Input device for three-dimensional control

Abstract

A three-dimensional control system includes an input device, a computing device, and a tracking component. The input device may include an input sensor, an inertial measurement unit sensor, and an ultrasonic speaker. The tracking component may include a plurality of ultrasonic microphones and an inertial measurement unit disposed on or with the computing device. The plurality of ultrasonic microphones may include three microphones in a first plane and at least one other ultrasonic microphone disposed outside the first plane. The ultrasound microphone may be configured to detect ultrasound waves output by the speaker of the input device, and the computing device may triangulate a position of the input device in space relative to the computing device.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to U.S. Patent Application No. 18 / 472,185, filed on September 21, 2023, entitled “Input Device for Three-Dimensional Control,” which claims priority to U.S. Provisional Patent Application No. 63 / 478,523, filed on January 5, 2023, entitled “Input Device,” U.S. Provisional Patent Application No. 63 / 376,767, filed on September 22, 2022, entitled “Variable Friction and Multi-Texture Mouse,” U.S. Provisional Patent Application No. 63 / 376,763, filed on September 22, 2022, entitled “Multi-Mode Mouse,” U.S. Provisional Patent Application No. 63 / 376,650, filed on September 22, 2022, and U.S. Provisional Patent Application No. 63 / 376,650, filed on September 22, 2022, entitled “Input Device for Three-Dimensional Control,” and U.S. Provisional Patent Application No. 63 / 376,650, filed on September 22, 2022, entitled “Input Device with Adaptive Grip The disclosures of these U.S. Provisional Patent Applications are hereby incorporated by reference in their entirety. Technical Field

[0003] The present disclosure generally relates to user input devices and systems. More particularly, the present disclosure relates to three-dimensional input device tracking systems and devices. Background Art

[0004] Recent advances in computing have enabled immersive user experiences, including desktop games on personal computers, alternative and virtual reality interactive consoles, three-dimensional (3D) computer-aided design (CAD) software, high-resolution display screens, and the like. However, user input devices designed to enable users to manipulate and control displayed objects and visual elements of such systems (including objects represented three-dimensionally on the display screen) are limited to input devices such as buttons and knobs that are not intuitive and do not reflect actions signaled by the user. For example, in CAD software used by engineers and designers to build virtual 3D objects, typical input devices such as computer mice and styluses only provide buttons, knobs, and two-dimensional (2D) position sensing to enable manipulation of the object being designed. Users often find it unintuitive and difficult to manipulate objects in a 3D environment using these 2D input devices for 3D space, which requires additional control functions for translating, scaling, rotating, slicing, and otherwise moving objects in 3D. Therefore, the limited input and control capabilities of current input devices are inefficient, difficult to learn, cumbersome, and insufficient for 3D manipulation.

[0005] For these reasons and others, there is a continuing need for improvements in 3D input devices. Summary of the invention

[0006] In at least one example of the present disclosure, an input device may include an input sensor, a housing defining an interior volume, an inertial measurement unit (IMU) sensor disposed in the interior volume, and an ultrasonic speaker disposed in the interior volume.

[0007] In one example, the input sensor may include a touch detection sensor. In one example, the ultrasonic speaker is configured to output sound waves greater than about 20kHz. In one example, the ultrasonic speaker is configured to output sound waves between about 20kHz and about 80kHz. In one example, the input device also includes a feedback module. In one example, the feedback module includes a haptic engine. In one example, the feedback module includes a light source. In one example, the input device also includes a transmitter electrically coupled to the IMU sensor. In one example, the transmitter is configured to send a signal including information about the movement or orientation of the input device detected by the IMU sensor.

[0008] In at least one example of the present disclosure, a tracking device includes: a display portion fixed to a base, the display portion having a display screen; an ultrasonic microphone array disposed on the display portion; and a sensor (e.g., an IMU or an angle sensor) disposed on the display portion and configured to detect an angle of the display screen relative to the base.

[0009] In one example, the ultrasound microphone array includes three microphones defining a first plane and a fourth microphone disposed outside the first plane. In one example, the display screen defines a second plane parallel to the first plane. In one example, the display portion is a first portion, and the tracking device also includes a second portion that can be rotatably fixed to the first portion, and the fourth microphone is disposed on the second portion. In one example, the second portion includes a keyboard. In one example, the angle includes an angle of the display screen relative to a main plane of the second portion.

[0010] In at least one example of the present disclosure, a three-dimensional (3D) control system includes an input device, a computing device, and a tracking component. The input device may include an input sensor, an inertial measurement unit (IMU) sensor, and an ultrasonic speaker. The tracking component may include three ultrasonic microphones fixed to the computing device, and the three ultrasonic microphones are configured to receive ultrasonic waves output by the ultrasonic speaker.

[0011] In one example, the three-dimensional control system includes a display portion having a display screen. In one example, the IMU sensor is a first IMU sensor, and the 3D control system also includes a second IMU sensor fixed to the display portion. In one example, the tracking assembly includes at least four ultrasonic microphones, a first microphone, a second microphone, and a third microphone of the four ultrasonic microphones define a first plane, and a fourth microphone of four of the four ultrasonic microphones is arranged outside the first plane. In one example, the input device includes a transmitter configured to send a signal including information about the motion detected by the IMU sensor to the computing device. In one example, the three-dimensional control system includes a laptop computer, and the input device is capable of operating as a mouse for the laptop computer. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] The present disclosure will be readily understood through the following detailed description in conjunction with the accompanying drawings, in which like reference numerals represent like structural elements, and in which:

[0013] Figure 1 An example of an input device on a support surface and a visual object on a display device controlled by the input device is shown;

[0014] Figure 2 An example of an input device being manipulated in space relative to a display device to control a visual object on a display screen of the display device is shown;

[0015] Figure 3A A top perspective view of an example of an input device is shown;

[0016] Figure 3B Shows Figure 3A A cross-sectional view of the device;

[0017] Figure 4 A perspective view showing an example of a tracking device;

[0018] Figure 5 A perspective view showing an example of a tracking device;

[0019] Figure 6 A side view of an example of a tracking device is shown;

[0020] Figure 7 A perspective view showing an example of a computing device and a tracking assembly secured to the computing device;

[0021] Figure 8 showing an example of an input device detected in 3D space by a computing device as the input device controls a visual object on a display screen of the computing device;

[0022] Fig. 9 A cross-sectional view showing an example of an input device;

[0023] Fig.10 A cross-sectional view showing an example of an input device;

[0024] Fig.11 A top perspective view of an example of an input device is shown;

[0025] Fig.12 A cross-sectional view showing an example of an input device;

[0026] Fig.13A An example of a user's hand grasping and manipulating an input device is shown;

[0027] Fig. 13B Shows Fig.13A a top view of an input device shown, wherein the contact area indicates where a portion of a user's hand contacts the input device;

[0028] Fig.14A shows an example of a user controlling a visual object on a display by manipulating an input device resting on a support surface; and

[0029] Fig. 14B The user is shown manipulating the support surface in 3D space. Fig.14A Input devices are shown to control visual objects on the display. DETAILED DESCRIPTION

[0030] Reference will now be made in detail to the representative embodiments illustrated in the accompanying drawings. It should be understood that the following description is not intended to limit the embodiments to a preferred embodiment. On the contrary, it is intended to cover alternatives, modifications and equivalents that may be included in the essence and scope of the described embodiments defined by the appended claims.

