KR20030002937A - No Contact 3-Dimension Wireless Joystick - Google Patents

No Contact 3-Dimension Wireless Joystick Download PDF

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Publication number
KR20030002937A
KR20030002937A KR1020010039255A KR20010039255A KR20030002937A KR 20030002937 A KR20030002937 A KR 20030002937A KR 1020010039255 A KR1020010039255 A KR 1020010039255A KR 20010039255 A KR20010039255 A KR 20010039255A KR 20030002937 A KR20030002937 A KR 20030002937A
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South Korea
Prior art keywords
joystick
dimensional
image
indicating means
stereo cameras
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KR1020010039255A
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Korean (ko)
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KR100446236B1 (en
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이상호
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엘지전자 주식회사
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Priority to KR10-2001-0039255A priority Critical patent/KR100446236B1/en
Publication of KR20030002937A publication Critical patent/KR20030002937A/en
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
    • G06F3/033—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
    • G06F3/0346—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor with detection of the device orientation or free movement in a 3D space, e.g. 3D mice, 6-DOF [six degrees of freedom] pointers using gyroscopes, accelerometers or tilt-sensors
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
    • G06F3/033—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
    • G06F3/0338—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor with detection of limited linear or angular displacement of an operating part of the device from a neutral position, e.g. isotonic or isometric joysticks

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Position Input By Displaying (AREA)

Abstract

PURPOSE: A non-contact type wireless joystick is provided to facilitate the space efficiently, to realize the free manipulation by moving a direction control tool such as a finger on the 3-D(Dimensional) space and to give more control commands according to the movement on the 3-D plane. CONSTITUTION: The direction control tool(3) such as the finger points to a direction on the 3-D space. A left and a right stereo camera(4,5) receive the movement of the direction control tool(3). A computer(1) analyzes the direction control tool(3) by analyzing an image inputted by the stereo cameras(4,5) and processes a command. The non-contact type wireless joystick analyzes the direction controlled by the direction controlling tool(3) moving on the 3-D space by converting two 2-D images inputted through two stereo cameras into a 3-D image. The stereo cameras process an operation such as the video communication and the image recognition process.

Description

비접촉식 3차원 무선 조이스틱{No Contact 3-Dimension Wireless Joystick}Contactless 3-Dimensional Wireless Joystick {No Contact 3-Dimension Wireless Joystick}

본 발명은 컴퓨터의 입력수단에 하나인 조이스틱에 관한 것으로, 특히 2개의 영상을 입력받아 입체적인 영상으로 방향입력을 할 수 있도록 하는 비접촉식 3차원 무선 조이스틱에 관한 것이다.The present invention relates to a joystick that is one of the input means of a computer, and more particularly, to a non-contact three-dimensional wireless joystick that receives two images and enables direction input to a three-dimensional image.

조이스틱은 컴퓨터에 연결하여 정보를 입력하는데 사용할 수 있는 컴퓨터의 입력수단으로서, 일반적인 용도는 주로 게임등에 쓰인다.A joystick is a computer input means that can be used to input information by connecting to a computer. A general purpose is mainly used for games.

종래의 일반 컴퓨터에 연결하여 사용하는 조이스틱의 시스템은 도 1과 같으며, 도 1은 종래의 접촉식 조이스틱을 활용하는 구성을 나타낸 블록도이고, 도 2은 종래의 접촉식 조이스틱의 구성도이며, 도 3는 종래의 접촉식 조이스틱의 등가회로도이다.A system of a joystick used in connection with a conventional general computer is the same as that of FIG. 1, and FIG. 1 is a block diagram showing a configuration utilizing a conventional contact joystick, and FIG. 2 is a configuration diagram of a conventional contact joystick. 3 is an equivalent circuit diagram of a conventional contact joystick.

도 1을 참조하면, 일반 개인용 컴퓨터(1)와 상기 컴퓨터(1)와 유선으로 연결되어 사용자의 입력을 받아들이도록 하는 조이스틱(2)을 포함한다.Referring to FIG. 1, a general personal computer 1 and a joystick 2 connected to the computer 1 by wire to receive a user input are included.

