JP3204844B2 - Angle detecting device and input device using the same - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention has a light emitting portion having a light source and a detecting portion for receiving and detecting light from the light source, and a relative rotation angle of the two portions with respect to an axis connecting the light emitting portion and the detecting portion. Also, the present invention relates to an angle detection device capable of detecting a relative tilt amount of both portions in consideration of the rotation angle, and an input device using the angle detection device.

[0002]

2. Description of the Related Art Conventionally, input devices for externally inputting information to a screen on which various images are displayed include a controller with a joystick and a planar coordinate input device having switch elements arranged in a matrix. Is the main thing. The controller with the joystick is suitable for performing an operation such as moving a character on a screen or giving an operation instruction in an action game, but is suitable for aligning a cursor mark on a button appearing at an arbitrary position on the screen. Not suitable for operation. Also, since this type of controller is of a code type, it can be operated only near the screen. In addition, the conventional planar coordinate input device requires a large space for installing a planar indicator panel in front of the screen, and has a complicated structure and a high cost.

Therefore, recently, an input device using an ultrasonic wave as shown in FIG. 12 has been considered. This input device is provided with sound sources 2a and 2b arranged on both sides of the screen 1 of the device main body at intervals in the horizontal axis (x-axis) direction. The operation member 3, which is operated by a human hand, is provided with a detection unit that detects ultrasonic waves emitted from the sound sources 2a and 2b. Ultrasonic waves are emitted from the sound sources 2a and 2b after being pulse-modulated with their phases shifted from each other. The detection unit of the operation member 3 identifies and receives the ultrasonic waves from the sound sources 2a and 2b, and calculates the distance La to the sound source 2a and the distance Lb to the sound source 2b from the phase difference between the received ultrasonic waves. Thereby, a horizontal plane (Hx-Hy plane) of the operation member 3 is obtained.
The position above can be detected. Operation member 3
Is moved on a horizontal plane (Hx-Hy plane) and the operation button is pressed as required, the information received by the operation member 3 is given to the device body by wire or wirelessly.
The position of the operation member 3 on the Hy surface is calculated, and for example, the cursor mark 4 that appears on the screen 1 of the device main body is moved.

[0004]

With the input device shown in FIG. 12, it is possible to detect the position of the operating member 3 on a horizontal plane (Hx-Hy plane) and to provide the information to the device body. Even if the operation member 3 is stopped at a certain position on the Hx-Hy plane and tilted in the θx direction, the tilt angle cannot be detected. Further, the θy direction of the operating member 3 and the θ
It is also impossible to detect the rotation angle in the z direction. Although ultrasonic waves can be realized with a simple configuration, there are still many problems in terms of reliability, such as poor stability with respect to temperature and much disturbance noise. A method of obtaining a position and an angle in a three-dimensional space using an alternating magnetic field other than the ultrasonic wave has also been proposed, but the apparatus is large and very expensive.

An object of the present invention is to solve the above-mentioned conventional problems, and an angle detecting device and a method for detecting a relative rotation angle between a light emitting section and a detecting section with a simple structure and high accuracy. It is intended to provide an input device using the device.

[0006]

In the angle detecting device according to the present invention, a light emitting section and a detecting section are arranged apart from each other, and the light emitting section is provided with two light sources emitting identifiable light at an interval. disposed, the the detection unit is arranged in the X-axis direction when setting the aperture opening for the respective light and spot light having a predetermined area, the X-Y orthogonal coordinate intersecting the axis passing through the center of the stop opening
And a light receiving unit arranged in the Y-axis direction is provided,
Obtain the position of each spot light from a difference between the amount of light received by the light receiving portion arranged in the difference in the Y-axis direction of the amount of light received by the light receiving portion arranged in the X-axis direction with respect to each spot beam, connecting the centers of both the spot light It is characterized in that a calculation unit for obtaining an inclination angle of the line on the XY coordinate is provided.

In the above, the rotation coordinates Xα-Yα obtained by rotating the XY orthogonal coordinates by the tilt angle are set, and the calculation unit calculates the midpoint of the midpoint of the two spot lights on the Xα-Yα coordinates. The position is required.

Further, the distance between the light emitting section and the detecting section is obtained from the distance between the centers of the two spot lights and the arrangement interval of the light sources in the calculating section.

The detecting section can be constituted by providing one aperture and four light receiving sections arranged in the X-axis direction and the Y-axis direction, respectively. Alternatively , two apertures and one aperture can be provided. It is arranged in the X-axis direction to detect a spot that has passed through
And two light receiving units arranged in the Y-axis direction for detecting the spot light passing through the other aperture.

In the angle detecting device according to the present invention, the light emitting section and the detecting section are arranged apart from each other, and the light emitting section emits substantially linearly polarized light, and the detecting section emits the light from the light emitting section. Two filters that transmit polarized light components that are inclined in opposite directions to the polarization direction of light are provided, and a light receiving unit that detects light transmitted through each filter is provided, and the amount of received light of light transmitted through each filter is provided. Is provided with a calculating unit for calculating the rotation angle between the light emitting unit and the detecting unit from the difference.

