JP5798419B2 - 3D coordinate detector - Google Patents

Description

  The present invention relates to an apparatus for detecting the coordinates of an object in a three-dimensional coordinate area.

  2. Description of the Related Art Conventionally, there is known an optical positioning device including a housing having a rectangular target area for determining the position of an object, and a pair of light distribution detection assemblies (Patent Document 1). In this device, the housing has a reflector assembly made of a retroreflective material. Here, the retroreflection is a reflection that is emitted in a direction parallel to the incident light and opposite to the incident direction. The light distribution detection assembly also includes a light source that emits scanning light that scans the target area and a light detector that detects light retroreflected by the reflector assembly.

  When the light emitted from the light source is blocked by the object before reaching the reflector assembly, the level of light detected by the photodetector changes compared to the case where the light is not blocked by the object. The light distribution detection assembly can detect the presence or absence of an object based on the detected light level.

  Here, since there is a pair of light distribution detection assemblies, when there is an object in the target area, two angles at which the light emitted from the light source is blocked by the object are detected. Since the distance between the pair of light distribution detection assemblies is known, it is possible to detect the position of the object in the target area by triangulation which obtains the apex from the angle of one side and both ends thereof.

JP-A-62-2428

  In recent years, such an apparatus for detecting the position of an object can detect not only the position in a two-dimensional area such as a rectangular shape but also the position in the normal direction of the two-dimensional area, that is, three-dimensional. It is required to detect the position in the region. However, the optical coordinate detection device of Patent Document 1 can detect the position in the two-dimensional area (plane), but cannot detect the position in the normal direction with respect to the surface of the target area in the three-dimensional area.

  An object of this invention is to provide the three-dimensional coordinate detection apparatus which can detect the position (coordinate) of the object in a three-dimensional area | region.

In order to detect the coordinates of an object in a two-dimensional coordinate area, the present invention is arranged on the periphery of the two-dimensional coordinate area or outside the two-dimensional coordinate area, and an irradiating unit that emits light and a light receiving unit that receives the light. A pair of optical devices, and a retroreflecting unit that retroreflects the light emitted from the optical device, the irradiation unit emits light that scans the two-dimensional coordinate region, and the light receiving unit There plurality have a two-dimensional coordinate detection device configured to receive light which is retroreflected in the retroreflective portion is emitted from the irradiation unit, the plurality of two-dimensional coordinate sensing device, each of which detects as the two-dimensional coordinate space containing the coordinates are parallel to each other, arranged in parallel in the direction normal to the plane of the two-dimensional coordinate space, the coordinates of the two-dimensional coordinate space on the surface of this the two-dimensional coordinate area 3D coordinate region with normal direction added to A of the coordinates of the object, the three-dimensional coordinate detecting device for detecting on the basis of the coordinates is detected each of said plurality of two-dimensional coordinate detection device,
The light source included in the irradiation unit is supplied with a pulse wave that alternately repeats an amplitude of 0 and a value other than 0 as a drive waveform. When the amplitude of the pulse wave is 0, the light source is turned off, and the pulse wave The light source is turned on when the amplitude is a non-zero value, and the amplitude of the pulse wave of each other is simultaneously zero for the light sources of the adjacent two-dimensional coordinate detection devices arranged side by side. The adjacent two-dimensional coordinate detection device is supplied to the irradiation unit included in the two-dimensional coordinate detection device including the light receiving unit for each instantaneous value of the light signal received by the light receiving unit. A feature is that the coordinates of an object in the two-dimensional coordinate region of the two-dimensional coordinate detection device are detected by a signal obtained by multiplying the instantaneous values of the amplitudes of the supplied pulse waves .

  According to the present invention, the two-dimensional coordinate detection device includes a pair of optical devices, and each of the pair of optical devices emits light that scans the two-dimensional coordinate region from the irradiation unit and is retroreflected by the retroreflection unit. The received light is received by the light receiving unit. When there is an object in the two-dimensional coordinate region, the optical device blocks the retroreflected light (the light level changes). Each optical device has a direction when it is blocked, that is, “a line connecting the optical device and the other optical device” and “a line connecting the optical device and an object in the two-dimensional coordinate region”. The angle can be detected. The two-dimensional coordinate detection device can detect the coordinates (two-dimensional coordinates) of the object in the two-dimensional coordinate region by the triangulation method from the respective angles detected by the respective optical devices and the distances between the respective optical devices.

  The three-dimensional coordinate detection device includes a plurality of such two-dimensional coordinate detection devices, and the plurality of two-dimensional coordinate detection devices are arranged on the surface of each two-dimensional coordinate region so that each two-dimensional coordinate region is parallel to each other. On the other hand, they are juxtaposed in the normal direction.

For example, when three two-dimensional coordinate detection devices are arranged in parallel in the three-dimensional coordinate detection device, and the two-dimensional coordinate detection device arranged in the center detects the coordinates of the object, the two-dimensional coordinate region of the object The position in the normal direction with respect to the surface is the position of the two-dimensional coordinate detector arranged in the center. In this way, based on the respective coordinates detected by each two-dimensional coordinate detection device, the coordinates of the object in the three-dimensional coordinate area (three-dimensional with the position in the normal direction relative to the plane of the two-dimensional coordinate area added) Can be detected.
Further, the light sources of the two-dimensional coordinate detection device arranged in a range where the emitted light may be mixed are not lit simultaneously. Therefore, each instantaneous value of the light signal received by the light receiving unit of each two-dimensional coordinate detection device is multiplied by each instantaneous value of the amplitude of the pulse wave supplied to the light source of the irradiation unit of the two-dimensional coordinate detection device. Thus, when the amplitude of the pulse wave is 0, that is, when the light source is turned off, the level of the received light becomes 0. For this reason, even if it is a case where the light of an adjacent two-dimensional coordinate detection apparatus mixes, the mixed light can be removed. Further, by combining with the above-described optical filter, it is possible to remove the mixed light with higher accuracy.

  In the present invention, the irradiation unit and the light receiving unit of the optical device include an optical filter for distinguishing light emitted from the irradiation unit of the two-dimensional coordinate detection device adjacent to the two-dimensional coordinate detection device including the optical device, It is preferable that the irradiating unit emits light to the retroreflective unit through the optical filter, and the light receiving unit receives light retroreflected by the retroreflective unit through the optical filter.

  Since the two-dimensional coordinate detection devices are arranged in parallel, the light received by the light receiving unit of the predetermined two-dimensional coordinate detection device is not the two-dimensional coordinate detection device, that is, two adjacent to the two-dimensional coordinate detection device. There is a possibility that light emitted from the dimensional coordinate detection device is mixed. For this reason, by passing through the optical filter of each two-dimensional coordinate device, light different from the adjacent two-dimensional coordinate device (for example, light having a different wavelength, etc.) is emitted, and the light receiving unit of the two-dimensional coordinate device emits light. By receiving light through the optical filter having the same characteristics as the unit, it is possible to distinguish the light emitted by the adjacent two-dimensional coordinate detection devices.

  In the present invention, the adjacent two-dimensional coordinate detection device is not limited to one adjacent two-dimensional coordinate detection device, but also two-dimensional coordinate detection arranged in a range where the emitted light may be mixed. Including equipment. That is, for example, when seven two-dimensional coordinate detection devices are arranged side by side, the distance between the two-dimensional coordinate detection devices is short, so that they are arranged in the center (fourth in the arrangement order arranged in parallel). The light received by the two-dimensional coordinate detection device may be mixed not only with its two neighbors (third and fifth) but also with the two-dimensional coordinate detection device adjacent to it (second and sixth). . In this case, the two-dimensional coordinate detection devices adjacent to the center (fourth) two-dimensional coordinate detection device are the second, third, fifth, and sixth two-dimensional coordinate detection devices.

  In the present invention, based on the interval between the plurality of two-dimensional coordinate detection devices, the position in the normal direction of the object in the three-dimensional coordinate region with respect to the surface of the two-dimensional coordinate region can be determined.

  In the present invention, the coordinates detected by the two-dimensional coordinate detection device are one or more coordinates indicating the outer shape of the cross section of the object in the three-dimensional coordinate region intersecting the two-dimensional coordinate region of the two-dimensional coordinate detection device. Preferably, the outer shape of the object in the three-dimensional coordinate area is detected from a set of one or more coordinates detected by each of the plurality of two-dimensional coordinate detection devices. As a result, it is possible to detect the state and direction of the outer shape of the object.