상기와 같이 구성되는 종래의 조이스틱에 대해 도 2및 도 3를 참조하여 설명하면, 도 2에서와 같이, 전원공급수단(21), 손잡이(22)및 상기 손잡이(22)의 상,하의 이동에 대응하는 제 1가변저항수단(23)및 좌,우의 이동에 대응하는 제 2가변저항수단 (24)으로 구성되고 상기 손잡이(22)의 상,하,좌,우의 움직임에 대응하는 상기 가변저항수단(23, 24)의 가변저항에 따라 상기 전원공급수단(21)으로부터 공급되는 전압이 변동하고, 상기 변동되는 전압에 의해 피제어장치가 제어된다.Referring to Figure 2 and 3 with respect to the conventional joystick is configured as described above, as shown in Figure 2, the power supply means 21, the handle 22 and the upper and lower movement of the handle 22 The variable resistance means comprising a corresponding first variable resistance means 23 and a second variable resistance means 24 corresponding to the left and right movements and corresponding to the movement of the handle 22 up, down, left and right. The voltage supplied from the power supply means 21 varies according to the variable resistors 23 and 24, and the controlled device is controlled by the changed voltage.

또한 조이스틱의 손잡이 (22)의 움직임에 따라 가는 침(25)이 움직여 상기가변저항(23, 24)에 걸리는 전압이 결정되고, 상기 결정된 전압은 도 3의 상기 조이스틱 등가회로도의 피제어장치(31)를 제어하는 구동부(32)로 입력된다. 0V 전압이 인가된 스위치(33)는 입력 데이터의 유효성분을 나타내기 위한 것으로 상기 손잡이(22)의 상단에 구비되어 다른 목적으로도 이용가능하다.In addition, the needle 25 moves in accordance with the movement of the knob 22 of the joystick to determine the voltage applied to the variable resistors 23 and 24, and the determined voltage is controlled by the joystick equivalent circuit diagram of FIG. 3. ) Is input to the driver 32 for controlling. The switch 33 to which the 0 V voltage is applied is used to indicate an effective component of the input data and is provided on the upper end of the handle 22 and may be used for other purposes.

상기의 종래의 조이스틱은 레버를 이용하여 상,하,좌,우등의 x-y평면상의 방향으로 컨트롤할 수 있고, 상기 피제어장치의 이동이 전적으로 조이스틱의 움직임에 의존하게 되어, 컨트롤 명령에 한계가 있고, 유선상으로 컴퓨터와 연결되어 한정된 거리에서만 사용이 가능한 문제점이 있다.The conventional joystick can be controlled in the xy plane directions such as up, down, left, and right using a lever, and the movement of the controlled device is completely dependent on the movement of the joystick. There is a problem that can be used only in a limited distance is connected to the computer by wire.

상기와 같은 문제를 해결하기 위하여, 본 발명은 두대의 컴퓨터용 카메라를 이용하여 특별한 조이스틱을 이루는 기구 없이, 손동작만을 카메라가 읽어들어 방향을 인식함으로써 x,y,z의 입체적인 방향조절을 가능하게 하고, 종래의 유선 조이스틱과 다르게 무선으로 조이스틱의 기능을 할수 있으며, 입체적 방향조절로 인하여 더 많은 제어명령을 가질수 있고, 컴퓨터에 설치된 카메라를 이용하여 조이스틱의 기능 이외에 입체 영상처리 기능까지 그 기능을 확대할 수 있는 비접촉식 3차원 무선 조이스틱을 제공함에 그 목적이 있다.In order to solve the above problems, the present invention enables the three-dimensional direction control of the x, y, z by recognizing the direction of the camera by reading only the hand gestures without using a special joystick mechanism using two computer cameras Unlike conventional wired joysticks, it can function as a wireless joystick wirelessly, and it can have more control commands due to three-dimensional direction control, and it can be expanded to a three-dimensional image processing function in addition to the joystick function by using a camera installed in the computer. It is an object of the present invention to provide a non-contact three-dimensional wireless joystick.

도 1은 종래의 접촉식 조이스틱을 활용하는 구성을 나타낸 도면.1 is a view showing a configuration utilizing a conventional contact joystick.

도 2은 종래의 접촉식 조이스틱의 구성도.2 is a block diagram of a conventional contact joystick.

도 3는 종래의 접촉식 조이스틱의 등가회로도.3 is an equivalent circuit diagram of a conventional contact joystick.

도 4은 본 발명의 실시 예에 따른 비접촉식 3차원 무선 조이스틱을 활용하는 구성을 나타낸 구성도.Figure 4 is a block diagram showing a configuration utilizing a contactless three-dimensional wireless joystick according to an embodiment of the present invention.

