Patent Document

FIELD OF THE INVENTION 
       [0001]    The present invention relates to an inertial mouse, and more particularly to an inertial mouse capable of performing operations for calibration dynamically. The present invention also relates to a calibrating method of an inertial mouse, and more particular to an acceleration-calibrating method of the inertial mouse. 
       BACKGROUND OF THE INVENTION 
       [0002]    A mouse device or a cursor control device is a common control device or operational interface for manipulating a computer system. Conventional mouse devices are mainly classified into two types according to their operational principles, i.e. mechanical mouse devices and optical mouse devices. A mechanical mouse device controls cursor movement on a display of the computer system by detecting the movement of the ball on a supporting plane. On the other hand, an optical mouse device controls cursor movement on a display of the computer system by detecting the light reflection from a supporting plane. 
         [0003]    Nowadays, with the rapid development of microelectromechanical systems (MEMS) and semiconductor techniques, a new type of mouse device, which is so-called as an inertial mouse, is designed. An inertial mouse device basically controls cursor movement on a display of the computer system by detecting motion acceleration of the mouse device. A microprocessor and at least two accelerometers are disposed in the mouse device. While moving on a supporting plane, the two accelerometers detect motion accelerations of the mouse device in two perpendicular axes on the supporting plane. The resulting signals are inputted into the microprocessor for determining corresponding shifts. Then the cursor moves on the display of the computer system according to the determined shifts. Since an accelerometer can be produced with a very small size, they can be integrated into a circuit board inside the mouse device. Furthermore, the bi-axial sensing degrees of freedom may be implemented with a single bi-axial sensing unit or two uni-axial sensing units. 
         [0004]    Principally, a conventional inertial mouse device detects linear shifts of the mouse device on the supporting plane instead of moving paths. The detection means, however, does not reflect the actual control manner of the mouse device by the user. Generally, a user manipulates a mouse device with his wrist or elbow as a pivot. It means rotational motion in addition to linear motion is generally involved. The resulting centrifugal force, however, is neglected from determination of motion acceleration in current designs. As a result, the cursor movement cannot be well performed as expected. The deviation effect is particularly significant for rapid and/or long motion of the mouse device. 
         [0005]    Furthermore, in the design of an accelerometer the sensing degrees of freedom for detecting motion accelerations of the mouse device, e.g. in two perpendicular directions on the supporting plane, are made to be substantially parallel to the bottom face of the mouse device. Alternatively, the accelerometer may be disposed on the circuit board of the mouse device so that the sensing axes are substantially parallel to the bottom face of the mouse device. Accordingly, the sensing axes are also parallel to the supporting plane when the mouse device is placed on the supporting plane. In other words, as long as the supporting plane is horizontal, the sensing axes are horizontally perpendicular to each other. However, if the supporting plane is not horizontal and there is a non-zero angle θ existent between the supporting plane and horizon, a component of acceleration g·sinθ, where g is the acceleration of gravity, will be involved. The component of acceleration, once mixed up with the motion accelerations of the mouse device on the supporting plane, will adversely affect the precision of the cursor control. 
       SUMMARY OF THE INVENTION 
       [0006]    Therefore, an object of the present invention is to provide a calibrating method of an inertial mouse device for offsetting the component of gravity acceleration. 
         [0007]    Another object of the present invention is to provide a calibrating method of an inertial mouse device for offsetting the component of centrifugal acceleration. 
         [0008]    A further object of the present invention is to provide an inertial mouse device with a dynamically calibrating function. 
         [0009]    According to an aspect of the present invention, a calibrating method of an inertial mouse device includes: discriminating whether the inertial mouse device is in a still state; calculating a tilting angle θ of the inertial mouse device relative to horizon according to an output of an accelerometer of the inertial mouse device when the inertial mouse device is in the still state; calculating an acceleration according to the output of an accelerometer of the inertial mouse device and the titling angle θ when the inertial mouse device is in a motional state; and subtracting a value of g·sinθ, where g is gravity acceleration, from the calculated acceleration, thereby obtaining a calibrated acceleration. 
