The present invention relates to the field of orientation measurement, in particular to the control and application of the orientation measurement of an object in a magnetic field and in a 3-dimensional space.
Man-machine interfaces, as used in e.g. controllers for gaming consoles, do normally not provide relative position, orientation or velocity information of e.g. both hands or a hand and a human body to a system. Additionally current developments of relative positioning interfaces (e.g. Nintendo Wii) are using a fixed reference point.
In the field of magnetism a magnetic field is normally generated by a coil due to electromagnetism and said magnetic field induces a voltage in another coil, also called receiver coil, under the premise that the magnetic field strength changes in the receiver coil. It is clear that a non-moving receiver coil is not capable to measure a non-altering magnetic field since no voltage is induced by said magnetic field.
There are already means, which can measure a position and/or orientation of a receiver means in relation to a specific magnetic field generating means. To measure the orientation in a 3-dimensional space normally three orthogonal arranged probes are used to calculate the coordinates. These arrangements are most of the time very bulky and space taking.
Also the construction of the magnetic field generating means and of the magnetic field receiver means, specifically the arrangement of the coils has to be taken into account to evaluate the received information of the received magnetic field and associate the information to a specific orientation of one of the means.
Currently the latest generation of e.g. gaming controllers can give information of the absolute position of a user in a 3-dimensional room. This is done by the usage of an infrared connection (IR) between a fixed point reference (i.e. positioned at the TV) and the controller in the hand of the user. The controller also has sensors like e.g. a gyroscope which are operable to give acceleration and orientation information.
In another equipment of state of the art, the position of the user or objects can be recognized by the usage of a camera system that is comparing the orientation, acceleration and/or position information with reference positions which are specifically marked.
The calculation of the orientation of a coil within a magnetic field is done normally by the use of coils that are arranged in an orthogonal way. The induced voltage in a coil is depending, among other factors, on the “angle of arrival” of the magnetic field lines. Thales is holding a patent (WO 2004/065896 A1) on “Method and device for magnetic measurement of the position and orientation of a mobile object relative to a fixed structure”. This patent covers the usage of three orthogonal coils for distance and orientation measurement.
The present invention relates to a mobile magnetic field apparatus operable to generate and/or receive a magnetic field comprising at least one coil operable to generate and/or receive a magnetic field, respectively, said magnetic field being modulated by at least one frequency and/or identification code, respectively.
Favourably, the at least one coil is operable to transmit data by modulating the data onto the respective magnetic field and/or receive data via the modulated magnetic field.
Favourably, said mobile magnetic field apparatus is further operable to establish a connection to at least one other mobile magnetic field apparatus and/or to an application system, said application system being operable to process data from said mobile magnetic field apparatus, and to transmit and/or receive data via the serial connection.
Favourably, the connection is a wireless connection and/or a cable connection.
Favourably, said mobile magnetic field apparatus is further operable to generate and/or receive at least a second magnetic field, said at least second magnetic field being distinguishable from the first magnetic field and the other magnetic fields in view of the modulation.
Favourably, said mobile magnetic field apparatus comprises a temperature measuring system operable to measure the temperature, and/or a pressure measuring system operable to measure the pressure, and/or a light sensor operable to measure the characteristics of light, and/or a capacity measuring system operable to measure electric fields, and/or a magnetic field strength measuring system operable to measure the magnetic field strength, and/or a humidity measurement system operable to measure the humidity, and/or a pulse measuring system operable to measure the pulse of a subject, and/or a radio frequency measuring system operable to receive electro-magnetic waves, and/or an acoustic sensor system operable to measure sonic waves, and/or a digital camera system operable to capture visual data, whereby said systems are operable to provide measuring data, respectively.
Favourably, said mobile magnetic field apparatus comprises two or more coils, whereby at least two coils of said two or more coils are orthogonal to each other.
Favourably, said mobile magnetic field apparatus comprises two or more coils, whereby each of said two or more coils has a symmetry axis and the symmetry axis of at least two of said two or more coils are parallel.
