TWI396117B - Method for processing data from accelerometer to control cursor movement and cursor control device - Google Patents
Method for processing data from accelerometer to control cursor movement and cursor control device Download PDFInfo
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本發明係有關於一顯示游標控制裝置，例如應用於圖形使用者介面(graphic user interface，GUI)的電腦滑鼠，尤指一種改良式游標控制裝置，使用新的加速度計資料處理方法來控制游標移動，於不同的游標移動模式中使用不同的靈敏度，可降低雜訊，穩定游標控制，以加強顯示游標的多維傾斜角度控制。The present invention relates to a display cursor control device, such as a computer mouse used in a graphical user interface (GUI), and more particularly to an improved cursor control device that uses a new accelerometer data processing method to control a cursor. Moving, using different sensitivities in different cursor movement modes, can reduce noise, stabilize cursor control, and enhance the multi-dimensional tilt angle control of the display cursor.
多數的傳統顯示游標控制裝置多是利用光學移動感測或是測量滾球移動，以便進行操作，如電腦滑鼠，這類裝置通常必須於平坦的表面上操作，同時要有足夠的空間供控制裝置移動，另外，操作控制裝置並不利於人體工學而時有傷害情況發生，例如傷害手部、手臂甚至身體其他部位的神經，或是導致其他更嚴重的問題，為了解決此類問題及空間限制，已發展出多種游標控制裝置，但是這些裝置仍然有其限制及使用上的困難性，說明如下。Most of the traditional display cursor control devices use optical motion sensing or measurement of ball movement for operation, such as computer mouse. These devices usually have to operate on a flat surface, and there is enough space for control. The device moves, and the operation control device is not conducive to ergonomics, and there are injuries, such as hurting the nerves of the hands, arms and even other parts of the body, or causing other more serious problems, in order to solve such problems and space. Limitations, a variety of cursor control devices have been developed, but these devices still have limitations and difficulties in use, as explained below.
為了要克服慣用游標控制裝置的使用限制，可使用感音滑鼠，或是將射頻(RF)訊號應用到游標控制系統，這類裝置需要對電腦另外加裝特別的訊號接收裝置，可裝在鍵 盤上或裝在顯示器周圍，這類系統價格昂貴，實行起來又顯複雜，所以無法取代傳統電腦滑鼠成為更實用的游標控制裝置。In order to overcome the limitations of the use of conventional cursor control devices, a sensory mouse can be used, or a radio frequency (RF) signal can be applied to the cursor control system. Such a device needs to be additionally equipped with a special signal receiving device for the computer. key On the disk or around the display, such systems are expensive and complicated to implement, so they cannot replace the traditional computer mouse as a more practical cursor control device.
參考其他專利，有的電腦滑鼠做成手套形狀，因此這種游標控制系統便可以離開桌面使用，也不需要在電腦上加裝訊號接收裝置，這類的游標控制裝置還有指環樣式的，使用者可將其套在手指上使用，以控制游標移動，不過使用這些游標控制裝置時，手指相對於手的移動方式在座標與游標的對應關係上完全不同，所以這類游標控制裝置的市場接受度並不好。Referring to other patents, some computer mouses are made into a glove shape, so the cursor control system can be used away from the desktop, and there is no need to install a signal receiving device on the computer. This type of cursor control device also has a ring-shaped style. The user can use it on the finger to control the movement of the cursor. However, when using these cursor control devices, the movement of the finger relative to the hand is completely different in the correspondence between the coordinates and the cursor, so the market for such a cursor control device Acceptance is not good.
另外還有陀螺儀(gyroscopic)指向(pointing)裝置，該游標控制系統具有陀螺儀，利用滑鼠的指向控制游標，不過這類滑鼠體積較大而且笨重，另外，複雜的陀螺儀系統也意味著高昂的費用。There is also a gyroscopic pointing device that has a gyroscope that uses the mouse's pointing to control the cursor, but such mice are bulky and cumbersome, and the complex gyroscope system also means High cost.
專利公開號WO 0190877揭露了使用加速度計的影像指向控制裝置，將控制裝置傾斜不同的角度來控制游標，就傾斜滑鼠至不同的角度以控制游標移動來說，要使用傳統構造的電腦滑鼠或是其他的影像顯示裝置來作此等操作，是比較困難的，而且對於底部平坦的影像指向裝置，其傾斜操作通常需要一支撐結構，因為此類裝置在懸空時比較不好控制游標，所以需要支撐結構，因此提供支撐結構給此類電腦滑鼠，可使控制游標有較佳的穩定性，不過支撐結構帶來的不方便和麻煩，限制了此類電腦滑鼠或影像指向裝置的實際應用。Patent Publication No. WO 0190877 discloses an image pointing control device using an accelerometer, which controls the cursor by tilting the control device at different angles, and uses a conventionally constructed computer mouse to tilt the mouse to different angles to control the movement of the cursor. Or other image display devices are difficult to perform such operations, and for a flat image pointing device at the bottom, the tilting operation usually requires a supporting structure, because such devices are not good for controlling the cursor when floating, so A support structure is required, so providing a support structure to such a computer mouse can make the control cursor have better stability, but the inconvenience and trouble caused by the support structure limit the actual operation of such a computer mouse or image pointing device. application.
因此，業界目前仍需要一種游標控制及指向系統，所提供的新穎且簡單的使用系統能與目前的控制及指向裝置相容，同時成本低廉，並可解決上述使用困難及操作限制等問題。Therefore, the industry still needs a cursor control and pointing system, and the novel and simple use system provided can be compatible with the current control and pointing device, and the cost is low, and the above-mentioned difficulties in use and operation limitations can be solved.
