JPH08106352A - Spatial coordinate detecting device - Google Patents
Spatial coordinate detecting deviceInfo
- Publication number
- JPH08106352A JPH08106352A JP24150594A JP24150594A JPH08106352A JP H08106352 A JPH08106352 A JP H08106352A JP 24150594 A JP24150594 A JP 24150594A JP 24150594 A JP24150594 A JP 24150594A JP H08106352 A JPH08106352 A JP H08106352A
- Authority
- JP
- Japan
- Prior art keywords
- light
- receiving element
- light receiving
- spot
- axis
- 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.)
- Granted
Links
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は、光源を有する発光部
と、該光源からの光を受光検知する検出部とを備え、入
力装置に用いて好適な空間座標検出装置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a spatial coordinate detecting device which is suitable for an input device and which is equipped with a light emitting portion having a light source and a detecting portion for receiving and detecting light from the light source.
【０００２】[0002]
【従来の技術】従来より、各種映像が表示される画面に
対して外部から情報を入力する入力装置としては、ジョ
イスティックが付いたコントローラや、マトリクス配列
されたスイッチ素子を有する平面的な座標入力装置等が
主なものとなっている。前記ジョイスティックが付いた
コントローラは、アクションゲームにおいて画面でのキ
ャラクタの移動や動作指示を行う操作等を行う場合には
適しているが、画面の任意の場所に現れる釦にカーソル
マークを合わせる等の操作には不向きである。また、こ
の種のコントローラはコード式のものであるため、画面
の近くでしか操作できないという難点がある。一方、従
来の平面的な座標入力装置は、画面の手前に平面的な指
示盤を設置するスペースが広く必要になり、また、構造
も複雑でコストの高いものとなっている。2. Description of the Related Art Conventionally, a controller having a joystick or a planar coordinate input device having switch elements arranged in a matrix is used as an input device for inputting information from the outside to a screen on which various images are displayed. Etc. are the main ones. The controller with the joystick is suitable for moving characters on the screen in the action game and for performing operation instructions, but operations such as matching the cursor mark to a button appearing anywhere on the screen Not suitable for. Further, since this type of controller is of a cord type, it has a drawback that it can be operated only near the screen. On the other hand, the conventional planar coordinate input device requires a large space for installing a planar pointing panel in front of the screen, and has a complicated structure and high cost.
【０００３】そこで、最近では図１０に示すような超音
波を使用した入力装置が考えられている。この入力装置
は、機器本体の画面１の両側等に水平軸（Ｘ軸）方向に
間隔を開けて配置された音源２ａ，２ｂが設けられてい
る。オペレータが手で持って操作する操作部材３には、
前記音源２ａと２ｂから発せられる超音波を検知する検
出部が設けられている。音源２ａ，２ｂからは、超音波
が互いに位相をずらしてパルス変調されて発せられる。
操作部材３の検出部では、音源２ａと２ｂからの超音波
を識別して受信し、受信された各超音波の位相差等から
音源２ａとの距離Ｌａと音源２ｂとの距離Ｌｂとが算出
され、これにより、操作部材３の水平面（Ｈｘ−Ｈｚ
面）上での座標が検出されるようになっている。操作部
材３を水平面（Ｈｘ−Ｈｚ面）にて移動させ、必要に応
じて操作釦を押すと、操作部材３にて受信された情報が
有線または無線で機器本体に与えられ、機器本体ではＨ
ｘ−Ｈｚ面での操作部材３の位置が演算され、例えば機
器本体の画面１に現れたカーソルマーク４が移動させら
れる。Therefore, recently, an input device using ultrasonic waves as shown in FIG. 10 has been considered. This input device is provided with sound sources 2a and 2b arranged on both sides of the screen 1 of the device body at intervals along the horizontal axis (X axis). The operation member 3 that the operator holds and operates by hand,
A detection unit for detecting the ultrasonic waves emitted from the sound sources 2a and 2b is provided. From the sound sources 2a and 2b, ultrasonic waves are emitted by being pulse-modulated with their phases shifted from each other.
The detection unit of the operation member 3 identifies and receives the ultrasonic waves from the sound sources 2a and 2b, and calculates the distance La from the sound source 2a and the distance Lb from the sound source 2b from the phase difference between the received ultrasonic waves. As a result, the horizontal plane of the operating member 3 (Hx-Hz
The coordinates on the surface are detected. When the operation member 3 is moved on the horizontal plane (Hx-Hz surface) and the operation button is pressed as necessary, the information received by the operation member 3 is given to the device body by wire or wirelessly, and the device body H
The position of the operation member 3 on the x-Hz plane is calculated, and for example, the cursor mark 4 appearing on the screen 1 of the device body is moved.
【０００４】[0004]
【発明が解決しようとする課題】しかしながら、図１０
に示す従来の入力装置では、水平面（Ｈｘ−Ｈｚ面）上
での操作部材３の座標を検出し、その情報を機器本体に
与えることは可能であるが、操作部材３をＨｘ−Ｈｚ平
面上のある位置に停止させた状態で、該操作部材３をθ
ｘあるいはθｙ方向へ傾けたとしても、その傾き角度を
検出することはできない。また、操作部材３のθｚ方向
への回転角度を検出することも不可能であった。さら
に、超音波は簡単な構成で実現できるが、温度に対する
安定性が悪く、しかも外乱ノイズが多い等、信頼性の面
で多くの問題が残されている。なお、超音波以外でも交
流磁界を利用し、３次元空間での位置と角度を求める方
法も提案されているが、このものは装置が大型化し、非
常に高価である。However, as shown in FIG.
Although it is possible to detect the coordinates of the operating member 3 on the horizontal plane (Hx-Hz plane) and give the information to the device body in the conventional input device shown in FIG. With the operation member 3 stopped at a certain position,
Even if tilted in the x or θy direction, the tilt angle cannot be detected. Further, it is also impossible to detect the rotation angle of the operation member 3 in the θz direction. Further, although ultrasonic waves can be realized with a simple configuration, there are many problems in terms of reliability, such as poor stability with respect to temperature and a large amount of disturbance noise. It should be noted that there has been proposed a method of obtaining a position and an angle in a three-dimensional space by utilizing an AC magnetic field other than ultrasonic waves, but this is very expensive because the device is large.
【０００５】本発明は、このような従来技術の実情に鑑
みてなされたものであり、その目的は、発光部と検出部
との相対的な回転角度や距離を簡単な構造で高精度に検
出できるようにした空間座標検出装置を提供することに
ある。The present invention has been made in view of the circumstances of the prior art as described above, and an object thereof is to detect a relative rotation angle or distance between a light emitting portion and a detecting portion with a simple structure and with high accuracy. An object of the present invention is to provide a spatial coordinate detection device that can be used.
