JPH10240437A - Pen type input system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To exactly and easilt input descriptions through a system using a pen type input device. SOLUTION: A pen type input device 1a sends an acceleration signal outputted by an acceleration sensor 3 and a rotary angular velocity signal outputted by a gyro 4 to a host device 2a by wireless communication. The host device 2a receives the acceleration signal and the rotary angular velocity signal from the pen type input device 1a by wireless communication and while using an arithmetic algorithm previously stored in an arithmetic algorithm storage part 23, the handwriting of pen type input device 1a is calculated based on the acceleration signal and rotary angular velocity signal inputted from the pen type input device 1a.

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 system for inputting figures and characters.

[0002]

2. Description of the Related Art Keyboards, mice, digitizers, light pens, tablets and the like are used as input devices such as computer devices. 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.

[0003] There is a limit in miniaturizing a keyboard in terms of a human interface, and it is not practical as an input device of a portable terminal device. Although a mouse can be downsized as a pointing device, it is not suitable for inputting figures, characters, and the like.

For this reason, for example, a pen-type computer input device disclosed in JP-A-6-67799,
No. 4716, Japanese Patent Application Laid-Open No. 7-200
Japanese Patent Application Laid-Open Publication No. Hei 6-2308
No. 86, Pencil type input device and Tokuhei Hei 8
A tablet-less input device such as a communication device disclosed in Japanese Patent Application Publication No. -508354 has been developed.

A pen-type computer input device disclosed in Japanese Patent Application Laid-Open No. Hei 6-67799 checks a moving direction and a moving distance with an acceleration sensor, and detects a moving direction and a moving distance detected by the acceleration sensor with a piezoelectric vibrating gyroscope. It compensates for the effects of computer input device rotation. Further, the data input device disclosed in Japanese Patent Application Laid-Open No. 7-84716 detects a moving direction and a moving distance of the device based on signals indicating polarities and amplitudes from vibrating gyros arranged at right angles to each other. Furthermore, the handwriting input device disclosed in Japanese Patent Application Laid-Open No. 7-200127 obtains the moving direction and the moving distance of the device based on signals from two acceleration sensors. Further, the pencil-type input device disclosed in Japanese Patent Application Laid-Open No. Hei 6-230886 has two sets of acceleration sensors provided at different positions on the pen axis, and mounts the acceleration sensors based on the outputs from the two sets of acceleration sensors. The moving direction and the moving distance of the pen tip portion in which the influence by the position is corrected are obtained. Tokuhyo Hei 8-50835
The communication device described in Japanese Patent Publication No. 4 performs feature recognition based on the features of the acceleration signal, and then draws a writing locus by overlapping strokes.

[0006] The position sensor disclosed in Japanese Patent Application Laid-Open No. 7-294240 is not related to a pen-type input device but is used for a game machine, for example. An acceleration sensor that detects acceleration in the Z-axis direction and a gyro that detects angular velocities around the X-axis, Y-axis, and Z-axis are provided. The moving speed, position, posture and orientation of the unit are detected.

Further, in a wireless pen and a wireless pen system using the same disclosed in Japanese Patent Application Laid-Open No. Hei 8-166843, the acceleration detected by using an acceleration sensor is integrated, and the result is wirelessly transmitted to a system computer. doing.

[0008]

However, the pen-type computer input device disclosed in Japanese Patent Application Laid-Open No. 6-67799 corrects the influence of the rotation of the device, and is used when the device has a dynamic inclination. Cannot be corrected. The normal writing operation involves a dynamic tilt of the device, which may result in inaccurate detection results.

Furthermore, the data input device disclosed in Japanese Patent Application Laid-Open No. 7-84716 is not suitable for inputting a figure or the like because it detects the rotational movement of the wrist and inputs the moving direction and the moving distance.

Furthermore, in the handwriting input device disclosed in Japanese Patent Application Laid-Open No. 7-200127, since there is no means for correcting the tilt and rotation of the device, the detection result may be inaccurate.

Further, the pencil type input device disclosed in Japanese Patent Laid-Open No. Hei 6-230886 does not consider that the acceleration detected by the acceleration sensor includes a component with respect to the rotation angle of the device. The error may increase.

The position sensor disclosed in Japanese Patent Application Laid-Open No. 7-294240 spatially detects the moving speed, position, posture and orientation of the head, and thus employs a complicated calculation process. Since the pen-type input device is required to be miniaturized, the moving direction and the moving distance on the writing surface must be accurately detected by a simple arithmetic processing.

The communication device disclosed in Japanese Patent Application Laid-Open No. 8-508354 performs recognition processing based on acceleration. However, there is a possibility that an error may occur in the recognition result, and an accurate writing locus is reproduced. Can be difficult to do.

Further, the wireless pen disclosed in Japanese Patent Application Laid-Open No. Hei 8-166843 and the wireless pen system using the same have no means for correcting the inclination and rotation of the device, so that the detection result may be inaccurate. .

The present invention has been made to solve such a disadvantage, and has as its object to accurately detect a handwriting input with a simple configuration.

[0016]

A pen-type input device according to the present invention includes a pen-type input device and a host device, the pen-type input device includes a sensor unit and a host communication unit, and the sensor unit includes a plurality of acceleration units. It has a sensor and a plurality of gyros, outputs an acceleration signal and a rotation angular velocity signal in the pen-type input device, the host communication unit sends the acceleration signal and the rotation angular velocity signal output by the sensor unit to the host device by wireless communication,
The host device includes an input device communication unit, an operation algorithm storage unit, and an operation unit. The input device communication unit receives the acceleration signal and the rotational angular velocity signal from the pen-type input device by wireless communication, and the operation algorithm storage unit includes the pen-type input device. The operation algorithm for calculating the handwriting of the pen is stored in advance, and the operation unit uses the operation algorithm stored in the operation algorithm storage unit in advance, based on the acceleration signal and the rotational angular velocity signal input from the pen-type input device, to input the pen-type input. By calculating the handwriting of the device and separating the part of the pen-type input device that calculates the handwriting from the pen-type input device, the pen-type input device is reduced in weight and size, and by using wireless communication, the cable etc. To prevent them from being disturbed.

The pen-type input system includes a pen-type input device, a communication cable, and a host device. The pen-type input device includes a sensor unit and a host interface, and the sensor unit includes a plurality of acceleration sensors and a plurality of gyros. The pen-type input device outputs an acceleration signal and a rotation angular velocity signal, the host interface outputs the acceleration signal and the rotation angular velocity signal output from the sensor unit to the host device via a communication cable, and the communication cable uses a pen-type input. A signal line for an acceleration signal and a rotation angular velocity signal output from the device to the host device and a power line for pen-type input device driving power supplied from the host device to the pen-type input device are provided. The host device stores an input device interface and an operation algorithm. Unit and an operation unit, and the input device interface And the rotation angular velocity signal are input via a communication cable, the operation algorithm storage unit stores in advance the operation algorithm for calculating the handwriting of the pen-type input device, and the operation unit stores the operation algorithm stored in the operation algorithm storage unit in advance. By using the pen-type input device to calculate the handwriting of the pen-type input device based on the acceleration signal and the rotation angular velocity signal, and supplying the driving power of the pen-type input device from the handwriting calculation device, the pen-type input device Reduce the size and weight of the device.

