CN1303494A - Control device and method of controlling object - Google Patents

Abstract

A control device, for example a computer mouse, has image-recording means which are adapted to be moved, preferably manually, for controlling an object, for example a cursor on a computer screen, as a function of the movement of the image-recording means. The control device is adapted to record a plurality of images with partially overlapping contents when the image-recording means are being moved, the partially overlapping contents of the images enabling image-processing means to generate control signals indicating how the image-recording means have been moved. A method of controlling and a control device based on the turning of the image-recording means are also shown.

Description

Control device and method for controlling an object

The invention relates to a control device having image recording means adapted to be moved, preferably manually, for controlling an object in dependence on the movement of the image recording means. The invention also relates to a method of controlling an object.

Today, personal computers are usually equipped with a control device, a so-called computer mouse, which is used to position a cursor on the computer screen. The positioning is done by the user moving the mouse over a surface. The movement of the hand dictates how the mouse should be positioned. Recently, the most commonly used mouse has a ball on its lower surface which rotates due to counter friction as the mouse moves across said surface and which, in this relationship, drives a position sensor which in turn produces a positioning signal. Typically, a mouse can also be used to provide instructions to a computer by the user clicking one or more buttons.

Optical computer mice are also known. JP09190277 shows an optical mouse with a CCD linear sensor for the X axis and a CCD linear sensor for the Y axis. By comparing the data recorded by the CCD linear sensor at a certain moment with the data recorded at a subsequent moment, the movement of the mouse in the X direction and in the Y direction can be determined.

The mouse is thus used to control a virtual object. However, there are other control devices whose structure is similar to that of a mouse but which are used to control objects.

Furthermore, the control device is used to control a two-dimensional control object, ie a plane, or a three-dimensional control object, ie a space.

WO98/11528 describes a computer control device equipped with three-dimensional information. The device is based on three acceleration sensors placed in mutually perpendicular directions and capable of measuring acceleration values or inclination angles in one to three directions. The device, for example, may be placed on the user's head or may be hand-held.

A computer mouse for inputting three-dimensional information to a computer is described in US Patent 5,506,605. Such a computer mouse is held in the hand and held freely in space. In addition, it may include sensors for measuring various physical parameters which are continuously translated by suitable electronic means, converted into digital format, and input to a computer. The position of the mouse in space is determined by a position sensor, which is based on light, acceleration, gyroscope, etc. In the described embodiment, an ultrasonic sensor and a magnetic sensor are used. Based on the input, the computer can continuously generate tactile feedback in the form of vibrations, for example, to provide the user with information about the position of the mouse relative to its desired position.

It is an object of the present invention to provide an improved control device and an improved method of controlling real and virtual objects suitable for two-dimensional and three-dimensional control.

This object is achieved by the following control devices and methods:

A control device having image recording means adapted to be moved, preferably manually, for controlling an object in dependence on the movement of the image recording means, characterized in that the control device is adapted to record images with A set of images with partially overlapping content that can determine how the image recording device is moved.

A control device having an image-recording device adapted to be rotated, preferably manually, for controlling an object according to the rotation of said image-recording device, characterized in that said control device is adapted to A set of images is recorded with partially overlapping content of the images as the device is rotated, the partially overlapping content of the images being able to determine how the image recording device was rotated.

A method of controlling an object, comprising the steps of: moving a control device; recording a set of images with overlapping content by means of said control device during movement of the control device, and determining said control device by means of the content of the overlapping images of the mobile.

Therefore, according to a first aspect of the invention, the invention relates to a control device having image recording means adapted to be moved by a user, preferably manually, depending on the movement of the image recording means for controlling a possibly practical or virtual objects. The image recording device is adapted to record a set of images with partially overlapping content as they are moved, the partially overlapping content making it possible to determine how the image recording device was moved.

The invention is thus based on the idea of using images to determine how a unit moves. This technique can be used for 2D as well as 3D control. This is advantageous because it requires few sensors and has no moving parts. The entire movement information is contained in the overlapping content of the image. Since the device records images of the surroundings, an "absolute" position indication is obtained, making it possible to detect when the image recording device is in a particular position, for example not possible with the control device based on the measured acceleration. In addition, for movement, rotation can also be detected and used to control an object.