[0031] The present disclosure generally relates to user input devices and systems, and more specifically to 3D input device tracking systems and devices. The devices and systems described herein may include an input device manipulated by a user and a computing device configured to detect the manipulated input device in 3D space. When the user manipulates the input device in 3D space, the computing device may detect the position, movement, and orientation of the input device, and correspondingly manipulate the representation of a 3D object on a screen of the computing device. In this way, the user can manipulate the 3D object represented on the screen naturally and intuitively by manipulating the input device in 3D space, as if the input device itself was the object represented on the screen.

[0032] In at least one example, a 3D control system may include an input device having an input sensor, an inertial measurement unit (IMU) sensor, and an ultrasonic speaker. The system also includes a tracking assembly having three or more ultrasonic microphones fixed to the computing device. In at least one example, the tracking assembly includes four ultrasonic microphones, wherein one of the ultrasonic microphones is positioned out of plane relative to the three other ultrasonic microphones.

[0033] When the user moves the input device in 3D space, the ultrasonic speaker of the input device may send an audio signal that is imperceptible to the human ear to be received by the ultrasonic microphone of the tracking component. In at least one example, the input device and the tracking component are synchronized using a bidirectional signal from a transceiver. Using the audio signal from the input device received by the tracking component, the computing device can determine the 3D position of the input device relative to the microphone (e.g., the Cartesian or radial coordinates of the input device relative to the origin). In addition, the input device may be configured to send a signal related to the orientation and movement detected by the IMU of the input device. Between the position information provided by the signal sent from the speaker of the input device and the sent signal about the IMU information, the system can accurately detect the 3D position, movement, and orientation of the input device relative to the computing device.

[0034] Thus, when the input device is manipulated by the user in physical, tangible 3D space, the computing device can correspondingly manipulate the visual object represented in 3D on the display screen. In this way, the user can use the input device to manipulate the visual object on the display screen as if the input device itself were the object on the display screen. This enables intuitive and natural control of the object on the display screen, where the rotation, translation, or other movement of the input device is directly related to the same rotation, translation, or other movement of the visual object on the screen.

[0035] In addition, the input sensor or sensor array of the input device can be used to detect hand position, squeezing force, or other gestures performed by the user using the input device to expand the control capabilities of the input device when controlling objects on the screen. In one example, the input sensor can detect the magnitude of the force with which the user squeezes the input device. When such force exceeds a predetermined threshold, the computing device can then begin to manipulate the visual object on the screen as the user manipulates the input device in 3D space. Before this threshold is met, the computing device can ignore the position and orientation of the input device. In this way, the user can decide to "grab" the visual object by squeezing the input device (using the input device as a substitute). The squeezing is similar to the natural action that people would take to actually grab a virtual object displayed on the screen. In this way, the action of grabbing and then manipulating the object on the screen is naturally and intuitively completed using the physical input device in the user's hand.

[0036] Additional actions or gestures performed by the user using the input device may also be detected and used to manipulate objects presented on the screen of the computing device in a natural and intuitive manner. For example, the user may move the device closer to or further away from the display screen of the computing device to zoom in or out of a displayed object. Other gestures, hand positions, or actions performed using the input device may control visual objects in other ways, including left and right translation, selection and deselection of objects, and any other available 3D manipulation controls for 3D objects represented on the screen.

[0037] In at least one example, an IMU sensor of the input device or other sensors of the input device can detect when the user picks up the input device from the support surface. When the input device is lifted, the input device can enter a 3D mode that detects and utilizes 3D positioning and movement. Otherwise, when the input device is still resting on the support surface or only moves across two dimensions on the support surface (such as by moving across a substantially planar desktop or mouse pad), the input device can be used as a computer mouse operating in 2D, but has enhanced capabilities due to additional input sensors, IMU sensors, ultrasonic speakers, etc. Therefore, when controlling an application that does not require 3D manipulation of objects on the screen, the user can rest the input device on the support surface. Then, when using an application or software program that utilizes the movement or design of 3D space and objects, the user can simply lift the input device off the support surface or desktop and seamlessly switch to a 3D control mode, where the input device is manipulated in 3D space to control 3D objects on the screen, as described above.

[0038] Thus, the devices and systems described herein provide natural, intuitive, and enhanced control over 3D objects represented on a display screen.

[0039] References below Figures 1 to 14B Discuss these embodiments and other embodiments. However, those skilled in the art will readily appreciate that the detailed description given herein with respect to these drawings is for illustrative purposes only and should not be construed as being restrictive. In addition, as used herein, a system, method, product, component, feature, or sub-feature comprising at least one of a first option, a second option, or a third option should be understood to refer to a system, method, product, component, feature, or sub-feature comprising at least one of a first option, a second option, or a third option, that may include one of each listed option (e.g., only one first option in the first option, only one second option in the second option, or only one third option in the third option), multiple options of a single listed option (e.g., two or more first options in the first option), two options simultaneously (e.g., a first option in the first option, and a second option in the second option), or a combination thereof (e.g., a second option in two first options in the first option, and a second option in the second option).

[0040] Figure 1An example of a device 100 resting on a support surface 106 is shown. In at least one example, the input device 100 can be a computer mouse. The input device 100 can be configured to manipulate a visual object 108 displayed on a display screen 104 of a display device 102. The display device 102 can include a computing device such as a desktop computer, a laptop computer, or a tablet computer. An electrical connection 110 between the input device 100 and the display device 102 is shown in phantom to illustrate that some embodiments of the input device 100 can be hardwired to the display device 102, and other embodiments of the input device 100 can be wirelessly connected to the display device 102 to visually manipulate the visual object 108 on the display screen 104.

[0041] Display device 102 may be a computing device configured to run a software application that displays visual information to a user. Figure 1 The visual object 108 shown is a representative, non-limiting example of an image whose movement on the display screen 104 can be controlled to be related to the movement of the input device 100 on the support surface 106. In some examples, the visual object 108 can be a cursor. In other examples, the visual object 108 can include a game character or a 3D part or assembly visualized and / or designed using CAD software. When the user moves the input device 100 across the support surface 106 on which the input device 100 rests, the visual object 108 can move across the display screen 104 in a similar manner.

[0042] The support surface 106 may include any surface on which the input device 100 may rest and slide across during use. In one example, the support surface 106 includes the top surface of a mouse pad. In another example, the support surface 106 may include the top surface of a table, counter, or desk comprising various materials.