The pen-type input system includes a pen-type input device and a host device. The pen-type input device includes a sensor unit, an operation algorithm storage unit, an operation unit, and a host communication unit. It has a sensor and a plurality of gyros, outputs an acceleration signal and a rotation angular velocity signal in the pen-type input device, the calculation algorithm storage unit stores in advance a calculation algorithm when calculating handwriting of the pen-type input device, and the calculation unit is Using a calculation algorithm previously stored in the calculation algorithm storage unit, the handwriting of the pen-type input device is calculated based on the acceleration signal and the rotation angular velocity signal output by the sensor unit, and the host communication unit calculates the pen-type input calculated by the calculation unit. The handwriting of the device is sent to the host device by wireless communication to reduce the load on the host device, and the host device has an input device communication unit and a handwriting storage unit. Location communication unit receives the handwriting pen-type input device in a wireless communication from the pen-type input device, handwriting storing section stores the handwriting pen-type input device which has received from the pen-type input device.

The pen-type input system includes a pen-type input device, a communication cable, and a host device. The pen-type input device includes a sensor unit, an operation algorithm storage unit, an operation unit, and a host interface. The acceleration sensor and a plurality of gyros, and outputs an acceleration signal and a rotation angular velocity signal in the pen-type input device, and the calculation algorithm storage unit stores in advance a calculation algorithm when calculating a handwriting of the pen-type input device, and performs the calculation. The unit calculates the handwriting of the pen-type input device based on the acceleration signal and the rotation angular velocity signal output from the sensor unit using the calculation algorithm stored in the calculation algorithm storage unit in advance, and the host interface calculates the pen-type input calculated by the calculation unit. Outputs handwriting data from the input device to the host device via a communication cable. A signal line for handwriting data of the pen-type input device to be output to the host device and a power line for pen-type input device driving power supplied from the host device to the pen-type input device are provided. The host device has an input device interface and a handwriting storage unit. The input device interface inputs handwriting data of the pen-type input device via the communication cable from the pen-type input device, and the handwriting storage unit stores the handwriting data of the pen-type input device input from the pen-type input device.

The pen-type input system has a pen-type input device and a host device. The pen-type input device includes a sensor unit, a sensor output storage unit, and a host interface. The sensor unit includes a plurality of acceleration sensors and a plurality of acceleration sensors. Has a gyro,
The acceleration signal and the rotation angular velocity signal in the pen-type input device are output, the sensor output storage unit stores the acceleration and the rotation angular velocity detected by the sensor unit in time series, and the host interface calculates the handwriting of the pen-type input device. Connected to the host device, sends the acceleration and rotation angular velocity stored in the sensor output storage unit to the host device, the host device includes an input device interface, a calculation algorithm storage unit, and a calculation unit, and the input device interface is a pen-type input device. When calculating the handwriting, connect to the host interface of the pen-type input device, input the acceleration and rotation angular velocity from the pen-type input device, and the calculation algorithm storage unit stores the calculation algorithm when calculating the handwriting of the pen-type input device. The operation unit is stored in advance, and the operation unit uses the operation algorithm stored in advance in the operation algorithm storage unit. Calculating the handwriting of the pen-type input device based on the acceleration and the rotation angular velocity input from the pen-type input device, and outputting the acceleration signal and the rotation angular velocity signal in the pen-type input device to the host device without using the communication means. .

The pen-type input system includes a pen-type input device and a host device. The pen-type input device includes a sensor unit, a calculation algorithm storage unit, a calculation unit, a handwriting storage unit, and a host communication unit. Has a plurality of acceleration sensors and a plurality of gyros, outputs an acceleration signal and a rotation angular velocity signal in a pen-type input device, and a calculation algorithm storage unit stores in advance a calculation algorithm when calculating a handwriting of the pen-type input device. The calculation unit calculates the handwriting of the pen-type input device based on the acceleration signal and the rotation angular velocity signal output from the sensor unit using a calculation algorithm stored in the calculation algorithm storage unit in advance, and the calculation unit calculates the handwriting in the handwriting storage unit. The handwriting data of the pen-type input device obtained is stored and a large amount of data is accumulated, and the host communication unit uses the handwriting data of the pen-type input device stored in the handwriting storage unit to store the data. Feeding the winding device, the host device comprises a calculation result storage unit and an input device communicating unit, the input device communication unit receives the handwriting data of the pen-type input device from the pen-type input device, and stores the calculation result storage unit.

The pen-type input system has a pen-type input device and a host device, the pen-type input device has a sensor unit and a host communication unit, and the sensor unit has a plurality of acceleration sensors and a plurality of gyros. , An acceleration signal and a rotation angular velocity signal in the pen-type input device, the host communication unit sends the acceleration signal and the rotation angular velocity signal output from the sensor unit to the host device, and the host device has an input device communication unit and an input data storage unit. The input device communication unit receives an acceleration signal and a rotation angular velocity signal from the pen-type input device, and the input data storage unit stores the acceleration signal and the rotation angular velocity signal input from the pen-type input device. Stored in a series, the operation algorithm storage unit is configured to be detachable, pre-stored the operation algorithm when calculating the handwriting of the pen-type input device, The arithmetic unit calculates the handwriting of the pen-type input device based on the acceleration and the rotational angular velocity stored in the input data storage unit using an operation algorithm stored in the operation algorithm storage unit in advance, thereby reducing the weight and size of the host device itself. .

The pen-type input system includes a pen-type input device and a host device. The pen-type input device includes a sensor unit, a sensor output storage unit, a calculation algorithm storage unit, a calculation unit, and a host communication unit. The unit has a plurality of acceleration sensors and a plurality of gyros, outputs an acceleration signal and a rotation angular velocity signal in the pen-type input device, the sensor output storage unit stores the acceleration and the rotation angular velocity detected by the sensor unit in time series, The operation algorithm storage unit is configured to be detachable,
The algorithm for calculating the handwriting of the pen-type input device is stored in advance, and the calculation unit uses the calculation algorithm stored in the calculation algorithm storage unit in advance, and stores the acceleration signal and the rotational angular velocity stored in time series in the sensor output storage unit. The handwriting of the pen-type input device is calculated based on the signal, the host communication unit sends the handwriting of the pen-type input device calculated by the calculation unit to the host device, and the host device includes an input device communication unit and a handwriting storage unit,
The input device communication unit receives the handwriting of the pen-type input device from the pen-type input device, and the handwriting storage unit stores the handwriting of the pen-type input device received from the pen-type input device to reduce the load on the host device. Reduce the weight and size of the pen-type input device.

