CN101655739B - A three-dimensional virtual input and simulation device - Google Patents

Abstract

The invention relates to a three-dimensional virtual input and simulation device, which mainly comprises a plurality of point light sources, a plurality of optical positioners with visual axis tracking and a program for controlling analysis.

Description

A three-dimensional virtual input and simulation device

technical field

The present invention relates to a three-dimensional virtual input and simulation device, in particular to a device composed of a plurality of point light sources, a plurality of sets of optical positioners for visual axis tracking, and a program for controlling and analyzing. The plurality of optical positioners with visual axis tracking measure and analyze the three-dimensional motion of the plurality of point light sources, so as to achieve the purpose of virtual input and emulator.

Background technique

Keyboards, mice, remote controllers, touch screens, etc. are traditionally commonly used human-machine interfaces. Their most important feature is that they all need to directly touch and manipulate a mechanical structure through hands and fingers in order to display text, drawing, etc. , functional operation and other information input in the machine to achieve the purpose of human-computer interaction.

In the present invention, the most basic definition of the virtual input device is to use the three-dimensional hand movement as the input method, and to achieve the purpose of information input such as text, drawing, and functional operation. In short, the three-dimensional hand movement is used as the interface for human-computer interaction.

As shown in Figure 1, it is a schematic diagram of gloves used in virtual reality. The glove 1 (hereinafter referred to as VR glove) used in virtual reality (Virtual Reality, hereinafter referred to as VR) is a typical three-dimensional hand motion recognition device. In order to pursue the detailed movements of the hands and fingers, on general VR gloves, a Strain Gage Sensor or Flex Sensor (not shown in the figure) is installed on the finger part 2 to measure the physical quantity of finger bending. In addition, in order to pursue force feedback (Force Feedback), generally various miniature triggers (Actuator) (not shown in the figure) will be installed. Finally, install a positioning device (Positioning Device) 3 on the VR glove, which can measure the three-dimensional coordinates and angles of a single position on the glove. For details, please refer to the following related patents:

U.S. Pat. No. 4414537 (Gray J. Grimes, 1983)

U.S. Pat. No. 5047952 (James P. Kramer, 1991)

U.S. Pat. No. 4988981 (Tomas G. Zimmerman, 1991)

Although VR gloves can achieve the function of man-machine communication, due to the complexity of structure and control, they cannot be applied to personal computers, game consoles, PDAs, mobile phones, home video and other equipment that generally only need simple interface operations. Moreover, its manufacturing cost is not affordable for general users. Therefore, so far, VR gloves have not been popularized and circulated in the consumer market. In addition, from a technical point of view, in order not to be disturbed by hand movements, the positioning devices used in VR gloves are generally electromagnetic or ultrasonic. The biggest defect is that the response speed is not fast enough. , resulting in a significant delay effect (Latency), and is easily disturbed by the environment, so it cannot be positioned correctly. For details, please refer to the following related research reports:

Christine Youngblut, etc., Review of Virtual Environment Interface Technology, Chapter 3 and 5, INSTITUTE FOR DEFENSE ANALYSES, 1996

Therefore, for any virtual input device, a locator that can quickly recognize the movement of multiple points on the hand must become the primary condition for achieving the purpose of virtual input. Based on the above reasons, the locator needs to have the following features in order to achieve the purpose of practicality and popularization.

1. It can provide the three-dimensional physical quantity of movement of multiple points of the hand (such as space coordinates, displacement, velocity, acceleration, etc.);

2. It has the characteristics of large-scale detection, that is, the user can make any movement of the hand within a large operating range;

3. It has the ability of point of view tracking, that is, it can automatically track the user's operating position, providing a wider range of use;

4. It has high spatial analysis ability, that is, for the movement of the user's hand, in space, it can analyze the smallest displacement in space, which needs to reach the centimeter (mm) level;

5. It has the ability of high-speed response, that is, for the movement of the user's hand, in terms of time, the shortest time required to detect the physical quantity of three-dimensional movement needs to reach the ms level;

6. Low manufacturing cost, that is, the price of general computer peripherals.

In the following, according to the above-mentioned requirement standards, the achievement degree of the prior art is checked. In the past, the technologies for measuring single-point three-dimensional motion physical quantities include electrostatic field, static magnetic field, ultrasonic, electromagnetic wave, and triangular measurement methods. Please refer to the following related patents:

Electrostatic field type:

U.S. Pat. No. 6025726 (Neil Gershenfeld, 2000)

Static magnetic field type:

U.S. Pat. No. 4945305 (Ernest B. Blood, 1990)

Ultrasonic:

U.S. Pat. No. 5214615 (Will Bauer, 1993)

Electromagnetic wave type:

U.S. Pat. No. 4613866 (Ernest B. Blood, 1986)

U.S. Pat. No. 5739812 (Takayasu Mochizuki, 1998)

Triangulation - Image Processing (2D Camera):

U.S. Pat. No. 4928175 (Henrik Haggren, 1990)

U.S. Pat. No. 6810142 (Nobuo Kochi, 2004)

Triangulation - 2D Optical:

U.S. Pat. No. 5319387 (Kouhei Yoshikawa, 1994)

The above technologies, more or less, cannot simultaneously meet the requirements of high spatial resolution, high-speed response, wide-scale use, and low manufacturing cost. Therefore, it is not the object to be compared and discussed in the present invention. The technology to be further discussed in the present invention is a positioning measurement technology based on one-dimensional optics. Different from the above-mentioned other technologies, the one-dimensional optical positioning technology can fully meet the requirements of high spatial resolution, high-speed response, wide-ranging use, and low manufacturing cost. Regarding the positioning technology of one-dimensional optics, the relevant technical patents that have been published in the past are as follows:

U.S. Pat. No. 3084261 (Donald K. Wilson, 1963)

U.S. Pat. No. 4092072 (Stafford Malcolm Ellis, 1978)

U.S. Pat. No. 4193689 (Jean-Claude Reymond, 1980)

U.S. Pat. No. 4209254 (Jean-Claude Reymond, 1980)

U.S. Pat. No. 4419012 (Michael D. Stephenson, 1983)

U.S. Pat. No. 4973156 (Andrew Dainis, 1990)

U.S. Pat. No. 5198877 (Waldean A. Schuiz, 1993)

U.S. Pat. No. 5640241 (Yasuji Ogawa, 1997)

U.S. Pat. No. 5642164 (Yasuji Ogawa, 1997)

U.S. Pat. No. 5907395 (Waldean A. Schuiz, 1999)

U.S. Pat. No. 5920395 (Waldean A. Schuiz, 1999)

U.S. Pat. No. 6584339B2 (Robert L. Galloway, 2003)

U.S. Pat. No. 6587809B2 (Dennis Majoe, 2003)

U.S. Pat. No. 6801637B2 (Nestor Voronka, 2004)

U.S. Pat. No. 7072707B2 (Robert L. Galloway, 2006)

The positioning measurement technology based on one-dimensional optics first appeared in U.S. Pat. No. 3084261 (Donald K. Wilson, 1963). Wilson uses two orthogonal one-dimensional cylindrical lenses (CylindricalLens, hereinafter referred to as one-dimensional lens), two triangular photoelectric sensing devices, and two square photoelectric sensing devices (silicon photovoltaic cell) to measure the sun The azimuth (azimuth and elevation), and the purpose of automatically tracking the sun's movement. In 1978, Ellis used a "V" shaped shutter (V-shaped aperture) and a one-dimensional light sensing array (linear array of light sensitive elements) to achieve the same purpose of angle measurement.

Subsequently, in 1980, Reymond first proposed the three-dimensional coordinate positioning technology based on one-dimensional optics. The main features of the described technology are as follows:

1. The composition of the optical system

It is mainly composed of three sets of linear arrays consisting of one-dimensional lens, one filter (Filter), one-dimensional photosensitive array (Lineararray of photosensitive elements), one-dimensional photosensitive array signal reading circuit and other components. The calculation method of the position detector (Linear Positioning Sensor) and a space coordinate (for the convenience of the description later, the terms related to linear are changed to one-dimensional). In the spatial arrangement of the three groups of one-dimensional position detectors, the long axis directions of the one-dimensional light sensing arrays are coplanar, and the arrangement directions of the long axes of the first group and the second group of one-dimensional light sensing arrays are , are parallel, but the arrangement directions of the first group (second group) and the third group of one-dimensional position detectors are vertical.

2. Theoretical calculation of three-dimensional coordinates

Under the condition that the major axes of one-dimensional light sensing arrays are coplanar, a theoretical calculation of three-dimensional coordinates is proposed. The method is to calculate the intersection point of the three planes according to the position of the point light source to be measured, the position of the optical axis center of the one-dimensional lens, and the imaging position of the one-dimensional light sensing array. The position coordinates of the point light source can be calculated.

3. Achieve the effect of multiple point positioning

By continuously and periodically switching the light-emitting time of the multiple point light sources, that is, the multiple point light sources emit light at different time points, so as to avoid the phenomenon of overlapping images, and obtain the difference between each one-dimensional light sensing array and each point light source. The correct imaging relationship (for convenience, the existing technology, hereinafter referred to as time modulation technology) can achieve the purpose of positioning the three point light sources.

4. Processing of measurement data

In the hardware circuit for reading signals from the one-dimensional light sensing array, a threshold comparison circuit is added to remove unnecessary background light sources.

In addition, in the patent proposed by Reymond, the possible expansion of its technology was mentioned (but not discussed in depth, nor declared as the scope of the patent), as follows:

5. Expansibility of complex point measurement

For the positioning measurement of multiple points, the number of one-dimensional position detectors can be increased to achieve the purpose of positioning and measuring multiple points.

6. Expansion of spatial arrangement

The arrangement positions of the one-dimensional light sensing arrays do not necessarily need to be in a coplanar arrangement.

For these two expansions, Reymond did not propose any specific theoretical calculations to illustrate how to achieve the purpose of obtaining the spatial coordinates of the points to be measured.

Reymond's patent clearly discloses the principle, structure and basic technology of a one-dimensional optical positioning system for the positioning of three-dimensional point coordinates. Subsequently, among the many patents from Stephenson (1983) to Galloway (2006), most of them continue to use Reymond's principle and structure on the technical level; on the application level, they stay in the field of special measurement and have no special Brand new, as follows:

U.S. Pat. No. 4419012 (Michael D. Stephenson, 1983)

Basically, this patent is mainly an improvement on the part of Reymond's patent. Its biggest feature lies in the improvement of the synchronization method, that is, Reymond achieves the connection between the lighting of multiple point light sources and the data scanning of the one-dimensional light sensing array in a wired manner. Time synchronization. Stephenson uses a PIN DIODE to monitor the individual lighting time of multiple point light sources, and accordingly starts the data scanning of the one-dimensional light sensing array synchronously. Therefore, Stephenson uses an optical wireless method to achieve the synchronization effect.

U.S. Pat. No. 4973156 (Andrew Dainis, 1990)

This patent almost inherits all the concepts of Reymond, although for the spatial arrangement of three sets of one-dimensional position detectors, it proposes a coplanar and 120° spatial arrangement; for four sets of one-dimensional position detectors, it proposes a coplanar and 45° spatial arrangement. ° spatial arrangement. However, for these two spatial arrangements, no specific theoretical calculations can be proposed to illustrate how to achieve the purpose of obtaining the spatial coordinates of the points to be measured. In addition, for the measurement of multiple points, although it is said that the light sources to be measured are illuminated at the same time (a plurality of simultaneously illuminated optical targets), no specific implementation method can be proposed. In addition, there is no discussion on the phenomenon of overlapping images (please refer to China Taiwan Patent Application No.: 096113579).

U.S. Pat. No. 5198877 (Waldean A. Schuiz, 1993)

Basically, this patent is mainly an application example of the Reymond patent. The application conceived by Schuiz uses a hand-held one-dimensional laser scanner to scan the object to be tested with a linear laser spot. The laser spot is projected on the surface of the object to be measured. Using two sets of one-dimensional position detectors, the relative coordinates of the laser light spot reflected by the object to be measured can be obtained first. Then, use Reymond's three sets of one-dimensional position detectors to measure the three pilot light emitters set on the laser scanner, and finally calculate the position of the laser light point reflected by the object to be measured. absolute coordinates. Here, the lighting method of the three guide light sources used by Schuiz is also inherited from Reymond's technology of continuously and periodically switching multiple point light sources, and there is nothing new. In addition, regarding the light-emitting method of lighting three guide light sources, although Schuiz once mentioned (but did not discuss in depth, nor declared as a patent scope) the use of light sources of different wavelengths (that is, different colors), and different modulation frequencies ( modulation), without making any concrete and feasible statements.

U.S. Pat. No. 5640241 (Yasuji Ogawa, 1997)

U.S. Pat. No. 5642164 (Yasuji Ogawa, 1997)

Basically, these two patents are mainly the improvement of the Reymond patent part. Their biggest feature is the use of a two-dimensional light sensing array and a compound one-dimensional lens. The advantage lies in the simplification of the mechanism, but it cannot improve the resolution of any measurement. (Note: The quality of the resolution does not lie in the use of one-dimensional or two-dimensional light sensing arrays, but in the size of a single pixel on the light sensing array, the processing of point light sources, and the setting of other optical parameters), and The speed cannot be increased (note: the use of a two-dimensional light sensing array will only reduce the speed), and the manufacturing cost cannot be reduced (note: mainly in the manufacture of the composite one-dimensional lens); there is no description of the measurement data, For the measurement of complex points, it is helpless.

U.S. Pat. No. 5907395 (Waldean A. Schuiz, 1999)

U.S. Pat. No. 5920395 (Waldean A. Schuiz, 1999)

Basically, these two patents are mainly application examples of Reymond's patent, and a small part of supplement. The complementary part lies in the processing of point light sources, that is, through spherical and planar diffusers (diffusers), point light sources with larger divergence angles can be obtained. For background light processing, use software, that is, first record the background light signal in the memory, and then subtract the background light signal from the measured signal to obtain the original signal during actual measurement. . As for the multiple point light sources, the method of lighting and emitting light also inherits Reymond's technology of continuously and periodically switching multiple point light sources, and there is nothing new.

U.S. Pat. No. 6584339B2 (Robert L. Galloway, 2003)

U.S. Pat. No. 6801637B2 (Nestor Voronka, 2004)

U.S. Pat. No. 7072707B2 (Robert L. Galloway, 2006)

Basically, these three patents are application examples of Reymond's patent, and there is no innovation in positioning technology.

Looking at the patents mentioned above, the following conclusions can be drawn:

(1) Theoretical calculation

For the theoretical calculation of the three-dimensional coordinates of a point light source, except for the simple theoretical calculation proposed by Reymond, no new theory has emerged. For theoretical calculations, the following papers have appeared in the academic field:

Yasuo Yamashita, Three-dimensional Stereometric Measurement System Using Optical Scanners, Cylindrical Lenses, & Line Sensors, SPIE 361, Aug.1982.

The theory stated in Yamashita's thesis is only suitable for the special condition that the long axis direction of the one-dimensional light sensing array is coplanar and coplanar with the optical axis of the one-dimensional lens, and is not a generalized calculation theory. For the generalized theoretical calculation that the one-dimensional position detector can be set at any position and any angle, it appears in the following patents:

China Taiwan Patent Application No.: 096108692

China Taiwan Patent Application No.: 096113579

China Taiwan Patent Application No.: 096116210

(2) Technology

In terms of technology, the depth of the technology used does not exceed the scope of the patent proposed by Reymond (1980). Especially for the solution to the phenomenon of overlap, since Stephenson (1983), there has been no improvement and innovation.

(3) Application

In terms of application, all patents are limited to the use of three-dimensional position positioning measurement, and none of the patents mentions the application of virtual input. The application of virtual input using one-dimensional optical positioning technology appears in the following patents: China Taiwan Patent Application No.: 096116210. In the aforementioned patent, a three-dimensional mouse (3D Mouse) using gestures as a human-machine interface is proposed for the first time.

Contents of the invention

First of all, in view of the defects of the above-mentioned prior art, the following innovative or improved solutions are proposed:

1. Dealing with the uniqueness of point light sources

2. Treatment of background light

3. Processing of data

4. Expansion of system architecture

5. Expansion of system applications

Finally, the description of the embodiment of the present invention is provided again.

1. Dealing with the uniqueness of point light source

使得位于所述的直线上任意位置的点光源o，其成像点都为I(0，y_s，0)，这就是像重迭的现象，以下称直线

为像重迭线。也即，任何位于直线

的点光源，其成像位置都同。因此，对于以一维光学系统为基础的定位系统，在当对复数点光源做定位量测时，像重迭现象的解决，乃成为首要的务。此外，由于此技艺需使用至少三个一维光感测数组，对于复数点光源，同时在复数个一维光感测数组上的成像，需通过一辨识的程序，以快速找出一维光感测数组间，正确的成像对应关系，方能对复数点光源做正确的定位量测。For the one-dimensional optical system, its advantage is that it can quickly read the position of the image point (due to the use of a one-dimensional light sensing array), and its disadvantage is that it is prone to image overlap. As shown in FIG. 2 , it is a schematic diagram of the image superposition phenomenon of a one-dimensional optical system. For the one-dimensional lens 5 whose focal length is f, define its focusing direction as the parallel Y-axis (this paper uses the short line of double arrows to illustrate the one-dimensional lens, and the direction of its arrow represents the direction that can be focused), its long axis direction (Non-focus direction) is parallel to the X-axis, and its optical axis direction is the Z-axis. On a plane extending along its optical axis Z and perpendicular to the optical axis Z, there is a straight line perpendicular to the Y axis

so that the line located on the Point light source o at any position above, its imaging point is I(0, y _s , 0), this is the phenomenon of image overlap, hereinafter referred to as a straight line

For like overlapping lines. That is, any line lying on the

The point light sources have the same imaging position. Therefore, for a positioning system based on a one-dimensional optical system, when performing positioning measurement on a plurality of point light sources, the solution to image overlapping becomes the primary task. In addition, since this technology needs to use at least three one-dimensional light-sensing arrays, for complex point light sources, imaging on multiple one-dimensional light-sensing arrays at the same time requires an identification process to quickly find out the one-dimensional light Correct positioning and measurement of multiple point light sources can only be performed with the correct imaging correspondence between the sensing arrays.

Making each point light source unique (Unique Characteristics) is the most basic principle to solve the phenomenon of image overlap and the corresponding relationship with correct imaging. As mentioned in the aforementioned US patent, performing time modulation, or wavelength modulation, or frequency modulation on a plurality of point light sources can make each point light source unique. The so-called time modulation means that the point light sources are lit in a continuous and alternating manner, that is, each point light source is lit at different time points to emit light. Therefore, at the sensing end, in each scan, only one and only the imaging position where the light source is lit will be read. For the method of time modulation, its disadvantage is the position error caused by asynchronous measurement, and the position error is proportional to the moving speed of the point light source and the number of point light sources. The so-called wavelength modulation is to make each point light source have a different emission wavelength. The luminous intensity of each point light source oscillates at different frequencies, which has the disadvantage of using demodulation technology. In addition, different from the above-mentioned processing method, in Taiwan Patent Application No. 096113579, a method of increasing the number of one-dimensional position detectors and rotating the optical axis is also proposed to solve the image overlapping phenomenon.

In the present invention, for the application of gesture recognition, the following (1) intensity modulation method, (2) geometric modulation method, (3) Stephenson's improved method, (4) master-slave wireless synchronization method, (5) wavelength Modulation method and other methods to solve the phenomenon like overlapping.

Light intensity of point light source and uniqueness of geometric structure

As shown in Figure 3(a), a schematic diagram of a point light source imaging a one-dimensional optical lens. A general point light source 10 can obtain a linear image 11 after being acted on by a one-dimensional optical lens. After reading the line-shaped imaging 11 through the one-dimensional light sensing array 12, in its lateral direction, an imaging signal I(x) with an intensity approximately Gaussian distribution can be obtained, as follows:

$\mathrm{<span\; class="notranslate">\; I</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; x</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; I</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}}{\mathrm{<span\; class="notranslate">\; e</span>}}^{<span\; class="notranslate">\; -</span>\frac{{<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; x</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; \&mu;</span>}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}}{{\mathrm{<span\; class="notranslate">\; 2</span>}\mathrm{<span\; class="notranslate">\; \&sigma;</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}}}<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; )</span>$

Among them, I ₀ is the intensity of the center, σ is the standard deviation of the distribution, and μ is the mean position. In general, I(x) becomes zero when x deviates from the mean position μ by about three distribution standard deviations σ. Therefore, the signal at |x-μ|<3σ can be defined as an effective imaging signal. In addition, the luminous intensity P of the point light source 10 determines the intensity I ₀ of the center, and the luminous radius r of the point light source determines the standard deviation σ of the distribution. Therefore, I ₀ and σ of the point light source can be used as unique parameters. That is, for a point light source with multiple points, different I ₀ and σ can be used to identify the point light source. Therefore, the method of using I ₀ to identify a point light source is called intensity modulation; and the method of using σ to identify a point light source is called geometric modulation.

In the following, three point light sources are taken as examples to illustrate intensity modulation and geometric modulation.

(1) Intensity modulation method

As shown in FIG. 3( b ) to FIG. 3( e ), they are schematic diagrams of intensity modulation. As shown in Fig. 3(b), when there is no image overlapping phenomenon, three point light sources with different light intensities I ₁₀ , I ₃₀ , and I ₃₀ but with the same σ, their output on the one-dimensional light sensing array The imaging signals 15, 16, and 17, because of the uniqueness of the central intensity, can identify and identify the three effective imaging signals through the threshold comparison method or the waveform detection method (as described later), and according to This is used to calculate the position of the central intensity, which is the average position μ. When the three point light sources are close to the image overlapping line, as shown in FIG. In this case, the threshold comparison method is invalid, but the waveform detection method can clearly identify the average position. When the three point light sources are almost close to the image overlapping line, as shown in Fig. 3(d) to Fig. 3(e), their average positions cannot be identified. At this time, it can be seen that the average positions of the three point light sources are consistent, but some measurement errors may occur. If the luminous radius r of the point light source is made very small and there is enough luminous intensity to induce imaging, the standard deviation σ of the distribution of the imaging signal I(x) can be made close to or smaller than the one-dimensional light sensing array 12 Increase the width of a single pixel, that is, to improve the above-mentioned measurement error, and to solve the phenomenon of overlapping images.