In the above, when the X-Y orthogonal coordinates intersecting the axis connecting the light emitting section and the detecting section are set, one of the light receiving sections can detect the moving amount of the spot light in the X-axis direction, It is preferable that the light receiving section can detect the moving amount of the spot light in the Y-axis direction.

Further, by using the angle detecting device of each of the above structures, a light emitting portion is provided on one of the fixed device main body side and the movable operation member side, and a detecting portion is provided on the other side, and the light emitting portion and the detecting portion are connected. It is possible to provide an input device for inputting relative rotation angle information of both parts with respect to the shaft from the operation member to the device main body.

[0013]

In the first means, identifiable light is emitted from two light sources arranged at an interval in the light emitting section.
For example, by generating light modulated at a constant frequency from both light sources and shifting the light emission timing (phase) from both light sources, each light can be identified by the detection unit. In addition, the wavelengths and modulation frequencies of the light emitted from the respective light sources are made different, and each detection output detected by the light receiving unit of the detection unit is separated by a bandpass filter so that the light from both light sources can be distinguished. You may.

The light emitted from the two light sources of the light emitting section is
The light passes through the aperture at the detection unit and becomes a spot light having a predetermined area. The spot light is received by the four-divided light receiving unit or the two-divided light receiving unit. The detection unit obtains the difference between the received light amounts of the divided light receiving units divided in the X-axis direction and the difference between the received light amounts of the divided light receiving units divided in the Y-axis direction. The position of the spot light can be detected separately. From the positions of both spot lights, a line passing through the center of both spot lights can be obtained, so that the X-Y
The angle of the line on the rectangular coordinates can be known. This makes it possible to detect the relative rotation angle of the two parts with respect to the line connecting the light emitting part and the detection part.

Further, a rotation coordinate X.alpha.-Y.alpha. Obtained by rotating the XY orthogonal coordinate in the detection section by the same amount as the rotation angle is set, and a position on the X.alpha.-Y.alpha. By performing the detection, it is possible to detect the inclination angles of both parts in the x-axis direction and the y-axis direction in a state in which the relative rotation angles of the light emitting unit and the detection unit are taken into account.

In another means, linearly polarized light is emitted from the light emitting section. The detection unit detects a pair of filters that transmit polarization components at opposite angles of, for example, +45 degrees and −45 degrees with respect to the polarization direction of the light emitted from the light emitting unit, and detects the light transmitted through the filters. A light receiving unit is provided. By comparing the amount of light received by both light receiving units, the inclination angle of the polarization direction of the light from the light source with respect to the polarization direction of both filters can be known, whereby the relative position of the two units with respect to the axis connecting the light emitting unit and the detection unit is obtained. It is possible to detect a typical rotation angle.

Also, when the two light sources of the light emitting section emit identifiable light and the divided light receiving sections of the detecting section determine the positions of the respective spot lights, the distance between the centers of the two spot lights is determined. It is also possible to detect the distance between the light emitting unit and the detecting unit from the distance and the arrangement interval of the light sources in the light emitting unit.

The light emitting unit and the detecting unit of the above angle detecting device are
By separately installing the device body and the operation member, the direction (posture) of the operation member with respect to the device body can be detected. Therefore, it is possible to input three-dimensional position information to the device main body by, for example, pressing the operation button with the operation member in any posture.

By using the angle detection device or the input device, a coordinate position can be input to an apparatus having a screen by an operation member, or a cursor mark is operated on a push button that appears on the screen. You can also. Furthermore, it can be used as angle detection in virtual reality and input of a position or an angle.

[0020]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a perspective view showing an input device using an angle detecting device according to a first embodiment of the present invention, and FIGS. 2 to 6 illustrate the basic structure and operation of the angle detecting device. In the input device, the fixed side is the device main body 10,
The device body 10 is a computer, an AV device, a game machine body, or the like, and has a CRT screen 11. The moving side is the operation member 12. The operation member 12 functions as a remote controller and is large enough to be held by hand. The operation member 12 and the device main body 10 are wiredly connected by a cord, or detection information (mainly angle detection information) and an operation instruction signal are given from the operation member 12 to the device main body 11 by infrared communication or radio wave communication.

The input device has an angle detecting device. In the embodiment shown in FIG. 1, the light emitting section 15 is provided on the device main body 10 side, and the detecting section 20 is provided on the operation member 12 side. The light emitting unit 15 and the detecting unit 20 constitute an angle detecting device of the present invention. When the horizontal axis passing through the center O1 of the light emitting unit 15 is the x-axis and the vertical axis passing through the center O1 is the y-axis, it is equidistant from the center O1 on the x-axis by a distance a (see FIG. 2). A pair of point light sources 16 and 17 are provided at the positions shown. In FIG. 1, the center O1 of the light emitting unit 15 is the screen 11
The point light sources 16 and 17 are shown as being located in the screen 11 at the position (a) in the center of FIG.

