JP4377863B2 - Exercise trajectory information processing method and portable information device - Google Patents

Description

  The present invention relates to a motion trajectory information processing method and a portable information device. More specifically, the present invention relates to a motion trajectory information processing method for obtaining a motion trajectory of a portable information device and outputting information of the motion trajectory, and a portable device using the method. The present invention relates to an information device.

  2. Description of the Related Art Conventionally, portable information devices that can be operated while moving, typified by mobile phone devices, have been widely used. Advances in technology related to such portable information devices, particularly mobile phone devices, have been remarkable, and various types of applications such as games have been implemented in addition to the communication function via the mobile communication network, which is an essential function. ing.

Moreover, in a portable information device, it is proposed to mount a sensor for measuring acceleration acting on itself and to use measurement data from the sensor in an application. For example, a mobile phone device has been proposed that can determine the motion trajectory of a mobile phone device using acceleration data measured by the sensor and recognize the motion trajectory as an input character (see Patent Document 1). Hereinafter, it is referred to as “conventional example”).
JP 2002-169645 A

  The above-described conventional technique is excellent as a technique for using a measurement result by a sensor in a mobile phone device or the like. However, in this conventional example, when drawing a character trajectory, it is necessary for the user to translate the mobile phone device etc. on a substantially two-dimensional plane with almost no change in posture. It was annoying.

  By the way, an acceleration sensor equipped in a mobile phone or the like used in the vicinity of the ground surface detects an acceleration in which a gravitational acceleration is superimposed on a motion acceleration. Therefore, the gravitational direction (vertically below) is estimated based on the detection result of the acceleration sensor in the initial state in the stationary state, and the estimated gravitational acceleration component obtained based on the estimated gravitational direction is removed from the subsequent detection result of the acceleration sensor. It is possible to do.

  However, when the mobile phone device or the like is manually moved, a certain amount of posture change of the mobile phone device or the like occurs. Such a posture change cannot be detected only from the detection result of the acceleration sensor. For this reason, when the removal of the estimated gravitational acceleration component obtained based on the estimated gravitational direction is applied to a mobile phone device or the like that is moving manually, the motion acceleration is often not obtained with high accuracy. As a result, the movement locus of the mobile phone device or the like cannot be obtained with high accuracy.

  Such a situation is often acceptable for input and drawing of a character shape that is recognized with a width. However, an unacceptable error often occurs when inputting or drawing a graphic or the like that matches the taste of the user.

  Further, when a posture change occurs, a rotational acceleration that contributes to the posture change also occurs. In order to obtain the motion trajectory with higher accuracy, it is considered that this rotational acceleration needs to be further considered.

  The present invention has been made in view of the above circumstances, and based on the detection result of a sensor mounted on a portable information device, the movement locus of the portable information device is obtained with high accuracy, and the obtained high-precision movement locus is obtained. It is an object to provide a motion trajectory information processing method capable of outputting information corresponding to the above.

  It is another object of the present invention to provide a portable information device that can accurately determine its own motion trajectory and output information corresponding to the obtained highly accurate motion trajectory.

From a first viewpoint, the present invention provides a first axis that is uniquely defined in the portable information device, a second axis that is orthogonal to the first axis, and a third axis that is orthogonal to the first axis and the second axis. Based on the acceleration along at least two of the axes and a detection result by a sensor that detects a rotation angle from a reference posture of the portable information device, a movement locus of the portable information device is obtained, and the movement locus A motion trajectory information processing method for outputting information corresponding to the at least two axial directions based on detection results of acceleration along the at least two axial directions by the sensor. A translational motion acceleration calculation step for calculating; a motion trajectory calculation for calculating a motion trajectory of the portable information device based on the translational motion acceleration component calculated in the translational motion acceleration calculation step Extent and; wherein the motion trajectory information output step of outputting information corresponding to the motion trajectory calculated in the motion trajectory calculation step; wherein the translational motion acceleration calculation step, along said at least two axially by said sensor By calculating a low frequency component of acceleration change along the at least two axial directions based on the detection result of the acceleration, the gravitational acceleration component along the at least two axial directions is estimated, and the vertical A gravitational acceleration estimating step for estimating a direction; and using the estimation result in the gravitational acceleration estimating step, the acceleration detection result along the at least two axial directions by the sensor is corrected, and the translational motion acceleration is calculated. And a motion trajectory information processing method comprising: an acceleration correction step . Here, the “low frequency component” means a component that can be evaluated as a direct current component. Hereinafter, in this specification, the term “low frequency component” is used in this sense.

In this motion trajectory information processing method, in the translational motion acceleration calculation step, along the at least two axial directions based on the detection result of the rotation angle from the reference posture by the sensor and the detection result of the acceleration along at least two axial directions. The translational acceleration component obtained is calculated. In this translational motion acceleration calculation step, in the gravitational acceleration estimation step, a low-frequency component of acceleration change along at least two axial directions is calculated based on the detection result of acceleration along at least two axial directions by the sensor. Thus, the gravity acceleration component along at least two axial directions is estimated and the vertical direction is estimated. This is because, in the case of manual movement of a portable information device, the acceleration that contributes to the movement is constantly changing and does not include a component that can be evaluated as a direct current component. This is an estimation that can be estimated as acceleration.
Then, in the acceleration correction step, the detection result of the acceleration along the at least two axial directions by the sensor is corrected using the estimation result in the gravity acceleration estimation step, and the translational motion acceleration is calculated. As a result, the acceleration from which the gravitational acceleration component is accurately removed can be obtained as the translational acceleration.

