JP2008204196A - Information input system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a six-degree-of-freedom information input system, capable of simultaneously inputting six pieces of information through simple operation. <P>SOLUTION: A camera 300 is disposed in a predetermined position within a world coordinate space, and takes irradiation point images containing five irradiation points to an irradiated surface SA of five laser beams emitted by a laser irradiation device 10. An arithmetic device 20 calculates a position in an irradiation point image space of each irradiation point contained in each irradiation point image taken by the camera 300, calculates a position in the world coordinate space of each irradiation point in the world coordinate space, and calculates input information composed of first to third pieces of information showing the position of the laser emitting device 100 within the world coordinate space, forth and fifth pieces of information showing the attitude of the device 100, and sixth piece of information showing the rotating quantity of the device 100 based on a straight line connecting an irradiation hole 127 to the irradiated surface SA. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to an information input system for inputting information related to the position and orientation of a laser pointer.

  Operations to control the target in real space, such as manipulation of the viewpoint and line of sight when displaying the target object with CAD or 3D model software by perspective projection transformation, position and orientation of the object in the model space, robot arm, etc. Or, when performing an input operation of intuitive spatial position and orientation information in an entertainment device, six spatial degrees of freedom, that is, three information indicating the position of the input device in the three-dimensional space, and two information indicating the orientation There is a desire to input a total of six pieces of information including one piece of information indicating the rotation angle of the input device.

  However, at present, input devices such as a mouse, a trackball, and a joystick are used, and such a conventional input device can input at most two pieces of information simultaneously, that is, can input two degrees of freedom simultaneously. When inputting three or more pieces of information at the same time, the user operates the mouse while pressing a specific button, operates an unintuitive device such as a wheel attached to the mouse, or enters a software input mode. It was necessary to perform an operation to set the control axis for information input such as length, width, height, and rotation direction.

  Therefore, since it takes a certain amount of time and effort to learn these operations, users who are not used to handling these conventional input devices cannot intuitively input three or more pieces of information. was there.

Therefore, in Non-Patent Document 1, a transflective plate and a laser pointer are held in both hands, and the laser pointer 3 is recognized by simultaneously recognizing the position of the plate and the irradiation point of the laser beam irradiated on the plate. An input device that estimates a three-dimensional position and uses the estimated three-dimensional position as input information is disclosed.
Shoroering, MA, Grimm, C, M., and Pless, R .: A New Input Device for 3D Sketiching; Vision Interface, pp311-318 (2003) R, New Input Device for 3D Sketching, Vision Interface)

  However, since the input device shown in Non-Patent Document 1 has to hold a transflective plate and a laser pointer with each hand, it is difficult to operate with one hand, and there is a problem that operability is lacking. . There is also a problem that six pieces of information cannot be input simultaneously.

  An object of the present invention is to provide an information input system with six degrees of freedom that can input six pieces of information at the same time while being a simple operation.

  The information input system according to the present invention irradiates n laser beams radially from the irradiation port so that the irradiation point of the laser beam on the predetermined irradiation surface is positioned at the apex of the n-gon (n is an integer of 4 or more). An irradiation point image that is disposed at a predetermined position in a world coordinate space that is a three-dimensional real space and includes an irradiation point on the irradiation surface of each laser beam irradiated by the laser irradiation device is captured. A position calculating means for calculating a position on the irradiation point image space of each irradiation point included in the irradiation point image photographed by the imaging device; and the position Each irradiation point whose position in the irradiation point image space is calculated by the calculating means is converted into the world coordinate space using a plane projection matrix determined in advance from the positional relationship between the world coordinate space and the irradiation point image space. Do First to third information indicating the position of the laser irradiation device in the world coordinate space based on the position in the world coordinate space of each irradiation point calculated by the conversion means; Input information comprising fourth and fifth information indicating the attitude of the laser irradiation apparatus and sixth information indicating the amount of rotation of the laser irradiation apparatus with reference to a straight line connecting the irradiation port and the irradiation surface. And an input information calculating means for calculating.

  According to this configuration, n laser beams are irradiated such that a laser beam irradiation point on a predetermined irradiation surface is positioned at the apex of an n-gon (n is an integer of 4 or more), and the world is a three-dimensional space. An irradiation point image including an irradiation point on the irradiation surface of each laser beam is taken by an imaging device arranged at a predetermined position in the coordinate space, and each irradiation point included in the irradiation point image is within the irradiation point image space. The position is calculated, and the position of each irradiation point in the world coordinate space is calculated using a plane projection matrix determined in advance from the positional relationship between the world coordinate space and the irradiation point image space. First to third information indicating the position of the laser irradiation apparatus in the world coordinate space, fourth and fifth information indicating the attitude of the laser irradiation apparatus, the irradiation port, and the irradiation surface. When the center is the straight line Input information is calculated comprising a sixth information showing the amount of rotation of THE irradiation device.