(2) Geometric modulation method

As shown in Fig. 3(f) to Fig. 3(i), they are schematic diagrams of geometric modulation. For three point light sources with the same I ₀ but different σ ₁ , σ ₂ , and σ ₃ , their imaging signals 15, 16, and 17 on the one-dimensional light sensing array are respectively I ₁ (x), I ₂ ( x), I ₃ (x); the superimposed imaging signal 18 is I(x), expressed as follows:

${\mathrm{<span\; class="notranslate">\; I</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; x</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; I</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}}{\mathrm{<span\; class="notranslate">\; e</span>}}^{<span\; class="notranslate">\; -</span>\frac{{<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; x</span>}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; \&mu;</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}}{\mathrm{<span\; class="notranslate">\; 2</span>}{\mathrm{<span\; class="notranslate">\; \&sigma;</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}}}<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 2</span>}<span\; class="notranslate">\; )</span>$

${\mathrm{<span\; class="notranslate">\; I</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; x</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; I</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}}{\mathrm{<span\; class="notranslate">\; e</span>}}^{<span\; class="notranslate">\; -</span>\frac{{<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; x</span>}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; \&mu;</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}}{\mathrm{<span\; class="notranslate">\; 2</span>}{\mathrm{<span\; class="notranslate">\; \&sigma;</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}}}<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 3</span>}<span\; class="notranslate">\; )</span>$

${\mathrm{<span\; class="notranslate">\; I</span>}}_{\mathrm{<span\; class="notranslate">\; 3</span>}}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; x</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; I</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}}{\mathrm{<span\; class="notranslate">\; e</span>}}^{\frac{{<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; x</span>}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; \&mu;</span>}}_{\mathrm{<span\; class="notranslate">\; 3</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}}{{\mathrm{<span\; class="notranslate">\; 2</span>}\mathrm{<span\; class="notranslate">\; \&sigma;</span>}}_{\mathrm{<span\; class="notranslate">\; 3</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}}}<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 4</span>}<span\; class="notranslate">\; )</span>$

I(x)=I ₁ (x)+I ₂ (x)+I ₃ (x) (5)

Among them, σ ₁ , σ ₂ , and σ ₃ are known, and σ ₃ >σ ₂ >σ ₁ .

As shown in Figure 3(f), three point light sources are arranged on the image overlapping line at the same time, so the image is completely overlapped; as shown in Figure 3(g)~3(h), the three point light sources are very close Like overlapping lines, most of them appear to overlap. As shown in Fig. 3(i), the overlapping images of the three point light sources are close to the overlapping line, and a small part of the image overlaps. Therefore, when image overlapping occurs, how to use the measured superimposed imaging signal 18I(x) to solve μ ₁ , μ ₂ , μ ₃ becomes a subject of geometric modulation technology.

As shown in Fig. 3(j), when the image overlapping phenomenon occurs, use method of deduction and Guassian Fitting to obtain μ ₁ , μ ₂ , μ ₃ . The principle of the so-called elimination method is to sequentially separate the imaging signals from the superimposed imaging signal 18 in order from the largest point light source to the smallest point light source. That is, from I(x), find out part of I ₃ (x) first, and perform Gaussian Fitting on it to obtain I ₃ (x) and μ ₃ , then separate I ₃ ( x), such that I'(x)=I(x)-I ₃ (x). According to the same procedure, separate I ₂ (x) from I'(x) to obtain I ₁ (x). The advantage of geometric modulation is that it is not affected by the image overlapping phenomenon, and the average position μ of all point light source imaging signals can be solved. The disadvantage is that there are many mathematical calculations, and the size of each point light source must be clearly distinguished.

Improved method of time modulation

As mentioned in Stephenson's patent mentioned above, Stephenson uses a DIODE at the sensing detection end to monitor the time when multiple point light sources are turned on, so as to achieve the effect of synchronous scanning of the one-dimensional light sensing array, which improves the Reymond wired method. The timing of each signal, as shown in Figure 4 (a), is a schematic diagram of the timing of the Stephenson time modulation method, and the figure shows the timing of lighting up a plurality of point light sources and synchronizing with the scanning and reading of one-dimensional light sensing array data. timing. Emitter1-Emitter3 (point light sources) are continuously and alternately lit in a fixed period, and the Diode circuit generates a synchronization signal SYNC after receiving these light signals to synchronously drive all one-dimensional light sensing arrays to start scanning.

However, as shown in Figure 4(b), in the actual gesture operation, the point light source installed on the hand or finger, such as emitter2, may be blocked by the hand at any time due to any movement of the hand or finger. It is easy to cause out-of-synchronization phenomenon, so that the one-dimensional light sensing array acquires wrong data. In this regard, Stephenson patent does not propose any solution. Aiming at the out-of-synchronization phenomenon, the present invention proposes the following two solutions.

(3) Stephenson's improved method

As shown in Fig. 4(c), it is a schematic diagram of the sequence of Stephenson time modulation improvement method. For the optical signals generated by Emitter1~Emitter3, a microprocessor (μP) can be used to measure Emitter1~ Emitter3 continuously alternates the cycle of lighting, and with the same cycle, synchronously generates the synchronization signal SYNC, which can overcome the phenomenon of out-of-synchronization.

(4) Master-slave wireless synchronization method

Different from the methods of Reymond and Stephenson, the so-called master-slave wireless synchronization method is to transmit a coded synchronization signal from the transmitting end (master end) in the form of RF. The coded synchronization signal contains a The number of the light source to be turned on, and the signal of the required time to turn on the light source. Therefore, after receiving the encoded synchronization signal, the receiving end (slave end) can decode and analyze the information in the encoded synchronization signal, and make correct synchronization control to achieve time adjustment. change purpose.

As shown in FIG. 4( d ), it is a schematic diagram of a master-slave wireless synchronization method. The RF transmitter 21 installed at the end of the one-dimensional position detector 20 emits a coded RF synchronization signal 22 . The coded synchronous signal 22 includes the coded signal 24 and the synchronous signal 25 . The coded signal 24 represents the number of the desired light source, and the synchronous signal 25 represents the time of the desired light source. The composition of the coded signal 24 can be a set of binary codes, or a square wave with a specific time length, or a specific number of pulses. In addition, the RF receiver 26 installed at the hand side receives the encoded RF synchronization signal 22 in real time, and then outputs the signal to a decoder 27 . The decoder 27 can separate the encoded signal 24 and the synchronous signal 25 , and then output the two signals to the one-point light source switch 28 . The switch 28 can individually and correctly turn on the point light source 29 at the correct time according to the number of the point light source. Therefore, no matter whether the point light source is shaded or not, the number and timing of the point light source being turned on can be clearly and correctly known at the end of the one-dimensional position detector 20 . This also completely solves the shadowing problem encountered by the former Stephenson. In addition, because of the way of adding codes, the point light source 29 can also be turned on in any order and time. Certainly, setting the RF transmitter at the hand side and the RF receiver at the one-dimensional position detector can also achieve the same effect. Here, for the general RF technology, the modulation (modulation) action is usually required at the transmitting end, while the demodulation (de-modulation) action is required at the receiving end. This is an existing technology, based on Not discussed and explained.

In addition, as shown in FIG. 4( e ), the RF transmitter can also transmit another RF synchronization signal 22 with a different code. The purpose of the code is to turn on all the point light sources at the same time. Therefore, the aforementioned methods of intensity modulation, geometric modulation, and wavelength modulation can be integrated with the master-slave wireless synchronization method to uniquely control the point light source to achieve more efficient purposes.

(5) Wavelength modulation method

As in the aforementioned Schuiz patent, although the concept of using wavelength modulation to overcome the light overlapping phenomenon has been proposed, there is no in-depth and specific explanation. As shown in Fig. 5(a) to Fig. 5(c), they are image sensing technologies that have been widely used at present. As shown in Figure 5(a), it is the light sensing spectrum of a general CCD or CMOS light sensing array (please refer to SONY/CCD/ILX526A), which can sense light wavelengths, usually between 400nm and 1000nm, and its single light sensing The size of a pixel is between several microns to tens of microns (μm). As shown in Figure 5(b), it is generally added to the CCD or CMOS photo-sensing array, and the RGB color filter (RGB color filter) passes through the spectrum (see SONY/CCD/ILX516K), using the wavelength filter role in order to achieve the purpose of color imaging. As shown in FIG. 5( c ), it is an arrangement of RGB color chips corresponding to RGB pixels on a general two-dimensional CCD or CMOS light sensing array. Hereinafter, using the above-mentioned existing image sensing technology, a method of wavelength modulation is proposed to solve the image overlap phenomenon.

As shown in FIG. 5( d ) to FIG. 5( e ), they are schematic diagrams of wavelength modulation. For the phenomenon of overlapping images caused by a plurality of point light sources, wavelength modulation can effectively solve the problem of overlapping images when the number of point light sources is small (for example, less than three). The key is to use a plurality of point light sources with different wavelengths, and use color chips of different wavelengths to filter and separate the point light sources with different wavelengths, so that the plurality of point light sources can be simultaneously And the images are individually imaged on the same one-dimensional light-sensing array but at different pixel positions, or simultaneously and individually imaged on different one-dimensional light-sensing arrays. As shown in Figure 5(d), it is a schematic diagram of three point light sources with different wavelengths. For the point light sources Emitter1-Emitter3 installed on the hands or fingers, the Emitter1-Emitter3 may be white LEDs, LEDs with appropriate wavelengths, or semiconductor lasers. The light emitted by the Emitter1-Emitter3 can individually emit λ ₁ ±Δλ ₁ , λ ₂ ±Δλ ₂ , λ ₃ ±Δλ ₃ wavelengths after being processed by an appropriate optical bandwidth filter (Bandpass Filter). light source. Among them, λ ₁ , λ ₂ , λ ₃ are the center wavelengths of the bandwidth filters; 2Δλ ₁ , 2Δλ ₂ , 2Δλ ₃ are the half-wave heights (, FWHM, Full Width at Half Maximum). The selection of the central wavelength and the half-wave height and width is determined according to the characteristics of the RGB color chip light passing spectrum. For example, for the light passing spectrum shown in Figure 5(b), the central wavelength and half-wave width can be set as: λ ₁ ~ 450nm (blue light), λ ₂ ~ 550nm (green light), λ ₃ ~ 630nm (red light) light); 2Δλ ₁ ~ 20nm, 2Δλ ₂ ~ 20nm, 2Δλ ₃ ~ 20nm. When the values of Δλ ₁ , Δλ ₂ , and Δλ ₃ are too large, general RGB color chips lose the function of correct light filtering, so the problem of overlapping images cannot be solved. In addition, the selection of λ ₁ , λ ₂ , and λ ₃ does not necessarily need to be set in the visible light band, but can also be set in the infrared band, but it needs to be matched with an appropriate infrared light source, and an appropriate infrared color chip or infrared bandwidth filter.

As shown in FIG. 5( e ), it is a schematic diagram of the arrangement of RGB color chips on the one-dimensional light sensing array. For the one-dimensional light-sensing array 12 , the RGB color chips are arranged alternately in the order of R, G, and B in units of pixels. Therefore, for the aforementioned point light sources selected from λ ₁ to 450nm (blue light), λ ₂ to 550nm (green light), and λ ₃ to 630nm (red light), the alternate arrangement of the RGB color chips can make the The three point light sources are separated and imaged individually on the R, G, and B pixels (this figure only uses red light as an example to illustrate the role of light separation and imaging). The advantage is that only one one-dimensional light sensing array 12 can be used to process the imaging of three point light sources at the same time; the disadvantage is that the spatial resolution of the measurable point light source can be reduced to one-third.

In order to improve the measurable spatial resolution, as shown in Figure 5(f), a three-color one-dimensional light sensing array (see SONY/CCD/ILX516K) can be used, that is, as mentioned above, for λ ₁ ~ 450nm (blue light), λ ₂ ～ 550nm (green light), λ ₃ ～ 630nm (red light), three point light sources provide three parallel one-dimensional light sensing arrays, on which three different The wavelength RGB color chip can also achieve the purpose of wavelength modulation.

In addition, the existing color two-dimensional CCD or CMOS light-sensing array has been mass-produced and used in digital cameras. Based on cost considerations, the existing color two-dimensional CCD or CMOS light-sensing array can also be used to replace the aforementioned One-dimensional CCD or CMOS light-sensing array, that is, using the existing color two-dimensional CCD or CMOS light-sensing array manufacturing process, only need to change the arrangement of RGB color chips and the way of pixel image scanning, the existing color two-dimensional One-dimensional CCD or CMOS light sensing array to achieve the purpose of wavelength modulation. As shown in Figure 5(g), it is a color two-dimensional CCD or CMOS light sensing array, and its RGB color chips are arranged. The arrangement of the RGB color chips is that the RGB color chips are alternately arranged in the order of R, G, and B in the unit of row (Row). As shown in Figure 5(h), it is a color two-dimensional CCD or CMOS light sensing array, and another arrangement of RGB color chips. In addition, as shown in FIG. 5(i), it is a color two-dimensional CCD or CMOS light-sensing array, and its pixel image is scanned and read. The scanning of the image can be performed by a microprocessor μP, a line of decoding controller (Row Decoder), and a column of decoding controller (Column Decoder), which can be used for any pixel #ij (i.e. row i, column j) ) to achieve the purpose of random access (Random Access) operation.

2. Treatment of background light

Among the aforementioned US patents, only the patents of Reymond and Schuiz mentioned the processing of measurement data, but only the removal of background light source. As mentioned above, the processing method is to use electronic or software methods to achieve the effect of removing background light through a threshold comparison processing. Generally, the prerequisite for threshold comparison is that the background light signal has a fixed DC value that does not change over time. However, for background light with spatial and temporal variation characteristics, the threshold comparison method is completely ineffective. In addition, the patents of Reymond and Schuiz do not provide any in-depth explanations for subsequent data processing.

Removal of dynamic background light

For the general indoor use environment, usually the background light source comes from fluorescent lamps, and halogen lamps (or tungsten lamps). As shown in Figure 6(a) and Figure 6(b), it is the emission spectrum of common fluorescent lamps and halogen lamps. Basically, these light sources will cause instability, coverage, and saturation of the imaging signal at the photo-sensing array end. Therefore, this phenomenon can be collectively referred to as ambient light interference phenomenon, and it causes ambient light interference noise on the light sensing array. For ambient light interference noise, the existing simple threshold comparison method is completely ineffective and cannot obtain correct imaging signals. Hereinafter, a method for removing ambient light interference noise is proposed.

At time t _k , the imaging signal I(x, t _k ) obtained for the measurement of the one-dimensional light sensing array is composed of the imaging signal S(x, t _k ) of the point light source, and the interference noise signal N of the ambient light (x, t _k ) are superimposed to form the following formula:

I(x,t _k )=S(x,t _k )+N(x,t _k ) (6)

$\mathrm{<span\; class="notranslate">\; S</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; x</span>}<span\; class="notranslate">\; ,</span>{\mathrm{<span\; class="notranslate">\; t</span>}}_{\mathrm{<span\; class="notranslate">\; k</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; =</span>\underset{\mathrm{<span\; class="notranslate">\; m</span>}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; 0</span>}}{\overset{\mathrm{<span\; class="notranslate">\; m</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}}{\mathrm{<span\; class="notranslate">\; \&Sigma;</span>}}}\mathrm{<span\; class="notranslate">\; S</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; m</span>}}<span\; class="notranslate">\; ,</span>{\mathrm{<span\; class="notranslate">\; t</span>}}_{\mathrm{<span\; class="notranslate">\; k</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 7</span>}<span\; class="notranslate">\; )</span>$

$\mathrm{<span\; class="notranslate">\; N</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; x</span>}<span\; class="notranslate">\; ,</span>{\mathrm{<span\; class="notranslate">\; t</span>}}_{\mathrm{<span\; class="notranslate">\; k</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; =</span>\underset{\mathrm{<span\; class="notranslate">\; m</span>}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; 0</span>}}{\overset{\mathrm{<span\; class="notranslate">\; m</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}}{\mathrm{<span\; class="notranslate">\; \&Sigma;</span>}}}\mathrm{<span\; class="notranslate">\; N</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; m</span>}}<span\; class="notranslate">\; ,</span>{\mathrm{<span\; class="notranslate">\; t</span>}}_{\mathrm{<span\; class="notranslate">\; k</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 8</span>}<span\; class="notranslate">\; )</span>$

Wherein, S(x, t _k ) is an effective imaging signal that can be composed of several point light sources, M is the total pixels of the one-dimensional light sensing array, and its value can be 2 ^a (for example: a=10, M=2 ¹⁰ =1024), and x _m is the position of the mth pixel. Generally, the ambient light interference noise signal N(x, t _k ) mostly comes from the light source used in the indoor environment and the light reflected from the light source to other objects; a small part comes from the dark light in the light sensing array itself. current, and other electronic noise on the loop. In addition, because (1) the power source used by the light source is an AC power source, its luminous intensity naturally has the characteristics of AC; (2) the user may adjust the intensity of the light source at any time, or even switch the light source; The location may be at the same height as the light sensor array, and when it is installed behind the user, the movement of the user's body will directly interfere with the light emitted by the light source. Therefore, in terms of time, the ambient light interference noise signal N(x, t _k ) is not a stable constant, but a function that changes with time. Especially the interference mentioned in (3) seriously affects the stability of N(x, t _k ). This is the reason for the failure of the existing threshold comparison method. Therefore, this type of interference is defined as a temporal ambient light interference signal. In addition, the light source and its lampshade may have a special geometric structure, and even there are highly reflective objects (such as mirrors, metal buttons on clothes) in the environment. These light sources with geometric structures are imaged by a one-dimensional lens. The characteristics and magnitude of the signal may be identical to the resulting imaging signal of the point light source, or worse, these interfering signals overlap with the resulting imaging signal of the point light source. This is also another reason for the failure of the existing threshold comparison method. Therefore, this type of interference is defined as a spatial ambient light interference signal. Here, the temporal and spatial ambient light is collectively referred to as dynamic background light, and its imaging signal in the light sensing array is referred to as dynamic background light signal. In the following, the method of real-time temporal ambient light interference signal removal and Fourier signal processing (that is, spatial ambient light interference signal removal method) is proposed, combined with the threshold comparison method or waveform detection method, which can effectively solve dynamic problems. Interference of background light, and analyze the effective imaging signal of point light source. Hereinafter, the above-mentioned real-time temporal ambient light interference signal removal method and Fourier signal processing method are collectively referred to as a dynamic background light signal removal method.

(1) Real-time temporal ambient light interference signal removal method

Since the light sensing array has the characteristic of linear superposition for light sensing and the one-dimensional optical lens has the characteristic of linear imaging, as shown in Figure 5(j) ~ Figure 5(k), another one-dimensional light sensing array can be used 13. After obtaining the dynamic background light signal N′(x, t _k ) at the same time, remove N′(x, t _k ) from the original signal I(x, t _k ) in formula (6), and then get

I'(x,t _k )=I(x,t _k )-N'(x,t _k ) (9)

Substituting formula (6) into formula (9), we can get

I'(x,t _k )=S(x,t _k )+ΔN(x,t _k ) (10)

in,

ΔN(x,t _k )=N(x,t _k )-N'(x,t _k ) (11)

Here, it is by means of hardware, that is, using another one-dimensional light sensing array 13 to obtain N′(x _m , t _k ) signal, hereinafter referred to as noise one-dimensional light sensing array 13; and the original one-dimensional light sensing array 13 The light-sensing array 12 is called the one-dimensional light-sensing array 12 for measurement. The noise uses a one-dimensional light sensing array 13, on which an appropriate optical filter (not shown) must be added to filter out all point light sources but allow ambient light to pass through; The positions must be as close as possible and parallel to the one-dimensional light-sensing array for measurement. In addition, for the scanning and reading of the imaging signal of the one-dimensional light sensing array 13 for noise, it is synchronously used in the scanning and reading of the imaging signal of the one-dimensional light sensing array 12 for measurement, and in the noise The signal of the one-dimensional light sensing array 13 is used to read the electronic circuit, through an electronic amplifier, to properly amplify the signal of the dynamic background light, so that ΔN(x, t _k ) can be

ΔN(x,t _k )=DC+δn(x,t _k ) (12)

Therefore, formula (10) becomes

I′(x, t _k )～S(x, t _k )+δn(x, t _k )+DC (13)

Among them, DC is a low-frequency signal close to DC, and δn(x, t _k ) can be regarded as a spatial ambient light interference signal with a higher-frequency geometric structure. In addition, the luminous intensity of the point light source can be appropriately adjusted to make the imaging signal of the point light source meet the following conditions,

δn(x, t _k ) << S(x, t _k ) (14)

Combined with the threshold comparison method, the effective imaging signal S(x, t _k ) can be obtained. The so-called threshold value comparison method is to set an appropriate value larger than the DC+δn(x, t _k ) value for the DC and δn(x, t _k ) value in formula (13), and then use the comparison method to find out the effective imaging signal S(x, t _k ). In addition, for the point light source used in the intensity modulation, the method of profile detection (Method of Profile Detection) can also be used to obtain the effective imaging signal S(x, t _k ). The so-called waveform detection method uses the characteristics of the imaging waveform of the point light source to obtain S(x, t _k ). Compared with the background light source that interferes in the environment, the luminous intensity per unit area of the point light source used in the present invention is much greater than that of the background light source, and its luminous area is much smaller than that of the background light source. Therefore, the waveform of the imaging signal is characterized by a sharp peak. That is, compared with the imaging signal of the background light source, the standard deviation σ of the distribution of the imaging signal of the point light source of the present invention has a relatively small value, such as 20-30 μm; and the intensity I ₀ of its center has a A relatively large value; in addition, in the effective imaging signal, the slope of its waveform change has a relatively large value. Therefore, the effective imaging signal S(x, t _k ) of the point light source can be found out according to the characteristics such as the standard deviation σ of the distribution, the intensity I ₀ of the center, and the slope of the waveform change.

