JPH09274534A - Pen type input device - Google Patents

Pen type input device

Info

Publication number
JPH09274534A
JPH09274534A JP8106481A JP10648196A JPH09274534A JP H09274534 A JPH09274534 A JP H09274534A JP 8106481 A JP8106481 A JP 8106481A JP 10648196 A JP10648196 A JP 10648196A JP H09274534 A JPH09274534 A JP H09274534A
Authority
JP
Japan
Prior art keywords
pen
acceleration
writing
rotation angle
axis
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
JP8106481A
Other languages
Japanese (ja)
Inventor
Yasuhiro Sato
康弘 佐藤
Mitsuru Shingyouchi
充 新行内
Takao Inoue
隆夫 井上
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Ricoh Co Ltd
Original Assignee
Ricoh Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Ricoh Co Ltd filed Critical Ricoh Co Ltd
Priority to JP8106481A priority Critical patent/JPH09274534A/en
Priority to US08/803,395 priority patent/US5902968A/en
Publication of JPH09274534A publication Critical patent/JPH09274534A/en
Priority to US09/141,903 priority patent/US6229102B1/en
Priority to US09/219,603 priority patent/US6084577A/en
Priority to US09/219,765 priority patent/US5981884A/en
Pending legal-status Critical Current

Links

Abstract

PROBLEM TO BE SOLVED: To provide a miniaturized pen type input device with which the input of writing is exactly detected in simple configuration. SOLUTION: A writing detection part 43 detects whether it is a writing state or not. An initial rotating angle operation part 44 operates the initial value of an inclination angle for the gravity coordinate system of a pen axis at the time of writing start based on the acceleration of a pen axis coordinate system at the tip part of a pen in a non-writing state. A rotating angle change operation part 45 operates the value of a change in the rotating angle of the pen axis based on the angular velocity of the pen axis during writing. An under- writing rotating angle operation part 46 calculates the rotating angle of the pen axis during writing based on the initial value and change value of rotating angle of the pen axis. A coordinate transformation operating part 47 transforms the coordinate system of acceleration at the tip part of the pen to the gravity coordinate system based on the rotating angle of the pen axis, and a moving amount operation part 48 calculates the moving direction and distance.

Description

【発明の詳細な説明】Detailed Description of the Invention

【0001】[0001]

【発明の属する技術分野】この発明は図形及び文字を入
力するペン型入力装置に関するものである。
BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a pen-type input device for inputting figures and characters.

【0002】[0002]

【従来の技術】コンピュータ装置等の入力装置としては
キーボード、マウス、デジタイザ、ライトペン及びタブ
レット等が用いられている。コンピュータ装置の小型化
に伴い、携帯端末装置のニーズが高まり利用者も年々増
加している。そこで、小型の入力装置が求められるよう
になった。
2. Description of the Related Art Keyboards, mice, digitizers, light pens, tablets and the like are used as input devices such as computer devices. With the miniaturization of computer devices, the need for portable terminal devices has increased and the number of users has been increasing year by year. Therefore, a small input device has been required.

【0003】キーボードの小型化にはヒューマンインタ
ーフェイスの点で限界があり、携帯端末装置の入力装置
としては実用性が低い。また、マウスはポインティング
デバイスとしては小型化が可能であるが、図形及び文字
等の入力には適さない。
[0003] There is a limit in miniaturizing a keyboard in terms of a human interface, and it is not practical as an input device of a portable terminal device. Although a mouse can be downsized as a pointing device, it is not suitable for inputting figures, characters, and the like.

【0004】このため、携帯端末装置の入力装置として
はタブレットとペンを用いたペン型の入力装置が多く採
用されている。このタブレットを用いたペン型の入力装
置をさらに小型化しようとした場合にはタブレットの大
きさが問題となる。そこで、例えば特開平6-67799号公
報に掲載されたペン型のコンピュータ入力装置、特開平
7-84716号公報に掲載されたデータ入力装置、特開平7
-200127号公報に掲載された手書き入力装置のようなタ
ブレットレスの入力装置が開発された。
For this reason, a pen-type input device using a tablet and a pen is often used as an input device of a portable terminal device. In order to further reduce the size of the pen-type input device using the tablet, the size of the tablet becomes a problem. Therefore, for example, a pen type computer input device disclosed in Japanese Patent Laid-Open No. 6-67799, a data input device disclosed in Japanese Patent Laid-Open No. 7-84716, and Japanese Patent Laid-Open No. 7-84716.
A tabletless input device, such as the handwriting input device disclosed in Japanese Patent Publication No. 200127, has been developed.

【0005】特開平6-67799号公報に掲載されたペン型
のコンピュータ入力装置は加速度センサで移動方向と移
動量を調べ、圧電振動ジャイロで加速度センサが検出し
た移動方向及び移動量のペン型のコンピュータ入力装置
のローテーションによる影響を補正している。さらに、
特開平7-84716号公報に掲載されたデータ入力装置は互
いに直角に配置された振動ジャイロからの極性及び振幅
を示す信号を基に装置の移動方向及び移動量を検出して
いる。さらに、特開平7-200127号公報に掲載された手
書き入力装置は2個の加速度センサからの信号を基に装
置の移動方向及び移動距離を求めている。
A pen-type computer input device disclosed in Japanese Patent Application Laid-Open No. 6-67799 checks the moving direction and the moving amount with an acceleration sensor, and detects the moving direction and the moving amount detected by the acceleration sensor with a piezoelectric vibrating gyroscope. It compensates for the effects of computer input device rotation. further,
The data input device disclosed in Japanese Patent Laid-Open No. 7-84716 detects the direction and amount of movement of the device based on signals indicating the polarity and amplitude from vibrating gyroscopes arranged at right angles to each other. Furthermore, the handwriting input device disclosed in Japanese Patent Application Laid-Open No. 7-200127 obtains the moving direction and the moving distance of the device based on signals from two acceleration sensors.

【0006】また、ペン型入力装置に関するものでな
く、例えばゲーム機に利用され、人体頭部の移動速度、
位置、姿勢等を検出するものであるが、特開平7-29424
0号公報に掲載された位置センサは、X軸方向,Y軸方
向及びZ軸方向の加速度を検出する加速度センサとX軸
周り,Y軸周り及びZ軸周りの角速度を検出するジャイ
ロを備え、これらが検出した加速度及び角速度基にスト
ラップダウン方式の演算を行って、頭部の移動速度、位
置、姿勢及び向きを検出している。
[0006] Further, the present invention is not related to a pen-type input device, but is used for, for example, a game machine, and has a moving speed of a human head,
Japanese Patent Application Laid-Open No. 7-29424 detects the position, posture, and the like.
The position sensor disclosed in Japanese Patent Publication No. 0 is provided with an acceleration sensor that detects acceleration in the X-axis direction, the Y-axis direction, and the Z-axis direction, and a gyro that detects angular velocities around the X-axis, Y-axis, and Z-axis. Based on the detected acceleration and angular velocity, a calculation of the strap-down method is performed to detect the moving speed, position, posture, and orientation of the head.

【0007】[0007]

【発明が解決しようとする課題】しかしながら、特開平
6-67799号公報に掲載されたペン型のコンピュータ入力
装置では、装置のローテーションによる影響を補正する
もので、装置がダイナミックな傾斜を伴う場合には補正
することができない。通常の筆記動作では装置のダイナ
ミックな傾斜を伴うので、検出結果が不正確になる場合
がある。
However, in the pen type computer input device disclosed in Japanese Patent Laid-Open No. 6-67799, the effect of rotation of the device is corrected, and when the device is accompanied by a dynamic tilt. Cannot be corrected. Since the normal writing operation involves a dynamic tilt of the device, the detection result may be inaccurate.

【0008】さらに、特開平7-84716号公報に掲載され
たデータ入力装置は手首の回転動作を検出して移動方向
及び移動距離を入力するものなので、図形等の入力には
適さない。
Further, the data input device disclosed in Japanese Patent Application Laid-Open No. 7-84716 is not suitable for inputting a figure or the like because it detects the rotational movement of the wrist and inputs the moving direction and the moving distance.

【0009】さらに、特開平7-200127号公報に掲載さ
れた手書き入力装置では、装置の傾斜に対する補正手段
がないため、検出結果が不正確になる場合がある。
Further, in the handwriting input device disclosed in Japanese Patent Laid-Open No. 7-200127, there is no correction means for the inclination of the device, so that the detection result may be inaccurate.

【0010】また、特開平7-294240号公報に掲載され
た位置センサは、頭部の移動速度、位置、姿勢及び向き
を空間的に検出するものなので、複雑な演算処理を採用
しているが、ペン型入力装置では装置の小型化が要求さ
れているため、簡単な演算処理で正確に筆記面上の移動
方向及び移動距離を検出しなければならない。
The position sensor described in Japanese Patent Application Laid-Open No. 7-294240 spatially detects the moving speed, position, posture, and orientation of the head, and thus employs a complicated calculation process. Since the pen-type input device is required to be miniaturized, the moving direction and the moving distance on the writing surface must be accurately detected by simple arithmetic processing.

【0011】この発明はかかる短所を解消するためにな
されたものであり、筆記入力を簡単な構成で正確に検出
する小型なペン型入力装置を得ることを目的とする。
The present invention has been made to solve the above disadvantages, and an object of the present invention is to obtain a small pen type input device for accurately detecting a handwriting input with a simple structure.

【0012】[0012]

【課題を解決するための手段】この発明に係るペン型入
力装置は、3個の加速度センサと3個のジャイロと演算
部を有し、3個の加速度センサはそれぞれペン軸をZs
軸としたペン軸座標系(Xs,Ys,Zs)のXs軸方
向,Ys軸方向及びZs軸方向の加速度を検出し、3個
のジャイロはそれぞれXs軸周り,Ys軸周り及びZs
軸周りの回転角速度を検出し、演算部は筆記検出部と初
期回転角演算部と回転角変化演算部と筆記中回転角演算
部と座標変換演算部と移動量演算部を備え、筆記検出部
はペン先部と筆記面とが接触しているか否かを検出して
筆記状態か否かを検出する。
A pen type input device according to the present invention has three acceleration sensors, three gyros, and a calculation section, and each of the three acceleration sensors has a pen axis of Zs.
The accelerations in the Xs-axis direction, the Ys-axis direction, and the Zs-axis direction of the pen-axis coordinate system (Xs, Ys, Zs) as the axes are detected, and the three gyros are respectively around the Xs-axis, around the Ys-axis, and Zs.
The rotation angle speed around the axis is detected, and the calculation unit includes a writing detection unit, an initial rotation angle calculation unit, a rotation angle change calculation unit, a writing rotation angle calculation unit, a coordinate conversion calculation unit, and a movement amount calculation unit. Detects whether or not the pen tip portion and the writing surface are in contact with each other to detect whether or not the writing state.