         [0010]    According to another aspect of the present invention, a calibrating method of an inertial mouse device includes: 
         [0011]    discriminating whether the inertial mouse device is in a still state; calculating tilting angles θ x  and θ y  of the inertial mouse device relative to horizon in perpendicular X-axis and Y-axis according to outputs of an accelerometer unit which performs a motion-sensing function of the inertial mouse device with two degrees of freedom when the inertial mouse device is in the still state; calculating accelerations a x  and a y  in an X-axis direction and a Y-axis direction according to the outputs of the accelerometer unit and the tilting angles θ x  and θ y ; and subtracting values of g·sinθ x  and g·sinθ y , where g is gravity acceleration, from the calculated accelerations a x  and a y , respectively, thereby obtaining calibrated accelerations in the X-axis direction and the Y-axis direction. 
         [0012]    According to a further aspect of the present invention, an inertial mouse device includes a main body; an accelerometer unit disposed in the main body for performing a motion-sensing function of the main body with at least two degrees of freedom, and generating a calibration output value when the main body is in a still state; and a microprocessor in communication with the accelerometer unit, receiving and processing the calibration output value with an operation so as to obtain an angle of the accelerometer unit relative to horizon, generating a shift signal when the main body is in a motional state, and performing calibration for the shift signal according to the angle. 
     
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         [0013]    The above objects and advantages of the present invention will become more readily apparent to those ordinarily skilled in the art after reviewing the following detailed description and accompanying drawings, in which: 
           [0014]      FIG. 1A  is a schematic diagram illustrating the appearance of an inertial mouse device according to an embodiment of the present invention; 
           [0015]      FIG. 1B  is a functional block diagram of an inertial mouse device according to an embodiment of the present invention; 
           [0016]      FIG. 2  is a schematic diagram illustrating the tilting of a supporting plane where the inertial mouse device is operated; and 
           [0017]      FIG. 3A  and  FIG. 3B  are flowcharts combined to illustrate a calibrating method of an inertial mouse device according to an embodiment of the present invention. 
       
    
    
     DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT 
       [0018]    Please refer to  FIG. 1A  and  FIG. 1B  which schematically illustrate an inertial mouse device according to an embodiment of the present invention. The inertial mouse device  10  mainly includes a main body  100  in which an operational interface member  102  is disposed. The operational interface member  102  includes parts manipulated by the user for enabling designated functions of the system that the mouse device is working with. The inertial mouse device  10  further includes a first accelerometer  11 , a second accelerometer  12 , a gyroscope  13 , a microprocessor  14  and a transmission interface  15 . In an embodiment, the first accelerometer  11  and second accelerometer  12  detect motion accelerations of the mouse device in two perpendicular axes directions, e.g. an X-axis direction and a Y-axis direction as shown in  FIG. 1A , on the supporting plane  20 . The X-axis and Y-axis are both parallel to a bottom face  104  of the mouse device  10  and perpendicular to a Z-axis which represents an axis penetrating top and bottom of the mouse device, and represent an axis penetrating front and rear and an axis penetrating left and right of the mouse device, respectively. The bottom face  104  is substantially parallel to the supporting plane  20  where the mouse device  10  is rested, and thus the X-axis and Y-axis are also parallel to the supporting plane  20 . On the other hand, the gyroscope  13  detects an angular motion associated with the Z-axis, which will be described in more detail later. 
         [0019]    Signals generated in response to the detections are then outputted to the microprocessor  14  electrically connected to the first and second accelerometers  11  and  12  and the gyroscope  13 . If the signals are analog signals such as voltage signals, it is preferred that analog-to-digital converters  111 ,  121  and  131  are provided for converting the signals into a digital form to be processed by the microprocessor  14 . The microprocessor  14  is also electrically connected to the operational interface member  102 . In response to the signals received from the accelerometers, gyroscope and/or operational interface member, the microprocessor  14  outputs a signal to a computer system (not shown) via the transmission interface  15  for cursor control or execution of designated functions. 
         [0020]    The operational interface member  102 , for example, may include click switches and a scroll-bar control roller. In  FIG. 1A , only left and right click switches are exemplified for illustration of the operational interface member  102 . The transmission interface  15  may but does not necessarily communicate with the computer system in a wireless manner. 
         [0021]    The above-mentioned units  11 ˜ 15  may be but are not necessarily mounted on a circuit board  101  which is disposed inside the main body  100  and parallel to the bottom surface  104 . 