本發明提供一種游標控制裝置，操作具有彈性，不需要於平坦表面上移動，特別是當控制裝置懸空時也可控制指標，並可利用不同的移動方式控制游標移動，於一實施例中，不需要水平移動控制裝置，僅向右傾斜或向左傾斜該控制裝置，便可以直接使游標向右或向左移動，同樣地，控制裝置也可前後傾斜以控制游標上下移動，並不需要水平移動控制裝置，因為傾斜操作不需要將滑鼠放置於平坦表面上，便能達到節省空間的目的，同時僅需移動手腕，便能簡單又方便地進行游標控制。The invention provides a cursor control device which has elasticity and does not need to move on a flat surface, in particular, when the control device is suspended, the index can be controlled, and the movement of the cursor can be controlled by using different movement modes. In an embodiment, The horizontal movement control device is required to tilt the control device only to the right or to the left, so that the cursor can be directly moved to the right or left. Similarly, the control device can also be tilted back and forth to control the cursor to move up and down without horizontal movement. The control device can achieve the purpose of space saving because the tilting operation does not need to place the mouse on a flat surface, and the cursor control can be performed simply and conveniently only by moving the wrist.
本發明的另一方面提供一種游標控制裝置或指示影像的指向裝置，具有一曲形底部，如橢圓形底部，裝置使用者僅需稍微動動手部或手腕，就可以方便地朝各方向傾斜該裝置，以控制指標的移動或控制顯示影像，這類裝置要求的桌面空間或其他種支撐表面的空間很小，只要能夠支撐曲形底部的接觸區域即可。其實並不一定需要表面支撐，因為傾斜該控制裝置便可移動游標，那麼將控制裝置放在物體表面上或抬離桌面不需支撐都是可以的。Another aspect of the present invention provides a cursor control device or a pointing device for indicating an image having a curved bottom portion such as an elliptical bottom portion, and the user can conveniently tilt the direction in each direction with only a slight movement of the hand or wrist. The device controls the display of the image by controlling the movement of the indicator. The space required for the desktop space or other kind of support surface is small as long as it can support the contact area at the bottom of the curved shape. In fact, surface support is not necessarily required, because tilting the control device can move the cursor, then it is possible to place the control device on the surface of the object or lift off the table without support.
本發明的另一方面提供一種加速度感測器偵測結果的改良處理方法，該處理方法一併考慮指向裝置於桌面上或懸空時的實際移動，當有物件表面可以支撐裝置時，本方法利用不同的靈敏度處理不同角位向(angular orientation)的加速度測量結果，以補償傾斜裝置時手腕朝向不同方向的自由度差異，例如，加速度計以較高靈敏度測量垂直方向的傾斜角度，控制游標上下，而以較低靈敏度測量左右傾斜，控制游標左右移動。Another aspect of the present invention provides an improved processing method for an acceleration sensor detection result, which considers the actual movement of the pointing device on a tabletop or when suspended, and the method utilizes when an object surface can support the device Different sensitivities deal with acceleration measurements of different angular orientations to compensate for differences in the degrees of freedom of the wrists in different directions when tilting the device. For example, the accelerometer measures the tilt angle in the vertical direction with higher sensitivity, and controls the cursor up and down. The left and right tilts are measured with lower sensitivity, and the cursor is controlled to move left and right.
本發明的另一方面提供一種加速度感測器偵測結果的改良處理方法，其中該方法在不同的移動速度時利用不同的加速度來調整靈敏度，例如，當低速或懸空操作移動游標時，降低加速度測量處理的靈敏度，可改善游標移動的穩定性，滿足使用者的需求，當使用者以較低速移動游標或指標時，通常希望能有較高的游標穩定性。Another aspect of the present invention provides an improved processing method for an acceleration sensor detection result, wherein the method uses different accelerations to adjust sensitivity at different moving speeds, for example, when moving a cursor at a low speed or a floating operation, reducing the acceleration Measuring the sensitivity of the processing can improve the stability of the cursor movement and meet the needs of the user. When the user moves the cursor or index at a lower speed, it is generally desirable to have higher cursor stability.
本發明的另一方面提供一種加速度感測器偵測結果的改良處理方法，其中該方法根據二維加速度測量結果，應用高測量靈敏度及高速響應來測量相對於最後水平度的傾斜角度。另外，游標控制方法還可以利用測量控制裝置的三維移動，利用傾斜控制移動方式操作游標控制裝置或影像指向裝置。另外，為了加強控制的便利性，也可提供具有曲面的滑鼠墊，則使用者只要朝向不同方向水平移動控制裝置，便可產生傾斜移動效果。Another aspect of the present invention provides an improved processing method for an acceleration sensor detection result, wherein the method applies a high measurement sensitivity and a high speed response to measure an inclination angle with respect to a final level according to a two-dimensional acceleration measurement result. In addition, the cursor control method can also operate the cursor control device or the image pointing device by using the tilt control movement mode by using the three-dimensional movement of the measurement control device. In addition, in order to enhance the convenience of control, a mouse pad having a curved surface can also be provided, and the user can generate a tilting movement effect by moving the control device horizontally in different directions.
簡言之，本發明揭露一種顯示游標控制裝置，包括低通濾波器，可濾除加速度計所產生之高於截止頻率的高頻 訊號，其中截止頻率取決於游標移動速度，游標移動速度則受顯示游標控制裝置的角位置變化率所控制。Briefly stated, the present invention discloses a display cursor control apparatus including a low pass filter capable of filtering out a high frequency generated by an accelerometer above a cutoff frequency. The signal, wherein the cutoff frequency depends on the moving speed of the cursor, and the moving speed of the cursor is controlled by the rate of change of the angular position of the displayed cursor control device.
於一實施例中，本發明另揭露一種控制顯示游標的方法，該方法包括下列步驟：接收並處理游標控制裝置內的加速度計所產生之訊號，其利用低通濾波器濾除加速度計所產生高於截止頻率的高頻訊號，並根據游標移動速度來調整截止頻率，該游標移動速度受顯示游標控制裝置的角位置變化率所控制。In an embodiment, the present invention further discloses a method for controlling display of a cursor, the method comprising the steps of: receiving and processing a signal generated by an accelerometer in a cursor control device, which is generated by filtering an accelerometer with a low-pass filter. The high frequency signal is higher than the cutoff frequency, and the cutoff frequency is adjusted according to the moving speed of the cursor, and the moving speed of the cursor is controlled by the angular position change rate of the display cursor control device.
藉由參酌圖式與下列相關實施例的詳細敘述，可清楚知悉本發明的目的與優點。The objects and advantages of the invention will be apparent from the description of the appended claims appended claims.