【0013】さらに、初期回転角演算部は筆記検出部が
無筆記状態を検出しているときの3個の加速度センサが
検出した加速度を基に重力加速度方向に伸びる軸をZg
軸にした重力座標系(Xg,Yg,Zg)におけるペン
先部が筆記面に接触するときのペン軸の回転角の初期値
を演算し、回転角変化演算部は筆記検出部が筆記状態を
検出しているときに3個のジャイロが検出した回転角速
度を基にペン軸の重力座標系(Xg,Yg,Zg)にお
ける回転角の変化を演算し、筆記中回転角演算部は初期
回転角演算部が演算した回転角の初期値と回転角変化演
算部が演算した回転角の変化を基に筆記中のペン軸の重
力座標系(Xg,Yg,Zg)における回転角を算出
し、座標変換演算部は筆記中回転角演算部が算出した筆
記中のペン軸の重力座標系(Xg,Yg,Zg)におけ
る回転角を基に加速度センサが検出したペン軸座標系
(Xs,Ys,Zs)による加速度を重力座標系(X
g,Yg,Zg)による加速度に変換し、移動量演算部
は座標変換演算部が変換した加速度を基にペン先部の移
動方向及び移動距離を算出する。
Further, the initial rotation angle calculation unit sets the axis extending in the gravitational acceleration direction to Zg based on the acceleration detected by the three acceleration sensors when the writing detection unit detects the unwritten state.
The axis of gravity coordinate system (Xg, Yg, Zg) calculates the initial value of the rotation angle of the pen axis when the pen tip comes into contact with the writing surface, and the rotation angle change calculation unit indicates the writing state by the writing detection unit. Based on the rotational angular velocities detected by the three gyros during detection, the change in rotational angle in the gravity coordinate system (Xg, Yg, Zg) of the pen axis is calculated, and the rotational angle calculator during writing calculates the initial rotational angle. The rotation angle in the gravity coordinate system (Xg, Yg, Zg) of the pen axis during writing is calculated based on the initial value of the rotation angle calculated by the calculation unit and the change of the rotation angle calculated by the calculation unit. The conversion calculation unit is a pen axis coordinate system (Xs, Ys, Zs) detected by the acceleration sensor based on the rotation angle in the gravity coordinate system (Xg, Yg, Zg) of the pen axis during writing calculated by the rotation angle calculation unit during writing. ) Acceleration in the gravity coordinate system (X
g, Yg, Zg), and the movement amount calculation unit calculates the movement direction and movement distance of the pen tip based on the acceleration converted by the coordinate conversion calculation unit.

【0014】また、筆記検出部は3個の加速度センサか
らの信号の高周波成分を基にペン先部と筆記面が接触し
ているか否かを検出する。
The writing detection unit detects whether or not the pen tip and the writing surface are in contact with each other based on the high frequency components of the signals from the three acceleration sensors.

【0015】また、筆記検出部はペン先部に対する筆記
面からの応力を検出する圧力センサを備え、圧力センサ
で筆記面からの応力を検出することによりペン先部と筆
記面が接触していることを検出する。
Further, the writing detection unit is provided with a pressure sensor for detecting the stress from the writing surface with respect to the pen tip portion, and the pen tip portion and the writing surface are in contact by detecting the stress from the writing surface with the pressure sensor. Detect that.

【0016】さらに、初期回転角演算部は筆記検出部が
無筆記状態を検出しているときに3個の加速度センサが
検出した加速度を基に重力座標系(Xg,Yg,Zg)
におけるペン軸の回転角を算出する処理を複数回行い、
その算出結果を平均してペン先部が筆記面に接触すると
きのペン軸の回転角の初期値を求めて、ペン軸の回転角
の初期値を正確に演算する。
Further, the initial rotation angle calculation unit is based on the acceleration detected by the three acceleration sensors while the writing detection unit is detecting the unwritten state, and is in the gravity coordinate system (Xg, Yg, Zg).
Perform the process to calculate the rotation angle of the pen axis in multiple times,
The calculation results are averaged to obtain the initial value of the rotation angle of the pen shaft when the pen tip contacts the writing surface, and the initial value of the rotation angle of the pen shaft is accurately calculated.

【0017】さらに、加速度変動量検出部と変動量比較
部と警告部を有し、加速度変動量検出部は3個の加速度
センサが検出した加速度の変動量を検出し、変動量比較
部は加速度変動量検出部が検出した加速度の変動量と予
め定めた閾値を比較し、警告部は加速度変動量検出部が
検出した加速度の変動量が予め定めた閾値を越えると変
動量比較部が判定した場合に警告を出力して、ユーザに
誤検出発生の可能性があることを通知する。
Further, it has an acceleration fluctuation amount detection unit, a fluctuation amount comparison unit, and a warning unit. The acceleration fluctuation amount detection unit detects the fluctuation amount of acceleration detected by the three acceleration sensors, and the fluctuation amount comparison unit detects acceleration. The fluctuation amount comparison unit compares the fluctuation amount of acceleration detected by the fluctuation amount detection unit with a predetermined threshold value, and the warning unit determines by the fluctuation amount comparison unit that the fluctuation amount of acceleration detected by the acceleration fluctuation amount detection unit exceeds a predetermined threshold value. In this case, a warning is output to notify the user that there is a possibility of false detection.

【0018】さらに、上記初期回転角演算部は変動量が
予め定めた閾値を越えていると変動量比較部が判定した
加速度以外の無筆記状態における3個の加速度センサが
検出した加速度を基に重力座標系(Xg,Yg,Zg)
におけるペン軸の回転角を算出する処理を複数回行い、
その算出結果を平均してペン先部が筆記面に接触すると
きのペン軸の回転角の初期値を求めて、異常値による検
出誤差の発生を防止する。
Further, the initial rotation angle calculation unit is based on the accelerations detected by the three acceleration sensors in the unwritten state other than the acceleration determined by the fluctuation amount comparison unit as the fluctuation amount exceeding the predetermined threshold value. Gravity coordinate system (Xg, Yg, Zg)
Perform the process to calculate the rotation angle of the pen axis in multiple times,
The calculation results are averaged to obtain the initial value of the rotation angle of the pen shaft when the pen tip comes into contact with the writing surface, and the occurrence of a detection error due to an abnormal value is prevented.

【0019】[0019]

【発明の実施の形態】この発明のペン型入力装置は、コ
ンピュータ装置等に文字、記号及び図形等を入力するも
のある。この発明のペン型入力装置は、無筆記状態での
ペン軸をZ軸としたペン軸座標系のX軸方向,Y軸方向
及びZ軸方向の加速度を検出し、検出した加速度から重
力加速度方向に伸びる軸をZ軸にした重力座標系におけ
るペン先部が筆記面に接触するときのペン軸の回転角の
初期値を求める。また、ペン型入力装置は筆記中におけ
るペン軸座標系のX軸周り,Y軸周り及びZ軸周りの回
転角速度を検出し、ペン軸の重力座標系における回転角
の変化を算出する。これにより、筆記時におけるペン軸
の重力座標系における回転角を求め、ペン軸座標系にお
ける加速度を重力座標系における加速度に変換し、移動
方向及び移動距離を正確に検出するものである。
BEST MODE FOR CARRYING OUT THE INVENTION The pen type input device of the present invention is for inputting characters, symbols, figures, etc. to a computer device or the like. The pen-type input device of the present invention detects accelerations in the X-axis direction, the Y-axis direction, and the Z-axis direction of a pen axis coordinate system with the pen axis in the unwritten state as the Z axis, and detects the gravitational acceleration direction from the detected acceleration. The initial value of the rotation angle of the pen axis when the pen tip portion contacts the writing surface in the gravity coordinate system with the axis extending to the Z axis as the Z axis is determined. Further, the pen-type input device detects the rotational angular velocities around the X axis, the Y axis, and the Z axis of the pen axis coordinate system during writing, and calculates the change in the rotational angle of the pen axis in the gravity coordinate system. Thereby, the rotation angle of the pen axis in the gravity coordinate system at the time of writing is obtained, the acceleration in the pen axis coordinate system is converted into the acceleration in the gravity coordinate system, and the moving direction and the moving distance are accurately detected.

【0020】ペン型入力装置は、例えば3個の加速度セ
ンサと3個のジャイロと演算部を有する。3個の加速度
センサはそれぞれペン軸座標系のX軸方向,Y軸方向及
びZ軸方向の加速度を検出する。3個のジャイロはそれ
ぞれペン軸座標系のX軸周り,Y軸周り及びZ軸周りの
回転角速度を検出する。演算部は筆記検出部と初期回転
角演算部と回転角変化演算部と筆記中回転角演算部と座
標変換演算部と移動量演算部を備える。筆記検出部は、
例えばハイパスフィルタとORゲートを備える。ハイパ
スフィルタは各加速度センサからの信号の高周波成分を
抽出する。ORゲートはハイパスフィルタを透過した各
速度センサからの信号の高周波成分の論理和をとり、各
速度センサが検出した加速度のいずれか一つ以上が高周
波数成分を含んでいる場合にペン先部と筆記面が接触し
ていることを検出する。これは、加速度センサからの信
号の高周波数成分はペン先部と筆記面との摩擦によるも
のあることを利用したものである。
The pen-type input device has, for example, three acceleration sensors, three gyros, and a calculation unit. The three acceleration sensors detect accelerations in the X-axis direction, the Y-axis direction, and the Z-axis direction of the pen axis coordinate system, respectively. The three gyros detect rotational angular velocities around the X axis, the Y axis, and the Z axis of the pen axis coordinate system, respectively. The calculation unit includes a writing detection unit, an initial rotation angle calculation unit, a rotation angle change calculation unit, a writing rotation angle calculation unit, a coordinate conversion calculation unit, and a movement amount calculation unit. The writing detector is
For example, a high pass filter and an OR gate are provided. The high pass filter extracts the high frequency component of the signal from each acceleration sensor. The OR gate takes the logical sum of the high frequency components of the signals from the respective speed sensors that have passed through the high-pass filter, and when the acceleration detected by each speed sensor contains one or more high frequency components, Detects that the writing surface is in contact. This utilizes the fact that the high frequency component of the signal from the acceleration sensor is due to the friction between the pen tip and the writing surface.