Further, the arithmetic algorithm storage unit stores the gravitational coordinate system (Xg, Ys) based on the acceleration in the pen axis coordinate system (Xs, Ys, Zs) detected by the acceleration sensor in the stationary state.
g, Zg), and calculates the change in the tilt angle from the initial tilt angle of the pen axis based on the rotational angular velocity detected by the gyro during writing, and calculates the initial tilt angle and the initial tilt angle. Calculates the tilt angle of the pen axis in writing in the gravitational coordinate system (Xg, Yg, Zg) based on the change of the tilt angle from, and calculates the tilt of the pen axis in writing in the gravitational coordinate system (Xg, Yg, Zg). The acceleration in the pen axis coordinate system (Xs, Ys, Zs) detected by the three acceleration sensors based on the angle and the mounting position of each acceleration sensor is converted into the acceleration in the gravity coordinate system (Xg, Yg, Zg) and converted. Gravity coordinate system (Xg, Yg, Zg)
An arithmetic algorithm for calculating the handwriting of the pen tip based on the acceleration caused by the pen-type input device is stored in advance so that the trajectory of the pen-type input device can be accurately calculated.

[0025]

DESCRIPTION OF THE PREFERRED EMBODIMENTS A pen-type input system according to the present invention measures an acceleration applied to a pen-type input device and a rotational angular velocity of the pen-type input device, calculates handwriting of the pen-type input device from the measurement result, and This is input to the device.

The pen-type input system has a pen-type input device and a host device. The pen-type input device includes, for example, a sensor unit and a host communication unit. The sensor unit includes a plurality of acceleration sensors and a plurality of gyros, for example, three acceleration sensors and three gyros.
Has gyro. The three acceleration sensors detect accelerations in the Xs-axis direction, the Ys-axis direction, and the Zs-axis direction, for example, in the vicinity of the Zs axis of the pen axis coordinate system (Xs, Ys, Zs), and output a signal indicating the detected acceleration. Output. The three gyros detect the rotational angular velocities around the Xs axis, the Ys axis, and the Zs axis, respectively, and output signals indicating the detected rotational angular velocities. The host communication unit sends the acceleration signal and the rotation angular velocity signal output from the sensor unit to the host device by wireless communication. Since the wireless communication is used, it is possible to prevent a cable or the like from hindering writing.

The host device includes, for example, an input device communication unit, an input data storage unit, an operation algorithm storage unit, an operation unit, an operation result storage unit, an operation unit, and a display unit. The input device communication unit receives the acceleration signal and the rotation angular velocity signal from the pen-type input device, and stores them in the input data storage unit. The calculation algorithm storage unit stores in advance a calculation algorithm for calculating a handwriting of the pen-type input device based on the acceleration signal and the rotation angular velocity signal received from the pen-type input device. The calculation unit calculates the handwriting of the pen-type input device based on the acceleration and the rotational angular velocity stored in the input data storage unit, using a calculation algorithm stored in the calculation algorithm storage unit in advance. The handwriting of the type input device is stored. The display unit displays the trajectory of the pen-type input device calculated by the calculation unit. As described above, the pen-type input device detects the acceleration and the rotational angular velocity, and the host device calculates the trajectory of the pen-type input device, whereby the trajectory can be accurately calculated and the pen-type input device can be downsized. Weight and weight can be reduced.

Here, as the operation algorithm stored in the above operation algorithm, for example, the following operation algorithm is available. Gravity coordinate system (Xg, Yg, Zg) based on acceleration detected by three acceleration sensors in a stationary state
The initial tilt angle of the pen axis at is calculated. Next, the change of the tilt angle from the initial tilt angle of the pen shaft is calculated based on the rotational angular velocities detected by the three gyros during writing. The gravitational coordinate system (Xg, Yg, Zg) of the pen axis being written based on the initial tilt angle obtained in this way and the change of the tilt angle from the initial tilt angle.
Is calculated. Acceleration in the pen axis coordinate system (Xs, Ys, Zs) detected by three acceleration sensors based on the tilt angle of the pen axis in writing in the gravity coordinate system (Xg, Yg, Zg) and the mounting position of each acceleration sensor Is converted into an acceleration in the gravitational coordinate system (Xg, Yg, Zg), and the moving direction and the moving distance of the pen tip are calculated based on the converted acceleration in the gravitational coordinate system (Xg, Yg, Zg). By using such an arithmetic algorithm, it is possible to calculate an accurate trajectory without being affected by the tilt of the pen-type input device.

Also, instead of performing wireless communication,
A signal indicating the acceleration of the pen-type input device and a signal indicating the rotational angular velocity of the pen-type input device may be output to the host device using a communication cable. The communication cable includes a signal line for handwriting data of the pen-type input device output from the pen-type input device to the host device and a power line for pen-type input device driving power supplied from the host device to the pen-type input device. There is no need to provide a power supply unit in the type input device, and the pen type input device can be further reduced in weight and size.

Further, if the pen-type input device and the host device are connected only when necessary, there is no need to provide a communication means, so that the weight can be reduced and a cable or the like can be prevented from obstructing writing.

Further, the handwriting of the pen-type input device may be calculated by the pen-type input device, and the calculation result may be transmitted to the host device. As a result, the amount of transmission data can be reduced, and the calculation load on the host device can be reduced.

Further, the arithmetic algorithm storage unit may be configured to be detachable, usually removed, and attached when calculating a locus. This makes it possible to reduce the weight of the pen-type input device or the host device, which is convenient to carry.

