JPS60236009A - Device for detecting three-dimensional coordinate - Google Patents

Abstract

PURPOSE:To make a three-dimentional indication of an object to be detected easy by providing one object to be detected moving three-dimensionally and three detecting media having three-dimensional coordinates and by making either of one as an ultrasonic transmitter and the other as a receiver. CONSTITUTION:An object 11 to be detected moving three-dimensionally provides an ultrasonic wave transmitter. Receivers 12-14 are provided to receive ultrasonic waves transmitted by the object 11 to be detected. The coordinates of the receivers 12-14 are denoted as (X1, Y1, Z1)-(X3, Y3, Z3), the coordinates of the object 11 to be detected as X0, Y0, Z0 and the distances between the object 11 to be detected and each receiver as R1-R3, then the relation of the equations is established. A detecting device 15 is connected to each receiver 12-14 with a signal line 16 also connected controlling by the signal line 10 and oscillates the object 11 to be detected with controlling by the signal line 10. Each receiver 12- 14 fetches this signal as, for instance, a pulse signal corresponding to R1-R3, calculates with the input to the detecting device 15 and solves said simultaneous equations. The coordinates X0-Z0 can thus be found easily.

Description

[Detailed Description of the Invention] [Technical Field] The present invention relates to a three-dimensional coordinate detection device, and particularly to a three-dimensional coordinate detection device that detects the three-dimensional coordinates of a position that can be manually moved according to the movement;
The present invention relates to a three-dimensional coordinate detection device that allows input to a computer.

[Prior art]

In recent years, with advances in semiconductor technology, computers have become cheaper and more sophisticated, leading to an era in which each person owns a computer. As people began to interact and communicate with each other, computers came to be recognized as a medium for extracting human power. .

When it comes to the important interaction between humans and computers, CRT displays, color displays, bitmap displays, and audio generators are known as means of transmitting information from computers to humans. Despite rapid progress, keyboards are still the mainstream means of transmitting information from humans to computers, and two-dimensional coordinate input devices such as mice have recently become available at low prices. However, the amount of information conveyed was still insufficient.

〔the purpose〕

SUMMARY OF THE INVENTION In view of the above-mentioned problems, an object of the present invention is to make a detected object capable of transmitting or receiving ultrasonic waves movable in three-dimensional space, and to solve the problem. In the case of a transmitter, three receivers are used, and if the detected object is a receiver, three transmitters are used as detection media.
By placing these detection media at predetermined spatial positions and transmitting and receiving ultrasonic waves between the detection medium and the detected object, the distance between the detection medium and the detected object can be detected. Therefore, it is an object of the present invention to provide a three-dimensional coordinate detection device that can easily calculate the moving position of a detection object from these detected distances and given three-dimensional coordinates of a detection medium and input it into a computer. .

〔Example〕

Embodiments of the present invention will be described below purely based on the drawings.

FIG. 1 shows a first embodiment of the present invention, in which the object to be detected is 11 ultrasonic transmitters, and in this example, the output is from the ultrasonic transmitter 11, which is the object to be detected. Through ultrasound, the three-dimensional coordinates (XO, Yo +
It is an ultrasonic receiver that receives ultrasonic waves transmitted from the 12, 13 and 14 Vi transmitters 11.

These receivers 12.13 and 14Vi are installed at predetermined relative positions, and therefore the three-dimensional position coordinates (X
1+ Y+ + Z+ ) + (X2 + Y2 +
Z2) Oyohi (Xl + Y5 + Zs) is also known.

15 is the individual receiver 12.13 and 14 and the signal IIJ
i! is a detection device connected by 16;
The detection device 15 converts the ultrasonic waves received by the receivers 12.13 and 14 into pulses and takes them out, and connects the detected object 11 and the receivers 12.13 and 14 via such means. Measure the distances R1+ R2 and R5, and further calculate these distances R4+ R2 and R
From the value of 3, a coordinate transformation calculation is performed via a data analysis unit (not shown), and the position coordinates of the detected object 11 (xO+
yo + Zo) can be calculated.

That is, the coordinates (Xl,
Y++Z+)+(X2+Y2+Z2) Oh! H (Xs.

YS, z5) are all known values, and the following relationship holds between the coordinates (Xo + yo + Zo), R1, R2, and R5, and each of the above coordinates.