However, in the actual device, the center O1 of the light emitting section 15 is located off the screen 11 at a position indicated by, for example, (b). In this case, when the Z axis extending vertically (horizontally in FIG. 2) with respect to the detection unit 20 of the operation member 12 is directed to the center of the screen 11, the center of the detection unit 20 of the operation member 12 and the light emitting unit 15 An offset angle θ0 occurs between the line Jo connecting the center and the Z axis. In an actual input device and an angle detection device, the offset angle θ0 is divided from the detection angle in the Y direction detected by the detection unit 20 of the operation member 12, so that the orientation (opposing angle) θy of the Z axis with respect to the screen is obtained. Is calculated. Alternatively, the center O1 of the light emitting unit 15 is positioned at the center of the screen 11, and the screen 11 is positioned on the x-axis passing through the center O1.
The point light source 16 is located on the left and right side positions (position (c)) outside the
If the positions 17 and 17 are arranged, there is no need to divide the offset angle θ0. In any case, in the following, in order to facilitate the description of the configuration and operation of the angle detection device, the description will be made assuming that the center O1 of the light emitting unit 15 is located at the position (a) of the center of the screen 11.

The two point light sources 16 and 17 emit light that can be distinguished from each other. For example, each point light source 16 and 17
Is an infrared light emitting diode, and the two-point light sources 16 and 17 are
Output modulated light having the same frequency (period) and a phase shift of 180 degrees. FIG. 6A shows one point light source 16.
6B is a driving pulse for causing the other point light source 17 to emit light. Each point light source 16 and 1
7 both emit modulated light by a driving pulse having a frequency of about 16 to 40 kHz, the light emitting cycle of the light source 16 and the light source 17 is shifted by 180 degrees, and the light source 16 and the light source 17 emit infrared light alternately at different timings. It has become.
As shown in FIG. 2, the detection unit 20 provided on the operation member 12 is provided with the visible light cut filter 2 from the side facing the light emitting unit 15.
1, an aperture plate 22, and a light receiving element 23 are provided in parallel in this order.

The aperture plate 22 has a rectangular aperture 22a. The aperture plate 22 passes through the center of the aperture 22a.
The axis perpendicular to the light receiving element 23 is set as the Z axis, and the detection unit 20 sets XY orthogonal coordinates orthogonal to the Z axis. As shown in FIG. 3, the light receiving element 23 is constituted by a pin photodiode having four divided light receiving sections 23a, 23b, 23c and 23d. In the XY orthogonal coordinates, a set of divided light receiving units 23a and 23b and 23c and 2
The set of 3d is divided in the Y-axis direction, and the set of 23b and 23d and the set of 23a and 23c are divided in the X direction.

Infrared light emitted from the point light sources 16 and 17 at different timings (different cycles) is converged by the rectangular aperture 22a and is irradiated on the light receiving element 23 as rectangular spot light. In FIG. 3, the rectangular spot light of the infrared light emitted from the light source 16 is indicated by S16,
The rectangular spot light of the infrared light emitted from the light source 17 is
7. The aperture area of the aperture 22a and each light receiving unit 2
3a, 23b, 23c, and 23d, and the distance m between the light receiving surface of the light receiving element 23 and the surface of the diaphragm plate 22 (FIG. 5).
), The rectangular spot lights S16 and S17 are set so as not to deviate from the light receiving detection areas of the four-divided light receiving sections 23a to 23d even if the operating member 12 is tilted in each direction within a certain range. Further, by providing the visible light cut filter 21, in the light receiving element 23, external light noise components other than the rectangular spots S16 and S17 of infrared light are cut off as much as possible.

In each of the divided light receiving sections 23a to 23d, a detection current obtained by photoelectric conversion based on the irradiation area of the rectangular spot light is obtained. Although the processing circuit will be described later, the detected current is converted into a voltage and subjected to arithmetic processing.
Therefore, the detection output based on the irradiation area of the rectangular spot light in the divided light receiving units 23a to 23d is represented by Lu, R in FIG.
u, Ld and Rd. As described above, the point light sources 16 and 1
Since infrared light is emitted at a different timing from 7,
The time when the rectangular spot light S16 is detected by the light receiving element 23 and the time when the rectangular spot light S17 is detected are different,
Each rectangular spot light S is time-divided by the processing circuit.
16 and S17, detection outputs of Lu, Ru, Ld, and Rd are obtained.

Next, an angle detecting operation of the angle detecting device including the light emitting section 15 and the detecting section 20 will be described.
FIG. 3 shows a state in which the operation unit 12 is in a certain posture,
Indicate rectangular spot lights S16 and S17 detected by. The detection state in FIG. 3 is a state in which the operation member 12 is rotated counterclockwise with respect to the Z axis in FIG. This rotation angle is α. That is, XY on the detection unit 20 side
The x-axis on the light emitting unit 15 side where the point light sources 16 and 17 are arranged is relatively rotated by an angle α with respect to the X-axis of the rectangular coordinates.

