JP3142123B2 - Data input method and device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a data input device for inputting a trajectory of a motion of a data input main body to a computer, and when converting acceleration information of the data input main body into trajectory information, the data input main body. The present invention relates to a data input method and device for accurately reproducing a trajectory by determining a motion state of a part and correcting speed information in accordance with the motion state.

[0002]

2. Description of the Related Art Conventionally, as a method of converting acceleration information of the movement of a data input main body into trajectory information, a method of first integrating acceleration to convert to speed, and further integrating speed to convert into trajectory has been used. Have been.

However, the output from the acceleration detecting section based on the movement of the data input main body includes an acceleration component due to the movement of the data input main body (an object to be measured), a gravitational acceleration component that changes due to the rotational movement during the movement, and a measurement. Includes errors. If the acceleration information measured as in the related art is simply double-integrated and converted into a trajectory, the trajectory recurs in double integration including acceleration components other than the object to be measured, as in the above case. Therefore, the trajectory of the data input main unit could not be reproduced.

As an example, consider a data input device for inputting trajectory information of a writing motion by computer using a pen-type input device as a data input main unit as shown in FIG.
As shown in FIG. 11, the writing surface (uv surface) has "a"
Suppose that the user performs a writing motion of writing “b” and inputs a trajectory of the motion.

As in the prior art, when the acceleration of the data input main body is simply double integrated to convert it into trajectory information and to input the trajectory information, the influence of the gravitational acceleration component and the like is not corrected. As shown in (1), there has been a problem that a locus that is completely similar to the actual locus is not inputted.

[0006]

In order to solve the problem that the trajectory cannot be accurately reproduced by the conventional method, when the trajectory is reproduced from the acceleration of the movement of the data input main body,
It was necessary to remove the gravitational acceleration component and the measurement error. Here, the main objects of the present invention are as follows.

A first object of the present invention is to provide a data input method and apparatus for accurately reproducing trajectory information from acceleration information of movement of a data input main body.

A second object of the present invention is to provide a data input method and apparatus capable of removing the influence of the gravitational acceleration component and the measurement error.

A third object of the present invention is to provide a data input method and apparatus for judging a motion state of a data input main body and appropriately correcting speed information according to the motion state.

Another object of the present invention is to provide a specification, drawings,
In particular, it will be obvious from the description of each claim in the claims.

[0011]

According to the method of the present invention, when converting the acceleration information of the motion of the data input main body into the trajectory information, the exercise state of the data input main body is discriminated, and an appropriate method corresponding thereto is determined. By correcting the velocity information by using the method, the influence of the gravitational acceleration component and the error is removed, and a method of accurately converting the acceleration information into the trajectory information is adopted.

Further, the apparatus of the present invention includes a motion state discriminator for discriminating and classifying the motion status of the data input main body, a controller for controlling a speed correction method according to the discrimination, and a speed correction in accordance with an instruction from the controller. And a trajectory conversion unit that converts the corrected speed information into a trajectory, thereby adopting a configuration of a device that accurately converts acceleration information into trajectory information.

More specifically, in solving the above-mentioned problems, the present invention is achieved in that the above-mentioned objects are achieved by adopting the following novel characteristic construction methods or means.

That is, a first feature of the method of the present invention is that, when converting and processing acceleration information of a data input motion into trajectory information, first, an acceleration and an angular velocity of the data input motion are detected, and then the acceleration is detected. Converted to speed information, subsequently, from the detected value of the acceleration and the angular velocity, the data input motion is classified into a plurality of motion states, and further, a correction determined for each type of the motion state is performed on the speed information, After that, the corrected speed information is converted and input into trajectory information, and then various processes are performed to adopt a data input method configuration.

A second feature of the method of the present invention resides in the adoption of a configuration of a data input method in which the type of the motion state in the first feature of the method of the present invention is a stopped state, a rotating state, and a non-rotating state.

According to a third feature of the method of the present invention, the type determination of the motion state in the first or second feature of the method of the present invention is a data input in which the acceleration and the angular velocity are respectively compared with a set threshold value. It consists in adopting the configuration of the method.

