JPH1195915A - Pen type input device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To enable exact wresting input of drawing such as a graphic, and input of the attitude angle through a miniaturized device. SOLUTION: A rotating direction moving amount detecting part 5 detects the rotating direction and rotating amount of a ball and based on the detected rotating direction and rotating amount of the ball, the moving direction and moving amount of a pen top end part are detected. A Zs-axis gyro 6 outputs a signal showing the angular velocity of rotation around the Zs axis. Based on the angular velocity of rotation around the Zs axis detected by using the Zs-axis gyro 6, a correction part 81 corrects the moving direction and moving amount of the pen top end part detected by the rotating direction moving amount detecting part 5, and the graphic input or the like is exactly performed by the miniaturized device.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a pen-type input device for inputting movement of a cursor and writing of figures and characters to a computer device.

[0002]

2. Description of the Related Art As an input device such as a computer device, for example, a keyboard, a mouse, a digitizer, a light pen, a tablet and the like are used. With the miniaturization of computer devices, the need for portable terminal devices has increased and the number of users has been increasing year by year. Therefore, a small input device has been required.

A mouse is the mainstream pointing device, and is generally used as an input device of a computer. However, it is necessary to get used to the pointing operation using the mouse. Also, a mouse requires a large occupied area. On the other hand, many pen-type input devices such as a pen-type mouse have been developed. The pen-type input device inputs to the computer device by the same operation as when inputting with a pen, so that it does not require familiarity and does not require a large occupied area.

A pen-type input device is disclosed in, for example,
-244018, a pen-type computer input device described in JP-A-3-91020, a pen-type data input device disclosed in JP-A-6-274271, and a pen-type data input device described in JP-A-6-274271. There is a position detecting device and the like described in JP-A-342338.

A computer input device disclosed in Japanese Patent Application Laid-Open No. 3-244018 has a ball provided at the tip of a pen, detects the rotation of the ball using an encoder, and determines the direction and amount of movement by using an encoder as in the case of a mouse. Detected. Further, a pen-type computer input device disclosed in Japanese Patent Application Laid-Open No. 3-91020 has a ball having a plurality of irregularities on the ball surface at the pen tip, and detects the irregularities to form a pen tip. Is detected in the moving direction and the moving amount. further,
The pen-type data input device disclosed in Japanese Patent Application Laid-Open No. 6-274271 has a ball provided with a plurality of reflective surfaces having different reflectances at the pen tip, and detects the reflected light to detect the pen tip. The moving direction and the moving amount are detected. Further, the position detecting device disclosed in Japanese Patent Application Laid-Open No. 6-342338 has a ball provided with a repetitive pattern by magnetic recording at the pen tip, and detects the repetitive pattern to determine the moving direction and the amount of movement of the pen tip. Detected.

[0006]

However, the computer input device disclosed in Japanese Patent Application Laid-Open No. 3-244018 detects the rotation of the ball by using an encoder to detect the moving direction and the moving amount. The pen tip has become large.

[0007] Further, since none of the above-mentioned devices considers the rotation around the pen axis, if the device rotates around the pen axis during writing, an error occurs in the detection result.

[0008] In addition, by improving the performance and lowering the price of the computer device and enhancing the network of the computer device, for example, 3
Computer devices handling a three-dimensional virtual space are increasing. It is convenient to use a posture angle as an input to the three-dimensional virtual space. However, any of the above devices detects the position of the device, and does not output the posture angle of the device. The input is not very convenient.

SUMMARY OF THE INVENTION The present invention has been made in order to solve the above-mentioned disadvantages, and has as its object to enable a small-sized device to accurately input a writing such as a figure and to input a posture angle. And

[0010]

A pen-type input device according to the present invention includes a ball provided at the tip of a pen so as to be rotatable in an arbitrary direction, a rotation direction movement amount detection unit, an angular velocity sensor, and a correction unit. The rotation direction movement amount detection unit detects the rotation direction and the rotation amount of the ball, detects the movement direction and the movement amount of the pen tip based on the detected rotation direction and the rotation amount of the ball, and the angular velocity sensor is a pen type. Zs the length of the input device
And outputs a signal indicating the rotational angular velocity around the Zs axis in the case of the axis, and the correction unit detects the tip of the pen detected by the rotational direction movement amount detection unit based on the rotational angular velocity around the Zs axis detected using the angular velocity sensor. The moving direction and the moving amount are corrected, and a graphic input or the like is accurately performed by a small device.

In another pen-type input device, a ball rotatable in an arbitrary direction is provided at the tip of the pen, the rotation direction and the rotation amount of the ball are detected, and the detected rotation direction and rotation amount of the ball are determined. , The direction and amount of movement of the tip of the pen are detected, and the angular velocity sensor is used to detect around the Xs axis, around the Ys axis, and Z.
A signal indicating a rotation angular velocity around the s-axis is detected, and the posture calculation unit calculates a posture angle of the pen axis based on the rotation angular velocities around the Xs-axis, around the Ys-axis, and around the Zs-axis detected using the angular velocity sensor. , Figure input and attitude angle input.