【０００６】[0006]
【課題を解決するための手段】上記目的を達成するため
に、本発明は、発光部と検出部とが離れた位置に配置さ
れ、前記発光部には、識別可能な光を発する２個の光源
が間隔を開けて配置され、前記検出部には、前記両光源
から発せられた光を所定面積のスポット光に絞る複数の
開口と、各開口に対向し前記スポット光を受光する複数
組の受光素子とが設けられ、前記各開口は任意のＸ−Ｙ
直交座標を設定した時にＹ軸方向に沿って配置され、前
記各受光素子の１組は前記スポット光のＹ軸方向の移動
を検出するＹ側受光素子であり、残りの組は前記スポッ
ト光のＸ軸とＹ軸方向の移動を検出するＸ−Ｙ側受光素
子であることを、最も主要な特徴としている。上記の空
間座標検出装置には、前記Ｙ側受光素子と前記Ｘ−Ｙ側
受光素子のＹ側受光部からの受光光量に基づいて、これ
らＹ側受光素子とＸ−Ｙ側受光素子に照射される各スポ
ット光の位置を求める演算部が設けられている。また、
上記の空間座標検出装置には、前記Ｘ−Ｙ側受光部のＸ
側およびＹ側受光部からの受光光量に基づいて、該Ｘ−
Ｙ側受光素子に照射される両スポット光の位置を求める
演算部が設けられている。前記Ｙ側受光素子としてＹ軸
方向に分割された２分割受光素子を、前記Ｘ−Ｙ側受光
素子としてＸ軸およびＹ軸方向に分割された４分割受光
素子をそれぞれ用いることができ、このような分割受光
素子を用いた場合は、前記開口は各分割受光素子にそれ
ぞれ１個ずつ対応すれば良いため、合計２個の開口が必
要となる。In order to achieve the above-mentioned object, the present invention has a structure in which a light emitting section and a detecting section are arranged at a distance from each other, and the light emitting section is provided with two identifiable lights. Light sources are arranged at intervals, and in the detection unit, a plurality of openings for narrowing the light emitted from the both light sources into spot lights of a predetermined area, and a plurality of sets facing the respective openings and receiving the spot lights are provided. A light receiving element is provided, and each of the openings is an arbitrary XY
When the Cartesian coordinates are set, they are arranged along the Y-axis direction, one set of each of the light-receiving elements is a Y-side light-receiving element that detects the movement of the spot light in the Y-axis direction, and the rest of the sets are of the spot light. The most important feature is that it is an XY-side light receiving element that detects movement in the X-axis and Y-axis directions. In the above spatial coordinate detection device, the Y-side light receiving element and the XY side light-receiving element are irradiated with light based on the amount of light received from the Y-side light receiving portion of the Y-side light receiving element and the XY side light-receiving element. An arithmetic unit is provided for obtaining the position of each spot light. Also,
In the above spatial coordinate detection device, the X-Y side light-receiving unit is provided with X-axis.
Based on the amount of light received from the side and Y side light receiving portions, the X-
An arithmetic unit is provided for obtaining the positions of both spot lights applied to the Y-side light receiving element. As the Y-side light receiving element, a two-division light receiving element divided in the Y-axis direction can be used, and as the XY side light-receiving element, a four-division light receiving element divided in the X-axis and the Y-axis direction can be used. If such a divided light receiving element is used, it is sufficient that each of the divided light receiving elements corresponds to one of the divided light receiving elements, so that a total of two openings are required.
【０００７】[0007]
【作用】発光部にて間隔を開けて配置された２個の光源
から識別可能な光が発せられ、これら光は検出部にて複
数の開口を通過してそれぞれ所定の面積のスポット光と
なり、各スポット光が複数組の受光素子にて受光され
る。これら受光素子の１組はスポット光のＹ軸方向の移
動を検出するＹ側受光素子であり、残りの組はスポット
光のＸ軸とＹ軸方向の移動を検出するＸ−Ｙ側受光素子
である。ここで、前記２個の光源と複数組の受光素子と
の組み合わせにより、両光源からの光がＹ側受光素子と
Ｘ−Ｙ側受光素子に照射される光学系と、両光源からの
光がＸ−Ｙ側受光素子に照射される光学系とに分けるこ
とができる。The identifiable light is emitted from the two light sources arranged at intervals in the light emitting part, and these lights pass through the plurality of openings in the detecting part to become spot lights of predetermined areas, respectively. Each spot light is received by a plurality of sets of light receiving elements. One set of these light-receiving elements is a Y-side light-receiving element that detects the movement of the spot light in the Y-axis direction, and the remaining set is an XY-side light-receiving element that detects the movement of the spot light in the X-axis and Y-axis directions. is there. Here, by combining the two light sources and a plurality of sets of light receiving elements, an optical system in which light from both light sources is applied to the Y-side light receiving element and the XY side light receiving element, and light from both light sources are provided. It can be divided into an optical system for irradiating the XY side light receiving element.
【０００８】前者の光学系では、Ｙ側受光素子に照射さ
れる両スポット光のＹ軸方向の移動量と、Ｘ−Ｙ側受光
素子に照射される両スポット光のＹ軸方向の移動量とを
検出し、その検出結果に基づいて、例えば検出部に設定
した座標上での両光源の位置を求めることができる。両
光源の座標が決定されると、両光源を通る直線の傾きに
より、発光部と検出部の相対角度θｙが求められる。ま
た、この角度θｙと同じだけ回転させた回転座標を設定
し、両光源の中点の座標を回転座標系に変換することに
より、発光部と検出部の相対的なＹ軸方向のずれ量と、
発光部と検出部の相対的なＺ軸方向のずれ量が求められ
る。In the former optical system, the amount of movement of both spot lights applied to the Y-side light receiving element in the Y-axis direction and the amount of movement of both spot lights applied to the XY side light-receiving element in the Y-axis direction. Can be detected, and the positions of both light sources on the coordinates set in the detection unit can be obtained based on the detection result. When the coordinates of both light sources are determined, the relative angle θy between the light emitting unit and the detection unit is obtained from the inclination of the straight line passing through both light sources. Further, by setting the rotation coordinate rotated by the same amount as this angle θy and converting the coordinates of the midpoint of both light sources into the rotation coordinate system, the relative displacement amount in the Y-axis direction between the light emitting unit and the detection unit can be obtained. ,
The relative shift amount of the light emitting unit and the detecting unit in the Z-axis direction is obtained.
【０００９】後者の光学系では、Ｘ−Ｙ側受光素子に照
射される両スポット光のＸ軸方向の移動量とＹ軸方向の
移動量とを検出し、その検出結果に基づいて、両スポッ
ト光の位置を求めることができる。両スポット光の位置
から両スポット光の中心を通る直線の傾きが求められ、
発光部と検出部を結ぶ線に対する両部の相対的な回転角
度θｚが求められる。また、両スポット光の中点の座標
をθｚだけ回転した時の回転座標系に変換することによ
り、発光部と検出部の相対的な傾き角度θｘ，θｙが求
められる。さらに、両スポット光の位置と両光源間の距
離から三角測量の原理により、発光部と検出部の相対的
なＺ軸方向のずれ量が求められる。In the latter optical system, the amount of movement in the X-axis direction and the amount of movement in the Y-axis direction of both spot lights applied to the XY side light receiving element are detected, and both spots are detected based on the detection result. The position of light can be determined. From the position of both spot light, the inclination of the straight line passing through the center of both spot light is obtained,
The relative rotation angle θz of both parts with respect to the line connecting the light emitting part and the detecting part is obtained. Further, the relative tilt angles θx and θy between the light emitting section and the detection section are obtained by converting the coordinates of the midpoint of both spot lights into a rotating coordinate system when rotated by θz. Further, from the positions of both spot lights and the distance between both light sources, the relative amount of deviation in the Z-axis direction between the light emitting part and the detecting part is obtained by the principle of triangulation.
【００１０】[0010]
【実施例】以下、本発明の実施例を図に基づいて説明す
る。図１は本発明の実施例に係る空間座標検出装置の基
本構造を示す斜視図、図２は該空間座標検出装置に備え
られる１つの光学系を示す断面図、図３は該空間座標検
出装置に備えられる他の光学系を示す断面図、図４は該
空間座標検出装置に備えられる第１の受光素子の平面
図、図５は該空間座標検出装置に備えられる第２の受光
素子の平面図、図６は図３の光学系を模式的に示す説明
図である。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings. 1 is a perspective view showing a basic structure of a spatial coordinate detecting apparatus according to an embodiment of the present invention, FIG. 2 is a sectional view showing one optical system provided in the spatial coordinate detecting apparatus, and FIG. 3 is the spatial coordinate detecting apparatus. FIG. 4 is a cross-sectional view showing another optical system provided in FIG. 4, FIG. 4 is a plan view of a first light receiving element provided in the spatial coordinate detecting device, and FIG. 5 is a plane of a second light receiving element provided in the spatial coordinate detecting device. 6 and 6 are explanatory diagrams schematically showing the optical system of FIG.