Usually, since the point light source uses a general battery as its power source, as mentioned above, increasing the luminous intensity of the point light source to increase the S/N ratio will increase the power consumption of the battery and shorten the battery usage time. Therefore, under the condition of not increasing the luminous intensity of the point light source, signal processing must be used to reduce ΔN(x, t _k ) in order to achieve the purpose of increasing the S/N ratio.

(2) Spatial ambient light interference signal removal method (Fourier signal processing method)

The purpose of existing Fourier optics is to filter out unnecessary geometric structures or noises for geometric signals in the spatial domain, so as to obtain desired geometric structures. The basic method is to filter out the geometric structure to be removed or the characteristic frequency of the noise in the frequency domain, so as to achieve the purpose of Fourier optics. Therefore, the technology of Fourier optics can be used to reduce ΔN(x, t _k ) to achieve a higher S/N ratio. Perform Fourier transform on equation (10), we can get

I'(ω _n ,t _k )=S(ω _n ,t _k )+ΔN(ω _n ,t _k ) (15)

in,

$\mathrm{<span\; class="notranslate">\; S</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; \&omega;</span>}}_{\mathrm{<span\; class="notranslate">\; no</span>}}<span\; class="notranslate">\; ,</span>{\mathrm{<span\; class="notranslate">\; t</span>}}_{\mathrm{<span\; class="notranslate">\; k</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; =</span>\underset{\mathrm{<span\; class="notranslate">\; m</span>}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; 0</span>}}{\overset{\mathrm{<span\; class="notranslate">\; m</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}}{\mathrm{<span\; class="notranslate">\; \&Sigma;</span>}}}\mathrm{<span\; class="notranslate">\; S</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; m</span>}}<span\; class="notranslate">\; ,</span>{\mathrm{<span\; class="notranslate">\; t</span>}}_{\mathrm{<span\; class="notranslate">\; k</span>}}<span\; class="notranslate">\; )</span>{\mathrm{<span\; class="notranslate">\; e</span>}}^{<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; <figure-callout\; id="2"\; label="j"\; filenames="DEST\_PATH\_H200810214319901E00011.png,DEST\_PATH\_H200810214319901E00031.png"\; state="\{\{state\}\}">j</figure-callout></span>}\frac{\mathrm{<span\; class="notranslate">\; 2</span>}\mathrm{<span\; class="notranslate">\; \&pi;</span>}}{\mathrm{<span\; class="notranslate">\; m</span>}}\mathrm{<span\; class="notranslate">\; mn</span>}}<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 16</span>}<span\; class="notranslate">\; )</span>$

$\mathrm{<span\; class="notranslate">\; \&Delta;N</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; \&omega;</span>}}_{\mathrm{<span\; class="notranslate">\; no</span>}}<span\; class="notranslate">\; ,</span>{\mathrm{<span\; class="notranslate">\; t</span>}}_{\mathrm{<span\; class="notranslate">\; k</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; =</span>\underset{\mathrm{<span\; class="notranslate">\; m</span>}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; 0</span>}}{\overset{\mathrm{<span\; class="notranslate">\; m</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}}{\mathrm{<span\; class="notranslate">\; \&Sigma;</span>}}}\mathrm{<span\; class="notranslate">\; \&Delta;N</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; m</span>}}<span\; class="notranslate">\; ,</span>{\mathrm{<span\; class="notranslate">\; t</span>}}_{\mathrm{<span\; class="notranslate">\; k</span>}}<span\; class="notranslate">\; )</span>{\mathrm{<span\; class="notranslate">\; e</span>}}^{<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; <figure-callout\; id="2"\; label="j"\; filenames="DEST\_PATH\_H200810214319901E00011.png,DEST\_PATH\_H200810214319901E00031.png"\; state="\{\{state\}\}">j</figure-callout></span>}\frac{\mathrm{<span\; class="notranslate">\; 2</span>}\mathrm{<span\; class="notranslate">\; \&pi;</span>}}{\mathrm{<span\; class="notranslate">\; m</span>}}\mathrm{<span\; class="notranslate">\; mn</span>}}<span\; class="notranslate">\; =</span>\underset{\mathrm{<span\; class="notranslate">\; m</span>}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; 0</span>}}{\overset{\mathrm{<span\; class="notranslate">\; m</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}}{\mathrm{<span\; class="notranslate">\; \&Sigma;</span>}}}<span\; class="notranslate">\; [</span>\mathrm{<span\; class="notranslate">\; DC</span>}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; \&delta;n</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; m</span>}}<span\; class="notranslate">\; ,</span>{\mathrm{<span\; class="notranslate">\; t</span>}}_{\mathrm{<span\; class="notranslate">\; k</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; ]</span>{\mathrm{<span\; class="notranslate">\; e</span>}}^{<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; <figure-callout\; id="2"\; label="j"\; filenames="DEST\_PATH\_H200810214319901E00011.png,DEST\_PATH\_H200810214319901E00031.png"\; state="\{\{state\}\}">j</figure-callout></span>}\frac{\mathrm{<span\; class="notranslate">\; 2</span>}\mathrm{<span\; class="notranslate">\; \&pi;</span>}}{\mathrm{<span\; class="notranslate">\; m</span>}}\mathrm{<span\; class="notranslate">\; mn</span>}}<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 17</span>}<span\; class="notranslate">\; )</span>$

As in the aforementioned Fourier method, in the frequency domain, the processing of the band-pass filter function BPF(ω _n ) is added, that is, for the low-frequency frequency generated by the DC signal and the high-frequency frequency generated by the δn(x,t _k ) signal, After filtering, perform the inverse Fourier operation to obtain an imaging signal that is clean and approximates the light source at the origin. Therefore, by performing bandpass filtering and inverse Fourier operations on equation (15), we can get

${\mathrm{<span\; class="notranslate">\; I</span>}}^{<span\; class="notranslate">\; \&prime;</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; m</span>}}<span\; class="notranslate">\; ,</span>{\mathrm{<span\; class="notranslate">\; t</span>}}_{\mathrm{<span\; class="notranslate">\; k</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; =</span>\underset{\mathrm{<span\; class="notranslate">\; no</span>}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; 0</span>}}{\overset{\mathrm{<span\; class="notranslate">\; m</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}}{\mathrm{<span\; class="notranslate">\; \&Sigma;</span>}}}{\mathrm{<span\; class="notranslate">\; <figure-callout\; id="2"\; label="e\; j"\; filenames="DEST\_PATH\_H200810214319901E00011.png,DEST\_PATH\_H200810214319901E00031.png"\; state="\{\{state\}\}">e</figure-callout></span><figure-callout\; id="2"\; label="e\; j"\; filenames="DEST\_PATH\_H200810214319901E00011.png,DEST\_PATH\_H200810214319901E00031.png"\; state="\{\{state\}\}">\; </figure-callout>}}^{\mathrm{<span\; class="notranslate">\; </span>}}<span\; class="notranslate">\; \{</span><span\; class="notranslate">\; [</span>\mathrm{<span\; class="notranslate">\; S</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; \&omega;</span>}}_{\mathrm{<span\; class="notranslate">\; no</span>}}<span\; class="notranslate">\; ,</span>{\mathrm{<span\; class="notranslate">\; t</span>}}_{\mathrm{<span\; class="notranslate">\; k</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; \&Delta;N</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; \&omega;</span>}}_{\mathrm{<span\; class="notranslate">\; no</span>}}<span\; class="notranslate">\; ,</span>{\mathrm{<span\; class="notranslate">\; t</span>}}_{\mathrm{<span\; class="notranslate">\; k</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; ]</span><span\; class="notranslate">\; \&times;</span>\mathrm{<span\; class="notranslate">\; BPF</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; \&omega;</span>}}_{\mathrm{<span\; class="notranslate">\; no</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; \}</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 18</span>}<span\; class="notranslate">\; )</span>$

Formula (18) is simplified as,

I'(x _m ,t _k )=S'(x _m ,t _k )+δ'n(x _m ,t _k ) (19)

in,

${\mathrm{<span\; class="notranslate">\; S</span>}}^{<span\; class="notranslate">\; \&prime;</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; m</span>}}<span\; class="notranslate">\; ,</span>{\mathrm{<span\; class="notranslate">\; t</span>}}_{\mathrm{<span\; class="notranslate">\; k</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; =</span>\underset{\mathrm{<span\; class="notranslate">\; no</span>}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; 0</span>}}{\overset{\mathrm{<span\; class="notranslate">\; m</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}}{\mathrm{<span\; class="notranslate">\; \&Sigma;</span>}}}{\mathrm{<span\; class="notranslate">\; <figure-callout\; id="2"\; label="e\; j"\; filenames="DEST\_PATH\_H200810214319901E00011.png,DEST\_PATH\_H200810214319901E00031.png"\; state="\{\{state\}\}">e</figure-callout></span><figure-callout\; id="2"\; label="e\; j"\; filenames="DEST\_PATH\_H200810214319901E00011.png,DEST\_PATH\_H200810214319901E00031.png"\; state="\{\{state\}\}">\; </figure-callout>}}^{\mathrm{<span\; class="notranslate">\; </span>}}<span\; class="notranslate">\; \{</span>\mathrm{<span\; class="notranslate">\; S</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; \&omega;</span>}}_{\mathrm{<span\; class="notranslate">\; no</span>}}<span\; class="notranslate">\; ,</span>{\mathrm{<span\; class="notranslate">\; t</span>}}_{\mathrm{<span\; class="notranslate">\; k</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; \&times;</span>\mathrm{<span\; class="notranslate">\; BPF</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; \&omega;</span>}}_{\mathrm{<span\; class="notranslate">\; no</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; \}</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 20</span>}<span\; class="notranslate">\; )</span>$

${\mathrm{<span\; class="notranslate">\; \&delta;</span>}}^{<span\; class="notranslate">\; \&prime;</span>}\mathrm{<span\; class="notranslate">\; no</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; m</span>}}<span\; class="notranslate">\; ,</span>{\mathrm{<span\; class="notranslate">\; t</span>}}_{\mathrm{<span\; class="notranslate">\; k</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; =</span>\underset{\mathrm{<span\; class="notranslate">\; no</span>}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; 0</span>}}{\overset{\mathrm{<span\; class="notranslate">\; m</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}}{\mathrm{<span\; class="notranslate">\; \&Sigma;</span>}}}{\mathrm{<span\; class="notranslate">\; <figure-callout\; id="2"\; label="e\; j"\; filenames="DEST\_PATH\_H200810214319901E00011.png,DEST\_PATH\_H200810214319901E00031.png"\; state="\{\{state\}\}">e</figure-callout></span><figure-callout\; id="2"\; label="e\; j"\; filenames="DEST\_PATH\_H200810214319901E00011.png,DEST\_PATH\_H200810214319901E00031.png"\; state="\{\{state\}\}">\; </figure-callout>}}^{\mathrm{<span\; class="notranslate">\; </span>}}<span\; class="notranslate">\; \{</span>\mathrm{<span\; class="notranslate">\; \&Delta;N</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; \&omega;</span>}}_{\mathrm{<span\; class="notranslate">\; no</span>}}<span\; class="notranslate">\; ,</span>{\mathrm{<span\; class="notranslate">\; t</span>}}_{\mathrm{<span\; class="notranslate">\; k</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; \&times;</span>\mathrm{<span\; class="notranslate">\; BPF</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; \&omega;</span>}}_{\mathrm{<span\; class="notranslate">\; no</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; \}</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; twenty\; one</span>}<span\; class="notranslate">\; )</span>$

The band-pass filter function BPF(ω _n ) can be:

$\mathrm{<span\; class="notranslate">\; BPF</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; \&omega;</span>}}_{\mathrm{<span\; class="notranslate">\; no</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; \&equiv;</span>\left\{\begin{array}{cc}\mathrm{<span\; class="notranslate">\; 0</span>}& \mathrm{<span\; class="notranslate">\; when</span>}{\mathrm{<span\; class="notranslate">\; \&omega;</span>}}_{\mathrm{<span\; class="notranslate">\; no</span>}}<span\; class="notranslate">\; <</span>{\mathrm{<span\; class="notranslate">\; \&omega;</span>}}_{\mathrm{<span\; class="notranslate">\; L</span>}}\\ \mathrm{<span\; class="notranslate">\; A</span>}& \mathrm{<span\; class="notranslate">\; when</span>}{\mathrm{<span\; class="notranslate">\; \&omega;</span>}}_{\mathrm{<span\; class="notranslate">\; L</span>}}<span\; class="notranslate">\; \&le;</span>{\mathrm{<span\; class="notranslate">\; \&omega;</span>}}_{\mathrm{<span\; class="notranslate">\; no</span>}}\\ \mathrm{<span\; class="notranslate">\; 0</span>}& \mathrm{<span\; class="notranslate">\; when</span>}{\mathrm{<span\; class="notranslate">\; \&omega;</span>}}_{\mathrm{<span\; class="notranslate">\; h</span>}}<span\; class="notranslate">\; <</span>{\mathrm{<span\; class="notranslate">\; \&omega;</span>}}_{\mathrm{<span\; class="notranslate">\; no</span>}}\end{array}<span\; class="notranslate">\; \&le;</span>{\mathrm{<span\; class="notranslate">\; \&omega;</span>}}_{\mathrm{<span\; class="notranslate">\; h</span>}}\right.<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; twenty\; two</span>}<span\; class="notranslate">\; )</span>$

That is to say, in the frequency domain, the number of low frequencies lower than ω _L and the number of high frequencies higher than ω _H are filtered out, that is, most of the frequencies of ΔN(ω _n , t _k ) are filtered out , while other numbers are multiplied by the value of a real number A. When A>1.0, the imaging signal S′(x _m , t _k ) of the origin light source can be amplified so that δ′n(x _m , t _k )<<S’(x _m , t _k ), that is, a higher The S/N ratio. Yes,

I'(x _m ,t _k )～S'(x _m ,t _k ) (23)

Finally, the effective imaging signal S(x, t _k ) is obtained in combination with a threshold comparison method or a waveform detection method. As in the aforementioned dynamic background light removal method, another noise-use light sensing array is mainly used to obtain the dynamic background light. However, this method increases the cost and complexity of the hardware. Hereinafter, another approximate real-time temporal ambient light interference signal removal method in the form of software is proposed.

(3) Approximate real-time temporal ambient light interference signal removal method

The so-called approximate real-time temporal ambient light interference signal removal method is a method to achieve the purpose of removing temporal ambient light interference signals by using only software without increasing the use of another one-dimensional light sensing array for noise. . As mentioned above, when the user's body movement directly interferes with the light source due to temporal ambient light interference, the background light signal will be greatly deformed and fluctuated, which will still seriously affect the correct acquisition of point light source signals. Compared with the scanning and sampling speed of the existing one-dimensional light sensing array (such as 10 ^-3 sec/scan), the speed of the user's body movement is relatively slow. Therefore, for the imaging signals I(x, t _k ), I(x, t _k-1 ) acquired by two consecutive scans,

I(x,t _k )=S(x,t _k )+N(x,t _k ) (24)

I(x,t _k-1 )=S(x,t _k-1 )+N(x,t _k-1 ) (25)

The dynamic background light signal N(x, t _k ), N(x, t _k-1 ) contained therein, the change amount at time Δ _t =t _k -t _k-1 can be regarded as a relatively smaller than point Light source imaging signal S(x, t _k ). Therefore, formula (25) can be subtracted from formula (24) to get

I'(x,t _k )=I(x,t _k-1 )-I(x,t _k-1 )=ΔS(x,t _k )+ΔN(x,t _k ) (26)

ΔS(x,t _k )=S(x,t _k )-S(x,t _k-1 )(27)

ΔN(x,t _k )=N(x,t _k )-N(x,t _k-1 )(28)

in,

ΔN(x,t _k )=N(x,t _k )-N(x,t _k-1 )=δn(x,t _k ) (30)

In the approximate real-time temporal ambient light interference signal removal method, equations (29) and (30) describe the characteristics of point light source imaging signals and dynamic background light signals. That is, when the point light source is in a moving state, the imaging signal of the point light source appears as the signal after subtraction of Gaussian signals G(μ _k ) and G(μ _k-1 ) at two different positions; In a static state, the imaging signal of a point source of light appears to be zero. In addition, for the dynamic background light signal, its δn(x, t _k ) has the same characteristics as formula (12). Therefore, by using the aforementioned Fourier signal processing method, the spatial ambient light interference signal δn(x, t _k ) can be removed. When the point light source is in a static state, the imaging signal of the point light source is also zero after the Fourier signal processing of formula (29), that is, the imaging signal of the original point light source cannot be extracted. To solve this phenomenon, a tracking method (Tracking) can be used to estimate and obtain the imaging position of the existing point light source according to the previous data.

3. Data processing (calculation of spatial resolution and average position)

As shown in Fig. 7(a), it is a schematic diagram of the optical system adopted by Reymond.

In the world coordinate system O(X, Y, Z), three sets of one-dimensional light sensing arrays S ₁ , S ₂ , S ₃ are set, and their center points are set at (-h, 0, 0), (0, 0, 0), (h, 0, 0), the long axis directions are as shown in the figure; in addition, three sets of one-dimensional lenses L ₁ , L ₂ , L ₃ with equal focal length f are set up, and their optical axes are Z ₁ , Z ₂ , Z ₃ , and their focusing directions are as shown in the figure. For a point light source o(x ₁ , y ₁ , z ₁ ), its imaging average positions in S ₁ , S ₂ , and S ₃ are y _s1 , y _s2 , and y _s3 respectively; in addition, the world coordinate system O The Z axis in (X, Y, Z) is the visual axis of this optical system. Therefore, the spatial position of the point light source o(x ₁ , y ₁ , z ₁ ) can be obtained by the following positioning calculation formula (for detailed calculation, please refer to the aforementioned three Taiwan patents).

${\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; =</span>\frac{{\mathrm{<span\; class="notranslate">\; the\; y</span>}}_{\mathrm{<span\; class="notranslate">\; the\; <figure-callout\; id="1"\; label="s"\; filenames="DEST\_PATH\_H200810214319901E00061.png,H2008102143199E00031.png"\; state="\{\{state\}\}">s</figure-callout></span>}\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; the\; y</span>}}_{\mathrm{<span\; class="notranslate">\; the\; <figure-callout\; id="3"\; label="s"\; filenames="DEST\_PATH\_H200810214319901E00011.png,DEST\_PATH\_H200810214319901E00041.png"\; state="\{\{state\}\}">s</figure-callout></span>}\mathrm{<span\; class="notranslate">\; 3</span>}}}{{\mathrm{<span\; class="notranslate">\; the\; y</span>}}_{\mathrm{<span\; class="notranslate">\; the\; s</span>}\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; the\; y</span>}}_{\mathrm{<span\; class="notranslate">\; the\; s</span>}\mathrm{<span\; class="notranslate">\; 3</span>}}}\mathrm{<span\; class="notranslate">\; h</span>}<span\; class="notranslate">\; ;</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 31</span>}<span\; class="notranslate">\; )</span>$

${\mathrm{<span\; class="notranslate">\; the\; <figure-callout\; id="1"\; label="y"\; filenames="DEST\_PATH\_H200810214319901E00061.png,H2008102143199E00031.png"\; state="\{\{state\}\}">y</figure-callout></span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; =</span><span\; class="notranslate">\; -</span>\frac{\mathrm{<span\; class="notranslate">\; 2</span>}\mathrm{<span\; class="notranslate">\; h</span>}}{{\mathrm{<span\; class="notranslate">\; the\; y</span>}}_{\mathrm{<span\; class="notranslate">\; the\; s</span>}\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; the\; y</span>}}_{\mathrm{<span\; class="notranslate">\; the\; <figure-callout\; id="3"\; label="s"\; filenames="DEST\_PATH\_H200810214319901E00011.png,DEST\_PATH\_H200810214319901E00041.png"\; state="\{\{state\}\}">s</figure-callout></span>}\mathrm{<span\; class="notranslate">\; 3</span>}}}{\mathrm{<span\; class="notranslate">\; the\; y</span>}}_{\mathrm{<span\; class="notranslate">\; the\; s</span>}\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 32</span>}<span\; class="notranslate">\; )</span>$

${\mathrm{<span\; class="notranslate">\; <figure-callout\; id="1"\; label="z"\; filenames="DEST\_PATH\_H200810214319901E00061.png,H2008102143199E00031.png"\; state="\{\{state\}\}">z</figure-callout></span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; =</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; +</span>\frac{\mathrm{<span\; class="notranslate">\; 2</span>}\mathrm{<span\; class="notranslate">\; h</span>}}{{\mathrm{<span\; class="notranslate">\; the\; y</span>}}_{\mathrm{<span\; class="notranslate">\; the\; s</span>}\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; the\; y</span>}}_{\mathrm{<span\; class="notranslate">\; the\; s</span>}\mathrm{<span\; class="notranslate">\; 3</span>}}}<span\; class="notranslate">\; )</span>\mathrm{<span\; class="notranslate">\; f</span>}<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 33</span>}<span\; class="notranslate">\; )</span>$

Among them, f and h are known; and y _s1 , y _s2 , y _s3 are measured values.

The positioning error of this optical system can be evaluated by the following formula.

