CN113111312B - Method for detecting azimuth angle and rotation angle and handwriting device - Google Patents
Method for detecting azimuth angle and rotation angle and handwriting device Download PDFInfo
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- G06—COMPUTING; CALCULATING OR COUNTING
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- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
- G06F3/033—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
- G06F3/0354—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor with detection of 2D relative movements between the device, or an operating part thereof, and a plane or surface, e.g. 2D mice, trackballs, pens or pucks
- G06F3/03545—Pens or stylus
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Abstract
The invention provides a detection method of azimuth angle and rotation angle, comprising the following steps: providing an input unit, generating input coordinates; providing a datum point unit and generating datum point coordinates; a calculation unit is provided for calculating the azimuth angle and the rotation angle based on the reference point coordinates and the input coordinates. The method for detecting the azimuth angle and the rotation angle has the advantages of high precision, simple calculation formula, accurate result and high applicability, and the invention also provides a handwriting device.
Description
[ field of technology ]
The present invention relates to the field of computer peripheral devices, and more particularly, to a method for detecting azimuth and rotation angle and a handwriting device.
[ background Art ]
Handwriting devices have been used for a large number of financial, medical, multimedia production, architectural drawings, design publishing, etc. The handwriting device comprises a handwriting pen and a handwriting sensing unit, wherein the handwriting sensing unit can be a drawing board, a drawing screen, a signature board, a handwriting tablet, a handwriting notebook and the like. In order to meet the use requirement of a user, the writing state is actually simulated, the writing handwriting needs to be changed along with the change of the angle direction and the pressure change of the handwriting pen, a specific handwriting device is needed to calculate the azimuth angle and the rotation angle of the handwriting pen in the prior art, and a calculation formula is complex.
Therefore, it is necessary to provide a new method for detecting azimuth and rotation angle to solve the above-mentioned calculation formula and the technical problem that the method is only suitable for a specific handwriting device.
[ invention ]
In order to solve the technical problems of a calculation formula and a specific handwriting device, the invention provides a detection method of azimuth angle and rotation angle, which has high precision, simple calculation formula, accurate result and high applicability. The invention also provides a handwriting device.
A method for detecting azimuth angle and rotation angle includes the following steps:
providing an input unit, generating input coordinates;
providing a datum point unit and generating datum point coordinates;
a calculation unit is provided for calculating the azimuth angle and the rotation angle based on the reference point coordinates and the input coordinates.
Preferably, the reference point coordinates are set to (XA, YA, ZA), the input coordinates are set to (XB, YB, ZB), and the azimuth angle is θ 0 The rotation angle is R, the meterThe calculation unit calculates the azimuth angle theta based on the difference between the two axes of the reference point coordinates (XA, YA, ZA) and the input coordinates (XB, YB, ZB) 0 The rotation angle R is calculated from the difference of the other axis.
Preferably, the calculation unit calculates the azimuth angle θ by setting the negative Y-axis direction to 0 ° and the clockwise direction to the increasing angle value 0 The method comprises the following steps:
calculating a difference dx=xa-XB in the X-axis direction;
calculating a difference dy=ya-YB in the Y-axis direction;
calculation of
If dy<0, then calculate θ 2 ＝180°+θ 1 ；
If dy is greater than or equal to 0, then calculate θ 2 ＝360°+θ 1 ；
If theta is 2 Not less than 360 DEG, calculating the azimuth angle theta 0 ＝θ 2 -360°；
If theta is 2 <360 DEG, the azimuth angle theta is calculated 0 ＝θ 2 ，
Wherein said θ 1 θ 2 To calculate the azimuth angle theta 0 Is a median value of (c).
Preferably, the calculation unit calculates the rotation angle R including the steps of:
calculate the difference dz= (ZA/ZA) in the Z-axis direction max )-(ZB/ZB max )；
If dz <0, calculating the rotation angle r=360° (1+dz);
if dz is larger than or equal to 0, calculating the rotation angle R=360° dz;
wherein the ZA max For the maximum measurement of the datum point unit in the Z axis, the ZB max Is the maximum measurement value of the input unit in the Z axis.
Preferably, the input unit includes a first electronic compass, a first single-chip and a wireless transmitter electrically connected in sequence, the first electronic compass generates the input coordinates, and the first single-chip reads the input coordinates and sends the input coordinates to the datum point unit through the wireless transmitter.
Preferably, the reference point unit comprises a second electronic compass, a second single-chip and a wireless receiver which are electrically connected in sequence, the calculation unit is an arithmetic logic unit and is arranged on the second single-chip, the second electronic compass generates the reference point coordinate, the wireless receiver receives the input coordinate sent by the wireless transmitter, the second single-chip reads the input coordinate and the reference point coordinate, and the calculation unit calculates the azimuth angle and the rotation angle according to the input coordinate and the reference point coordinate.