도 5는 본 발명의 실시 예에 따른 비접촉식 3차원 무선 조이스틱의 스테레오 카메라의 구조를 나타낸 구조도.5 is a structural diagram showing the structure of a stereo camera of a non-contact three-dimensional wireless joystick according to an embodiment of the present invention.

도 6는 도 4에 따른 스테레오 카메라의 기하학적 모델을 나타낸 도면.6 shows a geometric model of the stereo camera according to FIG. 4.

<도면의 주요부분의 간단한 설명><Brief description of the main parts of the drawings>

1 : 컴퓨터2 : 접촉식 조이스틱1: computer 2: touch joystick

3 : 방향지시수단4, 5 : 좌,우 스테레오 카메라3: direction indicating means 4, 5: left and right stereo camera

11 : 전원공급수단12 : 손잡이11 power supply means 12 handle

13 : 제 1 가변저항수단14 : 제 2 가변저항수단13 first variable resistance means 14 second variable resistance means

15 : 침21 : 피제어장치15: needle 21: controlled device

22 : 구동부23 : 스위치22: drive unit 23: switch

본 발명에 따른 비접촉식 3차원 무선 조이스틱은,The contactless three-dimensional wireless joystick according to the present invention,

3차원 공간에서 방향을 지시하는 방향 지시수단과;Direction indicating means for indicating a direction in a three-dimensional space;

상기 방향 지시수단의 동작을 입력받기 위한 두대의 스테레오 카메라와;Two stereo cameras for receiving an operation of the direction indicating means;

상기 스테레오 카메라로부터 입력된 영상정보를 분석하여 상기 방향지시수단이 가르키는 방향을 파악하고, 동작을 하도록 명령하는 중앙처리수단을 포함하여 구성되는 것을 특징으로 한다.And analyzing the image information input from the stereo camera to determine the direction indicated by the direction indicating means, and including a central processing means for instructing to operate.

바람직하게, 상기 스테레오 카메라는 일반적인 컴퓨터용 화상용 카메라로서, 화상통신및 영상인식처리 동작을 할 수 있는 것을 특징으로 한다.Preferably, the stereo camera is a general computer image camera, and is capable of performing image communication and image recognition processing.

바람직하게, 상기 두대의 스테레오 카메라로부터 입력된 영상은, 2차원영상으로써, 상대적으로 시간차 또는 휘도차를 갖는 좌, 우 영상과, 두대의 카메라 렌즈 중심간의 거리와, 초점거리를 이용하여, 상기 방향지시수단과의 거리를 측정하고, 상기 좌, 우 영상으로부터 구해지는 두개의 좌표(x1,y1,0),(x2,y2,0)와 거리좌표(0,0,z), 그리고 상기 두대의 카메라 렌즈의 중심간의 거리, 초점거리를 이용하여, 상기 방향지시수단의 3차원상의 위치좌표(x,y,z)를 구하는 것을 특징으로 한다.Preferably, the image input from the two stereo cameras is a two-dimensional image, the left and right images having a time difference or luminance difference relatively, the distance between the center of the two camera lenses, the focal length, the direction Measure the distance from the indicating means, and the two coordinates (x1, y1, 0), (x2, y2, 0) and the distance coordinates (0, 0, z) obtained from the left and right images, and the two Using the distance between the center of the camera lens, the focal length, the three-dimensional position coordinates (x, y, z) of the direction indicating means is obtained.

상기와 같이 구성되는 본 발명에 따른 비접촉식 3차원 조이스틱에 대하여 첨부된 도면을 참조하여 설명하면 다음과 같다.Referring to the accompanying drawings, a non-contact three-dimensional joystick according to the present invention configured as described above is as follows.

도 4은 본 발명의 실시 예에 따른 비접촉식 3차원 무선 조이스틱을 활용하는 구성을 나타낸 구성도이고, 도 5는 본 발명의 실시 예에 따른 비접촉식 3차원 무선 조이스틱의 스테레오 카메라의 구조를 나타낸 구조도이고, 도 6는 도 4에 따른 스테레오 카메라의 기하학적 모델을 나타낸 도면이다.4 is a block diagram showing a configuration utilizing a non-contact three-dimensional wireless joystick according to an embodiment of the present invention, Figure 5 is a structural diagram showing a structure of a stereo camera of a non-contact three-dimensional wireless joystick according to an embodiment of the present invention, 6 is a view showing a geometric model of the stereo camera according to FIG.