  In the present invention, the object in the three-dimensional coordinate area has an instruction unit indicating a predetermined coordinate in the predetermined area, and the predetermined area is arranged in the direction in which the two-dimensional coordinate area is arranged. Detects a set of one or more coordinates of an object that is located on the two-dimensional coordinate area at the end on the side indicated by or that is located outside the two-dimensional coordinate area at the end and within the three-dimensional coordinate area Detecting a set of one or more coordinates detected by the two-dimensional coordinate detection device corresponding to the two-dimensional coordinate region closest to the predetermined region among the two-dimensional coordinate detection devices that have been detected as the object instruction unit. preferable. Thereby, by detecting the pointing unit (for example, the tip) of the object, the device equipped with the three-dimensional coordinate detection device can change the operation according to the detected position of the tip.

  In the present invention, there is provided a two-dimensional coordinate detection device corresponding to each of a two-dimensional coordinate area closest to the predetermined area and a two-dimensional coordinate area adjacent to the two-dimensional coordinate area opposite to the predetermined area. It is preferable to detect the direction of an object in the three-dimensional coordinate region from the set of one or more detected coordinates. Thus, by detecting the direction of the object, the device on which the three-dimensional coordinate detection device is mounted can change the operation according to the detected direction.

  In the present invention, there is provided a two-dimensional coordinate detection device corresponding to each of a two-dimensional coordinate area closest to the predetermined area and a two-dimensional coordinate area adjacent to the two-dimensional coordinate area opposite to the predetermined area. It is preferable to detect the direction of an object in the three-dimensional coordinate area from the barycentric coordinates of the detected set of one or more coordinates. Thus, by detecting the direction of the object, the device on which the three-dimensional coordinate detection device is mounted can change the operation according to the detected direction.

  In the present invention, it is preferable that the predetermined coordinates in the predetermined area are detected from the detected object indicating unit and the direction of the detected object. Thus, by detecting the coordinates pointed to by the object instruction unit, the device equipped with the three-dimensional coordinate detection device can change the operation according to the coordinates pointed to by the object instruction unit. Further, even when the object is not in the predetermined area, it is possible to detect which of the predetermined coordinates in the area the object is pointing to, so that the convenience of the three-dimensional coordinate detection apparatus is improved.

The figure which shows the structure of the three-dimensional coordinate detection apparatus of this embodiment of this invention. The figure which shows the structure of the two-dimensional coordinate detection apparatus used for the three-dimensional coordinate detection apparatus of this embodiment. The figure which shows the structure of the optical apparatus with which the two-dimensional coordinate detection apparatus of FIG. 2 is provided. The schematic diagram which shows a three-dimensional coordinate area | region and a some two-dimensional coordinate area | region. The schematic diagram when an object exists in a three-dimensional coordinate area. The schematic diagram which shows the object image of each two-dimensional coordinate area | region of the state of FIG. (A) is a figure which shows detection of the direction of an object and a target point, (b) is a figure which shows detection of the direction of an object and a target point by the method different from (a). (A) shows the time change of the pulse wave supplied to the light source of the 1st, 3rd, 5th two-dimensional coordinate detection apparatus, (b) is radiate | emitted from the scanning part of the two-dimensional coordinate detection apparatus of (a). (C) shows a signal of light received by the light receiving unit of the two-dimensional coordinate detection apparatus of (a), and (d) multiplies (a) and (c). The results are shown, (e) shows the time variation of the pulse wave supplied to the light source of the second and fourth two-dimensional coordinate detectors, and (f) is emitted from the scanning unit of the two-dimensional coordinate detector of (e). (G) shows a signal of light received by the light receiving unit of the two-dimensional coordinate detection apparatus of (e), and (h) multiplies (e) and (g). FIG.

  A configuration of the three-dimensional coordinate detection apparatus according to the embodiment of the present invention will be described. The three-dimensional coordinate detection device 1 of the present embodiment is a three-dimensional coordinate detection device mounted on a large display, a white board, or the like.

  As shown in FIG. 1, the three-dimensional coordinate detection device 1 of this embodiment includes five two-dimensional coordinate detection devices 11 to 15. Each of these two-dimensional coordinate detection devices 11 to 15 has the same structure. Hereinafter, the structure of the two-dimensional coordinate detection device 11 will be described on behalf of the plurality of two-dimensional coordinate detection devices 11 to 15 with reference to FIGS.

  The two-dimensional coordinate detection device 11 emits light and receives a pair of left and right optical devices 3 and 4 to detect the coordinates of the object in the outer frame 2 and the two-dimensional coordinate region D2 which is a planar region. With.

  The outer frame 2 is disposed on the peripheral edge of the two-dimensional coordinate area D2, and includes an upper side 21 on the upper side, a lower side 22 on the lower side, a right side 23 on the right side, and a left side 24 on the left side in FIG. The upper side 21 and the lower side 22 are configured as parallel sides and horizontal sides, and the right side 23 and the left side 24 are configured as sides parallel to each other and perpendicular to the upper and lower sides 21 and 22.

  The outer frame 2 may be a member having rigidity necessary for a large screen frame. For example, a lightweight and inexpensive resin frame manufactured by a method such as injection molding using a thermoplastic resin is preferable. The lower side 22, the right side 23, and the left side 24 are processed so as to have reflection characteristics that are retroreflected parallel to the incident light and emitted in the direction opposite to the incident direction. The lower side 22, the right side 23, and the left side 24 correspond to the retroreflective portion in the present invention.

  The right optical device 3 is disposed on the intersection of the upper side 21 and the right side 23, that is, on the periphery of the outer frame 2 in the upper right corner of FIG. 2, and the left optical device 4 is disposed on the intersection of the upper side 21 and the left side 24. That is, it is arranged on the periphery of the outer frame 2 at the upper left corner of FIG. Since the pair of optical devices 3 and 4 have the same configuration symmetrically according to the position where the outer frame 2 is arranged, in the following description, the right optical device 3 will be mainly described, and the left optical device will be described. A detailed description of the device 4 is omitted.

  As shown in FIG. 3, the right optical device 3 includes a light source 31, a scanning unit 32, and a light receiving unit 33. The light source 31 is configured to emit semiconductor laser light so as to be light having narrow directivity. For this reason, it can be handled that there is no light attenuation due to the distance traveled by the light. Thereby, each optical apparatus 3 and 4 of this embodiment becomes a structure suitable for a large sized display. The light source 31 is supplied with a pulse waveform that alternately repeats an amplitude of 0 and a value other than 0 (for example, 5 [V]) as a drive waveform. When the amplitude of the pulse wave is 0, the light source 31 Is turned off, and the light source 31 is turned on when the amplitude of the pulse wave is a non-zero value.

  The scanning unit 32 has an optical deflector 40. The scanning unit 32 rotationally drives a mirror included in the optical deflector 40 to deflect the laser light emitted from the light source 31 at various angles, and scans within the two-dimensional coordinate region D2 formed by the outer frame 2. To do. Here, the light source 31 and the scanning unit 32 correspond to the “irradiation unit” in the present invention.

  In this embodiment, the optical deflector 40 is configured by a MEMS (Micro Electro Mechanical System) device including a piezoelectric actuator that rotationally drives a mirror when a voltage signal is supplied. As described above, by using the piezoelectric actuator, the drive unit of the optical deflector 40 can be very miniaturized. The optical deflector 40 is not limited to the configuration of the present embodiment, and may be rotationally driven by a driving force such as a motor (electric motor).

  In the light receiving unit 33, the light emitted into the two-dimensional coordinate region D2 by the scanning unit 32 is incident on one of the lower side 22, the right side 23, and the left side 24 of the outer frame 2, and is reflected after being retroreflected. It arrange | positions so that light can be received. The light receiving unit 33 is a photoelectric conversion element that outputs an electric signal according to the received energy, and is preferably a photodiode in consideration of cost and the like, but is not limited thereto, and an image sensor or the like may be used.

  The light source 31 is disposed at a position where laser light can be emitted from the upper side 21 of the outer frame 2 toward the center of the mirror of the optical deflector 40 of the scanning unit 32. In the present embodiment, the light source 31 is configured to be able to output a laser beam by attaching a beam shaping lens to the output of the semiconductor laser, but is not limited thereto. For example, the light of the light source arranged at an arbitrary position is transmitted to the position of the light source 31 of the present embodiment by an optical fiber so that the laser light can be emitted toward the mirror of the optical deflector 40. There may be.

  The scanning unit 32 supplies a voltage waveform having periodicity (for example, a sine wave or a triangular wave) to the optical deflector 40, so that the mirror of the optical deflector 40 is ± 22.5 ° (total 45 °) or more. It is configured to be rotationally driven (vibrated) at an angle so that the entire area of the two-dimensional coordinate area D2 can be scanned with the laser light from the light source 31. At this time, the scanning unit 32 rotationally drives the mirror of the optical deflector 40 so that the light obtained by deflecting the laser light from the light source 31 is emitted horizontally with respect to the surface of the two-dimensional coordinate region D2. Hereinafter, a plane formed by the optical path of the laser beam deflected by the optical deflector 40 is referred to as a “scanning plane”.

