JP2004078488A - Virtual desktop system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To apply force (reaction force) to a fingertip of a user touching a conductive material on a desk in a virtual desktop device. <P>SOLUTION: The virtual desktop device 10 comprises a digital desk 30, and the desk 30 is provided with a linear induction motor 20 integrally. For example, under the instruction of a computer, the execution screen of a software executed in the computer is displayed on the desk 30. The user performs an operation of the execution screen by touching the conductive material 34 with the fingertip to point at the execution screen directly. The computer recognizes the motion of the fingertip by a photographed picture from a video camera 14 so as to drive the linear induction motor 20 and to move the conductive material 34 in a two-dimensional direction. <P>COPYRIGHT: (C)2004,JPO

Description

[0001]
[Industrial applications]
The present invention relates to a virtual desktop device, and more particularly to a virtual desktop device applied to, for example, a digital desk used as a computer interface.
[0002]
[Prior art]
In a conventional digital desk, an execution screen of, for example, Excel (registered trademark) operating on Windows (registered trademark) is developed (displayed) on a desk by a projector, and by directly pointing the desk with a finger or a pen, This is recognized by a captured image from a camera, and an input position on the screen is specified. Then, by pointing a finger at a character or a number described on a sheet placed on a desk, the character or a number or the like is similarly recognized in a captured image from the camera, and input to the specified input position. Was. In other words, it has been used as a computer interface that allows easy input without using a keyboard or a computer mouse.
[0003]
[Problems to be solved by the invention]
In this conventional technique, since the operation can be performed without using an input device such as a computer mouse and a keyboard, the operation can be easily performed, but the computer cannot operate on the real world.
[0004]
For example, MIT professor Takeshi Ishii's research involves a method in which a stepping motor is laid under a desk to control the position of a magnetic material on the desk and act on the real world. According to this, the position of the magnetic body can be controlled by the stepping motor, but a load (torque) cannot be applied to the finger.
[0005]
Therefore, a main object of the present invention is to provide a novel virtual desktop device capable of presenting a reaction force.
[0006]
[Means for Solving the Problems]
The present invention is a virtual desktop device including a desk plate and a linear inductance motor provided below the desk plate, wherein a conductor on the desk plate is moved by the linear inductance motor.
[0007]
[Action]
A conductor such as copper, aluminum or brass is placed on the desk plate of the digital desk. In addition, a linear inductance motor that generates a traveling magnetic field in a two-dimensional direction is arranged below the desk plate. Therefore, when the linear inductance motor is driven, the conductor is moved in a two-dimensional direction.
[0008]
For example, a linear inductance motor has a plurality of cores, and a common winding is wound around the plurality of cores. In other words, since windings are wound around the cores arranged in the two-dimensional direction in the X-axis direction and the Y-axis direction, when a driving voltage is applied to the windings, the windings are wound in the X-axis direction and the Y-axis direction, or in both directions. , A traveling magnetic field is generated. Therefore, the conductor is moved in the two-dimensional direction.
[0009]
Further, if coils for forming a traveling magnetic field in the X-axis direction and the Y-axis direction are wound around each of the plurality of cores, switches are provided at one ends of all the coils, and the switches are switched, Power consumption can be significantly reduced as compared to the case where all the cores are excited. Further, since the core to be excited can be selected by switching the switch, a plurality of conductors placed at different positions can be moved.
[0010]
Furthermore, if windings independent of each other are wound around each of the plurality of cores, the excitation of each core and the drive voltage of each winding can be individually controlled. That is, the moving direction and the moving speed (acceleration) of the plurality of conductors placed at different positions can be changed.
[0011]
【The invention's effect】
According to the present invention, since the conductor on the desk plate is moved by the linear induction motor, the reaction force according to the operation can be presented by attaching the conductor to the user's finger.
[0012]
The above and other objects, features and advantages of the present invention will become more apparent from the following detailed description of embodiments with reference to the drawings.
[0013]
【Example】
<First embodiment>
Referring to FIG. 1, a virtual desktop device 10 according to a first embodiment includes a computer 12 such as a personal computer or a workstation. An inverter 18a and an inverter 18b are connected to the computer 12 via a video camera 14, a projector 16, and a D / A converter (not shown).
[0014]
Further, a linear induction motor (hereinafter, simply referred to as “linear motor”) 20 is connected to the inverters 18a and 18b, and the linear motor 20 is connected to a digital desk (hereinafter, simply referred to as “desk”) 30 to be described later. It is integrally configured.
