3D mouse and game controller based on spherical coordinates system and system for use

US 7,683,883 B2
Filed: 10/31/2005
Issued: 03/23/2010
Est. Priority Date: 11/02/2004
Status: Expired due to Fees

First Claim

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1. A system for manipulating a three-dimensional object presented on a two-dimensional display, the system comprising:

a hand-held device comprising;

an accelerometer that generates a tilt signal relative to a gravitational vector wherein;

the tilt signal is measured as a response of the projection of static gravity on the tilted accelerometer;

tilt signal generation does not rely on a detector selected from the group consisting of a gyroscope, an acoustic detector, a magnetic detector, and an optical detector to generate a movement signal;

the accelerometer is most sensitive to tilt when the accelerometer is perpendicular to gravity; and

the tilt signal comprises a pitch signal and a roll signal where pitch and roll are rotations about two perpendicular axes orthogonal to the gravitational vector;

a linear input element that generates an electrical signal in response to user input wherein the linear input element comprises a push button and wherein;

the linear input element does not use a detector selected from the group consisting of an acoustic detector, a magnetic detector, and an optical detector to generate the electrical signal;

the linear input element does not use information received from outside the device to generate the electrical signal;

the linear input element generates the electrical signal of a magnitude controlled by the user;

the linear input element generates the electrical signal of a magnitude proportionate to user input action; and

an electronic circuit connected to the accelerometer and connected to the linear input element wherein the circuit;

comprises a control unit, a memory unit, a communications unit; and

a battery;

wherein the control unit further comprises a micro-controller;

a digital signal processor, a field programmable gate array, and at least one other machine readable storage device;

calculates the pitch and the roll from the tilt signal without using input from a device selected from the group consisting of a gyroscope, an acoustic detector, a magnetic detector, and an optical detector;

calculates pitch and roll according to the following equations;

$\begin{matrix} Pitch = Arc Sin (\frac{Ax}{1 g}) \\ Roll = Arc Sin (\frac{Ay}{1 g}) \end{matrix}$

wherein Ax is the acceleration in an arbitrarily direction parallel to the earth'"'"'s surface, Ay is the acceleration in a second direction parallel to the earth'"'"'s surface that is perpendicular to the direction defined by Ax, and g is gravity;

receives the electrical signal from the linear input element to determine a variable radial distance;

calculates the location and orientation of the three-dimensional object using the following equation;

$R_{1 B} = [\begin{matrix} \begin{matrix} \cos (ψ) \cdot \cos (θ) \\ \sin (ψ) \cdot \cos (θ) \\ - \sin (θ) \end{matrix} & \begin{matrix} \cos (ψ) \cdot \sin (θ) \cdot \sin (φ) - \\ \sin (ψ) \cdot \cos (φ) \\ \sin (ψ) \cdot \sin (θ) \cdot \sin (φ) - \\ \cos (ψ) \cdot \cos (φ) \\ \cos (θ) \cdot \sin (φ) \end{matrix} & \begin{matrix} \cos (ψ) \cdot \sin (θ) \cdot \cos (φ) - \\ \sin (ψ) \cdot \sin (φ) \\ \sin (ψ) \cdot \sin (θ) \cdot \cos (φ) - \\ \cos (ψ) \cdot \sin (φ) \\ \cos (θ) \cdot \cos (φ) \end{matrix} \end{matrix}];$

wherein ψ

is rotation about a vertical axis pointing vertically upward from the earth, θ

rotation about an axis that this perpendicular to the axis used to determine ψ

, and φ

is rotation about an axis that is orthogonal to the axes of rotation for both ψ and

θ

;

calculates the location and movement direction of the object in a three-dimensional environment based on spherical coordinates; and

expresses the instantaneous position of the object in an inertial reference frame in Cartesian coordinates as a function of the radius and spherical angles according to the following equations;

X=R(t).Cos(α

).Sin(β

)
Y=R(t).Sin(α

).Sin(β

)
Z=R(t).Cos(β

)

wherein X, Y, and Z represent a location in a Cartesian coordinate domain having the same origin as a spherical coordinate domain defined by the radius R(t) responsive to the electrical signal, an α

angle representing the longitudinal relationship between R(t) and the ZX plane in the Cartesian coordinates, and a β

angle representing the colatitudinal relationship between R(t) and the Z axis, wherein the α

angle is responsive to roll and β

angle is responsive to pitch and;

generates a yaw dimension signal on the device using a mathematical transformation to graphically simulate a rotation of the field of view without the use of a module selected from the group consisting of a gyroscope and a magnetometer; and