A fourth feature of the method according to the present invention is that, when the acceleration information of the movement of the data input main body means is converted into trajectory information and inputted to a computer, the acceleration detecting means and the angular velocity provided in the data input main body means are provided. The detecting means measures the acceleration and angular velocity of the movement of the data input main body means, integrates the measured acceleration and converts the measured acceleration into velocity information, and performs the data input based on predetermined conditions determined by the measured values of the acceleration and angular velocity. Determine the motion state of the main body means into a plurality of sections, based on a predetermined method determined for each section of the motion state, correct the speed information obtained by integrating the acceleration,
The present invention is configured to adopt a data input method in which the corrected speed information is converted into trajectory information and input.

A fifth feature of the method according to the present invention is that, in the fourth feature of the method according to the present invention, the classification of the motion state of the data input main body means includes a preset threshold value for each of the acceleration and the angular velocity and the acceleration detection. And a configuration of a data input method based on comparison of magnitude relation with each measured value measured by the means or the angular velocity detecting means.

A sixth feature of the method of the present invention is that, in the fourth feature of the present invention, the discrimination of the motion state of the data input main body means that both the acceleration and the angular velocity are smaller than a set threshold value, or When the acceleration is smaller than the set threshold value but the angular velocity is larger than the set threshold value, the present embodiment adopts a configuration of a data input method for discriminating a stop state.

A seventh feature of the method according to the present invention is that, in the fourth feature of the present invention, the discrimination of the motion state of the data input main body means is performed when both the acceleration and the angular velocity are larger than a set threshold value, or During the period from when both the acceleration and the angular velocity become larger than the set threshold value until the condition where the acceleration and the angular velocity again satisfy the condition of being determined to be in the stopped state, the data input method is classified and determined to be the rotational motion state. Configuration adoption.

An eighth feature of the method of the present invention is characterized in that, in the fourth feature of the present invention, the determination of the motion state of the data input main body means that the acceleration is larger than the set threshold but the angular velocity is smaller than the set threshold. In the case where the rotational motion state is not determined based on the condition of the subsequent stage that is determined to be in the rotational motion state, the data input method is classified and determined to be the non-rotational motion state.

A ninth feature of the method according to the present invention is that, in the fourth, fifth, sixth, seventh or eighth feature of the method according to the present invention, the speed correction determined for each segment of the motion state is the same as that in the case of the stop state. The purpose of the present invention is to adopt a configuration of a data input method in which the speed obtained by integrating the acceleration is corrected to zero.

A tenth feature of the method according to the present invention is that the speed correction determined for each of the motion states in the fourth, fifth, sixth, seventh or eighth feature of the method according to the present invention is performed in the case of the non-rotational motion state. An approximate curve of the change in speed obtained by the integration of the acceleration for the period determined to be in the stopped state before the period is obtained, and the approximate curve is used as a correction component of the period determined to be the non-rotational motion state. The present invention resides in adopting a configuration of a data input method in which correction is performed by subtracting the correction component from the speed of the period.

An eleventh feature of the method according to the present invention is that the speed correction determined for each of the motion state categories in the fourth, fifth, sixth, seventh or eighth feature of the present invention is performed in the case of the rotational motion state. Between the time points at which the angular velocities cross zero during the period, a regression line at which the velocity obtained by integrating the acceleration at the zero crossing time becomes zero is obtained, and this is used as a correction component between the time points to determine the regression line from the speed during the period. The present invention resides in adopting a configuration of a data input method which is corrected by subtracting a correction component.

A first feature of the device of the present invention is a pen-type input device, a data input main unit for inputting a trajectory of a writing motion of the pen-type input device, and a data input main unit provided in the data input main unit. An acceleration detecting unit for measuring acceleration, an angular velocity detecting unit provided in the data input main body unit for measuring an angular velocity of the movement, and a speed conversion unit for integrating the acceleration measured by the acceleration detecting unit and converting the integrated information into speed information. And the angular velocity having the X-axis direction acceleration and the Y-axis as a rotation axis are defined as a set of X-axis motion state discrimination in order to discriminate and classify the motion of the data input main body portion into a plurality of motion states based on predetermined conditions. , The acceleration in the Y-axis direction and the angular velocity with the X-axis as the rotation axis are used as a set of Y-axis motion state determination. Machine for comparing magnitude with measured value A motion state determination unit having a control unit that controls a method of correcting the speed information obtained by the speed conversion unit according to the classification based on the determination result of the motion state determination unit, and control by the control unit. A speed correction unit that applies a predetermined correction to the speed information obtained by the speed conversion unit and generates corrected speed information; and converts the corrected speed information obtained by the speed correction unit into trajectory information. And a trajectory conversion unit.