In one embodiment, the control device is designed to control an object in one plane. In this case, the superimposed images allow not only the movement of the image recording devices but also their rotation in the plane to be determined, which is not possible, for example, when using a conventional mouse with a ball. Furthermore, the control device is advantageously adapted to control the angular position of the object in the plane. When the device is designed as a planar control, the image recording device is advantageously equipped with a light-sensitive sensor with a two-dimensional sensor surface, a so-called area sensor for recording images. In this context, a two-dimensional sensor surface actually means that the sensor surface must be capable of imaging a surface with a matrix of pixels. CCD sensors and CMOS sensors are suitable sensors. A single sensor is thus sufficient for control on one level.

In another embodiment, the device is designed to spatially control an object. Also in this case, the control device is advantageously adapted to control the angular position of the object, wherein the control can take place around three axes. In an economical embodiment, it may be sufficient for the device to have two light-sensitive sensors each with a two-dimensional sensor surface for recording said images in two different directions.

However, for more precise control in space, it is more appropriate that the image recording means comprise three sensors for recording images in three, preferably perpendicular, directions. This enables the determination of translations along three mutually perpendicular axes as well as rotations about these axes by means of relatively simple calculations.

Suitably, the control device has an image processing device for providing control signals to the control object. The image processing device is in the same physical housing as the image recording device, the signal output from this physical housing thus constituting a control signal for controlling the object to be controlled. However, the image processing device can also be located in another physical housing, for example in a computer whose cursor constitutes the object to be controlled, or in a computer which in turn controls, or constitutes part of, an actual object controlled by means of a control device, from The signal output by the image processing device constitutes a control signal for controlling the object. In this context, it should be noted that the control signals output from the image processing means may require further processing before they are directly used for the control of the object. The image processing means are advantageously implemented by means of a processor and software, but can also quite well be implemented by means of hardware.

The image processing means is correspondingly adapted to determine the relative position of the image based on the partial overlapping content for providing said control signal. If the control device is used for three-dimensional control, this is suitable for all sensors in parallel. The distance and direction of movement, as well as the current location, can be determined on the basis of the relative positions of the images.

Preferably, the control device has a calibration mode in which the image recording means is moved in such a way that the image processing means can relate the relative position of the image to the actual movement of the image recording means. As an option, the control device could be equipped with a rangefinder for measuring the distance to the imaging surface by means of a sensor, which would of course be more expensive.

The image processing means are correspondingly adapted to generate said control signal on the basis of at least one vector obtained from the relative position of the image.

Additionally, or alternatively, the image processing means may be adapted to generate said control signal on the basis of at least one indication of rotation obtained from the relative position of the images. The control signal can thus be used to control the rotation of the object as well as its movement, which is an advantage over conventional mechanical computer mice.

In the case where the control device is used for three-dimensional control, the image processing means can synthesize information from all the sensors according to the relative positions of the images to generate a movement vector and a rotation vector. In this way, the position of the image recording device can be unambiguously determined. In other words, the control device can perform digital conversion of the movement accomplished when the image recording device is moved by hand, so as to enable the computer to control an object based on this movement.

In one embodiment, the image processing means may be adapted to generate said control signal according to the speed at which the image recording means is moved, the speed being determined by the relative position of the images and the image recording frequency.

Suitably, a receiver of a control signal should know that the control signal is a control signal in order to know how the signal is processed continuously. The image processing means are then preferably adapted to output said control signal in such a way that the receiver recognizes the control signal intended to control an object. This can be achieved, for example, by using a predetermined protocol.

The advantage of using an image-based control device is that it can be determined when the image recording device is in a predetermined position, since this position can be defined by means of one or several images. For example, it can be detected when the image recording devices have been turned to their initial position. To this end, the image processing means are adapted to store at least one reference image and to compare successively recorded images with this image in order to generate a signal in substantially complete overlap. For example, the user can specify a certain position as the reference position by tapping the control device on this part.