  When the deflection angle of the mirror of the optical deflector 40 is 22.5 °, laser light is emitted from the mirror of the optical deflector 40 in the vertical direction of the two-dimensional coordinate region D2. That is, in the case of the right optical device 3, the laser beam is emitted from the mirror of the optical deflector 40 from the intersection of the upper side 21 and the right side 23 toward the intersection of the lower side 22 and the right side 23, and in the case of the left optical device 4. The laser beam is emitted from the mirror of the optical deflector 40 from the intersection of the upper side 21 and the left side 24 toward the intersection of the lower side 22 and the left side 24.

  When the deflection angle of the mirror of the optical deflector 40 is −22.5 °, laser light is emitted from the mirror of the optical deflector 40 in the horizontal direction of the two-dimensional coordinate region D2. That is, in the case of the right optical device 3, the laser beam is emitted from the mirror of the optical deflector 40 from the intersection of the upper side 21 and the right side 23 toward the intersection of the upper side 21 and the left side 24. The laser beam is emitted from the mirror of the optical deflector 40 from the intersection of the upper side 21 and the left side 24 toward the intersection of the upper side 21 and the right side 23.

  Next, the detail of the surface processed so that it may become retroreflection of the lower side 22, the right side 23, and the left side 24 of the outer frame 2 is demonstrated.

  The lower side 22, the right side 23, and the left side 24 have reflection characteristics of reflecting light having an incident angle of 0 ° as light having a predetermined half-value angle spread with a maximum reflection angle when the reflection angle is 0 °. Accordingly, for example, when the size of the two-dimensional coordinate region D2, for example, the length of the diagonal line of the two-dimensional coordinate region D2 is about 50 inches, the light emitted from the optical devices 3 and 4 returns to the optical devices 3 and 4 again. At this point, the beam width is about 30 to 40 mmφ. Therefore, in this case, if the light receiving unit 33 of each of the optical devices 3 and 4 is disposed at a location within 30 to 40 mm from the mirror of the optical deflector 40, it can receive the re-reflected light.

  In the present embodiment, the light receiving unit 33 is arranged on the side wall on the two-dimensional coordinate region D2 side on the upper right (intersection of the upper side 21 and the right side 23) and upper left (intersection of the upper side 21 and the left side 24) of the outer frame 2. At this time, the mirror of the optical deflector and the light receiving unit 33 of each of the optical devices 3 and 4 are arranged at a position shifted by about 30 to 40 mm in the normal direction with respect to the surface of the two-dimensional coordinate region D2.

  As described above, the distance from the mirror of the optical deflector 40 of each optical device 3 and 4 to the light receiving unit 33 is determined based on the reflection characteristics of the lower side 22, the right side 23, and the left side 24 as a retroreflective unit, and the two-dimensional coordinate region D2. By determining according to the size, the mirror of the optical deflector 40 and the light receiving unit 33 can be arranged so as not to interfere with each other without providing a device for splitting the light beam such as a beam splitter.

  Further, in order to prevent the light emitted from the mirrors of the optical deflector 40 of each of the optical devices 3 and 4 from affecting each other, the mutual scanning planes are configured not to be the same plane. That is, the scanning planes are shifted in the normal direction so as to be parallel to each other. Thus, there are two scanning planes in the two-dimensional coordinate area D2. Further, since the two-dimensional coordinate region D2 has two scanning planes as described above, strictly speaking, the two-dimensional coordinate region D2 is a region having a thickness of W in the normal direction of the two-dimensional coordinate region D2. This thickness W is the same as the thickness of the outer frame 2.

  In addition, an optical filter 41 is attached to the light source 31 at a portion where light is emitted. In the light receiving unit 33, an optical filter 42 having the same characteristics as the optical filter 41 is attached to a portion that receives light. These optical filters 41 and 42 are band-pass filters that allow only light having a predetermined wavelength to pass therethrough. Thereby, the light emitted from the light source 31 becomes light having a predetermined wavelength by the optical filter 41 and is emitted to the scanning plane. Further, the light received by the light receiving unit 33 becomes light having a predetermined wavelength by the optical filter 42.

  The above is the configuration of the two-dimensional coordinate detection apparatus 11.

  Next, a method for detecting coordinates (two-dimensional coordinates) of the two-dimensional coordinate detection apparatus 11 configured as described above will be described. When the scanning unit 32 scans the inside of the two-dimensional coordinate region D2, the light (laser light) from the scanning unit 32 is blocked or not blocked by the object in the two-dimensional coordinate region D2. The light level (for example, light energy) received by the light receiving unit 33 is different. That is, when blocked, it is extremely lower (equivalent to 0 or 0) than when not blocked.

  The two-dimensional coordinate detection device 11 detects the angle at which the scanning unit 32 emits light when the level of light received by the light receiving unit 33 becomes low. The mirror deflection angle is uniquely determined according to the voltage waveform supplied to the optical deflector 40 of the scanning unit 32. For this reason, the two-dimensional coordinate detector 11 detects the angle at which light is emitted from the deflection angle of the mirror. The angle at this time is the straight line connecting the optical device (3 or 4) and the object (specifically, the straight line connecting the reflection center of the mirror and the object) and the center line of the upper side 21 (specifically, the upper side 21 It is an angle (angle on the acute angle side) formed by two straight lines and a straight line parallel to the center line and passing through the reflection center of the laser beam from the light source 31 of the mirror. Hereinafter, this angle is referred to as “detection angle”.

  In this way, the two-dimensional coordinate detection device 11 detects each detection angle when the level of the light received by each light receiving unit 33 of the pair of optical devices 3 and 4 becomes low. The distance between the pair of optical devices 3 and 4 (specifically, the distance between the reflection centers of the laser beams from the light sources 31 of the mirrors of the optical devices 3 and 4) is a specified value.

  The detection angle of the right optical device 3, the detection angle of the left optical device 4, and the distance between the right optical device 3 and the left optical device 4 are known, that is, the angles of one side and both ends thereof are known. Therefore, the right optical device 3, the left optical device 4, and a triangle whose apexes are three points of the object are uniquely determined. The two-dimensional coordinate detection device 11 can detect the coordinates P (x, y) of the object in the two-dimensional coordinate region D2 by the triangulation method. At this time, the first component x of the coordinate P (x, y) indicates the position of the right side 23 and the left side 24 in the longitudinal direction (left-right direction in FIG. 2), and the second component y is the longitudinal direction of the upper side 21 and the lower side 22. The position in the (vertical direction in FIG. 2) is shown. Hereinafter, the longitudinal direction of the upper side 21 and the lower side 22 may be referred to as the X-axis direction, and the longitudinal direction of the right side 23 and the left side 24 may be referred to as the Y-axis direction.

  As shown in FIG. 1, the plurality of two-dimensional coordinate detection devices 11 to 15 are arranged on the surface of each two-dimensional coordinate region D2 so that the two-dimensional coordinate regions D2 including the coordinates detected by each of the two-dimensional coordinate detection devices 11 to 15 are parallel to each other. Are arranged side by side in the normal direction. At this time, the two-dimensional coordinate detectors are arranged side by side without any interval. Note that the two-dimensional coordinate detection devices may be arranged in parallel at a predetermined interval. When the three-dimensional coordinate detection device 1 is mounted on a large display or whiteboard, a two-dimensional coordinate region D2 including coordinates detected by each of the plurality of two-dimensional coordinate detection devices 11 to 15 is displayed on the large display. It is arranged so as to be parallel to the surface (screen) and the drawing surface of the whiteboard.

  Hereinafter, the display surface (screen) of the large display or the drawing surface of the whiteboard is referred to as “target region T”.

  In addition, when each of the plurality of two-dimensional coordinate detection devices 11 to 15 is clearly distinguished, the first two-dimensional coordinate detection device is arranged in the order in which the plurality of two-dimensional coordinate detection devices 11 to 15 are arranged in parallel. 11, a second two-dimensional coordinate detection device 12, a third two-dimensional coordinate detection device 13, a fourth two-dimensional coordinate detection device 14, and a fifth two-dimensional coordinate detection device 15. At this time, the two-dimensional coordinate detection device disposed on the side closest to the display surface (screen) of the large display or the drawing surface of the whiteboard is referred to as a first two-dimensional coordinate detection device 11.