generates the yaw dimension signal having a field-of-view rotation responsive to the electrical signal from the linear input element; and

a computer responsive to the communications unit comprising;

the two-dimensional display;

an information processing unit selected from the group consisting of a personal digital assistant, a personal computer, a mainframe, a mini-computer, an electronic game, and a micro-processor based systems used to control a device from the group consisting of a personal device, an industrial vehicle, a medical vehicle, and an appliance;

a communications module; and

computer-readable code for manipulating, presenting, and managing 3-dimensional objects wherein;

the communications module receives the location and orientation information;

the communications module receives the yaw dimension signal;

the computer presents the received information and presents an updated view of the object in virtual spherical coordinates on the display; and

the computer modifies the field of view in response to the yaw dimension signal.

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Abstract

A computer input device constructed from at least one tilt accelerometer and at least one linear input element is disclosed. This input device can be used in a computer system to specify a position on a display using radial coordinates, cylindrical coordinates, or spherical coordinates.

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20 Claims

1. A system for manipulating a three-dimensional object presented on a two-dimensional display, the system comprising:
- a hand-held device comprising;
  
  an accelerometer that generates a tilt signal relative to a gravitational vector wherein;
  
  the tilt signal is measured as a response of the projection of static gravity on the tilted accelerometer;
  
  tilt signal generation does not rely on a detector selected from the group consisting of a gyroscope, an acoustic detector, a magnetic detector, and an optical detector to generate a movement signal;
  
  the accelerometer is most sensitive to tilt when the accelerometer is perpendicular to gravity; and
  
  the tilt signal comprises a pitch signal and a roll signal where pitch and roll are rotations about two perpendicular axes orthogonal to the gravitational vector;
  
  a linear input element that generates an electrical signal in response to user input wherein the linear input element comprises a push button and wherein;
  
  the linear input element does not use a detector selected from the group consisting of an acoustic detector, a magnetic detector, and an optical detector to generate the electrical signal;
  
  the linear input element does not use information received from outside the device to generate the electrical signal;
  
  the linear input element generates the electrical signal of a magnitude controlled by the user;
  
  the linear input element generates the electrical signal of a magnitude proportionate to user input action; and
  
  an electronic circuit connected to the accelerometer and connected to the linear input element wherein the circuit;
  
  comprises a control unit, a memory unit, a communications unit; and
  
  a battery;
  
  wherein the control unit further comprises a micro-controller;
  
  a digital signal processor, a field programmable gate array, and at least one other machine readable storage device;
  
  calculates the pitch and the roll from the tilt signal without using input from a device selected from the group consisting of a gyroscope, an acoustic detector, a magnetic detector, and an optical detector;
  
  calculates pitch and roll according to the following equations;
  
  $\begin{matrix} Pitch = Arc Sin (\frac{Ax}{1 g}) \\ Roll = Arc Sin (\frac{Ay}{1 g}) \end{matrix}$
  
  wherein Ax is the acceleration in an arbitrarily direction parallel to the earth'"'"'s surface, Ay is the acceleration in a second direction parallel to the earth'"'"'s surface that is perpendicular to the direction defined by Ax, and g is gravity;
  
  receives the electrical signal from the linear input element to determine a variable radial distance;
  
  calculates the location and orientation of the three-dimensional object using the following equation;
  
  $R_{1 B} = [\begin{matrix} \begin{matrix} \cos (ψ) \cdot \cos (θ) \\ \sin (ψ) \cdot \cos (θ) \\ - \sin (θ) \end{matrix} & \begin{matrix} \cos (ψ) \cdot \sin (θ) \cdot \sin (φ) - \\ \sin (ψ) \cdot \cos (φ) \\ \sin (ψ) \cdot \sin (θ) \cdot \sin (φ) - \\ \cos (ψ) \cdot \cos (φ) \\ \cos (θ) \cdot \sin (φ) \end{matrix} & \begin{matrix} \cos (ψ) \cdot \sin (θ) \cdot \cos (φ) - \\ \sin (ψ) \cdot \sin (φ) \\ \sin (ψ) \cdot \sin (θ) \cdot \cos (φ) - \\ \cos (ψ) \cdot \sin (φ) \\ \cos (θ) \cdot \cos (φ) \end{matrix} \end{matrix}];$
  
  wherein ψ
  
  is rotation about a vertical axis pointing vertically upward from the earth, θ
  
  rotation about an axis that this perpendicular to the axis used to determine ψ
  
  , and φ
  
  is rotation about an axis that is orthogonal to the axes of rotation for both ψ and
  
