WO2013023411A1 - Procédé de localisation de dispositif de détection d'attitude, et procédé de commande de pointeur de souris - Google Patents

Procédé de localisation de dispositif de détection d'attitude, et procédé de commande de pointeur de souris Download PDF

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Publication number
WO2013023411A1
WO2013023411A1 PCT/CN2011/081619 CN2011081619W WO2013023411A1 WO 2013023411 A1 WO2013023411 A1 WO 2013023411A1 CN 2011081619 W CN2011081619 W CN 2011081619W WO 2013023411 A1 WO2013023411 A1 WO 2013023411A1
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WIPO (PCT)
Prior art keywords
gyroscope
sensing device
voltage
output voltage
angular velocity
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Application number
PCT/CN2011/081619
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English (en)
Chinese (zh)
Inventor
龙涛
刘正东
龙江
唐元浩
严松
Original Assignee
江苏惠通集团有限责任公司
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Publication of WO2013023411A1 publication Critical patent/WO2013023411A1/fr

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Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
    • G06F3/033—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
    • G06F3/0346—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor with detection of the device orientation or free movement in a 3D space, e.g. 3D mice, 6-DOF [six degrees of freedom] pointers using gyroscopes, accelerometers or tilt-sensors
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
    • G01C19/56—Turn-sensitive devices using vibrating masses, e.g. vibratory angular rate sensors based on Coriolis forces
    • G01C19/5776—Signal processing not specific to any of the devices covered by groups G01C19/5607 - G01C19/5719

Definitions

  • the present invention relates to the field of positioning of a gesture sensing device, and more particularly to a positioning method of a gesture sensing device and a method for controlling a mouse pointer.
  • the basic principle of the gyroscope is the orientation instrument that is manufactured by using the high-speed rotation of the object and the strong angular momentum to make the rotating shaft stably point to one direction.
  • a corresponding declination angle is generated, and according to the relationship between the declination angle and the motion, the motion trajectory and position of the current moving part are obtained, thereby realizing the positioning function.
  • the control method of the mouse pointer of the space mouse of the prior art because the gyroscope in the space mouse is not accurate enough to sense the motion posture, so that the sensitivity of using the space mouse of the prior art to control the movement of the mouse pointer is low, The actual operation of the user brings inconvenience.
  • the problem to be solved by the present invention is to provide a method for positioning a posture sensing device capable of accurately positioning an attitude sensing device, and a method for controlling a mouse pointer with high sensitivity.
  • embodiments of the present invention provide a method for acquiring an output voltage of a gyroscope, including:
  • Amplifying the initial voltage signal by a second multiple the second multiple is greater than the first multiple, filtering out high frequency interference, and performing A/D sampling to obtain a second voltage
  • the threshold voltage is 1380 ⁇ 1420mv.
  • the method further includes: after the first voltage is amplified by the first multiple, filtering the high frequency interference, performing differential operation amplification; after the initial voltage signal is amplified by the second multiple, filtering the high frequency interference, Perform differential operation amplification.
  • An embodiment of the present invention further provides a positioning method of an attitude sensing device, where the posture sensing device includes at least a first gyroscope and a second gyroscope, and a detection arm of the first gyroscope is perpendicular to the second gyroscope The detection arm of the instrument, including:
  • the second position is a component in the first direction and the second direction to position the attitude sensing device, the first direction being perpendicular to the second direction.
  • the linear relationship between the output voltage of the first gyroscope and the rotational angular velocity is
  • V is the output voltage of the first gyroscope
  • ⁇ is the rotational angular velocity of the first gyroscope
  • ai is the rotational angular velocity of the first gyroscope
  • ⁇ is a constant
  • V 2 a 2 co 2 + b 2
  • V 2 is the output voltage of the second gyroscope
  • ⁇ 2 is the The rotational angular velocity of the second gyroscope, a 2 , b 2 is constant.
  • the ai and a 2 are 0.67, and the bb 2 is 1350.
  • the step of determining components of the second position of the attitude sensing device in the first direction and the second direction based on the rotational angular velocities of the first gyroscope and the second gyroscope comprises:
  • the method further includes:
  • the first gyroscope and the second gyroscope are single-axis gyroscopes, and the materials of the first gyroscope and the second gyroscope are crystal.
