KR20200058256A - Method, apparatus and electronic pen for acquiring gradient of electronic pen using image sensors - Google Patents

Abstract

Disclosed are a method for acquiring an inclination of an electronic pen by using an image sensor without an inertial sensor or a six-axis sensor, and a device and an electronic pen therefor. The method for acquiring an inclination of an electronic pen by using an image sensor comprises: acquiring a plurality of images through a plurality of image sensors provided in the electronic pen; and detecting an inclined angle of the electronic pen based on a movement distance of a pixel from the images acquired through the plurality of image sensors after the electronic pen moves a predetermined distance.

Description

Method, apparatus and electronic pen for acquiring gradient of electronic pen using image sensors

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

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

Moreover, most of them are made using a mouse sensor and a lens and are much larger than a normal pen, and due to low DOF characteristics, writing errors according to the direction and angle of holding the pen, they only have mouse characteristics rather than actually pens.

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

In addition, even when the handwriting data is acquired, there has been a problem that it is impossible to accurately restore the handwriting 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 six-axis sensor is provided in the electronic pen.

The problem 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 an inertial sensor or a 6-axis sensor.

According to an embodiment of the present invention for solving the above technical problem, a method for 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 moving distance of a pixel from an image acquired through the plurality of image sensors.

The step of detecting the inclined angle of the electronic pen may include acquiring 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 moving distance of the detected pixels.

The electronic pen includes a first image sensor and a second image sensor, and detecting the inclined angle of the electronic pen comprises: determining a first moving distance of a predetermined pixel from images acquired from the first image sensor. Acquiring and acquiring a second moving distance of a predetermined pixel from images acquired from the second image sensor; And an angle at which the electronic pen is inclined with respect to the surface according to the difference between the first movement distance of the pixel and the second movement distance of the pixel.

The electronic pen includes a first image sensor and a second image sensor, and when the direction toward the surface of the electronic pen is referred to as a Z-axis, the first image sensor and the second image sensor are either X-axis or Y-axis. Arranged side by side in the uniaxial direction, 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, and the first image sensor and the third image sensor are arranged side by side in either the X-axis or Y-axis direction, 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 the direction toward the surface of the electronic pen is referred to as a Z-axis, the first image sensor is disposed on the XY plane of the surface, and the second image sensor Is arranged at an angle 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, the tilt detection device of the electronic pen includes a plurality of image sensors for acquiring a plurality of images; And a controller configured to detect an inclined angle of the electronic pen based on a moving distance of a pixel from an image acquired 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 elongated in one direction, a housing having a first opening and a second opening formed at a lower end; 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 predetermined light; A plurality of image sensors for capturing the surface of the emitted light and converting it into an image signal; And a control unit that detects an inclined angle of the electronic pen based on a moving distance of a pixel from an image obtained through the plurality of image sensors after the pen tip moves a predetermined distance.

According to the present invention, the electronic pen is not equipped with an inertial sensor or a six-axis sensor, and the tilt of the electronic pen can be obtained only with image sensors, so that the manufacturing cost of the electronic pen is reduced and light weight can be achieved.

1 is a schematic diagram of an electronic pen according to an embodiment of the present invention.
2 is a view showing a cross-sectional view of a portion of the electronic pen (dotted line in FIG. 1) according to an embodiment of the present invention.
3 is a view when the electronic pen is perpendicular to the surface, and FIG. 4 is a view when the electronic pen is moved at a predetermined distance in a state perpendicular to the surface.
5 is a view when the electronic pen is at a predetermined angle on the surface, and FIG. 6 is a view when the electronic pen is moved at a predetermined distance in a state where the electronic pen is at a predetermined angle.
7 is a view for explaining the length of the optical path in contact with the surface when the electronic pen is inclined at a predetermined angle as shown in FIG. 5.
FIG. 8 is a diagram illustrating the movement of a pixel in an image when the electronic pen is moved at a predetermined distance in a right-angled state, and FIG. 9 is when the electronic pen is moved at a predetermined distance in a state of being inclined at 41.5 ° This is a diagram showing the movement of pixels.
10 is a flowchart illustrating a method for obtaining a tilt of an electronic pen according to an embodiment of the present invention.
FIG. 11 is a diagram of a flow chart embodying the method of FIG. 10.
12 is a cross-sectional view of the first image sensor and the second image sensor viewed from one axis.
13 is a block diagram of 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 handwriting by detecting the movement of the laser speckle pattern on a surface or paper without a printed code. The present invention can be applied even if a predetermined code capable of locating a surface or paper is printed.