  θ
  
  ;
  
  calculates the location and movement direction of the object in a three-dimensional environment based on spherical coordinates; and
  
  expresses the instantaneous position of the object in an inertial reference frame in Cartesian coordinates as a function of the radius and spherical angles according to the following equations;
  
  X=R(t).Cos(α
  
  ).Sin(β
  
  )
  Y=R(t).Sin(α
  
  ).Sin(β
  
  )
  Z=R(t).Cos(β
  
  )
  
  wherein X, Y, and Z represent a location in a Cartesian coordinate domain having the same origin as a spherical coordinate domain defined by the radius R(t) responsive to the electrical signal, an α
  
  angle representing the longitudinal relationship between R(t) and the ZX plane in the Cartesian coordinates, and a β
  
  angle representing the colatitudinal relationship between R(t) and the Z axis, wherein the α
  
  angle is responsive to roll and β
  
  angle is responsive to pitch and;
  
  generates a yaw dimension signal on the device using a mathematical transformation to graphically simulate a rotation of the field of view without the use of a module selected from the group consisting of a gyroscope and a magnetometer; and
  
  generates the yaw dimension signal having a field-of-view rotation responsive to the electrical signal from the linear input element; and
  
  a computer responsive to the communications unit comprising;
  
  the two-dimensional display;
  
  an information processing unit selected from the group consisting of a personal digital assistant, a personal computer, a mainframe, a mini-computer, an electronic game, and a micro-processor based systems used to control a device from the group consisting of a personal device, an industrial vehicle, a medical vehicle, and an appliance;
  
  a communications module; and
  
  computer-readable code for manipulating, presenting, and managing 3-dimensional objects wherein;
  
  the communications module receives the location and orientation information;
  
  the communications module receives the yaw dimension signal;
  
  the computer presents the received information and presents an updated view of the object in virtual spherical coordinates on the display; and
  
  the computer modifies the field of view in response to the yaw dimension signal.
- View Dependent Claims (2, 3, 4, 5, 6, 7)
- - 2. The system of claim 1 wherein:
    - the accelerometer further;
      
      measures both static acceleration and dynamic acceleration;
      
      provides electrical signals from the set of an analog voltage proportional to acceleration and a digital signal having a whose duty cycle proportional to acceleration wherein the duty cycle is adjustable from 0.5 ms to 1.0 ms;
      
      measures both positive and negative acceleration in the range between −
      
      2 g and +2 g; and
      
      generates an output in the form of a square wave whose amplitude is proportional to acceleration;
      
      the linear input element further comprises at least one push button trigger switch whereby user interaction with the trigger switch results in a visible change in said object selected from the group consisting of;
      
      extending a vectorial cursor;
      
      retracting the vectorial cursor;
      
      changing the length of an arrow pointer;
      
      moving the location of the vectorial cursor in a radial direction in spherical coordinates; and
      
      moving the location of the arrow pointer in the radial direction in spherical coordinates; and
      
      the electronics circuit further comprises a selection unit and a power supply, wherein the selection unit comprises;
      
      at least one input element that allows a user to;
      
      select a command identifier on the display the same way a user would do with the right and left click buttons of a 2D mouse;
      
      control the vectorial cursor location through a pair of triggers that extends the magnitude of the spherical radius of the vectorial cursor, andcontrol the field-of-view of a 3D application; and
      
      a controller based around a micro-controller and digital signal processor, a field programmable gate array, programmable logic devices and other related control circuitry;
      
      wherein;
      
      the controller is connected to the accelerometer, selection unit, and power supply;
      
      the controller is programmed to receive accelerometer data and to compute tilt angles based on accelerometer data;
      
      the controller is programmed to receive trigger signals from the selection unit and to compute a vector magnitude and field of view translation in response to the trigger signal;
      
      the controller manages battery and other power sources; and
      
      the controller monitors and regulates power consumption of the device; and
      
      the communications unit communicates with the computer via a wireless connection and;
      
      the computer further comprises;
      
      a communications module that receives orientation data and user selection activity data transmitted from the hand-held pointing device, anda processing unit comprising at least one microprocessor, one digital signal processor, one graphical processing unit, one memory module, and one driver that interprets communicated data to be viewed by a software interface, wherein;
      
      the software interface gives a graphical rendering of dispatched and interpreted data; and
      
      the software interface allows the user to interact with 3 dimensional objects, to change the colors and render mode and to change the view angle and light intensity.
  - 3. The system of claim 1 wherein:
    - the yaw dimension signal is proportional to a time-dependent measure of the user'"'"'s input action;
      
