CN105607764B - Trace input device and track input method - Google Patents
Trace input device and track input method Download PDFInfo
- Publication number
- CN105607764B CN105607764B CN201510971483.4A CN201510971483A CN105607764B CN 105607764 B CN105607764 B CN 105607764B CN 201510971483 A CN201510971483 A CN 201510971483A CN 105607764 B CN105607764 B CN 105607764B
- Authority
- CN
- China
- Prior art keywords
- input device
- trace
- posture
- writing pencil
- trace input
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- 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
- G06F3/0354—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor with detection of 2D relative movements between the device, or an operating part thereof, and a plane or surface, e.g. 2D mice, trackballs, pens or pucks
- G06F3/03545—Pens or stylus
-
- 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
- G06F3/0304—Detection arrangements using opto-electronic means
Landscapes
- 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)
- User Interface Of Digital Computer (AREA)
- Gyroscopes (AREA)
Abstract
The present invention provides a kind of trace input device and track input method.The trace input device includes: attitude transducer (101), is used to obtain the posture of the trace input device (10)；Displacement sensor (102) is used to obtain motion track of the trace input device (10) when moving on input medium；Processing unit (103), the posture of its trace input device (10) obtained using the attitude transducer (101) is modified motion track of the trace input device (10) on input medium that institute's displacement sensors (102) obtain.
Description
Technical field
The present invention relates to technical field of information processing more particularly to a kind of trace input device and track input methods.
Background technique
Nowadays, popularizing with computer, people are write and are more inputted using keyboard, mouse etc., are gone out again later
Voice input is showed.These novel modes are brought more convenient really, but some contents be not appropriate for keyboard and
Voice inputs, such as calligraphy, signature etc..
The appearance of writing pencil solves the above problem.Sensor in writing pencil obtains the motion track of pen tip, thus really
Surely the data of computer to be inputed to.
Writing pencil on the market needs to cooperate special writing medium that could work mostly at present.Such as on the jotting surface into
Running hand is write.In contrast, mouse can the dielectric surface of mouse pad, desktop or even other general planars carry out it is mobile to
Control the movement of cursor.
However, mouse should be kept to translate during carrying out track input (for example, writing) using mouse, and such as
The posture of fruit mouse is changed, then can not be properly entered displacement information.
As it can be seen that existing trace input device perhaps needs special input medium or due to posture in moving process
Change and cause input inaccuracy.
Summary of the invention
In view of the above problems, the present invention provides a kind of trace input device and track input method, can correct by
The error caused by the posture of trace input device changes, it is special thus, it is possible to be inputted, not needed whenever and wherever possible
Input medium.
On the one hand, the embodiment of the invention provides a kind of trace input devices, comprising: attitude transducer is used to obtain
The posture of the trace input device；Displacement sensor is used to obtain the trace input device and moves on input medium
When motion track；Processing unit, using the posture for the trace input device that the attitude transducer obtains, to described
Motion track of the trace input device that displacement sensor obtains on input medium is modified.
Further, the trace input device is writing pencil, the attitude transducer include gyroscope, accelerometer and
Magnetometer, institute's displacement sensors include photoelectric sensor, and the posture includes the pitch angle of the writing pencil, roll angle and partially
Boat angle.
Further, the writing pencil includes: the penholder with inner space；Pen tip positioned at described penholder one end；Its
In, the gyroscope, the accelerometer, the magnetometer and the photoelectric sensor are contained in the inside of the penholder
It is in space and coaxial with the writing pencil；And the processing unit obtains posture according to the posture of the writing pencil and shifts
Matrix is modified motion track of the pen tip on the input medium using the posture transfer matrix.
Further, the amendment that the processing unit carries out includes: by the accelerometer and the magnetic strength
The data for counting the data obtained and gyroscope acquisition are merged, and the posture of the writing pencil is obtained.
Further, the processing unit carries out the fusion using complementary filter algorithm.
Further, the processing unit carries out the fusion using Kalman filtering algorithm.
Further, the input medium is paper.
On the other hand, the embodiment of the invention provides a kind of track input methods using trace input device, including with
Lower step: step a obtains the posture of the trace input device when the trace input device moves on input medium
With the motion track of the trace input device；Step b inputs the track using the posture of the trace input device
Motion track of the device on the input medium is modified.