Favourably, said mobile magnetic field apparatus operable to generate a magnetic field comprises a signal generator device operable to generate a signal, said signal is modulated by a frequency and/or an identification code, and a transmitter radio frequency processing device operable to receive and process said signal and to output at least one transmitter signal (Ia) to the at least one coil, respectively, whereby said transmitter signals (Ia) are different to each other in view of the modulation.
Favourably, said mobile magnetic field apparatus operable to receive a magnetic field comprises a receiver radio frequency processing device operable to receive and process signals received by at least one coil, respectively, and to output a resulting signal, a digital processing device operable to receive and process the resulting signal and to output a digital signal based on said resulting signal, a numerical stage operable to receive and process the digital signal and to output data comprising relative positions, movements and/or orientations, and an interface operable to receive the data and output said data.
Favourably, said mobile magnetic field apparatus operable to generate and receive a magnetic field comprises a duplexer operable to transmit the signals from the transmitter radio frequency processing device to the at least one coil and to receive the signals from the at least one coil to the receiver radio frequency processing device.
The present invention also relates to a mobile magnetic field controller system operable to measure a relative position, orientation and/or velocity comprising a first mobile magnetic field apparatus according to one of the above-mentioned claims and a second mobile magnetic field apparatus according to one of the above mentioned claims.
Favourably, said first mobile magnetic field apparatus is operable to receive a magnetic field transmitted by said second mobile magnetic field apparatus, and/or vice-versa.
Favourably, said first and/or said second mobile magnetic field apparatus are operable to receive and/or transmit a magnetic field transmitted to and/or received by at least one other mobile magnetic field apparatus, respectively.
Favourably, said mobile magnetic field controller system is further operable to connect to an application system via the interface of the magnetic field apparatus.
Favourably, said mobile magnetic field controller system is operable to connect parallel to the application system, when another magnetic field controller system is connected to the application system.
Favourably, said mobile magnetic field controller system is further operable to connect to at least one other magnetic field controller system via a serial connection, respectively.
The features, objects and advantages of the present invention will become more apparent from the detailed description set forth below when taken in conjunction with the drawings, wherein:
This invention describes the measurement of the distance, the orientation and the velocity of two or more objects relative to each other by the usage of the magnetic field properties. With these time-relevant data, a controller can be build that enables the human to interact with a machine, e.g. a gaming console, by moving body parts or objects relative to each other.
In the description of the present invention the wording “generating” corresponds to the wording “transmitting” to describe the basic operation of the coils operable to generate a magnetic field, whereby said coils are part of a transmitter device in a transceiver setup. Moreover information can be modulated onto the magnetic field, thus turning the coil to a transmitter.
Also the wording “magnetic field device” can be applied to the wording “generator device” or “receiver device” or any other wording comprising a device operable to generate and/or receive a magnetic field.
Each of said devices 16, 17 and 18 comprises electronic components for receiving, processing and/or outputting signals. Said components are either powered by a battery device or by a power cable, whereby the usage of a battery is favourable for mobile devices. To provide protection for human body against electric shocks, the man-machine interface is well isolated against high-current and high-voltage and/or is operable to use low voltages which are not endangering the user.
In this setup the position of the generator device 16a is described in a first 3-dimensional coordinate system with the vectors x1, y1 and z1, whereby said vectors are orthogonal to each other. The generator device 16a moves with a specific absolute velocity v1 in said first system. The position of the receiver device 17a is described in a second 3-dimensional coordinate system with the orthogonal vectors x2, y2 and Z2 and said device 17a moves with a specific absolute velocity v2 in said second system. Thereby the generator device 16a and the receiver device 17a are arranged to each other in a specific angle α. Of course, the coordinates of the first coordinate system can be converted to the coordinates of the second coordinate system to be able to calculate the relative position, orientation and/or velocity between the two devices 16a and 17a.
Since the two devices 16a and 17a might have different coordinate systems, respectively, their respective reference points might differ from each other and might be provided or transmitted by different external devices (not shown) like e.g. cameras, laser light emitters etc., said external devices being operable to provide a distance and/or position to said device 16a and 17a, respectively. Either the external devices measure said measurement reading like e.g. distance and transmit them to the respective devices 16a and 17a or said devices 16a and 17a determine their respective coordinate system by their own by receiving the raw signals of the external devices like e.g. camera pictures and calculating their position.