  Subsequently, in the motion trajectory calculation step, the motion trajectory of the portable information device is calculated based on the translational motion acceleration component calculated in the translational motion acceleration calculation step. Then, in the motion trajectory information output step, information corresponding to the motion trajectory calculated in the motion trajectory calculation step is output.

  Therefore, according to the motion trajectory information processing method of the present invention, the motion trajectory of the portable information device can be obtained with high accuracy, and information corresponding to the obtained highly accurate motion trajectory can be output.

  Here, in the acceleration correction step, the translational acceleration can be calculated in consideration of a change in the detection result of the rotation angle by the sensor. In this case, since the magnitude of the rotational acceleration caused by the change in the rotational angle with respect to the reference posture is taken into account, the translational acceleration can be obtained with higher accuracy.

  In the motion trajectory information processing method of the present invention, in the motion trajectory information output step, based on the information corresponding to the motion trajectory, a graphic corresponding to the motion trajectory may be drawn and output on the screen of the display means. it can. In this case, it is possible to draw and output a graphic that accurately reflects the motion trajectory due to the translational motion of the portable information device on the screen of the display means of the portable information device.

  In the motion trajectory information processing method of the present invention, in the motion trajectory information output step, information corresponding to the motion trajectory can be output to another information device. In this case, since the accuracy that accurately reflects the motion trajectory due to the translational movement of the portable information device can be notified to the other information device, the portable information device is used as a pointing device of the other information device. can do.

From a second viewpoint, the present invention includes a first axis that is uniquely defined in itself, a second axis that is orthogonal to the first axis, and a third axis that is orthogonal to the first axis and the second axis. A sensor for detecting an acceleration along at least two axial directions and a rotation angle from a reference posture; and at least two axes based on a detection result of the acceleration along the at least two axial directions by the sensor. Translational motion acceleration calculating means for calculating translational motion acceleration along the direction; motion trajectory calculating means for calculating a motion trajectory based on the translational motion acceleration; motion trajectory information output for outputting information corresponding to the motion trajectory means and; wherein the translational motion acceleration calculation means, along the basis of the at least two acceleration along the axial direction detection result of the sensor, the at least two axially A gravitational acceleration estimating means for estimating a vertical direction along with the gravity acceleration component along the at least two axial directions by calculating a low frequency component of the acceleration change; and an estimation by the gravitational acceleration estimating means And a correction means for correcting the acceleration detected by the sensor along the at least two axial directions using the result, and calculating the translational motion acceleration. .

In this portable information device, the translational motion acceleration calculating means calculates translational motion acceleration components along at least two axial directions based on the detection results of acceleration along at least two axial directions by the sensor . In this translational motion acceleration calculating means, the gravitational acceleration estimating means calculates a low-frequency component of acceleration change along at least two axial directions based on the detection result of acceleration along at least two axial directions by the sensor. Thus, the gravity acceleration component along at least two axial directions is estimated and the vertical direction is estimated. Then, the acceleration correction means corrects the detection results of acceleration along at least two axial directions by the sensor using the estimation result by the gravitational acceleration estimation means, and calculates the translational motion acceleration. As a result, the acceleration from which the gravitational acceleration component is accurately removed can be obtained as the translational acceleration.
Subsequently, the motion trajectory calculating means calculates the motion trajectory of the portable information device based on the translational motion acceleration component calculated by the translational motion acceleration calculating means. Then, the motion trajectory information output means outputs information corresponding to the motion trajectory calculated by the motion trajectory calculation means.

  That is, the mobile information device of the present invention can process the motion trajectory information of the mobile information device using the motion trajectory information processing method of the present invention described above. Therefore, according to the portable information device of the present invention, the motion trajectory of the mobile information device can be obtained with high accuracy, and information corresponding to the obtained highly accurate motion trajectory can be output.

  Here, the acceleration correction unit may calculate the translational acceleration by further considering a change in the detection result of the rotation angle by the sensor. In this case, since the magnitude of the rotational acceleration caused by the change in the rotational angle with respect to the reference posture is taken into account, the translational acceleration can be obtained with higher accuracy.

  The portable information device of the present invention further includes display means for performing screen display, and the motion trajectory information output means displays a graphic corresponding to the motion trajectory on the screen of the display means based on information corresponding to the motion trajectory. It can be rendered. In this case, it is possible to draw and output a graphic that accurately reflects the motion trajectory due to the translational motion of the portable information device on the screen of the display means of the portable information device.

  In the portable information device of the present invention, the motion trajectory information output means can output information corresponding to the motion trajectory toward another information device. In this case, since the accuracy that accurately reflects the motion trajectory due to the translational movement of the portable information device can be notified to the other information device, the portable information device is used as a pointing device of the other information device. can do.

  In addition, the portable information device of the present invention can further include wireless communication means for performing wireless communication with a base station of a mobile communication network. That is, the mobile information device of the present invention can be a mobile communication terminal device such as a mobile phone device.

  As described above, according to the motion trajectory information processing device of the present invention, the motion trajectory of the mobile information device is accurately obtained based on the detection result by the sensor mounted on the mobile information device, and the obtained high accuracy There is an effect that information corresponding to the motion trajectory can be output.

  In addition, according to the portable information device of the present invention, it is possible to accurately determine its own motion trajectory and output information corresponding to the determined highly accurate motion trajectory.