  • the method further includes:
  • the third gyroscope comprising a detecting arm, two driving arms symmetrically located on both sides of the detecting arm, and a connecting portion connecting the center of the detecting arm and the center of the driving arm,
  • the output voltage of the third gyroscope is the voltage measured on the detecting arm of the third gyroscope;
  • the step of determining a component of the second position of the attitude sensing device in the third direction based on a rotational angular velocity of the third gyroscope comprises: integrating the rotational angular velocity of the third gyroscope by time integration a rotation angle ⁇ 3 of the third gyroscope; a component Ccosa3 of the second position of the attitude sensing device in the third direction, wherein C is a component of the first position of the attitude sensing device in the third direction.
  • the third gyroscope is a single-axis gyroscope, and the material of the third gyroscope is crystal.
  • a method for controlling a mouse pointer includes:
  • the mouse pointer is controlled by a space mouse.
  • the space mouse further includes a data data collecting unit located in the space mouse, A data processing unit, an information transmitting unit, and an information receiving unit connected to a display screen of a computer or a television.
  • the embodiment of the present invention has the following advantages: In the embodiment of the present invention, even if the gyroscope rotates at a small angle, the part of the voltage generated by the rotation of the gyroscope itself is small, and the voltage generated by interference with the outside world is generated. Mixed together, it is difficult to distinguish, after amplifying the second multiple (greater than the first multiple), the voltage signal generated by the rotation of the gyroscope itself and the high frequency signal generated by the external interference can be effectively filtered, and the obtained output voltage value is more accurate. In order to facilitate more precise positioning of the gyroscope's motion posture.
  • the attitude sensing device of the embodiment of the present invention includes at least a first gyroscope and a second gyroscope, and the output voltage of each gyroscope obtained by the method of the embodiment of the invention makes the positioning of the attitude sensing device more accurate. Moreover, since the output voltage of each gyroscope has a linear relationship with the rotational angular velocity, the angular velocity of each gyroscope can be determined more quickly based on the linear relationship, and the second position of the attitude sensing device is determined to be in the first direction and the second The component of the direction, the two-dimensional positioning of the attitude sensing device is faster.
  • an embodiment of the present invention provides a method for controlling a mouse pointer.
  • the output voltages of the first gyroscope and the second gyroscope are obtained by using an embodiment of the present invention, and output voltages and rotational angular velocities of the gyroscopes are obtained.
  • the linear relationship quickly determines the change component of the second position of the space mouse in the first direction and the second direction, and finally obtains the displacement change amount ⁇ of the mouse pointer in the X-axis direction and the displacement change amount ⁇ in the Y-axis direction, which can be quickly and accurately Controlling the movement of the mouse pointer improves the sensitivity of the space mouse.
  • the embodiment of the present invention further includes a third gyroscope, wherein the output voltage of the third gyroscope has a linear relationship with the rotation angle, and based on a linear relationship between the output voltage of the third gyroscope and the rotation angle,
  • the component of the second position of the attitude sensing device in the third direction can be quickly determined, and the attitude sensing device can be quickly and accurately positioned in three dimensions.
  • FIG. 2 is a flow chart showing a positioning method of a posture sensing device according to a first embodiment of the present invention
  • 3 is a schematic structural diagram of a first gyroscope and a second gyroscope of the attitude sensing device according to the first embodiment of the present invention
  • FIG. 4 to FIG. 6 are circuit diagrams showing the output voltages of the gyroscopes of the attitude sensing device according to the first embodiment of the present invention
  • FIG. 7 is a schematic diagram showing the relationship between the output voltage and the rotational angular velocity of the gyroscope according to the embodiment of the present invention
  • FIG. 8 is a schematic diagram showing a linear relationship between an output voltage and a rotational angular velocity of a first gyroscope of the attitude sensing device according to the first embodiment of the present invention
  • FIG. 9 is a schematic diagram showing a linear relationship between an output voltage and a rotational angular velocity of a second gyroscope of the attitude sensing device according to the first embodiment of the present invention.
  • FIG. 10 is a flow chart showing the movement of a mouse pointer by a space mouse according to a second embodiment of the present invention.
  • Figure 11 is a schematic structural view of a third gyroscope according to a third embodiment of the present invention.
  • Figure 12 is a view showing the positional relationship of the first gyroscope, the second gyroscope, and the third gyroscope of the attitude sensing device of the third embodiment of the present invention.
  • the sensitivity of the prior art space mouse for controlling the movement of the mouse pointer is not high.
  • the inventor found that the space mouse rotates with the elbow joint as the axis to control the movement of the mouse pointer on the display screen.
