JPH08129449A - Signal input device - Google Patents

Abstract

(57) [Abstract] [Purpose] To provide a signal input device that does not require a desk / board or the like and can input information of at least 6 channels as if holding a pen. [Arrangement] The calculation means 2 integrates the outputs of the acceleration sensors X1, Y1, Z provided in the front part of the signal input means 1 twice, and moves the signal input means 1 in the X-axis, Y-axis and Z-axis directions. Calculate the amount. Further, the difference between the outputs of the acceleration sensors X1 and Y1 and the acceleration sensors X2 and Y2 provided at the rear part is integrated twice to calculate the amount of tilt in the X-axis and Y-axis directions. Further, the rotation angle about the Z axis is calculated based on the output of the sensor U which detects the acceleration in the X or Y axis direction. The transmitting means 3 transmits the above-mentioned 6-channel information to the processing means 4 and the like to instruct the coordinate position on the display screen and operate the driven body such as the television camera. Further, a pressure sensor A may be provided at the front end of the signal input means 1 to detect the pressure when the pressure sensor A is pressed against a boat, a desk or the like.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a signal input device for inputting coordinate / graphic information to a computer or the like, or for remotely controlling a robot, a television camera or the like.

[0002]

2. Description of the Related Art Joystick, mouse and the like have been conventionally known as means for inputting operation signals to a computer or the like. It is also known that the signal input device is a pen type, an acceleration sensor or the like is attached to the inside of the pen, and an operator moves or rotates the pen to input data such as coordinates to a computer ( For example, JP-A-4
-25609).

FIG. 6 is a view showing a mounting manner of the above-mentioned sensor of the pen-type signal input means. In FIG.
Reference numeral 0 is a pen-type signal input unit, 101 is an acceleration sensor, and the acceleration sensor 101 is composed of two sensors 101a and 101c arranged in the X-axis direction and a sensor 101b arranged in the Y-axis direction. In the figure, when the operator moves the pen-type signal input means 101 in the X-axis direction, the acceleration sensor 101a detects the acceleration in the X-axis direction, and the detected acceleration is integrated by a two-time integration circuit (not shown) to X. The amount of movement in the axial direction is calculated. Similarly, when the operator moves the pen-type signal input means 101 in the Y-axis direction, the acceleration sensor 101c detects the acceleration in the Y-axis direction and calculates the amount of movement in the Y-axis direction.

Further, the operator uses the pen-type signal input means 10
When 1 is rotated, the acceleration sensors 101a and 101c detect accelerations of different signs, and the rotation angle is calculated from the detected accelerations. The above-mentioned pen-type signal input means does not require a special place such as a desk / board for coordinate input like a joystick or a mouse, and can input signals by writing with a pen. Is also easy.

[0005]

By the way, the information that can be input by the above-mentioned conventional signal input means is at most four-dimensional (4 channels) of movement and rotation of the X, Y and Z axes, and more information can be obtained. When inputting, it is necessary to use the operation of switches and keys together, which is a drawback that the operation becomes complicated.

The present invention has been made in consideration of the above-mentioned problems of the prior art, and the object of the present invention is to achieve X, Y,
By detecting movement in the Z coordinate direction, inclination in the X and Y coordinate directions, rotation, etc., at least 6 dimensions (6 channels) without the need for a desk / board etc.
It is to provide a signal input device capable of inputting information of the above.

[0007]

FIG. 1 is a diagram illustrating the principle of the present invention. In the figure, reference numeral 1 is a signal input means, and the signal input means 1 has sensors X1, X2, at its front and rear portions, for detecting accelerations of X-axis and Y-axis perpendicular to the longitudinal axis thereof.
A sensor Z that includes Y1 and Y2 and that detects acceleration in the Z-axis direction that is perpendicular to the X-axis and the Y-axis, an acceleration sensor U that detects rotation about the Z-axis, and a pressure applied to the tip thereof is detected. The pressure sensor A etc. are provided.

