JP4335032B2 - Pack device, sense table management device, moving locus calculation method, moving locus calculation program - Google Patents

Description

  The present invention relates to a pack device, a sense table device, a movement trajectory calculation method, and a movement trajectory calculation program that move on a sense table and are placed on the sense table in order to detect the coordinates and rotation angle.

As a next-generation user interface following CUI (Character User Interface) and GUI (Graphical User Interface), MIT is researching an intuitive interface called TUI (Tangible User Interface).
A device called a sense table is used as a platform for this research, and this device is composed of a pack for detecting the position and rotation angle in addition to the sense table body (see Non-Patent Document 1).

FIG. 7 shows a configuration example of a sense table device when network design is performed using TUI (for example, see Non-Patent Document 1).
That is, a design drawing generated and output by the PC 72 is projected through the projector 73 on the sense table main body 71 on which the magnetic sheet is laid, and the user operates the pack 74 on which the coil is wound on the design drawing. As a result, the PC 72 captures the coordinate position or rotation angle.

For example, when a link is set between nodes represented in the design drawing projected on the sense table main body 71, it is performed by bringing the packs 74 bound to the node for setting the link into contact with each other, and the band of the link is changed. In this case, the pack 74 is bound to the link and rotated. By applying this TUI, a pack operation by a plurality of persons is possible, and a design by collaboration is possible while discussing between designers.
[Search February 13, 2004] Internet <URL: http://tangible.media.mit.edu/papers/SenseTable_CHI01/SenseTable_CHI01.html>

By the way, the above-described sense table employs an electromagnetic induction method using a coil for coordinate position detection. By receiving a signal from a pack in which two coils having different resonance frequencies are mounted, the center position of the pack and The rotation angle was calculated. Accordingly, the range and width of the resonance frequency that can be set are determined depending on the type of coil mounted on the pack, and the total number of packs used is limited.
In the example disclosed in Non-Patent Document 1, only about 5 packs can be used. Therefore, the design by collaboration using TUI is limited, and it can be said that it provides a sufficient interface especially in network design. There wasn't.

Here, by using two large and small coils A and B having different resonance frequencies, the coil B is provided in the coil A to constitute one pack, thereby solving the problem.
According to this pack device, when the radius of the coil increases, for example, as shown in the characteristic diagram of FIG. 8, a certain amount of time is required for the current (or voltage, power) to rise, so that the coil is detected. The time (α in the figure) is set according to the radius of the coil. Thereby, the large coil A can be detected more stably than the small coil B.
However, in order to detect the large coil A more stably than the small coil B, it is necessary to secure a detection time corresponding to the radius of the coil, but it may be desirable that this detection time is short.
Further, if the coil B exists in the coil A, the resonance frequency is shifted as compared with the case where the coil B is used alone. Therefore, the resonance frequency of each of the coils A and B needs to be adjusted.

  The present invention has been made in view of the above circumstances, and a pack device and a sense table device, a moving track calculation method, and a moving track calculation program that do not require adjustment of the resonance frequency between the coils without deteriorating the coil detection performance. The purpose is to provide.

In order to solve the above-described problems, the present invention provides a pack device that moves on the sense table and is placed on the sense table in order to detect the position and rotation angle of the pack device, and the center position of the pack device Two coils for position detection having the same resonance frequency mounted at point-symmetrical positions, and the two coils mounted in a direction perpendicular to the line connecting the centers of the two coils And a single coil for detecting a rotation angle that does not resonate when the button is pressed, and the one coil for detecting the rotation angle has a rotation angle when there are a plurality of the pack devices. The resonance frequency of one coil for detection is the same as the resonance frequency of one coil for rotation angle detection provided in all other pack devices .

Further, in the present invention, the is mounted on two lines perpendicular direction to the center were connected coils, wherein the two coils different resonance frequencies, for rolling angle detection Kai infusible such resonated by button pressing One coil is provided.
In the present invention, among the two position detection coils, the rotation angle detection is performed from a center point on a line connecting the center positions of one position detection coil and the other position detection coil. A line drawn to the center position of one of the coils, a line drawn from a center point on a line connecting the center positions of the one position detection coil and the other position detection coil to a predetermined position, The angle formed by is a rotation angle.