  • the main principle is to detect the output voltage of each gyroscope in the space mouse, according to the output voltage and Determine the rotational angular velocity of each gyroscope based on the relationship between the rotational angular velocities, and determine the displacement change amount ⁇ of the mouse pointer in the X-axis direction and the displacement change amount ⁇ in the Y-axis direction based on the rotational angular velocity of each gyroscope to control the mouse pointer The movement.
  • x The maximum amplitude of the input for vibration, /.
  • ⁇ To detect the resonant frequency of the arm, ⁇ .
  • the angular velocity for vibration input ⁇ is the vibration amplitude of the gyroscope on the detection arm, and ⁇ is the initial phase of the gyroscope, which is the resonant frequency of the drive shaft.
  • the displacement c (0 of the gyroscope on the X-axis is proportional to the angular velocity of the vibration input, and is a nonlinear relationship; and due to the piezoelectric effect, the output voltage of the gyroscope in the direction of the detection arm and the gyroscope
  • the displacement is proportional, so it can be known that the output voltage of the prior art gyroscope has a nonlinear relationship with the rotational angular velocity.
  • the process of calculating the rotational angular velocity by the output voltage is complicated and time-consuming, so that the movement of the mouse pointer is controlled by the space mouse. The speed is slower and the sensitivity of the space mouse is low.
  • the inventor of the embodiment of the present invention provides a method for acquiring an output voltage of a gyroscope, including:
  • Step S10 acquiring an initial voltage signal of the gyroscope, the gyroscope comprising a detecting arm, two driving arms symmetrically located on both sides of the detecting arm, and a connecting portion connecting the center of the detecting arm and the center of the driving arm,
  • the initial voltage signal of the gyroscope is measured by the corresponding detection arm;
  • Step S20 the initial voltage signal is amplified by a first multiple, filtering high frequency interference, and then performing A/D sampling to obtain a first voltage;
  • Step S30 the initial voltage signal is amplified by a second multiple, the second multiple is greater than the first multiple, filtering high frequency interference, and then performing A/D sampling to obtain a second voltage;
  • Step S40 comparing the first voltage, the second voltage and the threshold voltage respectively, when the first voltage and the second voltage are both smaller than the threshold voltage, selecting the second voltage as the output voltage of the gyroscope;
  • the first voltage is less than the threshold voltage, and when the second voltage is greater than the threshold voltage, the first voltage is selected As the output voltage of the gyroscope.
  • the method for acquiring the output voltage of the gyroscope is as follows.
  • the inventor of the embodiment of the present invention provides a positioning method for the attitude sensing device, including:
  • Step S100 providing a gesture sensing device, where the gesture sensing device includes at least a first gyroscope and a second gyroscope, and the detection arm of the first gyroscope is perpendicular to the detection arm of the second gyroscope to obtain the posture Perceiving the first location of the device;
  • Step S200 after the gesture sensing device moves from the first position to the second position, respectively acquiring output voltages of the first gyroscope and the second gyroscope;
  • Step S300 determining a rotational angular velocity of the first gyroscope and the second gyroscope, wherein an output voltage of each gyroscope is linearly related to a rotational angular velocity; and step S400, based on the first gyroscope and the second gyroscope And rotating the angular velocity to determine a component of the second position of the attitude sensing device in the first direction and the second direction to locate the attitude sensing device, the first direction being perpendicular to the second direction.
  • the positioning method of the above-described attitude sensing device has a linear relationship between the output voltage of each gyroscope and the rotational angular velocity. According to the output voltage, the rotational angular velocity can be quickly determined, and the second position of the attitude sensing device can be further quickly determined.
  • the components of one direction and the second direction enable fast and accurate two-dimensional or three-dimensional positioning of the attitude sensing device.
  • the inventor of the embodiment of the present invention provides a method for controlling a mouse pointer by using the above method, wherein the space mouse that controls the movement of the mouse pointer includes two gyroscopes, and the output voltage and the rotational angular velocity of each gyroscope
  • the space mouse can quickly obtain the mouse pointer in the X-axis direction.
  • the displacement change amount ⁇ and the displacement change amount ⁇ in the Y-axis direction thereby quickly and accurately controlling the movement of the mouse pointer, and the sensitivity of the space mouse is high.
  • an attitude sensing device including at least a first gyroscope and a second gyroscope is provided, wherein:
  • the first gyroscope includes: a detecting arm 110; a driving arm 120 and a driving arm 130 symmetrically located on both sides of the detecting arm 110; connecting a center of the detecting arm 110, a center of the driving arm 120, and a center of the driving arm 130 Connection portion 140;
  • the second gyroscope includes: a detecting arm 210; a driving arm 220 and a driving arm 230 symmetrically located on both sides of the detecting arm 210; connecting the center of the detecting arm 210, the center of the driving arm 220, and the driving arm 230 Connection portion 240;
  • the detection arm 110 of the first gyroscope is perpendicular to the detection arm 210 of the second gyroscope.
