WO2003040731A1 - Apparatus and method for capturing and working acceleration, and application thereof, and computer readable recording medium storing programs for realizing the acceleration capturing and working methods - Google Patents
Apparatus and method for capturing and working acceleration, and application thereof, and computer readable recording medium storing programs for realizing the acceleration capturing and working methods Download PDFInfo
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- WO2003040731A1 WO2003040731A1 PCT/KR2002/002065 KR0202065W WO03040731A1 WO 2003040731 A1 WO2003040731 A1 WO 2003040731A1 KR 0202065 W KR0202065 W KR 0202065W WO 03040731 A1 WO03040731 A1 WO 03040731A1
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P15/00—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
- A63F13/00—Video games, i.e. games using an electronically generated display having two or more dimensions
- A63F13/20—Input arrangements for video game devices
- A63F13/21—Input arrangements for video game devices characterised by their sensors, purposes or types
- A63F13/211—Input arrangements for video game devices characterised by their sensors, purposes or types using inertial sensors, e.g. accelerometers or gyroscopes
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P15/00—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration
- G01P15/18—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration in two or more dimensions
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
- A63F13/00—Video games, i.e. games using an electronically generated display having two or more dimensions
- A63F13/30—Interconnection arrangements between game servers and game devices; Interconnection arrangements between game devices; Interconnection arrangements between game servers
- A63F13/33—Interconnection arrangements between game servers and game devices; Interconnection arrangements between game devices; Interconnection arrangements between game servers using wide area network [WAN] connections
- A63F13/332—Interconnection arrangements between game servers and game devices; Interconnection arrangements between game devices; Interconnection arrangements between game servers using wide area network [WAN] connections using wireless networks, e.g. cellular phone networks
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- A—HUMAN NECESSITIES
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- A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
- A63F13/00—Video games, i.e. games using an electronically generated display having two or more dimensions
- A63F13/40—Processing input control signals of video game devices, e.g. signals generated by the player or derived from the environment
- A63F13/42—Processing input control signals of video game devices, e.g. signals generated by the player or derived from the environment by mapping the input signals into game commands, e.g. mapping the displacement of a stylus on a touch screen to the steering angle of a virtual vehicle
- A63F13/428—Processing input control signals of video game devices, e.g. signals generated by the player or derived from the environment by mapping the input signals into game commands, e.g. mapping the displacement of a stylus on a touch screen to the steering angle of a virtual vehicle involving motion or position input signals, e.g. signals representing the rotation of an input controller or a player's arm motions sensed by accelerometers or gyroscopes
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- A63—SPORTS; GAMES; AMUSEMENTS
- A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
- A63F13/00—Video games, i.e. games using an electronically generated display having two or more dimensions
- A63F13/40—Processing input control signals of video game devices, e.g. signals generated by the player or derived from the environment
- A63F13/44—Processing input control signals of video game devices, e.g. signals generated by the player or derived from the environment involving timing of operations, e.g. performing an action within a time slot
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- A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
- A63F13/00—Video games, i.e. games using an electronically generated display having two or more dimensions
- A63F13/90—Constructional details or arrangements of video game devices not provided for in groups A63F13/20 or A63F13/25, e.g. housing, wiring, connections or cabinets
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- A63F2300/1006—Features of games using an electronically generated display having two or more dimensions, e.g. on a television screen, showing representations related to the game characterized by input arrangements for converting player-generated signals into game device control signals having additional degrees of freedom
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- A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
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- Measurement Of The Respiration, Hearing Ability, Form, And Blood Characteristics Of Living Organisms (AREA)
Abstract
Acceleration measurement apparatus and method, acceleration processing apparatus and method, and their applications, and a computer-readable recording medium, are provided. An acceleration component signal representing each movement of the acceleration measurement apparatus is modulated, and acceleration is calculated by using the modulated acceleration component signal. The acceleration is processed by recognizing a specific shape through analysis of components of the acceleration, initial value correction, and error correction and extracting accumulative data and level data, and then the measured acceleration or the processed acceleration can be transmitted to an external device or can be processed in the acceleration processing apparatus. The acceleration measurement apparatus calculates an acceleration component for the movement thereof and calculates an acceleration value by using the calculated acceleration component. Thus, it is possible to quickly and accurately measure three-dimensional acceleration concerning a user's movement by installing an acceleration processing apparatus in the user's mobile terminal without the need of any additional devices and to transmit the measured three-dimensional acceleration to a mobile terminal at high speeds.
Description
APPARATUS AND METHOD FOR CAPTURING AND WORKING
ACCELERATION, AND APPLICATION THEREOF, AND COMPUTER
READABLE RECORDING MEDIUM STORING PROGRAMS FOR
REALIZING THE ACCELERATION CAPTURING AND WORKING METHODS
Technical Field
The present invention relates to acceleration processing method and apparatus, applications thereof, and a computer-readable data storage medium on which a program, by which the acceleration processing method can be realized, is recorded, and more specifically to an acceleration measuring and/or processing method and apparatus, which are capable of quickly and accurately measuring, processing, and/or applying acceleration simply using a conventional acceleration sensor without need of an additional circuit or complicated calculations, and applications thereof.
Background Art An input control device developed in Japan includes a multi-axial acceleration sensor detecting and outputting acceleration (the direction and intensity of tri-axial movement) of a stick-type main body operated by a game player, a multi-axial gyrocompass sensor detecting and outputting a slope level (a slope of the main body in a front direction, a rear direction, a right direction, and a left direction, and the rotation of the main body around an axis), an auxiliary input device detecting signals input by using direction keys and function keys, and a vibration device giving vibration to the stick-type main body according to the content of a game. The input control device can directly reflect various movements made by the game player into the game and express those movements and postures of the game player in numerous ways. However, the input
control device is rather big and has a low sensing speed. Due to these disadvantages of the input control device, it is almost impossible to quickly and precisely transmit data, . even though movements of the player can be reflected into the game by using the auxiliary input device in the input control device. In addition, it is hard to apply the input control device to various fields.
