JP5322806B2 - Pointing system - Google Patents

Description

  The present invention relates to a pointing system that estimates a position on a screen indicated by a pointing device.

  Conventionally, a pointer is used to indicate an object in a presentation. However, since there is a limit to the range in which the pointer can reach, a device having a pointer function is required when using a large screen.

  In the technique disclosed in Patent Literature 1, ultrasonic waves are transmitted and received between the tip of the pointer and a plurality of positions on the screen, the distance is obtained based on the time required for the transmission and reception, and the plane of the pointer The position coordinates are estimated and the indicated point is displayed. In the technique disclosed in Patent Document 2, infrared and ultrasonic waves are simultaneously output from a pointing device, and the infrared rays are received by a photodiode on the screen, and the ultrasonic waves are received by two microphones on the screen, respectively. . Then, the distance from the microphone to the device is obtained based on the time difference from when the infrared ray is received until the ultrasonic wave is received, and the indication point is displayed.

JP 2001-125740 A JP 2005-122534 A

  However, in the technique disclosed in Patent Document 1, since the planar position coordinates of the pointing bar are estimated and the pointing point is displayed, the technique is limited to the case where the pointing bar is close to the screen. For this reason, this technique cannot be used when the pointer is away from the screen. In the technique disclosed in Patent Document 2, infrared rays are used for time synchronization in transmission and reception, but it is necessary to attach an infrared transceiver to the pointing system. For this reason, the pointing device becomes large, and the pointing system becomes expensive. Furthermore, if there is a shield or the like between the pointing device and the light receiving unit, the estimation accuracy is likely to deteriorate.

Conventionally, laser pointers are known, but in order to detect the indication point, it is necessary to lay a light receiving element on the screen surface, or to shoot the indication point with a camera, etc., and the price of the pointing system increases significantly. Resulting in. It is difficult to construct a system for identifying a plurality of pointing devices by embedding identifiers in light waves. Furthermore, when there is a shield, it is impossible to indicate the object itself.

  GPS (Global Positioning System) is suitable for positioning over a wide range outdoors, but indoor estimation is impossible, and there is a problem of estimation accuracy in consumer use. In addition, the infrared camera can achieve position measurement by image processing in a dark room, but if there is an overlap, the estimation accuracy tends to deteriorate.

  The present invention has been made in view of such circumstances, and by obtaining the orientation (direction) of the pointing device, the pointer function is realized even when the pointing device is away from the screen. In addition, by not using infrared rays, a small, inexpensive and highly convenient pointing system is provided. In particular, in a pointing system that receives sound waves on the pointing device side, an inexpensive and power-saving pointing device is realized. Furthermore, it is possible to detect the position coordinates to be passed to the computer as the indication point without laying down the light receiving elements or installing a camera. Further, a system for identifying a plurality of pointing devices can be constructed by adding identifiers to the pointing devices. Furthermore, the pointer function can be exhibited even if there is a shield.

  (1) In order to achieve the above object, the present invention takes the following measures. That is, the pointing system of the present invention is a pointing system that estimates the position on the screen pointed to by the pointing device, and is provided at any different position in the space, and a plurality of sound wave transmitting devices that transmit sound waves, and the pointing device A plurality of sound wave receiving devices that are provided at arbitrary positions above and receive sound waves, and each sound wave receiving device calculated from the arrival time of each sound wave received from each sound wave transmitting device, Based on the distance to each sound wave transmission device, a position estimation unit that estimates the position coordinates in space of each sound wave reception device, and a straight line connecting any two points of each coordinate of the estimated sound wave reception device, or A straight line connecting an arbitrary point of each coordinate of the estimated sound wave receiving device and the center of gravity of each coordinate of the estimated sound wave receiving device, and Based on an angular difference from a vector indicating the direction of the pointing device, a direction vector that specifies the pointing direction of the pointing device is estimated, and the point vector passes through an arbitrary point on the pointing device and is parallel to the estimated direction vector. An instruction point estimation unit for estimating an intersection between the straight line and the screen as a plane.

