the angle change of a micro-inertia sensing module and a horizontal plane so as to control the cursor movement of a display and detect the hand swing so as to control the page turning of the display; the micro inertial sensor is used for detecting the change of gravity of the micro inertial sensing module caused by inclination in space, and transmitting a signal to a microprocessor through a wireless transmitter, and the microprocessor filters the signal and controls the movement of a display cursor after cross-comparing the inclination angle, the relative position of the cursor and the number of two signals of a cursor control circuit; the influence of the jitter of the other axis can be converged according to the variable quantity of the signals of each axis of the micro-inertia sensing module; and the difference of centrifugal force can be sensed by using the two Y-axis accelerometers so as to eliminate the influence of the centrifugal force on the Y axis.

Description

3D micro-inertial sensing method and system

This application is a divisional application with the filing date of December 25, 2006, the application number 200610161770.X, and the title of the invention "3D Micro-inertial Sensing Method and System".

technical field

The present invention relates to a 3D micro-inertial sensing method and system, in particular to a method for controlling the movement of the display cursor by detecting the angle change between the micro-inertial sensing module and the horizontal plane, which can precisely control the cursor to move to the desired position. The position is required, and the operation method is simple. You can also use the hand swing to control the page turning of the display. It is not only ergonomic, but also can cooperate with specific actions to achieve the effect of continuous page turning. It is suitable for the application and manufacturing of cursor controllers.

Background technique

Press, there are many types of existing cursor control devices. For example, the control computer display cursor mostly adopts the form of a mouse, while the presentation device for controlling a projector has a remote controller appearance. There are two types of optical type, the operation mode of which must slide on a plane, by controlling the displacement of the rolling ball to generate a mechanical signal or a shadow change sensing light signal to achieve the purpose of controlling the movement of the cursor, in other words, the operation plane and space influence The quality of the signal; as for the presenter, since the main function is to indicate the slide, most of them use wireless transmission, and cooperate with related control circuits and buttons with functions such as on, off, up, down, and page turning to achieve presentation. Indicates the purpose; however, when there are computer monitors and projectors at the same time, two cursor control devices must be provided, which takes up space and appears cluttered.

Although cursor control devices that combine the dual functions of a mouse and a presentation device are currently available on the market, their control methods have not escaped the traditional electronic and mechanical control modes. Human body motion acceleration, after calculation and processing, displays the signal on a computer monitor or other interactive devices. Since it is not affected by the material and surface roughness of the working surface, it can operate on any surface or space.

For patents, please refer to US Patent No. 5,874,941 "Presentation supporting device" shown in FIG. The generated acceleration changes generate acceleration signals, which are then processed by the acceleration signal processors 10A and 10B to generate cursor movement signals, so as to achieve the purpose of controlling the cursor. For example, when the user tilts the device forward to a certain angle, You can control the cursor to start moving. Ideally, when the cursor moves to the desired position, the user should return the device to the initial angle to stop the cursor from moving. However, due to the influence of gravity acceleration in actual applications, the device has been reset. However, the cursor continues to move, the cursor cannot be accurately positioned at the desired position and the stability is low, and the user must waste a lot of time to make repeated corrections to control the cursor to stay at the exact position. Moreover, when the device is tilted larger, its The higher the acceleration value, the faster the moving speed of the cursor, making it difficult for the user to control stably; moreover, the device cannot achieve the continuous page turning function.

As shown in Figure 2, the Taiwan Province of China Patent Application No. 90221010 "gravity mouse" uses a gravity detection IC to measure the potential energy of an object, converts the potential energy into kinetic energy, and transmits the signal to the microprocessor. The microprocessor IC can detect the movement time of the gravity detection IC, and receive the acceleration value generated by the gravity detection IC movement, calculate and convert it into the actual movement unit, and transmit it to the computer host to control the direction of the display cursor The main computing means of described case is when described mouse moves in space, utilizes accelerometer more than two axes to carry out integration operation to control cursor movement, but, when utilizing translation, acceleration integral can produce accumulative error and can't be eliminated, causes vernier The positioning is distorted; moreover, the described mouse cannot achieve the continuous page turning function.

Contents of the invention

In view of the deficiencies in the prior art, the main purpose of the present invention is to provide a 3D micro-inertial sensing method and system, which can accurately control the cursor to move to a desired position, and its operation method is simple.