In FIG. 3, the center of the rectangular spot light S16 of the infrared light from the light source 16 is denoted by I1, and the center of the rectangular spot light S17 of the infrared light from the light source 17 is denoted by I2. Further, the coordinate position of the center I1 on the XY orthogonal coordinates on the detection unit 20 side is (X1, Y1), and the coordinate position of I2 is (X2, Y
Shown in 2). Assuming that the intersection of the line J1 (see FIG. 4) connecting the center O1 of the light emitting section 15 and the center of the aperture 22a on the light receiving element 23 is Oa, the intersection Oa is located at the center of I1 and I2. . The coordinate position of the intersection Oa on the XY orthogonal coordinates of the detection unit 20 is defined as (X0, Y0). When tan α is obtained on the XY orthogonal coordinates shown in FIG.

[0029]

(Equation 1)

Therefore, the rotation angle α of the operation member 12 and the detection unit 20 with respect to the Z axis is as shown in Expression 2.

[0031]

(Equation 2)

Here, X1 and X2 in the above equation 1 are:
With respect to the rectangular spot lights S16 and S17 of infrared light generated at different timings from the light sources 16 and 17, the received light amount of the set of the divided light receiving units 23b and 23d divided in the X-axis direction and the divided light receiving units 23a and 23c Can be obtained by taking the difference from the received light amount of the set of. Further, Y1 and Y2 are the light receiving amounts of the set of the divided light receiving units 23a and 23b and the received light amounts of the set of the divided light receiving units 23c and 23d, respectively, with respect to the rectangular spot lights S16 and S17. It can be obtained from the difference. That is, the light receiving outputs Lu, Ru, Ld, Rd of the respective divided light receiving units and the coordinates X1, X2,
Y1 and Y2 are in a proportional relationship represented by the following equation (3). Therefore, X1, X2, Y1, Y
2, that is, the positions of the rectangular spots S16 and S17 on the XY orthogonal coordinates of the detection unit 20 can be obtained.

[0033]

(Equation 3)

With respect to the light receiving output of each divided light receiving unit,
By performing the calculation of Expression 1 and Expression 2 or Expression 2, the relative rotation angle α of the operation member 12 and the detection unit 20 with respect to the Z axis can be obtained. The calculation of Equation 1 or Equation 2 is performed, for example, by (Y2-Y1) / (X2-X) in the digital operation unit (calculation unit) 48 shown in FIG.
The value of 1) and the angle α corresponding thereto are set in a table in advance, and the angle α can be easily obtained by referring to this table.

Next, in the detection state shown in FIG.
And the detection unit 20 are rotated by an angle α relative to the Z axis, and the detection unit 20 shown in FIG. 3 is provided on the operation member 12 on the moving side. Therefore, the XY orthogonal coordinates of the detection unit 20 are rotated by the angle α with respect to the xy orthogonal coordinates (xy orthogonal coordinates fixed with respect to the space) on the device body 10 side. On the other hand, the inclination information given to the device main body 10 by the operation member 12 must be the angles θx and θy with respect to the xy orthogonal coordinates on the device main body 10 side. Therefore, in FIG. 3, a rotation coordinate Xα-Yα rotated by an angle α with respect to the XY orthogonal coordinate fixed to the detection unit 20 is set. Equation 4 shows the position of the center Oa on the coordinates.

[0036]

(Equation 4)

It should be noted that X1 and X2 can be obtained by Expression 5.

[0038]

(Equation 5)

By obtaining the above Xα and Yα, the Z-axis tilt angle θ based on the xy coordinates of the device body 10 is determined.
x and θy (unit is radian) can be obtained. FIG. 4 shows θy, but the same applies to θx. Assuming that the distance between the aperture 22a and the surface of the light receiving element 23 is m, since this m is very small, Xα, θx, Y
The relationship between α and θy is as shown in Equation 6.

[0040]

(Equation 6)

As described above, the operation of Equation 3 is performed on the light reception detection outputs Lu, Ru, Ld, and Rd from the respective divided light receiving sections 23a to 23d, and the operation of Equation 1 or Equation 2 is further performed. The rotation angle α of the member 12 with respect to the Z axis can be obtained. Also, based on this angle α, X
α and Yα are obtained, and the inclinations θx and θy of the Z axis with respect to the xy coordinates of the device main body 10 can be obtained from the values of Xα, Yα and m. Since the Z axis is an axis perpendicular to the light receiving surface of the detection unit 20 of the operation member 12, the inclination angle of the operation member 12 with respect to the xy coordinates of the device main body 10 can be detected by obtaining θx and θy.

Next, in the above angle detecting device, the light emitting section 15
It is also possible to obtain the distance L (see FIG. 5) in the Z-axis direction between the detection unit 20 and the detection unit 20. As shown in FIG. 5, when the distance between the point light sources 16 and 17 in the light emitting unit 15 in the x-axis direction is 2 · a = A, and the linear distance between I1 and I2 on the light receiving surface of the light receiving element 23 is b. , And these relationships are as shown in Expression 7.