[0033]

FIG. 1 is a block diagram of a pen-type input system according to an embodiment of the present invention. As shown in the figure, the pen-type input system has a pen-type input device 1a and a host device 2a. The pen-type input device 1a includes acceleration sensors 3a, 3b,
3c, gyros 4a, 4b, 4c, a host communication unit 5, and a power supply unit 6. The acceleration sensors 3a, 3b, 3c
The accelerations Ax are provided in the Xs-axis direction, the Ys-axis direction, and the Zs-axis direction orthogonal to the Zs-axis when the pen shaft 7 is the Zs-axis, and the acceleration Ax in the Xs-axis direction, the Ys-axis direction, and the Zs-axis direction.
s, Ays, Azs are detected, and the detected accelerations Axs, Ays,
A signal indicating Azs is output. Here, the acceleration sensor 3
a, 3b, and 3c may be small in size and high in sensitivity and have good linearity with respect to accelerations Axs, Ays, and Azs. In addition to the piezoresistive type, a piezoelectric type or a capacitive type may be used. It may be something. Gyro 4a, 4b, 4
c detects the rotational angular velocities P, Q, and R around the Xs axis, the Ys axis, and the Zs axis, respectively.
A signal indicating Q and R is output. Here, gyro 4a,
4b and 4c have good scale factor (accuracy of rotational movement) and drift rate (stability of output offset),
Any type may be used as long as it is small, such as a rotating gyro, a vibrating gyro, or an optical gyro.
In the following description, a coordinate system using the pen axis 7 as the Zs axis is referred to as a pen axis coordinate system (Xs, Ys, Zs). A coordinate system having an axis extending in the direction of gravitational acceleration as the Zg axis is defined as a gravity coordinate system (X
g, Yg, Zg). Furthermore, the inclination angle φ of the pen shaft,
θ and ψ are defined as three-dimensional angles rotated three times around each of the Xs, Ys, and Zs axes. That is, as shown in FIG. 2, the tilt angle ψ rotates the coordinate system around the Zg axis,
The angle at which the Xg axis crosses the plane formed by the Zg axis and the Xs axis,
The tilt angle θ rotates around the newly formed Y1 axis, and X1
The axis is an angle coincident with the Xs axis, and the tilt angle φ is an angle at which the Ys axis rotates around the newly formed X2 axis and the Ys axis coincides with the Zs axis.

The host communication unit 5 includes acceleration sensors 3a, 3
b, 3c and accelerations Axs, Ays, Az in the pen axis coordinate system (Xs, Ys, Zs) from the gyros 4a, 4b, 4c.
It transmits a signal indicating s and signals indicating rotational angular velocities P, Q, and R to the writing processor 2a by wireless communication, and includes, for example, a radio communication antenna and a modulation / demodulation circuit or an infrared communication LED. The power supply unit 6 is an acceleration sensor 3
a, 3b, 3c, gyros 4a, 4b, 4c, and a unit for supplying power for driving the arithmetic unit communication unit 5 and the like. The power supply unit 6 is desirably as small as possible, and includes, for example, a button battery or a secondary battery.

The host device 2a comprises, for example, a desktop computer, a notebook computer, a portable terminal device, or the like. The host device 2a includes, for example, an input device communication unit 21, an input data storage unit 22, an operation algorithm storage unit 23, an operation unit 24, an operation result storage unit 25, and a display unit 2.
6 and an operation unit 27. The input device communication unit 21 receives signals indicating accelerations Axs, Ays, Azs and signals indicating rotational angular velocities P, Q, R in the pen axis coordinate system (Xs, Ys, Zs) from the pen-type input device 1a. The input data storage unit 22 temporarily stores accelerations Axs, Ays, Azs and rotational angular velocities P, Q, and R in the pen axis coordinate system (Xs, Ys, Zs) input from the pen-type input device 1a via the input device communication unit 21. Remember.

The operation algorithm storage unit 23 includes, for example, a hard disk, a floppy disk, an MO disk, or a memory card, and based on accelerations Axs, Ays, Azs and rotational angular velocities P, Q, R received from the pen-type input device 1a. A calculation algorithm for calculating the handwriting of the pen-type input device 1a is stored in advance. Hereinafter, an example of the operation algorithm stored in the operation algorithm storage unit 23 will be described.

In the stationary state, the pen axis coordinate system (Xs, Y
s, Zs), the initial value φ of the inclination angle in the gravity coordinate system (Xg, Yg, Zg) of the pen axis 7 based on the accelerations Axs, Ays, Azs.
o, θo, ψo are calculated. Hereafter, the initial value of this inclination angle φ
o, θo, ψo are referred to as initial tilt angles φo, θo, ψo. Next, based on the rotational angular velocities P, Q, and R during writing, the initial inclination angles φo, θ of the pen shaft 7 in the gravitational coordinate system (Xg, Yg, Zg).
o, change in inclination angular velocity from ψo dφ / dt, dθ / dt,
Calculate dψ / dt. The initial inclination angles φo, θo, ψo thus obtained and the gravitational coordinate system (Xg, Yg,
Zg) change in inclination angular velocity dφ / dt, dθ / d
Based on t, dθ / dt, the inclination angles φ, θ, ψ in the gravity coordinate system (Xg, Yg, Zg) of the pen shaft 7 during writing are obtained. Gravity coordinate system (Xg, Yg,
Zg), the accelerations Axs, Ays, Azs in the pen axis coordinate system (Xs, Ys, Zs) are calculated based on the inclination angles φ, θ, ψ, and the accelerations Axg, Ay in the gravity coordinate system (Xg, Yg, Zg).
g, Azg. Next, the acceleration direction Axg, Ayg, and Azg in the gravitational coordinate system (Xg, Yg, Zg) obtained by the conversion are integrated twice to calculate the moving direction and the moving distance of the pen tip 8.

Here, the pen axis coordinate system (Xs, Ys, Z)
The conversion from the accelerations Axs, Ays, Azs in s) to the accelerations Axg, Ayg, Azg in the gravitational coordinate system (Xg, Yg, Zg) will be described in further detail.

From the accelerations Axs, Ays, Azs in the pen axis coordinate system (Xs, Ys, Zs), the gravity coordinate system (Xg, Yg, Z
The conversion into accelerations Axg, Ayg, Azg in g) is represented by the following equation.

[0040]

(Equation 1)

Here, assuming that the gravitational acceleration is g, the initial inclination angles φo, θo, ψo can be obtained by the following equations.

[0042]

(Equation 2)

From the above, the initial tilt angle φo,
θo is obtained. Here, whether or not the vehicle is in the stationary state is determined by monitoring, for example, changes over time in the accelerations Axs, Ays, Azs and the rotational angular velocities P, Q, R. Thus, the two unknowns φ
Since three equations can be obtained for o and θo,
The gravitational acceleration g can also be calculated as an unknown value, and the absolute values of the initial inclination angles θo and φo can be calculated without defining the value of the gravitational acceleration g. Further, if the gravitational acceleration g is calculated and monitored, it is possible to judge whether or not the calculation result is good or not based on the fluctuation of the value, and to issue a warning when the value greatly changes, for example. Further, the initial tilt angle ψo is reset to zero. As a result, the Xg axis is taken in the Xs axis direction.

Further, a pen axis coordinate system (Xs, Ys, Zs)
The relationships among the rotational angular velocities P, Q, and R around the axes Xs, Ys, and Zs are shown in the following formulas, and the inclination angular velocity changes dφ / dt, dθ / dt, and d ／/ dt.

