JP2002236547A - Information input system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an information input system which has superior portability. SOLUTION: A two-dimensional coordinate position pointed with a pointing means inserted into a two-dimensional information input area 1a which is plane is detected according to image formation positions of imaging devices of a couple of image pickup devices 2 and 3 equipped with a radio communication means. Consequently, the image pickup devices 2 and 3 are provided as different bodies and able to communicate with each other by radio, so the information input system 1 having superior portability can be provided.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an information input system for detecting a position coordinate pointed by pointing means such as a pen for inputting or selecting information.

[0002]

2. Description of the Related Art In recent years, there has been provided a writing information input system which enables writing information handwritten on a writing surface to be input in real time to a computer such as a personal computer. Examples of such a writing information input system include an information recognition device described in JP-A-6-289989 and JP-A-11-8537.
There is an information display device with an optical position detecting device described in Japanese Patent Application Laid-Open No. 6-206.

[0003] An information recognition apparatus described in Japanese Patent Application Laid-Open No. 6-289989 captures a writing surface to be written by a writing instrument, detects position coordinates of the writing information, and develops drawing data based on the position coordinates. Is what you do. In the embodiment, a camera is attached to one side of the entry surface to photograph the entire entry surface.

The information display device with an optical position detecting device described in Japanese Patent Application Laid-Open No. H11-85376 detects a light-blocked portion by using a light-reflective reflection sheet, thereby obtaining input coordinates. Is what you want.

[0005]

SUMMARY OF THE INVENTION However, Japanese Patent Laid-Open No.
In the information recognition apparatus described in Japanese Patent No. 289989, means for photographing an entry surface to be entered by a writing instrument and detecting position coordinates of entry information (trajectory of a written character or the like written on paper) entered by the writing instrument. , And means for detecting the position coordinates of the writing implement (coordinates of the tip position of the writing implement),
A means for detecting the coordinates of the origin on the writing surface was also required. Note that the origin coordinates are the corners of the sheet used as the writing surface, the X axis (straight line), and the Y axis (straight line) written on the paper surface.
This is the starting point. That is, in the information recognition device described in Japanese Patent Application Laid-Open No. 6-289989, as a process prior to performing a writing coordinate detection operation, a corner of a writing paper is detected, or coordinates are obtained from information written on the writing paper. There is a problem that the origin must be detected. Therefore, such detection processing of the origin coordinates is required every time the writing paper is replaced.

In addition, in the information recognition apparatus described in Japanese Patent Application Laid-Open No. 6-289989, since the coordinates of the writing position are obtained based on the coordinates of the origin, the writing position may be shifted during writing. If the position of the corner of the writing paper in the image being picked up changes, the coordinates of the writing position will be detected as a value shifted from the state before the paper deviation unless the origin coordinates are reset. Therefore, there is also a problem that a writing input that is not intended by the writer is performed.

Further, in the information recognition apparatus described in Japanese Patent Application Laid-Open No. 6-289989, when a camera captures an image from a diagonally upper side of a writing paper, the writing position per pixel of the image sensor increases as the writing position moves away from the camera. As the detection range on the paper increases, the error between the detected coordinates and the actual coordinates increases, and there is a problem that the written input image is reduced in the vertical direction. More specifically, as shown in FIG. 35, the further the writing position on the writing paper 102 is away from the camera 100, the more
It can be seen that the writing detection range L on the writing paper 102 in which a predetermined number of pixels in one vertical direction can be detected at the angle θ at which light is detected is large (L1 <L2 in FIG. 35).

On the other hand, in an information display device with an optical position detecting device described in Japanese Patent Application Laid-Open No. H11-85376, light is blocked by using a light retroreflective sheet attached around a coordinate input area. Shows the method of obtaining the input coordinates by detecting the part that has been input, in this case, it is necessary to attach a light retroreflective sheet around the area to input the coordinates, the light retroreflective sheet was previously attached Attachment of the optical retroreflective sheet to any device other than the dedicated coordinate input device for coordinate input has a problem that the assembling and adjustment work of each component constituting the system is very troublesome.

An object of the present invention is to provide a highly portable information input system.

An object of the present invention is to reduce the size and weight of an imaging device and to reduce power consumption.

An object of the present invention is to improve the convenience of an information input system.

An object of the present invention is to reduce a user's work load for minimizing a deviation between display coordinates and input coordinates.

[0013]

According to a first aspect of the present invention, there is provided an information input system, comprising: an image pickup element provided at a predetermined distance and imaging an instruction means for designating a two-dimensional information input area forming a plane; A pair of imaging devices respectively provided, a wireless communication unit provided in each of the imaging devices and wirelessly transmitting and receiving data between the devices, and a wireless communication unit provided in each of the imaging devices and instructing the information input area. An image recognizing means for recognizing an image of the instructing means, and an image recognizing means provided in each of the image pickup devices, wherein the instructing means relies on the instructing means based on an image forming position of the instructing means on each of the imaging elements recognized by the image recognizing means A position information calculating unit that calculates position information related to the designated position; and a position information calculating unit that is provided in one of the imaging devices and is provided in one of the imaging devices. Position information receiving means for receiving, via the wireless communication means, the position information related to the designated position calculated by the method, and position information related to the designated position calculated by the position information calculating means, the position information being provided in one of the imaging devices. And coordinate calculation means for calculating two-dimensional position coordinates designated by the pointing means based on the position information on the designated position of the other imaging device obtained by the position information receiving means.

Therefore, the two-dimensional coordinate position indicated by the indicating means inserted into the two-dimensional information input area forming the plane is determined based on the image forming positions of the image pickup devices of the pair of image pickup devices provided with the wireless communication means. Is detected. Thus, since a plurality of imaging devices for obtaining input coordinates are provided separately from each other and can communicate with each other wirelessly, it is possible to provide a highly portable information input system.

According to a second aspect of the present invention, there is provided an information input system which includes a control device and an image sensor which is provided at a predetermined distance and which images an instruction means for indicating a planar two-dimensional information input area. A pair of imaging devices, provided in each of the imaging devices and the control device, wireless communication means for wirelessly transmitting and receiving data between the devices, and provided in each of the imaging devices; Image recognizing means for recognizing an image of the instructing means,
Position information calculating means provided in each of the imaging devices and calculating position information relating to a position indicated by the indicating means based on an image forming position of the indicating means on each of the image sensors recognized by the image recognizing means. And a position information receiving means provided in the control device, the position information receiving means for receiving, via the wireless communication means, position information relating to the designated position calculated by the position information calculating means of each of the imaging devices, provided in the control device. And a coordinate calculating means for calculating two-dimensional position coordinates designated by the pointing means based on the position information on the designated position acquired by the position information receiving means.

Therefore, the two-dimensional coordinate position indicated by the indicating means inserted into the two-dimensional information input area forming the plane is determined based on the image forming positions of the image pickup devices of the pair of image pickup devices provided with the wireless communication means. Is detected. Thus, since a plurality of imaging devices for obtaining input coordinates are provided separately from each other and can communicate with each other wirelessly, it is possible to provide a highly portable information input system. In addition, by providing various processing units in a control device different from the imaging device, it is possible to reduce the size and weight of the imaging device and reduce power consumption.

The third aspect of the present invention is the first or second aspect.
In the information input system described above, one of the imaging devices includes a distance measurement unit that measures a distance between the imaging devices.

Therefore, even when each imaging device is installed at an arbitrary position, the distance between the imaging devices is automatically measured, so that the input coordinates can be obtained using the principle of triangulation. become. Thereby, the convenience of the information input system can be improved.

The invention described in claim 4 is the first to third aspects of the present invention.
In the information input system according to any one of the above, an element rotation unit rotatably supporting the imaging element, a direction detection unit that detects a direction of each of the imaging devices, and a direction detected by the direction detection unit. An imaging direction adjusting unit that controls the element rotating unit based on the imaging direction to adjust the direction of the imaging element.

Therefore, even when each imaging device is installed at an arbitrary position, the direction of the optical system of each imaging device is automatically adjusted to be in a predetermined direction based on the positional relationship between the imaging devices. This makes it possible to determine the input coordinates using the principle of triangulation. Thereby, the convenience of the information input system can be further improved.

[0021] The invention according to claim 5 is the invention according to claims 1 to 4.
In the information input system according to any one of the above, a display device in which each of the imaging devices is arranged so that the information input area is located on a display surface, and display coordinates and input at a predetermined position on the display surface of the display device Reference position display means for displaying a plurality of reference position marks for performing correspondence with coordinates,
When the reference position mark is designated via the information input area, a position displacement detecting means for detecting a displacement between the display coordinates and the input coordinates at the designated position, and a displacement between the display coordinates and the input coordinates is detected. In such a case, an arrangement position movement instructing unit for instructing the movement of the arrangement position of any one of the imaging devices to minimize the deviation is provided.

Therefore, when the information input area is the display surface of the display device, the movement of the arrangement position of the image pickup device is instructed so that the difference between the display coordinates and the input coordinates is minimized. It is possible to reduce the user's work load for minimizing the deviation from the input coordinates.

The invention according to claim 6 is the invention according to claims 1 to 4
In the information input system according to any one of the above, a display device in which each of the imaging devices is arranged so that the information input area is located on a display surface, and display coordinates and input at a predetermined position on the display surface of the display device Reference position display means for displaying a plurality of reference position marks for performing correspondence with coordinates,
When the reference position mark is designated via the information input area, a position displacement detecting means for detecting a displacement between the display coordinates and the input coordinates at the designated position, and a displacement between the display coordinates and the input coordinates is detected. In this case, there is provided a shift correcting unit that corrects the input coordinates, converts the input coordinates into display coordinates, and stores the corrected input coordinates.

Therefore, when the information input area is the display surface of the display device and the image input device is mounted so that the straight line connecting the image pickup devices is oblique to the display coordinates, the deviation between the display coordinates and the input coordinates is corrected. This makes it possible to further improve the convenience of the information input system.

The invention according to claim 7 is the invention according to claims 1 to 6
In the information input system according to any one of the above, a display device in which each of the imaging devices is arranged so that the information input area is located on a display surface, and display coordinates and input at a predetermined position on the display surface of the display device Reference position display means for displaying a plurality of reference position marks for performing correspondence with coordinates,
When the reference position mark is designated via the information input area, the input coordinates at the designated position are calculated and converted into display coordinates, and a registration mark display means for displaying a registration mark at the display coordinate position And distance data correcting means for correcting data of the distance between the imaging devices measured by the distance measuring means so as to minimize the distance between the reference position mark and the alignment mark.

Therefore, the deviation between the display coordinates and the input coordinates is minimized by correcting the measurement error of the distance between the imaging devices required for obtaining the input coordinates, and the convenience of the information input system is further improved. Can be improved.

[0027]

FIG. 1 shows a first embodiment of the present invention.
19 will be described with reference to FIG. The information input system according to the present embodiment is applied to a handwritten information input system used by being attached to a whiteboard.

FIG. 1 is an external front view schematically showing a state in which the handwriting information input system 1 is attached to a whiteboard 4. As shown in FIG. 1, a writing information input system 1 according to the present embodiment mainly includes a master imaging device 2 and a slave imaging device 3. The master imaging device 2 is mounted on the upper right side of the writing surface 4a of the whiteboard 4, and the slave imaging device 3 is mounted on the whiteboard 4.
Is attached to the upper left side of the writing surface 4a. In addition,
An area 1a surrounded by a dotted line in FIG. 1 is a writing information input area in which writing information can be input by the two imaging devices 2 and 3. Note that a pen, a stick, a finger, or the like is applied to a writing member (not shown) that is an instruction unit inserted into the writing information input area 1a. Further, it is only necessary that the image recognition means described later recognizes the object as a writing object, and the writing member is not specified.

First, the master imaging device 2 will be described. Here, FIG. 2 is a front view showing the appearance of the master imaging device 2 viewed from the direction of the slave imaging device 3 (the direction of A in the figure). As shown in FIG. 2, the master imaging device 2 is provided with an imaging window 5 formed of a transparent plate. The imaging window 5 is for taking in light for irradiating a CMOS image sensor 6 (see FIG. 4), which is an imaging element constituting a part of an imaging optical system described later. The master imaging device 2 is also provided with an infrared communication window 7.
The infrared communication window 7 communicates with the slave imaging device 3 by using an infrared light receiving / emitting module 18 provided with an infrared light emitting diode 27 and a photodiode 28 provided inside the master imaging device 2 (both shown in FIG. 6). It is used for infrared communication, and is formed of a plate that transmits infrared light. Further, the master imaging device 2 is also provided with an ultrasonic transmission / reception unit 8. This ultrasonic transmission / reception unit 8
Is provided with a transmitting ultrasonic microphone 8a which is a transmitting ultrasonic vibrator and a receiving ultrasonic microphone 8b which is a receiving ultrasonic vibrator. In addition, the master imaging device 2 is provided with a suction cup 9 for attaching the master imaging device 2 to the writing surface 4a of the whiteboard 4. The suction cup 9 is provided via a rotation mechanism 10 that rotates in parallel with the writing surface 4a of the whiteboard 4.