  • the first gyroscope and the second gyroscope respectively further comprise a driving circuit for driving two driving arms of each gyroscope to generate vibration, and the vibration frequencies of the two driving arms of each gyroscope are the same.
  • the vibration frequency of the two driving arms of the first gyroscope and the vibration frequency of the two driving arms of the second gyroscope are 40 KHz to 60 KHz.
  • the vibration frequency of the two driving arms of the first gyroscope is 46.5 kHz
  • the vibration frequency of the two driving arms of the second gyro is 50.3 kHz.
  • the first gyroscope and the second gyroscope are both single-axis gyroscopes, and considering that the characteristics of the crystal are not significantly changed with the ambient temperature, the attitude sensing device is used to avoid temperature changes.
  • the problem of inaccurate positioning is that the materials of the first gyroscope and the second gyroscope are crystal.
  • the gesture sensing device further includes: a data collection unit and a data processing unit.
  • the data acquisition unit is configured to acquire an output voltage of each gyroscope and first position information of the attitude sensing device; the data processing unit is configured to determine an attitude sensing device according to an output voltage of each gyroscope provided by the data acquisition unit. Second position.
  • the first location is the location of the last determined gesture aware device and may be obtained by a data storage unit.
  • the attitude sensing device is stationary in the first position, because the driving arms of the two gyroscopes are symmetrically located on both sides of the detecting arm, and the detecting arm and the two driving arms are connected through the connecting portion At the center, the two driving arms symmetrically disposed on both sides of the detecting arm can eliminate noise, such as external impact and vibration, by relative vibration, and the detecting arm is in a stationary state. Since the attitude sensing device is stationary at the first position, the voltage of each gyro when the attitude sensing device is in the first position is measured as the reference voltage.
  • the reference voltage of each gyroscope can be measured without re-measuring the reference voltage of each gyroscope every time the device is used. Then, the attitude sensing device is moved from the first position to the second position, and the first gyroscope and the second gyroscope are rotated to obtain output voltages of the respective gyroscopes.
  • an initial voltage signal V at a certain point of each gyroscope is measured by a data acquisition unit (not shown) connected to the detection axes of the respective gyroscopes.
  • the initial voltage signal V The initial voltage signal V.
  • a low-pass filter (LPF) 300 filters out part of the high-frequency interference, and then performs A/D sampling 310 through the port P to obtain an output voltage of each gyroscope, that is, an output voltage of the first gyroscope and an output voltage of the second gyroscope. v 2 .
  • the output voltage obtained by the method shown in FIG. 4 filters out part of the high frequency interference, and the obtained output voltage values of the respective gyroscopes are relatively accurate.
  • an initial voltage signal V at a certain point of each gyroscope is measured by a data acquisition unit connected to the detection axes of the respective gyroscopes.
  • the initial voltage signal V 0 is amplified by a first multiple by the first amplifying unit 405 to obtain a signal V m
  • the high-frequency interference in the signal V m is filtered by the first low-pass filter (LPF1) 400 to obtain a signal V.
  • LPF1 first low-pass filter
  • the first amplifying unit has a first sensitivity coefficient, the first multiple is proportional to the first sensitivity coefficient; the second amplifying unit has a second sensitivity coefficient, and the second multiple and the second sensitivity coefficient are positive The first sensitivity coefficient is smaller than the second sensitivity coefficient.
  • the first sensitivity coefficient is 0.8 mv/dps
  • the amplification is first
  • the multiplied signal V m is Voo+0.8a, where Voo is the reference voltage when the gyroscope is stationary, ⁇ is the rotation angle of the gyroscope;
  • the second amplifying unit is the inverter, and the second of the inverter
  • the sensitivity coefficient is 3.624 mv/dps, and the signal V after the second multiple is amplified. 2 is V. . +3.624a, where V 00 is the reference voltage when the gyroscope is stationary, and ⁇ is the rotation angle of the gyroscope.
  • Selecting the first voltage or the second voltage as the output voltage of each gyroscope is: when the first voltage and the second voltage are both smaller than the threshold voltage, selecting the second voltage as the output voltage of each gyroscope; When the first voltage is less than the threshold voltage and the second voltage is greater than the threshold voltage, the first voltage is selected as the output voltage of each gyroscope.
