543028 A7 __B7______ 五、發明説明（1 ) 發明背景 發明領域 本發明是關於電腦I /〇裝置的領域。更特別的是， 本發明是關於一種以身體穿戴元件形式的多軸輸入裝置。 先前技藝討論 在1 9 8 0年代早期，麥金塔電腦是在廣泛被接受的 電腦軟體中第一個使用圖形使用者介面（GUI)。 G U I是一個以圖形爲基礎、滑鼠爲中心的使用者介面， 其對圖像、視窗、淸單、及對話盒的利用可允許使用者藉 由操作圖像來選擇命令與管理程式、檔案及資料夾。麥金 塔系統也使滑鼠的使用普及化，其使得螢幕上環境的操作 .更爲簡單。 電腦應用軟體（特別是在遊戲與設計市場中）已經從 二維視訊介面過渡到感官、真實世界模擬的三維視訊介面 。然而，因爲滑鼠的出現而對輸入裝置做了些許的改變。 因爲三維輸入裝置過高的價格，在輸入裝置中二維產品仍 佔有重要地位，諸如滑鼠、鍵盤、搖桿及專用的操作台控 制器。 所需要的是不昂貴的三維輸入裝置，可藉由提供更感 官與更精準的輸入資訊構件來服務使用者的需要，其直接 輸入的方式可趕上人類與其離線環境的互動。543028 A7 __B7______ V. Description of the invention (1) Background of the invention Field of the invention The present invention relates to the field of computer I / O devices. More specifically, the present invention relates to a multi-axis input device in the form of a body-wearing element. Prior art discussions In the early 1980s, Macintosh computers were the first to use a graphical user interface (GUI) in widely accepted computer software. GUI is a graphic-based, mouse-centric user interface. Its use of images, windows, menus, and dialog boxes allows users to select commands and manage programs, files, and Folder. The Macintosh system also popularizes the use of the mouse, which makes the operation of the environment on the screen easier. Computer applications (especially in the gaming and design markets) have transitioned from two-dimensional video interfaces to sensory, real-world simulation three-dimensional video interfaces. However, a few changes were made to the input device due to the emergence of the mouse. Due to the high price of the three-dimensional input device, two-dimensional products still occupy an important position in the input device, such as a mouse, a keyboard, a joystick and a dedicated console controller. What is needed is an inexpensive three-dimensional input device that can serve the needs of users by providing more sensory and more accurate input information components. Its direct input method can catch up with human interaction with its offline environment.
本發明的介面裝置提供一種輸入裝置，其藉由提供更 感官與更精準的輸入資訊構件來服務使用者對2 D與3 D ^紙張尺度適用中國國家標準（CNS ) A4規格（210X297公釐) " ------- (請先閱讀背面之注意事項再填寫本頁)The interface device of the present invention provides an input device, which provides users with more sensory and more accurate input information components to serve users with 2 D and 3 D ^ paper size applicable to China National Standard (CNS) A4 specifications (210X297 mm) " ------- (Please read the notes on the back before filling this page)
、1T 經濟部智慧財產局員工消費合作社印製 543028 經濟部智慧財產局Ϊ(工消費合作社印製 A7 B7五、發明説明（2 ) 軟體操作的需要，其直接輸入的方式可趕上人類與其離線 環境的互動。 電動遊戲只是將受惠於此類輸入裝置之增大生產力的 其中一個區域。其他的區域包含，但不受限於音樂作曲與 指揮、照明與聲音控制的結合 '材料成形與操作、網路漫 遊及瀏覽等之類的。消費者對網際網路正確支配的渴望將 得以實現。 發明槪述 本發明的輸入系統一般包含一個使用者穿戴介面，諸 如具有電子、放射源的穿戴式手套、項鍊、踝鍊、襪子、 襯衫，以及對偵測使用者之自然身體動作（如手）及在三 •維空間中之位置所提供的感測器技術。偵測並處理使用者 的動作與位置以將X，y，z及偏航、傾斜、轉動資料提 供給電腦基礎的裝置。 在較佳的手套實施例中，此介面裝置被設計爲具有高 達五根手指的彎曲敏感性以提供完整的手指與腕部辨識， 且最好是包含網路埋入軟體以提供網際網路導航。高達五 根手指的彎曲敏感性是利用嵌入於介面裝置的外罩或“結 構”中的感測器（在較佳實施例1 5中）而達成。除此之 外，例如L E D之放射源（較佳實施例中的陣列1 6 )的 圖樣提供信號給遠端的追蹤裝置，能夠追蹤放射源在三維 中的位置。此裝置包含了定做與專業材料，呈現出重量輕 而且舒適。 I紙張尺度適用中國國家標準（CNS ) A4規格（210X 297公釐Ί 二5 - (請先閱讀背面之注意事項再填寫本頁) 543028 A7 _B7______ 五、發明説明（3 ) (請先閱讀背面之注意事項再填寫本頁) 提供複數個三維方向偵測器給分離的追蹤站（感測器 的工作細節提供於共同審查中的申請案“Shadow Based R a n g e a n d D i r e c t i ο n F i n d e r ”中），該偵測器是用來判斷放射 物件（從手套的L E D所偵測到的放射源）的三維位置。 該物件的三維位置是藉由放射物件在平面中的第一個二維 方向所提供，該方向是入射發射在第一對偵測器之每一個 上的偵測強度比率所決定的第一軸與垂直軸來界定。除此 之外，由第二軸與垂直軸所界定之放射物件於平面中的第 二個二維方向是由入射發射在第二對偵測器之每一個上的 偵測強度比率所決定。如圖7中所示，判斷出物件（ 7 0 4 )與三維方向偵測器7 0 0與7 0 2之任一的距離 ，然後藉由三角測量法利用偵測器間已知的距離便能偵測 出物件的三維方向。 簡單圖示說明 圖1顯示本發明之較佳實施例的系統。 圖2顯示本發明之第二實施例的系統。 經濟部智慧財產局員工消費合作社印製 圖3顯示手的傾斜、偏航、與轉動。 圖4顯示用於圖1之系統的電子圖。 圖5顯示用於本發明之追蹤系統的三角測量技術。 圖6顯示偵測器的幾何圖。 圖7顯示圖6之偵測器與過濾器隔開的陰影。 圖8顯示偵測器頭部幾何。 圖9顯示參考框。 本紙張尺度適用中國國家標準（CNS ) A4規格（2KTX297公釐）^ ' 543028 經濟部智慧財產局員工消費合作社印製 A7 B7五、發明説明（4 ) 圖1 0顯示一基本集合，其中以3 D位置之任意集 爲例。 元件對照表 1 0〇：系統 1〇2 :手套 1〇4 :嵌入電子 1〇5 :放射源 1〇6 :追蹤單元 1 1 0 a :追蹤頭 1 1〇b :追蹤頭 1〇7 :單一整合站 1 0 8 :控制盒 1〇9 :電纜 1 1 4 :螢幕 4 0 2 /·追蹤器電路系統 4〇4 :控制盒電路系統 4〇6 :手套電路系統 4 0 8 :左右追蹤偵測器頭 4 1 0 :輸出放大器 4 1 4 :信號轉換M U X 4 1 6 :電纜的連接器 4 2 0 :類比控制電路系統 4 2 2 :電源供應器 (請先閱讀背面之注意事項再填寫本頁) 本紙張尺度適用中國國家標準（CNS ) Α4規格（210X 297公釐） 543028 A7 ____B7 五、發明説明（5 ) 4 2 4 :連接器1T Printed by the Intellectual Property Bureau of the Ministry of Economic Affairs, Consumer Cooperatives 543028 Intellectual Property Bureau of the Ministry of Economic Affairs (Printed by the Industrial and Consumer Cooperatives A7 B7 V. Invention Description (2) The need for software operation, which can catch up with humans and offline The interaction of the environment. Video games are just one area that will benefit from the increased productivity of such input devices. The other areas include, but are not limited to, the combination of music composition and conducting, lighting and sound control. , Internet roaming, browsing, etc. Consumers' desire for the correct domination of the Internet will be realized. INTRODUCTION The input system of the present invention generally includes a user-wearable interface, such as a wearable with electronic and radioactive sources. Gloves, necklaces, ankle chains, socks, shirts, and sensor technology to detect the user's natural body movements (such as hands) and position in three-dimensional space. Detect and process user movements And position to provide X, y, z and yaw, tilt, and rotation data to a computer-based device. In a preferred embodiment of the glove This interface device is designed to have bending sensitivity of up to five fingers to provide complete finger and wrist recognition, and preferably includes Internet embedding software to provide Internet navigation. Bending sensitivity of up to five fingers This is achieved using sensors (in the preferred embodiment 15) embedded in the cover or "structure" of the interface device. In addition, for example, LED radiation sources (array 1 in the preferred embodiment) 6) The pattern provides a signal to the remote tracking device, which can track the position of the radioactive source in three dimensions. This device contains customized and professional materials, presenting light weight and comfortable. I paper size applies Chinese National Standard (CNS) A4 Specifications (210X 297 mm Ί 2 5-(Please read the precautions on the back before filling this page) 543028 A7 _B7______ V. Description of the invention (3) (Please read the precautions on the back before filling this page) Provide a plurality of