【００１１】本実施例に係る空間座標検出装置は発光部
１０と検出部１１とを備えており、この発光部１０は例
えばコンピュータやＡＶ機器またはゲーム機本体等の表
示画面を有する機器本体に設置され、一方、検出部１１
は例えばリモートコントローラ等のオペレータが手で持
って移動する操作部材に設置されている。前記発光部１
０は互いに識別可能な光を発する２個の光源１２，１３
を有しており、これら光源１２，１３は所定の間隔を開
けて配置されている。各光源１２，１３は例えば赤外線
発光ダイオードからなり、各光源１２，１３からは同じ
周波数（周期）で且つ位相が１８０度ずれた変調光が出
力される。これら各光源１２，１３は、発光部１０の中
心Ｏを通過する水平軸をＸ軸、中心Ｏを通過する垂直軸
をＹ軸とした時に、Ｙ軸上にて中心Ｏに対して等距離ａ
／２離れた位置に設けられている（図２，３参照）。前
記検出部１１は可視光カットフィルタ１４と絞り板１５
および受光素子群１６とからなり、図２，３に示すよう
に、これら可視光カットフィルタ１４と絞り板１５およ
び受光素子群１６は両光源１２，１３側から順に互いに
並行に設けられている（ただし、図１は可視光カットフ
ィルタ１４を省略してある）。The spatial coordinate detecting apparatus according to the present embodiment comprises a light emitting section 10 and a detecting section 11. The light emitting section 10 is installed in a device body having a display screen such as a computer, an AV device or a game machine body. On the other hand, the detection unit 11
Is installed on an operation member such as a remote controller that an operator holds and moves by hand. The light emitting unit 1
0 is two light sources 12 and 13 that emit lights that can be distinguished from each other.
And the light sources 12 and 13 are arranged with a predetermined interval. Each of the light sources 12 and 13 is composed of, for example, an infrared light emitting diode, and the modulated light having the same frequency (cycle) and a phase difference of 180 degrees is output from each of the light sources 12 and 13. When the horizontal axis passing through the center O of the light emitting unit 10 is the X axis and the vertical axis passing through the center O is the Y axis, these light sources 12 and 13 are equidistant a from the center O on the Y axis.
It is provided at a position separated by / 2 (see FIGS. 2 and 3). The detection unit 11 includes a visible light cut filter 14 and a diaphragm plate 15.
2 and 3, the visible light cut filter 14, the diaphragm plate 15, and the light receiving element group 16 are sequentially provided in parallel with each other from the light sources 12 and 13 side (see FIG. 2 and FIG. 3). However, the visible light cut filter 14 is omitted in FIG. 1).
【００１２】前記受光素子群１６の受光面に垂直となる
軸をＺ軸とし、検出部１１にてこのＺ軸に直交するＸ−
Ｙ直交座標を設定すると、前記絞り板１５には矩形状の
第１および第２の絞り口１５ａ，１５ｂがＹ軸方向に所
定の間隔を保って開設されている。一方、前記受光素子
群１６は前記各絞り口１５ａ，１５ｂに対向する第１お
よび第２の受光素子１７，１８より構成され、これら各
受光素子１７，１８は例えばピンホトダイオードからな
る。図４に示すように、上方の絞り口１５ａに対向する
第１の受光素子１７はＹ軸方向に２分割された分割受光
部１７ａ，１７ｂを有する。また、図５に示すように、
下方の絞り口１５ｂに対向する第２の受光素子１８は４
分割された分割受光部１８ａ，１８ｂ，１８ｃ，１８ｄ
を有し、分割受光部の１８ａ，１８ｂの組と１８ｃ，１
８ｄの組とはＹ軸方向分割され、１８ａ，１８ｃの組と
１８ｂ，１８ｄの組とはＸ軸方向に分割されている。The axis perpendicular to the light-receiving surface of the light-receiving element group 16 is defined as the Z-axis, and the detector 11 uses the X-axis orthogonal to the Z-axis.
When the Y orthogonal coordinates are set, the diaphragm plate 15 is provided with rectangular first and second diaphragm openings 15a and 15b at predetermined intervals in the Y-axis direction. On the other hand, the light receiving element group 16 is composed of first and second light receiving elements 17 and 18 facing the apertures 15a and 15b, and these light receiving elements 17 and 18 are, for example, pin photodiodes. As shown in FIG. 4, the first light receiving element 17 facing the upper aperture 15a has divided light receiving portions 17a and 17b divided into two in the Y-axis direction. Also, as shown in FIG.
The second light receiving element 18 facing the lower aperture 15b has four
Divided divided light receiving portions 18a, 18b, 18c, 18d
And a pair of divided light receiving portions 18a, 18b and 18c, 1
The set of 8d is divided in the Y-axis direction, and the set of 18a, 18c and the set of 18b, 18d are divided in the X-axis direction.
【００１３】前記各光源１２，１３からそれぞれ異なる
タイミング（異なる周期）で発せられた赤外光は、前記
可視光カットフィルタ１４を透過した後、前記絞り板１
５の各絞り口１５ａ，１５ｂにより絞られ、第１および
第２の受光素子１７，１８の受光面上にそれぞれ矩形ス
ポット光として照射される。その際、可視光カットフィ
ルタ１４が設けられることにより、受光素子群１６にお
いて赤外光の矩形スポット以外の外光ノイズ成分が可能
な限り遮断されるようになっている。図４では、光源１
２から発せられた赤外光スポット光をＳ１２Ａで示し、
光源１３から発せられた赤外光スポット光をＳ１３Ａで
示している。図５では、光源１２から発せられた赤外光
スポット光をＳ１２Ｂで示し、光源１３から発せられた
赤外光スポット光をＳ１３Ｂで示している。Infrared light emitted from the light sources 12 and 13 at different timings (different periods) passes through the visible light cut filter 14 and then the diaphragm plate 1.
The apertures 15a and 15b of No. 5 illuminate the light receiving surfaces of the first and second light receiving elements 17 and 18 as rectangular spot light. At this time, the visible light cut filter 14 is provided so that the external light noise component other than the rectangular spot of infrared light is blocked in the light receiving element group 16 as much as possible. In FIG. 4, the light source 1
The infrared spot light emitted from 2 is indicated by S12A,
The infrared spot light emitted from the light source 13 is indicated by S13A. In FIG. 5, the infrared light spot light emitted from the light source 12 is indicated by S12B, and the infrared light spot light emitted by the light source 13 is indicated by S13B.
【００１４】第１および第２の受光素子１７，１８のそ
れぞれの分割受光部では、スポット光の照射面積と照射
光強度に基づいて光電変換された検出電流が得られる。
処理回路については後述するが、この検出電流は電圧に
変換されて演算処理される。そこで、第１の受光素子１
７の分割受光部１７ａ，１７ｂでのスポット光Ｓ１２
Ａ，Ｓ１３Ａの照射面積に基づく検出出力を、図４にお
いてＵ，Ｄで示し、第２の受光素子１８の各分割受光部
１８ａ〜１８ｄでのスポット光Ｓ１２Ｂ，Ｓ１３Ｂの照
射面積に基づく検出出力を、図５においてＬｕ，Ｒｕ，
Ｌｄ，Ｒｄで示す。前述したように、各光源１２，１３
からは異なるタイミングで赤外光が発せられるため、第
１の受光素子１７にてスポット光Ｓ１２Ａが検出される
時刻とスポット光Ｓ１３Ａが検出される時刻が異なり、
処理回路にて時分割することによりスポット光Ｓ１２
Ａ，Ｓ１３Ａごとに前記Ｕ，Ｄの検出出力が得られる。
同様に、第２の受光素子１８に照射されるスポット光Ｓ
１２Ｂ，Ｓ１３Ｂごとに前記Ｌｕ，Ｒｕ，Ｌｄ，Ｒｄの
検出出力が得られる。In each of the divided light receiving portions of the first and second light receiving elements 17 and 18, a detection current photoelectrically converted based on the irradiation area of spot light and the irradiation light intensity is obtained.