  As a result, the user simply moves the position of the irradiation point of the laser beam output from the laser irradiation apparatus by moving or rotating the laser irradiation apparatus, and simply performs the first operation. It becomes possible to input the input information consisting of the sixth information at the same time, and it is possible to input six pieces of information at the same time with a simple operation.

  In addition, the laser irradiation apparatus may further emit one laser beam on the irradiation surface so that the irradiation point is located at the center of an n-gon formed by the irradiation point of the laser beam output radially on the irradiation surface. It is preferable to irradiate toward.

  In this case, since one more laser beam is irradiated so that the irradiation point is located at the center of the n-gon formed by the irradiation point of the laser beam output in a radial manner, the user can open the irradiation port of the laser irradiation apparatus. It is easy to recognize which direction it is facing.

  In addition, the n-gon is a quadrangle, and the laser irradiation unit is configured such that the irradiation point of the first laser beam and the irradiation point of the second laser beam are located on one diagonal line of the rectangle, and the third laser An irradiation point of the beam and an irradiation point of the fourth laser beam are located on the other diagonal line of the quadrangle, an irradiation point of the fifth laser beam is located at the center of the quadrangle, The first to fifth laser beams are irradiated so that the angle between each of the first to fourth laser beams is a constant value ψ, and the fourth information (= θ) is stored in the world coordinate space. The X, Y and Z axes are orthogonal to each other, the irradiation surface is located on the Z = 0 plane, the position of the irradiation port in the world coordinate space is a point P, and the first to first Each of the irradiation points in the world coordinate space of 5 laser beams is point A , B, C, D, and O, the length between the point A and the point O is L0, and the length between the point B and the point O is L1. The fifth information (= φ) is expressed by the equation (A), and the length between the point C and the point O is L0 ′, and the length between the point D and the point O is L1 ′. In this case, the angle formed by the projection of the Z axis onto the plane PCD and the straight line OP is preferably represented by the formula (B).

θ = arctan ((L0−L1) / ((tanφ) · (L0 + L1))) · (L0 / L1)) (A)
φ = arctan ((L0′−L1 ′) / ((tanψ) · (L0 ′ + L1 ′))) · (L0 ′ / L1 ′)) (B)
In this case, since the fourth and fifth information are calculated by performing the calculations shown in the equations (A) and (B), the attitude of the laser irradiation apparatus can be calculated with high accuracy.

  Further, the first and second information (= X, Y) has a length between the point O and the point P as l, a perpendicular to the Z = 0 plane of the point P as a point R, and a point A And an intersection of a straight line AB passing through the point B and a straight line passing through the point R and perpendicular to the straight line AB is a point S, and a straight line CD passing through the point C and the point D and a straight line passing through the point R and perpendicular to the straight line CD When the intersection is a point T, it is preferably expressed by the formulas (C) to (F), and the third information (= Z) is preferably expressed by the formula (G).

However, _{r x} represents the X component of the point R, _{r y} represent the Y component of point R, _{e 1} denotes the unit vector of the straight line _{AB, e 1x} represents the X component of _{e 1, e 1y} is e shows _one of the Y component, _{e 2} represents the unit vector of the straight line _{CD, e 2x} represents the X component of _{e 2, e 2y} represents the Y component of _{e 2,} the position vector of the vector s is the point S The vector t indicates the position vector of the point T, the vector O indicates the position vector of the point O, and O _x , O _y , and O _z indicate the X, Y, and Z components of the point O.

  In this case, since the first to third information is calculated using the equations (C) to (G), the position of the laser irradiation apparatus in the world coordinate space can be calculated with high accuracy.

  In addition, the input information calculation means may perform projection of the X axis and projection of the first diagonal line connecting the points A and B, or the points C and D on a plane orthogonal to the straight line PO connecting the points P and O. A process for obtaining an angle with the projection of the second diagonal line connecting the two is performed on each irradiation point image continuously photographed by the photographing means, and the difference between the irradiation point images at the obtained angle is obtained. It is preferable to calculate 6 information.

  In this case, the sixth information indicating the rotation angle of the laser irradiation apparatus with respect to the straight line connecting the irradiation port and the irradiation surface can be calculated with high accuracy.

  Further, the laser irradiation device is disposed such that the light source, the top portion faces the light source side, each side surface is a mirror, and the bottom surface is orthogonal to the optical axis of the laser beam output from the light source, and An n-pyramidal mirror having a regular n-pyramidal shape in which a hole for guiding a part of a laser beam to the irradiation port is formed at the top, and the light source and the n-pyramidal mirror, It is preferable that a hole for allowing a laser beam output from a light source to pass therethrough is formed, and a flat plate mirror that reflects n laser beams reflected from each side surface of the n-pyramidal mirror and guides the laser beam to the irradiation port. .