[0043] In at least one example, the visual object 108 on the display screen 104 can be a 3D representation on the 2D display screen 104. A 3D represented visual object such as the visual object 108 can be displayed on the two-dimensional display screen 104 while appearing to be three-dimensional as displayed by a software application (including CAD software), a game software, or other software application (including a web browser, visual design software, etc.). The input device 100 can be configured to manipulate the 3D visual object 108 when the input device 100 is resting on the support surface 106 and when the input device 100 is lifted off the support surface 106 and manipulated in 3D in space. The input device 100 can be manipulated by the user to mimic the desired manipulation of the visual object 108 as if the input device 100 was actually the visual object 108. In this way, the input device and 3D tracking system of the present disclosure can provide an intuitive and natural control environment for the user to manipulate the visual object represented as a 3D object on the screen.

[0044] Figure 1 Any of the features, components, and / or parts shown (including arrangements and configurations thereof) may be included alone or in any combination in any other examples of devices, features, components, and parts shown in other figures described herein. Similarly, any of the features, components, and / or parts shown or described with reference to other figures (including arrangements and configurations thereof) may be included alone or in any combination in any other examples of devices, features, components, and parts shown in other figures described herein. Figure 1 Examples of devices, features, components, and parts are shown.

[0045] Figure 2 Another example of an input device 200 configured to control a visual object 208 displayed on a display screen 204 of a laptop computer 202 is shown. The laptop computer 202 is an example of an interface, input device, or display device that can interact with and be controlled in part by the input device 200 when the input device 200 is manipulated by a user. In at least one example, the laptop computer 202 can include additional input devices 211, such as a touchpad and a keyboard. As described above with reference to Figure 1 As described in the visual object 108, Figure 2 The visual objects 208 in FIG. 2 may also include 3D represented visual objects that are manipulable by a user via the input device 200 .

[0046] In at least one example, input device 200 may include a stylus or other remote input device or controller electrically coupled to laptop computer 202 such that input commands from a user may be transmitted from input device 200 to laptop computer 202 to manipulate visual objects 208, navigate menus or other graphical user interface (GUI) elements, or provide cursor or typing input, etc. In at least one example, Figure 2 The input device 200 shown may be used with Figure 1 The input device 100 shown is similar or identical, but wherein Figure 2 The input device 200 is shown having been lifted by a user from any supporting surface (such as Figure 1 The support surface 106 shown) is held in the air.

[0047] In at least one example, the input device 200 may include one or more components configured to communicate with the laptop computer 202. The laptop computer 202 may include one or more components configured to receive signals sent from the input device 200 and detect the position, movement, and orientation of the input device 200 as the user manipulates the input device 200 in 3D space. Based on the detected position, movement, and orientation of the input device 200, the laptop computer 202 may display the manipulation of the visual object 208 on the display screen 204 accordingly. Thus, the devices and systems described herein (including the input device 220) may be held and manipulated in 3D space away from any supporting surface. Figure 2 ) in order to naturally and intuitively control and manipulate visual objects 208 in the simulated 3D space projected by the display screen 204.

[0048] Figure 2 Any of the features, components, and / or parts shown (including arrangements and configurations thereof) may be included alone or in any combination in any other examples of devices, features, components, and parts shown in other figures described herein. Similarly, any of the features, components, and / or parts shown or described with reference to other figures (including arrangements and configurations thereof) may be included alone or in any combination in any other examples of devices, features, components, and parts shown in other figures described herein. Figure 2 Examples of devices, features, components, and parts are shown.

[0049] Figure 3A and Figure 3B A top perspective view and a cross-sectional view are shown, respectively, of another example of an input device 300. The input device 300 can include a housing 312 that defines a grip portion 314 and a lower portion 316. Figure 3B The cross-sectional view of FIG. 31 shows that the housing 312 may include an interior surface 326 opposite the exterior surface 324. The interior surface 326 may define an interior volume 328. In at least one example, the input device 300 may include an IMU sensor 318 and an output component 320. The output component 320 may be configured to send one or more signals to the computing device, including Figure 2 The laptop computer 202 and / or Figure 1 A display device 102 is shown.

[0050] In at least one example, the output component 320 may include a speaker. The speaker may be an ultrasonic speaker configured to output sound waves in the ultrasonic spectrum. That is, the output component 320 may include an ultrasonic speaker configured to generate ultrasonic waves that are inaudible to the human ear. Generally speaking, these ultrasonic waves may include frequencies that are generally above 20kHz. In at least one example, the ultrasonic waves may include frequencies between about 20kHz and about 80kHz. In this way, the output component 320 including the ultrasonic speaker may send audio signals that are not perceptible to the human ear but are detected by one or more ultrasonic microphones of the computing device.

[0051] FIG. 3A to FIG. 3B Any of the features, components and / or parts shown (including arrangements and configurations thereof) may be included alone or in any combination in any other examples of devices, features, components and parts shown in other figures described herein. Similarly, any of the features, components and / or parts shown or described with reference to other figures (including arrangements and configurations thereof) may be included alone or in any combination in FIG. 3A to FIG. 3B Examples of devices, features, components, and parts are shown.

[0052] Figure 4 A perspective view of a tracking device 402 is shown, which may include a computing device such as Figure 1 or Figure 2 The tracking device 402 may be part of a 3D tracking system to detect the position of an input device in 3D space, the input device being configured to control or manipulate a visual object 408 on a display screen 404 of the tracking device 402. The tracking device may also include other input components 411, such as a keyboard and a touch pad. Figure 4 The visual objects 408 shown may represent 3D objects on a 2D screen, such as those represented by CAD software, 3D gaming software, etc.

[0053] In at least one example, tracking device 402 may include one or more ultrasonic microphones 430a, 430b, and 430c. The various microphones 430a, 430b, and 430c may be collectively referred to as microphone 430 or microphone array 430. As noted above, microphone 430 may be configured as an ultrasonic microphone, such that microphone 430 is configured to detect ultrasonic waves exceeding 20kHz or waves between about 20kHz and about 80kHz. In this way, microphone 430 of tracking device 402 may be configured to receive signals transmitted by Figure 3A and Figure 3B The output component 320 of the input device 300 is shown outputting a signal.

[0054] In at least one example, three separate microphones 430a , 430b , 430c can be positioned spaced apart from one another at various locations on the tracking device 402 , such as around the periphery of the display screen 404 . Figure 4 The configuration and placement of microphone 430 in the embodiment of the present invention are exemplary only and are not intended to be limiting. Other positions may also be used so that microphone 430 can triangulate the three-dimensional spatial position of the input device based on the positions of microphones 430a, 430b, and 430c and the signals received by microphones 430a to 430c from the input device emitting ultrasonic waves. In at least one example, tracking device 402 may include a processor electrically coupled to microphone 430. The processor may be configured to execute instructions stored on a memory component, the instructions including one or more algorithms to triangulate the position of the input device that outputs ultrasonic waves detected by microphone 430.