請參閱第一A圖到第一D圖，分別為本發明顯示指標控制裝置的立體圖、上視圖、前視圖及側視圖，其為一滑鼠100，顯示游標控制裝置具有一曲形底部110，可方便地改變滑鼠100的傾斜角度，顯示游標控制裝置包括一加速度計，可感測滑鼠100的水平度變化。顯示游標控制裝置(如電腦滑鼠)100具有一曲形底部110，或是配合具有曲面的滑鼠墊140，如果把滑鼠100或是滑鼠墊140放置於桌面，則可以方便地將滑鼠傾斜至不同的角度。一旦滑鼠移動而呈一新傾斜角度，加速度計可偵測水平度改變，並因應水平度改變，移動在使用者圖形介面裝置(如電腦螢幕)上的顯示游標。另外，顯示游標控制裝置100的設計 還兼顧下列功能。Referring to FIG. 1A to FIG. 1D, respectively, a perspective view, a top view, a front view and a side view of the display index control device of the present invention are a mouse 100, and the display cursor control device has a curved bottom 110. The tilt angle of the mouse 100 can be conveniently changed, and the display cursor control device includes an accelerometer that senses the level change of the mouse 100. The display cursor control device (such as a computer mouse) 100 has a curved bottom portion 110 or a mouse pad 140 having a curved surface. If the mouse 100 or the mouse pad 140 is placed on the table, it can be easily slipped. The mouse is tilted to a different angle. Once the mouse moves to a new tilt angle, the accelerometer detects the level change and moves the display cursor on the user's graphical interface device (such as a computer screen) in response to the level change. In addition, the design of the cursor control device 100 is displayed. It also takes care of the following features.
如第一A圖到第一D圖所示，沿著Y軸稱為寬度，沿著X軸稱為長度，人類手腕在不同方向上能做的移動多少有些差異，例如，當滑鼠100放置於桌面上，手腕左右傾斜移動的自由度大於上下傾斜的自由度，為了補償此差異程度，將滑鼠100設計成具有較窄的寬度W及較長的長度L，亦即L>W，如此可以讓沿著X方向的傾斜移動比較方便。另外，加速度計設計成滑鼠100在X方向的傾斜測量靈敏度高於Y方向，可以讓使用者利用傾斜滑鼠100達到較佳的游標控制效果，因此，沿著垂直方向，如果是同樣的傾斜角度θ，相對於Y軸比起相對於X軸會產生較大的移動。As shown in the first A to the first D, the width along the Y axis and the length along the X axis, the movement of the human wrist in different directions is somewhat different, for example, when the mouse 100 is placed On the table top, the degree of freedom of tilting the left and right sides of the wrist is greater than the degree of freedom of tilting up and down. To compensate for this difference, the mouse 100 is designed to have a narrow width W and a long length L, that is, L>W, It is convenient to move the tilt along the X direction. In addition, the accelerometer is designed such that the tilt measurement sensitivity of the mouse 100 in the X direction is higher than the Y direction, which allows the user to use the tilt mouse 100 to achieve better cursor control effects, and therefore, if the same tilt is along the vertical direction. The angle θ causes a larger movement with respect to the Y axis than with respect to the X axis.
除了傳統的右鍵115－R、左鍵115－L和滾輪118等在電腦滑鼠中常見的控制部分，本發明的滑鼠100還包括兩個側邊按鍵120－1和120－2，按鍵120－1用於調整桌上/懸空操作模式，可改變滑鼠的操作模式為桌上操作模式或懸空操作模式，當懸空操作滑鼠100時，便降低游標控制靈敏度。另外可於滑鼠100底部安裝一重量感測器(未繪出)來取代按鍵120－1，滑鼠100底部的重量感測操作可用來改變操作模式為桌上操作模式或懸空操作模式。按鍵120－2可調整使用/等待模式，當按鍵120－2按下進入使用模式，便會利用滑鼠100的傾斜角度來控制游標移動，如果放開(或扳開)按鍵120－2則進入等待模式，即使移動滑鼠100也不會改變游標的位置。滑鼠100還可提供一 雙重等待情境，如果滑鼠100不動超過一定時間，為了省電，便關閉滑鼠100的電源。另外還可提供一功能，如果連續按壓左鍵115－L及右鍵115－R，則將顯示游標移到顯示裝置的中央。In addition to the conventional control portions commonly found in computer mice such as the right button 115-R, the left button 115-L, and the scroll wheel 118, the mouse 100 of the present invention further includes two side buttons 120-1 and 120-2, and the button 120 -1 is used to adjust the table/over-the-air operation mode, and the operation mode of the mouse can be changed to the desktop operation mode or the floating operation mode. When the mouse 100 is operated in a floating manner, the cursor control sensitivity is lowered. In addition, a weight sensor (not shown) can be installed on the bottom of the mouse 100 instead of the button 120-1. The weight sensing operation at the bottom of the mouse 100 can be used to change the operation mode to the desktop operation mode or the floating operation mode. The button 120-2 can adjust the use/wait mode. When the button 120-2 is pressed into the use mode, the tilt angle of the mouse 100 is used to control the cursor movement, and if the button 120-2 is released (or opened), the button enters. Waiting mode, even if you move the mouse 100, it will not change the position of the cursor. Mouse 100 can also provide one Double waiting for the situation, if the mouse 100 does not move for more than a certain period of time, in order to save power, the power of the mouse 100 is turned off. In addition, a function can be provided. If the left button 115-L and the right button 115-R are continuously pressed, the display cursor is moved to the center of the display device.
除了前述滑鼠具有一曲形底部之外，第二A圖與第二B圖顯示另一實施例，其中滑鼠墊140具有一曲面，當使用者於滑鼠墊140上使用滑鼠100，便會產生傾斜角度使游標移動。In addition to the foregoing mouse having a curved bottom, the second A and second B views show another embodiment in which the mouse pad 140 has a curved surface, and when the user uses the mouse 100 on the mouse pad 140, The tilt angle is generated to move the cursor.