In the case of an input control device using a conventional acceleration sensor, acceleration values obtained by using the input control device cannot be used without being appropriately processed. In other words, errors caused by an initial bias or variations in temperature may be accumulated affecting acceleration values, and due to this problem, there has been a limit in extracting accumulative data, such as velocity or distance, and applying the input control device to various fields. An input control device capable of accurately obtaining acceleration values could presumably be used in expensive equipment, such as missiles. However, the structure of such an input control device has never been made public, and if it was commercialized, it would be very expensive. Since the conventional input control device cannot perform its functions well by merely using a conventional acceleration sensor, several devices have been additionally installed in the conventional input control device, which brings about various problems in terms of the performance of new functions and the improvement of existing functions. In other words, it is impossible for the conventional input control device to quickly and accurately extract and process data by simply using a conventional acceleration sensor without additional circuits.
Disclosure of the Invention The present invention provides an acceleration measurement method capable of quickly and precisely measuring acceleration, even in
a case where at least one acceleration sensor is additionally installed in an existing input control apparatus, an acceleration processing method processing acceleration obtained by using the acceleration measurement method, and applications thereof. Here, the acceleration measurement method involves processing signals output from an acceleration measurement apparatus through predetermined calculations.
In addition, the present invention also provides an acceleration processing apparatus and method capable of recognizing a specific shape by analyzing components of acceleration, adjusting an initial value, correcting an error, processing acceleration following predetermined steps including extracting accumulative data and level data, and transmitting measured or processed acceleration to the outside or processing the measured or processed acceleration therein, a computer-readable data storage medium on which a program by which the acceleration processing method can be realized is recorded, and applications thereof.
According to an aspect of the present invention, there is provided an acceleration measurement apparatus including an acceleration sensor sensing each movement of the acceleration measurement apparatus and generating a signal regarding an acceleration component for each movement of the acceleration measurement apparatus, a modulator converting the acceleration component signal into a modulation signal, and an acceleration calculator calculating the acceleration component for each movement of the acceleration measurement apparatus by using the modulation signal and then obtaining an acceleration value by using the calculated acceleration component.
Preferably, at least two acceleration sensors are installed in the acceleration measurement apparatus so that an at least two-dimensional acceleration signal can be measured.
Preferably, planes sensed by the acceleration sensors are
perpendicular to each other.
Preferably, the modulator is a pulse width modulator converting the acceleration component signal into a pulse width modulation (PWM) signal. Preferably, the acceleration calculator calculates an acceleration component for each movement of the acceleration measurement apparatus by using a period of time during which the PWM signal is maintained at a high level and the pulse cycle of the PWM signal.
Preferably, the acceleration measurement apparatus further includes a digital-to-analog (D/A) converter converting digital signals into analog signals when digital signals are generated by the acceleration sensors.
Preferably, the acceleration measurement apparatus further includes a low-pass filter (LPF) for removing high-frequency noise from the analog signals.
Preferably, the LPF is a passive device comprised of a resistor R and a capacitor C.
Preferably, the acceleration measurement apparatus further includes an interface for converting acceleration values so that the converted acceleration values can be transmitted to an external device.
According to another aspect of the present invention, there is provided an acceleration measurement method including (a) sensing each movement of an acceleration measurement apparatus and generating a signal regarding an acceleration component for each movement of the acceleration measurement apparatus, (b) converting the acceleration component signal into a modulation signal, and (c) calculating the acceleration component for each movement of the acceleration processing apparatus by using the modulation signal and then obtaining an acceleration value by using the calculated acceleration component.
Preferably, at least two acceleration sensors are installed in the
acceleration measurement apparatus so that an at least two-dimensional acceleration signal can be measured.
Preferably, in step (b), the acceleration component signal is converted into a pulse width modulation (PWM) signal. Preferably, in step (c), an acceleration component for each movement of the acceleration measurement apparatus is calculated by using a period of time during which the PWM signal is maintained at a high level and the pulse cycle of the PWM signal.
Preferably, the acceleration measurement method further includes converting digital signals into analog signals when digital signals are generated by the acceleration sensors.
Preferably, the acceleration measurement method further includes low-pass filtering for removing high-frequency noise from the analog signals. Preferably, the acceleration measurement method further includes converting acceleration values so that the converted acceleration values can be transmitted to an external device.
According to another aspect of the present invention, there is provided a computer-readable recording medium on which programs for realizing predetermined functions are written. Here, the predetermined functions include a first function of sensing each movement of a three-dimensional acceleration processing apparatus including a processor by using an acceleration sensor in the acceleration processing apparatus and generating a signal regarding an acceleration component for each movement of the acceleration processing apparatus, a second function of converting the acceleration component signal into a modulation signal, and a third function of calculating the acceleration component for each movement of the acceleration processing apparatus by using the modulation signal and then obtaining a three-dimensional acceleration value by using the calculated acceleration component.
Preferably, a program enabling a fourth function of measuring an
at least two-dimensional acceleration signal when at least two acceleration sensors are provided is further written on the computer-readable recording medium.
Preferably, a program enabling a fifth function of converting the acceleration component signal into a pulse width modulation (PWM) signal is further written on the computer-readable recording medium.
Preferably, according to the third function, an acceleration component for each movement of an acceleration measurement apparatus is calculated by using a period of time during which the PWM signal is maintained at a high level and the pulse cycle of the PWM signal.
Preferably, a program enabling a sixth function of converting digital signals into analog signals when digital signals are generated by the acceleration sensors is further written on the computer-readable recording medium.
Preferably, a program enabling a seventh function of removing high-frequency noise from the analog signals by using a low-pass filter is further written on the computer-readable recording medium.
Preferably, a program enabling an eighth function of converting acceleration values so that the converted acceleration values can be transmitted to an external device is further written on the computer-readable recording medium.
According to another aspect of the present invention, there is provided an acceleration processing apparatus processing an acceleration component signal sensed by an acceleration sensor. The acceleration processing apparatus includes an analyzer quickly obtaining an acceleration component by sensing an acceleration component signal for each movement of the acceleration processing apparatus and then analyzing the acceleration component signal for each movement of the acceleration processing apparatus, a corrector correcting errors and biases of the acceleration component obtained by the analyzer, a
recognizer recognizing a specific shape by using the corrected acceleration component signal, a calculator extracting reliable accumulative data from the acceleration component signal, and a processor quickly and accurately transforming acceleration measurements into highly usable data.