      said object is able to select, move, and rotate items selected from the group consisting of 3-dimensional shapes and characters in the 3 dimensional environment on the display;
      
      the size of said object is responsive to a user input device from the set of a pair of push buttons, a time varying trigger, a slide switch, a touch pad, and a scroll wheel; and
      
      wherein;
      
      the device captures the movement of a hand in free space and controls the movement of said object on the display.
  - 4. The system of claim 1 wherein the accelerometer is responsive to tilt about more than one axis and wherein the accelerometer is constructed from more than one tilt sensor.
  - 5. The system of claim 1 wherein the accelerometer is responsive to tilt about more than one axis and wherein the accelerometer is constructed from one tilt sensor.
  - 6. The system of claim 1 wherein the device is used to control an item selected from the group consisting of a computer game, an unmanned aerial vehicle, an unmanned ground vehicle;
    - an unmanned water vehicle;
      
      an appliance;
      
      a lighting system;
      
      an irrigation system;
      
      a security system;
      
      a heating system;
      
      a cooling system; and
      
      an automobile.
  - 7. The system of claim 1 wherein the device is in a hand-held form selected from the group consisting of a glove-like shape responsive to a user'"'"'s hand and finger movements, a hand-held computer and a piece of sports hardware.

8. A system for moving a three-dimensional vectorial cursor in virtual spherical coordinates on a graphical display, the system comprising:
- a hand-held user input device comprising;
  
  an accelerometer that generates a tilt signal relative to a gravitational vector wherein;
  
  the tilt signal is measured as a response of the projection of static gravity on the tilted accelerometer;
  
  tilt signal generation does not rely on a detector selected from the group consisting of a gyroscope, an acoustic detector, a magnetic detector, and an optical detector to generate a movement signal;
  
  the accelerometer is most sensitive to tilt when the accelerometer is perpendicular to gravity; and
  
  the tilt signal comprises a pitch signal and a roll signal where pitch and roll are rotations about two perpendicular axes orthogonal to the gravitational vector;
  
  a linear input element that generates an electrical signal in response to user input wherein;
  
  the linear input element comprises a user-responsive device selected from the group consisting of a pair of push buttons, a slide switch, a touch pad, and a scroll wheel;
  
  the linear input element does not use a detector selected from the group consisting of an acoustic detector, a magnetic detector, and an optical detector to generate the electrical signal;
  
  the linear input element does not use information received from outside the device to generate the electrical signal;
  
  the linear input element generates the electrical signal of a magnitude controlled by the user;
  
  the linear input element generates the electrical signal of a magnitude proportionate to user input action; and
  
  an electronic circuit connected to the accelerometer and connected to the linear input element wherein the circuit;
  
  comprises a control unit, a memory unit, a communications unit; and
  
  an electrical storage device;
  
  wherein the control unit further comprises a micro-controller;
  
  a digital signal processor, a field programmable gate array, and at least one other machine readable storage device;
  
  calculates the pitch and the roll from the tilt signal without using input from a device selected from the group consisting of a gyroscope, an acoustic detector, a magnetic detector, and an optical detector;
  
  calculates pitch and roll according to the following equations;
  
  $\begin{matrix} Pitch = Arc Sin (\frac{Ax}{1 g}) \\ Roll = Arc Sin (\frac{Ay}{1 g}) \end{matrix}$
  
  wherein Ax is the acceleration in an arbitrarily direction parallel to the earth'"'"'s surface, Ay is the acceleration in a second direction parallel to the earth'"'"'s surface that is perpendicular to the direction defined by Ax, and g is gravity;
  
  receives the electrical signal from the linear input element to determine a variable radial distance;
  
  calculates the location and orientation of the three-dimensional object using the following equation;
  
  $R_{1 B} = [\begin{matrix} \begin{matrix} \cos (ψ) \cdot \cos (θ) \\ \sin (ψ) \cdot \cos (θ) \\ - \sin (θ) \end{matrix} & \begin{matrix} \cos (ψ) \cdot \sin (θ) \cdot \sin (φ) - \\ \sin (ψ) \cdot \cos (φ) \\ \sin (ψ) \cdot \sin (θ) \cdot \sin (φ) - \\ \cos (ψ) \cdot \cos (φ) \\ \cos (θ) \cdot \sin (φ) \end{matrix} & \begin{matrix} \cos (ψ) \cdot \sin (θ) \cdot \cos (φ) - \\ \sin (ψ) \cdot \sin (φ) \\ \sin (ψ) \cdot \sin (θ) \cdot \cos (φ) - \\ \cos (ψ) \cdot \sin (φ) \\ \cos (θ) \cdot \cos (φ) \end{matrix} \end{matrix}];$
  
  wherein ψ
  
  is rotation about a vertical axis pointing vertically upward from the earth, θ
  
  rotation about an axis that this perpendicular to the axis used to determine ψ
  
  , and φ
  
  is rotation about an axis that is orthogonal to the axes of rotation for both ψ and
  