[0045]

(Equation 3)

The inclination angles φ, θ, ψ are obtained by integrating the inclination angular velocity changes dφ / dt, dθ / dt, dψ / dt in consideration of the initial inclination angles φo, θo, ψo. Further, a coordinate transformation matrix invE (φ, θ, ψ) is obtained from these equations. Here, the inverse matrix of E (φ, θ, ψ) is defined as invE (φ, θ, ψ).

From the accelerations Axs, Ays, Azs in the pen axis coordinate system (Xs, Ys, Zs), the gravity coordinate system (Xg, Yg, Z
The conversion into accelerations Axg, Ayg, Azg in g) is performed by the pen axis coordinate system (Xs, Ys,
Zs) is the coordinates of the mounting position (Lxx, Lx
y, Lxz), (Lyx, Lyy, Lyz), (Lzx, Lzy, Lz
When the effect of centrifugal force or the like is corrected as z), it is expressed by the following equation.

[0048]

(Equation 4)

In the above equation, the second term is a correction term for the influence of acceleration due to the inclination. The correction terms are tilt angles φ, θ,
ψ, change in inclination angular velocity dφ / dt, dθ / dt, dψ / d
t, change in tilt angular acceleration d ² φ / dt ² , d ² θ / dt ² , d
² ψ / dt ² , but the gyro 4a, 4b, 4c
, The rotational angular velocities P, Q, and R of each axis of the pen axis coordinate system (Xs, Ys, Zs) and the tilt angular velocity change dφ / dt,
Since the relationship of dθ / dt and dψ / dt is expressed by the above-described equation, it can be obtained by calculation.

Here, f _{11 to} f ₃₃ in the above equation are defined as follows.

Gravity coordinate system at a certain time (Xg, Yg, Zg)
Are coordinates (Xgo, Ygo, Zg) of the pen point 8 in the gravity coordinate system (Xg, Yg, Zg).
Based on the coordinates (Lx, Ly, Lz) of the point A and the coordinates (Lx, Ly, Lz) of the point A in the pen axis coordinate system, the coordinates are converted by a coordinate conversion determinant.

[0052]

(Equation 5)

Using the coordinate transformation matrix and its inverse transformation matrix, f _{11 to} f ₃₃ are defined as follows.

[0054]

(Equation 6)

The actual calculation may be performed by calculating the following equation using an approximation derived from the characteristic of the shape of the pen-type input device 1a.

[0056]

(Equation 7)

The coordinates (Xgo, Ygo, Zgo) of the pen tip 8 are obtained by integrating the thus calculated accelerations Axgo, Aygo, Azgo of the pen tip 8 twice. Here, the pen tip 8
In this case, it is sufficient to integrate only the accelerations Axgo and Aygo of the pen tip portion 8 when only the trajectory on the plane is required.

The calculation unit 24 uses the above calculation algorithm, for example, to calculate the accelerations Axs, Ays, Az in the pen axis coordinate system (Xs, Ys, Zs) input from the pen-type input device 1a.
s and the coordinates of the pen tip 8 of the pen-type input device 1a based on the rotational angular velocities P, Q, and R around the axes of the pen axis coordinate system (Xs, Ys, Zs). The information is stored and displayed on the display unit 26 at the same time. Since the coordinates of the pen tip 8 are known in this way, a locus can be obtained on the pen tip 8. By configuring the pen-type input system as described above, the writing range is freer than when a tablet or the like is used, and character input and pointing can be easily performed. In addition, if a pen core or the like is provided in the pen point portion 8 of the pen-type input device 1a, for example, entry into an ordering table and input to an accounting computer can be performed simultaneously. Further, the coordinates of the pen tip 8 calculated by the calculation unit 24 are stored in the calculation result storage unit 2.
5, the information of the accelerations Axs, Ays, Azs and the rotational angular velocities P, Q, R received from the pen-type input device 1a.
Compared with the case of storing the information in time series, the amount of storage data can be reduced, and the storage area of the host device 2a can be reduced.

Here, the operation algorithm storage unit 23 of the host device 2a is configured to be detachable, and the pen-type input device 1a
The host device 2a may be lightened by attaching it when calculating the handwriting of the pen tip portion 8 of the pen-type input device 1a based on the acceleration signal and the rotation angular velocity signal received from the host device 2a.

Further, a pen-type input system in which a pen-type input device 1b and a host device 2b are connected by using a communication cable 9 as shown in FIG. 3 will be described.

The pen-type input device 1b includes an acceleration sensor 3
a, 3b, 3c, gyros 4a, 4b, 4c and host interface (hereinafter referred to as "host I / F") 5
One. The host I / F 51 includes the acceleration sensor 3a,
3b, 3c and accelerations Axs, Ays, in the pen axis coordinate system (Xs, Ys, Zs) from the gyros 4a, 4b, 4c.
A signal indicating Azs and signals indicating rotational angular velocities P, Q, and R are output to the host device 2a via the communication cable 9. The communication cable 9 connects the pen-type input device 1b to the host device 2
b, a signal line indicating accelerations Axs, Ays, Azs and signals indicating rotation angular velocities P, Q, R,
and a power supply line for transmitting power to be supplied from the “b” to the pen-type input device 1b. Thus, the pen-type input device 1b does not need to have a power supply unit, and can further reduce the size and weight of the device. Furthermore, since the pen-type input device can be reduced in weight, fatigue can be reduced even when used for a long time.

The host device 2 b includes, for example, an input device interface (hereinafter referred to as “input device I / F”) 28,
An input data storage unit 22, an operation algorithm storage unit 23,
An operation unit 24, an operation result storage unit 25, a display unit 26, and an operation unit 27 are provided. The input device I / F 28 receives signals from the pen-type input device 1b indicating accelerations Axs, Ays, Azs in the pen axis coordinate system (Xs, Ys, Zs) and rotational angular velocities P, Q,
A signal indicating R is received via the communication cable 9.

Next, as another embodiment, as shown in FIG. 4, a pen-type input system in which a pen-type input device 1c calculates the position coordinates of a pen-tip portion 8 of the pen-type input device and transmits it to a host device 2c. Will be described.