[0055] In such an example, the position of the input device may be based on the position of the input device relative to the Figure 4 The processor may execute an algorithm to detect the proximity of the various microphones 430a, 430b, and 430c of the microphone array 430 shown. When ultrasonic waves are detected by the various microphones 430a, 430b, 430c of the microphone array 430 shown, the processor may execute an algorithm to detect the proximity of the various microphones 430a, 430b, and 430c of the microphone array 430 shown. The ... based on the distance of Figure 3A The position of the input device in space is determined by the flight time of the ultrasonic wave transmitted by the output component 320 shown.

[0056] In addition, in at least one example, the tracking device 402 may include an IMU sensor 432. In at least one example, the tracking device 402 may include a laptop computer having a base portion 413 and a display portion 415 that can be rotatably fixed to the base portion 413. A user may adjust the angle of the display portion 415 relative to the base portion 413 or the angle of the display screen 404 relative to the main plane of the base portion 413. The angle at which the display portion 415 is set may affect the triangulation algorithm used to determine the position of the input device relative to the microphone 430. Therefore, the tracking device 402 may include an IMU sensor 432 to detect the angle of the display portion 415 relative to the base portion 413. The algorithm may take this angle into account to accurately determine the position of the input device regardless of the changing angle of the display portion 415. More details about triangulation and detection of the position of the input device relative to the tracking device 402 will be given below with reference to other figures.

[0057] Figure 4Any of the features, components, and / or parts shown (including arrangements and configurations thereof) may be included alone or in any combination in any other examples of devices, features, components, and parts shown in other figures described herein. Similarly, any of the features, components, and / or parts shown or described with reference to other figures (including arrangements and configurations thereof) may be included alone or in any combination in Figure 4 Examples of devices, features, components, and parts are shown.

[0058] Figure 5 Another example of a tracking device 502 is shown, which includes a base portion 513 and a display portion 515 rotatably connected to the base portion 513. The display portion 516 may include a display screen 504 that shows visual objects 508 represented as 3D objects to be moved, controlled and manipulated by an input device as described herein. The base portion 513 may include additional input components 511, including a keyboard and a touch pad. Similar to Figure 4 The tracking device 402 is shown, Figure 5 The illustrated tracking device 502 may include an IMU sensor 532 disposed on or in the display portion 515 to compensate for the angle of the display portion 515 relative to the base portion 513 when a triangulation algorithm stored on a memory component is executed by a processor of the tracking device 502 .

[0059] In another example, the tracking device 502 includes an angular position sensor located in a clutch or hinge of the tracking device 502 between the base portion 513 and the display portion 515, or in other locations that sense the angle opened between the base portion 513 and the display portion 515 in any increment between a fully closed position (e.g., a closed clamshell position) and a fully open position (flat). The output of the angular position sensor can be used as an input to the triangulation algorithm described herein.

[0060] In addition, the tracking device 502 may include a microphone array including individual microphones 530a, 530b, 530c, 530d, 530e, and 530f. The individual microphones 530a, 530b, 530c, 530d, 530e, and 530f may be collectively referred to as microphones 530 or microphone arrays 530. Microphone 530 may be an ultrasonic microphone configured to detect ultrasonic waves. In at least one example, the tracking device 502 includes four microphones 530a to 530d disposed in a single plane and spaced around the display screen 504. In addition, at least one example of the tracking device 502 may include one or more additional microphones 530e and 530f disposed outside the plane of the microphones 530a to 530d (disposed on the display portion 515). In at least one example, the additional microphones 530e and 530f are disposed on the base portion 513.

[0061] In one or more other examples, the number, placement, and plane or configuration of microphone array 530 can vary. Figure 5 An example is shown for illustrative and explanatory purposes and is not meant to be limiting. In general, the tracking devices and 3D tracking systems described herein may include at least 3 microphones and a single plane (any three microphones are by definition in the same plane) and at least one other microphone (located out of the plane of the other 3 microphones). Some examples may include four or five microphones in a single plane and three or four microphones located in a second plane that is not parallel to the first plane. Other examples may include three microphones in a single plane and one microphone (out of the plane of the other three microphones). It will be appreciated that similar to Figure 4 and Figure 5 The number of microphone arrays 430, 530 shown, and the number of in-plane and out-of-plane microphones of the microphone array can achieve triangulation of input devices manipulated in 3D space. Therefore, the number and positioning of microphones 530 can ensure that at least four microphones are arranged in a way to prevent their three-dimensional positions in space from being considered coplanar. This can improve the accuracy of the microphone array's detection of input devices and the triangulation capability.

[0062] Figure 6 A side view of another example of a tracking device 602 in the form of a laptop computer is shown, the tracking device having a base portion 613 and a display portion 615 rotatably connected to the base portion 613 at an angle θ. Similar to other tracking devices described herein, Figure 6The tracking device 602 may include a plurality of microphones 630a, 630b, 630c, collectively referred to as a microphone array 630 or microphones 630. The first microphone 630a and the second microphone 630b may be arranged in the same plane, and the third microphone 630c may be arranged outside the plane. For example, the system may be pre-configured with information indicating that microphone 630a and microphone 630b are coplanar in a vertical YZ plane and information indicating that microphone 603c is offset from the YZ plane (e.g., in the X direction) by a predetermined distance. Therefore, the combination of the three microphones and the pre-configured information can be used to triangulate the position of the input device relative to the tracking device 602. In addition, the tracking device 602 may include an IMU sensor 632 to detect an angle θ of the display portion 615 relative to the base portion 613.

[0063] Microphone 630 may be an ultrasonic microphone configured to receive and detect ultrasonic waves output by an input device being tracked by tracking device 602. Tracking device 602 may also include display screen 604 of display portion 615 configured to display visual objects that are two-dimensional but projected in a virtual three-dimensional scene.

[0064] Figure 5 and Figure 6 Any of the features, components and / or parts shown (including arrangements and configurations thereof) may be included alone or in any combination in any other examples of devices, features, components and parts shown in other figures described herein. Similarly, any of the features, components and / or parts shown or described with reference to other figures (including arrangements and configurations thereof) may be included alone or in any combination in Figure 5 and Figure 6 Examples of devices, features, components, and parts are shown.

[0065] Figure 7 Another example of a tracking device 702 is shown, which includes a base portion 713 having an input component 711, such as a keyboard and a touch pad. The tracking device 702 may also include a display portion 715 having a display screen 704 configured to display a visual object 708. Figure 5 As shown in the tracking device 502, the tracking device 702 may include a microphone array 730, which includes individual microphones 730a to 730f. Figure 7 The illustrated tracking device 702 may include removably attachable microphones 730a - 730f and / or a removably attachable IMU sensor 732 connected to the display portion 715 .