  Moreover, when each two-dimensional coordinate area | region D2 used as the object from which each two-dimensional coordinate detection apparatus 11-15 detects a coordinate clearly distinguishes, the object from which the first two-dimensional coordinate detection apparatus 11 detects coordinates The two-dimensional coordinate region that becomes the first two-dimensional coordinate region D21, the second two-dimensional coordinate region that is the target for which the second two-dimensional coordinate detection device 12 detects the coordinates is called the second two-dimensional coordinate region D22, and the third The two-dimensional coordinate area for which the two-dimensional coordinate detection device 13 is to detect the coordinates is referred to as a third two-dimensional coordinate area D23, and the second two-dimensional coordinate detection device 14 for which the coordinates are to be detected. The second two-dimensional coordinate region D24 is referred to as a fifth two-dimensional coordinate region D25. When the coordinates P (x, y) detected by the two-dimensional coordinate detection devices 11 to 15 are clearly distinguished from each other, the coordinates of the object detected by the first two-dimensional coordinate detection device 11 are set as the first coordinates P1. The coordinates of the object detected by the second two-dimensional coordinate detection device 12 are referred to as (x1, y1), and the coordinates of the object detected by the third two-dimensional coordinate detection device 13 are referred to as the second coordinates P2 (x2, y2). The third coordinate P3 (x3, y3) is called, the coordinate of the object detected by the fourth two-dimensional coordinate detection device 14 is called the fourth coordinate P4 (x4, y4), and the fifth two-dimensional coordinate detection device 15 detects it. The coordinates of the object are referred to as fifth coordinates P5 (x5, y5).

  FIG. 4 is a schematic diagram showing a plurality of two-dimensional coordinate regions D21 to D25, omitting the plurality of two-dimensional coordinate detection devices 11 to 15 in FIG. 1 for the description of the three-dimensional coordinate region D3. The two-dimensional coordinate regions D21 to D25 are arranged in the order in which the two-dimensional coordinate detection devices 11 to 15 are arranged in parallel. That is, the first two-dimensional coordinate area D21 is arranged at a position closest to the target area T, and the fifth two-dimensional coordinate area D25 is arranged at a position farthest from the target area T. The first two-dimensional coordinate detection device 11 is installed in contact with the surface of the large display or the drawing surface of the whiteboard. For this reason, the first two-dimensional coordinate area D21 is an area in contact with the target area T.

  Here, the first two-dimensional coordinate region D21 side corresponds to the “two-dimensional coordinate region at the end pointed by the instruction unit in the parallel direction of the two-dimensional coordinate region” in the present invention. The target area T corresponds to a “predetermined area” in the present invention. Further, the fact that the first two-dimensional coordinate area D21 and the target area T are in contact with each other in the present invention means that “the predetermined area is an end pointed by the pointing unit in the direction in which the two-dimensional coordinate areas are arranged side by side. Corresponds to “position on a two-dimensional coordinate area”.

  The three-dimensional coordinate area D3 is a rectangular parallelepiped area having a size in the normal direction of the surface of the planar two-dimensional coordinate area (D21 to D25). For this reason, the coordinates (three-dimensional coordinates) in the three-dimensional coordinate area D3 are set to the coordinates P (x, y) in the two-dimensional coordinate areas (D21 to D25) as the third component normal direction of the surface of the area. The coordinates P (x, y, z) are added. Further, the first component x and the second component y of the coordinate P (x, y, z) in the three-dimensional coordinate region D3 are the same as the first component x of the coordinate P (x, y) in the two-dimensional coordinate region D2. Similarly to the second component y, each indicates a position in the X-axis direction and the Y-axis direction. Hereinafter, the normal direction of the surface of the two-dimensional coordinate region (D21 to D25) may be referred to as the Z-axis direction.

  The size of the three-dimensional coordinate region D3 in the Z-axis direction is “5 × W” when the thicknesses (lengths in the Z-axis direction) W of the two-dimensional coordinate regions D21 to D25 are five.

  FIG. 5 is a schematic diagram showing the three-dimensional coordinate region D3 when the user's arm (object) 101 of the three-dimensional coordinate detection apparatus 1 is inserted. 5 is viewed from the lower side (the lower side 22 side of each of the two-dimensional coordinate detection devices 11 to 15) to the upper side (the upper side 21 side of each of the two-dimensional coordinate detection devices 11 to 15). FIG. The arm 101 is inserted from the fifth two-dimensional coordinate area D25 toward the target area T. At this time, the arm 101 is inserted obliquely from the front of FIG. 5 to the back and from the right side to the left side of FIG. The tip of the arm 101 (that is, the fingertip) is located in the second two-dimensional coordinate area D22. For this reason, the arm 101 is not located in the first two-dimensional coordinate area D21. Accordingly, the first two-dimensional coordinate detection device 11 does not detect the coordinates of the arm 101, and the second two-dimensional coordinate detection device 12 to the fifth two-dimensional coordinate detection device 15 are located in the respective two-dimensional coordinate regions D22 to D25. The coordinates of the arm 101 to be detected are detected.

  Since the arm 101 has a width in a plane that intersects with each of the two-dimensional coordinate areas D21 to D25, the arm 101 is located in a certain range (straddling a plurality of coordinates) in each of the two-dimensional coordinate areas D21 to D25. For this reason, the level of the light which the light-receiving part 33 light-receives in the range which the laser beam radiate | emitted from the scanning part 32 of each two-dimensional coordinate detection apparatus 11-15 is interrupted by the arm 101 falls.

  FIG. 6 is a schematic diagram illustrating coordinates in which the level of light received by the light receiving unit 33 of each of the two-dimensional coordinate detection devices 11 to 15 is lowered in the state of FIG. Each of FIGS. 6A to 6F is a diagram when the two-dimensional coordinate region D2 is viewed toward the target region T (when viewed from the upper side to the lower side in FIG. 5). 6A shows the fifth two-dimensional coordinate area D25, FIG. 6B shows the fourth two-dimensional coordinate area D24, FIG. 6C shows the third two-dimensional coordinate area D23, and FIG. (D) shows the second two-dimensional coordinate region D22, and FIG. 6 (e) shows the first two-dimensional coordinate region D21. FIG. 6F is a conceptual diagram in which the coordinates of the light levels of the second two-dimensional coordinate detection device 12 to the fifth two-dimensional coordinate detection device 15 are overlapped. In FIG. 6, the coordinates are shown in a grid for easy understanding. Each side of one square has a size of 1 in the X-axis direction and the Y-axis direction.

  As shown in FIG. 6A, the fifth two-dimensional coordinate detection device 15 has coordinates P (8,0), coordinates P (8,2), coordinates P (10,0), and coordinates P (10 , 2), the level of light received by the light receiving unit 33 is lowered in a rectangular area having four points (coordinates) as vertices. Hereinafter, the shape of the area where the level of light received by the light receiving unit 33 is reduced is referred to as “object image”. The barycentric coordinates (coordinates at the center) of this object image (rectangular area) are P (9, 1). It should be noted that P (9, 1, 4.5 W) is expressed in three-dimensional coordinates obtained by adding the position in the Z-axis direction to the barycentric coordinates. Here, the 4.5 W of the Z-axis component means that the four thicknesses W of the first two-dimensional coordinate region D21 to the fourth two-dimensional coordinate region D24 are (4W) and the thickness W of the fifth two-dimensional coordinate region D25. Is half (0.5W). Hereinafter, the representation of the center-of-gravity coordinates of the object image in the fifth two-dimensional coordinate area D25 in this way as three-dimensional coordinates is referred to as “fifth center-of-gravity coordinates”.

  Here, “the position in the Z-axis direction is determined according to the thickness W of each of the two-dimensional coordinate regions D21 to D25” so that the position in the Z-axis direction of the fifth barycentric coordinate is determined as 4.5 W. In the present invention, “determines the position of the object in the three-dimensional coordinate region in the normal direction relative to the surface of the two-dimensional coordinate region based on the interval between the plurality of two-dimensional coordinate detection devices”. Equivalent to.

  As shown in FIG. 6B, the fourth two-dimensional coordinate detection device 14 has coordinates P (7, 1), coordinates P (7, 3), coordinates P (9, 1), and coordinates P (9 3), the level of light received by the light receiving unit 33 is reduced in a rectangular area having four points (coordinates) as vertices. The barycentric coordinates (coordinates at the center) of this object image (rectangular area) are P (8, 2). It should be noted that P (8, 2, 3.5 W) is expressed in three-dimensional coordinates obtained by adding the position in the Z-axis direction to the barycentric coordinates. Hereinafter, the centroid coordinates of the object image in the fourth two-dimensional coordinate area D24 expressed as three-dimensional coordinates are referred to as “fourth centroid coordinates”.

