KR102185942B1 - Method, apparatus and electronic pen for acquiring gradient of electronic pen using image sensors - Google Patents

Abstract

After acquiring a plurality of images through a plurality of image sensors provided in the electronic pen, and after the electronic pen has moved a predetermined distance, based on the moving distance of pixels from the images acquired through the plurality of image sensors, the electronic pen Disclosed are a method for obtaining a tilt of an electronic pen for detecting an inclined angle, an apparatus for the same, and an electronic pen.

Description

TECHNICAL FIELD The method of acquiring the inclination of an electronic pen using an image sensor, an apparatus therefor, and an electronic pen

The present invention relates to a method, an apparatus, and an electronic pen for obtaining a tilt of an electronic pen using an image sensor, and more particularly, by detecting movement distances of pixels in images obtained by a plurality of image sensors, respectively, The present invention relates to a method, an apparatus, and an electronic pen for obtaining an inclination of an electronic pen according to a difference in moving distance of pixels.

Existing pen mouse products are generally only pen-shaped mice. Thus, users have felt awkward and uncomfortable when using a product with a product in their hand or when drawing something on a computer.

Moreover, most of them are made much larger than ordinary pens by using mouse sensors and lenses, and due to low DOF characteristics, handwriting errors depending on the holding direction and angle of the pen, they actually only have the characteristics of a mouse rather than a pen.

In addition, recently, when the electronic pen writes on a paper on which a predetermined code is printed, the code is acquired according to the handwriting trajectory using a camera attached to the electronic pen, and based on this, the writing trajectory is digitally generated in the application of the smartphone. The technology to mark as an enemy has been developed and used.

In addition, even if the handwriting data is acquired, there has been a problem in that the handwriting cannot be accurately restored due to distortion due to the tilt of the electronic pen. Therefore, in order to correct distortion, it is necessary to know the tilt of the electronic pen, and for this purpose, an inertial sensor or a 6-axis sensor is provided in the electronic pen.

An object to be solved by the present invention is to provide a method, an apparatus, and an electronic pen for obtaining a tilt of an electronic pen by arranging a plurality of image sensors without having an inertial sensor or a 6-axis sensor.

According to an embodiment of the present invention for solving the above technical problem, a method of obtaining a tilt of an electronic pen includes: obtaining a plurality of images through a plurality of image sensors provided in the electronic pen; And after the electronic pen moves a predetermined distance, detecting an inclined angle of the electronic pen based on a movement distance of a pixel from an image obtained through the plurality of image sensors.

The detecting of the inclined angle of the electronic pen may include obtaining a plurality of images through the plurality of image sensors after the electronic pen moves a predetermined distance; Detecting a moving distance of a pixel based on an image obtained before the electronic pen moves a predetermined distance and an image obtained after the electronic pen moves a predetermined distance; And detecting an inclined angle of the electronic pen according to a difference in the detected moving distance of the pixels.

The electronic pen includes a first image sensor and a second image sensor, and the step of detecting an inclined angle of the electronic pen includes determining a first moving distance of a predetermined pixel from images obtained from the first image sensor. Obtaining, and obtaining a second moving distance of a predetermined pixel from the images obtained from the second image sensor; And an angle in which the electronic pen is inclined with respect to the surface according to a difference between the first moving distance of the pixel and the second moving distance of the pixel.

The electronic pen includes a first image sensor and a second image sensor, and when a direction toward the surface of the electronic pen is a Z-axis, the first image sensor and the second image sensor may They are arranged side by side in one axis direction, and the first image sensor and the second image sensor may be inclined at a predetermined angle in the Z axis direction.

The electronic pen further includes a third image sensor, the first image sensor and the third image sensor are arranged side by side in any other axis direction of the X-axis or the Y-axis, and the first image sensor and the third image sensor are the It can be inclined at a predetermined angle in the Z-axis direction.

The electronic pen includes a first image sensor and a second image sensor, and when a direction toward a surface of the electronic pen is a Z axis, the first image sensor is disposed on the XY plane of the surface, and a second image sensor Is disposed obliquely in the X-axis and Y-axis directions, and the second image sensor may be inclined at a predetermined angle in the Z-axis direction.