<First Embodiment>
Hereinafter, a first embodiment of the present invention will be described with reference to FIGS.

  FIG. 1 schematically shows an external configuration of a mobile phone device 10 that is a mobile terminal device. Here, FIG. 1A shows a front view of the appearance of the mobile phone device 10, and FIG. 1B shows a rear view of the appearance of the mobile phone device 10.

  As comprehensively shown in FIGS. 1A and 1B, the mobile phone device 10 includes: (a) a mobile phone main body 11; (b) a numeric keypad for inputting a telephone number; An operation unit 12 having function keys for inputting various commands such as mode switching to a control unit 21 (see FIG. 2) described later, and (c) a liquid crystal display for displaying operation guidance, operation status, received message, and the like. And a display unit 13 having a device. In addition, the cellular phone device 10 includes (d) a call speaker 14 that reproduces an audio signal transmitted from a communication partner during a call, and (e) a sound input during sound collection or a sound input during a call. And (f) a guidance speaker 16 for generating ringtones and guidance sounds, and (g) an antenna 17 for transmitting and receiving radio signals to and from the base station.

  As shown in FIG. 2, the mobile phone body 11 includes (i) a control unit 21 that controls the overall operation of the mobile phone device 10, and (ii) a base station via an antenna 17. And (iii) a storage unit 23 having a read-only memory (ROM) element and a random access memory (RAM) element for storing a program executed by the control unit 21 and various data. And. The mobile phone main body 11 includes a sensor unit 25 for measuring (iv) an attitude angle of the mobile phone device 10 and acceleration acting on the mobile phone device 10.

  The storage unit 23 includes a temporary storage area 24 for temporarily storing the collected measurement data.

  The sensor unit 25 detects the attitude angle of the mobile phone device 10 and the acceleration acting on the mobile phone device 10 and outputs it as an analog voltage signal, and converts the voltage value of the voltage signal from the sensor unit 26 into a digital value. And an analog / digital (A / D) converter 27. Then, the digital data output from the A / D converter 27 is notified to the control unit 21 as measurement data. In addition, the sensor unit 25 starts to operate in response to a measurement start command from the control unit 21 and stops operating in response to a measurement stop command from the control unit 21.

The sensor unit 26 has the row direction in the matrix key arrangement of the operation unit 12 as the X axis, the column direction as the Y axis direction, the geomagnetic direction parallel to the Y axis direction, and the vertical direction as the YZ plane. The magnetic quantities of the X-axis direction component, the Y-axis direction component, and the Z-axis direction component derived from the geomagnetism corresponding to the pitch angle θ _X , the roll angle θ _Y and the yaw angle θ _Z with respect to the reference posture parallel to the axis are detected. The sensor unit 26 detects an electromagnetic quantity corresponding to the acceleration in the X direction (α _X ), the acceleration in the Y direction (α _Y ), and the acceleration in the Z direction (α _Z ). The sensor unit 25 detects the pitch angle θ _X , roll angle θ _Y , yaw angle θ _Z , X-direction acceleration α _X , Y-direction acceleration α _Y, and Z-direction acceleration α _Z detected at each measurement time. The results are set as one set and notified to the control unit 21 as measurement raw data. The specification of the vertical direction will be described later.

  The control unit 21 includes a central processing unit (CPU), a digital signal processing unit (DSP), and the like, performs various data processing to realize a general mobile phone function, and other configurations described above. It is designed to control the operation of elements. The configuration of software executed in the control unit 21 is as shown in FIG.

  That is, the software in the control unit 21 (i) realizes a call function, a mail function, a character input function, etc., which are basic functions as a mobile phone, and also controls the above-described various hardware resources. 31A, and (ii) a handwriting drawing application 33A that displays and outputs on the screen of the display unit 13 a figure corresponding to the movement locus of the mobile phone device 10 by the user as a handwritten figure.

  The basic processing unit 31A includes a measurement data processing program 35A. This measurement data processing program 35A collects measurement raw data from the sensor unit 25 in response to a measurement data processing command from the application 33, performs processing such as calculating translational acceleration of the mobile phone device 10, and stores it. The data is stored in the temporary storage area 24 in the unit 23. Then, the measurement data processing program 35A sends the processed measurement data stored in the temporary storage area 24 in the storage unit 23 to the handwriting drawing application 33A in response to the measurement data request from the handwriting drawing application 33A.

  As shown in FIG. 4, the measurement data processing program 35 </ b> A includes (i) a measurement data processing control unit 49 that controls the entire measurement data processing program 35 </ b> A and the operation of the sensor unit 25, and (ii) from the sensor unit 25. A data collection unit 41 that receives the measured raw data and converts it into physical quantity data such as acceleration and a rotation angle from the reference attitude (hereinafter also referred to as “attitude angle”), and stores the measured physical quantity data in the temporary storage area 24; I have. In addition, the measurement data processing program 35A includes (iii) a vertical direction specifying unit 42 that specifies a vertical downward direction based on measurement physical quantity data obtained in a stationary initial attitude, and (iv) an attitude angle in the measurement physical quantity data. An attitude angle change rate deriving unit 43 for deriving a time change rate in each data is provided.