Preferably, the acceleration processing apparatus further includes a standard interface standardizing data obtained by processing acceleration to be commonly-usable data and then transmitting the standardized data to an acceleration measurement module or a processing module so that the standardized data can be processed inside or outside the acceleration measurement module or the processing module.
Preferably, the interface is optimized protocol. For example, RS-232 can be used as an interface. According to another aspect of the present invention, there is provided an acceleration processing method processing an acceleration component signal sensed by an acceleration sensor. The acceleration processing method includes obtaining an acceleration component by sensing an acceleration component signal for each movement of an acceleration processing apparatus and then analyzing the acceleration component signal for each movement of the acceleration processing apparatus, correcting errors and biases of the acceleration component obtained by the analyzer, recognizing a specific shape by using the corrected acceleration component signal, extracting reliable accumulative data from the acceleration component signal, and quickly and accurately transforming acceleration measurements into highly usable data.
Preferably, the acceleration processing method further includes standardizing data obtained by processing acceleration to be commonly-usable data and then transmitting the standardized data to an acceleration measurement module or a processing module so that the
standardized data can be processed inside or outside the acceleration measurement module or the processing module.
The present invention also provides specific applications of the acceleration measurement and/or processing apparatus(es) and method(s). In particular, the present invention provides mobile application techniques capable of reflecting a user's movements (into where?) by providing a variety of methods of inputting data into a mobile device. In the prior art, such a mobile device is controlled by limited key manipulation. The acceleration processing apparatus of the present invention applied to a mobile device is manufactured to have a small size by only using an acceleration sensor without any additional circuits. The acceleration processing apparatus and method according to the present invention can also be applied to various devices other than mobile devices.
According to another aspect of the present invention, there is provided a small-sized acceleration measurement module being an applied device using acceleration values output by using the acceleration processing apparatus and method, operating the acceleration processing apparatus, and performing the acceleration processing method. Here, the acceleration measurement module performs the acceleration processing method by only using hardware and/or an acceleration sensor. The hardware and/or software are called the acceleration measurement module. According to another aspect of the present invention, there is provided a mobile device or a handheld device, such as a cellular phone or a PDA, using the acceleration measurement module.
According to another aspect of the present invention, there is provided an input device including the acceleration measurement module and being used to input data into an external device, such as a PC, while being connected to the external device.
According to another aspect of the present invention, there is provided a mobile pedometer including the acceleration measurement module and counting footsteps by measuring acceleration with the use of the acceleration measurement module. Preferably, the mobile pedometer is capable of analyzing and recording, by using its functions, calories that a user has burnt while exercising.
Preferably, the mobile pedometer is capable of providing even more accurate health checkup results by integrating the user's body fat values and heart rates.
According to another aspect of the present invention, there is provided a mobile game device adopting the mobile device and taking advantage of information on the movement of the mobile device and whether or not and how much the mobile device is tilted obtained by using the acceleration measurement module.
According to another aspect of the present invention, there is provided a mobile gaming method adopting the mobile device of claim 7 and taking advantage of information on the movement of the mobile device and whether or not and how much the mobile device is tilted obtained by using the acceleration measurement module. Brief Description of the Drawings
FIG. 1 is a block diagram of a three-dimensional acceleration measurement apparatus according to a preferred embodiment of the present invention; FIGS. 2A through 2C are diagrams illustrating a method of measuring a three-dimensional acceleration vector component according to a preferred embodiment of the present invention;
FIG. 3 is a diagram illustrating a duty cycle according to a preferred embodiment of the present invention; FIG. 4 is a flowchart of a three-dimensional acceleration measurement method according to a preferred embodiment of the
present invention;
FIG. 5 is a graph illustrating a method of calculating acceleration by using a pulse width modulation (PWM) signal according to a preferred embodiment of the present invention; FIG. 6 is a flowchart of an acceleration processing method according to a preferred embodiment of the present invention;
FIGS. 7 and 8 are a flowchart and a graph, respectively, illustrating a method of recognizing a shape based on the results of the method of processing acceleration shown in FIG. 6; FIG. 9 is a diagram illustrating a predetermined apparatus according to a preferred embodiment, which uses acceleration measured or processed according to the present invention;
FIG. 10 is a diagram illustrating a mobile device to which the present invention is applied; and FIG. 11 is a flowchart of the operation of a mobile pedometer to which the present invention can be applied.
* Description of Reference numerals in the Drawings 100: Oscillator 102, 108: Acceleration sensor 104, 110: Demodulator 106, 112: Passive low-pass filter 114: Duty cycle modulator 116: Acceleration calculator
Best mode for carrying out the Invention
Hereinafter, the present invention will be described more fully with reference to the accompanying drawings in which preferred embodiments of the invention are shown.
In preferred embodiments of the present invention, three-dimensional acceleration is measured by using two acceleration sensors. However, at least two-dimensional acceleration can be measured as well by one or more acceleration sensor. In addition, in the preferred embodiments of the present invention, an acceleration
sensor outputs digital signals, and thus a process of converting such digital signals into analog signals is necessary. However, in the case of using an acceleration sensor capable of outputting analog signals, the digital-to-analog conversion process is unnecessary. In addition, in the preferred embodiments of the present invention, a low-pass filter is used to get rid of high-frequency noise in analog signals. However, if there is not much noise in the analog signals, the usage of the low-pass filter may be unnecessary, which is obvious to one skilled in the art. In the case of directly using digital signals output from an acceleration sensor, there is no need to additionally install a circuit for digital-to-analog conversion in hardware, and it is possible to perform desired operations by software processing, which will be described in greater detail later.
FIG. 1 is a block diagram of a three-dimensional acceleration measurement apparatus according to a preferred embodiment of the present invention. Referring to FIG. 1 , an X-Y acceleration sensor 102 and an X-Z acceleration sensor 108 each generate a pulse width modulation (PWM) signal corresponding to acceleration information by sensing movements of the three-dimensional acceleration measurement apparatus and converting a sine signal generated by an oscillator 100 in consideration of the results of the sensing. The type of a signal corresponding to acceleration information is not limited to a PWM signal set forth herein. Rather, the acceleration information may be output in the form of another type of pulse signal, such as a pulse amplitude modulation (PAM) signal or a pulse phase modulation (PPM) signal. The X-Y acceleration sensor 102 and the X-Z acceleration sensor 108 measure absolute acceleration information with respect to each axis.