도 4를 참조하면, 본 발명에 따른 비접촉식 3차원 무선 조이스틱은 3차원 공간상에서 방향을 지시할 수 있는 방향지시수단(예; 손가락)(3)과, 상기 방향지시수단(3)의 움직임을 입력받는 좌, 우의 두대의 스테레오 카메라(4,5)와, 상기 스테레오 카메라(4,5)가 입력받은 영상을 분석하여 상기 방향지시수단(3)이 가르키는 방향을 분석하고, 명령을 처리하는 컴퓨터로 구성된다.Referring to FIG. 4, the contactless three-dimensional wireless joystick according to the present invention inputs a direction indicating means (for example, a finger) 3 capable of indicating a direction in a three-dimensional space, and a movement of the direction indicating means 3. Analyzing two stereo cameras (4, 5) of the left and right and the images received by the stereo cameras (4, 5) to analyze the direction indicated by the direction indicating means (3) and to process a command. It consists of.

상기와 같이 구성되는 비촉식 3차원 무선 조이스틱은 상기 두대의 스테레오 카메라(3,4)를 통하여 받아들이는 두개의 2차원 영상을 3차원 영상으로 변환시켜, 3차원 공간상에서 움직이는 방향지시수단(3)이 가르키는 방향을 분석하게 된다.The non-tactile three-dimensional wireless joystick configured as described above converts two two-dimensional images received through the two stereo cameras 3 and 4 into three-dimensional images, and the direction indicating means 3 moves in three-dimensional space. You will analyze this pointing direction.

도 5는 두대의 스테레오 카메라의 구조를 나타낸 것으로, 2차원 영상을 3차원으로 변환시키는 방법은 인간이 양안시차를 통하여 입체감을 획득하는 것과 같은 원리이다. 즉, 인간의 눈에 해당하는 좌, 우 카메라(4,5)와 2차원 영상신호에서 상대적으로 시간차 또는 휘도차를 갖는 오른쪽 영상(50)와 왼쪽 영상(40)을 생성하고, 인간의 두 눈의 간격에 해당하는 좌,우 카메라의 렌즈 중심거리(B), 초점거리(λ)를 이용하여 손가락의 거리정보 Z를 계산함으로써 2차원 영상이 3차원으로 변환되는 것이다.FIG. 5 shows the structure of two stereo cameras. The method of converting a 2D image into 3D is the same principle as that of obtaining a stereoscopic effect through binocular parallax. That is, a right image 50 and a left image 40 having a time difference or luminance difference are generated from the left and right cameras 4 and 5 corresponding to the human eye and the two-dimensional image signal, and the two human eyes The 2D image is converted into 3D by calculating the distance information Z of the finger using the lens center distance B and the focal length λ of the left and right cameras corresponding to the intervals of.

도 6과 같이 두대의 스테레오 카메라의 좌, 우 영상을 이용하여 컴퓨터는 방향지시수단에 해당하는 손가락의 위치 정보를 추정하는데, 좌,우 카메라의 영상 (40, 50)을 이용하여 (x4,y4,0), (x5,y5,0)라는 좌표를 추정한다.Using the left and right images of the two stereo cameras as shown in FIG. 6, the computer estimates the position information of the finger corresponding to the direction indicating means, using the images 40 and 50 of the left and right cameras (x4, y4). Estimate the coordinates (0), (x5, y5, 0).

이와 같은 2차원 손가락 위치정보를 추측하고, 상기 양안시차추정 방법을 이용하여 손가락까지의 거리정보 Z를 계산한다.The two-dimensional finger position information is estimated and the distance information Z to the finger is calculated using the binocular parallax estimation method.

상기 거리정보 Z를 구하는 공식은 다음과 같다.The formula for obtaining the distance information Z is as follows.