According to an embodiment of the present invention for solving the above technical problem, an apparatus for detecting a tilt of an electronic pen includes: a plurality of image sensors acquiring a plurality of images; And a controller configured to detect an inclined angle of the electronic pen based on a movement distance of a pixel from an image obtained through the plurality of image sensors after the electronic pen moves a predetermined distance.

According to another embodiment of the present invention for solving the above technical problem, the electronic pen is formed to be elongated in one direction, and a housing having a first opening and a second opening formed at a lower end thereof; A pen tip coupled to the housing to be exposed to the outside through the first opening of the housing; A light-emitting unit that emits light; A plurality of image sensors for capturing the surface of the emitted light and converting it into an image signal; And a controller configured to detect an inclined angle of the electronic pen based on the moving distance of the pixels from the images acquired through the image sensors after the pen tip moves a predetermined distance.

According to the present invention, the electronic pen does not include an inertial sensor or a 6-axis sensor, and the tilt of the electronic pen can be obtained only with image sensors, thereby reducing manufacturing cost and reducing weight of the electronic pen.

1 is a schematic diagram of an electronic pen according to an embodiment of the present invention.
2 is a diagram illustrating a cross-sectional view of a part of an electronic pen (a dotted line in FIG. 1) according to an exemplary embodiment of the present invention.
3 is a diagram illustrating a case where the electronic pen is perpendicular to the surface, and FIG. 4 is a diagram illustrating a case where the electronic pen is moved by a predetermined distance while being perpendicular to the surface.
FIG. 5 is a diagram illustrating a case where the electronic pen is placed on the surface at a predetermined angle, and FIG. 6 is a diagram illustrating a case where the electronic pen is moved by a predetermined distance while the electronic pen is placed on the surface at a predetermined angle.
FIG. 7 is a diagram illustrating a length of an optical path in contact with a surface when the electronic pen is inclined at a predetermined angle as shown in FIG. 5.
FIG. 8 is a diagram illustrating movement of pixels in an image when the electronic pen is moved by a predetermined distance while the electronic pen is at a right angle. It is a diagram showing the movement of pixels.
10 is a flowchart illustrating a method of obtaining a tilt of an electronic pen according to an embodiment of the present invention.
FIG. 11 is a diagram of a flow chart in which the method of FIG. 10 is embodied.
12 is a cross-sectional view of a first image sensor and a second image sensor as viewed in a uniaxial direction.
13 is a block diagram illustrating an apparatus for obtaining a tilt of an electronic pen according to an embodiment of the present invention.

A preferred embodiment of the present invention will be described in detail with reference to the accompanying drawings.

According to the present invention, the electronic pen 100 is a pen that electronically restores writing by detecting movement of a laser speckle pattern on a surface or paper without a printed code. The present invention can be applied even if a predetermined code to identify the location of the surface or paper is printed.

1 is a schematic diagram of an electronic pen according to an embodiment of the present invention, and FIG. 2 is a cross-sectional view of a part of the electronic pen (a dotted line in FIG. 1) according to an embodiment of the present invention.

1 and 2, the electronic pen 100 includes a housing 110, a pen tip 120, a pressure sensing unit 130, and a position sensing module 140, and the position sensing module 140 emits light. A unit, an image sensing unit, and a control unit may be included. Although not shown in the drawings, the electronic pen 100 includes a control unit that controls overall functions of the electronic pen 100, and may further include a battery, a memory, a transmission unit, and/or an input/output interface.

The housing 110 corresponds to the main body of the electronic pen, is elongated in one direction, and has a first opening and a second opening at a lower end thereof.

The first opening is a hollow formed to expose the pen tip 120, and the second opening is a hollow formed to receive light irradiated from the position sensing module 140 and light reflected from the surface.

The pen tip 120 is a unit for writing by ejecting ink on a surface (eg, paper, etc.), and is coupled to the housing 110 to be exposed to the outside through a first opening of the housing 110.