Next, the slave imaging device 3 will be described. Here, FIG. 3 is a front view showing the appearance of the slave imaging device 3 as viewed from the direction of the master imaging device 2 (the direction of B in the figure). As shown in FIG. 3, the slave imaging device 3
Is symmetrical as compared to the external appearance of the master imaging device 2 shown in FIG. 2, but differs in that the ultrasonic transmission / reception unit 8 provided in the master imaging device 2 is not provided. It is. That is, the slave imaging device 3 is provided with the same imaging window 5, infrared communication window 7, suction cup 9, and rotation mechanism 10 that functions as element rotating means, similar to the master imaging device 2.

Next, an image pickup optical system provided inside the master image pickup device 2 and the slave image pickup device 3 will be described. Here, FIG. 4 is a configuration diagram schematically showing an image pickup optical system in the image pickup apparatuses 2 and 3, and FIG.
FIG. 2 is a diagram of the slave imaging device 3 viewed from a direction C in FIG. 1 and a direction D in FIG. The imaging optical system in each of the imaging devices 2 and 3 is roughly composed of a mirror 11 that changes only the direction of the optical axis, a wide-angle lens 12, and a CMOS image sensor 6 to which an image processing circuit 13 is connected. With this configuration, light that is parallel to the writing surface 4 a of the whiteboard 4 and passes through the imaging window 5 is reflected by the mirror 11.
Reflected upward, and reaches the CMOS image sensor 6 through the wide-angle lens 12. The CMOS image sensor 6 that has received the light amplifies a signal photoelectrically converted by a photodiode arranged in a pixel unit by an amplifier (cell amplifier) for each pixel at a predetermined cycle and outputs the amplified signal to the image processing circuit 13.

Here, a writing information input area 1a in which writing information can be input by the two imaging devices 2 and 3 provided in the writing information input system 1 will be described with reference to FIG.
In FIG. 5, the handwriting information input area 1a is a portion indicated by oblique lines. Although details will be described later, the writing information input position (the position of the writing member in contact with the writing surface 4a of the whiteboard 4)
The writing information input area 1a is an overlapping part of the imaging area of each of the imaging devices 2 and 3, since it is obtained from the images captured by the two imaging devices 2 and 3 using the principle of triangulation. In FIG. 5, the imaging area of each of the imaging devices 2 and 3 is inside the dotted line. FIG. 5 also shows the mirror 11 built in the imaging devices 2 and 3. The mirror 11 is connected to the imaging window 5
It is mounted so as to reflect light in an angle range close to 90 ° incident on the CMOS image sensor 6 through the wide-angle lens 12.

Next, the electrical connection of each part built in the master imaging device 2 will be described with reference to FIG. FIG.
As shown in the figure, a CPU (Cent
ralProcessing Unit) 14 and this CP
U14 centrally controls each unit incorporated in the master imaging device 2. The CPU 14 includes the master imaging device 2
R in which a control program for controlling
OM (Read Only Memory) 15, DRAM (Dynamic Ra)
ndom Access Memory) and the CPU 14
The main memory 16 used as a work area is connected by a bus. Here, a microcomputer is configured.

The CPU 14 includes a flash memory 17, an image processing circuit 13, and an infrared light receiving / emitting module 18.
Is connected, the ultrasonic transmission / reception control unit 20 to which the transmitting ultrasonic microphone 8a and the receiving ultrasonic microphone 8b are connected, a USB (Universa).
l Serial Bus) The USB driver 22 to which the I / F 21 is connected and the rotation mechanism 10 are connected by a bus.

The flash memory 17 stores coordinate data written and input under the control of the CPU 14.

The image processing circuit 13 has an A / D (Analog / Dig)
It includes a conversion circuit that converts an analog signal input from the CMOS image sensor 6 into a digital signal under the control of the CPU 14 and then extracts a contour line of a subject image from the image data. Image recognition processing for determining whether or not the subject is a writing member, processing for outputting information on a contact position when an object recognized as a writing member contacts the writing surface 4a of the whiteboard 4, and the like are executed. .

The serial-parallel conversion circuit 19 is used in infrared data communication. Under the control of the CPU 14, transmission data is converted from parallel to serial, and received data is converted from serial to parallel. Infrared receiving / emitting module 18 connected to this serial-parallel conversion circuit 19
Is a circuit necessary for executing infrared communication of the IrDA (Infrared Data Association) system, and the internal configuration thereof is shown in FIG. The infrared receiving / emitting module 18 includes an asynchronous transmitting / receiving circuit 23, a modulation / demodulation circuit 24, and amplifiers 25 and 2.
6. Infrared light emitting diode 27, photodiode 28
It is composed of The asynchronous transmission / reception circuit 23 is located between the serial-parallel conversion circuit 19 and the modulation / demodulation circuit 24 and transmits / receives data to / from the modulation / demodulation circuit 24 asynchronously. The modulation and demodulation circuit 24 modulates transmission data using an RZ (Return to Zero) code, and converts the modulated analog signal into an amplifier 25.
And demodulates the analog signal received from the amplifier 26, and transmits the serial data to the asynchronous transmitting / receiving circuit 2.
Output to 3. The RZ code is a system that emits infrared light when data to be transmitted is “0” and does not emit it when it is “1”. The infrared light emitting diode 27 has a peak wavelength of 850 nm to 900 according to the on / off of the current.
Emits or extinguishes infrared rays with an emission angle of ± 15 degrees to ± 30 degrees nm. The photodiode 28 outputs a current when receiving infrared light. Note that such an infrared receiving / emitting module 18 is mounted inside the infrared communication window 7 with the infrared light emitting diode 27 and the photodiode 28 facing the outside of the infrared communication window 7.

The ultrasonic transmission / reception control unit 20 supplies a trigger pulse signal to the transmission ultrasonic microphone 8a at predetermined intervals under the control of the CPU 14, outputs a trigger pulse signal, and then receives the reception ultrasonic microphone. The time T from the reception of the ultrasonic wave to the input of the reception signal from 8b is measured. This time T corresponds to the time required for the transmitted ultrasonic wave to hit the object, be reflected, and return. Transmitting ultrasonic microphone 8a and receiving ultrasonic microphone 8b
Is mounted adjacent to the same surface as the infrared communication window 7. Here, the sound speed C of the ultrasonic wave at room temperature (20 ° C.) is 3
43 (m / s), the ultrasonic microphone 8
The distance L 'between a, 8b and the reflecting object (slave imaging device 3) is determined by L' = C × T / 2 (1).

The USB driver 22 executes an operation process based on the USB standard under the control of the CPU 14, and
Transfers data with a personal computer or the like connected to the SB cable. Note that the USB driver 22 is provided in the flash memory 1.
Since it is used only when the coordinate data stored in the memory 7 is transferred to an external device such as a personal computer, it is not necessary to connect a USB cable during a normal writing input operation.

The rotation mechanism 10 rotates under the control of the CPU 14, and adjusts the position (direction) between the rotation mechanism 10 and the slave imaging device 3 by using ultrasonic and infrared communication.

The battery 29 provided in the master imaging device 2 is, for example, a nickel-metal hydride battery or a lithium battery, and a current is supplied to the master imaging device 2 via an AC-DC converter 30.

Next, the electrical connection of each unit built in the slave imaging device 3 will be described with reference to FIG. FIG.
As shown in the figure, the system configuration of the slave imaging device 3 is as follows.
From the master imaging device 2 to the flash memory 17, the ultrasonic transmission / reception control unit 20, the transmission ultrasonic microphone 8a,
Ultrasonic microphone 8b for receiving wave, USB driver 2
2. Since the configuration is such that the USB I / F 21 is omitted, and the individual components are the same as the components of the master imaging device 2, detailed description will be omitted.

Next, a description will be given of a method of obtaining a contact position when the writing member contacts the writing surface 4a of the whiteboard 4 in the writing information input area 1a (when writing is performed by the writing member). The determination of the handwriting input is performed each time a pixel signal for one frame is input to the image processing circuit 13 from the CMOS image sensor 6.

Although the CMOS image sensors 6 of the master image pickup device 2 and the slave image pickup device 3 are mounted downward as shown in FIG. 4, for convenience of explanation, there is no mirror 11 and each of the image pickup devices 2 and 3 has Wide-angle lens 12 and CM
Assume that the OS image sensor 6 is arranged such that the optical axis of incident light is parallel to the writing surface 4a of the whiteboard 4, as shown in FIG. The distance between the wide-angle lens 12 of the master imaging device 2 and the wide-angle lens 12 of the slave imaging device 3 is L, the contact point of the writing member on the writing surface 4a of the whiteboard 4 is P, and the position coordinates of the point P are (x, y), a straight line connecting the wide-angle lens 12 of the master imaging device 2 and the wide-angle lens 12 of the slave imaging device 3 is represented by X-
Line, the angle between the direction of the contact point P in the wide-angle lens 12 of the slave imaging device 3 and the X-Line is β1,
Contact point P on the wide-angle lens 12 of the master imaging device 2
And the angle between the direction of X-Line and X-Line is β2. Also, the wide-angle lens 12 and the CMOS of the slave imaging device 3
FIG. 10 shows an enlarged view of the vicinity of the image sensor 6. FIG.
Where f is the distance between the wide-angle lens 12 and the CMOS image sensor 6, h is the distance between the image-forming position of the optical axis of the wide-angle lens 12 and the image-forming position of the contact point P in the CMOS image sensor 6, α Is the optical axis of the wide-angle lens 12 and X-L
is the angle between the optical axis of the wide-angle lens 12 and the line connecting the contact point P and its imaging point.

By using the above components, the following two equations hold. θ = arctan (h / f) (2) β1 = α−θ (3) Here, the positional relationship between the master imaging device 2 and the slave imaging device 3 is determined (master imaging device 2). Wide-angle lens 1
X-Line determines a straight line connecting the wide-angle lens 12 of the slave imaging device 3 to the wide-angle lens 12), and the angle α is a value known in advance as the mounting specification of the wide-angle lens 12 in the slave imaging device 3. The angle β1 can be obtained from the equation. Further, the angle β2 can be similarly obtained for the master imaging device 2.

When the angle β1 and the angle β2 are obtained in this manner, the position coordinates (x, y) of the contact point P are calculated as follows: x = L · tanβ2 / (tanβ1 + tanβ2) (4) ) Y = x · tanβ1 (5)

The angle β obtained by the slave imaging device 3
1 is transmitted to the master imaging device 2 by IrDA infrared communication, and the angle β1 obtained by the slave imaging device 3 and the angle β2 obtained by the master imaging device 2 received by the master imaging device 2 are used to obtain the equation (4). ) And Equation (5) are used to calculate the position coordinates of the contact point P.

Here, the infrared communication protocol of the IrDA system will be described. FIG. 11 shows the protocol configuration of the IrDA system. In FIG. 11, the application 50 is
In the present embodiment, an application is to transmit the angle β1 from the slave imaging device 3 to the master imaging device 2. TP Entities51 is OSI (Open Systems Int.
erconnection) An entity that implements the reference model transport protocol (Layer 4), which is optional. TP stands for “transpor
t ". LM-IAS 52 is Link Management
InformationAccess Service, which exchanges information indicating what devices are communicating. LM-IA
S52 and TP Entities 51 are located in the same layer, and one connection is selected and used in one application connection. In the present embodiment,
The LM-IAS 52 is used, and the TP Entities 51 are not used. LM-MUX53 is Link Management Multiple
xer, which can have multiple service access points and process data transmission of multiple applications simultaneously. IrLAP 54 is an Infrared Link Access
Protocol, HDLC (High level Data Link C
ontrol procedures). An unbalanced procedural class is one in which one station has full control over the control, and consists of a connection between the primary and secondary stations. In this case, there is a single primary station, but there can be multiple secondary stations. In the present embodiment, the master imaging device 2 is a primary station, and the slave imaging device 3 is a secondary station. IrDA-SIR5
5 is an IrDA Serial Infrared Physical Layer,
Physical specifications of infrared communication such as a modulation method are defined, and all protocols except IrDA-SIR55 are executed by software. Here, a wireless communication unit is realized.