第三A圖顯示游標控制裝置的功能方塊圖，游標控制裝置可為電腦滑鼠100，利用兩個加速度計感測滑鼠100的角度傾斜動作而控制游標移動，游標控制裝置包含第一加速度計150－1和第二加速度計150－2，分別偵測兩個方向的加速度，例如沿著X－方向和Y－方向的加速度，偵測到的加速度訊號分別傳送給第一低通濾波器155－1和第二低通濾波器155－2，濾除某些高頻雜訊，然後將過濾的訊號傳送給第一類比數位轉換器(analog－to－digital converter，ADC)160－1和第二類比數位轉換器160－2，將類比訊號轉換成數位訊號後，輸入微處理器165，微處理器165另外可從滑鼠100的按鍵170接收輸入訊號，按鍵170可為按鍵115－R、115－L、120－1、120－2，微處理器165另外接收滾輪118及處理滾輪118動作的滾輪編碼器所產生的訊號，微處理器165進行訊號處理，此部分將於稍後說明，然後產生的訊號透過電腦介面175輸出給電腦180，因應加速度計150－1和150－2所偵測到滑鼠100的傾斜角 度改變，電腦介面175產生代表游標移動的多筆數位資料。The third A diagram shows a functional block diagram of the cursor control device. The cursor control device can be a computer mouse 100. The cursor movement is controlled by sensing the angular tilting motion of the mouse 100 by two accelerometers, and the cursor control device includes the first accelerometer. The 150-1 and the second accelerometer 150-2 respectively detect accelerations in two directions, for example, accelerations along the X-direction and the Y-direction, and the detected acceleration signals are respectively transmitted to the first low-pass filter 155. -1 and second low pass filter 155-2, filtering out some high frequency noise, and then transmitting the filtered signal to an analog-to-digital converter (ADC) 160-1 and The analog-to-digital converter 160-2 converts the analog signal into a digital signal and inputs it into the microprocessor 165. The microprocessor 165 can additionally receive an input signal from the button 170 of the mouse 100. The button 170 can be a button 115-R. 115-L, 120-1, 120-2, the microprocessor 165 additionally receives the signal generated by the wheel 118 and the wheel encoder that processes the roller 118, and the microprocessor 165 performs signal processing, which will be described later. Then produce The signal is output to the computer 180 through the computer interface 175, and the tilt angle of the mouse 100 is detected by the accelerometers 150-1 and 150-2. The degree of change, the computer interface 175 produces a plurality of digital data representing the movement of the cursor.
第三B圖顯示無線滑鼠的功能方塊圖，其架構與第三A圖的滑鼠相似，唯一的差別在於無線滑鼠包含一射頻發送器185，可將游標移動訊號傳送給具有射頻接收器190的電腦180，射頻接收器190可接收從射頻發送器185發出的訊號。Figure 3B shows the functional block diagram of the wireless mouse. The architecture is similar to that of the mouse in Figure A. The only difference is that the wireless mouse contains a radio frequency transmitter 185 that can transmit the cursor mobile signal to the radio receiver. The computer 180 of 190, the radio frequency receiver 190 can receive the signal sent from the radio frequency transmitter 185.
微處理器165針對從類比數位轉換器接收的數位資料執行某些處理功能，為了控制電腦180的顯示游標，執行一初始化程序，初始化多個參數，經過初始化程序之後，微處理器165如同低通濾波器一般的執行主要任務，並根據預測情況來處理數位資料，不同的預測狀況有：1)滑鼠靜止沒有移動；2)滑鼠緩慢移動；3)滑鼠中速移動；4)滑鼠快速移動。加速度計偵測滑鼠移動，數位濾波器則根據結果預測其狀況以便執行數位訊號處理功能，以達到穩定而準確的游標控制，下面將詳細說明資料濾波程序。The microprocessor 165 performs some processing functions for the digital data received from the analog digital converter. In order to control the display cursor of the computer 180, an initialization program is executed to initialize a plurality of parameters. After the initialization process, the microprocessor 165 is like a low pass. The filter generally performs the main tasks and processes the digital data according to the predicted conditions. The different prediction conditions are: 1) the mouse is stationary and not moving; 2) the mouse moves slowly; 3) the mouse moves at medium speed; 4) the mouse Fast-moving. The accelerometer detects mouse movement, and the digital filter predicts its condition based on the results to perform digital signal processing to achieve stable and accurate cursor control. The data filtering procedure will be described in detail below.
控制滑鼠移動的軟體程式主要分成五個部分，第一部分進行設定參數初始值的功能；程式的第二部分計算目前的角位置；程式的第三部分執行計算游標位移的功能，根據目前的角位置和10毫秒前的角位置間之角度差求得位移；程式的第四部分處理滑鼠的慢速移動；最後，程式的第五部分負責將游標移動資料輸出給電腦。The software program that controls the movement of the mouse is mainly divided into five parts. The first part performs the function of setting the initial value of the parameter; the second part of the program calculates the current angular position; the third part of the program performs the function of calculating the displacement of the cursor according to the current angle. The angular difference between the position and the angular position before 10 milliseconds is used to obtain the displacement; the fourth part of the program handles the slow movement of the mouse; finally, the fifth part of the program is responsible for outputting the cursor movement data to the computer.