  • the threshold voltage is 1380 ⁇ 1420 mv.
  • the part of the gyroscope itself is generated by a small voltage, which is mixed with the voltage generated by external interference, which is difficult to distinguish.
  • the second multiple is enlarged (greater than the first multiple)
  • the gyro can be effectively
  • the voltage signal generated by the rotation of the instrument itself and the high-frequency signal generated by the external interference are filtered, and the obtained output voltage value is more accurate, and the rotation angle of the gyroscope can be accurately calculated through the output voltage of the gyroscope to facilitate the gyroscope.
  • the sporty posture for more precise positioning. Referring to FIG.
  • an initial voltage signal V at a certain point of each gyroscope is measured by a data acquisition unit (not shown) connected to the detection axes of the respective gyroscopes.
  • the initial voltage signal V is passed through the first amplifying unit 405. Amplifying the first multiple to obtain a signal V m , differentially amplifying the signal V m through the first operational amplifier 415, and filtering the high frequency interference in the differentially amplified signal through the first low pass filter (LPF1) 400
  • the signal Vmo is obtained, and the A/D sampling 410 is performed through the port PI to obtain the first voltage Vmo''; the initial voltage signal V is obtained by the second amplifying unit 420.
  • the signal V m is differentially amplified by the second operational amplifier 425, and the high frequency interference in the differentially amplified signal is filtered by the second low pass filter (LPF2) 430 to obtain the signal V. 2 .
  • LPF2 low pass filter
  • the two voltages Vo 2 o ' are the output voltages of the respective gyroscopes, that is, the output voltage V of the first gyroscope and the output voltage V 2 of the second gyroscope.
  • the first operational amplifier 415 has two input ends and one output end, wherein one input end inputs a signal that is a signal V m after amplifying the initial voltage signal by a first multiple, and the other input end
  • the input signal is a reference voltage signal V rcf
  • the signal outputted by the output terminal is a differentially amplified signal Voi-V ref
  • the signal outputted by the output terminal eliminates common mode interference, especially eliminating temperature on the gyroscope.
  • the effect of the voltage signal has two inputs and an output, and one of the inputs inputs a signal V that amplifies the initial voltage signal by a second multiple.
  • the other input signal is the reference voltage signal V rcf
  • the output signal is the differential amplified signal V 02 -V rcf
  • the output signal of the output eliminates common mode interference, especially eliminates The effect of temperature on the voltage signal of the gyroscope.
  • the reference voltage V rcf is greater than zero and less than v 01 .
  • the method adopted in FIG. 6 adds a differential amplification step on the basis of the method shown in FIG. 5, which can effectively suppress common mode interference, and in particular can eliminate the influence of temperature change on the output voltage of the gyroscope, so that the gyroscope The output voltage is more accurate.
  • the output voltage V of the first gyroscope and the output voltage V 2 of the second gyroscope are preferably obtained by the method shown in FIG.
  • two driving arms symmetrically disposed on both sides of the second detecting arm generate longitudinal motion, which further drives the detecting arm to generate detecting vibration, which is shown in FIG. 4 to FIG. 6 above.
  • Any of the methods can obtain an output voltage on the detecting arm of the gyroscope for subsequently determining the rotational angular velocity of each gyroscope.
  • the rotational angular velocity of the first gyroscope is determined according to the measured output voltage of the first gyroscope
  • the rotational angular velocity of the second gyroscope is determined according to the measured output voltage of the second gyroscope.
  • the structure of the gyroscope causes the resonant frequency of the gyroscope driving arm
  • the mechanical quality factor of the gyroscope and the gyroscope change little with different conditions.
  • the output voltage of the gyroscope is approximately linear with the rotational angular velocity, and then processed by the least squares method.
  • V aco + b
  • V the output voltage of the gyroscope
  • ⁇ the rotational angular velocity of the gyroscope
  • a and b are constant.
  • V the output voltage of the first gyroscope and the rotational angular velocity.
  • the linear relationship between the output voltage of the first gyroscope and the rotational angular velocity is V aiCOi+bi , wherein the output voltage of the first gyroscope is the rotational angular velocity of the first gyroscope, ai , is constant, and! ⁇ is the reference voltage value of the first gyroscope; refer to FIG.
  • V 2 a 2 co 2 + b 2
  • V 2 is the output voltage of the second gyroscope
  • ⁇ 2 is the rotational angular velocity of the second gyroscope
  • a 2 , b 2 are constant
  • b 2 is The reference voltage value of the two gyroscopes.