three-dimensional Direction detector to separate tracking station (the working details of the sensor are provided in the joint review application "Shadow Based R angeand D irecti ο n F inder") The detector is used to determine the three-dimensional position of the radioactive object (radiation source detected from the glove's LED). The three-dimensional position of the object is provided by the first two-dimensional direction of the radioactive object in the plane, The direction is defined by the first axis and the vertical axis determined by the detection intensity ratio of the incident emission on each of the first pair of detectors. In addition, the radiation object is defined by the second axis and the vertical axis. The second two-dimensional direction in the plane is determined by the detection intensity ratio of the incident emission on each of the second pair of detectors. As shown in FIG. 7, it is determined that the object (7 0 4) and the three-dimensional The distance between any of the direction detectors 70 0 and 70 2 can be detected by triangulation using the known distance between the detectors. BRIEF DESCRIPTION OF THE DRAWINGS Figure 1 shows a system according to a preferred embodiment of the present invention. Fig. 2 shows a system according to a second embodiment of the present invention. Printed by the Consumer Cooperatives of the Intellectual Property Bureau of the Ministry of Economic Affairs Figure 3 shows the tilt, yaw, and rotation of the hand. FIG. 4 shows an electronic diagram for the system of FIG. 1. FIG. Figure 5 shows the triangulation technique used in the tracking system of the present invention. Figure 6 shows the geometry of the detector. FIG. 7 shows the shadow of the detector from the filter of FIG. 6. Figure 8 shows the detector head geometry. Figure 9 shows the reference frame. This paper size applies the Chinese National Standard (CNS) A4 specification (2KTX297 mm) ^ 543028 Printed by the Consumers ’Cooperative of the Intellectual Property Bureau of the Ministry of Economic Affairs A7 B7 V. Description of the invention (4) Figure 10 shows a basic set, of which 3 An arbitrary set of D positions is taken as an example. Component comparison table 100: System 102: Gloves 104: Embedded electrons 105: Radioactive source 106: Tracking unit 1 10a: Tracking head 1 10b: Tracking head 107: Single Integration station 108: control box 109: cable 1 14: screen 4 0 2 / tracker circuit system 4 04: control box circuit system 4 06: glove circuit system 4 0 8: left and right tracking detection Head 4 1 0: Output amplifier 4 1 4: Signal conversion MUX 4 1 6: Cable connector 4 2 0: Analog control circuit system 4 2 2: Power supply (Please read the precautions on the back before filling this page ) This paper size applies to Chinese National Standard (CNS) A4 specification (210X 297 mm) 543028 A7 ____B7 5. Description of the invention (5) 4 2 4: Connector
4 2 6 -USB 4 2 9 :解碼器與驅動器 4 3 0 :類比彎曲感測器 431:介面MUX 4 3 2 :類比彎曲感測器 4 3 6 :連接器 5 〇 〇 :偵測器 5 0 2 :偵測器 5〇4 :放射物件 較佳實施例的詳細說明 圖中及文中將詳細說明本發明之一個或多個的較佳實 施例，可以了解本揭示將被視爲本發明之原則及其實用之 相關功能規格的範例，且不受到所描述之實施例的限制。 熟知此技藝者將在本發明的範圍內展望其他可能的變化。 本發明之輸入裝置的第一實施例一般包含一系統，該 系統包含具有電子的穿戴式手套、光線發射器與偵測器、 位置追蹤器及相關電路系統、以及一個用以輸入至諸如 P C或遊戲操作台之電腦基礎裝置的控制器。此系統用以 偵測使用者的自然手部動作、手勢及三維空間中的位置。 將使用者之手部動作及位置與先前偵測値的相對移動輸入 給電腦基礎裝置。 此裝置的較佳實施例是由具有嵌入電子的穿戴式手套 本纸張尺度適用;國國家標準（CNS ) A4規格（2淑297公釐)-8 : „——4-------衣— (請先閲讀背面之注意事項再填寫本頁)4 2 6 -USB 4 2 9: Decoder and driver 4 3 0: Analog bending sensor 431: Interface MUX 4 3 2: Analog bending sensor 4 3 6: Connector 5 〇: Detector 5 0 2: Detector 504: Detailed description of the preferred embodiment of the radioactive object One or more preferred embodiments of the present invention will be described in detail in the figure and the text. It can be understood that this disclosure will be regarded as the principle of the present invention Examples of related functional specifications and their practical use are not limited by the described embodiments. Those skilled in the art will envision other possible variations within the scope of the invention. The first embodiment of the input device of the present invention generally includes a system including wearable gloves with electronics, a light emitter and detector, a position tracker and related circuitry, and an input device such as a PC or The controller of the computer base of the game console. This system is used to detect the user's natural hand movements, gestures and positions in three dimensions. The user's hand motion and position and the relative movement of the previously detected radon are input to the computer base device. The preferred embodiment of this device is made of wearable gloves with embedded electronics. This paper is suitable for this paper; national national standard (CNS) A4 specification (2 Shu 297 mm) -8: „——4 ------ -衣 — (Please read the notes on the back before filling this page)
、1T b. 經濟部智慧財產局g(工消費合作社印製 543028 A7 ______B7 五、發明説明（6 ) (請先閲讀背面之注意事項再填寫本頁) 、放射源及感測器技術所組成。此裝置的開始位置及移動 將追蹤於電腦螢幕上，其具有支援X、γ與Z軸之定位的 電子&硬體/軟體。本發明的裝置也能夠從拇指與手指的 特定移動來得到手勢辨識。可經由置於手套狀裝置之策略 位置的感測;§§：來逹成手套狀裝置的定位與移動辨識。此類 偵測器追蹤到習知三維空間中的手指彎曲與手部移動以包 含其傾斜、偏航與轉動。 圖1顯示本發明之輸入系統1 〇 〇的實施例。此系統 包含具有嵌入電子1 〇 4的手套1 〇 2、感測器（未顯示 出）、放射源1 0 5 ( L E D )、追縱放射源之位置的追 蹤頭1 0 6，及電腦介面電子，其在此實施例中罩於分離 的控制盒1 0 8中。控制盒1 0 8中的電子將指示使用者 手部之動作與位置的資料經由電纜1 〇 9 (或經由無線傳 經濟部智慧財產局員工消費合作社印製 送）提供給電腦（未顯示出）以作爲輸入。此手套使用嵌 入電子1 0 4以將拇指及手指的特定移動傳達給控制盒 1〇8。此舉可允許使用手部動作與手勢辨識作爲輸入。 當被放射源1 0 5之位置的偵測所辨識時，追蹤頭1 〇 6 將三維位置資訊提供給控制盒1 〇 8。所組合的位置與動 作資訊可使使用者的自然手部移動作爲輸入。 圖2顯示圖1的系統，該系統具有控制盒1 〇 8及追 蹤單元1 0 6組合成單一整合站1 〇 7 (包含追蹤頭 110a與11〇b)。來自連接PC或其他相等電腦系 統的螢幕1 1 4顯示使用者藉由控制手套1 〇 4所輸入的 資料。雖然圖中顯示單一手套，但使用多個手套的代替實 本紙張尺度適用中國國家標準（CNS ) A4規格（210X 297公釐) 543028 A7 B7 五、發明説明（7 ) 施例也在本發明的範圍內。 系統追蹤手指的彎曲 '手部移動、及位置等所有可在 習知三維空間所偵測的項目。這可測量偏航、傾斜及轉動 移動。偏航、傾斜及轉動顯示於圖3中。偏航可界定爲沿 著平行於地面之平面的移動。偏航動作可藉由在水平面側 對側旋轉時保持手掌面對且平行地面來達成。傾斜可界定 爲沿著平行手部頂部的軸且垂直於腕部的移動，因此該軸 是從拇指進入而從小指下方出去。傾斜可藉由在保持前臂 平行於地面的同時藉由上下移動手部來達成。轉動可界定 沿著平行於地面之軸的手部旋轉，該軸從中指的頂端進入 手部並通過平行於前臂的腕部。轉動可藉由保持手部平直 且手掌面對地面，轉動手臂使拇指上升而小指下降來達成 ，或反之亦然。 可經由置於手套1 0 2中之策略位置的感測器來辨識 拇指與手指的移動，例如每個手指中的兩個感測器及拇指 的外展肌感測器。手指彎曲或手套結構因手指移動而伸展 的感應最好是透過條狀感測器或具有可變電阻的導電油墨 (諸如，但不受限於撓性基底上的應變儀、碳基礎的油墨 )而發生。手指的位置改變可在基線偏向電壓&電阻上偵 測到。在不脫離本發明的範圍內可以利用其他類型之感應 手指位置的感測器（最好是每個手指的兩個關節）來代替 〇 使用者手部的位置可藉由追蹤頭1 〇 6來追蹤，利用 手套1 0 2上的電子及與LED結合之支援X、Y、Z軸 - 丨丨*-------- (請先閲讀背面之注意事項再填寫本頁) 訂 經濟部智慧財產局員工消費合作社印製 本紙張尺度適用中國國家標準（CNS ) A4規格（210X 297公釐） 543028 A7 B7 五、發明説明（8 ) 定位的硬體/軟體。