Further, the trace input device is writing pencil, the attitude transducer include gyroscope, accelerometer and
Magnetometer, institute's displacement sensors include photoelectric sensor, and the posture includes the pitch angle of the writing pencil, roll angle and partially
Boat angle.
Further, the writing pencil includes: the penholder with inner space；Pen tip positioned at described penholder one end；Its
In, the gyroscope, the accelerometer, the magnetometer and the photoelectric sensor are contained in the inside of the penholder
It is in space and coaxial with the writing pencil；And the step b includes: that the processing unit is obtained according to the posture of the writing pencil
To posture transfer matrix, motion track of the pen tip on the input medium is repaired using the posture transfer matrix
Just.
Further, the step b further include: the processing unit is by obtaining the accelerometer and the magnetometer
The data that the data taken and the gyroscope obtain are merged, and the posture of the writing pencil is obtained.
Further, the processing unit carries out the fusion using using complementary filter algorithm.
Further, the processing unit carries out the fusion using Kalman filtering algorithm.
Further, the input medium is paper.
The present invention passes through the displacement information of displacement sensor (photoelectric sensor) available trace input device, passes through appearance
The posture of state sensor (gyroscope, accelerometer, magnetometer) available trace input device, then shifts square by posture
Battle array is modified the displacement information of trace input device, to obtain accurate input data.
Detailed description of the invention
Fig. 1 shows the schematic diagram of trace input device of the invention.
(a) of Fig. 2 is the front view of the writing pencil of an embodiment of the invention.
(b) of Fig. 2 is the rear view of the writing pencil of the embodiment.
Fig. 3 is the flow chart of the input method of writing pencil of the invention.
Fig. 4 is the schematic diagram of complementary filter of the invention.
Specific embodiment
Technical solution in order to enable those skilled in the art to better understand the present invention, with reference to the accompanying drawing and specific embodiment party
Trace input device provided by the invention and track input method is described in detail in formula.In the drawings, for identical
Or comparable constituent element, mark identical label.It is below only the best of input unit and track input method of the invention
Embodiment, the present invention are not limited in following the description.
Illustrate trace input device of the invention below with reference to Fig. 1.
Fig. 1 shows the schematic diagram of trace input device of the invention.As shown in Figure 1, trace input device 10 includes: appearance
State sensor 101 is used to obtain the posture of trace input device 10；Displacement sensor 102 is used to obtain track input dress
Set 10 motion track when moving on input medium；Processing unit 103, the track obtained using attitude transducer 101 are defeated
The posture for entering device 10 carries out motion track of the trace input device 10 on input medium that displacement sensor 102 obtains
Amendment.
Currently used attitude transducer includes gyroscope, accelerometer and magnetometer.However, the posture of these three types
Sensor has shortcoming in terms of obtaining posture.
For example, the angular speed of gyroscope output is instantaneous flow, needs angular speed to time integral and calculate angle, obtain
Angle variable quantity be added with initial angle, just obtain target angle.The time of integration is smaller, and output angle is more quasi-, but gyroscope
Principle determine that its measuring basis is itself, there is no the absolute objects of reference outside system, in addition the time of integration can not nothing
Limit it is small, so integral accumulated error will increase sharply with the time, eventually lead to output angle and do not conform to the actual conditions, so top
Spiral shell instrument can only operate in relatively short time scale.
Accelerometer measures be gravity direction acceleration, have outside system absolutely object of reference " gravity axis ", in no external force
In the case where acceleration, roll angle and pitch angle can be accurately exported, and this angle does not have accumulated error, in the longer time
It is all accurate in scale.But accelerometer measuring angle also has disadvantage.Accelerometer is actually to be detected to be used to MEMS technology
Property power caused by miniature deformation, and inertia force and gravity essence are identical, so accelerometer cannot distinguish gravity acceleration
Degree and external force acceleration.When system is when three-dimensional space does speed change movement, the output of accelerometer just produces error.
Magnetometer survey be earth's magnetic field magnetic field strength and direction, it is similar to accelerometer, can export and not accumulate
The data of error are all accurate in longer time scale, and can obtain yaw angle.But have a disadvantage in that small model
Enclose measurement it is not accurate enough, the little object of relative movement distance such for such as writing pencil cannot provide high-precision enough
Measurement result, and be easy to be interfered.