In another pen-type input device, a ball rotatable in an arbitrary direction is provided at the tip of the pen, the rotation direction and the rotation amount of the ball are detected, and the detected rotation direction and rotation amount of the ball are determined. Detects the direction and amount of movement of the tip of the pen and uses a tilt sensor to determine the pen coordinate system (Xs, Ys, Zs)
And outputs a signal indicating the amount of tilt with respect to the gravity coordinate system (Xg, Yg, Zg), and the posture calculation unit uses the tilt amount of the pen coordinate system (Xs, Ys, Zs) detected by using the tilt sensor to determine the pen axis. Is calculated, the figure is input, and the inclination angle is input using the inclination sensor.

Another pen-type input device has a ball provided at the tip of the pen so as to be rotatable in an arbitrary direction, an acceleration sensor, a moving direction detecting unit, and a moving amount detecting unit. A signal indicating acceleration in the Xs-axis direction and Ys-axis direction of the coordinate system (Xs, Ys, Zs) is output, and the movement direction detection unit detects the movement direction of the tip of the pen based on the acceleration detected using the acceleration sensor. The movement amount detector detects the amount of rotation of the ball, detects the amount of movement of the pen tip based on the detected amount of rotation of the ball, and detects the direction of movement of the pen tip using an acceleration sensor. The device can be downsized.

Another pen-type input device has a ball provided at the tip of the pen so as to be rotatable in an arbitrary direction, a flow rate sensor, a movement direction detection section, and a movement amount detection section. The moving direction detecting unit detects the moving direction of the pen tip based on the speed detected by using the flow velocity sensor, and the moving amount detecting unit detects the amount of rotation of the ball. The size of the apparatus is reduced by detecting the movement amount of the pen tip based on the detected amount of rotation of the ball, and detecting the moving direction of the pen tip using a flow velocity sensor.

[0015] Further, the angular velocity sensor and the correction section have a rotation angle velocity around the Zs axis, the correction section outputs a signal indicating the rotation angular velocity around the Zs axis, and the rotation section rotates based on the rotation angular velocity around the Zs axis detected by the angular velocity sensor. The direction and amount of movement of the pen tip detected by the direction movement amount detection unit are corrected.

Further, the apparatus has an angular velocity sensor and an attitude calculation unit, and the angular velocity sensor outputs signals indicating rotation angular velocities around the Xs axis, around the Ys axis, and around the Zs axis, and the attitude calculation unit detects using the angular velocity sensor. Around Xs axis, around Ys axis and Z
The attitude angle of the pen axis is calculated based on the rotational angular velocity around the s axis.

Further, the apparatus has an inclination sensor and an attitude calculation unit,
The tilt sensor outputs a signal indicating the amount of tilt of the pen coordinate system (Xs, Ys, Zs) with respect to the gravitational coordinate system (Xg, Yg, Zg), and the posture calculation unit detects the pen coordinate system (Xs , Ys, Zs), the posture angle of the pen axis is calculated.

The apparatus further includes a camera shake signal detection unit and a movement amount reset unit. The camera shake signal detection unit detects a component of a predetermined frequency from signals output from the sensors, and generates a signal when a user grips the apparatus. The moving amount reset unit resets the moving amount of the pen tip to zero when the camera shake signal detecting unit detects a signal generated by the user gripping the device continuously for a predetermined period. To prevent the designated point from being blurred.

The high-pass filter, a stop detecting unit, and a moving amount reset unit are provided. The high-pass filter extracts a high-frequency component generated by friction between a ball at the tip of the pen and a moving surface from a signal output from each sensor. The stop detection unit detects whether the pen tip is stopped based on the magnitude of the extracted high frequency component signal, and the movement reset unit detects the pen tip when the stop detection unit detects the stop of the pen tip. The moving amount of the unit is reset to zero to prevent the erroneous detection of the moving amount from occurring.

Further, the output switching unit switches, based on a user's instruction, whether to output the direction and amount of movement of the tip of the pen or to output the attitude angle of the pen shaft.

Further, the display unit displays whether the mode for outputting the moving direction and the moving amount of the pen tip is set or the mode for outputting the posture angle of the pen shaft is set. Prevent typing mistakes.

Further, the tip of the pen performs writing with a writing material such as ink on a moving surface made of paper or the like.

[0023]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS In a pen-type input device according to the present invention, a ball is provided at the tip of a pen so as to be rotatable in an arbitrary direction, and the direction and amount of movement of the tip of the pen are determined based on the rotation of the ball. It is to detect. Since the ball rolls on the moving surface, the amount of movement of the pen tip can be accurately detected by detecting the rotation of the ball regardless of the tilt of the pen shaft.

