JPH07239210A - Coordinate detection device and posture detection device with it - Google Patents

Abstract

PURPOSE:To detect 3-D coordinate with one linear image sensor. CONSTITUTION:A coordinate detection device comprises a light source P; a coordinate detection means which, on photo-detecting the light from the light source P, detects its 3-D coordinate; a linear image sensor 10 which photodetects the light emitted from the light source P; a slit plate 20 which, assigned before the linear image sensor 10, changes incident light position on the linear image sensor 10 according to the position of light source P; and a CPU 30 that calculates the coordinate of light source P based on the detected signal outputted from the linear image sensor 10. The slit plate 20 includes the first and second slits 21 and 22 so oriented, with specified interval, as to perpendicularly cross the pixel array direction of the linear image sensor 10, and the third slit 23 so oriented as to form specified angle against these slits, and based on the photo-detected position focused on the linear image sensor 10 through these three slits, 3-D coordinate of the light source P is detected.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a coordinate detecting device and a posture detecting device using the coordinate detecting device.
The present invention relates to a coordinate detection device suitable for a handwriting input system or shape measurement system capable of detecting two-dimensional coordinates or three-dimensional coordinates with one linear image sensor, and a posture detection device applied to, for example, a virtual reality system. is there.

[0002]

2. Description of the Related Art For example, in a handwriting input system, in order to optically detect the position of a stylus, a plurality of one-dimensional position detectors, which are a combination of a single slit and a linear image sensor, are generally used. .

That is, to attach a light source to a stylus and detect its two-dimensional coordinates, two linear image sensors are arranged along the XY plane, and to obtain three-dimensional coordinates, the Z axis is further added. Another linear image sensor is arranged along the direction.

[0004]

However, conventionally, two one-dimensional position detectors are required for two-dimensional coordinate detection, and three one-dimensional position detectors are required for three-dimensional coordinate detection. However, there is a drawback that the device becomes expensive and the entire device becomes large.

Therefore, a first object of the present invention is to provide a coordinate detecting device capable of detecting not only two-dimensional coordinates but also three-dimensional coordinates with one linear image sensor.

A second object of the present invention is to detect a horizontal direction angle and a vertical direction angle with respect to a specific reference position with one linear image sensor. For example, a posture applicable to a surveying device or a virtual reality system. It is to provide a detection device.

[0007]

In order to achieve the above first object, the present invention provides a position indicating portion including a light source that directly or indirectly emits light, and the position indicating portion that receives light from the light source. In a coordinate detecting device comprising coordinate detecting means for detecting two-dimensional coordinates or three-dimensional coordinates of a part, the coordinate detecting means includes a linear image sensor for receiving light emitted from the light source, and a linear image sensor for the linear image sensor. An image forming unit which is arranged along a plane parallel to the image pickup surface and changes the incident light position on the linear image sensor according to the position of the light source, and the image forming unit based on a detection signal output from the linear image sensor. Arithmetic means for calculating the coordinates of the position indicating portion, and the image forming means is oriented at a predetermined interval so as to be orthogonal to the pixel array direction of the linear image sensor. A first and a second imaging element and a third imaging element oriented at a predetermined angle with respect to these imaging elements, said computing means via said three imaging elements said linear image It is characterized in that the two-dimensional coordinates or three-dimensional coordinates of the position indicating section are detected from the value of the light receiving position imaged on the sensor.

In this case, it is preferable that the image forming element is composed of a slit or a cylindrical lens, and the inclination angle of the third image forming element is 45 degrees with respect to the pixel arrangement direction of the linear image sensor.

Further, the calculating means is the first and the second.
The distance D between the imaging elements, the distance d1 between the pixel position of the linear image sensor corresponding to the origin of the three-dimensional coordinates and the light receiving position by the first imaging element, the first imaging element and the third imaging element.
It is characterized in that the three-dimensional coordinates of the position indicating section are detected from the distance d2 between the light receiving positions by the image formation and the distance d3 between the first image forming element and the light receiving position by the second image formation.

It is to be noted that the image forming means has at least first and second portions oriented at an angle capable of relatively intersecting each other.
It may also consist of one imaging element.

A second object of the present invention is to mount a position indicator including a light source that directly or indirectly emits light and a movable body such as a human body, receive the light from the light source and receive the position indicator. A posture detecting device for detecting the posture of the movable body with respect to the posture detecting device, wherein the posture detecting device includes a linear image sensor that receives light emitted from the light source, and an imaging surface of the linear image sensor. An image forming unit arranged along parallel planes for changing the position of incident light to the linear image sensor according to the posture of the movable body with respect to the position indicating unit, and a detection signal output from the linear image sensor. And a calculation means for calculating a horizontal direction angle and a vertical direction angle of the movable body with respect to the position indicating section based on the position indicating section, And at least two image-forming elements oriented in accordance with the above, and the calculating means calculates the value from the light-receiving position imaged on the linear image sensor via these two image-forming elements. This is achieved by detecting the posture of the movable body with respect to the position pointing unit.

