JPH04237319A - Three-dimensional input device - Google Patents

Abstract

PURPOSE:To attain three-dimensional input without requiring the formation of a magnetic field and being influenced by the inclination of a device in operating. CONSTITUTION:This three-dimensional input device is constituted of an accelerator 1 for measuring three-dimensional acceleration, an angle gauge 2 for measuring an angle formed by the accelerator 1 and the horizontal face of a ground surface and a computing element 3 for integrating moving acceleration obtained by the accelerator 1 and corrected by the angle theta measured by the angle gauge 2 to find out a moving speed upsilon and integrating the moving speed upsilon to find out a moving distance 1. Thus, the three-dimensional input can be obtained without forming a magnetic field.

Description

[Detailed description of the invention]

0001

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a three-dimensional input device.

0002

[Prior Art] Conventional three-dimensional input devices used in computer-aided design systems, etc. are (A) devices that obtain three-dimensional coordinates by measuring changes in the magnetic field with a sensor coil within an artificially formed magnetic field; , (B) Obtaining three-dimensional coordinates by multiple integration of acceleration measured using an accelerometer (Japanese Patent Application Laid-Open No. 1-96720
(Refer to Japanese Patent Publication No. 64-28), (C) Obtain three-dimensional coordinates by multiply integrating the acceleration measured using a pressure gauge, and also measure the gravitational acceleration with the same pressure gauge to obtain the tilt of the device at the same time (Japanese Patent Application Laid-Open No. 64-28
No. 720) exists.

0003

[Problem to be solved by the invention] (A) of the above prior art
However, if there is metal in the magnetic field, the magnetic field will be disturbed and the accuracy will be reduced. If the magnetic field is made stronger, it will be less susceptible to the effects of metals, but there is a risk that it will have an adverse effect on electronic equipment or human bodies using cardiac pacemakers, etc. within the magnetic field.

[0004] In the prior art (B), since the direction of gravitational acceleration cannot be detected, when the device is tilted with respect to the ground surface, gravitational acceleration cannot be canceled out correctly, resulting in malfunction. The reason for the malfunction will be explained using FIGS. 9 and 10. In both FIGS. 9 and 10, the Y axis is omitted for simplicity. FIG. 9 shows the operation when the device is not tilted. In FIG. 9(a), the following equation (
The accelerometer 1 shown in 1) has a moving acceleration Um and a gravitational acceleration U
The resultant acceleration Ur, which is the sum of the acceleration and g, is detected.

[0005]Resultant acceleration Ur=moving acceleration Um+gravitational acceleration Ug...Formula (1) In FIG. 9(b), the resultant acceleration Ur
In order to separate only the moving acceleration Um from the gravitational acceleration U
g is reduced.

Movement acceleration Um=combined acceleration Ur-gravitational acceleration Ug...Equation (2) Equation (2) can be obtained by transposing Equation (1). In the case of FIG. 9, since the device is not tilted, it operates normally regardless of the presence or absence of the angle meter.

FIG. 10 shows a malfunction when the accelerometer 1 is tilted. In FIG. 10(a), similarly to the expression (1) above, the accelerometer 1 has a moving acceleration Um and a gravitational acceleration Um.
The resultant acceleration Ur, which is the sum of the acceleration and g, is detected.

In FIG. 10(b), the gravitational acceleration Ug is subtracted in order to separate only the movement acceleration Um from the composite acceleration Ur. At this time, since no angle meter is provided, a false gravitational acceleration U'g whose direction is fixed in the downward direction of the device is used. As a result of calculation using fake gravitational acceleration U'g,
A false movement acceleration U'm is obtained.

False moving acceleration U′m=Resultant acceleration U′r−False gravitational acceleration U′g

Equation (3) Since this false movement acceleration U'm is integrated, even if the tilt of the device returns to its original state, the influence remains, and malfunctions will continue from then on. Therefore, in order for the device based on the prior art (B) to work properly, it is necessary to use a jig to prevent the device from tilting, or to force a person to perform operations to prevent the device from tilting. Since the jig restricts the movement of the device, it impairs the operability of the operation. Forcing the operator to perform operations to prevent the device from tilting is a burden on the operator.