The secondary purpose of the present invention is to propose a 3D micro-inertia sensing method and system, which uses hand swings to control page turning, which not only conforms to ergonomics, but also can achieve the effect of continuous page turning with specific actions.

Another object of the present invention is to provide a 3D micro-inertial sensing method and system, which can converge the influence of vibration of another axis according to the variation of each axis signal of the micro-inertial sensing module.

Another object of the present invention is to provide a 3D micro-inertial sensing method and system, which can use two Y-axis accelerometers to sense the difference in centrifugal force, so as to eliminate the influence of centrifugal force on the Y-axis.

In order to achieve the above object, the present invention proposes a 3D micro-inertial sensing method, which includes:

A micro-inertial sensing module senses changes in the acceleration of gravity and sends out an original tilt signal;

performing low-pass filtering on the original tilt signal to obtain a stable signal;

Detecting the state of the mode, detecting whether the micro-inertia sensing module is in the cursor control mode or the page turning mode, and is used to determine the cursor control step or the page turning step.

Preferably, the cursor control step comprises:

record the initial signal of the micro-inertial sensing module;

calculating the signal variation according to the original tilt signal and the stable signal, and compensating the original tilt signal for the signal variation;

Calculate the difference between the compensated tilt signal and the original signal; and

Scales the difference signal to point coordinates.

Preferably, the micro-inertial sensing module at least includes an X-axis accelerometer and a Y-axis accelerometer.

Preferably, wherein:

The X-axis accelerometer is used to sense the gravitational acceleration change caused by the left-right tilt of the micro-inertial sensing module;

The Y-axis accelerometer is used to sense the change of gravitational acceleration caused by the forward and backward tilt of the micro-inertial sensing module.

Preferably, the method for calculating the signal variation based on the original tilt signal and the stable signal, and compensating the original tilt signal for the signal variation includes:

Correct the X-axis signal variation: Subtract the X-axis jitter signal from the X-axis tilt signal;

Correct the Y-axis signal variation: Subtract the Y-axis jitter signal from the Y-axis tilt signal;

Record the signal change of the X-axis signal: subtract the X-axis start signal from the X-axis tilt signal; and

Record the signal change of the Y-axis signal: subtract the Y-axis start signal from the Y-axis tilt signal.

Preferably, the plurality of accelerometers further includes a Z-axis accelerometer, which is used to obtain the change in gravity caused by the continuous flipping of the X-axis accelerometer and the Y-axis accelerometer. Changes in the placement state of the micro-inertial sensing module described above.

Preferably, the plurality of accelerometers further includes a second Y-axis accelerometer, and there is a certain distance between the second Y-axis accelerometer and the Y-axis accelerometer.

Preferably, it uses the acceleration difference between the second Y-axis accelerometer and the Y-axis accelerometer to correct the centrifugal force, which is calculated from the following equation:

Ay=(R+R2)/R*(Tvy-Tvy2);

in,

Ay is the centrifugal force of the Y-axis accelerometer;

R is the distance between the Y-axis accelerometer and the second Y-axis accelerometer;

R2 is the distance between the second Y-axis accelerometer and the center of rotation;

Tvy is the tilt signal of the Y-axis accelerometer;

Tvy2 is the tilt signal of the second Y-axis accelerometer; and

Modified Tvy = original Tvy-Ay;

A corrected Y-axis tilt signal Tvy can be obtained by subtracting the centrifugal force Ay from the original Y-axis tilt signal Tvy measured by the Y-axis accelerometer.

Preferably, the step of correcting the centrifugal force is performed before the step of generating the variation of the compensation signal.

Preferably, the page turning steps include:

Detect whether the current X-axis and Y-axis tilt are in a balanced state; if so, proceed to the next step; if not, continue to detect until reaching a balanced state;

Detect whether the instantaneous change of the X-axis signal exceeds a balance range; if yes, turn the page; if not, return to the previous step to re-detect until the instantaneous change of the original tilt signal detected exceeds the balance scope.

Preferably, the balance range is within the range of 0g±0.3g gravitational acceleration, wherein g=9.8m/s ² .

Preferably, when it is detected that the instantaneous change of the original tilt signal exceeds the balance range, and the tilt signal is continuously fixed within a certain tilt angle, continuous page turning is performed.

