JPH10207629A - Three-dimensional pointing device using rotating ball - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a three-dimensional pointing device with 6 degrees of freedom by combining a rotary motion inputting device for changing the attitude of an object in a three-dimension by an operation for rotating a ball without occupying a large space with a conventional three-dimensional translation motion inputting device and rotary motion inputting device. SOLUTION: A rotary motion inputting device being one part of this device inputs rotary motion for changing the attitude of an object in a three- dimensional space by an operation for rotating a ball, and this device is constituted of a supporting part into which the ball, plural constants for supporting the ball in a rotatable state, and sensor for measuring the movement of the ball are integrated. Also, this device is provided with the rotary motion inputting device and a three-dimensional translation motion inputting device by mechanically and electrically connecting the supporting part of the rotary motion inputting device with the three-dimensional translation motion inputting device as a three-dimensional pointing device with 6 degrees of freedom, and the rotary and translation motion for changing the attitude and position of the object in the three-dimensional space can be inputted by operating the both devices by one hand.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a three-dimensional position and orientation input device used as, for example, an input device for a computer or a control device.

[0002]

2. Description of the Related Art Conventionally, there are the following devices as input devices for a computer and a control device.

(1) A translational motion input device on a two-dimensional plane such as a mouse or a trackball.

(2) A two-axis joystick utilizing a strain gauge, and a three-axis joystick in which rotation about the stick axis or translational movement in the stick axis direction is applied.

(3) A motion input device in which the amount of rotation of the button is set as a variation and buttons for the required degree of freedom of movement are prepared.

(4) A three-dimensional pointing device having a link mechanism.

(5) A three-dimensional pointing device using magnetism or ultrasonic waves.

[0008]

In a system for processing three-dimensional data such as a three-dimensional CAD system, it is necessary to specify a total of six degrees of freedom, ie, three degrees of freedom in translation and three degrees of rotation. In the motion input device having two or three degrees of freedom, it is necessary to switch the degree of freedom to be specified among the six degrees of freedom motion, and the operability is poor.

A motion input device having a link mechanism cannot input a change in posture due to a smooth rotational movement due to the existence of a unique mechanical posture.

A motion input device using magnetism or ultrasonic waves
There is a drawback that the operation becomes unstable depending on the surrounding environment such as an electromagnetic field or an object that blocks sound waves.

[0011] The present invention solves the above-mentioned problems and provides a rotary motion input device for changing the attitude of a three-dimensional object by an operation of rotating a sphere without taking up space, and a conventional three-dimensional translational motion input device. An object of the present invention is to provide a three-dimensional pointing device having six degrees of freedom by combining a motion input device.

[0012]

In order to solve the above problems, the present invention solves the above problem by supporting a rotating sphere at a plurality of contact points so that the rotating sphere can freely rotate around a center and measuring the rotational movement of the sphere. In order to detect an input three-dimensional rotational motion and to provide a device capable of inputting a three-dimensional six-degree-of-freedom motion, a conventional three-dimensional joystick is used.
It is characterized in that a rotary motion input device using a rotating sphere is assembled on top of a three-dimensional translational motion input device. That is, the gist of the present invention is as follows.
It is characterized by inputting rotational movement that changes the attitude of an object in a three-dimensional space, and consists of multiple contacts that support the ball in a rotatable state and a support that incorporates a sensor that measures the movement of the ball. A motion input device, (2) the rotational motion input device and the three-dimensional translation motion input device are mechanically and electrically connected to the support of the rotary motion input device according to the above (1) and the three-dimensional translation motion input device. The present invention relates to a six-degree-of-freedom three-dimensional pointing device, which is provided with a mechanism for inputting rotation / translational motion for changing the posture and position of an object in a three-dimensional space by operating both with one hand.

[0013]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention detects rotation of a sphere around a center and inputs rotational motion information with three degrees of freedom in a three-dimensional world. Therefore, in an environment where the electromagnetic field changes and in a place where the installation space is limited, it is possible to input a motion having six degrees of freedom which causes a continuous change in position and posture.

[0014]

Embodiments of the present invention will be described below in detail with reference to the drawings.

As shown in FIG. 1, the rotation ω of a sphere having its center at the origin in xyz coordinates is represented by a position P (α, β) in a spherical coordinate system.
Is measured on the tangent plane at P as a translational movement t composed of independent components (u, v).