Next, the procedure of infrared communication will be described with reference to a sequence example shown in FIG. In the IrDA infrared communication, there is a discovery phase in which the primary station recognizes the address of the secondary station before the connection establishment phase. First, the operation of the master imaging device 2 until the connection is established will be described. When the power is turned on, the infrared communication application 50 first transmits the LM-I
A discovery request is issued to the AS 52, and this message is notified to the IrLAP 54 via the LM-MUX 53. IrLAP 54 requests a discovery request (IrLAP_DISCOVE).
RY.req), the discovery XID (exchange including the total number of time slots 1 and time slot number 0)
station identification) command, and the slave imaging device 3 sends the XID including the device address and capability information.
Receive the response. Then, the time slot number F indicating the end of discovery in the next time slot
The XID command for discovery including the FH is transmitted, and the discovery confirmation including the address and capability information received from the slave imaging device 3 (IrLAP_DISCOVERY.c
nf) to the LM-MUX53. LM-MUX53 is
Upon receiving this, the discovery confirmation is performed by the LM-IAS 52.
To the infrared communication application 50 via. Upon receiving this message, the infrared communication application 50 issues a connection establishment request (including the address of the slave imaging device 3) to the LM-IAS 52, and the message is transmitted to the LM-MUX 53.
Is notified to the IrLAP 54 via. IrLAP54
Receives the connection establishment request (IrLAP_CON.req),
SNRM (Set Norma) including the address of the slave imaging device 3
l Response Mode) command. Then, upon receiving a UA (Unnumbered Acknowledgment) response from the other party, it sends a data link connection establishment confirmation (IrLAP_CON.cnf) to the LM-MUX 53. Upon receiving this message, the LM-MUX 53 receives a CR LM-PDU (Connect Request).
Link Management-Protocol Data Unit)
LAP_DT.req) message and pass it to IrLAP54. The IrLAP 54 transmits this information to the slave imaging device 3 with this information included in an I (Information) frame. Thereafter, the CC LM-PDU (Connect Confir
When receiving an I-frame including an m Link Management-Protocol Data Unit, the LM-MUX 53 receives a data instruction (I
rLAP_DT.ind). Upon receiving this, the LM-MUX 53 passes a connection establishment confirmation to the infrared communication application 50 via the LM-IAS 52.

Next, the operation of the slave imaging device 3 until the connection is established will be described. When the power is turned on, it waits for the XID command for discovery. Then, when the IrLAP 54 receives the XID command for discovery from the partner, the total number of time slots is 1, and therefore, the XI containing the address and the capability information of the own device is included.
D Send a response. Then, when a discovery XID command including the time slot number FFH indicating the end of discovery is received, the LM-MUX5
Issue a discovery instruction (IrLAP_DISCOVERY.ind) to 3.
Upon receiving this, the LM-MUX 53 passes a discovery instruction message to the infrared communication application 50 via the LM-IAS 52. Thereafter, when the IrLAP 54 receives the SNRM command from the partner, the LM-MUX 53
Data link connection establishment instruction (IrLAP_CON.ind)
Put out. Upon receiving this message, the LM-MUX 53 returns a response (IrLAP_CON.rsp) to the IrLAP 54. I
Upon receiving this message, the rLAP 54 sends a UA response to the other party. Thereafter, upon receiving an I frame including a CR LM-PDU from the other party, the IrLAP 54
A data instruction (IrLAP_DT.ind) is issued to the M-MUX 53. L
Upon receiving this message, the M-MUX 53 passes a connection establishment instruction to the infrared communication application 50 via the LM-IAS 52. The infrared communication application 50 passes this response message to the LM-MUX 53 via the LM-IAS 52. LM-MUX53 is
When this is received, a CC LM-PDU is requested for data (IrLAP_DT.re
q) Pass it to IrLAP 54 in the message. IrL
The AP 54 transmits this information to the other party by including the information in an I (Information) frame.

As described above, the connection between the infrared communication application between the master imaging device 2 and the slave imaging device 3 is established.

As shown in FIG. 12, in the infrared communication at the time of adjusting the position (direction) between the master imaging device 2 and the slave imaging device 3, the rotation instruction command and the rotation instruction response command include the DT LM -PDU (Data Link Management-Pro
tocol Data Unit).

Then, when the slave imaging device 3 detects a handwriting input by the user, the slave imaging device 3 includes the value of the angle β1 obtained by using the above-described equations (2) and (3) in the DT LM-PDU, and The image is transmitted to the imaging device 2.

Next, the functions executed by the CPUs 14 provided in the master imaging device 2 and the slave imaging device 3 based on the control program will be described. Here, the processing operation for realizing the distinctive functions provided in the handwritten information input system 1 of the present embodiment will be specifically described below with reference to FIGS.

As shown in FIG. 5, the master imaging device 2 is attached to the upper right of the whiteboard 4 with the suction cup 9 so that the imaging window 5 faces the lower left direction. The window 5 is attached to the upper left of the whiteboard 4 by the suction cup 9 so as to face the lower right direction. This attachment position may be marked in advance on the whiteboard 4 and attached to that position, but may be attached to any position on the writing surface 4a of the whiteboard 4. When the power is turned on while the master imaging device 2 and the slave imaging device 3 of the writing information input system 1 are attached to the whiteboard 4 in this manner, the power is stored in the ROMs 15 of the master imaging device 2 and the slave imaging device 3. The written control program is written to the main memory 16, and the control program is executed.

FIG. 13 is a flowchart schematically showing the flow of the processing operation in the master imaging device 2, and FIG. 14 is a flowchart schematically showing the flow of the processing operation in the slave imaging device 3. In the following, description will be made mainly on the flowchart of FIG. 13 showing processing on the master imaging device 2 side.

As shown in FIG. 13, the master imaging device 2
First, IrDA infrared communication is started using the infrared light receiving / emitting module 18. When the slave imaging device 3 is detected in the discovery phase, the communication sequence shown in FIG. 12 is executed to establish a connection between the infrared communication application between the master imaging device 2 and the slave imaging device 3 (step S1, FIG. Step S31 in 14).

When the connection for infrared communication is established, the master imaging device 2 transmits an ultrasonic wave via the transmitting ultrasonic microphone 8a, and the ultrasonic wave is reflected by the slave imaging device 3 and returns. This is detected via the receiving ultrasonic microphone 8b, and the reception level (reception intensity of the ultrasonic wave) of the ultrasonic wave is measured (step S2).

Subsequently, the master imaging device 2 is rotated by a predetermined angle (first angle: see FIG. 15) by rotating the rotation mechanism 10 (step S3), and an ultrasonic wave is transmitted to generate a reflected wave. Measure the reception level (step S
4). The processes in steps S3 and S4 are repeated until the rotation angle reaches a predetermined angle (second angle: see FIG. 15) larger than the first angle (Y in step S5).

When the rotation angle reaches a predetermined angle (second angle: see FIG. 15) (Y in step S5), the measured reception level is maximized by rotating the rotation mechanism 10. Is rotated (see FIG. 15) (step S6).

Next, the CPU 14 of the master image pickup device 2
Transmits a rotation instruction command including rotation angle information to the slave imaging device 3 by infrared communication (step S
7). On the other hand, when the CPU 14 of the slave imaging device 3 receives the rotation instruction command (step S in FIG. 14).
32) After rotating the rotation mechanism 10 to rotate the slave imaging device 3 by the designated angle, a rotation instruction response is transmitted to the master imaging device 2 by infrared communication (step S33 in FIG. 14).

When receiving the rotation instruction response from the slave imaging device 3 (Y in step S8), the CPU 14 of the master imaging device 2 transmits an ultrasonic wave and measures the reception level of the reflected wave (step S9). .

The processes in steps S7 to S9 are repeated until the rotation angle of the rotation mechanism 10 of the slave imaging device 3 reaches a predetermined angle (Y in step S10).

When the rotation angle of the rotation mechanism 10 of the slave imaging device 3 has reached a predetermined angle (Y in step S10),
The CPU 14 of the master imaging device 2 transmits to the slave imaging device 3 the angle at which the reception level measured along with the rotation of the slave imaging device 3 was the largest, included in the rotation instruction command (step S11). On the other hand, the slave imaging device 3
Upon receiving the rotation instruction command (step S32 in FIG. 14), the CPU 14 rotates the slave imaging device 3 by the specified angle by rotating the rotation mechanism 10, and then transmits the rotation instruction response by infrared communication. The data is transmitted to the master imaging device 2 (step S33 in FIG. 14). Thereby, the rotational positions (directions) of the master imaging device 2 and the slave imaging device 3 are determined.

By the above steps S2 to S11 and steps S32 to S33, the functions of the direction detecting means and the imaging direction adjusting means are executed. Thereby, each imaging device 2,
Even when the camera 3 is installed at an arbitrary position, the direction of the optical system of each of the imaging devices 2 and 3 is automatically adjusted to be in a predetermined direction based on the positional relationship between the imaging devices 2 and 3. This makes it possible to determine the input coordinates using the principle of triangulation.

At this time, the surface of the master imaging device 2 where the infrared communication window 7 is located and the surface of the slave imaging device 3 where the infrared communication window 7 is located are close to parallel. The operation of adjusting the rotational positions (directions) of the master imaging device 2 and the slave imaging device 3 may be repeatedly executed.

Subsequently, the CPU 14 of the master imaging device 2
Controls the ultrasonic transmission / reception control unit 20 to measure the distance L ′ from the master imaging device 2 to the slave imaging device 3 (Step S12). Here, the function of the distance measuring means is executed. This distance L 'is determined by the ultrasonic transmission / reception control unit 20 supplying a trigger pulse signal to the transmission ultrasonic microphone 8a at predetermined intervals and outputting the trigger pulse signal, and then receiving the reception ultrasonic microphone 8b. Can be obtained by measuring the propagation time T from when the ultrasonic wave is received to the input of the ultrasonic reception signal, and substituting the propagation time T and the sound speed C of the ultrasonic wave into equation (1). The sound speed C of the ultrasonic wave
Uses 343 (m / s) which is a value at room temperature (20 ° C.), but it is also possible to add a temperature measuring means to the master imaging device 2 and use a sound velocity value corresponding to the measured temperature. good. Accordingly, even when each of the imaging devices 2 and 3 is installed at an arbitrary position, the distance between the imaging devices 2 and 3 is automatically measured, so that the input coordinates can be calculated using the principle of triangulation. It is possible to ask.

Here, FIG. 16 shows the distance L ′ between the master image pickup device 2 and the slave image pickup device 3 and the distance L between the master image pickup device 2 and the wide-angle lens 12 of the slave image pickup device 3.
FIG. 4 is an explanatory diagram showing a relationship with the above. In FIG. 16, λ1 is the distance between the center of the wide-angle lens 12 of the master imaging device 2 and the vibration surface of the transmitting ultrasonic microphone 8a, and λ2 is the center of the wide-angle lens 12 of the slave imaging device 3 and the infrared communication window 7. L = L ′ + λ1 + λ2 (6) Note that λ1 and λ2 are values that are known in advance as device assembly specifications.

When the measurement of the distance L 'to the slave imaging device 3 is completed, the CPU 14 of the master imaging device 2 transmits a coordinate input start command to the slave imaging device 3 by infrared communication (step S13), and the CMOS image sensor 6 A contact determination process between the writing member and the writing surface 4a of the whiteboard 4 is started based on the image information input from. On the other hand, when the CPU 14 of the slave imaging device 3 receives this coordinate input start command (step S34 in FIG. 14).
Y), the writing member and the writing surface 4 a of the whiteboard 4 are similarly obtained from the image information input from the CMOS image sensor 6.
The contact determination process with the user is started.

Subsequently, based on the image information input from the CMOS image sensor 6, the writing member and the white board 4
The contact determination process for determining the contact with the writing surface 4a will be described.

The CPU 14 of the master imaging device 2 and the slave imaging device 3 controls the image processing circuit 13 to
A / D conversion of the image signal output from the OS image sensor 6
A process of extracting the contour of the object from the converted and obtained one frame of image data is performed (step S14, FIG. 14).
Step S35). For the extraction of the contour of the object, for example, there is a method in which a density gradient between pixels is obtained by differentiation, and the contour is determined from its direction and size. This method is disclosed in, for example, Japanese Patent Publication No. 8-16931, and a detailed description thereof will be omitted. Here, when the number of pixels in the vertical direction (corresponding to the height direction on the writing surface 4 a of the whiteboard 4) of the CMOS image sensor 6 is large, the image processing circuit 13 determines a predetermined number of pixels from the writing surface 4 a of the whiteboard 4. Is controlled so as to output an image signal only for pixels of the CMOS image sensor 6 that form an image up to the height of.

When the CPU 14 of the master imaging device 2 and the slave imaging device 3 extracts the outline, it determines whether or not the object is a writing member based on the shape of the outline.
This shape determination is performed using an image recognition technique. More specifically, after the center of gravity of the object is determined, the distance from the center of gravity to the contour is sequentially determined around the center of gravity (360 °), and the shape of the contour is specified from the relationship between the angle and the distance. This shape determination method is disclosed in Japanese Patent Application Laid-Open No. 8-315152. The data on the shape of the contour line thus obtained is compared with data stored in advance in the ROM 15 or the flash memory 17 as the shape of the writing member (step S15, step S3 in FIG. 14).
6) It is determined whether or not the object having the shape is a writing member (step S16, step S37 in FIG. 14). The above steps S14 to S16 and steps S35 to S3
7, the function of the image recognition means is executed.