Preferably, when it is detected that the tilt signal is not continuously fixed within a certain tilt angle, stop turning the page and return to the step of detecting whether the current tilt is in a balanced state.

Preferably, the micro-inertial sensing module at least includes an X-axis accelerometer and a Y-axis accelerometer.

Preferably, the X- and Y-axis accelerometers are used to sense changes in gravitational acceleration caused by the left-right and front-back tilts of the micro-inertial sensing module.

Preferably, the micro-inertial sensing module is connected to a central processing unit, and the central processing unit receives and processes the change of the gravitational acceleration and generates an original tilt signal.

Preferably, the central processing unit is connected with a wireless transmitter, and the tilt signal is transmitted outward by means of the wireless transmitter.

Preferably, the wireless transmitter is corresponding to a wireless receiver, by virtue of the wireless receiver receiving the original tilt signal transmitted by the wireless transmitter, and can transmit the original tilt signal It is sent to a microprocessor, and the microprocessor performs low-pass filtering and subsequent steps on the original tilt signal.

Preferably, the microprocessor is connected to a display through a cursor control integrated circuit, and the cursor control integrated circuit controls the movement of the display cursor or page turning or continuous page turning.

Preferably, the micro-inertial sensing module is connected to a control key, and the control key is used to automatically or manually switch between the cursor control mode and the page turning mode.

In order to achieve the above object, the present invention further proposes a 3D micro-inertial sensing system, which includes:

A micro-inertial sensing module is used to sense changes in gravitational acceleration and send out original tilt signals. The micro-inertial sensing module includes:

An X-axis accelerometer is used to sense the gravitational acceleration change caused by the left-right tilt of the micro-inertial sensing module;

A first Y-axis accelerometer is used to sense the first gravitational acceleration change caused by the front and rear tilt of the micro-inertial sensing module;

A second Y-axis accelerometer is used to sense the second gravitational acceleration change caused by the front and rear tilt of the micro-inertial sensing module;

A receiving end is used to receive and process the original tilt signal sent by the micro-inertial sensing module.

Preferably, the micro-inertial sensing module further includes a Z-axis accelerometer, which is used to determine the change in gravity according to the continuous flipping of the X-axis accelerometer and the Y-axis accelerometer. The change of the placement state of the micro-inertia sensing module.

Preferably, there is a certain distance between the first Y-axis accelerometer and the second Y-axis accelerometer.

Preferably, the micro-inertial sensing module is connected to a central processing unit, which is used to receive and process the change of the gravitational acceleration and generate an original tilt signal.

Preferably, the central processing unit is connected with a wireless transmitter, and the tilt signal is transmitted outward by means of the wireless transmitter.

Preferably, the wireless transmitter is corresponding to a wireless receiver, by virtue of the wireless receiver receiving the original tilt signal transmitted by the wireless transmitter, and can transmit the original tilt signal It is sent to a microprocessor, and the microprocessor performs low-pass filtering and subsequent steps on the original tilt signal.

Preferably, the microprocessor is connected to a display through a cursor control integrated circuit, and the cursor control integrated circuit controls the movement of the display cursor or page turning or continuous page turning.

Preferably, the micro-inertial sensing module is connected to a control key, and the control key is used to automatically or manually switch between the cursor control mode and the page turning mode.

In order to make your examining committee members have a further understanding and recognition of the structure, purpose and effect of the present invention, a detailed description is given below with illustrations.

Description of drawings

Figure 1 is a schematic diagram of the structure of the "Presentation supporting device" of US Patent No. 5874941;

Fig. 2 is a schematic diagram of the control flow of "Gravity Mouse" in Taiwan Patent Application No. 90221010;

Fig. 3 is a system architecture diagram of the first preferred embodiment of the present invention;

Fig. 4 is the action block diagram of the first preferred embodiment of the present invention;

Fig. 5 is a flow chart of the control method of the first preferred embodiment of the present invention;

Fig. 6(a) is the X-axis alignment curve diagram before shake correction;

Fig. 6(b) is the X-axis alignment curve diagram after jitter correction;

Fig. 7(a) is a graph of the Y-axis leveling curve before shake correction;

Fig. 7(b) is a graph of the Y-axis alignment curve after jitter correction;

Fig. 8 is a system architecture diagram of the second preferred embodiment of the present invention;