In order to solve the above-described problems, the present invention provides a sense table management device that detects each position and rotation angle of a pack device that moves on the sense table . The two coils for position detection having the same resonance frequency mounted at a point-symmetrical position with respect to the center position and the two coils have different resonance frequencies and one for each rotation that does not resonate when the button is pressed The rotation angle detection of one coil for rotation angle detection is provided in all other pack devices when there are a plurality of pack devices. Two coils having the same resonance frequency mounted on each of the pack devices , and one coil having a different resonance frequency, which is the same as the resonance frequency of one coil for angle detection A signal receiving unit that receives each signal induced by electromagnetic induction from the first, a resonance frequency of the two coils, a position calculation and a rotation angle calculation of each moving pack device, and And an arithmetic unit that calculates the rotation angle based on the calculated rotation angle and the coordinate position of the one coil with respect to the coordinate position of the two coils.
Further, according to the present invention, the calculation unit calculates a center position on a line connecting the coordinate positions of two coils having the same resonance frequency mounted on the pack device, and the calculated center position, The rotation angle is calculated from the coordinate position of one coil having a different resonance frequency.
Further, the present invention is characterized in that the calculation unit calculates the center position by calculating the center of gravity of the coordinate positions of the two coils having the same resonance frequency mounted on the pack device.

In order to solve the above-described problems, the present invention provides a movement trajectory calculation method using a sense table device that detects each position and rotation angle of a pack device that moves on a sense table, and each of the pack devices. Furthermore, the two coils for position detection having the same resonance frequency mounted at a point-symmetrical position with respect to the center position of the pack device and the two coils have different resonance frequencies and do not resonate when the button is pressed. One coil for each detection is provided, and one coil for detecting the rotation angle has a resonance frequency of one coil for detecting the rotation angle when all of the other pack devices are present. is the same as the resonant frequency of a single coil for rotation angle detection provided in the pack apparatus, said respective pack apparatus mounted resonance frequency is the same two coils, and the resonant frequency Receiving each signal induced by electromagnetic induction from one different coil, and calculating the position and rotation angle of each moving pack device according to the resonance frequency of the two coils. And calculating the rotation angle based on the calculated rotation angle and the coordinate position of the one coil with respect to the coordinate position of the two coils.

The present invention to solve the above-mentioned problems is a program used in the sense table apparatus for detecting the respective positions of the pack apparatus which moves on sense table and rotation angle, said each pack unit, the The two coils for position detection having the same resonance frequency mounted at a point-symmetrical position with respect to the center position of the pack device and the two coils have different resonance frequencies and for each rotation that does not resonate when the button is pressed When one of the coils for rotation angle detection is provided with a plurality of the pack devices, the resonance frequency of the one coil for rotation angle detection is the same for all other pack devices. It is the same as the resonant frequency of a single coil for rotation angle detection provided, wherein each pack apparatus resonant frequency the same two coils mounted, and the resonant frequency The process of receiving each signal induced by electromagnetic induction from a different coil, and the calculation of the position and the rotation angle of each moving pack device by the resonance frequency of the two coils. And a program for causing a computer to execute the process of calculating the rotation angle based on the calculated rotation angle and the coordinate position of the one coil with respect to the coordinate position of the two coils.

According to the present invention, two coils having the same resonance frequency are used to detect the position, each is mounted diagonally, and another coil having a resonance frequency different from those coils is used to detect the rotation angle. Is mounted at a position perpendicular to the two coils, the two coils that determine the position can be detected with the same accuracy and time as before, and the conventional coil in which the coil exists is present. Unlike the mounting form, the resonance frequency does not shift and no adjustment is required.
It should be noted that the coil for detecting the rotation angle when the button is pressed is temporarily not resonated (open), and in normal operation, the act of rotating the pack device and the act of pressing the button are rarely performed at the same time. The state where the rotation angle detection becomes unstable when the button is pressed is acceptable. Further, if the two coils for position detection are basically mounted at point-symmetric positions, the center position can be calculated by calculating the center of gravity, and the accuracy can be improved.