A second feature of the device of the present invention is that, in the first feature of the device of the present invention, when the motion state determination unit determines that both the acceleration and the angular velocity are smaller than a set threshold value,
Or, if the acceleration is smaller than a set threshold but the angular velocity is larger than the set threshold, the acceleration used for the determination has a function of determining that the axial movement of the set of angular velocities is in a stopped state. Configuration of the data input device.

A third feature of the device of the present invention is that, in the first feature of the present invention, when the motion state discriminating unit is configured such that both the acceleration and the angular velocity are larger than a set threshold value,
Alternatively, the period from when both the acceleration and the angular velocity become larger than the set threshold to when the acceleration and the angular velocity satisfy the condition to be determined to be the stopped state again is the acceleration and the angular velocity used for the determination. Is a configuration of a data input device having a function of discriminating and classifying the set of axial movements as rotational movement states.

A fourth feature of the device of the present invention is that, in the first feature of the present invention, the motion state discriminating unit determines that the acceleration is larger than a set threshold but the angular velocity is smaller than the set threshold. In the case other than when the rotational motion state is determined according to the condition of the subsequent stage that is determined to be in the state, the axial motion of the set of the acceleration and the angular velocity used for the determination is determined to be the non-rotational motion state. The present invention resides in adopting a configuration of a divided data input device.

A fifth feature of the present invention is that the motion state discriminating section in the first, second, third or fourth feature of the present invention is separately provided for each of the X-axis and the Y-axis. In the configuration of the data input device.

A sixth feature of the device of the present invention is that the speed correction unit in the first, second, third, fourth or fifth feature of the device of the present invention is characterized in that During the period in which it is determined that the vehicle is in the stop state, a data input device having a function of correcting the speed information of the predetermined axis obtained by the speed conversion unit to zero is employed.

According to a seventh feature of the device of the present invention, the speed correction unit in the first, second, third, fourth or fifth feature of the present device is characterized in that the motion state discriminating unit determines that the motion state is determined in a predetermined axial direction. During the period determined as the non-rotational motion state, during the period in which the motion state determination unit determines that the motion state determination unit is in the stopped state before the non-rotational motion state in the predetermined axis direction, the predetermined axis obtained by the speed conversion unit is used. A data having a function of obtaining an approximate curve of a speed change, using this as a correction component, and subtracting the correction component from the speed obtained by the speed conversion section during a period in which the state is determined to be the non-rotational motion state. The configuration of the input device is adopted.

According to an eighth feature of the present invention, the speed correction unit in the first, second, third, fourth or fifth feature of the present invention is characterized in that the motion state discriminating unit determines that the motion state determining unit is in the predetermined axial direction. During the period in which the rotational motion state is determined, during the period of the rotational motion state, between the time points at which the angular velocities of the axes used for determining the motion state in the predetermined axial direction cross the zero point, the speed conversion unit is switched to the zero crossing time point. Obtain a regression line with the speed of the predetermined axis obtained as zero as a correction component between each time point, and obtain the regression line from the speed information obtained by the speed conversion unit during the period determined as the non-rotational motion state. A data input device having a function of performing correction by subtracting a correction component is employed.

A ninth feature of the device of the present invention resides in a data input in which the speed correcting section in the sixth, seventh or eighth feature of the present device is separately provided for both the X-axis and the Y-axis. The configuration of the device is adopted.

[0034]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of the present invention will be described with reference to the drawings with respect to an example of an apparatus and an example of a method.

(Device Example 1) A first device example of the present embodiment will be described with reference to FIG. FIG. 1 is a configuration conceptual diagram of a data input device of the present example of the device. The device α is composed of a data input main body 1, an acceleration detector 2, an angular velocity detector 3, a speed converter 4, a motion state determiner 5, a controller 6, a speed corrector 7, and a trajectory converter 8.

The acceleration detector 2 and the angular velocity detector 3 are provided in the data input main body 1 to measure the acceleration and angular velocity of the movement. The velocity converter 4 integrates the acceleration measured by the acceleration detector 2 to calculate the velocity. Converted into information, the exercise state determination unit 5
The motion of the data input main body 1 is discriminated and divided into a plurality of motion states based on predetermined conditions, and the control unit 6 receives the discrimination result of the motion state discrimination unit 5 and controls the speed information correction method of the speed correction unit 7. Then, the speed correction unit 7 adds a predetermined correction to the speed information obtained by the speed conversion unit 4 under the control of the control unit 6, and the trajectory conversion unit 8 uses the corrected speed information obtained by the speed correction unit 7 Convert to information.

