CN101976128A - Digital calligraphy/painting real-time data acquisition simulation system and acquisition method thereof - Google Patents
Digital calligraphy/painting real-time data acquisition simulation system and acquisition method thereof Download PDFInfo
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Abstract
The invention relates to a digital calligraphy/painting real-time data acquisition simulation system which is composed of a digital calligraphy/painting pen, a touch display screen and a computer which are controlled by software. The invention is characterized in that the inner cavity of the pen holder of the digital calligraphy/painting pen is provided with a detection sensor, which is used for measuring acceleration components in three coordinate axis directions in the pen holder local coordinate system, and a detection sensor for measuring the magnetic field components in three coordinate axis directions; and three coordinate axis components of the geomagnetic field intensity in the calligraphy/painting pen local rectangular coordinate system and the touch display screen local rectangular coordinate system, and three coordinate axis components of the earth gravity field are acquired to analyze and acquire real-time inclination angle between the digital calligraphy/painting pen holder and the touch display screen local coordinate system, the inclination direction angle and the rotation angle of the pen holder around the central axis of the pen holder. The invention provides a basic technology of using a simulation calligraphy/painting system to represent the width and depth of a stroke by the pen usage gesture, and also provides basic data support for the advancement and development of real-time simulation technology for representing the effects of the true levels of real-time digital simulation calligraphy/painting, especially for representing calligraphy/painting with Chinese rice paper and ink.
Description
Technical field
The present invention relates to digital painting and calligraphy technology and acceleration detection and magnetic field intensity detection technique, especially relate to a kind of digital painting and calligraphy and paint real-time data acquisition analogue system and acquisition method with the dynamic attitude of measurement penholder.
Background technology
Numeral painting and calligraphy technology is utilized digital machine and software engineering, digit position touch screen technology and felt pen (or pen-shaped mouse) are constituted Writing-painting simulated environment basic boom, gathering style of writing planimetric position (x, (perhaps also comprise the corresponding informance of style of writing) on the basis of person's handwriting trace information y), realize writing or painting effect of screen display with software emulation to the pressure (z) of writing screen.This class technology is mainly used in literal identification (digital writing plate or handwriting input) at present, the digital pictorial plate, also be applied to the raw data acquisition of emulation or virtual emulation painting and calligraphy software engineering, these emulation or virtual emulation painting and calligraphy technology have related to the hard-tipped pen painting and calligraphy, the pencil painting and calligraphy, watercolor, oil painting, performance fields such as Chinese writing brush painting and calligraphy.
But to disclosed correlation computer numeral calligraphy and painting technology at present, image data is only according to the locus of points basic data of style of writing, and fails whole migration states of complete description and reflection penholder.That is to say that existing Painting and Calligraphy emulated data detection technique only detects xy or xyz basic data, do not detect the ability of the attitude parameter (as the pitch angle, the rotation angle of vergence direction angle and penholder self) of penholder; And these painting and calligraphy operator whole composition results embodiments that reality is done when book is painted exactly, lack these master datas, restricted the true performance degree that emulation shows, especially, be difficult to reach the expectation of desirable emulation to during the emulation of the Chinese Painting and Calligraphy of complexity difficulty is expressed the most.
In addition, virtual brush Chinese Painting and Calligraphy expression technology, just begin one's study and develop from the 1980s, but purport is not the emulation of real-time painting and calligraphy gimmick, its writing brush is virtual, has many effects to belong to post-production and finishes, and is a kind of imitation to the Chinese Painting and Calligraphy effect, the technology that belongs to imitation, its data basis also are on the begin to write position and the pressure of beginning to write that is based upon when writing.Because of the special complicacy of Chinese writing brush painting and calligraphy, make the research sink into multiple 'bottleneck' restrictions always, be difficult on final effect near true.
Data shows that three-axle magnetic field component detection sensor technology, 3-axis acceleration component detection sensor technology have been disclosed in the application of the display screen orientation detection of smart mobile phone at present, and sees multiple similar application and the gps satellite location and the conversion of airmanship applied scene etc. of popularization and panel computer etc.