FIG. 1 is a diagram cited for explaining the configuration of a pack device according to the present invention. FIG. 1A shows an embodiment of the present invention, and FIG. Each pack device 1 has an ID and is connected to a sense table device (not shown) by electromagnetic coupling.
As shown in FIG. 1A, in the pack device 1, two coils A and B having the same resonance frequency and different diameters are mounted at point-symmetrical positions, that is, the centers of the coils A and B. It is mounted on the line that is connected. In addition, one coil C having a different resonance frequency for detecting the rotation angle is mounted in a direction perpendicular to the connection. Here, the central position c of the pack device 1 and the direction angle from the central position c to the central position of the coil C are defined as the rotation angle θ.
It is assumed that the resonance frequency of the coil C is the same in all other pack devices, and a button (not shown) is attached and the button C is pressed so that it does not resonate for a certain period of time. .

  Incidentally, the pack device 1 shown in FIG. 1B includes two coils A and B having different resonance frequencies and different diameters, and of the two coils A and B, The coil B having a small diameter is mounted on a line connecting the centers of the coils A and B, and the center position c of the pack device 1 and the coil having a small diameter from the center position c are mounted. The direction angle to the center position of B is the rotation angle θ.

As described above, according to the present invention, the coils A and B having the same resonance frequency are mounted diagonally to detect the position, and the coils A and B are detected to detect the rotation angle. By mounting a coil C having a different resonance frequency at a position perpendicular to the two coils A and B, the two coils A and B that determine the position are detected within the same accuracy and time as before. Unlike the conventional mounting form in which the coil exists in the coil shown in FIG. 1B, the resonance frequency does not shift, and adjustment is not necessary.
It should be noted that the coil C for detecting the rotation angle when the button is pressed is temporarily not resonated (open), and in the normal operation, the act of rotating the pack device and the act of pressing the button are rarely performed at the same time. Therefore, a state in which the detection of the rotation angle becomes unstable when the button is pressed is acceptable. Further, if the two coils for position detection are basically mounted at point-symmetric positions, the center position can be calculated by calculating the center of gravity, and the accuracy can be improved.

FIG. 2 shows another embodiment of the pack device of the present invention. The pack device shown in FIG. 2A shows an example in which two coils A and B for position detection are equipped with coil wires, and the center is narrowed down to facilitate the detection of the center position. An example of outfitting is shown. Further, the pack device shown in FIG. 2 (b) shows an example in which coiled electric wires are installed on the triangular coils A and B, and the center position can be easily detected as in FIG. 2 (a). For this reason, an example of wearing out while narrowing the center is shown.
In any case, the two coils A and B for position detection have the same resonance frequency, and can be freely shaped if they are basically mounted at point-symmetric positions. It can be calculated, and the accuracy can be improved. In addition, if the coil is mounted with its center aligned with the center of the pack device and one coil is provided in addition to that, the same effect can be obtained although the detection accuracy is slightly lowered.

FIG. 4 shows the internal configuration of the sense table device. In the sense table device 2, an antenna print line (sensor substrate 21) is laid. The sensor substrate 21 is provided with receiving coils (Xi; X0 to Xz, Yi; Y0 to Yz, respectively) with narrow widths in the X direction and the Y direction, and the sensor substrate 21 has a transmission carrier by the pulse oscillator 22. The signal is supplied for a certain period and receives a signal induced by electromagnetic coupling between the coils A and B mounted on the moving pack device 1.
Specifically, the oscillation channel is switched under the control of the microcomputer by the channel selection circuit 23, and the signal sensed through the reception channel is amplified by the amplifier 24, converted to a digital signal by the AD converter 25, and detected. 26. The detection device 26 detects the position and rotation angle of the pack device 1 from the positions of the coils A and B. Details will be described later with reference to FIG.