  As shown in FIG. 6C, the third two-dimensional coordinate detection device 13 has coordinates P (6, 3), coordinates P (6, 4), coordinates P (8, 3), and coordinates P (8 , 4) in the quadrangular region having the four points (coordinates) as vertices, the level of light received by the light receiving unit 33 decreases. The barycentric coordinates (coordinates at the center) of this object image (rectangular region) are P (7, 3.5). It should be noted that P (7, 3.5, 2.5 W) is expressed in the three-dimensional coordinates obtained by adding the position in the Z-axis direction to the barycentric coordinates. Hereinafter, the centroid coordinates of the object image in the third two-dimensional coordinate area D23 expressed as three-dimensional coordinates are referred to as “third centroid coordinates”.

  As shown in FIG. 6D, in the second two-dimensional coordinate detection device 12, the level of the light received by the light receiving unit 33 is reduced at the coordinates P (6, 3) (the centroid coordinates are the same). It should be noted that P (6, 3, 1.5 W) is expressed in three-dimensional coordinates including the Z-axis position. Hereinafter, the centroid coordinates of the object image in the second two-dimensional coordinate area D22 expressed as three-dimensional coordinates are referred to as “second centroid coordinates”.

  In the first two-dimensional coordinate detection device 11, since the arm 101 is not located in the first two-dimensional coordinate region D21, the level of the light received by the light receiving unit 33 is lowered as shown in FIG. There is no area to perform. In the example of FIG. 6, there is no object image in the first two-dimensional coordinate area D21, but when there is an object image in the first two-dimensional coordinate area D21, the barycentric coordinates of this object image are expressed in three-dimensional coordinates. This is called “first barycentric coordinates”.

As described above, the object image in each of the two-dimensional coordinate areas D21 to D25 represents the cross-sectional shape of the object (arm 101) by the surface of each of the two-dimensional coordinate areas D21 to D25.
For example, in the fifth two-dimensional coordinate detection device 15, “four points of coordinates P (8, 0), coordinates P (8, 2), coordinates P (10, 0), and coordinates P (10, 2)”. "Rectangle with (coordinate) as vertex" represents the cross-sectional shape of the surface where the arm 101 intersects the fifth two-dimensional coordinate region D25. As described above, the object image corresponds to “a set of one or more coordinates indicating the outer shape of the cross section of the object in the three-dimensional coordinate region intersecting the two-dimensional coordinate region of the two-dimensional coordinate detection device” in the present invention. To do.

  Further, by arranging the object images in each of the two-dimensional coordinate areas D22 to D25 according to the arrangement order of the areas, the outer shape of the object in the three-dimensional coordinate area D3 can be detected.

  The object images of the fifth two-dimensional coordinate area D25 and the fourth two-dimensional coordinate area D24 have the same size (3 × 3 square area), and go from the fifth two-dimensional coordinate area D25 to the fourth two-dimensional coordinate area D24. Thus, the object image moves from the lower right direction to the upper left direction in FIG. Further, the size of the object image in the third two-dimensional coordinate area D23 (3 × 2 rectangular area) is smaller than the size of the object image in the fourth two-dimensional coordinate area D24, and the fourth two-dimensional coordinate area D24. The object image moves from the lower right direction to the upper left direction in FIG. 6 toward the third two-dimensional coordinate area D23. In addition, the size of the object image in the second two-dimensional coordinate area D22 (1 × 1 area) is smaller than the size of the object image in the third two-dimensional coordinate area D23. The first two-dimensional coordinate area D21 has no object image.

  From this, the three-dimensional coordinate detection apparatus 1 gradually becomes thinner as the outer shape of the object (arm 101) in the three-dimensional coordinate region D3 moves toward the tip, and from the lower right direction to the upper left direction in FIG. It can be detected when it is slanted. As described above, this detection result is that the arm 101 is inserted obliquely from the front side to the back side in FIG. 5 and from the right side to the left side in FIG. 5, that is, from the lower right direction to the upper left direction in FIG. It can be seen that the outer shape of the object can be correctly detected by matching that the object is inserted toward.

  In this way, “detecting the outer shape of the object from the object image in each of the two-dimensional coordinate areas D21 to D25” means “one or more coordinates detected by each of the plurality of two-dimensional coordinate detection devices” in the present invention. The outer shape of the object in the three-dimensional coordinate region is detected from the set of

  In addition, the direction of the object in the three-dimensional coordinate area D3, for example, the direction of the arm 101 in FIG. 5 may be meaningful to the user of the three-dimensional coordinate detection apparatus 1. For example, the user may point to a predetermined position (predetermined two-dimensional coordinates in the target region T; hereinafter referred to as “target point TP”) with the tip of the arm 101, that is, the fingertip. In such a case, the fingertip is not necessarily in contact with the target area T, and the case where the fingertip is floating in the air can be considered sufficiently. Even in such a case, if the three-dimensional coordinate detection device 1 can detect the target point TP in the target region T pointed to by the fingertip, the convenience of the three-dimensional coordinate detection device 1 is improved by the user. . Here, the target point TP corresponds to “predetermined coordinates in a predetermined region” in the present invention.

  At this time, for example, when the fingertip is located in the first two-dimensional coordinate area D21, the target point TP is detected only when the fingertip is located in the first two-dimensional coordinate area D21. However, the convenience of the three-dimensional coordinate detection apparatus 1 is improved when the target point TP in the target region T can be detected. That is, when the fingertip is located in the three-dimensional coordinate area D3, it is possible to detect the target point TP in the target area T pointed to by the fingertip as much as possible. Improves.

  For this reason, the three-dimensional coordinate detection apparatus 1 first detects the tip of the object (the tip of the arm 101, that is, the fingertip) in the three-dimensional coordinate region D3. At this time, the three-dimensional coordinate detection device 1 has a two-dimensional coordinate region (in FIG. 6) closest to the target region T among the two-dimensional coordinate regions D21 to D25 in which the object image exists. In the example, it is detected that the object image in the second two-dimensional coordinate area D22) is the tip of the object.

  In this way, “detecting the tip of an object” means “predetermined among the two-dimensional coordinate detection devices that detect a set of one or a plurality of coordinates of an object in the three-dimensional coordinate region” in the present invention. This corresponds to “detecting a set of one or a plurality of coordinates detected by the two-dimensional coordinate detection device corresponding to the two-dimensional coordinate region closest to the region as an instruction unit of the object”. Further, the tip of the object (the tip of the arm 101, that is, the fingertip) corresponds to the “object instruction unit” in the present invention.

  Then, the three-dimensional coordinate detection device 1 detects the barycentric coordinates of the object image in the two-dimensional coordinate area where the tip of the object is located (in the example of FIG. 6, the second barycentric coordinates P (6, 3, 1.5W )). Subsequently, the three-dimensional coordinate detection apparatus 1 uses a two-dimensional coordinate area adjacent to the opposite side of the target area T of the two-dimensional coordinate area closest to the target area T (in the example of FIG. 6, a third two-dimensional coordinate area D23). ) Is detected (in the example of FIG. 6, the third barycentric coordinates P (7, 3.5, 2.5 W)).

  A direction vector L is determined from the two barycentric coordinates thus obtained. In the example of FIG. 6, the direction vector is determined as follows.

Direction vector L = (6, 3, 1.5 W) − (7, 3.5, 2.5 W)
= (-1, -0.5, -W)
From the direction vector L thus determined and the center of gravity coordinates of the tip of the object (in the example of FIG. 6, the second center of gravity coordinates P (6, 3, 1.5 W)), the target point in the target region T TP can be detected. As shown in FIG. 7A, generally, the direction vector L is (l, m, n), the coordinates of the tip of the object are (x, y, z), the tip of the object and the target point TP. When the distance in the Z-axis direction is v, each component of the coordinates (p, q, r) of the target point TP is
p = x−v · l / n,
q = y−v · m / n,
r = z−v,
It becomes.

In the example of FIG. 6, the direction vector L is (l, m, n) = (− 1, −0.5, −W), and the coordinates of the tip of the object are (x, y, z) = (6, 3, 1.5W), and the distance v in the Z-axis direction between the tip of the object and the target point is 1.5W. From this, the coordinates of the target point TP are
p = 6-1.5W · (−1) / (− W) = 4.5,
q = 3-1.5W · (−0.5) / (− W) = 2.25,
r = 1.5W−1.5W = 0
From (4.5, 2.25, 0)

  As described above, the three-dimensional coordinate detection apparatus 1 detects the target point TP in the target region T indicated by the tip of the object (arm 101) from the barycentric coordinates of the object images in the two-dimensional coordinate regions D21 to D25. ing. Thus, detecting the target point TP corresponds to “detecting the predetermined coordinates in the predetermined region from the direction of the detected object and the direction of the detected object” in the present invention. To do. Further, the determination of the direction vector L as described above means that the two-dimensional coordinate region closest to the predetermined region and the two adjacent two-dimensional coordinate regions on the opposite side of the predetermined region. This corresponds to “detecting the direction of an object in the three-dimensional coordinate region from the barycentric coordinates of the set of one or more coordinates detected by the two-dimensional coordinate detection device corresponding to each of the three-dimensional coordinate region”.