[0010] In prior art (C), the acceleration of the device and the gravitational acceleration are determined by measuring the acceleration with a pressure gauge, but this cannot be realized. This is because it is known from the theory of relativity that acceleration due to movement of a device and gravitational acceleration cannot be distinguished. Therefore, only the acceleration of the device can be determined, which has the same problem as the prior art (B).

An object of the present invention is to provide a three-dimensional input device that allows three-dimensional input without the need to generate a magnetic field and without being affected by the tilt of the device during operation.

0012

[Means for Solving the Problems] A three-dimensional input device according to the present invention includes an accelerometer that measures three-dimensional acceleration, an angle meter that measures the angle between this accelerometer and a horizontal plane of the earth's surface, and an accelerometer It consists of an arithmetic unit that calculates the moving speed and amount of movement from the three-dimensional acceleration obtained from the above and the angle measured by the angle meter.

[0013]

[Operation] In the present invention, a malfunction caused by the tilt of the accelerometer is corrected by an angle meter to obtain the correct acceleration, this acceleration is integrated to obtain the moving speed, and multiple integration is performed to obtain the moving distance.

[0014]

[Embodiments] Hereinafter, embodiments of the present invention will be described with reference to FIGS. 1 to 8. FIG. 1 is a block diagram showing the configuration of an embodiment of the present invention. The accelerometer 1 has a function of measuring three-dimensional acceleration. The angle meter 2 is composed of a three-axis gyroscope, and the three orthogonal axes (X', Y',
Rotation angle θ of the angle meter 2 around Z' = (θx, θy, θz
) has the function of measuring. The calculator 3 calculates the position p, velocity υ, and angle θ of the device from the outputs of the accelerometer 1 and the angle meter 2, and outputs these to the outside as three-dimensional inputs.

Next, the operation of the present invention will be explained using FIG. First, as in FIG. 10(a), from the gravitational acceleration Ug acting on the device with the accelerometer 1 and the moving acceleration Um, the above formula (1) is used.
The resultant acceleration Ur is measured using an angle meter 2 (not shown), and the angle θ of the device is measured using an angle meter 2 (not shown).

Next, as shown in FIG. 2(a), the coordinates are transformed using the angle θ indicated by the angle meter 2 so that gravity acts in the opposite direction of the z-axis. Next, in FIG. 2(b), the moving acceleration Um is obtained by subtracting the gravitational acceleration Ug from the resultant acceleration Ur. Here, the moving speed υ is obtained by integrating the obtained moving acceleration Um, and the moving distance l is obtained by further integrating the obtained moving acceleration Um.

∫Movement acceleration Um=Movement speed υ……………………Formula (4
) ∫ Traveling speed υ = Traveling distance l…………………………Formula (5
) Accelerometer 1 measures the combined acceleration in equation (1), angle meter 2 measures the angle to determine the direction of gravity, and equation (2)
, (4), and (5) are performed by the computing unit 3. The magnitude of the gravitational acceleration Ug used in equation (2) is measured by the accelerometer 1 with the device in a stationary state before using the device of the present invention.

FIG. 3 is a perspective view showing an embodiment of the present invention. An accelerometer 1, an angle meter 2, and an arithmetic unit 3 are housed in a case 10, and a cable 11 for outputting a signal from the arithmetic unit 3 is added. When the case 10 is moved in three dimensions (X, Y, and Z directions), the position p, velocity υ, and angle θ of the case 10 change.
is output through cable 11.