[0043]

(Equation 7)

In the above, b is XY on the detecting unit 20 side.
I1 (X1, Y1) and I2 (Y1, Y2) on rectangular coordinates
Can be obtained from the following equation (8).

[0045]

(Equation 8)

That is, X1, Y1, X2, and Y2 can be obtained from the light reception detection outputs of the respective divided light receiving units by Expression 3, b can be obtained by Expression 8, and the distance L can be obtained by Expression 7. Each of the above operations is performed in the operation member 12 and the result is transmitted to the device main body 10 by wire or wirelessly, or only the light reception detection output of the detection unit 20 is transmitted to the device main body 10, The above operation is performed in.

In this input device, even if the operation member 12 rotates in the α direction with respect to the Z axis, the xy coordinates (fixed coordinates in space) of the device body 10 are taken into account in consideration of the rotation angle α.
, The inclinations θx and θy in the x and y directions can be detected. Therefore, even if the operation member 12 held by the hand is in the posture rotated in the α direction, information based on the inclination of θx and θy can be given to the device main body 10, for example, a cursor mark displayed on the screen 11. Can be moved on the xy coordinates. That is, the user can freely move the operation member 12 in the space to instruct image processing on the screen 11, for example, draw a line, switch a screen by positioning a cursor mark on a button display on the screen 11, and switch the screen. Input becomes possible, in this case, the operation member 1 held by hand
Even if 2 rotates with respect to the Z axis, this rotation causes x
-The input operation for the y coordinate does not go out of order.

In the input device and the angle detection device, the rotation angle α of the operation member 12 and the detection unit 20 with respect to the Z axis can be used as instruction information for display on the screen 11 of the device body 10. For example, if the operation member 12 is α
By rotating in the direction, an operation such as rotating an image appearing on the screen 11 within the xy coordinates of the device main body can be performed, and this can be used for a drawing process, a character rotation operation in game software, and the like. .

In FIG. 1, when the cursor mark is moved on the screen 11 based only on the inclination angles of the operation member 12 in the θx and θy directions, when the operation member 12 is approaching the screen 11, The user will feel a difference in operation feeling when the screen 12 is away from the screen 11. Position where operation member 12 is brought close to screen 11 and screen 11
If the operation member is tilted by the same angle in the θx direction, for example, at a position sufficiently distant from, the cursor mark moves by the same distance on the screen 11 based on the information on the tilt angle θx. Therefore, when the operation member 12 is tilted at a position away from the screen 11, the user feels that the cursor mark does not move so much on the screen 11.

Therefore, the above difference in feel can be compensated for by taking into account the distance L obtained by the equation (7). For example, as the distance L between the light emitting unit 15 and the detection unit 20 increases, the inclination of the operation member 12 in the θx or θy direction is corrected so as to increase the moving distance of the cursor mark on the screen 11. As a result, it is possible to correct a difference in operation feeling between the case where the operation member 12 approaches the screen 11 and the case where the operation member 12 separates. On the other hand, when the operation member 12 is far away from the screen 11, the cursor mark on the screen 11 is largely moved due to the slight inclination of the operation member 12 due to the above-mentioned correction, and there is a possibility that the operation input is disturbed due to camera shake. . In this case, the correction is performed in a manner opposite to the above, and when the distance L becomes long, the moving distance of the cursor mark on the screen 11 with respect to the inclination of θx and θy of the operation member 12 may be reduced.

FIGS. 7 and 8 show a modification of the first embodiment. The light receiving element 23 provided in the detection unit 20a
Has two divided light receiving units 23A and 23B divided in the X-axis direction and two divided light receiving units 23C and 23D divided in the Y-axis direction in the X-Y orthogonal coordinates on the detection unit side.
In front of each light receiving section, an aperture 22 of an aperture plate 22 is provided.
A and 22B are located, and cylindrical lenses 25a and 25b are provided in front of the apertures 22A and 22B on the light source side. The two-divided light receiving units 23A and 23B and the two-divided light receiving units 23C and 23D are arranged at a very close distance. As shown in FIG. 8, by providing a cylindrical lens, the spot light formed on the two-divided light receiving portions 23A and 23B is focused in the Y-axis direction,
No light is focused in the axial direction. Two split light receiving sections 23C and 2
In the spot light formed in 3D, light is focused in the X-axis direction, and light is not focused in the Y-axis direction.