When the pen tip 120 writes on the surface, the pen pressure sensing unit 130 senses the pressure by the pen tip 120 because the pen tip 120 moves opposite the surface. When the pen pressure sensing unit 130 detects the pressure, it transmits a writing start signal to the position sensing module 140.

When the electronic pen 100 is powered on and the pen pressure sensing unit 130 cannot sense the pressure, the hover mode is maintained.

The position sensing module 140 is accommodated in the barrel, the barrel is formed in a hollow shape, and may be disposed above the second opening 112 in the housing 110.

The barrel is a device for removing interference signals caused by ambient light as much as possible. Since the image sensing unit is highly affected by the interference signal, the barrel is a unit for removing the inflow of ambient light as much as possible.

When the electronic pen 100 is turned on, the light emitting unit irradiates light. In another embodiment of the present invention, when receiving a writing start signal, the light emitting unit 141 may irradiate light toward the surface. The light emitting unit 141 is installed on the top of the barrel. In one embodiment of the present invention, the light emitting unit is preferably a laser. This is because a speckle pattern can be generated using a wavefront interference phenomenon of a plurality of lights scattered from a surface only when a laser is used.

The light emitting unit may be disposed to be inclined at a predetermined angle upward with respect to a direction orthogonal to the length direction of the housing 110 so that the laser light irradiated from the light emitting unit is irradiated in the longitudinal direction and inclined direction of the housing.

The laser light is irradiated on the surface, and a speckle pattern is formed due to the coherent reflected from the surface, and the image sensing unit detects the speckle pattern. It converts into a video signal. After that, the image sensing unit transmits the converted image signal to the control unit. In the present invention, the image sensing unit may be a CCD or CMOS.

According to the present invention, the image sensing unit may be composed of a plurality of, preferably two or three image sensors.

The control unit detects a moving direction and a moving distance of the pen tip by comparing the speckle pattern image received from the image sensing unit. The control unit sets a speckle pattern image subset of the position (current position) after the position change of the pen tip 120, and correlates the most with the image of the currently set subset and the position before the position change (previous position). By scanning whether the relationship is high, the previous position is found, and the position change and velocity from the previous position of the pen tip to the current position are detected.

The control unit of the electronic pen 100 may detect a tilt of the electronic pen 100 according to a moving distance of pixels in captured images to be described later.

The control unit receives a pressure detection signal from the pressure sensing unit. After that, the control unit may generate a writing start signal and may transmit it to the light emitting unit.

When the control unit receives the pen pressure detection signal, it transmits data on the movement direction and movement distance of the pen tip after reception to an external device (not shown). Thereafter, the external device digitally restores and displays the offline handwriting of the electronic pen 100 according to the received data. When the control unit 144 does not receive the pen pressure detection signal, the hover mode is maintained.

3 to 9 are diagrams illustrating examples of movement of pixels in an image captured by an image sensor according to a tilt of an electronic pen according to an exemplary embodiment of the present invention.

3 is a view when the electronic pen 300 is at a right angle to a surface (eg, paper, 400), and FIG. 4 is a diagram in a state where the electronic pen 300 is perpendicular to the surface 400 by a predetermined distance. It is a drawing when it is moved. The number of the surface 400 means a distance unit arbitrarily determined. The distance unit is the same distance, and is only an example for convenience of explanation. The optical path 320 recognized by the image sensor 310 has two distances (3-4).

5 is a view when the electronic pen 300 is at a predetermined angle on the surface 400, and FIG. 6 is a diagram when the electronic pen 300 is at a predetermined angle on the surface 400 and moves by a predetermined distance It is a drawing of one case. FIG. 7 is a diagram illustrating a length of an optical path in contact with a surface when the electronic pen is inclined at a predetermined angle as shown in FIG. 5.

Referring to FIG. 7, the size of the optical path when the electronic pen 300 is perpendicular to the surface, that is, the distance between the optical path and the surface in FIG. 3 (the width of the optical path) is x1, and FIG. 6 When the angle at which the electronic pen is inclined, that is, the angle with the surface is θ°, the distance x2 between the light path and the surface in FIG. 6 is x1/sinθ°.

