EP1779223A1 - Method for recognising the path of the point of a body on a support - Google Patents
Method for recognising the path of the point of a body on a supportInfo
- Publication number
- EP1779223A1 EP1779223A1 EP05717528A EP05717528A EP1779223A1 EP 1779223 A1 EP1779223 A1 EP 1779223A1 EP 05717528 A EP05717528 A EP 05717528A EP 05717528 A EP05717528 A EP 05717528A EP 1779223 A1 EP1779223 A1 EP 1779223A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- support
- trajectory
- pen
- tangential
- vector
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Ceased
Links
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
- G06F3/033—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
- G06F3/0354—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor with detection of 2D relative movements between the device, or an operating part thereof, and a plane or surface, e.g. 2D mice, trackballs, pens or pucks
- G06F3/03545—Pens or stylus
Definitions
- the invention relates to a method for recognizing the trajectory of a point of a body on a support, comprising the determination of an orientation angle of the body by processing measurement data supplied to a processing unit, by at least one angle sensor disposed in the body, the body comprising a force sensor measuring the reaction force of the tip of the body in contact with the support, the force sensor providing, almost continuously, to the data processing unit representative of the reaction force, the processing unit determining the orientation of the reaction force relative to the plane of the support from the measurement data of the angle sensor and the force sensor.
- a trace written on a medium is transcribed on a computer screen via the pen.
- a digital pen can recognize written symbols, such as characters and signatures.
- a digital pen comprises several sensors, for example inertial sensors of accelerometer type and angle sensors, for example of magnetometers or gyrometers type, and, optionally, a reaction force detector of a tip of the pen in contact with the support, allowing to recognize if the pen is in contact with a writing support or not.
- the acceleration of the tip of the pen on the writing medium is obtained by processing measurement data supplied by the sensors.
- a double mathematical integration of a quantity as a function of acceleration then makes it possible to approximately determine the trajectory of the tip of the pen on the writing medium.
- Data processing is carried out by a processing unit arranged, for example, in the pen.
- the document US5548092 describes a method for viewing information written on a support by measuring the forces applied to the tip of a pen.
- the pen has a sensor to measure the force of the pen tip on the holder. Additional sensors make it possible to measure the movements and the orientation of the pen relative to the support, even if the pen is not in contact with the support.
- a force having the direction of the longitudinal axis of the pen has components oriented along two orthogonal axes arranged in a writing plane.
- the forces measured in the reference frame of the pen are transformed into an absolute reference frame.
- the document defines an angle of inclination of the pen relative to the gravitational axis and an azimuth angle relative to one of said orthogonal axes.
- a friction force is represented by the sum of a static component and a dynamic component depending on the speed.
- the static component is subtracted from the measured force to define a net force, which is by definition zero when the measured force is less than the product of the longitudinal force and the coefficient of static friction.
- the time derivative of the quantity of movement is expressed as a function of the net force and the dynamic friction force.
- the differential equation obtained is then solved to determine the speed and the position.
- the components of the position and the speed of the tip of the pen in the plane of the support are calculated by integration, taking into account the corresponding components of the net force.
- the document WO99 / 67652 describes a pen comprising force, acceleration and contact sensors integrated in a measurement device comprising an inertial mass coupled to the tip of the pen.
- the pen includes a device for measuring the angles of inclination of the pen.
- the measuring devices transmit measurement data to a control unit.
- the measurement data is processed to determine the forces and accelerations applied to the pen.
- a method of using the pen includes an initialization phase, a measurement phase and a data processing phase. The data makes it possible to determine whether the pen is in contact with a writing medium or not. If a contact is detected, the data is interpreted as forces. If there is no contact, the data is interpreted as accelerations.
- the object of the invention is to simplify the recognition of the trajectory of a tip of a body on a support and to increase the precision of the trajectory recognition, in particular for the recognition of the trajectory of a tip of a pen on a writing medium, while simplifying the use of the pen.