Fig. 9 is an action block diagram of the second preferred embodiment of the present invention;

Fig. 10 is a flow chart of the control method of the second preferred embodiment of the present invention;

Fig. 11 is a schematic diagram of the Y-axis accelerometer, the second Y-axis accelerometer and their relationship with centrifugal force in the second preferred embodiment of the present invention;

Figure 12(a) is a graph showing the influence of centrifugal force on the Y-axis accelerometer's alignment;

Fig. 12 (b) is the graph after the centrifugal force of Fig. 12 (a) is corrected;

Fig. 13(a) is a graph showing the effect of circular motion centrifugal force on the Y-axis accelerometer level;

Fig. 13(b) is a corrected graph of the centrifugal force of the circular motion in Fig. 13(a).

Explanation of reference signs: 10-3D-micro-inertial sensing cursor control system; 20, 20'-micro-inertial sensing module; 21, 21'-micro-inertial sensor; 211, 211'-X-axis accelerometer; 212,212 '-Y-axis accelerometer; 213'-Z-axis accelerometer; 214'-second Y-axis accelerometer; 22-central processing unit; 23-wireless transmitter; 24-housing; 30-receiving end; 31-wireless Receiver; 32-microprocessor; 33-cursor control integrated circuit; 40-display; 41-cursor.

Detailed ways

The following will describe the technical means and functions used to achieve the purpose of the present invention with reference to the accompanying drawings, and the embodiments listed in the following drawings are only for auxiliary illustration.

Please refer to a preferred embodiment of the present invention shown in Fig. 3 and Fig. 4, described 3D micro-inertial sensing cursor control system 10, it is mainly by a micro-inertial sensing module 20 as the transmitter of the signal, and a The receiving end 30 that can receive the signal, the micro-inertial sensing module 20 includes a micro-inertial sensor 21, and the micro-inertial sensor 21 includes a micro-inertial sensing module 20 that can detect The X-axis accelerometer 211 of the gravitational acceleration change caused by the tilt, and the Y-axis accelerometer 212 that can detect the gravitational acceleration change caused by the front and rear tilt of the micro-inertial sensing module 20, the micro-inertial sensor 21 will The sensed gravitational acceleration change is transmitted to a central processing unit 22 for signal processing and generates a tilt signal, and then transmits the tilt signal to a wireless transmitter 23, and the wireless transmitter 23 transmits the tilt signal The tilt signal is sent out; the above-mentioned micro-inertial sensor 21, central processing unit 22 and wireless transmitter 23 are all electrically connected to each other by means of a peripheral circuit, and the aforementioned components can be arranged in a housing 24, and then electrically connected The control button (not shown) that is provided on the outside of the housing 24 is provided so that the user can hold the housing 24 and automatically or manually operate the control button arranged on it to emit a signal, This technique is well known to the general public, so it is not specifically shown in the diagram.

Secondly, the receiving end 30 is a computer host or a multimedia device, which includes a wireless receiver 31, a microprocessor 32 and a cursor control integrated circuit 33, and the cursor control integrated circuit 33 is connected to a display 40; the wireless receiver 31 is used to receive the signal transmitted by the wireless transmitter 23 of the micro-inertial sensing module 20, and transmit the received signal to the microprocessor 32 for filtering and signal processing and comparison, and then the comparison result is sent to the cursor control integrated circuit 33 by the microprocessor 32, and the cursor control integrated circuit 33 receives the information processed by the microprocessor 32. After receiving the signal, the cursor 41 on the display 40 can be controlled to move to a corresponding position, or the screen on the display 40 can be turned over.

Please refer to Fig. 5 (and please cooperate with Fig. 4 at the same time), explain the control method and flow process thereof of the present invention to control cursor movement and page turning:

(a): Sensing the current original tilt signal (Tilt-Value) of each gravitational accelerometer; through the described X-axis accelerometer 211 and Y-axis accelerometer 212 sensing the change of gravitational acceleration caused by left-right and front-back tilting, and It is sent to the central processing unit 22 for processing into the X-axis original tilt signal Tvx and the Y-axis original tilt signal Tvy, and then sent to the receiving end 30 by the wireless transmitter 23, and received by the wireless receiver 31 And sent to the microprocessor 32.