--------------(1) --------------(One)

상기의 식(1)에 의하여 거리정보 Z를 구하면, 좌,우 영상으로부터 추정한 3개의 좌표 (x4,y4,0), (x5,y5,0), (0,0,z)와, 상기 두대의 스테레오 카메라의 렌즈의 중심거리(B)와, 초점거리(λ)를 이용하여 손가락의 3차원상의 위치정보(x,y,z)를 구할 수 있다.When distance information Z is obtained by the above equation (1), three coordinates (x4, y4,0), (x5, y5,0), (0,0, z) estimated from left and right images, and The three-dimensional position information (x, y, z) of the finger can be obtained using the center distance B and the focal length λ of the lenses of the two stereo cameras.

상기와 같이 손가락의 위치정보를 알게 되면, 그 위치에 해당하는 미리 약속된 제어명령을 발생하여 명령을 실행하거나, 피제어장치가 움직이도록 한다.When the location information of the finger is known as described above, a predetermined control command corresponding to the location is generated to execute the command or the controlled device moves.

또한 상기에서 설명한 두 대의 스테레오 카메라와 양안시차 추정방식을 이용하여 3차원 화상통신 또는 무선 마우스의 구현이 가능할 수 있다.In addition, it may be possible to implement a 3D video communication or a wireless mouse by using the two stereo cameras and the binocular disparity estimation method described above.

이상에서 설명한 바와 같이, 본 발명에 따른 비접촉식 3차원 무선 조이스틱은, 유선상으로 연결된 기존의 접촉식 조이스틱과 같이 공간상의 활용에 불편함이 없으며, 3차원 공간상에 손가락과 같은 방향지시수단이 움직임으로써 보다 자유로운 조작이 가능하고, 2차원 평면상의 위치이동보다 3차원 평면상의 위치이동에 따른 훨씬 많은 제어명령을 부여할 수 있으며, 무선 조이스틱의 기능이외에, 두대의 카메라를 이용하여 3차원 영상 처리기능 또는 화상통신과 같은 다용도의 기능으로 활용할수 있는 효과가 있다.As described above, the non-contact three-dimensional wireless joystick according to the present invention is not inconvenient in space utilization as the conventional contact joystick connected in a wired form, and the direction indicating means such as a finger moves on the three-dimensional space. More free operation is possible, and much more control commands can be given according to the position movement on the 3D plane than the position movement on the 2D plane, and besides the function of the wireless joystick, the 3D image processing function using two cameras or It can be used as a versatile function such as video communication.

Claims (3)

3차원 공간에서 방향을 지시하는 방향 지시수단과;Direction indicating means for indicating a direction in a three-dimensional space; 상기 방향 지시수단의 동작을 입력받기 위한 두대의 스테레오 카메라와;Two stereo cameras for receiving an operation of the direction indicating means; 상기 스테레오 카메라로부터 입력된 영상정보를 분석하고, 3차원상의 위치좌표를 구하여 상기 방향지시수단이 가르키는 방향을 파악하고, 동작을 하도록 명령하는 중앙처리수단을 포함하여 구성되는 비접촉식 3차원 무선 조이스틱.And a central processing unit which analyzes the image information input from the stereo camera, obtains a three-dimensional position coordinate, grasps the direction indicated by the direction indicating means, and instructs to perform an operation. 제 1항에 있어서, 상기 스테레오 카메라는 일반적인 컴퓨터용 화상용 카메라로서, 화상통신및 영상인식처리등의 동작을 할 수 있는 것을 특징으로 하는 비접촉식 3차원 무선 조이스틱.The non-contact 3D wireless joystick according to claim 1, wherein the stereo camera is a general computer image camera, and can perform operations such as image communication and image recognition processing. 제 1항에 있어서, 상기 3차원상의 위치 좌표를 구하는 것은, 상기 두대의 스테레오 카메라로부터 입력된 두개의 영상으로부터 구해지는 상기 방향지시수단의 두 개의 좌표와; 상기 두대의 스테레오 카메라의 렌즈의 중심간의 거리 및 초점거리와; 상기 두 개의 좌표와, 중심간의 거리 및 초점거리로부터 구해지는 상기 방향지시수단의 거리좌표를 이용하여 구해지는 것을 특징으로 하는 비접촉식 3차원 무선 조이스틱.The method of claim 1, wherein the three-dimensional position coordinates are calculated by: two coordinates of the direction indicating means obtained from two images inputted from the two stereo cameras; A distance and a focal length between the centers of the lenses of the two stereo cameras; And a contactless three-dimensional wireless joystick, characterized in that obtained using the two coordinates, the distance coordinates of the direction indicating means obtained from the distance between the center and the focal length.
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