Of course, the determination of said two coordinate systems is not required when the generator device 16a and the receiver device 17a utilise the same coordinate system or the coordinate system is already predetermined and stored to the respective generator device 16a and the receiver device 17a due to physical arrangements by e.g. the orthogonal arrangement of the coils. In case said coordinate systems are the same, said coordinate system has a reference position on either one of said devices 16a and 17a or said external device(s) or any other point in a 3-dimensional space.
The generator device 16a comprises a signal generator 19, a transmitter radio frequency (RF) processing 20 and a first, second and third coil 28a, 28b, 28c. The signal generator 19 is connected to the RF processing 20 whereby said signal generator 19 is operable to generate a signal and transmit said signal to the RF processing 20, whereby said signal allows e.g. the receiver device to identify the corresponding and/or respective generator device 16a, whereby said signal is modulated by a specific frequency and/or identification code (ID). The RF processing 20 is connected to the first, second and third coil 28a, 28b, 28c, respectively, and is operable to process a received signal from the RF processing 20 and transmit three transmitter signals based on said received signal to the respective coils. The three coils 28a, 28b, 28c are arranged orthogonal to each other and are operable to receive a current 1a, 1b, 1c, respectively, said currents base on said transmitter signals, and to generate magnetic fields based on said currents, respectively. This magnetic field is eventually providing the connection 27 between the generator device 16a and the receiver device 17a for mutual coupling, whereby the generator device 16a can generate a magnetic field which induces a voltage in the receiver device 17a. The currents 1a, 1b, 1c can also be modulated in the RF processing 20 by a frequency, respectively, said frequency being different to the frequency of the signal sent from the signal generator 19, to help identify the respective signals of the three coils 28a, 28b, 28c and thus the three coils themselves of the receiver device 17a.
The receiver device 17a comprises an interface 24, a numerical stage 23, a digital processing 22, an receiver RF processing 21 and a first, second and third coil 29a, 29b, 29c. The coils 29a, 29b, 29c are arranged orthogonal to each other and are operable to receive the magnetic field generated by the coils 28a, 28b, 28c of the generator device 16a, whereby said magnetic field induces a voltage V1, V2, V3 in said coils 29a, 29b, 29c, respectively. These voltages are received and measured by the receiver RF processing 21 as corresponding voltage signals. The receiver RF processing 21 is operable to receive and process said voltage signals and output a resulting signal based on said voltages V1, V2, V3. The digital processing 22 which is connected to the receiver RF processing 21 is operable to receive said resulting signal, to convert the analogue signal into a digital signal and to output the digital signal to the numerical stage 23. The numerical stage 23 is operable to receive the digital signal, to determine based on said digital signal the relative movement and/or position in the x-, y- and/or z-direction, the velocity, the acceleration and/or the angle α between the receiver device 17a and the generator device 16a. The numerical stage 23 is operable to calculate these information and send them as data to the interface 24. The interface 24 transmits the information via a wireless communication like e.g. Bluetooth or a cable connection like e.g. a USB cable to the interface 25 of the application system 18a. The interface 25 is operable to receive the signal via the receiver device—application system—connection 26 from the interface 24 and transmit it to the application system 18a.
The application system 18a is operable to process said information and is e.g. a game console. After the processing the application system 18a transmits a resulting signal like e.g. a video signal to an output device like e.g. a television or a display, said video signal being based on said information.
In case of a transceiver device later described in
In another embodiment the serial connection 30 might be formed between the two receiver devices 17b and 17c, whereby the receiver device 17b is operable to transmit the information to the receiver device 17c and the receiver device 17c is operable to receive said data from the receiver device 17b. The serial connection 30 can either be established via the link of the interface of the receiver 17b or via the coil of the receiver 17b also operable to transmit the information. In another embodiment more than two man-machine interfaces are serial connected to each other, forming a chain of man-machine interfaces. In another embodiment, the receiver device 17c is further operable to receive the magnetic field transmitted by the transmitter device 16b, thus operable to calculate the orientation to the transmitter device 16b or receive data transmitted by the transmitter device 16b. Vice-versa, the transmitter device 16c and the receiver device 17b might operate together and calculate their orientation.