${\mathrm{<span\; class="notranslate">\; \&Delta;x</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; =</span>\frac{<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; z</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; f</span>}<span\; class="notranslate">\; )</span>}{\mathrm{<span\; class="notranslate">\; f</span>}}\mathrm{<span\; class="notranslate">\; \&Delta;</span>}{\mathrm{<span\; class="notranslate">\; the\; y</span>}}_{\mathrm{<span\; class="notranslate">\; the\; s</span>}\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 34</span>}<span\; class="notranslate">\; )</span>$

$\mathrm{<span\; class="notranslate">\; \&Delta;</span>}{\mathrm{<span\; class="notranslate">\; the\; <figure-callout\; id="1"\; label="y"\; filenames="DEST\_PATH\_H200810214319901E00061.png,H2008102143199E00031.png"\; state="\{\{state\}\}">y</figure-callout></span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; =</span><span\; class="notranslate">\; -</span>\frac{<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; z</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; f</span>}<span\; class="notranslate">\; )</span>}{\mathrm{<span\; class="notranslate">\; f</span>}}\mathrm{<span\; class="notranslate">\; \&Delta;</span>}{\mathrm{<span\; class="notranslate">\; the\; y</span>}}_{\mathrm{<span\; class="notranslate">\; the\; s</span>}\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 35</span>}<span\; class="notranslate">\; )</span>$

${\mathrm{<span\; class="notranslate">\; \&Delta;<figure-callout\; id="1"\; label="z"\; filenames="DEST\_PATH\_H200810214319901E00061.png,H2008102143199E00031.png"\; state="\{\{state\}\}">z</figure-callout></span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; =</span><span\; class="notranslate">\; -</span>\frac{{<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; z</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; f</span>}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}}{\mathrm{<span\; class="notranslate">\; hf</span>}}\mathrm{<span\; class="notranslate">\; \&Delta;</span>}{\mathrm{<span\; class="notranslate">\; the\; y</span>}}_{\mathrm{<span\; class="notranslate">\; the\; s</span>}\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 36</span>}<span\; class="notranslate">\; )</span>$

Equations (34) to (36) clearly show that the errors Δx ₁ , Δy ₁ , and Δz ₁ of the position of the point light source in each direction are determined by the optical parameters f, h, the vertical distance z ₁ , and the measurement error Δy _s1 , Δy _s2 , Δy _s3 are determined. Therefore, Δx ₁ , Δy ₁ , Δz ₁ obtained under the smallest _Δy s1 , Δy _s2 , Δy _s3 can be defined as the spatial resolution of the optical system.

As mentioned above, under the condition of no dynamic background light interference, when the point light passes through the one-dimensional optical lens, the intensity I(x) of the effective imaging signal on the one-dimensional light sensing array is an approximate Gaussian distribution , refer to formula (1). The one-dimensional light sensing array is composed of a row of multiple discontinuous sensing pixels with width and gap, as shown in FIG. 3( a ). Therefore, the actual measured imaging signal I(x) becomes:

$\mathrm{<span\; class="notranslate">\; I</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; x</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; =</span>\underset{\mathrm{<span\; class="notranslate">\; i</span>}}{\mathrm{<span\; class="notranslate">\; \&Sigma;</span>}}\stackrel{<span\; class="notranslate">\; \&OverBar;</span>}{\mathrm{<span\; class="notranslate">\; I</span>}}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}<span\; class="notranslate">\; )</span>\mathrm{<span\; class="notranslate">\; \&Delta;w</span>}<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 37</span>}<span\; class="notranslate">\; )</span>$

Among them, I( _xi ) is the sensing average value per unit length of the i-th sensing pixel, and its value is related to parameters such as the large size of the sensing pixel, photoelectric conversion efficiency, intensity of incident light and wavelength distribution, and ambient temperature; and Δw is the average width of the sensing pixels. If only the position x _i (that is, the position of the brightest sensing pixel) with the maximum value I( _xi ) is taken as the measurement value of y _s1 , y _s2 , and y _s3 , then the minimum measurement error Δy _s1 , Δy _s2 and Δy _s3 are the width Δw of a single sensing pixel. Hereinafter, a practical example is used to describe the evaluation of the spatial resolution.

Each parameter is known, assuming the following:

f=20mm, h=200mm, _Z1 =2000mm

Δy _s1 = Δy _s2 = Δy _s3 = Δw～5μm

Substituting into formula (34) ~ formula (36), the available spatial resolution is

Δx ₁ ~0.5mm, Δy ₁ ~0.5mm, Δz ₁ ~5mm

Using the position of the brightest sensing pixel as the imaging position, the average width Δw of the sensing pixel determines the spatial resolution. For the movement of a point light source whose displacement is smaller than the spatial resolution, as shown in Figure 7(b) (the upper figure is the imaging signal before the movement, and the lower figure is the imaging signal after the movement), on the one-dimensional light sensing array, The displacement of the imaging signal is less than the width Δw of one sensing pixel. Therefore, the position of the brightest sensing pixel does not change, resulting in the inability to resolve motion below the spatial resolution. Therefore, for the slight change of the imaging signal between pixels, it is necessary to use Guassian Fitting, or use the following statistical calculation formula to obtain its average position μ,

$\mathrm{<span\; class="notranslate">\; \&mu;</span>}<span\; class="notranslate">\; =</span>\frac{\underset{\mathrm{<span\; class="notranslate">\; i</span>}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; 0</span>}}{\overset{\mathrm{<span\; class="notranslate">\; m</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}}{\mathrm{<span\; class="notranslate">\; \&Sigma;</span>}}}{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}\stackrel{<span\; class="notranslate">\; \&OverBar;</span>}{\mathrm{<span\; class="notranslate">\; I</span>}}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}<span\; class="notranslate">\; )</span>}{\underset{\mathrm{<span\; class="notranslate">\; i</span>}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; 0</span>}}{\overset{\mathrm{<span\; class="notranslate">\; m</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}}{\mathrm{<span\; class="notranslate">\; \&Sigma;</span>}}}\stackrel{<span\; class="notranslate">\; \&OverBar;</span>}{\mathrm{<span\; class="notranslate">\; I</span>}}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}<span\; class="notranslate">\; )</span>}<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 38</span>}<span\; class="notranslate">\; )</span>$

Wherein, M is the total sensing pixels on the one-dimensional light sensing array. Generally, an analogue to digital converter (ADC) is used to convert the analog voltage value I( _xi ) of the sensing pixel to obtain a digital value. If a 10-bit ADC is used, 1024-level micro-changes can be easily identified for the input analog voltage value. Therefore, using the above two methods for calculating the average position μ, the resolution of the three-dimensional position measurement can be improved to the micron (μm) level. In addition, if the measurement distance (ie Z ₁ ) is further reduced, the resolution can be improved to nanometer (nm) level. Therefore, the present invention can also be used as an application in the positioning of a non-contact ultra-precision measuring instrument.

4. Expansion of system architecture (dead angle compensation, viewing angle expansion, and viewing axis tracking)

As we all know, any optical system has the phenomenon of limited viewing angle and dead angle. For the one-dimensional optical positioning system, the same problem also exists. Taking a broad view of the aforementioned patents at home and abroad, no specific solutions have been proposed. As shown in FIG. 8(a), for the one-dimensional optical positioning system 50, its maximum viewing angle 51 limits the movable range of the point light source 52 (for the following description, this paper only takes one-dimensional, ie, horizontal viewing angle as an example).

As shown in Figure 8(b), it is a schematic diagram of the generation and solution of the dead angle, that is, when the point light source 52 is blocked by an obstacle 53 (such as the user's body), another, Or multiple one-dimensional optical positioning systems 50' to compensate for the problem of dead angle.

As shown in FIG. 8( c ), it is a schematic diagram of a viewing angle expansion method, that is, adding another or more one-dimensional optical positioning systems 50 ′ at an appropriate position in space to expand the viewing angle 51 ′.

As shown in Figure 8(d), it is a schematic diagram of the visual axis tracking method, that is, when the point light source 52' will move out of the original viewing angle 51, the one-dimensional optical positioning system 50 can change according to the movement of the point light source 50. Predictably, rotate the visual axis 54 of itself to an appropriate angle 54', so that the point light source 52' can be within the range of the viewing angle 51'.

Therefore, for the problems shown in Figure 8(b) to Figure 8(d), in order to achieve the purpose of dead angle compensation, viewing angle expansion, and visual axis tracking, as shown in Figure 8(e), the one-dimensional optical The positioning system 50 must have the functions of visual axis rotation and positioning. The described function of rotating the visual axis can achieve horizontal rotation with respect to the visual axis 54 (i.e., with respect to the Y axis, the angle is represented by Θ) through conventional techniques such as rotating mechanism, motor, angle measurement, etc. , and the effect of vertical rotation (that is, rotation to the X axis, the angle is shown in Φ). The described function that can be positioned is to allow a plurality of one-dimensional optical positioning systems 50 to , to do mutual positioning. That is to say, when performing dead angle compensation and viewing angle expansion, that is, when a plurality of one-dimensional optical positioning systems 50 need to be placed in any spatial position, the positioning calibration light source 55 can be measured to achieve the complex number A one-dimensional optical positioning system 50 is used for the purpose of positioning the position and the viewing axis angle.

5. Expansion of system applications

(1) Application of virtual input device

In the present invention, the so-called virtual input device is aimed at existing computers, PDAs, mobile phones, game consoles, and televisions without using physical mechanical devices such as mice, keyboards, remote controllers, and touch screens. , completely or partially replace the physical input device by means of device simulation input. Hereinafter, a virtual input method will be described for the above-mentioned physical input device.

As shown in Figure 9(a), it is a schematic diagram of a general mouse.

In a general operating environment such as Windows, on the displayed screen 60 (hereinafter referred to as the entity operation screen), it is through the movement of the mouse 61, pressing the key, releasing the key, pressing the key once, or pressing the key twice quickly. Operation, to achieve the operation of Windows. In addition, on the physical operation screen 60 , a drawn cursor 61 ′ is used to mark and correspond to the position of the mouse 61 . For the operation of these mice, the mode of achieving input with gestures is detailed in Taiwan Patent Application No.: 096116210. In said patent, a single point light source is used to simulate the operation of the mouse.

The so-called device simulation input method mainly uses a virtual input device to correspond to a physical input device, and simulates and recognizes the physical input device, and the required hand and finger operation actions are used to achieve virtual input. the goal of. The method mainly provides a program corresponding to the virtual operation screen, a program corresponding to the definition of the geometric structure of the virtual device and the operation finger, and a program for the definition and recognition of the operation gesture. Hereinafter, taking a mouse with a left button, a middle button, a right button, and a middle scroll wheel as an example, and using three fingers to operate the mouse, the device simulation input method will be described. Subsequently, a supplementary description will be given for other physical input devices.

As shown in FIG. 9( b ), it is a schematic diagram of a mouse device emulation input method.

Program corresponding to the virtual operation screen

For a physical operation screen 60 with actual L (length) x H (width) dimensions, a virtual operation screen 60' with L'xH' can be defined anywhere in the space, the virtual operation screen 60', It is to make a spatial correspondence to the physical operation screen 60, and its geometric correspondence relationship is one-to-one and proportional, that is, L'=m×L, H'=n×H, wherein m, n Can be a real number greater than 1, equal to 1, or less than 1. Therefore, as long as the point light source on the finger is moved to the virtual operation screen 60 ′, a one-to-one correspondence can be found on the physical operation screen 60 . In addition, the virtual operation screen 60' can be set in the air, or on any fixed surface (such as a desktop or a wall surface, so as to facilitate operation with fingers).

The definition of the geometric structure of the virtual device and the program corresponding to the operating finger

Secondly, define the geometric structure of the virtual device, that is, define the physical position, size and physical action of the function keys on the geometric function keys of the virtual device, and define the corresponding relationship between fingers and function keys. The physical position and size of the function keys on the virtual device and the physical actions of the function keys are used to judge the relationship between the physical interaction between the finger and the function keys, that is, whether the finger falls on the function key and performs the key operation; The above-mentioned correspondence between the fingers and the function keys is to define the function keys to be operated by the fingers. For example, the index finger 62 of the right hand corresponds to the left button 62 ′, the middle finger 63 of the right hand corresponds to the middle button and the scroll wheel 63 ′, and the ring finger 64 of the right hand corresponds to the right button 64 ′. Therefore, in the actual virtual input operation, the user's hand is like holding a virtual mouse that is consistent with the physical structure and size, and operates the virtual mouse on the virtual operation screen 60'. In addition, the correspondence between the fingers and the function keys can be changed according to the habit of the user. In addition, the corresponding relationship between fingers and function keys may also have a pair of plural corresponding relationships, that is, the same finger can be used to operate multiple function keys.

The definition and cognition procedure of operation gesture

For the device simulation input method, as gestures for mouse movement, pressing a key, releasing a key, pressing a key once, or pressing a key twice quickly, its basic method, such as China Taiwan Patent Application No.: 096116210 As mentioned above, the gestures of the index finger 62 , middle finger 63 , and ring finger 64 are defined by a plurality of consecutive gesture units. The gesture unit is composed of three consecutive physical states, such as a short pause state 1, a special movement state 2, and another short pause state 3, for example: the gesture of pressing the left button, It can be defined as that the index finger 62 is composed of three consecutive physical states: a state of a short pause, a state of approximately short linear motion from up to down, and a state of a short pause. The gesture of the left button can be defined as that the index finger 62 is composed of a short pause state 1, a state of approximately short straight line motion from bottom to top 2, and a short pause state 3, etc. three consecutive physical states Constituted, the gesture of quickly pressing the left button once can be defined as that the index finger 62 is composed of a continuous gesture of pressing the left button and a gesture of releasing the left button, and a gesture of quickly pressing the left button twice, then It can be defined as that the index finger 62 is composed of two continuous gestures of pressing the left button once. In addition, the definition of the middle and right button operation gestures is the same as that of the left button. As for the turning gesture of the scroll wheel, it can be defined as three consecutive occurrences of the middle finger 63 from a state of a short pause, a state of approximately short straight line motion forward or backward, and a state of a short pause. , and the position of the cursor 61' can be defined as the group center coordinates when the motion state of the three fingers is relatively static (refer to the following). Of course, the above definition of mouse operation gestures is to simulate the operation of a 2D mouse to meet the habits of general users, but it can also be defined separately according to the definition of generalized gestures described in Taiwan Patent Application No. 096116210.

As shown in Figure 9(c), it is a schematic diagram of the simulation input of the remote control device.

Because the operation of the remote controller is simple, it can generally be operated with a single button, and a single finger can be used to perform operations similar to mouse actions. Therefore, for the remote controller, it is only necessary to provide a virtual operation screen 60', define the geometric structure of the virtual device 75, and use a single finger 74 to correspond to all function keys, and display a remote controller on the physical operation screen 60. The auxiliary drawing image 76 can move the finger 74 to the function key with the assistance of the corresponding single finger cursor 74 ′, and press and release the key to achieve the purpose of virtual remote control input. In addition, the geometric structure 75 of the virtual device can also provide a virtual three-dimensional image visually with the existing virtual reality technology, so that the single finger 74 can directly operate the geometric structure of the virtual three-dimensional device. The structure 75 can also make the single finger 74 three-dimensional virtual, and use the virtual three-dimensional finger to operate the virtual three-dimensional device geometric structure 75, so as to improve the convenience of the virtual operation.

As shown in FIG. 9( d ), it is a schematic diagram of the simulated input of the touch screen device.

The operation of the physical touch screen is generally very simple, that is, on the physical operation screen 60 , a single finger is used to perform operations similar to mouse actions. Therefore, for the touch screen device simulation input, the method only needs to define a virtual operation screen 60', and use a single finger 74, and through the assistance of the corresponding single finger cursor 74', the physical operation screen 60 can be simulated. operate. In addition, for the virtual operation screen 60', visually, existing virtual reality technology can also be used to provide a virtual three-dimensional image, so that the single finger 74 can directly operate the virtual three-dimensional operation The screen 60' can also be three-dimensionally virtualized with the single finger 74, and operate the virtual three-dimensional operation screen 60' with the virtual three-dimensional finger, so as to improve the convenience of the virtual operation.

As shown in FIG. 9( e ), it is a schematic diagram of device emulation input of a keyboard.

Though, general keyboard, its button number is many, and the operation that several keys are pressed simultaneously. However, its device simulation input method is basically similar to the operation of a remote controller. It only needs to provide a virtual operation screen 60', define the geometric structure of the virtual device 80, and use several (such as three) single fingers 74 to correspond to all Function keys, and an auxiliary drawing image 85 that displays a keyboard on the physical operation screen 60, with the assistance of a plurality of cursors 74', the cursors 74' are respectively corresponding to the operating fingers 74, and the fingers 74 can be moved to the function key, and do the action of pressing and releasing the key to achieve the purpose of keyboard virtual input. In addition, as mentioned above, a virtual operation screen 60' can also be defined on a fixed physical surface (such as a desktop), and on the physical surface, a printed matter of a keyboard (that is, a paper with a keyboard printed on it) can be placed. ), that is, without the above-mentioned auxiliary drawing image 85, allowing the user to achieve the purpose of virtual keyboard input in a manner close to operating a physical keyboard. In addition, for the geometric structure 80 of the virtual device, visually, the existing virtual reality technology can also provide a virtual three-dimensional image, so that the plurality of single fingers 74 can directly operate the virtual device. The three-dimensional device geometric structure 80 can also make the plurality of single fingers 74 three-dimensional virtualized, and use the virtual three-dimensional fingers to operate the virtual three-dimensional device geometric structure 80, so as to improve the convenience of the virtual operation.

(2) Application of emulator

The application of the virtual input has been described above. As mentioned above, the one-dimensional optical positioner in the present invention, for the positioning measurement of complex point light sources, in addition to the characteristics of high computing speed, high spatial resolution, and low production cost, it can also use complex one-dimensional optical positioning at the same time. It can expand the measurement range of point light sources and compensate for dead angles. Therefore, using these characteristics, the present invention can also be applied to the field of simulators.

Its method is as follows:

With appropriate number and fixed method, the complex point light sources (such as three) used in the present invention are installed on a solid racket (such as tennis, badminton, billiards, pelota, etc.), solid sticks (such as baseballs, softballs, etc.), solid rods (such as golf, hockey, billiards, javelins, kennels, etc.), solid gloves (baseball, Gloves for softball, boxing, etc.), physical balls (such as baseballs, softballs, basketballs, footballs, volleyballs, bowling balls, etc.), physical toys (such as toy guns and other game toys), physical remote control toys (such as remote-controlled cars, remote-controlled airplanes, remote-controlled helicopters and other remote-controlled toys), physical remote controllers (such as remote controllers for home game consoles) and other utensils. Using the one-dimensional optical locator of the present invention, the real-time positioning measurement is performed on the plurality of point light sources installed on the object, and the motion trajectory and physical quantity of the object can be calculated. In addition, through the technology of virtual reality, a virtual object can be defined in a virtual space to directly correspond to the motion state of the physical object (such as the aforementioned racket), and according to the laws of physics, all The above-mentioned virtual objects, and other virtual objects (such as balls) in the virtual space, can do almost vivid and natural interaction (such as hitting the ball), to achieve the simulation of various sports, shooting, driving, flying, etc. Purpose.

Description of drawings

Figure 1 is a schematic diagram of gloves used in virtual reality;

Figure 2 is a schematic diagram of the image overlap phenomenon of a one-dimensional optical system;

The schematic diagram of point light source shown in Fig. 3 (a) to one-dimensional optical lens action imaging;

Figure 3(b) to Figure 3(e) are schematic diagrams of intensity modulation;

Figure 3(f) to Figure 3(j) are schematic diagrams of geometric modulation;

Figure 4 (a) is a schematic diagram of the timing of the Stephenson time modulation method;

Figure 4(b) shows the defect of Stephenson time modulation method;

Figure 4(c) is a schematic diagram of the timing of the Stephenson time modulation improvement method;

Figure 4(d) to Figure 4(e) are schematic diagrams of the synchronization signal timing of the master-slave wireless synchronization method;

Fig. 5 (a) shows the schematic diagram of general CCD or CMOS light sensing array light sensing spectrum;

Figure 5(b) shows a schematic diagram of the RGB color chip light passing spectrum on a general CCD or CMOS light sensing array;

Fig. 5 (c) is a general two-dimensional CCD or CMOS light sensing array, corresponding to RGB pixels, a schematic diagram of the arrangement of RGB color chips;

Figure 5(d) is a schematic diagram of three point light sources with different wavelengths;

Figure 5(e) is a schematic diagram of the arrangement of RGB color chips on the one-dimensional light sensing array;

The three-color one-dimensional light sensing array shown in Fig. 5 (f), the schematic diagram of its RGB color chip arrangement;

Figure 5(g) to Figure 5(h) show a schematic diagram of the arrangement of RGB color chips in a two-dimensional color CCD or CMOS light sensing array;

Figure 5(i) is a schematic diagram of a two-dimensional color CCD or CMOS light sensing array, its pixel image scanning random reading method;

Figure 5(j) to Figure 5(k) are schematic diagrams showing the formation of noise with a one-dimensional light sensing array;

Figure 6(a) is a schematic diagram of the luminous spectrum of commonly used fluorescent lamps;

Figure 6(b) is a schematic diagram of the emission spectrum of a commonly used halogen lamp;

Figure 7(a) is a schematic diagram of the optical system used by Reymond;

Figure 7(b) is a schematic diagram of the change of the imaging signal when the point light source is slightly displaced;

Figure 8(a) is a schematic diagram of the maximum viewing angle of the one-dimensional optical positioning system;

Figure 8(b) is a schematic diagram of the occurrence and resolution of the dead angle of the one-dimensional optical positioning system;

Figure 8(c) is a schematic diagram of a method for expanding the viewing angle of a one-dimensional optical positioning system;

Figure 8(d) is a schematic diagram of a method for tracking the boresight of a one-dimensional optical positioning system;

Figure 8(e) is a schematic diagram of a one-dimensional optical positioning system with a rotating visual axis and a positioning function;

Shown in Fig. 9 (a) is the schematic diagram that general mouse is used;

Figure 9 (b) is a schematic diagram of the mouse device simulation input method;

Figure 9 (c) shows a schematic diagram of the simulation input of the remote control device;

Figure 9(d) is a schematic diagram of the simulated input of the touch screen device;

Fig. 9 (e) shows the schematic diagram of the device simulation input of the keyboard;

Figure 10 shows a schematic diagram of the composition of Embodiment 1 of the present invention;

Figure 11(a) is a schematic diagram of a plurality of point light sources with unique luminous intensity;

Figure 11(b) is a schematic diagram of a plurality of point light sources with unique geometric sizes;

Figure 11(c) shows a schematic diagram of a single point light source;

Shown in Fig. 11 (d) is the schematic diagram that light scatterer constitutes;

Figures 11(e) to 11(n) are schematic diagrams of objects that can be installed with point light sources;

Figure 12(a) is a schematic diagram of a single set of one-dimensional optical positioners with boresight tracking;

Figure 12(b) is a schematic diagram of a coordinate system corresponding to a single one-dimensional optical positioner with boresight tracking;

Figure 12(c) is a schematic diagram of the coordinate system of all one-dimensional optical positioners with boresight tracking;

Figure 12(d) shows a schematic diagram of the formation of a one-dimensional position detector;

Figures 12(e) to 12(i) show schematic diagrams of the geometric structure relationship between the one-dimensional optical positioner fixing mechanism, the one-dimensional position detector device mechanism, and the positioning and calibration point light source;

Shown in Fig. 12 (j) is the casing of other existing devices;

Figure 13 (a) is a schematic diagram of the program structure of the control analysis;

Figure 13(b) is a schematic diagram of a coordinate system alignment correction program;

Figure 14 is a schematic diagram of the composition of Embodiment 2 of the present invention;

Figure 15(a) to Figure 15(c) are schematic diagrams showing the composition of Embodiment 3 of the present invention;

Figure 16 is a schematic diagram of the structure of Embodiment 4 of the present invention;

Figure 17 is a schematic diagram of the composition of Embodiment 5 of the present invention;

Figure 18 is a schematic diagram of the sixth embodiment of the present invention.