  θ
  
  ;
  
  calculates the location and movement direction of the vectorial cursor based on spherical coordinates; and
  
  expresses the instantaneous position of the cursor in an inertial reference frame in Cartesian coordinates as a function of the radius and spherical angles according to the following equations;
  
  X=R(t).Cos(α
  
  ).Sin(β
  
  )
  Y=R(t).Sin(α
  
  ).Sin(β
  
  )
  Z=R(t).Cos(β
  
  )
  
  wherein X, Y, and Z represent a location in a Cartesian coordinate domain having the same origin as a spherical coordinate domain defined by the radius R(t) responsive to the electrical signal, an α
  
  angle representing the longitudinal relationship between R(t) and the ZX plane in the Cartesian coordinates, and a β
  
  angle representing the colatitudinal relationship between R(t) and the Z axis, wherein the α
  
  angle is responsive to roll and β
  
  angle is responsive to pitch and;
  
  generates a yaw dimension signal on the device using a mathematical transformation to graphically simulate a rotation of the field of view without the use of a module selected from the group consisting of a gyroscope and a magnetometer; and
  
  generates the yaw dimension signal having a field-of-view rotation responsive to the electrical signal from the linear input element; and
  
  a computer responsive to the communications unit comprising;
  
  the graphical display;
  
  an information processing unit selected from the group consisting of a personal digital assistant, a personal computer, a mainframe, a mini-computer, an electronic game, and a micro-processor based systems used to control a device selected from the group consisting of a personal device, an industrial vehicle, a medical vehicle, and an appliance;
  
  a communications module; and
  
  computer-readable code for managing 3-dimensional vectorial cursors wherein;
  
  the communications module receives the location and orientation information;
  
  the communications module receives the yaw dimension signal;
  
  the computer presents the vectorial cursor in virtual spherical coordinates on the display; and
  
  the computer modifies the field-of-view in response to the yaw dimension signal.
- View Dependent Claims (9, 10, 11, 12, 13, 14)
- - 9. The system of claim 8 wherein the accelerometer is responsive to tilt about more than one axis and wherein the accelerometer is constructed from more than one tilt sensor.
  - 10. The system of claim 8 wherein the accelerometer is responsive to tilt about more than one axis and wherein the accelerometer is constructed from one tilt sensor.
  - 11. The system of claim 8 wherein the device is used to control an item selected from the group consisting of a computer game, an unmanned aerial vehicle, an unmanned ground vehicle;
    - an unmanned water vehicle;
      
      an appliance;
      
      a lighting system;
      
      an irrigation system;
      
      a security system;
      
      a heating system;
      
      a cooling system; and
      
      an automobile.
  - 12. The system of claim 8 wherein the device is in a hand-held form selected from the group consisting of a glove-like shape responsive to a user'"'"'s hand and finger movements, a hand-held computer and a piece of sports hardware.
  - 13. The system of claim 8 wherein:
    - the accelerometer measures both static acceleration and dynamic acceleration;
      
      the linear input element further comprises at least one push button trigger switch whereby user interaction with the trigger switch results in a change in the size of said vectorial cursor on said display;
      
      the electronics circuit further comprises a selection unit and a power supply, wherein the selection unit comprises;
      
      at least one input element that allows a user to;
      
      select a command identifier on the display the same way a user would do with the right and left click buttons of a 2D mouse;
      
      control the vectorial cursor location through a pair of triggers that extends the magnitude of the spherical radius of the vectorial cursor, andcontrol the field-of-view of a 3D application; and
      
      a controller based around a micro-controller and digital signal processor, a field programmable gate array, programmable logic devices and other related control circuitry;
      
      wherein;
      
      the controller is connected to the accelerometer, selection unit, and power supply;
      
      the controller is programmed to receive accelerometer data and to compute tilt angles based on accelerometer data;
      
      the controller is programmed to receive trigger signals from the selection unit and to compute a vector magnitude and field of view translation in response to the trigger signal;
      
      the controller manages battery and other power sources; and
      
      the controller monitors and regulates power consumption of the device; and
      
      the communications unit communicates with the computer via a wireless connection and;
      