最好在3到4群的四個L ED中設有 1〇—1 6個紅外線L E D 1 0 5。然而，L E D的數 量及圖樣變化是在本發明的範圍之內。放射於其他電磁光 譜範圍的L E D (包含可見光）也被視爲本發明的範圍之 內。不管手部方位爲何，最好將每群的L E D置於手部周 圍的不同區中以確保至少一組3個的L E D在追蹤頭 1 0 6的視線內。在每一群中，最好將L E D配置成非共 面架構的圖樣，而具有三角形爲基礎之錐體架構的理想架 構。這些L ED成爲手套1 〇 2的放射源，可藉由追蹤頭 1 0 6而被追蹤。 手套1 0 2之完整的三維位置可利用追蹤頭1 〇 6來 決定。追蹤頭1 0 6採用至少兩個三維方向的偵測器 1 1 0 a與1 1 〇 b，置於彼此間相距已知的距離來判斷 手套的三維位置。其槪念顯示於圖5中。一個三維方向偵 測器5 0 0置於點A。一個相似的第二偵測器5 0 2置於 點B。點A與B以已知的距離d沿著一般稱爲基線的線條 分隔開。偵測器5 〇 〇從點A測量放射物件5 0 4的三維 方向。同樣地，偵測器5 0 2從點B測量放射物件5 0 4 的三維方向。一旦判斷出兩個方向，便利用三角測量來計 算物件與點A或B的距離。如圖中可見，此配置可測量出 放射物件與任一偵測器之距離及三維方向的完整放射源 5〇0三維位置。 這些三維方向偵測器具有一些優點·· 入射放射不受到隙縫的限制，且平面偵測器中的一個 本紙張尺度適用中國國家標準（CNS ) A4規格（210X 297公釐） 11-- - . 8*—- : 111 1 - -I 1 - - Ϊ - -- - n (請先閱讀背面之注意事項存填寫本頁) 訂 經濟部智慧財產局員工消費合作社印製 543028 A7 __B7 五、發明説明（9 ) 偵測器永遠是完全照射的。在相對的範圍上，來自每個平 面偵測器的各個信號範圍是從1 (在頭部開始）至零，而 四個平面偵測器所產生的全部信號範圍是從4 (在頭部開 始）至2。這對信號範圍自1 / 4 t h到1的Marguet方法 是一個重大的改良。 偵測器區的一個大的部分是永遠照射的，可提供較先 前系統較大可用的範圍。 對每個方向的一個偵測器是永遠以所有角度在照射， 且其提供正規化的信號。 將偵測器配置於相同的平面而使裝設難度及費用達最 小化。除此之外，並不需要準確地將偵測器的角度定位排 成直線。 能夠利用任一種包含不昂貴之太陽能蓄電池的偵測器 元件。 諸如鏡面或透鏡的昂貴光學元件則不需要。 不需要將平面偵測器配置的彼此相當靠近，其需要一 中間隙縫。所以，可以使用不昂貴的單一平面偵測器，而 非昂貴的分段平面偵測器。 光線以相同角度照在單一軸對上的兩個偵測器上。所 以，任一個與朗氏（Lambertian )行爲的偏差會以相同方式 影響他們。因爲如此，以及僅利用強度比率來作計算的事 實，所以不會因入射角度而改變測量的準確度。 在另外的實施例中，會調整從光源的放射且僅在調頻 做偵測。這可提供與環繞放射的區別。除此之外’此技術 本紙張尺度適用中國國家標準（CNS ) A4規格（210X 297公釐） -12_ (請先閲讀背面之注意事項再填寫本頁) 訂 Μ 經濟部智慧財產局員工消費合作社印製 543028 A7 B7 五、發明説明（1〇) (請先閲讀背面之注意事項再填寫本頁) 提供測量許多光源之位置資訊的能力。來自不同光源的信 號可利用任一種調變技術使其成爲可區別的，諸如F D Μ 、T D Μ、P C Μ等。經由在偵測器端的適當解碼，而同 時找到所有光源的位置。所以，此系統能夠輕易地爲同時 偵測許多放射光源而延伸，光源的數量僅受到資料處理速 度與容量的限制。 每一群的最好是置於手部周圍的不同區中，以確保於 光學追蹤頭的視線內，該光學追蹤條最好是置於具有可調 整長度之裝設條的背部上。此條將連接於可放在使用者桌 子或桌面上的“攜行電腦塢”。此“攜行電腦塢”可包含 提供自使用者手部之安裝&移除手套狀裝置的輔助。在“ 攜行電腦塢”中將對各種電子組件設有外罩。 控制盒1 0 8 (圖1 )罩住u S Β控制器且最好具有 經濟部智慧財產局員工消費合作社印製 一個USB電纜（主機PC連接），及兩個連接於手套與 光學追蹤頭的電纜。此控制盒包含一個U S B控制器、振 盪器、濾波電容器、以及類比多工器晶片。符合本系統需 要之代表性U S B基礎的微控制器可包含6個Μ I P S、 R I S C核心，其建置於8頻道8位元類比至數位轉換器 。此U S Β控制器最好具有足夠以應付8 Κ指令的碼空間 ，且爲可程式規劃的系統晶片。此類控制器最好也結合了 快閃記憶體，其允許從主機電腦直接將新程式更新、錯誤 修復等下載到U S Β控制器。 此介面裝置最好是一種U S Β產品以允許直接在P c 與遊戲操作台中“隨插即用”。圖4顯示出此介面裝置的 本紙張尺度適用中國國家標準（CNS ) Α4規格（210X 297公釐） 543028 A7 -___ — _B7___ 五、發明説明（11 ) (請先閱讀背面之注意事項再填寫本頁) 方塊圖。現今市場上的P C.全是備有u S B的，以及由 Sony、Sega、Nintendo及Microsoft所提供之最新的遊戲操 作台。將本發明的此裝置設計爲固有介面，用於個人電腦 、獨立電動遊戲操作台及所有其他可相容U s B的3 D軟 體平台，並作用爲P C、M a c / A p p 1 e及遊戲操作 台的周邊裝置。其操作性能依賴於母板、r A Μ、繪圖卡 、及使用者之C P U的螢幕性能，且本發明的裝置將經由 U S B埠與C P U通訊。 如圖所示，此系統包含追蹤器電路系統4 〇 2、控制 盒電路系統4 0 4，及手套電路系統4 0 6。追蹤器電路 系統4 0 2包含主區段，其包含光學追蹤多工板、差動放 大器、DiffLV、DiffRV、DiffLH、DiffRH、SumL、SumR、 DuffB、及電源分配、左右追蹤偵測器頭4 0 8、用於頭部 的輸出放大器4 1 0、相關信號轉換M U X 4 1 4、及 電纜的連接器4 1 6。 經濟部智慧財產局員工消費合作社印製 控制盒4 0 4包含微控制器及其支援組件，諸如快閃 記憶體、時間計時石英、各種類比控制電路系統4 2 0、 電源供應器4 2 2、連接器4 2 4及連接於諸如P C或遊 戲操作台之電腦或電子基礎裝置的U S Β 426。 手套電路系統4 0 6包含L E D陣列（1 6 )及相關 解碼器與驅動器4 2 9、類比彎曲感測器4 3 0 ( 8 )與 4 3 2 ( 7 )及相關介面M U X 4 3 1。驅動L E D以 輸出光線信號，而彎曲感測器則回復移動的信號（典型地 以電阻性條狀感測器之應變（電容的改變）爲基礎）。信 本紙張尺度適用中國國家標準（CNS ) Α4規格（210Χ 297公釐） -14 - 543028 A7 B7 五、發明説明（12) 〜 號的路由是經由4 3 4所控制且可以是硬接線、可藉由習 知構件程式規劃或可預先程式規劃的。連接器4 3 6提供 信號的I /〇給控制器4 〇 4。 追蹤器演算式 可以將一種判斷自L E D的角度與位置的演算式分割 成三個主要步驟。第一步驟是判斷光線自各個L E D進入 (水平與垂直）偵測器頭的角度。第二個步驟則牽涉到三 角測量法以判斷空間中每個L E D的位置資訊。最後的步 驟是提供空間中所有L E D的位置資訊以計算整個手部的 方位。 步驟1 一計算進入角度 參考圖6 : 牆的高度，〇A = h 偵測器的長度，BD = L 陰影的長度，〇C = x 自牆底部至偵測器邊緣的距離，◦ B = d 偵測器的寬度二w t a n<9 = x/ h 〇C = x = h t a η Θ 偵測器的陰影部份，B C =〇C 一〇B = h t a η Θ - d 因此，所照射咅iW分，CD = BD-BC = L-(h tan0-d) = (L-h - ·*, --1- 4H I — ....... — - - - j— —I I Γ請先閎讀背面之注意事項再填寫本頁) 訂 經濟部智慧財產局s(工消費合作社印製 本紙張尺度適用中國國家標準（CNS ) A4規格（210X29?公釐） 543〇28 A7 ^___ 五、發明説明（13) tan0 + d) (請先閲讀背面之注意事項再填寫本頁) 來自偵測器# 2的信號，I 2 = k L w 來自偵測器# 1的信號，I i = k w ( L - h t a n 0 + d ) 其中k是一個比例因子，且包含偵測器靈敏度、系統 增益等。假定其對兩個頻道是相同的。1T b. Intellectual Property Bureau of the Ministry of Economic Affairs (printed by Industrial and Consumer Cooperatives 543028 A7 ______B7 V. Invention Description (6) (Please read the precautions on the back before filling this page), Radioactive Source and Sensor Technology. The starting position and movement of this device will be tracked on the computer screen, and it has electronics & hardware / software that supports X, γ, and Z axis positioning. The device of the present invention can also obtain gestures from specific movements of thumb and fingers Recognition. Sensing the strategic position of the glove-like device; §§: to identify the positioning and movement of the glove-like device. Such detectors track the bending of fingers and hand movements in a known three-dimensional space Including its tilt, yaw and rotation. Figure 1 shows an embodiment of the input system 100 of the present invention. This system includes a glove 1 102 with embedded electronics 104, a sensor (not shown), radiation The source 105 (LED), the tracking head 106 tracking the position of the radioactive source, and the computer interface electronics are covered in a separate control box 108 in this embodiment. The control box 108 Electronic will instruct user's hand The movement and position data are provided to the computer (not shown) via cable 1 09 (or printed and sent by the Consumer Property Cooperative of the Intellectual Property Bureau of the Ministry of Economic Affairs) for input. This glove uses embedded electronics 104 to hold the thumb The specific movement of the finger and the finger is transmitted to the control box 108. This allows the use of hand motion and gesture recognition as inputs. When recognized by the detection of the position of the radioactive source 105, the tracking head 10 will be three-dimensional The position information is provided to the control box 108. The combined position and motion information allows the user's natural hand movements as input. Figure 2 shows the system of Figure 1 with the control box 108 and the tracking unit 10. 6 combined into a single integrated station 107 (including the tracking heads 110a and 110). The screen 1 1 4 from a PC or other equivalent computer system displays the data entered by the user by controlling the glove 104. Although the figure A single glove is shown in the figure, but instead of the actual paper size using multiple gloves, the Chinese national standard (CNS) A4 specification (210X 297 mm) is applicable. 543028 A7 B7 V. Description of the invention (7) Examples are also included in the present invention. Within the range of the system. The system tracks all the items that can be detected in the conventional three-dimensional space, such as the bending of the fingers, hand movement, and position. This can measure yaw, tilt, and rotation. 