Reference numeral 2 denotes a calculation means, which calculates the X, Y, and Y values of the signal input means 1 based on the output of the acceleration sensor.
The amount of movement in the Z axis direction, the amount of inclination in the X and Y axis directions, and the rotation angle about the Z axis are calculated. The information of the above 6 channels calculated by the calculating means 2 is processed by the transmitting means 3 into the processing device 4
Etc. In order to solve the above-mentioned problems, the invention of claim 1 of the present invention is, as shown in FIG. 1, provided in the front portion and the rear portion, respectively, in the X-axis and Y-axis directions orthogonal to the longitudinal axis of the signal input means. A sensor for detecting acceleration, and the above X
A signal input means including at least a sensor for detecting acceleration in a Z-axis direction orthogonal to the Y-axis and an Y-axis, and an acceleration sensor for detecting rotation about the Z-axis, and the signal input based on the output of the acceleration sensor. Means for calculating information of at least 6 channels consisting of movement amounts in the X, Y, and Z axis directions of the means, inclination amounts in the X, Y axis directions, and rotation angles around the Z axis; and processing the calculated information. A means for transmitting to the means is provided to instruct the coordinate position on the display screen and operate the driven body based on the information of the at least 6 channels.

According to a second aspect of the present invention, in the first aspect of the invention, the signal input means is a pen type, a pressure sensor is provided at the tip of the pen, and the pen is operated when the pen is operated on a flat surface. The pressure applied to the tip of the pen is detected by a pressure sensor. According to a third aspect of the present invention, in the second aspect, the output of the pressure sensor provided at the tip of the pen-shaped signal input means is used instead of the output of the sensor that detects the acceleration in the Z-axis direction. It is the one.

[0010]

The calculating means 2 integrates the outputs of the acceleration sensors X1 and Y1 (or the acceleration sensors X2 and Y2 provided at the rear part) and the acceleration sensor Z provided at the front part of the signal input means 1 twice. , X-axis of signal input means 1, Y
The amount of movement in the axis and Z-axis directions is calculated.

Further, an acceleration sensor X provided in the front part
1, Y1 and the acceleration sensors X2 and Y2 provided at the rear part are integrated twice to obtain the X-axis,
The amount of tilt in the Y-axis direction is calculated. Furthermore, when the outputs of the pair of acceleration sensors U for detecting acceleration in the X-axis or Y-axis direction have opposite signs, the values are integrated twice to calculate the rotation angle about the Z-axis (acceleration sensor U One of them can be substituted by the acceleration sensor X1 or X2).

The transmitting means 3 outputs the information of 6 channels, which is calculated as described above, including the movement amount in the X, Y and Z axis directions, the inclination in the X axis and Y axis directions, and the rotation angle around the Z axis. The data is transmitted to the processing means 4 and the like to instruct the coordinate position on the display screen and to operate a driven body such as a television camera. Further, the signal input means 1 is a pen type, and a pressure sensor A is provided at the front end thereof to detect the pressure when the signal input means 1 is pressed against a boat, a desk or the like, or the output of the pressure sensor A is used in the Z-axis direction. It is also possible to substitute for a sensor that detects the acceleration of.

According to the first aspect of the present invention, as described above, the sensors provided in the front portion and the rear portion, respectively, for detecting the acceleration in the X-axis and Y-axis directions orthogonal to the longitudinal axis of the signal input means. And a signal input unit including at least a sensor for detecting acceleration in the Z-axis direction orthogonal to the X-axis and the Y-axis, and an acceleration sensor for detecting rotation about the Z-axis, and based on the output of the acceleration sensor. At least 6 consisting of the amount of movement of the signal input means in the X, Y, and Z axis directions, the amount of inclination in the X, Y axis directions, and the rotation angle about the Z axis.
Since the channel information is calculated, hold the signal input means in your hand and move it forward / backward / up / down / left / right,
With simple operations such as tilting and rotating, 6
Channel information can be specified.

According to a second aspect of the present invention, in the first aspect of the invention, the signal input means is a pen type, and the pressure sensor is provided at the tip of the pen. When writing characters etc. with the signal input means, it is possible to detect the movement of the pen tip when pressure is applied,
It is possible to input handwritten characters. According to the invention of claim 3 of the present invention, in the invention of claim 2, instead of the output of the sensor for detecting the acceleration in the Z-axis direction, the output of the pressure sensor provided at the tip of the pen-shaped signal input means is used. As a result, the configuration can be simplified.

[0015]

FIG. 2 is a diagram showing the configuration of a pen type signal input means of an embodiment of the present invention. As shown in the figure, the signal input means of the present embodiment has a pen shape, and an operator can input a signal by moving and rotating it while holding it in his hand. A pen type signal input means 11 (hereinafter abbreviated as "pen 11") shown in the figure is provided with a first pressure sensor A at its tip, and the pressure sensor A presses the pen 11 against a board or the like. Produces an output.