In FIG. 1, an acceleration detecting section 2, an angular velocity detecting section 3, a speed converting section 4, a motion state judging section 5, a control section 6, a speed correcting section 7, and a locus converting section 8 are provided in the data input main body 1. Although the configuration is shown, a speed conversion unit 4, a motion state determination unit 5, a control unit 6, a speed correction unit 7, and a trajectory conversion unit 8 are provided in an information processing device (not shown) outside the data input main unit 1. After transmitting the acceleration information and the angular velocity information detected by the acceleration detection unit 2 and the angular velocity detection unit 3 to the information processing apparatus, it is also possible to adopt a configuration in which processing is performed in the information processing apparatus.

(Method Example 1) An execution processing method of a first method example of the present embodiment applied to the apparatus example will be described with reference to FIG. FIG. 2 shows the execution step (S
It is a flowchart showing (TEP1 to STEP7).

(STEP 1) The acceleration detecting section 2 and the angular velocity detecting section 3 respectively measure the acceleration and angular velocity of the motion of the data input main body 1, transmit the acceleration to the speed converting section 4, and send the acceleration and the angular velocity to the motion state determining section 5. The angular velocity is transmitted, and the angular velocity is transmitted to the velocity correction unit 7.

(STEP 2) The speed conversion unit 4 converts the acceleration measured by the acceleration detection unit 2 into a speed by integrating the acceleration, and transmits the speed to the speed correction unit 7.

(STEP 3) The exercise state discriminating unit 5 compares the measured values of the acceleration and the angular velocity with a preset threshold value. If both the acceleration and the angular velocity are smaller than the threshold value, or the acceleration is larger than the threshold value. Is smaller, but the angular velocity is larger than the threshold, it is determined to be in the “stop” state.

When both the acceleration and the angular velocity are larger than the threshold value, or until both the acceleration and the angular velocity become larger than the threshold value and thereafter, the acceleration and the angular velocity are again satisfied with the condition for determining that the vehicle is in the stop state. The period is a “rotational motion” state, except that the acceleration is larger than the threshold value but the angular velocity is smaller than the threshold value, and the rotational motion state is determined according to a later-stage condition in which the rotation motion state is determined. In this case, it is determined that the state is the “non-rotational movement” state, and the result of this determination is transmitted to the control unit 6.

The control unit 6 performs the processing in STEP 4 when it is determined that the state is “stop”, the processing in STEP 5 when it is determined that it is in the “non-rotational state”, and the processing in STEP 6 when it is determined that it is in the “rotational state”. To execute each.

(STEP 4) In the "stop" state, the control section 6 controls the speed correction section 7 to set the speed to zero and to transmit it to the trajectory conversion section 8.

(STEP 5) In the case of the "non-rotational movement" state, the control unit 6 controls the speed correction unit 7, and the speed information of the period in which the movement state determination unit 5 determines that the vehicle is in the stop state, that is, the data input main unit 1 , An approximate curve of the speed change occurring even in the stop state is obtained, and the approximate curve is used as a correction component in the period determined as the non-rotational motion, and the correction is performed by subtracting the correction component from the speed obtained by the speed conversion unit 4. The speed is obtained and transmitted to the trajectory conversion unit 8.

(STEP 6) In the "rotational motion" state, the control unit 6 controls the speed correction unit 7 to obtain the time obtained by the speed conversion unit 4 at the time of the zero crossing between the time points at which the angular velocities cross the zero point during the period. The corrected speed is obtained by subtracting the correction component from the speed obtained by the speed conversion unit 4 using the regression line at which the obtained speed becomes zero as a correction component between each time point.

(STEP 7) The trajectory conversion unit 8 obtains the trajectory of the movement of the data input main unit 1 by integrating the speed corrected by the speed correction unit 7 in STEP 4 to STEP 6.

(Example 2 of Apparatus) Referring to FIGS. 3 to 9, as a second example of apparatus of the present embodiment, a pen type input device having a rod type shown in FIG. A data input device β that converts information into trajectory information and inputs the information to a computer will be described.