The pack device 1 (# 0 to #n) moves on the sense table device 2 and is placed on the sensor substrate 21 in order to detect the coordinate position and rotation angle. Each pack device 1 is mounted with two coils having the same resonance frequency and different diameters, and the coils A and B are mounted on a line connecting the centers of the coils. FIG. 3 shows the relationship between the sensor substrate 21 and the pack device 1 that moves on the sensor substrate 21.
The number of squares of the antenna print line for detecting the size of the coil having a different diameter mounted on the pack device 1 (# 0 to #n) is different depending on the coil. For example, when the distance between the lines is 5 mm, if the distance is 7 mm, a spread of about 2 to 3 squares can be obtained. However, the spread increases as the threshold value of the detected peak current is lowered. For example, when 2 to 3 squares are used at 7 mm, 3 to 4 squares are obtained at 14 mm. In this case, it may not be possible to determine which one belongs to 3 squares. However, in the case of 14 mm, there are almost no three squares, so even a size ratio of this level can be detected. Also, if the distance between the lines is 3 mm, it is possible to distinguish between 7 mm and 14 mm without any problem. In any case, the antenna printed wire and the coil size need to be adjusted in cooperation, greatly affecting the detection performance.

FIG. 5 is a block diagram showing in detail the internal configuration of the detection device 26 shown in FIG. The detection device 26 includes a signal reception unit 261, a pack determination unit 262, a calculation unit 263, and a movement locus DB 264 in order to detect the position and rotation angle of the pack device 1 that moves on the sense table device 2. Is done.
The signal receiving unit 261 is induced by electromagnetic induction from two coils having the same resonance frequency and different diameters mounted on the plurality of pack devices 1 (# 0 to #n) moving on the sense table device 2. Each signal is received and supplied to the pack determination unit 262 and the calculation unit 263. The pack determination unit 262 determines each ID of the pack device 1 based on signals induced by electromagnetic induction from the two coils A and B having the same resonance frequency mounted on each pack device 1, and The computing unit 263 calculates the center and rotation angle of each pack device 1 that moves from the signal obtained by electromagnetic induction from the coil C1 having different resonance frequencies, and the pack device ID and the center of the pack device 1 obtained as a result thereof. The position and rotation angle θ are stored in the movement locus DB 264. For this reason, the movement locus of each pack device 1 is stored in the movement locus DB 264.

FIG. 6 is a flowchart cited for explaining the operation of the embodiment of the present invention, and specifically shows the processing procedure of the movement trajectory calculation program in the present invention.
The operation of the embodiment of the present invention shown in FIGS. 1 to 4 will be described in detail below with reference to the flowchart shown in FIG.

Sense table device 2 generates a frequency resonating with particular coil by pulse generator 22. Then, when X0 is first selected by the channel selection circuit 23 and a coil designated in the range of X0 exists, a current induced by resonance with Yi at that time is generated. In this case, it can be seen that a part of the coil exists at the vertical and horizontal intersections.
The above processing (S51: Presence / absence of resonance signal of coil) is executed by selecting X0 to Xz by the channel selection circuit 23, and the current induced at that time is detected by Y0 to Yz (S52). Here, since the current value detected on the Y-axis side is small, the current value is amplified by the amplifier 24 and then converted into a digital signal by the AD converter 25 (S53). Detect (S54). The presence / absence of the coil is confirmed each time the channel is switched by the channel selection circuit 23.

  Although the coil position can be determined by the above-described processing, as shown in FIG. 3, since the squares of the antenna print lines are 5 mm apart, if the calculation is performed as it is, the accuracy of the coil center position is considerably reduced. End up. Therefore, a certain accuracy is obtained by calculating the center of gravity using the detected grid and its current value.

On the other hand, the calculation unit 263 specifies the pack position for all the coils (S55), specifies the position of the pack device 1 from the coordinate positions of the coils A and B (S56, S57), and the coordinate position of the coil C. The rotation angle is calculated from (S58).
Specifically, assuming that the coordinate positions of the two coils are A (x1, y1) and B (x2.y2), the rotation angle θ is calculated by the calculation unit 263 and tan ⁻¹ (x2−x1). / (Y2-y1) can be calculated. However, the rotation angle detection capability is within 180 degrees as in the prior art. Here, the pair can be determined from the coils A and B constituting the pack device 1.