  In addition, the measurement data processing program 35A includes (v) measured physical quantity data and the specified vertical direction. Based on the known gravitational acceleration magnitude and the time rate of change of the posture angle, the translational acceleration calculation unit 45A that calculates the rotational angular velocity and the translational acceleration, and (vi) in response to a measurement data request from the handwriting drawing application 33A, A data notification unit 46 that notifies the handwriting drawing application 33A of the latest translational acceleration, rotational acceleration, and posture angle.

  Next, measurement data processing in the mobile phone device 10 configured as described above will be described mainly with reference to FIGS. 5 to 7 and other drawings as appropriate.

  In the processing of the measurement data in the mobile phone device 10, when the user operates the key of the operation unit 12 and inputs a start command for the handwriting drawing application 33A, the handwriting drawing application 33A is started. Thus, when the handwriting drawing application 33A is activated, as shown in FIG. 5, the handwriting drawing application 33A issues a measurement data processing start command specifying that the vertical direction specification in the initial posture is to be performed. Send to program 35A. In the measurement data processing program 35A, the measurement data processing control unit 49 receives this measurement data processing start command. Then, the measurement data processing control unit 49 analyzes a command from the handwriting drawing application 33A and recognizes that it is a measurement data processing start command. Subsequently, the measurement data processing control unit 49 determines whether or not the sensor unit 25 is operating. If this determination is negative, the measurement data processing control unit 49 sends a sensor operation start command to the sensor unit 25.

  When receiving the sensor operation start command, the sensor unit 25 starts the sensor operation and digitizes the detection result by the sensor unit 26 by the A / D converter 27, and then periodically (for example, 10 msec) as measurement raw data. Output to the control unit 21 (more specifically, the data collection unit 41).

  Thereafter, until the vertical direction specifying command is received from the handwriting drawing application 33A, even if the measurement data processing program 35A receives the measurement raw data from the sensor unit 25, the measurement data processing program 35A does not perform conversion to physical quantity data or the like. ing. Then, when the user operates the key of the operation unit 12 after the mobile phone device 10 is stopped, and instructs the handwriting drawing application 33A to start the drawing operation, the handwriting drawing application 33A has the initial posture. Is sent to the measurement data processing program 35A. In the measurement data processing program 35A, the measurement data processing control unit 49 receives this vertical direction specifying command. Then, the measurement data processing control unit 49 analyzes the command from the handwriting drawing application 33A and recognizes that it is a vertical direction specifying command. Subsequently, the measurement data processing control unit 49 sends a data collection start command to the data collection unit 41.

  Upon receiving the data collection start command, the data collection unit 41 starts a data collection operation. In this data collection operation, the data collection unit 41 directly represents the magnitude of the acceleration and the posture angle based on the newly received measurement raw data each time new measurement raw data from the sensor unit 25 is received. Calculate physical quantity data. Then, the data collection unit 41 stores the calculated physical quantity data in the temporary storage area 24 as new measured physical quantity data. When the storage of new measured physical quantity data in the temporary storage area 24 is completed in this way, the data collection unit 41 notifies the measurement data processing control unit 49 to that effect. The temporary storage area 24 is a so-called ring buffer.

  In this way, the measurement data processing control unit 49 that has recognized that new measurement physical quantity data has been stored in the temporary storage area 24 after receiving the vertical direction specification command sends a vertical direction specification command to the vertical direction specification unit 42. Upon receiving this vertical direction specifying command, the vertical direction specifying unit 42 specifies the vertical direction in the initial posture in step S19.

  In step S <b> 19, the vertical direction specifying unit 42 first reads the measured physical quantity data after receiving the vertical direction specifying command from the temporary storage area 24. Subsequently, based on the acceleration data in the X-axis, Y-axis, and Z-axis directions in the read measurement physical quantity data, and the magnitude of gravitational acceleration, it may be considered that the mobile phone device 10 is stationary at this stage. Determine whether. If this determination result is negative, the next measured physical quantity data is read.

  On the other hand, if the determination result is affirmative, the vertical direction specifying unit 42 specifies the vertical direction based on the acceleration data in the X-axis, Y-axis, and Z-axis directions in the measured physical quantity data. Subsequently, the vertical direction specifying unit 42 calculates the angle formed by each of the X-axis, Y-axis, and Z-axis directions in the initial state and the vertical direction, and calculates the translational acceleration using the posture angle data at that time as vertical direction information. The information is sent to the unit 45A, and the fact that the vertical direction is specified is sent to the measurement data processing control unit 49.

  When the vertical direction is specified in this way, the measurement data processing program 35A starts measurement data processing in step S11A. In step S <b> 11 </ b> A, as shown in FIG. 6, first, in step S <b> 21, it is determined whether or not the data collection unit 41 has received new measurement raw data from the sensor unit 25. If this determination is negative, the process of step S21 is repeated.

  Then, when the data collection unit 41 receives new measurement raw data from the sensor unit 25 and a positive determination is made in step S21, the process proceeds to step S22. In step S22, the data collection unit 41 calculates physical quantity data that directly represents the magnitude of the acceleration and the posture angle based on the newly received measurement raw data. When the storage of new measured physical quantity data in the temporary storage area 24 is completed in this way, the data collection unit 41 notifies the measurement data processing control unit 49 to that effect.

  Next, in step S25A, the posture angle change rate deriving unit 43, which has received a command from the measurement data processing control unit 49, collects the latest measured physical quantity data before and based on the attitude angle data in the measured physical quantity data. The time change rate of each attitude angle from the time when the measured physical quantity data is collected is derived. The posture angle change rate deriving unit 43 sends the time change rate of the posture angle derived as described above to the translational acceleration calculating unit 45A together with the latest measured physical quantity data.