Preferably, the first electronic compass and the second electronic compass are triaxial geomagnetic sensors.
Preferably, the wireless transmitter and the first single chip are integrated into a single chip, and the wireless receiver and the second single chip are integrated into a single chip.
A handwriting device adopting the azimuth and rotation angle detection method, comprising:
a handwriting pen;
the input unit is connected with the handwriting pen, senses the pen holding state of the handwriting pen and generates the input coordinates;
the handwriting sensing unit senses the working state of the handwriting pen and generates working state information;
the datum point unit is connected with the handwriting sensing unit and used for generating datum point coordinates and receiving input coordinates generated by the input unit and working state information generated by the handwriting sensing unit;
the calculating unit is arranged on the datum point unit and calculates the azimuth angle and the rotation angle according to the datum point coordinates and the input coordinates.
Preferably, the handwriting sensing unit is connected with the datum point unit through a USB HUB or a USB OTG.
Preferably, the handwriting device is used in cooperation with an external device, and the reference point unit is connected with the external device in a wired or wireless manner to transmit the azimuth angle, the rotation angle and the working state information to the external device.
Compared with the prior art, the azimuth angle and rotation angle detection method provided by the invention utilizes the input coordinates generated by the input unit and the reference point coordinates generated by the reference point unit to calculate the azimuth angle and rotation angle, has high accuracy, simple calculation formula, is not influenced by environment, accurate calculation result, can be applied to different handwriting devices, and has high applicability.
[ description of the drawings ]
For a clearer description of the technical solutions of the embodiments of the present invention, the drawings that are needed in the description of the embodiments will be briefly introduced below, it being obvious that the drawings in the description below are only some embodiments of the present invention, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art, wherein:
fig. 1 is a schematic perspective view of a handwriting device of the present invention in fig. 1;
FIG. 2 is a schematic diagram illustrating a connection mode between the datum point unit and the handwriting sensing unit and an external device shown in FIG. 1;
FIG. 3 is a schematic diagram of another connection mode between the datum point unit and the handwriting sensing unit and between the datum point unit and the external device shown in FIG. 1;
FIG. 4 is a schematic diagram showing another connection mode between the datum point unit and the handwriting sensing unit and between the datum point unit and the external device shown in FIG. 1;
FIG. 5 is a schematic diagram of the input unit of FIG. 1;
fig. 6 is a schematic structural diagram of the reference point unit shown in fig. 1.
[ detailed description ] of the invention
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1 in combination, fig. 1 is a schematic perspective view of a handwriting device according to the present invention. The handwriting device 10 may be used in combination with an external device 1, where the external device 1 is one or more of a computer, a tablet computer, and an embedded system, and in this embodiment, the external device 1 is a computer.
The handwriting device 10 includes a handwriting pen 11, a handwriting sensing unit 13, an input unit 15, a reference point unit 17, and a calculating unit (not shown). The handwriting sensing unit 13 senses the operating state of the handwriting pen 11 and generates an operating state signal. The input unit 15 is connected to the stylus 11. The reference point unit 17 is connected to the handwriting sensing unit 13 and the external device 1 at the same time, as shown in fig. 2. The calculation unit is an arithmetic logic unit integrated with the reference point unit 17.
In this embodiment, the handwriting sensing unit 13 is a handwriting board, and in other embodiments, the handwriting sensing unit 13 may be a drawing board, a drawing screen, a signature board, a handwriting tablet, a handwriting notebook, or the like.
In this embodiment, the reference point unit 17 is connected to the handwriting sensing unit 13 through a USB HUB, as shown in fig. 2, and in other embodiments, the reference point unit 17 is connected to the handwriting sensing unit 13 through a USB OTG, as shown in fig. 3.
In this embodiment, the reference point unit 17 is connected to the external device 1 through a USB, and in other embodiments, the reference point unit 17 is wirelessly connected to the external device 1, and the handwriting device 10 further includes an external device wireless transmitter 12, as shown in fig. 4.
When the handwriting device 1 works, the method comprises the following steps:
writing by the stylus 11;
the input unit 15 senses a pen holding state of the stylus 11, generates input coordinates, and transmits the input coordinates to the reference point unit 17;
meanwhile, the handwriting sensing unit 13 senses the working state of the handwriting pen 11, generates the working state information, and transmits the working state information to the datum point unit 17;
the reference point unit 17 generates reference point coordinates, and receives the input coordinates and the working state information;
the calculating unit calculates azimuth angle and rotation angle coordinates according to the reference point coordinates and the input coordinates;
the reference point unit 17 transmits the operating state information, the azimuth angle, and the rotation angle to the external device 1.
Please refer to fig. 5, which is a schematic diagram of the input unit shown in fig. 1. The input unit 15 includes a first electronic compass 151, a first microchip 153 and a wireless transmitter 155 electrically connected in sequence, the first electronic compass 151 generates the input coordinates, and the first microchip 153 reads the input coordinates and transmits the input coordinates to the datum point unit 17 through the wireless transmitter 155.