  Thus, based on the sound wave received by each sound wave receiving device from each sound wave transmitting device, the position in space of each sound wave receiving device is estimated, and based on the estimated position in space of each sound wave receiving device, A direction vector that specifies the pointing direction of the pointing device is estimated, and an intersection between a straight line parallel to the direction vector and the screen as a plane is estimated through an arbitrary point on the pointing device. It is also possible to accurately grasp the point indicated by the pointing device. In addition, since the sound wave receiving device is provided on the pointing device side, it is possible to reduce the size of the pointing device.

  (2) Further, the pointing system of the present invention is a pointing system for estimating a position on a screen indicated by a pointing device, and is provided with a plurality of sound wave transmitting devices that are provided at arbitrary different positions in a space and transmit sound waves. A plurality of sound wave receiving devices that are provided at arbitrary positions on the pointing device and receive sound waves, and each sound wave receiving device calculated from the arrival time of each sound wave received from each sound wave transmitting device. A straight line connecting any two points of the estimated coordinates of the sound wave receiving device and a position estimating unit that estimates the position coordinates of the sound wave receiving device in space based on the distance between the device and the sound wave transmitting device Or a straight line connecting an arbitrary point of each coordinate of the estimated sound wave receiving device and the center of gravity of each coordinate of the estimated sound wave receiving device, and known A direction vector that specifies the pointing direction of the pointing device is estimated based on an angular difference from a vector indicating the direction of the pointing device, and does not pass through a point on the pointing device and is parallel to the estimated direction vector. An instruction point estimation unit for estimating an intersection between the straight line and the screen as a plane.

  Thus, based on the sound wave received by each sound wave receiving device from each sound wave transmitting device, the position in space of each sound wave receiving device is estimated, and based on the estimated position in space of each sound wave receiving device, Estimates the direction vector that specifies the pointing direction of the pointing device and estimates the intersection of the straight line parallel to the direction vector and the screen as a plane without passing through the point on the pointing device. It is possible to accurately grasp the point indicated by the pointing device. In addition, since the sound wave receiving device is provided on the pointing device side, it is possible to reduce the size of the pointing device.

  (3) The pointing system of the present invention is a pointing system for estimating the position on the screen pointed to by the pointing device, and is provided at an arbitrary position on the pointing device, and a plurality of sound wave transmitting devices for transmitting sound waves A plurality of sound wave receiving devices that are provided at arbitrary different positions in the space and receive sound waves, and each sound wave receiving device calculated from the arrival time of each sound wave received from each sound wave transmitting device. A straight line connecting any two points of the estimated coordinates of the sound wave transmitting device and a position estimating unit that estimates the position coordinates of the sound wave transmitting device in space based on the distance between the device and the sound wave transmitting device Or a line connecting an arbitrary point of each coordinate of the estimated sound wave transmitting device and the center of gravity of each coordinate of the estimated sound wave transmitting device, and known A direction vector that specifies the pointing direction of the pointing device is estimated based on an angle difference from a vector indicating the direction of the pointing device, and passes through an arbitrary point on the pointing device and is parallel to the estimated direction vector. And a pointing point estimation unit that estimates an intersection of the straight line and the screen as a plane.

  Thus, each sound wave receiving device estimates the position of each sound wave transmitting device in space based on the sound wave received from the sound wave transmitting device, and based on the estimated position in space of each sound wave transmitting device, A direction vector that specifies the pointing direction of the pointing device is estimated, and an intersection between a straight line parallel to the direction vector and the screen as a plane passing through an arbitrary point on the pointing device is estimated. However, it is possible to accurately grasp the point indicated by the pointing device.

  (4) A pointing system according to the present invention is a pointing system for estimating a position on a screen pointed to by a pointing device, and is provided at an arbitrary position on the pointing device, and a plurality of sound wave transmitting devices for transmitting sound waves A plurality of sound wave receiving devices that are provided at arbitrary different positions in the space and receive sound waves, and each sound wave receiving device calculated from the arrival time of each sound wave received from each sound wave transmitting device. A straight line connecting any two points of the estimated coordinates of the sound wave transmitting device and a position estimating unit that estimates the position coordinates of the sound wave transmitting device in space based on the distance between the device and the sound wave transmitting device Or a line connecting an arbitrary point of each coordinate of the estimated sound wave transmitting device and the center of gravity of each coordinate of the estimated sound wave transmitting device, and known A direction vector that specifies the pointing direction of the pointing device is estimated based on an angular difference from a vector indicating the direction of the pointing device, and does not pass through a point on the pointing device and is parallel to the estimated direction vector. An instruction point estimation unit for estimating an intersection between the straight line and the screen as a plane.