  • the a 2 is 0.67
  • the! ⁇ , b 2 is 1350.
  • the output voltage of each gyroscope of the attitude sensing device has a linear relationship with the rotational angular velocity, and when the rotational angular velocity of each gyroscope is determined by the output voltage of each of the gyroscopes, it takes a shorter time, and The faster positioning of the second position of the gesture-aware device reduces the overall time required to locate the attitude-aware device.
  • the variation component B' B-Bcosa2 in the second direction to achieve two-dimensional determination of the attitude sensing device Bit.
  • the attitude sensing device passes through two gyroscopes whose detection arms are perpendicular to each other, and the output voltage of each gyroscope has a linear relationship with the rotational angular velocity, and is quickly determined by the output voltage of each gyroscope.
  • the corresponding rotational angular velocity is finally realized, and the two-dimensional positioning of the attitude sensing device is realized quickly and accurately.
  • the gesture sensing device may further include a data storage unit, where the data storage unit includes output voltages of the plurality of gyroscopes obtained through trial and error, and corresponding The gesture senses the location of the device.
  • the position of the attitude sensing device corresponding to the output voltage of each gyroscope can be obtained by querying and data storage unit. In this way, the attitude-aware device can be positioned more quickly and accurately.
  • a method of controlling a mouse pointer is provided.
  • the movement of the mouse pointer is controlled by a space mouse.
  • the space mouse includes a first gyroscope and a second gyroscope as shown in FIG.
  • the first gyroscope includes a detecting arm 110, a driving arm 120 symmetrically located on both sides of the detecting arm 110, and a driving arm 130 connecting the center of the detecting arm 110, the center of the driving arm 120, and the center of the driving arm 130.
  • the second gyroscope includes a detecting arm 210; a driving arm 220 and a driving arm 230 symmetrically located on both sides of the detecting arm 210; connecting the center of the detecting arm 210, the center of the driving arm 220, and the The connecting portion 240 of the driving arm 230.
  • the first gyroscope and the second gyroscope are single-axis gyroscopes, and the materials of the first gyroscope and the second gyroscope are crystal, which can avoid temperature drift.
  • the method of obtaining the output voltage of each gyroscope also includes at least any one of the three types shown in FIGS.
  • the output voltage of each of the gyroscopes has a linear relationship with the rotational angular velocity, that is, the output voltage of the first gyroscope is linear with the rotational angular velocity, and the output voltage and the rotational angular velocity of the first gyroscope
  • the linear relationship is VfaiCOi+bi , where is the output voltage of the first gyroscope, ⁇ is the rotational angular velocity of the first gyroscope, ai , ⁇ are constants, and ⁇ is the reference voltage value of the first gyroscope ( As shown in FIG.
  • V 2 is the output voltage of the second gyroscope
  • ⁇ 2 is the rotational angular velocity of the second gyroscope
  • a 2 , b 2 are constant
  • b 2 is the reference voltage value of the second gyroscope (as shown in the figure) 9)).
  • the space mouse 800 of the second embodiment of the present invention includes a data collection unit 810, a data processing unit 820, an information transmission unit 830, and an information receiving unit 840.
  • the collecting unit 810, the data processing unit 820, and the information sending unit 830 are located in the space mouse 800, and the information receiving unit 840 is connected to the display screen of the computer or the television.
  • the data collection unit 810 is configured to acquire an output voltage of the first gyroscope and an output voltage of the second gyroscope in the space mouse.
  • the data processing unit 820 is configured to acquire an output voltage of the first gyroscope and an output voltage of the second gyroscope collected by the data collecting unit 810, and determine, according to an output voltage of the first gyroscope, a mouse pointer in an X-axis direction.
  • the displacement change amount ⁇ determines the displacement change amount ⁇ of the mouse pointer in the Y-axis direction based on the output voltage of the second gyroscope.
  • the coordinate system formed by the X axis and the ⁇ axis is located on the display screen.
  • the information transmitting unit 830 is configured to transmit the displacement change amount ⁇ of the mouse pointer in the X-axis direction and the displacement change amount ⁇ in the x-axis direction obtained from the data processing unit 820 to the information receiving unit 840.
  • the information receiving unit 840 is configured to receive information about the displacement change amount ⁇ of the mouse pointer in the X-axis direction and the displacement change amount ⁇ in the x-axis direction transmitted by the information transmitting unit 830, and control the mouse pointer 850 to receive information and
  • the display connected to unit 840 moves on the display.