-像重迭线；o-点光源的位置；I(0，y_s，0)-点光源的成像位置；I(x)-强度具高斯分布的成像信号；I₀-高斯分布的中心的强度；σ-高斯分布的标准差；μ-高斯分布的平均位置；P-点光源的发光强度；r-点光源的发光半径；μP-微处理器；I(x，t_k)-在时间t_k时的成像信号；S(x，t_k)-在时间t_k时的点光源成像信号；N(x，t_k)-在时间t_k时的环境光干扰噪声信号；M-一维光感测数组画素的数目x_m-第m个画素的位置；O(X，Y，Z)-世界坐标系；S₁、S₂、S₃-一维光感测数组；L₁、L₂、L₃-焦距为f的一维透镜；Z₁、Z₂、Z₃-L₁、L₂、L₃的光轴；o(x₁，y₁，z₁)-点光源坐标；y_s1、y_s2、y_s3-点光源o(x₁，y₁，z₁)，其在S₁、S₂、S₃的成像位置；Δx₁、Δy₁、Δz₁-光学系统的所述的空间分辨率；Δy_s1、Δy_s2、Δy_s3-最小量测误差；I(x_i)-第i个感应画素的单位长度量测平均值；Δw-单一感应画素的宽度；Θ-一维光学定位系统的水平旋转角度；Φ-一维光学定位系统的垂直旋转角度；L-实体操作画面的长度；H-实体操作画面的宽度；L′-虚拟操作画面的长度；H′-虚拟操作画面的宽度；m、n-为大于1、等于1、或小于1的实数；#i-单一组一维光学定位器的编号；#j-单一个一维位置侦测器的编号；#k-单一个点光源的编号；μ_ijk-点光源的成像平均位置；P_i-第#i组一维光学定位器所得的点光源物理量；P_i-第#i组一维光学定位器所得的点光源群物理量；R_i-第#i组一维光学定位器所得的点光源相对物理量；F_i-第#i组一维光学定位器所得的点光源其它物理量；SCAN-扫瞄时序；SYNC-周期性的同步扫描信号；ENABLE-同步触发信号；(Θ_i，Φ_i)-第#i组一维光学定位器的视轴角度；(Θ_ia，Φ_ia)-第#i组一维光学定位器的视轴角度驱动控制信号；(Θ_is，Φ_is)-第#i组一维光学定位器的视轴角度电信号；

-设置在第#i组一维光学定位器内的参考坐标系；(X_i0，Y_i0，Y_i0)-参考坐标系

的坐标原点；

-第#i组一维光学定位器的视轴；I_ij(x)-第#i组一维光学定位器、第#j个一维位置侦测器组所得的成像信号。Description of reference signs: 1-VR gloves; 2-fingers on VR gloves; 3-locator on VR gloves; 5-one-dimensional lens; 10, 29, 52, 52'-point light source; 11-line shape 12, 13-one-dimensional light sensing array; 15, 16, 17-imaging signal on the one-dimensional light sensing array; 18-superimposed imaging signal; 20-one-dimensional position detector; 21-RF emission 22-encoded RF synchronous signal; 24-encoded signal; 25-synchronous signal; 26-RF receiver at the hand end; 27-decoder; 28-point light switch switcher; 50, 50'-one One-dimensional optical positioning system; 51, 51'-maximum viewing angle of one-dimensional optical positioning system; 53-obstacle; 54, 54'-visual axis of one-dimensional optical positioning system; 55-positioning calibration light source of one-dimensional optical positioning system; 60-entity operation screen; 60'-virtual operation screen; 61-physical mouse; 61'-mouse cursor; 62-right index finger; 63-right middle finger; 64-right ring finger; 62'-left mouse key; 63'-the scroll wheel in the mouse; 64'-the right button of the mouse; 74-single or plural fingers; 74'-cursors corresponding to single or plural fingers; 75-definition of the geometric structure of the virtual remote controller; 76-remote control Drawing image of device; 80-definition of virtual keyboard geometric structure; 100-composition of Embodiment 1 of the present invention; 110, 210-plural number of point light sources with uniqueness; 111, 211-single point light source; 112-approximate point 113-light scatterer; 115-light entrance of proper size and shape; 116-light source; 117-electronic control circuit; 118-battery; 119-point light source device mechanism; 120-point light source device fixation Mechanism; 123-transparent light guide body; 124-scattering body; 130, 230, 330, 430, 530, 630-multiple groups of one-dimensional optical positioners with visual axis tracking; 131, 231, 331, 431, 531, 631-single one-dimensional optical positioner with visual axis tracking; 132-multiple one-dimensional position detectors; 133, 333-single one-dimensional position detector; 134-one-dimensional optical component group; 135-one Dimensional light sensor; 136-signal microprocessor; 137-one-dimensional position detector device mechanism; 139-a group of imaging average position; 145, 345-positioning calculation control microprocessor; 146-signal transmission interface; 150, 250 , 350, 450, 550, 650-contains the motion physical quantity of all point light sources, the synchronous trigger signal, the signal of the viewing axis angle; 160-a group of positioning and calibration point light sources; 170-one-dimensional optical positioner fixing mechanism; 171-connected Structure; 180-two-axis angle control device; 181-two triggers; 182-two angle measuring devices; 190, 290, 390, 490, 590, 690-control analysis program; 191-coordinate system alignment correction Procedure; 192- Device simulation input program; 193-simulator simulation program; 194-other devices; 200-the composition of the second embodiment of the present invention; 300-the composition of the third embodiment of the present invention; 311, 411, 511, 611-a plurality of points The modular device of the light source; 312, 412, 512, 612-a plurality of point light sources; 313, 413, 513, 613-approximately point-shaped diverging light sources; 314, 414, 514-RF receivers; 315, 614-switchers; 320, 420, 520-encoded RF synchronous signal; 332, 432-RF transceiver; 400-the composition of the fourth embodiment of the present invention; 410, 510-complex sets of multiple point light source module devices; 500-the implementation of the present invention The composition of Example 5; 600-the composition of Embodiment 6 of the present invention; 632-the device for receiving light; f-the focal length of the one-dimensional lens; XX coordinate axis; YY coordinate axis; ZZ coordinate axis;

- image overlapping line; o - position of point light source; I(0, y _s , 0) - imaging position of point light source; I(x) - imaging signal with Gaussian distribution of intensity; I ₀ - center of Gaussian distribution Intensity; σ-standard deviation of Gaussian distribution; μ-average _position of Gaussian distribution; P-luminous intensity of point light source; r-luminous radius of point light source; μP-microprocessor; Imaging signal at t _k ; S(x, t _k )-point source imaging signal at time t _k ; N(x, t _k )-environmental light interference noise signal at time t _k ; M-one-dimensional The number of pixels in the light sensing array x _m - the position of the mth pixel; O(X, Y, Z) - the world coordinate system; S ₁ , S ₂ , S ₃ - one-dimensional light sensing array; L ₁ , L _2. L ₃ -one-dimensional lens with focal length f; Z ₁ , Z ₂ , Z ₃ -optical axis of _{L 1} , L ₂ , L ₃ ; o(x ₁ , y ₁ , z ₁ )-point light source coordinates; y _s1 , y _s2 , y _s3 - point light source o(x ₁ , y ₁ , z ₁ ), its imaging position in S ₁ , S ₂ , S ₃ ; Δx ₁ , Δy ₁ , Δz ₁ - all of the optical system Δy _s1 , Δy _s2 , Δy _s3 -minimum measurement error; I( _xi )-measured average value per unit length of the ith sensing pixel; Δw-width of a single sensing pixel; Θ-one The horizontal rotation angle of the one-dimensional optical positioning system; Φ-the vertical rotation angle of the one-dimensional optical positioning system; L-the length of the physical operation screen; H-the width of the physical operation screen; L'-the length of the virtual operation screen; H'-the virtual The width of the operation screen; m, n-a real number greater than 1, equal to 1, or less than 1; #i-the number of a single one-dimensional optical positioner; #j-the number of a single one-dimensional position detector;# k - the number of a single point light source; μ _ijk - the average imaging position of the point light source; P _i - the physical quantity of the point light source obtained by the #i one-dimensional optical positioner; P _i - the one-dimensional optical positioner obtained by the #i group The physical quantity of the point light source group; R _i -the relative physical quantity of the point light source obtained by the #i one-dimensional optical positioner; F _i -other physical quantities of the point light source obtained by the #i one-dimensional optical positioner; SCAN-scanning timing; SYNC-periodic synchronous scanning signal; ENABLE-synchronous trigger signal; (Θ _i , Φ _i )-the viewing axis angle of the #i one-dimensional optical positioner; (Θ _ia , Φ _ia )-#i group one The boresight angle drive control signal of the one-dimensional optical positioner; (Θ _is , Φ _is )-the boresight angle electric signal of the #i group one-dimensional optical positioner;

- set the reference coordinate system within the #i-th group of one-dimensional optical positioners; (X _i0 , Y _i0 , Y _i0 ) - the reference coordinate system

origin of coordinates;

- the visual axis of the #i-th one-dimensional optical positioner; I _ij (x) - the imaging signal obtained by the #i-th one-dimensional optical positioner and the #j-th one-dimensional position detector group.

Detailed ways

The above and other technical features and advantages of the present invention will be described in more detail below in conjunction with the accompanying drawings.

Embodiment one

As shown in FIG. 10 , it is a schematic diagram of the structure of Embodiment 1 of the present invention.

The device 100 of Embodiment 1 of the present invention mainly provides a method of intensity modulation or geometric modulation for the uniqueness of point light sources, and can measure and analyze three-dimensional motion of multiple point light sources, so as to To achieve the purpose of virtual input and emulator. It is mainly composed of a plurality of unique point light sources 110, a plurality of one-dimensional optical positioners 130 with visual axis tracking, and a control analysis program 190. The plurality of unique point light sources 110, Each of the point light sources 111 emits light simultaneously and continuously, and each emits a similar point-shaped divergent light source 112 with unique optical characteristics. The plurality of one-dimensional optical positioners 130 with visual axis tracking, each group of one-dimensional optical positioners 131 with visual axis tracking mainly receive a synchronous trigger signal 150 and simultaneously receive all the plurality of After the divergent light source 112 of the point light source, all the point light sources 111 can be measured for three-dimensional positioning, and a set of physical quantities 150 can be output; in addition, each set of one-dimensional optical positioners 131 with visual axis tracking, It also has the function of visual axis tracking and positioning, which can automatically track the group center coordinates of the plurality of point light sources, and can also automatically track the coordinates of any point light source among the plurality of point light sources (as described later), and output Its own boresight angle is 150° for the purpose of boresight tracking; it can also receive a boresight angle for the purpose of boresight positioning. The control analysis program 190 is a software program, which is to connect and control all one-dimensional optical positioners 131 with boresight tracking, and mainly output a synchronous trigger signal 150, which can start all boresight tracking synchronously. The one-dimensional optical positioner 130 is used to perform the measurement of the three-dimensional positioning synchronously; a set of viewing axis angles 150 can also be output to achieve the positioning of the viewing axis angle for all the one-dimensional optical positioners with visual axis tracking described above. Purpose; and can simulate the input of a physical input device after receiving all the physical quantities and the viewing axis angle of 150° to achieve the purpose of virtual input; it can also simulate the motion of a physical object to achieve the simulation purpose of the emulator .

As shown in FIG. 11( a ), it is a schematic diagram of a plurality of unique point light sources.

The plurality of unique point light sources 110, wherein each point light source 111 can have the same light emitting radius but different luminous intensity, that is, each point light source has uniqueness of light intensity, and all point light sources To emit light simultaneously and continuously. For the convenience of the following description, let each point light source have a unique number #k.

As shown in FIG. 11( b ), it is a schematic diagram of another configuration of a plurality of unique point light sources.

The plurality of unique point light sources 110, wherein each point light source 111 may have different radii of light, but the same luminous intensity, that is, each point light source has uniqueness in geometric size, and all point light sources To emit light simultaneously and continuously. For the convenience of the following description, let each point light source have a unique number #k.

As shown in Figure 11(c), it is a schematic diagram of a single point light source.

The point light source 111 is composed of a light scattering body 113, a light source 116, an electronic control circuit 117, a battery 118, a point light source device mechanism 119, and a point light source device fixing mechanism 120. The light scattering The body 113 is an object that can diverge the incident light evenly at an angle; the light source 116 is composed of a single or a plurality of LEDs and semiconductor lasers that can emit visible light or invisible light; The electronic control circuit 117 described above is a circuit including a power switch and a constant current source. In addition to the function of a power switch, a certain current source is also provided to allow the light source 116 to emit a specific and stable light source. ; In addition, the point light source device mechanism 119 is a mechanical mechanism, which can install and fix the light scatterer 113, the light source 116, the electronic control circuit 117, and the battery 118;

In addition, the point light source device fixing mechanism 120 can fix the point light source device mechanism 119 on the utensils as shown in FIGS. 11( e ) to 11 ( n ). These utensils can be on the fingers of the hand, the forehead of the head, or the instep of the foot (as shown in Figure 11(e)); they can also be used for tennis, badminton, billiards, pelota, etc. Racket (as shown in Figure 11 (f)); also can be, as shown in Figure 11 (g) the stick that baseball, softball etc. are used; Also can be, as golf, field hockey, pool ball, Knife, sword, javelin, etc. are used as rods (as shown in Figure 11 (h)); can also be, as baseballs, softballs, boxing, etc. glove-shaped objects (as shown in Figure 11 (i)); Can be, as baseballs, softballs, basketballs, footballs, volleyballs, bowling balls and other useful balls (as shown in Figure 11(j)); It can also be remote-controlled toys such as remote-controlled cars, remote-controlled airplanes, remote-controlled helicopters (as shown in Figure 11 (1)); it can also be a joystick of a computer (as shown in Figure 11 (m) ), the controller of the home game console (as shown in Figure 11 (n)).

As shown in FIG. 11( d ), it is a schematic diagram of the composition of the light scattering body.

The light scatterer 113 can be composed of a transparent light guide 123 and a scatterer 124. The transparent light guide 123 can have any shape, and the best one can be a Spherical object; its constituent material can be any transparent material, and the best one can be transparent material such as glass or plastic. The scatterer 124 is installed within the transparent light guide 123, and the best one can be a randomly distributed light reflection powder, a randomly distributed transparent powder, or a randomly distributed transparent powder. It can be a random distribution of fine air bubbles, or a small transparent ball. In addition, the refractive index of the scattering body 124 is lower than that of the transparent light guide body 123 . In addition, the transparent light guide body 123 is provided with a light entrance of a suitable size and shape at a suitable place, which can guide the light emitted by the light emitting source 116 at an optimal angle.

As shown in FIG. 12( a ), it is a schematic diagram of a single set of one-dimensional optical positioners with boresight tracking.

The single group of one-dimensional optical positioner 131 with visual axis tracking is composed of a plurality of one-dimensional position detectors 132, a positioning calculation control microprocessor 145, a signal transmission interface 146, and a group of positioning and marking point light sources 160. It is composed of a one-dimensional optical positioner fixing mechanism 170 and a two-axis angle control device 180. For the convenience of the following description, a single group of one-dimensional optical positioners 131 has a unique number #i, and a single The one-dimensional position detector 133 has a unique number #j.

Each of the one-dimensional position detectors 133(#j) can calculate and output all the light sources 111(#k) after simultaneously receiving the divergent light 112 and a synchronous scanning signal SYNC. Point source imaged average position 139 (value shown in μ _ijk ). More clearly define the point light source imaging average position 139 (μ _ijk ), as all point light sources 111 (#k), for the one-dimensional position detection in the set of one-dimensional optical positioners 131 (#i) Detector 133(#j), the image average position μ _ijk generated.

The positioning calculation control microprocessor 145 contains a positioning calculation control program, which can connect and control all the one-dimensional position detectors 133(#j) and the two-axis angle control devices 180. The program of the positioning calculation control mainly receives a synchronous trigger signal ENABLE output by the control analysis program 190 through the signal transmission interface 146, outputs a periodic synchronous scanning signal SYNC, and After obtaining the imaging average position 139(μ _ijk ) of all point light sources, calculate and output the physical quantities P _i , group physical quantities P _i , relative physical quantities R _i , and other physical quantities F _i of all point light sources 111(#k); in addition, the The above positioning calculation control program of the positioning calculation control microprocessor 145 also has the ability to change the self-viewing axis angle (Θ _i , Φ _i ), that is, it can receive a new viewing axis angle (Θ _i , Φ _i ), Or according to the physical quantity P _i , or according to the group physical quantity P _i , to calculate and output a new viewing axis angle (Θ _i , Φ _i ), and then calculate and output an angle drive control signal (Θ _ia , Φ _ia ) , while receiving an angle electrical signal (Θ _is , Φ _is ) as angle feedback control to achieve the purpose of sight axis tracking and precise positioning. Therefore, using a new viewing axis angle (Θ _i , Φ _i ) generated from the outside to change the viewing axis angle is the function of viewing axis positioning; and using a new viewing axis generated by the group physical quantity P _i The angle (Θ _i , Φ _i ), to change the boresight angle, is the function of boresight tracking.

As mentioned above, the physical quantity P _i of each point light source 111 (#k) includes the three-dimensional position coordinates (x _ik , y _ik , z _ik ), displacement (Δx _{ik )} of the point light source 111 (#k) _, Δy _ik , Δz _ik ), velocity (v _xik , v _yik , v _zik ), acceleration (a _xik , a _yik , a _zik ) and other physical quantities; and group physical quantity P _i includes group center coordinates ( _xi , y _i , zi ₎ , group average displacement (Δxi , Δy _{i ,} Δz _i ), group average velocity (v _xi , v _yi , z _zi ), group average acceleration (a _xi , a _yi , a _zi ), It is defined as follows:

Group center coordinates ${\stackrel{\&OverBar;}{x}}_i=\underset{k=1}{\overset{N}{\mathrm{\&Sigma;}}}{x}_{\mathrm{ik}}/N;{\stackrel{\&OverBar;}{\mathrm{the\; y}}}_i=\underset{k=1}{\overset{N}{\mathrm{\&Sigma;}}}{\mathrm{the\; y}}_{\mathrm{ik}}/N,{\stackrel{\&OverBar;}{z}}_i=\underset{k=1}{\overset{N}{\mathrm{\&Sigma;}}}{z}_{\mathrm{ik}}/N---\left(39\right)$

Group mean displacement ${\stackrel{\&OverBar;}{\mathrm{\&Delta;x}}}_i=\underset{k=1}{\overset{N}{\mathrm{\&Sigma;}}}{\mathrm{\&Delta;x}}_{\mathrm{ik}}/N,{\stackrel{\&OverBar;}{\mathrm{\&Delta;y}}}_i=\underset{k=1}{\overset{N}{\mathrm{\&Sigma;}}}{\mathrm{\&Delta;y}}_{\mathrm{ik}}/N,{\stackrel{\&OverBar;}{\mathrm{\&Delta;z}}}_i=\underset{k=1}{\overset{N}{\mathrm{\&Sigma;}}}\mathrm{\&Delta;}{z}_{\mathrm{ik}}/N---\left(40\right)$

group average velocity ${\stackrel{\&OverBar;}{v}}_{\mathrm{xi}}=\underset{k=1}{\overset{N}{\mathrm{\&Sigma;}}}{v}_{\mathrm{xik}}/N,{\stackrel{\&OverBar;}{v}}_{\mathrm{yi}}=\underset{k=1}{\overset{N}{\mathrm{\&Sigma;}}}{v}_{\mathrm{yik}}/N,{\stackrel{\&OverBar;}{v}}_{\mathrm{the\; zi}}=\underset{k=1}{\overset{N}{\mathrm{\&Sigma;}}}{v}_{\mathrm{zik}}/N---\left(41\right)$

group mean acceleration ${\stackrel{\&OverBar;}{a}}_{\mathrm{xi}}=\underset{k=1}{\overset{N}{\mathrm{\&Sigma;}}}{a}_{\mathrm{xik}}/N,{\stackrel{\&OverBar;}{a}}_{\mathrm{yi}}=\underset{k=1}{\overset{N}{\mathrm{\&Sigma;}}}{a}_{\mathrm{yik}}/N,{\stackrel{\&OverBar;}{a}}_{\mathrm{the\; zi}}=\underset{k=1}{\overset{N}{\mathrm{\&Sigma;}}}{a}_{\mathrm{zik}}/N---\left(42\right)$

Among them, N is the number of all point light sources.

In addition, according to the physical quantity P _i and the group physical quantity P _i of each point light source 111 (#k), the relative physical quantity R _i between each point light source or each point light source to the center coordinate of the group can also be calculated, such as the relative position , velocity, acceleration, angle, angular velocity, angular acceleration, and the plane normal vector formed by point light sources. If a mass is given to each point light source, force, torque, centripetal force, centrifugal force, momentum, kinetic energy and other physical quantities F _i can also be calculated.