  Note that the number of two-dimensional coordinate areas adjacent to the opposite side of the target area T of the two-dimensional coordinate area closest to the target area T is not necessarily one, and may be two or more. For example, in the example of FIG. 6, not only the third two-dimensional coordinate area D23 but also the fourth two-dimensional coordinate area D24 may be included as a two-dimensional coordinate area adjacent to the second two-dimensional coordinate area D22. Furthermore, the fifth two-dimensional coordinate area D25 may be included as a two-dimensional coordinate area adjacent to the second two-dimensional coordinate area D22. As described above, the two-dimensional coordinate region adjacent to the opposite side of the target region T of the two-dimensional coordinate region closest to the target region T has an accuracy for detecting the thickness of the two-dimensional coordinate region in the Z-axis direction and the direction of the object. It may be changed according to. Further, when an object that indicates a direction is defined in advance (for example, a finger, a pen, a pointing stick, a game controller, or the like), it may be appropriately determined according to the defined object.

  Note that another method may be used as a method of detecting the direction of the object and the target point TP being pointed to. For example, as shown in FIG. 7B, the outlines of the object images in the respective two-dimensional coordinate areas D22 to D25 are connected by lines from the fifth two-dimensional coordinate area D25 to the first two-dimensional coordinate area D21. When the line is extended to the target area T, the barycentric coordinates of the area projected onto the target area T may be set as the target point TP. In the example of FIG. 6, as shown in FIG. 6F, it is possible to detect that the outer shape of each object image is moving from the lower right direction to the upper left direction in FIG. 6 (direction detection). Here, detecting the direction from the outer shape of each object image from the fifth two-dimensional coordinate region D25 toward the first two-dimensional coordinate region D21 is “the two-dimensional coordinate region closest to the predetermined region” in the present invention. The three-dimensional coordinates from a set of one or more coordinates detected by the two-dimensional coordinate detection device corresponding to each of the two-dimensional coordinate areas adjacent to the opposite side of the predetermined area of the two-dimensional coordinate area This corresponds to “detecting the direction of an object in the region”.

  Further, in the present embodiment, as described above, the optical filters 41 and 42 including bandpass filters that pass only light of a predetermined wavelength and the same characteristics as each other, and the portion where the light of the light source 31 is emitted and the light reception. It is affixed to the site | part which receives the light of the part 33, respectively. The three-dimensional coordinate detection device 1 is configured such that the wavelengths transmitted by the optical filters 41 and 42 are the same in one two-dimensional coordinate detection device, and the adjacent two-dimensional coordinate detection devices are provided with each other. The optical filters 41 and 42 are configured to pass different wavelengths.

  With this configuration, the light emitted from the scanning unit 32 of the predetermined two-dimensional coordinate detection device is diffused by the light retroreflected by the lower side 22 or the like, so that the light receiving unit of the adjacent two-dimensional coordinate detection device is diffused. Even when the light 33 is mixed in the received light, the influence of this mixing can be reduced or eliminated by the optical filters 41 and 42.

  For example, the first two-dimensional coordinate detection device 11, the third two-dimensional coordinate detection device 13, and the fifth two-dimensional coordinate detection device 15 each include optical filters 41 and 42 that pass wavelengths of 610 to 780 [nm]. The second two-dimensional coordinate detection device 12 and the fourth two-dimensional coordinate detection device 14 include optical filters 41 and 42 that pass wavelengths of 460 to 500 [nm], respectively. In such a configuration, the wavelength of the light emitted from the scanning unit 32 of the third two-dimensional coordinate detection device 13 is 610 to 780 [nm].

  For this reason, the light emitted from the scanning unit 32 of the third two-dimensional coordinate detection device 13 is the second two-dimensional coordinate detection device 12 or the fourth two-dimensional coordinate detection device 14 adjacent to the third two-dimensional coordinate detection device 13. Since the optical filter 42 that passes only the wavelength of 460 to 500 [nm] is pasted even when mixed in the two-dimensional coordinate region D2 (specifically, the scanning plane) of the second two-dimensional coordinate region D2 The light from the scanning unit 32 of the third two-dimensional coordinate detection device 13 is not incident on the light receiving unit 33 of the coordinate detection device 12 and the fourth two-dimensional coordinate detection device 14.

  In this way, the three-dimensional coordinate detection device 1 has the mixed light even when the light emitted from the scanning unit 32 of the adjacent two-dimensional coordinate detection device is mixed due to the effects of the optical filters 41 and 42. Can be reduced or eliminated. Thereby, the three-dimensional coordinate detection apparatus 1 can detect the coordinates of the object in the three-dimensional coordinate region D3 with high accuracy.

  As described above, “the first two-dimensional coordinate detection device 11, the third two-dimensional coordinate detection device 13, and the fifth two-dimensional coordinate detection device 15 include the optical filters 41 and 42 that allow the wavelength of 610 to 780 [nm] to pass. "The second two-dimensional coordinate detection device 12 and the fourth two-dimensional coordinate detection device 14 include optical filters 41 and 42 that pass a wavelength of 460 to 500 [nm]" in the present invention. The unit and the light receiving unit correspond to “equipped with an optical filter for distinguishing light emitted from the irradiation unit of the two-dimensional coordinate detection device adjacent to the two-dimensional coordinate detection device including the optical device”.

  In addition, “the optical filter 41 corresponding to each two-dimensional coordinate detection device is attached to the light source 31 of each two-dimensional coordinate detection device 11-15, and the light receiving unit 33 of each two-dimensional coordinate detection device 11-15 is attached to the light receiving unit 33. The optical filter 42 corresponding to each two-dimensional coordinate detection device is affixed ”in the present invention“ the irradiation unit emits light to the retroreflective unit through the optical filter, and the light receiving unit Corresponds to “receiving the light retroreflected by the retroreflecting portion through the optical filter”.

  Further, the three-dimensional coordinate detection device 1 is supplied with the phases shifted so that the amplitudes of the mutual pulse waves (drive waveforms) supplied to the light sources 31 of the adjacent two-dimensional coordinate detection devices do not become non-zero values at the same time. The

  FIG. 8A shows temporal changes of pulse waves supplied to the light sources 31 of the first two-dimensional coordinate detection device 11, the third two-dimensional coordinate detection device 13, and the fifth two-dimensional coordinate detection device 15, FIG. 8B shows a temporal change in the level (for example, light energy) of the light emitted from the respective scanning units 32 of these two-dimensional coordinate detection apparatuses 11, 13, and 15. FIG. 8C shows a light signal (time change of light) received by each light receiving unit 33 of the first two-dimensional coordinate detection device 11, the third two-dimensional coordinate detection device 13, and the fifth two-dimensional coordinate detection device 15. 8 (d) shows the result of multiplying FIG. 8 (a) and FIG. 8 (c).

  Moreover, FIG.8 (e) shows the time change of the pulse wave supplied to each light source 31 of the 2nd two-dimensional coordinate detection apparatus 12 and the 4th two-dimensional coordinate detection apparatus 14, FIG.8 (f) is shown. The level (for example, light energy) of the light radiate | emitted from each scanning part 32 of these two-dimensional coordinate detection apparatuses 12 and 14 is shown. FIG. 8G shows a light signal (time change of light) received by each light receiving unit 33 of the second two-dimensional coordinate detection device 12 and the fourth two-dimensional coordinate detection device 14, and FIG. Shows the result of multiplying FIG. 8 (e) and FIG. 8 (g).

  The horizontal axis of Fig.8 (a)-(h) shows time. 8A and 8E, the vertical axis indicates the voltage supplied to the light source 31. 8 (b), (c), (d), (f), (g), (h), the vertical axis indicates the level of received light, and when it is 0, there is no light (for example, light energy). Is 0).

  As shown in FIGS. 8A and 8B, the scanning unit 32 of the first two-dimensional coordinate detection device 11, the third two-dimensional coordinate detection device 13, and the fifth two-dimensional coordinate detection device 15 receives a time t2. From time t3 to time t3 (hereinafter, the time between these times is expressed as “time t2-t3”) time t4-t5, time t6-t7, time t8-t9, time t10-t11, time t12-t13 At this time, light is emitted, and no light is emitted at other times. Hereinafter, the first two-dimensional coordinate detection device 11 and the third two-dimensional coordinate detection are performed at time t2-t3, time t4-t5, time t6-t7, time t8-t9, time t10-t11, time t12-t13. The time during which light is emitted from the scanning unit 32 (or the light source 31) of the device 13 and the fifth two-dimensional coordinate detection device 15 is collectively referred to as “first emission time”.