Summary of the invention
Purpose of the present invention is intended to: by three geomagnetic field components of pen and screen and the detection of three gravitational acceleration components, the angular movement of penholder is changed the real-time data acquisition scope of including in, use computing technique, set up a kind of real time data platform of gathering the physical parameter of the total movement of penholder in the painting and calligraphy process.
Dominant ideas of the present invention are: will being determined the technology of direction of warp and weft, being determined the technology of vertical direction based on 3-axis acceleration component detection sensor by the terrestrial gravitation acceleration by the terrestrial magnetic field based on three-axle magnetic field component detection sensor, be applied in the real-time data acquisition technology of the tool motion that digital book paints, parse the utility data of describing a tool angular pose variation in the painting and calligraphy process by means of Computing, be used to develop digital book and paint real-time collection emulation technology.
This digital book is painted the real-time data acquisition analogue system, comprises digital book paintbrush, computing machine, touch-screen, constitutes the digital book that relies on computer software technology and paints the real-time data acquisition analogue system by data pen output cable, touchscreen cable between the three.Wherein the digital book paintbrush is made up of nib and penholder, described nib and touch screen combination constitute and detect nib the screen coordinates value of touch screen of living in position and detection inductor of touch screen force value (or touch-screen normal direction coordinate figure of detecting pen end motion point) in emulation painting and calligraphy process, the invention is characterized in: it is local rectangular coordinate system that described penholder inner chamber is provided with the penholder, and install with penholder coordinate axis coaxial cable direction, measure the acceleration detection sensor of three axes directional acceleration component and the magnetic field detection sensor of the axial magnetic-field component of measurement three-dimensional, and finishing of configuration controlled collection, the microprocessor of processing and transmit data functionality as required.
Described touch-screen be provided with penholder in corresponding supporting, be local rectangular coordinate system with the touch-screen, measure the axial 3-axis acceleration component detection of touch-screen three-dimensional sensor and measure the axial three-axle magnetic field component detection of three-dimensional sensor.
Described three axes component of acceleration detecting sensor is a 3-axis acceleration detecting sensor, or a plurality of separate type acceleration detection sensor.
Described three axes magnetic-field component detecting sensor is one three number of axle word compass integrated circuit, or a plurality of separate type magnetic field detection sensor.
This digital book is painted the real-time data acquisition analogue system, by the touch-screen screen coordinates (x of nib with the corresponding supporting setting of touch-screen, y) detect inductor, nib, rigidity slide bar and penholder internal inductance displacement transducer, three axial component acceleration detection sensors, three axial component magnetic field detection sensor, and the common formation of microprocessor can reflect in real time: nib and the painting and calligraphy contact coordinate of penholder in the touch-screen local rectangular coordinate system, be to press displacement or pressure in the local rectangular coordinate system of z axle with the penholder axis, and whole angle variable condition information of penholder local coordinate, and, constitute image data jointly and resolve the penholder angle of inclination of penholder axis in the touch-screen local rectangular coordinate system via the data collection and analysis module that the book that microprocessor and computing machine connect and compose is painted software, the vergence direction angle of penholder and penholder are around the device of the anglec of rotation of penholder axis.
This digital book is painted the real-time data acquisition analogue system, and its method of gathering real time data has dual mode:
First kind of mode is:
A, by three-axle magnetic field detecting sensor in the penholder that is arranged on the digital book paintbrush and 3-axis acceleration detecting sensor detect respectively obtain with the three axes under the penholder local rectangular coordinate system to geomagnetic field component, and specification cosine Sx (t), the Sy (t), Sz (t) and the three axes that turn to terrestrial magnetic field and each coordinate axis angle to gravitational acceleration component, and normalization is cosine Gx (t), Gy (t), the Gz (t) of gravity field and each coordinate axis angle;
B, detect respectively by three-axle magnetic field detecting sensor, the 3-axis acceleration detecting sensor that is placed in the touch-screen, obtain under the touch-screen local rectangular coordinate system three axes to geomagnetic field component, and specification cosine SX (t), the SY (t), SZ (t) and the three axes that turn to terrestrial magnetic field and each coordinate axis angle to gravitational acceleration component, and normalization is cosine GX (t), GY (t), the GZ (t) of gravity field and each coordinate axis angle.
