JPH06295222A - Non-contact type object tracking device - Google Patents

Abstract

PURPOSE:To track a three-dimensional motion of a target so that a distance to the target can be controlled with high accuracy by providing a sensor part for reading the position of an object, and a control part for executing position control of the sensor part. CONSTITUTION:In the inside of a sensor part 1, a photosensor 2 is integrated in the upper and the lower parts, the left and the right, and the front. The sensor part 1 is supported so as to be operable in three dimensions by an arm part 3. A driving part of the arm part 3 is constituted of two stepping motors 4 turned to the vertical direction each other. A control part determines a position of the sensor part 1 by controlling like feedback a driving device for executing position control of the sensor part 1, based on information from the sensor part 1, and drives the moror 4. Each of plural sensors 2 for constituting the sensor part 1 measures successively the position of an object (fingertip), and tracks like non-contact a three-dimensional motion of the object so that the object exists in a position within a prescribed range.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a data input device for a computer. In particular, it relates to a non-contact type object tracking device for inputting position information of an object to a computer.

[0002]

2. Description of the Related Art In recent years, as computers have become faster and the amount of information they handle has increased, there has been a demand for faster and easier information exchange between computers and humans.

Currently, there are keyboards, mice, data gloves, etc. as computer interfaces for inputting / outputting to / from a computer.

By the way, a technique for constructing a model of an object in a computer and presenting to a human the sensation as if the object actually exists is known as virtual reality.
Reality). By using this technology, it is possible to create a "virtual work space" that provides a work environment close to the actual space.

In recent years, much research and development has been done on a space interface device for operating a virtual object in this virtual work space (virtual space operation).

[0006] As one of the spatial interface devices based on these studies, it basically consists of a cap to be worn on a finger and a rotary encoder, and the cap is attached to the finger to track the three-dimensional movement of the fingertip in a contact manner. It has been reported that there is a mechanism that asks for position information of the fingertip and inputs it to a computer (Makoto Sato et al., The Japan Society of Mechanical Engineers N
o. 920-33 Robotics and Mechatronics Conference '92 Proceedings (Vol.8)).

By combining such a space interface device and a stereoscopic image display device, it is possible to perceive a virtual space fused with a real space and to operate a virtual object with a sense of reality through the space interface device.

[0008] On the other hand, there is a spatial interface device for providing a constant distance from a target such as a fingertip and non-contact tracking at a constant interval.

An example of this type of device is one in which a magnet is attached to a finger and a measuring device, and the repulsive force of each other is used.

[0010]

SUMMARY OF THE INVENTION The above-mentioned non-contact spatial interface device of the tracking system stops tracking of a two-dimensional movement of a target, and when a plurality of devices track relatively close targets, For example, when the index finger and the middle finger are simultaneously pursued as targets, the magnets of the respective devices affect each other, and the sensor may not function normally so that the position of each finger can be accurately sensed.

Therefore, the present invention makes it possible for the sensor to function normally without being affected by each other as in the case of using a magnet, and for tracking the target three-dimensional movement.
An object of the present invention is to provide a non-contact type object tracking device for inputting position information of an object to a computer, which can be performed with high accuracy even when controlling a distance to a target.

[0012]

Therefore, in order to achieve the above object, the present invention provides a non-contact type object tracking device which includes a sensor section for reading the position of an object and a sensor section for supporting the sensor section. The arm unit includes a three-dimensionally moving arm unit, a driving unit that moves the arm unit, and a control unit that receives a signal from the sensor unit and feedback-controls a driving device that controls the position of the sensor unit.

[0013]

[Function] Each of the plurality of sensors forming the sensor unit sequentially measures the position of the object and non-contactly tracks the three-dimensional movement of the object so that the object is within a certain range. .

[0014]

EXAMPLES Examples of the present invention will be specifically described below with reference to the drawings, but the present invention should not be limited to the examples disclosed in the examples as long as the gist of the invention is complied with.

In this embodiment, a system for tracking a fingertip will be described as an example.

FIG. 1 is a schematic view of a sensor unit 1 used in a non-contact type object tracking device according to the present invention. Optical sensors are incorporated inside the sensor unit 1 in the vertical and horizontal directions and in the front, and the sensor unit 1 is supported by an arm unit 3 so as to be operable in the vertical direction.

FIG. 2 is a sectional view taken along the line X--X and line Y--Y in FIG. 1, in which the optical sensor 2 is incorporated inside the sensor section 1 as shown in the figure.

The arm portion 3 can move vertically.
As shown in FIG. 3, the driving unit is composed of two stepping motors 4 which are oriented in the vertical direction and supports the arm unit. FIG. 4 is a block diagram of a tracking system using the non-contact type object tracking device. This system can be roughly divided into a sensor unit 1 for tracking a target, a sensor driving unit, and a control unit.

The control unit feedback-controls the drive unit for controlling the position of the sensor unit based on the information from the sensor unit 1 to determine the position of the sensor unit 1 and drives the motor.

FIG. 5 shows a flowchart of a control method in which a constant distance is provided between the target and this system.

Assuming that the reading order of a plurality of sensors is fixed, first, the first sensor is read (5),
Measure the distance to the target.

If the distance to the target is within a certain range, the next sensor is read out (6). If it is not within a certain range, it drives the motor in the direction of shortening the distance if it is more than the fixed interval (7), and drives it in the direction of increasing the distance if it is less than the constant interval (8) and stays within the certain range Repeat until.

Next, the process proceeds to the second sensor, the third sensor, and so on. When the above operation is performed for all the sensors, the process ends (9).

FIG. 6 is an explanatory diagram in which the non-contact type object tracking device of the present invention is applied as a space interface for virtual space operation.

Thus, a method of applying such a tracking system as a space interface for virtual space operation that follows the movement of a finger will be described.

In this application example, one sensor section 1 is associated with each finger.

It is assumed that a virtual space is created within the range of the drive space of this apparatus, and an operation for grasping and moving an object in the space is performed (FIG. 6 (b)).

In a normal case (when the position of the finger is not touching the object in the virtual space), the sensor unit 1 follows the fingertip in a non-contact state. Then, when the fingertip is located where the object is in the virtual space, the non-contact state is released, and the sensor unit 1 is brought into contact with the fingertip to add resistance to the fingertip, as if the object was actually grabbed. Can give a sense.

[0029]

[Effect] A non-contact type object tracking device for inputting positional information of an object to a computer, which can track a three-dimensional movement of a target and can be performed with high accuracy even when controlling a distance to the target, has been realized. .

[Brief description of drawings]

FIG. 1 is a schematic view of a sensor unit 1 used in a non-contact type object tracking device according to the present invention.

FIG. 2 is a cross-sectional view taken along line XX and YY of FIG.

FIG. 3 shows a driving unit of a sensor unit.

FIG. 4 is a block diagram of a tracking system using the non-contact type object tracking device of the present invention.

FIG. 5 shows a flow chart of a control method in the tracking system of the present invention in which a constant distance is provided between the target and the target.

FIG. 6 is an explanatory diagram in which the non-contact object tracking device of the present invention is applied as a space interface for virtual space operation.

[Explanation of symbols]

 1 sensor part 2 optical sensor 3 arm part 4 stepping motor

Claims (1)

[Claims] 1. A sensor for reading the position of an object, an arm for supporting the sensor to move the sensor in three dimensions, a drive for moving the arm, and a sensor for receiving a signal from the sensor. A non-contact type object tracking device, comprising: a control unit that feedback-controls a drive device that controls the position of the unit.