The pen-type input device has a ball, a rotation direction movement amount detection unit, an angular velocity sensor, and a correction unit. The ball is provided so as to be rotatable in an arbitrary direction at the tip of the pen, and rotates when the tip of the pen moves on a moving surface (writing surface) according to the moving direction and the moving amount. The ball is, for example, covered on its surface with a plurality of reflectors having different reflectances. The rotation direction movement amount detection unit includes, for example, an optical sensor and a movement calculation unit. The optical sensor detects the reflected light from the reflecting plate on the ball surface, and the movement calculation unit uses the reflected light detected by the optical sensor to move the ball in the Xs axis direction and the Ys axis direction of the pen coordinate system (Xs, Ys, Zs). Calculate the rolling distance. An angular velocity sensor (for example, a gyro) outputs a signal indicating a rotational angular velocity about the Zs axis. The correction unit rotates the pen coordinate system (Xs, Ys, Zs) around the Zs axis from the distance in the Xs axis direction and the Ys axis direction calculated by the movement calculation unit based on the rotational angular velocity detected using the angular velocity sensor. In this way, the moving direction and moving distance of the tip of the pen can be accurately detected. Thus, even if the pen-type input device rotates about the Zs axis during writing, the moving direction and the moving distance of the pen tip can be accurately detected.

Further, the pen-type input device may include, for example, a ball, a rotation direction movement amount detection unit, three angular velocity sensors, a correction unit, a posture calculation unit, and an output switching unit. The three angular velocity sensors detect rotational angular velocities around the Xs axis, around the Ys axis, and around the Zs axis, respectively. The attitude calculation unit calculates the attitude angle of the pen-type input device based on the rotational angular velocities around the Xs axis, Ys axis, and Zs axis detected using the angular velocity sensor.
The output switching unit includes, for example, a changeover switch, and outputs the moving direction and the moving amount of the pen tip after the correction by the correction unit, or the posture angle calculated by the posture calculation unit. Switch whether to output. Thereby, in the computer device to which the pen-type input device is connected,
It is possible to input the direction and amount of movement of the tip of the pen and the posture angle, input a figure or the like, and input an operation on a three-dimensional virtual space.

[0026]

FIG. 1 is a block diagram of a pen-type input device 1 according to an embodiment of the present invention. In the following description, the pen-type input device 1
The coordinate system that uses the pen axis of the Zs axis as the pen coordinate system (Xs, Y
s, Zs). The axis extending in the direction of gravitational acceleration is Z
The coordinate system used as the g axis is called a gravity coordinate system (Xg, Yg, Zg). Here, since the pen-type input device 1 detects the moving direction and the moving amount of the pen tip portion 3 based on the rotation of the ball as described below, the moving surface on which the pen tip portion 3 moves is the Xg axis. It is not necessary that the plane coincides with the plane formed by the Xg axis and the Yg axis, but it is assumed that the moving plane coincides with the plane formed by the Xg axis and the Yg axis.

The pen-type input device 1 includes, for example, a ball 4, a rotation direction movement amount detection unit 5, a Zs-axis gyro 6c, an AD conversion unit 7, an operation unit 8, a storage unit 9, and a power supply unit 10, and includes figures and characters. And the like. The ball 4 is provided rotatably in an arbitrary direction at the pen tip 3,
The pen tip 3 rotates as it moves on a moving surface (not shown). The ball 4 has, for example, a plurality of reflective surfaces on the surface, and these reflective surfaces have different reflectances between adjacent reflective surfaces. Rotational direction movement amount detector 5
Includes an optical sensor 51, an AD converter 52, and a movement calculation unit 53, for example, as shown in FIG. The optical sensor 51 irradiates the ball 4 with light, reads the amount of reflected light, and outputs a signal indicating the amount of reflected light. The AD converter 52 converts the signal output from the optical sensor 51 into a digital signal. The movement calculation unit 53 calculates the rotation direction and the rotation amount of the ball 4 based on the change in the amount of light digitally converted by the AD converter 52,
The movement amount (Xg, Yg) of the pen tip 3 is obtained based on the calculated rotation direction and rotation amount of the ball 4.

The gyro 6c has a sensor coordinate system (Xs, Y
(s, Zs) is output. The gyro 6c only needs to have a good scale factor (accuracy in detecting the rotational motion) and a good drift rate (stability of the output offset) and a small size, such as a rotary gyro, a vibration gyro, and an optical gyro. Any type of gyro may be used. In addition, the gyro 6c
Instead of being provided on the Zs axis, it may be provided on an axis parallel to the Zs axis.

The AD converter 7 converts the signal from the gyro 6c into a digital signal. The calculation unit 8 includes a correction unit 81. The correction unit 81 integrates the rotation angular velocity signal detected using the gyro 6c to obtain a rotation angle θ about the Zs axis, and corrects the movement amount (Xg, Yg) of the pen tip 3 using the following equation. Movement amount (Xg _correction , Yg) in the gravity coordinate system (Xg, Yg, Zg)
g _correction ).