[0066] exist Figure 7In the illustrated example of , the microphone array 730 can be removed and attached to the tracking device 702 so that the microphone array 730 can be attached to a device other than the tracking device 702, such as a desktop computer, a laptop computer, or a tablet computer. In at least one example, each individual microphone 730a to 730f and the IMU sensor 732 can be removably attached to the tracking device 702. In another example, any two or more of the microphones 730a to 730f of the microphone array 730 (including all of the microphones 730a to 730f) can be fixed together and removably fixed to the tracking device 702. In other examples (such as other examples shown herein, such as Figures 4 to 6 In the device shown, the microphone and IMU sensor may be built into the tracking device so that they are not intended to be removed during normal intended use of the microphone and IMU sensor.

[0067] While the tracking devices, computing devices, and display devices described herein include microphone arrays (including ultrasonic microphones), other examples may include microphones configured to detect sound waves at frequencies other than ultrasonic frequencies. Generally speaking, the microphones of the tracking devices described herein are configured to detect sound waves output by output components of input devices used to control the tracking devices. These sound waves may be in a variety of different frequency spectra, including spectra below about 20 kHz and spectra above about 80 kHz.

[0068] Figure 7 Any of the features, components, and / or parts shown (including arrangements and configurations thereof) may be included alone or in any combination in any other examples of devices, features, components, and parts shown in other figures described herein. Similarly, any of the features, components, and / or parts shown or described with reference to other figures (including arrangements and configurations thereof) may be included alone or in any combination in Figure 7 Examples of devices, features, components, and parts are shown.

[0069] Figure 8 An example of a 3D control system 801 including an input device 800 and a tracking device 802 is shown. Figure 8 In the illustrated example of , the tracking device 802 may include a laptop computer having a base portion 813 and a display portion 815 rotatably connected to the base portion 813. The tracking device 802 may also be referred to as a computing device 802, such as Figure 8 The display portion 815 of the computing device 802 includes a display screen 804 that displays a visual object 808 to be manipulated by the user via the input device 800. As shown, the input device 800 can be configured to be held in the air without resting on any supporting surface when the user manipulates the input device 800.

[0070] In at least one example, the computing device 802 may include a plurality of microphones 830a to 830f, which may also be referred to as a microphone array 830 or simply microphones 830. At least four microphones 830a to 830d may be disposed on the display portion 813 or disposed in a first plane with the display portion. The display screen 804 of the display portion 815 may also define a plane parallel to the plane defined by the microphones 830a to 830d. ​​In addition, Figure 8 The example shown includes two microphones 830e and 830f disposed on or with the base portion 813. Thus, the two microphones 830e and 830f of the base portion 813 may be out of the plane of the plane formed by the four microphones 830a to 830d of the microphone array 830. As noted above, each of the microphones 830a to 830f of the computing device 802 may be an ultrasonic microphone configured to detect ultrasonic waves received by the input device 800.

[0071] Along these lines, the input device 800 may include a speaker 820, such as an ultrasonic speaker 820 configured to emit ultrasonic waves detectable by a microphone 830 of the computing device 802. The computing device 802 may also include an IMU sensor 832 on, within, or otherwise coupled to the display portion 815. The IMU sensor 832 may be configured to detect the angle of the display portion 815 or display screen 804 relative to the base portion 813. Figure 8 The input device 800 of the illustrated system 801 may include any or all features and components of other input devices illustrated in any other figures described herein. Similarly, the computing device 802 may include any or all features and components of other computing devices, tracking devices, display devices, etc. illustrated in other figures described herein.

[0072] Figure 8 801 is shown, which shows the position of the input device 800 detected by the computing device 802 using the microphone array 830. In particular, when the ultrasonic wave received by the ultrasonic speaker 820 of the input device 800 travels to each individual ultrasonic microphone 830a to 830f of the computing device 802, Figure 8 The dashed line may represent the wave. As noted above with reference to other examples, the computing device 802 may include one or more processors 817 and one or more memory components 819 storing executable instructions, including instructions for executing a triangulation algorithm. The processor 817 may execute a triangulation algorithm based on input received from microphones 830a to 830f to determine the position of the input device 800 in space, including the position over time, to detect movement of the input device 800.

[0073] The triangulation algorithm executed by the processor 817 can determine the position of the input device 800 relative to the display screen 804 based at least in part on the difference in ultrasonic signals emitted by the ultrasonic speaker 820 of the input device 800, which can vary for each microphone 830a to 830f based on the physical distance of the input device 800 from each microphone 830a to 830f. The algorithm can also take into account the signal from the IMU sensor 832 and the angle of the display screen 804 relative to the base portion 813 when the user adjusts the display portion 815 relative to the base portion 813. Along these lines, in at least one example of the computing device 802, the processor 817 and the memory component 819 can be electrically coupled to each of the microphones 830a to 830f and the IMU sensor 832.

[0074] Figure 8 Any of the features, components, and / or parts shown (including their arrangements and configurations) may be included alone or in any combination in any other examples of devices, features, components, and parts shown in other figures described herein. Similarly, any of the features, components, and / or parts shown or described with reference to other figures (including their arrangements and configurations) may be included alone or in any combination in any other examples of devices, features, components, and parts shown or described in other figures. Figure 8 Examples of devices, features, components, and parts are shown.

[0075] Fig. 9 A cross-sectional view of an example of an input device 900 that may be used in the 3D tracking system described herein is shown. Fig. 9 In the example shown, the input device 900 may include a housing 912 having a grip portion 914 and a lower portion 916. The housing 912 may include an interior surface 926 and an exterior surface 924. The interior surface 926 may define an interior volume 928 to house or accommodate a number of other components. These other components may include an input sensor array 940, a feedback module 944, an antenna 946, and any other electronic components 948. The processor 934 may be configured to receive the input sensor array 940, the feedback module 944, the antenna 946, and any other electronic components 948. Fig. 9 The one or more wires or circuits 936 represented by dashed lines in the figure are electrically coupled to any of these other electronic components. The input device 900 may also include a visual sensor 938 disposed with the lower portion 916 to track the movement and position of the input device 900 as the input device 900 slides on a support surface such as a mouse pad that contacts the lower portion 916. In at least one example, the grip portion 914 may include an upper curved surface that is configured to accommodate a user's hand and fingers gripping the input device 900. In addition, the lower portion 916 may be planar and configured to rest on a support surface and / or support the input device 900 on a support surface, such as a mouse pad or a desktop surface, when used as a traditional computer mouse.

[0076] In at least one example, the input sensor array 940 may include a plurality of touch input sensors 942 disposed against the interior surface 926 of the housing 912. In at least one example, the touch input sensor 942 may include a capacitive touch sensor adhered to the interior surface 926 or otherwise disposed against the interior surface. In this way, the input device 100 may be configured to detect the position of the user's finger or hand on the grip portion 914 and receive a signal when the user taps, squeezes, or otherwise contacts the input device 900. The position of the sensor array 940 including each touch input sensor 942 may vary in one or more other examples. For example, other input devices may include a sensor array having a touch input sensor disposed against the interior surface of the lower portion 916 or at other locations on the outer surface 924 of the housing 912. Input sensors of other devices may also include physical buttons and switches such as TAC switches (e.g., signal switches that require touch to open or close a circuit) and buttons that are physically or mechanically pressed by a user.