The PWM signal expressing acceleration information obtained by the X-Y acceleration sensor 102 and the X-Z acceleration sensor 108 is converted into an analog signal by a demodulator, such as digital-to-analog converters 104 and 110, and a high-frequency signal is removed from the analog PWM signal by passive low-frequency filters
106 and 112 each comprised of a resistor RFILT and a capacitor Cx or Cy. Here, since RFILT is fixed at a predetermined value, a user can determine a limit on the frequency of analog acceleration information by varying a value of Cx or Cy. Since it is impossible to generate an acceleration signal having a frequency of dozens of Hertz per second in response to a person's movement, a cut-off frequency of the passive low-pass filters 106 and 1 12 is set to about dozens of Hertz.
Noise in the acceleration signal caused by peripheral surroundings except for a person's movement can be removed in the above-described method.
Analog signals corresponding to acceleration information, from which noise has been removed, are represented at points A and B in FIG. 1. The analog signals are converted into PWM signals, which are digital signals, by a duty cycle modulator 114.
Due to the existence of the duty cycle modulator 114 capable of outputting digital signals, there is no need to additionally install an analog-to-digital converter in the three-dimensional acceleration measurement apparatus shown in FIG. 1 , which leads to a reduction in manufacturing costs.
A resistor RSET 1 8 determines a frequency of a PWM pulse, and the capacitors Cx 120 and Cy 122 determine resolution of the PWM pulse.
The duty cycle modulator 114 outputs a PWM signal as the acceleration information. The type of a signal corresponding to the acceleration information is not limited to the PWM signal.
In the processes of converting the analog signal of the acceleration information from which noise has been removed by the low-pass filter into a PWM signal by using the duty cycle modulator, outputting from a sensor an acceleration component signal digitalized by the duty cycle modulator, and outputting a digital acceleration component
signal using a sensor capable of outputting digital signals, an acceleration value is calculated by using the following processes.
FIG. 6 is a flowchart showing processes of analyzing, correcting, and processing an acceleration value after obtaining the acceleration value.
An acceleration calculator 1 16 is a microprocessor. The acceleration calculator 1 16 calculates a period of time during which a PWM signal is maintained at a high level and a period of the PWM signal and then calculates an acceleration value A(g) using the period of time during which the PWM signal is maintained at a high level and the period of the PWM signal.
In other words, the acceleration calculator 1 16 calculates the acceleration value A(g) using the PWM signal, which is represented by Equation (1 ) below.
0.5 g) = •(i) range
In Equation (1 ), T represents the period of time during which the
PWM signal is maintained at a high level, and T2 represents the period of the PWM signal. Grange represents an acceleration measurement range of an acceleration sensor.
T If the PWM signal has a duty of 50%, - - = 50% , and A(g)=0 g. If 2
T the PWM signal has a duty of 60%, — = 60% , in which case if Grange=Q g,
A(g)=0.8 g. An acceleration value can be obtained on the basis of one axis
(X-axis), two axes (X-axis and Y-axis), and three axes (X-axis, Y-axis,
and Z-axis), and the degree of precision of the acceleration value is determined by the performance of a central processing unit measuring Tj and T2.
The acceleration value obtained through the above-described processes is stored in a memory as an initial value and is used to adjust an initial bias value.
As described above, the acceleration measurement apparatus according to the present invention transmits biaxial acceleration information in the form of a PWM signal to the acceleration calculator 116.
T2 may vary depending on a peripheral passive device for the acceleration measurement apparatus and is determined by the performance of a microprocessor, i.e., the acceleration calculator 116. In a case where the acceleration calculator 116 is a high-speed microprocessor, T2 becomes even smaller than the one obtained by a regular microprocessor, and the acceleration calculator 116 can obtain much more information than the one realized as a regular microprocessor.
Hereinafter, an example of applying a three-dimensional acceleration measurement apparatus according to a preferred embodiment of the present invention to a network game will be described.
An acceleration value calculated by the acceleration calculator 116 is converted into a signal used for RS232-C or another serial interface, and three-dimensional acceleration measured by the acceleration calculator 116 is transmitted to a mobile terminal or an external game device where a three-dimensional acceleration measurement apparatus is installed.
The mobile terminal receives the three-dimensional acceleration regarding the movement of a user, i.e., a game participant, from the three-dimensional acceleration measurement apparatus, converts the
level of the three-dimensional acceleration into an appropriate level, and transmit the three-dimensional acceleration having its level converted to a game server over a wired or wireless network. The game server performs a game receiving information on every movement of each game participant and transmitting the result of the game obtained at every moment to the game participants' personal terminals, such as PCs or PDAs, over the wired or wireless network. Here, RS-232 is used as communication protocol, and three-dimensional acceleration is obtained. However, the present invention is not limited to the embodiment set forth herein.
FIGS. 2A through 2C are diagrams illustrating a method of measuring three-dimensional acceleration vector components by using two-dimensional acceleration sensors according to a preferred embodiment of the present invention. As shown in FIG. 2A, it is possible to obtain four measurements of acceleration components, i.e., acceleration vector components, by three-dimensionally arranging two acceleration sensors 200 and 202, which are each capable of measuring two axial components.
In particular, the acceleration sensor 200 is an X-Y acceleration sensor measuring Ax and Ay, and the acceleration sensor 202 is an X-Z acceleration sensor measuring Ax and Az. Both the X-Y acceleration sensor 200 and the X-Z acceleration sensor 202 measure the acceleration vector component Ax. Here, it is necessary to verify whether or not the X-Z acceleration sensor 202 is precisely perpendicular to the X-Y plane.
When the X-Y acceleration sensor 200 and the X-Z acceleration sensor 202 are at a standstill in parallel with the surface of the ground, the two acceleration sensors 200 and 202 are expected to output -9.8 m/sec2, which is the acceleration due to gravity, as the acceleration vector component Az, and to output 0 m/sec2 as the other acceleration vector components Ax and Ay.
Supposing that Ax1 represents X-axis acceleration measured by the X-Y acceleration sensor 200 measuring the acceleration vector components Ax and Ay, and Ax2 represents X-axis acceleration measured by the X-Z acceleration sensor 202 measuring the acceleration vector components Ax and Az, Axι is equal to A^ when the two acceleration sensors 200 and 202 are precisely perpendicular to each other. Accordingly, all the three acceleration vector components Ax, Ay, and Az can be obtained.