Since the resolution of the image sensor does not change and the length of the light path is different, when the electronic pen 300 moves at a right angle, the movement distance of the pixels in the image captured by the image sensor and the electronic pen 300 are inclined. When moving in the true state, the moving distance of the pixels in the image captured by the image sensor is different.

When the electronic pen 300 moves at a right angle and the moving distance of the pixels in the image captured by the image sensor is d1, the image sensor in the case where the electronic pen 300 moves in a θ° inclined state The moving distance d2 of the pixel in the image captured at is sinθ×d1.

FIG. 8 shows the movement of pixels in the image when the electronic pen 300 is moved by a predetermined distance while the electronic pen 300 is at a right angle, and FIG. 9 shows the movement of a pixel by a predetermined distance while the electronic pen 300 is inclined by 41.5°. It shows the movement of the pixel when it is moved. It is assumed that the image sensor in FIGS. 8 and 9 has a 6×1 resolution.

In FIG. 8, assuming that the pixel has moved by +3, as seen in FIG. 9, the pixel has moved by sin41.5°×3, that is, +1.99 (approximately 2).

In other words, when the electronic pen 300 moves, the movement distance of the pixels in the image captured by the image sensor does not move to correspond to the movement distance of the electronic pen 300, but the electronic pen 300 is tilted. The travel distance varies depending on the degree.

10 is a flowchart illustrating a method of obtaining a tilt of an electronic pen according to an embodiment of the present invention.

Referring to FIG. 10, in step 1010, a plurality of images is acquired through a plurality of image sensors included in the electronic pen.

In one embodiment of the present invention, the electronic pen includes two image sensors. When the electronic pen is at right angles to the surface and the direction toward the surface is referred to as the Z axis, the first image sensor and the second image sensor are arranged side by side in either the X-axis or the Y-axis, and a predetermined Z-axis direction. It is arranged inclined by an angle.

In another embodiment of the present invention, the electronic pen may include three image sensors. In addition to the arrangement of the two image sensors, a third image sensor is further provided, and the first image sensor and the third image sensor are parallel to the other axis of the X-axis or the Y-axis, that is, the third image sensor is the second It is disposed parallel to the first image sensor in a right angle direction of the image sensor, and is disposed to be inclined by a predetermined angle in the Z-axis direction. The inclined angles of the first image sensor and the second image sensor and the inclined angles of the first image sensor and the third image sensor may be the same or different.

In another embodiment of the present invention, the electronic pen may include two image sensors, the electronic pen includes a first image sensor and a second image sensor, and the electronic pen faces the surface in a state perpendicular to the surface. When the direction is referred to as the Z-axis, the first image sensor is disposed in the XY plane on the surface, the second image sensor is disposed at an angle in the X-axis and Y-axis directions, and the first image sensor and the second image sensor are in the Z-axis direction. It can also be arranged inclined. Since one image sensor can detect the moving distance of pixels in the X and Y directions separately, it can perform the same function as disposing three image sensors according to the arrangement state of the two image sensors.

In step 1020, after the electronic pen moves a predetermined distance, an inclined angle of the electronic pen is detected based on the movement distance of the pixels from the images acquired through the plurality of image sensors.

Specifically, after the electronic pen moves a predetermined distance, a plurality of images is acquired through a plurality of image sensors. Thereafter, from the image obtained before the electronic pen moves a predetermined distance and the image obtained after the electronic pen moves a predetermined distance, the moving distance of the pixel is calculated. A method of calculating the moving distance of pixels in a sequential image is obtained according to a known image processing technique. As described above, when the electronic pen moves in an inclined state, the moving distance of the pixel moves differently according to the inclined angle. Accordingly, the moving distances of pixels in the image captured by the plurality of image sensors are different from each other, and the inclined angle of the electronic pen can be detected according to the difference in the moving distances of the pixels.

FIG. 11 is a diagram of a flow chart in which the method of FIG. 10 is embodied.

Referring to FIG. 11, in step 1110, a first image and a second image are obtained through a first image sensor and a second image sensor provided in the electronic pen, respectively.