If the image recording device and the image processing device are in different physical housings, the image recording device may advantageously comprise a transmitter for wirelessly transmitting images from the image recording device to the image processing device. Furthermore, it may also be an advantage if the image recording and image processing means are in the same physical housing, as long as the image processing means include a transmitter for the wireless output of control signals, such as a computer whose cursor is to be controlled. In both cases, the control devices are easy to use because no leather cords are required for information transfer. For example, a user may have a personal image recording device or control device and use it by means of a different computer or receiver of control signals. The transmitter may be an IR transmitter such as a radio transmitter using the so-called Bluetooth standard, or some other transmitter suitable for wireless communication between two units arranged in close proximity to each other.

In a preferred embodiment, the control device is a computer mouse, ie a device that can be connected to a computer and used to set the position of a one-dimensional, two-dimensional or multi-dimensional cursor.

The control device may be used in a first absolute mode or in a second relative mode. In absolute mode, the movement of the control object is proportional to the movement of the image recording device. In other words, the objects move in a manner corresponding to the movement of the image recording device regardless of where they are placed. In the relative mode, however, the control device is configured so that the speed and acceleration of the control object increase as the distance between the image recording device and the predetermined coordinate origin increases. In this way, by keeping the image recording device farther from the predetermined origin, it is possible to obtain faster movement of the object, while at the same time finer control can be obtained by keeping the image recording device closer to the origin.

According to a second aspect of the invention, it relates to a control device having an image recording means adapted to be rotated, preferably manually, for controlling an object according to the rotation of the image recording means. The control device is adapted to record a set of images with partial overlapping content of the images when the image recording device is rotated, the partial overlapping content of the images being able to determine how the image recording device was rotated.

This control device is based on the same idea as the control device described above, but instead of controlling the object according to the movement of the image recording means it is controlled according to the rotation. The control device can be, for example, a trackball. The above-discussed embodiments are basically also applicable to the rotary control device, and the same advantages can be obtained.

According to a third aspect of the present invention, it relates to a method of controlling an object, comprising the steps of: moving a control device; recording a set of images with overlapping content during movement of the control device by means of the control device; and by means of the overlapping images The content determines the movement of the control device. The same advantages are obtained as described with respect to the above mentioned device.

The present invention will be described in detail below by illustrating embodiments with reference to the accompanying drawings, in which

Figure 1 schematically represents an embodiment of a control device according to the invention;

Figure 2 is a block diagram of an electronic circuit portion of an embodiment of a control device according to the present invention;

Fig. 3 schematically represents a second embodiment of a control device according to the present invention;

FIG. 4 is a flowchart illustrating the operation of a control device for two-dimensional control;

Figure 5 schematically represents an "open box" in which the control device in Figure 3 can be used;

Figure 6 schematically represents the movement of the control device according to the invention from a point ( _x , _y , _z ) to a point (x+δx, y+δy,z+δz);

Figure 7 schematically shows translation scalars being output from the respective sensors when the control device is moved (the subscripts indicate that the sensors are producing the respective scalars); and

Figure 8 schematically shows how the control device is to be moved in calibration mode.

The control device according to the invention may basically be provided in two main types of embodiments. A first embodiment of a control device according to the invention will be described below, which embodiment is intended to be used as a two-dimensional mouse. Next, a second embodiment of the control device will be described, which embodiment is to be used as a three-dimensional mouse. Finally, the operation of the 2D and 3D mouse will be described. In the two embodiments described, the image recording means and the image processing means are in the same physical housing, whereby the control signals are output. As mentioned above, the image processing device may also be housed in a separate physical housing. It is very simple for the skilled artisan to carry out such modification.

In a first embodiment of the control device shown in FIG. 1, it comprises a housing 1 having approximately the same shape as a conventional highlighter. One short side of the housing has a window 2 through which the image is read into the device. The window 2 is slightly recessed within the housing so as not to damage the underlying surface.

The housing 1 basically includes an optical part 3 , an electronic circuit part 4 , and a power supply part 5 .

The optical unit 3 comprises a light-emitting diode 6 , a lens system 7 , and image recording means in the form of a light-sensitive sensor 8 , which form an interface with the electronic circuit unit 4 .