3. Yaw can be defined as movement along a plane parallel to the ground. Yaw movement can be achieved by keeping the palms facing and parallel to the ground while rotating side to side in the horizontal plane. Tilt can be defined as parallel to the hand The axis at the top is perpendicular to the movement of the wrist, so the axis enters from the thumb and exits from below the little finger. Tilt can be achieved by moving the hand up and down while keeping the forearm parallel to the ground. Rotation defines hand rotation along an axis parallel to the ground, which enters the hand from the tip of the middle finger and passes through the wrist parallel to the forearm. Rotation can be achieved by keeping the hand straight and the palm facing the ground, turning the arm to raise the thumb and lower the little finger, or vice versa. Thumb and finger movements can be identified by sensors placed in strategic positions in the glove 102, such as two sensors in each finger and thumb abductor sensors. The induction of bending of the fingers or the extension of the glove structure due to finger movement is preferably through a strip sensor or conductive ink with variable resistance (such as, but not limited to, strain gauges on flexible substrates, carbon-based inks) Happened. Changes in finger position can be detected on the baseline bias voltage & resistance. Within the scope of the present invention, other types of sensors (preferably two joints of each finger) that sense the position of the finger can be used instead. The position of the user's hand can be tracked by the head 106. Tracking, using the electronics on the glove 1 2 and the support of LED, X, Y, Z axis-丨 丨 * -------- (Please read the precautions on the back before filling this page) Order the Ministry of Economy The paper size printed by the Intellectual Property Bureau's Consumer Cooperatives applies the Chinese National Standard (CNS) A4 specification (210X 297 mm) 543028 A7 B7 V. Description of the invention (8) Hardware / software for positioning. Preferably, 10 to 16 infrared LEDs E D 105 are provided in four LEDs of 3 to 4 groups. However, changes in the number and pattern of LEDs are within the scope of the present invention. L E D (including visible light) emitted in other electromagnetic light spectrum ranges is also considered to be within the scope of the present invention. Regardless of hand orientation, it is best to place each group of LEDs in different areas around the hand to ensure that at least one set of 3 LEDs are within the line of sight of the tracking head 106. In each group, it is best to configure LEDs as a pattern of non-coplanar architectures, and ideal architectures with triangular-based pyramid architectures. These LEDs become a radiation source for the glove 102 and can be tracked by the tracking head 106. The complete three-dimensional position of the glove 102 can be determined using the tracking head 106. The tracking head 10 6 uses at least two three-dimensional detectors 1 10 a and 1 10 b, which are placed at a known distance from each other to determine the three-dimensional position of the glove. The idea is shown in Figure 5. A three-dimensional direction detector 500 is placed at point A. A similar second detector 502 is placed at point B. Points A and B are separated by a known distance d along a line generally called a baseline. The detector 500 measures the three-dimensional direction of the radiation object 504 from the point A. Similarly, the detector 50 2 measures the three-dimensional direction of the radiation object 5 0 4 from the point B. Once the two directions are determined, it is convenient to use triangulation to calculate the distance between the object and the point A or B. As can be seen in the figure, this configuration can measure the distance between the radioactive object and any of the detectors and the complete 3D position of the radiation source in 3D directions. These three-dimensional direction detectors have some advantages ... The incident radiation is not limited by the gap, and one of the plane detectors of this paper size applies the Chinese National Standard (CNS) A4 specification (210X 297 mm) 11--. 8 * —-: 111 1--I 1--Ϊ---n (Please read the notes on the back and fill in this page first) Order printed by the Intellectual Property Bureau Employee Consumer Cooperative of the Ministry of Economic Affairs 543028 A7 __B7 V. Description of the invention (9) The detector is always completely illuminated. In the relative range, each signal range from each plane detector is from 1 (starting at the head) to zero, and the total signal range produced by the four plane detectors is from 4 (starting at the head ) To 2. This is a significant improvement on the Marguet method with a signal range from 1/4 t h to 1. A large portion of the detector area is permanently illuminated, providing a larger usable range than previous systems. One detector for each direction is always illuminated at all angles, and it provides a normalized signal. The detectors are arranged on the same plane to minimize installation difficulty and cost. In addition, it is not necessary to align the angular position of the detector accurately. It is possible to use any type of detector element that includes an inexpensive solar battery. Expensive optics such as mirrors or lenses are not needed. It is not necessary to arrange the plane detectors quite close to each other, it needs a gap gap. Therefore, an inexpensive single plane detector can be used instead of an expensive segmented plane detector. The light hits two detectors on a single axis pair at the same angle. Therefore, any deviation from Lambertian's behavior will affect them in the same way. Because of this, and the fact that only the intensity ratio is used for the calculation, the accuracy of the measurement is not changed by the angle of incidence. In other embodiments, the emission from the light source is adjusted and detection is performed only at FM. This can provide a difference from surround radiation. In addition to this technology, the paper size of this technology is applicable to the Chinese National Standard (CNS) A4 specification (210X 297 mm) -12_ (Please read the