During the writing operation, the inclination of the writing member with respect to the writing surface 4a of the whiteboard 4 is not constant.
A reference line (0 ° position) connecting the center of gravity of the object and the contour is rotated within a certain angle range and compared with data stored in advance. FIG. 17 shows an example of the image of the writing member and the rotation of the reference line. Alternatively, a plurality of types of data relating to the shape of the writing member may be prepared in the ROM 15 or the flash memory 17 and all of them may be used at the time of shape determination processing. Further, without previously storing data on the shape of the writing member, it is checked whether or not the object from which the contour is extracted is symmetric as shown in FIG. May be used as a writing member. This symmetry can be determined by sequentially calculating the distance from the center of gravity to the contour line around the center of gravity.

When the CPU 14 of the master imaging device 2 and the slave imaging device 3 determines that the object on the writing surface 4a of the whiteboard 4 is a writing member by the above-described determination processing (Y in step S16, FIG. Step S in
37, Y), it is determined whether the writing member has contacted the writing surface 4a of the whiteboard 4 (step S17, step S38 in FIG. 14). Here, whiteboard 4
The writing surface 4a corresponds to one side of the imaging area of the CMOS image sensor 6 as shown in FIG. Therefore, whether or not the writing member has contacted the writing surface 4a of the whiteboard 4 may be determined by determining whether or not the image of the writing member has contacted the side corresponding to the writing surface 4a of the whiteboard 4. become.

The writing member is a writing surface 4 a of the whiteboard 4.
Is determined to have touched (Y in step S17, FIG. 1).
4, Y in step S38), the CPUs 14 of the master imaging device 2 and the slave imaging device 3 determine the distance h between the imaging position of the contact point and the imaging position of the optical axis of the wide-angle lens 12 (step S18, Step S39 in FIG. 14).
Here, FIG. 19 is an explanatory diagram showing the relationship between the imaging position of the contact point and the imaging position of the optical axis of the wide-angle lens 12. As shown in FIG. 19, the imaging position of the optical axis of the wide-angle lens 12 is h0,
Assuming that the image forming position of the contact point is h1, the distance h between the image forming position of the contact point and the image forming position of the optical axis of the wide-angle lens 12 is given by h = h0-h1. Note that h0 and h1 are obtained from the number of pixels from the reference side in the vertical direction of the CMOS image sensor 6 and the distance between pixels (pixel pitch).

When the distance h between the image forming position of the contact point and the image forming position of the optical axis of the wide-angle lens 12 is determined, the CPU 14 of the slave imaging device 3 calculates the distance h from the above-described equations (2) and (3).
Using the known values f and α, the angle β1 which is the position information related to the position indicated by the indicating means is obtained (step S40 in FIG. 14), and the obtained value of the angle β1 is master-imaged using infrared communication. The data is transmitted to the device 2 (step S41 in FIG. 14). By the above steps S38 to S40,
The function of the position information calculation means is executed.

On the other hand, the CPU 14 of the master image pickup device 2
When the distance h between the image forming position of the contact point and the image forming position of the optical axis of the wide-angle lens 12 is obtained, the above-described equations (2) and (3) are obtained.
Then, the angle β2, which is the position information relating to the position indicated by the indicating means, is obtained using the distance h and the known values f and α (step S19). By the above steps S17 to S19, the function of the position information calculation means is executed.

Then, using the angle β2 obtained by the above-described equations (2) and (3), the angle β1 received from the slave imaging device 3 and the distance L, the equations (4) and (5) are used. The position coordinates (x, y) of the contact point on the writing surface 4a of the whiteboard 4 are obtained (step S20: position information receiving means, coordinate calculating means), and the obtained coordinate value sequence is stored in the flash memory 17 (step S21). .

In this embodiment, the expression (2)
Although the above-described calculation using Expression (5) is performed by the CPU 14, the present invention is not limited to this, and Expression (2) is used.
The calculation of Expression (3) and Expression (3) may be executed by the image processing circuit 13, and the calculation of Expression (4) and Expression (5) may be executed by the CPU.

As a process prior to performing the writing input operation, the origin of the writing area must be set. Therefore, the user turns on a writing area setting switch (not shown) and points the area near the lower part of the slave imaging device 3 as indicated by a point O in FIG. 5 so that the system recognizes the writing area. The master imaging device 2 obtains the pointed coordinates, and sets the obtained coordinates as the origin of the writing area. In the writing area, the right direction from the origin is defined as the positive direction of the X axis, and the downward direction is defined as the positive direction of the Y axis. Then, when the user turns off the writing area setting switch, thereafter,
When the handwriting input operation is recognized, the coordinate value sequence obtained as described above is stored in the flash memory 17. The process of setting the origin of the writing area is omitted in the flowcharts of FIGS.

Here, based on the image formation position of each of the pair of imaging devices 2 and 3 provided with the infrared light receiving / emitting module 18 in each CMOS image sensor 6, the writing inserted into the two-dimensional information input area 1a forming a plane. The two-dimensional coordinate position specified by the member is detected. Thus, since the plurality of imaging devices 2 and 3 for obtaining input coordinates are separately provided and can communicate with each other wirelessly, it is possible to provide the information input system 1 having excellent portability. Will be possible.

In the present embodiment, the writing information input system 1 is attached to the whiteboard 4, but the present invention is not limited to this, and a blackboard, a large display, a desk,
What is necessary is just to have a two-dimensional area | region which forms a plane, such as a wall.

A second embodiment of the present invention will be described with reference to FIGS. The same parts as those in the first embodiment described above are denoted by the same reference numerals, and description thereof will be omitted. Although the writing information input system 1 according to the first embodiment is used by being attached to the whiteboard 4, the writing information input system 60 according to the present embodiment uses a plasma display panel (PDP). )).

Here, FIG. 20 shows the writing information input system 6.
FIG. As shown in FIG. 20, a writing information input system 60 of the present embodiment has a master imaging device substantially similar to the master imaging device 2 and the slave imaging device 3 of the writing information input system 1 of the first embodiment described above. 62 and a slave imaging device 63. The writing information input system 60 has a PDP 61, the master imaging device 62 is mounted on the upper right side of the display surface 61a of the PDP 61, and the slave imaging device 63 is mounted on the upper left portion of the display surface 61a of the PDP 61. I have. The display surface 61a of the PDP 61 and the frame 61b around it are attached so as to be on the same plane, and the writing information input system 60 functions as an electronic blackboard. An area 60a surrounded by a dotted line in FIG. 20 is a writing information input area in which writing information can be input by the two imaging devices 62 and 63.

The master image pickup device 62 is different from the master image pickup device 2 of the first embodiment in that the display control unit 6
4 (see FIG. 21) and a connector (not shown) for connecting the video cable 65. Further, the slave imaging device 63 is not different from the slave imaging device 3 of the first embodiment described above.

Next, the electrical connection of each part built in the master imaging device 62 will be described with reference to FIG.
As shown in FIG. 21, the system configuration of the master imaging device 62 is such that the display control unit 64 is added to the master imaging device 2 of the above-described first embodiment, and a bus is connected to the CPU 14.

The display control section 64 has a VRAM (Video RA).
M) is built in, and under the control of the CPU 14, drawing data for display is generated from a coordinate value sequence obtained by writing, and the drawing data is displayed on the PDP 61. Control is performed to display a reference position mark M (see FIG. 23) for association on the PDP 61.

Switches for turning on and off a calibration mode for declaring execution of a calibration process for associating display coordinates and handwriting input coordinates, which will be described later (a switch for calibration mode 1 and a switch for calibration mode 2). ) Are not shown.

Next, a function executed by the CPU 14 provided in the master imaging device 62 based on the control program will be described. Here, the processing operation for realizing the distinctive functions of the handwritten information input system 60 of the present embodiment will be specifically described below with reference to FIG. 22 or FIG.

As shown in FIG. 20, the master image pickup device 62 sets the PD so that the image pickup window 5 faces the lower left direction.
The suction panel 9 is attached to the upper right of the display surface 61a of the P61, and the slave imaging device 63 is attached to the upper left of the display surface 61a of the PDP 61 by the suction cup 9 so that the imaging window 5 faces the lower right direction. This attachment position is on the display surface 6 of the PDP 61.
The frame 61b around 1a may be marked in advance and attached at that position. However, the mark may be attached to any position on the PDP 61 (the display surface 61a and the frame 61b around the display surface 61a). Can be done. When the power is turned on in a state where the master imaging device 62 and the slave imaging device 63 of the writing information input system 60 are attached to the PDP 61, the data stored in the ROMs 15 of the master imaging device 62 and the slave imaging device 63 are stored. The control program is written into the main memory 16, and the control program is executed.

FIG. 22 is a flowchart schematically showing the flow of the processing operation in the master image pickup device 62. As shown in FIG. 22, as the processing operation in the master imaging device 62, first, IrDA infrared communication is started using the infrared light receiving and emitting module 18.
Then, in the discovery phase, the slave imaging device 6
Upon detecting 3, the communication sequence shown in FIG. 12 is executed to establish a connection between the infrared communication application of the master imaging device 62 and the slave imaging device 63 (step S51, step S31 in FIG. 14).

When the connection for infrared communication is established, the master imaging device 62 determines the rotational positions (directions) of the master imaging device 62 and the slave imaging device 63 using ultrasonic waves (step S52). This processing is realized by steps S2 to S11 in FIG. 13 and steps S32 to S33 in FIG.

Subsequently, the CPU 1 of the master image pickup device 62
4 measures the distance L 'from the master imaging device 62 to the slave imaging device 63 by controlling the ultrasonic transmission / reception control unit 20 (step S53).

When the measurement of the distance L 'to the slave imaging device 63 is completed, the CPU 14 of the master imaging device 62 transmits a coordinate input start command to the slave imaging device 63 by infrared communication (step S54).

In this state, the CP of the master image pickup device 62
U14 waits for operation of the calibration mode 1 switch (Y in step S55) or input of writing information (Y in step S69).

When the CPU 14 of the master imaging device 62 detects that the calibration mode 1 switch has been operated and turned on (Y in step S55), the CPU 14 controls the display control unit 64 to display the display coordinates and the handwriting input coordinates. The reference position mark M (M1, M2) for associating
Each is displayed at a predetermined position on the display surface 61a of the DP 61 (step S56). Here, the function of the reference position display means is executed. Here, FIG. 23 shows a PD on which a reference position mark M (M1, M2) is displayed at a predetermined position on the display surface 61a.
It is a front view which shows P61. As shown in FIG. 23, the Y coordinate (vertical direction) value in the display coordinates of the two reference position marks M (M1, M2) is the same.

Thus, the reference position mark M (M1, M
In the state where 2) is displayed, the user points (points) the reference position mark M1 and the reference position mark M2 in order with the writing member.

First, the case where the user points the center position of the reference position mark M1 with the writing member will be described.
Here, the CPU 14 of the master imaging device 62
It is on standby to detect contact of the writing member with the display surface 61a of the display 61 (step S57). This processing is realized by the same processing as steps S14 to S17 in FIG.

If it is determined that the writing member has come into contact with the display surface 61a of the PDP 61 (Y in step S57), the CPU 14 of the master image pickup device 62
The angle β2 between the direction of the contact position of the writing member in the wide-angle lens 12 and the X-Line is determined, and the angle β2 and the angle β1 received from the slave imaging device 63 (see steps S39 to S41 in FIG. 14) are determined. Using PDP61
Coordinates (x1_i, x1_i,
y1_i) is obtained (step S58). The origin of the handwriting input coordinates is the upper left vertex of the handwriting information input area 60a (see FIG. 20), and the right direction is the positive direction of the X axis and the downward direction is the positive direction of the Y axis.

Thereafter, the CPU 1 of the master image pickup device 62
4 waits again for the detection of the contact of the writing member with the display surface 61a of the PDP 61 (step S59), and when the user points the center position of the reference position mark M2 with the writing member (Y in step S59), the PDP 61 Display surface 61a
The position coordinates (x2_i, y2_i) of the contact point in are obtained by the same method as the position coordinates (x1_i, y1_i) obtained in step S58 (step S60).

Here, when “y1_i” and “y2_i” are not the same, a straight line (X-Line) connecting the master imaging device 62 and the slave imaging device 63 and the X axis (horizontal direction) of the display coordinates are set. Are not parallel. Therefore, if “y1_i”> “y2_i” (N in step S61, Y in step S62: displacement detection means), the master imaging device 62 sends the slave imaging device 63
Is located above, so “y1_
i "-" y2_i ", and the slave imaging device 63
A message is displayed on the display surface 61a of the PDP 61 so as to lower the arrangement position (step S63: arrangement position movement instructing means).