The signal transmission interface 146 is a wired or wireless transmission device, which connects the positioning calculation control microprocessor 145 and the control analysis program 190 to perform Pi _{, Pi} , R _i , Transmission of physical quantities such as F _i , boresight angles (Θ _i , Φ _i ) and synchronous trigger signal ENABLE.

The set of positioning and marking point light sources 160 is composed of a plurality of point light sources, is a device and fixed on the known position of the one-dimensional optical positioner fixing mechanism 170, as the set of The one-dimensional optical positioner 131 (#i) is used for positioning the spatial position and the viewing axis angle.

轴即为视轴。因所述的一组定位标定点光源160、是装置固定在所述的一维光学定位器固定机构170上的一已知的位置。是以，量测所述的一组定位标定点光源160的位置坐标，即可计算出所述的原点的位置坐标(X_i0，Y_i0，Y_i0)、与视轴的角度(Θ_i，Φ_i)。As shown in Fig. 12(b), for each group of one-dimensional optical positioners 131 (#i), there is a virtual reference coordinate system of the positioners at an appropriate place in its mechanism And let the coordinates of the origin of the coordinate system be (X _i0 , Y _i0 , Y _i0 ). in,

axis is the boresight. Because the group of positioning and marking point light sources 160 is fixed on the one-dimensional optical positioner fixing mechanism 170 at a known position. Therefore, by measuring the position coordinates of the group of positioning and calibration point light sources 160, the position coordinates (X _i0 , Y _i0 , Y _i0 ) of the origin and the angle (Θ _i , Φ _i ).

为其世界坐标系，其原点则为(0，0，0)；而其它一维光学定位器131(#1、#2)，则定义为从定位器。随后，通过所述的主定位器131(#0)对其他从定位器131(#1、#2)的定位标定点光源160做定位量测，即可计算出其从他定位器131(#1、#2)坐标系原点的坐标(X₁₀，Y₁₀，Z₁₀)、(X₂₀，Y₂₀，Z₂₀)与视轴的角度(Θ₁，Φ₁)、(Θ₂，Φ₂)。As shown in Figure 12(c), when using multiple one-dimensional optical positioners 131 (such as #0, #1, #2) at the same time, before the actual operation, the control analysis program 190 needs to first Select one of the one-dimensional optical locators 131 (#0) to define the main locator, and make

It is the world coordinate system, and its origin is (0, 0, 0); and other one-dimensional optical positioners 131 (#1, #2) are defined as slave positioners. Subsequently, by using the master locator 131 (#0) to perform positioning measurement on the positioning and marking point light sources 160 of other slave locators 131 (#1, #2), the position of the other slave locators 131 (#2) can be calculated. 1. #2) The coordinates (X ₁₀ , Y ₁₀ , Z ₁₀ ), (X ₂₀ , Y ₂₀ , Z ₂₀ ) of the origin of the coordinate system and the angles (Θ ₁ , Φ ₁ ), (Θ ₂ , Φ _{2 )} of the visual axis ).

As shown in Figure 12 (a), the two-axis angle control device 180 is mainly composed of two triggers 181 (Actuator), two angle measuring devices 182 (Angular Sensor), and a two-axis rotation mechanism ( not shown in the figure), the two-axis angle control device 180, after receiving the angle drive control signal (Θ _ia , Φ _ia ), according to the angle drive control signal (Θ _ia , Φ _ia ), drive the two triggers 181 to drive and rotate the two-axis rotating mechanism and the two angle measuring devices 182; the two angle measuring devices 182, According to the amount of the actual rotation angle, two angle electrical signals (Θ _is , Φ _is ) can be fed back to be used for two-axis angle positioning control; and the two-axis rotation mechanism can rotate the one The one-dimensional optical positioner 131 (#i) fixes the mechanism 170 to change the angle (Θ _i , Φ _i ) of the visual axis of the one-dimensional optical positioner.

As shown in Figure 12 (a), the one-dimensional optical positioner fixing mechanism 170 is a mechanical mechanism for fixing the plurality of one-dimensional position detectors 132, the positioning calculation control The microprocessor 145, the signal transmission interface 146, and the group of positioning and marking point light sources 160 can be connected to the two-axis rotation mechanism in the two-axis angle control device 180 to achieve two-axis rotation the goal of.

As shown in FIG. 12( d ), it is a schematic diagram of the structure of the one-dimensional position detector 133 (#j).

The one-dimensional position detector 133 (#j) is mainly composed of a one-dimensional optical component group 134, a one-dimensional light sensor 135, a signal microprocessor 136, and a one-dimensional position detector device mechanism 137 made up of,

The one-dimensional optical component group 134 is composed of a filter, a linear aperture, and a one-dimensional optical lens (not shown in the figure), and the point-shaped light source 112 can be made into a line shaped imaging.

The one-dimensional light sensor 135 is composed of a one-dimensional light sensing array, a scanning and reading electronic circuit and an analog-to-digital converter (ADC) (not shown in the figure). The scanning and reading electronic circuit is used to sequentially and continuously read and output the light-sensing analog voltage of each sensing pixel (Pixel) on the one-dimensional light-sensing array according to the received scanning timing SCAN, and then After being acted on by the analog-to-digital converter (ADC), a digital voltage is output. As mentioned above, the digital voltage is the imaging superposition signal I _ij (x). Among them, the i and j of the subscript are as defined in #i and #j above.

The signal microprocessor 136 is connected to and controls the one-dimensional light sensor 135, and after receiving the synchronous scanning signal SYNC, executes a signal processing program to generate a scanning signal SCAN, and Read the imaging superposition signal I _ij (x), and calculate and output the imaging average position μ _ijk of all point light sources. The signal processing program is mainly composed of a program for synchronous reading of data, a program for removing dynamic background light signals, and a program corresponding to the identification of imaging signals of a point light source,

The procedure for synchronous reading of data is to output a scanning signal SCAN after an appropriate time according to the received timing of the synchronous scanning signal SYNC, so as to obtain and record the imaging superposition signal I _ij (x), the imaging superposition signal is an effective imaging signal including all point light sources and a dynamic background light signal;

The program for removing the dynamic background light signal is mainly composed of a temporal ambient light interference signal removal program and a spatial ambient light interference signal removal program, which can superimpose the imaging signal I _ij (x ) after performing dynamic background light removal processing, output an effective imaging signal including all point light sources;

The procedure corresponding to the identification of the imaging signal of the point light source is mainly to identify and analyze the effective imaging signals of all the point light sources through a threshold comparison program or a waveform detection program. The effective imaging signal of the light source and its corresponding relationship. The waveform detection program can achieve the purpose of identification, analysis and correspondence according to the distribution standard deviation, central intensity, and waveform change slope characteristics of the effective imaging signal of the point light source. In addition, when geometrically modulated point light sources are used, effective imaging signals of individual point light sources and their corresponding relationships are identified and analyzed through the elimination method of geometric modulation.

The procedure for calculating the average position of point light source imaging is to analyze the pixel position of the maximum signal for each of the effective imaging signals of the point light source that has been identified and analyzed. It can also be used for the analysis of Guassian Fitting and can also be counted. Parse to calculate and output the imaged average position μ _ijk of all point sources.

In addition, the one-dimensional position detector device mechanism 137 is a mechanical mechanism for fixing the set of one-dimensional optical components 134, the one-dimensional light sensor 135, and the signal The microprocessor 136 can be installed and fixed in the one-dimensional optical positioner fixing mechanism 170 .

In addition, as shown in Figure 12(e) to Figure 12(i), the one-dimensional optical positioner fixing mechanism 170, the one-dimensional position detector device mechanism 137, and the positioning mark A schematic diagram of the geometric structure relationship between the fixed-point light sources 160 and the interconnection devices.

As shown in FIG. 12( e ), the one-dimensional optical positioner fixing mechanism 170 may be a triangular geometric structure, preferably an equilateral triangular structure. Each device may have said one-dimensional position detector device mechanism 137 at its vertex or at the center of three sides; that is, the relative device positions of said three one-dimensional position detectors 133 are: A Triangular Geometry Relationship. In addition, the one-dimensional position detector 133 (#j) can be set to rotate at any angle with its optical axis as the rotation axis. That is to say, the directions of the long axes of the one-dimensional light sensing arrays in the three one-dimensional position detectors 133 can be set at any angle.

In addition, the positioning and marking point light source 160 composed of a plurality of point light sources can be installed at any position on the triangular one-dimensional optical positioner fixing mechanism 170, and the optimal number of components is , can be composed of three point light sources, and the best installation position can be at the corner of the triangle or the center of the three sides.

In addition, the triangular one-dimensional optical positioner fixing mechanism 170 can be equipped with a connecting structure 171 at its top corner, and the connecting structure 171 has two triangle sides connected or disassembled (that is, not connected). structure, and can arbitrarily adjust the angle between the two triangular sides connected to each other. For example, a triangular geometric structure can be transformed into a linear structure.

As shown in Figure 12 (f), it is an improvement of the above example, that is, at the center of any three sides of the triangular one-dimensional optical positioner fixing mechanism 170, a connected mechanism is added to add more The installation mechanism 137 of the one-dimensional position detector is to add a one-dimensional position detector, and the one-dimensional position detector can be installed at the center point of the triangle.

As shown in Figure 12(g), it is another improvement of the above example, that is, changing the triangular geometric structure into a quadrangular geometric structure. The number of detectors can be increased to four.

As shown in Figure 12(h), it is another improvement of the above example, that is, changing the triangular geometric structure into a pentagonal geometric structure, and the best one can be an equilateral pentagonal structure. The number of detectors can be increased up to five.

As shown in Figure 12 (i), it is another improvement of the above-mentioned example, that is, to change the triangular geometric structure into a hexagonal geometric structure, the best one can be an equilateral hexagonal structure, and the one-dimensional position of its device The number of detectors can be increased up to six. Of course, such a structure can be extended to polygonal geometric structures.

In addition, as shown in Figure 12 (j), the one-dimensional optical positioner fixing mechanism 170 can also be the casing of other existing devices, such as notebook computers, PDAs, game consoles, mobile phones, liquid crystals, etc. Cases of monitors, plasma displays, TVs, projectors, optical cameras, optical cameras, optical telescopes, automobiles, motorcycles, etc. (notebook computers, liquid crystal displays only). That is, as described in the present invention, the plurality of one-dimensional position detectors 132, a positioning calculation control microprocessor 145, a signal transmission interface 146, a group of positioning and marking point light sources 160, etc., can be independent devices On the casing of the above-mentioned existing device, the effects of three-dimensional positioning measurement, virtual input, or emulator can be achieved.

As shown in Fig. 13(a), it is a schematic diagram of the structure of the control analysis program.

The control analysis program 190 is a software program, mainly composed of a program 191 for synchronous correction of coordinate system alignment, a program 192 for device simulation input, and a program 193 for simulator simulation. The program 190 of control analysis can be integrated in other devices such as personal computers, notebook computers, PDAs, mobile phones, game consoles, video and audio broadcasting and conversion equipment (such as DVD, Setup Box), etc. 194, using Electronic systems such as the microprocessor in the other device 194 can execute the three programs.

As shown in FIG. 13( b ), it is a schematic diagram of the coordinate system alignment correction procedure.

The program 191 for collimation correction of the coordinate system is mainly composed of a program for resetting the visual axis to zero, a program for setting and converting the coordinate system, and a sequence for synchronous time correction, which can determine the All the above-mentioned one-dimensional optical positioners with visual axis tracking, the relationship between coordinate transformations, and the compensation of measurement errors caused by coordinate transformations, and the correction of synchronization time errors.

The procedure of resetting the visual axis to zero is to make all the one-dimensional optical positioners 131 with visual axis tracking through the described visual axis control program of the one-dimensional optical positioner 131 with visual axis tracking After all the visual axes are aligned with the same positioning point light source 111, the visual axes are reset to zero, that is (Θ _i =0, Φ _i =0); the procedure for setting and converting the coordinate system is Among all the above-mentioned one-dimensional optical positioners with visual axis tracking, a master positioner 131 (#0) and a slave positioner 131 (#i) are set, through the main positioner, the The positioning point light source and the positioning and calibration point light source of the slave locator are used for positioning measurement, and the positioning point light source is measured for the positioning point light source through the slave locator, and the master can be calculated and obtained. The coordinate conversion relationship between the locator and each slave locator, and the compensation of the positioning error; in addition, the sequence of the synchronous time correction is to output the synchronous trigger signal ENABLE at an appropriate time period, All the positioners can be calibrated to execute the position calculation control program synchronously.

In addition, as shown in Figure 13(a), the device simulation input program 192 is mainly composed of a program corresponding to a virtual operation screen, a program corresponding to the definition of the geometric structure of the virtual device and the operating finger, and the definition of the operating gesture. Consisting of a program of recognition and recognition, it is a device for inputting a physical entity. By simulating and recognizing the hand operation movements required by the physical input device, the purpose of virtual input can be achieved.

The program corresponding to the virtual operation screen is to define a virtual operation screen at any place in space for a physical operation screen with actual size. The virtual operation screen is a spatial correspondence to the physical operation screen, and its geometric correspondence can be a one-to-one correspondence, and has a corresponding relationship of enlargement, equalization, or reduction. In addition, the virtual operation screen can be used to generate a virtual three-dimensional image through virtual reality technology;

The definition of the geometric structure of the virtual device and the program corresponding to the operating fingers are to define the geometric structure of a virtual device, the physical position and size of the function keys, and the physical actions of the function keys for the physical input device to be simulated, and Make a corresponding connection between the finger and the function key. In addition, the geometric structure of the virtual device and the operating fingers can be used to generate a virtual three-dimensional image through virtual reality technology;

The procedure for defining and recognizing the operation gesture is to define the physical movement amount of a finger operation action according to the physical action of the function key of the virtual device. The physical motion quantity mentioned above is a collection of physical quantities composed of a series of temporal physical quantities. The set of physical quantities is composed of the physical quantities, group physical quantities, relative physical quantities, and other physical quantities of all the point light sources. Therefore, according to these previously defined physical movements, the point light sources worn on the fingers By performing detection and comparison analysis, the gesture of the finger can be recognized, so as to achieve the purpose of device simulation input.

In addition, as shown in Fig. 13(a), the emulator simulation program 193 is to perform real-time positioning measurement on the complex point light sources installed on other physical objects, so as to calculate the The trajectory of motion, and the physical quantity of motion. In addition, with a virtual image and the laws of physics, the physical object (such as a ball) and the virtual image (such as a ball) can have a nearly vivid and natural interaction (such as hitting a ball) to achieve various The purpose of simulating sports, shooting, driving, flying, etc. In addition, by performing real-time positioning measurement on multiple point light sources installed on other physical objects, the trajectory and physical quantity of motion of the physical object (such as a racket) can be calculated. And through the virtual reality technology, a virtual object can be defined in a virtual space to directly correspond to the motion state of the physical object, and according to the physical collision law, the virtual object and the Other virtual objects (such as balls) in the virtual space can perform almost vivid and natural interactions (such as hitting the ball) to achieve the purpose of simulating various sports, shooting, driving, and flying.

Embodiment two

As shown in Fig. 14, it is a schematic diagram of the second embodiment of the present invention.

The device 200 of the second embodiment of the present invention mainly provides a wavelength modulation method for the uniqueness of the point light source, and has the same structure as that of the first embodiment. In the following, only the different points will be explained.

The second embodiment 200 is mainly composed of a plurality of unique point light sources 210, a plurality of one-dimensional optical positioners 230 with visual axis tracking, and a control and analysis program 290. For clear illustration, R , G, and B as examples, indicating the uniqueness of the wavelength of the point light source 211.

It differs from Embodiment 1 mainly in that:

(1) The plurality of point light sources 211 are composed of point light sources that each have different emission wavelengths and can emit light continuously at the same time (as shown in FIG. 5( d ) and refer to the relevant description above). as well as,

(2) The one-dimensional optical positioner 231 with visual axis tracking, wherein the one-dimensional light sensor (not shown in the figure) formed by the one-dimensional position detector can be composed of one or a plurality of linear colored lights sensor, or a two-dimensional color light sensor instead. On the sensing pixels of the one or multiple linear color light sensors and the two-dimensional color light sensor, the device has different filter color chips, which can correspond to the above-mentioned point light sources with different wavelengths for light filtering and passing That is, the filter color filter only allows the light of the corresponding point light source to pass through, and filters the light of the non-corresponding point light source (as shown in Figures 5(e), 5(f), and 5(g) , and refer to the relevant instructions above).

In addition, according to the characteristics of the uniqueness of point light sources, the unique composition of multiple point light sources can be composed of point light sources with uniqueness in light intensity, uniqueness in geometric size, and uniqueness in wavelength. Example 1. Integrated application with Embodiment 2. For example, three groups of point light sources, each group of point light sources has a plurality of point light sources, and its unique composition can be grouped as a unit so that it has uniqueness of wavelength (such as R, G, B) wavelength), and for a plurality of point light sources in a single group, their uniqueness can be formed by point light sources as a unit, so that they each have uniqueness in light intensity or uniqueness in geometric size. Its basic principles and functions have been disclosed above, so they will not be repeated here.

Embodiment Three

As shown in Fig. 15(a), it is a schematic diagram of the third embodiment of the present invention.

The third embodiment mainly provides an improved time modulation method for the uniqueness of the point light source, that is, the master-slave wireless synchronization method as mentioned above, which has the same structure as the first embodiment. In the following, only the different points will be explained.

The third embodiment 300 is mainly composed of a module device 311 with a plurality of point light sources, a plurality of one-dimensional optical positioners 330 with visual axis tracking, and a control analysis program 390. For clear illustration, The white circle indicates the uniqueness of the lighting time of the point light source 312.

It differs from Embodiment 1 mainly in that:

(1) The plurality of point light source module devices 311 described above, the point light source 312 installed in it can emit time uniqueness alternately at different time points after receiving a coded RF synchronization signal 320 , and approximately a point-like divergent light source 313 . as well as;

(2) The one-dimensional optical positioner 330 of the multiple sets of tool visual axis tracking, each group of one-dimensional optical positioner 331 with visual axis tracking can mainly transmit or receive the RF synchronous After the signal 320 and the diverging light source 313 of the point light source can be received synchronously, the motion physical quantity 350 of all point light sources 312 can be analyzed and calculated and output.

As shown in FIG. 15( b ), it is a schematic diagram of a single set with multiple point light source modules. The point light source module 311 is equipped with an RF receiver 314 , a switcher 315 , and a plurality of point light sources 312 . The RF receiver 314 is composed of an RF receiving terminal, a demodulator, and a decoder (not shown in the figure), for receiving the encoded RF synchronization signal 320, And analyze the timing sequence of the encoded signal 24 and the synchronous signal 25 contained in the encoded RF synchronous signal 320 (refer to FIG. 4( d )). The switcher 315 lights up the plurality of point light sources 312 continuously, alternately and individually according to the timing of the coded signal 24 and the synchronous signal 25 to achieve the effect of time modulation.

As shown in FIG. 15( c ), it is a schematic diagram of a single set of one-dimensional optical positioners with boresight tracking. Different from the composition of Embodiment 1, the set of one-dimensional optical positioners 331 with boresight tracking is multi-device with an RF transceiver 332 for transmitting or receiving the encoded RF synchronization signal 320. The coded RF synchronization signal 320 can be generated by the position calculation control microprocessor 345 . The composition of the coded signal can be a set of binary codes, or a square wave with a specific time length, or a specific number of pulses. If the one-dimensional optical positioner 331 is used as a master positioner, the RF transceiver 332 transmits the coded RF synchronization signal 320; if the one-dimensional optical positioner 331, It is used as a slave locator, and the RF transceiver 332 receives the encoded RF synchronization signal 320, and can generate a synchronous scanning signal SYNC to drive all the one-dimensional position detection synchronously The device 333 is used to scan and extract the imaging signal of the only lighted point light source.

Embodiment Four

As shown in FIG. 16 , it is a schematic diagram of the fourth embodiment of the present invention.

The fourth embodiment is an improved combination of the first, second and third embodiments, that is, the combined application of light intensity, or uniqueness of geometric size, or uniqueness of wavelength and uniqueness of time, and has the same structure as that of the first embodiment . In the following, only the different points will be explained. For clear illustration, the uniqueness of the lighting time of the point light source module device 411 is marked with a white circle.

The fourth embodiment 400 is mainly composed of a plurality of point light source module devices 410, a plurality of one-dimensional optical positioners 430 for visual axis tracking, and a control analysis program 490.

Its difference with the above-mentioned embodiment mainly lies in:

(1) Each group of modular devices 411 with a plurality of point light sources in the plurality of modular devices 410 with a plurality of point light sources is composed of an RF receiver 414, a switch (not shown in the figure), and It is composed of a plurality of point light sources 412, and all the point light sources 412 can be composed of point light sources with uniqueness in light intensity, uniqueness in geometric size, or uniqueness in wavelength, and are based on the RF receiver 414 After receiving a coded RF synchronous signal 420 , the plurality of point light sources 412 can be made to simultaneously emit a unique and approximately point-like divergent light source 413 . In addition, the coded RF synchronous signal 420 is composed of a coded signal and a synchronous signal (not shown in the figure), and the coded signal defines each group of point light source module devices 411, and the synchronization signal defines the lighting time of the plurality of point light sources 412, that is, each point light source module device 411 has a unique time. Therefore, through the RF receiver 414, the coded signal and the synchronization signal can be analyzed to achieve alternate control of each group of multiple point light source module devices 411 at different times. time to shine. as well as,

(2) The plurality of one-dimensional optical positioners 430 with visual axis tracking, each group of one-dimensional optical positioners 431 with visual axis tracking can mainly transmit or receive the RF synchronous After the signal 420 and the diverging light source 413 of the point light source can be received synchronously, the motion physical quantity 450 of all the point light sources 412 can be analyzed and calculated and output.

Embodiment five

As shown in Fig. 17, it is a schematic diagram of the composition of Embodiment 5 of the present invention.

Embodiment 5 is an improved method of combining Embodiment 2 and Embodiment 3, that is, the combined application of wavelength uniqueness and time uniqueness, and has the same structure as Embodiment 4. In the following, only the different points will be explained.