FIG. 3 is a conceptual diagram showing the configuration of a data input device according to this embodiment. The device β has a pen shape, and has an X-axis acceleration detecting unit 2a, a Y-axis acceleration detecting unit 2b, an X-axis angular speed detecting unit 3a, a Y-axis angular speed detecting unit 3b, an X-axis speed converting unit 4a,
Axis speed converter 4b, X-axis motion state determiner 5a, Y-axis motion state determiner 5b, controller 6, X-axis speed corrector 7a, Y-axis speed corrector 7b, X-axis locus converter 8a, Y-axis locus It is composed of a converter 8b.

The XYZ axes of the three-dimensional rectangular coordinates are:
The major axis direction of the pen of the pen-type input device β is defined as the Z-axis direction. Acceleration detector 2, angular velocity detector 3, velocity converter 4,
The motion state determination unit 5, the speed correction unit 7, and the trajectory conversion unit 8
It is provided for each axis, Y axis.

Although FIG. 3 shows a configuration in which all the constituent elements are provided inside the pen-type input device β, the X-axis speed converter 4a and the Y-axis Speed conversion unit 4b, X-axis motion state determination unit 5a, Y-axis motion state determination unit 5b, control unit 6, X-axis speed correction unit 7a, Y-axis speed correction unit 7b, X-axis direction trajectory conversion unit 8a, Y-axis direction Naturally, a configuration in which the trajectory conversion unit 8b is provided in an information processing device (not shown) outside the pen-type input device β can be adopted.

(Method Example 2) Next, as shown in FIG. 11, the second embodiment of the second apparatus example is subjected to a writing motion of writing "ab" on the writing surface (uv surface) as in the conventional example. The data input operation processing according to the second method example will be described with reference to FIGS.

FIG. 4 is a graph showing the measured values of the acceleration in the X-axis direction and the angular velocity with the Y-axis as the rotation axis according to the second device example, and FIG. 5 is the measured value of the speed of the second device example. FIG. 6 is a graph showing the speed before correction obtained by the X-axis speed conversion unit and the correction component obtained by the X-axis speed correction unit according to the second device example of the present invention, and FIG. FIG. 8 is a diagram showing a correction algorithm of a speed correction unit of the second device example, and FIG. 8 is a graph showing speeds corrected by the X-axis speed correction unit of the second device example. FIG. 12 is a diagram showing a reproduction state of the trajectory of the writing motion of FIG. 11 by the data input device β of the second device example.

In the following, a description will be given of the operation processing for obtaining the trajectory information in the X-axis direction for the writing motion of the pen-type input device β. However, the same processing is performed in the Y-axis direction to obtain the two-dimensional trajectory information. And the locus on the writing surface (uv surface) can be reproduced.

The X-axis acceleration detecting section 2a has a pen-type input device β.
Detecting the acceleration _A X (i), Y-axis angular velocity detection unit 3b detects the angular velocity ω _Y (i). Where A _X (i) and ω
_Y (i) is, A / D readings at each sampling time _{T s}
The i-th acceleration value and angular velocity value obtained by the conversion. The measured values of the acceleration A _X and the angular velocity ω _Y are as shown in FIG.

The X-axis motion state judging section 5a compares the magnitudes of the measured acceleration A _X (i) and the measured angular velocity ω _Y (i) with threshold values set in advance. When both the acceleration and the angular velocity are smaller than the threshold value, or when the acceleration is smaller than the threshold value but the angular velocity is larger than the threshold value, it is determined to be in the “stop” state, and when both the acceleration and the angular velocity are larger than the threshold value. Alternatively, the period from when both the acceleration and the angular velocity become larger than the threshold until the acceleration and the angular velocity satisfy the condition for determining again that the vehicle is in the stop state is the “rotational motion” state.

The acceleration is larger than the threshold value, but the angular velocity is smaller than the threshold value, and the “non-rotational motion” state is used except when the rotational motion state is determined by the condition of the subsequent stage that is determined to be in the rotary motion state. Is determined. In Figure 4, the period t _a is "no rotational movement" state, the period t _b is "rotational movement" state, other periods would be determined to be in the "stop" state.

The X-axis speed conversion unit 4a converts the acceleration A _X (i) detected by the X-axis acceleration detection unit 2a into the speed V _X (i) at the time of the i-th sampling. V _X (i) = V _X (i-1) + {(A _X (i-1) + A _X (i)} / 2 × T _s The method of integration is limited to the method according to the above equation. not intended. solid line in the graph of FIG. 6 are it indicates a change in the velocity V _X obtained as the result of the integration.