When the electronic pen is perpendicular to the surface and the direction toward the surface is the Z-axis, the first image sensor and the second image sensor are arranged side by side in either the X-axis or the Y-axis, and a predetermined Z-axis direction. It is arranged inclined by an angle. 12 is a cross-sectional view of a first image sensor and a second image sensor as viewed in a uniaxial direction. The first image sensor 1210 and the second image sensor 1220 are disposed to be inclined by θ°. The angle of the first image sensor 1210 with the surface 1230 is θ1°, and the angle of the second image sensor 1220 with the ground 1230 is θ2°. The first image sensor 1210 and the second image sensor 1220 are inclined by θ°, so that θ2° is θ1°-θ°. D1 is a distance between the optical path 1211 and the surface 1230 of the first image sensor 1210, and D2 is a distance between the optical path 1221 and the surface 1230 of the second image sensor 1220. If the width of the optical path is R, then D1=R/sinθ1° and D2=R/sinθ2°.

In step 1120, after the electronic pen moves a predetermined distance, a third image and a fourth image are obtained through the first image sensor and the second image sensor, respectively.

In step 1130, a first moving distance of a predetermined pixel is obtained from the first image and the third image obtained from the first image sensor, and a predetermined pixel is obtained from the second and fourth images obtained from the second image sensor. Acquire the second movement distance of.

Here, assuming that the first moving distance is q pixels, the second moving distance is sin(θ2°)/sin(θ1°)×q, that is, sin(θ1°-θ°)/sin(θ1°)×q Become a pixel.

In step 1140, a difference between the first movement distance of the pixel and the second movement distance of the pixel is obtained, and according to the difference, an angle in which the electronic pen is inclined with respect to the surface is detected.

When the first image sensor is disposed at a right angle in a direction in which the electronic pen faces the surface, θ1° is an angle at which the electronic pen is inclined with respect to the surface. Here, θ° is set in advance, and the difference between the first moving distance of the pixel and the second moving distance of the pixel can be obtained from image sensors, so that the inclined angle θ1° of the electronic pen can be obtained.

Table 1 is a table showing the difference between the first moving distance of the pixel and the second moving distance of the pixel when there is a difference of 10° between the first image sensor and the second image sensor. Here, the first movement distance is assumed to be 1 pixel. The difference between the first moving distance of the pixel and the second moving distance of the pixel is ((θ1°-10°)/Sin(θ1°)-1).

θ1° θ2° Second moving distance of pixel-First moving distance of pixel (unit per pixel) 20° 10° -0.492 30° 20° -0.316 40° 30° -0.222 50° 40° -0.161 60° 50° -0.115 70° 60° -0.078 80° 70° -0.045 90° 80° -0.015 100° 90° +0.015 110° 100° +0.048 120° 110° +0.085 130° 120° +0.131 140° 130° +0.192 150° 140° +0.286 160° 150° +0.462 170° 160° +0.967

As shown here, when the moving distance of pixels is detected by image sensors, the angle in which the electronic pen is inclined with respect to the surface may be detected according to the difference. In the case of the present invention, when only the movement of the electronic pen and the movement distance of the pixels are detected by the image sensors without using the inertial sensor or the 6-axis sensor, the tilt of the electronic pen can be obtained.

11 shows the inclination of the electronic pen in one direction, for example, in the X direction. Here, in addition to the arrangement of the two image sensors, a third image sensor may be further provided in the Y direction, and the third image sensor may be disposed to be inclined by a predetermined angle in the Z-axis direction. In this case, the tilt of the electronic pen in the Y direction can be obtained. Therefore, it is possible to obtain an accurate tilt of the electronic pen in all XY directions.

In another embodiment of the present invention, the electronic pen may include two image sensors, and the electronic pen includes a first image sensor and a second image sensor, and a direction toward the surface while the electronic pen is perpendicular to the surface. When is referred to as the Z axis, the first image sensor is disposed in the XY plane on the surface, the second image sensor is disposed at an angle in the X and Y axis directions, and the first image sensor and the second image sensor are disposed in the Z axis direction. It can also be arranged obliquely. Since one image sensor can detect the moving distance of pixels in the X and Y directions separately, it can perform the same function as disposing three image sensors according to the arrangement state of the two image sensors. The same steps as in the case of FIG. 11 are performed, and are repeatedly performed so that the respective inclinations in the X and Y directions are obtained.