When “y1_i” <“y2_i” (N in step S61, N in step S62: displacement detecting means), the slave imaging device 63 is positioned lower than the master imaging device 62. To be
The display surface 61 of the PDP 61 moves the position of the slave imaging device 63 up by the distance of “y2_i” − “y1_i”.
A message is displayed on a (step S64: arrangement position movement instructing means).

Here, assuming that the unit of the distance L between the master imaging device 62 and the slave imaging device 63 is mm, the unit of the input coordinate of the contact point is also mm from Expressions (4) and (5). Therefore, the slave imaging device 6 in the message
The moving distance of No. 3 is expressed in mm.

Thereafter, the CPU 1 of the master image pickup device 62
4 detects that the calibration mode 1 switch has been operated and turned off (Y in step S65), and waits until the calibration mode 2 switch is operated and turned on (step S66). The user sets the slave imaging device 63 to the PDP 61 with the calibration mode 1 switch turned off in this way.
Is moved in accordance with the message displayed on the display surface 61a. It should be noted that the user again selects the calibration mode 1
Turn on the switch and repeat the same operation as above,
The detection accuracy may be increased.

Since the display coordinates are coordinates based on the number of display pixels, the distance between the display pixels (unit is m
multiplied by m), the actual size coordinates for display (unit is mm)
It can be. By the above calibration operation, the distance between the reference position mark M1 and the reference position mark M2 obtained using the actual size coordinates for display, and the position coordinates (x1_i, y1_) of the contact point obtained by the above-described processing.
The distance between i) and (x2_i, y2_i) is almost the same. That is, when the coordinates of the contact point obtained by the image processing means are converted into display coordinates and displayed on the display surface 61a of the PDP 61, the contact position and the display position are substantially the same for the entire writing information input area 60a.

Thereafter, the CPU 1 of the master image pickup device 62
4 detects that the calibration mode 2 switch has been operated and turned on (Y in step S66), the point is determined according to the user's points on the four corners (apex) of the display surface 61a of the PDP 61 with the writing member. The obtained four position coordinates are sequentially obtained, and a rectangular information area having these vertices as a valid area for writing information input is recognized as a writing information input area 60a (step S67). The upper left vertex of the display surface 61a of the PDP 61 is set as the display coordinates and the origin of the handwriting input coordinates in the handwriting information input area 60a.

Then, the CPU 1 of the master image pickup device 62
When the switch 4 detects that the calibration mode 2 switch has been operated and turned off (Y in step S68), it returns to the operation of the calibration mode 1 switch or the standby state for inputting the writing information.

The writing information input processing in steps S69 to S71 is substantially the same as the processing in steps S14 to S21 described with reference to FIG. 13, except that step S71 differs from step S21 in that the CP of the master imaging device 62
U 14 stores the obtained coordinate value sequence in the flash memory 17, controls the display control unit 64 to generate drawing data for display from the coordinate value sequence, and displays this on the PDP 61.

Here, based on the imaging positions of the pair of imaging devices 62 and 63 provided with the infrared light emitting / receiving module 18 in the respective CMOS image sensors 6, the writing inserted in the two-dimensional information input area 60a forming a plane. The two-dimensional coordinate position specified by the member is detected. Thus, since the plurality of imaging devices 62 and 63 for obtaining input coordinates are provided separately and can communicate with each other wirelessly, it is possible to provide the information input system 60 with excellent portability. Will be possible.

The information input area 60a is displayed on the display device 61.
In the case of the display surface 61a, the displacement between the display coordinates and the input coordinates is minimized by instructing the movement of the arrangement position of the imaging devices 62 and 63 so that the deviation between the display coordinates and the input coordinates is minimized. It is possible to reduce the work load of the user for the above.

A third embodiment of the present invention will be described with reference to FIGS. Note that the same parts as those in the above-described first embodiment or the second embodiment are denoted by the same reference numerals, and description thereof is omitted. The writing information input system 60 according to the second embodiment moves the position of the slave imaging device 63 to the user in order to match the display coordinates with the writing input coordinates. The writing information input system 70 determines that there is a deviation between the display coordinates and the writing input coordinates (a straight line (X-Line) connecting the master imaging device 72 and the slave imaging device 73) and the X axis (horizontal direction) of the display coordinates. Is not parallel), the display coordinates and the handwriting input coordinates are made to match without moving the arrangement position of the slave imaging device 73.

Here, FIG. 24 shows the handwriting information input system 7.
FIG. As shown in FIG. 24, a writing information input system 70 of the present embodiment has a master imaging device substantially similar to the master imaging device 62 and the slave imaging device 63 of the writing information input system 60 of the second embodiment described above. 72 and a slave imaging device 73. The writing information input system 70 has a PDP 71, the master imaging device 72 is attached to the upper right side of the display surface 71a of the PDP 71, and the slave imaging device 73 is attached to the upper left portion of the display surface 71a of the PDP 71. A display surface 71a of the PDP 71 and a frame 71b around the display surface 71a are mounted on the same plane, and the writing information input system 70 functions as an electronic blackboard. An area 70a surrounded by a dotted line in FIG. 24 is a writing information input area in which writing information can be input by the two imaging devices 72 and 73. The PDP 71 and the master imaging device 72 are connected by a video cable 75. In addition, the electrical connection of each unit included in the master imaging device 72 and the slave imaging device 73 is not different from the master imaging device 62 and the slave imaging device 63 of the writing information input system 60, and thus the description thereof is omitted. I do.

Next, a function executed by the CPU 14 provided in the master imaging device 72 based on the control program will be described. Here, a processing operation for realizing the distinctive functions of the handwritten information input system 70 of the present embodiment will be specifically described below with reference to FIG. 25 or FIG.

As shown in FIG. 24, the master imaging device 72 operates the PDP so that the imaging window 5 faces the lower left direction.
71 is attached to the upper right of the display surface 71a of the PDP 71 by the suction cup 9, and the slave imaging device 73 is attached to the upper left of the display surface 71a of the PDP 71 by the suction cup 9 so that the imaging window 5 faces the lower right direction. This attachment position is on the display surface 7 of the PDP 71.
A mark may be made in advance on the frame 71b around 1a, and the mark may be attached to that position. However, the mark may be attached to any position on the PDP 71 (the display surface 71a and the frame 71b around the display surface 71a). Can be done. When the power is turned on in a state where the master imaging device 72 and the slave imaging device 73 of the writing information input system 70 are attached to the PDP 71, the data stored in the ROMs 15 of the master imaging device 72 and the slave imaging device 73 are stored. The control program is written into the main memory 16, and the control program is executed.

FIG. 25 is a flowchart schematically showing the flow of the processing operation in the master image pickup device 72. As shown in FIG. 25, as the processing operation in the master imaging device 72, first, the infrared communication of the IrDA system is started using the infrared light receiving / emitting module 18.
Then, in the discovery phase, the slave imaging device 7
Upon detecting 3, the communication sequence shown in FIG. 12 is executed to establish a connection between the infrared communication application of the master imaging device 72 and the slave imaging device 73 (step S81, step S31 in FIG. 14).

When the connection for infrared communication is established, the master imaging device 72 determines the rotational positions (directions) of the master imaging device 72 and the slave imaging device 73 using ultrasonic waves (step S82). This processing is realized by steps S2 to S11 in FIG. 13 and steps S32 to S33 in FIG.

Subsequently, the CPU 1 of the master image pickup device 72
4 measures the distance L ′ from the master imaging device 72 to the slave imaging device 73 by controlling the ultrasonic transmission / reception control unit 20 (step S83).

When the measurement of the distance L 'to the slave imaging device 73 is completed, the CPU 14 of the master imaging device 72 transmits a coordinate input start command to the slave imaging device 73 by infrared communication (step S84).

In this state, the CP of the master image pickup device 72
U14 waits for operation of the calibration mode 1 switch (Y in step S85) or input of writing information (Y in step S100).

When the CPU 14 of the master imaging device 72 detects that the calibration mode 1 switch has been operated and turned on (Y in step S85), the CPU 14 controls the display controller 64 to display the display coordinates and the handwriting input coordinates. 24, the reference position marks M (M1, M2) are displayed at predetermined positions on the display surface 71a of the PDP 71 as shown in FIG. 24 (step S86). Here, the function of the reference position display means is executed. As shown in FIG. 24, the Y coordinate (vertical direction) value in the display coordinates of the two reference position marks M (M1, M2) is the same.

As described above, the reference position mark M (M1, M1
In the state where 2) is displayed, the user points the reference position mark M1 and the reference position mark M2 sequentially with the writing member.

First, the case where the user points the center position of the reference position mark M1 with the writing member will be described.
Here, the CPU 14 of the master imaging device 72
The process stands by to detect contact of the writing member with the display surface 71a of step 71 (step S87). This processing is realized by steps S14 to S17 in FIG.

When it is determined that the writing member has come into contact with the display surface 71a of the PDP 71 (Y in step S87), the CPU 14 of the master imaging device 72
The angle β2 between the direction of the contact position of the writing member of the wide-angle lens 12 and the X-Line is determined, and the angle β2 and the angle β1 received from the slave imaging device 73 (see steps S39 to S41 in FIG. 14) are determined. Using PDP71
Coordinates (x1_i, x1_i,
y1_i) is obtained (step S88). The origin of the handwriting input coordinates is the upper left vertex of the handwriting information input area 70a (see FIG. 24), and the right direction is the positive direction of the X axis and the downward direction is the positive direction of the Y axis.

Thereafter, the CPU 1 of the master image pickup device 72
4 waits again for the detection of the contact of the writing member with the display surface 71a of the PDP 71 (step S89), and when the user points the center position of the reference position mark M2 with the writing member (Y in step S89), the PDP 71 Display surface 71a
The position coordinates (x2_i, y2_i) of the contact point in are obtained by the same method as the position coordinates (x1_i, y1_i) obtained in step S88 (step S90).

Here, when “y1_i” and “y2_i” are not the same, a straight line (X-Line) connecting the master imaging device 72 and the slave imaging device 73 and the X axis (horizontal direction) of the display coordinates are set. Are not parallel. Therefore, when "y1_i" is not equal to "y2_i" (N in step S91: displacement detection means), a correction process is required.

Now, it is assumed that “y1_i” <“y2_i”, that is, the slave imaging device 73 is located below the master imaging device 72. Line X-Line parallel to X-Line passing through reference position mark M1 in such a case
FIG. 26 shows the relationship between _M1 and a line X_Disp_M1 parallel to the X axis of the display coordinates passing through the reference position mark M1. FIG.
6, the point M1 is the input coordinate (x1) of the reference position mark M1.
_i, y1_i), the point M2 is the input coordinate (x2_i, y2_i) of the reference position mark M2, the point M3 is the X coordinate of the input coordinate of the point M2, and the Y coordinate is Y of the input coordinate of the point M1.
Point (x2_i, y1_i) which is a coordinate value, point M1 and point M3 are on straight line X-Line_M1, and point M1 and point M2 are on straight line X_Disp_M1. Also, θ_di
ff is a straight line X-Line_M1 and a straight line X_Disp_M
1 and the line segment M1M3 is orthogonal to the line segment M2M3. From the relationship shown in FIG. 26, θ_diff
Is determined by θ_diff = arctan ((y2_i-y1_i) / (x2_i-x1_i)) (7) (step S92).

Although the line segment M1M2 is parallel to the X axis of the display coordinates in the display coordinates, the end points M1 and M2
Is converted into the display coordinates and the display surface 7 of the PDP 71 is converted.
In the case of displaying at 1a, assuming that the position of the point M1 does not change, the point M2 is displayed below the reference position mark M2. That is, assuming that the upper left corner of the writing information input area 70a is a reference point corresponding to the point M1, the straight line X-Li
When writing input is performed while ne_M1 is tilted with respect to the straight line X_Disp_M1, if the obtained input coordinates are simply converted into display coordinates and displayed, the distance always depends on the angle θ_diff below the actual contact position. Will be displayed. Therefore, the obtained input coordinates are set to the angle θ_di with the upper left corner of the handwriting information input area 70a as the origin.
After turning ff to the left, convert to display coordinates and PD
When displayed on the display surface 71a of P71, the drawing data is displayed at substantially the same position as the actual contact position.

If "y1_i"<"y2_i" (N in step S93), the flow advances to step S94 to obtain the input coordinates by the angle θ_diff using the upper left corner of the writing information input area 70a as the origin. Rotate to the left. Here, the function of the deviation correcting means is executed.

More specifically, the coordinates (x ′, y ′) obtained by rotating the coordinates (x, y) by the angle θ with respect to the origin are as follows: x ′ = x · cos θ−y · sin θ (8) y ′ = x · sin θ + y · cos θ (9) When θ is a positive value, the rotation is clockwise, and when θ is a negative value, the rotation is counterclockwise.

Thereafter, the CPU 1 of the master image pickup device 72
4 detects that the calibration mode 1 switch has been operated and turned off (Y in step S96), and waits until the calibration mode 2 switch is operated and turned on (step S97).