[0030]

(Equation 1)

The storage unit 9 stores the calculation result of the calculation unit 8 and the like. The power supply unit 10 supplies electric power to the rotation direction movement amount detection unit 5, the AD conversion unit 7, the calculation unit 8, and the storage unit 9.

The operation of the pen-type input device 1 having the above configuration will be described with reference to the flowchart of FIG.

When writing is started with the ball 4 provided on the tip 3 of the pen touching the moving surface, the optical sensor 51 of the rotation direction moving amount detector 5 irradiates the ball 4 and reads the reflected light (step). S1). The movement calculation unit 53 includes the optical sensor 5
Ball 4 based on the change in the amount of reflected light detected using
And the amount of rotation (X) of the pen tip 3 based on the direction and amount of rotation of the ball 4.
g, Yg) is calculated (step S2). By calculating the moving direction and the moving amount (Xg, Yg) of the pen tip 3 based on the rotating direction and the rotating amount of the ball 4, the Xs axis of the pen coordinate system (Xs, Ys, Zs) can be calculated. Even if the attitude of the Ys axis changes, the movement amount and the movement direction of the pen tip 3 can be accurately detected without being affected by the change.

The Zs-axis gyro 6c outputs a signal indicating the rotational angular velocity about the Zs-axis (step S3). The correcting unit 81 calculates the rotation angle θ around the Zs axis by integrating the rotation angular velocity around the Zs axis detected using the Zs axis gyro 6c (step S4), and uses the calculated rotation angle θ as described above. Then, the moving direction and the moving amount (Xg, Yg) of the pen tip 3 calculated by the moving calculating unit 53 are coordinate-transformed to obtain the moving amount (Xg _correction , Yg _correction ) (step S5). As described above, even if the attitude of the Xs axis and the Ys axis changes, the movement amount and the movement direction of the pen tip 3 can be detected without being affected by the change. However, when the pen-type input device 1 rotates around the Zs axis, The relationship between the detection direction of the optical sensor 51 and the Xg axis and the Ys axis changes, and an error occurs in the calculated movement direction and movement amount (Xg, Yg) of the pen tip 3. Therefore, the error can be eliminated with a simple configuration by performing the coordinate conversion as described above.

The pen-type input device 1 calculates the moving direction and the moving amount (Xg, Yg) of the pen tip 3 determined as described above.
For example, it is transmitted to a computer device (not shown) (step S6). The computer device can input figures, characters, and the like by storing the moving direction and the moving amount of the pen tip 3 in time series as needed. Pen-type input device 1
Repeats the above operation (steps S1 to S6) until the input processing is completed (step S7).

Here, in the above-described embodiment, the rotation direction movement amount detection unit 5 detects the rotation direction and the rotation amount of the ball 4 using the optical sensor 51 and the movement calculation unit 53. The rotation direction and the rotation amount of the ball 4 may be detected by applying different amounts of magnetism depending on the position and detecting the intensity of the magnetism using a magnetic sensor (not shown) or the like. Alternatively, the rotation direction and the rotation amount of the ball 4 may be detected by providing unevenness on the surface of the ball 4 and detecting the unevenness.

Next, a case where the pen-type input device 1 inputs a posture angle in addition to figures and characters will be described.

As shown in FIG. 4, for example, the pen-type input device 1 includes a ball 4, a rotation direction movement amount detector 5, an Xs-axis gyro 6a, a Ys-axis gyro 6b, a Zs-axis gyro 6c, and an AD converter 7. Unit 8, changeover switch 11, and storage unit 9
And a power supply unit 10.

The configurations of the ball 4 and the rotational direction movement amount detector 5 are the same as those already described. Xs axis gyro 6a, Ys
The shaft gyro 6b and the Zs-axis gyro 6c output signals indicating rotation angular velocities around the Xs axis, around the Ys axis, and around the Zs axis, respectively. The AD converter 7 includes, for example, three AD converters (not shown), and digitally converts signals output from the Xs-axis gyro 6a, the Ys-axis gyro 6b, and the Zs-axis gyro 6c. The calculation unit 8 includes a correction unit 81 and a posture calculation unit 82, for example, as shown in FIG. The operation of the correction unit 81 is the same as that described above. The attitude calculation unit 82 calculates an attitude angle based on the rotational angular velocities around the Xs axis, Ys axis, and Zs axis detected using the Xs axis gyro 6a, the Ys axis gyro 6b, and the Zs axis gyro 6c. Here, the attitude angle refers to the tilt angle of the pen-type input device 1 in the gravity coordinate system (Xg, Yg, Zg). Thus, the Xs axis gyro 6
By providing the a, Ys axis gyro 6b and the posture calculation unit 82, the pen-type input device 1 can input a posture angle in addition to figures and characters. For example, when a three-dimensional space is handled by a host device such as a computer device, the posture angle of the pen-type input device 1 can be input to the movement of a cursor or the like, thereby facilitating the operation.

