CN201689394U - Stylus based on multi-sensor fusion - Google Patents
Stylus based on multi-sensor fusion Download PDFInfo
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- CN201689394U CN201689394U CN2010202147525U CN201020214752U CN201689394U CN 201689394 U CN201689394 U CN 201689394U CN 2010202147525 U CN2010202147525 U CN 2010202147525U CN 201020214752 U CN201020214752 U CN 201020214752U CN 201689394 U CN201689394 U CN 201689394U
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Abstract
The utility model discloses a stylus based on multi-sensor fusion. A rotation sensor component and an acceleration sensor device are respectively used for measuring motion angular velocity and acceleration speed of the stylus during writing process, a temperature sensor is used for measuring environment temperature, the ultrasonic ranging module is used for measuring distance changes of the stylus relative to a screen and the ground, a control module is used for detecting whether the stylus is lifted and detecting switching signals of keys, a microprocessor I acquires writing mark information on the screen or two-dimension or three-dimension motion information of a cursor according to the acquired signals and then sends the signals via a wireless data transmission module I, and a host receiving end receives resolving information of a handheld end and then sends the information to a computer host. The stylus based on multi-sensor fusion is simple and portable, meets more and higher service requirements, is more flexible and convenient in use and higher in universality and compatibility, and sufficiently embodies interactive features.
Description
Technical field
The present invention relates to the computer man-machine interacting field, especially a kind of input pen.
Background technology
Realize that in the mode of writing naturally the mutual of people and computing machine is one of target of computer man-machine interacting area research and pursuit always, the pen type input technology of making every effort to embody the gesture and the style of brushwork has been subjected to paying attention to widely because of the operating habit of writing that meets the people more, many pen type input equipments have appearred at present on the market, mainly contain following several at different application scenarios, the firstth, handwriting pad, be mainly used in handwriting input of PC literal or drawing, writing pencil must be write on handwriting pad, breaks away from handwriting pad and then can't work; The secondth, electronic whiteboard is mainly used in multimedia presentation, and the user can write on blank, mark, and realizes mutual with computing machine, but can block the throw light from the projector at rear in writing process, and can't remote-controlled operation; The third is an electronic teacher pointer, as being in the patent documentation of CN101071350 at the Chinese patent publication number, mentioned a kind of device by identification dynamic trajectory operation cursor, form, this device is beaten the movement locus of the luminous point on projection screen by adopting image-pickup device detection laser pen, through image recognition algorithm, realization is to the location of luminous point and the judgement of movement locus, and further realization also has the Related product that adopts similar techniques to occur to the operation and the control of cursor and form on the market.Utilize this technology, the user can realize at a distance mutual to the aphylactic map projection screen, but because this technical scheme need be set up image-pickup device before projection screen, increased the complexity of installing and using, the image recognition effect of this technology also is subjected to the considerable influence of surrounding environment in addition.
In a word, on the present market to the handwriting input demand of different occasions, all need adopt special input equipment, need rely on equipment such as handwriting pad, electronic whiteboard, image-pickup device respectively, distinct device also has different separately request for utilizations, can't possess high generality and portability, lacks a kind of unitized solution at handwriting input, make the user use same equipment can satisfy the hand-written operational requirements of different occasions, make man-machine interaction more flexible.
Summary of the invention
For overcoming prior art versatility and portable lower deficiency, the present invention proposes a kind of input pen based on Multi-sensor Fusion.
The technical solution adopted for the present invention to solve the technical problems is: comprise main frame receiving end and handheld terminal.Wherein, handheld terminal comprises rotation sensor spare, acceleration sensor device, supersonic sounding module, temperature sensor, filtration module, analog-to-digital conversion module, microprocessor I, control module and data wireless transport module I.Output voltage signal behind the motion angular velocity of input pen in the motion process and the acceleration information is write in rotation sensor spare and acceleration sensor device measurement, after the filtration module low-pass filtering, transfer to analog-to-digital conversion module and carry out analog to digital conversion, obtain digital signal and be sent to microprocessor I; Output signal after the temperature sensor measurement environment temperature, the digital signal after the analog-to-digital conversion module conversion is sent to microprocessor I; Supersonic sounding module measurement input pen is sent to microprocessor I with respect to the pulse signal of the variable in distance of screen and ground both direction; Control module comprises one as pressure sensitive nib and one group of button, and whether pressure sensitive nib detection input pen lifts a back output voltage signal is sent to microprocessor I through analog-to-digital conversion module, and the switching signal of button is sent to microprocessor I; Described microprocessor I according to the above-mentioned signal that obtains judge whether to be in the desktop write mode, in the air to projection screen write mode or aerial 3D mouse mode of operation, and the input pen motion angular velocity, acceleration information and the input pen that the obtain variable in distance information with respect to screen and ground both direction merged and error correction; Carry out motion correction and write the identification of motion intention according to the motion models of writing different under the different write modes, the result who finally resolves is become the written handwriting information on the screen or the two dimension or the three-dimensional motion information of cursor, and send by data wireless transport module I.The main frame receiving end comprises microprocessor II, data wireless transport module II, storer and usb interface module.The written handwriting information on the screen that data wireless transport module I reception handheld terminal resolves or the two dimension or the three-dimensional motion information of cursor, II sends to main frame through usb circuit by microprocessor.