  Next, in step S26A, the translational acceleration calculation unit 45A calculates the translational acceleration and the rotational acceleration based on the time change rate of the posture angle based on the latest measured physical quantity data and the vertical direction information. In this calculation, first, the translational acceleration calculation unit 45A determines the X-axis direction, the Y-axis direction, and the Z-axis direction based on the vertical direction information, the attitude angle data in the latest measured physical quantity data, and the known magnitude of gravitational acceleration. Calculate the gravitational acceleration component at. Subsequently, the translational acceleration calculation unit 45A removes the gravitational acceleration component from the acceleration data in the latest measured physical quantity data. Next, the translational acceleration calculation unit 45A calculates the translational acceleration by performing correction in consideration of the time change rate of the posture angle.

  When the translational acceleration is calculated in this way, the translational acceleration calculating unit 45A stores the calculated translational acceleration and posture angle in the temporary storage area 24 as a set of notification data. Thus, step S26A is completed. Thereafter, the measurement data processing program 35A repeats steps S21 to S26A until a measurement data processing stop request is received from the handwriting drawing application 33A.

Returning to FIG. 5, at a desired time in the measurement data processing of step S11A, the handwriting drawing application 33A sends a data request to the measurement data processing program 35A. In the measurement data processing program 35A, the measurement data processing control unit 49 receives this data request, analyzes a command from the handwriting drawing application 33A, and recognizes that the data request is from the handwriting drawing application 33A. Then, the measurement data processing control unit 49 instructs the data notification unit 46 to notify the handwriting drawing application 33A of notification data. Data notification unit 46 which has received this instruction performs data notification process in step S12 _1.

In step S12 _1, first, data notifying unit 46 reads the notification data from the temporary storage area 24. Subsequently, the data notification unit 46 notifies the handwritten drawing application 33A of the read notification data. Thus, the process of step S12 ₁ is completed.

  By performing measurement data processing as described above, the handwriting drawing application 33A can acquire the latest translational acceleration and posture angle by issuing a data request at a desired time.

The measurement data processing step S11A is to be running the data notification process in step S12 ₁ are performed in parallel, the step S12 ₁ after completion of execution of the data notification process is also performed continuously. Therefore, the handwriting drawing application 33A can acquire the latest translational acceleration and posture angle by issuing a data request as many times as desired.

  The measurement data processing in step S11A ends when the handwriting drawing application 33A issues a data collection stop request when desired. In addition, when the handwriting drawing application 33A issues a sensor operation stop request, the measurement data processing program 35A (more specifically, the measurement data processing control unit 49) that has received this request issues a sensor operation stop command to the sensor unit 25. Send. As a result, the operation of the sensor unit 25 is stopped.

  A drawing output process by the handwriting drawing application 33A performed using the translational acceleration and the posture angle obtained as a result of the data processing performed as described above will be described. In the handwriting drawing application 33A, during the period when the user does not press the drawing designation key defined as the drawing designation key during the execution of the handwriting drawing application 33A among the keys of the operation unit. Only the cursor moves on the screen of the display unit 13 according to the movement of the telephone device, and during the period when the drawing designation key is pressed, the line drawing corresponding to the movement locus of the mobile phone device 10 is displayed on the screen of the display unit 13. Shall be made in Further, it is assumed that the moving distance on the screen of the display unit 13 corresponding to the movement distance of the mobile phone device is predetermined in the handwriting drawing application 33A.

  When the vertical direction is specified in step S19 (see FIG. 5) and notified to that effect, the handwriting drawing application 33A displays the center on the screen of the display unit 13 as shown in FIG. The cursor CS is displayed at the position. Subsequently, when the user moves the mobile phone device 10 in the upper left direction of the screen without pressing the drawing designation key in order to move the cursor CS to a desired drawing start position, the cursor CS moves in the upper left direction on the screen. Moving. An example of display when the cursor CS is moved to the drawing start position is shown in FIG. In this embodiment, the handwriting drawing application 33A projects the three-dimensional acceleration having the components in the X-axis direction, the Y-axis direction, and the Z-axis direction received from the measurement data processing program onto the XY plane. Based on the result, the moving amount and moving direction of the cursor CS on the screen in the display unit 13 are calculated.

  When the cursor CS reaches the drawing start position on the screen, the user presses a drawing designation key. Then, the user moves the mobile phone device 10 so as to draw a motion trajectory corresponding to the figure to be drawn. As a result, a line is drawn on the screen along the movement locus of the cursor CS corresponding to the movement locus of the mobile phone device 10. An example of such drawing is shown in FIG.

  By allowing the user to appropriately combine the movement of the mobile phone device 10 in a state where the drawing designation key is not pressed and the movement of the mobile phone device 10 in the pressed state, the movement trajectory of the mobile phone device is accurately obtained. A figure that is well reflected is drawn on the screen of the display unit 13.

  The drawing result thus made is a file in a format such as GIF (Graphic Interchange Format), JPEG (Joint Photographic Experts Group), or SVG (Scalable Vector Graphics), and is attached to an e-mail, HTTP (HyperText Transfer Protocol), etc. By transmitting by the protocol, the drawing result can be transmitted to a desired partner.