precautions on the back before filling this page) Order M Consumer Affairs Cooperative of Intellectual Property Bureau of the Ministry of Economic Affairs Printed 543028 A7 B7 V. Description of Invention (1〇) (Please read the notes on the back before filling this page) Provide the ability to measure the position information of many light sources. Signals from different light sources can be distinguished using any modulation technique, such as F D M, T D M, P C M, and so on. After proper decoding on the detector side, the positions of all light sources are found at the same time. Therefore, this system can be easily extended for the simultaneous detection of many radiation sources. The number of light sources is limited only by the speed and capacity of data processing. Each group is preferably placed in a different area around the hand to ensure that it is within the line of sight of the optical tracking head. The optical tracking strip is preferably placed on the back of the strip with adjustable length. This bar will be connected to a "portable computer dock" that can be placed on the user's desk or desktop. This "portable computer dock" may include assistance in installing & removing glove-like devices from the user's hand. In the "Portable Computer Dock", various electronic components will be covered. The control box 1 0 8 (Figure 1) covers the u S Β controller and preferably has the consumer property cooperative of the Intellectual Property Bureau of the Ministry of Economic Affairs printed a USB cable (host PC connection), and two connected to the gloves and optical tracking head cable. The control box contains a USB controller, an oscillator, a filter capacitor, and an analog multiplexer chip. A typical U S B based microcontroller that meets the needs of this system can include 6 M IP S, R I S C cores, which are built into an 8-channel 8-bit analog-to-digital converter. The U SB controller preferably has enough code space to cope with 8K instructions and is a programmable system chip. This type of controller also preferably incorporates flash memory, which allows downloading new program updates, bug fixes, etc. directly from the host computer to the USB controller. This interface device is preferably a USB product to allow "plug and play" directly in the PC and gaming console. Figure 4 shows that the paper size of this interface device is applicable to the Chinese National Standard (CNS) A4 specification (210X 297 mm) 543028 A7 -___ — _B7___ 5. Description of the invention (11) (Please read the precautions on the back before filling in this Page) block diagram. The PCs on the market today are all equipped with USB and the latest gaming consoles provided by Sony, Sega, Nintendo and Microsoft. The device of the present invention is designed as an inherent interface, which is used for personal computers, independent electric game consoles and all other 3D software platforms compatible with USB s, and functions as PC, M ac / A pp 1 e and games Peripheral devices of the console. Its operation performance depends on the screen performance of the motherboard, r A M, graphics card, and the user's CP, and the device of the present invention will communicate with CP via the USB port. As shown in the figure, this system includes a tracker circuit system 402, a control box circuit system 404, and a glove circuit system 406. The tracker circuit system 402 includes a main section, which includes an optical tracking multiplexer board, a differential amplifier, DiffLV, DiffRV, DiffLH, DiffRH, SumL, SumR, DuffB, and power distribution, left and right tracking detector heads 4 0 8. Output amplifier for head 4 1 0, related signal conversion MUX 4 1 4 and connector 4 1 6 of the cable. The consumer property cooperative printed control box 4 0 4 of the Ministry of Economic Affairs Bureau contains a microcontroller and its supporting components, such as flash memory, time-keeping quartz, various analog control circuit systems 4 2 0, power supply 4 2 2, Connector 4 2 4 and US B 426 connected to a computer or electronic infrastructure such as a PC or gaming console. The glove circuit system 4 0 6 includes an LED array (1 6) and related decoders and drivers 4 2 9, analog bending sensors 4 3 0 (8) and 4 3 2 (7), and related interfaces M U X 4 3 1. The LED is driven to output a light signal, and the bending sensor returns a moving signal (typically based on the strain (change in capacitance) of the resistive strip sensor). The paper size of the letter applies to the Chinese National Standard (CNS) A4 specification (210 × 297 mm) -14-543028 A7 B7 V. Description of the invention (12) The routing of No. ~ is controlled by 4 3 4 and can be hard-wired, can be It can be planned by the known component program or can be pre-programmed. The connector 4 3 6 provides a signal I / 〇 to the controller 4 04. Tracker Algorithm An algorithm for determining the angle and position from LED can be divided into three main steps. The first step is to determine the angle at which light enters (horizontal and vertical) the detector head from each LED. The second step involves triangulation to determine the position information of each LED in space. The final step is to provide the position information of all LEDs in the space to calculate the position of the entire hand. Step 1 Calculate the entry angle Refer to Figure 6: Wall height, 〇A = h length of the detector, BD = L shadow length, 〇C = x distance from the bottom of the wall to the edge of the detector, ◦ B = d The width of the detector wta n < 9 = x / h 〇C = x = hta η Θ The shaded part of the detector, BC = 〇C -〇B = hta η Θ-d. , CD = BD-BC = L- (h tan0-d) = (Lh-· *, --1- 4H I — ....... —---j — —II Γ Please read the back first Please pay attention to this page before filling in this page.) Order the Intellectual Property Bureau of the Ministry of Economic Affairs (printed by the Industrial and Consumer Cooperatives, the paper size applies the Chinese National Standard (CNS) A4 specification (210X29? Mm) 543〇28 A7 ^ ___ 5. Description of the invention 13) tan0 + d) (Please read the notes on the back before filling this page) Signal from detector # 2, I 2 = k L w Signal from detector # 1, I i = kw (L- htan 0 + d) where k is a scale factor and includes detector sensitivity, system gain, etc. It is assumed to be the same for both channels.