[0077] Likewise Fig. 9 As shown, the input device 900 may include a feedback module 944. The feedback module 944 may be configured to provide feedback to the user in response to certain input signals given to the input device 900 by the user, and or configured to alert the user to one or more signals sent from a tracking device or computing device controlled by the input device 900. In one example, the feedback module 944 may include a haptic engine that provides tactile feedback in the form of vibration or other movement of the haptic engine. In at least one example, the feedback module 944 may include a visual feedback component, such as a light-emitting component. In at least one example, the feedback module 944 may include one or more speakers that provide audio feedback to the user.

[0078] As noted above, the sensor array 940 can be configured to sense and detect when a user applies a certain force to the housing 912 in conjunction with the processor 934, such as when a user squeezes or grips the input device 900 beyond a certain force threshold. Along these lines, the sensor array 940 can include a force sensor. That is, one or more of the touch input sensors 942 can include a force sensor configured to detect certain stresses or strains on the housing 912 caused by the user's gripping force when the user handles or manipulates the input device 900.

[0079] In addition, as noted above, the input device 900 may include a transmitter / receiver component, such as an antenna 946, electrically coupled to the processor 934. An antenna may also be referred to as a transmitter or a receiver. The antenna 946 may be configured to wirelessly send signals to a computing device or a tracking device. The signals may include information about touches detected by the sensor array 940. The antenna 946 may also be configured to send signals about the position, orientation, and movement of the input device 900 in space as the user manipulates the input device 900. The signals may include the position, orientation, and movement detected by the IMU sensor of the input device 900.

[0080] Along these lines, and as noted above, the input device 900 may include additional electronic components 948. In at least one example, the additional electronic components 948 may include an IMU sensor. In at least one example, the electronic components 948 may include memory components or other circuit components necessary for the operation of the other components of the input device 900 described herein. In one example, the electronic components 948 of the input device 900 may include a battery to provide wireless power to the input device 900 and its various electronic components.

[0081] Fig. 9 Any of the features, components, and / or parts shown (including their arrangements and configurations) may be included alone or in any combination in any other examples of devices, features, components, and parts shown in other figures described herein. Similarly, any of the features, components, and / or parts shown or described with reference to other figures (including their arrangements and configurations) may be included alone or in any combination in any other examples of devices, features, components, and parts shown or described in other figures. Fig. 9 Examples of devices, features, components, and parts are shown.

[0082] Fig.10 A cross-sectional view of another example of an input device 1000 is shown, showing a plan view of the interior of a grip portion 1014 defined by a housing 1012. An interior surface 1026 of the housing 1012 may define an interior volume within which any number of electronic components of the input device 1000 are disposed. Fig.10 The exemplary input device 1000 includes a sensor array 1040 including a plurality of input touch sensors 1042 disposed on or against the interior surface 1026 of the housing 1012. In addition, similar to Fig. 9 The input device 900 shown, Fig.10 The input device 1000 shown can include a feedback module 1044. The feedback module 1044 can include a light source array 1050 having a plurality of light sources 1052 disposed within the interior volume and / or disposed proximate, adjacent, or against the interior surface 1026 of the housing 1012.

[0083] The input device 1000 may also include a processor 1034 that processes Fig.10 One or more wires or circuit components 1036 shown in dashed lines in FIG. 10 are electrically coupled to the sensor array 1040 and the feedback module 1044. The light source array 1050 including individual light sources 1052 of the feedback module 1044 can be configured to visually indicate different messages or signals to the user as the user manipulates the input device 1000 when controlling a visual image on a computing device as described herein.

[0084] Fig.11 The external perspective shows something like Fig.10 Another example of an input device 1100 is shown in FIG. 1000. The input device 1100 may include a housing 1112 having a grip portion 1114. The input device 1100 may also include a light source array 1150 including individual light sources 1152 configured to irradiate light through the housing 1112, which may be transparent or translucent in at least one example. Fig.11 As shown, a visible signal 1154 of at least one of the light sources 1152 may be radiated through the housing 1112. Any of the light sources 1152 or all of the light sources of the light source array 1150 may individually or simultaneously emit light to the housing 1112 to provide visual feedback to a user of the input device 1100. In at least one example, each of the individual light sources 1152 of the light source array 1150 may emit light of a different color. In at least one example, the timing of light emission from each of the light sources 1152 of the light source array 1150 may be synchronized and choreographed to appear as if the light emitted from the light source array 1150 moves back and forth or in any direction or pattern based on the position of the light source 1152. As noted above, the light source array 1150 may be an example of a feedback module configured to convey and provide feedback to a user.

[0085] The light emitted from the light source array 1150 and the different forms of light emitted as described above can be configured to convey different messages and signals from a computing device controlled by the input device 1100 or from the input device 1100 itself. The signal from the light source array 1150 can convey certain states or actions displayed on the display screen of the computing device. In addition, the different lights emitted from the light source array 1150 can convey that certain gestures or actions performed by the user using the input device 1100 have been received and confirmed and / or sent to the computing device as a control signal. In one example, if the user squeezes the input device 1100 with a force exceeding a certain threshold as detected by various force sensors or touch input sensors described in other examples, the light source array 1150 can emit a certain number, type or color of light from the light source 1152 to confirm to the user that the user's grip force has exceeded the threshold, and the object displayed on the display screen by the computing device can be moved by moving the input device 1100. Conversely, once the user has finished manipulating the visual object via input device 1100, the user may reduce the grip on the input device below the threshold without completely releasing the input device to indicate an intent to stop manipulating the visual object while still holding input device 1200. This intent may be confirmed to the user via light source array 1150.

[0086] In another example, the light emitted by the light source array 1150 may confirm or communicate to the user that the operating mode of the input device 1100 has changed. For example, a first operating mode may include the input device 1100 being placed on a support surface, where certain movements and manipulations on that surface may be interpreted as controlling images on a computing device. Then, when the user lifts the input device 1100 off the support surface, the light source array 1150 may indicate to the user that the 3D motion tracking operating mode has been activated. In this mode, the user will be aware that he or she can manipulate the input device 1100 in 3D space to control visual objects on the computing device. It will be appreciated that the changes and configurations of the light emitted by the light source array 1150 may vary from example to example to convey any number of messages to the user. Furthermore, while Fig.11 and Fig.10 1050 are shown as feedback modules, but other feedback modules described herein may also be used to communicate and provide feedback to the user. These other feedback modules may include speakers and tactile feedback mechanisms (including haptic engines). In at least some examples, a combination of the various feedback modules described herein may all be included in a single input device and used to provide tactile feedback, auditory feedback, and visual feedback to the user.