Although the processing circuit will be described later, this detected current is converted into a voltage and processed. Therefore, the first light receiving element 1
Spot light S12 at the split light receiving units 17a and 17b of No. 7
The detection outputs based on the irradiation areas of A and S13A are indicated by U and D in FIG. 4, and the detection outputs based on the irradiation areas of the spot lights S12B and S13B at the respective divided light receiving portions 18a to 18d of the second light receiving element 18 are shown. , In FIG. 5, Lu, Ru,
It is shown by Ld and Rd. As described above, each light source 12, 13
Since infrared light is emitted at different timings from the above, the time when the spot light S12A is detected by the first light receiving element 17 is different from the time when the spot light S13A is detected,
Spot light S12 by time division in the processing circuit
The detection outputs of U and D are obtained for each of A and S13A.
Similarly, the spot light S emitted to the second light receiving element 18
The detection outputs of Lu, Ru, Ld, and Rd are obtained for each of 12B and S13B.
【００１５】このように構成された空間座標検出装置
は、機能的に見ると図２と図３に示す２つの光学系に分
けることができ、以下、それぞれの光学系について検出
原理を説明する。The spatial coordinate detection device thus constructed can be functionally divided into two optical systems shown in FIGS. 2 and 3. Hereinafter, the detection principle of each optical system will be described.
【００１６】まず、図２の光学系について説明すると、
両光源１２，１３からそれぞれ異なるタイミングで発せ
られた赤外光は、絞り口１５ｂにより絞られた後、図５
に示すように、第２の受光素子１８の各分割受光部１８
ａ〜１８ｄにそれぞれスポット光Ｓ１２Ｂ，Ｓ１３Ｂと
して照射される。図５において、検出部１１側のＸ−Ｙ
直交座標上での光源１２からのスポット光Ｓ１２Ｂの中
心座標をＩ1（Ｘ1，Ｙ1）、光源１３からのスポット光
Ｓ１３Ｂの中心座標をＩ2（Ｘ2，Ｙ2）、発光部１０の
中心Ｏと絞り口１５ｂの中心とを結ぶ直線Ｏｊが第２の
受光素子１８の受光面で交わる交点の座標をＯａ
（Ｘ0，Ｙ0）とすると、ＯａはＩ1とＩ2の中間に位置す
る。図５の検出状態は、検出部１１側のＸ−Ｙ直交座標
のＹ軸に対し、光源１２と１３とが配置された発光部１
０側のＹ軸が角度θｚだけ相対的に回転した状態を示し
ており、この場合、Ｚ軸まわりの回転角θｚはＩ1とＩ2
を通る直線の傾きに等しく、 tanθｚ＝（Ｘ2−Ｘ1）／（Ｙ2−Ｙ1） であるから、 θｚ＝tan~1〔（Ｘ2−Ｘ1）／（Ｙ2−Ｙ1）〕……………… として表せられる。ここで、上記式におけるＸ1とＸ2
は、スポット光Ｓ１２ＢとＳ１３Ｂに対し、Ｘ軸方向に
分割された分割受光部１８ｂ，１８ｄの組の受光光量
と、分割受光部１８ａ，１８ｃの組の受光光量との差か
ら求められる。また、Ｙ1とＹ2は、スポット光Ｓ１２Ｂ
とＳ１３Ｂに対し、Ｙ軸方向に分割された分割受光部１
８ａ，１８ｂの組の受光光量と、分割受光部１８ｃ，１
８ｄの組の受光光量との差から求められる。すなわち、
各分割受光部１８ａ〜１８ｄでの受光出力Ｌｕ，Ｒｕ，
Ｌｄ，Ｒｄと座標Ｘ1，Ｘ2，Ｙ1，Ｙ2とは比例関係にあ
り、 Ｘ1，Ｘ2∝〔(Ｒｕ＋Ｒｄ)−(Ｌｕ＋Ｌｄ)〕／(Ｒｕ＋Ｌｕ＋Ｒｄ＋Ｌｄ)〕 Ｙ1，Ｙ2∝〔(Ｒｕ＋Ｌｕ)−(Ｒｄ＋Ｌｄ)〕／(Ｒｕ＋Ｌｕ＋Ｒｄ＋Ｌｄ)〕 …………………… として表せられる。したがって、第２の受光素子１８の
各分割受光部１８ａ〜１８ｄからの受光出力Ｌｕ，Ｒ
ｕ，Ｌｄ，Ｒｄに対して上記式の演算を施し、さらに
上記式の計算を行うことにより、検出部１１のＺ軸に
対する相対的な回転角度θｚを求めることができる。First, the optical system of FIG. 2 will be described.
The infrared light emitted from the light sources 12 and 13 at different timings is narrowed down by the aperture 15b, and then the infrared light shown in FIG.
As shown in, each divided light receiving portion 18 of the second light receiving element 18
The spot lights a to 18d are irradiated with spot lights S12B and S13B, respectively. In FIG. 5, XY on the detection unit 11 side
The center coordinates of the spot light S12B from the light source 12 on the rectangular coordinates are I 1 (X 1 , Y 1 ), the center coordinates of the spot light S13B from the light source 13 are I 2 (X 2 , Y 2 ), and the light emitting unit 10 A line Oj connecting the center O of the light receiving surface of the second light receiving element 18 to the center of the aperture 15b is Oa.
If (X 0 , Y 0 ), Oa is located between I 1 and I 2 . In the detection state of FIG. 5, the light emitting unit 1 in which the light sources 12 and 13 are arranged with respect to the Y axis of the XY orthogonal coordinates on the detecting unit 11 side.
It shows a state in which the Y-axis on the 0 side relatively rotates by an angle θz. In this case, the rotation angle θz about the Z-axis is I 1 and I 2
Equal to the slope of the line passing through, tanθz = (X 2 -X 1 ) / from a (Y 2 -Y 1), θz = tan ~ 1 [(X 2 -X 1) / ( Y 2 -Y 1) ] ……………… is represented as. Where X 1 and X 2 in the above equation
Is obtained from the difference between the received light amount of the group of divided light receiving units 18b and 18d and the received light amount of the group of divided light receiving units 18a and 18c that are divided in the X-axis direction with respect to the spot lights S12B and S13B. In addition, Y 1 and Y 2 are the spot light S12B.
And S13B, the divided light receiving unit 1 is divided in the Y-axis direction.
Amount of received light of a set of 8a and 18b and divided light receiving parts 18c and 1
It is obtained from the difference with the received light amount of the 8d group. That is,
Light-receiving outputs Lu, Ru, at the divided light-receiving units 18a to 18d
Ld, Rd and the coordinates X 1 , X 2 , Y 1 , Y 2 are in a proportional relationship, and X 1 , X 2 ∝ [(Ru + Rd)-(Lu + Ld)] / (Ru + Lu + Rd + Ld)] Y 1 , Y 2 ∝ [ (Ru + Lu) − (Rd + Ld)] / (Ru + Lu + Rd + Ld)] …………………………. Therefore, the light receiving outputs Lu and R from the respective divided light receiving portions 18a to 18d of the second light receiving element 18 are received.
The relative rotation angle θz of the detection unit 11 with respect to the Z axis can be obtained by performing the calculation of the above equation on u, Ld, and Rd, and further performing the calculation of the above equation.