Please refer to fig. 6, which is a schematic diagram illustrating a structure of the datum point unit shown in fig. 1. The reference point unit 17 includes a second electronic compass 171, a second single-chip 173, and a wireless receiver 175 electrically connected in sequence, the calculating unit is disposed on the second single-chip 173, the second electronic compass 173 generates the reference point coordinates, the wireless receiver 175 receives the input coordinates sent by the wireless transmitter 155, the second single-chip 173 reads the input coordinates and the reference point coordinates, and the calculating unit calculates the azimuth angle and the rotation angle according to the input coordinates and the reference point coordinates.
In this embodiment, the first electronic compass 151 and the second electronic compass 171 are triaxial geomagnetic sensors.
In this embodiment, the wireless transmitter 155 and the wireless receiver 175 are standard 2.4F RF, and in other embodiments, the wireless transmitter 155 may be another wireless communication transmitter, and the wireless receiver 175 may be another wireless communication receiver.
In other embodiments, the wireless transmitter 155 and the first microchip 153 may be integrated as a single chip. The wireless receiver 175 and the second die 173 may be integrated as a single die.
Setting the reference point coordinates as (XA, YA, ZA), the input coordinates as (XB, YB, ZB), and the azimuth angle as theta 0 The rotation angle is R, and the calculation unit calculates the azimuth angle θ based on a difference between the reference point coordinates (XA, YA, ZA) and two axes of the input coordinates (XB, YB, ZB) 0 The rotation angle R is calculated from the difference of the other axis.
In the present embodiment, the calculation unit calculates the azimuth angle θ from the difference between the X-axis and the Y-axis 0 The rotation angle R is calculated from the difference value of the Z axis.
Setting the negative Y-axis direction to 0 DEG and the clockwise direction to the increasing angle value direction, the calculating unit calculates the azimuth angle theta 0 The method comprises the following steps:
calculating a difference dx=xa-XB in the X-axis direction;
calculating a difference dy=ya-YB in the Y-axis direction;
calculation of
If dy<0, then calculate θ 2 ＝180°+θ 1 ；
If dy is greater than or equal to 0, then calculate θ 2 ＝360°+θ 1 ；
If theta is 2 Not less than 360 DEG, calculating the azimuth angle theta 0 ＝θ 2 -360°；
If theta is 2 <360 DEG, the azimuth angle theta is calculated 0 ＝θ 2 ，
Wherein said θ 1 θ 2 To calculate the azimuth angle theta 0 Is a median value of (c).
The calculation of the rotation angle R by the calculation unit comprises the steps of:
calculate the difference dz= (ZA/ZA) in the Z-axis direction max )-(ZB/ZB max )；
If dz <0, calculating the rotation angle r=360° (1+dz);
if dz is larger than or equal to 0, calculating the rotation angle R=360° dz;
wherein the ZA max For the maximum measurement of the datum point unit in the Z axis, the ZB max Is the maximum measurement value of the input unit in the Z axis.
Compared with the prior art, the azimuth angle and rotation angle detection method provided by the invention utilizes the two electronic compasses to calculate the azimuth angle and rotation angle, has high accuracy, simple calculation formula, no environmental influence and accurate calculation result, can be applied to different handwriting devices, and has high applicability.
The foregoing description is only illustrative of the present invention and is not intended to limit the scope of the invention, and all equivalent structures or equivalent processes or direct or indirect application in other related technical fields are included in the scope of the present invention.
Claims (10)
1. The azimuth angle and rotation angle detecting method is characterized by comprising the following steps: providing an input unit, sensing a pen holding state, and generating input coordinates, wherein the input coordinates are three-dimensional coordinates; providing a reference point unit, and generating reference point coordinates, wherein the reference point coordinates are three-dimensional coordinates; providing a calculation unit for calculating the azimuth angle and the rotation angle according to the reference point coordinates and the input coordinates,
setting the reference point coordinates as (XA, YA, ZA), the input coordinates as (XB, YB, ZB), and the azimuth angle as theta 0 The calculation unit calculates the azimuth angle θ based on the difference between the two axes of the reference point coordinates (XA, YA, ZA) and the input coordinates (XB, YB, ZB) 0 ，
Setting the negative Y-axis direction to 0 DEG and the clockwise direction to the increasing angle value direction, the calculating unit calculates the azimuth angle theta 0 The method comprises the following steps: calculating the difference dx=XA-XB in the X-axis direction, calculating the difference dy=YA-YB in the Y-axis direction, and calculating θ 1 =The method comprises the steps of carrying out a first treatment on the surface of the If dy<0, then calculate θ 2 =180°+θ 1 The method comprises the steps of carrying out a first treatment on the surface of the If dy is greater than or equal to 0, then calculate θ 2 =360°+θ 1 The method comprises the steps of carrying out a first treatment on the surface of the If theta is 2 Not less than 360 DEG, calculating the azimuth angle theta 0 =θ 2 -360 °; if theta is 2 <360 DEG, the azimuth angle theta is calculated 0 =θ 2 Wherein, the theta 1 θ 2 To calculate the azimuth angle theta 0 Is a median value of (c).