理論上，只要加速度計測得資料，便可利用測量資料計算獲得正確的滑鼠角位置，但是因為使用者在握住滑鼠時可能會搖到滑鼠，或是有很小但不規則的移動，實際上 並無法正確計算出滑鼠的角位置，經過低通濾波器過濾的測量訊號還是有剩餘雜訊，會形成干擾，使得角位置的值持續變動，所以計算出來的角位置值並不能直接應用到控制游標移動。雜訊或手部的輕微移動使得游標不停的移動，在顯示螢幕上的位置呈不規則且無法控制的變動，當控制游標由顯示螢幕上的一點快速移到相當距離外的另外一點，這種無法控制或突然改變游標位置的情形通常不太明顯，但是在低速控制游標移動時，這種無法控制的「游標飄移」現象就相當明顯，有時就算滑鼠保持在固定位置沒有移動，也會出現這種惱人的游標飄移現象。要克服這個問題可修改濾波器的若干參數，濾除加速度計測量訊號的較高頻部分，修改某些參數便可達成效果，為了簡化說明，下面例子的低通濾波器將使用較低的截止(cut－off)頻率，降低截止頻率確實可克服此問題，但是降低截止頻率會引發其他的效應，例如降低感測滑鼠移動的靈敏度，使得游標變得較為遲鈍而無法跟上滑鼠的移動，本發明加入一些控制規則來避免這個問題，如果是在控制游標慢慢移動的情況，便需要有較高的穩定性及可控性，相反地，如果是在控制游標快速移動或移動相當距離的情況，游標對滑鼠移動的反應能力比較重要，穩定性及可控性反而變得比較不重要，因此本發明的低通濾波器將根據游標移動的速度調整截止頻率，例如，如果角位置的變化速度很小，便降低截止頻率，較低的截止頻率會減少高頻訊號，並增加游標的穩定性和可控性；相反地，如果是角位置的變化 速度很大使得游標快速移動，便提高截止頻率，如此會增加高頻訊號部分，游標對滑鼠移動也有較快速的反應能力，調高截止頻率會帶來有較多的高頻雜訊，使得游標有不穩定的小移動，但是如果是在控制游標快速移動的情況下，便不需過於擔憂這種游標些微「飄移」的現象，因為使用者此時並不是控制游標用來指向並保持於固定位置，主要是使游標從顯示螢幕上的一個位置移動到其他位置。In theory, as long as the accelerometer measures the data, the measurement data can be used to calculate the correct position of the mouse angle, but because the user may shake the mouse when holding the mouse, or there is a small but irregular movement. Actually The angular position of the mouse cannot be correctly calculated. The measurement signal filtered by the low-pass filter still has residual noise, which will cause interference, so that the value of the angular position continues to change, so the calculated angular position value cannot be directly applied to Controls cursor movement. The slight movement of the noise or the hand causes the cursor to move continuously, and the position on the display screen is irregular and uncontrollable. When the control cursor is quickly moved from the point on the display screen to another point beyond the distance, this Uncontrollable or abrupt changes to the position of the cursor are usually less obvious, but this uncontrollable "cursor drift" is quite noticeable when the cursor is moved at low speeds, sometimes even if the mouse remains in a fixed position and does not move, This annoying cursor drift phenomenon can occur. To overcome this problem, you can modify several parameters of the filter, filter out the higher frequency part of the accelerometer measurement signal, and modify some parameters to achieve the effect. To simplify the description, the low-pass filter of the following example will use a lower cutoff. (cut-off) frequency, reducing the cutoff frequency does overcome this problem, but lowering the cutoff frequency can cause other effects, such as reducing the sensitivity of the sensing mouse movement, making the cursor slower and unable to keep up with the movement of the mouse. The present invention adds some control rules to avoid this problem. If it is in the case of controlling the cursor to move slowly, it needs to have higher stability and controllability. Conversely, if it is controlling the cursor to move quickly or move a considerable distance. In the case, the responsiveness of the cursor to the movement of the mouse is important, and the stability and controllability become less important, so the low-pass filter of the present invention will adjust the cutoff frequency according to the speed of the cursor movement, for example, if the angular position The rate of change is small, the cutoff frequency is reduced, the lower cutoff frequency reduces the high frequency signal, and increases the cursor Qualitative and controllability; conversely, if it is a change of the angular position The high speed makes the cursor move quickly, and the cutoff frequency is increased. This will increase the high-frequency signal part. The cursor also has a quick response capability to the mouse movement. Increasing the cut-off frequency will bring more high-frequency noise. The cursor has an unstable small movement, but if you control the cursor to move quickly, you don't need to worry too much about the cursor's "floating" phenomenon, because the user is not controlling the cursor to point and keep at this time. The fixed position is mainly to move the cursor from one position on the display screen to another position.
於本發明的一個實施例中，在加速度計之後選擇放置一個100 Hz低通濾波器，以硬體方式濾除頻率100 Hz以上的訊號，於本發明中，更利用一特殊的軟體低通濾波器，其中截止頻率取決於滑鼠移動的速度，根據加速度計測量結果的角位向變化率調整截止頻率，軟體低通濾波器每10毫秒執行一次程式，利用加速度計的測量結果，首先求得這10毫秒內滑鼠的角位置改變，計算出滑鼠移動速度，有一種特殊的情況是當滑鼠移動非常緩慢時，滑鼠的操作可能會有幾次中斷，判斷滑鼠的移動速度不能只根據開始到結束這10毫秒間的兩點之角度差，還必須要計算數個10毫秒時間間距內的平均速度，將這些連續的角位置變動納入考慮，計算出平均滑鼠移動速度。In one embodiment of the present invention, a 100 Hz low-pass filter is selected after the accelerometer to filter out signals having a frequency above 100 Hz in a hard manner. In the present invention, a special software low-pass filter is further utilized. The cutoff frequency depends on the speed of the mouse movement. The cutoff frequency is adjusted according to the angular position of the accelerometer measurement result. The software low-pass filter executes the program every 10 milliseconds, and the measurement result of the accelerometer is used first. The angular position of the mouse changes within 10 milliseconds, and the movement speed of the mouse is calculated. There is a special case that when the mouse moves very slowly, the operation of the mouse may be interrupted several times, and the movement speed of the mouse cannot be judged. According to the angle difference between the two points in the 10 milliseconds from the beginning to the end, it is necessary to calculate the average speed in several 10-millisecond time intervals, and take these continuous angular position changes into consideration to calculate the average mouse movement speed.
為了方便起見，將處理加速度計測量結果的操作分成四種狀態，分別為(1)靜止狀態，滑鼠待在一個位置沒有移動；(2)滑鼠低速移動；(3)滑鼠中速移動；以及(4)滑鼠高速移動。針對這四種狀態會使用不同的低通濾波器參數。For the sake of convenience, the operation of processing the accelerometer measurement results is divided into four states, namely (1) static state, the mouse is not moved in one position; (2) the mouse moves at a low speed; (3) the mouse is at a medium speed Move; and (4) the mouse moves at high speed. Different low pass filter parameters are used for these four states.