The changeover switch 11 is provided on the pen housing 2 and outputs the movement direction and the movement amount of the pen tip 3 calculated by the correction unit 81 by the user's switching, or
It switches whether to output the attitude angle calculated by the attitude calculation unit 82. Thereby, the user can easily select the input of the computer device or the like. In addition, the pen tip 3
In order to be able to easily recognize whether the mode for outputting the moving direction and the moving amount is selected or whether the mode for outputting the posture angle calculated by the posture calculation unit 82 is selected. The display unit (not shown) may display whether or not the mode is set.

In the above embodiment, the Xs-axis gyro 6
a, the attitude angle was calculated based on the rotational angular velocities around the Xs axis, around the Ys axis, and around the Zs axis detected using the Ys axis gyro 6b and the Zs axis gyro 6c, but the Xs axis gyro 6a,
Instead of the Ys-axis gyro 6b, an inclination sensor 12 may be used as shown in FIG. As the inclination sensor 12,
Any sensor that can detect the amount of tilt with respect to the direction of gravitational acceleration (Zg axis direction) may be used. For example, there is an acceleration sensor or a tilt sensor of a liquid moving capacitance type that utilizes the fact that the liquid is leveled by gravitational acceleration.

In the above embodiment, the rotation direction movement amount detector 5 detects the direction and rotation amount of the ball 4 to detect the movement direction and movement amount of the pen tip 3, but as shown in FIG. Axis acceleration sensor 13a and Ys axis acceleration sensor 13b
The moving direction may be detected using the above. For example, as shown in FIG. 8, the pen-type input device 1 includes a movement amount detection unit 14, an Xs-axis acceleration sensor 13a, and a Ys-axis acceleration sensor 1.
3b, a Zs-axis gyro 6c, an AD conversion unit 7, a calculation unit 8, and a storage unit 9. The movement amount calculator 14 includes, for example, an optical sensor 51, an AD converter 52, and a movement amount calculator 141, as shown in FIG. The optical sensor 51 outputs a signal indicating the amount of reflected light from the ball 4 as described above. The AD converter 52 converts the signal output from the optical sensor 51 into a digital signal. The movement amount calculation unit 141 is provided with the AD converter 52
Calculates the amount of rotation of the ball 4 based on the change in the amount of light that is digitally converted to obtain the amount of movement (Xg, Yg) of the pen tip 3. Xs-axis acceleration sensor 13a and Ys-axis acceleration sensor 1
3b outputs signals indicating the acceleration Axs in the Xs axis direction and the acceleration Ays in the Ys axis direction due to the movement of the pen tip 3, respectively. Here, the Xs-axis acceleration sensor 13a and the Ys-axis acceleration sensor 13b only need to be small and highly sensitive and have good linearity with respect to acceleration. A capacitance type acceleration sensor may be used.

The Zs-axis gyro 6c and the storage unit 9 perform the same operations as described above. The AD converter 7 converts the acceleration signals Axs and Ays and the rotational angular velocity signal output from the Xs-axis acceleration sensor 13a, the Ys-axis acceleration sensor 13b, and the Zs-axis gyro 6c into digital signals. The calculation unit 8 includes a movement direction calculation unit 83 and a correction unit 81. The moving direction calculation unit 83 calculates Xs
The movement direction of the pen tip 3 is calculated based on the acceleration Axs in the Xs-axis direction and the acceleration Ays in the Ys-axis direction detected using the axis acceleration sensor 13a and the Ys axis acceleration sensor 13b. For example, if the detection direction of the Xs-axis acceleration sensor 13a is inclined by an angle θx from the gravitational acceleration direction as shown in FIG. 9, the acceleration Axg in the Xg-axis direction becomes Axs · sin θx.
Similarly, if the detection direction of the Ys-axis acceleration sensor 13b is inclined by an angle θy from the direction of gravitational acceleration, the acceleration Ay in the Yg-axis direction is Ays · sin θy. Therefore, Xs
If the velocity Vxs in the Xs axis direction and the velocity Vys in the Ys axis direction are determined by integrating the axial acceleration Axs and the acceleration Ays in the Ys axis direction, the moving direction is determined by arctan (Vys / Vxs). As a result, the processing for calculating the moving direction can be simplified.

The correction calculation unit 81 calculates the rotation angle θ around the Zs axis by integrating the rotation angular velocity around the Zs axis detected by using the Zs axis gyro 6c, and uses the calculated rotation angle θ to calculate the moving direction calculation unit. Movement direction and movement amount calculation unit 1 calculated by 83
The movement amount of the pen tip 3 calculated by 41 is corrected.