The second way is:
A, by three-axle magnetic field detecting sensor in the penholder that is arranged on the digital book paintbrush and acceleration detection sensor detect respectively obtain with the three axes under the penholder local rectangular coordinate system to terrestrial magnetic field cosine component Sx (t), Sy (t), Sz (t) and three axes to acceleration of gravity cosine component Gx (t), Gy (t), Gz (t);
B, the digital book paintbrush is shelved on the touch-screen, or be suspended on mode in the touch-screen panel scope, the penholder local coordinate system is alignd with the change in coordinate axis direction of touch-screen local coordinate system, by utilize penholder local coordinate system three axes that penholder obtains to geomagnetic field component and gravitational acceleration component, directly be equal to the corresponding measurement data of touch-screen local coordinate system.
This digital book is painted the real-time data acquisition analogue system, by gathering each 6 direction cosine component data of above-mentioned digital book paintbrush and touch display screen, obtains the angular movement information of abundant necessity of digital book paintbrush and touch display screen; In view of the above, by the data resolution module that is provided with computer software technology, by computing of coordinate system angular transition and parsing geometric operation, the angular pose data (below with reference to Fig. 3) of the local coordinate system of the convenient expression digital book paintbrush that is suitable in the expression of emulation painting and calligraphy with respect to the touch display screen local coordinate system are obtained in parsing:
(1) penholder angle of inclination:
(1)
Target Z axle) angle;
Scope (0～
);
(2) the vergence direction angle of penholder:
(2)
(3) the penholder anglec of rotation:
(3)
Direct effect of the present invention is:
(1) at emulation flat nib (pencil, during the oiling pen) painting and calligraphy, directly drawing the touch screen point by the attitude parameter of pen is that the Wide of nib is along screen, narrow along screen, still wedge angle screen, in conjunction with a row directional data (xy), the basic technology that provides a kind of usefulness to wield the pen the gesture performance stroke width depth;
(2) when emulation China writing brush painting and calligraphy, can parse in view of the above: the size of style of writing, the length ratio of style of writing, the centre forward of performance Chinese Painting and Calligraphy is given in the sensing positions of the vigour of style in writing etc., technique in calligraphy, the side cutting edge of a knife or a sword, the gimmick of wieling the pen of contrary cutting edge of a knife or a sword provides master data.Thereby, the present invention provides new basis and center of effort for the development of digital painting and calligraphy simulation software, wish that developing a kind of is purpose with the imitative sense of reality when participating in the cintest, can paint technical merit real-time digital painting and calligraphy display technique just by the true book of performance, especially wish the progress that target is positioned to obtain the real-time simulation display technique that shows Chinese rice paper wash drawing painting and calligraphy effect.
Description of drawings
Fig. 1 paints real-time data acquisition emulate system architecture synoptic diagram for digital book;
Fig. 2 is the structural representation of digital book paintbrush;
Fig. 3 is provided with principle and mutual relationship synoptic diagram for three kinds of related coordinate systems of real-time data acquisition analogue system.
Among the figure: 1-digital book paintbrush, 1.1-nib, 1.2-rigidity slide bar, 1.3-inductance displacement sensor, 1.4-3-axis acceleration detecting sensor, 1.5-three-axle magnetic field detecting sensor, 1.6-microprocessor 1.7-installation base plate, 1.8-penholder, 2-digital book paintbrush communication wire cable 3-computing machine, 4-touch-screen connection cable 5-touch-screen.
Among the figure:
Penholder local rectangular coordinate system xyz(z axle is a penholder axis direction, xy be the penholder xsect to),
Touch-screen local rectangular coordinate system XYZ(XY be the touch display screen panel two limits to, Z is the normal direction of panel),
Earth magnetism gravity field coordinate system X ' Y ' Z ' (Z ' refer to that Y ' refers to north, X ' refers to east).