Thereby, the carrier frequency of the magnetic field 27d might either be similar or equal or different to the frequency of the magnetic field 27g. The features of the magnetic fields 27e and 27f correspond to the one of 27d and 27g, respectively. All in all it is possible that the transmitter devices and receiver devices of different man-machine interfaces interact with each other and set up a connection. According to
In other embodiments, different combinations of one or more of said systems are possible and thus part of the generator device 16i. In another embodiment instead of a generator device 16i a receiver device 17 as described in
The temperature measuring system 32 is operable to measure the temperature of the environment and/or of the human body. The pressure measuring system 33 is operable to sense pressure e.g. by means of piezo elements or by a film similar used like in a touchpad or touch screen. The light sensor 34 is operable to sense and measure the brightness of the environment and/or measure specific emitted laser light by an external emitter device (not shown). The capacity measuring system 35 is operable to measure electric fields and thus the capacity between two surfaces. The magnetic field strength measuring system 36 comprises at least one of those receiver coils described in the afore-mentioned figures. Also hall-sensors might be used instead of or in addition to the coils in said system 36. The humidity measurement system 37 is operable to measure the humidity in the environment and/or on the skin of a human person. The pulse measuring system 38 is operable to measure the pulse of a human person, which either carries the transmitter device 16i or is in contact with said transmitter device 16i; e.g. a person carrying said device 16i might touch another person to measure the pulse. The radio frequency measuring system 39 is operable to receive electromagnetic waves which can differ in frequency. The radio frequency measuring system 39 might comprise e.g. a GPS system. Another possible sensor is an acoustic microphone operable to measure sonic waves and their frequencies. The generator device 16i might also comprise a digital camera to capture visual data. Also passive sensors like e.g. small balls or lamps are implemented for the use of motion capture by an external device. Every data generated by said sensors can be processed and transmitted in real-time or in packages.
In another embodiment, a receiver device has the same structure and/or comprises the same sensors of the transmitter device 16i regarding the plurality of sensors.
The connections 30a, 30b, 30c and 30d correspond to the connection 30 described in
Eventually a mobile magnetic field device as claimed could correspond to any transmitter, receiver or transceiver described in
All generator devices, receiver devices and transceiver devices described in the
There are different possible magnetic field sensors which can be implemented in the receiver or transceiver devices instead or in addition to the receiver coils like e.g. Hall-sensors, Wiegand-Sensors, etc. For the generation of the magnetic field also permanent magnets can be implemented.
The invention was discovered within the work on data transmission systems using magnetic principles in low frequency range below 30 MHz, whereby said invention is not restricted to said frequency range. Although the main purpose of said system is not the distance, position and velocity measurement of two objects, the results of first experimental demonstrations have shown that this information can be extracted from the running system and can be used for various applications, e.g. gaming controllers for gaming consoles.
The magnetic principles can also be used for low data rate communication systems, near field communication systems for short distances and Touchpad applications.
Due to the nature of the magnetic field lines, the mutual coupling between two conducting loops is not attenuated by the human body. This makes the technological principle ideal for an application at or close to the body. The proposal of this invention report is to build a controller as man-machine interface for e.g. game consoles. Transmission and reception conducting means are located in the left respectively in the right hand. By the movement of the hands relatively to each other the distance, orientation and velocity can be derived by the system and is directly interacting with the system scenario.
Also one means, either transmitter of receiver could be at a fixed position, e.g. the console and the receiving means at the human body.
The idea is to use a magnetic communication link to provide relative location information that is possible to use more than one of the state of the art technologies.
In a scenario example, the new magnetic controller is used in conjunction with a gaming console and a car racing game. The magnetic transmitter is in the left hand, the magnetic receiver is in the right hand. Also the right hand system is containing an interface to the application system, a gaming console or PC in this case. The interface can be wireless e.g. Bluetooth or cabled. By bringing the left hand and the right hand together accelerates the car, separating them decelerates it. The velocity of the hand movement is in direct proportion to the acceleration/deceleration speed. Changing the orientation of the hands to each other enable a left turn or right turn movement of the car.