軟體濾波器執行計算程序，首先計算目前角位置，並 與10毫秒前的角位置比較，根據下列規則估算角位移：如果角位移小於一個預定值A，將差值視為雜訊，不需要移動游標；如果角位移大於預定值A而小於另一預定值B，將角位移乘以α值，生成游標移動值；如果角位移大於預定值B而小於另一預定值C，將角位移大於預定值B的部分乘以β值，另一部分則乘以α值，兩者相加，生成游標移動值。如此，當滑鼠移動速度逐漸增加，乘法因子會逐漸增大，以加重其權重，可增強游標對滑鼠移動的反應能力。取決於速度的低通濾波器以及計算游標移動值的累加程序都是為了相同的目的，就是以較低的靈敏度處理使用者手部的不規則輕微移動，游標對滑鼠稍微移動的反應較小，便可以增加游標在慢速移動時的穩定性，有助於使用者指向並控制游標於一固定位置，游標慢速移動時便可有較高的穩定性及可控性。相反地，如果快速移動滑鼠超過預定速度，就要提高游標對滑鼠移動的反應能力，在計算游標移動時加入較大的權重因子可以達成此功效。The software filter performs a calculation program, first calculating the current angular position, and Comparing with the angular position before 10 milliseconds, the angular displacement is estimated according to the following rules: if the angular displacement is less than a predetermined value A, the difference is regarded as noise, and the cursor is not required to be moved; if the angular displacement is greater than the predetermined value A and less than another predetermined The value B, multiplying the angular displacement by the alpha value, generates a cursor movement value; if the angular displacement is greater than the predetermined value B and less than another predetermined value C, the portion of the angular displacement greater than the predetermined value B is multiplied by the beta value, and the other portion is multiplied by The alpha value, which is added together, generates a cursor movement value. Thus, as the moving speed of the mouse gradually increases, the multiplication factor will gradually increase to increase its weight, which can enhance the responsiveness of the cursor to the movement of the mouse. The speed-dependent low-pass filter and the accumulating procedure for calculating the cursor movement value are for the same purpose, that is, the irregular movement of the user's hand is handled with a lower sensitivity, and the cursor has less reaction to the mouse to move slightly. It can increase the stability of the cursor during slow movement, help the user to point and control the cursor in a fixed position, and the cursor can have higher stability and controllability when moving slowly. Conversely, if the fast moving mouse exceeds the predetermined speed, the responsiveness of the cursor to the movement of the mouse is increased, and a larger weighting factor can be added to calculate the movement of the cursor to achieve this effect.
上述累加方法有一使用限制，如果使用者用非常慢的速度移動滑鼠，就算滑鼠的傾斜角度已經很大，但是每10毫秒之內的角位移變動低於最小預定值A，游標會保持固定不動，所以應用一慢速移動演算規則來處理這種「微動作」狀況，執行微動作處理程序時，計算目前角位移，判斷沿著X軸方向的角位移是否小於最小預定值A，如果沿著X方向的角位移小於最小預定值A，通知游標不要移動，同時比較X軸方向的目前角位置與參考角位置，如果兩者 間的差值大於慢速移動門檻，那麼控制游標沿X軸方向移動一個像素點，重新定義參考角位置為目前角位置，上述演算規則也可應用到Y軸方向的移動，本方法的好處是方便使用者能夠使游標一次移動一個像素點的距離，那麼慢慢傾斜滑鼠也可正確控制游標慢速移動。The above accumulation method has a usage limitation. If the user moves the mouse at a very slow speed, even if the tilt angle of the mouse is already large, the angular displacement variation within 10 milliseconds is less than the minimum predetermined value A, and the cursor remains fixed. Do not move, so apply a slow moving algorithm to handle this "micro-action" condition. When performing the micro-motion processing program, calculate the current angular displacement and determine whether the angular displacement along the X-axis direction is less than the minimum predetermined value A. The angular displacement in the X direction is less than the minimum predetermined value A, notifying the cursor not to move, while comparing the current angular position in the X-axis direction with the reference angular position, if both The difference between the values is greater than the slow moving threshold, then the control cursor is moved by one pixel along the X-axis direction, and the reference angular position is redefined as the current angular position. The above calculation rule can also be applied to the movement in the Y-axis direction. The advantage of this method is that It is convenient for the user to move the cursor one pixel at a time, so slowly tilting the mouse can also control the cursor to move slowly.
請參閱第四圖，第四圖為根據本發明之具體實施例示意圖，說明微處理器165所執行的控制操作，處理加速度計150－1及150－2送出的訊號並經過通訊模組(射頻接收器)190輸出給電腦，控制程序先初始化所有的操作參數，其中包括前述的軟體低通濾波器之截止頻率，初始化參數之後，計算滑鼠的目前角位置。Please refer to the fourth figure. The fourth figure is a schematic diagram illustrating the control operation performed by the microprocessor 165 according to the embodiment of the present invention. The signals sent by the accelerometers 150-1 and 150-2 are processed and passed through the communication module (RF). The receiver 190 outputs to the computer, and the control program first initializes all the operating parameters, including the cutoff frequency of the aforementioned soft low-pass filter, and after initializing the parameters, calculates the current angular position of the mouse.