When the CPU 14 of the master imaging device 72 detects that the calibration mode 2 switch has been operated and turned on (Y in step S97), the user writes on the four corners (apex) of the display surface 71a of the PDP 71 by the user. According to the point on the member, the point 4
The position coordinates of seven places are sequentially obtained, and a rectangular area having these as vertices is used as a valid area for writing information input.
0a is recognized (step S98). And PDP
The vertex at the upper left of the display surface 71a of 71 is set as the display coordinates and the origin of the handwriting input coordinates in the handwriting information input area 70a.

The CPU 1 of the master imaging device 72
When the switch 4 detects that the calibration mode 2 switch has been operated and turned off (Y in step S99), it returns to the operation of the calibration mode 1 switch or the standby state for inputting writing information.

The writing information input processing in steps S100 to S104 is substantially the same as the processing in steps S69 to S71 described with reference to FIG. 22, except that the CPU 14 of the master imaging device 72 sets the slave imaging device 73 as described above. Is located below the master imaging device 72, the obtained coordinates are corrected to the coordinates rotated to the left by the angle θ_diff (steps S102 to S10).
3) The coordinate value sequence after rotation is stored in the flash memory 17, and the display control unit 64 is controlled to generate drawing data for display from the coordinate value sequence and display it on the PDP 71 (step S104). .

In the above, “y1_i” <“y2_
i ", that is, the case where the slave imaging device 73 is located below the master imaging device 72 has been described. However, when the master imaging device 72 is located below the slave imaging device 73, that is," y1_i ">" y2_
If it is i "(Y in step S93: displacement detection means), the obtained input coordinates are written in the handwriting information input area 70a.
Is rotated rightward by the angle θ_diff with the upper left corner of the as the origin (step S95). Here, the function of the deviation correcting means is executed.

In the handwriting information input processing of steps S100 to S104, the obtained coordinates are converted to the angle θ_dif.
After correcting to the coordinates rotated right by f (step S
102 to S103), the rotated coordinate value sequence is stored in the flash memory 17, and the display control unit 64 is controlled to generate drawing data for display from the coordinate value sequence and display this on the PDP 71 (step). S104).

Here, based on the image formation positions of the pair of imaging devices 72 and 73 having the infrared light receiving / emitting module 18 in the respective CMOS image sensors 6, the writing inserted in the two-dimensional information input area 70a forming a plane. The two-dimensional coordinate position specified by the member is detected. Thus, since the plurality of imaging devices 72 and 73 for obtaining input coordinates are provided separately from each other and can communicate with each other wirelessly, it is possible to provide the information input system 70 with excellent portability. Will be possible.

Further, the information input area 70a is displayed on the display device 71.
If the display surface 71a is mounted so that the straight line connecting the imaging devices 72 and 73 is oblique to the display coordinates, the deviation between the display coordinates and the input coordinates is corrected, and the information input system 70 can be further improved.

A fourth embodiment of the present invention will be described with reference to FIGS. Note that the same parts as those in the above-described first embodiment or the second embodiment are denoted by the same reference numerals, and description thereof is omitted.

When measuring the distance between the master imaging device and the slave imaging device, if the frequency of the ultrasonic wave transmitted from the transmitting ultrasonic microphone of the master imaging device is 40 KHz, the room temperature (20 ° C.) ) Is 343 (m / s), so the wavelength of the ultrasonic wave is 8.6 mm. That is, the distance measurement accuracy is 8.6.
mm, and an input coordinate value calculated based on this distance has an error depending on the error of this distance. That is, the image pickup device 6 is formed by the method described in the second embodiment.
Even if the arrangement positions of 2, 63 are adjusted, the display coordinates and the input coordinates may not match at the reference position. Therefore, in the present embodiment, a method of correcting the measured distance between the imaging devices so as to minimize the deviation between the display coordinates and the input coordinates at the reference position will be described.

The writing information input system according to the present embodiment
As a hardware configuration, a calibration mode 3 switch (shown in the drawing) for declaring execution of a process of correcting a measured distance between imaging devices is added to the hardware configuration of the writing information input system 60 according to the second embodiment described above. ), And the description thereof is omitted.

Next, a function executed by the CPU 14 provided in the master imaging device 62 based on the control program will be described. Here, the distance correction processing for realizing the distinctive functions of the writing information input system 60 of the present embodiment will be specifically described below with reference to FIG. 27 or FIG.

Here, FIG. 27 is a flowchart schematically showing a flow of the distance correction processing in the master image pickup device 62. Note that the operation from when the master imaging device 62 and the slave imaging device 63 are attached to the display surface 61a of the PDP 61 and when the power of each of the imaging devices 62 and 63 is turned on until the calibration mode 2 switch is turned off is performed. Since the processing is the same as that of steps S51 to S68 shown in FIG. 22, the description is omitted.

As shown in FIG. 27, the master image pickup device 6
When the second CPU 14 detects that the calibration mode 3 switch has been operated and turned on after the calibration mode 2 switch has been turned off (Y in step S111), the calibration mode 1 switch is operated. As in the case of turning on, the reference position mark M (M1, M2) for controlling the display control unit 64 and associating the display coordinates with the handwriting input coordinates is displayed on the PDP.
61 are displayed at predetermined positions on the display surface 61a (step S112). Here, the function of the reference position display means is executed.

The CPU 1 of the master image pickup device 62
When the user sequentially points the center positions of the reference position mark M1 and the reference position mark M2 with the writing member, the position coordinates (x
1_i, y1_i) and the position coordinates (x2_i, y2_i) of the contact point on the reference position mark M2 (step S).
113 to S114). These processes are the same as the processes in steps S57 to S60 shown in FIG.

Thereafter, the CPU 1 of the master image pickup device 62
4 is the position coordinates (x1_i, y1_i), (x2_i,
y2_i), the display control unit 64 is controlled to generate drawing data for display, and the drawing data is displayed on the PDP 61 as an alignment mark m (steps S115 to S1).
16). Here, the function of the alignment mark display means is executed.

In addition, the CPU 1 of the master imaging device 62
Reference numeral 4 denotes an image pickup device 6 along with the display of the alignment mark m.
The display control section 64 is also controlled to display the distance adjustment display d for adjusting the value of the distance L between the PDP 61 and the PDP 61 (step S117).

Here, FIG. 28 is a front view exemplarily showing the PDP 61 on which the alignment mark m and the distance adjustment display d are displayed. As shown in FIG. 28, the distance adjustment display d
Are divided into five stages, for example, in a direction in which the value of the distance L is decreased (−direction) and in a direction in which the value is increased (+ direction). As described above, the distance measurement accuracy is 8.6 mm
Therefore, the distance in these five steps is (8.6 / 5) × n (n is an integer of 1 to 5) (mm).

Here, when the alignment mark m is not at the center of the reference position mark M (M1, M2), the user selects one of ± 5 levels in order to adjust the value of the distance L. (Y in step S118). For example +
1 is selected, the CPU 14 of the master imaging device 62
Updates the value of L by adding 8.6 / 5 to the value of the distance L between the imaging devices 62 and 63 (unit: mm) (step S119), and displays the alignment mark displayed. m
Is deleted (step S120).

The CPU 1 of the master image pickup device 62
4 is the position coordinates (x1_i, y) of the contact point at the reference position mark M1 from the equations (4) and (5) using the previously calculated values of the angles β1 and β2 and the updated value of L.
1_i) and the position coordinates (x2_i, y2_i) of the contact point on the reference position mark M2 are obtained again, and the position coordinates (x1
_i, y1_i) and (x2_i, y2_i) to control the display control unit 64 to generate drawing data for display.
This is displayed on the PDP 61 (step S121).
At this time, since the positions of the imaging devices 62 and 63 and the reference position mark M (M1, M2) do not change, the angle β1
And the angle β2 do not change.

If the user does not need any further adjustment, the calibration mode 3 switch is turned off, and the CPU 14 of the master imaging device 62 ends the process (Y in step S122).

By the above steps S117 to S122, the function of the distance data correcting means is executed.

Here, by correcting the measurement error of the distance between the imaging devices 62 and 63 required when obtaining the input coordinates, the deviation between the display coordinates and the input coordinates is minimized, and the information input system 60 is provided. Can be further improved.

A fifth embodiment of the present invention will be described with reference to FIGS. The same parts as those in the above-described first to fourth embodiments are denoted by the same reference numerals, and description thereof will be omitted. The writing information input system 80 according to the present embodiment is a modification of the writing information input systems 60 and 70 described in the second to fourth embodiments.

Here, FIG. 29 shows the writing information input system 8.
FIG. As shown in FIG. 29, a writing information input system 80 of the present embodiment has a master imaging device substantially similar to the master imaging device 2 and the slave imaging device 3 of the writing information input system 1 of the first embodiment described above. 82 and a slave imaging device 83. The writing information input system 80 has a PDP 81, the master imaging device 82 is attached to the upper right part of the display surface 81a of the PDP 81, and the slave imaging device 83 is attached to the upper left portion of the display surface 81a of the PDP 81. I have. In addition, at the lower right part of the PDP 81 provided in the writing information input system 80, a display control device 8 is provided.
The display controller 84 is provided so that infrared communication can be performed with the master imaging device 82. Display surface 81a of PDP 81 and frame 8 around it
1b is attached so as to be on the same plane, and the writing information input system 80 functions as an electronic blackboard. An area 80a surrounded by a dotted line in FIG. 29 is a writing information input area in which writing information can be input by the two imaging devices 82 and 83.

The master image pickup device 82 has two infrared light receiving / emitting modules 18 which are only one in the master image pickup device 2 of the first embodiment described above. One is used for infrared communication with the slave imaging device 83, and the other is used for infrared communication with the display control device 84. More specifically, the infrared light receiving / emitting module 18 used for infrared communication with the display control device 84 can perform infrared communication through the infrared communication window 7 on the surface viewed from below, that is, from the direction of E in FIG. Attached to. Note that the slave imaging device 83 is not different from the slave imaging device 3 of the first embodiment described above.

Next, the electrical connection of each part built in the master imaging device 82 will be described with reference to FIG.
As shown in FIG. 30, the system configuration of the master imaging device 82 is different from the master imaging device 2 of the above-described first embodiment in that one infrared receiving / emitting module 18 is added and the serial-parallel conversion circuit 19 is added. In this configuration, the flash memory 17, the USB I / F 21, and the USB driver 22 are omitted while being connected to the CPU 14 via a bus.

Next, the electrical connection of each part built in the display control device 84 will be described with reference to FIG. As shown in FIG. 31, the display control device 84 includes a CPU 85
The CPU 85 is a display control device 84
Centrally controls each part built in. This CPU 85
The CPU 8 comprises a ROM 86 and a DRAM in which fixed data such as a control program is written in advance.
The main memory 87 used as a work area 5 is connected to the bus. Here, a microcomputer is configured.

The CPU 85 includes a serial-parallel conversion circuit 89 to which an infrared light receiving / emitting module 88 is connected, and a USB
USB driver 91 to which I / F 90 is connected, LAN
(Local Area Network) LA to which I / F92 is connected
N control unit 93, HD connected to hard disk 94
The I / F 95 and the display control unit 96 are connected by a bus.

The HD I / F 95 is an IDE (Integrated
vice Electronics) and the hard disk 94 is C
Coordinate data and P input by hand under the control of PU85
It stores bitmap data and the like of various menu icons displayed on the display surface 81a of the DP 81.

The serial-parallel conversion circuit 89 is used in infrared data communication. Under the control of the CPU 85, transmission data is converted from parallel to serial, and received data is converted from serial to parallel. Infrared receiving / emitting module 88 connected to this serial-parallel conversion circuit 89
Is a circuit required to execute IrDA infrared communication, and its internal configuration is the same as that shown in FIG. In addition, such an infrared receiving / emitting module 88
Is mounted so that infrared communication with the master imaging device 82 is possible through an infrared communication window (not shown) on the surface viewed from the direction of F in FIG.