  • the working process of the space mouse 800 in the embodiment of the present invention is specifically: rotating the elbow joint as an axis, and the motion of the space mouse 800 can be decomposed into a second direction moving along a first direction and perpendicular to the first direction.
  • the data acquisition unit 810 of the spatial mouse 800 transmits the collected output voltage V of the first gyroscope and the output voltage V 2 of the second gyroscope to the data processing unit 820, and the data processing unit 820 determines the space mouse after the operation.
  • the mapping relationship between the space mouse 800 and the mouse pointer 850 obtains the data information that the mouse pointer 850 needs to move, that is, the displacement change amount ⁇ of the mouse pointer 850 in the X-axis direction and the displacement change amount in the Y-axis direction.
  • ⁇ and the information transmitting unit 830 of the space mouse 800 transmits the data information that the mouse pointer 850 needs to move to the information receiving unit 840 to control the mouse pointer 850 to quickly and accurately display on the display connected to the information receiving unit 840. Move on.
  • the first direction of the space mouse is the same as the X-axis direction of the mouse pointer 850
  • the second direction of the space mouse is the same as the Y-axis direction of the mouse pointer 850.
  • the first direction of the space mouse may also be different from the X-axis direction of the mouse pointer
  • the second direction of the space mouse and the Y-axis direction of the mouse pointer may also be different.
  • the first direction of the space mouse is mapped and corresponds to the X-axis direction of the mouse pointer
  • the second direction of the space mouse is mapped and corresponds to the Y-axis direction of the mouse pointer.
  • the method for controlling the mouse pointer in the second embodiment of the present invention is mainly implemented in the data processing unit 820 of the space mouse, and includes: determining, by using the positioning method of the first embodiment, the second position of the gesture sensing device in the first direction and a component of variation in the second direction;
  • the sensitivity coefficient of the gyroscope is related to the first sensitivity coefficient and the second sensitivity coefficient. Specifically, if the first voltage is selected as the output voltage, the sensitivity coefficient of the gyroscope is The voltage is used as the output voltage, and the sensitivity coefficient of the gyroscope is
  • the data processing unit of the space mouse determines the speed of the rotational angular velocity by the output voltage of each gyroscope, based on the first
  • the rotational angular velocity of the gyroscope and the second gyroscope can more quickly determine the displacement change amount ⁇ of the mouse pointer in the X-axis direction and the displacement change amount ⁇ in the Y-axis direction, and control the mouse pointer to quickly and accurately move to the second position, the space
  • the sensitivity of the mouse is high.
  • a space mouse for controlling a mouse pointer may further include a data storage unit, where the data storage unit includes at least an output voltage of each gyroscope of the space mouse and a mouse pointer. position. Therefore, in the case where the output voltage of each gyroscope is known, the position of the mouse pointer can be obtained quickly by directly querying the data storage unit, thereby controlling the movement of the mouse pointer more quickly and accurately.
  • the third embodiment is different from the first embodiment.
  • the attitude sensing device of the third embodiment of the present invention further includes a third gyroscope.
  • the third gyroscope includes a detecting arm 910; a driving arm 920 and a driving arm 930 symmetrically located on both sides of the detecting arm 910; connecting the center of the detecting arm 910, the center of the driving arm 920, and the center of the driving arm 930 Connection portion 940.
  • the third gyroscope is a single-axis gyroscope, and the material of the third gyroscope is crystal.
  • FIG. 12 shows a positional relationship between the first gyroscope, the second gyroscope and the third gyroscope in the attitude sensing device, the detecting arm 110 of the first gyroscope, and the second
  • the detecting arm 210 of the gyroscope and the detecting arm 910 of the third gyroscope are respectively located on the X, y, and z axes, and the detecting arms of the respective gyroscopes are perpendicular to each other.
  • the X, y, and z axes respectively indicate the first direction, the second direction, and the third direction, and the above three directions are perpendicular to each other.
  • the method for three-dimensional positioning of the gesture sensing device further includes:
  • the output voltage V 3 is the voltage measured on the detector arm 910 of the third gyroscope; determining rotational angular velocity of the third gyroscope ⁇ 3, wherein the output voltage of the third rotation of the gyroscope
  • the method for obtaining the output voltage V 3 of the third gyroscope also includes at least any one of the three types shown in FIGS. 4 to 6, for details, refer to the first embodiment of the present invention.
  • the output voltage V 3 of the third gyroscope is preferably obtained by the method shown in FIG. 6 , and is filtered by a low-pass filter after using an inverter and an arithmetic method.