根據第一圖到第三圖的實施例及說明，本發明揭露了如第四圖的資料處理系統200，資料處理系統200包含可控制顯示螢幕220上的游標之顯示游標控制裝置210，亦即第一圖到第三圖所說明的控制裝置，顯示游標控制裝置210還包含低通濾波器，可濾除加速度計所輸出訊號中高於截止頻率的部分訊號，其中截止頻率取決於游標移動速度，游標移動速度則由顯示游標控制裝置的角位置變化率所控制，於一實施例中，資料處理系統200可為個人電腦(第四圖)，個人電腦200與顯示游標控制裝置210連接，可接收其訊號並控制游標移動。於另一實施例中，顯示游標控制裝置更包含具有曲形底部的殼體，因此可以方便地傾斜顯示游標控制裝置，改變殼體內加速度計的水平度。於另一實施例中，顯示游標裝置更包含一微處裡器，可實 現該低通濾波器。於另一實施例中，顯示游標控制裝置更包含一無線訊號發送器，將顯示游標控制訊號輸出至資料處理系統。於另一實施例中，顯示游標控制裝置的低通濾波器根據顯示游標控制裝置的角位置變化率調整截止頻率，如果角位置變化率降低，則降低截止頻率，以增加顯示游標在低速移動時的穩定性及可控性。於另一實施例中，顯示游標控制裝置的低通濾波器根據顯示游標控制裝置的角位置變化率調整截止頻率，如果角位置變化率增加，則增加截止頻率，以增加顯示游標在快速移動時的反應能力。於另一實施例中，顯示游標控制裝置更包含一微處理器，可每隔一預定時間重複執行角位置計算程式，求得該預定時間內的角位置改變，以求得該顯示游標控制裝置的角位置變化率。於另一實施例中，該微處理器可於將近10毫秒的預定時間內重複執行角位置計算程式，求得該顯示游標控制裝置的角位置改變。於另一實施例中，當最近時間間隔內的角位置變化率低於一預定值，預測該顯示游標控制裝置在慢速移動時有間歇中斷，該微處理器便求得若干個時間間隔內的平均角位置變化率。於另一實施例中，如果微處理器判斷該預定時間內的角位置改變低於雜訊門檻值，則該微處理器更產生控制顯示游標的訊號，使顯示游標於原位固定不動。於另一實施例中，該微處理器更產生控制顯示游標的訊號，使游標移動速度為顯示游標控制裝置的角速度變化速度乘以一權重因子，該權重因子對應於角位置變化率。於另一實施例中，該處理器計算對 應角位置變化率的比重因子，先將角位置變化率區分成數個速度範圍，較高的速度範圍對應較大的權重因子，將每一速度範圍內的角位置變化率乘以對應的權重因子，因此顯示游標於高速範圍時有較好的反應能力，於低速範圍時有較高的穩定性。於另一實施例中，如果微處理器判斷該預定時間內的角位置改變低於雜訊門檻值，微處理器會執行一慢速移動演算，求得在特定方向上的目前角位置和參考角位置間的差值，如果差值大於游標移動門檻值，即使目前預定時間內的角位置改變低於雜訊門檻值，微處理器也會產生訊號使顯示游標沿著該特定方向移動一個像素點的距離。於另一實施例中，微處理器於X軸方向上執行該慢速移動演算。於另一實施例中，微處理器於Y軸方向上執行該慢速移動演算。於另一實施例中，該顯示游標控制裝置更包含一殼體，構成一完全密封的外殼，基本上為防水與防塵的殼體。於另一實施例中，該顯示游標控制裝置藉由傾斜不同的角位置來控制該資料處理系統的游標移動，可於支撐表面上使用或懸空使用。於另一實施例中，該顯示游標控制裝置更包含一殼體，具有一橢圓外形，可方便傾斜至不同角位置。於另一實施例中，該顯示游標控制裝置更包含第一加速度計和第二加速度計，分別測量沿著互相垂直的第一方向與第二方向的傾斜角度，利用兩個不同的游標響應參數控制游標在該第一方向與第二方向上的移動。According to the embodiment and the description of the first to third figures, the present invention discloses a data processing system 200 as shown in FIG. 4, the data processing system 200 includes a display cursor control device 210 that can control a cursor on the display screen 220, that is, In the control device illustrated in the first to third figures, the display cursor control device 210 further includes a low-pass filter that filters out a portion of the signal output by the accelerometer that is higher than the cutoff frequency, wherein the cutoff frequency depends on the moving speed of the cursor. The cursor moving speed is controlled by the angular position change rate of the display cursor control device. In an embodiment, the data processing system 200 can be a personal computer (fourth figure), and the personal computer 200 is connected to the display cursor control device 210 and can receive Its signal and control cursor movement. In another embodiment, the display cursor control device further includes a housing having a curved bottom portion, so that the cursor control device can be conveniently tilted to change the level of the accelerometer in the housing. In another embodiment, the display cursor device further includes a micro-instrument, which is Now the low pass filter. In another embodiment, the display cursor control device further includes a wireless signal transmitter that outputs the display cursor control signal to the data processing system. In another embodiment, the low pass filter of the display cursor control device adjusts the cutoff frequency according to the angular position change rate of the display cursor control device, and if the angular position change rate decreases, the cutoff frequency is decreased to increase the display cursor when moving at a low speed. Stability and controllability. In another embodiment, the low pass filter of the display cursor control device adjusts the cutoff frequency according to the angular position change rate of the display cursor control device, and if the angular position change rate increases, the cutoff frequency is increased to increase the display cursor during rapid movement. Responsiveness. In another embodiment, the display cursor control device further includes a microprocessor, and the angular position calculation program can be repeatedly executed every predetermined time to obtain an angular position change within the predetermined time to obtain the display cursor control device. The angular position change rate. In another embodiment, the microprocessor can repeatedly execute the angular position calculation program for a predetermined time of approximately 10 milliseconds to determine the angular position change of the display cursor control device. In another embodiment, when the angular position change rate in the most recent time interval is lower than a predetermined value, it is predicted that the display cursor control device has an intermittent interruption during the slow movement, and the microprocessor obtains several time intervals. The average angular position change rate. In another embodiment, if the microprocessor determines that the angular position change within the predetermined time is lower than the noise threshold, the microprocessor further generates a signal for controlling the display of the cursor so that the display cursor is fixed in place. In another embodiment, the microprocessor further generates a signal for controlling the display of the cursor, such that the cursor moving speed is the angular velocity change speed of the display cursor control device multiplied by a weighting factor corresponding to the angular position change rate. In another embodiment, the processor calculates a pair According to the specific gravity factor of the angular position change rate, the angular position change rate is first divided into several speed ranges, and the higher speed range corresponds to a larger weight factor, and the angular position change rate in each speed range is multiplied by the corresponding weight factor. Therefore, the cursor is displayed in a high speed range and has a good reaction capability, and has a high stability in a low speed range. In another embodiment, if the microprocessor determines that the angular position change within the predetermined time is below the noise threshold, the microprocessor performs a slow motion calculation to obtain the current angular position and reference in a particular direction. The difference between the angular positions, if the difference is greater than the cursor moving threshold, even if the angular position of the current predetermined time changes below the noise threshold, the microprocessor will generate a signal to move the display cursor by one pixel along the specific direction. The distance of the point. In another embodiment, the microprocessor performs the slow motion calculation in the X-axis direction. In another embodiment, the microprocessor performs the slow motion calculation in the Y-axis direction. In another embodiment, the display cursor control device further includes a housing that forms a completely sealed outer casing that is substantially waterproof and dust-proof. In another embodiment, the display cursor control device controls the cursor movement of the data processing system by tilting different angular positions, which can be used on the support surface or suspended. In another embodiment, the display cursor control device further includes a housing having an elliptical shape for facilitating tilting to different angular positions. In another embodiment, the display cursor control device further includes a first accelerometer and a second accelerometer, respectively measuring tilt angles along the first direction and the second direction perpendicular to each other, using two different cursor response parameters The movement of the cursor in the first direction and the second direction is controlled.