         [0022]    On a condition that the supporting plane  20  is substantially horizontal, the first accelerometer  11  and the second accelerometer  12  detect the motion accelerations in the X-axis direction and the Y-axis direction and generate the first acceleration a x  and the second acceleration a y , respectively, defined as the follows: 
         [0000]        a   x =( V   x   −V   Ox )/ V   Sx   (1), 
         [0000]      and 
         [0000]        a   y =( V   y   −V   Oy )/ V   Sy   (2), 
         [0000]    wherein V x  denotes a first voltage value outputted by the first accelerometer  11 ; V Ox  denotes a first voltage offset or bias for the first accelerometer  11 ; V Sx  denotes a first conversion coefficient, e.g. a first voltage sensitivity for the first accelerometer  11 ; V y  denotes a first voltage value outputted by the second accelerometer  12 ; V Oy  denotes a second voltage offset or bias for the second accelerometer  12 ; and V Sy  denotes a second conversion coefficient, e.g. a second voltage sensitivity for the second accelerometer  12 . 
         [0023]    On the other hand, on a condition that the supporting plane  20  is not horizontal, as illustrated in  FIG. 2 , the inertial mouse according to the present invention performs calibration for the detection signals in order to remove the component of acceleration resulting from the slanting plane  20 . As shown, the supporting plane  20  tilts from horizon at an angle θ x  in X-axis and at an angle θ y  in Y-axis. Accordingly, once the mouse device  10  is rested on the supporting plane  20 , the first accelerometer  11  is inherently imparted thereto a component of acceleration of g·sinθ x  and the second accelerometer  12  is inherently imparted thereto a component of acceleration of g·sinθ y , where g is gravity acceleration. Under this circumstance, the first accelerometer  11  and the second accelerometer  12  detect the motion accelerations in the X-axis direction and the Y-axis direction and generate the first acceleration a x  and the second acceleration a y  with deviations. Therefore, actual motion accelerations a x ′ and a y ′ is redefined as the follows: 
         [0000]        a   x ′=( V   x   −V   Ox )/ V   Sx   −g ·sinθ x   (3), 
         [0000]      and 
         [0000]        a   y ′=( V   y   −V   Oy )/ V   Sy   −g ·sinθ y   (4). 
         [0000]    With the subtraction of g·sinθ x  and g·sinθ y  from primarily determined accelerations a x  and a y , the components of gravity acceleration resulting from the slanting supporting plane are removed so as to realize actual motion accelerations a x ′ and a y ′. 
         [0024]    As for the tilting angle θ x  in X-axis and the tilting angle θ y  in Y-axis, they can be estimated by the microprocessor  14  when the mouse device  10  is in a still state or moved at a constant velocity on the slanting supporting plane  20 , i.e. a x ′=0 and a y ′=0. Generally, it is hard to keep moving the mouse device at a constant velocity. Therefore, the angles are basically determined in a still state of the mouse device  10  on the supporting plane  20  in the following discussion. Since a x ′ and a y ′ are both zero, the following formulae are derived from the formulae (3) and (4): 
         [0000]      θ x =sin −1 (( V   x   −V   Ox )/( g·V   Sx ))  (5), 
         [0000]      and 
         [0000]      θ y =sin −1 (( V   y   −V   Oy )/( g·V   Sy ))  (6). 
         [0025]    In an embodiment of the present invention, the determination of the still state of the mouse device is performed by sampling outputs of the accelerometers  11  and  12  at intervals, e.g. every 10 microseconds, and seeing how the outputs change with time. For example, if the accelerometers  11  and  12  output zero or constant voltages in a predetermined number of continuous sampling cycles, e.g. 10 cycles t n-10 ˜t n-1 , it is determined that the mouse device is possibly still at the current time t n . However, in practice, the outputs would not be exactly constant and might slightly fluctuate due to, for example, noise. As such, as long as each of the outputs in each axis lies within a specified range or the deviation from a statistical average of the 10 cycles is less than a threshold, the outputs are considered to be constant. 
         [0026]    For reconfirmation, velocities realized by integrating the accelerations a x  and a y  with time in last sampling cycle t n-1  are further referred to. It is determined that the mouse device is still at the current time t n  if the velocities v x  and v y  are both less than a threshold. In contrast, for the velocities v x  and v y  both greater than the threshold, it is determined that the mouse device is moved with acceleration at the current time t n . 