  • the frequency interference, the obtained output voltage v 3 of the third gyroscope is more accurate, so as to facilitate subsequent accurate positioning of the attitude sensing device.
  • the three-dimensional positioning of the attitude sensing device is completed based on components of the second position of the attitude sensing device in the first direction, the second direction, and the third direction.
  • the posture sensing device further includes a data storage unit, where the data storage unit includes an output voltage of each gyroscope obtained through trial and error, and a posture corresponding to the output voltage. The state senses the position of the device, thereby enabling fast and accurate three-dimensional positioning of the attitude sensing device through the output voltage of each gyroscope.
  • the part of the voltage generated by the rotation of the gyroscope itself is small, and is mixed with the voltage generated by the external interference, which is difficult to distinguish, and is enlarged by the second multiple (greater than After the first multiple)
  • the voltage signal generated by the rotation of the gyroscope itself and the high frequency signal generated by the external disturbance can be effectively filtered, and the obtained output voltage value is more accurate, so as to facilitate more precise positioning of the gyroscope's motion posture.
  • the attitude sensing device of the embodiment of the present invention includes at least a first gyroscope and a second gyroscope, and the output voltage of each gyroscope obtained by the method of the embodiment of the invention makes the positioning of the attitude sensing device more accurate. Moreover, since the output voltage of each gyroscope has a linear relationship with the rotational angular velocity, the angular velocity of each gyroscope can be determined more quickly based on the linear relationship, and the second position of the attitude sensing device is determined to be in the first direction and the second The component of the direction, the two-dimensional positioning of the attitude sensing device is faster.
  • an embodiment of the present invention provides a method for controlling a mouse pointer.
  • the output voltages of the first gyroscope and the second gyroscope are obtained by using an embodiment of the present invention, and output voltages and rotational angular velocities of the gyroscopes are obtained.
  • the linear relationship quickly determines the change component of the second position of the space mouse in the first direction and the second direction, and finally obtains the displacement change amount ⁇ of the mouse pointer in the X-axis direction and the displacement change amount ⁇ in the Y-axis direction, which can be quickly and accurately Controlling the movement of the mouse pointer improves the sensitivity of the space mouse.
  • the embodiment of the present invention further includes a third gyroscope, wherein the output voltage of the third gyroscope has a linear relationship with the rotation angle, and based on a linear relationship between the output voltage of the third gyroscope and the rotation angle,
  • the component of the second position of the attitude sensing device in the third direction can be quickly determined, and the attitude sensing device can be quickly and accurately positioned in three dimensions.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Signal Processing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Gyroscopes (AREA)
  • Position Input By Displaying (AREA)

Abstract

La présente invention porte sur un procédé d'acquisition de la tension de sortie d'un gyroscope, comprenant : l'acquisition d'un signal de tension initial sur un bras de détection du gyroscope, et l'amplification du signal de tension initial avec un premier multiple ; le filtrage d'une interférence haute fréquence, puis la réalisation d'échantillonnage A/N pour obtenir une première tension ; l'amplification du signal de tension avec un second multiple qui est supérieur au premier multiple, le filtrage d'une interférence haute fréquence, puis la réalisation d'un échantillonnage A/N pour obtenir une seconde tension ; et la comparaison de manière respective de la première tension et de la seconde tension avec une tension de seuil, et la sélection de la première tension ou de la seconde tension en tant que tension de sortie du gyroscope. La tension de sortie obtenue dans la présente invention est plus précise. Sur la base du procédé ci-dessus d'acquisition de la tension de sortie d'un gyroscope, est également proposé un procédé de localisation d'un dispositif de détection d'attitude qui peut rapidement et précisément localiser un dispositif de détection d'attitude et un procédé de commande d'un pointeur de souris avec une sensibilité élevée.
PCT/CN2011/081619 2011-08-16 2011-11-01 Procédé de localisation de dispositif de détection d'attitude, et procédé de commande de pointeur de souris WO2013023411A1 (fr)

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CN109916428B (zh) * 2017-12-12 2020-10-09 珠海全志科技股份有限公司 设备内陀螺仪传感***性能测试方法及装置
CN112325869A (zh) * 2019-08-02 2021-02-05 北京小米移动软件有限公司 陀螺仪电路、陀螺仪电路的工作方法及移动终端
CN113048960B (zh) * 2021-04-13 2024-04-12 广州得尔塔影像技术有限公司 一种空间位置检测装置及位置调整方法

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