The pen-type input device 1c includes, for example, acceleration sensors 3a, 3b, 3c, gyros 4a, 4b, 4c, an operation algorithm storage unit 10, an operation unit 11, and a host communication unit 5.
And a power supply unit 6. The arithmetic algorithm storage unit 10 stores the accelerations Axs output from the acceleration sensors 3a, 3b, 3c,
A calculation algorithm for calculating the handwriting of the pen-type input device 1c based on the signals indicating Ays and Azs and the signals indicating the rotational angular velocities P, Q and R output from the gyros 4a, 4b and 4c is stored in advance. Here, the operation algorithm stored in the operation algorithm storage unit 10 is the same as the operation algorithm stored in the operation algorithm storage unit 23 of the host device 2a described above. The operation unit 11 uses an operation algorithm stored in the operation algorithm storage unit 10 in advance,
The acceleration Axs output from the acceleration sensors 3a, 3b, 3c,
The position coordinates of the pen tip 8 of the pen-type input device 1c are calculated based on the signals indicating Ays, Azs and the signals indicating the rotational angular velocities P, Q, R output by the gyros 4a, 4b, 4c. The host communication unit 5 is a pen-type input device 1c calculated by the arithmetic unit 11.
Is transmitted to the host device 2c by wireless communication. As described above, since the position of the pen tip 8 is calculated by the pen-type input device 1c and then sent to the host device 2c, the signals indicating the accelerations Axs, Ays, Azs and the signals indicating the rotational angular velocities (P, Q, R) are provided. The data amount can be reduced as compared with the case of transmitting. For example, the acceleration sensors 3a, 3
When the signals indicating the accelerations Axs, Ays, Azs output by b, 3c and the signals indicating the rotational angular velocities P, Q, R output by the gyros 4a, 4b, 4c are transmitted, the degree of freedom is 6, When transmitting coordinates, the degree of freedom is 3, so that the amount of data to be transmitted is halved. Further, when only the trajectory is required to be obtained on the plane, only the data of (Xgo, Ygo) needs to be transmitted.
become.

Here, the pen-type input device 1c includes a coordinate storage unit (not shown), and the calculation result of the calculation unit 11 may be temporarily stored in the coordinate storage unit without being immediately transmitted to the host device 2c. good. Thus, the pen-type input device 1c can be used independently of the host device 2c.

The host device 2c includes, for example, an input device communication unit 21, a handwriting storage unit 29, a calculation unit 24a, a display unit 26, and an operation unit 27. The handwriting storage unit 29 stores the position coordinates of the pen tip 8 received from the pen-type input device 1c. The calculation unit 24a operates in response to an operation from the operation unit.
The handwriting of the pen tip 8 is obtained based on the position coordinates of the pen tip 8 stored in 9 and displayed on the display unit 26. As described above, the host device 2c does not need to perform the coordinate calculation of the pen tip portion 8, and the load on the host device 2c is reduced. Therefore, even when an application with a large amount of calculation is being executed, accurate and quick pen tip The trajectory of the unit 8 can be calculated.

Here, a sensor output storage unit 12 is provided in the pen-type input device 1c, and the accelerations Axs, Ays, Azs detected by the acceleration sensors 3a, 3b, 3c and the gyro 4a,
The rotational angular velocities P, Q, and R detected by 4b and 4c are stored in a time series, and the arithmetic algorithm storage unit 10 is configured to be detachable, and the handwriting of the pen-type input device is computed based on the acceleration signal and the rotational angular velocity signal. By mounting the pen-type input device 1c, the pen-type input device 1c may be further reduced in weight.

Further, as shown in FIG. 5, a pen-type input system in which the pen-type input device 1d calculates the position coordinates of the pen-tip portion 8 of the pen-type input device and outputs it to the host device 2d via the communication cable 9. explain.

The pen-type input device 1d includes an acceleration sensor 3
a, 3b, 3c, gyros 4a, 4b, 4c, operation algorithm storage unit 10, operation unit 11, and host I / F 51
The host device 2d includes an input device I / F 28, a handwriting storage unit 29, a calculation unit 24a, a display unit 26, and an operation unit 27. As a result, as described above, the load on the host device 2d can be reduced, and the pen-type input device 1d does not need to be provided with a power supply unit, so that the load on the pen-type input device 1d can be reduced.

The pen-type input system includes a pen-type input device 1e as shown in FIG. 6 and an input device I / F, for example.
A host device (not shown) may be provided with a pen-stand-type insertion having a connection terminal with the host. Pen-type input device 1
e is, for example, acceleration sensors 3a, 3b, 3c, gyros 4a, 4b, 4c, sensor output storage unit 12, host I /
F13 and a power supply unit 6 are provided. The sensor output storage unit 12 stores the accelerations Axs, Ays, Azs detected using the acceleration sensors 3a, 3b, 3c and the rotational angular velocities P, Q, R detected using the gyros 4a, 4b, 4c in time series.
The host I / F 13 is, for example, as shown in FIG.
Is connected to the input device I / F of the host device by inserting the pen tip portion 8 into the insertion of the host device when calculating the handwriting of the pen-type input device 1e. The accelerations Axs, Ays, Azs and the rotational angular velocities P, Q, R are output to the host device. By configuring the pen-type input device 1e as described above, writing is completed by the pen-type input device 1e, and after the written content is confirmed,
The detected accelerations Axs, Ays, Azs and the rotational angular velocity P,
Q and R can be output to the host device, and input errors and the like can be reduced. Further, the pen-type input device 1e can be used alone.

As shown in FIG. 7, the pen-type input device 1f is provided with a switch 14 for instructing the start of transmission of the accelerations Axs, Ays, Azs and the rotational angular velocities P, Q, R so that the transmission timing can be freely specified. Alternatively, only necessary data may be transmitted. Thus, the load on the host device 2 can be further reduced. Also,
For example, a display unit 15 composed of an LED or the like is provided to indicate that the acceleration sensors 3a, 3b, 3c and the gyros 4a, 4b, 4c are detecting acceleration and rotational angular velocity. May be prevented.

[0072]

As described above, according to the present invention, the acceleration and the rotational angular velocity detected by the pen-type input device are sent to the host device by wireless communication, and the pen-type input device is used by using the arithmetic algorithm stored in the host device in advance. Since the handwriting of the pen-type input device is calculated based on the acceleration signal and the rotation angular velocity signal input from the device, the part for calculating the handwriting of the pen-type input device can be separated from the pen-type input device. Can be reduced in weight and size.

Further, since wireless communication is used, it is possible to prevent a cable or the like from hindering writing.

The acceleration and rotation angular velocity detected by the pen-type input device are output to the host device via the communication cable, and the acceleration signal and the acceleration signal and the input signal from the pen-type input device are input to the host device using an arithmetic algorithm stored in advance in the host device. Since the handwriting of the pen-type input device is calculated based on the rotation angular velocity signal,
The pen-type input device can be downsized.

Further, the communication cable includes a signal line for an acceleration signal and a rotation angular velocity signal output from the pen-type input device to the host device, and a power line for pen-type input device driving power supplied from the host device to the pen-type input device. Therefore, it is not necessary to provide a power supply unit in the pen-type input device, and the pen-type input device is further reduced in weight and size.

Further, the pen-type input device calculates the handwriting of the pen-type input device based on the detected acceleration and rotational angular velocity by using a previously stored arithmetic algorithm, and transmits the calculated handwriting of the pen-type input device by wireless communication. Sent to the host device,
The handwriting of the pen-type input device is received from the pen-type input device by wireless communication, and the received handwriting of the pen-type input device is stored, so that the host device does not need to calculate the handwriting of the pen-type input device. The load on the device can be reduced.