  Similarly, as shown in FIGS. 8E and 8F, the scanning unit 32 of the second two-dimensional coordinate detection device 12 and the fourth two-dimensional coordinate detection device 14 receives time t1-t2 and time t3-. Light is emitted at time t4, time t5-t6, time t7-t8, time t9-t10, time t11-t12, and no light is emitted at other times. Hereinafter, as in time t1-t2, time t3-t4, time t5-t6, time t7-t8, time t9-t10, and time t11-t12, the second two-dimensional coordinate detection device 12 and the fourth two-dimensional coordinate detection are performed. The time during which light is emitted from the scanning unit 32 (or the light source 31) of the apparatus 14 is collectively referred to as “second emission time”.

  Thus, the first emission time and the second emission time are set exclusively. Thus, no light is emitted simultaneously from the scanning units 32 of the adjacent two-dimensional coordinate detection devices. Specifically, no light is emitted from the scanning unit 32 of the first two-dimensional coordinate detection device 11, the third two-dimensional coordinate detection device 13, and the fifth two-dimensional coordinate detection device 15 during the second emission time. No light is emitted from the scanning unit 32 of the two-dimensional coordinate detection device 12 or the fourth two-dimensional coordinate detection device 14 during the first emission time. Further, since the period of the pulse wave is very slow compared to the speed of light, the light receiving unit 33 receives the light retroreflected by the retroreflecting unit such as the lower side 22 after being emitted from the scanning unit 32 almost instantaneously.

  For this reason, for example, as illustrated at time t7-t8 in FIG. 8C and time t4-t5 in FIG. 8G, stray light (light from the scanning unit 32 of another two-dimensional coordinate detection device). Even when the light is mixed, since the light is not emitted from the scanning unit 32 of each two-dimensional coordinate detection device during the time (t7-t8 or t4-t5), it can be considered that the stray light is mixed. it can.

  Accordingly, each of the two-dimensional coordinate detection devices 11 to 15 applies the instantaneous value of the received light signal to each instantaneous value of the received light in order to remove the light received by the light receiving unit 33 when the light is not emitted from the scanning unit 32. By multiplying each instantaneous value of the amplitude of the pulse wave supplied to the light source 31 of the two-dimensional coordinate detector (11-15), the signal when the light is not emitted from the scanning unit 32 is set to 0 (stray light is not emitted). Only the signal when light is emitted from the scanning unit 32 is used as a signal for detecting the coordinates of the object.

  Even in such a case, when the light from the scanning unit 32 is blocked by the object, the time t10-t11, the time t12-t13 in FIG. 8D and the time t5-t6 in FIG. Since the light level is low, the coordinates of the object can be detected from the deflection angle of the mirror at this time.

  In this way, in addition to changing the wavelength by the optical filters 41 and 42, the pulse wave supplied to the light source 31 makes the time for emitting light from the scanning unit 32 of the adjacent two-dimensional coordinate detection device exclusive. Further, the influence of light contamination from other two-dimensional coordinate detection devices can be further effectively reduced.

  As described above, the first emission time and the second emission time are set exclusively. In the present invention, “the light sources of the adjacent two-dimensional coordinate detection devices have the amplitudes of the pulse waves of each other at the same time. This corresponds to “does not become a non-zero value”.

  8D and 8H corresponds to the “irradiation unit included in the two-dimensional coordinate detection apparatus including the light receiving unit for each instantaneous value of the light signal received by the light receiving unit” in the present invention. Corresponds to a signal obtained by multiplying each instantaneous value of the amplitude of the pulse wave supplied to “

  Further, “each two-dimensional coordinate detection device 11-15 obtains the signal of FIG. 8D by multiplying FIG. 8A and FIG. 8C, or FIG. 8E and FIG. 8 (g) is multiplied to obtain the signals shown in FIG. 8 (h) and the coordinates of the object are detected from these signals. By a signal obtained by multiplying each instantaneous value of the light signal received by the light receiving unit by each instantaneous value of the amplitude of the pulse wave supplied to the irradiation unit included in the two-dimensional coordinate detection device including the light receiving unit Corresponds to “detecting the coordinates of an object in the two-dimensional coordinate region of the two-dimensional coordinate detection device”.

  As described above, since the three-dimensional coordinate detection apparatus 1 detects the tip of the object (the tip of the arm 101, that is, the fingertip) as described above, the tip of the object is within the first two-dimensional coordinate region D21. If it is, it can be determined that the tip of the object is in contact with the target region T. Further, when the tip of the object is in any of the second two-dimensional coordinate region D22 to the fifth two-dimensional coordinate region D25, it can be determined that the tip of the object is in the air. At this time, the position of the object in the Z-axis direction can be detected according to the two-dimensional coordinate region where the tip of the object is located. For example, when it is in the second two-dimensional coordinate area D22, it can be detected that it is in the air at a distance closer to the target area T, and when it is in the fifth two-dimensional coordinate area D25, it is a distance far from the target area T. Can be detected in the air.

  By detecting the coordinates of the three-dimensional space, the movement of the object can be detected. For example, when the tip of the object moves from the fifth two-dimensional coordinate area D25 toward the first two-dimensional coordinate area D21, it can be detected that the object is approaching the target area T. Furthermore, when the tip of the object moves from the first two-dimensional coordinate area D21 toward the fifth two-dimensional coordinate area D25, it can be detected that the object is moving away from the target area T. Further, when only the two-dimensional coordinate changes while the tip of the object remains in the same two-dimensional coordinate area, it can be detected that the object is moving within the two-dimensional coordinate area.

  When the movement of the object is detected in this way, the user can also control the operation of the device equipped with the three-dimensional coordinate detection device 1 by giving each of the movements a predetermined meaning. For example, “when the target area T is touched, the target point TP is selected”, “when the target area T is approached, the vicinity of the target point TP is highlighted”, “within the same two-dimensional coordinate area When an object is moving, a line may be drawn.

  Furthermore, if a piezoelectric sensor or the like is provided on the display surface of a large display or whiteboard on which the three-dimensional coordinate detection device 1 is mounted, that is, the target area T, it can be detected that the target area T is pressed. As a result, various devices can be controlled.

  In the present embodiment, the three-dimensional coordinate detection device 1 is configured to include the five two-dimensional coordinate detection devices 11 to 15, but is not limited thereto. For example, the number may be two, or may be seven or more. What is necessary is just to determine the number of two-dimensional coordinate detection apparatuses according to the range of the normal direction with respect to the surface of the target area | region T to detect as a three-dimensional coordinate detection apparatus.

  In the present embodiment, the thicknesses W of the two-dimensional coordinate regions D21 to D25 are the same. However, the thicknesses may be set differently. For example, the thickness W may be set to be smaller as the target area T is approached.

  In the present embodiment, the first two-dimensional coordinate area D21 and the target area T are in contact with each other, but may not be in contact with each other. In this case, when detecting the coordinates of the object, the position in the Z-axis direction may be detected in consideration of the distance between the first two-dimensional coordinate area D21 and the target area T. Thus, when the first two-dimensional coordinate area D21 and the target area T are not in contact with each other, the “predetermined area is located outside the two-dimensional coordinate area at the end” in the present invention. Equivalent to.

  In the present embodiment, the first two-dimensional coordinate detection device 11, the third two-dimensional coordinate detection device 13, and the fifth two-dimensional coordinate detection device 15 allow the optical filters 41 and 42 to pass the wavelength of 610 to 780 [nm]. The second two-dimensional coordinate detection device 12 and the fourth two-dimensional coordinate detection device 14 are provided with optical filters 41 and 42 that pass a wavelength of 460 to 500 [nm]. That is, the characteristics of the optical filters of the adjacent two-dimensional coordinate detection devices are changed in the arrangement order in which the two-dimensional coordinate detection devices are arranged side by side, but the present invention is not limited to this.