FIG. 5 shows the speed change in the X-axis direction obtained separately by actual measurement, and V is obtained as a result of the integration shown in FIG.
This is different from _X because the correction of the gravitational acceleration component and the like is not performed.

The control unit 6 controls the X-axis speed correction unit 7a as follows according to the motion state determined by the X-axis motion state determination unit 5a. Hereinafter, the correction algorithm will be described with reference to FIG.

The speed correcting section 7a is provided with an X-axis motion state determining section 5a.
If it is determined that the state is "stop", the speed is corrected to zero.

"Non-rotational movement" in the X-axis movement state determination unit 5a
When the state is determined, the X-axis speed correction unit 7a generates the speed information during the period in which the X-axis motion state determination unit 5a determines the stop state, that is, even when the data input main unit 1 is stopped. obtains an approximation curve of the change in the uncorrected speed V _{X (i)} which are, the approximate curve as the correction component E _X of free rotational movement state discriminated sections _(i), determined by X-axis speed conversion section 4a determining the velocity _V X (i) from the correction component _E X (i) the velocity V was corrected by subtracting the _'X (i). _{V 'X (i) = V} X (i) -E X (i)

When the X-axis motion state discriminating unit 5a determines that the rotational motion is "rotational motion", the X-axis speed correcting unit 7a determines the speed V at the zero crossing point between the time points at which the angular velocity ω _Y (i) crosses the zero point. a regression line _{of X} (i) is zero, this correction component _E and X (i), by subtracting the correction component _E X (i) from the speed determined by X-axis speed conversion section 4a _V X (i) To obtain the corrected speed V ′ _X (i). _{V 'X (i) = V} X (i) -E X (i)

The dotted line in the graph of FIG. 6 represents the correction component obtained in this manner. The difference between this and the solid line becomes the corrected speed V ′ _X (i). FIG. 8 is a graph showing a change in the corrected speed V ′ _X (i). It can be confirmed that this correction is close to the actually measured value shown in FIG. The X-axis trajectory conversion unit 8a obtains the X-axis trajectory information of the writing motion of the pen-type input device β by integrating the velocity V ′ _X (i) corrected by the X-axis velocity correction unit 7a.

The trajectory information in the X direction obtained in the present example and Y
FIG. 9 shows an input obtained by combining the trajectory information of the directions. FIG.
It is apparent from comparison with No. 1 that the trajectory can be reproduced with higher accuracy than before.

Although the pen-type input device β is used in the second device example, it is also possible to adopt a configuration in which the data input main body 1 is provided with an attachment structure for a writing implement and is mounted on a normal writing implement. is there.

Although the embodiments of the present invention have been described with reference to the example of the apparatus and the example of the method, the present invention is not necessarily limited to the above-described means and methods, but achieves the object of the present invention and refers to the present invention. The present invention can be appropriately changed and implemented within a range having an effect.

[0068]

According to the present invention, the acceleration of the writing motion of the data input main body is estimated by estimating the error in measuring the acceleration of the data input main body and the influence of the gravitational acceleration component and removing these effects. Can be accurately converted into trajectory information.

[Brief description of the drawings]

FIG. 1 is a conceptual block diagram of a first example of an apparatus showing an embodiment of the present invention.

FIG. 2 is a flowchart showing execution steps of a first example method showing an embodiment of the present invention.

FIG. 3 is a conceptual configuration block diagram of a second example of an apparatus showing an embodiment of the present invention.

FIG. 4 is a graph showing measured values of acceleration in an X-axis direction and an angular velocity with a Y-axis as a rotation axis according to the example of the device.

FIG. 5 is a graph showing actual measured values of the speed of the example of the apparatus.

FIG. 6 is a graph showing a speed before correction obtained by an X-axis speed conversion unit and a correction component obtained by an X-axis speed correction unit according to the example of the apparatus.

FIG. 7 is a diagram showing a correction algorithm of a speed correction unit of the example of the apparatus.

FIG. 8 is a graph showing a speed obtained by correction by an X-axis speed correction unit according to the above device example.

FIG. 9 is a diagram showing a reproduction state of the trajectory of the writing motion of FIG. 2 by the data input device of the example of the above device.