In this case, the posture detecting means is attached to the human body together with the computer-controlled goggle type display, and the posture detecting means obtains the horizontal direction angle and the vertical direction drawing angle with respect to the position indicating portion (light source), and based on this. By controlling the display image on the display via the computer, it can be applied to the virtual reality system.

[0013]

According to the above construction, the X and Z coordinates of the position indicating section are detected by the incident light positions of the first and second image forming elements which are orthogonal to the pixel array direction of the linear image sensor, and the above pixel array is also provided. Coordinates in the Y-axis direction are detected by the incident light position by the third imaging element having an angle of, for example, 45 degrees with respect to the direction.

Further, in the case of detecting only the coordinates on the XY plane which is orthogonal to the Z axis, or in the case of detecting only the direction of the light source, an angle (preferably 90) at which they can relatively cross each other.
From the incident light positions of the first and second image forming elements oriented with an angle of (degree), the horizontal direction angle and the vertical direction angle with respect to the position indicator, that is, the attitude of the movable body with respect to the position indicator is detected. .

[0015]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 shows a schematic perspective view of an embodiment of the coordinate detecting device. According to this, the coordinate detection apparatus includes a position indicating unit, for example, a linear image sensor 10 that receives light from a light source P provided on a stylus of an optical digitizer. In this case, the light source P may be one that directly emits light, or one that receives light from another light source and indirectly emits light, such as a phosphor.

This linear image sensor 10 is a CCD
It may be a known one in which pixels made of (Charge Coupled Device) are linearly arranged,
A slit plate 20 as an image forming means is arranged in front of the light receiving surface (imaging surface).

The slit plate 20 is arranged along a plane which is preferably parallel to the light receiving surface of the linear image sensor 10. In this embodiment, three slits 21 to 2 are provided.
3 is formed.

In this case, the first slit 21 and the second slit 22 are formed at a predetermined interval along the direction orthogonal to the pixel arrangement direction of the linear image sensor 10, while the third slit 23 is formed. It is provided so as to intersect with the above-mentioned pixel array direction at an angle of 45 degrees.

Light is incident on the linear image sensor 10 through each of the slits 21 to 23, and the three-dimensional coordinates of the light source P are obtained by the CPU 30 as the calculating means from the three incident light positions. The principle of this will be described with reference to FIGS. 2 to 4. 2 is a schematic diagram showing in perspective the relationship between the three-dimensional X, Y and Z axes and the slits 21 to 23 and the image formed on the linear image sensor 10 through the slits. FIG. 2 XY
A sectional view and FIG. 4 are Z-Y sectional views of FIG.

In FIG. 2, 21a and 22a are incident light positions which are respectively imaged on the image pickup surface of the linear image sensor 10 through the first slit 21 and the second slit 22, and 23a is linear through the oblique third slit 23. It is the position of the incident light imaged on the imaging surface of the image sensor 10.

The incident light positions 21a to 23a change as follows according to the movement of the light source P. That is, for example, when the light source P moves toward or away from the slit plate 20 with the height position kept constant, the distance between the incident light positions 21a and 22a changes. Further, when the light source P moves in the vertical direction while keeping the distance from the slit plate 20 constant, the incident light position 23 a is arranged in the pixel array direction of the linear image sensor 10 because the third slit 23 is obliquely formed. Will move left and right along.

Here, as shown in FIGS. 3 and 4, the pixel position of the linear image sensor 10 corresponding to the origin O of the three-dimensional coordinates (in this example, the pixel position located on the extension line of the Z axis). And incident light position 2 by the first slit 21
1a is the distance d1, and the distance between the same incident light position 21a and the incident light position 23a by the third slit 23 is d.
2, the distance between the incident light position 21a by the first slit 21 and the incident light position 22a by the second slit 22 is d
3, the first slit 21 on the slit plate 20
And the second slit 22, the distance between the linear image sensor 10 and the slit plate 20 is L, and the optical path from the light source P to the incident light position 23a and the third slit 23.
Letting S be the distance in the X-axis direction from the origin O of the intersection point position of and the coordinates of the light source P be (x, y, z), the following equation holds. Since the inclination of the third slit 23 is 45 degrees, the distance in the Y-axis direction from the origin O at the intersection point is also S.

(From FIG. 3) d1: L = x: z D: d3 = z: z + L S: d2 = z: z + L (from FIG. 4) S: L = y: z + L Therefore, the coordinates (x, y, z) is x = {D / (d3-D)} × d1 y = {D / (d3-D)} × d2 z = {D / (d3-D)} × L In this way, According to the present invention, the three-dimensional coordinates of the light source P are obtained by one linear image sensor 10. Further, the horizontal direction angle θ (see FIG. 3) and the vertical direction angle (depression angle) ψ (see FIG. 4) with respect to the light source P are obtained by the following equations.