The detector 20a shown in FIGS. 7 and 8 is provided on the operating member 12 shown in FIG. Assuming that the operation member 12, that is, the detection unit 20a is rotated by an angle α with respect to the Z axis, the two-divided light receiving units 23A and 23
In B, the infrared light from the light source 16 is converged by the cylindrical lens 25a and is converged by the aperture 22A to become a rectangular spot light S16a and impinges on the light receiving surface. Similarly, light source 1
The infrared light from 7 becomes a rectangular spot light S17a and impinges on the light receiving surfaces of the two divided light receiving sections 23A and 23B. Similarly, in the right split light receiving sections 23C and 23D, the infrared light from the light source 16 hits as a rectangular spot S16b, and the light source 1
The infrared light from 7 irradiates as rectangular spot light S17b. Left and right split light receiving sections 23A, 23B and 23C, 23
D is arranged at a distance sufficiently shorter than the distance L from the light emitting unit 15, so that each of the divided light receiving units 23A to 23A
When the light receiving output at 23D is L, R, U, and D, the calculation shown in the following Expression 9 is performed to obtain the I shown in FIG.
The coordinate positions X1, Y1, X2, and Y2 of 1 and I2 can be approximately obtained.

[0053]

(Equation 9)

X 1, X 2, Y 1, determined by Equation 9
Y2 means the approximate coordinates of the rectangular spot position of the infrared light from each of the light sources 16 and 17, and the operation member 12 and the detection portion are calculated by performing the calculation of Expression 1 or Expression 2 based on this value. The rotation angle α relative to the Z axis with respect to the Z axis 20a can be obtained. Equations 4, 5, and 6
Thus, the inclination angles θx and θy with respect to the xy orthogonal coordinates on the device body 10 side can be obtained. Further, the distance L between the light emitting unit 15 and the detection unit 20a can be approximately obtained by Expression 7.

In the embodiment of FIG. 8, the left divided light receiving section 23
A, 23B, each rectangular spot light S16a and S1
7a does not deviate from the light receiving surface in the Y-axis direction,
In the divided light receiving sections 23C and 23D on the right side, it is necessary to prevent the rectangular spot lights S16b and S17b from deviating in the X-axis direction with respect to the light receiving surface. This is because the aperture areas of the apertures 22A and 22B are required. It is possible by making the size wider. Also, the cylindrical lenses 25a and 25b
Is not always necessary, but by providing the cylindrical lens, the light from the light sources 16 and 17 is focused and detected in the Y-axis direction and the X-axis direction, so that the light use efficiency increases and the S / N ratio increases. (Signal-to-noise ratio) can be increased.

Next, FIGS. 9 and 10 show a second embodiment of the present invention. In this embodiment, the light emitting unit 30 and the detecting unit 35 constitute an angle detecting device. In the same input device as that shown in FIG.
The detection unit 35 is provided on the operation member 12 side. The light emitting unit 30 is provided with one point light source 31 such as an infrared light emitting diode, and a polarizing plate 32 is provided in front of the point light source 31. The infrared light emitted from the point light source 31 and transmitted through the polarizing plate 32 has substantially only a linearly polarized light component whose polarization direction is the y direction with respect to the fixed coordinates (xy coordinates) on the light emitting unit 30 side. Note that a plurality of light sources 31 may be provided.

The detection unit 35 supplies the XY orthogonal coordinates
Filters 36 and 37 that transmit polarized light components of −45 degrees and +45 degrees are provided on opposite sides of the Y axis. The light transmitted through the filter 36 is received and detected by the two divided light receiving units 23A and 23B divided in the Y-axis direction.
The light transmitted through 7 is received and detected by two divided light receiving units 23C and 23D divided in the X-axis direction. When the detection unit 35 is mounted on the operation member 12 and the operation member 12 is rotated by an angle α about the Z axis, which is a perpendicular line extending from the detection unit 35, each of the filters 36 and 37 has a polarization component of 45 degrees in the opposite direction. Of the detection output transmitted through each filter and received by the two-divided light receiving unit, on the side where the transmission polarization angle of the filter approaches the linearly polarized light emitted from the light emitting unit 30. The amount of received light increases, and the amount of received light decreases on the side where the polarization angle is apart.

The light passes through the filter 36 and is split into two light receiving sections 23.
The rectangular spot light S36 formed on A and 23B and the rectangular spot light S37 (see FIG. 10) transmitted through the filter 37 and formed on the two-divided light receiving sections 23C and 23D have the same area. Rectangular spots S36 and S
It is necessary that 37 does not deviate from the light receiving area of each two-part light receiving unit. The two-divided light receiving units 23A and 23B when the polarization direction of the polarizing plate 32 in the light emitting unit 30 completely matches the polarization direction of the filter 36 or the filter 37.
Sum of the light reception detection outputs of the two or the two-divided light receiving sections 23C, 2C
Let P0 be the total sum of the light reception detection outputs in 3D. Detection unit 35
Is the sum of the light reception detection outputs of the two-segment light receiving units 23A and 23B when P is rotated by an angle + α (the unit is degrees (deg)) with respect to the Z axis. Assuming that the sum of outputs is P2, P1, P2 and P0
Is as shown in Expression 10.

[0059]

(Equation 10)

Here, the difference (P2-P1) and (P1-P2) between the light-receiving detection outputs of the left and right two-divided light-receiving portions are calculated as shown in Expression 11.

[0061]

[Equation 11]

Here, P = (P1-P2) / (P2-P
Assuming 1), P is as shown in Equation 12.