Instead of using the Xs-axis acceleration sensor 13a and the Ys-axis acceleration sensor 13b to detect the acceleration Axs in the Xs-axis direction and the acceleration Ays in the Ys-axis direction, as shown in FIG. Xs axis direction and Ys
Through holes 15a and 15b are provided in the axial direction.
The flow rate sensors 16a and 16b may be provided inside the a and 15b. The flow rate sensors 16a, 16b are provided in the through holes 15a, 1
The flow velocity of the air moving through 5b is detected. Flow sensor 16
The moving direction of the pen tip 3 is detected based on the flow velocity of air in the Xs-axis direction and the flow velocity in the Ys-axis direction detected using a and 16b. You can get speed. Here, as the flow sensors 16a and 16b, small sensors such as a hot-wire flow meter or a Si micro current meter are used.

Further, as shown in FIG. 11, the pen-type input device 1 may be provided with a camera shake signal detection unit 84 and a movement amount reset unit 85 in the calculation unit 8. The camera shake signal detection unit 84
For example, Xs-axis acceleration sensor 13a, Ys-axis acceleration sensor 1
A component having a predetermined frequency (for example, a frequency of about 10 Hz) is detected from signals output from the sensors such as the 3b and Zs axis gyros 6c. This is because the signal component generated when the user grips the device is a signal component having a frequency of about 10 Hz. The movement amount reset unit 85 resets the movement amount of the pen tip 3 to zero when the camera shake signal detection unit 84 detects a signal generated when the user grips the apparatus continuously for a predetermined period. Although it is difficult to detect the signal due to the camera shake based on the reflected light of the ball 4 or the like due to the resolution of the sensor, it can be easily detected by the above-described method. For example, when the numeral "2" is written under the condition that it stops before and after the writing, the acceleration in the Xs axis direction is as shown in FIG. A portion indicated by a dotted line A in the drawing is a vibration portion of about 10 Hz. The amplitude of the acceleration due to the hand shake is approximately 0.0980m / sec ^2, there is a comparison to the approximately 100-fold difference due to movement of the pen tip 3 and an amplitude (approximately 10m / sec ^2). Therefore, for example, the threshold is set to about 0.2 m / sec ^{2 which is} about twice the amplitude of the acceleration due to camera shake, and when the vibration whose amplitude is equal to or less than this amplitude continues for a predetermined time, the user holds the apparatus in a stopped state and holds the apparatus. Judge that there is.
Here, since the amplitude of the signal due to the camera shake varies from person to person, it is preferable to customize the amplitude for each user.

Further, as shown in FIG. 13, for example, the arithmetic unit 8 of the pen-type input device 1 outputs a high-pass filter (hereinafter referred to as “HP”).
F ". ) 86a, 86b, 86c and stop detecting section 8
7 and the movement amount reset unit 85.
Each of the HPFs 86a, 86b, and 86c has a high-frequency component from signals output from the Xs-axis acceleration sensor 13a, the Ys-axis acceleration sensor 13b, and the Zs-axis gyro 6c at a cutoff frequency of 100 Hz, as shown by an arrow B in FIG. Is extracted. This is because a high frequency component having a frequency of 10 Hz or more is generated due to friction between the moving surface and the ball 4 of the pen tip 3, and the amplitude due to the movement of the pen tip 3 is approximately
This is because a component of less than 100 m / sec ² may be contained. The stop detection unit 87 sets the threshold to 0, for example.
Set to about ^{2m / sec 2, HPF86a, 86b} , 86c
When the magnitude of the extracted high frequency component signal exceeds the threshold, it is determined that the pen tip 3 is stopped. The movement amount reset unit 85 resets the movement amount of the pen tip 3 to zero when the stop detection unit 87 detects the stop of the pen tip 3.

Further, the writing material may be supplied to the ink or the like from the pen tip 3 so that the actual writing can be performed on the moving surface such as paper using the writing material such as the ink.

[0049]

As described above, the present invention detects the direction and amount of rotation of the ball provided at the tip of the pen and detects the direction and amount of movement of the tip of the pen based on the direction and amount of movement of the ball. And Z detected using an angular velocity sensor
Since the moving direction and the moving amount of the pen tip detected based on the rotational angular velocity around the s-axis are corrected, the occurrence of accumulated errors can be prevented, and the graphic input can be performed accurately with a small device.

Xs detected using the angular velocity sensor
Since the attitude angle of the pen axis is calculated based on the rotational angular velocities around the axes, around the Ys axis, and around the Zs axis, it is possible to input a figure and an attitude angle.

The direction and amount of rotation of the ball are detected, the direction and amount of movement of the tip of the pen are detected based on the direction and amount of movement of the ball, and gravity coordinates in the pen coordinate system are detected using an inclination sensor. The tilt angle with respect to the system is detected, and the attitude angle of the pen axis is calculated based on the tilt amount of the pen coordinate system detected using the tilt sensor. Can be input.

Xs detected using the acceleration sensor
The direction of movement of the pen tip is detected based on the acceleration in the axial direction and the Ys axis direction, and the amount of rotation of the ball is detected to detect the amount of movement of the pen tip. , The moving direction and the moving amount can be detected.

Since the moving direction of the tip of the pen is detected based on the speeds in the Xs-axis direction and the Ys-axis direction detected by using the flow velocity sensor, the size of the apparatus can be further reduced.