Described rotation sensor spare adopts three-axis gyroscope, and three sensitive axes directions of three-axis gyroscope parallel with penholder inertial coordinates system X, Y, Z axle respectively.
Described acceleration sensor device comprises two three axis accelerometers, and three sensitive axes directions of this three axis accelerometer parallel with penholder inertial coordinates system X, Y, Z axle respectively.
Described handheld terminal comprises two groups of supersonic sounding modules, and two groups of vertical mutually installations of supersonic sounding module; Wherein the sensitive direction of one group of supersonic sounding module axially parallels with penholder; The sensitive direction of another group supersonic sounding module is axially vertical with penholder; The penholder movable information that two groups of range finder module gained information and accelerometer, three-axis gyroscope resolve carries out data fusion and error correction.
Described pressure sensitive nib comprises writes nib, elastic buffer body and pressure transducer; Elastic buffer body is between nib and pressure transducer; Pressure transducer detects the pressure information of nib in the writing process.
Described button comprises the cursor start key, writes key, the 3D mouse key and with four corresponding function keys of key up and down of the right and left key and the roller of mouse.
The invention has the beneficial effects as follows: owing to adopt the staff and the arm of Multi-sensor Fusion to write motion tracking and recognition technology, the collection handwriting input, the repertoire of electronic teacher pointer and three-dimensional air mouse is an one, demonstrated fully and realized that people and computing machine carry out mutual demand with natural way, both can in conventional writing plane, carry out handwriting input with the natural way support, can also aloft not have under the support situation screen is enclosed picture, mark and write, and have three-dimensional manipulating information and can satisfy in the virtual reality system the operation of three-dimensional body and realize the natural human-machine interaction of three-dimensional information, with the traditional handwriting plate, electronic teacher pointer is compared, simply portable, under the condition of having removed utility appliance, more higher user demands have been satisfied, use more flexible, versatility and compatibility are higher, and demonstrate fully the natural interaction feature.
The present invention is further described below in conjunction with drawings and Examples.
Description of drawings
Accompanying drawing 1 is a schematic appearance of the present invention;
Accompanying drawing 3 is main frame receiving end left views of the present invention;
Accompanying drawing 4 is circuit board coordinate diagram of the present invention;
Accompanying drawing 5 is structural representations of the present invention.
Wherein: 1. write nib, 2. power supply control lock, 3. 3D mouse function open key, 4. cursor startup alignment keys, 5. function key B, 6. function key D 7. writes key, 8. function key A, 9. function key C, 10. handheld terminal, 11. status indicator lamps, 12.USB interface, 13. the main frame receiving end, 14. nibs, 15. elastic buffer bodies, 16. pressure transducer, 17. handheld terminal circuit boards, 18. power modules, 19.USB the interface cavity, 20. main frame receiving terminal circuit plates, 21. written cavitys.
Embodiment
The present invention includes handheld terminal 10 and main frame receiving end 13 two parts.
As depicted in figs. 1 and 2: wherein, handheld terminal comprises having writing nib 1, power supply control lock 2,3D mouse function open key 3, cursor start and alignment keys 4, writing key 7 and function key A8, function key B5, function key C9, function key D6, circuit board 17 and power module 18 of pressure sensitive function.The main frame receiving end comprises usb 12, circuit board 19 and status indicator lamp 11.
Wherein the usb 12 of main frame receiving end can insert in the USB interface cavity of handheld terminal, the writing nib and 1 can insert in the written cavity 21 of main frame receiving end of handheld terminal, thus handheld terminal 10 and main frame receiving end 13 are buckled together.When on main frame receiving end 13 handheld terminals 10, power supply control lock 2 is in down state, the interaction pen dump; When the main frame receiving end separated with handheld terminal 10, power supply control lock 2 was in the state of upspringing, the interaction pen power connection.