[0087] Fig.12 Shows something like Fig.10 and Fig.11 A cross-sectional view of another example of an input device 1200 is shown. Fig.12The illustrated input device 1200 may include a housing 1212 including a gripping portion 1214. The housing 1212 may include an interior surface 1226, wherein the interior surface 1226 defines an interior volume 1228. The input device 1200 may include a feedback module 1244, including any type of feedback module described elsewhere herein with reference to other examples; and a light source array 1250 including a plurality of light sources 1252 disposed against the interior surface 1226 of the housing 1212.

[0088] In addition, the input device 1200 may include a sensor array 1240, which includes a plurality of touch input sensors 1242 disposed against the interior surface 1226 of the housing 1212. The touch input sensors 1242 may include capacitive touch elements or other types of touch sensors that are configured to detect the presence and / or position of one or more fingers or palm areas of a user's hand when the user holds or grasps the input device 1200. The sensor array 1240 may also include one or more force sensors to detect gripping force, movement of the grip, or other forces acting on the housing 1212 during use. In addition, the input device 1200 may include a plurality of other electronic components (including other feedback modules 1244), an antenna (transmitter / receiver) 1246, and other sensors or components 1248 (including IMU sensors, batteries, etc.). The input device 1200 may also include a processor 1234, which is coupled to the input device 1200 via a processor 1234. Fig.12 One or more wires or circuit components 1236 shown in dashed lines are electrically coupled to other electronic components.

[0089] In at least one example, the housing 1212 is symmetrical (e.g., rotationally symmetrical) about a central axis 1253 oriented substantially perpendicular to a surface on which the input device 1200 may rest or be manipulated. For example, the housing 1212 may be circular, wherein the central axis 1253 is a central axis of rotation and / or symmetry of the input device 1200. In at least one example, a user may initially grasp the input device 1200, including its housing 1212, in any orientation, and based on the user's grip or hand position, orient the input device 1200 as intended by the user, regardless of the actual orientation of the input device 1200, as described herein. In such an example, the processor 1234 may be electrically coupled to the sensor array 1240, and determine, via the sensor array 1240, a hand position and an intended orientation of the input device 1200 based on a user's hand position grasping the housing 1212.

[0090] In at least one example, the housing 1212 of the input device 1200 is circular or dome-shaped, such as Fig.12As shown, the housing 1212 can be rotated about the central axis 1253 serving as the central axis of rotation of the circular housing 1212. In such an example, the mouse is unaware of the actual orientation of the housing 1212 relative to the support surface on which the housing 1212 rests. Instead, the housing 1212 can be digitally or computationally oriented and / or reoriented by the processor 1234 based on the user's hand position as detected by the sensor array 1240, without physically moving or rotating the input device 1200 when grasping the housing 1212.

[0091] Figures 10 to 12 Any of the features, components and / or parts shown (including arrangements and configurations thereof) may be included alone or in any combination in any other examples of devices, features, components and parts shown in other figures described herein. Similarly, any of the features, components and / or parts shown or described with reference to other figures (including arrangements and configurations thereof) may be included alone or in any combination in Figures 10 to 12 Examples of devices, features, components, and parts are shown.

[0092] Fig.13A Another example of an input device 1300 is shown, which may be similar to Figures 10 to 12 The input devices 1000, 1100, 1200 shown, or any other input device shown in other figures described herein. Fig.13A The input device 1300 shown in FIG. 1 may include a grip portion 1314 . Fig.13A A user's hand 1356 is shown with multiple fingers 1358 contacting or grasping the input device 1300. Similar to other examples of input devices described herein, Fig.13A The input device 1300 of the embodiment may include a touch input sensor and a sensor array configured to detect the presence and location of contact between the user's hand 1356 and the grip portion 1314 of the input device 1300. The input device 1300 may also be configured to detect contact between the user's hand 1356 and any other portion of the input device 1300 other than the grip portion 1314 (e.g., the lower portion or other side of the housing). In addition, as noted above with reference to other examples, the input device 1300 may include one or more force sensors to detect gripping forces, gripping movements, or other forces from a finger 1358 or other portion of the user's hand 1356 applied to the housing 1312.

[0093] Fig. 13B Shows Fig.13A A top view of input device 1300 is shown. Fig. 13BThe top view of shows areas 1360a to 1360f on the gripping portion 1314 of the housing 1312 where the user's hand 1356 or fingers 1358 contact the housing 1312. In the illustrated example, areas 1360a to 1360e represent five fingertip contact locations from the user's hand 1356, and area 1360f may represent the area where the user's palm contacts the housing 1312. The touch configuration shown is exemplary only and not limiting. Other examples may include the user contacting or gripping the input device 1300 with or without palm contact using two fingers, three fingers, etc. The user may grip the input device 1300 in any manner he or she chooses, and as noted above, the input device 1300 may be equipped with various and multiple sensors configured to detect where, how, and with what force the user is gripping the input device 1300. In some examples, as determined by Fig. 13B The manner in which a user holds the input device 1300 may change the operating mode or functionality of the input device 1300 as detected by sensors in the illustrated regions 1360a through 1360f.

[0094] For example, the processor of the input device 1300 may execute a machine learning algorithm stored on the memory component of the input device 1300 to learn over time when a certain combination of touch areas 1360a to 1360f indicates a certain intention of the user. In one example, a user grasping the input device 1300 on a support surface in a certain manner may indicate an intention to control a visual object on a computing device when the input device 1300 is resting on the support surface. Another configuration of the detected contact areas 1360a to 1360f may indicate an intention of the user to grasp and manipulate the input device 1300 in 3D space to control an object on a display screen of a computing device without resting on a support surface. In some examples, such a determination of the user's intention may be based on predetermined touch areas 1360a to 1360f as learned by the user. In any case, the input device described herein may be configured to detect the position of the user's hand 1356 when the user grasps the input device 1300 and manipulates the input device 1300 to control a visual object on a display screen of a computing device when the input device is located on a support surface or in 3D space.

[0095] FIG. 13A to FIG. 13B Any of the features, components and / or parts shown (including arrangements and configurations thereof) may be included alone or in any combination in any other examples of devices, features, components and parts shown in other figures described herein. Similarly, any of the features, components and / or parts shown or described with reference to other figures (including arrangements and configurations thereof) may be included alone or in any combination in FIG. 13A to FIG. 13B Examples of devices, features, components, and parts are shown.

[0096] Along these lines, Fig.14A The user's hand 1456 is shown manipulating an input device 1400 on a support surface 1406 to control and manipulate a visual object 1408 presented by a display screen 1404 of a computing device 1402. The input device 1400 shown in FIG. 14a may be similar to and include any of the components and features of any other input device described herein and shown in other figures. Fig. 14B As shown, the input device 1400 can be configured to be lifted off the support surface 1406 and manipulated in 3D space when it is grasped and manipulated by the user's hand 1456. Fig. 14B The various arrows shown next to the input device 1400 in FIG. 1 indicate various movements caused by the user, including translational and rotational movements of the input device 1400. Fig. 14B As seen in , a visual object 1408 displayed on a display screen 1404 of a computing device 1402 may move in a similar manner as indicated by corresponding arrows indicating various translational and rotational movements of the visual object 1408 on the display screen 1404 .