Embodiment
Further set forth the present invention below in conjunction with Figure of description, and provide embodiments of the invention.
This digital book of introduction of the present invention is painted the real-time data acquisition analogue system, comprise digital book paintbrush 1, computing machine 3, touch-screen 5, pass through between the three by digital book paintbrush cable 2, touchscreen cable 4 connections such as grade, constitute the digital book that relies on computer software technology and paint the real-time data acquisition analogue system, wherein digital book paintbrush 1 is made up of nib 1.1 and penholder 1.8, nib 1.1 constitutes screen coordinates value and the touch screen force value that reflection detects nib touch screen of living in position in emulation painting and calligraphy process with touch-screen 5, or the detection inductor of the touch display screen normal direction coordinate figure of detecting pen end motion point, wherein the nib 1.1 that is configured to of digital book paintbrush has rigidity slide bar 1.2, inductance displacement sensor 1.3, it is characterized in that: it is local rectangular coordinate system that described penholder 1.8 inner chambers are provided with the penholder, and install with penholder (Fig. 3) coaxial cable direction, the three-axle magnetic field detecting sensor 1.5 of the 3-axis acceleration detecting sensor 1.4 of energy measurement three direction of principal axis components of acceleration and measurement three axial magnetic-field components, and the realization of configuration as required control sampling, handle and transmit the microprocessor 1.6 of data.
Described digital book is painted the real-time data acquisition analogue system, has the functional module that institute's image data is handled, this functional module both can only be placed in preprocessing part in the penholder microprocessor and directly be placed in remainder in the principal computer, also can be used as an integral body and be placed in the penholder microprocessor, even all be installed in the principal computer.
Touch-screen makes corresponding gravitational acceleration component and magnetic-field component detects, and two kinds of implementations are arranged:
First kind of implementation, be provided with in the touch-screen with penholder in the corresponding supporting axial component of acceleration of installing by touch-screen local rectangular coordinate system axis direction of this three-dimensional of measurement the acceleration detection sensor and measure the axial magnetic field of this three-dimensional branch to the magnetic field detection sensor of amount.The characteristics of this method are to detect related data in real time, allow the touch display screen position to paint in the process at book and change.
Second kind of implementation, described touch-screen, be provided with and be specifically designed to the constructional device of laying down the pen or brush or hanging pen, this device can be the shelf that parallels on one side with touch-screen, the digital book paintbrush can be put by the fixed position and be put, or, make the digital book paintbrush by on fixed position vertical hanging and the panel perpendicular to the stand of touch-screen panel.The purpose of She Zhiing is like this: the acceleration detection sensor in the penholder, the three-axis measurement direction of magnetic field detection sensor are fixedly alignd with the three-dimensional axis direction of the local rectangular coordinate system of touch display screen.This method is only applicable to the application scenario of touch display screen stationkeeping.
Described digital book is painted the real-time data acquisition analogue system, the software processing system of its controller contains by digital book paintbrush, touch display screen and magnetic field of the earth gravity field and constitutes three groups of not only independent but also inter-related local coordinate systems: promptly be the xyz digital book paintbrush local coordinate system of z axle with digital book paintbrush penholder, with the touch display screen border is X-axis, Y-axis, shielding positive normal direction is the touch display screen local coordinate system of the XYZ of Z axle, based on the X ' Y ' Z ' local coordinate system of magnetic field of the earth gravity field (X ' axle refers to east, Y ' axle refers to north, and Z ' axle refers to).By in the penholder with the inductance displacement sensor 1.3 of the supporting setting of touch-screen, 3-axis acceleration sensor 1.4, three-axle magnetic field sensor 1.5, and microprocessor 1.6, rigidity slide bar 1.2 and nib 1.1 common formations can reflect accurately that nib and penholder at touch panel coordinates are, terrestrial coordinate system and be displacement in the coordinate system of z axle with the penholder axis, dynamics and inclination angle variable condition information, resolve the attitude data that obtains the penholder motion in view of the above, comprising: the penholder angle of inclination of penholder axis in touch panel coordinates system, the vergence direction angle of penholder and penholder are around the anglec of rotation of penholder central shaft.
