INERTIAL INPUT APPARATUS WITH SIX-AXIAL DETECTION ABILITY AND THE OPERATING METHOD THEREOF
First Claim
1. An inertial input apparatus with six-axial detection ability, comprising:
- an accelerometer module, structured with at least three accelerometers for detecting accelerations in three perpendicular directions with respect to a Cartesian coordinate system of X-, Y-, and Z-axes; and
a gyroscope, used for detecting a rotation measured with respect to the Z-axis;
wherein, an angle of rotation is obtained by integrating the angular velocity of the rotation detected by the gyroscope while calculating a centrifugal force as well as a centripetal force exerting upon the inertial input apparatus at the moment of the rotation so as to using those for compensating acceleration signals measured along the Y-axis and thus obtaining a pitch angle basing on the compensated Y-axis acceleration signal, thereafter defining movements of an object displayed on a screen of an interactive computer by the use of the pitch angle and the angle of rotation.
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Accused Products
Abstract
An inertial input apparatus with six-axial detection ability, structured with a gyroscope and an acceleration module capable of detecting accelerations of X, Y, Z axes defined by a 3-D Cartesian coordinates, which is operable either being held to move on a planar surface or in a free space. When the inertial input apparatus is being held to move and operate on a planar surface by a user, a two-dimensional detection mode is adopted thereby that the gyroscope is used for detection rotations of the inertial input apparatus caused by unconscious rolling motions of the user and thus compensating the erroneous rotations, by which the technical disadvantages of prior-art inertial input apparatuses equipped with only accelerometer can be overcame and thus control smoothness of using the input apparatus is enhanced. In addition, when the inertial input apparatus is being held to operate in a free space by a user, a three-dimensional detection mode is adopted for enabling the inertial input apparatus to detect movements of the same with respect to at most six axes defined by the 3-D Cartesian coordinates of X, Y, Z axes, that is, the rotations with respect to the X, Y, Z axes and the movements with respect to the X, Y, Z axes, and thus the inertial input apparatus is adapted to be used as an input device for interactive computer games, In a preferred aspect, when the inertial input apparatus is acting as a 3-D mouse suitable to be used for briefing or in a remote control environment, only the detections with respect to the X and Y axes acquired by the accelerometer along with that of the gyroscope are adopts and used as control signals for controlling cursor displayed on a screen, but the detection with respect to the Z-axis acquired by the accelerometer is used as a switch signal for directing the inertial input apparatus to switch between its two-dimensional detection mode and three-dimensional detection mode.
111 Citations
24 Claims
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1. An inertial input apparatus with six-axial detection ability, comprising:
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an accelerometer module, structured with at least three accelerometers for detecting accelerations in three perpendicular directions with respect to a Cartesian coordinate system of X-, Y-, and Z-axes; and a gyroscope, used for detecting a rotation measured with respect to the Z-axis; wherein, an angle of rotation is obtained by integrating the angular velocity of the rotation detected by the gyroscope while calculating a centrifugal force as well as a centripetal force exerting upon the inertial input apparatus at the moment of the rotation so as to using those for compensating acceleration signals measured along the Y-axis and thus obtaining a pitch angle basing on the compensated Y-axis acceleration signal, thereafter defining movements of an object displayed on a screen of an interactive computer by the use of the pitch angle and the angle of rotation. - View Dependent Claims (2, 3)
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4. An operating method for an inertial input apparatus with six-axial detection ability being held to move in a free space, comprising the steps of:
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recording two accelerations (gxs, gys) measured along two perpendicular directions with respect to a Cartesian coordinate system of X-, and Y-axes at an initial operating stage of the inertial input apparatus along with an initial angular velocity ω
zs of a gyroscope while setting an initial angle θ
p of the inertial input apparatus to be zero;calculating a yawing angle θ
z with respect to a Z-axis of the Cartesian coordinate system and a pitch angle θ
y with respect to the Y-axis; andusing the two angles (θ
z, θ
y) to define a position coordinate (Mx, My) for an object displayed on a screen of an interactive computer. - View Dependent Claims (5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21)
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22. A method for switching an inertial input apparatus with six-axial detection ability between a two-dimensional detection mode and a three-dimensional detection mode, comprising the steps of:
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recording three initial accelerations (gxs, gys, gzs) measured along three perpendicular directions with respect to a Cartesian coordinate system of X-, Y- and Z-axes respectively by an acceleration module of the inertial input apparatus while the inertial input apparatus is at rest on a planar surface along with an initial angular velocity ω
zs of a gyroscope and setting an initial angle θ
p of the inertial input apparatus to be zero and enabling the inertial input apparatus to enter the two-dimensional detection mode;double-integrating the difference between the initial acceleration gzs and current accelerations detected by a Z-axis accelerometer of the acceleration module for obtaining a mode-change value SZ, i.e. SZ=∫
∫
(gz−
gzs);comparing SZ with a threshold value thr; maintaining the inertial input apparatus at the two-dimensional detection mode when SZ<
thr; andenabling the inertial input apparatus to enter the three-dimensional detection mode when SZ>
thr. - View Dependent Claims (23, 24)
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Specification