Write nib 1 and be positioned at handheld terminal 10 1 end terminations, comprise nib 14, elastic buffer body 15 and pressure transducer 16.Nib 14 adopts the little and wear-resisting material of friction factor to make, and in this enforcement, nib 14 usefulness nylon are made.Elastic buffer body is installed between nib 14 and the pressure transducer 16, and working is that the pressure in the writing process cushions, and makes nib 14 softer with contacting of writing plane.The pressure information of nib 14 in the responsive writing process of pressure transducer, output signal is connected with analog-to-digital conversion module in the handheld terminal circuit board 17, pressure information is sent to microprocessor one after being converted to digital signal, can make nib 1 have different hardness effects in conjunction with the pressure sensitivity threshold value of varying strength.
3D mouse function open key 3 and cursor start the side that alignment keys 4 is positioned at handheld terminal 10,3D mouse function key 3 is used to open the 3D mouse function key of interaction pen, and cursor is aimed at and start key 4 is used for starting cursor and adjusting the aligned relationship that cursor and penholder point to when interaction pen uses to the projection screen operation with as three-dimensional air mouse in the air.Write key 7, to be positioned at the other end of handheld terminal with function key A8, function key B5, function key C9, function key D6, to write key 7 when being used for aloft projection screen being operated, open the mark writing function of interaction pen in the screen optional position.The corresponding left mouse button of function key A8, the corresponding right mouse button of function key B5, function key C9 and the corresponding mouse roller of function key D6 difference be key up and down.Each button is connected with microprocessor one on the handheld terminal circuit board 17 by signal wire.
As shown in Figure 4: main frame receiving terminal circuit plate 20 comprises microprocessor II, with the data wireless transport module II, storer and the usb interface module that are connected with microprocessor II.Usb interface module is based on the usb circuit of serial general-purpose interface configuring chip pdiusbd12, carrying out serial device to main frame under the control of microprocessor II describes, thereby become the external unit of main frame, and realize with the main frame communication.Data wireless transport module II and data wireless transport module I constitute a pair of duplex wireless communicating circuit, and this communicating circuit is all the bluecore family chip based on CSR company.Data wireless transport module II is used to receive the three-dimensional motion information of writing control information, written handwriting information and cursor that handheld terminal resolves under the control of microprocessor II.Reception information sends to main frame by microprocessor II through usb circuit, realizes the demonstration of written handwriting and to the control of cursor.Storer is used to deposit the PC end driver of interaction pen.When the main frame receiving end was connected with PC for the first time, the main frame receiving end at first was registered as memory device, and the interaction pen driver in the automatic then run memory has been exempted the inconvenience of other preparation drive installation CD.
Handheld terminal circuit board 17 comprises rotation sensor spare, acceleration sensor device, supersonic sounding module, temperature sensor, signal filtering module, analog-to-digital conversion module, microprocessor I, data wireless transport module I.Rotation sensor spare and acceleration sensor device are measured output voltage signal behind the motion angular velocity that obtains to write staff and arm in the motion process and the acceleration information, after the filtration module low-pass filtering, this voltage signal is transferred to analog-to-digital conversion module carry out analog to digital conversion, the digital signal that is converted to is sent to microprocessor I.Temperature sensor measurement and obtain the prevailing circumstances temperature after output signal to analog-to-digital conversion module and carry out analog to digital conversion, the digital signal after the conversion also is sent to microprocessor I, is used for rotation sensor spare and acceleration sensor device output signal are carried out temperature drift compensation.The pulse signal of the penholder relative motion information of supersonic sounding module output is sent to the counter input end of microprocessor I, is used to measure the variable in distance of interaction pen with respect to screen and ground both direction.
Microprocessor I carries out the judgement of mode of operation to the digital signal of writing in the motion process that obtains, and according to the desktop write mode, in the air to projection screen write mode or aerial 3D mouse mode of operation, adopt different data solver methods to carry out the penholder attitude by the data solver module, translation component and rotative component write resolving of motion feature amount, when interaction pen is in aerial 3D mouse mode of operation and during in the air to the projection screen mode of operation, the penholder relative motion information that motion feature amount of writing that also will obtain and supersonic sounding module record merges and error correction by data fusion module.Simultaneously different to writing of the projection screen in the air motion models of writing with two kinds of desktop write modes according to staff, carry out motion correction and write the identification of motion intention by motion correction module and spatial mappings module, become the written handwriting information on the screen or the two dimension or the three-dimensional motion information of cursor resolving the result.