  In this case, the laser beam output from the light source passes through the hole provided in the center of the flat mirror and then reaches the top of the n-pyramidal mirror, and a part of the reached laser beam is provided in the hole provided at the top. And the remainder of the laser beam that has reached is reflected on each side of the n-pyramidal mirror having a regular n-pyramidal shape, divided into n laser beams, and led to a flat mirror, Since these n laser beams are further reflected by the flat mirror and guided to the irradiation port, the angle formed by the divided n laser beams and the laser beam that has passed through the center of the n-pyramidal mirror is a constant angle. N laser beams can be irradiated radially toward the irradiation surface.

  The laser irradiation apparatus includes a laser pointer and an attachment unit detachably disposed at a tip of the laser pointer, the laser pointer includes the light source, and the attachment unit includes the n-pyramid. It is preferable that a mirror and the flat mirror are included.

  In this case, the laser irradiation apparatus can be obtained by a simple operation of attaching the attachment part to a commercially available laser pointer.

  According to the present invention, it is possible to provide a six-degree-of-freedom information input system capable of inputting six pieces of information at the same time while being a simple operation.

  Hereinafter, an information input system according to an embodiment of the present invention will be described. FIG. 1 shows an overall configuration diagram of the information input system. The information input system includes a laser irradiation device 100, a calculation device 200, and a camera 300 (imaging device). The laser irradiation apparatus 100 outputs n laser beams radially from the irradiation port so that the irradiation point of the laser beam on the predetermined irradiation surface SA is positioned at the apex of the n-gon (n is an integer of 4 or more). In the present embodiment, the laser irradiation apparatus 100 irradiates four laser beams radially so that the irradiation point of the laser beam on the irradiation surface SA is positioned at the vertex of the quadrangle, and the four apexes of the quadrangle. One laser beam is irradiated so that the irradiation point is located at the intersection of two diagonal lines to be connected. Then, the user moves or rotates the laser irradiation apparatus 100 to move the positions of the irradiation points of the five laser beams on the irradiation surface SA, and includes first to sixth information described later. Enter the input information.

  2A and 2B are configuration diagrams of the laser irradiation apparatus 100. FIG. 2A is a cross-sectional view of the vicinity of the irradiation port, and FIG. 2B is a perspective view of the vicinity of the irradiation port. As shown in FIG. 2, the laser irradiation apparatus 100 includes a laser pointer 110 and an attachment unit 120 that is detachably disposed on the distal end side of the laser pointer 110. The laser pointer 110 is composed of a commercially available laser pointer in which a light source for irradiating a laser beam is disposed inside a cylindrical casing 111. The attachment unit 120 includes a housing 121, a quadrangular pyramid mirror 122, and a flat plate mirror 123. The housing 121 has a cylindrical shape in which an upper surface and a lower surface are opened and a side surface is continuous with a side surface of the housing 111. Further, a convex portion 130 that is fitted into a concave portion 112 provided on the inner wall of the side surface of the casing 111 is formed above the casing 121.

  The quadrangular pyramid mirror 122 is attached to the casing 121 by four fasteners 128, has a regular quadrangular pyramid shape, the top portion 125 faces the light source side, and the bottom surface 124 is an optical axis of the laser beam LB1 output from the light source. They are arranged so as to be orthogonal.

  A hole 126 for guiding a part of the laser beam LB1 to the irradiation port 127 as a laser beam LB15 is formed in the top portion 125 of the quadrangular pyramid mirror 122. Further, the four side surfaces of the quadrangular pyramid mirror 122 are constituted by mirrors, and the laser beam LB1 is divided into four laser beams LB11 to LB14 by reflecting the laser beam LB1 on each side surface. Here, the cross section of the hole 126 is circular, and its radius is smaller than the radius of the cross section of the laser beam LB1.

  The flat mirror 123 has a flat donut shape in which a hole 129 for allowing the laser beam LB1 to pass is formed in the center, and is disposed on the upper side of the attachment unit 120 so as to be orthogonal to the optical axis of the laser beam LB1. The four laser beams LB11 to LB14 are reflected and guided to the irradiation port 127.

  FIG. 3 is a block diagram showing the relationship between the arithmetic device 200 and the camera 300 of the information input system. The arithmetic device 200 includes a 1.5 GHz Pentium (registered trademark) CPU, a Linux (Fedora Core) as an OS, and a commercially available personal computer including an IEEE1394 interface.