- this object is achieved by the appended claims and, in particular, by the fact that the processing unit determines a vector tangential to the trajectory by projection of the reaction force in the plane of the support, the trajectory being determined by at least one mathematical integration of a quantity function of the tangential vector to the trajectory.
- Figure 1 shows a digital pen according to the prior art.
- FIGS. 2 and 3 illustrate, in the form of functional block diagrams, two particular embodiments of a recognition method according to the invention. Description of particular embodiments
- a pen 1 comprises an accelerometer 2, an angle sensor 3 and a force sensor 4 arranged in the housing 5 of the pen, in a front part of the pen 1.
- the force sensor 4 is mechanically linked to the tip 6 of the pen and the accelerometer 2 is advantageously placed near the tip 6.
- the angle sensor 3 can be constituted by a set of three gyrometers or, preferably, by a set of three magnetometers.
- Electronic circuits, in particular an analog / digital converter 7, a processing unit 8 and a transmitter 9 or a transmitter / receiver, are also arranged in a rear part of the pen 1.
- the data processing can be carried out by the processing 8 or by a remote station receiving the data via the transmitter 9.
- the pen 1 makes it possible to write on any medium 10 without requiring additional equipment.
- the angle ⁇ of the longitudinal axis L of the pen 1, that is to say the angle of inclination of the pen 1 is defined relative to the support plane 10.
- the support is preferably , plan. However, a surface with small deformations can also be used.
- the trajectory of the tip 6 of the pen 1 is determined from data S1 and S2 supplied to the processing unit 8 respectively by the angle sensor 3 and the force sensor 4.
- the recognition process may include, before starting to write, a calibration step F1 of the orientation ⁇ 0 of the support 10.
- the pen is placed at a predetermined angle relative to an axis perpendicular to the support, preferably perpendicular to the support 10, during the calibration step F1 and the angle sensor 3 thus provides the orientation angle ⁇ 0 of the support 10. If the orientation of the support 10 is modified by subsequently, the calibration must be updated. If the support 10 has several zones with different orientations, the calibration can be updated each time the tip 6 of the pen 1 changes zones.
- the angle ⁇ of the pen 1 is estimated in relation to the orientation angle ⁇ 0 of the support 10, from the measurement data S1 of the angle sensor 3.
- the data S2 is supplied to the processing unit 8 by the force sensor 4 almost continuously. They are representative of the reaction force of the tip 6 of the pen 1 in contact with the support 10.
- the measurement is three-dimensional and proportional to the reaction force. Thus, one obtains information on the direction and the amplitude of the reaction force and not a simple contact detection.
- the reaction force is measured in the reference frame of the pen 1.
- the orientation of the reaction force relative to the plane of the support 10 is determined (F3) from the measurement data S1 of the angle sensor 3, more particularly at from the angle ⁇ , and from the measurement data S2 of the force sensor 4.
- F3 the measurement data S1 of the angle sensor 3
- the measurement data S2 of the force sensor 4 is obtained in the frame of reference of the support 10.
- the reaction force is projected (F4) in the plane of the support 10, which eliminates the component perpendicular to the support 10 which corresponds to the contact pressure applied by the user, which is of no importance for determining the trajectory of the tip 6 of the pen 1.
- the component in the plane of the support 10, result of the projection is due to the friction force of the tip 6 of the pen 1 on the support 10.
- This friction force is antiparallel to the movement of the tip 6 of the pen 1 in the plane of the support 10 , tangential to the trajectory d e the tip 6 of the pen 1 on the support 10.
- the processing unit 8 determines the trajectory of the tip 6 of the pen on the support 10.
- the net force which is used for the calculation of the position and the speed of the tip of the pen, is equal to the sum of a quantity proportional to the speed (tangential to the trajectory) and of a magnitude proportional to the acceleration (not necessarily tangential).
- the net force used in document US5548092 does not correspond to a vector tangential to the trajectory, insofar as it comprises an acceleration vector, which is not necessarily tangential to the trajectory.