The fifth embodiment 500 is mainly composed of a plurality of point light source module devices 510, a plurality of one-dimensional optical positioners 530 for visual axis tracking, and a control analysis program 590. For clear illustration, The white circle indicates the uniqueness of the lighting time of the point light source 512. Take R and B as an example to indicate the uniqueness of the wavelength of the point light source module device 511 .

It differs from Embodiment 4 mainly in that:

(1) each set of multiple point light source module devices 511 is composed of an RF receiver 514, a switcher (not shown in the figure), and a plurality of point light sources 512. All of the The point light source 512 is a unit of a module, which is composed of point light sources with the same and unique wavelength, that is, each point light source module device 511 has a unique wavelength. All the point light source module devices 511 described above can synchronously light up a single point light source in the module according to a coded RF synchronization signal 520 received by the RF receiver 514, and make all points in the module The light sources are the divergent light sources 513 that can alternately emit time-unique and approximately point-shaped light sources at different time points. That is to say, for the point light sources 512 in a single point light source module device 511 , the light emitting mode is unique in time, while for all the point light source module devices 511 , they emit light in a synchronous manner. In addition, the coded RF synchronous signal 520 is composed of a coded signal and a synchronous signal (not shown in the figure), and the coded signal defines the device with a plurality of point light source modules 511, the number of each point light source, and the synchronization signal defines the lighting time of the plurality of point light sources 512. Therefore, through the RF receiver 514, the encoded signal and the synchronous signal can be analyzed to achieve alternate control of the lighting time of the plurality of point light sources 512 at different times. as well as,

(2) The one-dimensional optical positioner 530 of the plurality of groups with visual axis tracking, each group of one-dimensional optical positioner 531 with visual axis tracking, mainly can transmit or receive the RF synchronous After the signal 520 and the diverging light source 513 of the point light source can be received synchronously, the motion physical quantity 550 of all the point light sources 512 can be analyzed and calculated and output.

Embodiment six

As shown in Fig. 18, it is a schematic diagram of the sixth embodiment of the present invention.

The sixth embodiment mainly provides another improved time modulation method for the uniqueness of the point light source, that is, Stephenson's improved method as mentioned above, which has the same structure as the first embodiment. In the following, only the different points will be explained.

The sixth embodiment 600 is mainly composed of a plurality of point light source modules 611, a plurality of one-dimensional optical positioners 630 with visual axis tracking, and a control analysis program 690.

Its main difference with Embodiment 1 is that:

(1) In the plurality of point light source modules 611, a switcher 614 is added to continuously and alternately light up the point light sources 612 at a fixed period, so as to emit divergent light 613 similar to point light sources;

(2) In the one-dimensional optical positioner 631 with visual axis tracking, a light receiving device 632 is added to receive the divergent light source 613 emitted by the point light source 612, and output the described The lighting sequence of the point light source 611 (as shown in FIG. 4( c ), and refer to the related description above). In the one-dimensional optical positioner 631 with visual axis tracking, the positioning calculation control microprocessor (not shown in the figure) of the device is at an appropriate time (such as before use, or every fixed time) ), through the light-emitting timing of the point light source 611, measure the cycle of the point light source 611 being continuously and alternately lit, and generate a synchronization signal SYNC synchronously with the same cycle to drive the one-dimensional position detection device (not shown in the figure), and synchronously scan to read the imaging superposition signal.

Above, the basic technology, system architecture, and application of the present invention are described in detail, summarized as follows:

1. The unique processing technology of point light source includes:

(1) Technology of intensity modulation processing;

(2) Technology of geometric modulation processing;

(3) Wavelength modulation processing technology;

(4) Master-slave wireless synchronization technology;

(5) Stephenson's improved technique.

2. The technology of dynamic background light removal includes:

(1) Technology for removing real-time temporal ambient light interference signals;

(2) Approximate real-time temporal ambient light interference signal removal technology;

(3) Technology for removing spatial ambient light interference signal (Fourier signal processing method).

3. Data processing includes:

(1) Waveform detection technology;

(2) Calculation of spatial resolution;

(3) Calculation of the average position.

4. The expansion of the system architecture includes:

(1) The structure of dead angle compensation;

(2) The structure of the expanded perspective;

(3) The technology of visual axis tracking;

(4) Procedure for alignment correction of the coordinate system

5. The expansion of system applications includes:

(1) Application of virtual input device;

(2) Applications such as emulators.

Looking at the above basic technologies, system architecture, and applications mentioned in the present invention, as well as the descriptions of the various embodiments, although they focus on the one-dimensional optical system, the basic technologies, system architecture, and applications mentioned in the present invention are also It is applicable to a two-dimensional optical system, that is, a two-dimensional optical lens and a two-dimensional light sensing array are used. The fundamental difference lies in the calculation of the coordinates of the point light source, the difference in dynamic background light removal and data processing, and the difference in the number of position detectors used. For the calculation of the coordinates of the point light source in the two-dimensional optical system, please refer to the Taiwan Patent Application No.: 096108692 in China, which will not be repeated here. In addition, for the dynamic background light removal and data processing, the one-dimensional calculation can be extended to the two-dimensional calculation with the same mathematical logic, so there is no need to repeat it. In addition, regarding the number of position detectors used, in a one-dimensional optical system, the number of one-dimensional position detectors used is at least three; in a two-dimensional optical system, the number of used two-dimensional position detectors is at least two.

In summary, the method features and each embodiment of the present invention have been disclosed in detail, and can fully demonstrate that the present invention is highly progressive in terms of purpose and efficacy, has great industrial utilization value, and is currently the According to the spirit of the patent law, this invention fully meets the requirements of an invention patent.

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 (54)