(b): The microprocessor 32 performs a low-pass filter on the received X-axis original tilt signal Tvx and Y-axis original tilt signal Tvy to obtain two stable signals Avx and Avy.

(c): detection mode status; the two stable signals Avx and Avy obtained in step (b) must cooperate with the operation mode of the micro-inertial sensing module 20, and the described microprocessor 32 detects the Perform gesture page turning mode d, or 3D cursor control mode e; as for the operation mode of the micro-inertial sensing module 20, it can be switched by means of a control key (not shown in the figure), and the control key An elastic push switch or toggle switch can be used, which is arranged on the housing 24 shown in FIG. If the above-mentioned control key is touched, it means that the operator wants to perform 3D cursor control mode e; at the same time, record the signals of each gravity accelerometer at this time as the initial signal (initial-value, inx; iny) (step c1), this The micro-inertial sensor 21 described in the embodiment includes an X-axis accelerometer 211 and a Y-axis accelerometer 212 , so two signals, such as the X-axis starting point tilt position inx and the Y-axis starting point tilt position iny, can be obtained.

(d): gesture page turning mode; when the micro-inertial sensing module 20 detected by the microprocessor 32 is in the gesture page turning mode, then perform the page turning step:

(d1): Detect whether the current X and Y axis tilts are in a stable and balanced state; pre-set a balance range of about 0g±0.3g in the microprocessor 32, (g=9.8m/s2, the acceleration of gravity value ), and then compare whether the tilt signal (Tvx, Tvy) falls within the balance range, if so, it means that the micro-inertial sensing module 20 is in a balanced state, and the tilt signal change has not yet reached the point where it can be turned over The purpose of the page acceleration change value is to prevent page turning caused by slight vibration or shaking of the human hand. As for the setting beyond the balance range, there is no certainty, and it can be set according to the user's operating habits; on the contrary, if the tilt signal (Tvx, Tvy) exceed balance range, then represent that described micro-inertial sensing module 20 is in unbalanced state, then return to step (c) to detect mode again;

(d2) Whether the instantaneous change of the tilt signal exceeds the balance range; after the microprocessor 32 detects that the micro-inertial sensing module 20 is in a balanced state, when receiving a tilt signal of an instant change in the acceleration of gravity of the X axis , and the instantaneous change value exceeds the balance range, that is, the operator flips the micro-inertial sensing module 20 left and right in an instant to simulate the situation of manual page turning, then the microprocessor 32 sends the signal to the The cursor control integrated circuit 33, the screen of the display 40 is controlled by the cursor control integrated circuit 33 to turn pages (step d21); if the instantaneous change of the X-axis tilt signal detected does not exceed the Balance range, return to step (c) re-detection mode;

(d3): When it is detected that the instantaneous change of the X-axis tilt signal exceeds the balance range, and the tilt signal is continuously fixed within a certain tilt angle, then perform continuous page turning (step d4); if Repeat the process from steps d to d31, that is to say, you can turn pages continuously when you flip left and right by hand. However, when there are too many pages, this method is inconvenient and time-consuming. Therefore, the present invention proposes the function of continuous page turning. During specific implementation, as long as the hand holding the micro-inertial sensing module 20 makes a large swing in an instant and is still at a certain inclination angle, the microprocessor 32 can automatically turn pages continuously, because the hand does not have to Continuous page turning can be achieved by swinging left and right multiple times in a row, so the convenience of continuous page turning can be improved; if the detected tilt signal is not continuously fixed at a certain tilt angle, it means that continuous page turning will not be performed, and then reply Go to step (d) to detect the pattern again.

(e) 3D cursor control mode, when the micro-inertial sensing module 20 detected by the microprocessor 32 is in the 3D cursor control mode, the step of moving the cursor is carried out:

(e1): Calculate the X-axis jitter change (Difx=(Tvx-Avx)/2), that is, calculate the difference between the X-axis original tilt signal Tvx and the X-axis stable signal Avx, and take the median value; and the Y-axis jitter change Quantity (Dify=(Tvy-Avy)/2), that is, calculate the difference between the Y-axis original tilt signal Tvy and the Y-axis stable signal Avy, and take the median value; then according to the jitter variation (Difx, Dify), The X-axis tilt signal is compensated for the jitter variation (Tvx'=Tvx-Difx) and the Y-axis tilt signal is compensated for the jitter variation (Tvy'=Tvy-Dify).