So the present invention is modified the measurement data of gyroscope using accelerometer and magnetometer.For example, because compared with
The measurement data of gyroscope is more accurate in short time, but has accumulated error, and then inaccurate at longer time；On the contrary,
The measurement data of magnetometer and accelerometer inaccuracy in short period, but not accumulated error, and in the long period then more
Accurately.Based on this fact, data fusion is carried out to the measurement data of three, thus the advantages of gathering three.
Below with reference to Fig. 2 trace input device that present invention be described in more detail.
(a) of Fig. 2 is the front view of the writing pencil of an embodiment of trace input device of the invention.Fig. 2's
(b) be the embodiment writing pencil rear view.
It should be noted that trace input device of the invention is not limited to carry out the writing pencil of two-dimensional movement, it can also be with
It is to carry out three-dimensional mobile arbitrary trajectory input unit.
As shown in (a) of Fig. 2, writing pencil 20 includes: the penholder 201 with inner space；Positioned at described 201 one end of penholder
Pen tip 202；The attitude transducer includes gyroscope 206a, accelerometer 206b and magnetometer 207, institute's displacement sensors
Including photoelectric sensor 208, the posture includes pitch angle, roll angle and the yaw angle of the writing pencil 20.
The inside that gyroscope 206a, accelerometer 206b, magnetometer 207 and photoelectric sensor 208 are contained in penholder 201 is empty
Between in and it is coaxial with writing pencil 20.
Processing unit 103 obtains posture transfer matrix according to the posture of writing pencil 20, using posture transfer matrix to pen tip
202 motion track on input medium is modified.
In addition, being also equipped with power supply unit 203 and Power Management Unit 204 in the inner space of penholder 201.Pen tip 202
It nearby is provided with touch switch 205, whether pen tip touches paper for identification, if has begun writing.
Here, power supply unit 203 can be 3.7V lithium battery, for powering to entire writing pencil.Power Management Unit 204
It can be chip Tp4056, for carrying out Charge Management to lithium battery.
In addition, together with accelerometer 206b can integrate with the function of gyroscope 206a, such as chip Mpu6050.Magnetic
Strong meter 207 is, for example, HMC5883L.Here, gyroscope 206a obtains three axis angular rates of writing pencil 20, and accelerometer 206b is obtained
The 3-axis acceleration of writing pencil 20 is taken, magnetometer 207 obtains the three-axle magnetic field intensity of writing pencil 20.
In addition, photoelectric sensor 208, in the inner space of penholder 201 at pen tip 202, for obtaining pen tip
202 motion track.Photoelectric sensor 208 irradiates input medium surface by the light of LED (not shown), and reflected light passes through lens
209 collected imagings, by the image of the mobile front and back of comparison, can determine moving direction of the pen tip 202 on input medium and
Moving distance, so that it is determined that motion track.
It should be noted that gyroscope 206a, accelerometer 206b, magnetometer 207 and photoelectric sensor 208 must be installed
On the central axes of penholder 201, that is, it is coaxial with penholder 201, as shown in Figure 2.Moreover, photoelectric sensor 208 is relative to pen tip
202 distance should be determined according to the depth of field of lens 209.Because only that be maintained in lens field depth it is mobile just can be with
It is clearly imaged on photoelectric sensor surface, to detect to move.
It as shown in (b) of Fig. 2, is also equipped in the inner space of penholder 201: turning pressure chip 212, can be RT9193,
For being the power supply of entire writing pencil by the voltage step-down of power supply unit 203 to 3.3V；Data acquisition unit 211, for save and/
Or send the data detected.Specifically, data acquisition unit 211 may include TF card slot and/or communication module, wherein TF card
Slot is used for by attitude transducer and the collected data storage of displacement sensor into TF card slot, and communication module is used for the number
It is saved beyond the clouds according to host computer is sent to.The communication module can be bluetooth module.
In addition, the processing unit 103 being mounted in the inner space of penholder 201 is used to carry out above-mentioned component whole control
System, and carry out data processing.