Horizontal angle θ = arctan (X / Z) =
arctan (d1 / L) vertical angle ψ = arctan (Y / Z) = arctan
(D2 / L) This means that the horizontal and vertical directions with respect to the light source P can be detected by the two slits of the first slit 21 and the third slit without the second slit 22. In other words, it is possible to detect the two-dimensional coordinates of the object on the XY plane on the assumption that the Z coordinate value is constant.

FIG. 5 shows an example in which the attitude detection device based on such a concept is applied to a goggle type image display device as a virtual reality system.

First, the outline of this image display device will be described. The image display device has a goggle 40 to be mounted on the head of a human body, and a portion corresponding to the lens is formed from an LCD controlled by an image processing computer 41. A pair of displays 42, 42 are provided. Therefore, the user looks at the display screen of the display 42, 42,
You can enjoy the virtual reality as if the image were displayed on the full screen of the theater.

The goggles 40 are, for example, 90 relative to each other.
Two slits 4 oriented in a V shape with an angle of 4 degrees
3, 43 are provided, and in relation to this, a linear image sensor 44 is arranged behind them. Then, the detection signal of the linear image sensor 44 is input to the image processing computer 41 via a predetermined interface 45.

At the time of use, the light source P is arranged at a sufficiently distant reference position. By taking in the light from the light source P into the linear image sensor 44 through the two slits 43, 43, the relative orientation of the user's head is calculated by the above-described formulas for the horizontal direction angle θ and the vertical direction angle ψ. , That is, the line-of-sight vector direction is obtained, and the data is input to the computer 41, and the displays 42, 42 are correspondingly input.
The display screen of is switched.

In addition to this, the posture detecting device can be applied to the case of detecting the posture (orientation) of a machine tool such as a robot or a surveying machine. In the above embodiment, the two slits 43, 43 are oriented in a V shape at an angle of 90 degrees, but the mutual angle and the angle with respect to the pixel array can be arbitrarily set, provided that they are not parallel to each other. It is possible. For example, one slit may be orthogonal to the pixel array direction of the linear image sensor 44, while the other slit may be inclined at 45 degrees.

Further, as the image forming means for the linear image sensors 10 and 44, it is possible to use cylindrical lenses 51 and 52 as shown in FIG. 6 instead of the slits of the respective embodiments.

Further, the slit plate 2 shown in FIG.
0, the arrangement of the slits 21 to 23 is, as illustrated in FIG. 7, the first and second slits in the vertical direction.
The third slit 23 having an angle of 45 degrees between the slits 21 and 22.
May be formed, and this modification is also applied to the case of a cylindrical lens.

[0032]

As described above, according to the present invention,
One linear image sensor can detect the three-dimensional position of the light source installed in the stylus of the optical digitizer, etc., which can significantly reduce the cost and downsize the entire device. You can

Further, even if there is only one linear image sensor, it is possible to detect, for example, the line-of-sight vector direction (visual direction) or the attitude (direction) of the object toward the reference light source. Therefore, due to its compactness, there is little discomfort even when it is worn on the human body, and it is possible to construct an attitude input system and a computer interactive virtual reality system with excellent operability. It

[Brief description of drawings]

FIG. 1 is a schematic perspective view for explaining an embodiment of a coordinate detecting device according to the present invention.

FIG. 2 is a schematic diagram showing a perspective view of a relationship between a three-dimensional X, Y, and Z axis, each slit, and a shadow image formed on the linear image sensor through the slit in the embodiment.

3 is a cross-sectional view taken along the line XY of FIG.

4 is a Z-Y cross-sectional view of FIG.

FIG. 5 is an explanatory view showing an embodiment in which the posture detection device according to the present invention is applied to a goggle type image display device.

FIG. 6 is a schematic diagram showing another embodiment in which a cylindrical lens is used as an image forming unit.

FIG. 7 is an explanatory view showing a modified example in which the arrangement of slits as image forming means is changed.