1. A device for three-dimensional virtual input and simulation, characterized in that: it comprises: A plurality of point light sources, wherein each point light source emits a similar point-shaped divergent light in a simultaneous and continuous manner; A plurality of one-dimensional optical positioners with visual axis tracking, wherein each group of one-dimensional optical positioners with visual axis tracking receives a synchronous trigger signal and simultaneously receives all the plurality of point light sources After diverging the light source, measure the three-dimensional positioning of all point light sources and output a set of physical quantities. Each set of one-dimensional optical positioners with visual axis tracking also has the ability of visual axis tracking and positioning. It can automatically track the group center coordinates of the plurality of point light sources, and can also automatically track the coordinates of any point light source in the plurality of point light sources, and output its own viewing axis angle to achieve the purpose of viewing axis tracking; receiving a boresight angle for the purpose of boresight positioning; and A control device, which includes a control analysis program, connects and controls all the one-dimensional optical positioners with visual axis tracking, outputs a synchronous trigger signal, and starts all the one-dimensional optical positioners with visual axis tracking synchronously, so as to perform three times synchronously The measurement of element positioning; also output a set of visual axis angles, to achieve the purpose of positioning the visual axis angles for all the one-dimensional optical positioners with visual axis tracking; and receive the set of physical quantities, and a After the viewing axis angle is set, the input of a physical input device can be simulated to achieve the purpose of virtual input; the movement of a physical object can also be simulated to achieve the purpose of emulator simulation. 2. The device for three-dimensional virtual input and simulation according to claim 1, characterized in that: said plurality of point light sources means that each point light source has uniqueness of light intensity, and each point light source has the same light intensity. Radius of light, but different luminous intensity. 3. The device for three-dimensional virtual input and simulation according to claim 1, characterized in that: said plurality of point light sources means that each point light source has uniqueness in geometric size, and each point light source has a different Radius of light, but the same intensity of light. 4. The device for three-dimensional virtual input and simulation according to claim 1, characterized in that: said plurality of point light sources means that each point light source has uniqueness of wavelength, and each point light source has a different wavelength. The emission wavelengths, and the emission wavelengths are non-overlapping. 5. The device for three-dimensional virtual input and simulation according to claim 4, wherein the number of said plurality of point light sources is three, and emit light sources of red, green and blue wavelengths respectively. 6. The device for three-dimensional virtual input and simulation according to claim 1, characterized in that: the plurality of point light sources are composed of point light sources with uniqueness in light intensity, uniqueness in geometric size, and uniqueness in wavelength constitute, 7. The device for three-dimensional virtual input and simulation according to claim 1, characterized in that: the plurality of point light sources are composed of a plurality of single point light sources, and the single point light source is composed of the following The components consist of: A light scatterer is an object that diffuses the incident light evenly at an angle; A light source, which is composed of LEDs and semiconductor lasers that emit visible light or invisible light, and the number of the components is single or plural; An electronic control circuit is a circuit including a power switch and a constant current source. In addition to the power switch function, it also provides a circuit with a certain current source, so that the light source emits a specific and stable light source; A battery provides power for the light emitting source and the electronic control circuit; The one-point light source device mechanism is a mechanical mechanism, which fixes the light scatterer, the light source, the electronic control circuit, and the battery; and The point light source device fixing mechanism is a mechanical mechanism, which fixes the point light source device mechanism on other utensils. 8. The device for three-dimensional virtual input and simulation according to claim 7, characterized in that: the light scatterer is composed of a transparent light guide and a scatterer, and the transparent light guide The body is in any shape, preferably a spherical object; its constituent material is any transparent material, preferably glass or plastic transparent material. The scatterer is installed in the transparent light guide body, preferably a randomly distributed light reflection powder, also a randomly distributed transparent powder, and also a randomly distributed fine The air bubble is also a small transparent spherical object. In addition, the refractive index of the scatterer is lower than that of the transparent light guide. In addition, the transparent light guide has a Where appropriate, a light entrance of appropriate size and shape is provided to guide the light emitted by the light emitting source at an optimal angle. 9. The device for three-dimensional virtual input and simulation according to claim 7, characterized in that: the light source can further be equipped with an optical bandwidth filter to generate a light source with a special wavelength. 10. The three-dimensional virtual input and simulation device according to claim 7, characterized in that: said point light source device fixing mechanism, other objects fixed by it are the fingers of the hand and the forehead of the head , foot insteps, rackets, sticks, rods, gloves, balls, game toys, remote control toys, computer joysticks and controllers for home game consoles. 11. The three-dimensional virtual input and simulation device according to claim 1, characterized in that: one of the plurality of one-dimensional optical positioners with visual axis tracking is composed of the following components: A plurality of one-dimensional position detectors, wherein each one-dimensional position detector calculates and outputs the imaging average position of all point light sources according to receiving a synchronous scanning signal and simultaneously receiving the divergent light of all point light sources; A positioning calculation control microprocessor includes a positioning calculation control program, which connects and controls all one-dimensional position detectors and a two-axis angle control device. The positioning calculation control program is used to receive the described synchronously triggering the trigger signal, the imaging average position, a viewing axis angle, and two electrical angle signals to calculate and output a synchronous scanning signal, a set of physical quantities, a viewing axis angle, and a viewing axis angle driving control signal; A signal transmission interface, which is a wired or wireless transmission device, which transmits the set of physical quantities, the output boresight angle and the synchronous trigger signal; A group of positioning and calibration point light sources is composed of a plurality of point light sources, which are installed and fixed at known positions on the one-dimensional optical positioner fixing mechanism, so as to be used as a one-dimensional optical positioner for tracking the visual axis of the group The spatial position and boresight angle positioning; A one-dimensional optical positioner fixing mechanism is a mechanical structure for fixing the plurality of one-dimensional position detectors, the positioning calculation control microprocessor, the signal transmission interface, and the A group of positioning and marking point light sources, and connected to the two-axis rotation mechanism in the two-axis angle control device, so as to achieve the purpose of two-axis rotation; and A two-axis angle control device is composed of two triggers, two angle measuring devices, and a two-axis rotation mechanism. The two-axis angle control device is to receive the drive control of the viewing axis angle After the signal, drive the two triggers according to the amount of the viewing axis angle drive control signal to drive the rotation of the two-axis rotating mechanism and the two angle measuring devices; The two angle measuring devices feed back and output two angle electrical signals according to the actual rotation angle for the two-axis angle positioning control; and the two-axis rotation mechanism rotates the one-dimensional optical The positioner fixing mechanism is used to change the angle of the boresight of the one-dimensional optical positioner. 12. The three-dimensional virtual input and simulation device according to claim 11, wherein one of the plurality of one-dimensional position detectors is composed of the following components: A one-dimensional optical component group is composed of a filter, a linear aperture, and a one-dimensional optical lens; A one-dimensional optical sensor is composed of a one-dimensional optical sensing array, a scanning and reading electronic circuit and an analog-to-digital converter, and is generated by the scanning and reading electronic circuit according to receiving a signal microprocessor. The scanning signal is sequentially and continuously read and output the light-induced analog voltage of each sensing pixel on the one-dimensional light-sensing array, and then output a digital voltage after the action of the analog-to-digital converter. The digital voltage mentioned above is the imaging superposition signal; A signal microprocessor is connected to and controls the one-dimensional light sensor, and after receiving the synchronous scanning signal, executes a signal processing program to generate a scanning signal and read the imaging superposition signal , and calculate and output the imaging average position of all point light sources; and A one-dimensional position detector device mechanism is a mechanical structure, the device fixes the one-dimensional optical component group, the one-dimensional light sensor, and the signal microprocessor, and the device is fixed on the The one-dimensional optical positioner is fixed inside the mechanism. 13. The device for three-dimensional virtual input and simulation according to claim 12, characterized in that: the one-dimensional light sensor is composed of a color one-dimensional light sensing array, a scanning and reading electronic circuit and an analog Composed of digital converters, the light-sensing pixels of the color one-dimensional light-sensing array are based on a single light-sensing pixel, and are respectively equipped with appropriate light filter color chips for red, green, and blue light filter colors. piece. 14. The three-dimensional virtual input and simulation device according to claim 12, characterized in that: the one-dimensional light sensor is composed of a plurality of color one-dimensional light sensing arrays, a scanning and reading electronic circuit and a Composed of analog-to-digital converters, each of the light-sensing pixels of the color one-dimensional light-sensing array is based on a single light-sensing array, and is equipped with appropriate light filter color chips, which are red and green , Blue light filter color film. 15. The device for three-dimensional virtual input and simulation according to claim 12, characterized in that: said signal processing program is composed of the following programs: A data synchronous reading program is to output a scanning signal after an appropriate time according to the timing of the received synchronous scanning signal, so as to obtain and record the imaging superposition signal, and the imaging superposition signal It is an effective imaging signal and dynamic background light signal including all point light sources; A dynamic background light signal removal program is composed of a temporal ambient light interference signal removal program and a spatial ambient light interference signal removal program, after performing dynamic background light removal processing on the imaging superposition signal, Outputting an effective imaging signal including all point light sources; The program corresponding to the identification of the imaging signal of a point light source is to identify and analyze the effective imaging signal of each point light source through a threshold comparison program or a waveform detection program for the effective imaging signals of all the point light sources. Its corresponding relationship, the procedure of waveform detection is based on the distribution standard deviation, central intensity, and waveform change slope characteristics of the effective imaging signal of the point light source, so as to achieve the purpose of identification, analysis and correspondence; in addition, When geometrically modulated point light sources are used, the geometrically modulated elimination method is used to identify and analyze the effective imaging signals of the respective point light sources and their corresponding relationships; and The program for calculating the average position of a point light source imaging is to analyze the maximum signal pixel position, Guassian Fitting analysis, and statistical analysis of the effective imaging signals of the point light sources that have been identified and analyzed respectively, so as to calculate and output all point light sources The image average position of . 16. The three-dimensional virtual input and simulation device according to claim 15, characterized in that: the program for removing the dynamic background light signal is through hardware, that is, outside the one-dimensional light sensor, Add another one-dimensional light sensor for background noise measurement, and scan and read the signal of the one-dimensional light sensor in the one-dimensional position detector synchronously, and do signal amplification processing properly , after the dynamic background light signal is obtained separately, the dynamic background light signal is subtracted from the imaging superposition signal, so as to achieve the purpose of removing the dynamic background light signal. In addition, in the other background noise amount On the one-dimensional light sensing array installed in the one-dimensional light sensor for measurement, an appropriate optical filter is added, and the optical filter filters out all point light sources but allows ambient light to pass through. 17. The device for three-dimensional virtual input and simulation according to claim 15, characterized in that: said temporal ambient light interference signal removal program is through software, which is to superimpose the imaging obtained by two consecutive scans signal, do a subtraction operation to achieve the purpose of removing the dynamic background light signal. 18. The device for three-dimensional virtual input and simulation according to claim 15, characterized in that: the program for removing spatial ambient light interference signals is a Fourier signal processing program for performing temporal ambient light interference After the signal removal program, perform a Fourier transform on the obtained data. In the frequency domain, perform a band-pass filtering process, that is, perform an inverse Fourier operation after filtering out unnecessary frequencies and amplification operations. To achieve the purpose of removing spatial ambient light interference. 19. The device for three-dimensional virtual input and simulation according to claim 11, characterized in that: said positioning calculation control program is composed of the following programs: A synchronous scanning program is to generate and output a periodic synchronous scanning signal according to the timing of the synchronous trigger signal, and synchronously drive all one-dimensional position detectors to perform signal processing in the one-dimensional position detectors program of; A physical quantity calculation program is to calculate and output a set of physical quantities after obtaining the imaging average position of the point light sources output by all one-dimensional position detectors; the set of physical quantities includes the respective physical quantities of all point light sources , group physical quantities, relative physical quantities, and other physical quantities; and A visual axis control program is to calculate and output a visual axis angle and a visual axis angle driving control signal according to the respective physical quantities, or group physical quantities, or a visual axis angle, and at the same time utilize the received said The two angle electrical signals are used as angle feedback control to achieve precise positioning control of the boresight angle. 20. The device for three-dimensional virtual input and simulation according to claim 11, characterized in that: said one-dimensional optical positioner fixing mechanism is a triangular geometric structure, an equilateral triangle structure, At its vertex or at the center of the three sides, each device is a one-dimensional position detector device mechanism; that is, the relative device positions of the three one-dimensional position detectors are a triangular geometric structure, In addition, the device mechanism of the one-dimensional position detector is based on the optical axis of the one-dimensional position detector as the rotation axis, and it is set to rotate at any angle, that is, the three one-dimensional positions In the one-dimensional light sensing array in the detector, the directions of the long axes are set at any angle. In addition, the set of positioning and marking point light sources is installed on the triangular one Any position on the fixing mechanism of the three-dimensional optical positioner, the number of which is composed of three point light sources, and the device position is at the corner of the triangle and at the center of the three sides. In addition, the The above-mentioned triangular one-dimensional optical positioner fixing mechanism has a connection structure installed at its top corner, and the connection structure has the effect of connecting or disassembling two triangle sides, and arbitrarily adjusts the two triangles The angle at which the edges connect to each other. 21. The device for three-dimensional virtual input and simulation according to claim 20, characterized in that: for the one-dimensional optical positioner fixing mechanism, a connecting mechanism is added at the center of any three sides, so that multiple A one-dimensional position detector is added, and the one-dimensional position detector is installed at the central point of the triangle. 22. The three-dimensional virtual input and simulation device according to claim 11, characterized in that: the geometric structure of the one-dimensional optical positioner fixing mechanism is a quadrangular, pentagonal, and hexagonal geometry structure, which is an equilateral quadrangular, equilateral pentagonal, and equilateral hexagonal structure, and the one-dimensional position detector device mechanism is installed in the quadrangular, pentagonal, and hexagonal geometric structures at the top corners, and also at the center of each side, that is, the number of one-dimensional position detectors installed therein can also be increased to four, five, or six. In addition, the set of positioning The calibration point light source is installed at any position on the fixed mechanism of the one-dimensional optical positioner. The number of the points is composed of three point light sources. The corners of the hexagon are also installed in the center of each side. 23. The device for three-dimensional virtual input and simulation according to claim 11, characterized in that: said one-dimensional optical positioner fixing mechanism is the casing of other existing devices, and said other existing devices The casing is the casing of notebook computers, PDAs, game consoles, mobile phones, liquid crystal displays, plasma displays, televisions, projectors, optical cameras, optical cameras, optical telescopes, automobiles, and locomotives. The plurality of one-dimensional position detectors, the positioning calculation control microprocessor, the signal transmission interface, and the set of positioning and marking point light sources are also installed on other existing device casings. 24. The device for three-dimensional virtual input and simulation according to claim 19, characterized in that: the respective physical quantities are the three-dimensional position coordinates, displacement, velocity, acceleration, and trajectory of each point light source wherein said group physical quantity is group center coordinates, group average displacement, group average velocity, group average acceleration, and group motion track; wherein said relative physical quantity is between each point light source and each point light source to group center coordinates The relative position, relative velocity, relative acceleration, relative angle, relative angular velocity, relative angular acceleration, and the plane normal vector formed between the point light sources; the other physical quantities mentioned here are the force, moment, and force acting on each point light source. Centripetal force, centrifugal force, momentum, and kinetic energy. 25. The device for three-dimensional virtual input and simulation according to claim 1, characterized in that: the program for controlling analysis is composed of the following programs: A coordinate system alignment synchronous correction program, which determines the relationship between the coordinate transformations of all the one-dimensional optical positioners with visual axis tracking, and the compensation of measurement errors caused by coordinate transformations, and corrects the synchronization time error ; A device simulation input program is for a physical input device to achieve the purpose of virtual input by simulating and recognizing the hand operation movements required by the physical input device; and An emulator simulation program is to perform real-time positioning measurement on complex point light sources installed on other physical objects, that is, to calculate the motion trajectory of other physical objects. In addition, through virtual reality technology, in In a virtual space, define a virtual object to directly correspond to the motion state of other physical objects, and let the virtual object interact with other virtual objects in the virtual space according to the physical collision law, achieve the purpose of simulation. 26. The device for three-dimensional virtual input and simulation according to claim 25, characterized in that: the program for synchronously correcting the alignment of the coordinate system is composed of the following programs: A procedure for resetting the visual axis to zero is to align the visual axes of all one-dimensional optical positioners with visual axis tracking through the visual axis control program of the one-dimensional optical positioner with visual axis tracking. After positioning the point light source, reset its boresight to zero; A coordinate system setting and transformation program is to set a master locator and a slave locator among all the one-dimensional optical locators with boresight tracking described above. The above positioning point light source and the positioning calibration point light source of the slave locator and the positioning measurement of the positioning point light source through the said slave locator are calculated to obtain the said master locator and each slave locator. Coordinate transformation relationship among them, and compensation for positioning errors; and A synchronous time correction program is to output the synchronous trigger signal at an appropriate time period to calibrate all positioners so as to execute the position calculation control program synchronously. 27. The device for three-dimensional virtual input and simulation according to claim 25, characterized in that: the program for the simulation input of the device is composed of the following programs: A program corresponding to a virtual operation screen is to define a virtual operation screen at any place in the space for a physical operation screen with actual size. The virtual operation screen is a spatial correspondence to the physical operation screen. The geometric correspondence is a one-to-one correspondence, and has a corresponding relationship of enlargement, equalization, or reduction. In addition, the virtual operation screen is to generate a virtual three-dimensional image through the technology of virtual reality ; A program corresponding to the definition of the geometric structure of a virtual device and the operating finger is to define a virtual device geometric structure, the physical position and size of the function key and the physical action of the function key for the physical input device to be simulated, and combine the operating finger with the There is an operation-corresponding connection between the function keys. In addition, the geometric structure of the virtual device and the operating fingers are used to generate a virtual three-dimensional image through virtual reality technology; and A program of definition and cognition of the operating finger is to define the physical movement of the operating finger according to the physical action of the geometric structure function keys of the virtual device. The physical movement is a series of physical quantities with time The set of physical quantities constituted, the set of physical quantities is composed of the physical quantities of all the point light sources, the group physical quantities, the relative physical quantities and other physical quantities. The point light sources are detected, compared and analyzed, that is, the gestures of the fingers are recognized, so as to achieve the purpose of device simulation input. 28. The device for three-dimensional virtual input and simulation according to claim 27, characterized in that: said entity operation screen is a window screen of a personal computer or a PDA; or an operation screen of a mobile phone; or a screen of a TV An operation screen; or an operation screen of a game machine. 29. The device for three-dimensional virtual input and simulation according to claim 1, characterized in that: the program for controlling and analyzing is integrated in a general personal computer, notebook computer, PDA, mobile phone, game machine, etc. Host, video broadcasting and conversion equipment. 30. The three-dimensional virtual input and simulation device according to claim 1, wherein the physical input device is a mouse, a keyboard, a remote controller or a touch screen. 31. A device for three-dimensional virtual input and simulation, characterized in that it consists of the following components: A module with a plurality of point light sources is a module composed of a plurality of point light sources. The plurality of point light sources each have a unique light emitting time. The light emitting mode of the plurality of point light sources is based on Continuously, alternately and separately lit, so that the plurality of point light sources each emit approximately point-shaped divergent light sources at different times; A plurality of one-dimensional optical positioners with visual axis tracking, wherein each group of one-dimensional optical positioners with visual axis tracking receives a synchronous trigger signal, alternates with continuous and respectively receives the plurality of points After the divergent light source of the light source, do three-dimensional positioning measurement for all point light sources, and output a set of physical quantities. In addition, each set of one-dimensional optical positioners with visual axis tracking has visual axis tracking and The ability to locate, automatically track the group center coordinates of the plurality of point light sources, or automatically track the coordinates of any point light source in the plurality of point light sources, and output its own viewing axis angle to achieve the purpose of viewing axis tracking ; and receiving a boresight angle for the purpose of boresight positioning; and A control device, which includes a control analysis program, connects and controls all the one-dimensional optical positioners with visual axis tracking, outputs a synchronous trigger signal, and starts all the one-dimensional optical positioners with visual axis tracking synchronously, so as to perform three times synchronously The measurement of element positioning; it can also output a set of viewing axis angles to achieve the purpose of positioning the viewing axis angle for all the one-dimensional optical positioners with viewing axis tracking; and after receiving all the physical quantities mentioned above, After a set of visual axis angles, the input of a physical input device is simulated to achieve the purpose of virtual input; the movement of a physical object can also be simulated to achieve the purpose of emulator simulation. 32. The device for three-dimensional virtual input and simulation according to claim 31, characterized in that: said module with a plurality of point light sources is composed of the following components: An RF receiver is composed of an RF receiving terminal, a demodulator, and a decoder, and is used to receive a coded RF synchronization signal and analyze the coded RF synchronization signal Inside, the timing of the coded signal and the timing of the synchronization signal; A switcher, which is an electronic switching circuit, receives the timing of the encoding signal and the timing of the synchronization signal to generate a driving signal that continuously and alternately lights up the plurality of point light sources; and A plurality of point light sources, wherein each point light source respectively receives the driving signal to switch the light emitting state of the point light source. 33. The device for three-dimensional virtual input and simulation according to claim 31, characterized in that: one of the plurality of one-dimensional optical positioners for visual axis tracking is equipped with an RF transceiver, Used to transmit or receive the coded RF synchronization signal; the coded RF synchronization signal is generated by a microprocessor; the coded signal is composed of a set of digital codes, Or a square wave with a specific time length, or a specific number of pulses. If the one-dimensional optical positioner is used as the main positioner, the RF transceiver emits the coded RF Synchronization signal; if the one-dimensional optical positioner is used as a slave positioner, the RF transceiver receives the encoded RF synchronization signal and can generate a synchronous scanning signal to synchronize All the one-dimensional position detectors are driven to scan and extract the imaging signal of the only lit point light source. 34. A device for three-dimensional virtual input and simulation, characterized in that it consists of the following components: Multiple arrays of point light source modules, wherein each of the point light source modules is composed of a plurality of point light sources, and the uniqueness of the point light sources is based on the module as a unit, and each has the uniqueness of the luminous time; A plurality of point light sources in a single point light source module each have uniqueness in light intensity, or uniqueness in geometric size, or uniqueness in wavelength, that is, the way in which the multiple groups of point light source modules emit light , with the module as the unit, alternately and separately light up all the point light sources in the single point light source module, so as to simultaneously emit a plurality of approximately point-like divergent light sources in the single point light source module; Multiple groups of one-dimensional optical positioners with visual axis tracking, wherein each group of one-dimensional optical positioners with visual axis tracking receives a synchronous trigger signal and alternately receives a single point in units of modules The way the light source module emits light, that is, at different time points, after receiving the divergent light sources emitted by all the point light sources in the single point light source module at the same time, measure the three-dimensional positioning of all point light sources and output A set of physical quantities. In addition, each group of one-dimensional optical positioners with visual axis tracking has the ability of visual axis tracking and positioning, and automatically tracks the group center coordinates of the plurality of point light sources, or automatically tracks all coordinates of any point light source among the plurality of point light sources, and output its own viewing axis angle for the purpose of viewing axis tracking; and receive a viewing axis angle for the purpose of viewing axis positioning; and A control device, which includes a control analysis program, connects and controls all one-dimensional optical positioners with visual axis tracking, outputs a synchronous trigger signal, and starts all one-dimensional optical positioners with visual axis tracking synchronously for synchronous execution The measurement of three-dimensional positioning; it can also output a set of viewing axis angles to achieve the purpose of positioning the viewing axis angle for all the one-dimensional optical positioners with visual axis tracking; and after receiving all the physical quantities described , and a set of visual axis angles to simulate the input of a physical input device to achieve the purpose of virtual input; it can also simulate the movement of a physical object to achieve the purpose of emulator simulation. 35. A device for three-dimensional virtual input and simulation, characterized in that it consists of the following components: A complex array of point light source modules, wherein each of the point light source modules is composed of a plurality of point light sources, and the uniqueness of the point light source is based on the module as a unit, and each has the uniqueness of the light wavelength; A plurality of point light sources in a point light source module have the uniqueness of luminous time. For the same point light source module, the plurality of point light sources all have the same luminous wavelength, while for point light sources of different point light source modules , have different light-emitting wavelengths. In addition, the complex group has a plurality of point light source modules to emit light, which is to simultaneously make the plurality of point light sources in all point light source modules light up alternately in units of a single point light source. A single point light source emits light to emit a similar point-like divergent light source; Multiple groups of one-dimensional optical positioners with visual axis tracking, wherein each group of one-dimensional optical positioners with visual axis tracking receives a synchronous trigger signal and synchronously receives a single point light source in all point light source modules The way of emitting light, that is, at different time points, simultaneously receive the divergent light sources emitted by the single point light sources in all the point light source modules, measure the three-dimensional positioning of all point light sources, and output a set of Physical quantity, in addition, each group of one-dimensional optical positioners with visual axis tracking has the ability of visual axis tracking and positioning, automatically tracking the group center coordinates of the plurality of point light sources, or automatically tracking the complex number The coordinates of any point light source among the point light sources, and output its own boresight angle for the purpose of boresight tracking; it can also receive a boresight angle for the purpose of boresight positioning; and A control device, which includes a control analysis program, is to connect and control all the one-dimensional optical positioners with visual axis tracking, and output a synchronous trigger signal to start all the one-dimensional optical positioners with visual axis tracking synchronously. Perform the measurement of three-dimensional positioning; it can also output a set of viewing axis angles to achieve the purpose of positioning the viewing axis angle for all the one-dimensional optical positioners with viewing axis tracking; and after receiving all the above-mentioned After the physical quantity and a set of viewing axis angles are used, the input of a physical input device can be simulated to achieve the purpose of virtual input; the movement of a physical object can also be simulated to achieve the purpose of emulator simulation. 36. A three-dimensional virtual input and simulation device, characterized in that it consists of the following components: A module with a plurality of point light sources is composed of a switcher and a plurality of point light sources. The switcher lights up the plurality of point light sources respectively in a fixed cycle and in a continuous and alternate manner. And make the point light source emit an approximately point-like divergent light source; A plurality of one-dimensional optical positioners with visual axis tracking, wherein each group of one-dimensional optical positioners with visual axis tracking is after receiving a synchronous trigger signal, alternating with continuous divergent light sources that respectively receive point light sources , for all point light sources, perform three-dimensional positioning measurement and output a set of physical quantities. In addition, each set of one-dimensional optical positioners with visual axis tracking also has the ability of visual axis tracking and positioning. Automatically track the group center coordinates of the plurality of point light sources, or automatically track the coordinates of any point light source in the plurality of point light sources, and output its own viewing axis angle to achieve the purpose of viewing axis tracking; and receive a Boresight angle for boresight positioning purposes; and A control device, which includes a control analysis program, connects and controls all one-dimensional optical positioners with visual axis tracking, outputs a synchronous trigger signal, and starts all one-dimensional optical positioners with visual axis tracking synchronously for synchronous execution The measurement of three-dimensional positioning; it can also output a set of viewing axis angles to achieve the purpose of positioning the viewing axis angle for all the one-dimensional optical positioners with visual axis tracking; and after receiving all the physical quantities described , and a set of visual axis angles to simulate the input of a physical input device to achieve the purpose of virtual input; it can also simulate the movement of a physical object to achieve the purpose of emulator simulation. 37. The device for three-dimensional virtual input and simulation according to claim 36, characterized in that: the detection of the light emission timing of the divergent light sources of the plurality of point light sources is through an optical receiver to receive the The divergent light sources emitted by all point light sources, and output the lighting timing of the point light source; in addition, a microprocessor is used to measure the period of the lighting timing of the point light source at an appropriate time, and with the same Periodic and synchronous to generate a synchronous scanning signal. 38. A device for three-dimensional virtual input and simulation, characterized in that it consists of the following components: A plurality of point light sources, wherein each point light source emits a similar point-shaped divergent light source in a simultaneous and continuous manner; A plurality of two-dimensional optical positioners with visual axis tracking, wherein each group of two-dimensional optical positioners with visual axis tracking receives a synchronous trigger signal and simultaneously receives all the plurality of point light sources After diverging the light source, do three-dimensional positioning measurement for all point light sources, and output a set of physical quantities. In addition, each set of two-dimensional optical positioners with visual axis tracking has the functions of visual axis tracking and positioning. Ability to automatically track the group center coordinates of the plurality of point light sources, or automatically track the coordinates of any point light source in the plurality of point light sources, and output its own viewing axis angle to achieve the purpose of viewing axis tracking; or receiving a boresight angle for the purpose of boresight positioning; and A control device, which includes a control analysis program, connects and controls all the two-dimensional optical positioners with visual axis tracking, and outputs a synchronous trigger signal to start all the two-dimensional optical positioners with visual axis tracking synchronously for synchronous execution The measurement of three-dimensional positioning; it can also output a set of viewing axis angles to achieve the purpose of positioning the viewing axis angles for all the two-dimensional optical positioners with visual axis tracking; and receive all the physical quantities described , and a set of visual axis angles to simulate the input of a physical input device to achieve the purpose of virtual input; it can also simulate the movement of a physical object to achieve the purpose of emulator simulation. 39. The device for three-dimensional virtual input and simulation according to claim 38, characterized in that: said plurality of point light sources means that each point light source has the uniqueness of light intensity, which means that each point light source has Same glow radius, but different glow intensity. 40. The device for three-dimensional virtual input and simulation according to claim 38, characterized in that: said plurality of point light sources means that each point light source has uniqueness in geometric size, which means that each point light source has Different glow radii, but same glow intensity. 41. The device for three-dimensional virtual input and simulation according to claim 38, characterized in that: said plurality of point light sources means that each point light source has a unique wavelength, which means that each point light source has a different luminescence wavelengths, and the luminescence wavelengths are non-overlapping. 42. The device for three-dimensional virtual input and simulation according to claim 41, wherein the number of said plurality of point light sources is three, and emit light sources of red, green and blue wavelengths respectively. 43. The device for three-dimensional virtual input and simulation according to claim 38, characterized in that: the plurality of point light sources are made of point light sources with uniqueness in light intensity, uniqueness in geometric size, and uniqueness in wavelength formed by the combination. 44. The three-dimensional virtual input and simulation device according to claim 38, characterized in that: one of the plurality of two-dimensional optical positioners with visual axis tracking is composed of the following components: A plurality of two-dimensional position detectors, wherein each two-dimensional position detector calculates and outputs two-dimensional imaging of all point light sources according to receiving a synchronous scanning signal and simultaneously receiving the divergent light of all point light sources average position; A positioning calculation control microprocessor contains a positioning calculation control program, which connects and controls all two-dimensional position detectors and a two-axis angle control device; the positioning calculation control program is to receive the described synchronous trigger signal, the two-dimensional imaging average position, a viewing axis angle, and two angle electrical signals to calculate and output a synchronous scanning signal, a set of physical quantities, a viewing axis angle, and a viewing axis angle drive control Signal; A signal transmission interface, which is a wired or wireless transmission device, which transmits the set of physical quantities, the output boresight angle and the synchronous trigger signal; A group of positioning and calibration point light sources is composed of a plurality of point light sources, which are installed and fixed at known positions on the fixing mechanism of the two-dimensional optical positioner, so as to be used as a two-dimensional optical positioner for tracking the visual axis of the group The spatial position and boresight angle positioning; A two-dimensional optical positioner fixing mechanism is a mechanical structure for fixing the plurality of two-dimensional position detectors, the positioning calculation control microprocessor, the signal transmission interface, and the A group of positioning and marking point light sources, and connected to the two-axis rotation mechanism in the two-axis angle control device, so as to achieve the purpose of two-axis rotation; and A two-axis angle control device is composed of two triggers, two angle measuring devices, and a two-axis rotation mechanism. The two-axis angle control device is to receive the drive control of the viewing axis angle After the signal, drive the two triggers according to the amount of the viewing axis angle drive control signal to drive the rotation of the two-axis rotating mechanism and the two angle measuring devices; The two angle measuring devices feed back and output two angle electrical signals according to the actual rotation angle for the two-axis angle positioning control; and the two-axis rotation mechanism rotates the two-dimensional optical The positioner fixing mechanism is used to change the angle of the visual axis of the two-dimensional optical positioner. 45. The three-dimensional virtual input and simulation device according to claim 44, wherein one of the plurality of two-dimensional position detectors is composed of the following components: A two-dimensional optical component group is composed of a filter, a circular aperture, and a two-dimensional optical lens; A two-dimensional light sensor is composed of a two-dimensional light sensing array, a scanning and reading electronic circuit and an analog-to-digital converter, and is produced by the scanning and reading electronic circuit according to a signal microprocessor. The scanning signal reads sequentially and continuously, and outputs the light-induced analog voltage of each sensing pixel on the two-dimensional light-sensing array, and then outputs a digital voltage after the action of the analog-to-digital converter. The digital voltage is the two-dimensional imaging superposition signal. A signal microprocessor is connected to and controls the two-dimensional light sensor, and after receiving the synchronous scanning signal, executes a signal processing program to generate a scanning signal and read the two-dimensional imaging Superimpose the signals, and calculate and output the 2D imaged average position of all point sources; and A two-dimensional position detector device mechanism is a mechanical structure, the device fixes the two-dimensional optical component group, the two-dimensional light sensor, and the signal microprocessor, and the device is fixed on the The two-dimensional optical positioner is fixed inside the mechanism. 46. The three-dimensional virtual input and simulation device according to claim 45, characterized in that: the two-dimensional light sensor is composed of a two-dimensional light sensing array, a random read electronic circuit and an analog digital The random read electronic circuit is composed of a converter, and the random data read operation is performed for any pixel through a microprocessor, a row of decoding controllers, and a column of decoding controllers. 47. The device for three-dimensional virtual input and simulation according to claim 45, characterized in that: said signal processing program is composed of the following programs: A data synchronous reading program is to output a scanning signal after an appropriate time according to the timing of the received synchronous scanning signal to obtain and record the two-dimensional imaging superposition signal, the two The three-dimensional imaging superposition signal is a two-dimensional effective imaging signal including all point light sources and a two-dimensional dynamic background light signal; A two-dimensional dynamic background light signal removal program is composed of a temporal two-dimensional ambient light interference signal removal program and a spatial two-dimensional ambient light interference signal removal program. After removing the two-dimensional dynamic background light, output a two-dimensional effective imaging signal including all point light sources; The program corresponding to the identification of two-dimensional imaging signals of a point light source is to identify and analyze the two-dimensional effective imaging signals of all point light sources through a two-dimensional threshold comparison program or a two-dimensional waveform detection program. The two-dimensional effective imaging signal of the point light source and its two-dimensional corresponding relationship; the program of the two-dimensional waveform detection is based on the two-dimensional distribution standard deviation, central intensity, and the characteristics of the slope of the waveform change, in order to achieve the purpose of identification, analysis and correspondence; and The program for calculating the average position of two-dimensional imaging of a point light source is to analyze the pixel position of the maximum signal, or perform two-dimensional Guassian Fitting analysis, or perform two-dimensional Statistical analysis to calculate and output the 2D imaging average position of all point sources. 48. The three-dimensional virtual input and simulation device according to claim 47, characterized in that: the program for removing the two-dimensional dynamic background light signal is through hardware, that is, in the two-dimensional light sensor In addition, another two-dimensional light sensor for background noise measurement is added, and the method of scanning and reading the signal of the two-dimensional light sensor for background noise measurement in synchronization with the signal is properly amplified. , after obtaining the two-dimensional dynamic background light signal separately, subtract the two-dimensional dynamic background light signal from the two-dimensional imaging superposition signal, so as to achieve the purpose of removing the two-dimensional dynamic background light signal; in addition, in On the two-dimensional light-sensing array in the two-dimensional sensor used for the measurement of background noise, an appropriate optical filter is added, and the optical filter filters out all point light sources but allows ambient light pass. 49. The three-dimensional virtual input and simulation device according to claim 47, characterized in that: the time-based two-dimensional ambient light interference signal removal program is obtained by means of software, that is, two consecutive scans Two-dimensional imaging superimposes signals and performs a subtraction operation to achieve the purpose of removing two-dimensional dynamic background light signals. 50. The device for three-dimensional virtual input and simulation according to claim 47, characterized in that: the program for removing the spatial two-dimensional ambient light interference signal is a program for processing a two-dimensional Fourier signal, and is carried out in time After the two-dimensional ambient light interference signal removal program, the obtained data is transformed into a two-dimensional Fourier transform, and in the frequency domain, a two-dimensional band-pass filter is processed, that is, unnecessary frequencies are filtered out and amplified. After the operation, the inverse two-dimensional Fourier operation is performed to achieve the purpose of removing spatial two-dimensional ambient light interference. 51. The device for three-dimensional virtual input and simulation according to claim 44, characterized in that: the program for positioning calculation control is composed of the following programs: A synchronous scanning program is to generate and output a periodic synchronous scanning signal according to the timing of the synchronous trigger signal, and synchronously drive all two-dimensional position detection to execute a signal processing program; A physical quantity calculation program is to calculate and output a set of physical quantities after obtaining the two-dimensional imaging average positions of the point light sources output by all two-dimensional position detectors; the set of physical quantities includes the differences of all point light sources physical quantities, group physical quantities, relative physical quantities, and other physical quantities; and A viewing axis control program is to calculate and output a viewing axis angle and a viewing axis angle driving control signal according to the respective physical quantities, or group physical quantities, or a viewing axis angle, and simultaneously utilize the receiving of the two An angle electrical signal is used as angle feedback control to achieve precise positioning control of the boresight angle. 52. The device for three-dimensional virtual input and simulation according to claim 38, characterized in that: the program for controlling and analyzing is integrated in a general personal computer, notebook computer, PDA, mobile phone, game machine, etc. Host, video broadcasting and conversion equipment. 53. The three-dimensional virtual input and simulation device according to claim 38, wherein the physical input device that can be simulated is a mouse, a keyboard, a remote controller or a touch screen. 54. The device for three-dimensional virtual input and simulation according to claim 44, characterized in that: said two-dimensional optical positioner fixing mechanism is the casing of other existing devices, and said other existing devices The casing is the casing of notebook computers, PDAs, game consoles, mobile phones, liquid crystal displays, plasma displays, televisions, projectors, optical cameras, optical cameras, optical telescopes, automobiles or locomotives, etc. The plurality of two-dimensional position detectors, the positioning calculation control microprocessor, the signal transmission interface, and a group of positioning and marking point light sources are also installed on other existing device casings.

Images