However, Ax1 may not be equal to Ax2 due to an error occurring during the acceleration measurement, and thus Az may be wrongly measured.
When the two acceleration sensors 200 and 202 are precisely perpendicular to each other in view of the X-Y plane and the X-Z plane, as shown in FIG. 2B, Ax1 is equal to A^. However, if the axes of FIG. 2B deviate from their original positions by as much as Δ, as shown in FIG. 2C, a wrongly measured acceleration vector component Az may be obtained. Accordingly, it is necessary to obtain an acceleration vector component Az', which is desired to be measured, by figuring out the degree Δ to which the axes of FIG. 2B deviate from their original positions based on a difference between Ax1 and Ax2. In the case of processing three-dimensional acceleration, when the X-Y acceleration sensor 200 is not precisely parallel with the surface of the ground and thus the axes deviate from their original positions by as much as Δ, a process of correcting a bias is performed, which is represented by Equation (2).
In Equation (2), Axι represents X-axis acceleration measured on the X-Y plane, and Ax2 represents X-axis acceleration measured on the
X-Z plane. Here, since Δ is very minute, cosΔ = 1. Accordingly,
Equation (2) can be rearranged into A., = Ax2(l+ Δ2) , which can be rearranged into Equation (3).
Az', which is obtained by compensating for Az by as much as Δ, can be obtained using Equation (4) below.
A '= A (l + Δ2) = A S- \ •(4)
\<2
The acceleration sensors 200 and 202 can measure two-dimensional or one-dimensional vector acceleration as well as three-dimensional vector acceleration. In order to measure acceleration of a two-dimensional or one-dimensional vector component, the acceleration sensors 200 and 202 do not transmit some of the vector signals that are necessary to obtain three-dimensional acceleration but are unnecessary to obtain two-dimensional or one-dimensional acceleration to the acceleration calculator 116.
When a user moves with an acceleration measurement apparatus attached to his or her body, or when the user grabs and moves a mobile terminal in which the acceleration measurement apparatus is installed, acceleration obtained by the acceleration measurement apparatus varies.
FIG. 3 is a graph showing a duty cycle according to a preferred embodiment of the present invention. In particular, FIG. 3 shows a duty cycle measured by a microprocessor, i.e., the acceleration calculator 116, over a predetermined period of time when a user grabs a mobile terminal where a three-dimensional acceleration measurement apparatus is installed and moves the mobile terminal in an Ax direction. It is possible
to assume based on FIG. 3 that the user's hand was at a standstill at the beginning for a predetermined period of time, moved in a sudden way, and then stopped moving.
As shown in FIG. 3, acceleration has a positive value at the beginning. When the movement of the user's hand has a maximum velocity, acceleration makes a record duty value of 50 %. As the velocity of the user's hand decreases, acceleration continues to decrease. When the user's hand stops moving, acceleration becomes 0 again. Since an acceleration sensor of the three-dimensional acceleration measurement has not yet experienced acceleration in an Ay direction, a duty value is maintained at about 50 %.
Accordingly, it is possible to design basic two-dimensional motion sensors, which are capable of measuring velocity and displacement along each axis, by integrating a signal 30 shown in FIG. 3, and it is possible to sense three-dimensional motions by using a combination of such two-dimensional motion sensors.
FIG. 4 is a flowchart of a method of measuring acceleration according to a preferred embodiment of the present invention. Referring to FIG. 4, two acceleration sensors of a three-dimensional acceleration measurement apparatus, i.e., the X-Y acceleration sensor 102 and the X-Z acceleration sensor 108, sense variations in the movement of the three-dimensional acceleration measurement apparatus and each generate a digital signal, such as a PWM signal, corresponding to acceleration vector components regarding the variation of the movement of the three-dimensional acceleration measurement apparatus in step 400. Demodulators, such as the digital-to-analog converters 104 and 110, convert the digital signals from analog signals in step 402. Here, a digital signal regarding two acceleration vector components is generated from an acceleration sensor (refer to FIG. 2A). Thereafter, passive low-pass filters 106 and 112 remove
high-frequency noise from the analog signals in step 404, and a duty cycle modulator 1 14 converts the analog signals from which high-frequency noise has been removed into PWM signals in step 406.
In step 408, an acceleration calculator 1 16 calculates a period of time during which each of the PWM signals is maintained at a high level and the period of each of the PWM signals and calculates acceleration vector components regarding the movement of the three-dimensional acceleration measurement apparatus by using Equation (1 ).
A three-dimensional acceleration value is calculated in step 410 by combining the calculated acceleration vector components.
Here, a one-dimensional or two-dimensional acceleration vector component may be directly used without being combined with other acceleration vector components in step 410.
The calculated acceleration value is converted into an interface signal, and the interface signal is transmitted to an external device. Here, the external device includes a game device and a mobile terminal in which an acceleration measurement apparatus is installed.
FIG. 5 is a flowchart of a method of calculating acceleration based on a PWM signal according to a preferred embodiment of the present invention. As shown in FIG. 5, a PWM signal has a regular period T2, and a duty value of the PWM signal varies with time in proportion to acceleration information.
Accordingly, a modulation circuit, such as a voltage comparator, as well as a hold circuit of an analog-to-digital converter is necessary. However, in the case of processing a PAM signal, there is no need for the analog-to-digital converter to have the same power supply voltage as an acceleration sensor.
Ti always comes with a negative edge of the PWM signal, and T2 always comes with a positive edge of the PWM signal. Accordingly, the acceleration calculator 1 16 can easily detect Ti and T2, and thus there is no need to install an analog-to-digital converter in the acceleration
calculator 1 16, which is a microprocessor.
Acceleration is calculated by substituting the predetermined time Ti during which the PWM signal is maintained at a high level and the period T2 of the PWM signal into Equation (1 ). The method of measuring acceleration according to the present invention can be realized as a computer-readable program, which can be stored in a computer-readable storage medium, such as a CD-ROM, a RAM, a floppy disk, a hard disk, or an optical disk.
In the case of processing two-dimensional acceleration, acceleration is calculated using the following equation.