【００１７】また、図２において、前述した直線Ｏｊと
Ｚ軸とがなす傾き角度のＸ方向およびＹ方向成分をそれ
ぞれθｘ（ラジアン），θｙ（ラジアン）とし、発光部
１０側のＸ−Ｙ直交座標を基準とした座標Ｏａ（Ｘ0，
Ｙ0）のＸ軸方向とＹ軸方向の位置ずれ量をそれぞれΔ
ｘ，Δｙとし、さらに、絞り板１５と受光素子群１６の
受光面までの距離をｄとすると、ｄは微少であるから、 Δｘ＝ｄ・tanθｘ≒ｄ・θｘ Δｙ＝ｄ・tanθｙ≒ｄ・θｙ となり、 θｘ＝Δｘ／ｄ θｙ＝Δｙ／ｄ……………… として表せる。ここで、図５の検出状態は、検出部１１
がＺ軸に対して相対的に角度θｚだけ回転した状態であ
るため、検出部１１側のＸ−Ｙ直交座標は発光部１０側
のＸ−Ｙ直交座標（空間に対して固定されたＸ−Ｙ直交
座標）に対して角度θｚだけ回転している。そこで、図
５において、検出部１１側に固定されたＸ−Ｙ直交座標
に対して角度θｚだけ回転した回転座標を設定すると、
この回転座標上でのΔｘ，Δｙは、 Δｘ＝Ｘ0cosθｚ＋Ｙ0sinθｚ Δｙ＝−Ｘ0sinθｚ
＋Ｙ0cosθｚ……………………… となる。また、Ｘ0とＹ0は、 Ｘ0＝（Ｘ1＋Ｘ2）／２ Ｙ0＝（Ｙ1＋Ｙ2）／２………… として求められる。これら〜式においてｄは既知で
あるため、第２の受光素子１８の各分割受光部１８ａ〜
１８ｄの受光出力Ｌｕ，Ｒｕ，Ｌｄ，Ｒｄから上記式
によりＸ1，Ｘ2，Ｙ1，Ｙ2を演算し、その演算結果に基
づいて上記〜式の計算を行うことにより、発光部１
０側のＸ−Ｙ直交座標に対するＺ軸の傾きθｘとθｙを
求めることができる。Further, in FIG. 2, the X-direction component and the Y-direction component of the inclination angle formed by the above-mentioned straight line Oj and the Z-axis are defined as θx (radian) and θy (radian), respectively, and the light-emitting portion 10 side is orthogonal to XY. Coordinates based on the coordinates Oa (X 0 ,
The amount of positional deviation of Y 0 ) in the X-axis direction and the Y-axis direction is Δ
If x and Δy and the distance between the diaphragm plate 15 and the light receiving surface of the light receiving element group 16 is d, d is very small. Therefore, Δx = d · tan θx≈d · θx Δy = d · tan θy≈d · θy, which can be expressed as θx = Δx / d θy = Δy / d. Here, the detection state of FIG.
Is rotated relative to the Z axis by an angle θz, the XY Cartesian coordinates on the side of the detection unit 11 are the XY Cartesian coordinates on the side of the light emitting unit 10 (X-Y fixed to the space). It is rotated by an angle θz with respect to the Y orthogonal coordinate. Therefore, in FIG. 5, when the rotation coordinates rotated by the angle θz with respect to the XY orthogonal coordinates fixed on the detection unit 11 side are set,
Δx and Δy on this rotation coordinate are Δx = X 0 cos θz + Y 0 sin θz Δy = −X 0 sin θz
+ Y 0 cos θz …………………………. Further, X 0 and Y 0 are calculated as X 0 = (X 1 + X 2 ) / 2 Y 0 = (Y 1 + Y 2 ) / 2. In these expressions, since d is known, each divided light receiving portion 18a of the second light receiving element 18
By calculating X 1 , X 2 , Y 1 , and Y 2 from the received light outputs Lu, Ru, Ld, and Rd of 18d by the above formulas and calculating the above formulas based on the calculation results, the light emitting unit 1
The inclinations θx and θy of the Z axis with respect to the XY orthogonal coordinates on the 0 side can be obtained.
【００１８】さらに、図２において、発光部１０と検出
部１１とのＺ軸方向の距離をＬ、第２の受光素子１８の
受光面でのＩ1とＩ2間の距離をｂとすると、これらＬ，
ｂと前述したａ（両光源１２，１３間の距離），ｄ（絞
り板１５と受光素子群１６の受光面までの距離）との関
係は、 Ｌ／ｄ＝ａ／ｂ であるから、 Ｌ＝ａ・ｄ／ｂ……………… として表せる。この式において、ａとｄは既知であ
り、ｂは検出部１１側のＸ−Ｙ直交座標上のＩ1（Ｘ1，
Ｙ1）とＩ2（Ｘ2，Ｙ2）の位置から、 ｂ＝√〔（Ｘ1−Ｘ2）2＋（Ｙ1−Ｙ2）2〕…………… として表せる。したがって、第２の受光素子１８の各分
割受光部１８ａ〜１８ｄの受光出力Ｌｕ，Ｒｕ，Ｌｄ，
Ｒｄから上記式によりＸ1，Ｘ2，Ｙ1，Ｙ2を演算し、
その演算結果に基づいて上記式によりｂを求め、さら
に上記式から距離Ｌを求めることができる。また、こ
の距離ＬがＬ1からＬ2に変化した時の変位量ΔＬは、 ΔＬ＝Ｌ2−Ｌ1 として求めることができる。Further, in FIG. 2, when the distance between the light emitting portion 10 and the detecting portion 11 in the Z-axis direction is L, and the distance between I 1 and I 2 on the light receiving surface of the second light receiving element 18 is b, These L,
Since the relationship between b and a (the distance between both light sources 12 and 13) and d (the distance from the diaphragm plate 15 to the light receiving surface of the light receiving element group 16) is L / d = a / b = A · d / b ……………… In this equation, a and d are known, and b is I 1 (X 1 , X 1 on the XY orthogonal coordinates on the detection unit 11 side,
From the positions of Y 1 ) and I 2 (X 2 , Y 2 ), it can be expressed as b = √ [(X 1- X 2 ) 2 + (Y 1- Y 2 ) 2 ] ... Therefore, the light receiving outputs Lu, Ru, Ld, of the respective divided light receiving portions 18a to 18d of the second light receiving element 18 are
X 1 , X 2 , Y 1 and Y 2 are calculated from Rd by the above formula,
Based on the calculation result, b can be obtained from the above equation, and the distance L can be obtained from the above equation. Further, the displacement amount ΔL when the distance L changes from L 1 to L 2 can be obtained as ΔL = L 2 −L 1 .
【００１９】次に、図３の光学系について説明すると、
両光源１２，１３からそれぞれ異なるタイミングで発せ
られた赤外光は、絞り口１５ａ，１５ｂにより絞られた
後、第１の受光素子１７の両分割受光部１７ａ，１７ｂ
にスポット光Ｓ１２Ａ，Ｓ１３Ａとして照射され、第２
の受光素子１８の各分割受光部１８ａ〜１８ｄにスポッ
ト光Ｓ１２Ｂ，Ｓ１３Ｂとして照射される。図６は検出
部１１がある姿勢にある時の図３の光学系を模式的に示
すものであり、ここでは便宜上、検出部１１側にＺ−Ｙ
直交座標を設定してある。Next, the optical system of FIG. 3 will be described.
The infrared light emitted from the light sources 12 and 13 at different timings is narrowed down by the aperture openings 15a and 15b, and then the split light receiving portions 17a and 17b of the first light receiving element 17 are separated.
To the second spot light S12A, S13A,
The divided light receiving portions 18a to 18d of the light receiving element 18 are irradiated with spot lights S12B and S13B. FIG. 6 schematically shows the optical system of FIG. 3 when the detection unit 11 is in a certain posture.
Cartesian coordinates are set.