FIG. 10 is a perspective view illustrating a state in which a pen-type input device is used as a data input main unit to perform a writing motion.

FIG. 11 is an example of a locus of a writing motion by the pen-type input device of FIG. 10;

FIG. 12 is a diagram showing a reproduction state of a trajectory of the writing motion of FIG. 11 by a conventional data input device.

[Brief description of reference numerals]

α, β: Data input device X, Y, Z: Each axis of pen coordinate system (X, Y, Z) u, v, w: Each axis of writing surface coordinate system (u, v, w) 1. Data input Main unit 2: acceleration detector 2a: X-axis acceleration detector 2b: Y-axis acceleration detector 3: angular velocity detector 3a: X-axis angular velocity detector 3b: Y-axis angular velocity detector 4: velocity converter 4a: X-axis velocity Conversion unit 4b Y-axis speed conversion unit 5 Motion state determination unit 5a X-axis movement state determination unit 5b Y-axis movement state determination unit 6 Control unit 7 Speed correction unit 7a X-axis speed correction unit 7b Y period it is determined that the period t b _... rotational motion state is determined axial velocity correcting section 8 ... trajectory conversion unit 8a ... X-axis trajectory conversion unit 8b ... Y-axis trajectory conversion unit t a _... a nonrotating motion state

──────────────────────────────────────────────────続 き Continued on the front page (58) Field surveyed (Int.Cl. ⁷ , DB name) G06F 3/03-3/033

Claims (20)