Ax'= Ax - (gE sin Δ) -(5)
In Equation (5), Ax represents a measured acceleration value, Δ represents an initial slope value, and Ax represents a calculated acceleration value.
The output (SO) of the three-dimensional acceleration sensor except for two-axial acceleration, which is obtained by Equations (1 ) through (4) is simply transmitted to the acceleration processor when there is a need to obtain two-dimensional acceleration using the three-dimensional acceleration sensor. Thereafter, acceleration components are analyzed in step S1 , and an acceleration initial value is corrected in step S2 through Equations (1) through (4).
Next, an error in the acceleration sensor caused by temperature (variations?) is corrected in step S3, which will be described in the following paragraphs.
In a case where a central processing unit has great performance, such error correction process is performed using Kalman filter expressions, which are shown in Equations (6) and (7) below.
x(k + 1) = Φx(k) + fu(k) + PlW(k) (6)
y(k) = Hx(k) + v(k) ■ ■ ■ (!)
Here, x(k) represents an output satisfying Equation (6), y(k) represents an output including noise, u(k) represents an error caused by a bias, w(k) represents noise in x(k), and v(k) represents noise in y(k). A special process of obtaining the output y(k) by filtering the noise w(k) and v(k) in the input u(k) is performed differently depending on an acceleration value desired to be obtained by taking advantage of the fact that the sum of noise is 0.
In other words, in the case of obtaining accumulative data by taking advantage of the fact that a mobile device, in general, is physically close to its user, there is no need to quickly respond to a request for accumulative data. Therefore, w(k), which is first noise defined in the relationship between x(k+1 ) and x(k), is divided into segments on a predetermined time unit basis, the sum of the segments is calculated, and the acceleration sensor is designed so that the sum of acceleration can reach 0. In order to obtain level data, a standard acceleration value in uniformly accelerated motion should be removed. Therefore, y(k) is obtained by analyzing v(k) and multiplying v(k) by a factor, such as a logarithmic factor, in which case w(k) can be ignored.
If the performance of a central processing unit is not great, Kalman filtering cannot be used. Accordingly, the characteristics of an acceleration sensor are figured out by designating an initial value according to a table set up in advance, and then error correction can be performed. Even though the accuracy of the error correction is lower than that of Kalman filtering, this error correction method only needs a small memory space.
An error of the acceleration sensor is corrected in step S3 through the above-described error correction process, and it is determined whether or not the output of the acceleration sensor is accumulative data
in step S10. Thereafter, the accumulative data are corrected in step S4.
An accumulative value is calculated in step S5 by integrating the corrected accumulative data. Thereafter, an error obtained by the error correction and accumulative data correction steps is reduced by using a central processing unit having a higher performance. Accordingly, in step S5, a migration velocity is obtained through integration (a migration velocity is obtained by integrating acceleration?), and a migration distance is obtained by integrating the velocity. In the meantime, it is possible to obtain migration displacement by additionally adding one more acceleration sensor for the X-Y acceleration sensor sensing acceleration for the X-Y plane to the acceleration sensor. Therefore, the acceleration sensor according to the present invention can be applied to, for example, a global positioning system (GPS).
If it turns out in step S10 that the output of the acceleration sensor is not accumulative data, it is determined in step S20 whether or not the output of the acceleration sensor is level data. If the output of the acceleration sensor is level data, w(k) is ignored in Kalman filtering for correcting an error of the acceleration sensor, and thus a level value can be calculated more quickly in step S6. Even though w(k) is not considered in the Kalmal filtering, the accuracy of the error correction through the Kalman filtering is rarely affected by that thanks to a process of appropriately correcting v(k). Thereafter, the accumulative data processed in steps S4 and S5 are output in step S7, the level processed in steps S6 and S8 are output in step S8, and ordinary data other than the accumulative data and the level data are output in step S9. Steps 1 through 30 are repeatedly performed until those data respectively output in steps 7, 8, and 9 are not consecutive data.
Hereinafter, an interfacing means transmitting acceleration
obtained by the acceleration processing apparatus according to the present invention, i.e., optimized protocol, will be described in greater detail.
In order to identify the type of acceleration and clearly express other application results in communications between a device that needs acceleration and the acceleration processing apparatus according to the present invention, the device transmits a one-byte command number to the acceleration processing apparatus to make a request for acceleration data, and the acceleration processing apparatus sends acceleration data in which each axis is represented by one byte to the device. In this process, an identification signal may be attached to the data ahead of the data in order to identify the command number. In addition, in this process, the number of acceleration axes that can be dealt with by one acceleration processing apparatus is fixed, and thus it is preferable to fix the number of bytes of a command in terms of the optimization and stable operation of a communications interface.
FIG. 7 is a flowchart of a method of recognizing a shape according to a preferred embodiment of the present invention. As shown in FIG. 7, data are respectively collected from ordinary data (S70), level data (S80), and accumulative data (S90). An acceleration value of the ordinary data is compared with an acceleration value of the level data, extreme points of the accumulative data are analyzed, the time taken to extract each acceleration is measured in steps S72 and S74. Accordingly, it is possible to analyze the locations of extreme points of an acceleration sensor in a two-dimensional space and a three-dimensional space in step S75.
In steps S76 and S77, a character or a shape identified by analyzing the locations of the extreme points can be output after being compared with a previously input character or shape, or can be output in the form of a picture comprised of straight lines and arcs. Alternatively, steps S70 through S100 are repeatedly performed until the data output
in step S77 are not consecutive data.
FIG. 8 illustrates an embodiment of the method of recognizing a shape shown in FIG. 7. As shown in FIG. 8, a number, '5', consists of 6 extreme points. Let us assume that an extreme point 1 is a starting point. In order to recognize such a shape, a shape recognition mode is selected when there is an external input, or is set up in advance and maintained so that shapes can be recognized at any time.
Since a two-dimensional space or a three-dimensional space is set up for the recognition of the shape of '5' through the correction of an initial value performed in step S2 of FIG. 6, there is no need to newly set up a two-dimensional space or a three-dimensional space for recognition of the shape of an input concerning a user's movements.
