CN101206537B - Inertia sensing type coordinate input device and method - Google Patents
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Abstract
The invention discloses an inertia sensing coordinate input device and a method for using the same, wherein the device comprises accelerometers capable of detecting the accelerations along X, Y, Z three axes, and a gyroscope taking the Z axis as the axis and used for detecting rotation; the coordinate input method is as follows: defining signals in a static state of sensing components as basis signals; detecting whether the acceleration along the Z axis can be changed by means of the Z axis accelerometer; if no obvious change is made in the acceleration along the Z axis in a constant sampling period compared with the basis signal, performing a plane operation mode of detecting acceleration changes of left-right displacement and forward-backward displacement by using the X axis accelerometer and the Y axis accelerometer and obtaining displacement, which serves as an coordinate input value after being adjusted in measurement, by the double integration of the signals of the accelerations of the X axis and the Y axis; if the great change in the acceleration of the Z axis, performing space operation. In addition, in the plane operation mode, the gyroscope can be used to detect the rotation of the device to compensate for the acceleration signals of the X axis and the Y axis.
Description
Technical Field
The invention relates to an inertia sensing type coordinate input device and a method, in particular to an inertia sensing computer input device and a method which are not limited by an operation space, can be operated on a flat surface and can also be operated in the space by utilizing the structures of an accelerometer and a gyroscope, have a plane/space function, and in a plane (2D) mode, the rotation of a gyroscope detection device is used for compensating the involuntary rotation of the manual operation and eliminating the interference of electronic noise of an inertia sensing assembly, the technical obstacle of a pure accelerometer coordinate input device is overcome, the natural and smooth control feeling is achieved, and the inertia sensing computer input device is suitable for the application and manufacturing related industries of the input device.
Background
The cursor control device of the present invention is of many kinds, for example, the cursor of the computer display is controlled by a mouse, the presenter controlling the projector has a remote controller shape, and the mouse can be divided into two types of rolling ball type and optical type, the operation mode must slide on a plane, the rolling ball displacement is controlled to generate mechanical signal or shadow change induction light signal, so as to achieve the purpose of controlling the cursor movement, and in other words, the operation plane and space influence the signal quality; in the case of a briefing device, as the main function is to indicate the projection film, most of the briefing devices adopt wireless transmission and are matched with relevant control circuits and keys with the functions of opening, closing, ascending, descending, page turning and the like, so that the briefing indication purpose is achieved; however, when having both a computer display and a projector, two cursor control devices must be provided, which is space consuming and cluttered.
Although the cursor control device integrating the dual functions of the mouse and the presenter is available in the market at present, the control mode thereof has not been released from the traditional electronic and mechanical control modes, and as for the gravity type cursor control device actively developed in recent years, many technical problems are still to be improved, so that the gravity type cursor control device still stays in the research and development stage and no consumer product is made.
For a patent, please refer to the american patent 4787051 "Inertial Mouse System" shown in fig. 1, which discloses an Inertial Mouse 10, mainly including an X-axis accelerometer 16, and Y-axis accelerometers 14, 18, which sense the direction perpendicular to the X-axis accelerometer 16 and are respectively disposed at two sides of the X-axis accelerometer 16, and calculate the rotation amount of the Inertial Mouse 10 by using the acceleration difference between the Y-axis accelerometers 14, 18, and then digitize the curve track of the Inertial Mouse 10 to input into the computer by using a hardware algorithm in cooperation with the acceleration change sensed by the X-axis accelerometer 16; the pure accelerometer coordinate input device has the advantages that the rotation amount is indirectly calculated by the difference of the two accelerometers, so the error is extremely large, and the pure accelerometer coordinate input device only can operate on a plane because only the accelerometers with the X axis and the Y axis are provided.