[0097] Fig.14A and Fig. 14B The computing device / display device 1402 shown may include any or all of the features of the components of other computing devices, tracking devices and systems, and display devices shown in other figures and described elsewhere herein. That is, the computing device 1402 may include multiple ultrasonic microphones and IMU sensors described with reference to other examples and shown in other figures. In this way, the computing device 1402 can track the position of the input device 1400 in 3D space as the user manipulates the input device 1400. Fig. 14B The arrows indicating motion on display screen 1404 and adjacent to input device 1400 are for illustration and description purposes only and may not be included in some examples of display screens and input devices.

[0098] The input device 1400 may include sensors to detect when the user slides or manipulates the input device 1400 against the support surface 1406 and when the user lifts the input device 1400 off the support surface 1406 and into the air in 3D space. As noted above, some feedback module mechanisms may confirm to the user which mode the input device 1400 is operating in. Fig. 14BAs shown, when the user's hand 1456 grasps the input device 1400 and moves the input device 1400 in any direction or orientation in 3D space, the visual object 1408 represented on the display screen 1404 of the computing device 1402 can be moved in the same manner in virtual 3D on the 2D display screen 1404. In this way, the user can perceive grasping the visual object 1408 as he or she actually grasps the input device 1400. Therefore, the user can move and manipulate the visual object 1408 just as he or she would or does move or manipulate the input device 1400 in reality. In this way, the manipulation and control of the visual object 1408 displayed by the display screen 1404 is natural and intuitive.

[0099] In addition to the input devices described herein (including Fig.14A and Fig. 14B In addition to these natural and intuitive control scenarios provided by the input device 1400 (shown in FIG. 1 ), the input device 1400 may also include additional functionality enabled by various force sensors, IMU sensors, touch detection arrays, etc. to enhance the functionality of the input device 1400 beyond the manipulation of the visual object 1408 in 3D. For example, the user's hand 1456 may grasp the input device 1400 beyond a certain grasping force threshold to virtually grasp and release the visual object 1408. In addition, for example, because the display device 1402 may be equipped with a tracking system with an ultrasonic microphone that detects the position of the input device 1400 relative to the display screen 1404, the user may move the input device 1400 closer to or further away from the display screen 1404 to zoom the visual object 1408. Other motions, gestures, and input command scenarios not all described are also contemplated that are enabled by the sensors of the input devices described herein.

[0100] FIG. 14A to FIG. 14B Any of the features, components and / or parts shown (including arrangements and configurations thereof) may be included alone or in any combination in any other examples of devices, features, components and parts shown in other figures described herein. Similarly, any of the features, components and / or parts shown or described with reference to other figures (including arrangements and configurations thereof) may be included alone or in any combination in FIG. 14A to FIG. 14B Examples of devices, features, components, and parts are shown.

[0101] It is well known that the use of personally identifiable information should be subject to privacy policies and practices that are generally recognized to meet or exceed industry or government requirements for maintaining user privacy. Specifically, personally identifiable information data should be managed and processed to minimize the risk of unintentional or unauthorized access or use, and the nature of the authorized use should be clearly stated to users.

[0102] For the purpose of explanation, the foregoing description uses specific nomenclature to provide a thorough understanding of the described embodiments. However, it will be apparent to those skilled in the art that specific details are not required in order to practice the described embodiments. Therefore, for the purpose of illustration and description, the foregoing description of the specific embodiments described herein is presented. They are not intended to be exhaustive or to limit the embodiments to the precise form disclosed. It will be apparent to those of ordinary skill in the art that, in view of the above teachings, many modifications and variations are possible.

Claims

1. An input device, comprising: Input sensor; a housing having an interior surface defining an interior volume; an inertial measurement unit (IMU) sensor disposed in the interior volume; and An ultrasonic speaker is disposed in the interior volume. 2 . The input device of claim 1 , wherein the ultrasonic speaker is configured to output sound waves greater than about 20 kHz. The input device according to claim 1 , further comprising a feedback module. The input device according to claim 3 , wherein the feedback module comprises a haptic engine or a light source.

5. The input device of claim 1, further comprising a transmitter electrically coupled to the IMU sensor. 6 . The input device of claim 5 , wherein the transmitter is configured to send a signal comprising information about the motion or orientation of the input device detected by the IMU sensor. 7 . The input device according to claim 1 , wherein the input sensor comprises a touch detection sensor.

8. The input device according to claim 7, wherein: The housing is circular about a central axis; The input device also includes a processor electrically coupled to the touch detection sensor; and The processor is configured to determine an intended orientation of the housing based on a user's hand position detected by the touch detection sensor.

9. A tracking device, comprising: A display part, the display part is fixed to the base, and the display part includes a display screen; an ultrasonic microphone array, wherein the ultrasonic microphone array is arranged on the display portion; as well as A sensor is disposed on the display portion and is configured to detect an angle of the display screen relative to the base.

10. The tracking device of claim 9, wherein: The ultrasound microphone array includes three microphones defining a first plane; and The ultrasound microphone array includes a fourth microphone disposed outside the first plane.

11. The tracking device of claim 10, wherein the display screen defines a second plane parallel to the first plane.

12. The tracking device of claim 10, wherein: The display portion is a first portion, and the tracking device further includes a second portion rotatably fixed to the first portion; and The fourth microphone is disposed on the second portion.

13. The tracking device of claim 12, wherein the second portion comprises a keyboard.

14. The tracking device of claim 12, wherein the angle comprises an angle of the display screen relative to a major plane of the second portion.

15. A three-dimensional control system, comprising: An input device, the input device comprising: Input sensor; Inertial Measurement Unit (IMU) sensors; and Ultrasonic speakers; and computing devices; and A tracking assembly includes three ultrasonic microphones fixed to the computing device, the three ultrasonic microphones being configured to receive ultrasonic waves output by the ultrasonic speaker.

16. The three-dimensional control system according to claim 15, wherein the computing device includes a display portion having a display screen. 17 . The three-dimensional control system according to claim 16 , wherein the IMU sensor is a first IMU sensor, and the 3D control system further comprises a second IMU sensor fixed to the display portion.

18. The three-dimensional control system according to claim 15, wherein: The tracking assembly includes at least four ultrasonic microphones; The first microphone, the second microphone and the third microphone of the four ultrasonic microphones are located in a plane; and A fourth microphone of the four ultrasonic microphones is arranged outside the plane.

19. The three-dimensional control system of claim 15, wherein the input device comprises a transmitter configured to send a signal comprising information about the motion detected by the IMU sensor to the computing device.

20. The three-dimensional control system of claim 15, wherein the computing device comprises a laptop computer, and the input device is operable as a mouse for the laptop computer.

Images