Described rotation sensor spare comprises three-axis gyroscope, three-axis gyroscope adopts the MEMS electronic gyroscope, mounting means as shown in Figure 5, be that three sensitive axes directions parallel with circuit board X, Y, Z axle respectively, be respectively applied for and measure staff and write in the operational movement process wrist and arm in the rotation of X-axis and Y direction at different mode, and the axial rotation of penholder self.Described acceleration sensor device comprises two three axis accelerometers, two 3-axis accelerations are counted the MEMS three axis accelerometer, adopt the ADXRS330 of ADI company, be installed on handheld terminal circuit board 17 two ends respectively, and three sensitive axes directions of this three axis accelerometer parallel with circuit board X, Y, Z axle respectively, are used for measuring the static or acceleration information dynamically time of penholder.
Described supersonic sounding module adopts SRFO5, comprises two groups of supersonic sounding modules, and two groups of vertical mutually installations of supersonic sounding module.Wherein the sensitive direction of one group of supersonic sounding module axially parallels with penholder, be used for measuring in the air to projection screen write, the operational movement process, penholder draws the axial relative motion information of penholder with respect to the variable in distance of screen orientation; The sensitive direction of another group supersonic sounding module and the Y-axis of circuit board are to parallel, be used for measuring write, the operational movement process, penholder is with respect to the ground or the variable in distance of shelter direction such as wall on every side, draw penholder Y-axis to or the relative motion information of X axis.The penholder movable information that two groups of range finder module gained information and accelerometer, gyroscope resolve carries out data fusion and error correction, improves measuring accuracy.
Temperature sensor is used to measure ambient temperature to be changed, and measured temperature information carries out temperature drift compensation to the output data of three-axis gyroscope, three axis accelerometer, improves the applicability of interaction pen in different environments for use.
Low-pass filtering module is an active low-pass filter circuit, is used for the output noise and the high fdrequency component of filtering inertia sensing device and temperature sensor.
Analog-to-digital conversion module adopts the ADS8365 modulus conversion chip of TI company.The conversion accuracy of analog-to-digital conversion module is 16.Analog-to-digital conversion module is used for the analog signal conversion of inertia sensing device and temperature sensor output is become the digital signal that processor can be discerned.
Described power module is used to handheld terminal that power supply is provided, and adopts lithium battery power supply.
Claims (6)
1. based on the input pen of Multi-sensor Fusion, comprise main frame receiving end and handheld terminal, it is characterized in that: handheld terminal comprises rotation sensor spare, acceleration sensor device, supersonic sounding module, temperature sensor, filtration module, analog-to-digital conversion module, microprocessor I, control module and data wireless transport module I; Output voltage signal behind the motion angular velocity of input pen in the motion process and the acceleration information is write in rotation sensor spare and acceleration sensor device measurement, after the filtration module low-pass filtering, transfer to analog-to-digital conversion module and carry out analog to digital conversion, obtain digital signal and be sent to microprocessor I; Output signal after the temperature sensor measurement environment temperature, the digital signal after the analog-to-digital conversion module conversion is sent to microprocessor I; Supersonic sounding module measurement input pen is sent to microprocessor I with respect to the pulse signal of the variable in distance of screen and ground both direction; Control module comprises one as pressure sensitive nib and one group of button, and whether pressure sensitive nib detection input pen lifts a back output voltage signal is sent to microprocessor I through analog-to-digital conversion module, and the switching signal of button is sent to microprocessor I; Described microprocessor I according to the above-mentioned signal that obtains judge whether to be in the desktop write mode, in the air to projection screen write mode or aerial 3D mouse mode of operation, and the input pen motion angular velocity, acceleration information and the input pen that the obtain variable in distance information with respect to screen and ground both direction merged and error correction; Carry out motion correction and write the identification of motion intention according to the motion models of writing different under the different write modes, the result who finally resolves is become the written handwriting information on the screen or the two dimension or the three-dimensional motion information of cursor, and send by data wireless transport module I; The main frame receiving end comprises microprocessor II, data wireless transport module II, storer and usb interface module; The written handwriting information on the screen that data wireless transport module I reception handheld terminal resolves or the two dimension or the three-dimensional motion information of cursor, II sends to main frame through usb circuit by microprocessor.
2. the input pen based on Multi-sensor Fusion according to claim 1 is characterized in that: described rotation sensor spare adopts three-axis gyroscope, and three sensitive axes directions of three-axis gyroscope parallel with penholder inertial coordinates system X, Y, Z axle respectively.
3. the input pen based on Multi-sensor Fusion according to claim 1, it is characterized in that: described acceleration sensor device comprises two three axis accelerometers, and three sensitive axes directions of this three axis accelerometer parallel with penholder inertial coordinates system X, Y, Z axle respectively.