【0021】初期回転角演算部は筆記検出部が無筆記状
態であることを検出しているときの3個の加速度センサ
が検出したペン軸座標系の加速度を基に筆記開始時にお
けるペン軸の重力座標系における回転角の初期値を演算
する。回転角変化演算部は筆記状態で3個のジャイロが
検出した回転角速度を基にペン軸の重力座標系における
回転角の変化を演算する。筆記中回転角演算部は初期回
転角演算部が演算したペン軸の重力座標系における回転
角の初期値と回転角変化演算部が演算したペン軸の重力
座標系における回転角の変化を基に、筆記中のペン軸の
重力座標系における回転角を求める。座標変換演算部は
筆記中回転角演算部が検出した筆記中のペン軸の重力座
標系における回転角を基に加速度センサが検出したペン
軸座標系の加速度を重力座標系の加速度に変換する。移
動量演算部は座標変換演算部が変換した重力座標系の加
速度を基にペン先部の重力座標系での移動方向及び移動
距離を算出する。
The initial rotation angle calculation unit determines the pen axis at the start of writing based on the acceleration of the pen axis coordinate system detected by the three acceleration sensors when the writing detection unit detects that the writing state is in the non-writing state. The initial value of the rotation angle in the gravity coordinate system is calculated. The rotation angle change calculation unit calculates a change in the rotation angle of the pen axis in the gravity coordinate system based on the rotation angular velocities detected by the three gyros in the writing state. The rotation angle calculation unit during writing is based on the initial value of the rotation angle in the gravity coordinate system of the pen axis calculated by the initial rotation angle calculation unit and the change in the rotation angle of the pen axis in the gravity coordinate system calculated by the rotation angle change calculation unit. , Find the rotation angle of the pen axis during writing in the gravity coordinate system. The coordinate conversion calculation unit converts the acceleration of the pen axis coordinate system detected by the acceleration sensor into the acceleration of the gravity coordinate system based on the rotation angle of the writing pen axis in the gravity coordinate system detected by the writing rotation angle calculation unit. The movement amount calculation unit calculates a movement direction and a movement distance of the pen tip in the gravity coordinate system based on the acceleration of the gravity coordinate system converted by the coordinate conversion calculation unit.

【0022】また、筆記検出部は圧力センサでペン先部
に対する筆記面からの応力を検出し、筆記面からの応力
の有無を基にペン先部が筆記面と接触しているか否かを
検出するようにしても良い。
Further, the writing detection unit detects the stress from the writing surface to the pen tip portion by the pressure sensor, and detects whether or not the pen tip portion is in contact with the writing surface based on the presence or absence of the stress from the writing surface. It may be done.

【0023】さらに、上記初期回転角演算部は無筆記状
態で3個の加速度センサが検出した加速度を基に重力座
標系(Xg,Yg,Zg)におけるペン軸の回転角の算
出を複数回行い、その算出結果を平均して筆記開始時の
ペン軸の回転角の初期値を求めて、ペン軸の回転角の初
期値の演算精度を高めるようにしても良い。これによ
り、異常値が発生した場合にその影響を十分小さくでき
なる。
Further, the initial rotation angle calculation unit calculates the rotation angle of the pen shaft in the gravity coordinate system (Xg, Yg, Zg) a plurality of times based on the accelerations detected by the three acceleration sensors in the unwritten state. The calculation results may be averaged to obtain the initial value of the rotation angle of the pen shaft at the start of writing, and the calculation accuracy of the initial value of the rotation angle of the pen shaft may be increased. Thereby, when an abnormal value occurs, its influence can be sufficiently reduced.

【0024】さらに、上記演算部は加速度変動量検出部
と変動量比較部と警告部を有てもよい。加速度変動量検
出部は3個の加速度センサが検出した加速度の変動量を
検出する。変動量比較部は加速度変動量検出部が検出し
た加速度の変動量と予め定めた閾値を比較する。警告部
は加速度変動量検出部が検出した加速度の変動量が予め
定めた閾値を越えると変動量比較部が判定した場合に、
例えばホスト装置から警告を出力して、ユーザに誤検出
発生の可能性があることを通知するようにしても良い。
Further, the calculation unit may include an acceleration fluctuation amount detection unit, a fluctuation amount comparison unit, and a warning unit. The acceleration fluctuation amount detection unit detects a fluctuation amount of acceleration detected by the three acceleration sensors. The fluctuation amount comparison unit compares the fluctuation amount of acceleration detected by the acceleration fluctuation amount detection unit with a predetermined threshold value. The warning unit, when the fluctuation amount comparison unit determines that the fluctuation amount of acceleration detected by the acceleration fluctuation amount detection unit exceeds a predetermined threshold value,
For example, a warning may be output from the host device to notify the user of the possibility of false detection.

【0025】さらに、上記初期回転角演算部は加速度変
動量検出部が検出した加速度の変動量が予め定めた閾値
を越えていると変動量比較部が判定した場合に、その加
速度を除いた無筆記状態における3個の加速度センサが
検出した加速度を基に重力座標系(Xg,Yg,Zg)
におけるペン軸の回転角の算出を複数回行い、その算出
結果を平均して筆記開始時のペン軸の回転角の初期値を
求めるようにしても良い。これにより、異常値が発生し
た場合にその影響を十分小さくできる。
Further, when the fluctuation amount comparison unit determines that the fluctuation amount of the acceleration detected by the acceleration fluctuation amount detection unit exceeds a predetermined threshold value, the initial rotation angle calculation unit excludes the acceleration. Gravity coordinate system (Xg, Yg, Zg) based on the acceleration detected by the three acceleration sensors in the writing state
The rotation angle of the pen shaft may be calculated a plurality of times, and the calculation results may be averaged to obtain the initial value of the rotation angle of the pen shaft at the start of writing. Thereby, when an abnormal value occurs, its influence can be sufficiently reduced.

【0026】[0026]

【実施例】図1はこの発明の一実施例のペン型入力装置
の構成図である。図に示すように、ペン型入力装置1は
加速度センサ2a,2b,2c、ジャイロ3a,3b,
3c、演算部4、記憶部5、通信部6及び電源部7を有
する。加速度センサ2a,2b,2cは、それぞれペン
軸8をZs軸とした場合のZs軸と直交するXs軸方
向,Ys軸方向及びZs軸方向に向けて設けられ、ペン
先部9におけるXs軸方向,Ys軸方向及びZs軸方向
の加速度を検出する。加速度センサ2a,2b,2c
は、ピエゾ抵抗方式のもの以外に圧電方式のもの又は静
電容量方式のものでも良い。ジャイロ3a,3b,3c
はそれぞれXs軸周り,Ys軸周り及びZs軸周りの回
転角速度を検出する。以下の説明では、特に断わらない
限りペン軸8をZs軸とした座標系をペン軸座標系とい
い、ペン軸8と直交する2軸をXs軸及びYs軸として
説明する。また、重力加速度方向に伸びる軸をZg軸と
する座標系を重力座標系といい、Zg軸と直交する2軸
をXg軸及びYg軸という。さらに、Xs軸,Ys軸及
びZs軸とXg軸,Yg軸及びZg軸とが成す角度をそ
れぞれθ,φ及びΨとする。さらに、以下の説明におい
て、「入力中」とは文字及び図形などの一連の入力動作
中を示し、ペン先部と筆記面が当接している場合及びペ
ン先部と筆記面が離れている場合の両者を含む。これに
対して、「筆記中」とは上記入力中の状態のうちペン先
部と筆記面が当接している場合を示す。
FIG. 1 is a block diagram of a pen-type input device according to an embodiment of the present invention. As shown in the figure, the pen type input device 1 includes acceleration sensors 2a, 2b, 2c, gyros 3a, 3b,
3 c, a calculation unit 4, a storage unit 5, a communication unit 6 and a power supply unit 7. The acceleration sensors 2a, 2b, 2c are provided in the Xs-axis direction, the Ys-axis direction, and the Zs-axis direction orthogonal to the Zs-axis when the pen axis 8 is the Zs-axis. , Ys axis direction and Zs axis direction acceleration are detected. Acceleration sensors 2a, 2b, 2c
May be a piezoelectric type or a capacitive type other than the piezoresistive type. Gyro 3a, 3b, 3c
Detects rotational angular velocities around the Xs axis, the Ys axis, and the Zs axis, respectively. In the following description, unless otherwise specified, a coordinate system in which the pen axis 8 is the Zs axis is referred to as a pen axis coordinate system, and two axes orthogonal to the pen axis 8 are referred to as the Xs axis and the Ys axis. A coordinate system having an axis extending in the direction of gravity acceleration as the Zg axis is called a gravity coordinate system, and two axes orthogonal to the Zg axis are called an Xg axis and a Yg axis. Further, angles formed by the Xs axis, Ys axis, and Zs axis and the Xg axis, Yg axis, and Zg axis are set to θ, φ, and Ψ, respectively. Further, in the following description, “during input” indicates a series of input operations of characters and figures, when the pen tip portion and the writing surface are in contact, and when the pen tip portion and the writing surface are separated. Including both. On the other hand, “during writing” refers to a case where the pen tip portion and the writing surface are in contact with each other in the above-described inputting state.