The task of the light-emitting diodes 6 is to illuminate a surface which is now located directly below the window, in which case the control device is held directly against the surface or thus very close thereto. A diffuser 9 is installed in front of the LED 6 for diffusing the light.

The task of the lens system 7 is to project an image of the surface placed under the window 2 onto the photosensitive sensor 8 as accurately as possible.

In this example, the photosensitive sensor 8 consists of a two-dimensional, square CCD unit (CCD=charge couple device) with built-in A/D converter. Such sensors are commercially available. The sensor 8 is mounted on its own circuit board 11 at a slight angle to the window 2 .

The power supply to the control equipment is obtained by a battery 12 which is housed in a compartment 13 within the housing.

The electronic circuit part 4 is schematically represented in the block diagram of FIG. 2 . It is arranged on a circuit board and includes a processor 20, which is connected by means of a bus 21 to a ROM 22 in which the program of the processor is stored, to a read/ Write memory 23 , connected to control logic unit 24 , as well as sensor 8 and LED 6 . Processor 20, bus 21, memories 22 and 23, control logic unit 24, and related software together constitute an image processing device.

The control logic unit 24 is in turn connected to some peripheral units, including a radio transceiver 26 for transmitting information to/from an external computer, by means of which the user can control the image recording device and can also be used as a conventional mouse button A button 27 of sub-buttons, and an indicator 29, such as a light emitting diode, to indicate when the mouse is ready for use. Control signals to the memory, sensors and peripheral units are generated within the control logic unit 24 . The control logic also controls the generation and prioritization of interrupt signals to the processor. Button 27 , radio transceiver 26 and light emitting diode 6 are accessed by the processor writing and reading in registers in control logic unit 24 . Buttons 27 generate interrupt signals to processor 20 when they are activated.

Figure 3 shows a second embodiment of the control device according to the invention. Similar to the first embodiment, this embodiment includes a pen-shaped housing 31 . In addition to the window 32 on one short side of the housing, the device has two additional windows 32' and 32". Each of the windows 32, 32', 32" is slightly recessed in the housing so as not to be damaged when it is in use or Damage or scratches to the control device hitting a surface when not in use.

As in the above case, the housing 1 basically comprises an optical section 33 , an electronic circuit section 34 and a power supply section 5 .

The optical part 33 comprises a lens box (not shown) with three lens systems and a set of sensors (not shown) with three photosensitive sensors, which constitute the interface to the electronic circuit part 34 for the windows 32, 32', respectively, 32". In this embodiment there are no LEDs. The control device is to be kept at a distance from the surface to be imaged, and in most cases the ambient light is sufficient for the image to be recorded.

The task of the lens system is to project as accurately as possible an image of the surface on which the window 32, 32', 32" is directed onto the light sensing sensor.

As in the above embodiments, the photosensitive sensor comprises a two-dimensional planar CCD unit with a built-in A/D converter. Each sensor is mounted on its own circuit board.

Also in this embodiment, the power supply to the control device is obtained from a battery housed in a separate compartment within the housing.

In this second embodiment, the design of the electronic circuit part is basically the same as described above in accordance with the first embodiment. Electronic circuitry is partially shared by all three sensors. Apps where the device is used as a 2D mouse

The device according to the first embodiment can be used as a mouse for inputting movement information, by means of which a cursor can be controlled on a computer screen.

The user guides the window 2 of the control device over a patterned surface, eg a mouse pad. He presses one of the buttons 27 to activate the image recording device, whereupon the processor 20 commands the LEDs 6 to start generating strobe pulses at a predetermined frequency, suitably at least 50 Hz. Subsequently, the user moves the control device across the surface in the same manner as with a conventional mouse, whereupon an image with partially overlapping content is recorded by the sensor and stored in the read/write memory 23 . The image is stored as an image, ie by means of a set of pixels, each frame having a grayscale value ranging from white to black.

The flowchart in Fig. 4 shows the more detailed operation of the two-dimensional mouse. In step 400, a start image is recorded. In step 401, the next image is recorded. The content of this image partially overlaps the content of the previous image.