(e2): After the jitter signal is corrected in step (e1), the difference between the compensated X-axis tilt signal and the initial signal (Dx=(Avx′-inx)) can be calculated, and the compensated Y-axis tilt signal can be calculated The difference from the initial signal (Dy=(Avy′-iny)); the purpose of steps (e1) and (e2) is to compensate for signal jitter, please refer to Figure 6(a), Figure 6(b) and Figure As shown in 7(a) and (b), Figure 6(a) and Figure 7(a) are the X-axis and Y-axis alignments before correction, and Figure 6(b) and Figure 7(b) are the correction The final X-axis and Y-axis alignments can be seen from the figure. After compensation and correction in this step, a gentler acceleration curve of the X-axis and Y-axis can be obtained, that is, the accuracy of cursor positioning can be improved.

(e3): The ratio of the X-axis and Y-axis differences Dx and Dy calculated in step (e2) is the point coordinates of the display 40, output to the cursor control circuit 33, and then the cursor control circuit 33 controls the The display 40 moves the cursor 41 to the corresponding position.

Please continue to refer to another preferred embodiment of the present invention shown in FIG. 8 and FIG. 9. The described 3D micro-inertial sensing cursor control system 100 is based on the embodiment shown in FIG. Sensing module 20', and a receiving end 30 that can receive said signal, described micro-inertial sensing module 20' comprises a micro-inertial sensor 21', a central processing unit 22, a wireless transmitter 23, this The feature of the embodiment is that the micro-inertial sensor 21' includes an X-axis accelerometer 211', a Y-axis accelerometer 212', a Z-axis accelerometer 213' and a second Y-axis accelerometer 214', so The X-axis accelerometer 211' is used to sense the gravitational acceleration change caused by the left and right tilt of the micro-inertial sensing module 20', and the Y-axis accelerometer 212' is used to sense the micro-inertia sensor module 20'. The gravitational acceleration change caused by the inertial sensing module 20' tilting forward and backward has the same effect as the X-axis accelerometer 211 and the Y-axis accelerometer 212 of the embodiment shown in Figure 3; and the Z-axis accelerometer 213 ' is used to know the change of the placement state of the micro-inertial sensing module 20' according to the change of gravity caused by the continuous flipping of the X-axis accelerometer 211' and the Y-axis accelerometer 212' For example, when the operator incorrectly places or any external force causes the micro-inertial sensing module 20' to turn to the right (or left), causing the bottom of the micro-inertial sensing module 20' to face up, the The Z-axis accelerometer 213' can detect and drive the reverse operation to turn pages or control the cursor; in addition, the second Y-axis accelerometer 214' is used to provide sensing for the micro-inertial sensing Another gravitational acceleration change caused by the module 20 ′ tilting back and forth, the sensing method will be described in detail later.

Similarly, the micro-inertial sensor 21', the central processing unit 22, and the wireless transmitter 23 can be arranged in a housing 24, and are electrically connected to the control buttons provided outside the housing 24, so as to facilitate Holding and manipulating by human hands, the micro-inertial sensor 21' transmits the sensed acceleration of gravity change to the central processing unit 22 and the wireless transmitter 23, and the wireless transmitter 23 sends the tilt signal to the receiver. Terminal 30, through the microprocessor 32, the cursor control integrated circuit 33 processes and controls the page turning of the display 40 or the movement of the cursor 41, its principle and method are the same as those of the embodiment shown in Fig. 3, and are not repeated here be repeated.

Please refer to FIG. 10 (and please cooperate with FIG. 9) to illustrate the control method and process flow thereof for controlling cursor movement and page turning in the present invention:

(a): sensing the current original tilt signal (Tilt-Value) of each gravitational accelerometer; since the present embodiment has an X-axis accelerometer 211', a Y-axis accelerometer 212', a Z-axis accelerometer 213' and A second Y-axis accelerometer 214 ′, so four original tilt signals of Tvx, Tvy, Tvz and Tvy2 can be obtained respectively.

(b): After low-pass filtering the original tilt signal, the stable signals Avx, Avy, and Avz are obtained; here, the original tilt signal of the second Y-axis accelerometer 214' can be ignored.

(c): Detection mode status.

(c1) Record the signals of each gravity accelerometer at this time as the initial signal (initial-value, inx; iny).