Please refer to us patent No. 5898421 "Gyroscopic pointer and method" shown in fig. 2, which discloses an indicator that an external power supply 190 can drive a mechanical gyroscope 110 to rotate, the mechanical gyroscope 110 is pivoted in an inner frame 170 by a set of universal shafts 115, 120, the inner frame 170 is pivoted in an outer frame 160 by another set of universal shafts 140, 145 that are perpendicular to the universal shafts 115, 120 in the axial direction, when the device is operated in a free space, the rotation amount of the gyroscope 110 can be corresponded to the two-axis movement amount of a cursor X, Y of a display device by the computer connector 180; the indicator only applies to free space and cannot be used on a plane because a pure gyroscope is adopted to input coordinates, and the mechanical gyroscope is large in size and high in error value.
Referring to the U.S. patent No. 5825350 Electronic pointing apparatus and method shown in fig. 3, the disclosure is directed to a pointing device 100 capable of operating in a plane and a space, in which a ball 260 is disposed inside the pointing device 100, a gyroscope circuit is disposed on a circuit board 452 inside the ball 260, a piston 270 is used to link a lever 472, when the pointing device 100 is pressed on a plane (i.e., used as a mouse), the piston 270 can push up the lever 472 to enable the ball 260 to be in a free-moving release state, when the pointing device 100 is lifted, the piston 270 can naturally pull the lever 472 down to press a bump 506 disposed at the bottom of the lever 472 on the ball 260 to limit the movement of the ball 260, and at this time, the pointing device 100 can be used as an indicator, by means of the circuit board 452 provided with the gyroscope circuit, the movement amount of the indicating device 100 can be detected and corresponds to a display device cursor; however, since the lever 472 and the protrusion 506 cannot press the ball 260, when the human hand shakes the pointing device 100 in space, the ball 260 is likely to move or roll unexpectedly, which generates unnecessary moving signals and affects the coordinate input, and thus, the structure is not implemented or applied in the consumer market.
At present, it is seen that in the market, a consumer product similar to the pointing device shown in fig. 3 is obtained by combining a gyroscope in an optical mouse, and an optical sensing device can avoid the problem of unexpected movement of a rolling ball, however, no matter the rolling ball or the optical sensing device is used, the rolling ball responsible for planar operation, the optical sensing device and a gyroscope circuit responsible for spatial operation are not related to each other.
As shown in fig. 4, the taiwan patent application No. 90221010, gravity mouse, measures potential energy of an object by means of a gravity detection IC, converts the potential energy into a signal generated by kinetic energy, transmits the signal to a microprocessor IC for calculation, and the microprocessor IC can detect the time of the motion of the gravity detection IC, receive an acceleration value generated by the motion of the gravity detection IC, calculate and convert the acceleration value into an actual moving unit, and transmit the actual moving unit to a computer host to control the direction of a screen cursor; the main operation means of the scheme is that when the mouse moves in space, an accelerometer with more than two axes is used for integral operation to control the cursor to move, and the biggest defect of the mode is that accumulated errors are generated to cause cursor positioning distortion.
From the above, it is known how to provide a coordinate input device which is not limited by an operation space, has a plane/space operation function, overcomes the defects of coordinate distortion and large error of the existing pure accelerometer or pure gyroscope coordinate input device, and can compensate the error caused by the involuntary rotation of the manual operation, and is a problem to be solved by the relevant manufacturers.
Disclosure of Invention
In order to solve the above-mentioned drawbacks, the present invention provides an inertial sensing type coordinate input device and method, which utilize the architecture of an accelerometer and a gyroscope to implement planar operation on a flat surface and spatial operation in space without being limited by the operation space. When the device is in a plane operation mode, the rotation of the gyroscope detection device is used for compensating the involuntary rotation of manual operation and eliminating the interference of electronic noise of the inertia sensing assembly, the technical obstacle of a pure accelerometer coordinate input device is overcome, and the natural and smooth control feeling is achieved.