When writing pencil 20 is write on writing medium (not shown), gyroscope 206a, accelerometer 206b, magnetometer
207 obtain the posture of writing pencil 20, and photoelectric sensor 208 obtains motion track of the pen tip 202 on writing medium.Processing is single
Member 103 is modified motion track of the pen tip 202 on writing medium using posture transfer matrix, obtains accurately entering number
According to.
Illustrate input method of the invention referring to Fig. 3.
Fig. 3 is the flow chart of the track input method of trace input device of the invention.
Under conditions of trace input device is writing pencil 20, which starts from 103 basis of processing unit
The signal of touch switch 205 judges whether pen tip 202 contacts input medium (step S30).If it is, obtaining writing pencil 20
Attitude transducer 206a, 206b and 207 output data (step S31).
In step S31,3 axis angular rates, 3 axis of sensor 206a, 206b, 207 outputs are read by IIC data protocol
The value of acceleration and 3 axis magnetic field strengths.
3 axis angular rates refer to the angular speed rotated around 201 direction of penholder (being set as z-axis), in vertical 201 plane of penholder
The angular speed of two mutually orthogonal directions (being set as x, y-axis) rotation.
3 axis magnetic field strengths refer to the magnetic field strength along above-mentioned three axis of x, y, z.
3 axle accelerations refer to the acceleration along above-mentioned three axis of x, y, z.
3 axis angular rates, 3 axle accelerations and the 3 axis magnetic field strengths obtained by sensor 206a, 206b and 207, can obtain
To the posture information of writing pencil 20.
After obtaining the output data (step S31) of attitude transducer, the output data of 103 pairs of processing unit acquisitions
It is corrected (step S32).
Carry out Data correction the reason of be sensor output data there is a certain error, it is necessary first to each sensing
The basic data of device is individually corrected, and the calibrated data that compare are obtained, and could and then carry out data processing to it.
The method for carrying out Data correction to 3 axis magnetic field strengths can be least square method.3 axis angular rates and 3 axis are accelerated
The method that degree carries out Data correction, which can be, subtracts offset.It is illustrated separately below.
(1) about 3 axis magnetic field strengths
Principle based on least square method carries out a kind of method that data fitting is magnetic field for correcting intensity data, can make to locate
Data after reason are more accurate.
According to error model and acquisition mass data, the coefficient in model can be gone out with offline simulation, as correction model.
Next, doing data fitting according to least square method using the tool box yalmip of matlab.
(2) about 3 axis angular rates
Stationary state obtains zero bias, need to only eliminate the influence of zero bias.
(3) about 3 axle accelerations
It is identical as 3 axis angular rates, it need to only eliminate the influence of zero bias.
After being corrected (step S32) to the output data of acquisition, processing unit 103 calculates the posture number of writing pencil
According to (step S33).
In step S33, processing unit 103 passes through the data and gyro to accelerometer 206b and the acquisition of magnetometer 207
The data that instrument 206a is obtained are merged, and the posture of writing pencil 20 is obtained.
For example, processing unit 103 carries out above-mentioned fusion using complementary filter algorithm.
The attitude data of writing pencil 20 is obtained as a result,.
After calculating the attitude data (step S33) of writing pencil, processing unit 103 according to pitch angle, roll angle and
Yaw angle determines posture transfer matrix (step S34).
In step S34, processing unit 103 can be used inertial navigation algorithm and determine posture transfer matrix such as following formula (1)
It is shown, wherein θ, φ and ψ respectively indicate the pitch angle, roll angle and course angle of writing pencil 20.
(formula 1)
Then, processing unit 103 obtains the output data (step S35) of displacement sensor 102.Here, displacement sensor
102 be, for example, photoelectric sensor 208, obtains nib 202 in the displacement in the direction x and the direction y.Since writing pencil 20 is only for example
Two-dimensional movement is carried out on the writing medium of paper, so photoelectric sensor 208 only obtains the displacement of both direction.For carrying out three
Mobile trace input device is tieed up, displacement sensor needs to obtain the displacement in three directions of x, y, z.
Finally, processing unit 103 repairs motion track of the pen tip 202 on writing medium using posture transfer matrix
Positive (step S36).
After step S36, processing unit 103 judges whether pen tip 202 contacts input medium again, if it is not,
Pause processing just continues to repeat the operation of step S30 to step S36 until pen tip 202 has been contacted again input medium.