(d): Gesture page turning mode:

(d1): Detect whether the current tilt is in a balanced state.

(d2): Whether the instantaneous change of the tilt signal exceeds the stated balance range.

(d3): Detect whether the X-axis signal is fixed within a certain tilt angle.

Since the above-mentioned process is the same as the embodiment shown in Figure 3, that is, the process of steps (a) to (d3) shown in Figure 5 is the same, so it will not be repeated. The feature of this embodiment is that when step (c) detects Measure that described micro-inertia sensing module 20' is in the step (e') 3D cursor control mode carried out when in the 3D cursor control mode, which includes:

(e1'): Use the acceleration difference of the two Y axes to correct the centrifugal force; according to the normal operation mode, when the operator's arm shakes, it will present an arc or circular motion, so centrifugal force will be generated, which will cause the distortion of gravity change sensing, especially for The influence of the Y-axis acceleration is large and must be corrected; please refer to Fig. 11 and shown in Fig. 8 at the same time, the described Y-axis accelerometer 212' is arranged near the position of the display 40, and the second Y-axis accelerometer 214' is arranged behind the Y-axis accelerometer 212', that is, closer to the operator (not shown in the figure), the Y-axis accelerometer 212' and the second Y-axis accelerometer The distance R of the meter 214', the distance R2 between the second Y-axis accelerometer 214' and the center of rotation C, according to the centrifugal force formula:

Tvy＝Ay+Gsinθ＝(R+R2)×ω ² +Gsinθ＝R×ω ² +R2×ω ² +Gsinθ

Tvy2=Ay2+Gsinθ=R2×ω ² +Gsinθ

Tvy-Tvt2=R×ω ²

${\mathrm{<span\; class="notranslate">\; \&omega;</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; =</span>\frac{\mathrm{<span\; class="notranslate">\; Tvy</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; Tvy</span>}\mathrm{<span\; class="notranslate">\; 2</span>}}{\mathrm{<span\; class="notranslate">\; R</span>}}$

Tvy: Y acceleration value

Tvy2: Y2 acceleration value

Ay: Y centrifugal force

Ay2: Y2 centrifugal force

G: Gravity

θ: the angle between the accelerometer and the horizontal

ω: Angular rate (can be rotated up and down or horizontally)

R: Y, Y2 two accelerometer distance

R2: the distance between Y2 and the rotation axis C

Therefore it can be concluded that:

Centrifugal force Ay=(R+R2)/R*(Tvy-Tvy2)

Then subtract the centrifugal force Ay from the original Y-axis tilt signal Tvy measured by the Y-axis accelerometer 212' in step (a), to obtain a corrected Y-axis tilt signal Tvy.

Please refer to the actual verification results shown in Figure 12 and Figure 13. Figure 12(a) and Figure 13(a) respectively represent the influence of centrifugal force and circular motion centrifugal force on the Y-axis accelerometer level, while Figure 12(b) and Figure 13 (b) respectively represent the corrected results, which show that after the correction, a relatively gentle and smooth curve can be obtained, which can reduce the influence of the centrifugal force that may be generated by the operation and circular motion on the Y-axis alignment.

(e2'): Calculate the X-axis jitter variation (Difx=(Tvx-Avx)/2), and the Y-axis jitter variation (Dify=(Tvy-Avy)/2), and then according to the jitter variation ( Difx, Dify), the X-axis tilt signal is used to compensate the jitter variation (Tvx'=Tvx-Difx) and the Y-axis tilt signal is used to compensate the jitter variation (Tvy'=Tvy-Dify).

(e3'): Calculate the difference between the compensated X-axis tilt signal and the initial signal (DX=(Avx'-inx)), and calculate the difference between the compensated Y-axis tilt signal and the initial signal (Dy=(Avy '-iny)).

(e4'): The signal ratio of Dx and Dy is the point coordinate of the display 40, output to the cursor control circuit 33, and then the cursor control circuit 33 controls the display 40 to move the cursor 41 to the corresponding position .

The calculation method adopted in the above steps (e2')-(e4') and the effects they can achieve are the same as the steps (e1)-(e3) in the embodiment shown in Figure 5, and will not be repeated here.