         [0027]    On the other hand, if one of the velocities v x  and v y  is less than the threshold and the other is greater than the threshold, the present invention provides a further discriminating criterion for reconfirming whether the mouse device  10  is still on the supporting plane  20  or not. In an embodiment, the further discriminating step is performed by monitoring the voltage outputs in a much longer term than the primary discriminating step described above. For example, in the further discriminating step, previous 100 sampled voltage outputs are referred to. The determination of the still state of the mouse device in the further discriminating step is similar to that in the primary discriminating step described above. That is, as long as each of the sampled voltage outputs in each axis lies within a specified range or the deviation from a statistical average of the 100 cycles is less than a threshold, it is determined that the mouse device is still. The threshold used herein may be the same as or different from the threshold used in the primary discriminating step. The thresholds are preset and recorded in a memory device accessible by the microprocessor  14 . 
         [0028]    In brief, the angle θ x  in X-axis and the angle θ y  in Y-axis are first estimated by the microprocessor  14  based on the formulae (5) and (6) when the mouse device  10  is in a still state or moved at a constant velocity on the slanting supporting plane  20 . Afterwards, whenever the mouse device is moved, the actual motion accelerations a x ′ and a y ′ are calculated based on the formulae (3) and (4) introduced thereinto the angles θ x  and θ y . After the actual motion accelerations a x ′ and a y ′ are realized, cursor control are performed by integrating the accelerations a x ′ and a y ′ with time to realize motion velocities v x ′ and v y ′, and integrating the motion velocities v x ′ and v y ′ with time to realize corresponding shifts in the X-axis and Y-axis directions. The microprocessor  14  then processes the shifts in the X-axis and Y-axis directions into a shift signal which is transmitted to the computer system for locating the destination of the cursor. 
         [0029]    In this way, the destination of the cursor can be relatively precisely located compared to prior art since the undesired component of gravity acceleration is offset. 
         [0030]    In addition to the tilting of the supporting plane, the precision of cursor control is also affected by user&#39;s operating manners. For example, there might be a pivotal motion about Z-axis while the user is moving the mouse device with his elbow or wrist as a pivot. The pivotal motion, since introducing a centrifugal force, adds an undesirable acceleration to the motion acceleration in the Y-axis direction. The centrifugal force generated when the mouse device has an angular velocity about Z-axis makes the motion acceleration in the Y-axis direction imparted with an additional acceleration associated with the X-axis direction, i.e. ω z ·v x , where ω z  is the angular velocity and v x  is the velocity of the mouse device in the X-axis direction. Therefore, the component of centrifugal acceleration resulting from the pivotal motion of the mouse device about Z-axis needs to be offset. Furthermore, the tilting angles θ x  and θ y  are introduced thereinto a component of rotation angle θ z  about Z-axis and required to be calibrated into values θ x ′ and θ y ′. 
         [0031]    Accordingly, the actual motion accelerations a x ″ and a y ″ in the X-axis and Y-axis directions, respectively, are redefined as: 
         [0000]        a   x ″=( V   x   −V   Ox )/ V   Sx   −g ·sinθ x ′  (7), 
         [0000]      and 
         [0000]        a   y ″=( V   y   −V   Oy )/ V   Sy   −g ·sinθ y ′−ω z   ·v   x   (8), 
         [0000]    wherein the determination of the parameters θ x ′, θ y ′, ω z  and v x  will be described hereinafter. 
         [0032]    The gyroscope  13  mentioned above with reference to  FIG. 1A  and  FIG. 1B  is used for determining the angular velocity ω z . When the mouse device  10  has an angular motion about Z-axis, the gyroscope  13  detects the angular motion and outputs a voltage output V z  to the microprocessor  14  accordingly. The microprocessor  14  then processes the voltage output V z  into the angular velocity ω z  based on the following formula: 
         [0000]      ω z =( V   z   −V   Oz )/ V   Sz   (9), 
         [0000]    wherein V z  denotes a voltage value outputted by the gyroscope  13 ; V Oz  denotes a third voltage offset or bias in measuring Z-axis rotation; and V Sz  denotes a third conversion coefficient, e.g. a third voltage sensitivity for the gyroscope  13 . 