Typical parameters for such a scenario could be
In another scenario a user wears gloves which comprise the controller. In addition to the magnetic transmitters and receivers the controller comprise pressure sensors. When the user now samples a surface like e.g. a face by touching, the surface can be visualised on a display. Of course next to the magnetic transceivers determining the relative position of the right and left glove, the position of the activated pressure elements is known to the electronic of the respective glove.
The magnetic controller system can be extended by a data transmission means from one object to the other by using modulation scheme on the magnetic signal, enabling additional information transfer and scenarios.
A multi-user scenario is feasible using the same frequency due to the fast drop of the magnetic field strength in the vicinity of the transmitter.
Other technologies (e.g. light detection) could be also integrated to the hand controller.
A new controller concept enabling new machine control scenarios is presented. It is not a replacement of existing technologies but a concentration of possibilities by using the nature of the magnetic field.
The main advantage of using the magnetic technology for the controller scenario is the possibility to get information about the relative relation (distance, orientation and velocity) of two or more objects by using only one robust technology that can also be combined with other existing ones.
The technology background is based on the magnetic field. The magnetic field component H of an electromagnetic transmitter dominates the electric field component E in the nearfield of the transmitter. The limit distance between the nearfield and the so called farfield is depending on the frequency of the transmitter and is defined to be λ/2π, where λ is the wavelength. In the nearfield the magnetic field strength, measured in dBμA/m, drops along the x-axis of a conductor loop transmitter by 1/d3, where d is the axial distance from the centre of the conductor loop. This corresponds to a drop in strength of 60 dB per decade of distance. In the farfield after the separation of the field from the antenna only the free space attenuation of the electromagnetic waves is effective. The field strength is proportional to 1/d, this corresponds to a loss of 20 dB per decade of distance.
According to Ampere's law a magnetic field is produced by a current that is flowing through a conductor element, in the case of a circular loop with a radius r and N turns the magnetic field strength B in axial direction at a distance d can be calculated to be
A voltage V is induced into a second conductor loop if this is located in the vicinity of the first conducting loop within the time varying magnetic field B (Faradays law). Ψ is the magnetic flux, S the surface area
The level of induced voltage is depending on the frequency and strength of the generator current, the distance between the transmitting and the receiving conductor loop, the size and the number of turns of both conducting coils. The quality factor Q is a measure for the selectivity at the frequency of interest.
V=2πfSNBQ cos α
Furthermore there is also an orientation dependency; this means that the induced voltage V is depending on the angle of arrival of the B field lines.
The frequency dependency is compared small when the frequencies are close to each other.
After detection of the level of the induced voltage(s) by a resonance circuit, RF processing with suitable means and further post processing (DAC, Derivation) of the received signal information the relative distance and the relative orientation of two or more objects can be derived. Also the change of the magnetic field strength versus time and distance can be derived and information about the velocity (distance vs. time) and acceleration (velocity vs. time) of the conducting loops can be gathered.
Number | Date | Country | Kind |
---|---|---|---|
07100621 | Jan 2007 | EP | regional |
Filing Document | Filing Date | Country | Kind | 371c Date |
---|---|---|---|---|
PCT/EP2007/011084 | 12/17/2007 | WO | 00 | 2/11/2009 |
Publishing Document | Publishing Date | Country | Kind |
---|---|---|---|
WO2008/086876 | 7/24/2008 | WO | A |
Number | Name | Date | Kind |
---|---|---|---|
3388323 | Stripling | Jun 1968 | A |
5421590 | Robbins | Jun 1995 | A |
6073043 | Schneider | Jun 2000 | A |
20060116667 | Hamel et al. | Jun 2006 | A1 |
20080076567 | Dohta | Mar 2008 | A1 |
20080231263 | Rebmann | Sep 2008 | A1 |
Number | Date | Country |
---|---|---|
1 736 736 | Dec 2006 | EP |
01 15111 | Jan 2001 | WO |
WO 2004065896 | Aug 2004 | WO |
Number | Date | Country | |
---|---|---|---|
20100004063 A1 | Jan 2010 | US |