Described 3-axis acceleration detecting sensor is a model MMA7260QT 3-axis acceleration sensor (Freescale Semiconductor production).
Described three-axle magnetic field detecting sensor is a model HMC5843 three number of axle word compass integrated circuit (Honeywell production).
In addition, described touch-screen 5 can be to have Presentation Function to become touch display screen.At this moment, touch screen module and display panel module are built together, and both local coordinate systems is overlapping, directly emulation painting and calligraphy person's handwriting are presented at painting and calligraphy style of writing position, form the touch display screen of sense of reality Simulation Application when participating in the cintest.
This digital book is painted the real-time data acquisition analogue system, and the method for gathering penholder coordinate axis angle variation real time data is:
A, detect the x that obtains the penholder local rectangular coordinate system respectively by three-axle magnetic field detecting sensor in the penholder that is arranged on the digital book paintbrush and 3-axis acceleration detecting sensor, y, three coordinate axis of z to the normalized value of geomagnetic field component
,
,
And the normalized value of gravitational acceleration component
,
,
, resolve the measurement of base vector under earth magnetism gravity field coordinate system of obtaining the penholder local coordinate system and express:
Wherein, z is a penholder axis direction base vector, and x, y are penholder xsect base vectors,
；
.
B, by first kind of implementation, by being placed in three-axle magnetic field detecting sensor and the 3-axis acceleration detecting sensor in the touch-screen; Or by second realization kind of a mode, when specific laying down the pen or brush (hanging pen), pass through three-axle magnetic field detecting sensor and 3-axis acceleration detecting sensor in the penholder of digital book paintbrush, detect the X that obtains touch display screen, Y, the normalized value of the geomagnetic field component that three rectangular coordinates of Z are axial respectively
,
,
And the normalized value of gravitational acceleration component
,
,
, resolve the measurement of base vector under earth magnetism gravity field coordinate system of obtaining the touch display screen local coordinate system and express:
X wherein, Y is the panel both sides base vector of touch display screen local coordinate system, Z is a panel normal direction base vector,
This digital book is painted the real-time data acquisition analogue system, and it is as follows with respect to the method for the real time data of the angle variation of touch display screen local coordinate system to obtain the penholder local coordinate system:
A, (2) formula base vector matrix is rotated to unit matrix by the rotation of coordinate computing,
Obtain rotation matrix A, same rotation is put on (4) formula base vector matrix, i.e. A premultiplication (4) formula
(6), (7) formula shows the expression that base vector is rotated under the touch panel coordinates
With
B, under touch panel coordinates system:
1) penholder angle of inclination
:
2) penholder vergence direction angle
:
3) penholder is with respect to the anglec of rotation of penholder central shaft
:
Wherein:
This digital book is painted the real-time data acquisition analogue system, realize collection by the data acquisition module of emulation software for display to described image data, scheduling, and finish and resolve the computing of obtaining the attitude parameter (penholder angle of inclination, penholder vergence direction angle and penholder are around the rotation angle of penholder central shaft (z)) of describing the motion of painting and calligraphy process digital book paintbrush; The Data Detection processing capacity of this emulation software for display data acquisition module is distributed in the microprocessor in computing machine and the digital book paintbrush handwriting; The software of microprocessor also should comprise the function that digital book paintbrush special marking record is informed in output in this handwriting, the software of being convenient in the computing machine is done suitable processing (for example discern the fixed character parameter of institute's linking number wordbook paintbrush, a mark is embedded the application such as identification of history file as the artwork).