  Thus, each sound wave receiving device estimates the position of each sound wave transmitting device in space based on the sound wave received from the sound wave transmitting device, and based on the estimated position in space of each sound wave transmitting device, A direction vector that specifies the pointing direction of the pointing device is estimated, and an intersection of the straight line parallel to the direction vector and the screen as a plane is estimated without passing through a point on the pointing device. It is also possible to accurately grasp the point indicated by the pointing device.

  (5) In the pointing system of the present invention, the pointing system further includes a display unit that displays the intersection point on the screen as an instruction point indicated by the pointing device.

  In this way, the intersection point is displayed on the screen as the indication point indicated by the pointing device, so that the user can easily grasp the indication point.

  (6) Further, the pointing system of the present invention is further characterized by further comprising a projection device that projects the screen displayed on the display unit onto the screen.

  In this way, since the screen displayed on the display unit is projected onto the screen, the convenience in presentation can be improved.

  (7) Further, the pointing system of the present invention is characterized by detecting a certain operation of the pointing device or detecting a click operation on the computer system by moving the pointing device in a certain direction. Yes.

  As described above, since a certain operation of the pointing device is detected or the pointing device is moved in a certain direction to detect the click operation on the computer system, the user needs to operate buttons, switches, and the like. The click operation is possible only with a pointing device, and convenience is improved.

  (8) The pointing system of the present invention is characterized in that a plurality of pointing devices are identified by adding identifiers to the pointing devices.

  As described above, since the plurality of pointing devices are identified by adding the identifier to the pointing device, the plurality of pointing devices can be used simultaneously.

  (9) Further, in the pointing system of the present invention, the pointing device includes a pointing device, a mobile phone, a telephone, a camera, a microphone, a ruler, a pen, glasses, headphones, a ring, a necklace, earrings, earrings, a musical instrument, a baton, It is a watch, a remote controller or a game machine controller.

  With this configuration, it is possible to extend the usage mode of the pointing system and improve convenience.

  (10) In the pointing system of the present invention, the screen is any one of a screen, a display, a television, a wall surface of a building, a window, glass, a mirror, or a game machine.

  With this configuration, it is possible to extend the usage mode of the pointing system and improve convenience.

  According to the present invention, based on the sound wave received from each sound wave transmitting device by each sound wave receiving device, the position in space of each sound wave receiving device is estimated, and based on the estimated position in space of each sound wave receiving device. In addition, the direction vector that specifies the pointing direction of the pointing device is estimated, and the intersection of the straight line parallel to the direction vector and the screen as a plane is estimated. It becomes possible to grasp accurately. In addition, since the sound wave receiving device is provided on the pointing device side, it is possible to reduce the size of the pointing device. Furthermore, a system for identifying a plurality of pointing devices can be constructed by adding identifiers to the pointing devices. In addition, it is possible to accurately grasp the point indicated by the pointing device even if there is an obstacle.

1 is a diagram illustrating a schematic configuration of a pointing system according to a first embodiment. It is a block diagram which shows the function of the pointing system 1 which concerns on 1st Embodiment. It is a flowchart which shows operation | movement of the pointing system 1 which concerns on 1st Embodiment. It is a figure which shows schematic structure of the pointing system which concerns on 2nd Embodiment.

  A pointing system according to an embodiment of the present invention is mounted on a pointing device by transmitting and receiving ultrasonic waves between a plurality of speakers installed at known positions and a microphone mounted on a pointing device used by a user. Estimate the position of the microphone. In addition, by attaching a plurality of microphones to the pointing device, it becomes possible to obtain a plurality of position coordinates on the pointing device, estimate the direction (pointing method) of the pointing device, and based on these information, A pointer function for displaying an indication point on a PC screen or screen is realized. As a result, the pointing function can be exhibited even when the pointing device is away from the screen. In the present embodiment, only the ultrasonic waves are used without using other wireless means such as infrared rays. As a result, since it is not necessary to attach an infrared transceiver or the like to the pointing device, the pointing device can be reduced in size. Even if the speaker and the microphone are interchanged, the essence of the invention does not change.