The center position and the rotation angle of each pack device 1 moving on the sense table device 2 calculated as described above are the same as the pack ID determined by the pack determination unit 262 each time the pack device 1 is moved. The movement trajectory is recorded in the movement trajectory DB 24 (S59). In the process of S51, if no current induced by resonance with Yi is generated (there is no coil), the data is deleted from the movement locus DB 264 (S60).
The above operation is repeated for the number of all the pack devices placed on the sense table device 2 (S61).

As described above, the present invention uses two coils having the same resonance frequency to detect the position, each is mounted diagonally, and different from those coils to detect the rotation angle. By mounting the frequency coil at a position perpendicular to the two coils, the two coils that determine the position can be detected with the same accuracy and time as before, and there is a coil in the coil. Unlike the conventional mounting form, the resonance frequency does not shift and no adjustment is required.
It should be noted that the coil for detecting the rotation angle when the button is pressed is temporarily not resonated (open), and in normal operation, the act of rotating the pack device and the act of pressing the button are rarely performed at the same time. The state where the rotation angle detection becomes unstable when the button is pressed is acceptable. Further, if the two coils for position detection are basically mounted at point-symmetric positions, the center position can be calculated by calculating the center of gravity, and the accuracy can be improved.

In addition, according to above-mentioned embodiment of this invention, although the circular coil was illustrated, it will not depend on a shape if it is a shape which can be detected, In that case, the increase in the number of packs which can be utilized will be further increased depending on a shape.
Further, the procedure executed by each of the signal receiving unit 261, the pack determining unit 262, and the calculating unit 263 shown in FIG. 5 is recorded on a computer-readable recording medium, and the program recorded on the recording medium is stored in the computer system. It is assumed that the sense table device of the present invention is realized by reading and executing. The computer system here includes an OS and hardware such as peripheral devices.

Further, the “computer system” includes a homepage providing environment (or display environment) if a WWW system is used.
The program may be transmitted from a computer system storing the program in a storage device or the like to another computer system via a transmission medium or by a transmission wave in the transmission medium. Here, the “transmission medium” for transmitting the program refers to a medium having a function of transmitting information, such as a network (communication network) such as the Internet or a communication line (communication line) such as a telephone line.
The program may be for realizing a part of the functions described above. Furthermore, what can implement | achieve the function mentioned above in combination with the program already recorded on the computer system, and what is called a difference file (difference program) may be sufficient.

  The embodiments of the present invention have been described in detail with reference to the drawings. However, the specific configuration is not limited to the embodiments, and includes designs and the like that do not depart from the gist of the present invention.

It is the figure quoted in order to demonstrate the structure of the pack apparatus in this invention. It is the figure quoted in order to demonstrate the other structure of the pack apparatus in this invention. It is a view referred to in order to explain the internal configuration of the sense table apparatus of the present invention. A sense table apparatus of the present invention, is a view referred to in order to explain the relationship between the pack apparatus which moves on sense table device. It is a block diagram which shows an example of an internal structure of the detection apparatus shown in FIG. It is the flowchart quoted in order to demonstrate operation | movement of embodiment of this invention. It is a figure which shows the structural example of the sense table apparatus in the case of designing a network using TUI. It is a figure which shows a coil detection characteristic.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Pack apparatus, 2 ... Sense table apparatus, 21 ... Sensor board | substrate, 26 ... Detection apparatus, 261 ... Signal receiving part, 262 ... Pack determination part, 263 ... Calculation part, 264 ... Movement locus DB

Claims (8)