In order to achieve the above object, the present invention provides an inertial sensing type coordinate input device for sensing a gravitational acceleration signal and an angular velocity signal, and transmitting the signals to a central processing unit for signal processing, and then transmitting the processed signals to a microprocessor in a wired or wireless manner to control a cursor or a picture on a display device, comprising:
an accelerometer, which is a three-axis accelerometer having an X-axis accelerometer, a Y-axis accelerometer, and a Z-axis accelerometer, respectively, for measuring X, Y, Z three-axis acceleration; and
a gyroscope, which takes the Z axis as the axis and is used for detecting the rotation quantity of the device; the gyroscope calculates a rotation angle by integrating the angular velocity, calculates a centrifugal force and a centripetal force at the moment of rotation, compensates acceleration signals of an X axis and a Y axis, and corresponds the compensated acceleration signals of the X axis and the Y axis to the coordinates of the display device.
The Z-axis accelerometer is used for sensing acceleration during vertical displacement so as to determine the operation mode of the device.
Wherein, the plane operation mode comprises:
the X-axis accelerometer is used in a plane moving mode and used for detecting acceleration change during left and right displacement and generating an X-axis acceleration signal, and the Y-axis accelerometer is used in a plane moving mode and used for detecting acceleration change during front and back displacement and generating a Y-axis acceleration signal;
preferably, the accelerometer is a modular structure or a three-axis split-sensing structure or a combination thereof.
To achieve the above object, the present invention further provides an inertial sensing type coordinate input method, which includes:
(a) defining basic signals, which are acceleration and angular velocity of an X-axis accelerometer, a Y-axis accelerometer, a Z-axis accelerometer and a gyroscope in a static state, and respectively defining the basic signals (BV);
(b) detecting whether the Z-axis acceleration in the up-down direction changes by the Z-axis accelerometer;
(c) if the Z-axis acceleration is not changed, a plane operation mode is carried out; the X-axis accelerometer is used in a plane moving mode for detecting acceleration change during left and right displacement and generating an X-axis acceleration signal, and the Y-axis accelerometer is used in a plane moving mode for detecting acceleration change during front and back displacement and generating a Y-axis acceleration signal;
(d) if the Z-axis acceleration changes, a space operation mode is carried out; the gyroscope detects the inclination in the left and right directions and generates an angular velocity signal, and the Y-axis accelerometer detects the acceleration change generated by the front and back inclination and generates a Y-axis acceleration signal.
Wherein, the step (b) defines the acceleration signal generated by the Z-axis displacement as the action signal, and the change of the acceleration in the up-down direction can be known by comparing the action signal with the basic signal of the Z-axis accelerometer.
Wherein, when the step (c) is performed in the plane operation mode, the method further comprises the following steps:
(c1) angular velocity signals generated by rotation of the gyroscope detection device when operating on a plane are used to compensate for X-axis and Y-axis acceleration signals.
Wherein the gyroscope of step (c1) compensates the X-axis acceleration signal and the Y-axis acceleration signal, and further comprises the following steps:
(c11) calculating a rotation angle by integrating the angular velocity;
(c12) the centrifugal force (tangential force) and the centripetal force at the moment of rotation are detected.
Wherein the centrifugal force is detected by the X-axis accelerometer and generates an X-axis acceleration signal together with the X-axis displacement; the centripetal force is detected by the Y-axis accelerometer and generates a Y-axis acceleration signal together with the Y-axis displacement.
(c13) Signal compensation
The rotation angle, the centrifugal force and the centripetal force obtained by the gyroscope can be used for calculating and deducting the rotation error amount in the acceleration signal generated by the X axis and the Y axis together so as to compensate the possible rotation error of the operation.
Wherein, the step of calculating and compensating the acceleration signals of the X-axis accelerometer and the Y-axis accelerometer comprises the following steps:
calculating the acceleration generated by the actual displacement of the X-axis accelerometer, wherein the acceleration generated by the actual displacement of the X-axis accelerometer is the acceleration detected by the X-axis accelerometer minus the centrifugal force;
calculating the acceleration generated by the actual displacement of the Y-axis accelerometer, wherein the acceleration generated by the actual displacement of the Y-axis accelerometer is the acceleration detected by the Y-axis accelerometer minus the centripetal force;
the acceleration resulting from the actual displacement of the X, Y axis accelerometer is compensated for.