In summary, the structures and methods of the two preferred embodiments of the present invention can be seen that the present invention has the following characteristics:

Depending on the detection mode status (step c in FIG. 5 and FIG. 10 ), the gesture page turning mode (step d in FIG. 5 and FIG. 10 ) or the 3D cursor control mode (step e in FIG. 5 and step e' in FIG. 10 ) can be performed.

A single page turning state (step d21 in FIG. 5 and FIG. 10 ) or a continuous multiple page turning state (step d4 in FIG. 5 and FIG. 10 ) can be controlled.

Signal jitter can be corrected (step e1 in Figure 5 and step e2' in Figure 10).

A Z-axis accelerometer can be provided to obtain changes in the placement state of the micro-inertial sensing module according to the change in gravity caused by the continuous flipping of the X-axis accelerometer and the Y-axis accelerometer, so as to avoid misoperation ( Figure 10 steps a, b).

There are two accelerometers that can sense the change of the gravitational acceleration of the Y-axis (that is, tilting forward and backward), and the difference between the two Y-axis accelerations can be used to correct the influence of the centrifugal force on the Y-axis alignment (step e1' in FIG. 10 ).

The control accuracy is high, avoiding the traditional acceleration integral accumulation error situation.

The operation method is simple.

The above descriptions are only preferred embodiments of the present invention, and are only illustrative rather than restrictive to the present invention. Those skilled in the art understand that many changes, modifications, and even equivalents can be made within the spirit and scope defined by the claims of the present invention, but all will fall within the protection scope of the present invention.

Claims (3)

1. A 3D micro-inertial sensing system, characterized in that: it comprises: A micro-inertial sensing module is used to sense changes in gravitational acceleration and send out original tilt signals. The micro-inertial sensing module includes: An X-axis accelerometer is used to sense the gravitational acceleration change caused by the left-right tilt of the micro-inertial sensing module; A first Y-axis accelerometer is used to sense the first gravitational acceleration change caused by the front and rear tilt of the micro-inertial sensing module; A second Y-axis accelerometer is used to sense the second gravitational acceleration change caused by the front and rear tilt of the micro-inertial sensing module; the first Y-axis accelerometer and the second Y-axis acceleration There is a certain distance between the gauges; A receiving end is used to receive and process the original tilt signal sent by the micro-inertial sensing module; Wherein, the 3D micro-inertial sensing system uses the difference between the acceleration of the second Y-axis accelerometer and the acceleration of the first Y-axis accelerometer to correct the centrifugal force, and its calculation formula is as follows: Ay=(R+R2)/R*(Tvy-Tvy2); Wherein, Ay is the centrifugal force of the Y-axis accelerometer; R is the distance between the first Y-axis accelerometer and the second Y-axis accelerometer; R2 is the distance between the second Y-axis accelerometer and the rotation Axis distance; Tvy is the tilt signal of the first Y-axis accelerometer; Tvy2 is the tilt signal of the second Y-axis accelerometer; and Modified Tvy = original Tvy-Ay; Subtracting the centrifugal force Ay from the tilt signal Tvy measured by the first Y-axis accelerometer can obtain a corrected Y-axis tilt signal—corrected Tvy. 2. 3D micro-inertial sensing system as claimed in claim 1, is characterized in that: described micro-inertial sensing module further comprises a Z-axis accelerometer, is in order to according to described X-axis accelerometer and described The changes in gravity caused by the continuous flipping of the first and second Y-axis accelerometers can be used to know the changes in the placement state of the micro-inertial sensing module. 3. 3D micro-inertial sensing system as claimed in claim 1, is characterized in that: The micro-inertial sensing module is connected to a central processing unit for receiving and processing the change in the acceleration of gravity and generating an original tilt signal; The central processing unit is connected to a wireless transmitter, and the original tilt signal is emitted outward by virtue of the wireless transmitter; Corresponding to the wireless transmitter, there is a wireless receiver, which receives the original tilt signal transmitted by the wireless transmitter by means of the wireless receiver, and can transmit the original tilt signal to a microprocessor The microprocessor performs low-pass filtering on the original tilt signal to obtain a stable signal; then detects the state of the mode, and detects whether the micro-inertial sensing module is in the cursor control mode or turned over The page mode is used to determine the cursor control step or the page turning step; the microprocessor is connected to a display through a cursor control integrated circuit, and the cursor control integrated circuit controls the cursor movement of the display or performs page turning Or turn pages continuously. the

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