[0015]
As shown in FIG. 2, the desk 30 includes a desk plate 32, on which a plate-shaped conductor 34 such as copper, aluminum or brass is placed. The above-described linear motor 20 is disposed. The linear motor 20 includes a yoke 22 formed in a substantially square plate shape, and a plurality of cores 24 regularly arranged on an upper surface of the yoke 22. As can be seen from FIG. 2, in this embodiment, 100 (10 × 10) cores 24 are provided. A plurality of windings 26a to 26f and a plurality of windings 28a to 28f are wound around the plurality of cores 24 in two directions of the X-axis direction and the Y-axis direction (see FIG. 3).
[0016]
The windings 26a to 26f and the windings 28a to 28f are respectively wound around a plurality of cores 24 so as to pass between adjacent cores 24, as shown in FIG. In the X-axis direction, winding 26a and winding 26d are connected in series, and one end is connected to the U-phase of inverter 18a. The winding 26b and the winding 26e are connected in series, and one end thereof is connected to the V phase of the inverter 18a. The winding 26c and the winding 26f are connected in series, and one end thereof is connected to the W phase of the inverter 18a. Further, the other ends are connected to each other, though not shown. That is, Y connection is performed.
[0017]
On the other hand, in the Y-axis direction, winding 28a and winding 28d are connected in series, and one end is connected to the U-phase of inverter 18b. The winding 28b and the winding 28e are connected in series, and one end thereof is connected to the V phase of the inverter 18b. The winding 28c and the winding 28f are connected in series, and one end thereof is connected to the W phase of the inverter 18b. Further, the other ends are connected to each other, though not shown. That is, Y connection is performed.
[0018]
In addition, as the linear motor 20, a bidirectional linear motor disclosed in Japanese Patent No. 2975659 published on September 3, 1999 can be used.
[0019]
In such a virtual desktop device 10, as shown in FIG. 4, a desk 30 is arranged, and a video camera 14 and a projector 16 are installed above the desk 30. In addition, the conductor 34 is placed on the upper surface of the desk 30 as described above. However, for simplicity, the computer 12 and the like are omitted. For example, on the desk 30, an execution screen of software such as an operating system and application software executed on the computer 12 is developed (displayed) by the projector 16 under the instruction of the computer 12. The user can operate the execution screen using a pen or a finger (fingertip).
[0020]
Specifically, the computer 12 recognizes the position or movement indicated by the pen or the fingertip based on the image (captured image) on the desk 30 captured by the video camera 14, which means an input operation on the execution screen. To perform the process (function) on the execution screen. Then, the computer 12 executes a screen display and a function according to the operation of the user. In this manner, the operation or the like that the user has input using an input device such as a computer mouse or a keyboard can be easily executed with the pen or the fingertip.
[0021]
Therefore, for example, the user can specify an icon or a button displayed on the execution screen with a pen or a fingertip. In addition, by pointing a character or a number or the like described on a sheet placed on the desk 30 with a fingertip, the character or a number or the like can be input to the execution screen.
[0022]
As described above, the operation of the user by the pen or the fingertip is reflected in the execution of the software by the computer 12. However, since the computer 12 cannot operate on the real world, in this embodiment, the linear motor 20 as described above is arranged below the desk 30 to operate on the real world.
[0023]
For example, the conductor 34 placed on the desk 30 (desk plate 32) can be freely moved in a two-dimensional direction by driving the linear motor 20. Therefore, by placing the fingertip of the user on the conductor 34 or attaching the conductor 34 to the fingertip and operating the execution screen or the like, the operation from the computer 12 according to the user's operation is performed. By moving the body 34, a force (in this embodiment, referred to as "reaction force") can be applied to the user's fingertip. That is, the moving direction and the load (torque) applied during the movement of the conductor 34 are controlled in response to the user's operation.
[0024]
Specifically, the computer 12 controls the drive pulses output to the D / A converter provided in the stage preceding the inverter 18a and the inverter 18b, thereby controlling the windings 26a to 26f and the windings 28a to 28f of the linear motor 20. , A driving voltage is applied to at least one of them. Then, a traveling magnetic field is generated in at least one of the X-axis direction and the Y-axis direction. Further, by changing the applied driving voltage, the magnitude of the generated magnetic force can be changed.
[0025]
Thereby, for example, as shown in FIG. 5A, when moving or copying a file (data) on the execution screen, the icon of the file pointed to by the user is determined based on the image captured from the video camera 14. When a user moves a file on the execution screen, a force (reaction force) is applied in a direction opposite to the direction in which the file is moved (moving direction) according to the size (data amount) of the file. Can be.