Here, the procedure of infrared communication between the master image pickup device 82 and the display control device 84 will be described based on a sequence example shown in FIG. In addition, IrDA
In the infrared communication of the system, there is a discovery phase in which the primary station recognizes the address of the secondary station before the connection establishment phase. First, the operation of the master imaging device 82 until the connection is established will be described. When the power is turned on, the infrared communication application 50 first issues a discovery request to the LM-IAS 52, and this message is notified to the IrLAP 54 via the LM-MUX 53. IrLAP 54 requests a discovery request (IrLAP
_DISCOVERY.req), the total number of time slots is 1
XID for discovery, including time slot number 0
(exchangestation identification) command,
An XID response including the device address and capability information is received from the display control device 84. Then, a discovery XID command including the time slot number FFH, which indicates the end of discovery in the next time slot, is transmitted, and a discovery confirmation (IrLAP_DISCOVE) including the address and capability information received from the display control device 84 is performed.
RY.cnf) to the LM-MUX53. LM-MUX53
Receives this, confirms the discovery with LM-IAS
The data is passed to the infrared communication application 50 via the communication interface 52.
Upon receiving this message, the infrared communication application 50 issues a request to establish connection with the display control device 84 (including the address of the display control device 84) to the LM-IAS 52, and this message is transmitted to the LM-MUX 53.
Is notified to the IrLAP 54 via. IrLAP54
Receives the connection establishment request (IrLAP_CON.req),
SNRM (Set Normal) including the address of the display control device 84
Response Mode) command. And from the other party
Upon receiving the UA (Unnumbered Acknowledgment) response, the LM-MUX 53 sends a data link connection establishment confirmation (IrLAP_CON.cnf) to the LM-MUX 53. Upon receiving this message, the LM-MUX 53 receives a CR LM-PDU (ConnectRequest Lin
k-Management-Protocol Data Unit) request data (IrLAP
_DT.req) message and pass it to IrLAP54.
The IrLAP 54 transmits this information to the display control device 84 while including the information in an I (Information) frame. Thereafter, the display control device 84 sends a CC LM-PDU (Connect Confirm Link Man
When an I-frame including an age-Protocol Data Unit is received, a data instruction (IrLAP_DT.in) is sent to the LM-MUX 53.
Issue d). Upon receiving this, the LM-MUX 53 passes a connection establishment confirmation to the infrared communication application 50 via the LM-IAS 52.

Next, the operation of the display control device 84 until the connection is established will be described. When the power is turned on, it waits for the XID command for discovery.
Then, the IrLAP 54 receives a XI for discovery from the partner.
When the D command is received, since the total number of time slots is 1, an XID response including the address and capability information of the own device is transmitted. Then, when the discovery XID command including the time slot number FFH indicating the end of discovery is received, a discovery instruction (IrLAP_DISCOVERY.ind) is issued to the LM-MUX 53. LM
Upon receiving this, the MUX 53 passes a discovery instruction message to the infrared communication application 50 via the LM-IAS 52. Thereafter, when the IrLAP 54 receives the SNRM command from the other party, it issues a data link connection establishment instruction (IrLAP_CON.ind) to the LM-MUX 53. When the LM-MUX 53 receives this message,
A response (IrLAP_CON.rsp) is returned to IrLAP54. IrL
Upon receiving this message, the AP 54 sends a UA response to the other party. Thereafter, upon receiving an I frame including the CR LM-PDU from the other party, the IrLAP 54
A data instruction (IrLAP_DT.ind) is issued to the MUX 53. LM-
Upon receiving this message, the MUX 53 passes a connection establishment instruction to the infrared communication application 50 via the LM-IAS 52. The infrared communication application 50 passes this response message to the LM-MUX 53 via the LM-IAS 52. Upon receiving this, the LM-MUX 53 includes the CC LM-PDU in a data request (IrLAP_DT.req) message and passes it to the IrLAP. IrLAP
54 transmits this information to the other party by including the information in an I (Information) frame.

As described above, the connection between the infrared communication application between the master image pickup device 82 and the display control device 84 is established.

When the master imaging device 82 detects a handwriting input by the user, the master imaging device 82 calculates the value of the angle β2 obtained by the master imaging device 82, the value of the angle β1 transmitted from the slave imaging device 83, and the value of the distance L. The data is transmitted to the display control device 84 while being included in the DT LM-PDU.

The USB driver 91 executes an operation process based on the USB standard under the control of the CPU 85, and
Transfers data with a personal computer or the like connected to the SB cable. Note that the USB driver 91 is connected to the hard disk 94.
Since it is used only when the coordinate data stored in the PC is transferred to an external device such as a personal computer, it is not necessary to connect a USB cable during a normal writing input operation.

The LAN control section 93 is controlled by the CPU 85 to control the IEEE (Institute of Electrical and
onics Engineers) Executes and controls the communication protocol based on the 802.3 standard.

The display control section 96 has a VRAM (Video RA).
M), and under the control of the CPU 85, generates drawing data for display from a coordinate value sequence obtained by writing, displays the drawing data on the PDP 81, and displays various menu icons for screen operation. Performs control and the like.

A switch for turning on and off a calibration mode for declaring execution of a calibration process for associating display coordinates with handwritten input coordinates is not shown.

Next, the CPU 14 provided in the master image pickup device 82 and the CPU 85 provided in the display control device 84
Will be described based on the control program. Here, the processing operation for realizing the distinctive functions of the handwritten information input system 80 of the present embodiment will be specifically described below with reference to FIG. 33 or FIG.

Note that, as shown in FIG. 29, the master image pickup device 82 sets the PD so that the image pickup window 5 faces the lower left direction.
A suction cup 9 is attached to the upper right corner of the display surface 81a of the P81, and the slave imaging device 83 is attached to the upper left corner of the display screen 81a of the PDP 81 by the suction cup 9 so that the imaging window 5 faces the lower right direction. This attachment position is on the display surface 8 of the PDP 81.
A mark may be made in advance on the frame 81b around the frame 1a, and the mark may be attached to that position. However, the mark may be attached to any position on the PDP 81 (the display surface 81a and the frame 81b around the display surface 81a). Can be done. When the power is supplied to the imaging devices 82 and 83 and the display control device 84 in a state where the master imaging device 82 and the slave imaging device 83 of the writing information input system 80 are attached to the PDP 81, the master imaging device 82 and the The control program stored in each ROM 15 of the slave imaging device 83 is written in the main memory 16, and the control program stored in the ROM 86 of the display control device 84 is written in the main memory 87, and the control program is executed. Become.

Here, FIG. 33 is a flowchart schematically showing the flow of the processing operation in the master image pickup device 82.
FIG. 34 is a flowchart schematically showing a flow of a processing operation in the display control device 84. The processing in the slave imaging device 83 is not different from the processing shown in FIG. Also, in the following, FIG.
The flowchart will be mainly described. As shown in FIG. 33, the processing operation in the master imaging device 82 includes:
First, IrDA infrared communication with the display control device 84 is started using the infrared light receiving / emitting module 18. Then, in the discovery phase, the display control device 8
When detecting No. 4, the communication sequence shown in FIG. 32 is executed to establish a connection between the master imaging device 82 and the infrared communication application of the display control device 84 (step S131, step S141 in FIG. 34). In communication between the master imaging device 82 and the display control device 84, the master imaging device 82 operates as a primary station and the display control device 84 operates as a secondary station.

Next, IrDA infrared communication with the slave imaging device 83 is started using the infrared light receiving / emitting module 18. When the slave imaging device 83 is detected in the discovery phase, the communication sequence shown in FIG. 12 is executed to establish a connection between the master imaging device 82 and the infrared communication application of the slave imaging device 83 (step S132, FIG. 14). Step S31). In the communication between the master imaging device 82 and the slave imaging device 83, the master imaging device 8
2 operates as a primary station, and the slave imaging device 83 operates as a secondary station.

When the connection for infrared communication is established, the master imaging device 82 determines the rotational positions (directions) of the master imaging device 82 and the slave imaging device 83 using ultrasonic waves (step S133: direction detecting means and Imaging direction adjusting means). This processing is performed in steps S2 to S11 in FIG. 13 and steps S32 to S33 in FIG.
Is realized by:

Subsequently, the CPU 1 of the master image pickup device 82
4 measures the distance L 'from the master imaging device 82 to the slave imaging device 83 by controlling the ultrasonic transmission / reception control unit 20 (step S134: distance measuring means).

When the measurement of the distance L 'to the slave imaging device 83 is completed, the CPU 14 of the master imaging device 82 transmits a coordinate input start command to the slave imaging device 83 by infrared communication (step S13).
5) The distance L is calculated from the measured distance L 'by the equation (6), and the value of the distance L is calculated by the infrared ray communication.
4 (step S136). On the other hand, when the CPU 85 of the display control device 84 receives the value of the distance L (see FIG.
4, after the value of the distance L is stored in the main memory 87 (step S1 in FIG. 34).
43), and waits for reception of angles β1 and β2 accompanying the coordinate detection from master imaging device 82 (step S in FIG. 34)
144).

In this state, the master image pickup device 82
CPU 14 waits for the contact detection of the writing member with the display surface 81a of the PDP 81 (step S137). This processing is realized by steps S14 to S17 in FIG.

If it is determined that the writing member has come into contact with the display surface 81a of the PDP 81 (Y in step S137), the CPU 14 of the master imaging device 82
The angle β2 between the direction of the contact position of the writing member of the second wide-angle lens 12 and the X-Line is obtained, and the angle β1 is received from the slave imaging device 83 (the operation of the slave imaging device 83 is performed in step S35 in FIG. 14). ~ S41
(Refer to position information calculation means), and transmits these angles β1 and β2 to the display control device 84 by infrared communication (step S138). On the other hand, the CPU 85 of the display control device 84
Receives the angles β1 and β2 (Y in step S144 in FIG. 34: position information receiving means),
The position coordinates (x, y) of the contact point on the display surface 81a of the PDP 81 are obtained from Equations (4) and (5) using 1, β2, and the distance L received earlier (Step S145:
Coordinate calculation means).

Thereafter, the CPU 85 of the display control device 84
Generates drawing data for display from the coordinate value sequence obtained by controlling the display control unit 96, displays the drawing data on the PDP 81 (step S146), and stores the obtained coordinate value sequence on the hard disk 94 (step S146). Step S147).

In the present embodiment, the case where the display controller 84 performs the coordinate calculation processing is described. However, this processing is performed by the master imaging device 82 and the obtained coordinate values are transmitted to the display controller 84. You may do it.

The master imaging device 82 and the display control device 84 are connected by a USB cable to perform data communication using the USB instead of infrared communication. The configuration may be such that the battery of the master imaging device 82 becomes unnecessary by receiving power supply from the device 84.

Further, as the wireless communication, other communication methods such as Bluetooth can be used instead of infrared communication.

Here, based on the image formation positions of the pair of image pickup devices 82 and 83 having the infrared light receiving / emitting module 18 in the respective CMOS image sensors 6, the writing inserted in the two-dimensional information input area 80a forming a plane. The two-dimensional coordinate position specified by the member is detected. Accordingly, since the plurality of imaging devices 82 and 83 for obtaining input coordinates are provided separately and can communicate with each other wirelessly, it is possible to provide the information input system 80 having excellent portability. Will be possible. In addition, by providing the various processing means in the control device 84 different from the imaging devices 82 and 83, the size and weight of the imaging devices 82 and 83 can be reduced, and the power consumption can be reduced.

In each of the embodiments, the control program is stored in the ROM 15 or the ROM 86. However, the present invention is not limited to this.
Hard disk, optical disk (CD-ROM, CD-
R, CD-R / W, DVD-ROM, DVD-RAM, etc.), a magneto-optical disk (MO), and a storage medium such as a semiconductor memory may store the control program. Note that floppy disks, optical disks, magneto-optical disks, and the like are not fixedly provided in the writing information input system, but have a form of a replaceable storage medium that can be handled independently, and control programs can be executed by using various drives. The reading allows each processing by the CPU.

[0184]

According to the information input system of the first aspect of the present invention, each of the image pickup devices is provided at a predetermined distance and picks up an instruction means for indicating a two-dimensional information input area forming a plane. A pair of imaging devices, wireless communication means provided in each of the imaging devices for wirelessly transmitting and receiving data between the devices, and the instruction provided in each of the imaging devices and instructing the information input area; An image recognition means for recognizing an image of the means, and a pointing position provided by each of the image pickup devices, the position being indicated by the indicating means based on an image forming position of each of the indicating means on each of the imaging elements recognized by the image recognition means. Position information calculation means for calculating the position information according to the above, and provided in one of the imaging devices among the respective imaging devices, and calculated by the position information calculation means of another of the imaging devices A position information receiving means for receiving location information according to the indicated position via the wireless communication means is,
Provided in one of the imaging devices, based on the position information on the designated position calculated by the position information calculation unit and the position information on the designated position of the other imaging device obtained by the position information receiving unit. Coordinate calculation means for calculating two-dimensional position coordinates designated by the designation means, and two-dimensional information forming a plane based on the imaging positions of the image sensors of the pair of imaging devices provided with the wireless communication means. By detecting the two-dimensional coordinate position designated by the designation means inserted into the input area, a plurality of imaging devices for obtaining the input coordinates are separately provided, and can mutually communicate wirelessly. Therefore, it is possible to provide a highly portable information input system.