【0027】演算部4は、図2に示すようにA/D変換
器41a〜41f、ローパスフィルタ42a〜42f、
筆記検出部43、初期回転角演算部44、回転角変化演
算部45、筆記中回転角演算部46、座標変換演算部4
7及び移動量演算部48を備える。A/D変換器41a
〜41fは、それぞれ加速度センサ2a,2b,2c及
びジャイロ3a,3b,3cからのアナログ信号をデジ
タル信号に変換する。ローパスフィルタ42a〜42f
はペン先部9と筆記面との摩擦力により生じる加速度セ
ンサ2a,2b,2c及びジャイロ3a,3b,3cか
らの信号の高周波成分を遮断する。
As shown in FIG. 2, the arithmetic unit 4 includes A / D converters 41a to 41f, low pass filters 42a to 42f,
Writing detection unit 43, initial rotation angle calculation unit 44, rotation angle change calculation unit 45, rotation angle calculation unit during writing 46, coordinate conversion calculation unit 4
7 and a movement amount calculation unit 48. A / D converter 41a
˜41f convert analog signals from the acceleration sensors 2a, 2b, 2c and the gyros 3a, 3b, 3c into digital signals, respectively. Low pass filters 42a to 42f
Cuts off the high frequency components of the signals from the acceleration sensors 2a, 2b, 2c and the gyros 3a, 3b, 3c, which are generated by the frictional force between the pen tip 9 and the writing surface.

【0028】筆記検出部43は、例えば図3に示すよう
にハイパスフィルタ431,432,433及びORゲ
ート434を備える。ハイパスフィルタ431,43
2,433は、例えば10Hzで加速度センサ2a,2b,
2cからの信号の摩擦力による高周波数成分を抽出す
る。ここで、加速度センサ2a,2b,2cからの信号
の高周波数成分はペン先部9と筆記面との摩擦によるも
ので、かつ、これは10Hz近傍を境としているからである
ので、この高周波成分を含む信号が筆記中であることを
示す信号である。ORゲート434はハイパスフィルタ
431,432,433を透過した各速度センサ2a,
2b,2cからの信号の高周波成分の論理和をとり、筆
記状態か否かを示す信号を出力する。ここで、ORゲー
ト434が各速度センサ2a,2b,2cからの信号の
高周波成分の論理和をとるので、加速度センサ2a,2
b,2cからの信号のうちいずれか1つ異常が高周波数
成分を含んでいる場合に筆記中を示すハイ信号を出力す
る。
The handwriting detector 43 includes high-pass filters 431, 432, 433 and an OR gate 434 as shown in FIG. High pass filters 431, 43
2,433 are acceleration sensors 2a, 2b,
The high frequency component due to the frictional force of the signal from 2c is extracted. Here, the high frequency components of the signals from the acceleration sensors 2a, 2b, 2c are due to the friction between the pen tip 9 and the writing surface, and this is because the boundary is in the vicinity of 10 Hz. Is a signal indicating that writing is in progress. The OR gate 434 transmits the high speed filters 431, 432, 433 to the speed sensors 2a,
The logical sum of the high frequency components of the signals from 2b and 2c is calculated, and a signal indicating whether or not the writing state is output is output. Here, since the OR gate 434 takes the logical sum of the high frequency components of the signals from the speed sensors 2a, 2b, 2c, the acceleration sensors 2a, 2
When any one of the signals from b and 2c contains a high frequency component, a high signal indicating that writing is in progress is output.

【0029】初期回転角演算部44は無筆記状態での3
個の加速度センサ2a,2b,2cが検出したペン軸座
標系での加速度を基に筆記開始時におけるペン軸9の重
力座標系おける回転角の初期値θ0,φ0及びΨ0を演算
する。回転角変化演算部45は筆記状態で3個のジャイ
ロ3a,3b,3cが検出した回転角速度を基にペン軸
9の重力座標系における回転角の変化Δθ,Δφ及びΔ
Ψを演算する。筆記中回転角演算部46は初期回転角演
算部44が演算したペン軸9の重力座標系における回転
角の初期値θ0,φ0及びΨ0と回転角変化演算部45が
演算したペン軸9の重力座標系における回転角の変化Δ
θ,Δφ及びΔΨを基に、筆記中のペン軸9の重力座標
系における回転角θ,φ及びΨを求める。座標変換演算
部47は筆記中回転角演算部46が検出した筆記中のペ
ン軸9の重力座標系における回転角θ,φ及びΨを基に
加速度センサ2a,2b,2cが検出したペン軸座標系
による加速度を重力座標系による加速度に変換する。移
動量演算部48は座標変換演算部47が変換した重力座
標系による加速度を基にペン先部9の移動方向及び移動
距離を算出し、記憶部5に記憶する。
The initial rotation angle calculation unit 44 is 3 in the unwritten state.
Based on the accelerations in the pen axis coordinate system detected by the individual acceleration sensors 2a, 2b, 2c, the initial values θ0, φ0 and Ψ0 of the rotation angle of the pen axis 9 in the gravity coordinate system at the start of writing are calculated. The rotation angle change calculation unit 45 changes the rotation angles Δθ, Δφ and Δ of the pen shaft 9 in the gravity coordinate system based on the rotation angular velocities detected by the three gyros 3a, 3b, 3c in the writing state.
Calculate Ψ. The in-writing rotation angle calculation unit 46 calculates the initial values θ0, φ0 and Ψ0 of the rotation angle in the gravity coordinate system of the pen shaft 9 calculated by the initial rotation angle calculation unit 44 and the gravity of the pen shaft 9 calculated by the rotation angle change calculation unit 45. Change in rotation angle in coordinate system Δ
Based on θ, Δφ and ΔΨ, the rotation angles θ, φ and Ψ of the pen shaft 9 in writing in the gravity coordinate system are obtained. The coordinate conversion calculation unit 47 detects the pen axis coordinates detected by the acceleration sensors 2a, 2b, 2c based on the rotation angles θ, φ and Ψ of the pen axis 9 during writing detected in the gravity coordinate system by the rotation angle calculation unit during writing. Convert the acceleration of the system to the acceleration of the gravity coordinate system. The movement amount calculation unit 48 calculates the movement direction and movement distance of the pen tip 9 based on the acceleration in the gravity coordinate system converted by the coordinate conversion calculation unit 47, and stores the movement direction and movement distance in the storage unit 5.

【0030】上記構成のペン型入力装置1の動作を、図
4のフローチャートを参照して説明する。
The operation of the pen-type input device 1 having the above structure will be described with reference to the flowchart of FIG.

【0031】加速度センサ2a,2b,2cはペン先部
9の移動に応じてそれぞれXs方向,Ys方向,Zs方
向の加速度を検出する。筆記検出部43はA/D変換器
41a〜41fを介して入力した加速度センサ2a,2
b,2cからの信号を、例えば10Hz近傍を境にして高周
波成分を抽出して、筆記中であるか否かを示す信号を出
力する。ここで、加速度センサ2a,2b,2cからの
信号のいずれか1以上に10Hzを境にした高周波成分が含
まれる場合は筆記中である。これは、加速度センサ2
a,2b,2cからの信号の高周波数成分はペン先部9
と筆記面との摩擦によるもので、かつ、これは10Hz近傍
を境としているからである。このように、ペン先部9と
筆記面との摩擦力により生じる高周波信号を検出して筆
記中か否かを判断するので、容易かつ正確に筆記中であ
るか否かを検出できる。
The acceleration sensors 2a, 2b and 2c detect accelerations in the Xs direction, the Ys direction and the Zs direction, respectively, according to the movement of the pen tip 9. The handwriting detection unit 43 receives the acceleration sensors 2a, 2 input via the A / D converters 41a to 41f.
From the signals from b and 2c, for example, a high frequency component is extracted at a boundary of around 10 Hz, and a signal indicating whether or not writing is in progress is output. Here, the case where any one or more of the signals from the acceleration sensors 2a, 2b, 2c include a high frequency component with a boundary of 10 Hz is being written. This is the acceleration sensor 2
The high frequency components of the signals from a, 2b and 2c are
This is due to friction between the writing surface and the writing surface, and this is because the boundary is in the vicinity of 10 Hz. In this way, since the high frequency signal generated by the frictional force between the pen tip 9 and the writing surface is detected to determine whether or not the writing is being performed, it is possible to easily and accurately detect whether or not the writing is being performed.

【0032】初期回転角演算部44は筆記検出部43が
無筆記中であることを検出しているときに、Xs軸に対
する加速度センサ2a、Ys軸に対する加速度センサ2
b及びZs軸に対する加速度センサ2cからの信号を入
力し、筆記開始時のペン軸8の重力座標系における回転
角の初期値θ0,φ0及びΨ0を算出する(ステップS
1)。
The initial rotation angle calculation unit 44 detects the fact that the writing detection unit 43 is not writing, and the acceleration sensor 2a for the Xs axis and the acceleration sensor 2 for the Ys axis.
Signals from the acceleration sensor 2c for the b and Zs axes are input, and initial values θ0, φ0 and Ψ0 of the rotation angle of the pen axis 8 in the gravity coordinate system at the start of writing are calculated (step S).
1).

【0033】ここで、回転角の算出について説明する。
重力座標系からペン軸座標系への変換は、次式により行
うことができる。
Here, the calculation of the rotation angle will be described.
The conversion from the gravity coordinate system to the pen axis coordinate system can be performed by the following equation.

【0034】[0034]

【数1】 [Equation 1]

【0035】この式をペン軸座標系から重力座標系への
変換式に変形すると、次に示すようになる。
If this equation is transformed into a transformation equation from the pen axis coordinate system to the gravity coordinate system, the following is obtained.

【0036】[0036]

【数2】 [Equation 2]

【0037】上記式を一次的な近似式で近似して加速度
ベクトルの変換式とする。なお、Axs,Ays及びAzsを
ペン軸座標系における加速度センサ2a,2b,2cが
検出した加速度ベクトルとし、Axg,Ayg,Azgを重力
座標系における加速度センサ2a,2b,2cが検出し
た加速度ベクトルとする。
The above equation is approximated by a linear approximation equation to obtain a conversion equation of the acceleration vector. In addition, Axs, Ays and Azs are acceleration vectors detected by the acceleration sensors 2a, 2b, 2c in the pen axis coordinate system, and Axg, Ayg, Azg are acceleration vectors detected by the acceleration sensors 2a, 2b, 2c in the gravity coordinate system. To do.