Once an image is recorded in step 401, the process of determining how it overlaps the previous image begins, step 402, where the best comparison of relative positions is obtained between the contents of the images. This determination is made by mutually vertically and horizontally translating the images and by mutually rotating the images. To this end, every possible overlapping position between the images is checked at the pixel level, and an overlapping measure is determined as follows:

1) For each overlapping pixel position, if the two associated pixels are not white, the gray values of the two are summed. A pixel position in which no pixel is white is designated as a plus position.

2) The grayscale sums for all plus positions are added up.

3) Neighboring positions of each pixel position are checked. If an overlapping pixel position is not adjacent to the plus position and consists of a white pixel and a non-white pixel position, the gray value of the non-white pixel is multiplied by a constant from 2) subtract from the sum of .

4) The overlap position providing the highest overlap measure as indicated above is selected.

Our Swedish Patent Application No. 9704924-1 and the corresponding US Application No. 024641 describe a replacement method for comparing images in order to find the best overlapping position. The contents of these applications are thus combined.

Once the best overlapping position between the current image and the previous image is determined, the previous image is discarded, so that the current image becomes the previous image relative to the next recorded image.

By determining the relative positions of the two images, a movement vector is obtained representing how far and in which direction the image recording device has moved between the recording of the two images. If the mouse has also rotated between the two images, a measure of this rotation is also obtained. Subsequently, a control signal comprising movement vector and rotation measurements is transmitted via the radio transceiver 26, step 403, to the computer for which the control device is operating as a mouse. The computer uses the movement vector and rotation measurements to determine the position of the cursor on its screen. Next, return to step 401 . To speed things up, the steps are performed in part in parallel, ie by starting the recording of the next image while the current image and the previous image are being put together.

When the mouse is activated, the button 27 can be used as a click button for inputting instructions to the computer. Apps where the device is used as a 3D mouse

The device according to the second embodiment can be used as a mouse for inputting movement information, by means of which a cursor can be controlled three-dimensionally, ie in a space, on a computer screen.

As mentioned above, the three-dimensional mouse includes three sensors 32, 32', 32" having a two-dimensional light-sensitive sensor surface. The main axes of the sensors are oriented along the X-, Y- and Z axes in an orthogonal coordinate system and have n×n Two-dimensional spatial resolution of pixels and temporal resolution of m images per second. Each lens system provides a field of view with a viewing angle of v radians for the associated sensor surface.

When the device is in use, the movement of the mouse takes place in an "open box" 50 according to FIG. 5 , which is defined by at least two side walls 51 and 52 and a bottom surface 53 oriented at right angles to each other. It is also possible that the mouse is held freely in space, but this requires more complex calculations than will be described below.

When the device is in use, the methods described above for determining the relative position of the images are used for each sensor. Therefore, the operation in this case can also be described by means of the flowchart in FIG. 4 , but instead of recording a single image, a group of three images is recorded simultaneously. A movement vector and a rotation vector are thus generated by means of the images recorded by each photosensitive sensor, which vectors describe the movement made by the mouse between the recordings of two consecutive images. These vectors are then included in control signals transmitted to the object to be controlled by means of the mouse.

Additionally, successful mouse utilization requires lighting conditions such that the light-sensing sensors record images of sufficient quality for them to undergo the processing described above.

To further facilitate the reader's understanding of how mouse movement can control objects, a description of the calculations performed to determine mouse movement will now be provided by way of example and with reference to FIG. 6 . In the calculations below, it is assumed that the image comparison algorithm is of a simple type, ie only the translation between the two images in two mutually perpendicular directions is calculated for each sensor. Suppose the mouse is at position (x,y,z) and it has a rotation which can be described by means of an orthogonal rotation matrix R. Therefore, the x-axis of the mouse points to the Re _x direction, the y-axis points to the Re _y direction, and the z-axis points to the Re _z direction. Also assume that between the records of the two images, the mouse is based on:

(x,y,z)→(x+δx,y+δy,z+δz)

R→R·δR performs a translational motion and/or a rotational motion. In the mouse's local coordinate system, a translation vector can be defined as shown in FIG. 7 . The first sensor registers movement in x and y directions, the second sensor registers movement in y and z directions and the third sensor registers movement in x and z directions. Next, for any triplet of consecutive images, the translation scalar (x1, y1, y2, z2, x3, z3) describes the detected movement of the mouse. The translation scalar consists of the output from the image comparison algorithm for each sensor.