Therefore, in the analysis section, xo, '
y.

It is sufficient to perform an operation that subtracts Z[+.

Next, an outline of the configuration of such a detection device 15 will be described with reference to FIG. 151 is a control unit that sends commands to each part of Fi (5); 152 is a transmitting unit that transmits ultrasonic waves generated by the control pulse signal from control unit 51 in a burst form via the transmitter 11; A0 Ultrasonic waves transmitted from the transmitter 11 are received by the receivers 12, 13 and 14, selected by the selector 153 to the receiver side, and further converted into pulses by the detector 154.

155 is a time difference comparator, and the time difference comparator 155 compares the received pulse from the detector 154 and the control pulse from the control unit 151 to detect the time difference.

Thus, these time differences are counted by the counter 156 and converted into digital data, and further converted to digital data by the coefficient multiplier 157.
Now, multiply these digital data by a predetermined coefficient,
These are converted into distance data of distances R, +R2 and R3. Reference numeral 200 denotes a data analysis unit, which supplies distance data regarding distances R1+R2 and R5 obtained from the detection device 15 to the data analysis unit 200, thereby determining the third dimensional locus If (Xo +
It is possible to perform the calculation (Yo + Zo) (6).

Figure P3 shows a second embodiment of the invention. In this example, the ultrasonic receiver 21 is used as the object to be detected, and three ultrasonic transmitters 22□23 and 24 are arranged instead of the receivers 12, 13 and 14 in FIG. That is, in this example, the three-dimensional dust i(X+ + Y+
, Z+ ) l (X21Y2+Z2) and (Xs
+Y3+Zs) are known, and when the detected object receiver 21 receives the ultrasonic signals simultaneously emitted from these signals, these signals are supplied to the detector [25, and the transmitter 21 The distances R1+R2 and R5 from 22 and 23 to the receiver 21 are calculated, and a detailed explanation of the detection device 25 will be omitted.

Note that the ultrasonic modulation method applied to the present invention may be a commonly used amplitude modulation method, but with ultrasonic waves, the reception intensity changes depending on the position of the receiver, resulting in errors in reading the received pulses. There is a possibility.

Therefore, instead of this, frequency modulation FM may be applied. Frequency modulation is more suitable for the present invention because it is less susceptible to changes in reception strength and noise interference during detection.

Furthermore, it goes without saying that the same effect can be obtained not only by frequency modulation but also by applying phase modulation that modulates the phase component of a modulated wave.

〔effect〕

As explained above, according to the present invention, one movable ultrasonic transmitter or receiver object to be detected is arranged in a three-dimensional space, and if the object to be detected is a transmitter, three receivers are arranged. In addition, if the object to be detected is a receiver, three transmitters are placed at fixed positions in three-dimensional space as detection media, and the ultrasonic waves between these ultrasonic transmitters and the ultrasonic receiver are Since the distances between one detected object and three detection media are calculated through the exchange of A three-dimensional coordinate detection device that can easily perform calculations can be provided.

[Brief explanation of the drawing]

FIG. 1 is a model diagram showing an example of the configuration of the three-dimensional coordinate detection device of the present invention, FIG. 2 is a configuration diagram showing an example of the detection device, and FIG. 3 is another embodiment of the three-dimensional coordinate detection device of the present invention. FIG. DESCRIPTION OF SYMBOLS 11... Transmitter, 12.13.14... Receiver, 15... Detection device, 151... Control part, 152... Transmission part, 153... Selector, 154... Detector , 155... Time difference comparator, 156... Counter, 157... Coefficient unit, 16... Signal line, 21... Receiver, 22.23.24... Transmitter, 25...・Detection device. (9)

Claims (1)

[Claims] A movable object to be detected and three detection media having predetermined three-dimensional coordinates are provided in a three-dimensional space, and either the object to be detected or the detection medium is subjected to ultrasonic waves. One device is used as a transmitter and the other is an ultrasonic receiver, and ultrasonic waves are transmitted and received between the object to be detected and the three detection media to generate three waves between the object to be detected and the three detection media. The distances can be detected, and the three detected distances and the three detection media are
A three-dimensional coordinate detection device, characterized in that it is possible to calculate the three-dimensional coordinates of the detected object from the dimensional coordinates. (Margin below)