Further, the pen-type input device calculates the handwriting of the pen-type input device based on the detected acceleration and rotational angular velocity by using a previously stored arithmetic algorithm, and transmits the calculated handwriting of the pen-type input device to a communication cable. Since the handwriting of the pen-type input device is sent to the host device via the pen-type input device and received and stored from the pen-type input device, the host device does not need to calculate the handwriting of the pen-type input device, thereby reducing the load on the host device. In addition, since the driving power of the pen-type input device can be supplied from the host device using the communication cable, the pen-type input device can be further reduced in size.

The pen-type input device stores the detected acceleration and rotational angular velocity in time series, and is connected to a host device when calculating the handwriting of the pen-type input device, and stores the stored acceleration and rotational angular speed in the host device. And the host device calculates the handwriting of the pen-type input device based on the acceleration and the rotational angular velocity input from the pen-type input device using a previously stored arithmetic algorithm. The acceleration and rotation angular velocity of the device can be output to the host device, and the pen-type input device can be made lighter.

Further, the pen-type input device calculates the handwriting of the pen-type input device based on the detected acceleration signal and the rotational angular velocity signal by using a previously stored calculation algorithm, and converts the calculated handwriting data of the pen-type input device. Since a large amount of data is accumulated and the handwriting data of the pen-type input device is sent to the host device, the pen-type input device can accumulate a lot of data.

Further, the pen-type input device sends the detected acceleration and rotational angular velocity to the host device, and the host device stores the acceleration signal and the rotational angular velocity signal input from the pen-type input device in a time series, so as to calculate the handwriting. Attaching a detachable operation algorithm storage unit, and using the operation algorithm stored in the operation algorithm storage unit in advance, calculates the handwriting of the pen-type input device based on the acceleration and rotation angular speed stored in the input data storage unit. Therefore, the weight of the host device itself can be reduced.

The pen-type input device stores and outputs the detected acceleration and rotational angular velocity in a time series, and attaches an arithmetic algorithm storage unit configured to be detachable at the time of handwriting calculation. Using a previously stored arithmetic algorithm, the handwriting of the pen-type input device is calculated based on the acceleration and rotation angular velocity stored in time series, and the calculated handwriting of the pen-type input device is sent to the host device. Since the handwriting of the input device is received and stored, the load on the host device can be reduced, and the pen-type input device can be reduced in weight and size.

Furthermore, since an algorithm for calculating the handwriting of the pen-type input device by correcting the inclination and rotation of the pen-type input device based on the acceleration and the angular velocity of rotation of the pen-type input device is stored in advance, the pen-type input device is accurately stored. The trajectory of the input device can be calculated.

[Brief description of the drawings]

FIG. 1 is a configuration diagram of a pen-type input system that wirelessly communicates acceleration and the like.

FIG. 2 is an explanatory diagram of a coordinate system.

FIG. 3 is a configuration diagram of a pen-type input system that transmits acceleration and the like via a communication cable.

FIG. 4 is a configuration diagram of a pen-type input system that wirelessly communicates pen tip coordinates.

FIG. 5 is a configuration diagram of a pen-type input system for communicating pen tip coordinates via a communication cable.

FIG. 6 is a configuration diagram of a pen-type input device having a host I / F at a pen tip.

FIG. 7 is a perspective view of a pen-type input device having a transmission start switch and the like.

[Explanation of symbols]

 REFERENCE SIGNS LIST 1 pen-type input device 2 host device 21 input device communication unit 22 input data storage unit 23 calculation algorithm storage unit 24 calculation unit 25 calculation result storage unit 26 display unit 28 input device I / F 29 handwriting storage unit 3 acceleration sensor 4 gyro 5 Host communication unit 51 Host I / F 7 Pen shaft 8 Pen tip 9 Communication cable 10 Operation algorithm storage unit 11 Operation unit 12 Sensor output storage unit

Claims (9)