To compute the mouse rotation, the effect of the translation scalar's rotation is computed. Suppose the mouse has turned through an angle α, which is so small that sin α≈α. For clarity, assume the rotation takes αz radians around the z-axis. The result of this rotation is a scalar Here n is the number of pixels along one side of the sensor and γ is the viewing angle of the sensor surface in radians. Therefore, the following applies to all axes:

By knowing the translational scalar values of the signal output from the image comparison algorithm: the number of pixels n along the sensor surface on one side and the viewing angle γ of the sensor, it is possible to calculate the rotation vector (αx, αy,αz).

Furthermore, in order to calculate translational motion, the functional distance from each sensor to the surrounding geometry must be known. The range is a constant that correlates the output from the image comparison algorithm with translational motion. This range is determined by means of a calibration described below. In the particular case where the mouse is moved inside an "open box" 50 as described above, the reach corresponds to the geometric distance from the middle of the mouse to the respective walls 51 , 52 and 53 of the box 50 .

For clarity, the distance δx translated along the x-axis is examined. Thus, the effect of translation according to the scalars x1 and x3 will be: $x1=\frac{\mathrm{no}}{{2d}_1\mathrm{the\; tan}\frac{v}{2}}\mathrm{\&delta;x}$ and $x3=\frac{\mathrm{no}}{{2\mathrm{<figure-callout\; id="3"\; label="d"\; filenames="A9980667300191.png"\; state="\{\{state\}\}">d</figure-callout>}}_3\mathrm{the\; tan}\frac{v}{2}}\mathrm{\&delta;x}$ Here _d1 and _d3 are the active distances from the mouse to the projection surface about (x1,y1) and (x3,z3). If one wants to generalize over all axes, the following formula is obtained

By knowing the translational scalar values as obtained from the output signal of the image comparison algorithm: the number of pixels n along the sensor surface on one side, the sensor's field of view γ and the active distance d ₁ -d ₃ to the projection surface, it is thus possible to calculate Translation vectors (δx, δy, δz) for mouse translation along the x, y, and z axes.

In short the translation scalar (x1, y1, y2, z2, x3, z3) obtained in the image comparison depends on the rotation and translation of the mouse. Knowing these and other parameters described above, the translation vectors (δx, δy, δz) and rotation vectors ( _αx , _αy , _αz ) can be obtained by solving the following system of equations, which can be solved. These vectors are included in the control signal that is emitted to the object being controlled by means of the mouse, the signal indicating the new position of the object.

Calibration, ie calculation of the operating distances d ₁ , d ₂ and d ₃ can be carried out by moving the mouse along the edge of the open box. The mouse moves along the x, y, and z axes according to the ABC sequence shown in Figure 8. Each move yields two equations, which together give the following system of equations:

This rigorous (overdefine) system of equations contains all the information needed to calculate the values of action distances d ₁ , d ₂ and d ₃ .

In addition, with the mouse of this embodiment, the user can choose to store in a memory the image that the sensor is currently recording at a certain time. Each set of recorded images is then compared with the stored set and a signal is generated to the user when there is complete overlap. This enables precise control of the object, as the user can find a way to return to the exact position the mouse was in the previous situation. Naturally, the same principle can be used for two-dimensional control of objects.

In another application of the mouse, only rotational motion is detected. In this case, no calibration is required and it is sufficient to solve the equations mentioned above in relation to the discussion involving rotation. In this application, the mouse can be mounted on eg a helmet or similar item worn by the user and it is eg used in various types of virtual reality applications.

Claims (25)

1. opertaing device, have and be suitable for moving, preferably manually mobile image recording structure, be used for object of mobile control according to image recording structure, it is characterized in that opertaing device is suitable for the overlap set of diagrams picture of content of when this image recording structure is moved recording strip, the content of overlapping of this image can determine how image recording structure is moved.

2. opertaing device as claimed in claim 1, wherein said opertaing device are suitable for planar controlling described object.