因此此比率，iKh-IO/lFtkLw-Uwd-h tan 0 + d)}]/ kLw =(h tan0-d)/L 因此，tan0=(LR+d)/h Θ = a r c tan〔（LR+d)/h〕 此假定偵測器就在套件的表面上。濾波器中的折射需 要校正。圖中我們看見當使用濾波器時會拉長陰影。假如 濾波器與偵測器連結的話，則記算出額外的E F陰影δ度 E F = t a η 0 Sin0 = n s i n 0 令 s in6 = tan0 且 s i n0 二 tan0 ’ 我們 經濟部智慧財產局員工消費合作社印製 得到 EF=t an<9/n 因此，照射區= lw-lw(htan0 + t tan0/n-d) = lw[l-tan0(h + t/n) + d] 即，以（h + t / n )代替h 因此，解答變成： 0 = arc tan[(LR + d)/(h + t/ n] 本紙張尺度適用中國國家標準（CNS ) Α4規格（210Χ297公釐） 543028 A7 B7 五、發明説明（Μ) 就 h 的値爲 4 m m，t = 〇 · 5 m m，η 二 1 . 5 而 言，校正總計約爲4 . 0中的〇 · 3。 (請先閱讀背面之注意事項再填寫本頁) 參考圖7，顯示當偵測器與濾波器相隔空間s時的陰 影。 假如濾波器沒有連結於偵測器，且在兩者間距有如次 頁圖所示的空氣/真空間隔的話。 此方程式變成： 0 = arc tan[(LR + d)/(h + t/n + s] 假定，L=w=3mm 且偵測器的陰極端位在距離封裝邊緣（2 . 1 5 -1 . 5)=〇· 65 處。 因此，d相當接近於0 · 6 5 m m。 步驟2 —三角測量位置資訊 參考圖8 一旦判斷出進入兩個偵測器頭的水平及垂直角度的話 ，便能以三角測量出L E D的X，y，z位置。 經濟部智慧財產局員工消費合作社印製 從上述的圖形中，〇i與〇2代表兩個置於共同X軸的 偵測器頭。Y 1與Y 2爲兩個Y軸，Z i與Z 2爲兩個Z軸。 D爲L E D的位置。其在X Z i平面中的投射爲〇i C對 Z 1的角度0 1。在Y 1 Z 1平面中的投射爲〇1 F對角度 0 i。從第二偵測器〇2的相對角度爲Θ 2與4 2。因爲偵測 器僅沿著X軸移開，所以4 = 0 2，Y 1 = Y 2 = Y，且 Z 1 = Z 2 二 Z 0 本紙張尺度適用中國國家標準（CNS ) A4規格（210X 297公釐） ~ 543028 A7 B7 五、發明説明（15) 注意：這些是由方向探測器中X & Y組偵測器所測量 的角度，其不同於角度0與0 ，角度Θ與0是正常界定且 用於計算方向餘弦的。 Z 1 - :Z 2 — 〇 丄 A =〇2 B 二 Z ，比如說 兩者爲共同的 X 1 二 =0 1 κ 二 A C 二 Z t a η θ 1 X 2 二 =0 2 κ 二 B C 二 Z t a η θ 2 X 1 二 =X 2 + d 所 以 ，Z t a n 0 i = Z t a η 0 2 + d Z ( t a η θ 1 - ~ t a n Θ 2 ) =d Z = d / ( t a Ti Θ i ~ t a n θ 2 ) 因此，XFd/UanQi-tanea/taneia X2 = d/(tan0i- tan02)* tan02Therefore this ratio, iKh-IO / lFtkLw-Uwd-h tan 0 + d)}] / kLw = (h tan0-d) / L Therefore, tan0 = (LR + d) / h Θ = arc tan 〔(LR + d) / h] This assumes that the detector is on the surface of the kit. The refraction in the filter needs to be corrected. In the figure we see that shadows are stretched when using filters. If the filter is connected to the detector, then calculate the additional EF shadow δ degree EF = ta η 0 Sin0 = nsin 0 Let s in6 = tan0 and si n0 two tan0 'Printed by the Consumer Cooperative of the Intellectual Property Bureau of the Ministry of Economic Affairs EF = t an < 9 / n. Therefore, the irradiation area = lw-lw (htan0 + t tan0 / nd) = lw [l-tan0 (h + t / n) + d], that is, (h + t / n ) Instead of h Therefore, the answer becomes: 0 = arc tan [(LR + d) / (h + t / n] This paper size applies to the Chinese National Standard (CNS) A4 specification (210 × 297 mm) 543028 A7 B7 V. Description of the invention (Μ) For h of h is 4 mm, t = 0.5 mm, and η = 1.5, the total correction is about 0.3 in 4.0. (Please read the precautions on the back before filling in this (Page) Refer to Figure 7, which shows the shadow when the detector is separated from the filter by space s. If the filter is not connected to the detector, and there is an air / vacuum interval between the two as shown in the next page. The equation becomes: 0 = arc tan [(LR + d) / (h + t / n + s]. Assume that L = w = 3mm and the cathode end of the detector is located away from the edge of the package (2. 1 5 -1. 5) = 〇 · 65. Therefore, d is quite close to 0 · 6 5 mm. Step 2-Triangulation position information refer to Figure 8 Once the horizontal and vertical angles of the two detector heads are determined, the LED can be triangulated. Positions X, y, and z. Printed by the Consumer Cooperative of the Intellectual Property Bureau of the Ministry of Economic Affairs From the above figure, 〇i and 〇2 represent two detector heads placed on the common X axis. Y1 and Y2 are two The Y axis, Z i and Z 2 are two Z axes. D is the position of the LED. Its projection in the XZ i plane is 0 ° C to Z 1's angle 0 1. The projection in the Y 1 Z 1 plane is 〇1 F pair angle 0 i. The relative angle from the second detector 〇2 is Θ 2 and 4 2. Since the detector moves only along the X axis, 4 = 0 2, Y 1 = Y 2 = Y, and Z 1 = Z 2 2 Z 0 This paper size applies to Chinese National Standard (CNS) A4 (210X 297 mm) ~ 543028 A7 B7 V. Description of the invention (15) Note: These are determined by the X in the direction detector & The angle measured by the Y group of detectors is different from the angles 0 and 0, and the angles Θ and 0 are normally defined and used to calculate the direction cosine. Z 1-: Z 2 — 〇 丄 A = 〇2 B two Z, for example, the two are common X 1 two = 0 1 κ two AC two Z ta η θ 1 X 2 two = 0 2 κ two BC two Z ta η θ 2 X 1 two = X 2 + d So Z tan 0 i = Z ta η 0 2 + d Z (ta η θ 1-~ tan Θ 2) = d Z = d / (ta Ti Θ i ~ tan θ 2) Therefore, XFd / UanQi- tanea / taneia X2 = d / (tan0i- tan02) * tan02
Yi = 〇iG = AF = Z tanq^sYi^OaH^BE^Z tanqj2 Y i z： γ 2 = Y 二 d / ( t a η Θ i - t a η Θ 2) * t a η ψ 2 此方程式是精確的且提供修正符號+或-。 對於上述的方程式，並不需要實際計算角度的正切’ 因爲此値能夠直接從先前步驟所執行的偵測器頭計算中得 到。 步驟3 —計算方位資訊 參考圖Θ 在此階段，我們具有參考照相機框 (camera frame )中 所有可見L E D的X，y，z位置資訊。 必須說明3個主要的參考框。第一框是世界座標框（ 本紙張尺度適用中國國家標準（CNS ) A4規格（210X 297公釐） (请先閱讀背面之注意事項存填寫本買) 訂 經濟部智慧財產局員工消費合作社印製 543028 A7 B7 五、發明説明（16) 框0 )，其在幾何學中可視爲參考的照相機框。然後，另 一個參考框是參考的手部或腕部框，其中置有所有的 0« ί 是 勺 勺 D 到 E 意 L 注 個該 3 應 用 。 利 } 夠 3 能框 們 ( 我框 ， 考 後參 最個 ο 一 ) 另 1 生 框產 C來 D 群 E 定 L 特 框 時 統 系 的 中 間 空 動 移 者 用 使 當 而 的。 定動 固移 是 ο 1 匡 框對 對相 cxi 則 R 氺 。 e航 y 偏 R 是 氺 Ψ "而 Z 5 R斜 II 傾 R 是 陣 Θ 距、 轉動 旋轉 的的 意中 任統 是系 下是 以 P 中 其 k (請先聞讀背面之注意事項再填寫本頁) cos(j)cos© -sin(|)cosv|/+cos(|)sin0sin\|/ sin(|)simj/+cos(t)sin(5)cos\i/ s^cos0 cos(|)cos\i/+sin(|)sin0sin\|/ -cos(j>sin\|/+sinc()sin0cos\|/ -sin® cos0sin\^ cos®Q〇s\\r 經濟部智慧財產局員工消費合作社印製 提供此一般矩陣，距陣的欄位形成轉換空間的基本向 量。相反地，對一般空間給定一組基本向量（i ，j ，k )，便能輕易產生一個旋轉矩陣，其從絕對世界框中的點 轉換至相對世界框。 爲此問題，我們必須得到轉換矩陣R Q i。 R 〇 - > 2 = R 〇 -: > 1 R 1 -： > 2 R 〇 - -> 2〔 R 1 -: > 2〕t = R〇->lRl->2 [ R 1 - > 2 ] t R 〇 - -> 2〔 R 1 -: > 2〕t = R ◦ - > ί轉換的逆向是其移項。 因此，R 〇 - > ί = R 0 - > 2 [ R 1 - > 2 ] t 從此等式，我們能夠計算此轉換矩陣，其將點自照相 本紙張尺度適用中國國家標隼（CNS ) Μ規格（210X 297公釐） 543028 A7 ___B7 五、發明説明（17) 機框帶至腕部框（框〇至框1 )。爲了得到R。- :> 2，我們 只要從照相機可見的L E D產生一基本組並產生旋轉矩陣 。可以相同的方式，藉由計算有關手部上原點之相同 L E D的物理幾何而得到R 1 - > 2。 爲了產生一給定任意組3 D位置的基本組，可以利用 以下的演算式（參考圖1 〇 )。 藉由利用兩個已知點（A，B )產生兩個向量，能夠 產生一組基本向量：A，AXB，ΑΧ (AXB)。在將 這些向量如i ，j ，k欄位向量正規化後，我們得到一個 旋轉矩陣R Q - > 2。藉由利用此精確的相同點及相同的計算 ，我們也能夠產生矩陣〔R i - > 2〕t。利用者厕個矩陣， 便能計算出R 〇 - > 1。 藉由將R。- > i矩陣設定成相等於上述一般偏航\傾斜 \轉動矩陣來計算出實際的角度，而解答出角度。 0=8 i η 1 (― R〇->i(3'1)) Ψ = t an'1 ( R 〇 — > !〔 3，2〕/ R 〇 _ > " 3，3〕） 9 一 t an 1 (R〇->i(2-i]/R〇->i(1)；L] ^ 這些便是我們需要的角度。這將於第一象限中執行。 