【００２０】図６において、検出部１１側のＺ−Ｙ直交
座標上での光源１２の座標をＰ1（Ｚ1，Ｙ1）、光源１
３の座標をＰ2（Ｚ2，Ｙ2）、第１の受光素子１７と第
２の受光素子１８のＹ軸方向の間隔をｍ、両光源１２，
１３から発せられた赤外光の光軸とＹ軸とがなす角度を
それぞれα1，α2，β1，β2とすると、スポット光Ｓ１
２Ａからα1、スポット光Ｓ１２Ｂからα2、スポット光
Ｓ１３Ａからβ1、スポット光Ｓ１３Ｂからβ2がそれぞ
れ求められる。すなわち、図４に示す第１の受光素子１
７上でのスポット光Ｓ１２Ａとスポット光Ｓ１３Ａの位
置ずれ量Δｙは、 Δｙ∝（Ｕ−Ｄ）／（Ｕ＋Ｄ） として表せられるため、α1＝Δｙ／ｄ，β1＝Δｙ／ｄ
の式中に、第１の受光素子１７の両分割受光部１７ａ，
１７ｂの受光出力Ｕ，Ｄと既知のｄを代入することによ
り、角度α1とβ1を求めることができる。また、図５に
示す第２の受光素子１８上でのスポット光Ｓ１２Ｂとス
ポット光Ｓ１３Ｂの位置ずれ量Δｙは、 Δｙ∝〔(Ｒｕ＋Ｌｕ)−(Ｒｄ＋Ｌｄ)〕／(Ｒｕ＋Ｌｕ＋Ｒｄ＋Ｌｄ)〕 として表せられるため、α2＝Δｙ／ｄ，β2＝Δｙ／ｄ
の式中に、第２の受光素子１８の各分割受光部１８ａ〜
１８ｄの受光出力Ｌｕ，Ｒｕ，Ｌｄ，Ｒｄと既知のｄを
代入することにより、角度α2とβ2を求めることができ
る。このようにしてα1，α2，β1，β2が求められる
と、既知のｍとα1，α2の値から三角測量の原理により
Ｐ1（Ｚ1，Ｙ1）の座標が求められ、同様にｍ，β1，β
2の値からＰ2（Ｚ2，Ｙ2）の座標が求められる。In FIG. 6, the coordinates of the light source 12 on the Z-Y orthogonal coordinates on the detection unit 11 side are P 1 (Z 1 , Y 1 ),
3 is P 2 (Z 2 , Y 2 ), the distance between the first light receiving element 17 and the second light receiving element 18 in the Y-axis direction is m, both light sources 12,
If the angles formed by the optical axis of the infrared light emitted from 13 and the Y axis are α 1 , α 2 , β 1 , β 2 , respectively, the spot light S1
2A to α 1 , spot light S12B to α 2 , spot light S13A to β 1 , and spot light S13B to β 2 . That is, the first light receiving element 1 shown in FIG.
The positional deviation amount Δy between the spot light S12A and the spot light S13A on the No. 7 is expressed as Δy∝ (U−D) / (U + D), so α 1 = Δy / d, β 1 = Δy / d
In the formula, both split light receiving parts 17a of the first light receiving element 17 are
By substituting the light reception outputs U and D of 17b and the known d, the angles α 1 and β 1 can be obtained. Further, since the positional deviation amount Δy between the spot light S12B and the spot light S13B on the second light receiving element 18 shown in FIG. 5 is expressed as Δy∝ [(Ru + Lu) − (Rd + Ld)] / (Ru + Lu + Rd + Ld)], α 2 = Δy / d, β 2 = Δy / d
In the formula, each divided light receiving portion 18a of the second light receiving element 18
The angles α 2 and β 2 can be obtained by substituting the received light outputs Lu, Ru, Ld, and Rd of 18d and the known d. When α 1 , α 2 , β 1 , β 2 are obtained in this way, the coordinates of P 1 (Z 1 , Y 1 ) are obtained from the known values of m and α 1 , α 2 by the principle of triangulation. Similarly, m, β 1 , β
From the value of 2 , the coordinates of P 2 (Z 2 , Y 2 ) can be obtained.
【００２１】このようにしてＰ1とＰ2の座標が決定され
ると、発光部１０と検出部１１の相対角度θｙと、両部
１０，１１の相対的なＹ軸方向のずれ量Ｑ、および両部
１０，１１の相対的なＺ軸方向のずれ量Ｌが求められ
る。まず、θｙはＰ1とＰ2を通る直線の傾きに等しく、 tanθｙ＝（Ｙ1−Ｙ2）／（Ｚ1−Ｚ2） であるから、 θｙ＝tan~1〔（Ｙ1−Ｙ2）／（Ｚ1−Ｚ2）〕…………… として表せられる。したがって、この式に第１の受光
素子１７の受光出力Ｕ，Ｄと第２の受光素子１８の受光
出力Ｌｕ，Ｒｕ，Ｌｄ，Ｒｄから演算されたＺ1，Ｚ2，
Ｙ1，Ｙ2の値を代入することにより、発光部１０と検出
部１１の相対角度θｙが求められる。また、Ｐ1とＰ2の
中点の座標をＰ0（Ｚ0，Ｙ0）とすると、 Ｚ0＝（Ｚ1＋Ｚ2）／２，Ｙ0＝（Ｙ1＋Ｙ2）／２ として表せられる。したがって、ＱとＬの値は回転座標
系に変換すると、 Ｑ＝−Ｚ0sinθｙ＋Ｙ0cosθｙ Ｌ＝Ｚ0cosθｙ＋
Ｙ0sinθｙ…………………………… となり、この式に前述したＺ1，Ｚ2，Ｙ1，Ｙ2から演
算されたＺ0，Ｙ0と、上記式で演算されたθｙの値を
代入することにより、発光部１０と検出部１１の相対的
なＹ軸方向のずれ量Ｑと、両部１０，１１の相対的なＺ
軸方向のずれ量Ｌが求められる。When the coordinates of P 1 and P 2 are determined in this way, the relative angle θy between the light emitting portion 10 and the detecting portion 11 and the relative deviation Q in the Y-axis direction between the two portions 10 and 11, And the relative amount L of displacement of the two parts 10 and 11 in the Z-axis direction is obtained. First, θy is equal to the slope of a straight line passing through P 1 and P 2, and tan θy = (Y 1 −Y 2 ) / (Z 1 −Z 2 ), so θy = tan ~ 1 [(Y 1 −Y 2 ) / (Z 1 −Z 2 )] ………………. Therefore, in this equation, Z 1 , Z 2 , calculated from the light receiving outputs U, D of the first light receiving element 17 and the light receiving outputs Lu, Ru, Ld, Rd of the second light receiving element 18,
By substituting the values of Y 1 and Y 2 , the relative angle θy between the light emitting unit 10 and the detection unit 11 can be obtained. If the coordinates of the midpoint of P 1 and P 2 are P 0 (Z 0 , Y 0 ), Z 0 = (Z 1 + Z 2 ) / 2, Y 0 = (Y 1 + Y 2 ) / 2 To be Therefore, when the values of Q and L are converted to the rotating coordinate system, Q = −Z 0 sin θy + Y 0 cos θy L = Z 0 cos θy +
Y 0 sin θy …………………………, and Z 0 and Y 0 calculated from Z 1 , Z 2 , Y 1 and Y 2 described above in this equation and θy calculated by the above equation By substituting the value of, the relative displacement amount Q in the Y-axis direction between the light emitting unit 10 and the detection unit 11 and the relative Z amount between the both units 10 and 11.
The shift amount L in the axial direction is obtained.
【００２２】図７と図８は上記実施例に係る空間座標検
出装置において使用される回路構成について示してい
る。前記両光源１２，１３からは、互いに位相が１８０
度相違した赤外光が同じ周波数にて間欠発光する。した
がって、第１の受光素子１７の各分割受光部１７ａ，１
７ｂまたは第２の受光素子１８の各分割受光部１８ａ〜
１８ｄでは、前記パルス周期に対応したほぼサイン曲線
変化の受光出力が得られる。7 and 8 show the circuit configuration used in the spatial coordinate detecting apparatus according to the above embodiment. The two light sources 12 and 13 have a phase of 180 degrees with respect to each other.