  For example, when the spread of the reflected light becomes large due to the reflection characteristics of the retroreflective portion such as the lower side 22, the light from the scanning unit 32 of the third two-dimensional coordinate detection device 13 is transmitted to the second two-dimensional coordinate detection device. 12 and the fourth two-dimensional coordinate detection device 14 as well as the first two-dimensional coordinate detection device 11 and the fifth two-dimensional coordinate detection device 15 may be mixed. In such a case, for example, the first two-dimensional coordinate detection device 11 and the fifth two-dimensional coordinate detection device 15 include optical filters 41 and 42 that allow the wavelength of 610 to 780 [nm] to pass, and the second two-dimensional coordinate detection device 15. The coordinate detection device 12 and the fourth two-dimensional coordinate detection device 14 include optical filters 41 and 42 that pass wavelengths of 460 to 500 [nm], and the third two-dimensional coordinate detection device 13 has a wavelength of 570 to 590 [nm]. The optical filters 41 and 42 that allow the light to pass therethrough may be provided. In addition, each of the two-dimensional coordinate detection devices 11 to 15 may include optical filters 41 and 42 that allow different wavelengths to pass.

  In the present embodiment, the first emission time and the second emission time are set exclusively, but the present invention is not limited to this. For example, as in the case of the optical filters 41 and 42, the light from the scanning unit 32 of the third two-dimensional coordinate detection device 13 is not limited to the second two-dimensional coordinate detection device 12 and the fourth two-dimensional coordinate detection device 14. In the case where there is a possibility that even the first two-dimensional coordinate detection device 11 and the fifth two-dimensional coordinate detection device 15 are mixed, the scanning unit of the first two-dimensional coordinate detection device 11 and the fifth two-dimensional coordinate detection device 15 32 (or light source 31), the time when light is emitted, and the time when light is emitted from the scanning unit 32 (or light source 31) of the second two-dimensional coordinate detection device 12 and the fourth two-dimensional coordinate detection device 14, The time when the light is emitted from the scanning unit 32 (or the light source 31) of the third two-dimensional coordinate detection device 13 may be set exclusively. Furthermore, you may set exclusively the time when light is radiate | emitted from each scanning part 32 (or light source 31) of each two-dimensional coordinate detection apparatus 11-15.

  As described above, in the present invention, the adjacent two-dimensional coordinate detection device is not only the one adjacent two-dimensional coordinate detection device, but also a two-dimensional arrangement arranged in a range where the emitted light may be mixed. It is assumed to include a coordinate detection device (that is, a two-dimensional coordinate detection device disposed in the vicinity).

  Further, in the three-dimensional coordinate detection device 1 of the present embodiment, the influence of light mixing from adjacent two-dimensional coordinate detection devices is reduced by the pulse wave supplied to the light source 31 in addition to the reduction by the optical filters 41 and 42. However, reduction by only one of them may be performed.

  Moreover, in this embodiment, although the three-dimensional coordinate detection apparatus 1 was set as the apparatus mounted in a large sized display or a white board, it is not restricted to this. It may be a small display, or it may be mounted on a display having a planar area (two-dimensional coordinate area) such as an electronic signboard, an arcade game terminal, or a table type PC displaying a screen on the upper surface of the table. There may be. Even in this case, the coordinates of the object in the three-dimensional coordinate area are detected by adding the position in the normal direction to the plane of this two-dimensional coordinate area to the coordinates of the planar area (two-dimensional coordinate area). can do. Furthermore, it can also be used as an area sensor that can detect a person or an object in a predetermined area.

  DESCRIPTION OF SYMBOLS 1 ... Three-dimensional coordinate detection apparatus, D2 ... Two-dimensional coordinate area | region, D3 ... Three-dimensional coordinate area | region, 11-15 ... Multiple two-dimensional coordinate detection apparatus, 22 ... Lower side (retroreflection part), 23 ... Right side (retroreflection part) , 24 ... Left side (retroreflective part), 3, 4 ... A pair of optical devices, 31 ... Light source, 32 ... Scanning part (irradiation part), 33 ... Light receiving part, 40 ... Optical deflector (irradiation part), 41, 42: Optical filter, P: Coordinate.

Claims (8)

In order to detect the coordinates of an object in the two-dimensional coordinate area, an irradiation unit that emits light and a light-receiving unit that receives light are arranged on the periphery of the two-dimensional coordinate area or outside the two-dimensional coordinate area. A pair of optical devices each having a retroreflecting unit that retroreflects the light emitted from the optical device, the irradiation unit emits light that scans the two-dimensional coordinate region, and the light receiving unit emits the irradiation a two-dimensional coordinate detection device configured to receive retro-reflected light on the retroreflective portion is emitted from parts plurality Yes,
The plurality of two-dimensional coordinate detection devices are juxtaposed in a normal direction with respect to the surface of each two-dimensional coordinate region so that two-dimensional coordinate regions including coordinates detected by each of the two-dimensional coordinate regions are parallel to each other,
The object of the coordinates in the two-dimensional coordinates in a three-dimensional coordinate area plus the position of the normal to the plane of those said two-dimensional coordinate space to the coordinates of the region, each of said plurality of two-dimensional coordinate detection device A three-dimensional coordinate detection device that detects based on the detected coordinates,
The light source included in the irradiation unit is supplied with a pulse wave that alternately repeats an amplitude of 0 and a value other than 0 as a drive waveform. When the amplitude of the pulse wave is 0, the light source is turned off, and the pulse wave The light source is turned on when the amplitude is a non-zero value,
The light sources of the two-dimensional coordinate detection devices adjacent to each other in the arrangement in which the plurality of two-dimensional coordinate detection devices are arranged in parallel are supplied so that the amplitudes of the mutual pulse waves do not become non-zero at the same time,
Each of the adjacent two-dimensional coordinate detection devices has an instantaneous value of an amplitude of a pulse wave supplied to an irradiation unit included in the two-dimensional coordinate detection device including the light receiving unit, for each instantaneous value of a light signal received by the light receiving unit. A three-dimensional coordinate detection apparatus that detects coordinates of an object in a two-dimensional coordinate area of the two-dimensional coordinate detection apparatus based on a signal obtained by multiplying values . The three-dimensional coordinate detection apparatus according to claim 1,
The irradiation unit and the light receiving unit of the optical device include an optical filter for distinguishing light emitted from the irradiation unit of the two-dimensional coordinate detection device adjacent to the two-dimensional coordinate detection device including the optical device,
The irradiation unit emits light to the retroreflective unit through the optical filter, and the light receiving unit receives light retroreflected by the retroreflective unit through the optical filter. Coordinate detection device. In the three-dimensional coordinate detection apparatus according to claim 1 or 2,
A three-dimensional coordinate detection characterized by determining a position in a normal direction with respect to a surface of the two-dimensional coordinate region of an object in the three-dimensional coordinate region based on an interval between the plurality of two-dimensional coordinate detection devices. apparatus. In the three-dimensional coordinate detection apparatus of any one of Claims 1-3,
The coordinates detected by the two-dimensional coordinate detection device are a set of one or more coordinates indicating the outer shape of the cross section of the object in the three-dimensional coordinate region intersecting the two-dimensional coordinate region of the two-dimensional coordinate detection device,
A three-dimensional coordinate detection apparatus, wherein an outer shape of an object in the three-dimensional coordinate area is detected from a set of one or a plurality of coordinates detected by each of the plurality of two- dimensional coordinate detection apparatuses. The three-dimensional coordinate detection apparatus according to claim 4 ,
The object in the three-dimensional coordinate area has an instruction unit that indicates a predetermined coordinate in the predetermined area,
The predetermined region is located on the two-dimensional coordinate region at the end on the side indicated by the pointing unit in the juxtaposed direction of the two-dimensional coordinate region, or located outside the two-dimensional coordinate region at the end,
Among each two-dimensional coordinate detection device that detects a set of one or more coordinates of an object in the three-dimensional coordinate region, a two-dimensional coordinate detection device corresponding to the two-dimensional coordinate region closest to the predetermined region detects A three-dimensional coordinate detection apparatus that detects a set of one or more coordinates as an instruction unit of the object . In the three-dimensional coordinate detection apparatus according to claim 5,
Each of the two-dimensional coordinate detection devices detected by the two-dimensional coordinate region closest to the predetermined region and the two-dimensional coordinate region adjacent to the opposite side of the predetermined region of the two-dimensional coordinate region. A three-dimensional coordinate detection apparatus that detects a direction of an object in the three-dimensional coordinate region from a set of one or a plurality of coordinates . The three-dimensional coordinate detection apparatus according to claim 6,
Each of the two-dimensional coordinate detection devices detected by the two-dimensional coordinate region closest to the predetermined region and the two-dimensional coordinate region adjacent to the opposite side of the predetermined region of the two-dimensional coordinate region. A three-dimensional coordinate detection apparatus that detects a direction of an object in the three-dimensional coordinate region from a barycentric coordinate of a set of one or a plurality of coordinates. The three-dimensional coordinate detection apparatus according to claim 6 or 7,
A three-dimensional coordinate detection apparatus that detects the predetermined coordinates in the predetermined area from the detected object indicating unit and the direction of the detected object.