         [0033]    The calibrated tilting angles θ x ′ and θ y ′ are defined as the following: 
         [0000]      θ x ′=θ x ·cosθ z +θ y ·sinθ z   (10), 
         [0000]      and 
         [0000]      θ y ′=−θ x sinθ z +θ y ·cosθ z   (11), 
         [0000]    wherein the rotation angle θ z  about Z-axis is determined by integrating the angular velocity ω z  with time. 
         [0034]    The velocity v x  in the X-axis direction can be determined by integrating the acceleration a x  with time, as previously described. 
         [0035]    Likewise, after the actual motion accelerations a x ″ and a y ″ are realized, cursor control are performed by integrating the accelerations a x ″ and a y ″ with time to realize motion velocities v x ″ and v y ″, and integrating the motion velocities v x ″ and v y ″ with time to realize corresponding shifts in the X-axis and Y-axis directions. The microprocessor  14  then processes the shifts in the X-axis and Y-axis directions into a shift signal which is transmitted to the computer system for locating the destination of the cursor. 
         [0036]    In this way, the destination of the cursor can be more precisely located compared to prior art since both the undesired component of gravity acceleration and the undesired component of centrifugal acceleration are offset. 
         [0037]    It is to be noted that in the above embodiments, it is assumed that the first and second accelerometers  11  and  12  are disposed in and parallel to the circuit board  101  which is further parallel to the bottom surface  104 . In practice, however, the first and second accelerometers  11  and  12  are hard to be perfectly parallel to the circuit board  101  and the circuit board is hard to be perfectly parallel to the bottom surface  104 . Under this circumstance, the tilting angles should be further calibrated and the calibrated angles θ TX  and θ TY  relative to the horizon in X-axis and Y-axis, respectively, are redefined as follows: 
         [0000]      θ TX =θ x +θ Δx   (12), 
         [0000]      and 
         [0000]      θ TY =θ y +θ Δy   (13), 
         [0000]    wherein θ Δx  and θ Δy  are primitive tilting angles of the first and second accelerometers  11  and  12  relative to the circuit board  101  plus primitive tilting angles of the circuit board  101  relative to the bottom surface  104 . The angles θ Δx  and θ Δy  are previously measured and recorded in a memory accessible by the microprocessor  14 . 
         [0038]    In other words, the angles θ x  and θ y  in the formulae (3) and (4) are replaced with the calibrated angles θ TX  and θ TY  to realize motion accelerations a TX ′ and a TY ′. 
         [0039]    Furthermore, with the rotation angle θ z  about Z-axis taken into account, the calibrated angles θ TX ′ and θ TY ′ relative to the horizon in X-axis and Y-axis, respectively, are redefined as follows: 
         [0000]      θ TX ′=θ x ·cosθ z +θ y ·sinθ z +θ Δx   (14), 
         [0000]      and 
         [0000]      θ TY ′=θ x ·sinθ z +θ y ·cosθ z +θ Δy   (15). 
         [0040]    In other words, the angles θ x ′ and θ y ′ in the formulae (7) and (8) are replaced with the calibrated angles θ TX ′ and θ TY ′ to realize motion accelerations a TX ″ and a TY ″. 
         [0041]    The acceleration-calibrating method described above is summarized in the flowcharts of  FIG. 3A  and  FIG. 3B . 
         [0042]    In the above embodiments, the motion-sensing function of the mouse device is performed by two independent uni-axial sensing units. Alternatively, the motion-sensing function of the mouse device may be performed by a single bi-axial sensing unit with two degrees of freedom. 
         [0043]    It is understood from the above descriptions that an inertial mouse device according to the present invention desirably performs calibration of accelerations to overcome the inherent limitations including a tilting supporting plane where the mouse device is rested, non-parallel installation of accelerometers on a circuit board of the mouse device, and centrifugal force accompanying manipulation of the mouse device so as to perform precise cursor control. 
         [0044]    While the invention has been described in terms of what is presently considered to be the most practical and preferred embodiments, it is to be understood that the invention needs not to be limited to the disclosed embodiment. On the contrary, it is intended to cover various modifications and similar arrangements included within the spirit and scope of the appended claims which are to be accorded with the broadest interpretation so as to encompass all such modifications and similar structures.

Technology Category: 3