3. opertaing device as claimed in claim 2, wherein opertaing device is suitable for the angle position at the described object of described plane inner control.

4. as claim 2 or 3 described opertaing devices, further comprise a photoinduction sensor device (8) with dimension sensor surface that is used for document image.

5. opertaing device as claimed in claim 1, wherein said opertaing device are designed to the described object of control in the space.

6. opertaing device as claimed in claim 5, wherein said opertaing device are suitable for the angle position at the described object of described space inner control.

7. as claim 5 or 6 described opertaing devices, further comprise having at least two the two-dimentional photoinduction sensor devices (8) that are used for a dimension sensor surface of the described image of record on two different directions.

8. as claim 5 or 6 described opertaing devices, further comprise having being used at three linearities, three photoinduction sensor devices (8) on a dimension sensor surface of the described image of record on the direction independently.

9. as any one described opertaing device among the claim 1-8, further comprise the image processing apparatus (20-24) that is used to the described object of control that control signal is provided.

10. opertaing device as claimed in claim 9, wherein said image processing apparatus (20-24) is suitable for determining by the content of overlapping the relative position of image, is used to provide described control signal.

11. as any one described opertaing device among the claim 5-8, further comprise image processing apparatus (20-24), it is suitable for determining for all photoinduction sensor devices (8) simultaneously by the content of overlapping the relative position of image, is used to provide described control signal.

12. opertaing device as claimed in claim 11, described opertaing device has a calibration mode in addition, wherein image recording structure is moved in such a way, can make image processing apparatus (20-24) that the relative position of image is related with the actual mobile phase of image recording structure.

13. as any one described opertaing device among the claim 10-12, wherein said image processing apparatus (20-24) is suitable for producing described control signal on the basis of at least one mobile vector that obtains from the relative position of image.

14. as any one described opertaing device among the claim 10-13, the basis of at least one rotation indication that wherein said image processing apparatus (20-24) is suitable for obtaining at the relative position from image produces described control signal.

15. as any one described opertaing device among the claim 10-14, wherein said image processing apparatus (20-24) is suitable for producing described control signal on the basis of the speed that image recording structure moves with it, described speed is determined by the relative position of described image.

16. as any one described opertaing device among the claim 9-15, wherein said image processing apparatus (20-24) is suitable for exporting described control signal by this way, even a receiver goes to discern the control signal of wanting to control an object.

17. as any one described opertaing device among the claim 9-16, wherein said image processing apparatus (20-24) is suitable for storing at least one width of cloth reference picture in addition and the image that will write down is subsequently compared with this image, so as under situation about substantially completely overlapping signal of generation.

18. as any one described opertaing device among the claim 9-17, wherein said image processing apparatus (20-24) comprises a transmitter (26) that is used for the wireless output of control signal.

19. as any one described opertaing device among the claim 9-18, wherein said image recording structure comprises a transmitter (26) that image wireless is transferred to described image processing apparatus (20-24).

20. as any one described opertaing device in the claim of front, wherein said opertaing device is a mouse.

21. as any one described opertaing device in the claim of front, wherein said equipment has one first operator scheme, wherein this opertaing device is suitable for controlling described object so that the ratio that is moved into of its mobile and described image recording structure.

22. as any one described opertaing device in the claim of front, wherein said equipment has one second operator scheme, and wherein this opertaing device is suitable for controlling described object so that its translational speed and the distance between described image recording structure and predetermined initial point are proportional.

23. opertaing device, have and be suitable for being rotated, the preferably manual image recording structure that rotates, be used for object of Spin Control according to described image recording structure, it is characterized in that described opertaing device is suitable for the overlap set of diagrams picture of content of when described image recording structure is rotated recording strip, the content of overlapping of described image can determine how described image recording structure rotates.

24. the method for an object of a control comprises the steps:

-mobile control device;

-during moving, writes down by this opertaing device one group of image that has overlapping content by described opertaing device, and

-by means of the content of superimposed images, determine moving of described opertaing device.

25. the method for an object of control as claimed in claim 24 further comprises the following steps:

-determine the relative position of described image to be used to controlling object that control signal is provided by the content of overlapping.

Images