  Also, instead of the drawing result, the starting point position on the screen used for drawing and the position transition information on the subsequent screen are attached to an e-mail or transmitted by a protocol such as HTTP together with operation information of the drawing designation key. Thus, the drawing information can be transmitted to a desired partner.

  As described above, in the first embodiment, the data collection unit 41 of the measurement data processing program 35A is along each of the X axis, the Y axis, and the Z axis that are uniquely defined in the mobile phone device 10 and are orthogonal to each other. Collect direction acceleration measurement results and attitude angle measurement results. Subsequently, the translational acceleration calculation unit 45A of the measurement data processing program 35A calculates the translational acceleration based on the collection result by the data collection unit 41. In response to the data request of the handwriting drawing application 33A, the data notification unit 46 of the measurement data processing program 35A notifies the handwriting drawing application 33A of the latest translational acceleration and posture angle. Then, the handwriting drawing application 33A draws a graphic corresponding to the movement locus of the mobile phone device 10 on the screen of the display unit 13 based on the notified translational acceleration and posture angle.

  Therefore, according to the first embodiment, the movement trajectory of the mobile phone device 10 is accurately obtained based on the detection result by the sensor unit 25 mounted on the mobile phone device 10, and the obtained high-precision motion trajectory is obtained. The corresponding figure can be drawn and output on the screen of the display unit 13.

  Further, the vertical direction specifying unit 42 specifies the vertical direction based on the detection result in the sensor unit 25 in the stationary initial posture. Then, using the specified vertical direction, gravity acceleration is removed from the subsequent acceleration detection result. For this reason, even in the case of using the attitude angle sensor of the present embodiment that detects the geomagnetic direction having a different inclination with respect to the horizontal plane depending on the position on the earth, a range in which the change in the geomagnetic direction is negligible during operation. In the case of, the vertical direction can be specified with high accuracy.

  Further, the translational acceleration calculation unit 45A accurately estimates the components of gravitational acceleration in the X-axis direction, the Y-axis direction, and the Z-axis direction based on the posture angle at that time, and the X-axis direction, the Y-axis direction, and the Z-axis The gravitational acceleration component is removed from the measurement result of acceleration in the direction. Therefore, an acceleration from which the gravitational acceleration component is accurately removed can be obtained as a translational acceleration.

  Further, the translational acceleration calculating unit 45A performs a correction in consideration of the posture angle change rate obtained by the posture angle change rate deriving unit 43, and calculates the translational acceleration. For this reason, it is possible to obtain a translational acceleration in consideration of the magnitude of the rotational acceleration caused by the posture change.

  In the first embodiment, the rotation angle from the reference posture determined by the geomagnetic direction is detected by detecting the geomagnetic direction. However, the rotation from the reference posture that does not change depending on the position and time. If the corner is detected, the vertical direction specifying unit 42 becomes unnecessary.

  In the first embodiment, the acceleration in the X-axis direction, the Y-axis direction, and the Z-axis direction is detected. For example, the acceleration is detected in the two-axis directions of the X-axis direction and the Y-axis direction. It can also be. In this case, instead of the measurement data processing program 35A, as shown in FIG. 8, instead of the posture angle change rate deriving unit 43, a posture angle change monitoring unit 44 for monitoring the posture change from the initial posture is provided. It is desirable to employ a measurement data processing program 35B including a translation acceleration calculation unit 45B that calculates translation acceleration in the X-axis direction and the Y-axis direction instead of the translation acceleration calculation unit 45A. In such a configuration, when the posture angle change monitoring unit 44 falls outside the predetermined range in which the desired drawing accuracy can be ensured, the fact is notified via the measurement data processing control unit 49. The drawing application 33A is notified.

  In FIG. 8, the same or equivalent elements as those in the case of the first embodiment are denoted by the same reference numerals, and redundant description is omitted.

  In the first embodiment, the translational acceleration calculation unit 45A performs the X-axis direction, the Y-axis direction, and the vertical direction information, the attitude angle data in the latest measured physical quantity data, and the known magnitude of gravitational acceleration. The gravitational acceleration component in the Z-axis direction is calculated. On the other hand, the translational acceleration calculation unit 45A calculates a low frequency component (a component capable of evaluating a direct current component) with respect to a time change of an acceleration measurement result for each of the X axis direction, the Y axis direction, and the Z axis direction. Can be estimated as a component of gravitational acceleration in the X-axis direction, Y-axis direction, and Z-axis direction, and the vertical direction can also be estimated. In this estimation, in the case of manual movement of the mobile phone device 10, the acceleration that contributes to the movement usually changes every moment, does not include a component that can be evaluated as a DC component, and a component that can be evaluated as a DC component has a certain reliability. This is based on the inventor's knowledge that it can be estimated as gravitational acceleration.

  In this case, the translational acceleration calculation unit 45A calculates the angle between the vertical direction estimated as described above and the X-axis direction, the Y-axis direction, and the Z-axis direction at that time, and the latest After removing the gravitational acceleration component from the acceleration data in the measured physical quantity data, the translational acceleration is calculated by performing correction in consideration of the time change rate of the posture angle. By reporting these calculation results to the handwriting drawing application 33A, as in the case of the first embodiment described above, the movement trajectory of the mobile phone device 10 can be obtained with high accuracy and the obtained high-precision movement trajectory can be handled. The drawn figure can be drawn and output on the screen of the display unit 13.

Second Embodiment
Hereinafter, a second embodiment of the present invention will be described mainly with reference to FIGS. In the description of the second embodiment, the same or equivalent elements as those in the first embodiment are denoted by the same reference numerals, and redundant description is omitted.