2. The method according to claim 1, wherein the rotation angle is set to R, and the calculation unit calculates the rotation angle R based on a difference between the reference point coordinates (XA, YA, ZA) and another axis of the input coordinates (XB, YB, ZB).
3. The method of detecting azimuth and rotation angle according to claim 2, wherein the calculating unit calculates the rotation angle R includes the steps of: calculate the difference dz= (ZA/ZA) in the Z-axis direction max )-(ZB/ZB max ) The method comprises the steps of carrying out a first treatment on the surface of the If dz<0, then calculating the rotation angle r=360 ° (1+dz); if dz is larger than or equal to 0, calculating the rotation angle R=360° dz;
wherein the ZA max For the maximum measurement of the datum point unit in the Z axis, the ZB max Is the maximum measurement value of the input unit in the Z axis.
4. The method according to claim 1, wherein the input unit comprises a first electronic compass, a first single-chip and a wireless transmitter electrically connected in order, the first electronic compass generates the input coordinates, and the first single-chip reads the input coordinates and transmits the input coordinates to the reference point unit through the wireless transmitter.
5. The method according to claim 4, wherein the reference point unit comprises a second electronic compass, a second single chip and a wireless receiver electrically connected in sequence, the calculation unit is an arithmetic logic unit and is arranged on the second single chip, the second electronic compass generates the reference point coordinates, the wireless receiver receives the input coordinates sent by the wireless transmitter, the second single chip reads the input coordinates and the reference point coordinates, and the calculation unit calculates the azimuth angle and the rotation angle according to the input coordinates and the reference point coordinates.
6. The method of claim 5, wherein the first electronic compass and the second electronic compass are triaxial geomagnetic sensors.
7. The method of claim 5, wherein the wireless transmitter is integrated with the first single chip as a single chip and the wireless receiver is integrated with the second single chip as a single chip.
8. A handwriting device, characterized in that the handwriting device comprises:
a handwriting pen;
the input unit is connected with the handwriting pen, senses the pen holding state of the handwriting pen, and generates input coordinates, wherein the input coordinates are three-dimensional coordinates;
the handwriting sensing unit senses the working state of the handwriting pen and generates working state information;
the reference point unit is connected with the handwriting sensing unit and used for generating reference point coordinates, and receiving the input coordinates generated by the input unit and the working state information generated by the handwriting sensing unit at the same time, wherein the reference point coordinates are three-dimensional coordinates;
a calculating unit provided in the reference point unit for calculating an azimuth angle and a rotation angle of the stylus pen based on the reference point coordinates and the input coordinates,
setting the reference point coordinates as (XA, YA, ZA), the input coordinates as (XB, YB, ZB), and the azimuth angle as theta 0 The calculation unit calculates the azimuth angle θ based on the difference between the two axes of the reference point coordinates (XA, YA, ZA) and the input coordinates (XB, YB, ZB) 0 ，
Setting the negative Y-axis direction to 0 DEG and the clockwise direction to the increasing angle value direction, the calculating unit calculates the azimuth angle theta 0 The method comprises the following steps: calculating the difference dx=XA-XB in the X-axis direction, calculating the difference dy=YA-YB in the Y-axis direction, and calculating θ 1 =The method comprises the steps of carrying out a first treatment on the surface of the If dy<0, then calculate θ 2 =180°+θ 1 The method comprises the steps of carrying out a first treatment on the surface of the If dy is greater than or equal to 0, then calculate θ 2 =360°+θ 1 The method comprises the steps of carrying out a first treatment on the surface of the If theta is 2 Not less than 360 DEG, calculating the azimuth angle theta 0 =θ 2 -360 °; if theta is 2 <360 DEG, the azimuth angle theta is calculated 0 =θ 2 Wherein, the theta 1 θ 2 To calculate the azimuth angle theta 0 Is a median value of (c).
9. The handwriting device according to claim 8, wherein said handwriting sensing unit and said reference point unit are connected through a USB HUB or a USB OTG.
10. The handwriting device according to claim 8, wherein the handwriting device is used in cooperation with an external device, and the reference point unit is connected with the external device by wire or wirelessly to transmit the azimuth angle, the rotation angle and the working state information to the external device.
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| CN202110393163.0A CN113111312B (en) | 2021-04-13 | 2021-04-13 | Method for detecting azimuth angle and rotation angle and handwriting device |
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