13 is a block diagram illustrating an apparatus for obtaining a tilt of an electronic pen according to an embodiment of the present invention.

Referring to FIG. 13, the tilt acquisition apparatus 1300 includes a plurality of image sensors 1310 and a control unit 1320.

The plurality of image sensors 1310 acquires a plurality of images.

The plurality of image sensors 1310 may include two image sensors. When the electronic pen is perpendicular to the surface and the direction toward the surface is referred to as the Z axis, the first image sensor 1311 and the second image sensor 1312 are arranged side by side in either the X axis or the Y axis, It is arranged to be inclined by a predetermined angle in the Z-axis direction.

A first image and a second image are obtained through the first image sensor 1311 and the second image sensor 1312, respectively.

In another embodiment of the present invention, the electronic pen may include three image sensors. In addition to the arrangement of the two image sensors, a third image sensor 1313 is further provided, and the first image sensor 1311 and the third image sensor 1313 are parallel to the other axis of the X axis or the Y axis, That is, the third image sensor 1313 is disposed parallel to the first image sensor 1311 in a direction perpendicular to the second image sensor 1312, and is disposed to be inclined by a predetermined angle in the Z-axis direction. When the first image sensor 1311 and the second image sensor 1312 obtain the inclination of the electronic pen in the X direction, the first image sensor 1311 and the third image sensor 1313 You can find the slope. Therefore, it is possible to obtain an accurate tilt of the electronic pen in all XY directions. The inclined angles of the first image sensor 1311 and the second image sensor 1312 and the inclined angles of the first image sensor 1311 and the third image sensor 1313 may be the same or different.

In another embodiment of the present invention, the electronic pen may include two image sensors, the electronic pen includes a first image sensor 1311 and a second image sensor 1312, and the electronic pen is perpendicular to the surface. When the direction toward the surface in the state of being Z is referred to as the Z axis, the first image sensor 1311 is disposed on the surface in the XY plane, the second image sensor 1312 is disposed obliquely in the X-axis and Y-axis directions. The first image sensor 1311 and the second image sensor 1312 may be disposed to be inclined in the Z-axis direction. Since one image sensor can detect the moving distance of pixels in the X and Y directions separately, it can perform the same function as disposing three image sensors according to the arrangement state of the two image sensors.

After the electronic pen moves a predetermined distance, the controller 1320 detects an inclined angle of the electronic pen based on the moving distance of pixels from the images obtained through the plurality of image sensors 1310. Specifically, after the electronic pen or the pen tip moves a predetermined distance, a plurality of images are acquired through the plurality of image sensors 1310, and the controller 1320 is an image obtained before the electronic pen moves a predetermined distance. And a moving distance of a pixel is calculated from an image obtained after the electronic pen moves a predetermined distance. A method of calculating the moving distance of pixels in a sequential image is obtained according to a known image processing technique. As described above, when the electronic pen moves in an inclined state, the moving distance of the pixel moves differently according to the inclined angle. Accordingly, the moving distances of pixels in the image captured by the plurality of image sensors are different from each other, and the inclined angle of the electronic pen can be detected according to the difference in the moving distances of the pixels.

More specifically, when two image sensors are provided, after the electronic pen moves a predetermined distance, a third image and a fourth image are respectively generated through the first image sensor 1311 and the second image sensor 1312. Acquire. The controller 1320 acquires a first moving distance of a predetermined pixel from the first image and the third image acquired from the first image sensor 1311, and the second image and the second image acquired from the second image sensor 1312 4 Acquire a second moving distance of a predetermined pixel from the images.

Thereafter, the controller 1320 obtains a difference between the first movement distance of the pixel and the second movement distance of the pixel, and detects an angle in which the electronic pen is inclined with respect to the surface according to the difference.