A pack device that moves on the sense table and is placed on the sense table to detect its position and rotation angle,
And two coil for position detection having the same resonant frequency to be implemented in point symmetry positions with respect to the central position of the pack device,
The two coils are mounted in a direction perpendicular to the line connecting the centers of the two coils, and have a resonance frequency different from that of the two coils, and one coil for detecting a rotation angle that does not resonate when a button is pressed,
When there is a plurality of pack devices, the single rotation angle detection coil has a resonance frequency of one rotation angle detection coil provided for all other pack devices. A pack device having the same resonance frequency as that of one coil . Said one coil for rotation angle detection, pack device according to claim 1, characterized by not resonate predetermined time by button provided in the pack device is pressed. Of the two coils for position detection, one of the coils for detecting the rotation angle from a center point on a line connecting the center positions of one position detection coil and the other position detection coil. The angle formed by the line drawn to the center position and the line drawn from the center point on the line connecting the center positions of the one position detection coil and the other position detection coil to the predetermined position is the rotation angle. The pack device according to claim 1 or 2, wherein: A sense table management device that detects the position and rotation angle of each pack device that moves on the sense table,
In each of the pack devices, the two coils for position detection having the same resonance frequency mounted at a point-symmetrical position with respect to the center position of the pack device and the two coils have different resonance frequencies and buttons. One coil for each rotation that does not resonate when pressed is provided, and one coil for detecting the rotation angle has a resonance frequency of one coil for detecting the rotation angle when there are a plurality of pack devices. The same resonance frequency of one coil for detecting the rotation angle provided in all other pack devices, two coils having the same resonance frequency mounted on each pack device, and different resonance frequencies A signal receiving unit that receives each signal induced by electromagnetic induction from one coil;
The position of each moving pack device and the calculation of the rotation angle are calculated based on the resonance frequency of the two coils, and the rotation angle and the coordinate position of the two coils are compared with each other. An arithmetic unit that calculates the rotation angle based on the coordinate position of one coil;
A sense table management device comprising: The computing unit is
The center position on a line connecting the coordinate positions of two coils having the same resonance frequency mounted on the pack device is calculated, and the calculated center position and the coordinate position of one coil having a different resonance frequency are calculated. The sense table management device according to claim 4 , wherein the rotation angle is calculated from: The computing unit is
The sense table management device according to claim 5, wherein the center position is calculated by calculating the center of gravity of each coordinate position of two coils having the same resonance frequency mounted on the pack device. A movement trajectory calculation method using a sense table device that detects each position and rotation angle of a pack device that moves on a sense table,
In each of the pack devices, the two coils for position detection having the same resonance frequency mounted at a point-symmetrical position with respect to the center position of the pack device and the two coils have different resonance frequencies and buttons. One coil for each rotation that does not resonate when pressed is provided, and one coil for detecting the rotation angle has a resonance frequency of one coil for detecting the rotation angle when there are a plurality of pack devices. The same resonance frequency of one coil for detecting the rotation angle provided in all other pack devices, two coils having the same resonance frequency mounted on each pack device, and different resonance frequencies Receiving each signal induced by electromagnetic induction from one coil;
The position of each moving pack device and the calculation of the rotation angle are calculated based on the resonance frequency of the two coils, and the rotation angle and the coordinate position of the two coils are compared with each other. Calculating the rotation angle from the coordinate position of one coil;
A movement trajectory calculation method characterized by comprising: A program used for a sense table device that detects each position and rotation angle of a pack device that moves on a sense table,
In each of the pack devices, the two coils for position detection having the same resonance frequency mounted at a point-symmetrical position with respect to the center position of the pack device and the two coils have different resonance frequencies and buttons. One coil for each rotation that does not resonate when pressed is provided, and one coil for detecting the rotation angle has a resonance frequency of one coil for detecting the rotation angle when there are a plurality of pack devices. The same resonance frequency of one coil for detecting the rotation angle provided in all other pack devices, two coils having the same resonance frequency mounted on each pack device, and different resonance frequencies Receiving each signal induced by electromagnetic induction from one coil; and
The position of each moving pack device and the calculation of the rotation angle are calculated based on the resonance frequency of the two coils, and the rotation angle and the coordinate position of the two coils are compared with each other. A process of calculating the rotation angle from the coordinate position of one coil;
A program that causes a computer to execute.

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