  In the pointing system according to the embodiment of the present invention, sound waves are used instead of light (electromagnetic waves) such as infrared rays. The sound wave is a concept including any sound range, but preferably uses a band of 18 kHz or more. In this specification, a pointing device using so-called ultrasonic waves is shown as an example, but the technical idea of the present invention is not limited to ultrasonic waves.

[First Embodiment]
FIG. 1 is a diagram illustrating a schematic configuration of a pointing system according to the first embodiment. As shown in FIG. 1, the pointing system 1 includes a pointing device 10, a screen 20, a PC (Personal Computer) 30, and a projector 40. The pointing device 10 is provided with a plurality of microphones as sound wave receiving devices at arbitrary positions. Specifically, in FIG. 1, two microphones 10 a and 10 b are provided at the distal end portion of the pointing device 10 in the longitudinal direction. In the vicinity of the screen 20, a plurality of speakers are provided as sound wave transmitting devices that transmit ultrasonic waves. Specifically, in FIG. 1, three speakers 20 a, 20 b, and 20 c are provided at three vertex portions of the screen 20. The microphones 10a and 10b receive the ultrasonic waves transmitted from the three speakers 20a, 20b, and 20c.

  The pointing device 10 and the PC 30 are connected by a wireless interface or a wired interface, and are configured such that data indicating arrival time is transmitted to the PC 30 when ultrasonic waves are received by the microphones 10 a and 10 b of the pointing device 10. Has been. The PC 30 estimates the position of the pointing device 10 and the pointing direction (indicated by P in FIG. 1), and also estimates the position of the pointing point of the pointing device 10 on the screen 20. The estimated indication point (A1) is displayed on the screen of the PC 30. The PC 30 may instruct the three speakers 20a, 20b, and 20c to transmit ultrasonic waves, and when the three speakers 20a, 20b, and 20c transmit ultrasonic waves, information indicating the transmission time is provided. You may make it input into PC30.

  The PC 30 is connected to a projector 40 as a projection device via a cable 30a. An image displayed on the screen of the PC 30 is projected onto the screen 20 via the projector 40. At that time, the pointing point A1 of the pointing device 10 estimated in the PC 30 is displayed on the screen 20 as the pointing point A2.

  FIG. 2 is a block diagram illustrating functions of the pointing system 1 according to the first embodiment. The position estimation unit 30-1 of the PC 30 estimates the position of the microphones 10a and 10b in the space based on the ultrasonic waves received from the speakers 20a, 20b, and 20c by the microphones 10a and 10b of the pointing device 10. In addition, the pointing point estimation unit 30-2 specifies a direction vector for specifying the pointing direction (P direction) of the pointing device 10 based on the spatial positions of the microphones 10a and 10b estimated by the position estimation unit 30-1. Is estimated. In addition, the indication point estimation unit 30-2 estimates an intersection A2 between a straight line (P) that passes through an arbitrary point on the pointing device 10 and is parallel to the direction vector and the screen 20 as a plane. Other configurations are the same as described with reference to FIG.

  FIG. 3 is a flowchart showing the operation of the pointing system 1 according to the first embodiment. First, ultrasonic waves are transmitted from the three speakers 20a, 20b, and 20c (step S1). Next, the two microphones 10a and 10b receive the ultrasonic waves transmitted from the three speakers 20a, 20b and 20c, respectively (step S2). And the arrival time of the ultrasonic wave transmitted from each speaker 20a, 20b, 20c is transmitted with respect to PC30 from the pointing device 10 (step S3). As described above, the PC 30 obtains the ultrasonic transmission time separately.

  Next, in the PC 30, the distance between each speaker 20a, 20b, 20c and each microphone 10a, 10b is calculated (step S4). That is, the distance between the speakers 20a, 20b, 20c and the microphones 10a, 10b is calculated from the arrival time and sound speed obtained as the difference between the transmission time and arrival time of the ultrasonic wave for each combination of the speaker and the microphone.