Further, the front portion of the pen 11 has first, second and third sensors X1 for detecting accelerations in the X, Y and Z directions.
Y1 and Z1 are provided, and when the operator moves the front part of the pen 11, the acceleration in the moving direction is measured by the sensor X1,
Y1 and Z1 detect. As shown in FIG. 2, the X axis is the direction perpendicular to the plane of the drawing, the Y axis is the horizontal direction in the drawing, and the Z axis is the pen axial direction in the drawing.

Further, the pen 11 is provided with fourth and fifth acceleration sensors U1 and U2 at the front thereof.
From the direction of the acceleration output by U2, it is detected that the operator is rotating the pen 11 (when the acceleration is in the opposite direction, it is detected that the pen 11 is rotating around the Z axis). A second pressure sensor B is provided in the middle of the pen 11, and the pressure sensor B produces an output when the operator pushes the side of the pen.

The pen rear portion is provided with sixth and seventh acceleration sensors X2 and Y2 for detecting accelerations in the X and Y axis directions. When the operator moves the rear portion of the pen, the movement direction of the pen is changed. The sensors X2 and Y2 detect the acceleration. Further, a third pressure sensor C is provided at the rear end of the pen 11 and produces an output when the operator pushes the rear end of the pen.

As the pressure sensors A, B and C, sensors that generate an analog output according to pressure are used,
Alternatively, a switch that operates when pressure is applied can be used when the input may be an on / off input.
FIG. 3 is a diagram showing an embodiment of an arithmetic circuit for calculating the X coordinate position, the Y coordinate position, the Z axis coordinate position, etc. of the pen based on the output of the sensor provided in the pen 11.

In the figure, the calculator 21 is composed of, for example, a double integrator, and integrates the acceleration in the X axis direction detected by the sensor X1 twice to obtain the coordinate position of the pen 11 in the X axis direction. The computing unit 22 is composed of a subtractor and a double integrator, and calculates the acceleration in the X-axis direction in the front part of the pen output by the sensor X1 and the acceleration in the X-axis direction in the rear part of the pen output by the sensor X2. The difference is integrated twice to obtain the inclination of the pen in the X-axis direction (the inclination with respect to the Z-axis on a plane passing through the X-axis and the Z-axis, hereinafter referred to as the inclination in the X-axis direction).

Similar to the calculator 21, the calculator 23 is composed of, for example, a two-time integrator, and integrates the acceleration in the Y-axis direction detected by the sensor Y1 twice to determine the coordinate position of the pen 11 in the Y-axis direction. Ask. Further, like the calculator 23, the calculator 24 is composed of a subtracter and a double integrator, and the acceleration in the Y-axis direction in the front part of the pen output by the sensor Y1 and the rear part of the pen output by the sensor Y2. The difference from the acceleration in the Y-axis direction is integrated twice, and the inclination of the pen with respect to the Y-axis direction (Y
The inclination with respect to the Z axis on a plane passing through the axis and the Z axis (hereinafter, this inclination is referred to as the inclination in the Y axis direction) is obtained.

The computing unit 25, like the computing units 21 and 23,
For example, it is composed of a double integrator, and Z detected by the sensor Z
The acceleration in the axial direction is integrated twice to obtain the coordinate position of the pen 11 in the Z-axis direction. The computing unit 26 includes the sensors U1 and U
When the direction of the acceleration in the X-axis direction output by 2 is the opposite direction, it is assumed that the pen is rotating around the Z-axis, and the acceleration is integrated twice to obtain the rotation angle.

Although the sensor U2 is provided for detecting the rotation angle in this embodiment, the sensor U2 may be replaced by the sensor X1 or the sensor X2 for obtaining the acceleration in the X-axis direction. Reference numeral 30 denotes a control / transmission circuit that modulates the outputs of the arithmetic units 21 to 26 and the outputs of the pressure sensors A, B, and C and transmits the input data to a device such as a computer. The data is an ultrasonic signal or the like. And is transmitted to a device such as a computer (not shown).