[Claims] A pen-type input device and a host device; the pen-type input device includes a sensor unit and a host communication unit; the sensor unit includes a plurality of acceleration sensors and a plurality of gyros; The host communication unit sends the acceleration signal and the rotation angular velocity signal output from the sensor unit to the host device by wireless communication, and the host device transmits the input device communication unit, the arithmetic algorithm storage unit, and the arithmetic unit. The input device communication unit receives the acceleration signal and the rotational angular velocity signal from the pen-type input device by wireless communication, and the calculation algorithm storage unit stores in advance the calculation algorithm used when calculating the handwriting of the pen-type input device, and performs the calculation. The unit uses an arithmetic algorithm stored in advance in the arithmetic algorithm storage unit to calculate the acceleration signal and the rotational angular velocity input from the pen-type input device. A pen-type input system for calculating handwriting of a pen-type input device based on a degree signal. 2. A pen-type input device, a communication cable, and a host device. The pen-type input device includes a sensor unit and a host interface. The sensor unit includes a plurality of acceleration sensors and a plurality of gyros. The acceleration signal and the rotation angular velocity signal in the device are output. The host interface outputs the acceleration signal and the rotation angular velocity signal output by the sensor unit to the host device via a communication cable, and the communication cable outputs from the pen-type input device to the host device. Signal lines for the acceleration signal and the rotational angular velocity signal to be transmitted, and a power line for pen-type input device driving power supplied from the host device to the pen-type input device. The host device includes an input device interface, a calculation algorithm storage unit, and a calculation unit. The input device interface communicates acceleration signals and rotational angular velocity signals from a pen-type input device. The operation algorithm storage unit pre-stores an operation algorithm for calculating handwriting of the pen-type input device, and the operation unit uses a pen-type input using the operation algorithm stored in the operation algorithm storage unit in advance. A pen-type input system, wherein a handwriting of a pen-type input device is calculated based on an acceleration signal and a rotation angular velocity signal input from the device. 3. A pen-type input device and a host device, the pen-type input device includes a sensor unit, a calculation algorithm storage unit, a calculation unit, and a host communication unit, and the sensor unit includes a plurality of acceleration sensors and a plurality of gyros. The pen-type input device outputs an acceleration signal and a rotation angular velocity signal, the operation algorithm storage unit stores in advance a calculation algorithm for calculating a handwriting of the pen-type input device, and the calculation unit stores the calculation algorithm in the calculation algorithm storage unit in advance. Using the stored calculation algorithm, the handwriting of the pen-type input device is calculated based on the acceleration signal and the rotation angular velocity signal output by the sensor unit, and the host communication unit wirelessly writes the handwriting data of the pen-type input device calculated by the calculation unit. The host device is provided with an input device communication unit and a handwriting storage unit by communication, and the input device communication unit switches from a pen-type input device to a pen-type input device. A pen-type input system comprising: receiving trace data by wireless communication; and storing a handwriting data of the pen-type input device received from the pen-type input device. 4. A pen-type input device, a communication cable, and a host device. The pen-type input device includes a sensor unit, a calculation algorithm storage unit, a calculation unit, and a host interface.
The sensor unit has a plurality of acceleration sensors and a plurality of gyros, outputs an acceleration signal and a rotation angular velocity signal in the pen-type input device, and a calculation algorithm storage unit preliminarily calculates a calculation algorithm when calculating handwriting of the pen-type input device. The arithmetic unit calculates the handwriting of the pen-type input device based on the acceleration signal and the rotational angular velocity signal output from the sensor unit using the arithmetic algorithm stored in advance in the arithmetic algorithm storage unit. The calculated handwriting data of the pen-type input device is output to the host device via a communication cable, and the communication cable is connected to the pen-type input device's handwriting data signal line for output from the pen-type input device to the host device and the pen from the host device. A power line for driving the pen-type input device to be supplied to the type input device is provided, and the host device has an input device interface and A trace storage unit is provided, and the input device interface inputs handwriting data of the pen-type input device from the pen-type input device via a communication cable, and the handwriting storage unit stores handwriting data of the pen-type input device input from the pen-type input device. A pen-type input system characterized by storing. 5. A pen type input device and a host device, wherein the pen type input device includes a sensor unit, a sensor output storage unit and a host interface, the sensor unit has a plurality of acceleration sensors and a plurality of gyros, The acceleration output and the rotation angular velocity signal in the type input device are output, the sensor output storage unit stores the acceleration and the rotation angular speed detected by the sensor unit in time series, and the host interface is used when the handwriting of the pen type input device is calculated. Connected to the device, outputs the acceleration and the rotational angular velocity stored in the sensor output storage unit to the host device, the host device includes an input device interface, a calculation algorithm storage unit, and a calculation unit, and the input device interface is a pen type input device. When calculating handwriting, connect to the host interface of the pen-type input device to The operation algorithm storage unit pre-stores an operation algorithm for calculating the handwriting of the pen-type input device, and the operation unit uses the pen-type input using the operation algorithm stored in the operation algorithm storage unit in advance. A pen-type input system, wherein a handwriting of a pen-type input device is calculated based on an acceleration and a rotation angular velocity input from the device. 6. A pen-type input device and a host device, the pen-type input device includes a sensor unit, an operation algorithm storage unit, an operation unit, a handwriting storage unit, and a host communication unit, and the sensor unit includes a plurality of acceleration sensors. It has a plurality of gyros and outputs an acceleration signal and a rotation angular velocity signal in a pen-type input device,
The calculation algorithm storage unit stores in advance a calculation algorithm for calculating handwriting of the pen-type input device, and the calculation unit uses the calculation algorithm stored in the calculation algorithm storage unit in advance to calculate the acceleration signal and the rotational angular velocity output from the sensor unit. The handwriting of the pen-type input device is calculated based on the signal, the handwriting storage unit stores the handwriting data of the pen-type input device calculated by the operation unit, and the host communication unit stores the handwriting of the pen-type input device stored in the handwriting storage unit. The data is sent to the host device, the host device includes an input device communication unit and a calculation result storage unit, and the input device communication unit receives handwriting data of the pen type input device from the pen type input device and stores the data in the calculation result storage unit. A pen-type input system, characterized in that: 7. A pen-type input device including a pen-type input device and a host device, wherein the pen-type input device includes a sensor unit and a host communication unit, and the sensor unit includes a plurality of acceleration sensors and a plurality of gyros. The host communication unit sends the acceleration signal and the rotation angular velocity signal output from the sensor unit to the host device, and the host device calculates the input device communication unit, the input data storage unit, the operation algorithm storage unit, and the like. The input device communication unit receives the acceleration signal and the rotation angular velocity signal from the pen-type input device, and the input data storage unit stores the acceleration signal and the rotation angular velocity signal input from the pen-type input device in a time series, and calculates The algorithm storage unit is configured to be detachable, and stores in advance a calculation algorithm for calculating the handwriting of the pen-type input device, and the calculation unit stores the calculation algorithm A pen-type input system, wherein a handwriting of a pen-type input device is calculated based on an acceleration and a rotational angular velocity stored in an input data storage unit using an arithmetic algorithm stored in a unit in advance. 8. A pen type input device and a host device, wherein the pen type input device includes a sensor unit, a sensor output storage unit, a calculation algorithm storage unit, a calculation unit, and a host communication unit, and the sensor unit includes a plurality of acceleration sensors. And a plurality of gyros, and outputs an acceleration signal and a rotation angular velocity signal in the pen-type input device, a sensor output storage section stores the acceleration and the rotation angular velocity detected by the sensor section in a time series, and an arithmetic algorithm storage section detaches. It is configured to be capable of storing a calculation algorithm when calculating the handwriting of the pen-type input device in advance, and the calculation unit stores the calculation algorithm in the sensor output storage unit in time series using the calculation algorithm previously stored in the calculation algorithm storage unit. The handwriting of the pen-type input device is calculated based on the acceleration signal and the rotation angular velocity signal, and the host communication unit calculates the handwriting of the pen-type input device calculated by the operation unit. The host device includes an input device communication unit and a handwriting storage unit, the input device communication unit receives handwriting of the pen-type input device from the pen-type input device, and the handwriting storage unit receives the pen-type data received from the pen-type input device. A pen-type input system for storing handwriting of an input device. 9. The arithmetic algorithm storage unit sets a gravity acceleration direction to a Zg axis based on an acceleration in a pen axis coordinate system (Xs, Ys, Zs) having a pen axis detected by an acceleration sensor as a Zs axis in a stationary state. An initial tilt angle of the pen axis in the gravity coordinate system (Xg, Yg, Zg) is calculated, and a change in the tilt angle from the initial tilt angle of the pen axis is calculated based on the rotational angular velocity detected by the gyro during writing. Based on the change of the tilt angle from the tilt angle and the initial tilt angle, the gravitational coordinate system (X
g, Yg, Zg), and the three acceleration sensors detect the inclination angle of the pen axis in writing in the gravity coordinate system (Xg, Yg, Zg) and the mounting position of each acceleration sensor. Acceleration in the pen axis coordinate system (Xs, Ys, Zs) is converted into acceleration in the gravitational coordinate system (Xg, Yg, Zg), and the pen tip is based on the converted acceleration in the gravitational coordinate system (Xg, Yg, Zg). The pen-type input system according to any one of claims 1 to 8, wherein a calculation algorithm for calculating the handwriting is stored in advance.