ここで、数式（１）の連立方程式は、式数と未知数の関係から、ｍ≧３であれば解くことができる。これにより、既知の位置に設置されたスピーカの数が３つ以上であれば、十分である。 Equation (1) represents the three-dimensional spatial coordinates of a microphone installed with a pointing device, where (ui, vi, wi) (i = 1,..., M) are the three-dimensional spatial coordinates of a speaker installed at a known position. Are represented as (xj, yj, zj) (j = 1,..., N), and represent simultaneous equations indicating the relationship between the distances rij between the speakers and the microphones. This shows a case where the number of speakers and microphones is general, where m is the number of speakers and n is the number of microphones.

Here, the simultaneous equations of Equation (1) can be solved if m ≧ 3 from the relationship between the number of equations and the unknown. Thus, it is sufficient if the number of speakers installed at known positions is three or more.

  The three-dimensional spatial coordinates of the speakers 20a, 20b, 20c installed at known positions are (ui, vi, wi) (i = 1, 2, 3), respectively, and the microphones 10a, 10b attached to the pointing device 10 are The three-dimensional space coordinates are (xj, yj, zj) (j = 1, 2), and the relationship of the distance rij between each of the speakers 20a, 20b, 20c and each of the microphones 10a, 10b is shown based on Equation (1). Set up simultaneous equations. By solving these nonlinear simultaneous equations, (xj, yj, zj) are calculated for the three-dimensional spatial coordinates of the microphones 10a, 10b attached to the pointing device 10 (step S5).

ここで、既知の位置に設置されたスピーカの数が４つ以上ある場合、数式（１）で示した連立方程式において、式数が未知数を上回り、方程式の解として複数の候補（ｘｊ，ｙｊ，ｚｊ）＝（αｋ，βｋ，γｋ）（ｋ＝１，…，ｍ！／３！（ｍ−３）！）が得られるが、数式（２）で示す誤差δｋが最小となる（αｋ，βｋ，γｋ）を、ポインティングデバイス１０に装着された各マイクの３次元空間座標（ｘｊ，ｙｊ，ｚｊ）として採用する。

Here, when there are four or more speakers installed at a known position, in the simultaneous equations shown in Equation (1), the number of equations exceeds the unknown, and a plurality of candidates (xj, yj, zj) = (αk, βk, γk) (k = 1,..., m! / 3! (m−3)!) is obtained, but the error δk shown in Equation (2) is minimized (αk, βk). , Γk) is adopted as the three-dimensional spatial coordinates (xj, yj, zj) of each microphone mounted on the pointing device 10.

ここで、数式（３）の連立方程式は、式数と未知数の関係から、ｍ≧４であれば解くことができる。これにより、スピーカとマイクとの間で時刻の同期が取れていない場合は、既知の位置に設置されたスピーカの数が４つ以上であれば、十分である。 On the other hand, when the time is not synchronized between the speaker and the microphone, a certain distance difference is generated in the distance between each speaker and each microphone. In this case, a simultaneous equation indicating the relationship of the distance rij between each speaker and each microphone is established, where T is the time difference between the speaker and the microphone. However, the speed of sound is C.

Here, the simultaneous equations of Equation (3) can be solved if m ≧ 4 from the relationship between the number of equations and the unknown. Thereby, when the time synchronization is not taken between the speaker and the microphone, it is sufficient if the number of speakers installed at known positions is four or more.

  Next, a vector equation representing the direction of the pointing device 10 is established from the three-dimensional space coordinates of the plurality of microphones 10a and 10b attached to the pointing device 10, and the direction of the pointing device 10 is estimated (step S6). For example, as shown in FIG. 1, when two microphones 10a and 10b are attached to both ends of the pointing device 10, a vector equation represented by Expression (4) can be established.

ここで、ポインティングデバイス１０に装着されているマイク１０ａ、１０ｂの数が３つ以上の場合や、ポインティングデバイス１０の両先端以外に装着されている場合であっても、ポインティングデバイス１０上でのそれらの相対的位置関係は既知であるため、それらを考慮してベクトル方程式を立てれば十分である。

Here, even when the number of microphones 10a and 10b attached to the pointing device 10 is three or more, or even when attached to other than both ends of the pointing device 10, those on the pointing device 10 are used. Since the relative positional relationship is known, it is sufficient to establish a vector equation in consideration of them.