可以利用矩陣元素的符號組合來找到其他的象限。 專家在電腦輔助設計應用的廣泛範圍中利用3 D視覺 化工具。建築師、遊戲設計師、產品設計師、機械設計師 、結構工程師及動晝製作者都使用P C爲基礎的設計軟體 來產生、操作並在3 D中栩栩如生的動作。此市場需求不 同於遊戲市場，在遊戲市場中使用者企圖產生3 D物件一 本纸張尺度適用中國國家標準（CNS ) A4規格（210X 297公釐1 ^ ----~ __^______衣__ (請先閱讀背面之注意事項再填寫本頁)Yi = 〇iG = AF = Z tanq ^ sYi ^ OaH ^ BE ^ Z tanqj2 Y iz: γ 2 = Y two d / (ta η Θ i-ta η Θ 2) * ta η ψ 2 This equation is accurate and Provide correction symbols + or-. For the above equation, it is not necessary to actually calculate the tangent of the angle 'because this can be obtained directly from the detector head calculation performed in the previous step. Step 3 — Calculate bearing information. Reference picture Θ At this stage, we have X, y, and z position information of all visible LEDs in the reference camera frame. Three main reference frames must be specified. The first frame is the world coordinate frame (this paper size applies the Chinese National Standard (CNS) A4 specification (210X 297 mm) (please read the precautions on the back and fill in this purchase). Order printed by the Consumer Cooperative of the Intellectual Property Bureau of the Ministry of Economic Affairs.) 543028 A7 B7 V. Description of the invention (16) Box 0), which can be regarded as a reference camera frame in geometry. Then, the other reference frame is the reference hand or wrist frame, in which all the 0 «ί are spoons D to E and L to note the 3 applications. It is good enough for 3 energy frames (I frame, see the last one after the exam). Another frame is produced by C, D group, E, and L special frame. It is used by the middle space mover of the system. The fixed motion and fixed movement are ο 1 and the frame is opposite to cxi and R 氺. e Hang y partial R is 氺 Ψ " and Z 5 R oblique II tilt R is the array Θ distance, rotation and rotation of the ideal system is the following is the k in P (please read the precautions on the back before reading (Fill in this page) cos (j) cos © -sin (|) cosv | / + cos (|) sin0sin \ | / sin (|) simj / + cos (t) sin (5) cos \ i / s ^ cos0 cos (|) cos \ i / + sin (|) sin0sin \ | / -cos (j > sin \ | / + sinc () sin0cos \ | / -sin® cos0sin \ ^ cos®Q〇s \\ r Ministry of Economy Intelligence This general matrix is printed and provided by the Property Cooperative Consumer Cooperative. The fields of the matrix form the basic vector of the transformation space. Conversely, given a set of basic vectors (i, j, k) to the general space, a rotation can be easily generated. Matrix, which transforms from points in the absolute world box to the relative world box. For this problem, we must get the transformation matrix RQ i. R 〇- > 2 = R 〇-: > 1 R 1-: > 2 R 〇--> 2 [R 1-: > 2] t = R〇- > lRl- > 2 [R 1-> 2] t R 〇--> 2 [R 1-: > 2] t = R ◦-> The inverse of ί transformation is its shift term. Therefore, R 〇- > ί = R 0-> 2 [R 1-> 2] t from this equation We are able to calculate this transformation matrix, which applies the self-photographic paper size to the Chinese National Standard (CNS) M specification (210X 297 mm) 543028 A7 ___B7 V. Description of the invention (17) The frame is brought to the wrist frame (frame 〇 to box 1). In order to get R.-:> 2, we only need to generate a basic group of LEDs visible from the camera and generate a rotation matrix. In the same way, by calculating the physics of the same LEDs at the origin on the hand Geometry to get R 1-> 2. In order to generate a basic set of 3 D positions of any given group, the following calculation formula can be used (refer to Fig. 10). By using two known points (A, B) Generate two vectors, which can generate a set of basic vectors: A, AXB, AX (AXB). After normalizing these vectors such as i, j, k field vectors, we get a rotation matrix RQ-> 2. Borrow By using this exact same point and the same calculation, we can also generate the matrix [R i-> 2] t. Using a matrix of users, R 0-> 1 can be calculated. By putting R. -> The i matrix is set to be equal to the above general yaw \ tilt \ rotation matrix to calculate the actual angle and solve the angle. 0 = 8 i η 1 (― R〇- > i (3'1)) Ψ = t an'1 (R 〇— >! [3, 2] / R 〇_ > " 3, 3] ) 9 t an 1 (R0- > i (2-i) / R0-> i (1); L] ^ These are the angles we need. This will be performed in the first quadrant. Yes Use symbol combinations of matrix elements to find other quadrants. Experts use 3D visualization tools in a wide range of computer-aided design applications. Architects, game designers, product designers, mechanical designers, structural engineers, and dynamic production Everyone uses PC-based design software to generate, operate, and make life-like moves in 3D. This market demand is different from the game market, in which users attempt to generate 3D objects. The paper size applies Chinese national standards. (CNS) A4 size (210X 297 mm 1 ^ ---- ~ __ ^ ______ clothing __ (Please read the precautions on the back before filling this page)
、1T 經濟部智慈財產局員工消費合作社印製 543028 Α7 Β7 五、發明説明（18) -而不只是ί栄作他們一其傳統上需要時間的耗費及多動作 的處理。 現在，所有的軟體都是爲四個主要輸入裝置而設計： 鍵盤、滑鼠、光筆及數位化輸入板。雖然可用某些裝置（ 即以數位化輸入板來描繪）來完成的工作是有用的，但一 般使用者會對此軟體感到沮喪，主要是因爲其很難學習。 根據所用的軟體及群組的功能需求能夠將此市場的應 用軟體抽出精華分成4個部份。這些部份爲建築、工程與 結構（A E C )市場、機械工程（Μ Ε、或機械電腦輔助 設計的MCAD)巾場、遊戲開發者巾場及電影/錄影市 場。 在其最簡單的重複中，本發明的手套裝置將複製現有 之內建於目前應用軟體中的滑鼠或控制器命令。然而，在 了解本發明裝置之延伸的能力後，開發者將能夠爲現有及 未來的應用軟體產生完全新的命令及使用者界面。目前的 電腦使用者界面將以程式設計語言發展出3 D界面及能夠 使較大尺寸檔案進入的頻寬。 主要的使用者爲網際網路瀏覽的家庭用戶。硏究顯示 在擁有P C之家庭中，其家庭中的所有成員都爲了不同的 理由使用P C。且爲了不同的理由使用網際網路進行連線 。對3 D設計師而言，寬頻的出現將是對產生一般網際網 路使用者使用內容的主要助益。這使網路開發者將真實看 到的物件結合到電子商務站，產生看似真的房間的桌上型 電腦與瀏覽器，且需要經由3 D空間的操作，而最後改變 本紙張尺度適用中國國家標準（CNS ) A4規格（21〇X；297公釐） --,--------- (請先閱讀背面之注意事項再填寫本頁) 訂 經濟部智慧財產笱員工消費合作社印製 543028 A7 B7 五、發明説明（19) P c使用者的全面網際網路經驗。本發明之手套、或其他 身體穿戴裝置將使所有的使用者能夠在此環境中憑直覺地 執行工作。 本發明的手套界面裝置是一個適合於電腦的使用及遊 戲操作台巾場的周邊裝置。本發明的裝置可用於各種使用 (包3但不受其限制）：遊戲、科學視覺化、卡通片、電 腦輔助設計（C A D )、虛擬實境、工業設計、訓練與教 育、及網路瀏覽。此類手套裝置可作爲個人電腦、獨立電 動遊戲操作台或其他U S B裝置的介面，並設有多樣性的 感測器以準確地判斷並追蹤空間中使用者身體部份的位置 ，諸如手部、腕部及五個手指。 結論 在上述對使用者穿戴介面裝置之有效改良的實施例中 已顯示一種系統及方法。雖然已顯示並說明各種較佳實施 例’但可以了解的是本發明並爲此揭示所限制，而更甚者 ，在申請專利範圍所界定之本發明的精神與範圍內能進行 所有的改良與替換結構。例如，本發明不受限於軟體/程 式、計算環境、特定計算硬體、或特定L E D或感測器的 數量、圖樣或佈置。 除此之外，當雙向觸覺回饋技術進行時，機會便會發 生：遠賴機益人操作’提供給盲人的“ B r a i 1 i e 網站、可感覺到結構的線上購物、全新程度的教育、病患 位於對岸而由醫生指導的外科手術。結合增加與特徵選擇 --- --.------衣-- (請先閱讀背面之注意事項再填寫本頁) 訂 經濟部智慧財4.