[0063]

(Equation 12)

Equation 13 is obtained when α is obtained from Equation 12.

[0065]

(Equation 13)

That is, the sum P1 of the light reception detection outputs of the two divided light receiving units 23A and 23B, and the two divided light receiving units 23C and 23D
The relative rotation angle α between the detection unit 35 and the light emitting unit 30 with respect to the Z axis can be obtained by performing the arithmetic processing of Expressions 11 and 12 and Expression 13 from the sum P2 of the light reception detection outputs of the above. In addition, the light reception detection output L of the light reception unit 23A and the light reception detection output R of the light reception unit 23B,
By performing the calculation of Expression 14 on the light reception detection output U of C and the light reception detection output D of the light receiving unit 23D, the positions Xa and Ya of the centers of the rectangular spot lights S36 and S37 in FIG. 10 can be calculated. By performing the same calculation on Xa and Ya as in Equation 6, it is possible to calculate the inclination angles θx and θy (see FIG. 1) of the detection unit 35 with respect to the light-emitting unit 30 side.

[0067]

[Equation 14]

In this case, only the arithmetic processing of Equations 14 and 6 gives θ
Although x and θy can be approximately calculated, the detection unit 35 is mounted on the operation member 12 and the XY orthogonal coordinates of the detection unit 35 are Z
Since it is rotated by α with respect to the axis, it is possible to calculate θx and θy with higher accuracy by performing correction at this angle α. Also, the two divided light receiving sections 23A and 23B
, A PSD element capable of detecting the position of the rectangular spot light S36 in the X-axis direction is used.
Instead of C and 23D, a PSD element that can detect the position of the rectangular spot light S37 in the Y-axis direction may be used.

Next, FIGS. 11A and 11B show a circuit configuration used in the angle detecting device of each of the above embodiments. In the first embodiment shown in FIGS. 1 and 2 and the like, infrared light having a phase difference of 180 degrees from the point light sources 16 and 17 emits light intermittently at the same frequency. Also in the second embodiment shown in FIG. 9, the point light source 31 emits infrared light intermittently at a predetermined frequency. Therefore, in each embodiment, each of the divided light receiving units 23a to 23d or 23A to 23D can obtain a light receiving output having a substantially sinusoidal curve change corresponding to the pulse period.

As shown in FIG. 11, a current / voltage converter 41 is connected to each of the divided light receiving sections, and the current value of the light receiving output at each divided light receiving section is converted into a voltage value. Each detection voltage passes through the band-pass filter 42, and the frequency component of pulse light emission (intermittent light emission) is removed. Then, each detection voltage is amplified by the amplifier 43, detected by the detector 44, and a voltage corresponding to the amount of received light of each divided light receiving unit is extracted as a DC component. The voltage output from each detector 44 is added as a voltage value by an adder 45 and supplied to an auto gain control circuit 46. Then, the gain of the amplifier 43 is controlled by the gain control circuit 46. Each detection voltage from the detector 44 is converted into a digital value by, for example, an analog / digital converter 47,
Each operation of difference, quotient, and product is performed. In other words, each operation shown in Equations 1 to 14 is performed by the digital calculator 48. Therefore, the digital calculator 48 corresponds to the calculating unit of the present invention.

The circuit shown in FIG. 11 is the operation member 1 shown in FIG.
2, the output after the calculation is transmitted to the device body 10 by infrared transmission, FM transmission, or wired connection. On the device body 10 side, a cursor mark or the like is displayed on the screen 11 based on the received information. Alternatively, information on the current output from the divided light receiving unit or the voltage output after the current / voltage conversion is transmitted to the device body 10 by wire or wirelessly, and the circuit after the bandpass filter 42 is provided on the device body 10 side. Good. Further, in the input device as shown in FIG. 1, the light emitting unit of each embodiment is provided on the operation member 12 side, and the detecting unit is
It may be provided on the side.

For example, the detection unit 20 shown in FIG.
0, two point light sources 16 and 17
When provided on the two sides, the XY coordinates serving as a reference for the four-divided light receiving unit shown in FIG. 3 are fixed in space. Therefore, without performing the calculation of Equation 4 using the rotational coordinates of Xα-Yα, the Z Z is calculated based on the calculation processing of Equations 3 and 5.
It is possible to calculate the inclination angles θx and θy of the axes.
In this case, the rotation angle α with respect to the Z axis can be detected by the calculation of Expression 1 or 2, and the information can be obtained by the device main body 10. Only the calculation processing similar to Expressions 3, 5, and 6 can be performed. Can be used to determine θx and θy. The angle detection device of the present invention can be applied not only to the input device having the operation member 12 as shown in FIG. 1 but also to position and angle detection in virtual reality.

[0073]

As described above, according to the present invention, it is possible to detect the rotation angle of both parts with respect to the axis connecting the light emitting part and the detection part, and when applied to an input device, the operation member is used to move the main body from the operation member. It is possible to provide information and instructions regarding the rotation angle.