  Then, the point (X, Y) of the pointing device 10 is estimated by obtaining the intersection point of this vector equation and the pointing screen plane (screen 20) (step S7). For example, in the above example, when the instruction screen plane (screen 20) is at z = 0, it is possible to obtain the intersection point using Equation (5).

そして、推定された指示点（Ｘ，Ｙ）をＰＣ３０の画面上に表示すると共に、スクリーン２０上に表示する（ステップＳ８）。

Then, the estimated indication point (X, Y) is displayed on the screen of the PC 30 and also on the screen 20 (step S8).

  Thus, according to the first embodiment, the microphones 10a and 10b estimate the positions of the microphones 10a and 10b in the space based on the sound waves received from the speakers 20a, 20b and 20c, and the estimated microphone 10a. The direction vector specifying the pointing direction of the pointing device 10 is estimated based on the position in the space 10b, and the screen 20 as a straight line and a plane passing through any one point on the pointing device 10 and parallel to the direction vector. Is estimated, the point designated by the pointing device 10 can be accurately grasped even if there is an obstruction. Furthermore, since the microphones 10a and 10b are provided on the pointing device 10 side, the pointing device 10 can be downsized.

[Second Embodiment]
FIG. 4 is a diagram illustrating a schematic configuration of a pointing system according to the second embodiment. As shown in FIG. 2, in the pointing system 2 according to the second embodiment, unlike the first embodiment, a microphone and a speaker are interchanged with each other. That is, the pointing device 50 is provided with a plurality of speakers as sound wave transmitting devices at arbitrary positions. Specifically, in FIG. 4, two speakers 50 a and 50 b are provided at the longitudinal end portion of the pointing device 50. In the vicinity of the screen 20, a plurality of microphones as a sound wave receiving device that receives ultrasonic waves are provided. Specifically, in FIG. 4, three microphones 60 a, 60 b, and 60 c are provided at three vertex portions of the screen 20. The three microphones 60a, 60b, and 60c receive the ultrasonic waves transmitted from the two speakers 50a and 50b.

  The pointing device 50 and the PC 30 are connected by a wireless interface or a wired interface, and data indicating the transmission time is transmitted to the PC 30 when ultrasonic waves are transmitted from the speakers 50a and 50b of the pointing device 50. Has been. Although not shown, when the ultrasonic waves transmitted from the speakers 50a, 50b are received by the microphones 60a, 60b, 60c, data indicating the arrival time of the ultrasonic waves is transmitted to the PC 30. After these pieces of information are input to the PC 30, the same operation as in the first embodiment is performed.

  As described above, according to the second embodiment, the microphones 60a, 60b, 60c estimate the positions of the speakers 50a, 50b in space based on the sound waves received from the speakers 50a, 50b, and the estimated speakers 50a, 50b, Based on the position on the space 50b, a direction vector that specifies the pointing direction of the pointing device 50 is estimated, and the screen 20 as a plane and a plane that passes through an arbitrary point on the pointing device 50 and is parallel to the direction vector. Therefore, it is possible to accurately grasp the point indicated by the pointing device 50 even when there is an obstacle.

  In the above description, the case of three speakers and two microphones and the case of two speakers and three microphones are shown, but the present invention is not limited to this number. Any aspect is possible as long as the number of speakers and microphones is two or more.

  In the pointing system of the present embodiment, a certain operation of the pointing device 10 is detected, or the pointing device 10 is detected as a click operation on the computer system by moving the pointing device 10 in a certain direction. Is also possible. This eliminates the need for the user to operate buttons, switches, and the like, and allows a click operation with only a pointing device, improving convenience.

  A plurality of pointing devices may be identified by adding an identifier to the pointing device 10. Thereby, a plurality of pointing devices can be used simultaneously.

  The pointing device 10 is a general pointing device, a mobile phone, a telephone, a camera, a microphone, a ruler, a pen, glasses, headphones, a ring, a necklace, earrings, an earring, a musical instrument, a command stick, a wristwatch, a remote control, or a game. It is also possible to configure with either of the machine controllers. As a result, it is possible to expand the usage mode of the pointing system and improve convenience.