【0038】[0038]

【数3】 (Equation 3)

【0039】上記一時的な近似式に加速度ベクトルAx
s,Ays,Azs及び回転角θ,φ,Ψを代入すると筆記
面上での加速度ベクトルAxg,Ayg,Azgが求まる。
The acceleration vector Ax is added to the above temporary approximation formula.
By substituting s, Ays, Azs and rotation angles θ, φ, Ψ, acceleration vectors Axg, Ayg, Azg on the writing surface can be obtained.

【0040】一方、静止状態の加速度は次式で表わすこ
とができる。
On the other hand, the acceleration in the stationary state can be expressed by the following equation.

【0041】[0041]

【数4】 (Equation 4)

【0042】この静止状態の加速度を前記座標変換式に
代入すると、以下のように筆記開始時の静止状態のペン
軸8の重力座標系における回転角θ0,φ0を求めること
ができる。
By substituting the acceleration in the stationary state into the coordinate conversion formula, the rotation angles θ0 and φ0 in the gravity coordinate system of the pen shaft 8 in the stationary state at the start of writing can be obtained as follows.

【0043】[0043]

【数5】 (Equation 5)

【0044】ここで、回転角Ψ0はZs軸とZg軸のな
す角度であるので、ゼロにリセットすることで、Xg軸
をXs軸の傾斜方向にとることができる。また、ペン型
入力装置1の筆記面に対する置き方及びペン型入力装置
1の持ち方に応じて回転角Ψ0を任意に定めても良い。
Since the rotation angle Ψ0 is an angle formed by the Zs axis and the Zg axis, the Xg axis can be set in the tilting direction of the Xs axis by resetting to zero. Further, the rotation angle Ψ0 may be arbitrarily determined depending on how the pen type input device 1 is placed on the writing surface and how the pen type input device 1 is held.

【0045】また、静止状態の回転角θ0,φ0に対して
3本の方程式を立てることができるので、重力加速度g
についても未知数として取り扱うことができ、gの値を
定義しなくとも静止状態の回転角θ0,φ0の絶対値を算
出することができる。また、重力加速度gの値を算出
し、この算出した重力加速度gの値の変動により演算の
良否を判定し、例えば演算した値が大きく変化した場合
には警告を出すようにしても良い。
Since three equations can be established for the rotation angles θ0 and φ0 in the stationary state, the gravitational acceleration g
Can also be treated as an unknown value, and the absolute values of the rotation angles θ0 and φ0 in the stationary state can be calculated without defining the value of g. Alternatively, the value of the gravitational acceleration g may be calculated, and the quality of the calculation may be determined based on the change in the calculated value of the gravitational acceleration g. For example, when the calculated value changes significantly, a warning may be issued.

【0046】回転角演算部45は筆記検出部43が筆記
中であることを検出していると(ステップS2)、3個
のジャイロ3a,3b,3cが検出した回転角速度を基
にペン軸8の重力座標系における回転角の変化Δθ,Δ
φ及びΔΨを演算する(ステップS3)。ペン座標の各
軸Xs,Ys,Zsの回転角速度をP,Q,Rとする
と、回転角速度P,Q,Rと回転角変化ΔΨ,Δθ,Δ
φの関係は次の式で求めることができる。
When the handwriting detecting unit 43 detects that the handwriting detecting unit 43 is writing (step S2), the rotation angle calculating unit 45 determines the pen shaft 8 based on the rotation angular velocity detected by the three gyros 3a, 3b, 3c. Of the rotation angle in the gravitational coordinate system of
φ and ΔΨ are calculated (step S3). When the rotational angular velocities of the axes of the pen coordinates Xs, Ys, Zs are P, Q, R, the rotational angular velocities P, Q, R and the rotational angle changes ΔΨ, Δθ, Δ.
The relation of φ can be obtained by the following formula.

【0047】[0047]

【数6】 (Equation 6)

【0048】筆記中回転角演算部46は、上記のように
初期回転角演算部44が演算したペン軸8の回転角の初
期値θ0,φ0,Ψ0と回転角変化演算部45が演算した
ペン軸8の回転角の変化Δθ,Δφ,ΔΨを基に、筆記
中のペン軸の回転角θ,φ,Ψを求める(ステップS
4)。座標変換演算部47は筆記中回転角演算部46が
検出した筆記中の回転角を基に加速度センサ2a,2
b,2cが検出したペン軸座標系の加速度Axs,Ays,
Azsを重力座標系による加速度Axg,Ayg,Azgに変換
する(ステップS5)。なお、ペン軸座標系の加速度A
xs,Ays,Azsを重力座標系による加速度Axg,Ayg,
Azgに変換するには既に説明した変換式を用いる。移動
量演算部48は座標変換演算部47が変換したペン先部
9の加速度を基にペン先部9の移動方向及び移動距離を
算出し(ステップS6)、記憶部5に記憶する(ステッ
プS7)。ペン型入力装置1は上記動作(ステップS3
〜S7)を入力終了信号を検出するまで繰り返し、図形
等を入力する(ステップS8)。このように、ペン型入
力装置1の重力座標系における回転角による影響を補正
することにより、正確に図形等を入力することができ
る。ここで、入力終了信号は加速度の変動を基に発生す
るようにしても良いし、イネーブルスイッチ等からの信
号を用いるようにしても良い。
The in-writing rotation angle calculation unit 46 calculates the initial values θ0, φ0, Ψ0 of the rotation angle of the pen shaft 8 calculated by the initial rotation angle calculation unit 44 and the pen calculated by the rotation angle change calculation unit 45 as described above. Based on the changes Δθ, Δφ, ΔΨ of the rotation angle of the shaft 8, the rotation angles θ, φ, Ψ of the pen shaft during writing are obtained (step S
4). The coordinate conversion calculation unit 47 calculates the acceleration sensors 2a, 2a based on the rotation angle during writing detected by the rotation angle calculation unit during writing.
accelerations Axs, Ays of the pen axis coordinate system detected by b and 2c,
Azs is converted into accelerations Axg, Ayg, Azg based on the gravity coordinate system (step S5). The acceleration A in the pen axis coordinate system
xs, Ays, Azs are accelerations in the gravitational coordinate system Axg, Ayg,
To convert to Azg, the conversion formula already described is used. The movement amount calculation unit 48 calculates the movement direction and movement distance of the pen tip unit 9 based on the acceleration of the pen tip unit 9 converted by the coordinate conversion calculation unit 47 (step S6), and stores it in the storage unit 5 (step S7). ). The pen-type input device 1 operates as described above (step S3).
Up to S7) are repeated until the input end signal is detected, and a figure or the like is input (step S8). As described above, by correcting the influence of the rotation angle of the pen-type input device 1 in the gravity coordinate system, it is possible to accurately input a figure or the like. Here, the input end signal may be generated based on a change in acceleration, or a signal from an enable switch or the like may be used.

【0049】次に、実際に丸印を筆記した場合を考える
と、例えばXs軸方向の加速度Axsは、図5に示したよ
うになる。ここで、図中点線で囲んだ部分が初期の停止
している状態の加速度を示す。この点線で囲んだ部分を
拡大すると、例えば図6に示すようになる。図6に示す
ように、ペン先部9を移動していない状態においても、
実際には加速度の変動がある。この変動は、例えばペン
型入力装置1を握る手の振動等に起因する。したがっ
て、任意の一点で初期回転角を求めると、この手の振動
等の影響を含んだままの状態で、初期回転角を計算する
ことになる場合がある。そこで、例えば図7に示すよう
に構成し、初期回転角演算部44aは無筆記状態で3個
の加速度センサ2a,2b,2cが検出した加速度を基
に重力座標系(Xg,Yg,Zg)におけるペン軸8の
回転角の算出を複数回行い、その算出結果を平均して筆
記開始時のペン軸8の回転角の初期値を求めるようにし
ても良い。初期回転角演算部44aは、例えば図8に示
すようにサンプル回転角算出部441、サンプリング回
数計数部442及び平均値演算部443を備える。サン
プル回転角算出部441は筆記検出部43が筆記中を示
す信号を入力していないときに、Xs軸に対する加速度
センサ2a、Ys軸に対する加速度センサ2b及びZs
軸に対する加速度センサ2cからの信号を入力し、無筆
記状態でのペン軸8の重力座標系における回転角θn,
φn及びΨnを算出し、記憶部5に記憶する。サンプリン
グ回数計数部442はサンプル回転角算出部441が回
転角θn,φn及びΨnを算出した回数を計数する。平均
値演算部443はサンプリング回数計数部442の計数
値が、例えば3回以上になると、サンプル回転角算出部
441が算出し記憶部5に記憶した回転角θn,φn及び
Ψnを読み出し、その平均を計算して筆記開始時のペン
軸の回転角の初期値を算出する。
Next, considering the case where a circle is actually written, for example, the acceleration Axs in the Xs axis direction is as shown in FIG. Here, the portion surrounded by the dotted line in the figure shows the acceleration in the initial stopped state. If the portion surrounded by the dotted line is enlarged, for example, it becomes as shown in FIG. As shown in FIG. 6, even when the pen tip 9 is not moved,
In reality, there is a change in acceleration. This variation is due to, for example, vibration of a hand holding the pen-type input device 1. Therefore, if the initial rotation angle is obtained at any one point, the initial rotation angle may be calculated in a state where the influence of the vibration of the hand is included. Therefore, for example, as shown in FIG. 7, the initial rotation angle calculation unit 44a uses the gravity coordinate system (Xg, Yg, Zg) based on the accelerations detected by the three acceleration sensors 2a, 2b, 2c in the unwritten state. The rotation angle of the pen shaft 8 may be calculated a plurality of times, and the calculation results may be averaged to obtain the initial value of the rotation angle of the pen shaft 8 at the start of writing. The initial rotation angle calculation unit 44a includes a sample rotation angle calculation unit 441, a sampling number counting unit 442, and an average value calculation unit 443, as shown in FIG. The sample rotation angle calculation unit 441, when the writing detection unit 43 does not input a signal indicating that writing is in progress, the acceleration sensor 2a for the Xs axis, the acceleration sensor 2b for the Ys axis, and the Zs.
By inputting a signal from the acceleration sensor 2c to the axis, the rotation angle θn of the pen axis 8 in the gravity coordinate system in the unwritten state,
φn and Ψn are calculated and stored in the storage unit 5. The sampling number counting unit 442 counts the number of times the sample rotation angle calculation unit 441 calculates the rotation angles θn, φn, and Ψn. When the count value of the sampling number counting unit 442 reaches, for example, three times or more, the average value calculating unit 443 reads the rotation angles θn, φn, and Ψn calculated by the sample rotation angle calculating unit 441 and stored in the storage unit 5, and averages them. Is calculated to calculate the initial value of the rotation angle of the pen shaft at the start of writing.

【0050】上記構成のペン型入力装置1aの動作につ
いて、図9のフローチャートを参照して説明する。
The operation of the pen type input device 1a having the above structure will be described with reference to the flowchart of FIG.

【0051】初期回転角演算部44aは筆記検出部43
が無筆記状態を検出しているときの、Xs軸に対する加
速度センサ2a、Ys軸に対する加速度センサ2b及び
Zs軸に対する加速度センサ2cからの信号を入力し、
無筆記状態でのぴっ機械指示のペン軸8の重力座標系に
おける回転角θa,φa及びΨaを算出し、記憶部5に記
憶する(ステップS11)。初期回転角演算部44aは
このサンプリング処理を、例えば3回以上繰り返し回転
角θa〜θn,φa〜φn及びΨa〜Ψnを求めた後(ステッ
プS12)、求めた回転角θa〜θn,φa〜φn及びΨa
〜Ψnの平均値を計算して、ペン軸8の回転角の初期値
θ0,φ0,Ψ0を求める(ステップS13)。このよう
に、平均値を用いてペン軸8の回転角の初期値θ0,φ
0,Ψ0を求めるので、例えば複数のサンプリング値のう
ちの一つのサンプリング値が手の振動等の影響を受けて
いる場合であっても、その影響分を平均して小さくする
ことができる。
The initial rotation angle calculation unit 44a is a writing detection unit 43.
When the unwritten state is detected, the signals from the acceleration sensor 2a for the Xs axis, the acceleration sensor 2b for the Ys axis, and the acceleration sensor 2c for the Zs axis are input.
The rotation angles θa, φa, and Ψa in the gravity coordinate system of the pen shaft 8 instructed by the machine in the unwritten state are calculated and stored in the storage unit 5 (step S11). The initial rotation angle calculation unit 44a repeats this sampling process, for example, three times or more to obtain the rotation angles θa to θn, φa to φn and Ψa to Ψn (step S12), and then obtains the obtained rotation angles θa to θn and φa to φn. And Ψa
~ The average value of Ψn is calculated to obtain initial values θ0, φ0, Ψ0 of the rotation angle of the pen shaft 8 (step S13). Thus, using the average value, the initial values of the rotation angle of the pen shaft 8 θ 0, φ
Since 0 and Ψ0 are obtained, even if one sampling value among the plurality of sampling values is affected by hand vibration or the like, the effect can be reduced on average.

【0052】回転角演算部45は筆記検出部43が筆記
状態であることを検出していると(ステップS14)、
3個のジャイロ3a,3b,3cが検出した回転角速度
を基にペン軸8の重力座標系における回転角の変化Δ
θ,Δφ及びΔΨを演算する(ステップS15)。筆記
中回転角演算部46は、初期回転角演算部44aが演算
したペン軸8の回転角の初期値θ0,φ0,Ψ0と回転角
変化演算部45が演算したペン軸8の回転角の変化Δ
θ,Δφ,ΔΨを基に、筆記中のペン軸の回転角θ,
φ,Ψを求める(ステップS16)。座標変換演算部4
7は筆記中回転角演算部46が検出した筆記中の回転角
を基に加速度センサ2a,2b,2cが検出したペン軸
座標系の加速度Axs,Ays,Azsを重力座標系による加
速度Axg,Ayg,Azgに変換する(ステップS17)。
移動量演算部48は座標変換演算部47が変換したペン
先部9の加速度を基にペン先部9の移動方向及び移動距
離を算出し(ステップS18)、記憶部5に記憶する
(ステップS19)。ペン型入力装置1は上記動作(ス
テップS15〜S19)を入力終了信号を検出するまで
繰り返し、図形等を入力する(ステップS20)。この
ように、ペン軸8の回転角の初期値θ0,φ0,Ψ0を正
確に算出するので、さらに正確に図形等を入力すること
ができる。
If the rotation angle calculator 45 detects that the writing detector 43 is in the writing state (step S14),
Change in rotation angle Δ of the pen shaft 8 in the gravity coordinate system based on the rotation angular velocities detected by the three gyros 3a, 3b, 3c
θ, Δφ and ΔΨ are calculated (step S15). The in-writing rotation angle calculation unit 46 changes the initial value θ0, φ0, Ψ0 of the rotation angle of the pen shaft 8 calculated by the initial rotation angle calculation unit 44a and the change of the rotation angle of the pen shaft 8 calculated by the rotation angle change calculation unit 45. Δ
Based on θ, Δφ, ΔΨ, the rotation angle θ,
φ and Ψ are obtained (step S16). Coordinate conversion calculation unit 4
Reference numeral 7 indicates accelerations Axs, Ays, Azs of the pen axis coordinate system detected by the acceleration sensors 2a, 2b, 2c based on the rotation angle during writing detected by the rotation angle calculation unit during writing Axg, Ayg according to the gravity coordinate system. , Azg (step S17).
The movement amount calculation unit 48 calculates the movement direction and movement distance of the pen tip unit 9 based on the acceleration of the pen tip unit 9 converted by the coordinate conversion calculation unit 47 (step S18), and stores it in the storage unit 5 (step S19). ). The pen-type input device 1 repeats the above operation (steps S15 to S19) until the input end signal is detected, and inputs a figure or the like (step S20). In this way, since the initial values θ0, φ0, Ψ0 of the rotation angle of the pen shaft 8 are accurately calculated, the figure or the like can be input more accurately.

【0053】さらに、加速度センサ2a,2b,2cが
検出した加速度の変動量が予め定めた閾値を越えた場合
にその加速度をサンプリング対象の加速度から除外した
り、警告を発したりしても良い。この場合の構成例を、
図10に示す。加速度変動量検出部49はXs軸方向の
加速度Axs、Ys軸方向の加速度Ays及びZs軸方向の
加速度Azsの変動量(ΔAxs)/(Δt)、(ΔAys)
/(Δt)及び(ΔAzs)/(Δt)を検出する。ここ
で、tは時間を示す。変動量比較部50は、例えば図1
1に示すように閾値記憶部501、Xs軸コンパレー
タ、Ys軸コンパレータ、Zs軸コンパレータ及びOR
ゲートを有する。閾値記憶部501は予め定めた閾値を
記憶する。Xs軸コンパレータ、Ys軸コンパレータ及
びZs軸コンパレータはそれぞれ加速度変動量検出部4
9が検出した各加速度Axs,Ays,Azsの変動量と閾値
記憶部501に記憶した閾値とを比較する。ORゲート
505は、加速度Axs,Ays,Azsのいずれか一つ以上
の変動量が予め定めた閾値より大きい場合に警告部51
を介して警告を出力するようにしても良い。例えば、図
12の点線で示すように閾値を+1.5(m/sec3)及び−1.5
(m/sec3)に設け、加速度Aの変動量(ΔA)/(Δt)
が+1.5(m/sec3)以上の場合及び−1.5(m/sec3)以下の場
合に警告部51を介して警告を出力する。これにより、
ユーザは入力エラーが発生したことを知ることができ
る。ここで、上記閾値は記憶部5に記憶したりホスト装
置内に記憶したりしても良い。また、警告部51の警告
出力は通信部7を介してホスト装置に送信してホスト装
置にエラー表示をしたり、ペン型入力装置1c上にラン
プを設け、ランプを点灯することによりエラー表示をし
たり、ブザーを鳴らしたりしてエラー発生を通知したり
して行う。
Further, when the fluctuation amount of the acceleration detected by the acceleration sensors 2a, 2b, 2c exceeds a predetermined threshold value, the acceleration may be excluded from the acceleration to be sampled or a warning may be issued. In this case,
As shown in FIG. The acceleration fluctuation amount detection unit 49 controls the fluctuation amounts (ΔAxs) / (Δt), (ΔAys) of the acceleration Axs in the Xs axis direction, the acceleration Ays in the Ys axis direction, and the acceleration Azs in the Zs axis direction.
/ (Δt) and (ΔAzs) / (Δt) are detected. Here, t indicates time. The fluctuation amount comparing unit 50 is, for example, as shown in FIG.
1, the threshold storage unit 501, the Xs axis comparator, the Ys axis comparator, the Zs axis comparator, and the OR.
Has a gate. The threshold storage unit 501 stores a predetermined threshold. The Xs-axis comparator, the Ys-axis comparator, and the Zs-axis comparator are respectively the acceleration fluctuation amount detection unit 4
The variation amount of each acceleration Axs, Ays, Azs detected by 9 and the threshold value stored in the threshold value storage unit 501 are compared. The OR gate 505 is provided when the variation amount of any one or more of the accelerations Axs, Ays, and Azs is larger than a predetermined threshold value.
You may make it output a warning via. For example, as shown by the dotted line in FIG. 12, the threshold values are +1.5 (m / sec 3 ) and −1.5.
Provided at (m / sec 3 ), the fluctuation amount of acceleration A (ΔA) / (Δt)
Is +1.5 (m / sec 3 ) or more and -1.5 (m / sec 3 ) or less, a warning is output via the warning unit 51. This allows
The user can know that an input error has occurred. Here, the threshold value may be stored in the storage unit 5 or in the host device. The warning output of the warning unit 51 is transmitted to the host device via the communication unit 7 to display an error on the host device, or a lamp is provided on the pen-type input device 1c to turn on the lamp to display the error display. Or sound the buzzer to notify the occurrence of an error.

【0054】さらに、変動量比較部50は加速度Axs,
Ays,Azsの変動量が大きい場合にはその変動量の大き
い加速度を移動量演算の対象データから除外して入力処
理を継続するようにしても良い。変動量比較部50は、
例えば加速度Aの変動量(ΔA)/(Δt)が+1.5(m/
sec3)以上の場合及び−1.5(m/sec3)以下の場合に、その
旨を初期回転角演算部44bに通知する。初期回転角演
算部44bは変動量比較部50から加速度変動が大きす
ぎる旨の通知を受けている間は加速度センサ2a,2
b,2cが検出した加速度を読み捨て、異常入力が発生
した際の加速度を初期回転角演算の対象データから除外
する。これにより、ペン先部9の移動方向及び移動距離
をさらに正確に算出することができる。
Further, the fluctuation amount comparing unit 50 calculates the acceleration Axs,
When the variation amount of Ays, Azs is large, the acceleration having the large variation amount may be excluded from the target data of the movement amount calculation and the input process may be continued. The fluctuation amount comparison unit 50
For example, the fluctuation amount (ΔA) / (Δt) of the acceleration A is +1.5 (m /
In the case of sec 3 ) or more and in the case of −1.5 (m / sec 3 ) or less, the fact is notified to the initial rotation angle calculation unit 44b. While the initial rotation angle calculation unit 44b receives the notification that the acceleration fluctuation is too large from the fluctuation amount comparison unit 50, the acceleration sensor 2a, 2
The accelerations detected by b and 2c are discarded and the acceleration when an abnormal input occurs is excluded from the target data for the initial rotation angle calculation. Thereby, the moving direction and the moving distance of the pen tip 9 can be calculated more accurately.

【0055】なお、上記実施例では筆記検出部43は加
速度センサ2a,2b,2cが検出した加速度Axs,A
ys,Azsを基にして筆記中か否かの検出を行ったが、図
13に示すように筆記面10からペン先部9に加わる圧
力を検出する圧力センサ11を設けたり、イネーブルス
イッチ等からの筆記状態か否かを示す信号を入力したり
しても良い。
In the above embodiment, the handwriting detector 43 uses the accelerations Axs, A detected by the acceleration sensors 2a, 2b, 2c.
Whether or not the writing is being performed is detected based on ys and Azs. As shown in FIG. 13, a pressure sensor 11 for detecting the pressure applied from the writing surface 10 to the pen tip 9 is provided, or an enable switch or the like is used. Alternatively, a signal indicating whether or not the writing state may be input.

【0056】また、上記実施例では変動量比較部50か
ら加速度変動が大きすぎる旨の通知を受けている間は加
速度センサ2a,2b,2cが検出した加速度を読み捨
てるようにしたが、ローパスフィルタ42a〜42cか
らの加速度を加速度異常値除去部を介して初期回転角演
算部44aに入力し、加速度異常値除去部は変動量が閾
値で定めた範囲内の加速度を透過して初期回転角演算部
44aに対して出力するようにしても良い。
In the above embodiment, the acceleration detected by the acceleration sensors 2a, 2b, 2c is discarded while the notification of the excessive acceleration variation is received from the variation comparing unit 50. The accelerations from 42a to 42c are input to the initial rotation angle calculation unit 44a via the abnormal acceleration value removal unit, and the abnormal acceleration value removal unit transmits the acceleration within the range defined by the threshold value to calculate the initial rotation angle. You may make it output to the part 44a.

【0057】また、上記実施例では変動量比較部50か
ら加速度変動が大きすぎる旨の通知を受けている間は加
速度センサ2a,2b,2cが検出した加速度を読み捨
てるようにしたが、初期回転角演算部44bが演算して
記憶部5に記憶した静止中の回転角のサンプリングデー
タを消去するようにしても良い。
In the above embodiment, the acceleration detected by the acceleration sensors 2a, 2b, 2c is discarded while the notification of the excessive acceleration variation is received from the variation comparison unit 50. It is also possible to delete the sampling data of the rotation angle in the stationary state which is calculated by the angle calculation unit 44b and stored in the storage unit 5.

【0058】さらに、初期回転角演算部44が初期回転
角を演算している時間を表示するLED等の素子を用い
ても良い。
Further, an element such as an LED for displaying the time during which the initial rotation angle calculation unit 44 calculates the initial rotation angle may be used.

【0059】[0059]

【発明の効果】この発明は以上説明したように、無筆記
状態を示す信号を入力しているときにペン軸座標系にお
ける加速度を基に重力座標系における筆記開始時のペン
軸の回転角の初期値を演算するので、ペン軸の回転角の
初期値を正確に求めることができるとともに、操作を簡
単にできる。
As described above, according to the present invention, the rotation angle of the pen axis at the start of writing in the gravity coordinate system is determined based on the acceleration in the pen axis coordinate system when the signal indicating the unwritten state is input. Since the initial value is calculated, the initial value of the rotation angle of the pen shaft can be accurately obtained and the operation can be simplified.

【0060】さらに、筆記状態を示す信号を入力してい
るときにペン軸の回転角速度を基にペン軸の重力座標系
における回転角の変化を演算し、回転角の初期値と回転
角の変化を基に筆記中のペン軸の重力座標系における回
転角を算出し、算出した筆記中のペン軸の重力座標系に
おける回転角を基にペン先部のペン軸座標系による加速
度を重力座標系による加速度に変換し、変換した加速度
を基にペン先部の移動方向及び移動距離を算出するの
で、小型の装置で正確に図形等を入力することができ
る。
Furthermore, when the signal indicating the writing state is input, the change in the rotation angle of the pen axis in the gravity coordinate system is calculated based on the rotation angular velocity of the pen axis, and the initial value of the rotation angle and the change in the rotation angle are calculated. Calculate the rotation angle of the pen axis in the gravity coordinate system during writing based on the calculated rotation angle of the pen axis in the gravity coordinate system during writing. By converting the acceleration into the acceleration, and calculating the moving direction and the moving distance of the pen tip based on the converted acceleration, it is possible to accurately input a figure or the like with a small device.

【0061】また、3個の加速度センサからの信号の高
周波成分を基にペン先部と筆記面とが接触したか否かを
判断するので、正確に筆記開始を判断することができ
る。
Further, since it is determined whether or not the pen tip portion and the writing surface are in contact with each other based on the high frequency components of the signals from the three acceleration sensors, it is possible to accurately determine the start of writing.

【0062】また、ペン先部に対する筆記面からの応力
を検出し、ペン先部と筆記面とが接触したか否かを判断
するので、さらに正確に筆記開始を判断することができ
る。
Further, since the stress from the writing surface to the pen tip portion is detected and it is determined whether or not the pen tip portion and the writing surface are in contact with each other, it is possible to more accurately determine the start of writing.

【0063】さらに、無筆記状態におけるペン先部のペ
ン軸座標系における加速度を基に重力座標系におけるペ
ン軸の回転角を算出する処理を複数回行い、その算出結
果を平均してペン軸の回転角の初期値を求めるので、ペ
ン軸の回転角の初期値をさらに正確に演算することがで
きる。
Further, a process of calculating the rotation angle of the pen axis in the gravity coordinate system based on the acceleration in the pen axis coordinate system of the pen tip in the unwritten state is performed a plurality of times, and the calculation results are averaged to calculate the pen axis. Since the initial value of the rotation angle is obtained, the initial value of the rotation angle of the pen shaft can be calculated more accurately.

【0064】さらに、ペン先部のペン軸座標系における
加速度の変動量を検出し、検出した加速度の変動量と予
め定めた閾値を比較し、検出した加速度の変動量が予め
定めた閾値を越えると変動量比較部が判定した場合に警
告を出力するので、ユーザに誤検出発生の可能性がある
ことを通知することができる。
Further, the amount of change in acceleration in the pen axis coordinate system of the pen tip portion is detected, the detected amount of change in acceleration is compared with a predetermined threshold value, and the detected amount of change in acceleration exceeds a predetermined threshold value. When the variation amount comparison unit determines that the warning is output, the user can be notified that there is a possibility of erroneous detection.

【0065】さらに、ペン先部のペン軸座標系における
加速度の変動量が予め定めた閾値を越えている場合にそ
の変動量が大きい加速度を除いてペン軸の回転角の初期
値を求めるので、入力異常が発生した場合においても正
確にペン先部の移動方向及び移動距離を算出することが
できる。
Furthermore, when the variation amount of acceleration in the pen axis coordinate system of the pen tip exceeds a predetermined threshold value, the initial value of the rotation angle of the pen axis is obtained by excluding the acceleration with a large variation amount. Even when an input abnormality occurs, the moving direction and moving distance of the pen tip portion can be accurately calculated.

【図面の簡単な説明】[Brief description of drawings]

【図1】この発明の実施例を示す構成図である。FIG. 1 is a configuration diagram showing an embodiment of the present invention.

【図2】演算部の構成図である。FIG. 2 is a configuration diagram of a calculation unit.

【図3】筆記検出部の構成図である。FIG. 3 is a configuration diagram of a writing detection unit.

【図4】ペン型入力装置の動作を示すフローチャートで
ある。
FIG. 4 is a flowchart showing an operation of the pen type input device.

【図5】丸印を描いた場合の加速度信号の波形図であ
る。
FIG. 5 is a waveform diagram of an acceleration signal when a circle is drawn.

【図6】静止状態の加速度信号の波形図である。FIG. 6 is a waveform diagram of an acceleration signal in a stationary state.

【図7】平均値を用いて初期回転角を演算する演算部の
構成図である。
FIG. 7 is a configuration diagram of a calculation unit that calculates an initial rotation angle using an average value.

【図8】平均値を用いて初期回転角を演算する初期回転
角演算部の構成図である。
FIG. 8 is a configuration diagram of an initial rotation angle calculation unit that calculates an initial rotation angle using an average value.

【図9】平均値を用いて初期回転角を演算する動作を示
すフローチャートである。
FIG. 9 is a flowchart showing an operation of calculating an initial rotation angle using an average value.

【図10】警告部を有する演算部の構成図である。FIG. 10 is a configuration diagram of a calculation unit having a warning unit.

【図11】変動量比較部の構成図である。FIG. 11 is a configuration diagram of a variation amount comparison unit.

【図12】加速度の変動量と閾値との関係を表わす波形
図である。
FIG. 12 is a waveform diagram showing a relationship between a variation amount of acceleration and a threshold value.

【図13】圧力センサを有するペン型入力装置の構成図
である。
FIG. 13 is a configuration diagram of a pen-type input device having a pressure sensor.