1 is a view showing a schematic diagram of an electronic pen according to an embodiment of the present invention, and FIG. 2 is a view showing a cross-sectional view of a part of the electronic pen (dotted part 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 pen 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 transmitter, and / or an input / output interface.

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

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 that ejects and writes ink on a surface (for example, paper), and is coupled to the housing 110 to be exposed to the outside through the first opening of the housing 110.

When the pen tip 120 writes on the surface of the pen pressure sensing unit 130, the pen tip 120 senses the pressure caused by the pen tip 120 because the pen tip 120 moves to the opposite side of the surface. When the pressure sensing unit 130 senses the pressure, the handwriting start signal is transmitted to the position sensing module 140.

When the electronic pen 100 is powered on, when 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, and the barrel is formed in a hollow shape, and may be disposed above the second opening 112 inside the housing 110.

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

When the electronic pen 100 is turned on, the light emitting unit emits light. In another embodiment of the present invention, when the handwriting start signal is received, 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 invention, the light emitting unit is preferably a laser. This is because a speckle pattern can be generated by using a wavefront interference phenomenon of plural light 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 longitudinal direction of the housing 110 so that the laser light irradiated from the light emitting unit is irradiated in the longitudinal direction and the inclined direction of the housing.

The laser beam is irradiated on the surface, and the speckle pattern is formed due to the coherent reflected from the surface. The image sensing unit detects the speckle pattern Convert to video signal. Thereafter, the image sensing unit transmits the converted video signal to the control unit. In the present invention, CCD or CMOS may be used as the image sensing unit.

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

The control unit detects the moving direction and the moving distance of the pen tip by comparing the speckle pattern image received from the image sensing unit. The control unit sets the Speckle pattern image subset of the position (current position) after the position change of the pen tip 120, and correlates most with the image of the currently set subset and the position before the position change (previous position). It scans whether the relationship is high, finds the previous position, and detects the position change and speed from the previous position of the pen tip to the current position.

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

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

When the control unit receives the pen pressure detection signal, data on the movement direction and movement distance of the pen tip since reception is transmitted 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 pressure sensing signal, the hover mode is maintained.

3 to 9 are diagrams illustrating an example related to movement of a pixel in an image captured by an image sensor according to an inclination of an electronic pen according to an embodiment of the present invention.

3 is a view when the electronic pen 300 is perpendicular to the surface (eg, paper, 400), and FIG. 4 is a predetermined distance in a state where the electronic pen 300 is perpendicular to the surface 400 It is the figure when it moved. The number of the surfaces 400 refers to a randomly determined distance unit. The distance unit is the same distance, and the description is only an example for convenience. 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 moved by a predetermined distance while the electronic pen 300 is at a predetermined angle on the surface 400 It is a drawing of one case. 7 is a view for explaining the length of the optical path in contact with the 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 (width of the optical path) in FIG. 3 is called x1, and FIG. 6 In the case where the angle at which the electronic pen is inclined, that is, the angle with the surface is θ °, the distance x2 between the optical 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 optical path is different, when the electronic pen 300 moves at a right angle, the moving distance of the pixel in the image captured by the image sensor and the electronic pen 300 is tilted When moving in the dark state, the moving distance of the pixels in the image captured by the image sensor is different.

If the movement distance of the pixel in the image captured by the image sensor is d1 when the electronic pen 300 moves at a right angle, the image sensor when the electronic pen 300 moves in a tilted θ ° D2, the moving distance of the pixels in the captured image, is sinθ × d1.

FIG. 8 shows the movement of a pixel within an image when the electronic pen 300 moves at a right angle in a right angle state, and FIG. 9 shows a predetermined distance in a state where the electronic pen 300 is inclined 41.5 ° It shows the movement of the pixel when it is moved. It is assumed that the image sensors in FIGS. 8 and 9 have a 6 × 1 resolution.

In FIG. 8, assuming that the pixel has moved by +3, 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 moving distance of the pixel in the image captured by the image sensor does not move to correspond to the moving distance of the electronic pen 300, but the electronic pen 300 is tilted The moving distance varies depending on the degree.

10 is a flowchart illustrating a method for 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 are acquired through a plurality of image sensors provided in the electronic pen.

In one embodiment of the present invention, the electronic pen includes two image sensors. When the direction of the electronic pen facing the surface in a state perpendicular to the surface is referred to as a 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 at 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 arranged side by side in either the X-axis or Y-axis direction, that is, the third image sensor is the second The image sensor is arranged in parallel with the first image sensor in a right angle direction, and is 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 may include a first image sensor and a second image sensor, and the electronic pen may face 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 on the surface in the XY plane, the second image sensor is disposed obliquely in the X and Y axis directions, and the first image sensor and the second image sensor are in the Z axis direction It may be arranged obliquely. Since one image sensor can detect the moving distances of pixels in the X direction and the Y direction, it can perform the same function as arranging 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 moving distance of the pixel from the image acquired through the plurality of image sensors.