  Further, the screen 20 can be configured by any one of a display, a television, a wall of a building, a window, glass, a mirror, or a game machine in addition to a general screen. As a result, it is possible to expand the usage mode of the pointing system and improve convenience.

DESCRIPTION OF SYMBOLS 1 Pointing system 2 Pointing system 10 Pointing device 10a, 10b Microphone (sonic wave receiver)
20 Screen 20a, 20b, 20c Speaker (Sound wave transmission device)
30 PC
30-1 Position Estimation Unit 30-2 Point Point Estimation Unit 40 Projector 50 Pointing Device 50a, 50b Speaker (Sound Wave Transmitter)
60a, 60b, 60c Microphone (Sound wave receiving device)

Claims (10)

A pointing system for estimating a position on a screen indicated by a pointing device,
A plurality of sound wave transmitting devices provided at any different positions in the space and transmitting sound waves;
A plurality of sound wave receiving devices which are provided at arbitrary positions on the pointing device and receive sound waves;
Based on the distance between each sound wave receiving device and each sound wave transmitting device calculated from the arrival time of each sound wave received from each sound wave transmitting device, each sound wave receiving device on the space of each sound wave receiving device A position estimation unit for estimating position coordinates;
A straight line connecting any two points of each coordinate of the estimated sound wave receiving device, or a straight line connecting any one point of each coordinate of the estimated sound wave receiving device and the center of gravity of each coordinate of the estimated sound wave receiving device A direction vector for specifying the pointing direction of the pointing device is estimated based on an angular difference from a known vector indicating the direction of the pointing device, and the estimated direction vector passes through an arbitrary point on the pointing device. A pointing point estimation unit for estimating an intersection of a straight line parallel to the direction vector and the screen as a plane ,
The position estimation unit uses a time difference between each sound wave transmission device and each sound wave reception device when time synchronization is not established between each sound wave transmission device and each sound wave reception device. A pointing system for estimating a position coordinate in space of each of the sound wave receiving devices . A pointing system for estimating a position on a screen indicated by a pointing device,
A plurality of sound wave transmitting devices provided at any different positions in the space and transmitting sound waves;
A plurality of sound wave receiving devices which are provided at arbitrary positions on the pointing device and receive sound waves;
Based on the distance between each sound wave receiving device and each sound wave transmitting device calculated from the arrival time of each sound wave received from each sound wave transmitting device, each sound wave receiving device on the space of each sound wave receiving device A position estimation unit for estimating position coordinates;
A straight line connecting any two points of each coordinate of the estimated sound wave receiving device, or a straight line connecting any one point of each coordinate of the estimated sound wave receiving device and the center of gravity of each coordinate of the estimated sound wave receiving device Estimating a direction vector for specifying the pointing direction of the pointing device based on an angular difference from a known vector indicating the direction of the pointing device, and not passing through a point on the pointing device and the estimated direction. An instruction point estimation unit for estimating an intersection of a straight line parallel to the vector and the screen as a plane , and
The position estimation unit uses a time difference between each sound wave transmission device and each sound wave reception device when time synchronization is not established between each sound wave transmission device and each sound wave reception device. A pointing system for estimating a position coordinate in space of each of the sound wave receiving devices . A pointing system for estimating a position on a screen indicated by a pointing device,
A plurality of sound wave transmitting devices provided at arbitrary positions on the pointing device and transmitting sound waves;
A plurality of sound wave receiving devices that are provided at any different positions in the space and receive sound waves;
Based on the distance between each sound wave receiving device and each sound wave transmitting device calculated from the arrival time of each sound wave received from each sound wave transmitting device, each sound wave receiving device on the space of each sound wave transmitting device A position estimation unit for estimating position coordinates;
A straight line connecting any two points of each coordinate of the estimated sound wave transmitting device, or a straight line connecting any one point of each coordinate of the estimated sound wave transmitting device and the center of gravity of each coordinate of the estimated sound wave transmitting device. A direction vector for specifying the pointing direction of the pointing device is estimated based on an angular difference from a known vector indicating the direction of the pointing device, and the estimated direction vector passes through an arbitrary point on the pointing device. A pointing point estimation unit for estimating an intersection of a straight line parallel to the direction vector and the screen as a plane ,