4. the input pen based on Multi-sensor Fusion according to claim 1 is characterized in that: described handheld terminal comprises two groups of supersonic sounding modules, and two groups of vertical mutually installations of supersonic sounding module; Wherein the sensitive direction of one group of supersonic sounding module axially parallels with penholder; The sensitive direction of another group supersonic sounding module is axially vertical with penholder.
5. the input pen based on Multi-sensor Fusion according to claim 1 is characterized in that: described pressure sensitive nib comprises writes nib, elastic buffer body and pressure transducer; Elastic buffer body is between nib and pressure transducer; Pressure transducer detects the pressure information of nib in the writing process.
6. the input pen based on Multi-sensor Fusion according to claim 1 is characterized in that: described button comprises the cursor start key, writes key, the 3D mouse key and with four corresponding function keys of key up and down of the right and left key and the roller of mouse.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2010202147525U CN201689394U (en) | 2010-06-03 | 2010-06-03 | Stylus based on multi-sensor fusion |
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| CN2010202147525U CN201689394U (en) | 2010-06-03 | 2010-06-03 | Stylus based on multi-sensor fusion |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102135823A (en) * | 2011-04-28 | 2011-07-27 | 华南理工大学 | Intelligent electronic handwriting pen |
| CN102135821A (en) * | 2011-03-08 | 2011-07-27 | 中国科学技术大学 | Handwriting pen and graphic restoration system |
| CN102662499A (en) * | 2012-04-18 | 2012-09-12 | 河南理工大学 | Magnetic signal writing pen |
| CN102890571A (en) * | 2011-07-21 | 2013-01-23 | 梁露露 | Multifunctional wireless handwriting pen |
| CN102902376A (en) * | 2012-11-14 | 2013-01-30 | 无锡德思普科技有限公司 | Wireless mouse employing multiple sensors |
| CN103677321A (en) * | 2012-09-21 | 2014-03-26 | 怀化学院 | Three-dimensional space writing remote control device |
| CN104464412A (en) * | 2014-12-23 | 2015-03-25 | 成都韬睿教育咨询有限公司 | Remote education system and implementation method thereof |
| CN107783669A (en) * | 2016-08-23 | 2018-03-09 | 群光电子股份有限公司 | Cursor generation system, method and computer program product |
| CN110134261A (en) * | 2019-05-22 | 2019-08-16 | 贵州大学 | An electronic pen that restores real writing |
| CN111879359A (en) * | 2020-07-15 | 2020-11-03 | 维沃移动通信有限公司 | Electronic equipment |
-
2010
- 2010-06-03 CN CN2010202147525U patent/CN201689394U/en not_active Expired - Fee Related
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102135821A (en) * | 2011-03-08 | 2011-07-27 | 中国科学技术大学 | Handwriting pen and graphic restoration system |
| CN102135821B (en) * | 2011-03-08 | 2013-03-06 | 中国科学技术大学 | Handwriting pen and graphic restoration system |
| CN102135823A (en) * | 2011-04-28 | 2011-07-27 | 华南理工大学 | Intelligent electronic handwriting pen |
| CN102890571A (en) * | 2011-07-21 | 2013-01-23 | 梁露露 | Multifunctional wireless handwriting pen |
| CN102662499A (en) * | 2012-04-18 | 2012-09-12 | 河南理工大学 | Magnetic signal writing pen |
| CN102662499B (en) * | 2012-04-18 | 2015-03-11 | 河南理工大学 | Magnetic signal writing pen |
| CN103677321A (en) * | 2012-09-21 | 2014-03-26 | 怀化学院 | Three-dimensional space writing remote control device |
| CN102902376A (en) * | 2012-11-14 | 2013-01-30 | 无锡德思普科技有限公司 | Wireless mouse employing multiple sensors |
| CN104464412A (en) * | 2014-12-23 | 2015-03-25 | 成都韬睿教育咨询有限公司 | Remote education system and implementation method thereof |
| CN107783669A (en) * | 2016-08-23 | 2018-03-09 | 群光电子股份有限公司 | Cursor generation system, method and computer program product |
| CN107783669B (en) * | 2016-08-23 | 2021-04-16 | 群光电子股份有限公司 | Cursor generation system, method and computer program product |
| CN110134261A (en) * | 2019-05-22 | 2019-08-16 | 贵州大学 | An electronic pen that restores real writing |
| CN111879359A (en) * | 2020-07-15 | 2020-11-03 | 维沃移动通信有限公司 | Electronic equipment |
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Granted publication date: 20101229 Termination date: 20130603 |