  As shown in FIG. 9, the mobile phone device 10 </ b> C according to the present embodiment can notify the information processing device 50 of the motion trajectory information of the mobile phone device 10 </ b> C. It functions as a pointing device similar to a mouse.

  As shown in FIG. 10, in the mobile phone device 10 </ b> C, the operation unit 12 has a left click key 12 </ b> L corresponding to a left button and a right button of a two-button mouse and a right button as compared with the case of the first embodiment. A click key 12R is further provided. Further, as shown in FIG. 11, the mobile phone device 10 </ b> C is connected to the control unit 21 as compared with the case of the first embodiment, and an external interface 29 for sending motion trajectory information to the information processing device 50. Is further provided. Further, as shown in FIG. 12, the software executed by the control unit 21 of the mobile phone device 10C is a mobile phone device that is motion trajectory information at each time point, instead of the handwriting drawing application in the first embodiment. A mouse application 33 </ b> C is provided that sends the movement information of 10 </ b> C and the pressing of the left click key 12 </ b> L or the right click key 12 </ b> R to the information processing apparatus 50 via the external interface 29.

  Next, measurement data processing in the mobile phone device 10C configured as described above will be described.

  In the processing of the measurement data in the mobile phone device 10C, when the user operates the key of the operation unit 12 and inputs an activation command for the mouse application 33C, the mouse application 33C is activated. Thus, when the mouse application 33C is activated, as in the case of the first embodiment, the measurement data processing program 35A issues a measurement data processing start command that specifies that the mouse application 33C is accompanied by specifying the vertical direction in the initial posture. To send to. In the measurement data processing program 35A that has received the measurement data processing start instruction, as in the case of the first embodiment, the measurement data processing control unit 49 directs the sensor unit 25 to the sensor unit 25 when the sensor unit 25 is not operating. Then, a sensor operation start command is sent to start the sensor operation.

  Thereafter, when a vertical direction specifying command is received from the mouse application 33C, under the control of the measurement data processing control unit 49, the data collecting unit 41 starts the data collecting operation, and then the vertical direction specifying unit 42 performs initial initialization. The vertical direction in the posture is specified.

  When the vertical direction is specified in this way, the measurement data processing program 35A starts measurement data processing in the same manner as in the first embodiment. As a result, the mouse application 33C can acquire the latest translational acceleration and posture angle by issuing a data request at a desired time.

  The measurement data processing by the measurement data processing program 35A is terminated when the mouse application 33C issues a data collection stop request when desired, as in the case of the first embodiment. Further, when the mouse application 33C issues a sensor operation stop request, the operation of the sensor unit 25 is stopped as in the case of the first embodiment.

  When the mouse application 33C obtains the translational acceleration and the posture angle obtained as a result of the measurement data processing performed as described above, the mouse application 33C obtains a motion trajectory based on the translational acceleration and obtains the motion trajectory last time. The three-dimensional movement amount of the mobile phone device 10C from the time is calculated. Then, the mouse application 33C sends the calculated three-dimensional movement amount to the information processing apparatus 50 via the external interface 29.

  Further, when the user presses the left click key 12L or the right click key 12R, the mouse application 33C immediately sends a message to that effect to the information processing apparatus 50 via the external interface 29.

  As a result of such an operation, the information processing device 50 is provided with the same information as in the case of the two-button mouse from the mobile phone device 10C.

  As described above, in the second embodiment, it is obtained based on the translation acceleration obtained with high accuracy as in the case of the first embodiment, and is notified to the mouse application 33C. Then, the mouse application 33C obtains the amount of movement of the mobile phone device 10C using the notified translational acceleration, and notifies the information processing device 50 of it. In addition, the mouse application 33C notifies the information processing apparatus 50 of pressing information of the left click key 12L or the right click key 12R.

  Therefore, according to the second embodiment, it is possible to supply the information on the movement amount of the mobile phone device 10C with high accuracy to the information processing device 50.

  In the second embodiment, information on the three-dimensional movement amount is supplied to the information processing apparatus 50. However, information on the two-dimensional movement amount, which is the movement amount in the XY plane in the initial state, is processed. It can also be made to supply.

  In the second embodiment, the three-dimensional movement amount of the mobile phone device 10C from the time when the motion trajectory is obtained last time is sent to the information processing device 50. For example, the start point position is set as a reference position (for example, As long as it is information that can specify the movement locus such as the position at each time point in the case of the origin position), any type of information may be sent.

  In the second embodiment, the acceleration in the X-axis direction, the Y-axis direction, and the Z-axis direction is detected. For example, the acceleration is detected in the two-axis directions of the X-axis direction and the Y-axis direction. It can also be. In this case, it is preferable to apply a modification similar to the modification of the first embodiment described with reference to FIG.

  Also in the second embodiment, as in the case of the first embodiment, it is possible to make a modification related to the calculation of the translational acceleration.

  The external interface 29 may be wireless or wired.

  In the first and second embodiments described above, the present invention is applied to a mobile phone device, but it is needless to say that the present invention can be applied to a portable information device other than the mobile phone device.

  As described above, the motion trajectory information processing method and the portable information device of the present invention are applied when accurately obtaining the motion trajectory of the portable information device and outputting information corresponding to the obtained highly accurate motion trajectory. be able to.