The touch sensing system that this digital book is painted the real-time data acquisition analogue system adopts the electromagnetic induction touch-screen system, bring into play it the power that presses and the contact size that can detect are not had the minimum characteristics that require, the application scenario that is fit to very thin writing brush point, its anchor point that detects the XY coordinate are the inductance displacement sensors 1.3 in the penholder.In view of having certain distance between the actual contact of being located at inductance displacement sensor 1.3 in the penholder and touch display screen, when penholder tilted, the XY coordinate that detects contact and actual contact was devious.In the prior art to this deviation or do not handle, perhaps suppose a constant tilt angle (for example 60
o) and the constant tilt direction provide one and fixedly estimate correction, be coarse processing in a word.Paint in the real-time data acquisition analogue system at this digital book, according to the real-time attitude data of penholder, this kind deviation is realized revising in real time, the person's handwriting position that emulation is shown is more accurate, has improved book and has painted the visual realism of degree of accuracy and the operation of emulation painting and calligraphy.Revised person's handwriting coordinate is:
，
X0 (t) wherein, Y0 (t), the original measurement coordinate data that the person's handwriting point that is obtained by nib and the combination of touch display screen when z0 (t) is painting and calligraphy at touch panel coordinates is,
Be the angle of inclination of penholder central shaft,
Be the vergence direction angle of penholder central shaft,
The pen trace motion measurement point of handwriting is to the length of actual painting and calligraphy touch screen point.
Claims (9)
1. a digital book is painted the real-time data acquisition analogue system, comprise the digital book paintbrush, touch display screen, computing machine, export cable by the digital book paintbrush between the three, the display screen cable is connected with touchscreen cable, rely on the software control of Computer Simulation painting and calligraphy and realize running, wherein the digital book paintbrush is made up of nib and penholder, described nib and the combination of touch display screen, screen coordinates value with the nib of detecting touch screen position in emulation painting and calligraphy process and touch screen force value or detect the detection inductor of related therewith monitoring point touch display screen normal direction coordinate figure, it is characterized in that: described penholder inner chamber is provided with along the change in coordinate axis direction of penholder local rectangular coordinate system and installs, the detecting sensor of the detecting sensor of the axial component of acceleration of energy measurement three-dimensional and the axial magnetic-field component of this three-dimensional of measurement.
2. digital book according to claim 1 is painted the real-time data acquisition analogue system, it is characterized in that: described touch display screen, be provided with penholder in the corresponding supporting axial component of acceleration of measurement touch display screen local rectangular coordinate system three-dimensional detecting sensor and measure the detecting sensor of the axial magnetic-field component of this three-dimensional.
3. digital book according to claim 1 is painted the real-time data acquisition analogue system, it is characterized in that: described touch display screen, be provided with the shelf that is used to shelve the digital book paintbrush or hang a constructional device, the three-axis measurement direction that makes acceleration detection sensor that the penholder internal fixation installs, magnetic field detection sensor corresponding lay down the pen or brush or when hanging operating position and the three axes of the local rectangular coordinate system of touch display screen be in fixedly aligned condition.
4. digital book according to claim 1 is painted the real-time data acquisition analogue system, it is characterized in that: by the touch display screen screen coordinates (x of nib with the corresponding supporting setting of touch display screen, y) detect inductor, nib, rigidity slide bar and penholder internal inductance displacement transducer, three axial component acceleration detection sensors, three axial component magnetic field detection sensor, and microprocessor, common formation can reflect the painting and calligraphy contact coordinate that nib and penholder at touch panel coordinates are in real time, it with the penholder axis displacement that presses in the penholder local rectangular coordinate system of z axle, press the angle variable condition information of power and penholder partial, right angle coordinate axis, and, constitute image data jointly and resolve and extract the penholder angle of inclination of penholder axis in touch panel coordinates system through the data collection and analysis module that the book that microprocessor and computing machine connect and compose is painted software, the vergence direction angle of penholder and penholder are around the device of the anglec of rotation of penholder central shaft.
5. digital book according to claim 1 is painted the real-time data acquisition analogue system, it is characterized in that: the detecting sensor of described detection three axes directional acceleration component is a 3-axis acceleration detecting sensor.