[0026]
Also, as shown in FIG. 5B, when selecting a menu from the menu bar, when the user moves the fingertip, when the user attempts to move the fingertip in a direction away from the menu screen, A reaction force can also be given. In this case, control can be performed such that the reaction force increases as the user moves away from the menu screen. In FIG. 5B, the size of the arrow indicates the magnitude of the reaction force.
[0027]
However, for convenience of the drawings, in FIGS. 5A and 5B, the conductor 34 is shown at a position distant from the mouse pointer, but is actually at substantially the same position. Further, even when the entire pen or the pen tip is formed of a conductor, a reaction force can be similarly applied.
[0028]
Specifically, the computer 12 executes processing as shown in FIG. 6 and FIG. As shown in FIG. 6, when it is detected that the user's fingertip has designated a file, a file moving or copying process is started, and the size of the file is acquired in step S1. That is, the file specified by the user is specified from the image captured by the video camera 14, and the size is acquired by referring to the property of the specified file.
[0029]
In step S3, the icon on the screen indicating the file and the mouse pointer are moved with the movement of the fingertip. That is, the movement of the pen or the fingertip is detected based on the image captured from the video camera 14, and the projector 16 is controlled so that the icon and the mouse pointer are moved according to the movement. In a succeeding step S5, the acceleration a of the fingertip is detected. The acceleration a can be easily obtained by measuring the moving distance and the time taken for the movement from the captured image.
[0030]
Subsequently, in step S7, the inertia force F1 is calculated according to the equation (1). Here, m is a value obtained by converting the file size into mass. The conversion formula and the like are determined by a designer or a developer.
[0031]
(Equation 1)
F1 = ma
Then, in step S9, a reaction force is presented. That is, the drive pulse output by the D / A converter provided in the preceding stage of the inverter 18a and the inverter 18b is controlled so that the inertial force F1 obtained by Expression 1 is applied in a direction opposite to the acceleration direction of the conductor 34. Therefore, for example, when the file size is large, a large reaction force can be presented, and when the file size is small, a relatively small reaction force can be presented. In this way, the size of the file can be visually recognized with characters and the like, and the size of the file can be felt at the fingertip. That is, it is possible to present information different from visual information, and it is possible to improve operability as a computer interface.
[0032]
Since the inertial force F1 is also proportional to the acceleration a, the magnitude of the reaction force varies depending on the movement of the fingertip (conductor 14).
[0033]
In a succeeding step S11, it is determined whether or not the moving or copying of the file is completed. That is, it is determined whether or not the movement of the user's fingertip has stopped from the captured image. If “YES” in the step S11, that is, if the movement or the copy of the file is finished, the process is finished as it is. On the other hand, if “NO” in the step S11, that is, if the movement or the copying of the file is not completed, the process returns to the step S3.
[0034]
When the moving or copying of the file is completed, not only the screen display changes, but also the moving or copying operation is reflected in the software.
[0035]
Also, as shown in FIG. 7, when detecting that the user's fingertip designates a menu button displayed on the menu bar, the computer 12 starts menu selection processing, and in step S21, displays a menu screen designated by the user. Is displayed. In the following step S23, a path (selection path) to which the mouse pointer, that is, a fingertip or a pen should move when selecting the menu is determined (see FIG. 5B). For example, in this embodiment, the selection path is determined so as to pass through the center of the menu screen.
[0036]
Subsequently, in step S25, the cursor and the mounce pointer on the screen are moved with the movement of the fingertip. In step S27, an error x between the fingertip and the selected path is measured. That is, the position of the fingertip is specified based on the captured image, and the vertical distance (error x) from the center of the menu screen to the fingertip is obtained.
[0037]
Next, in step S29, the suction force F2 is obtained according to the equation (2). Here, k is a constant similar to the spring coefficient, and is determined by a designer or a developer.
[0038]
(Equation 2)
F2 = kx
Then, in step S31, a reaction force is presented. That is, the driving pulse output to the D / A converter provided in the preceding stage of the inverter 18a and the inverter 18b is controlled so that the attracting force F2 is applied to the conductor 34 in the opposite direction. In other words, when selecting a menu, as the pointing position moves away from the center of the menu screen, the load (reaction force) is increased so that the user is intentionally returned to the center of the selection screen. is there. Therefore, operability can be improved.
[0039]
In a succeeding step S33, it is determined whether or not the menu selection is completed. Specifically, it is determined from the captured image whether the fingertip or the pen is stopped. If “NO” in the step S33, that is, if the menu selection is not completed, the process returns to the step S25. On the other hand, if “YES” in the step S33, that is, if the menu selection is finished, it is determined whether or not there is a submenu in a step S35.