【符号の説明】[Explanation of symbols]

1 ペン型入力装置 2 加速度センサ 3 ジャイロ 4 演算部 43 筆記検出部 431 ハイパスフィルタ 432 ハイパスフィルタ 433 ハイパスフィルタ 434 ORゲート 44 初期回転角演算部 45 回転角変化演算部 46 筆記中回転角演算部 47 座標変換演算部 48 移動量演算部 5 記憶部 6 通信部 8 ペン軸 9 ペン先部 11 圧力センサ 1 Pen Type Input Device 2 Accelerometer 3 Gyro 4 Calculation Unit 43 Writing Detection Unit 431 High Pass Filter 432 High Pass Filter 433 High Pass Filter 434 OR Gate 44 Initial Rotation Angle Calculation Unit 45 Rotation Angle Change Calculation Unit 46 Rotation Angle Calculation Unit 47 Writing Coordinates Conversion calculation unit 48 Movement amount calculation unit 5 Storage unit 6 Communication unit 8 Pen shaft 9 Pen tip 11 Pressure sensor

Claims (6)

【特許請求の範囲】[Claims] 【請求項1】 3個の加速度センサと3個のジャイロと
演算部を有し、3個の加速度センサはそれぞれペン軸を
Zs軸としたペン軸座標系(Xs,Ys,Zs)のXs
軸方向,Ys軸方向及びZs軸方向の加速度を検出し、
3個のジャイロはそれぞれXs軸周り,Ys軸周り及び
Zs軸周りの回転角速度を検出し、演算部は筆記検出部
と初期回転角演算部と回転角変化演算部と筆記中回転角
演算部と座標変換演算部と移動量演算部を備え、筆記検
出部はペン先部と筆記面が接触しているか否かを検出し
て筆記状態か否かを検出し、初期回転角演算部は筆記検
出部が無筆記状態であることを検出しているときの3個
の加速度センサが検出した加速度を基に重力加速度方向
に伸びる軸をZg軸にした重力座標系(Xg,Yg,Z
g)におけるペン先部が筆記面に接触するときのペン軸
の回転角の初期値を演算し、回転角変化演算部は筆記検
出部が筆記状態であることを検出しているときに3個の
ジャイロが検出した回転角速度を基にペン軸の重力座標
系(Xg,Yg,Zg)における回転角の変化を演算
し、筆記中回転角演算部は初期回転角演算部が演算した
回転角の初期値と回転角変化演算部が演算した回転角の
変化を基に筆記中のペン軸の重力座標系(Xg,Yg,
Zg)における回転角を算出し、座標変換演算部は筆記
中回転角演算部が算出した筆記中のペン軸の重力座標系
(Xg,Yg,Zg)における回転角を基に加速度セン
サが検出したペン軸座標系(Xs,Ys,Zs)による
加速度を重力座標系(Xg,Yg,Zg)による加速度
に変換し、移動量演算部は座標変換演算部が変換した加
速度を基にペン先部の移動方向及び移動距離を算出する
ことを特徴とするペン型入力装置。
1. An Xs of a pen axis coordinate system (Xs, Ys, Zs) having three acceleration sensors, three gyros, and an arithmetic unit, each of the three acceleration sensors having a pen axis of Zs axis.
Detects acceleration in the axial direction, Ys-axis direction and Zs-axis direction,
The three gyros detect the rotational angular velocities around the Xs axis, the Ys axis, and the Zs axis, respectively, and the calculation unit includes a writing detection unit, an initial rotation angle calculation unit, a rotation angle change calculation unit, and a writing rotation angle calculation unit. Equipped with a coordinate conversion calculation unit and a movement amount calculation unit, the writing detection unit detects whether the pen tip portion and the writing surface are in contact to detect whether or not it is in the writing state, and the initial rotation angle calculation unit detects the writing. Gravity coordinate system (Xg, Yg, Z) with the axis extending in the gravitational acceleration direction as the Zg axis based on the acceleration detected by the three acceleration sensors when it is detected that the part is in the unwritten state.
In g), the initial value of the rotation angle of the pen shaft when the pen tip comes into contact with the writing surface is calculated, and the rotation angle change calculation unit detects three values when the writing detection unit detects the writing state. Based on the rotation angular velocity detected by the gyro, the change of the rotation angle in the gravity coordinate system (Xg, Yg, Zg) of the pen axis is calculated, and the rotation angle calculation unit during writing calculates the rotation angle calculated by the initial rotation angle calculation unit. Based on the change in the rotation angle calculated by the initial value and the rotation angle change calculation unit, the gravity coordinate system (Xg, Yg,
The rotation angle in Zg) is calculated, and the coordinate conversion calculation unit detects the acceleration sensor based on the rotation angle in the gravity coordinate system (Xg, Yg, Zg) of the pen axis during writing calculated by the rotation angle calculation unit during writing. The acceleration in the pen axis coordinate system (Xs, Ys, Zs) is converted into the acceleration in the gravity coordinate system (Xg, Yg, Zg), and the movement amount calculation unit calculates the acceleration of the pen tip based on the acceleration converted by the coordinate conversion calculation unit. A pen-type input device characterized by calculating a moving direction and a moving distance.
【請求項2】 筆記検出部は3個の加速度センサからの
信号の高周波成分を基にペン先部が筆記面と接触してい
るか否かを検出する請求項1記載のペン型入力装置。
2. The pen-type input device according to claim 1, wherein the writing detection unit detects whether or not the pen tip portion is in contact with the writing surface based on the high frequency components of the signals from the three acceleration sensors.
【請求項3】 筆記検出部はペン先部に対する筆記面か
らの応力を検出する圧力センサを備え、筆記面からの応
力の有無を基にペン先部が筆記面と接触しているか否か
を検出する請求項1記載のペン型入力装置。
3. The writing detection unit includes a pressure sensor for detecting a stress applied to the pen tip portion from the writing surface, and determines whether or not the pen tip portion is in contact with the writing surface based on the presence or absence of the stress from the writing surface. The pen-type input device according to claim 1, which detects.
【請求項4】 上記初期回転角演算部は筆記検出部が無
筆記状態であることを検出しているときに3個の加速度
センサが検出した加速度を基に重力座標系(Xg,Y
g,Zg)におけるペン軸の回転角を算出する処理を複
数回行い、その算出結果を平均してペン先部が筆記面に
接触するときのペン軸の回転角の初期値を求める請求項
1、2又は3記載のペン型入力装置。
4. The gravitational coordinate system (Xg, Y) based on the accelerations detected by the three acceleration sensors when the writing detection unit detects that the writing detection unit is in the unwritten state.
g, Zg), the process of calculating the rotation angle of the pen shaft is performed a plurality of times, and the calculation results are averaged to obtain the initial value of the rotation angle of the pen shaft when the pen tip contacts the writing surface. 2. The pen type input device according to 2 or 3.
【請求項5】 加速度変動量検出部と変動量比較部と警
告部を有し、加速度変動量検出部は筆記検出部が無筆記
状態であることを検出しているときの3個の加速度セン
サが検出した加速度の変動量を検出し、変動量比較部は
加速度変動量検出部が検出した加速度の変動量と予め定
めた閾値を比較し、警告部は加速度変動量検出部が検出
した加速度の変動量が予め定めた閾値を越えると変動量
比較部が判定した場合に警告を出力する請求項1又は4
記載のペン型入力装置。
5. An acceleration fluctuation amount detection unit, a fluctuation amount comparison unit, and a warning unit, wherein the acceleration fluctuation amount detection unit detects three writing sensors in the non-writing state. Detects the amount of change in acceleration detected, the amount-of-change comparison unit compares the amount of change in acceleration detected by the amount-of-acceleration detection unit with a predetermined threshold value, and the warning unit detects the amount of acceleration detected by the amount-of-acceleration detection unit. The warning is output when the fluctuation amount comparing unit determines that the fluctuation amount exceeds a predetermined threshold value.
The pen-type input device described.
【請求項6】 上記初期回転角演算部は変動量が予め定
めた閾値を越えていると変動量比較部が判定した加速度
以外の無筆記状態の3個の加速度センサが検出した加速
度を基に重力座標系(Xg,Yg,Zg)におけるペン
軸の回転角を算出する処理を複数回行い、その算出結果
を平均してペン先部が筆記面に接触するときのペン軸の
回転角の初期値を求める請求項5記載のペン型入力装
置。
6. The initial rotation angle calculation unit is based on accelerations detected by three acceleration sensors in a non-writing state other than the acceleration determined by the fluctuation amount comparison unit as the fluctuation amount exceeding a predetermined threshold value. The process of calculating the rotation angle of the pen axis in the gravitational coordinate system (Xg, Yg, Zg) is performed multiple times, the results of the calculations are averaged, and the initial rotation angle of the pen axis when the pen tip contacts the writing surface The pen type input device according to claim 5, wherein a value is obtained.
JP8106481A 1996-02-20 1996-04-04 Pen type input device Pending JPH09274534A (en)

Priority Applications (5)

Application Number Priority Date Filing Date Title
JP8106481A JPH09274534A (en) 1996-04-04 1996-04-04 Pen type input device
US08/803,395 US5902968A (en) 1996-02-20 1997-02-20 Pen-shaped handwriting input apparatus using accelerometers and gyroscopes and an associated operational device for determining pen movement
US09/141,903 US6229102B1 (en) 1996-02-20 1998-08-28 Pen-shaped handwriting input apparatus using accelerometers and gyroscopes and an associated operational device for determining pen movement
US09/219,603 US6084577A (en) 1996-02-20 1998-12-23 Pen-shaped handwriting input apparatus using accelerometers and gyroscopes and an associated operational device for determining pen movement
US09/219,765 US5981884A (en) 1996-02-20 1998-12-23 Pen-shaped handwriting input apparatus using accelerometers and gyroscopes and an associated operational device for determining pen movement

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP8106481A JPH09274534A (en) 1996-04-04 1996-04-04 Pen type input device

Publications (1)

Publication Number Publication Date
JPH09274534A true JPH09274534A (en) 1997-10-21

Family

ID=14434683

Family Applications (1)

Application Number Title Priority Date Filing Date
JP8106481A Pending JPH09274534A (en) 1996-02-20 1996-04-04 Pen type input device

Country Status (1)

Country Link
JP (1) JPH09274534A (en)

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