      the computer further comprises;
      
      a communications module that receives orientation data and user selection activity data transmitted from the hand-held pointing device, anda processing unit comprising at least one microprocessor, one digital signal processor, one graphical processing unit, one memory modules and one driver that interprets communicated data to be viewed by a software interface, wherein;
      
      the software interface gives a graphical rendering of dispatched and interoreted data; and
      
      the software interface allows the user to interact with 3 dimensional objects, to change the colors and render mode and to change the view angle and light intensity.
  - 14. The system of claim 13 wherein:
    - the yaw dimension signal is proportional to a time-dependent measure of the user'"'"'s input action;
      
      the vectorial cursor is able to influence the displayed characteristics of other visible objects on the display;
      
      the device captures the movement of a hand in free space and controls the movement of the vectorial cursor on the display; and
      
      the system further includes network access.

15. A method for presenting user manipulation of a hand held device onto a simulated three dimensional computer display, the method comprising the steps of:
- establishing a hand-held user input device;
  
  establishing an accelerometer that generates a tilt signal relative to a gravitational vector in the device;
  
  measuring pitch and roll about two perpendicular axes orthogonal to the gravitational vector in response to the projection of static gravity on the tilted accelerometer without using a detector selected from the group consisting of a gyroscope, sn acoustic detector, a magnetic detector, and an optical detector;
  
  establishing an input element that incorporates a user-responsive device selected from the group consisting of a pair of push buttons, a slide switch, a touch pad, and a scroll wheel and does not use a detector selected from the group consisting of an acoustic detector, a magnetic detector, and an optical detector to generate the electrical signal and does not use information received from outside the device;
  
  using the input element to generate an electrical signal of a magnitude controlled by the user and proportional to the user'"'"'s input action;
  
  establishing an electronic circuit that comprises a control unit, a memory unit, and a communications unit, and an electrical storage device wherein the control unit further comprises a micro-controller;
  
  a digital signal processor, a field programmable gate array, and at least one other machine readable storage device;
  
  connecting the circuit to the accelerometer and to the input element;
  
  using the circuit to calculate pitch and roll from the tilt signals without using input from a device selected from the group consisting of a gyroscope, an acoustic detector, a magnetic detector, and an optical detector;
  
  calculating pitch and roll according to the following equations;
  
  $\begin{matrix} Pitch = Arc Sin (\frac{Ax}{1 g}) \\ Roll = Arc Sin (\frac{Ay}{1 g}) \end{matrix}$
  
  wherein Ax is the acceleration in an arbitrarily direction parallel to the earth'"'"'s surface, Ay is the acceleration in a second direction parallel to the earth'"'"'s surface that is perpendicular to the direction defined by Ax, and g is gravity;
  
  determining a variable radial distance in response to a signal from the input element;
  
  calculating the location and orientation of the three-dimensional object using the following equation;
  
  $R_{IB} = [\begin{matrix} \begin{matrix} \cos (ψ) \cdot \cos (θ) \\ \sin (ψ) \cdot \cos (θ) \\ - \sin (θ) \end{matrix} & \begin{matrix} \cos (ψ) \cdot \sin (θ) \cdot \sin (φ) - \\ \sin (ψ) \cdot \cos (φ) \\ \sin (ψ) \cdot \sin (θ) \cdot \sin (φ) - \\ \cos (ψ) \cdot \cos (φ) \\ \cos (θ) \cdot \sin (φ) \end{matrix} & \begin{matrix} \cos (ψ) \cdot \sin (θ) \cdot \cos (φ) - \\ \sin (ψ) \cdot \sin (φ) \\ \sin (ψ) \cdot \sin (θ) \cdot \cos (φ) - \\ \cos (ψ) \cdot \sin (φ) \\ \cos (θ) \cdot \cos (φ) \end{matrix} \end{matrix}];$
  
  wherein ψ
  
  is rotation about a vertical axis pointing vertically upward from the earth, θ
  
  rotation about an axis that this perpendicular to the axis used to determine ψ
  
  , and φ
  
  is rotation about an axis that is orthogonal to the axes of rotation for both ψ and
  
  θ
  
  ;
  
  calculating the location and movement direction of a vectorial cursor in a three-dimensional environment based on spherical coordinates;
  
  expressing the instantaneous position of the vectorial cursor in an inertial reference frame in Cartesian coordinates as a function of the radius and spherical angles according to the following equations;
  