Further, Z detected using an angular velocity sensor
Since the moving direction and the moving amount of the pen tip are corrected based on the rotational angular velocity about the s-axis, the moving direction and the moving amount can be accurately detected.

Further, X detected using an angular velocity sensor
Since the attitude angle of the pen axis is calculated based on the rotational angular velocities around the s axis, the Ys axis, and the Zs axis, the attitude angle can be accurately detected.

Further, since the attitude angle of the pen axis is calculated based on the amount of tilt of the pen coordinate system detected by using the tilt sensor,
The posture angle can be detected with a simple configuration.

Further, a component of a predetermined frequency is detected from the signal output from each sensor, a signal generated when the user grips the device is detected, and the user grips the device continuously for a predetermined period. When the signal generated by the detection is detected, the moving amount of the tip of the pen is reset to zero, so that the pointing point or the like is prevented from being blurred and the input of the pointing point or the like can be performed accurately.

Further, a high frequency component generated by friction between the ball at the tip of the pen and the moving surface is extracted from the signals output from the sensors, and the tip of the pen stops based on the magnitude of the extracted high frequency component signal. If the stop of the pen tip is detected by detecting whether or not the movement of the pen tip is detected, the moving amount of the pen tip is reset to zero, so that the erroneous detection of the moving amount can be prevented.

Further, whether to output the direction and amount of movement of the tip of the pen or to output the attitude angle of the pen axis is switched by the user's instruction, so that the output contents can be easily changed according to the application.

Further, it is displayed whether the mode for outputting the moving direction and the moving amount of the pen tip is set or the mode for outputting the posture angle of the pen axis is set. Can be prevented.

Further, since the tip of the pen performs writing on a moving surface made of paper or the like, it is possible to perform writing input while confirming actual writing with a naked eye.

[Brief description of the drawings]

FIG. 1 is a layout diagram of an acceleration sensor and a gyro in a posture input device.

FIG. 2 is an explanatory diagram showing a relationship between respective acceleration vectors.

FIG. 3 is a configuration diagram of a calculation unit of the posture input device.

FIG. 4 is a flowchart showing the operation of the posture input device.

FIG. 5 is a configuration diagram of a calculation unit having a posture angle calculation unit.

FIG. 6 is a configuration diagram of a pen-type input device having an inclination sensor.

FIG. 7 is a configuration diagram of a pen-type input device that detects a moving direction using an acceleration sensor.

FIG. 8 is a configuration diagram of a calculation unit when a moving direction is detected using an acceleration sensor.

FIG. 9 is an explanatory diagram showing an inclination angle of the Xs-axis acceleration sensor.

FIG. 10 is a configuration diagram of a pen-type input device using a flow rate sensor.

FIG. 11 is a configuration diagram of a calculation unit having a camera shake signal detection unit.

FIG. 12 is a waveform diagram illustrating an acceleration component due to camera shake.

FIG. 13 is a configuration diagram of a calculation unit having a stop detection unit.

FIG. 14 is a waveform diagram illustrating a high-frequency component detection portion of acceleration due to friction.

[Explanation of symbols]

 Reference Signs List 1 posture input device 11 changeover switch 13 acceleration sensor 14 movement amount detector 141 movement amount calculator 3 pen tip 4 ball 5 rotation direction movement amount detector 51 optical sensor 53 movement calculator 6 gyro 8 calculator 81 corrector 82 posture Calculation unit 83 Moving direction calculation unit 84 Camera shake signal detection unit 85 Movement amount reset unit 86 HPF 87 Stop detection unit

Claims (13)