- the trajectory of the tip 6 of the pen 1 is determined from data S1, S2 and S3 supplied to the processing unit 8 respectively by the angle sensor 3 and the force sensor 4 and the accelerometer 2.
- the processing of the data S3 of the accelerometer makes it possible to obtain better accuracy in determining the trajectory.
- the measurement data supplied by the angle sensor 3 make it possible, in a known manner, to estimate (F6) the contribution G of gravity to the measurement of the accelerometer 2 and, then, to eliminate (F7) said contribution G of the data S3 supplied by the accelerometer 2, so as to obtain reduced data S4, a function of the acceleration of the movement only.
- the reduced S4 data thus represent the acceleration of the movement at the location of the accelerometer 2 which is, a priori, different from the acceleration A of the tip 6 of the pen 1.
- step F8 the acceleration A of the tip 6 of the pen 1
- step F'2 the angle ⁇ of the pen 1 relative to the orientation angle ⁇ 0 of the support 10, from the measurement data S1 of the angle sensor 3, as well as the angular speed VA and the angular acceleration AA of the pen 1, respectively thanks to to the first and to the second derivative of the angle ⁇ with respect to time.
- step F8 use is made of the laws of composition of the movements of conventional mechanics, taking into account the vector connecting the location of the accelerometer 2 and the tip 6 of the pen 1.
- the acceleration A of the tip 6 of the pen 1 can then be projected (step F9) into the plane of the support 10, so as to obtain the acceleration â on the support 10 of the tip 6 of the pen 1.
- the projection in the plane of the support 10 can therefore be calculated from data S1 and S3, supplied respectively by the angle sensor 3 and the accelerometer 2 and making it possible to determine the orientation angle ⁇ 0 of the support 10, the angle ⁇ of the pen 1 with respect to the angle of orientation ⁇ 0 and the acceleration A of the tip 6 of pen 1.
- step F'4 we obtain, as in step F4, the vector ô tangential to the trajectory of the tip 6 of the pen 1, and, moreover, by normalization of the vector ô tangential, a unit vector û tangential to the trajectory of the tip 6 of the pen 1.
- a step F10 the processing unit 8 determines the scalar product of the unit vector û and of the acceleration â of the tip 6 of the pen 1 on the support 10, which makes it possible to determine the component aT of the acceleration, tangential to the trajectory.
- the trajectory is then determined by double mathematical integration F11 of the tangential component aT of the acceleration.
- the component aT of the tangential acceleration to the trajectory can possibly be determined by scalar product of the unit vector û and the acceleration A of the tip 6 of the pen 1, without carrying out the projection F9 of the acceleration A of the tip 6 of the pen 1 in the plane of the support 10.
- the projection step F9 makes it possible to obtain information on the curvature of the trajectory by means of the component of the acceleration perpendicular to the trajectory.
- the joint use of the angle sensor 3 and the force sensor 4 makes it possible to correctly eliminate, from the measurement of the acceleration aT, the contributions of forces which are not related to the trajectory, for example gravity or pen 1 pressure perpendicular to the support.
- the use of the method according to the invention allows, in particular, the efficient realization of recording and recognition of signatures. For example, one registers a plurality of signatures for each person using the pen 1 to determine an average signal for each person.
- a processing typically consisting in minimizing the quadratic distance between a standardized signature measurement and the normalized mean signals recorded beforehand, makes it possible to recognize the signature with certainty.
- the invention is not limited to methods for recognizing the trajectory of a pen tip.
- the pen 1 can be replaced by any body comprising, for example, any actuator, for example an etching tip, the trajectory of which is determined during actuation.
- the method also makes it possible to determine the trajectory of a measuring device, for example a feeler, comprising any sensor, for example a thermal, electrical or photometric sensor.
- a physical measurement is carried out via a sensor associated with the body 1, simultaneously with the trajectory recognition, which makes it possible to establish a map of the physical quantity measured by correlation of the measurement with the determined trajectory.