雖然本發明藉由上述較佳實施例進行說明，但是並不 代表限制本發明於此實施例，熟悉此技藝相關人士藉由上述說明可據以改變及修飾，然皆不脫如附申請專利範圍的範疇及精神。Although the present invention has been described by the above preferred embodiments, it is not The present invention is not limited to the scope and spirit of the appended claims.
本案圖式中所包含之各元件列示如下：The components included in the diagram of this case are listed as follows:
100‧‧‧滑鼠100‧‧‧ mouse
110‧‧‧曲形底部110‧‧‧ curved bottom
115－R、115－L‧‧‧按鍵115-R, 115-L‧‧‧ button
118‧‧‧滾輪118‧‧‧Roller
120－1、120－2‧‧‧按鍵120-1, 120-2‧‧‧ button
140‧‧‧滑鼠墊140‧‧‧ Mouse pad
150－1、150－2‧‧‧加速度計150-1, 150-2‧‧‧ accelerometer
155－1、155－2‧‧‧低通濾波器155-1, 155-2‧‧‧ low pass filter
160－1、160－2‧‧‧類比數位轉換器160-1, 160-2‧‧‧ analog digital converter
165‧‧‧微處理器165‧‧‧Microprocessor
170‧‧‧按鍵170‧‧‧ button
175‧‧‧電腦介面175‧‧‧Computer interface
180‧‧‧電腦180‧‧‧ computer
185‧‧‧射頻發送器185‧‧‧RF Transmitter
190‧‧‧射頻接收器190‧‧‧RF Receiver
200‧‧‧資料處理系統200‧‧‧Data Processing System
210‧‧‧顯示游標控制裝置210‧‧‧Display cursor control device
220‧‧‧顯示螢幕220‧‧‧display screen
本案得藉由下列圖式及說明，俾得一更深入之了解：第一A圖到第一D圖分別為本發明的顯示游標控制裝置(即滑鼠)的立體圖、上視圖、前視圖及側視圖。In this case, a more in-depth understanding can be obtained from the following drawings and descriptions: the first A diagram to the first D diagram are respectively a perspective view, a top view, a front view and a front view of the display cursor control device (ie, a mouse) of the present invention. Side view.
第二A圖與二B圖為具有曲面的滑鼠墊之示意圖，使用者水平移動滑鼠，可產生一傾斜角度，來移動游標或顯示影像指向裝置。The second A and B diagrams are schematic diagrams of a mouse pad having a curved surface. The user moves the mouse horizontally to generate an oblique angle to move the cursor or display the image pointing device.
第三A圖與第三B圖為功能方塊圖，說明本發明的游標控制裝置或影像指向裝置及其內的加速度計。3A and 3B are functional block diagrams illustrating the cursor control device or image pointing device of the present invention and an accelerometer therein.
第四圖為根據本發明之示意圖，其中的資料處理系統(如個人電腦)包含一顯示螢幕，其游標受第一圖到第三圖的顯示游標控制裝置所控制。The fourth diagram is a schematic diagram of a data processing system (e.g., a personal computer) including a display screen whose cursor is controlled by the display cursor control devices of the first to third figures.
100‧‧‧滑鼠100‧‧‧ mouse
118‧‧‧滾輪118‧‧‧Roller
150－1、150－2‧‧‧加速度計150-1, 150-2‧‧‧ accelerometer
155－1、155－2‧‧‧低通濾波器155-1, 155-2‧‧‧ low pass filter
160－1、160－2‧‧‧類比數位轉換器160-1, 160-2‧‧‧ analog digital converter
165‧‧‧微處理器165‧‧‧Microprocessor
170‧‧‧按鍵170‧‧‧ button
175‧‧‧電腦介面175‧‧‧Computer interface
180‧‧‧電腦180‧‧‧ computer
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| US11/981,330 US20090146953A1 (en) | 2006-10-30 | 2007-10-30 | Methods for processing data from accelerometer in anticipating real-time cursor control movements |
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| US8793620B2 (en) * | 2011-04-21 | 2014-07-29 | Sony Computer Entertainment Inc. | Gaze-assisted computer interface |
| TWI404932B (en) * | 2009-07-15 | 2013-08-11 | Univ Southern Taiwan Tech | Nuclear control module for tri-axis accelerometer |
| TWI406154B (en) * | 2009-10-16 | 2013-08-21 | Hanwang Technology Co Ltd | A coordinate input device and a method capable of acquiring position information |
| CN103389806A (en) * | 2012-05-11 | 2013-11-13 | 深圳大学 | Wireless free mouse system based on micro-accelerometer |
| TWI673477B (en) * | 2018-06-26 | 2019-10-01 | 晶翔機電股份有限公司 | Surface slope identification device and identifying method thereof |
| CN111189447A (en) * | 2018-11-15 | 2020-05-22 | 北京自动化控制设备研究所 | Low-pass filtering method of position measurement inertial navigation system |
| CN110489027B (en) * | 2019-07-05 | 2021-07-23 | 深圳市格上格创新科技有限公司 | Handheld input device and display position control method and device of indication icon of handheld input device |
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