As shown in FIG. 8, '5' starts with the extreme point 1 and passes extreme points 2 and 3. It is possible to figure out based on level data that the extreme points 1 , 2, and 3 are on the same level with respect to the Y-axis. In addition, it is possible to figure out that the extreme points 1 and 3 are located at the same spot in terms of time measures on the X-axis. A movement from the extreme point 3 to an extreme point 4 can be figured out as a (-) directional movement not accompanying any changes in the X-axis coordinates of the extreme points 3 and 4. Accumulative data obtained by integrating a movement from the extreme point 4 to an extreme point 5 with respect to the X-axis have a (+)- (0) form, and ordinary data concerning the movement from the extreme point 4 to the extreme point 5 have a (+)->(-) form. In addition, accumulative data obtained by integrating the movement from the extreme point 4 to the extreme point 5 with respect to the Y-axis have a (-)->(0) form, and ordinary data concerning the movement from the extreme point 4 to the extreme point 5 have a (-)->(+) form.
The movement from the extreme point 4 to the extreme point 5 draws a quarter circle in the first quadrant with its center at the origin. Whether the movement from the extreme point 4 to the extreme point 5
draws part of a circle or an oval is figured out by analyzing accumulative data obtained by integrating the movement from the extreme point 4 to the extreme point 5 two times.
In general, a movement draws a form of a straight line or a curved line (an arc) and can be identified by the above-mentioned method shown in FIG. 7.
When a process of inputting one shape is completed, a small circle can be drawn so as to differentiate the process from a subsequent process of inputting another shape. FIG. 9 is a block diagram of a mobile device where an acceleration processing apparatus according to the present invention is installed. Referring to FIG. 9, a main processor A of the mobile device includes elements Ai through A4. Specifically, A- represents a processing unit, A2 represents a unit for controlling the input and output of the main processor A, A3 represents a unit for controlling communications between the main processor A and an external device, and A4 represents a memory unit. In addition, C represents each acceleration sensor, and D represents a group of passive and active devices necessary for each of the acceleration sensors C. According to the present invention, the acceleration sensor C measures acceleration and directly transmits acceleration to the main processor A along a path marked by G. When the main processor A cannot receive the acceleration from the acceleration sensor C because the main processor A is in a standby mode or the power of the main processor A is cut off, an electronic circuit (or an integrated circuit) B can receive acceleration from the acceleration sensor C on the behalf of the main processor A.
In order to inform the electronic circuit B of the state of the main processor A, a path marked by H is necessary. Accordingly, the electronic circuit B receives the acceleration from the acceleration sensor C along a path E and transmits the acceleration to the main processor A
along a path F. Here, the electronic circuit B may appropriately process the acceleration input from the acceleration sensor A before directly transmitting the acceleration to the main processor A.
When the acceleration is transmitted to the main processor A from one of the acceleration sensors C along an appropriate path, the main processor A transmits the acceleration to the processing unit A-i via the input/output controlling unit A2 and applies the acceleration to a variety of operations of the mobile device. If necessary, the acceleration directly input into the main processor A from the acceleration sensor C, the acceleration input into the main processor A from the electronic circuit B, or data processed by the main processor A can be stored in the memory unit A4 for later use. Data input into the mobile device are transmitted to another digital electric home appliance, such as a PC, via a chip K converting the levels of signals and reading signals. Before transmitting the data to another electric home appliance, the data can be appropriately transformed to be appropriate for the electric home appliance to which the data are directed by the communications controlling unit A3.
The electronic circuit B and the acceleration sensor C, which are newly devices added to a conventional mobile device, are powered by a power supply M for the entire mobile device. The chip K uses an external power supply N. Under any circumstances, the reference voltage of the power supply M must be the same as that of the external power supply N. Therefore, a path marked by L is necessary. The power supply M and the external power supply N can be used together while being connected to each other.
FIG. 10 is a diagram illustrating a mobile device, for example, a cellular phone, providing a mobile game to which the present invention is applied. Static acceleration components generated when the cellular phone is tilted left or right, or upward or downward, and dynamic
acceleration components generated when the cellular phone is moved left and right, up and down, or back and forth are analyzed by using the above-described method, and any appropriate one out of ordinary data, accumulative data, and level data, which have been mentioned above with reference to FIG. 6, are transmitted to the mobile device by using the above-described interfacing method.
FIG. 11 is a flowchart of the operation of a mobile pedometer to which the present invention can be applied. Some claims of the present invention deal with a mobile pedometer, a calorimeter realized by the mobile pedometer precisely analyzing and processing data, and an even more precise calorimeter capable of providing more precise calorie calculations by integrating body fat data and heart rate information.
Referring to FIG. 11 , ordinary data and accumulative data are extracted in steps S110 and S120, respectively, by using the process shown in FIG. 6, and accumulation time and accumulation amount are measured based on the extracted data in steps S130 and S132, respectively, by using the process shown in FIG. 7. The temporal location of an extreme point is analyzed in step S134 using the ordinary data, and the number of footsteps is measured in step S136 in consideration of the magnitude of acceleration at the extreme point and the temporal location of the extreme point. Calories that a user has burnt are measured in step S136 by taking advantage of FFT when measuring the accumulation amount.
Thereafter, body fat data (S150) and heart rate data (S160) are integrated and then added to data output in step S140, and the results of adding are appropriately processed, thus obtaining more accurate calorie estimation in step S170. In step S170, it is determined whether or not the data output through steps S110 through S160 are consecutive data. Steps S110 through S160 are repeatedly performed until inconsecutive data are output.
While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it will be understood by those of ordinary skill in the art that various changes in form and details may be made therein without departing from the spirit and scope of the present invention as defined by the following claims.
Industrial Applicability
According to the present invention, it is possible to quickly and accurately measure three-dimensional acceleration concerning a user's movement by installing an acceleration processing apparatus in the user's mobile terminal without the need of any additional devices and to transmit the measured three-dimensional acceleration to a mobile terminal at high speeds.
In addition, it is possible to apply the present invention to various fields by quickly and accurately transforming measured acceleration into ordinary data, level data, and accumulative data using appropriate processes and then transmitting the ordinary data, the level data, and the accumulative data.
Moreover, in the case of applying a user's acceleration measured according to the present invention to mobile games, it is possible to make the user playing the mobile games feel as if they were playing virtual reality games rather than conventional mobile games limited in a small liquid crystal display and controlled by simple key manipulation by reflecting the user's real motions into the mobile games. Therefore, it is possible to boost the user's interest in the mobile games.