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Theoretical Computer Science (AREA)
- Human Computer Interaction (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
- Position Input By Displaying (AREA)
- User Interface Of Digital Computer (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR0401402A FR2866458B1 (en) | 2004-02-12 | 2004-02-12 | METHOD FOR RECOGNIZING THE TRACK OF A TIP OF A BODY ON A SUPPORT |
PCT/FR2005/000212 WO2005088434A1 (en) | 2004-02-12 | 2005-02-01 | Method for recognising the path of the point of a body on a support |
Publications (1)
Publication Number | Publication Date |
---|---|
EP1779223A1 true EP1779223A1 (en) | 2007-05-02 |
Family
ID=34803316
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP05717528A Ceased EP1779223A1 (en) | 2004-02-12 | 2005-02-01 | Method for recognising the path of the point of a body on a support |
Country Status (5)
Country | Link |
---|---|
US (1) | US20070267229A1 (en) |
EP (1) | EP1779223A1 (en) |
JP (1) | JP2007522572A (en) |
FR (1) | FR2866458B1 (en) |
WO (1) | WO2005088434A1 (en) |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR2881521B1 (en) * | 2005-02-03 | 2007-03-02 | Commissariat Energie Atomique | DEVICE AND METHOD FOR MEASURING FRICTION FORCES |
US20180143704A1 (en) * | 2015-06-09 | 2018-05-24 | Hewlett-Packard Development Company, L.P. | Incident angle of a digital pen with respect to a computing device |
CN108446036B (en) * | 2018-03-27 | 2021-10-01 | 京东方科技集团股份有限公司 | Intelligent writing equipment and intelligent writing system |
Family Cites Families (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5341155A (en) * | 1990-11-02 | 1994-08-23 | Xerox Corporation | Method for correction of position location indicator for a large area display system |
US5981883A (en) * | 1992-07-08 | 1999-11-09 | Lci Technology Group, N.V. | Systems for imaging written information |
DK0649549T3 (en) * | 1992-07-08 | 1997-08-18 | Smart Pen Inc | Apparatus and method for displaying written information |
US6081261A (en) * | 1995-11-01 | 2000-06-27 | Ricoh Corporation | Manual entry interactive paper and electronic document handling and processing system |
US5902968A (en) * | 1996-02-20 | 1999-05-11 | Ricoh Company, Ltd. | Pen-shaped handwriting input apparatus using accelerometers and gyroscopes and an associated operational device for determining pen movement |
WO1999067652A1 (en) * | 1998-06-25 | 1999-12-29 | Lci/Smartpen, N.V. | Systems and methods for measuring forces using piezoelectric transducers |
US6388655B1 (en) * | 1999-11-08 | 2002-05-14 | Wing-Keung Leung | Method of touch control of an input device and such a device |
US7009594B2 (en) * | 2002-10-31 | 2006-03-07 | Microsoft Corporation | Universal computing device |
-
2004
- 2004-02-12 FR FR0401402A patent/FR2866458B1/en not_active Expired - Fee Related
-
2005
- 2005-02-01 WO PCT/FR2005/000212 patent/WO2005088434A1/en not_active Application Discontinuation
- 2005-02-01 JP JP2006552652A patent/JP2007522572A/en not_active Withdrawn
- 2005-02-01 EP EP05717528A patent/EP1779223A1/en not_active Ceased
- 2005-02-01 US US10/585,924 patent/US20070267229A1/en not_active Abandoned
Non-Patent Citations (1)
Title |
---|
See references of WO2005088434A1 * |
Also Published As
Publication number | Publication date |
---|---|
WO2005088434A1 (en) | 2005-09-22 |
US20070267229A1 (en) | 2007-11-22 |
FR2866458A1 (en) | 2005-08-19 |
JP2007522572A (en) | 2007-08-09 |
FR2866458B1 (en) | 2006-07-14 |
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