  X=R(t).Cos(α
  
  ).Sin(β
  
  )
  Y=R(t).Sin(α
  
  ).Sin(β
  
  )
  Z=R(t).Cos(β
  
  )
  
  wherein X, Y, and Z represent a location in a Cartesian coordinate domain having the same origin as a spherical coordinate domain defined by the radius R(t) responsive to the electrical signal, an α
  
  angle representing the longitudinal relationship between R(t) and the ZX plane in the Cartesian coordinates, and a β
  
  angle representing the colatitudinal relationship between R(t) and the Z axis, wherein the α
  
  angle is responsive to roll and β
  
  angle is responsive to pitch and;
  
  establishing a computer responsive to the communications unit wherein the computer comprises a two-dimensional display, a communications module, and an information processing unit selected from the group consisting of a personal digital assistant, a personal computer, a mainframe, a mini-computer, an electronic game, and a micro-processor based systems used to control a device selected from the group consisting of a personal device, an industrial vehicle, a medical vehicle, and an appliance;
  
  using the communications module to receive a location signal and an orientation signal from the device;
  
  using computer-readable code in the information processing unit to convert the signals received by the communications module into a vectorial cursor size signal and a vectorial cursor orientation signal; and
  
  using the vectorial cursor size signal and the vectorial cursor orientation signal to present the vectorial cursor in virtual spherical coordinates on the 2-dimensional display.
- View Dependent Claims (16, 17, 18)
- - 16. The method of claim 15 wherein:
    - measuring comprises static acceleration and dynamic acceleration to generate a signal proportional to acceleration selected from the group consisting of an analog voltage and a digital signal having a duty cycle proportional to acceleration with a duty cycle adjustable from 0.5 ms to 1.0 ms;
      
      measuring further comprises measuring both positive and negative acceleration in the range between −
      
      2 g and +2 g to create a square wave whose amplitude is proportional to acceleration;
      
      and further including the steps of;
      
      establishing elements that allow a user to;
      
      select a command identifier on the display the same way a user would do with the right and left click buttons of a 2D mouse;
      
      control the vectorial cursor location through a pair of triggers that extends the magnitude of the spherical radius of the vectorial cursor, andcontrol the field-of-view of a 3D application.
  - 17. The method of claim 16 further comprising the steps of:
    - generating a yaw dimension signal on the device using a mathematical transformation to simulate a rotation of the field of view without the use of a module selected from the group consisting of a gyroscope and a magnetometer;
      
      generating the yaw dimension signal having a field-of-view rotation responsive to the electrical signal; and
      
      using the communications module to receive a yaw dimension signal from the device.
  - 18. The method of claim 17 further comprising the steps of:
    - using the vectorial cursor to perform an action selected from the group consisting of selecting, moving, and rotating another visible object on the display.

19. A method for controlling and manipulating visual elements of a virtual three-dimensional environment, the method comprising the steps of:
- establishing a hand-held user input device;
  
  establishing an accelerometer that generates a tilt signal relative to a gravitational vector in the device;
  
  measuring pitch and roll about two perpendicular axes orthogonal to the gravitational vector in response to the projection of static gravity on the tilted accelerometer without using a detector selected from the group consisting of a gyroscope, an acoustic detector, a magnetic detector, and an optical detector;
  
  establishing an input element that incorporates a user-responsive device selected from the group consisting of a pair of push buttons, a slide switch, a touch pad, and a scroll wheel and does not use a detector selected from the group consisting of an acoustic detector, a magnetic detector, and an optical detector to generate the electrical signal and does not use information received from outside the device;
  
  using the input element to generate an electrical signal of a magnitude controlled by the user and proportional to the user'"'"'s input action;
  
  establishing an electronic circuit that comprises a control unit, a memory unit, and a communications unit, and an electrical storage device wherein the control unit further comprises a micro-controller;
  
  a digital signal processor, a field programmable gate array, and at least one other machine readable storage device;
  
  connecting the circuit to the accelerometer and to the input element;
  
  using the circuit to calculate pitch and roll from the tilt signals without using input from a device selected from the group consisting of a gyroscope, an acoustic detector, a magnetic detector, and an optical detector;
  
  calculating pitch and roll according to the following equations;
  
  $\begin{matrix} Pitch = Arc Sin (\frac{Ax}{1 g}) \\ Roll = Arc Sin (\frac{Ay}{1 g}) \end{matrix}$
  
  wherein Ax is the acceleration in an arbitrarily direction parallel to the earth'"'"'s surface, Ay is the acceleration in a second direction parallel to the earth'"'"'s surface that is perpendicular to the direction defined by Ax, and g is gravity;
  
  determining a variable radial distance in response to a signal from the input element;
  
  establishing a computer responsive to the communications unit wherein the computer comprises a two-dimensional display, a communications module, and an information processing unit selected from the group consisting of a personal digital assistant, a personal computer, a mainframe, a mini-computer, an electronic game, and a micro-processor based systems used to control a device selected from the group consisting of a personal device, an industrial vehicle, a medical vehicle, and an appliance;
  
  establishing a visible element on the display;
  
  calculating the location and orientation of the visible element with the following equation;
  