According to the information input system of the second aspect of the present invention, there is provided an image pickup device which is provided at a predetermined distance from the control device and which picks up an instruction means for indicating a planar two-dimensional information input area. A pair of imaging devices respectively provided, a wireless communication unit provided in each of the imaging devices and the control device, for wirelessly transmitting and receiving data between the devices, and the information input area provided in each of the imaging devices; Image recognition means for recognizing an image of the instructing means instructing the inside, based on an image forming position of each of the instructing means on each of the imaging devices, which is provided in each of the imaging devices and recognized by the image recognizing means. Position information calculation means for calculating position information relating to a position indicated by the instruction means; and a position information calculation means provided in the control device and calculated by the position information calculation means of each of the imaging devices. A position information receiving means for receiving location information according to the indicated position via the wireless communication means is,
A coordinate calculating unit provided in the control device, for calculating two-dimensional position coordinates designated by the indicating unit based on position information on the designated position acquired by the position information receiving unit; Based on the imaging positions of the imaging devices of the pair of imaging devices provided with the two-dimensional information input area, the input coordinates are detected by detecting the two-dimensional coordinate position indicated by the indicating means inserted into the two-dimensional information input area forming a plane. Since a plurality of imaging devices for obtaining the information are provided separately from each other and can communicate with each other wirelessly, an information input system excellent in portability can be provided. In addition, by providing various control means in a control device different from the imaging device, the size and weight of the imaging device can be reduced, and the power consumption can be reduced.

According to a third aspect of the present invention, in the information input system according to the first or second aspect, one of the imaging devices includes a distance measuring means for measuring a distance between the imaging devices. Thereby, even when each imaging device is installed at an arbitrary position, the distance between the imaging devices can be automatically measured, so that the input coordinates can be obtained by using the principle of triangulation, The convenience of the information input system can be improved.

According to the fourth aspect of the present invention, in the information input system according to any one of the first to third aspects,
An element rotation unit that rotatably supports the imaging element, a direction detection unit that detects a direction of each of the imaging devices, and the element rotation unit that controls the element rotation unit based on a direction detected by the direction detection unit. Imaging direction adjusting means for adjusting the direction of the imaging element, provided in each of the imaging devices, and even when each imaging device is installed at an arbitrary position, the direction of the optical system of each imaging device can be set between the imaging devices. Since the input coordinates can be obtained by using the principle of triangulation by making it possible to automatically adjust to a predetermined direction based on the positional relationship of the information input system, the convenience of the information input system is improved. It can be further improved.

According to the fifth aspect of the present invention, in the information input system according to any one of the first to fourth aspects,
A display device in which each of the imaging devices is arranged so that the information input area is located on a display surface is provided, and a plurality of display devices for associating display coordinates and input coordinates at a predetermined position on the display surface of the display device are provided. Reference position display means for displaying a reference position mark, and when the reference position mark is designated via the information input area, position displacement detection means for detecting a deviation between display coordinates and input coordinates at the designated position, When a shift is detected between the display coordinates and the input coordinates, an arrangement position movement instructing unit that instructs movement of the arrangement position of any one of the imaging devices to minimize the shift, When the information input area is the display surface of the display device, by indicating the movement of the arrangement position of the imaging device so that the deviation between the display coordinates and the input coordinates is minimized, the display coordinates and Entering It is possible to reduce the user's workload in order to minimize the deviation between the coordinate.

According to the invention described in claim 6, in the information input system according to any one of claims 1 to 4,
A display device in which each of the imaging devices is arranged so that the information input area is located on a display surface is provided, and a plurality of display devices for associating display coordinates and input coordinates at a predetermined position on the display surface of the display device are provided. Reference position display means for displaying a reference position mark, and when the reference position mark is designated via the information input area, position displacement detection means for detecting a deviation between display coordinates and input coordinates at the designated position, When a deviation between the display coordinates and the input coordinates is detected, the input coordinates are corrected and converted into the display coordinates, and the corrected input coordinates are stored, and the information input area is displayed on the display device. When the image input device is mounted so that the straight line connecting the imaging devices is oblique to the display coordinates, the deviation between the display coordinates and the input coordinates is corrected so that the information input system can be adjusted. The convenience can be further improved.

According to the invention described in claim 7, in the information input system according to any one of claims 1 to 6,
A display device in which each of the imaging devices is arranged so that the information input area is located on a display surface is provided, and a plurality of display devices for associating display coordinates and input coordinates at a predetermined position on the display surface of the display device are provided. Reference position display means for displaying a reference position mark, and when the reference position mark is designated via the information input area, the input coordinates at the designated position are calculated and converted into display coordinates, and the display coordinate position is displayed. Alignment mark display means for displaying an alignment mark, and data of the distance between each of the imaging devices measured by the distance measurement means to minimize the distance between the reference position mark and the alignment mark. A distance data correcting means for correcting, and correcting the measurement error of the distance between the imaging devices required when obtaining the input coordinates, thereby displaying The deviation between the target and the input coordinate the minimum,
The convenience of the information input system can be further improved.

[Brief description of the drawings]

FIG. 1 is an external front view schematically showing a state in which a writing information input system according to a first embodiment of the present invention is attached to a whiteboard.

FIG. 2 is a front view showing the appearance of the master imaging device as viewed from the direction of a slave imaging device.

FIG. 3 is a front view showing the appearance of the slave imaging device as viewed from the direction of the master imaging device.

FIG. 4 is a configuration diagram schematically showing an imaging optical system in the imaging device.

FIG. 5 is an explanatory diagram showing a handwriting information input area where handwriting information can be input;

FIG. 6 is a block diagram showing an electrical connection of each unit built in the master imaging device.

FIG. 7 is a block diagram illustrating an internal configuration of the infrared light receiving and emitting module.

FIG. 8 is a block diagram showing an electrical connection of each unit built in the slave imaging device.

FIG. 9 is an explanatory diagram illustrating a method of calculating contact position coordinates when a writing member contacts a writing surface of a whiteboard.

FIG. 10 shows a wide-angle lens and CMOS of a slave imaging device.
FIG. 4 is an explanatory diagram showing an enlarged view of the vicinity of an image sensor.

FIG. 11 is an explanatory diagram showing a protocol configuration of the IrDA system.

FIG. 12 is an explanatory diagram illustrating a sequence example of infrared communication.

FIG. 13 is a flowchart schematically showing a flow of a processing operation in the master imaging device.

FIG. 14 is a flowchart schematically showing a flow of a processing operation in the slave imaging device.

FIG. 15 is an explanatory diagram illustrating a rotation angle of the master imaging device.

FIG. 16 is an explanatory diagram showing a relationship between a distance L ′ from a master imaging device to a slave imaging device and a distance L between wide-angle lenses of the master imaging device and the slave imaging device.

FIG. 17 is an explanatory diagram showing an example of an image of a writing member and rotation of a reference line.

FIG. 18 is an explanatory diagram illustrating an example of a writing member and an example of a symmetric line.

FIG. 19 is an explanatory diagram showing a relationship between an image forming position of a contact point and an image forming position of an optical axis of a wide-angle lens.

FIG. 20 is an external front view schematically showing a writing information input system according to a second embodiment of the present invention.

FIG. 21 is a block diagram illustrating electrical connections of various units built in the master imaging device.

FIG. 22 is a flowchart schematically showing a flow of a processing operation in the master imaging device.

FIG. 23 is a front view showing a PDP in which a reference position mark is displayed at a predetermined position on a display surface.

FIG. 24 is an external front view schematically showing a writing information input system according to a third embodiment of the present invention.

FIG. 25 is a flowchart schematically showing a flow of a processing operation in the master imaging device.

FIG. 26 is an explanatory diagram showing a relationship between a line X-Line parallel to the X-Line passing through the reference position mark and a line X_Disp parallel to the X axis of display coordinates passing through the reference position mark.

FIG. 27 is a flowchart schematically illustrating a flow of a distance correction process in the master imaging device according to the fourth embodiment of the present invention.

FIG. 28 is a front view exemplarily showing a PDP on which a positioning mark and a distance adjustment display are displayed.

FIG. 29 is an external front view schematically showing a writing information input system according to a fifth embodiment of the present invention.

FIG. 30 is a block diagram illustrating electrical connections of various units built in the master imaging device.

FIG. 31 is a block diagram showing an electrical connection of each unit built in the display control device.

FIG. 32 is an explanatory diagram showing a sequence example of infrared communication.

FIG. 33 is a flowchart schematically showing a flow of a processing operation in the master imaging device.

FIG. 34 is a flowchart schematically showing a flow of a processing operation in the display control device.

FIG. 35 is an explanatory diagram showing a state in which the detection range on the writing paper per pixel of the image sensor increases as the writing position moves away from the camera.

[Explanation of symbols]

1, 60, 70, 80 Information input system 1a, 60a, 70a, 80a Information input area 2, 3, 62, 63, 72, 73, 82, 83 Imaging device 6 Imaging device 10 Element rotating means 61, 71, 81 Display Device 61a, 71a, 81a Display surface 84 Control device M1, M2 Reference position mark m Positioning mark

Claims (7)

[Claims] 1. A pair of image pickup devices provided at a predetermined distance, each having an image pickup device for picking up an instruction means for indicating a planar two-dimensional information input area, and provided respectively in each of the image pickup devices. Wireless communication means for wirelessly transmitting and receiving data between the devices; image recognition means provided in each of the imaging devices, for recognizing an image of the instruction means for pointing in the information input area; A position information calculating unit that is provided in each of the devices, and calculates position information related to an instruction position by the instruction unit based on an image forming position of the instruction unit on each of the imaging elements recognized by the image recognition unit; Of the imaging devices, provided in one of the imaging devices, and transmits the position information related to the designated position calculated by the position information calculation unit of the other imaging device to the wireless communication. Position information receiving means for receiving via a stage; and the other imaging apparatus provided in one of the imaging devices and obtained by the position information receiving means and position information relating to the designated position calculated by the position information calculation means. And a coordinate calculating means for calculating two-dimensional position coordinates specified by the specifying means based on the position information relating to the specified position. 2. A pair of image pickup devices each provided with a control device and separated by a predetermined distance and having an image pickup device for picking up an instruction means for indicating a planar two-dimensional information input area, and each of the image pickup devices And each provided in the control device,
Wireless communication means for wirelessly transmitting and receiving data between devices; image recognition means provided in each of the imaging devices, for recognizing an image of the pointing device that has designated the inside of the information input area; and each of the imaging devices A position information calculating unit that calculates position information relating to a position indicated by the instructing unit based on an image forming position of the pointing unit on each of the image sensors recognized by the image recognizing unit. A position information receiving unit, provided in the device, for receiving, via the wireless communication unit, position information related to the designated position calculated by the position information calculating unit of each of the imaging devices; and Coordinate calculating means for calculating two-dimensional position coordinates specified by the indicating means based on the position information related to the specified position obtained by the information receiving means, An information input system comprising: 3. The information input system according to claim 1, wherein one of the image pickup devices includes a distance measuring unit that measures a distance between the image pickup devices. 4. An element rotating means for rotatably supporting the image sensor, a direction detecting means for detecting a direction of each of the imaging devices, and an element rotating means based on a direction detected by the direction detecting means. The information input system according to any one of claims 1 to 3, wherein each of the imaging devices includes: an imaging direction adjustment unit configured to control a direction of the imaging element by controlling a direction of the imaging device. 5. A display device in which each of the imaging devices is arranged so that the information input area is located on a display surface, and a correspondence between display coordinates and input coordinates is set at a predetermined position on the display surface of the display device. Reference position display means for displaying a plurality of reference position marks for performing, when the reference position mark is designated via the information input area, a position for detecting a deviation between display coordinates and input coordinates at the designated position A displacement detection unit, and a displacement position for instructing a movement of a position of any one of the imaging devices to minimize the displacement when a displacement is detected between the display coordinates and the input coordinates. The information input system according to any one of claims 1 to 4, further comprising a movement instruction unit. 6. A display device in which each of the image pickup devices is arranged so that the information input area is located on a display surface, and a correspondence between display coordinates and input coordinates is set at a predetermined position on the display surface of the display device. Reference position display means for displaying a plurality of reference position marks for performing, when the reference position mark is designated via the information input area, a position for detecting a deviation between display coordinates and input coordinates at the designated position 3. A shift detecting unit comprising: a shift detecting unit; and a shift correcting unit that, when a shift between the display coordinates and the input coordinates is detected, corrects the input coordinates and converts the input coordinates into display coordinates, and stores the corrected input coordinates. 4. The information input system according to any one of 4. 7. A display device in which each of the imaging devices is arranged so that the information input area is located on a display surface, and a correspondence between display coordinates and input coordinates is set at a predetermined position on the display surface of the display device. Reference position display means for displaying a plurality of reference position marks for performing, when the reference position mark is designated via the information input area, input coordinates at the designated position are calculated and converted into display coordinates. Positioning mark display means for displaying a positioning mark at the displayed coordinate position; and a distance between each of the imaging devices measured by the distance measuring means to minimize a distance between the reference position mark and the positioning mark. The information input system according to any one of claims 1 to 6, further comprising a distance data correcting unit configured to correct the distance data.