(57) [Claims] In converting and processing acceleration information of a data input motion into trajectory information, first, an acceleration and an angular velocity of the data input motion are detected, and then the acceleration is converted into speed information. From the detected values of the acceleration and the angular velocity, the data input motion is classified into a plurality of motion states, and further, a correction determined for each type of the motion state is performed on the speed information. A data input method comprising performing various processes after converting and inputting into trajectory information. 2. The data input method according to claim 1, wherein the types of the motion state are a stop state, a rotational state, and a non-rotational state. 3. The data input method according to claim 1, wherein the type determination of the exercise state is a comparison determination between the acceleration and the angular velocity and a set threshold value. 4. When the acceleration information of the movement of the data input main body is converted into trajectory information and input to a computer, the data input is performed by an acceleration detecting means and an angular velocity detecting means provided in the data input main body. The acceleration and angular velocity of the movement of the main body are measured, the measured acceleration is integrated and converted into velocity information, and based on predetermined conditions determined by the measured values of the acceleration and the angular velocity, a plurality of movement states of the data input main body are measured. Discriminating into sections, correcting the speed information obtained by integrating the acceleration based on a predetermined method determined for each section of the exercise state, converting the corrected speed information into trajectory information, and inputting it. A data input method characterized by the following. 5. A method for determining a motion state of said data input main body means, comprising: determining a magnitude relationship between a preset threshold value for each of said acceleration and said angular velocity and each measurement value measured by said acceleration detection means or angular velocity detection means. 5. The data input method according to claim 4, wherein the comparison is made. 6. The motion state of the data input main body means is determined when both the acceleration and the angular velocity are smaller than a set threshold, or when the acceleration is smaller than the set threshold but the angular velocity is larger than the set threshold. 5. The data input method according to claim 4, wherein the data is classified into a stopped state. 7. The determination of the motion state of the data input main body means is performed when both the acceleration and the angular velocity are larger than a set threshold, or when both the acceleration and the angular velocity become larger than the set threshold, 5. The data input method according to claim 4, wherein a period until the angular velocity satisfies the condition for determining again that the vehicle is in the stopped state is classified as being in a rotational motion state. 6. 8. A determination of a motion state of the data input main body means is performed in a case where the acceleration is larger than a set threshold value but the angular velocity is smaller than the set threshold value, and a condition of a subsequent stage that is determined to be in the rotary motion state. 5. The data input method according to claim 4, wherein, except when the state is determined to be a rotational movement state, the state is determined to be a non-rotational movement state. 9. The speed correction determined for each of the motion state divisions, wherein in the case of the stop state, the speed obtained by integrating the acceleration is corrected to zero. , 7 or 8. 10. The speed correction determined for each of the motion state divisions is, in the case of the non-rotational motion state, an approximation of a change in speed obtained by integrating the acceleration for a period determined to be a stopped state before the period. 7. A curve is obtained, and the approximate curve is used as a correction component for a period determined as the non-rotational motion state, and the correction is performed by subtracting the correction component from the speed during the period. , 7 or 8. 11. The speed correction determined for each of the motion state divisions is as follows: in the case of the rotational motion state, for each time point at which the angular velocity crosses zero in the period, the speed obtained by integrating the acceleration at the zero crossing time point. A regression line where is zero is obtained, and this is used as a correction component between each time point to correct by subtracting the correction component from the speed in the period. Data entry method described. 12. A pen-type input device, a data input main body for inputting a trajectory of a writing motion of the pen-type input device, and an acceleration detector provided in the data input main body for measuring an acceleration of the motion. An angular velocity detector provided in the data input main body for measuring an angular velocity of the movement; a velocity converter for integrating the acceleration measured by the acceleration detector to convert the acceleration into velocity information; and the data input main body. In order to discriminate and classify the motion of the part into a plurality of motion states based on a predetermined condition, an acceleration in the X-axis direction and an angular velocity with the Y-axis as a rotation axis are set as an X-axis motion state discrimination. The angular velocity with the X axis as the rotation axis is Y
A set of axis motion state discrimination, an acceleration state for the X-axis and Y-axis motion state discrimination, a motion state discriminator having a function of comparing the magnitude of a preset threshold value with each measured value for each set of angular velocities, A control unit that controls a method of correcting the speed information obtained by the speed conversion unit according to the classification based on the determination result of the exercise state determination unit, and obtained by the speed conversion unit under the control of the control unit. A speed correction unit that adds a predetermined correction to the speed information and generates corrected speed information; and a trajectory conversion unit that converts the corrected speed information obtained by the speed correction unit into trajectory information. A data input device, characterized in that: 13. The exercise state determination section determines whether both the acceleration and the angular velocity are smaller than a set threshold, or if the acceleration is smaller than the set threshold but the angular velocity is larger than the set threshold. 13. The data input device according to claim 12, wherein the data input device has a function of discriminating the axial movement of the set of the acceleration and the angular velocity used in step (a) to be in a stopped state. 14. The motion state determining section, when both of the acceleration and the angular velocity are larger than a set threshold value, or after both the speed and the angular velocity become larger than the set threshold value, Has a function of judging that the axial movement of the set of the acceleration and the angular velocity used for the determination is a rotational movement state during a period until the condition for again determining the stop state is satisfied. The data input device according to claim 12, wherein: 15. The motion state determining unit, wherein when the acceleration is larger than a set threshold value but the angular velocity is smaller than the set threshold value, the rotational motion state is determined according to a condition of a subsequent stage that is determined to be in the rotational state. 13. The data input according to claim 12, wherein, except when the discrimination is performed, the axial movement of the set of the acceleration and the angular velocity used for the discrimination is discriminated as a non-rotational motion state. apparatus. 16. The data input device according to claim 12, wherein the motion state determination unit is provided separately for each of the X-axis and the Y-axis. 17. A function for correcting the speed information of a predetermined axis obtained by the speed conversion unit to zero during a period in which the motion state determination unit determines that the motor is stopped in a predetermined axis direction. 12. The method according to claim 12, wherein:
7. The data input device according to 6. 18. The motion correction unit according to claim 1, wherein, during the period in which the motion state discriminating unit determines the non-rotational motion state in the predetermined axis direction, the motion state discrimination unit performs before the non-rotational motion state in the predetermined axis direction. For the period determined to be in the stopped state, an approximate curve of the speed change of the predetermined axis obtained by the speed conversion unit is obtained and used as a correction component, and the speed conversion unit in the period determined to be the non-rotational motion state is obtained. And a function of performing correction by subtracting the correction component from the speed obtained in (1).
7. The data input device according to 6. 19. The method according to claim 19, wherein the speed correction unit determines the rotational state in the predetermined axial direction during the period in which the rotational state determination unit determines the rotational state in the predetermined axial direction. Between the time points at which the angular velocities of the axes are zero-crossed, a regression line that sets the speed of the predetermined axis obtained by the speed conversion unit to zero at the zero-crossing time point is obtained as a correction component between the time points, and A function of performing correction by subtracting the correction component from the speed information obtained by the speed conversion unit during a period in which the state is determined to be the non-rotational motion state, wherein:
7. The data input device according to 6. 20. The data input device according to claim 17, wherein the speed correction unit is provided separately for both the X-axis and the Y-axis.