Infrared light of different degrees emits intermittently at the same frequency. Therefore, the divided light receiving portions 17 a, 1 of the first light receiving element 17 are
7b or each divided light receiving portion 18a of the second light receiving element 18-
At 18d, a light reception output having a substantially sine curve change corresponding to the pulse period is obtained.
【００２３】図７に示すように、それぞれの分割受光部
には電流・電圧変換器１９が接続され、各分割受光部で
の受光出力の電流値が電圧値に変換される。それぞれの
出力電圧はバンドパスフィルタ２０を通過し、パルス発
光（間欠発光）の周波数成分が除かれる。そして、増幅
器２１によりそれぞれの検出電圧が電圧増幅され、検波
器２２によりそれぞれ検波され、各分割受光部の受光光
量に応じた電圧がＤＣ成分として取り出される。また、
各検波器２２からの電圧出力が加算器２３により電圧値
として加算され、オートゲインコントロール回路２４に
与えられ、このオートゲインコントロール回路２４より
増幅器２１の増幅率が制御される。As shown in FIG. 7, a current / voltage converter 19 is connected to each of the divided light receiving portions, and the current value of the light reception output of each divided light receiving portion is converted into a voltage value. Each output voltage passes through the bandpass filter 20, and the frequency component of pulse emission (intermittent emission) is removed. Then, the detected voltage is amplified by the amplifier 21 and detected by the detector 22, and the voltage corresponding to the received light amount of each divided light receiving unit is extracted as a DC component. Also,
The voltage output from each of the detectors 22 is added as a voltage value by the adder 23, and is added to the auto gain control circuit 24. The auto gain control circuit 24 controls the amplification factor of the amplifier 21.
【００２４】検波器２２からの各検出電圧は、例えば図
８に示されるアナログ・デジタル変換器２５によりデジ
タル値に変換され、デジタル演算器２６により和、差、
商、積の各演算が行われる。すなわち、上記〜式に
示された各演算はデジタル演算器２６にて行われ、この
デジタル演算器２６が本発明の演算部に相当する。Each detected voltage from the detector 22 is converted into a digital value by the analog / digital converter 25 shown in FIG. 8, and the sum, difference,
Each operation of quotient and product is performed. That is, each calculation shown in the above equations is performed by the digital calculator 26, and the digital calculator 26 corresponds to the calculator of the present invention.
【００２５】図９は前述した空間座標検出装置を適用し
た入出装置の概略構成を示し、この入出装置は固定側が
機器本体２７であり、この機器本体２７はコンピュータ
やＡＶ機器またはゲーム機本体等からなり、ＣＲＴ画面
２８を有している。また、移動側は操作部材２９であ
り、この操作部材２９はリモートコントローラとして機
能し、オペレータが手で持って移動できる程度の大きさ
に形成されている。前記発光部１０は機器本体２７の任
意位置に設置され、前記検出部１１は操作部材２９の前
面に設置されている。また、上記〜式に示された各
演算は、操作部材２９内で行われ、その結果が有線また
は無線で機器本体２７に伝達され、あるいは、検出部１
１の受光検出出力のみが機器本体２７に伝達され、機器
本体２７側で上記の演算が行われる。FIG. 9 shows a schematic structure of an entrance / exit device to which the above-described spatial coordinate detecting device is applied. The entrance / exit device has a device main body 27 on the fixed side, and the device main body 27 includes a computer, an AV device, a game console main body, or the like. And has a CRT screen 28. Further, the moving side is an operating member 29, and this operating member 29 functions as a remote controller and is formed in a size that an operator can hold and move by hand. The light emitting unit 10 is installed at an arbitrary position of the device body 27, and the detection unit 11 is installed on the front surface of the operation member 29. Further, each calculation shown in the above formulas is performed within the operation member 29, and the result is transmitted to the device body 27 by wire or wirelessly, or the detection unit 1
Only the received light detection output of No. 1 is transmitted to the device body 27, and the above calculation is performed on the device body 27 side.
【００２６】図９では、両光源１２，１３の中心が画面
２８の中心の（イ）の位置に示されているが、実際の装
置では、両光源１２，１３の中心は画面２８から外れた
例えば（ロ）で示す位置に設置される。この場合、検出
部１１の前方に延びるＺ軸が画面２８の中心に向けられ
た時に、検出部１１の中心と発光部１０の中心とを結ぶ
線Ｊ0と、Ｚ軸との間にオフセット角θ0が生じるため、
検出部１１にて検出されたＹ方向の検出角度から前記オ
フセット角θ0を除算すれば、画面２８に対するＺ軸の
向き（対向角度）θｙを算出することができる。あるい
は、両光源１２，１３の中心を画面２８の中心に位置さ
せ、この中心を通るＹ軸上にて画面２８から外れた上下
位置（ハ）に両光源１２，１３を配置すれば、前記オフ
セット角θ0を除算する必要はなくなる。In FIG. 9, the centers of both light sources 12 and 13 are shown at the position (a) at the center of the screen 28, but in the actual device, the centers of both light sources 12 and 13 are off the screen 28. For example, it is installed at the position shown in (b). In this case, when the Z axis extending in front of the detection unit 11 is directed to the center of the screen 28, an offset angle is formed between the line J 0 connecting the center of the detection unit 11 and the center of the light emitting unit 10 and the Z axis. Since θ 0 occurs,
If the offset angle θ 0 is divided from the detection angle in the Y direction detected by the detection unit 11, the direction (opposing angle) θy of the Z axis with respect to the screen 28 can be calculated. Alternatively, if the centers of the light sources 12 and 13 are located at the center of the screen 28 and the light sources 12 and 13 are arranged at a vertical position (c) deviating from the screen 28 on the Y axis passing through the center, the offset can be obtained. It is no longer necessary to divide the angle θ 0 .
【００２７】この入力装置では、操作部材２９がＺ軸に
対して角度θｚだけ回転しても、その回転角度θｚを加
味して、機器本体２７側のＸ−Ｙ座標（空間での固定座
標）に対するＸ方向とＹ方向の傾きθｘ，θｙを検出す
ることができる。このため、手で持った操作部材２９が
角度θｚだけ回転した姿勢であっても、機器本体２７に
対してθｘとθｙの傾き量の情報を与えることができ、
例えば画面２８上に表示されるカーソルマークをＸ−Ｙ
座標上にて移動させることができる。すなわち、空間内
にて操作部材２９を自由に動かして画面２８での画像処
理、例えば線を描いたり、画面２８上の釦表示にカーソ
ルマークを合わせてスイッチ操作し、画面を切換える等
の入力が可能となり、この場合、手で持った操作部材２
９がＺ軸に対して回転したとしても、この回転によって
Ｘ−Ｙ座標に対する入力動作が狂うことはない。In this input device, even if the operating member 29 is rotated by the angle θz with respect to the Z axis, the rotation angle θz is taken into consideration, and the XY coordinates (fixed coordinates in space) on the device body 27 side are taken into consideration. It is possible to detect the inclinations θx and θy in the X and Y directions with respect to. For this reason, even if the operating member 29 held by hand is in the posture rotated by the angle θz, it is possible to give the information about the inclination amounts of θx and θy to the device body 27.
For example, if the cursor mark displayed on the screen 28 is XY
It can be moved on the coordinates. That is, image input on the screen 28 by freely moving the operating member 29 in the space, for example, drawing a line, or operating the switch by moving the cursor mark to the button display on the screen 28 to switch the screen is performed. It becomes possible, in this case, the operating member 2 held by hand
Even if 9 rotates about the Z axis, this rotation does not disturb the input operation for the XY coordinates.
【００２８】また、この入力装置では、Ｚ軸に対する操
作部材２９の回転角度θｚを、機器本体２７の画面２８
での表示に対する指示情報として利用できる。例えば操
作部材２９を角度θｚだけ回転させることにより、画面
２８に表われた画像を機器本体２７側のＸ−Ｙ座標内に
て回転させる等の操作ができ、これは描画処理やゲーム
ソフトでのキャラクタの回転動作等に利用できる。Further, in this input device, the rotation angle θz of the operating member 29 with respect to the Z-axis is determined by the screen 28 of the device body 27.