If the displacement for the pen tip 202 that photoelectric sensor 208 obtains is (x, y, z), then revised displacement (x ', y ', z ')
As shown in following formula (2):
(formula 2)
As a result, by the attitudes vibration that occurs in writing process of amendment writing pencil 20, can obtain more accurate defeated
Enter data.
It should be noted that the output data of attitude transducer 101 is first obtained in Fig. 3, rear acquisition displacement sensor 102
Output data.However, can also first obtain the output data of displacement sensor 102 the present invention is not limited to this sequence, after obtain
Take the output data of attitude transducer 101.
In the present invention, data fusion is carried out using complementary filter.Weight coefficient need according to different occasion variations with
Error is set to become smaller.According to accelerometer and gyroscope, magnetometer to the response situations of different time of measuring, acceleration in long-time
It is accurate to the measurement of angle to count 206b, magnetometer 207, its weight coefficient can be increased, gyroscope 206a measurement is quasi- in the short time
Really, its weight coefficient can be increased.
Complementary filter is described in detail below with reference to Fig. 4.
Fig. 4 shows the schematic diagram of complementary filter of the invention.
If the data that magnetometer 207 exports are mx、myAnd mz, the data of gyroscope 206a output are (p, q, r)T, acceleration
The data for counting 206b output are ax、ayAnd az.Pitch angle, roll angle and the course angle of writing pencil 20 are denoted as θ, φ and ψ respectively.
According to the following differential equation of the working principle of gyroscope 206a:
(formula 3)
Wherein,Respectively indicate the angular speed of roll angle, pitch angle and course angle.
In addition, according to the working principle following formula of accelerometer 206b:
(formula 4)
Wherein, θaccAnd φaccThe pitch angle and roll angle of respectively accelerometer 206b estimation.
Then, the output valve of magnetometer 207 is compensated using pitch angle obtained in formula 4 and roll angle, can be obtained
The course angle estimated to magnetometer 207:
(formula 5)
Then, the pitch angle and roll that the pitch angle to accelerometer 206b estimation and roll angle and gyroscope 206 are estimated
Angle carries out complementary filter, obtains fused pitching angle theta and roll angle φ.
On the other hand, the course angle of the course angle and the estimation of gyroscope 206 estimated magnetometer 207 carries out complementary filter,
Obtain fused course angle ψ.
As described above, carrying out the rule of complementary filter is: the power of increased acceleration meter 206b, magnetometer 207 when long-time
Weight coefficient, increases the weight coefficient of gyroscope 206a when the short time.It in embodiments of the present invention, can be according to processing unit 103
The long-time and short time are determined to the control period of writing pencil 20, such as: with a control period of processing unit 103
As the short time, using 20 process cycles of processing unit 103 as a long time, which can be 6ms, then for a long time
For 120ms, short time 6ms.Specific long-time, short time and weight coefficient can be adjusted by experiment.
Alternatively, processing unit 103 can also be using Kalman filtering algorithm to gyroscope 206a, accelerometer 206b
The data obtained with magnetometer 207 are merged, and roll angle, pitch angle and the yaw angle of fused writing pencil 2 are obtained.
Trace input device of the invention and track input method are described in detail by taking writing pencil 20 as an example above.
Writing pencil 20 through the invention can be write on arbitrary medium whenever and wherever possible, and accurately obtain writing pencil 20 and writing Jie
Motion track in matter, thus to the accurate information of the inputs such as computer.
In addition, input medium is paper in the case where writing pencil 20.But the present invention is not limited to two dimension as paper is defeated
Enter medium, but can be Arbitrary 3 D input medium.
Principle that embodiment of above is intended to be merely illustrative of the present and the illustrative embodiments used, however this hair
It is bright to be not limited thereto.For those skilled in the art, in the feelings for not departing from spirit and substance of the present invention
Under condition, various changes and modifications can be made therein.These variations and modifications are also considered as protection scope of the present invention.