The data can be transmitted by radio waves such as infrared rays and radio waves in addition to ultrasonic waves, or by wire through a cable or the like. Further, the arithmetic circuit and the control / transmission circuit can be incorporated in the pen-type signal input means, or can be provided separately. As described above, the pen 11 can transmit the following six-dimensional (six channels) signals, and by using the pressure sensors A, B, and C provided at the front, side, and rear ends, , And can also transmit signals of three channels. The pressure sensors A, B, and C can be used as selection switches as well as switches provided in a mouse, a joystick, or the like. (1) X-axis movement amount When the operator moves the pen 11 in the X-axis direction, the calculator 21
Outputs the movement amount (X coordinate) in the X-axis direction. (2) Y-axis movement amount When the operator moves the pen 11 in the Y-axis direction, the calculator 23
Outputs the movement amount (Y coordinate) in the Y-axis direction. (3) Tilt with respect to the X axis When the operator tilts the pen 11 with respect to the X axis, the calculator 22 outputs the amount of tilt in the X axis direction. (4) Tilt with respect to the Y axis When the operator tilts the pen 11 with respect to the Y axis, the calculator 24 outputs the amount of tilt in the Y axis direction. (5) Amount of movement in the Z axis direction When the operator moves the pen 11 in the Z axis direction, the calculator 23
Outputs the movement amount (Z coordinate) in the Z-axis direction. (6) Rotation angle around Z axis When the operator rotates the pen 11 around the Z axis, the calculator 26 produces an output according to the rotation angle of the pen around the Z axis.

That is, after the posture which becomes the reference of the pen is given in advance and the integrators of the arithmetic units 21 to 26 are reset, the operator holds the pen 11 in his hand and moves it forward / backward / upward / downward / leftward / rightward in the air. By tilting, tilting, or further rotating, the coordinate position, tilt, or rotation angle in the X, Y, and Z axis directions according to the movement / tilt direction is transmitted to a device such as a computer, and the computer moves each axis. It is possible to perform processing according to the amount, the tilt amount, and the rotation angle.

When operating on a flat surface such as a desk, the pressure sensor A provided at the tip can detect the pressing force of the pen, and the output of the pressure sensor A can be used to operate the desk. It is also possible to input a handwritten character by writing the character on a paper or the like by the movement of the pen tip when pressure is applied. When the pressure sensor A is provided, the pressure sensor A can be used as a substitute for the acceleration sensor Z that detects acceleration in the Z-axis direction.

Further, the setting of the reference plane, the input instruction of the coordinates and the like can be instructed by using the pressure sensor B, C or the pressure sensor A. Next, an application example of the pen-type signal input means shown in the above embodiment will be described. (1) Coordinate Instructing Operation on Screen FIG. 4 is a diagram illustrating a case where the position of the instructing point (cursor) on the display screen is operated by the pen 11.

In the figure, the operation of the pen and the movement of the cursor are associated with each other as follows. When the pen 11 is moved in the Y-axis direction in the figure, the cursor on the screen is moved in the Y-coordinate direction by the amount of the movement. When the pen 11 is tilted in the V direction in the figure (on the plane passing through the Y axis and the Z axis in the Y axis direction), the cursor is continuously moved in the Y axis direction (movement while tilting is performed. to continue). When the pen 11 is moved in the X-axis direction in the figure, the cursor on the screen is moved in the X-coordinate direction by the moved amount. When the pen 11 is tilted in the W direction in the figure (on the plane passing through the X axis and the Z axis in the X axis direction), the cursor is continuously moved in the X axis direction. When the pen 11 is moved in the Z-axis direction in the figure, the cursor on the screen is moved in the Z-coordinate direction by the amount of the movement. When the pen 11 is rotated in the U direction in the figure, the coefficient of the relative movement amount can be specified. For example, when the pen 11 is rotated clockwise, the movement amount is large even if it is moved by the same amount in other channels. If it is interpreted and moved counterclockwise, the amount of movement is interpreted as small.

As described above, by associating the operation of the pen with the coordinate movement, the operator sets the coefficient of the movement amount by rotating the pen, and then moves the coordinate by a simple operation such as moving or tilting the pen. You can give instructions. (2) Operation of Object on Screen in Robot or Video Game FIG. 5 is a diagram for explaining a case of operating the object with the pen 11 on the display screen.

In the case of robot operation, the operation of the pen and the movement of the robot are associated as follows. In the case of this example, the operator is the robot itself, and the scene seen from the robot is displayed on the screen, and the following operations are combined and operate simultaneously. When the pen is moved in the Y-axis direction, the robot continuously moves in the Y-coordinate direction while facing the front (only while moving in the coordinate direction). When the pen is tilted in the V direction (Y coordinate axis direction),
Change direction continuously in Y-axis direction (only while tilting). When the pen is moved in the X-axis direction, the robot continuously moves in the X-coordinate direction while facing the front (only while moving in the coordinate direction). W when tilting the pen in the W direction (X coordinate axis direction)
Turn continuously in direction (only while tilting). When the pen is moved in the Z-axis direction, the pen moves forward or backward with a speed corresponding to the movement. When the pen is rotated in the U direction, the zoom function of the robot's camera (eye) works, rotating it clockwise results in telephoto, and rotating it counterclockwise results in wide angle.