FIG. 4 is a perspective view showing an embodiment in which the present invention is applied to a three-dimensional mouse. An accelerometer 1, an angle meter 2, and an arithmetic unit 3 are housed in a case 10, and a cable 11 for outputting a signal from the arithmetic unit 3 is added. Further, a button 12 is attached to the case 10 and has the same function as an existing mouse button, that is, a function to confirm position designation and indicate an opportunity to execute a command. This three-dimensional mouse has the function of specifying a position in a three-dimensional space and the function of specifying an angle in addition to the function of specifying a position on a two-dimensional plane that a conventional mouse has.

FIG. 5 is a perspective view showing an embodiment in which the three-dimensional mouse of FIG. 4 is made smaller and lighter. Case 10 for computing unit 3
The case 10 is made smaller and lighter by taking it out and placing it at the end of the cable 11.

FIG. 6 is a perspective view showing an embodiment in which the three-dimensional mouse of FIG. 5 is made wireless. Cable 1 in Figure 5
1 is replaced with a wireless communication device 20 (not shown). There is no restriction due to the cable 11 during operation.

FIG. 7 shows an embodiment in which the case 10 of the wireless three-dimensional mouse shown in FIG. 6 is made into a rod shape, and a pointing position calculator 30 is added to apply it to a three-dimensional pointing stick. The coordinates of surrounding objects are registered in advance in the indicated position calculator 30. If these coordinates of the object intersect with the extension line of the rod determined from the position angle of the pointing rod, it can be determined that the rod is pointing to the object. If there are multiple objects that intersect with the extension line of the rod,
It is determined that it is pointing to the object closest to the stick. The feature of this embodiment is that it is possible to know not only the position angle of the rod itself, but also the position of the object pointed to by the rod.

FIG. 8 shows an embodiment in which the pointer stick shown in FIG. 7 is applied to a pointing position specifying device by attaching it to a finger. The case 10 is attached to the finger 40 by a fitting 41. According to this embodiment, the position of the pointed object can be determined using the same operating principle as the three-dimensional pointing stick shown in FIG.

[0024]

Effects of the Invention As described in detail above, the present invention provides an accelerometer that measures three-dimensional acceleration, an angle meter that measures the angle between this accelerometer and the horizontal plane of the earth's surface, and an angle meter that measures three-dimensional acceleration. Equipped with a calculator that calculates the three-dimensional movement speed and amount of movement from the angle measured by the angle meter, three-dimensional input is possible without the need to generate a magnetic field and without being affected by the tilt of the device during operation. becomes possible.

[Brief explanation of the drawing]

FIG. 1 is a block diagram showing the configuration of an embodiment of the present invention.

FIG. 2 is a diagram for explaining the operation of the embodiment of FIG. 1;

FIG. 3 is a perspective view showing an embodiment of the present invention.

FIG. 4 is a perspective view showing an embodiment in which the present invention is applied to a three-dimensional mouse.

5 is a perspective view showing an example in which the three-dimensional mouse of FIG. 4 is made smaller and lighter; FIG.

FIG. 6 is a perspective view showing an embodiment in which the present invention is applied to a wireless three-dimensional mouse.

FIG. 7 is a perspective view showing an embodiment in which the present invention is applied to a three-dimensional pointing stick.

FIG. 8 is a perspective view showing an embodiment in which the present invention is applied to a pointing position specifying device.

FIG. 9 is a diagram showing the principle of gravitational acceleration cancellation when the device is not tilted.

FIG. 10 is a diagram showing the principle of canceling erroneous gravitational acceleration when the device is tilted.

[Explanation of symbols]

1 Accelerometer 2 Angle meter 3 Arithmetic unit 10 Case 11 Cable 12 button 20 Wireless communication device 30 Indicated position calculator 40 fingers 41 Mounting tool

Claims (1)

[Claims] Claim 1: an accelerometer that measures three-dimensional acceleration; an angle meter that measures the angle between the accelerometer and a horizontal plane on the earth's surface; A three-dimensional input device comprising: a calculator for calculating the moving speed and amount of movement of the object.