In addition, the moving distance of pixels in the images acquired by the first image sensor 1311 and the third image sensor 1313 may be detected, and accordingly, the tilt of the electronic pen in another axis may be further detected.

The tilt acquisition room of the electronic pen as described above may also be implemented as a computer-readable code on a computer-readable recording medium. The computer-readable recording medium includes all types of recording media storing data that can be read by a computer system. Examples of computer-readable recording media include ROM, RAM, CD-ROM, magnetic tapes, floppy disks, and optical data storage devices. In addition, the computer-readable recording medium is distributed over a computer system connected through a network, so that computer-readable codes can be stored and executed in a distributed manner. In addition, functional programs, codes, and code segments for implementing the disk management method can be easily inferred by programmers in the technical field to which the present invention belongs.

So far, the present invention has been looked at around its preferred embodiments. Those of ordinary skill in the art to which the present invention pertains will be able to understand that the present invention can be implemented in a modified form without departing from the essential characteristics of the present invention. Therefore, the disclosed embodiments should be considered from an illustrative point of view rather than a limiting point of view. The scope of the present invention is shown in the claims rather than the foregoing description, and all differences within the scope equivalent thereto should be construed as being included in the present invention.

Claims (18)

In the method of obtaining the tilt of the electronic pen,
Acquiring a plurality of images through a plurality of image sensors provided in the electronic pen; And
After the electronic pen moves a predetermined distance, detecting an inclined angle of the electronic pen based on a difference in moving distances of pixels from a plurality of images obtained through the plurality of image sensors. Method for obtaining the tilt of the electronic pen, characterized in that. The method of claim 1,
The detecting of the inclined angle of the electronic pen may include obtaining a plurality of images through the plurality of image sensors after the electronic pen moves a predetermined distance;
Detecting a moving distance of a pixel based on an image obtained before the electronic pen moves a predetermined distance and an image obtained after the electronic pen moves a predetermined distance; And
And detecting an inclined angle of the electronic pen according to a difference in the detected moving distance of the pixels. The method of claim 2,
The electronic pen has a first image sensor and a second image sensor,
The step of detecting the inclined angle of the electronic pen,
Obtaining a first movement distance of a predetermined pixel from images obtained from the first image sensor and obtaining a second movement distance of a predetermined pixel from images obtained from the second image sensor; And
And detecting an angle in which the electronic pen is inclined with respect to a surface according to a difference between the first movement distance of the pixel and the second movement distance of the pixel. The method of claim 1,
The electronic pen has a first image sensor and a second image sensor,
When the direction toward the surface of the electronic pen is the Z axis,
The first image sensor and the second image sensor are arranged side by side in either the X-axis or Y-axis direction, and the first image sensor and the second image sensor are inclined at a predetermined angle in the Z-axis direction. How to obtain the tilt of the electronic pen. The method of claim 4,
The electronic pen further includes a third image sensor,
The first image sensor and the third image sensor are arranged side by side in the direction of any other axis of the X axis or the Y axis, and the first image sensor and the third image sensor are inclined at a predetermined angle in the Z axis direction. How to obtain the tilt of the electronic pen. The method of claim 1,
The electronic pen has a first image sensor and a second image sensor,
When the direction toward the surface of the electronic pen is the Z axis,
The first image sensor is disposed on the XY plane of the surface, the second image sensor is disposed obliquely in the X-axis and Y-axis directions, and the second image sensor is inclined at a predetermined angle in the Z-axis direction. How to obtain the tilt of the electronic pen. In the tilt detection device of the electronic pen,
A plurality of image sensors acquiring a plurality of images; And
After the electronic pen has moved a predetermined distance, a control unit configured to detect an inclined angle of the electronic pen based on a difference in moving distances of pixels from a plurality of images acquired through the plurality of image sensors. An electronic pen tilt acquisition device, characterized in that. The method of claim 7,
The plurality of image sensors acquire a plurality of images through the plurality of image sensors after the electronic pen moves a predetermined distance,