The three-dimensional rotation ω is represented by rotation (ωx, ωy, ωz) around each axis of the rectangular coordinate system, and (ωx, ω
(y, ωz) and (u, v) measurable by P are related by an equation having a coefficient determined by the position of P and the size of the rotating sphere.

Therefore, the movement amounts (ui, vi), i = 1,..., Measured at positions (Pi, i = 1,..., N) on a plurality of independent rotating spheres with respect to three-dimensional rotation. . , N and (ω
x, ωy, ωz), then (ωx, ωy, ωz)
Can be calculated.

FIG. 2 is a structural explanatory view showing one embodiment of the rotary motion input device of the present invention, and FIG. 3 is a structural explanatory diagram showing one embodiment of a three-dimensional pointing device having six degrees of freedom of the present invention.
FIG. 4 is a schematic perspective view showing an image of the three-dimensional pointing device. That is, by placing one hand on the support base 4 and simultaneously performing the operation of rotating the rotating ball 1 with the fingertip and the operation of moving the support bar 2 gripped with a finger other than the finger rotating the ball up, down, left, right, front and back. A motion with six degrees of freedom is input. The rotational motion input device is configured to rotate the sphere (ωx, ω) based on a rotational ball, a plurality of translational sensor devices 6 attached to the support portion 5 supporting the rotational ball, and sensor information output from the sensor device.
(y, ωz). The six-degree-of-freedom three-dimensional pointing device is a rotary motion input device, a translational motion input device which also serves as a support ball for supporting a rotating ball and a support, and the output data of both are edited and converted into a form that can be input to the computer 3. It comprises a conversion device 8.

FIG. 5 shows an example of a rotary motion input device using a rotary roller 9 as a sensor fixed to a supporting portion of a rotary ball. That is, the amount of rotation ui or vi in a certain direction at the contact can be measured by the amount of rotation of the roller.
The rotation amount around three axes is calculated by calculating a plurality of equations that relate the movement amount at the installation point Pi of each rotation roller and the rotation amount of the rotating sphere.

FIG. 6 shows an example of a rotary motion input device using a ball bearing 10 as a sensor fixed to a supporting portion of a rotating ball. That is, the translational motion on the tangent plane due to the rotation of the ball is the amount of rotation of the ball bearing. By measuring the rotation of the ball bearing at two or more positions in the same manner as a two-dimensional mouse or trackball, independent momentums (ui, v) at the contact point between the rotating ball and the ball bearing are measured.
i) can be measured. The rotation amount around three axes is calculated by calculating a plurality of equations relating the movement amount at the installation point Pi of each ball bearing and the rotation amount of the rotating sphere.

As an application field of this embodiment, in addition to an input device of a computer, a remote robot and a control device of the device can be considered.

[0022]

As described above, according to the present invention, a three-dimensional rotational motion can be input by rotating a sphere.
It is possible to control the position and posture with six degrees of freedom in an electromagnetic field or a place with many objects such as a factory.

[Brief description of the drawings]

FIG. 1 is an explanatory diagram showing a rotating sphere, a fulcrum, and a tangent plane therebetween according to the present invention.

FIG. 2 is a configuration explanatory view showing one embodiment of the rotary motion input device of the present invention.

FIG. 3 is a configuration explanatory view showing one embodiment of a three-dimensional pointing device of the present invention.

FIG. 4 is a schematic configuration diagram showing one embodiment of a three-dimensional pointing device of the present invention.

FIG. 5 is an explanatory diagram of one embodiment of a rotary motion input device using a rotary roll according to the present invention.

FIG. 6 is an explanatory diagram of one embodiment of a rotary motion input device using a ball bearing according to the present invention.

[Explanation of symbols]

 REFERENCE SIGNS LIST 1 rotating ball 2 support rod 3 computer 4 support base 5 support section 6 sensor device 7 rotation amount calculation device 8 conversion device 9 rotation roller 10 ball bearing

Claims (2)

[Claims] 1. A method of inputting a rotational movement for changing a posture of an object in a three-dimensional space by an operation of rotating a sphere, and measuring a plurality of contact points and a movement of the sphere that support the sphere in a rotatable state. Rotary motion input device consisting of a support part incorporating a sensor that performs the motion. 2. A rotary motion input device and a three-dimensional translation motion input device are provided by mechanically and electrically connecting the support of the rotary motion input device according to claim 1 and the three-dimensional translation motion input device, A six-degree-of-freedom three-dimensional pointing device characterized by inputting a rotation / translational motion that changes the posture and position of an object in a three-dimensional space by operating both with one hand.