In addition, tilt information can be obtained in consideration of the rotation angle between the light emitting unit and the detecting unit. For example, even when the detecting unit is provided on the moving side of the operation member or the like, the inclination information is orthogonal to the detecting unit side. It is possible to input information about the tilt angles θx and θy in the x-axis and y-axis directions to the fixed device body in a state where the rotation component of the coordinates is taken into account.

[Brief description of the drawings]

FIG. 1 is a perspective view showing an input device using an angle detection device according to a first embodiment of the present invention;

FIG. 2 is a plan sectional view showing the angle detection device according to the first embodiment;

FIG. 3 is an enlarged front view of the detection unit according to the first embodiment viewed from a Z-axis direction.

FIG. 4 is a side sectional view showing the angle detection device according to the first embodiment;

FIG. 5 is an explanatory view showing the arrangement dimensions of each part of the angle detection device according to the first embodiment;

FIGS. 6A and 6B are waveform diagrams of driving pulses for causing the light source of the first embodiment to emit light,

FIG. 7 is a perspective view of a detection unit showing a modification of the first embodiment;

FIG. 8 is an enlarged front view of a detection unit according to a modification;

FIG. 9 is a perspective view showing an angle detection device according to a second embodiment of the present invention;

FIG. 10 is an enlarged front view illustrating a detection unit according to a second embodiment;

FIGS. 11A and 11B are block diagrams illustrating an example of a circuit of an angle detection device according to each embodiment;

FIG. 12 is a perspective view showing a conventional input device.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 10 Device main body 11 Screen 12 Operation member 15 Light emitting part 16, 17 Point light source 20 Detecting part 21 Visible light cut filter 22 Aperture plate 22a Aperture opening 23 Light receiving element 30 Light emitting part 31 Point light source 32 Polarizing plate 35 Detecting part 36, 37 Filter

──────────────────────────────────────────────────続 き Continuation of the front page (56) References JP-A-7-289737 (JP, A) JP-A-6-241757 (JP, A) JP-A-7-175585 (JP, A) JP-A 8- 95704 (JP, A) JP-A-8-106352 (JP, A) JP-A-8-114415 (JP, A) JP-A-5-177058 (JP, A) JP-A-7-281820 (JP, A) JP-A-7-287632 (JP, A) (58) Fields investigated (Int. Cl. ⁷ , DB name) G01B 1/00-11/30 G06F 3/033

Claims (8)

(57) [Claims] 1. A light emitting unit and a detecting unit are arranged apart from each other, and two light sources emitting identifiable light are arranged at an interval in the light emitting unit. a diaphragm opening of the spot light having a predetermined area and a light receiving portion arranged in the light receiving portion and the Y-axis direction arranged in the X-axis direction when setting the X-Y orthogonal coordinate intersecting the axis passing through the center of the stop opening Are provided, and the light receiving arrayed in the X-axis direction for each spot light
Obtain the position of each spot light from a difference between the amount of light received by the light receiving portion arranged in the difference in the Y-axis direction of the amount of light received parts, the slope on the X-Y coordinate of the line connecting the centers of both the spot light An angle detection device comprising a calculation unit for obtaining an angle. 2. A rotation coordinate Xα-Yα obtained by rotating the XY orthogonal coordinates by the tilt angle is set, and a calculation unit calculates
The angle detection device according to claim 1, wherein a position of a midpoint of the two spot lights on the Xα-Yα coordinate is obtained. 3. The angle detection device according to claim 1, wherein the calculation unit calculates the distance between the light emitting unit and the detection unit from the distance between the centers of the two spot lights and the arrangement interval of the light sources. 4. The angle detection device according to claim 1, wherein the detection unit includes one aperture and four light receiving units arranged in the X-axis direction and the Y-axis direction. 5. A detecting section, wherein two apertures and an X-axis direction for detecting a spot passing through one of the apertures are arranged.
3. The angle detecting device according to claim 1, further comprising: two light receiving units; and two light receiving units arranged in the Y-axis direction for detecting spot light passing through the other aperture. 6. A light emitting section and a detecting section are arranged apart from each other, and the light emitting section emits substantially linearly polarized light, and the detecting section has a direction of polarization of light emitted from the light emitting section. Two filters that transmit polarized light components that are inclined in opposite directions to each other, and a light receiving unit that detects light transmitted through each filter are provided. An angle detection device, comprising: a calculation unit for calculating a rotation angle with respect to a detection unit. 7. An X crossing an axis connecting the light emitting section and the detecting section.
When the Y coordinate is set, one of the light receiving units can detect the moving amount of the spot light in the X-axis direction, and the other light receiving unit can detect the moving amount of the spot light in the Y-axis direction. The angle detection device according to claim 6. 8. An input device using the angle detection device according to claim 1, wherein a light emitting unit is provided on one of the fixed device main body side and the movable operation member side, and a detection unit is provided on the other. And an input device for inputting relative rotation angle information of the two parts with respect to an axis connecting the light emitting part and the detection part from the operation member to the device body.