The control unit detects a moving distance of a pixel based on an image obtained before the electronic pen moves a predetermined distance and an image obtained after the electronic pen moves a predetermined distance, and the detected moving distance of the pixel The electronic pen tilt acquisition device, characterized in that detecting the tilt angle of the electronic pen according to the difference of. The method of claim 8,
The plurality of image sensors are a first image sensor and a second image sensor,
The control unit obtains a first movement distance of a predetermined pixel from images obtained from the first image sensor, obtains a second movement distance of a predetermined pixel from images obtained from the second image sensor, and the An apparatus for obtaining a tilt of an electronic pen, characterized in that, according to a difference between a first moving distance of a pixel and a second moving distance of the pixel, an angle in which the electronic pen is inclined with respect to a surface is detected. The method of claim 7,
The plurality of image sensors are a first image sensor and a second image sensor,
When the direction toward the surface of the electronic pen is the Z axis,
The first image sensor and the second image sensor are arranged side by side in either the X-axis or Y-axis direction, and the first image sensor and the second image sensor are inclined at a predetermined angle in the Z-axis direction. An electronic pen tilt acquisition device. The method of claim 10,
Further comprising a third image sensor,
The first image sensor and the third image sensor are arranged side by side in the direction of any other axis of the X axis or the Y axis, and the first image sensor and the third image sensor are inclined at a predetermined angle in the Z axis direction. An electronic pen tilt acquisition device. The method of claim 7,
The plurality of image sensors are a first image sensor and a second image sensor,
When the direction toward the surface of the electronic pen is the Z axis,
The first image sensor is disposed on the XY plane of the surface, the second image sensor is disposed obliquely in the X-axis and Y-axis directions, and the second image sensor is inclined at a predetermined angle in the Z-axis direction. An electronic pen tilt acquisition device. A housing formed to be elongated in one direction and having a first opening and a second opening formed at a lower end thereof;
A pen tip coupled to the housing to be exposed to the outside through the first opening of the housing;
A light-emitting unit that emits light;
A plurality of image sensors for capturing the surface of the emitted light and converting it into an image signal; And
After the pen tip moves a predetermined distance, a control unit for detecting an inclined angle of the electronic pen based on a difference in moving distances of pixels from a plurality of images acquired through the plurality of image sensors. Electronic pen. The method of claim 13,
The plurality of image sensors acquire a plurality of images through the plurality of image sensors after the pen tip moves a predetermined distance,
The control unit detects a moving distance of a pixel based on an image obtained before the electronic pen moves a predetermined distance and an image obtained after the electronic pen moves a predetermined distance, and the detected moving distance of the pixel Electronic pen, characterized in that to detect the inclined angle of the electronic pen according to the difference of. The method of claim 14,
The plurality of image sensors are a first image sensor and a second image sensor,
The control unit obtains a first movement distance of a predetermined pixel from images obtained from the first image sensor, obtains a second movement distance of a predetermined pixel from images obtained from the second image sensor, and the An electronic pen, characterized in that, according to a difference between a first movement distance of a pixel and a second movement distance of the pixel, an angle in which the electronic pen is inclined with respect to a surface is detected. The method of claim 13,
The plurality of image sensors are a first image sensor and a second image sensor,
When the direction toward the surface of the electronic pen is the Z axis,
The first image sensor and the second image sensor are arranged side by side in either the X-axis or Y-axis direction, and the first image sensor and the second image sensor are inclined at a predetermined angle in the Z-axis direction. Electronic pen. The method of claim 16,
Further comprising a third image sensor,
The first image sensor and the third image sensor are arranged side by side in the direction of any other axis of the X axis or the Y axis, and the first image sensor and the third image sensor are inclined at a predetermined angle in the Z axis direction. Electronic pen. The method of claim 13,
The plurality of image sensors are a first image sensor and a second image sensor,
When the direction toward the surface of the electronic pen is the Z axis,
The first image sensor is disposed on the XY plane of the surface, the second image sensor is disposed obliquely in the X-axis and Y-axis directions, and the second image sensor is inclined at a predetermined angle in the Z-axis direction. Electronic pen.

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