6. digital book according to claim 1 is painted the real-time data acquisition analogue system, it is characterized in that: the detecting sensor of described detection three axes direction magnetic-field component is one three number of axle word compass integrated circuit.
7. digital book according to claim 4 is painted the real-time data acquisition analogue system, and it is as follows that its method of gathering real time data has feature:
A, detect the x that obtains under the penholder local rectangular coordinate system respectively by three-axle magnetic field detecting sensor in the penholder that is arranged on the digital book paintbrush and 3-axis acceleration detecting sensor, y, three coordinate axis of z to the normalized value of geomagnetic field component
,
,
And the normalized value of gravitational acceleration component
,
,
, resolve the measurement of base vector under earth magnetism gravity field coordinate system of obtaining the penholder local rectangular coordinate system and express:
Wherein, z is a penholder axis direction base vector, and x, y are penholder xsect base vectors,
B, by being placed in three-axle magnetic field detecting sensor and the 3-axis acceleration detecting sensor in the touch display screen; Perhaps lay down the pen or brush or when hanging pen state specific, by with the penholder of the digital book paintbrush of touch display screen coordinate axis alignment direction in three-axle magnetic field detecting sensor and 3-axis acceleration detecting sensor; Detect the X that obtains touch display screen, Y, the normalized value of the geomagnetic field component that three rectangular coordinates of Z are axial respectively
,
,
And the normalized value of gravitational acceleration component
,
,
, resolve the measurement of base vector under earth magnetism gravity field coordinate system of obtaining the touch display screen local coordinate system and express:
（2）
X wherein, Y is the base vector on the panel both sides of touch display screen local coordinate system, Z is a panel normal direction base vector,
8. digital book according to claim 7 is painted the real-time data acquisition analogue system, it is characterized in that: it is as follows with respect to the method for the real time data of the angle variation of touch display screen local rectangular coordinate system to obtain the penholder local rectangular coordinate system:
A, (2) formula base vector matrix is rotated to unit matrix by the rotation of coordinate computing
Obtain rotation matrix A, same rotation is put on (1) formula base vector matrix, i.e. A premultiplication (1) formula
（4）
B, under the touch display screen coordinate system:
1) penholder angle of inclination
:
（5）
2) penholder vergence direction angle
:
3) penholder is with respect to the anglec of rotation of penholder central shaft
:
Wherein:
9. digital book according to claim 8 is painted the real-time data acquisition analogue system, it is characterized in that: have variation according to penholder use angle and style of writing pressure, the real-time correction of the error of contact coordinate is write in the digital book paintbrush touch display screen composite inductors collection that causes thus, and revised person's handwriting coordinate is:
X0 (t) wherein, Y0 (t), the person's handwriting point that is obtained by nib and the combination of touch display screen when z0 (t) is painting and calligraphy be in the original measurement coordinate data of touch display screen local coordinate system,
Be the angle of inclination of penholder central shaft,
Be the vergence direction angle of penholder central shaft,
The pen trace motion measurement point of handwriting is to the length of actual painting and calligraphy touch screen point.
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| CN105160296B (en) * | 2015-07-23 | 2019-06-14 | 浙江致晟信息科技有限公司 | One kind wield the pen motion capture system, device and drawing style emulation mode |
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| CN105068727A (en) * | 2015-08-18 | 2015-11-18 | 百度在线网络技术（北京）有限公司 | Realization method and device for drawing tool |
| CN105068727B (en) * | 2015-08-18 | 2018-09-04 | 百度在线网络技术（北京）有限公司 | A kind of implementation method and device of drawing tool |
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| US10437351B2 (en) | 2016-08-17 | 2019-10-08 | Shenzhen GOODIX Technology Co., Ltd. | Method for detecting input device and detection device |
| CN110709797A (en) * | 2018-06-29 | 2020-01-17 | 深圳市大疆创新科技有限公司 | Movable platform control method and device and movable platform |
| WO2020042145A1 (en) * | 2018-08-31 | 2020-03-05 | 深圳市柔宇科技有限公司 | Handwriting sensing system, and handwriting input control device and method therefor |
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