[0040]
If “NO” in the step S35, that is, if there is no sub-menu, the menu selection process is terminated and a process according to the selected menu is executed. On the other hand, if “YES” in the step S35, that is, if there is a submenu, the process returns to the step S21 to display a submenu screen in addition to the menu screen.
[0041]
When the sub-menu screen is displayed, the selection path is determined so as to pass through the center of the screen in the sub-menu screen in the same manner as the above-described menu screen, and between the menu screen and the sub-menu screen, the menu screen is set. The selection path is determined so as to move in the horizontal direction (X-axis direction) from the menu selected in step (1). The same applies when a sub-menu screen is further displayed on the sub-menu screen. That is, the selection route is determined stepwise.
[0042]
When a menu is selected, its contents are reflected on the software, and a menu execution screen is displayed or a predetermined function is executed.
[0043]
According to this embodiment, since a reaction force is presented to the operation of the user, it is possible to operate from the computer to the real world. Therefore, the user can feel information other than the image and sound presented by the computer, so that a more operable computer interface can be provided.
[0044]
<Second embodiment>
The second embodiment is the same as the first embodiment except that the core 24 of the linear motor 20 is partially excited.
[0045]
As shown in FIG. 8, coils L1, L2, L3,..., Ln for forming a traveling magnetic field in the Y-axis direction are wound around each core 24 of the linear motor 20. For the sake of simplicity, in FIG. 8, a coil for forming a traveling magnetic field in the X-axis direction is omitted, but in the X-axis direction, FIG. 8 may be rotated by 90 degrees. That is, two coils for forming a traveling magnetic field in the X-axis direction and the Y-axis direction are wound around each of the cores 24. Hereinafter, in the second embodiment, since the X-axis direction and the Y-axis direction are the same, only the Y-axis direction will be described, and the description of the X-axis direction will be omitted.
[0046]
As can be seen from FIG. 8, in the second embodiment, 9 × 9 (81) coils are wound in each of the X-axis direction and the Y-axis direction. In the linear motor 20 of the second embodiment, 81 cores 24 are provided.
[0047]
In the second embodiment, power (voltage) is supplied from each phase of the inverter 18b to each of the coils L1 to Ln. Specifically, the coils in the first, fourth, and seventh rows from the U phase A voltage is supplied to the coil group, a voltage is supplied to the coil groups in the second, fifth, and eighth columns from the V phase, and a coil group in the third, sixth, and ninth columns from the W phase Is supplied with voltage.
[0048]
As shown in FIG. 9, one end of each of the coils L1 to Ln is connected to one electric wire of each phase, and the other end is connected to the other electric wire via the electromagnetic switch SW. That is, the coils L1 to Ln are electrically independent of each other.
[0049]
In FIG. 9, for simplicity, only some of the coils L1 to L5 are shown, but the same configuration is employed for each row shown in FIG.
[0050]
On / off of the plurality of electromagnetic switches SW is individually controlled by the computer 12, and the coils L1 to Ln are selectively excited. That is, the plurality of cores 24 are selectively excited.
[0051]
Therefore, in the X-axis direction and / or the Y-axis direction or both directions, the power consumption can be significantly reduced as compared with the above-described embodiment in which all the cores 24 are excited. Further, when a plurality of conductors 34 are placed at different positions on the desk 30, each core 24 can be separately excited, so that the conductors 34 can be simultaneously moved in the same direction. In other words, since the voltage supplied from each phase of the inverter 18b is the same, the on / off of the electromagnetic switch SW is similarly controlled at different positions (regions), so that the voltages of the same magnitude and the same direction are different at different positions. We can show our strength.
[0052]
<Third embodiment>
The third embodiment is the same as the first embodiment except that the core 24 of the linear motor 20 is partially excited and the magnitude of the presented reaction force can be made different at different positions. Therefore, duplicate description will be omitted.
[0053]
As shown in FIG. 10A, independent windings (coils) L1 to Lm are wound around the core 24, respectively. Although not shown, an amplifier (not shown) is connected to each of these coils L1 to Lm, and each of the plurality of amplifiers is connected to the computer 12 via a D / A converter (not shown). You. That is, the same number of amplifiers as the core 24 are provided instead of the inverters 18a and 18b shown in FIG. Each of the plurality of amplifiers is controlled by the computer 12.
[0054]
With this configuration, the coils L1 to Lm at a plurality of locations can be excited at the same time, and the order (two-dimensional direction) of the coils L1 to Lm to be excited can be different. Also, the voltages applied to the coils L1 to Lm can be different values. For this reason, as shown in FIG. 10B, different moving speeds (accelerations), that is, different reaction forces can be simultaneously presented in different directions to a plurality of conductors 34 present at a plurality of locations.