The present invention enables a cellular phone and a PDA, which are widely used for communications and note-taking to have a motion sensing function and stimulates the cellular phone and PDA markets by providing a tool for manufacturing a variety of applications for such mobile devices having a motion sensing function.
Claims
1. An acceleration processing apparatus, which is capable of creating, analyzing, and correcting acceleration without the need of any complicated calculations and processes an acceleration component signal sensed by an acceleration sensor therein, the acceleration processing apparatus comprising: an acceleration sensor sensing each movement of the acceleration processing apparatus and generating a signal regarding an acceleration component for each movement of the acceleration processing apparatus; a modulator converting the acceleration component signal into a modulation signal; an acceleration calculator calculating the acceleration component for each movement of the acceleration processing apparatus by using the modulation signal and then obtaining an acceleration value by using the calculated acceleration component; and an interface converting the acceleration value so that the converted acceleration value can be transmitted to an external device.
2. An acceleration processing apparatus, comprising: an analyzer quickly obtaining an acceleration component by sensing an acceleration component signal for each movement of the acceleration processing apparatus and then analyzing the acceleration component signal for each movement of the acceleration processing apparatus; a corrector correcting errors and biases of the acceleration component obtained by the analyzer; a recognizer recognizing a specific shape by using the corrected acceleration component signal; a calculator extracting reliable accumulative data from the acceleration component signal; and a processor quickly and accurately transforming acceleration measurements into highly usable data.
3. The acceleration processing apparatus of claim 1 or 2 further comprising a standard interface standardizing data obtained by processing acceleration to be commonly-usable data and then transmitting the standardized data to an acceleration measurement module or a processing module so that the standardized data can be processed inside or outside the acceleration measurement module or the processing module.
4. An acceleration processing method processing an acceleration component signal sensed by an acceleration sensor, the acceleration processing method comprising:
(a) obtaining an acceleration component by sensing an acceleration component signal for each movement of the acceleration processing apparatus and then analyzing the acceleration component signal for each movement of the acceleration processing apparatus; (b) correcting errors and biases of the acceleration component obtained by the analyzer;
(c) recognizing a specific shape by using the corrected acceleration component signal;
(d) extracting reliable accumulative data from the acceleration component signal; and
(e) quickly and accurately transforming acceleration measurements into highly usable data.
5. The acceleration processing method of claim 4 further comprising standardizing data obtained by processing acceleration to be commonly-usable data and then transmitting the standardized data to an acceleration measurement module or a processing module so that the standardized data can be processed inside or outside the acceleration measurement module or the processing module.
6. A small-sized acceleration measurement module being an applied device using acceleration values output by any of claims 1 through 5, and using an acceleration measuring and processing apparatus and method.
7. A mobile device or a handheld device, such as a cellular phone or a PDA, using the acceleration measurement module of claim 6.
8. An input device including the acceleration measurement module of claim 6 and being used to input data into an external device, such as a PC, while being connected to the external device.
9. A mobile pedometer including the acceleration measurement module of claim 7 and counting footsteps by measuring acceleration with the use of the acceleration measurement module.
10. The mobile pedometer of claim 9 being capable of analyzing and recording, by using its functions, calories that a user has burnt while exercising.
1 1 . The mobile pedometer of claim 9 being capable of providing even more accurate health checkup results by integrating the user's body fat values and heart rates.
12. A mobile game device adopting the mobile device of claim 7 and taking advantage of information on the movement of the mobile device and whether or not and how much the mobile device is tilted obtained by using the acceleration measurement module.
13. A mobile gaming method adopting the mobile device of claim 7 and taking advantage of information on the movement of the mobile device and whether or not and how much the mobile device is tilted obtained by using the acceleration measurement module.
14. A computer-readable recording medium on which a program for realizing a first function of sensing each movement of a three-dimensional acceleration processing apparatus including a processor by using an acceleration sensor in the acceleration processing apparatus and generating a signal regarding an acceleration component for each movement of the acceleration processing apparatus, a second function of converting the acceleration component signal into a modulation signal, and a third function of calculating the acceleration component for each movement of the acceleration processing apparatus by using the modulation signal and then obtaining a three-dimensional acceleration value by using the calculated acceleration component is written.
15. The computer-readable recording medium of claim 14 on which a program for realizing an eighth function of converting the three-dimensional acceleration value is written so that the converted three-dimensional acceleration value can be transmitted to an external device.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR2001/68955 | 2001-11-06 | ||
| KR20010068955 | 2001-11-06 |
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| PCT/KR2002/002065 WO2003040731A1 (en) | 2001-11-06 | 2002-11-06 | Apparatus and method for capturing and working acceleration, and application thereof, and computer readable recording medium storing programs for realizing the acceleration capturing and working methods |
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| KR (1) | KR20020091002A (en) |
| WO (1) | WO2003040731A1 (en) |
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| EP1927384A1 (en) * | 2006-12-01 | 2008-06-04 | NAMCO BANDAI Games Inc. | Method of determining operation input using game controller including acceleration detector, and method of calculating moving path of the game controller |
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| CN112347422A (en) * | 2020-10-27 | 2021-02-09 | 努比亚技术有限公司 | Acceleration correction method, device and computer readable storage medium |
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| KR101708304B1 (en) * | 2010-08-18 | 2017-02-20 | 엘지전자 주식회사 | Mobile terminal and motion recognizing method thereof |
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| WO2007126433A3 (en) * | 2006-03-29 | 2008-05-08 | Sony Ericsson Mobile Comm Ab | Motion sensor character generation for mobile device |
| US7536201B2 (en) | 2006-03-29 | 2009-05-19 | Sony Ericsson Mobile Communications Ab | Motion sensor character generation for mobile device |
| EP1927384A1 (en) * | 2006-12-01 | 2008-06-04 | NAMCO BANDAI Games Inc. | Method of determining operation input using game controller including acceleration detector, and method of calculating moving path of the game controller |
| CN112347422A (en) * | 2020-10-27 | 2021-02-09 | 努比亚技术有限公司 | Acceleration correction method, device and computer readable storage medium |
| CN112347422B (en) * | 2020-10-27 | 2023-07-21 | 努比亚技术有限公司 | Acceleration correction method, device and computer-readable storage medium |
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