When the object is an airplane, the X axis,
The movement in the Y-axis direction is the movement direction of the main body, the Z-axis is the movement speed,
The inclination in the V and W directions can be associated with the direction of the eyes (camera) of the operator. As described above, by associating the pen with the movement of the object such as a robot on the display screen and the viewpoint, the operator can freely operate the object by moving or tilting the pen. Since the viewpoint can be changed by the rotation of the pen, the operability of the object can be improved, and the amusement of the game or the like can be further enhanced.

In the above example, an example of operating the cursor on the display screen, the position of the object, etc. is shown, but the application of the present invention is not limited to the above example.
For example, it can be applied to remote control of driven objects such as robots and television cameras. Further, in the above embodiment, the signal input means is a pen type,
If the operator inputs the X,
The shape can be any shape that can identify the Y and Z axis directions.

[0033]

As described above, according to the present invention, the sensors provided in the front portion and the rear portion, respectively, for detecting accelerations in the X-axis and Y-axis directions orthogonal to the longitudinal axis of the signal input means, A signal input unit including at least a sensor for detecting acceleration in the Z-axis direction orthogonal to the X-axis and the Y-axis, an acceleration sensor for detecting rotation about the Z-axis, and the signal based on the output of the acceleration sensor. Since the information of at least 6 channels including the movement amount of the input means in the X, Y and Z axis directions, the inclination amount in the X and Y axis directions, and the rotation angle around the Z axis is calculated, the signal input means is The information of 6 channels can be instructed by a simple operation of holding it in the hand and moving it forward / backward / upward / downward / leftward / rightward, tilting, and further rotating.

Therefore, it becomes possible to easily input coordinates to a device such as a computer and operate a driven body such as a television camera or a robot with a simple device. In addition, when the pen is used as the signal input means and a pressure sensor is provided at the tip of the pen, when writing characters or the like on the desk, paper or the like by the pen type signal input means, the pressure is output by the pressure sensor. It is possible to detect the movement of the pen tip when it is over, and it is possible to input handwritten characters and the like.

Further, instead of the output of the sensor for detecting the acceleration in the Z-axis direction, the output of the pressure sensor provided at the tip of the pen-type signal input means is used to simplify the construction.

[Brief description of drawings]

FIG. 1 is a principle diagram of the present invention.

FIG. 2 is a diagram showing a configuration of a pen-type signal input means of an embodiment of the present invention.

FIG. 3 is a diagram showing a configuration of an arithmetic circuit according to an embodiment of the present invention.

FIG. 4 is a diagram illustrating a case where a position of a designated point on a display screen is operated.

FIG. 5 is a diagram illustrating a case where an object on the display screen is operated.

FIG. 6 is a diagram showing a conventional example.

[Explanation of symbols]

1 Signal Input Means 2 Arithmetic Means 3 Transmitting Means 4 Processing Devices 11 Pen Type Signal Input Means 21-26 Arithmetic Circuits 30 Control / Modulation Circuits A, B, C Pressure Sensors X1, X2, Y1, Y2, Z, U1, U2 Acceleration sensor

Claims (3)

[Claims] 1. A sensor provided in each of a front portion and a rear portion for detecting acceleration in an X-axis direction and a Y-axis direction orthogonal to a longitudinal axis of the signal input means, and a Z orthogonal to the X-axis and the Y-axis.
A signal input unit including at least a sensor for detecting an acceleration in the axial direction and an acceleration sensor for detecting rotation about the Z-axis, and X of the signal input unit based on the output of the sensor.
A means for calculating information of at least 6 channels consisting of a movement amount in the Y and Z axis directions, an inclination amount in the X and Y axis directions, and a rotation angle around the Z axis, and the calculated information is transmitted to the processing means. Means for instructing the coordinate position on the display screen, operating the driven body, etc., based on the information of the at least 6 channels. 2. The signal input means is a pen type, a pressure sensor is provided at the tip of the pen, and the pressure applied to the tip of the pen when the pen is operated on a plane is detected by the pressure sensor. The signal input device according to claim 1. 3. The signal input device according to claim 2, wherein the output of the pressure sensor provided at the tip of the pen-shaped signal input means is used instead of the output of the acceleration sensor for detecting the acceleration in the Z-axis direction. .