[0055]
In FIG. 10B, the size of the arrow indicates the magnitude of the reaction force.
[0056]
That is, as shown in FIG. 11, when a plurality of cores 24 are arranged, and when the conductor 34 located at the center thereof is moved in the positive direction along the X-axis, a traveling magnetic field is formed in the direction. Is done. However, for simplicity, FIG. 11 shows a state in which the cores 24 of 5 rows × 5 rows are arranged. Specifically, the 14th core 24 is excited, and then the 15th core 24 is excited, so that a reaction force can be presented in that direction. Conversely, when presenting a reaction force in the negative direction of the X-axis, the twelfth core 24 is excited, and then the eleventh core 24 is excited.
[0057]
When presenting a reaction force in the positive Y-axis direction, the eighth core 24 is excited, and then the third core 24 is excited. On the other hand, when presenting a reaction force in the negative direction in the Y-axis direction, the 18th core 24 is excited, and then the 23rd core 24 is excited.
[0058]
Further, when a reaction force is presented in the upper right direction in the drawing, the ninth core 24 is excited, and then the fifth core 24 is excited. Conversely, when presenting a reaction force in the lower left direction, the 17th core 24 is excited, and then the 21st core 24 is excited.
[0059]
When a reaction force is presented in the upper left direction in the drawing, the seventh core 24 is excited, and then the first core 24 is excited. Conversely, when presenting a reaction force in the lower right direction, the 19th core 24 is excited, and then the 25th core 24 is excited.
[0060]
As described above, the reaction force is presented in the X-axis direction, the Y-axis direction, and the diagonal direction, that is, in the two-dimensional direction, centering on the current position of the conductor 34, and the voltage applied to each of the coils L1 to Lm is changed. Thus, different magnitudes of reaction force can be presented.
[0061]
In these embodiments, only the case where the file on the screen is moved / copied or the menu is selected has been described. However, the operability can be improved by presenting a reaction force for other operations. Can be planned.
[0062]
Further, in these embodiments, only the linear motor provided with 100 cores has been described, but the size of the linear motor can be freely adjusted according to the size of the desk, the size of the execution screen displayed on the desk, and the like. The design can be changed.
[Brief description of the drawings]
FIG. 1 is a block diagram illustrating an example of a configuration of a virtual desktop device according to the present invention.
FIG. 2 is an illustrative view showing a configuration of a linear motor and a digital desk shown in FIG. 1 embodiment;
FIG. 3 is an illustrative view showing windings of the linear motor shown in FIG. 1 embodiment;
FIG. 4 is an illustrative view showing a mode in which the virtual desktop apparatus shown in FIG. 1 is used;
FIG. 5 is an illustrative view for explaining a reaction force presented to a user's operation when the virtual desktop device shown in FIG. 1 embodiment is used;
FIG. 6 is a flowchart showing a file transfer / copy process of the computer shown in FIG. 1 embodiment.
FIG. 7 is a flowchart showing a menu selection process of the computer shown in FIG. 1 embodiment.
FIG. 8 is an illustrative view schematically showing a coil of a linear motor applied to a second embodiment of the present invention;
FIG. 9 is an illustrative view for explaining on / off switching of a coil of a linear motor in a second embodiment.
FIG. 10 is an illustrative view for explaining a linear motor applied to a third embodiment of the present invention and a reaction force that can be presented when the linear motor is used.
FIG. 11 is an illustrative view for explaining an order of exciting coils when a conductor is moved in a two-dimensional direction in the third embodiment;
[Explanation of symbols]
10 Virtual Desktop Device 12 Computer 14 Camera 16 Projector 18a, 18b Inverter 20 Linear Induction Motor 22 Yoke 24 Cores 26a, 26b, 26c, 26d, 26e, 26f, 28a, 28b, 28c, 28d, 28e, 28f ... winding 30 ... digital desk

Claims (4)

A desk plate, and a linear inductance motor provided under the desk plate,
A virtual desktop device, wherein a conductor on the desk plate is moved by the linear inductance motor. The virtual desktop device according to claim 1, wherein the linear inductance motor includes a plurality of cores, and a common winding is wound around the plurality of cores. The linear inductance motor includes a plurality of cores, winding coils corresponding to the X-axis direction and the Y-axis direction around each of the plurality of cores, and providing a switch at one end of the coils to selectively operate the cores. The virtual desktop device according to claim 1, wherein the virtual desktop device is excited. The virtual desktop device according to claim 1, wherein the linear inductance motor includes a plurality of cores, and individual windings are wound around the plurality of cores.

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