The position estimation unit uses a time difference between each sound wave transmission device and each sound wave reception device when time synchronization is not established between each sound wave transmission device and each sound wave reception device. A pointing system for estimating a position coordinate in space of each of the sound wave receiving devices . A pointing system for estimating a position on a screen indicated by a pointing device,
A plurality of sound wave transmitting devices provided at arbitrary positions on the pointing device and transmitting sound waves;
A plurality of sound wave receiving devices that are provided at any different positions in the space and receive sound waves;
Based on the distance between each sound wave receiving device and each sound wave transmitting device calculated from the arrival time of each sound wave received from each sound wave transmitting device, each sound wave receiving device on the space of each sound wave transmitting device A position estimation unit for estimating position coordinates;
A straight line connecting any two points of each coordinate of the estimated sound wave transmitting device, or a straight line connecting any one point of each coordinate of the estimated sound wave transmitting device and the center of gravity of each coordinate of the estimated sound wave transmitting device. Estimating a direction vector for specifying the pointing direction of the pointing device based on an angular difference from a known vector indicating the direction of the pointing device, and not passing through a point on the pointing device and the estimated direction. An instruction point estimation unit for estimating an intersection of a straight line parallel to the vector and the screen as a plane , and
The position estimation unit uses a time difference between each sound wave transmission device and each sound wave reception device when time synchronization is not established between each sound wave transmission device and each sound wave reception device. A pointing system for estimating a position coordinate in space of each of the sound wave receiving devices . A pointing system for estimating a position on a screen indicated by a pointing device,
A plurality of sound wave transmitting devices provided at any different positions in the space and transmitting sound waves;
Two sound wave receivers each provided at the longitudinal tip of the pointing device for receiving sound waves;
Based on the distance between each sound wave receiving device and each sound wave transmitting device calculated from the arrival time of each sound wave received from each sound wave transmitting device, each sound wave receiving device on the space of each sound wave receiving device A position estimation unit for estimating position coordinates;
A straight line connecting any two points of each coordinate of the estimated sound wave receiving device, or a straight line connecting any one point of each coordinate of the estimated sound wave receiving device and the center of gravity of each coordinate of the estimated sound wave receiving device A direction vector for specifying the pointing direction of the pointing device is estimated based on an angular difference from a known vector indicating the direction of the pointing device, and the estimated direction vector passes through an arbitrary point on the pointing device. An pointing point estimation unit for estimating an intersection of a straight line parallel to the direction vector and the screen as a plane, and a pointing system. A pointing system for estimating a position on a screen indicated by a pointing device,
A plurality of sound wave transmitting devices provided at any different positions in the space and transmitting sound waves;
Two sound wave receivers each provided at the longitudinal tip of the pointing device for receiving sound waves;
Based on the distance between each sound wave receiving device and each sound wave transmitting device calculated from the arrival time of each sound wave received from each sound wave transmitting device, each sound wave receiving device on the space of each sound wave receiving device A position estimation unit for estimating position coordinates;
A straight line connecting any two points of each coordinate of the estimated sound wave receiving device, or a straight line connecting any one point of each coordinate of the estimated sound wave receiving device and the center of gravity of each coordinate of the estimated sound wave receiving device Estimating a direction vector for specifying the pointing direction of the pointing device based on an angular difference from a known vector indicating the direction of the pointing device, and not passing through a point on the pointing device and the estimated direction. An pointing point estimation unit that estimates an intersection point between a straight line parallel to a vector and the screen as a plane, and a pointing system. The pointing system according to claim 1, further comprising a display unit that displays the intersection on the screen as an instruction point that the pointing device indicates . The pointing system according to claim 1, further comprising a projection device that projects the screen displayed on the display unit onto the screen . 9. The detection device according to claim 1, wherein a certain operation of the pointing device is detected, or a click operation on the computer system is detected by moving the pointing device in a certain direction. The pointing system described . The pointing system according to claim 1, wherein a plurality of pointing devices are identified by adding an identifier to the pointing device .

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