[Explanation of symbols]

 10,44 Linear image sensor 20 Slit plates 21-23,43 Slits 21a-23a Incident light position 30 CPU 40 Goggles 41 Image processing computer 42 Display 51,52 Cylindrical lens

Claims (11)

[Claims] 1. A position indicating section including a light source that emits light directly or indirectly, and coordinate detecting means for receiving light from the light source and detecting two-dimensional coordinates or three-dimensional coordinates of the position indicating section. In the coordinate detecting device provided, the coordinate detecting means is arranged along a plane parallel to a linear image sensor that receives the light emitted from the light source, and the image pickup surface of the linear image sensor, and at the position of the light source. In accordance with the image forming means for changing the position of the incident light to the linear image sensor, and the calculating means for calculating the coordinates of the position indicating section based on the detection signal output from the linear image sensor. The means includes first and second image forming elements oriented at a predetermined interval so as to be orthogonal to the pixel array direction of the linear image sensor, and predetermined for these image forming elements. And a third image forming element oriented at an angle of, the calculating means calculates the third order of the position indicating unit from the value of the light receiving position imaged on the linear image sensor through these three image forming elements. A coordinate detection device characterized by detecting original coordinates. 2. A position indicating section including a light source that directly or indirectly emits light, and coordinate detecting means for receiving light from the light source and detecting two-dimensional coordinates or three-dimensional coordinates of the position indicating section. In the coordinate detecting device provided, the coordinate detecting means is arranged along a plane parallel to a linear image sensor that receives the light emitted from the light source, and the image pickup surface of the linear image sensor, and at the position of the light source. In accordance with the image forming means for changing the position of the incident light to the linear image sensor, and the calculating means for calculating the coordinates of the position indicating section based on the detection signal output from the linear image sensor. The means comprises first and second at least two orientated at angles that may be relatively intersecting.
It has two image forming elements, and the arithmetic means detects the two-dimensional coordinates or three-dimensional coordinates of the position indicating section from the value of the light receiving position imaged on the linear image sensor through these image forming elements. A coordinate detection device characterized by the above. 3. The coordinate detecting device according to claim 1, wherein the image forming element comprises a slit or a cylindrical lens. 4. The coordinate detecting device according to claim 1, wherein an inclination angle of the third image forming element is 45 degrees with respect to a pixel array direction of the linear image sensor. 5. The distance between the first and second image forming elements, the pixel position of the linear image sensor corresponding to the origin of the three-dimensional coordinates, and the light receiving position by the first image forming element D1, the distance d2 between the first imaging element and the light receiving position by the third imaging, the first imaging element and the second imaging element
The coordinate detection device according to claim 1, wherein the three-dimensional coordinates of the position pointing unit are detected from the distance d3 between the light receiving positions by image formation. 6. The posture detecting apparatus according to claim 2, wherein the intersecting angle of each of the image forming elements is 90 degrees. 7. A position indicator including a light source that directly or indirectly emits light, and a movable body such as a human body, which is mounted on the side of the movable body and receives light from the light source to adjust the posture of the movable body with respect to the position indicator. In a posture detecting device including a posture detecting unit for detecting, the posture detecting unit is arranged along a plane parallel to a linear image sensor that receives light emitted from the light source and an imaging surface of the linear image sensor. Image forming means for changing the position of incident light on the linear image sensor according to the posture of the movable body with respect to the position indicating portion, and for the position indicating portion based on the detection signal output from the linear image sensor. Arithmetic means for calculating a horizontal angle and a vertical angle of the movable body, wherein the image forming means is oriented at a relatively crossable angle. And a second at least two image-forming elements, and the arithmetic means calculates the movable body with respect to the position-indicating part from the value of the light-receiving position imaged on the linear image sensor via the two image-forming elements. Posture detecting device for detecting the posture of the user. 8. A posture of a human body with respect to a reference position, which is mounted on a human body together with a light source installed at a reference position for directly or indirectly emitting light and a computer-controlled goggle type display. In a posture detecting device comprising a posture detecting unit for detecting the position, the posture detecting unit is arranged along a plane parallel to a linear image sensor that receives light emitted from the light source, and an image pickup surface of the linear image sensor. An image forming unit that is arranged and changes the position of incident light on the linear image sensor according to the posture of the human body with respect to the reference position, and a horizontal direction with respect to the reference position based on a detection signal output from the linear image sensor. And an arithmetic means for calculating an angle and a vertical angle, and the image forming means has an angle capable of relatively intersecting each other. Has at least two first and second imaging elements oriented in an
The horizontal angle and the vertical angle with respect to the light source are obtained from the value of the light receiving position imaged on the linear image sensor via one of the image forming elements, and based on this, the display image on the display is displayed via the computer. An attitude detection device characterized by being controlled. 9. The posture detecting device according to claim 7, wherein the image forming element comprises a slit or a cylindrical lens. 10. The posture detecting device according to claim 7, wherein the intersecting angle of each of the image forming elements is 90 degrees. 11. The calculation means comprises a distance L from an origin of three-dimensional coordinates to the linear image sensor, a pixel position of the linear image sensor corresponding to an origin of the three-dimensional coordinates, and a light receiving position by the first imaging element. D1, the distance d2 between the light receiving positions of the first image forming element and the second image forming element
9. The horizontal angle and the vertical angle with respect to the position pointing unit are calculated from the above.
The attitude detection device according to.