  The camera 300 is composed of a camera having an IEEE 1394 interface, and is connected to the arithmetic device 200 via a cable compliant with IEEE 1394. The camera 300 is arranged at a predetermined position in the world coordinate space that is a three-dimensional real space, and has five irradiation points on the irradiation surface SA of the laser beams LB11 to LB15 irradiated by the laser irradiation apparatus 100. Take the irradiation point image that contains it. Here, the laser irradiation device 100 captures a rectangular irradiation point image at a predetermined frame rate, and outputs the captured irradiation point image to the arithmetic device 200 via a cable. The world coordinate space is a three-dimensional space represented by three coordinate axes of X, Y, and Z orthogonal to each other with a predetermined position in the three-dimensional real space as an origin. Further, in the irradiation point image, the five irradiation points appear as high luminance areas.

  The arithmetic device 200 includes an input processing unit 210, a rendering unit 221, a three-dimensional model storage unit 222, and a display device 223. The input processing unit 210 calculates input information to be described later from an irradiation point image photographed by the camera 300, and includes a position calculation unit 211 (position calculation unit), a conversion unit 212 (conversion unit), and an input information calculation unit. 213 (input information calculation means).

  The position calculation unit 211 calculates the position of each irradiation point included in each irradiation point image photographed by the camera 300 in the irradiation point image space. Specifically, the position calculation unit 211 extracts a region with high luminance from the irradiation point image, performs expansion / contraction processing to reduce noise, performs labeling processing, and performs five regions in order from a large region. And the coordinates of, for example, the center of gravity of the extracted five regions are calculated as the positions of the respective irradiation points. Here, the irradiation point image space is a two-dimensional space represented by two orthogonal x and y coordinate axes with a predetermined position of the rectangular irradiation point image, for example, the upper left vertex as the origin.

  The conversion unit 212 uses the planar projection matrix determined in advance from the positional relationship between the world coordinate space and the irradiation point image space for each irradiation point whose position in the irradiation point image space is calculated by the position calculation unit 211. Convert to coordinate space.

The conversion unit 212 obtains a planar projection matrix as follows. Let p = (p _x , p _y ) be a point on the plane in the world coordinate space (for convenience, Z = 0), and q = (q _x , q _y ) be a point on the image taken by the camera 300. , Each relationship is expressed by equation (1) using a 3 × 3 planar projection matrix H = {h _ij } (i, j = 0, 1, 2). In Equation (1), ω is a parameter related to the focal length of the camera 300.

  On the other hand, since p is a point after perspective projection conversion, it is expressed by equations (2) and (3) using equation (1).

Here, h ₂₂ only affects the magnification and may be set as h ₂₂ = 1. Under these conditions, if a set of four points p _i and q _i (i = 0, 1, 2, 3) that do not line up in a straight line is prepared, h ₀₀ to h shown in Expression (4) It is possible to solve a linear equation for 8 variables up to ₂₁ and to determine a planar projection matrix H.

  Actually, the rectangular range captured by the camera 300 is measured, and the positions of the four vertices in the world coordinate space and the positions of the four corner points in the image captured by the camera 300 in the irradiation point image space It is preferable to determine the plane projection matrix H from

  Then, the conversion unit 212 stores the planar projection matrix H obtained in this way in the storage device, and at the time of actual processing, the stored planar projection matrix H, Formula (2), and Formula (3). Are used to calculate the position of each irradiation point in the world coordinate space.

  Based on the position of each irradiation point calculated by the conversion unit 212, the input information calculation unit 213 includes first to third information indicating the position of the laser irradiation device 100 in the world coordinate space, and the laser irradiation device 100. Input information including fourth and fifth information indicating the posture and sixth information indicating the amount of rotation of the laser irradiation apparatus 100 with reference to a straight line connecting the irradiation port 127 and the irradiation surface SA is calculated. In the present embodiment, the position of the irradiation port 127 in the world coordinate space is the position of the laser irradiation apparatus 100.

  Here, the input information calculation unit 213 calculates the first to third information (= X, Y, Z) and the fourth and fifth information (= θ, φ) as follows. 4 and 5 are explanatory diagrams of processing of the input information calculation unit 213. FIG.

  4 and 5, points A to D indicate positions of the irradiation points of the laser beams LB11 to LB14 in the world coordinate space, points O indicate positions of the irradiation points of the laser beam LB15 in the world coordinate space, A point P indicates the position of the irradiation port 127 in the world coordinate space. 1 indicates the length between the point O and the point P, the point R indicates a leg of the perpendicular to the Z = 0 plane of the point P, the point S indicates a straight line AB passing through the points A and B, and a point An intersection point with a straight line passing through the point R and perpendicular to the straight line AB is shown, and a point T shows an intersection point between the straight line CD passing through the points C and D and a straight line passing through the point R and perpendicular to the straight line CD. 5 indicates the length between the point B and the point O, and L0 indicates the length between the point A and the point O. Θ represents the angle between the projection of the Z axis on the plane PAB and the straight line OP, and φ (not shown) represents the angle formed between the projection of the Z axis on the plane PCD and the straight line OP. 4 indicates the length between the point D and the point O, and L0 ′ indicates the length between the point C and the point O. In this embodiment, since the irradiation surface SA is set on the Z = 0 plane, the points A to D and the point O are located on the Z = 0 plane.

  Further, the irradiation point of the laser beam LB1 and the irradiation point of the laser beam LB2 are located on one diagonal line of a quadrangle with the irradiation point as a vertex, and the irradiation point of the laser beam LB3 and the irradiation point of the laser beam LB4 The irradiation point of the laser beam LB5 is located at the center of the square, and the angle formed between the laser beam LB5 and each of the laser beams LB1 to LB4 is constant and is ψ.

  First, the input information calculation unit 213 classifies the points A to D into a set of points A and B and a set of points C and D so as to be sandwiched diagonally around the point O as shown in FIG. In this classification, four angles obtained by calculating four angles formed by a vector parallel to the X axis on the irradiation surface SA and passing through the point O and a vector from the point O toward each of the points A to D are obtained. Based on the magnitude of the angle, the points A to D are classified into a set of points A and B and a set of points C and D.

  Then, the input information calculation unit 213 calculates the fourth information (= θ) using the equation (A) and calculates the fifth information (= φ) using the equation (B).

θ = arctan (((L0−L1) / ((tanφ) · (L0 + L1))) · (L0 / L1)) (A)
φ = arctan (((L0′−L1 ′) / ((tan ψ) · (L0 ′ + L1 ′))) · (L0 ′ / L1 ′)) (B)
The input information calculation unit 213 calculates the first and second information (= X, Y) using the equations (C) to (F), and uses the equation (G) to calculate the third information (= Z) is calculated.

However, _{r x} represents the X component of the point R, _{r y} represent the Y component of point R, _{e 1} denotes the unit vector of the straight line _{AB, e 1x} represents the X component of _{e 1, e 1y} is e shows _one of the Y component, _{e 2} represents the unit vector of the straight line _{CD, e 2x} represents the X component of _{e 2, e 2y} represents the Y component of _{e 2,} the position vector of the vector s is the point S The vector t represents the position vector of the point T, the vector O represents the position vector of the point O, and O _x , O _y , and O _z represent the X, Y, and Z components of O.

  Next, expressions (A) to (G) will be described with reference to FIGS. As shown in FIG. 5, the following two equations are obtained from the right triangle PAA ′ and the right triangle PBB ′.

tan ψ = L0 cos θ / (l + L0 sin θ) (5)
tan ψ = L1 cos θ / (1-L1 sin θ) (6)
When tan ψ / cos θ is eliminated from both equations, equation (7) is obtained.

(L + L0sin θ) / L0 = (1-L1 sin θ) / L1 (7)
Further, when equation (7) is solved for sin θ, equation (8) is obtained.

sin θ = 1 (L0−L1) / 2L0 · L1 (8)
On the other hand, since Expression (9) (= Expression (F)) is obtained from Expression (5), Expression (10) is obtained by eliminating l from Expression (8) and Expression (9).

l = L0 cos θ / tan ψ−L0 sin θ (9)
(1 / tan ψ) (L0−L1) L0 cos θ = (L0 + L1) L1 sin θ (10)
When formula (10) is rearranged with respect to θ, formula (11) is obtained.

tan θ = ((L0−L1) / (tan ψ · (L0 + L1))) · (L0 / L1) (11)
Then, when equation (11) is solved for θ, equation (A) is obtained. Here, since L0, L1, and ψ are known, θ can be calculated. Moreover, l can be calculated | required from Formula (9). If l is obtained, the length of the line segment OS is determined as l sin θ, and the position vector of the point S is expressed by the equation (D). The position vector of the point T can also be determined by the same calculation, and the position vector of the point T is expressed by Expression (E).

  Further, since the straight line RS and the straight line AB are orthogonal to each other, and the straight line RT and the straight line CD are orthogonal to each other, the expressions (12) and (13) are established.

  Here, the vector r indicates the position vector of the point R, and the vector s indicates the position vector of the point S.

Therefore, X coordinate of the point P, the Y-coordinate values _r x, _{r y} is represented by formula (C).

Further, since the point R is a leg of the perpendicular to the irradiation surface SA of the point P, PR, that is, the value of the Z coordinate of the point P is expressed as PR = √ (OP ² −OR ² ), and the equation (G ) Is obtained.

  The input information calculation unit 213 shown in FIG. 3 projects the X-axis projection and the first diagonal line connecting the point A and the point B on the plane orthogonal to the straight line PO connecting the point P and the point O, or the points C and A process for obtaining an angle with the projection of the second diagonal line connecting the points D is performed on each irradiation point image continuously photographed by the camera 300, and the difference between the irradiation point images at the obtained angle is obtained. 6 information is calculated.

  The rendering unit 221 sets the viewpoint and line of sight in the virtual three-dimensional space from the input information calculated by the input information calculation unit 213, and the virtual three-dimensional model stored in the three-dimensional model storage unit 222 according to the set viewpoint and line of sight Are rendered and displayed on the display device 223.

  Here, the rendering unit 221 sets the viewpoint at a predetermined position in the virtual three-dimensional space according to the first to third information calculated by the input information calculation unit 213, and the fourth and fifth information Accordingly, the line of sight in the virtual three-dimensional space is set, and the rendered virtual three-dimensional model is rotated around the line of sight according to the rotation angle indicated in the sixth information.

  The 3D model storage unit 222 includes a hard disk or the like, and stores a virtual 3D model created in advance using modeling software for creating a virtual 3D model. The display device 223 includes a display device such as a liquid crystal display, a plasma display, or a CRT.

  Next, the operation of this information input system will be described. FIG. 6 is a flowchart showing the operation of the information input system. First, in step S1, the camera 300 captures an irradiation point image including five irradiation points on the irradiation surface SA of the laser beams L11 to L15 irradiated by the laser irradiation apparatus 100.

  Next, in step S2, the input processing unit 210 executes a process of calculating first to fifth information from the irradiation point image photographed in step S1. FIG. 7 is a flowchart showing details of processing for calculating the first to fifth information. First, in step S11, the position calculation unit 211 calculates the positions in the irradiation point image space of the five irradiation points (points A to D, point O) included in the irradiation point image obtained in step S1.

  Next, in step S12, the conversion unit 212 uses the planar projection matrix H to represent each irradiation point (point A to D, point O) whose position in the irradiation point image space is calculated in step S11. And the positions of the points A to D and the point O in the world coordinate space are calculated.

  Next, in step S13, the input information calculation unit 213 uses the expression (A) to calculate fourth information (= θ from the positions of the points A to D and the point O calculated in step S12 in the world coordinate space. ) And fifth information (= φ) is calculated using the formula (B).

  Next, in step S14, the input information calculation unit 213 uses the expressions (C) to (F) to calculate the first and second information (= X) from the fourth and fifth information calculated in step S13. , Y) and the third information (= Z) is calculated using the equation (G).

  Returning to FIG. 6, in step S <b> 3, the rendering unit 221 sets the viewpoint at a position in the virtual three-dimensional space that is predetermined according to the first to third information calculated in step S <b> 2, and the fourth The line of sight is set in the virtual three-dimensional space according to the fifth information, and the three-dimensional model is rendered and displayed on the display device 223. FIG. 10 is a screen diagram illustrating a rendering result of the three-dimensional model displayed on the display device 223. As shown in FIG. 10, in this embodiment, a cow is adopted as a three-dimensional model. Further, the image shown in the left frame in FIG. 10 shows an irradiation point image photographed by the camera 300. As shown in FIG. 10, it can be seen that the irradiation point image includes one point located at the center and four points so as to surround the one point.

  In step S4, the camera 300 captures the next irradiation point image. In step S5, the input processing unit 210 executes a process of calculating first to sixth information on the irradiation point image photographed in step S4. FIG. 8 is a flowchart showing details of processing for calculating the first to sixth information. Since the process of step S21-S24 is the same as the process of step S11-S14 shown in FIG. 7, description is abbreviate | omitted.

  In step S25, the input information calculation unit 213 connects the projection of the X axis, the point A, and the point B in the plane orthogonal to the straight line PO connecting the point P and the point O obtained in the previously captured irradiation point image. The difference between the angle of the projection of the first diagonal line or the projection of the second diagonal line connecting point C and point D and the same angle obtained in the irradiation point image taken this time is obtained, and the sixth information is calculated. To do.

  FIG. 9 is an explanatory diagram of the sixth information calculation process. The points A ′ to D ′ and the point O ′ shown in FIG. 9 represent the projections of the points A to D and the point O on the plane SB orthogonal to the straight line PO obtained from the previously captured irradiation point image, and X ′ The projection of the X axis in the plane SB is shown. The input information calculation unit 213 calculates an angle θ1 formed by X ′ and a straight line LA′B ′ (projection of the first diagonal line to the plane SB) connecting the points A′B ′. Next, the input information calculation unit 213 similarly performs a straight line LA′B ′ (projection of the first diagonal line onto the plane SB) connecting X ′ and the point A′B ′ with respect to the irradiation point image captured this time. Is calculated. Then, the input information calculation unit 213 calculates the difference between θ2 and θ1, and calculates sixth information.

  Here, in calculating the angles θ1 and θ2, the input information calculation unit 213 calculates the angle between the straight line LC′D ′ (projection of the second diagonal line to the plane SB) connecting the point C′D ′ and X ′. You may ask for it. Further, the angle between Y ′ and the straight line LA′B ′ or the angle between Y ′ and the straight line LC′D ′, which is a projection of the Y axis in the plane SB, may be adopted as θ1 and θ2.

  Further, the input information calculation unit 213 determines the angle θ11 formed by the straight line LA′B ′ and X ′ obtained from the previously captured irradiation point image and the straight lines LA′B ′ and X obtained from the currently captured irradiation point image. A straight line LC obtained from the first difference between the angle θ12 formed by ′ and the angle θ21 formed by the straight line LC′D ′ and X ′ obtained from the currently captured irradiation point image and the irradiated point image currently captured. The second difference between the angle θ22 formed by 'D' and X 'may be obtained, and the average of the first difference and the second difference may be employed as the sixth information. The first difference and the second difference are basically at the same angle, but may vary somewhat. Therefore, by performing such processing, the sixth information can be calculated with high accuracy.

  Returning to FIG. 6, in step S <b> 6, the rendering unit 221 sets the viewpoint and line of sight in the virtual three-dimensional space according to the first to fifth information, renders the stereo model, and rotates indicated by the sixth information. The rendered solid model is rotated around the line of sight according to the angle.

  Next, in step S7, when the arithmetic device 200 is turned off, the photographing of the camera 300 is finished, the rendering software is finished, and the photographing of the irradiation point image is finished (YES in step S7). ) When the process is completed and the shooting of the irradiation point image is not completed (NO in step S7), the process returns to step S2, and the processes after step S2 are executed.

  As described above, according to this information input system, the user moves or rotates the laser irradiation apparatus 100 to move the position of the irradiation point of the laser beam output from the laser irradiation apparatus 100 on the irradiation surface. It is possible to input the input information consisting of the first to sixth information at the same time simply by performing a simple operation such as making it possible to input six information at the same time while inputting simple information. A system can be provided.

  In the above embodiment, the information input system is applied to setting the viewpoint in the rendering process. However, the present invention is not limited to this. In order to move a character displayed in the virtual three-dimensional space in a game or the like in the same space. It may be adopted as an operating device for a variety of machines such as a robot existing in a real space.

1 shows an overall configuration diagram of an information input system according to the present embodiment. FIG. It is a block diagram of a laser irradiation apparatus, (a) shows sectional drawing of irradiation port vicinity, (b) has shown the perspective perspective view of irradiation port vicinity. It is the block diagram which showed the relationship between the arithmetic unit of the information input system by this Embodiment, and a camera. It is explanatory drawing of a process of an input information calculation part. It is explanatory drawing of a process of an input information calculation part. It is a flowchart which shows operation | movement of the information input system by this Embodiment. It is a flowchart which shows the detail of the process which calculates 1st-5th information. It is a flowchart which shows the detail of the process which calculates 1st-6th information. It is explanatory drawing of the calculation process of 6th information. It is the screen figure which showed the rendering result of the three-dimensional model displayed on the display apparatus.

Explanation of symbols

DESCRIPTION OF SYMBOLS 100 Laser irradiation apparatus 110 Laser pointer 120 Attachment part 122 Square pyramid mirror 123 Mirror 124 Bottom 125 Top part 126 Hole 127 Irradiation hole 129 Hole 200 Arithmetic apparatus 210 Input processing part 211 Position calculation part 212 Position calculation part 213 Input information calculation part 221 Rendering part 222 Three-dimensional model storage unit 223 Display device 300 Camera

Claims (7)

A laser irradiation apparatus that radiates n laser beams radially from an irradiation port so that an irradiation point of a laser beam on a predetermined irradiation surface is positioned at an apex of an n-gon (n is an integer of 4 or more);
An imaging device that is arranged at a predetermined position in a world coordinate space that is a three-dimensional real space, and that captures an irradiation point image including an irradiation point on the irradiation surface of each laser beam irradiated by the laser irradiation device;
An arithmetic unit,
The arithmetic unit is:
Position calculating means for calculating the position on the irradiation point image space of each irradiation point included in the irradiation point image captured by the imaging device;
Each irradiation point whose position in the irradiation point image space is calculated by the position calculation means is converted into the world coordinate space using a plane projection matrix determined in advance from the positional relationship between the world coordinate space and the irradiation point image space. Conversion means for converting to
Based on the position in the world coordinate space of each irradiation point calculated by the conversion means, first to third information indicating the position of the laser irradiation apparatus in the world coordinate space, and the laser irradiation apparatus Input for calculating input information including fourth and fifth information indicating a posture and sixth information indicating a rotation amount of the laser irradiation apparatus with reference to a straight line connecting the irradiation port and the irradiation surface. An information input system comprising an information calculating means.   The laser irradiation apparatus further directs one laser beam toward the irradiation surface so that the irradiation point is positioned at the center of an n-gon formed by the irradiation point of the laser beam output radially to the irradiation surface. The information input system according to claim 1, wherein irradiation is performed. The n-gon is a quadrangle;
In the laser irradiation means, the irradiation point of the first laser beam and the irradiation point of the second laser beam are located on one diagonal line of the square, and the irradiation point of the third laser beam and the fourth laser beam Is located on the other diagonal line of the quadrangle, the irradiation point of the fifth laser beam is located at the center of the quadrangle, and each of the fifth laser beam and the first to fourth laser beams Irradiating the first to fifth laser beams so that the angle formed by
The fourth information (= θ) is that the coordinate axes of the world coordinate space are X, Y, and Z axes orthogonal to each other, the irradiation surface is located on the Z = 0 plane, and the world coordinates of the irradiation port The position in space is a point P, the irradiation points of the first to fifth laser beams in the world coordinate space are points A, B, C, D, and O, respectively. The angle between the projection of the Z axis on the plane PAB and the straight line OP when the length is L0, and the length between the point B and the point O is L1, and is represented by the formula (A).
The fifth information (= φ) is the projection of the Z axis onto the plane PCD when the length between the point D and the point O is L1 ′ and the length between the point C and the point O is L0 ′. The information input system according to claim 2, wherein the information input system is an angle formed with the straight line OP and is represented by the formula (B).
θ = arctan (((L0−L1) / ((tanφ) · (L0 + L1))) · (L0 / L1)) (A)
φ = arctan (((L0′−L1 ′) / ((tan ψ) · (L0 ′ + L1 ′))) · (L0 ′ / L1 ′)) (B) In the first and second information (= X, Y), the length between the point O and the point P is set as l, the foot of the perpendicular to the Z = 0 plane of the point P is set as the point R, the point A and the point An intersection of a straight line AB passing through B and a straight line passing through point R and orthogonal to straight line AB is point S, and an intersection of a straight line CD passing through point C and point D and a straight line passing through point R and perpendicular to straight line CD 4. The information input system according to claim 3, wherein the point T is represented by equations (C) to (F), and the third information (= Z) is represented by equation (G).

However, _{r x} represents the X component of the point R, _{r y} represent the Y component of point R, _{e 1} denotes the unit vector of the straight line _{AB, e 1x} represents the X component of _{e 1, e 1y} is e shows _one of the Y component, _{e 2} represents the unit vector of the straight line _{CD, e 2x} represents the X component of _{e 2, e 2y} represents the Y component of _{e 2,} the position vector of the vector s is the point S The vector t indicates the position vector of the point T, the vector O indicates the position vector of the point O, and O _x , O _y , and O _z indicate the X, Y, and Z components of the point O.   The input information calculation means connects the projection of the X axis and the projection of the first diagonal line connecting the points A and B, or the points C and D on a plane orthogonal to the straight line PO connecting the points P and O. A process for obtaining an angle with the projection of the second diagonal line is executed for each irradiation point image continuously photographed by the photographing means, and the difference between the irradiation point images of the obtained angle is obtained. 5. The information input system according to claim 3, wherein information is calculated. The laser irradiation apparatus is
A light source;
The top portion faces the light source side, each side surface is a mirror, the bottom surface is disposed so as to be orthogonal to the optical axis of the laser beam output from the light source, and a part of the laser beam is guided to the irradiation port. An n-pyramidal mirror having a regular n-pyramidal shape with a hole for the top formed thereon,
A hole is provided between the light source and the n-pyramidal mirror, and a hole for allowing a laser beam output from the light source to pass therethrough is formed at a central portion. The information input system according to claim 2, further comprising a flat mirror that reflects a laser beam and guides the laser beam to the irradiation port. The laser irradiation apparatus is
A laser pointer, and an attachment part detachably disposed at the tip of the laser pointer,
The laser pointer includes the light source,
The information input system according to claim 6, wherein the attachment unit includes the n-pyramidal mirror and the flat mirror.

Images