  $R_{IB} = [\begin{matrix} \begin{matrix} \cos (ψ) \cdot \cos (θ) \\ \sin (ψ) \cdot \cos (θ) \\ - \sin (θ) \end{matrix} & \begin{matrix} \cos (ψ) \cdot \sin (θ) \cdot \sin (φ) - \\ \sin (ψ) \cdot \cos (φ) \\ \sin (ψ) \cdot \sin (θ) \cdot \sin (φ) - \\ \cos (ψ) \cdot \cos (φ) \\ \cos (θ) \cdot \sin (φ) \end{matrix} & \begin{matrix} \cos (ψ) \cdot \sin (θ) \cdot \cos (φ) - \\ \sin (ψ) \cdot \sin (φ) \\ \sin (ψ) \cdot \sin (θ) \cdot \cos (φ) - \\ \cos (ψ) \cdot \sin (φ) \\ \cos (θ) \cdot \cos (φ) \end{matrix} \end{matrix}];$
  
  wherein ψ
  
  is rotation about a vertical axis pointing vertically upward from the earth, θ
  
  rotation about an axis that this perpendicular to the axis used to determine ψ
  
  , and φ
  
  is rotation about an axis that is orthogonal to the axes of rotation for both ψ and
  
  θ
  
  ;
  
  calculating the location and movement direction of the visible element in a three-dimensional environment based on spherical coordinates;
  
  expressing the instantaneous position of the visible element in an inertial reference frame in Cartesian coordinates as a function of the radius and spherical angles according to the following equations;
  
  X=R(t).Cos(α
  
  ).Sin(β
  
  )
  Y=R(t).Sin(α
  
  ).Sin(β
  
  )
  Z=R(t).Cos(β
  
  )
  
  wherein X, Y, and Z represent a location in a Cartesian coordinate domain having the same origin as a spherical coordinate domain defined by the radius R(t) responsive to the electrical signal, an α
  
  angle representing the longitudinal relationship between R(t) and the ZX plane in the Cartesian coordinates, and a β
  
  angle representing the colatitudinal relationship between R(t) and the Z axis, wherein the α
  
  angle is responsive to roll and β
  
  angle is responsive to pitch and;
  
  generating a yaw dimension signal on the device using a mathematical transformation to simulate a rotation of the field of view without the use of a module selected from the group consisting of a gyroscope and a magnetometer;
  
  generating the yaw dimension signal having a field-of-view rotation responsive to the electrical signal;
  
  using the communications module to receive a yaw dimension signal, a location signal, and an orientation signal from the device; and
  
  using computer-readable code in the information processing unit to convert the signals received by the communications module into signals representative of the orientation and dimensions of the visible element in virtual spherical coordinates.
- View Dependent Claims (20)
- - 20. The method of claim 19 further comprising the steps of:
    - using the visible element to perform one of the set of selecting, moving, and rotating a second visible element on the display.

Specification

Resources

Litigation Campaign Assessment

Current Assignee
Pierre A. Touma
Original Assignee
Elias Bachaalany, Hadi Murr, Imad Maalouf, Pierre Touma
Inventors
Murr, Hadi, Maalouf, Imad, Touma, Pierre, Bachaalany, Elias
Primary Examiner(s)
Nguyen, Chanh
Assistant Examiner(s)
Yang, Kwang-Su

Application Number

US11/263,710
Publication Number

US 20060092133A1
Time in Patent Office

1,604 Days
Field of Search

345156-158, 345/163, 345/179, 345/684, 340/315, 340/407.01, 340/407.02, 340/571, 702/56, 702/150, 356/139.03
US Class Current

345/163
CPC Class Codes

G06F 3/017   Gesture based interaction, ...

G06F 3/0346   with detection of the devic...

G06F 3/04815   Interaction with a metaphor...

3D mouse and game controller based on spherical coordinates system and system for use

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Abstract

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20 Claims

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3D mouse and game controller based on spherical coordinates system and system for use

First Claim

1 Assignment

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0 Petitions

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Accused Products

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Abstract

116 Citations

20 Claims

Specification

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Solutions

Use Cases

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