1 is a diagram schematically showing an external configuration of a mobile phone device according to a first embodiment of the present invention. It is a functional block diagram for demonstrating the structure of the mobile telephone apparatus of FIG. It is a figure for demonstrating the structure of the software performed by the control part of FIG. It is a functional block diagram for demonstrating the structure of the measurement data processing program of FIG. It is a sequence diagram for demonstrating the measurement data process in the mobile telephone apparatus of FIG. It is a flowchart for demonstrating the process in the measurement data processing step in FIG. It is a figure for demonstrating the example of a display in the screen of a display part. It is a figure for demonstrating the modification of a measurement data processing program. It is a figure for demonstrating the usage method of the mobile telephone apparatus which concerns on 2nd Embodiment of this invention. It is a figure which shows schematically the external appearance structure of the mobile telephone apparatus of FIG. It is a functional block diagram for demonstrating the structure of the mobile telephone apparatus of FIG. It is a figure for demonstrating the structure of the software performed by the control part of FIG.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10,10C ... Cell-phone apparatus (portable information apparatus), 11 ... Cell-phone main body, 12 ... Operation part, 13 ... Display part, 14 ... Speaker for call, 15 ... Microphone, 16 ... Speaker for guidance, 17 ... Antenna, 21 Control unit, 22 Transmission / reception unit, 23 Storage unit, 24 Temporary storage area, 25 Sensor unit, 26 Sensor unit, 27 A / D converter, 29 External interface, 31A Basic processing unit, 33A ... hand drawing application, 33C ... mouse application, 35A, 35B ... measurement data processing program, 41 ... data collection unit, 42 ... vertical direction identification unit, 43 ... posture angle change rate derivation unit, 45A, 45B ... translation acceleration calculation unit , 46 ... Data notification unit, 49 ... Measurement data processing control unit, 50 ... Information processing device.

Claims (9)

Along at least two axial directions of a first axis uniquely defined in the portable information device, a second axis orthogonal to the first axis, and a third axis orthogonal to the first axis and the second axis Motion trajectory information processing that obtains a motion trajectory of the mobile information device based on the detected acceleration and a detection result by a sensor that detects a rotation angle from a reference posture of the mobile information device, and outputs information corresponding to the motion trajectory A method,
A translational motion acceleration calculating step of calculating a translational acceleration component along the at least two axial directions based on the detection result of the acceleration along the at least two axial directions by the sensor ;
A motion trajectory calculating step of calculating a motion trajectory of the portable information device based on the translational motion acceleration component calculated in the translational motion acceleration calculating step;
An exercise trajectory information output step for outputting information corresponding to the exercise trajectory calculated in the exercise trajectory calculation step ,
The translational acceleration calculation step includes
Based on the detection result of the acceleration along the at least two axial directions by the sensor, the low frequency component of the change in the acceleration along the at least two axial directions is calculated, thereby along the at least two axial directions. A gravitational acceleration estimating step of estimating the vertical direction in addition to estimating the gravitational acceleration component;
Using an estimation result in the gravitational acceleration estimation step, correcting an acceleration detection result along the at least two axial directions by the sensor, and calculating an acceleration of translational motion.
A motion trajectory information processing method characterized by that . 2. The motion trajectory information processing method according to claim 1 , wherein in the acceleration correction step, the translational motion acceleration is calculated in consideration of a change in the detection result of the rotation angle by the sensor. 3. 3. The exercise according to claim 1 , wherein, in the exercise trajectory information output step, a graphic corresponding to the motion trajectory is drawn and output on a screen of the display unit based on information corresponding to the motion trajectory. Trajectory information processing method. 3. The motion trajectory information processing method according to claim 1 , wherein in the motion trajectory information output step, information corresponding to the motion trajectory is output to another information device. Acceleration along at least two axial directions of a first axis uniquely defined in itself, a second axis orthogonal to the first axis, and a third axis orthogonal to the first axis and the second axis And a sensor for detecting a rotation angle from the reference posture;
A translational motion acceleration calculating means for calculating a translational motion acceleration along the at least two axial directions based on a detection result of the acceleration along the at least two axial directions by the sensor ;
A motion trajectory calculating means for calculating a motion trajectory based on the translational motion acceleration;
An exercise trajectory information output means for outputting information corresponding to the exercise trajectory ,
The translational motion acceleration calculating means includes
Based on the detection result of the acceleration along the at least two axial directions by the sensor, the low frequency component of the change in the acceleration along the at least two axial directions is calculated, thereby along the at least two axial directions. A gravitational acceleration estimating means for estimating the component of the gravitational acceleration and estimating the vertical direction;
Acceleration correction means for correcting the acceleration detection results along the at least two axial directions by the sensor using the estimation result by the gravitational acceleration estimation means and calculating the translational acceleration.
A portable information device. 6. The portable information device according to claim 5 , wherein, in the acceleration correction step, the translational motion acceleration is calculated in consideration of a change in the detection result of the rotation angle by the sensor. It further comprises display means for performing screen display,
The motion trajectory information output means draws and outputs a graphic corresponding to the motion trajectory on the screen of the display means based on the information corresponding to the motion trajectory.
The portable information device according to claim 5 , wherein the portable information device is a portable information device. The portable information device according to claim 5 or 6 , wherein the movement trajectory information output means outputs information corresponding to the movement trajectory toward another information device. The portable information device according to any one of claims 5 to 8 , further comprising wireless communication means for performing wireless communication with a base station of a mobile communication network.

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