Claims (12)
1. a kind of trace input device (10) characterized by comprising
Attitude transducer (101), comprising: gyroscope (206a) is used to obtain the angle of the trace input device (10)；Add
Speedometer (206b) is used to obtain the roll angle and pitch angle of the trace input device (10)；And magnetometer (207),
Its yaw angle for being used to obtain the trace input device (10) utilizes the accelerometer (206b) and the magnetometer
(207) data obtained are modified the gyroscope (206a) data obtained, obtain the trace input device (10)
Posture；
Displacement sensor (102) is used to obtain moving rail of the trace input device (10) when moving on input medium
Mark, wherein the motion track is the displacement in all directions of space；
Processing unit (103), using the posture for the input unit (10) that the attitude transducer (101) obtain, to institute
Motion track of the trace input device (10) that displacement sensors (102) obtain on input medium is modified.
2. trace input device (10) according to claim 1, which is characterized in that the trace input device is writing pencil
(20), institute's displacement sensors include photoelectric sensor (208).
3. trace input device (10) according to claim 2, wherein the writing pencil (20) includes: to have internal sky
Between penholder (201)；Pen tip (202) positioned at the penholder (201) one end；Wherein,
The gyroscope (206a), the accelerometer (206b), the magnetometer (207) and the photoelectric sensor (208)
It is contained in the inner space of the penholder (201) and coaxial with the writing pencil (20)；And
The processing unit (103) obtains posture transfer matrix according to the posture of the writing pencil (20), utilizes the appearance
State transfer matrix is modified motion track of the pen tip (202) on the input medium, and the amendment includes
Pass through the data and the gyroscope (206a) acquisition to the accelerometer (206b) and the magnetometer (207) acquisition
Data merged, obtain the posture of the writing pencil (20).
4. trace input device (10) according to claim 3, wherein the processing unit (103) utilizes complementary filter
Algorithm carries out the fusion.
5. trace input device (10) according to claim 3, wherein the processing unit (103) is filtered using Kalman
Wave algorithm carries out the fusion.
6. trace input device described in any one of -5 (10) according to claim 1, wherein the input medium is paper.
7. a kind of track input method that the trace input device (10) using claim 1 carries out, comprising the following steps:
Step a obtains the posture of the trace input device when the trace input device (10) moves on input medium
With the motion track of the trace input device, wherein the motion track is the displacement in all directions of space；
Step b, using the posture of the trace input device (10), to the trace input device (10) in the input medium
On motion track be modified.
8. track input method according to claim 7, wherein the trace input device (10) is writing pencil (20),
Institute's displacement sensors include photoelectric sensor (208).
9. track input method according to claim 8, wherein the writing pencil (20) includes: with inner space
Penholder (201)；Pen tip (202) positioned at the penholder (201) one end；Wherein,
The gyroscope (206a), the accelerometer (206b), the magnetometer (207) and the photoelectric sensor (208)
It is contained in the inner space of the penholder (201) and coaxial with the writing pencil (20)；And
The step b includes:
The processing unit (103) obtains posture transfer matrix according to the posture of the writing pencil (20), is turned using the posture
It moves matrix to be modified motion track of the pen tip (202) on the input medium, the amendment includes
Pass through the data and the gyroscope (206a) acquisition to the accelerometer (206b) and the magnetometer (207) acquisition
Data merged, obtain the posture of the writing pencil (20).
10. track input method according to claim 9, wherein the processing unit (103) utilizes complementary filter
Algorithm carries out the fusion.
11. track input method according to claim 9, wherein the processing unit (103) is calculated using Kalman filtering
Method carries out the fusion.