Specifically, after the electronic pen moves a predetermined distance, a plurality of images are acquired through a plurality of image sensors. Then, in the image obtained before the electronic pen moves a predetermined distance and the image obtained after the electronic pen moves the predetermined distance, the moving distance of the pixel is calculated. A method of calculating the moving distance of a pixel 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 depending on the inclined angle. Therefore, the moving distances of the 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 embodying the method of FIG. 10.

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

When the direction of the electronic pen facing the surface in a state perpendicular to 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 at an angle. 12 is a cross-sectional view of the first image sensor and the second image sensor viewed from one axis. The first image sensor 1210 and the second image sensor 1220 were 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 θ2 ° is θ1 ° -θ °. D1 is a distance between the optical path 1211 of the first image sensor 1210 and the surface 1230, and D2 is a distance between the optical path 1221 of the second image sensor 1220 and the surface 1230. If the width of the optical path is R, 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 respectively obtained through the first image sensor and the second image sensor.

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 from the second image and the fourth images obtained from the second image sensor To obtain the second moving distance.

Here, assuming that the first movement distance is q pixels, the second movement distance is sin (θ2 °) / sin (θ1 °) × q, that is, sin (θ1 ° -θ °) / sin (θ1 °) × q It becomes 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 at which the electronic pen is inclined with respect to the surface is detected.

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

θ1 ° θ2 ° 2nd moving distance of pixel-1st 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 seen here, when the moving distance of the pixels is detected by the image sensors, the angle at 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, the inclination of the electronic pen can be obtained when only the movement of the electronic pen and the moving distance of the pixels are detected by the image sensors without using the inertial sensor or the six-axis sensor.

11 is to determine the tilt of the electronic pen in one direction, for example, in the X direction. Here, in addition to the arrangement of the two image sensors, the third image sensor is further provided in the Y direction, and the third image sensor may be arranged to be inclined by a predetermined angle in the Z-axis direction. In this case, the inclination 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 the direction in which the electronic pen faces the surface in a state perpendicular to the surface When Z is the Z-axis, the first image sensor is disposed on the surface in the XY plane, the second image sensor is disposed obliquely 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 obliquely. Since one image sensor can detect the moving distances of pixels in the X direction and the Y direction, it can perform the same function as arranging 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 it is repeatedly performed so that the respective inclinations in the X and Y directions are obtained.

13 is a block diagram of 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 device 1300 includes a plurality of image sensors 1310 and a controller 1320.

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

The plurality of image sensors 1310 may include two image sensors. When the direction of the electronic pen facing the surface in a state perpendicular to 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 at a predetermined angle in the Z-axis direction.

The first image and the second image are respectively obtained through the first image sensor 1311 and the second image sensor 1312.

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 arranged side by side in either the X-axis or the Y-axis, That is, the third image sensor 1313 is arranged in parallel with the first image sensor 1311 in the direction perpendicular to the second image sensor 1312, and is inclined by a predetermined angle in the Z-axis direction. When the first image sensor 1311 and the second image sensor 1312 determine the inclination of the electronic pen in the X direction, the first image sensor 1311 and the third image sensor 1313 are configured to detect the electronic pen in the Y direction. 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 phosphorus state is referred to as the Z axis, the first image sensor 1311 is disposed on the XY plane on the surface, and 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 arranged to be inclined in the Z-axis direction. Since one image sensor can detect the moving distances of pixels in the X direction and the Y direction, it can perform the same function as arranging 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 the inclined angle of the electronic pen based on the moving distance of the pixel from the image obtained through the plurality of image sensors 1310. Specifically, after the electronic pen or pen tip moves a predetermined distance, a plurality of images are acquired through the plurality of image sensors 1310, and the controller 1320 obtains the images obtained before the electronic pen moves the predetermined distance. And in 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 a pixel 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 depending on the inclined angle. Therefore, the moving distances of the 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, the third image and the fourth image are respectively transmitted through the first image sensor 1311 and the second image sensor 1312. To acquire. The controller 1320 acquires a first moving distance of a predetermined pixel from the first image and the third image obtained from the first image sensor 1311, and the second image and the second image acquired from the second image sensor 1312 The second moving distance of a given pixel is obtained from 4 images.

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

In addition to this, 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 inclination of the electronic pen in another axis may be further detected.