[Claims] 1. A pen-type input device provided with a ball rotatable in an arbitrary direction at a tip of a pen, comprising a rotation direction movement amount detection unit, an angular velocity sensor, and a correction unit, wherein the rotation direction movement amount detection unit includes a ball. The rotation direction and amount of rotation of the pen are detected, and the moving direction and amount of movement of the pen tip are detected based on the detected direction and amount of rotation of the ball. The angular velocity sensor sets the longitudinal direction of the pen-type input device to the Zs axis. The correction unit outputs a signal indicating the rotation angular velocity about the Zs axis in the case, and the correction unit detects the movement direction of the pen tip detected by the rotation direction movement amount detection unit based on the rotation angular velocity around the Zs axis detected using the angular velocity sensor. A pen-type input device for correcting a moving amount. 2. A ball which is rotatable in an arbitrary direction is provided at the tip of the pen, the direction and amount of rotation of the ball are detected, and the direction of movement of the tip of the pen is determined based on the detected direction and amount of rotation of the ball. A pen-type input device for detecting a movement amount has an angular velocity sensor and an attitude calculation unit, and the angular velocity sensor is provided around an Xs axis of a pen coordinate system (Xs, Ys, Zs) in which a longitudinal direction of the pen-type input device is a Zs axis. , A signal indicating the rotational angular velocities around the Ys axis and the Zs axis, and the attitude calculation unit detects the Xs axis, the Ys axis, and the Z axis detected using the angular velocity sensor.
A pen-type input device which calculates a posture angle of a pen axis based on a rotational angular velocity around an s-axis. 3. A ball rotatable in an arbitrary direction is provided at the tip of the pen, the direction and amount of rotation of the ball are detected, and the direction of movement of the tip of the pen is determined based on the detected direction and amount of rotation of the ball. A pen-type input device for detecting a movement amount has a tilt sensor and a posture calculation unit, and the tilt sensor uses a pen coordinate system (Xs,
Ys, Zs) outputs a signal indicating the amount of tilt with respect to the gravitational coordinate system (Xg, Yg, Zg) using the direction of gravitational acceleration as the Zg axis, and the attitude calculation unit detects the pen coordinate system (Xs, A pen-type input device for calculating an attitude angle of a pen axis based on an inclination amount of Ys, Zs). 4. A pen-type input device provided with a ball rotatable in an arbitrary direction at a tip of a pen, the pen-type input device having an acceleration sensor, a moving direction detecting unit, and a moving amount detecting unit, wherein the acceleration sensor is a pen-type input device. A signal indicating accelerations in the Xs-axis direction and the Ys-axis direction of the pen coordinate system (Xs, Ys, Zs) having the longitudinal direction as the Zs axis is output, and the moving direction detecting unit detects the acceleration based on the acceleration detected using the acceleration sensor. A pen-type input device for detecting a movement direction of a pen tip, a movement amount detection unit detecting a rotation amount of the ball, and detecting a movement amount of the pen tip portion based on the detected rotation amount of the ball; . 5. A pen-type input device provided with a ball rotatable in an arbitrary direction at the tip of a pen, comprising a flow sensor, a movement direction detector, and a movement amount detector, wherein the flow sensor is a pen-type input device. Pen coordinate system (Xs,
Ys, Zs) outputs a signal indicating the speed in the Xs-axis direction and the Ys-axis direction, and the moving direction detecting unit detects the moving direction of the pen tip based on the speed detected by using the flow rate sensor, and detects the moving amount. A pen-type input device characterized in that the unit detects the amount of rotation of the ball and detects the amount of movement of the tip of the pen based on the detected amount of rotation of the ball. 6. An angular velocity sensor and a correction unit, wherein the angular velocity sensor outputs a signal indicating a rotation angular velocity around the Zs axis, and the correction unit rotates based on the rotation angular velocity around the Zs axis detected by using the angular velocity sensor. 6. The pen-type input device according to claim 4, wherein the direction and amount of movement of the tip of the pen detected by the direction movement amount detection unit are corrected. 7. An angular velocity sensor and a posture calculation unit, wherein the angular velocity sensor outputs signals indicating rotation angular velocities around the Xs axis, around the Ys axis, and around the Zs axis, and the posture calculation unit detects using the angular velocity sensor. 5. An attitude angle of a pen axis is calculated based on rotational angular velocities around an Xs axis, a Ys axis, and a Zs axis.
Or the pen-type input device according to 5. 8. A tilt sensor and a posture calculation unit, wherein the tilt sensor tilts with respect to a gravitational coordinate system (Xg, Yg, Zg) using a gravitational acceleration direction of a pen coordinate system (Xs, Ys, Zs) as a Zg axis. 6. The pen according to claim 4, wherein the attitude calculation unit calculates the attitude angle of the pen axis based on the tilt amount of the pen coordinate system (Xs, Ys, Zs) detected using the tilt sensor. Type input device. 9. A camera shake signal detection unit and a movement amount reset unit, wherein the camera shake signal detection unit detects a component of a predetermined frequency from a signal output from each sensor, and is generated when a user grips the device. When the movement amount reset unit detects a signal generated by the user holding the device continuously for a predetermined period of time, the movement amount reset unit detects
9. The pen-type input device according to claim 1, wherein the amount of movement of the pen tip is reset to zero. 10. A high-pass filter, a stop detecting unit, and a moving amount reset unit. The high-pass filter extracts a high frequency component generated by friction between a ball at a tip of a pen and a moving surface from a signal output from each sensor. The stop detection unit detects whether the pen tip is stopped based on the magnitude of the extracted high frequency component signal, and the movement reset unit detects the pen tip when the stop detection unit detects the stop of the pen tip. 9. The pen-type input device according to claim 1, wherein the movement amount of the unit is reset to zero. 11. An output switching unit for switching, based on a user's instruction, whether to output a moving direction and a moving amount of the pen tip portion or a posture angle of a pen shaft.
The pen-type input device according to 3, 7, or 8. 12. A display unit for displaying whether a mode for outputting a moving direction and a moving amount of the pen tip is set or a mode for outputting a posture angle of a pen axis is set. Pen type input device. 13. The pen-type input device according to claim 1, wherein the tip of the pen performs writing with a writing material on a moving surface.