¾員工消費合作社印製 本紙張尺度適用中國國家標準（CNS ) A4規格（210X297公釐） 543028 A7 _____B7_ 五、發明説明（2〇) 之手套裝置的替代實施例包含無線產品、監控流汗與脈搏 的能力、提供並利用觸覺回饋的能力、以及經由可移除式 電子的使用替換手套結構的能力。 上述圖示的增加及其描述的功能元件可在各種計算環 境中實行。例如，本發明可實行於習知I Β Μ P C.或相 等的、多節點系統（例L A Ν )或網路系統（例網際網路 、W W W '無線網路）。將所有相關的程式設計與資料儲 存於電腦的記憶體中，靜態或動態，且可藉由使用者以以 下任何格式將其擷取：習知電腦儲存、顯示（即C R T ) 及/或複印（h a r d c ο p y，即列印）格式。本發明 的程式設計可藉由熟知G U I及I / 〇裝置程式設計技藝 者所實行。 (請先閲讀背面之注意事項再填寫本頁) 衣 經濟部智慧財產局員工消費合作社印製 本纸張尺度適用中國國家標準（CNS ) Α4規格（21〇χ 297公釐Printed by the Consumer Cooperative of the Intellectual Property Bureau of the Ministry of Economic Affairs of the Ministry of Economic Affairs of the People's Republic of China 543028 Α7 Β7 V. Description of the invention (18)-not just for their traditional time-consuming and multi-action processing. All software is now designed for four main input devices: keyboard, mouse, stylus, and digital tablet. Although it is useful to use some devices (i.e., a digital tablet to portray) to accomplish the task, the average user is frustrated with the software, mainly because it is difficult to learn. According to the software and the functional requirements of the group, it can extract the essence of application software in this market into 4 parts. These sectors are the construction, engineering, and structural (A E C) market, mechanical engineering (ME, or mechanical computer-aided design (MCAD)) towel farms, game developer towel farms, and film / video markets. In its simplest iteration, the glove device of the present invention will duplicate existing mouse or controller commands built into current application software. However, after understanding the extended capabilities of the device of the present invention, developers will be able to generate completely new commands and user interfaces for existing and future applications. Current computer user interfaces will use programming languages to develop 3D interfaces and the bandwidth that allows larger file sizes to enter. The primary users are home users browsing the Internet. Research has shown that in households with PCs, all members of their families use PCs for different reasons. And use the Internet for different reasons. For 3D designers, the emergence of broadband will be a major benefit to generating content for the average Internet user. This allows web developers to combine real-seeing objects into e-commerce stations, generating desktop computers and browsers that look like real rooms, and need to operate through 3D space, and finally change the paper scale to apply to China National Standard (CNS) A4 Specification (21〇X; 297mm)-, --------- (Please read the notes on the back before filling this page) Order the Ministry of Economic Affairs Intellectual Property 经济 Employee Consumer Cooperative Printed 543028 A7 B7 V. Description of the invention (19) Comprehensive Internet experience of PC users. The gloves, or other body-wearing devices of the present invention, will enable all users to perform work intuitively in this environment. The glove interface device of the present invention is a peripheral device suitable for the use of a computer and a game console towel field. The device of the present invention can be used for a variety of uses (including 3 without limitation): games, scientific visualization, cartoons, computer-aided design (CAD), virtual reality, industrial design, training and education, and web browsing. This kind of glove device can be used as the interface of a personal computer, a stand-alone video game console or other USB devices, and is equipped with a variety of sensors to accurately determine and track the position of the user's body parts in the space, such as Wrist and five fingers. Conclusion A system and method have been shown in the above-mentioned effective modified embodiment of a user-wearable interface device. Although various preferred embodiments have been shown and described, it is understood that the present invention is limited by this disclosure, and furthermore, all improvements and modifications can be made within the spirit and scope of the present invention as defined by the scope of the patent application. Replace structure. For example, the invention is not limited to the number, pattern, or arrangement of software / programs, computing environments, specific computing hardware, or specific LEDs or sensors. In addition, when the two-way tactile feedback technology is carried out, opportunities will occur: the "Brai 1ie website" provided to the blind, which is based on the operation of the machine, the online shopping with a sense of structure, a whole new level of education, disease The patient is located on the other side and under the guidance of a doctor. Combining the increase with the feature selection --- --- --- ----(Please read the precautions on the back before filling out this page) .¾ The paper size printed by the employee consumer cooperative is applicable to the Chinese National Standard (CNS) A4 specification (210X297 mm) 543028 A7 _____B7_ V. Alternative embodiments of the glove device of the invention description (20) include wireless products, monitor sweating, and The ability to pulse, the ability to provide and use tactile feedback, and the ability to replace glove structures via the use of removable electronics. The additions described above and the functional elements described can be implemented in a variety of computing environments. For example, the present invention It can be implemented in the conventional I BM MP C. or equivalent, multi-node system (such as LA Ν) or network system (such as the Internet, WWW 'wireless network). Set all relevant programs And data are stored in the computer's memory, static or dynamic, and can be retrieved by the user in any of the following formats: known computer storage, display (ie CRT) and / or photocopying (hardc ο py) (Print) format. The programming of the present invention can be implemented by those skilled in GUI and I / 〇 device programming. (Please read the precautions on the back before filling out this page.) This paper size applies to China National Standard (CNS) Α4 specification (21〇χ 297 mm