It is also possible to implement the tilting room of the electronic pen as described above as computer readable code on a computer readable recording medium. The computer-readable recording medium includes all kinds of recording media in which data readable by a computer system is stored. Examples of computer-readable recording media include ROM, RAM, CD-ROM, magnetic tape, floppy disks, and optical data storage devices. In addition, the computer-readable recording medium may be distributed over network-connected computer systems so that the computer-readable code is 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 pertains.

So far, the present invention has been focused on the preferred embodiments. Those skilled in the art to which the present invention pertains will appreciate that the present invention may be implemented in a modified form without departing from the essential characteristics of the present invention. Therefore, the disclosed embodiments should be considered in terms of explanation, not limitation. The scope of the present invention is shown in the claims rather than the foregoing description, and all differences within the equivalent range should be interpreted 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
And after the electronic pen moves a predetermined distance, detecting an inclined angle of the electronic pen based on a moving distance of a pixel from an image acquired through the plurality of image sensors. How to obtain the tilt of the electronic pen. According to claim 1,
The step of detecting the inclined angle of the electronic pen may include acquiring 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 moving distance of the detected pixels. According to claim 2,
The electronic pen includes a first image sensor and a second image sensor,
The step of detecting the inclined angle of the electronic pen,
Obtaining a first moving distance of a predetermined pixel from images acquired from the first image sensor, and obtaining a second moving distance of a predetermined pixel from images acquired from the second image sensor; And
And detecting an angle at which the electronic pen is inclined with respect to a surface according to a difference between the first moving distance of the pixel and the second moving distance of the pixel. According to claim 1,
The electronic pen includes a first image sensor and a second image sensor,
When the direction from the electronic pen 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 the first image sensor and the second image sensor are inclined at a predetermined angle in the Z-axis direction. The method of obtaining 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 either the X-axis or Y-axis direction, and the first image sensor and the third image sensor are inclined at a predetermined angle in the Z-axis direction. The method of obtaining the tilt of the electronic pen. According to claim 1,
The electronic pen includes a first image sensor and a second image sensor,
When the direction from the electronic pen toward the surface is referred to as 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. The method of obtaining the tilt of the electronic pen. In the tilt detection device of the electronic pen,
A plurality of image sensors for acquiring a plurality of images; And
And a controller configured to detect an inclined angle of the electronic pen based on a moving distance of a pixel from an image obtained through the plurality of image sensors after the electronic pen moves a predetermined distance. Electronic pen tilt acquisition device. 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 controller 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 moving distance of the detected pixel Tilt acquisition device of the electronic pen, characterized in that for detecting the inclined angle of the electronic pen according to the difference. 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 acquired from the first image sensor, obtains a second movement distance of a predetermined pixel from images acquired from the second image sensor, and The apparatus for obtaining a tilt of an electronic pen, wherein the electronic pen detects an angle inclined with respect to a surface according to a difference between a first moving distance of a pixel and a second moving distance of the pixel. The method of claim 7,
The plurality of image sensors are a first image sensor and a second image sensor,
When the direction from the electronic pen 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 the first image sensor and the second image sensor are inclined at a predetermined angle in the Z-axis direction. Electronic pen tilt acquisition device. The method of claim 10,
Further provided with a third image sensor,
The first image sensor and the third image sensor are arranged side by side in either the X-axis or Y-axis direction, and the first image sensor and the third image sensor are inclined at a predetermined angle in the Z-axis direction. 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 from the electronic pen toward the surface is referred to as 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 tilt acquisition device. A housing formed in one direction and having a first opening and a second opening formed at a lower end;
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 predetermined light;
A plurality of image sensors for capturing the surface of the emitted light and converting it into an image signal; And
And an electronic pen comprising a control unit configured to detect an inclined angle of the electronic pen based on the moving distance of the pixel from the image obtained through the plurality of image sensors after the pen tip moves a predetermined distance. . 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 controller 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 moving distance of the detected pixel The electronic pen, characterized in that for detecting the inclined angle of the electronic pen according to the difference. 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 moving distance of a predetermined pixel from images acquired from the first image sensor, obtains a second moving distance of a predetermined pixel from images acquired from the second image sensor, and An electronic pen characterized in that the electronic pen detects an angle inclined with respect to a surface according to a difference between a first moving distance of a pixel and a second moving distance of the pixel. The method of claim 13,
The plurality of image sensors are a first image sensor and a second image sensor,
When the direction from the electronic pen 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 the first image sensor and the second image sensor are inclined at a predetermined angle in the Z-axis direction. Electronic pen to play. The method of claim 16,
Further provided with a third image sensor,
The first image sensor and the third image sensor are arranged side by side in either 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 to play. The method of claim 13,
The plurality of image sensors are a first image sensor and a second image sensor,
When the direction from the electronic pen toward the surface is referred to as 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 to play.

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