Preferably, the compensation for the acceleration generated by the actual displacement of the X, Y-axis accelerometer is performed by the following equation:
wherein,
gcxis the compensated acceleration in the X direction;
gcyis the compensated acceleration in the Y direction;
theta is a rotation angle;
grxacceleration resulting from actual displacement of the X-axis accelerometer;
grythe acceleration resulting from the actual displacement of the Y-axis accelerometer.
Preferably, said step (c 1):
the compensated acceleration signals of the X axis and the Y axis are doubly integrated into displacement, and then correspond to the coordinates of the X axis and the Y axis of a display device.
Preferably, when the step (c) is performed in the plane operation mode, the method further comprises the following steps:
(c13) stopping (standing) detection, and checking whether the prestored multiple continuous X-axis and Y-axis acceleration signals fall within a threshold range;
(c14) if the continuous X-axis and Y-axis acceleration signals fall into the threshold value range, averaging the signals, and replacing the original basic signal (BV) with the average value;
(c15) if the acceleration signals of the plurality of continuous X-axis and Y-axis fall outside the threshold range, no action is performed.
Preferably, the number of strokes of the signal stored in the step (c13) is set according to the actual operation condition or the size of the device.
Preferably, the threshold range of step (c13) is set according to the actual operation condition or the device size.
Drawings
FIG. 1 is a schematic diagram of the structure of the prior art "initial Mouse System" of U.S. Pat. No. 4787051;
FIG. 2 is a schematic structural view of a prior art United states patent No. 5898421 entitled "Gyroscopic pointer and method";
FIG. 3 is a schematic structural view of a conventional U.S. Pat. No. 5825350 entitled "Electronic pointing apparatus and method";
FIG. 4 is a flowchart of a gravity mouse according to the prior Taiwan patent application No. 90221010;
FIG. 5 is a diagram of the device architecture and axial definition of the present invention;
FIG. 6 is a flow chart of an input method of the present invention.
Detailed Description
The technical means and functions of the present invention for achieving the purpose will be described below with reference to the accompanying drawings, and the embodiments illustrated in the following drawings are only for illustrative purposes, but the technical means of the present invention is not limited to the illustrated drawings.
Referring to the architecture of fig. 5 and the algorithm flow of fig. 6, the device 10 of the present invention includes an accelerometer 11, wherein the accelerometer 11 is a triaxial accelerometer capable of measuring X, Y, Z triaxial acceleration and generating X, Y, Z triaxial acceleration signals, and the accelerometer 11 may be a modular structure, a triaxial separation detection type structure, or a combination thereof; the device further comprises a gyroscope 12, wherein the gyroscope 12 takes a Z axis as an axis and is used for detecting the rotation of the device and generating an angular velocity signal; the gravity acceleration signal sensed by the accelerometer 11 and the angular velocity signal detected by the gyroscope 12 are first transmitted to a central processing unit for signal processing, and then the processed signals are transmitted to a microprocessor in a wired or wireless manner, so as to control the cursor or the picture on the display device, which belongs to the prior art and is not described herein; the flow of inputting coordinates with respect to the apparatus 10 is as follows:
step (a): after the original signal is processed by Iterative Averaging, defining a basic signal, which is an average of continuous multiple acceleration and angular velocity values of an X-axis accelerometer, a Y-axis accelerometer, a Z-axis accelerometer and a gyroscope in a static state, and respectively defining the average as the basic signal (BV); the underlying signals may be defined as BVx, BVy, BVz, and BVw, respectively.
Step (b): detecting whether the acceleration of the Z axis in the up-down direction is changed by the accelerometer of the Z axis, defining the acceleration signal generated by the displacement of the Z axis as an action signal Z, and comparing the action signal Z with the basic signal BVz of the accelerometer of the Z axis to know whether the acceleration in the up-down direction is changed; that is, when the operator lifts the device 10 from a plane, the value (Z-BVz) becomes large and exceeds a predetermined threshold value, indicating that an operating function such as a presenter, indicator, etc. is to be performed, and thus the plane or space operating mode is determined based on the change in the Z-axis acceleration.
Step (c): if the Z-axis acceleration is not changed, namely the absolute value of (Z-BVz) is smaller than a preset threshold value, a plane operation mode is carried out; at this time, the accelerometers 11 are used in a planar motion manner for detecting the acceleration changes during left-right and front-back displacement, and generating an X-axis acceleration signal X and a Y-axis acceleration signal Y.
Step (c 1): compensating the acceleration signals of the X axis and the Y axis, detecting the rotation quantity generated during the operation on the plane by the gyroscope 12, and generating an angular velocity signal w, wherein the angular velocity signal is used for compensating the acceleration signals of the X axis and the Y axis, and the compensated acceleration signals of the X axis and the Y axis are doubly integrated into displacement and correspond to the coordinates of the X axis and the Y axis of a display device.
Since the signals of the X-axis and the Y-axis will generate errors and noises after a plurality of planar operations, resulting in coordinate distortion, the acceleration signals of the X-axis and the Y-axis must be compensated; the steps (c11) and (c12) show the method of the gyroscope 12 for compensating the acceleration signals of the X-axis and the Y-axis.
Step (c 11): the rotation angle is calculated by integrating the angular velocity to calculate the rotation angle θ, which is used to determine whether the device 10 is rotating. Namely, it is
θ＝∫w<1>
Step (c 12): calculating the centrifugal force gt and the centripetal force gr at the moment of rotation;
gt＝R×(w/dt)<2>
gr＝R×w2<3>
wherein R is the distance between the elbow (center of rotation) and the accelerometer when the device is operated; dt is the sample interval time and can be set randomly as desired.
Acceleration g detected by X-axis accelerometerxAcceleration g generated for actual displacementrxAgainst centrifugal force gtThe sum of (a); namely, it is
gx＝grx+gt<4>
That is, the acceleration g generated by the actual displacement of the X-axis accelerometerrxAcceleration g detected for an X-axis accelerometerxMinus the centrifugal force gt；
Similarly, the Y-axis accelerometer detectsMeasured acceleration gyAcceleration g generated for actual displacementryWith centripetal force grThe sum of (a);
gy＝gry+gr<5>
that is, the acceleration gry generated by the actual displacement of the Y-axis accelerometer is the acceleration g detected by the Y-axis accelerometeryMinus centripetal force gr(ii) a By<2>～<5>The equation can obtain X, Y the actual displacement (g) of the two-axis accelerationrx，gry) The displacement is then compensated by rotation to obtain real compensated acceleration signals (g) in X and Y directionscx，gcy) (ii) a Namely, it is
In addition, steps (c13) to (c15) show the method of using threshold (threshold) to perform stationary detection on the acceleration signals of the X-axis and the Y-axis.
Step (c 13): and (3) detecting the static state (or stopping), and checking whether the prestored plurality of continuous X-axis and Y-axis acceleration signals fall within a threshold range.
Step (c 14): if the continuous X-axis and Y-axis acceleration signals fall into the threshold range, averaging the signals, and replacing the original basic signal (BV) with the average value.
Step (c 15): if the acceleration signals of the plurality of continuous X-axis and Y-axis do not fall within the threshold range, no action is performed.
The number of stored signals and the threshold range are set according to the actual operation condition or the size of the device, for example, it can be set that the stored signals are inspected when ten times of acceleration signals of the X-axis and the Y-axis are continuously accumulated, the threshold range is set to be 3 unit values respectively plus or minus, if the ten times of acceleration signals of the X-axis and the Y-axis fall into the 3 unit value ranges respectively plus or minus, the stored signals are averaged and the basic signals are replaced, so as to improve the involuntary rotation of the manual operation and eliminate the interference of the electronic noise of the inertia sensing assembly.
Step (d): if the Z-axis acceleration changes, a spatial operation is performed.
In summary, the inertial sensing type coordinate input device and method provided by the present invention utilize the structure of the accelerometer and the gyroscope, so as to achieve the purpose of operating on a flat surface and in space without being limited by the operation space, and in the plane operation mode, the rotation of the gyroscope detection device is used to compensate the acceleration signals of the X axis and the Y axis, thereby improving the involuntary rotation of the human hand operation and eliminating the interference of the electronic noise of the inertial sensing component, and overcoming the technical obstacles of the pure accelerometer coordinate input device.
The foregoing is merely a preferred embodiment of the invention, which is intended to be illustrative and not limiting. It will be understood by those skilled in the art that various changes, modifications and equivalents may be made therein without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (9)
1. An inertia sensing type coordinate input device is used for sensing a gravity acceleration signal and an angular velocity signal, transmitting the gravity acceleration signal and the angular velocity signal to a central processing unit for signal processing, and transmitting the processed signals to a microprocessor in a wired or wireless mode to control a cursor or a picture on a display device, and is characterized in that: which comprises the following steps:
a gyroscope for detecting the rotation of the device about a single axis, defining the single axis as the up-down direction as the Z axis;
an accelerometer, which is a three-axis accelerometer having an X-axis accelerometer, a Y-axis accelerometer, and a Z-axis accelerometer, respectively, for measuring X, Y, Z three-axis acceleration;
wherein, the left-right direction is an X axis, and the front-back direction is a Y axis;
the gyroscope calculates a rotation angle by integrating the angular velocity, calculates a centrifugal force and a centripetal force at the moment of rotation, compensates acceleration signals of an X axis and a Y axis, and corresponds the compensated acceleration signals of the X axis and the Y axis to the coordinates of the display device.
2. The inertial sensing coordinate input device of claim 1, wherein: the Z-axis accelerometer is used for sensing acceleration generated by displacement in the up-down direction so as to determine the operation mode of the device.
3. The inertial sensing coordinate input device of claim 2, wherein: the operation mode comprises the following steps:
a planar operation mode in which the X-axis accelerometer is used in a planar movement mode to detect acceleration during left and right displacement, and the Y-axis accelerometer is used in a planar movement mode to detect acceleration during front and rear displacement;
in the spatial operation mode, the gyroscope detects angular velocity signals generated by left and right tilt, and the Y-axis accelerometer detects acceleration changes generated by front and back tilt.
4. The inertial sensing coordinate input device of claim 3, wherein: when the device is in a space operation mode, the X-axis accelerometer has no effect.
5. The inertial sensing coordinate input device of claim 1, wherein: the accelerometer is a modular structure or a three-axis separation detection type structure or a combination thereof.
6. An inertial sensing type coordinate input method is characterized in that: which comprises the following steps:
step a: defining basic signals, namely detecting the acceleration and the angular velocity of an X-axis accelerometer, a Y-axis accelerometer, a Z-axis accelerometer and a gyroscope in a standing state, and respectively defining the acceleration and the angular velocity as the basic signals;
step b: detecting whether the acceleration of the Z axis in the up-down direction is changed by the accelerometer of the Z axis, wherein the acceleration signal generated by the displacement of the Z axis is defined as an action signal, and comparing the action signal with the basic signal of the accelerometer of the Z axis so as to know whether the acceleration in the up-down direction is changed;
step c: if the Z-axis acceleration is not changed, a plane operation mode is carried out; the X-axis accelerometer is used in a plane moving mode for detecting acceleration change during left and right displacement, and the Y-axis accelerometer is used in a plane moving mode for detecting acceleration change during front and back displacement; the gyroscope detects angular velocity signals generated when the gyroscope operates on a plane, calculates a rotation angle by integrating angular velocity, detects centrifugal force and centripetal force at the moment of rotation, and is used for compensating acceleration signals of an X axis and a Y axis; the compensated acceleration signals of the X axis and the Y axis are doubly integrated into displacement, and then the displacement corresponds to the coordinates of the X axis and the Y axis of the display device;
step d: if the Z-axis acceleration changes, a space operation mode is carried out; the gyroscope detects the left and right inclination to generate an angular velocity signal, and the Y-axis accelerometer detects the acceleration change generated by the front and back inclination.
7. The inertia sensing type coordinate input method of claim 6, wherein: the step of compensating the acceleration signals of the X axis and the Y axis comprises the following steps:
calculating the acceleration generated by the actual displacement of the X-axis accelerometer, wherein the acceleration generated by the actual displacement of the X-axis accelerometer is the acceleration detected by the X-axis accelerometer minus the centrifugal force;
calculating the acceleration generated by the actual displacement of the Y-axis accelerometer, wherein the acceleration generated by the actual displacement of the Y-axis accelerometer is the acceleration detected by the Y-axis accelerometer minus the centripetal force;
the acceleration resulting from the actual displacement of the X, Y axis accelerometer is compensated for.
8. The inertia sensing type coordinate input method of claim 7, wherein: the compensation of the acceleration generated by the actual displacement of the X, Y-axis accelerometer is performed by the following formula:
wherein,
gcxis the compensated acceleration in the X direction;
gcyis the compensated acceleration in the Y direction; theta is a rotation angle;
grxacceleration resulting from actual displacement of the X-axis accelerometer;
grythe acceleration resulting from the actual displacement of the Y-axis accelerometer.
9. The inertia sensing type coordinate input method of claim 6, wherein: when the step c is performed in the plane operation mode, the method further comprises the following steps:
step c 13: stopping the standing detection, and checking whether the prestored multiple continuous X-axis and Y-axis acceleration signals fall within a threshold range;
step c 14: if the continuous X-axis and Y-axis acceleration signals of the plurality of the continuous X-axis and Y-axis acceleration signals fall into the threshold value range, averaging the plurality of signals, and replacing the original basic signal with the average value;
step c 15: if the acceleration signals of the plurality of continuous X-axis and Y-axis fall outside the threshold range, no action is performed.
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| CN101619978B (en) * | 2008-06-30 | 2011-07-27 | 鼎亿数码科技(上海)有限公司 | Positioning method based on gyroscope and acceleration transducer |
| JP5464416B2 (en) * | 2008-10-31 | 2014-04-09 | ソニー株式会社 | Input device and method, and program |
| CN102591479A (en) * | 2011-01-05 | 2012-07-18 | 源鼎科技股份有限公司 | Finger cot type wireless input device and method thereof |
| CN102637079A (en) * | 2011-02-12 | 2012-08-15 | 昭通科技股份有限公司 | Sensing-type coordinate inputting method of handheld remote controller |
| CN102628694B (en) * | 2012-04-27 | 2015-02-04 | 哈尔滨工业大学 | Control system and control method of single- axis turntable based on inertia device gyroscope and accelerometers |
| CN103576901B (en) * | 2012-08-02 | 2017-10-03 | 腾讯科技（北京）有限公司 | Hand-hold electronic equipments enter the implementation method and the equipment of line cursor control to screen |
| CN113721777B (en) * | 2021-09-08 | 2024-01-30 | 得力集团有限公司 | Control method and device of mouse pointer, electronic equipment and storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4839838A (en) * | 1987-03-30 | 1989-06-13 | Labiche Mitchell | Spatial input apparatus |
| EP0457541A1 (en) * | 1990-05-18 | 1991-11-21 | British Aerospace Public Limited Company | Control devices |
| CN1797292A (en) * | 2004-12-28 | 2006-07-05 | 业盛科技股份有限公司 | Inertial mouse with high sensitivity |
-
2006
- 2006-12-22 CN CN 200610170776 patent/CN101206537B/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4839838A (en) * | 1987-03-30 | 1989-06-13 | Labiche Mitchell | Spatial input apparatus |
| EP0457541A1 (en) * | 1990-05-18 | 1991-11-21 | British Aerospace Public Limited Company | Control devices |
| CN1797292A (en) * | 2004-12-28 | 2006-07-05 | 业盛科技股份有限公司 | Inertial mouse with high sensitivity |
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| CN101206537A (en) | 2008-06-25 |
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