12. the track input method according to any one of claim 7-11, wherein the input medium is paper.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510971483.4A CN105607764B (en) | 2015-12-22 | 2015-12-22 | Trace input device and track input method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510971483.4A CN105607764B (en) | 2015-12-22 | 2015-12-22 | Trace input device and track input method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105607764A CN105607764A (en) | 2016-05-25 |
| CN105607764B true CN105607764B (en) | 2019-08-13 |
Family
ID=55987746
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510971483.4A Active CN105607764B (en) | 2015-12-22 | 2015-12-22 | Trace input device and track input method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105607764B (en) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019090766A1 (en) * | 2017-11-13 | 2019-05-16 | 深圳市柔宇科技有限公司 | Method for calibrating handwriting on writing board, and writing board |
| CN108920126B (en) * | 2018-06-14 | 2021-10-15 | Oppo广东移动通信有限公司 | Ringtone volume processing method and device, storage medium and terminal |
| CN110262739A (en) * | 2019-07-01 | 2019-09-20 | 联想(北京)有限公司 | Switching method, device and electronic equipment |
| CN111312014A (en) * | 2020-04-14 | 2020-06-19 | 青岛真水堂教育咨询有限公司 | A high accuracy intelligence interconnection pen for calligraphy exercise |
| CN111475035A (en) * | 2020-04-14 | 2020-07-31 | 青岛真水堂教育咨询有限公司 | Intelligent writing equipment based on calligraphy exercise |
| CN113625887A (en) * | 2021-07-01 | 2021-11-09 | 华东师范大学 | Writing track acquisition equipment, writing pen, system and method applied to writing track acquisition equipment |
| CN117315790B (en) * | 2023-11-28 | 2024-03-19 | 恒银金融科技股份有限公司 | Analysis method of hand writing action and intelligent pen |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102915171A (en) * | 2011-08-04 | 2013-02-06 | 王振兴 | Moving trajectory generation method |
| CN104007846A (en) * | 2014-05-22 | 2014-08-27 | 深圳市宇恒互动科技开发有限公司 | Three-dimensional figure generating method and electronic whiteboard system |
| CN205263759U (en) * | 2015-12-22 | 2016-05-25 | 汉王科技股份有限公司 | Trajectory input device |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102375567A (en) * | 2010-08-23 | 2012-03-14 | 圆展科技股份有限公司 | Penicillar indicator device, displacement information providing method and displacement information providing system |
| US9631956B2 (en) * | 2014-01-03 | 2017-04-25 | Google Technology Holdings LLC | Methods and systems for calibrating sensors of a computing device |
-
2015
- 2015-12-22 CN CN201510971483.4A patent/CN105607764B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102915171A (en) * | 2011-08-04 | 2013-02-06 | 王振兴 | Moving trajectory generation method |
| CN104007846A (en) * | 2014-05-22 | 2014-08-27 | 深圳市宇恒互动科技开发有限公司 | Three-dimensional figure generating method and electronic whiteboard system |
| CN205263759U (en) * | 2015-12-22 | 2016-05-25 | 汉王科技股份有限公司 | Trajectory input device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105607764A (en) | 2016-05-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105607764B (en) | Trace input device and track input method | |
| CN101872260B (en) | Remote interactive pen and handwriting detection method | |
| CN102289306B (en) | Attitude sensing equipment and positioning method thereof as well as method and device for controlling mouse pointer | |
| EP3022623B1 (en) | Electronic pen | |
| US9098123B2 (en) | Moving trajectory generation method | |
| US10197587B2 (en) | Device and method for using time rate of change of sensor data to determine device rotation | |
| CN101872259B (en) | Natural interaction pen capable of automatically inputting written contents and handwriting detection method | |
| CN103591955B (en) | Integrated navigation system | |
| CN109798891B (en) | Inertial measurement unit calibration system based on high-precision motion capture system | |
| CN201689394U (en) | Stylus based on multi-sensor fusion | |
| CN201561759U (en) | Inertial attitude and azimuth measuring device | |
| CN102980577A (en) | Micro-strapdown altitude heading reference system and working method thereof | |
| CN110785729B (en) | Electronic device for generating analog strokes and for digital storage of analog strokes and input system and method for digitizing analog recordings | |
| KR100501721B1 (en) | Pen-shaped input device using magnetic sensor and method thereof | |
| CN103837157A (en) | Motion measuring method and device | |
| CN102375567A (en) | Penicillar indicator device, displacement information providing method and displacement information providing system | |
| CN112306261A (en) | Low-power consumption tilt compensation pointing method and corresponding pointing electronic equipment | |
| CN105044915A (en) | Control method for realizing film interaction through head-worn displayer | |
| CN102306054B (en) | Attitude sensing equipment and positioning method and device thereof and method and device for controlling mouse pointer | |
| CN203719666U (en) | Combined navigation system | |
| CN105303201A (en) | Method and system for performing handwriting identification based on action sensing | |
| CN106707906A (en) | Attitude monitoring system of quadrotor aircraft | |
| CN205263759U (en) | Trajectory input device | |
| CN204158397U (en) | A kind of body motion detector | |
| CN106796457A (en) | Instrument is precisely located |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |