JP2013210888A - Input device, control system, calibration method and program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To calibrate a sensor without intentional user operations.SOLUTION: An input device 10 comprises: an input device main body 20 which allows an operation input for an operation target displayed in a display device 60; and a magnetic sensor 16 which is received in the input device main body 20 and detects geomagnetism to output its magnetic field value. The input device 10 also includes a CPU 11 which, upon detection that the input device main body 20 is stationary, causes the input device main body 20 to rotate on at least three axial directions different from each other, and calibrates the magnetic field value output by the magnetic sensor.

Description

  The present disclosure relates to an input device, a control system, a calibration method, and a program for performing operation input of an operation target displayed on a screen two-dimensionally or three-dimensionally.

  Conventionally, a mouse is widely used as an input device for operating a GUI (Graphical User Interface) displayed two-dimensionally on a screen. In recent years, various input devices that can be operated in a three-dimensional space have been proposed, not limited to a planar operation type input device represented by a mouse. In simple settings such as volume control, it is common to use a slide bar that can be displayed in one dimension and operated in one axis direction, or a rotary dial that can be operated in accordance with a predetermined rotation angle. .

  As described above, in the input device used in the three-dimensional space, when the operation applied to the input device and the movement of the operation target displayed on the display device match as much as possible, the user who performs the operation is less likely to feel discomfort. For this reason, the input device is provided with a mechanism for calibrating the direction of the input device itself, and the user has to perform calibration at the start of use of the input device.

  Here, in order to easily and automatically calibrate the input device, a technique as disclosed in Patent Document 1 has been known. In Patent Document 1, an input device is not placed on a support means (cradle), and an operation is accepted as an operation mode when the user is gripping the grip of the input device, the input device is placed on the support means, and the grip is gripped. There has been disclosed a technique for automatically switching a mode so that calibration is performed as a calibration mode when there is not.

Japanese Patent No. 4626671

  By the way, the input device has an acceleration sensor, an angular velocity sensor, a magnetic sensor, and the like for detecting the movement of the input device (hereinafter, these sensors may be collectively referred to as “various sensors”), and output values of the various sensors. The operation performed on the input device was calculated. Here, the output value of the sensor has the following characteristics due to the mechanical structure of various sensors (including MEMS (Micro-Electro-Mechanical Systems)) and the individual differences in electric circuit elements.

(1) Even if the input device is stationary (angular velocity = 0), the angular velocity value (potential etc.) does not become zero.
(2) Even in an acceleration sensor that should detect the same gravitational acceleration (1G), the acceleration value (potential, etc.) detected for each axis may differ.
(3) The magnetic value of the axis orthogonal to the front direction does not become zero even though the front direction of the input device should be directed to “true north”.
As described above, when an error occurs in the output values of various sensors, the displacement amount (for example, movement distance, rotation angle, azimuth angle, etc.) of the input device calculated from the output values may deviate greatly from the actual value. It was.

  Here, in order to obtain an accurate output value, it is necessary to calibrate the output values of various sensors. However, this calibration operation needs to be performed in a predetermined procedure, and the procedure and operation contents differ depending on various sensors, which is complicated for the user. In particular, the calibration value of the magnetic sensor may vary greatly depending on the location where the device is used and the surrounding environment, and the magnetic value must be calibrated every time before using the input device, which impairs convenience.

  Moreover, in the technique disclosed in Patent Document 1, by simply devising the shape of the input device and the support means so that the input device is naturally horizontal with respect to the direction of gravity when the input device is placed on the support means, The biaxial acceleration sensor is calibrated. However, the output values of the magnetic sensor and acceleration sensor having three or more axes that need to be directed in all directions could not be calibrated strictly. Further, in a system in which the absolute position of the input device is obtained by imaging the input device with a camera, the calculation process becomes complicated and the error may be increased.

  The present disclosure has been made in view of such a situation, and an object thereof is to calibrate a sensor without the user being aware of it.

  In the present disclosure, a magnetic sensor housed in an input device main body capable of operating input to an operation target displayed on a display device detects a direction of geomagnetism and outputs a magnetic value, and the input device main body is stationary. After detecting this, the magnetic value output from the magnetic sensor is calibrated when the input device main body rotates in at least three different axial directions.

  By doing so, it is possible to calibrate the magnetic sensor when it is detected that the input device body is stationary.

  According to the present disclosure, when detecting that the input device main body is stationary, the magnetic value output from the magnetic sensor is calibrated, so that when the user uses it, the calibration of the magnetic sensor has already been completed. For this reason, the user does not need to calibrate the magnetic sensor separately at the timing of starting use, and can quickly start using the input device.

It is a block diagram showing an example of composition of a control system provided with an input device in one example of this indication, a control device, and a display. It is explanatory drawing which shows a mode that the user grasped the input device in the example of 1 embodiment of this indication. It is a partially broken figure of the input device in one example of an embodiment of this indication. FIG. 4 is a partially enlarged view of the cutaway view shown in FIG. 3. It is an external view of the shell part of the input device in an example of an embodiment of this indication. It is a block diagram showing the electric composition of the control system in the example of one embodiment of this indication. It is a functional lineblock diagram of a control system in an example of an embodiment of this indication. It is a flowchart which shows the operation example of the control system in one embodiment of this indication. It is a graph which shows the example of the angular velocity value in the stationary state of the input device in one example of this indication. It is explanatory drawing which shows the example of the acceleration value in the stationary state of the input device in one example of this indication. It is explanatory drawing which shows the example of the direction of the acceleration which each axis | shaft of the acceleration sensor in one embodiment of this indication detects. It is explanatory drawing which shows the example of the magnetic value in the stationary state of the input device in the example of 1 embodiment of this indication. It is explanatory drawing which shows the example of the direction of the magnetism which each axis | shaft of the magnetic sensor in one example of this indication detects. It is explanatory drawing which shows the example of the operation | movement which calibrates the magnetic sensor in one embodiment of this indication. It is explanatory drawing which shows the 1st method of orienting the input device which is not used in one embodiment of this indication to all directions. It is explanatory drawing which shows the example which orient | assigns an input device to all directions using the support apparatus in one embodiment of this indication. It is explanatory drawing which shows the example which orient | assigns an input device to all directions using the support apparatus in one embodiment of this indication. It is explanatory drawing which shows the example which orient | assigns the portable terminal provided with the same function as the input device in the example of 1 embodiment of this indication to all directions. It is explanatory drawing which shows the example which obtains the healing effect for the input device in one embodiment of this indication toward all directions. It is explanatory drawing which shows the example of the local coordinate system in one embodiment of this indication, and a global coordinate system. It is explanatory drawing which shows the example which defines the reference | standard azimuth | direction angle of the input device in the example of 1 embodiment of this indication. It is explanatory drawing which shows the example of the 1st method of calibrating the reference | standard azimuth of an input device automatically in one embodiment of this indication. It is explanatory drawing which shows the example of the 2nd method of calibrating the reference | standard azimuth of an input device automatically in one embodiment of this indication. FIG. 10 is a block diagram illustrating an internal configuration example of a display device according to another embodiment of the present disclosure.

Hereinafter, preferred embodiments of the present disclosure will be described in detail with reference to the accompanying drawings. In addition, in this specification and drawing, about the component which has the substantially same function structure, duplication description is abbreviate | omitted by attaching | subjecting the same code | symbol. This input device realizes a calibration method performed by an internal block described later in cooperation with a computer executing a program.
1. Example of Embodiment (Example of configuring sensor values from offset values of various sensors)
2. Modified example

<1. Embodiment>
[System overall configuration]
First, a control system according to an embodiment of the present disclosure will be described with reference to FIG.
FIG. 1 shows a control system 100 including an embodiment of the present disclosure and an input device 10 according to each embodiment described later. The control system 100 includes an input device 10, a control device 50, and a display device 60.

  The input device 10 is, for example, a spherical device that can input an operation on the operation target 60b displayed on the screen of the display unit 60a. The control device 50 controls the display of the operation target 60b in accordance with the operation of the input device 10.

  The control device 50 may be a device dedicated to the input device 10 or a PC or the like. Thereby, in the control system 100, the user can remotely operate the operation target 60b displayed on the display unit 60a by operating the input device 10.

  In addition, the display part 60a is comprised by a liquid crystal display, EL (Electro-Luminescence) display, etc., for example. The display unit 60a may be configured to display a two-dimensional image, or may be configured to display a three-dimensional image. The display unit 60a displays the operation target 60b operated by the input device 10 two-dimensionally or three-dimensionally.

  Examples of the operation target 60b displayed two-dimensionally on the display unit 60a include a GUI such as a pointer, an icon, and a window. Examples of the operation target 60b displayed three-dimensionally include human-type and animal-type character images. These examples are merely examples, and the operation target 60b may be any image as long as it is an image displayed two-dimensionally or three-dimensionally.

  In addition, the display device 60 may be a television device that can receive a television broadcast or the like. Alternatively, when the display device 60 is configured to display the operation target 60b in a three-dimensional manner, the display device 60 may be a stereoscopic image display device that displays a stereoscopic image that can be visually recognized by the user with the naked eye. Although FIG. 1 shows a case where the control device 50 and the display device 60 are separate, the control device 50 and the display device 60 may be configured integrally. Further, a projector or the like may be used as a display device that displays the operation target 60b. In this case, the operation target 60b projected on the screen and the wall surface can be operated by the projector.

[Configuration example of input device]
FIG. 2 is a diagram illustrating a state where the user holds the input device 10. As shown in FIG. 2, the input device 10 has a spherical shape. The size of the input device 10 is slightly larger or slightly smaller than the size of a baseball hard ball, and the diameter is, for example, about 50 mm to 100 mm. Thereby, when the user holds the input device 10, the size is easy to handle. However, the size of the diameter of the input device 10 is not limited to the above range, and of course, other values can be taken.

  3 is a partially cutaway view of the input device 10, and FIG. 4 is a partially enlarged view of the cutaway view shown in FIG. FIG. 5 is an external view of the shell 22 of the input device 10. FIG. 5A shows a state in which the shell-like portion 22 is viewed from an obliquely upward direction, and FIG. 5B shows a state in which the shell-like portion 22 is viewed from the A direction shown in FIG. 5A.

  The input device 10 includes a spherical base portion 21 provided at the center of the input device 10, a spherical shell-like shell portion 22 provided so as to entirely cover the surface of the base portion 21, and a shell-like portion 22. An input device main body 20 having a grip portion 23 provided so as to cover the entire surface of the input device. The input device main body 20 is formed in a spherical shape or a shape conforming to a spherical shape, and an operation input for operating the operation target 60 b displayed on the display device 60 is performed on the input device main body 20.

  The input device 10 includes a tact switch 12 (switch unit) that detects that the input device 10 is grasped with a force equal to or greater than a predetermined force and generates a click feeling. Further, the input device 10 includes a pressure sensor 13 (pressure sensor: detects a grip force) that detects the magnitude of the force with which the user grips the input device 10.

  The inside of the base 21 is a cavity. A circuit board on which electronic components such as the CPU 11 are mounted is provided in the hollow portion inside the base portion 21.

  The shell portion 22 is constituted by eight plates 25 having the same shape (see FIG. 5). The shape of each plate 25 is a shape close to an equilateral triangle. Of the eight plates 25, the vertexes of the corners of the four adjacent plates 25 are concentrated at one point, and a total of six points at which the vertexes are concentrated are formed. A tact switch 12 and a pressure sensor 13 are arranged at positions corresponding to these six points. That is, the input device 10 according to the present embodiment includes six tact switches 12 and six pressure sensitive sensors 13. The tact switch 12 and the pressure sensor 13 are provided between the surface of the base portion 21 and the inner surface of the shell-like portion 22 (plate 25) (see FIGS. 3 and 4).

  The pressure sensor 13 is provided on the surface of the base 21, and the tact switch 12 is provided on the pressure sensor 13. A first pressure diffusion plate 13a is interposed between the pressure-sensitive sensor 13 and the tact switch 12, and a second pressure is provided between the tact switch 12 and the inner surface of the shell-like portion 22 (plate 25). A pressure diffusion plate 13b is interposed. By the first pressure diffusion plate 13a and the second pressure diffusion plate 13b, the force with which the user grips the grip portion 23 can be transmitted to the pressure sensitive sensor 13 uniformly. The pressure sensor 13 senses the magnitude of the force with which the input device body 20 is gripped.

  The tact switch 12 includes a switch main body 12a and a movable portion 12b movable with respect to the switch main body 12a. The tact switch 12 has an electrical switch mechanism (not shown) that can be switched ON / OFF according to the movement of the movable portion 12b. The tact switch 12 has a click feeling generation mechanism (not shown) using an elastic body such as a leaf spring that generates a click feeling according to the movement of the movable portion 12b.

  Here, the relationship between the pressure sensor 13 and the magnitude of the force applied to the plate 25 will be described. When calculating the magnitude of the force applied to one plate 25 and the position where the force is applied based on the pressure value detected by the pressure sensor 13, at least 3 is applied to one plate 25. Two pressure sensors 13 are required.

  In the present embodiment, for one plate 25, three pressure-sensitive sensors 13 that detect a force applied to the plate 25 (used in common with the other plates 25) are provided. Therefore, the magnitude of the force applied to the plate 25 and the position where the force is applied are accurately calculated by executing an operation using vector calculation or the like based on the pressure value from the pressure sensor 13. can do.

  In addition, when three pressure sensors 13 are used for each of the eight plates 25, 24 pressure sensors 13 are originally required for 8 × 3. However, in the present embodiment, the pressure-sensitive sensor 13 is arranged at a point where the apexes of the corners of the four adjacent plates 25 are concentrated, and one pressure-sensitive sensor 13 is shared by the four adjacent plates 25. It is used. Accordingly, the total number of pressure sensors 13 is six, and the cost of the input device 10 can be reduced. As described above, the minimum necessary pressure-sensitive sensor 13 can accurately calculate the magnitude of the force applied to the plate 25 and the position where the force is applied.

  However, the pressure sensor 13 does not necessarily have the above-described configuration. For example, one or two pressure-sensitive sensors 13 may be provided for one plate 25, or four or more pressure sensors 13 may be provided. Further, the pressure-sensitive sensor 13 is not used in common with the other plates 25, and may be provided independently for each plate 25.

  Typically, the pressure-sensitive sensor 13 may be in any form as long as it can detect the force applied to the plate 25 (shell 22) when the user grasps the input device 10. It may be. Further, the number of the plates 25 (the number of divisions of the shell portion 22) is not limited to eight. For example, the number of plates 25 may be two or four.

  The base 21 and the shell 22 are made of a material such as metal or resin, for example. On the other hand, the grip portion 23 is made of a material that is softer than the base portion 21 and the shell portion 22. Examples of the material used for the grip portion 23 include a sponge formed by firing a synthetic resin such as polyurethane. By using a material such as sponge as the material used for the grip portion 23, the tactile sensation can be improved, and the user can finely adjust the magnitude of the force for gripping the input device 10.

Next, the electrical configuration of the control system 100 will be described with reference to FIGS. 6 and 7.
FIG. 6 is a block diagram showing an electrical configuration of the control system 100.
FIG. 7 is a functional configuration diagram of the control system 100.

First, the electrical configuration of the input device 10 will be described with reference to FIG.
The input device 10 includes a notification mechanism 9, a CPU (Central Processing Unit) 11, a tact switch 12, a pressure sensor 13, an acceleration sensor 14, an angular velocity sensor 15, and a magnetic sensor 16. The input device 10 further includes a transmission / reception circuit 17, a battery 18, a ROM (Read Only Memory) 19a, and a RAM (Random Access Memory) 19b. The notification mechanism 9 uses a light emitting mechanism such as an LED (Light Emitting Diode), a sound emitting mechanism such as a speaker, and a vibration generating mechanism to provide a notification including at least one of sound emission, light emission, and vibration. You may make it perform.

  The notification mechanism 9, the CPU 11, the acceleration sensor 14, the angular velocity sensor 15, the magnetic sensor 16, the transmission / reception circuit 17, the ROM 19a, and the RAM 19b are mounted on a circuit board (not shown). The circuit board on which the electronic components are mounted and the battery 18 are provided in a hollow portion formed inside the base portion 21. For this reason, various sensors are accommodated in the input device main body 20.

  The acceleration sensor 14 and the angular velocity sensor 15 are sensors that detect the movement of the input device 10 in a three-dimensional space. The acceleration sensor 14 detects acceleration in three axial directions orthogonal to each other, and outputs an acceleration value (an example of a displacement value) corresponding to the detected acceleration to the CPU 11. The angular velocity sensor 15 detects angular velocities about three axes orthogonal to each other, and outputs an angular velocity value (an example of a displacement value) corresponding to the detected angular velocity to the CPU 11. Further, the magnetic sensor 16 outputs a magnetic value (an example of a displacement value) obtained by detecting the direction of geomagnetism (for example, magnetic north) in the three-dimensional space of the input device 10 to the CPU 11.

  The tact switch 12, the pressure sensor 13, the touch sensor, and the like are used as a pressure sensor. The tact switch 12 outputs a signal to the CPU 11 when the switch mechanism is turned on. The pressure-sensitive sensor 13 is an example of a pressure sensor that outputs a pressure value corresponding to the magnitude of the force held by the user to the input device 10 to the CPU 11.

  The CPU 11 controls various objects based on the angular velocity value, acceleration value, magnetic value, and pressure value output from the acceleration sensor 14, the angular velocity sensor 15, the magnetic sensor 16, and the pressure sensor 13 in order to control the operation target 60b. Perform the operation. Then, when the operation input of the operation target 60 b displayed on the display device 60 is made to the input device 10, the CPU 11 outputs a displacement value corresponding to the displacement amount of the input device 10. Examples of the displacement amount include an acceleration value, an angular velocity value, a magnetic value, and a pressure value. The displacement amount is a value obtained from the displacement amount of one axis, two orthogonal axes, or three orthogonal axes.

  However, the CPU 11 calibrates the magnetic value output by the magnetic sensor 16 when the input device main body 20 rotates in at least three different axial directions after detecting that the input device main body 20 is stationary. Further, when the CPU 11 detects that the input device body 20 is stationary, the CPU 11 also calibrates the acceleration sensor 14 and the angular velocity sensor 15. If the time until it is detected that the input device body 20 is stationary is too short, the user's operation will be hindered. For this reason, it is good also as about 1 hour as time until it detects that the input device main body 20 is still, for example. Here, the input device body 20 (input device 10) may be rotated by the input device 10 itself or by a support device described later. Then, the CPU 11 calculates a reference azimuth angle with respect to the operation target 60b from the input device body 20 based on the calibrated magnetic value.

  The CPU 11 transmits the calibrated acceleration value, angular velocity value, magnetic value, and pressure value from the transmission / reception circuit 17 to the control device 50. However, based on these values, the CPU 11 determines the magnitude of the force with which the input device 10 is gripped, such as the amount of movement of the input device 10 in space, the amount of rotation, and the angle with respect to magnetic north, the position where the force is applied, etc. May be calculated. The CPU 11 executes various calculations in a state where a signal from the switch mechanism of the tact switch 12 is input.

The transmission / reception circuit 17 includes an antenna (not shown) and the like, and transmits various types of information to the control device 50 based on the control of the CPU 11. The transmitting / receiving circuit 17 can also receive information transmitted from the control device 50.
As the battery 18, for example, a rechargeable secondary battery is used, and a charging unit (not shown) is accommodated in the input device main body 20.
The notification mechanism 9 notifies the user that the operation target 60b has been displaced. Here, the notification mechanism 9 may perform different notifications for each uniaxial displacement amount by which the operation target 60b moves.

  Next, the functional configuration of the input device 10 will be described with reference to FIG. The input device 10 includes a detection unit 43, a first processing unit 41, a storage unit 46, a first transmission / reception unit 47, and a power supply unit 48. The detection unit 43 includes a first operation detection unit 44 and a second operation detection unit 45. The first processing unit 41 includes a first response unit 42, a first calculation unit 40, and a second response unit 49.

  The detection unit 43 detects that the input device body 20 is gripped by the user with a force greater than or equal to a predetermined force. For example, the detection unit 43 detects the magnitude of the force with which the input device body 20 is gripped, and outputs a gripping force detection value corresponding to the magnitude of the gripped force. The first operation detection unit 44 detects a first operation on the input device body 20. Examples of the first operation include grasping the input device 10, lifting the input device 10 from the table, hitting the input device 10, and the like, and are not limited to the case of grasping the input device 10. For example, the first operation detection unit 44 may detect that the input device main body 20 is gripped at a predetermined pressure (for example, a first threshold value) or more. The first operation detection unit 44 may output a gripping force detection value corresponding to the magnitude of the gripped force based on the detection result.

  After detecting the first operation, the second operation detection unit 45 detects the second operation on the input device body 20. The detection of the second operation is performed after the detection of the first operation, and is not performed at the same time.

  Examples of the second operation include grasping and operating the input device 10 (grabbing and shaking the input device 10) and the like, and are not limited to the case where the input device 10 is grasped. The detection value detected by the first operation detection unit 44 and the second operation detection unit 45 is at least one of values sensed by the pressure sensor 13, the acceleration sensor 14, the angular velocity sensor 15, and the magnetic sensor 16. For example, the second operation detection unit 45 detects that the input device body 20 is gripped at a predetermined pressure (second threshold) or more. The second threshold is set in advance to a value larger than the first threshold.

  The 1st response part 42 performs the 1st response of the input device 10 based on the detection of 1st operation. Examples of the first response include making a click sound and applying a repulsive force to the user's hand holding the input device 10 using a spring provided in the input device 10. However, it is not always necessary to perform the first response to the user based on the detection of the first operation. For example, the first response unit 42 sends a first response to the user when the detection unit 43 detects that the input device 10 is gripped and when it is no longer detected that the input device 10 is gripped. You may return it. The first response unit 42 returns a first response to the user regardless of the control of the first processing unit 41 when at least the detection unit 43 detects that the input device body 20 is gripped. Also good. The first response is basically a process that does not go through the CPU 11 and thus has an immediate answer, but may go through the CPU 11.

  The first calculation unit 40 may perform a calculation (first process) for operating the operation target 60b based on a displacement value with respect to the movement of the input device body 20 according to the first operation. Calculation for the operation of the operation target 60b (second processing) may be performed based on the motion detection with respect to the movement of the input device body 20 according to the operation.

  The first operation detection unit 44 can prompt the first response unit 42 to perform a response process without using the first calculation unit 40. For this reason, it is possible to make a response by clicking sound to the user without sending the first response from the first response unit 42 to the first calculation unit 40. Thereby, the first response by the click sound by the first response unit 42 can be executed faster than the process based on the calculation result by the first calculation unit 40. However, the present invention is not limited to this, and a first response (for example, a response by clicking sound) may be sent to the first calculation unit 40 and used as a trigger for starting the calculation of the first calculation unit 40.

  The first process and the second process are different kinds of operations on the operation target 60b and do not include the same type of operations. As a different kind of operation, in the first process, a click sound is generated when the force for gripping the input device 10 exceeds a pressure by a predetermined first threshold, and in the second process, the grip is further strengthened to be predetermined. An example is given in which the calculation for operating the operation target 60b is executed based on the displacement values of the various sensors when the pressure exceeds the second threshold value. As another kind of operation, in the first process, when the input device 10 is held for 2 seconds, it is enabled (operation input OK), transitions to the cursor movement operation mode, and in the second process, the input device 10 is turned on again. An example is given in which the operation object 60b is selected and the operation mode is entered when the object is held for 4 seconds. As the same type of operation, there is a case where the detection value by the pressure-sensitive sensor 13 is detected at a three-level level, so that the first process is transitioned to when it is weakly gripped, and the second process is transitioned to when it is gripped strongly. Such a similar operation is not included in the first process and the second process of each embodiment.

  In addition, the 1st response to the user of the input device by the 1st response part 42 is not transmitted / received to the control apparatus 50 which controls the operation target 60b, but for the operation of the operation target 60b by the 1st calculating part 40 The calculation result is transmitted to and received from the control device 50. Therefore, since the first response process by the first response unit 42 is a route that does not include the transmission / reception process, it has an effect that it is faster than the process based on the calculation result by the first calculation unit 40 including the transmission / reception process.

  The second response unit 49 makes a second response of the input device 10 based on the detection of the second operation. As a second response, feedback is given to the user by causing the notification mechanism 9 attached to the input device 10 to blink, display an audio output or force display, or vibrate. An example is to do. Since the second response is basically a process that does not go through the CPU 11, it has an immediate answer, but may be sent through the CPU 11.

  Further, the first processing unit 41 and the second processing unit 61 on the control device side perform desired processing using each detection result in both or one side as necessary, and display control is performed via the second processing unit 61. The result is output to the unit 66.

  The storage unit 46 can be realized as a ROM 19a or a RAM 19b using, for example, a semiconductor memory, a magnetic disk, or an optical disk.

  The first transmission / reception unit 47 transmits or receives predetermined information between the input device 10 and the control device 50. The first transmission / reception unit 47 and the second transmission / reception unit 62 are connected by wire or wirelessly. The power supply unit 48 uses, for example, a rechargeable battery as the battery 18 and supplies power to each unit.

[Configuration of control device]
Next, the electrical configuration of the control device 50 will be described with reference to FIG.
The control device 50 includes a CPU 51, a transmission / reception circuit 52, a ROM 53a, a RAM 53b, and an instruction mechanism 54.
The ROM 53a is a non-volatile memory and stores various programs necessary for the processing of the CPU 51. The RAM 53 b is a volatile memory and is used as a work area for the CPU 51.
The transmission / reception circuit 52 has an antenna or the like and receives various types of information transmitted from the input device 10. The transmission / reception circuit 52 can also transmit a signal to the input device 10.

  The instruction mechanism 54 is, for example, a keyboard, and the user performs settings such as initial settings and special settings via the instruction mechanism 54. The instruction mechanism 54 receives various instructions from the user and outputs an input signal to the CPU 51.

  The CPU 51 executes a function of a second processing unit that performs processing of a second calculation unit and processing of a display control unit, which will be described later. The CPU 51 controls the operation target displayed on the display device 60 based on various types of information received by the transmission / reception circuit 17.

Next, the functional configuration of the control device 50 will be described with reference to FIG.
The control device 50 includes a second processing unit 61, a storage unit 63, a second transmission / reception unit 62, and an instruction unit 64. The second processing unit 61 includes a second calculation unit 65 and a display control unit 66.

  The second transmission / reception unit 62 transmits or receives predetermined information to the first transmission / reception unit 47. The storage unit 63 can be realized as a ROM 53a or a RAM 53b using, for example, a semiconductor memory, a magnetic disk, or an optical disk.

  For example, when the user inputs an operation using an instruction mechanism 54 such as a keyboard, the instruction unit 64 performs settings such as initial settings and special settings. Specifically, the instruction unit 64 receives various instructions from the user, outputs the input signal to the second processing unit 61, and instructs initial setting and the like.

  The second calculation unit 65 performs desired processing using the detection result and calculation result from the first processing unit 41, and outputs the result to the display control unit 66. Further, the second calculation unit 65 calculates the displacement amount of the input device 10 based on the displacement value received from the input device 10. The displacement amount of the input device 10 may be calculated by the first calculation unit 40 in the input device 10 and the calculated displacement amount may be transmitted to the control device 50.

  The display control unit 66 controls the display of the operation target 60b based on the obtained information. Instead of the display control unit 66 or in addition to the display control unit 66, an expression unit that can express an operation other than the display of the operation target 60b (for example, sound or vibration) may be provided. The expression unit controls the expression of the operation target 60b with respect to a desired operation input using the obtained information.

[Operation of input device]
Next, the operation of the control system 100 according to the present embodiment will be described.
FIG. 8 is a flowchart illustrating an operation example of the control system 100 according to the present embodiment. FIG. 8A shows processing of the input device 10, and FIG. 8B shows processing of the control device 50.

  First, the user lifts the input device 10 and moves the input device 10 to a position where it can be easily operated. At this time, the operation target 60b displayed on the display unit 60a does not move (see NO in step S1). Next, the user indicates an intention to start operating the input device 10 and grips the grip portion 23 of the input device body 20 with a force equal to or greater than a predetermined force. Then, the shell-like portion 22 (plate 25) of the input device main body 20 and the movable portion 12b of the tact switch 12 are moved in a direction approaching the center of the input device 10. When the movable part 12b of the tact switch 12 moves in a direction toward the center of the input device 10, a click feeling is generated by the click feeling generating mechanism.

  The input device 10 can appropriately respond to the user's intention to start the operation of the operation target object 60b by the response by the click feeling (an example of the first response). Then, the user can easily recognize that the operation of the operation target 60b is started by the click feeling. Moreover, since the response by the click feeling by the click feeling generation mechanism is a response not via the CPU, a response by the click feeling can be quickly returned to the user.

  When the movable portion 12b of the tact switch 12 moves in the direction toward the center of the input device 10, a click feeling is generated and the switch mechanism of the tact switch 12 is turned on, and a signal is input from the switch mechanism to the CPU 11 ( YES in step S1).

  When a signal from the tact switch 12 is input, the CPU 11 acquires an acceleration value and an angular velocity value from the acceleration sensor 14 and the angular velocity sensor 15, and acquires a pressure value from the pressure sensor 13 (step S2). The magnetic value acquired from the magnetic sensor 16 is not shown in this flowchart because it is used to calibrate the direction of the input device 10 relative to the display device 60 while the input device 10 is not being used.

  Next, the CPU 11 performs calculation based on the acceleration value and the angular velocity value, and calculates the movement amount and rotation amount (per predetermined time) of the input device 10 (step S3). In addition, the CPU 11 executes a calculation using vector calculation or the like based on the pressure value, whereby the magnitude of the force with which the input device 10 is gripped (the magnitude of the force applied to the plate 25) and the force And the position where is added.

  Next, the CPU 11 sends the calculated information (the amount of movement of the input device 10, the amount of rotation, the magnitude of the force grasped by the input device 10, and the position where the force is applied) via the transmission / reception circuit 17. It transmits to the control apparatus 50 (step S4).

  The CPU 51 of the control device 50 determines whether each information is received from the input device 10 (step 11). When each information from the input device 10 is received, CPU51 of the control apparatus 50 controls the operation target 60b based on each received information (step S12). In step S12, the CPU 51 of the control device 50 may further perform a calculation on each received information to execute a process for improving the accuracy of control of the operation target 60b.

  For example, when the operation target 60b is a character image displayed three-dimensionally, in step S12, the CPU 51 displays the character image three-dimensionally based on the information on the movement amount and the rotation amount of the input device 10. A process of moving or rotating is executed. Further, the CPU 51 executes a process for causing the character image to perform a specific movement (for example, jumping, squatting, laughing, getting angry, etc.) according to the information on the magnitude of the grasped force and the information on the position of the force. Note that there is no particular limitation on how the operation target 60b is controlled on the basis of information on the amount of movement, the amount of rotation, the magnitude of the gripped force, and the position of the force.

  With the process shown in FIG. 8, the user moves or rotates the input device 10 while holding the input device 10 with a force greater than or equal to a predetermined force, or grips the input device 10 more strongly. It is possible to cause the operation target 60b to make an arbitrary movement by strongly pressing the specific position.

  On the other hand, when the user stops the operation of the operation target 60b (temporarily), the user weakens the force grasping the input device 10. When the force with which the user grasps the input device 10 is weakened and the grasped force becomes less than the predetermined force, the movable portion 12b of the tact switch 12 and the shell-like portion 22 (plate 25) of the input device main body 20 are formed. It is moved away from the center of the input device 10. When the movable part 12b of the tact switch 12 moves away from the center of the input device 10, a click feeling is generated by the click feeling generation unit.

  The input device 10 can appropriately respond to the user's intention to stop the operation of the operation target 60b by the response due to the click feeling. The user can easily recognize that the operation of the operation target 60b is stopped by the click feeling. When the movable part 12b of the tact switch 12 moves in a direction away from the center of the input device 10, a click feeling is generated and output of a signal by the switch mechanism of the tact switch 12 is stopped. Thereby, the input of the signal from the tact switch 12 to the CPU 11 is stopped (NO in step S1), and the movement of the operation target 60b is stopped.

  For this reason, the user operates the input device 10 (spatial operation, magnitude of the gripped force) by holding the input device 10 with a force greater than the predetermined force or weakening the force with which the input device 10 is gripped. It is possible to arbitrarily switch whether or not to reflect the operation by the operation of the operation target 60b.

  Further, the input device 10 can appropriately respond to the user's intention to start the operation of the operation target 60b by the click feeling generation unit of the tact switch 12. Then, the user can easily recognize that the operation of the operation target 60b is started by the click feeling. Moreover, since the response by the click feeling by the click feeling generation mechanism is a response not via the CPU 11, a response by the click feeling can be quickly returned to the user.

  Furthermore, the input device 10 can quickly respond to a user's intention to stop the operation of the operation target 60b by a response based on a click feeling. The user can easily recognize that the operation of the operation target 60b is stopped by the click feeling.

[Example of calibration method of angular velocity sensor offset value and angular velocity value]
Next, examples of offset values and calibration methods of the angular velocity sensor 15, the acceleration sensor 14, and the magnetic sensor 16 will be described in order.
First, an example of the calibration method of the angular velocity sensor offset value and the angular velocity value will be described.
FIG. 9 is a graph illustrating an example of angular velocity values when the input device 10 is stationary.

  The angular velocity sensor 15 should output the same value as the angular velocity reference value Vref when the input device 10 is in a stationary state where it does not rotate. However, the angular velocity value may deviate from the angular velocity reference value Vref. Such deviation in angular velocity is referred to as “angular velocity sensor offset”. The angular velocity value deviates from the angular velocity reference value Vref as described above when outputting an analog value. When outputting a digital value, the angular velocity value deviates from “0” as a reference.

  Angular velocity sensor offset has various effects on angular velocity values. For example, a minute angular velocity value is detected even in a stationary state where the input device 10 is not rotating. Also, by rotating the input device 10 in all directions, the absolute value of the angular velocity value may change even if the same rotation is performed in either positive or negative direction.

  Further, the angular velocity sensor offset has the following characteristics. That is, the angular velocity sensor offset has a different angular velocity value for each individual angular velocity sensor 15, and the angular velocity sensor 15 having a plurality of axes has a different angular velocity value for each axis. On the other hand, the angular velocity value does not change depending on the external environment, and the change with time is small. For this reason, in order to calibrate the angular velocity value, it is necessary to obtain the angular velocity sensor offset value in a stationary state where the input device 10 is not rotating.

When manually calibrating the angular velocity sensor offset value, the following calibration method can be considered.
(1) In the stationary state where the input device 10 is not rotating, the first calculation unit 40 outputs the angular velocity value (ωStable) and the angular velocity reference value ( The difference (ωofst) of Vref) is stored as an angular velocity sensor offset value. In order to increase the calculation accuracy, it is preferable to use an average value acquired between a plurality of frames as the angular velocity value (ωStable) and the angular velocity reference value (Vref).
ωofst = ωStable−Vref (1)

(2) After that, the calibration value (ωcalib) obtained by the difference between the angular velocity value (ωraw) output from the angular velocity sensor 15 in the rotating state and the angular velocity sensor offset value (ωofst) is used for the calculation as the angular velocity value.
ωcalib = ωraw−ωofst (2)

[Example of calibration method of acceleration sensor offset value and acceleration value]
Next, an example of a calibration method for the offset value and acceleration value of the acceleration sensor 14 will be described.
FIG. 10 is an explanatory diagram illustrating an example of acceleration values when the input device 10 is stationary.

  The acceleration sensor 14 detects acceleration of one axis or more. Here, in a stationary state where the input device 10 is not accelerating, if one axis of the acceleration sensor 14 is accurately directed in the direction of gravitational acceleration, the acceleration value of the other axis orthogonal to the gravitational direction should be “0”. It is. However, the acceleration value may deviate from 0 even when the input device 10 is stationary. Such a shift in acceleration is called “acceleration sensor offset”.

The acceleration sensor offset has various effects on the acceleration value. For example, it is known that the calculated angle is deviated in the calculation for obtaining the inclination angle of the current input device 10 with respect to the horizontal direction using the ratio to the gravitational acceleration (1G).
Inclination angle = asin (Accl / 1G) (3)

  The acceleration sensor offset has the following characteristics. That is, the acceleration sensor offset has a different acceleration value for each individual acceleration sensor 14, and the acceleration sensor 14 having a plurality of axes has a different acceleration value for each axis. On the other hand, the acceleration value does not change depending on the external environment, and the change with time is small. For this reason, in order to calibrate the acceleration value, the input device 10 is in a stationary state in which the motion acceleration is “0”, and the positive and negative directions on each axis of the acceleration sensor 14 are accurately in the direction of gravity, that is, vertical. It is necessary to create a downward situation.

The following method can be considered when manually calibrating the acceleration sensor offset value.
FIG. 11 is an explanatory diagram illustrating an example of the direction of acceleration detected by each axis of the acceleration sensor 14. In the figure, the explanation is made assuming that the arrow direction is positive and the opposite direction of the arrow is negative. In the figure, a coordinate system based on the X, Y, and Z axes that are the three axes of the acceleration sensor 14 is referred to as acceleration local coordinates.

(1) In the X axis of the acceleration sensor 14, the negative direction of the X axis is directed vertically downward. At this time, it is necessary to move slowly so that the acceleration when moving the input device 10 does not affect the acceleration value. Then, a maximum value A of acceleration values detected by the acceleration sensor 14 when the gravitational acceleration 1G is applied to the acceleration sensor 14 is obtained.
(2) Next, the acceleration sensor 14 is turned upside down, and the minimum value B of the acceleration value detected when the gravitational acceleration 1G is applied is obtained with the positive direction of the X axis directed vertically downward.
(3) Let (AB) / 2 be the X-axis offset value AcclXofst.
(4) The same measurement is performed for the Y axis and the Z axis, and AcclYofst and AcclZofst are obtained for each axis.
(5) Thereafter, the calibration values (AcclXcalib, AcclYcalib, AcclZcalib) obtained by the difference between the acceleration values (AcclXraw, AcclYraw, AcclZraw) output from the accelerated acceleration sensor 14 and the acceleration sensor offset values (AcclXofst, AcclYofst, AcclZofst) Is used for calculation as an acceleration value.
AcclXcalib = AcclXraw-AcclXofst
AcclYcalib = AcclYraw−AcclYofst (4)
AcclZcalib = AcclZraw-AcclZofst

[Example of calibration method of magnetic sensor offset value and magnetic value]
Next, an example of a magnetic sensor offset value and magnetic value calibration method will be described.
FIG. 12 is an explanatory diagram illustrating an example of a magnetic value when the input device 10 is stationary.

  The magnetic sensor 16 determines the direction of magnetism from the magnetic values detected at one or more axes. Here, if one sensor axis of the magnetic sensor 16 is accurately oriented in the geomagnetic direction, the magnetic value of the other axis perpendicular to the geomagnetic direction should be “0”. However, even if the sensor axis is oriented in the geomagnetic direction, the magnetic value detected by the other axis may deviate from zero. Such magnetic misalignment is called “magnetic sensor offset”.

  Here, the magnetic sensor offset has various effects on the magnetic value. For example, it is known that the calculated azimuth angle is shifted in a calculation in which a three-axis composite magnetic vector is projected on a horizontal plane to obtain an azimuth angle.

  The magnetic sensor offset has the following characteristics. That is, the magnetic sensor offset has a different magnetic value for each individual magnetic sensor 16, and in the magnetic sensor 16 having a plurality of axes, the magnetic value differs for each axis. Also, the magnetic value may change or may change over time depending on the external environment in which the magnetic sensor 16 is surrounded by a metal plate or the like. In particular, the magnetic value varies greatly depending on the location where the magnetic sensor 16 is used, that is, the latitude. In addition, the change in the magnetic value due to the disturbance of the magnetic field is likely to be larger than the change in the characteristics of the magnetic sensor 16. For this reason, in order to calibrate the magnetic sensor 16, it is necessary to create a situation in which the positive and negative directions of each axis of the magnetic sensor 16 are accurately directed to the geomagnetic direction.

The following methods are conceivable when manually calibrating the magnetic sensor offset value.
FIG. 13 shows an example of the direction of magnetism detected by each axis of the magnetic sensor 16. In the figure, the explanation is made assuming that the arrow direction is positive and the opposite direction of the arrow is negative. In the figure, a coordinate system based on the X, Y, and Z axes that are the three axes of the magnetic sensor 16 is referred to as magnetic local coordinates.

(1) Turn the magnetic sensor 16 in the horizontal direction with the vertical direction as the central axis, with the axial direction (possibly positive or negative) on the X-axis of the magnetic sensor 16 facing the reference direction (for example, true north).
(2) While rotating the magnetic sensor 16, the rotation axis is gradually shifted around the original axis position.
(3) The maximum value A of + X and the minimum value B of −X are obtained from the magnetic values after the magnetic sensor 16 has been rotated to some extent.
(4) Let (AB) / 2 be the X-axis offset value MagXofst.
(5) The same measurement is performed for the Y axis and the Z axis, and MagYofst and MagZofst are obtained.
(6) Thereafter, the difference between the magnetic value (MagXraw, MagYraw, MagZraw) and the magnetic sensor offset value (MagXofst, MagYofst, MagZofst) is used for calculation as an output value (MagXcalib, MagYcalib, MagZcalib).
MagXcalib = MagXraw-MagXofst
MagYcalib = MagYraw−MagYofst (5)
MagZcalib = MagZraw-MagZofst

FIG. 14 shows an operation example for calibrating the magnetic sensor 16.
When using the input device 10 ′ (for example, a smartphone) including the magnetic sensor 16, for example, by turning the input device 10 ′ to “eight-shaped”, the calculations of (1) and (2) for three axes at a time are performed. It can be carried out. Such calibration can be employed when strict calibration is not required.

  From the above, regarding the angular velocity sensor 15, various sensors can be calibrated at any time as long as the stationary state where the input device 10 ′ is not rotating can be detected by a sensor other than the angular velocity sensor 15 (acceleration sensor 14, position sensor not shown). Is possible.

  Here, there is usually no situation where the input device 10 is always used. That is, most of the time is often in a stationary state in which the input device 10 is placed on a desk or a charging cradle. For this reason, if it is possible to “direct the input device 10 in all directions when the user is not using the input device 10 and then place the input device 10 in a stationary state”, various sensors can be calibrated. Conceivable.

  As for the acceleration sensor 14, if the input device 10 can be slowly turned in all directions so as not to cause movement acceleration, the maximum value and the minimum value of the acceleration sensor output detected on each axis during that time are obtained and calibrated. It is possible. When the various sensors of the input device 10 are calibrated, it is desirable to rotate the input device body 20 at least for each of the three axes of the various sensors. However, the input device body 20 may be rotated in a random rotation direction as long as it takes time. In the following description, the direction in which the input device body 20 is rotated in this way is referred to as “omnidirectional”.

  In order to rotate the input device 10 in all directions, it is necessary to memorize in which direction the input device 10 or the support device described later has rotated. For example, the rotation of the input device 10 may be stopped at the timing when the maximum value and the minimum value of the output values of the various sensors are not updated, and the calibration process of the various sensors may be completed. Here, if the input device main body 20 can be rotated in all directions during a period in which the support device described later supplies power to the input device 10 in a non-contact manner, power consumption of the battery 18 mounted on the input device 10 can be suppressed. For this reason, it is desirable not to attach a code or the like to the input device 10.

  As for the magnetic sensor 16, if the input device 10 can be oriented in all directions, it can be said that the magnetic sensor 16 can be calibrated by obtaining the maximum value and the minimum value of the magnetic value of each axis during that time.

[Example of the first method for directing the input device in all directions when the input device is not used]
Next, an example of a method for calibrating various sensors included in the input device 10 will be described with reference to FIGS.
FIG. 15 is an explanatory diagram illustrating a first method of directing the input device 10 that is not used in all directions.
FIG. 15A shows a state in which an eccentric weight 71 is inserted as a moving unit that is housed in the input device main body 20 whose outer shape is formed in a sphere and rolls the input device main body 20 in a predetermined direction. Further, an input device 70 in which an eccentric weight 72 is inserted as a moving unit that is housed in the input device main body 20 whose outer shape is formed in a shape similar to a sphere and rolls the input device main body 20 in a predetermined direction is also illustrated.
FIG. 15B shows an example in which the user calibrates various sensors by holding the input device 10 by hand and rotating the input device body 20 in all directions.
FIG. 15C shows an example in which the eccentric weight 71 automatically moves inside the input device 10 placed on the floor so that the input device 70 faces in all directions.

  When the user does not use the input device 10, the input device 10 is placed on the floor. At this time, since the CPU 11 detects that the input device main body 20 is stationary, the eccentric weights 71 and 72 roll the input device main body 20 in at least three different axial directions. Such an operation is similarly performed for the input device 70. The input devices 10 and 70 can be directed in all directions. For this reason, the CPU 11 can calibrate the magnetic sensor 16.

[Example of the second method of directing the input device in all directions when the input device is not used]
Next, a support device that directs the input device 10 in all directions will be described. The support device described below includes a rotation unit that supports the input device main body 20 (input device 10) and rotates the input device main body 20 in a predetermined direction, and the input device main body 20 is at least different from each other by the rotation unit. It is rotated in three axis directions. Then, the CPU 11 calibrates the magnetic sensor 16 at the timing when the input device body 20 (input device 10) is rotated. It should be noted that three different axial directions in which the input device main body 20 (input device 10) is rotated are determined randomly.

FIG. 16 is an explanatory diagram illustrating an example in which the support device 75 is used to direct the input device 10 in all directions.
FIG. 16A is a top view showing an example of the appearance of the support device 75.
The support device 75 includes three rotating portions 76 a to 76 c as rotating portions for rotating the input device main body 20. The rotating portions 76a to 76c are made of a material having a high friction coefficient in order to facilitate the rotation of the input device body 20 placed on the rotating portions 76a to 76c. What is necessary is just to form as this rotating part as at least 1 or more wheel.
FIG. 16B shows an example in which the user calibrates various sensors by holding the input device 10 by hand and rotating the input device body 20 in all directions.
FIG. 16C shows an example in which the input device 10 placed on the support device 75 faces in all directions.

  When the user does not use the input device 10, the input device 10 is placed on the support device 75. At this time, the support device 75 detects that the input device body 20 to be supported is stationary. For this reason, the rotation units 76a to 76c rotate the input device main body 20 in at least three different axial directions. At this time, each of the rotating portions 76a to 76c rotates at a random rotation speed. As a result, the input device 10 can be directed in all directions. When the CPU 11 detects that the input device body 20 is rotating, the CPU 11 calibrates the acceleration sensor 14 and the angular velocity sensor 15 at the detected timing.

  In addition, it is also possible to calibrate only about the axial direction required by various sensors by rotating any of the rotating portions 76a to 76c. In this case, since time until calibration is completed is shortened, the user can start using the input device 10 promptly. Even if the input device main body has a shape similar to a sphere like the input device 70 described above, the support device 75 can calibrate various sensors with the input device 70 directed in all directions.

[Example of third method of directing input device having shape other than sphere in all directions]
FIG. 17 is an explanatory diagram illustrating an example in which the input device 80 is directed in all directions using the support device 75.
FIG. 17A shows a usage example of the stick-type input device 80.
The input device 80 has a stick shape as an outer shape. In such an input device 80, even if it is placed on the support device 75 as it is, it rolls only in one direction, and it is difficult to turn it in all directions.
FIG. 17B shows an example of a storage device 81 that stores the input device 80.
The storage device 81 has a space in which the input device 80 can be stored, and has an outer shape that is a sphere or a shape that conforms to a sphere. Therefore, the storage device 81 is used as an attachment that covers the input device 80. In order to prevent the input device 80 from moving in the storage device 81, the storage device 81 may be filled with a protective member that matches the shape of the input device 80.
FIG. 17C shows an example in which the storage device 81 placed on the support device 75 faces in all directions.

  When the user does not use the input device 80, the storage device 81 is placed on the support device 75 after the input device 80 is stored in the storage device 81. At this time, the rotation units 76a to 76c rotate the storage device 81 when the storage device 81 is placed on the rotation units 76a to 76c. The rotating sections 76a to 76c rotate at least at three different axis directions at random rotation speeds. This makes it possible to calibrate the various sensors with the input device 80 oriented in all directions.

[Example of fourth method for directing input device having shape other than sphere in all directions]
FIG. 18 is an explanatory diagram illustrating an example in which the portable terminal 85 having the same function as the input device 10 is directed in all directions.
FIG. 18A shows a usage example of the portable terminal 85.
As the portable terminal 85, a smartphone, a portable video / music player, or the like is used.
FIG. 18B is an explanatory diagram illustrating an example of the appearance of the support device 86.
The support device 86 includes an arm 87 that supports the mobile terminal 85. The arm 87 can be bent in any direction by a plurality of fulcrums. And when the portable terminal 85 is attached to the arm 87, it has the function to move the portable terminal 85 to arbitrary directions.
FIG. 18C shows an example in which the mobile terminal 85 attached to the arm 87 faces in all directions.

  When the user does not use the portable terminal 85, the portable terminal 85 is attached to the arm 87 of the support device 86. Here, an arm 87 is used as a rotating unit that rotates the mobile terminal 85. When the arm 87 detects that the mobile terminal 85 is attached, the arm 87 rotates the mobile terminal 85 in at least three different axial directions at a random rotational speed. This makes it possible to calibrate the various sensors with the mobile terminal 85 facing all directions.

[Examples of intentional healing effects during calibration of various sensors]
When calibrating various sensors, in order to rotate the input device 10 so that the input device 10 is directed in all directions, it is not mechanical control by performing constant speed rotation on one axis, but control without pattern properties (for example, It is necessary to perform organic rotation control such as random number control. In this control, the rotation direction and rotation speed of the input device 10 are randomly controlled. However, rotation control that intentionally delights or softens the user may be employed. This not only reduces the user's uncomfortable feeling that the input device 10 operates without permission while the input device 10 is not being used, but can also add value as a viewing purpose (for example, an object). .

FIG. 19 is an explanatory diagram illustrating an example in which the input device 10 is directed in all directions to obtain a healing effect.
FIG. 19A shows an example of the input device 10 placed on the support device 75.
A pattern such as a globe is printed on the outer surface of the input device 10. Here, when the support device 75 rotates the input device main body 20, an impression as if the globe is rotating can be given to the user, and a healing effect can be obtained.

FIG. 19B shows an example in which a plurality of input devices 10 are lit side by side.
The plurality of input devices 10 (10a to 10d in the drawing) repeatedly emit light and extinguish, and emit music in conjunction with each rotation operation. Thereby, the healing effect with respect to a user can be acquired. Note that the support devices 75 and 76 described above may also be blinked or sound emitted.

  As described above, the input device 10 and the support devices 75 and 76 emit light or emit sound during calibration of various sensors. Further, the operations of the input device 10 and the support devices 75 and 76 are changed. Thereby, an intentional healing effect can be given to the user. In addition, as a notification pattern to the user, entertainment may be improved by notifying the start or end of calibration of various sensors or providing a mechanism that increases interest in the notification itself.

[Definition of reference azimuth and example of direction calibration]
Next, an example of the definition of the reference azimuth angle and the direction calibration method of the input device 10 will be described with reference to FIGS.

FIG. 20 is an explanatory diagram illustrating an example of a local coordinate system and a global coordinate system.
FIG. 20A shows an example of the global coordinate system.
While the input device 10 is moved in various directions, the display device 60 is not moved from the installation location. Therefore, the three axes of the global coordinate system that are always fixed with respect to the position of the display device 60 are obtained as X, Y, and Z, respectively.

FIG. 20B shows an example of the local coordinate system.
The three axes of the local coordinate system are determined as x, y, and z, respectively, based on the various sensors built in the input device 10 that moves and rotates relative to the global coordinate system. The output values of various sensors obtained in the local coordinate system are converted into a global coordinate system, and the attitude angle including the tilt and orientation of the input device 10 is calculated, thereby displaying the movement of the input device 10 on the display device 60. To be reflected on the operation target 60b.

[Example of calibration method of reference azimuth using an input device that cannot define the front direction]
Next, an example of processing for obtaining a reference azimuth after calibration of the magnetic sensor 16 will be described with reference to FIGS.
FIG. 21 is an explanatory diagram illustrating an example of defining the reference azimuth angle of the input device 10.
FIG. 21A shows an example of the game controller 90.
It can be said that the game controller 90 is an electronic device that can clearly define the front direction by the handle portion of both hands.

FIG. 21B shows an example of the input device 10.
It can be said that the external shape of the input device 10 is formed in a spherical shape and is an electronic device whose front direction cannot be clearly defined. For this reason, in order to implement | achieve exact operation with respect to the operation target object 60b in a global coordinate system using the input device 10, a user needs to show a reference | standard azimuth | direction explicitly. For example, the direction in which the display device 60 is placed with respect to the input device 10 may be considered as the reference orientation.

FIG. 21C shows an example in which the front direction of the input device 10 is calibrated to the reference orientation.
When the CPU 53 included in the display device 60 performs azimuth calculation using the magnetic output value output from the magnetic sensor 16, the CPU 53 recognizes “east, west, south, and north” at the position where the user lifts the input device 10. However, the CPU 53 cannot recognize the reference orientation of the input device 10 as it is.

  For this reason, this operation is performed when the user performs a predetermined operation (such as pressing the tact switch 12 or shaking the input device 10 in the front direction) with the front direction of the input device 10 facing the reference direction. The calibration work for storing the reference azimuth at the determined timing in the input device 10 is required. Here, when the north direction of the input device 10 is found, an angle from the north direction to the reference azimuth clockwise is referred to as a “reference azimuth angle”.

  In the game controller 90 in which the front direction can be defined, there is a premise that “the user unconsciously starts the operation with the front of the game controller 90 facing the reference direction”. According to such a premise, since the azimuth at the time of starting the operation is substantially equal to the reference azimuth, calibration of the reference azimuth as shown in FIG. 21C is not necessary.

[Example of first method of automatically calibrating the reference azimuth]
FIG. 22 is an explanatory diagram showing an example of a first method for automatically calibrating the reference azimuth angle of the input device 10.
FIG. 22A shows an example in which the input device 10 is placed on the floor surface.
When the input device 10 can detect the reference azimuth angle by itself, after the calibration work of the magnetic sensor 16 is completed, the reference azimuth angle is stored or the reference azimuth angle is corrected. Here, as an example of a method of detecting the reference azimuth angle, there is a method of detecting by triangulation using the two wireless antennas 17a and 17b included in the input device 10 and the wireless antenna 52a included in the display device 60.

FIG. 22B shows an example in which the input device 10 calibrates the reference azimuth angle.
FIG. 22C shows an example in which the antennas of the input device 10 and the display device 60 are viewed from above.
First, after the input device 10 calibrates the magnetic sensor 16, a plurality of wireless antennas (for example, wireless antennas 17 a and 17 b) physically arranged in different places in the input device body 20 are respectively displayed on the display device. Radio waves are emitted to 60 radio antennas 52a. If the wireless antennas 17a and 17b are used for both position detection and communication due to diversity, the space occupied in the input device main body 20 can be reduced.

  Then, the reference azimuth angle of the input device 10 is obtained from the radio waves from the radio antennas 17a and 17b received by the radio antenna 52a of the display device 60. At this time, the CPU 53 of the display device 60 calculates and stores the reference azimuth angle of the input device 10 with respect to the display device 60 and corrects it appropriately.

  When the accuracy of the reference azimuth angle calculated by the input device 10 is high, the direction detection itself by the magnetic sensor 16 is not necessary if the front direction is defined as shown in FIG. Conversely, there may be a use of “calibrating the azimuth angle calculated from the magnetic sensor 16 using the accurate reference azimuth angle detected by the input device 10”. Examples of this application include the following three examples.

(1) Recognize the position of a characteristic object (a landmark building) from a captured image using a camera included in the input device 10 (for example, a smartphone) outdoors. In addition, by providing the illuminance sensor in the input device 10, the screen of the display device 60 and the direction of the sun can be recognized as a characteristic object.
(2) An accurate reference azimuth angle that should be output originally is calculated or acquired from the time at which the image was captured, position information by GPS, and a captured image (for example, a building angle).
(3) The azimuth calculated from the magnetic sensor 16 is corrected so as to approach the reference azimuth.

[Example of the second method of automatically calibrating the reference azimuth]
FIG. 23 is an explanatory diagram illustrating an example of a second method for automatically calibrating the reference azimuth angle of the input device 10.
FIG. 23A shows an example in which the input device 10 is placed on the support device 75.
FIG. 23B shows an example in which the support device 75 calibrates the reference azimuth angle.
First, after the input device 10 calibrates the magnetic sensor 16, it is supported using a plurality of wireless antennas (for example, wireless antennas 17 a and 17 b) physically disposed in different places in the input device body 20. An angle formed by the device 75 and the reference orientation is detected. Here, since the support device 75 is often used in a fixed manner, the front direction of the support device 75 is known. When the charging contact 78 of the support device 75 and the charging contact 18a of the input device 10 come into contact with each other, the above detection is performed. Since charging is not performed unless the charging contacts 78 and 18a are in contact with each other, the position of the charging contact 18a is clearly indicated on the surface of the input device 10, and the position of the charging contact 78 is clearly indicated on the support device 75. ing.

  And the support apparatus 75 transmits the information of the angle which a front direction makes with respect to the magnetic north which the support apparatus 75 has to the input device 10 side using a wireless communication etc. Then, the CPU 53 of the display device 60 calculates and stores the reference azimuth angle of the input device 10 with respect to the display device 60, and corrects it appropriately.

  Then, after the calibration work of the magnetic sensor 16 is finished, the support device 75 can calculate the reference azimuth angle of the input device 10 and transmit the angle information of the reference azimuth angle calculated by the support device 75 to the input device 10. And The input device 10 or the support device 75 stores the reference azimuth angle and corrects the reference azimuth angle as necessary.

Here, as a method of detecting the angle at which the support device 75 and the input device 10 are related, for example, it is conceivable to use the time when the charging contact 78 of the support device 75 and the charging contact 18a of the input device 10 are in contact as a reference. .
In addition, as a method of transmitting angle information from the support device 75 to the input device 10, wireless communication may be performed, or wired communication via the charging contacts 18 a and 67 may be used. Further, instead of the charging contacts 18a and 67, the position may be determined by a marker or a dent.

  Thus, if there is a premise that “the support device 75 is directed to the reference orientation in a specific direction”, the support device 75 does not need the function of detecting the reference orientation angle. This is because the place of the support device 75 is usually not moved frequently.

  Furthermore, if the input device 10 is designed so that the charging contacts 18a and 67 of the support device 75 and the input device 10 match when the input device 10 is directed to the reference orientation, communication for transmitting angle information from the support device 75 to the input device 10 is performed. Functions are no longer needed.

  However, in FIGS. 21 to 23 described above, the input device 10 or the support device 75 is provided with two antennas, and the control device 50 or the display device 60 is provided with one antenna. May be. That is, it is possible to obtain the reference azimuth angle even when the input device 10 or the support device 75 includes one antenna and the control device 50 or the display device 60 includes two antennas.

  According to the input device 10 according to the embodiment described above, the magnetic sensor 16 is provided in the input device main body 20, and the magnetic sensor 16 is configured using the magnetic value output by the magnetic sensor 16. Here, the input device 10 automatically calibrates the magnetic sensor 16 while the user is not performing an operation input to the electronic device. For this reason, when the user uses it, the calibration of the magnetic sensor 16 has already been completed, and the user can always start using the input device 10 without being aware of the calibration work of the magnetic sensor 16.

  Further, other sensors other than the magnetic sensor 16 are automatically calibrated while the user is not performing an operation input to the electronic device. For this reason, when the user starts to use the input device 10, it is not necessary to perform the calibration work which took time.

  Further, when configuring various sensors of the input device 10 placed on the support device when the user does not use the input device 10, the input device 10 or the support device is intentionally provided with visual and acoustic effects. Can be given value as an object of appreciation.

<2. Modification>
[Configuration example of display device]
In the above-described embodiment, the control device 50 is configured to control the operation display of the operation target 60b displayed on the display device 60. However, the display device 110 may control it alone. Here, a configuration example of the display device 110 will be described.

  FIG. 24 is a block diagram illustrating an internal configuration example of the display device 110. FIG. 24A shows a configuration example of the control system 100 ′, and FIG. 24B shows an internal configuration example of the display device 110.

  The display device 110 is a display-integrated computer device that includes the display unit 60a and has a function as a general computer device. On the display unit 60a, a round icon and a square icon are displayed as the operation target 60b. In front of the display device 110, the input device 10 is placed in an operable state (FIG. 24A).

The display device 110 includes a display unit 60a, a CPU 113, a ROM 114, a RAM 115, a communication unit 116, and a storage unit 117.
The ROM 114 is a non-volatile memory and stores various programs necessary for the processing of the CPU 113. The RAM 115 is a volatile memory and is used as a work area for the CPU 113.

The communication unit 116 includes an antenna (not shown) and the like, and receives various types of information transmitted from the input device 10. The communication unit 116 can also transmit a signal to the input device 10.
The CPU 113 executes processing of each unit in the display device 110, and can perform the same control as the CPU 51 provided in the control device 50 described above. For this reason, the CPU 113 controls the operation target displayed on the display unit 60 a based on various information received from the transmission / reception circuit 17.

In addition, the display device 110 includes an operation unit (not shown). The operation unit is, for example, a keyboard, and the user performs settings such as initial settings and special settings using the operation unit. The operation unit receives various instructions from the user and outputs the input signal to the CPU 113.
Thus, since the display device 110 has a configuration in which the control device 50 and the display device 60 described above are integrated, the configuration of the control system 100 ′ can be simplified.

[Other variations]
Further, since the distance between the input device 10 and the display device 60 does not contribute to the operational feeling, it can be arbitrarily set. For example, the input device 10 can be used as a remote controller for operating a robot arm, a crane, or the like, and the actually moving robot arm, crane, or the like can be displayed on the display device 60.

  In addition, the notification mechanism 9 may change the color of light on the screen on which the operation target is displayed, change the brightness, or use feedback from sound from a speaker attached to the screen. It is also possible to provide feedback by performing different notifications according to the three axes of angular velocity or acceleration. For example, the color of light, the brightness of light, the pitch of sound, and the volume of sound may be varied depending on each axis. The type of notification may be changed for each axis, such as light for the x-axis, sound for the y-axis, and vibration for the z-axis.

  The operation target 60b is a virtual object displayed on the screen, and any object can be displayed and operated as the operation target 60b. For this reason, even a user who is unfamiliar with the operation of the computer device can perform an intuitive operation.

  Moreover, although the shape of the input device 10 is a sphere, it may be formed as a shape other than a sphere. For example, the shape having no directionality may be a regular polyhedron or a quasi-regular polyhedron.

  The input device 10 can use sensor data for nine axes, but it is not always necessary to use sensor data for all axes. Only a part of the sensor data may be extracted and used for the operation of the operation target 60b.

  In addition, the input device body 20 placed on the support device 75 is stationary as a cue for the support device 75 to start rotating the input device body 20, but the input device 10 rotates with respect to the support device 75. A start instruction signal may be transmitted. Further, it may be notified by transmitting a start signal transmitted from the support device 75 to the input device 10 that the support device 75 has started the rotation of the input device body 20.

  The series of processes in the above-described embodiment can be executed by hardware, but can also be executed by software. When a series of processing is executed by software, it can be executed by a computer in which a program constituting the software is incorporated in dedicated hardware or a computer in which programs for executing various functions are installed. . For example, a program constituting desired software may be installed and executed on a general-purpose personal computer or the like.

  Further, a recording medium that records a program code of software that realizes the functions of the above-described embodiments may be supplied to the system or apparatus. It goes without saying that the function is also realized by a computer (or a control device such as a CPU) of the system or apparatus reading and executing the program code stored in the recording medium.

  As a recording medium for supplying the program code in this case, for example, a flexible disk, hard disk, optical disk, magneto-optical disk, CD-ROM, CD-R, magnetic tape, nonvolatile memory card, ROM, etc. are used. Can do.

  Further, the functions of the above-described embodiment are realized by executing the program code read by the computer. In addition, an OS or the like running on the computer performs part or all of the actual processing based on the instruction of the program code. The case where the function of the above-described embodiment is realized by the processing is also included.

  Further, the present disclosure is not limited to the above-described embodiments, and it is needless to say that various other application examples and modifications can be taken without departing from the gist of the present disclosure described in the claims.

In addition, this indication can also take the following structures.
(1)
An input device main body capable of performing an operation input on an operation target displayed on the display device;
A magnetic sensor housed in the input device body and detecting a direction of geomagnetism and outputting a magnetic value;
An input device comprising: an arithmetic unit that calibrates a magnetic value output from the magnetic sensor when the input device main body rotates in at least three different axial directions after detecting that the input device main body is stationary.
(2)
The said calculating part calculates the reference | standard azimuth | direction angle with respect to the said operation target object from the said input device main body based on the calibrated said magnetic value. The input device of the said (1) description.
(3)
And an acceleration sensor housed in the input device body for detecting acceleration and outputting an acceleration value, and an angular velocity sensor for detecting angular velocity and outputting an angular velocity value,
The input device according to (1) or (2), wherein the arithmetic unit calibrates the acceleration sensor and the angular velocity sensor when detecting that the input device main body is stationary.
(4)
Furthermore, a moving part that rolls the input device main body housed in the input device main body and whose outer shape is formed into a sphere or a shape conforming to a sphere in a predetermined direction,
When the arithmetic unit detects that the input device body is stationary, the moving unit calibrates the magnetic sensor by rolling the input device body in at least three different axial directions. The input device according to any one of (3).
(5)
The arithmetic unit calibrates the magnetic sensor at a timing at which a support device that supports the input device body rotates the input device body in at least three different axial directions. Any one of (1) to (3) The input device described in 1.
(6)
An input device main body capable of performing an operation input on an operation target displayed on the display device;
A magnetic sensor housed in the input device body and detecting a direction of geomagnetism and outputting a magnetic value;
After detecting that the input device main body is stationary, when the input device main body rotates in at least three different axis directions, the input device includes an arithmetic unit that calibrates a magnetic value output from the magnetic sensor; ,
A support device for supporting the input device body,
The support device includes a rotation unit that rotates the input device main body in a predetermined direction.
After detecting that the main body of the input device to be supported is stationary, the rotation unit rotates the input device in at least three different axial directions.
(7)
And an acceleration sensor housed in the input device body for detecting acceleration and outputting an acceleration value, and an angular velocity sensor for detecting angular velocity and outputting an angular velocity value,
The control system according to (6), wherein the arithmetic unit calibrates the acceleration sensor and the angular velocity sensor when detecting that the input device main body is rotating.
(8)
The rotating unit is one or more wheels that rotate the input device body,
The outer shape of the input device main body is formed into a sphere or a shape conforming to a sphere,
The control system according to (6) or (7), wherein the rotating unit rotates the input device body mounted on the rotating unit.
(9)
Furthermore, the input device is stored, and a storage device is formed in which the outer shape is a sphere or a shape similar to a sphere,
The control system according to (6) or (7), wherein the rotation unit rotates the input device body when the storage device storing the input device is placed on the rotation unit.
(10)
The control system according to (6) or (7), wherein the rotating unit is an arm that rotates the input device main body when it is detected that the input device is attached.
(11)
The control system according to any one of (7) to (10), wherein the three different axial directions in which the input device main body is rotated are randomly determined.
(12)
The input device and / or the support device emits light or emits sound while changing the operation of the input device and / or the support device while the arithmetic unit calibrates the magnetic sensor. The control system according to any one of 11).
(13)
A step in which a magnetic sensor housed in an input device main body capable of operation input to an operation target displayed on the display device detects the direction of geomagnetism and outputs a magnetic value;
And a step of calibrating a magnetic value output by the magnetic sensor when the input device main body rotates in at least three different axial directions after detecting that the input device main body is stationary.
(14)
A procedure in which a magnetic sensor housed in an input device main body capable of operating input to an operation target displayed on a display device detects the direction of geomagnetism and outputs a magnetic value;
A program for causing a computer to execute a procedure for calibrating a magnetic value output from the magnetic sensor when the input device main body rotates in at least three different axial directions after detecting that the input device main body is stationary. .

  DESCRIPTION OF SYMBOLS 9 ... Notification mechanism, 10 ... Input device, 11 ... CPU, 13 ... Pressure sensor, 14 ... Acceleration sensor, 15 ... Angular velocity sensor, 16 ... Magnetic sensor, 17 ... Transmission / reception circuit, 18 ... Battery, 20 ... Input device main body, 50 ... Control device, 60 ... Display device, 100 ... Control system

Claims (14)

An input device main body capable of performing an operation input on an operation target displayed on the display device;
A magnetic sensor housed in the input device body and detecting a direction of geomagnetism and outputting a magnetic value;
An input device comprising: an arithmetic unit that calibrates a magnetic value output from the magnetic sensor when the input device main body rotates in at least three different axial directions after detecting that the input device main body is stationary. The input device according to claim 1, wherein the calculation unit calculates a reference azimuth angle with respect to the operation target from the input device main body based on the calibrated magnetic value. And an acceleration sensor housed in the input device body for detecting acceleration and outputting an acceleration value, and an angular velocity sensor for detecting angular velocity and outputting an angular velocity value,
The input device according to claim 2, wherein the arithmetic unit calibrates the acceleration sensor and the angular velocity sensor when detecting that the input device main body is stationary. Furthermore, a moving part that rolls the input device main body housed in the input device main body and whose outer shape is formed into a sphere or a shape conforming to a sphere in a predetermined direction,
The calculation unit, when detecting that the input device main body is stationary, calibrates the magnetic sensor by the moving unit rolling the input device main body in at least three different axial directions. Input device. The input device according to claim 3, wherein the arithmetic unit calibrates the magnetic sensor at a timing at which a support device that supports the input device body rotates the input device body in at least three different axial directions. An input device main body capable of performing an operation input on an operation target displayed on the display device;
A magnetic sensor housed in the input device body and detecting a direction of geomagnetism and outputting a magnetic value;
After detecting that the input device main body is stationary, when the input device main body rotates in at least three different axis directions, the input device includes an arithmetic unit that calibrates a magnetic value output from the magnetic sensor; ,
A support device for supporting the input device body,
The support device includes a rotation unit that rotates the input device main body in a predetermined direction.
After detecting that the main body of the input device to be supported is stationary, the rotation unit rotates the input device in at least three different axial directions. And an acceleration sensor housed in the input device body for detecting acceleration and outputting an acceleration value, and an angular velocity sensor for detecting angular velocity and outputting an angular velocity value,
The control system according to claim 6, wherein the arithmetic unit calibrates the acceleration sensor and the angular velocity sensor when detecting that the input device main body is rotating. The rotating unit is one or more wheels that rotate the input device body,
The outer shape of the input device main body is formed into a sphere or a shape conforming to a sphere,
The control system according to claim 7, wherein the rotation unit rotates the input device main body placed on the rotation unit. Furthermore, the input device is stored, and a storage device is formed in which the outer shape is a sphere or a shape similar to a sphere,
The control system according to claim 7, wherein the rotation unit rotates the input device main body when the storage device storing the input device is placed on the rotation unit. The control system according to claim 7, wherein the rotation unit is an arm that rotates the input device main body when it is detected that the input device is attached. The control system according to claim 8, wherein the three different axial directions in which the input device main body is rotated are determined randomly. The control according to claim 11, wherein the input device and / or the support device changes operation of the input device and / or the support device to emit light or emit sound while the arithmetic unit calibrates the magnetic sensor. system. A step in which a magnetic sensor housed in an input device main body capable of operation input to an operation target displayed on the display device detects the direction of geomagnetism and outputs a magnetic value;
And a step of calibrating a magnetic value output by the magnetic sensor when the input device main body rotates in at least three different axial directions after detecting that the input device main body is stationary. A procedure in which a magnetic sensor housed in an input device main body capable of operating input to an operation target displayed on a display device detects the direction of geomagnetism and outputs a magnetic value;
A program for causing a computer to execute a procedure for calibrating a magnetic value output from the magnetic sensor when the input device main body rotates in at least three different axial directions after detecting that the input device main body is stationary. .