It can be used as instruction information for display in. For example, by rotating the operation member 29 by an angle θz, operations such as rotating the image displayed on the screen 28 within the XY coordinates on the device body 27 side can be performed. It can be used for rotating characters.
【００２９】また、この入力装置では、機器本体２７と
操作部材２９の相対的なＹ軸方向の移動量Ｑを検出でき
るため、この移動量Ｑを機器本体２７の画面２８での表
示に対する指示情報として利用できる。Further, since this input device can detect the relative movement amount Q in the Y-axis direction between the device body 27 and the operating member 29, this movement amount Q is the instruction information for the display on the screen 28 of the device body 27. Available as
【００３０】さらに、機器本体２７側に操作部材２９ま
での距離Ｌの情報を与えることができるため、操作部材
２９が画面２８に近づいている時と、操作部材２９が画
面２８から離れている時とで操作感触に違いを感じさせ
ないようにすることができる。すなわち、操作部材２９
をθｘとθｙ方向の傾き角度のみに基づいて画面２８上
でカーソルマークを移動させた場合、例えば操作部材２
９を画面２８に近づけた位置でθｘ方向へ傾けた時と、
操作部材２９を画面２８から十分に離した位置でθｘ方
向へ同じ角度だけ傾けた時とで、この傾き角度θｘの情
報に基づく画面２８上でのカーソルマークの移動量は同
じ距離になるため、画面２８から離れた位置で操作部材
２９を傾けた時に画面２８上でカーソルマークがあまり
動いていないような感触となる。そこで、上記式また
は式により演算された距離Ｌを加味し、例えば発光部
１０と検出部１１との距離Ｌが長くなるにしたがって、
操作部材２９のθｘまたはθｙ方向の傾きに対し、画面
２８上でのカーソルマークの移動距離を長くするような
補正を行うと、操作部材２９が画面２８に近づいた場合
と離れた場合とでの操作感触の違いを補正することがで
きる。Further, since the information of the distance L to the operation member 29 can be given to the device body 27 side, when the operation member 29 is close to the screen 28 and when the operation member 29 is away from the screen 28. You can make the operation feel the same with and. That is, the operating member 29
When the cursor mark is moved on the screen 28 based on only the tilt angles in the θx and θy directions, for example, the operation member 2
When 9 is tilted in the θx direction at a position close to the screen 28,
When the operation member 29 is tilted by the same angle in the θx direction at a position sufficiently separated from the screen 28, the movement amount of the cursor mark on the screen 28 based on the information of the tilt angle θx becomes the same distance. When the operation member 29 is tilted at a position away from the screen 28, the user feels that the cursor mark does not move much on the screen 28. Therefore, considering the above formula or the distance L calculated by the formula, for example, as the distance L between the light emitting unit 10 and the detecting unit 11 becomes longer,
When the correction of increasing the moving distance of the cursor mark on the screen 28 is performed with respect to the inclination of the operating member 29 in the θx or θy direction, the operating member 29 may approach the screen 28 or move away from the screen 28. It is possible to correct the difference in operation feeling.
【００３１】あるいは、これとは逆に操作部材２９が画
面２８からかなり遠くに離れた時には、上記補正により
操作部材２９がわずかに傾いただけで画面２８上のカー
ソルマークが大きく動き、手振れによる操作入力の狂い
が生じるおそれもある。この場合には、前記と逆の補正
を行い、距離Ｌが長くなった時には、操作部材２９のθ
ｘおよびθｙの傾きに対し画面２８上でのカーソルマー
クの移動距離を短く抑えるようにすれば良い。On the contrary, when the operating member 29 is far away from the screen 28, the operating member 29 is slightly tilted by the above correction, and the cursor mark on the screen 28 moves greatly, resulting in an operation input due to camera shake. There is also a possibility that the madness of. In this case, the correction reverse to the above is performed, and when the distance L becomes long, the θ of the operation member 29 is changed.
The movement distance of the cursor mark on the screen 28 with respect to the inclinations of x and θy may be kept short.
【００３２】なお、上記実施例では、第２の受光素子１
８として、ＸおよびＹ方向に分割された分割受光部１８
ａ〜１８ｄを有する４分割受光素子を例示したが、Ｘ方
向に分割された２分割受光素子とＹ方向に分割された２
分割受光素子とを用い、これら両２分割受光素子をきわ
めて接近した距離に配置しても良い。この場合、両光源
１２，１３からのスポット光をそれぞれの２分割受光素
子に照射する必要があるため、絞り口の数は１つ増えて
合計で３個となる。In the above embodiment, the second light receiving element 1
8, the divided light receiving portion 18 divided in the X and Y directions
Although the four-divided light receiving element having a to 18d is illustrated, the two-divided light receiving element divided in the X direction and the two divided light receiving elements in the Y direction.
A split light receiving element may be used, and these two split light receiving elements may be arranged at extremely close distances. In this case, since it is necessary to irradiate the spot light from both the light sources 12 and 13 to the respective two-divided light receiving elements, the number of apertures is increased by one to be three in total.
【００３３】[0033]
【発明の効果】以上説明したように、本発明の空間座標
検出装置によれば、発光部と検出部を結ぶ軸に対する両
部の相対的な傾き角度や回転角度のみならず、両部のＺ
軸方向とＹ軸方向の相対的な距離検出を簡単な構造で高
精度に検出することができる。したがって、この空間座
標検出装置を入力装置に応用した場合には、手で持った
操作部材の直交座標の回転成分を加味した状態で、画面
上のカーソルマークを上記傾き角度に対応して移動制御
することができ、しかも、上記Ｚ軸方向とＹ軸方向の距
離を加味することにより、発光部と検出部間の距離変動
に伴う操作感触の違いを補正することができる。As described above, according to the spatial coordinate detecting device of the present invention, not only the relative tilt angle and rotation angle of both parts with respect to the axis connecting the light emitting part and the detecting part, but also the Z part of both parts.
The relative distance between the axial direction and the Y-axis direction can be detected with high accuracy with a simple structure. Therefore, when this spatial coordinate detection device is applied to an input device, movement control of the cursor mark on the screen corresponding to the tilt angle is performed in consideration of the rotation component of the orthogonal coordinates of the operating member held by hand. Moreover, by adding the distances in the Z-axis direction and the Y-axis direction, it is possible to correct the difference in the operation feeling due to the variation in the distance between the light emitting unit and the detecting unit.
【図面の簡単な説明】[Brief description of drawings]
【図１】本発明の実施例に係る空間座標検出装置の基本
構造を示す斜視図である。FIG. 1 is a perspective view showing a basic structure of a spatial coordinate detecting device according to an embodiment of the present invention.
【図２】該空間座標検出装置図に備えられる１つの光学
系を示す断面図である。FIG. 2 is a cross-sectional view showing one optical system provided in the spatial coordinate detection device diagram.
【図３】該空間座標検出装置に備えられる他の光学系を
示す断面図である。FIG. 3 is a cross-sectional view showing another optical system provided in the spatial coordinate detecting device.
【図４】該空間座標検出装置図に備えられる第１の受光
素子の平面図である。FIG. 4 is a plan view of a first light receiving element included in the spatial coordinate detection device diagram.
【図５】該空間座標検出装置に備えられる第２の受光素
子の平面図である。FIG. 5 is a plan view of a second light receiving element included in the spatial coordinate detecting device.
【図６】図３の光学系を模式的に示す説明図である。FIG. 6 is an explanatory view schematically showing the optical system of FIG.
【図７】該空間座標検出装置に備えられる回路構成を示
すブロック図である。FIG. 7 is a block diagram showing a circuit configuration provided in the spatial coordinate detection device.
【図８】図７の回路の後段を示すブロック図である。8 is a block diagram showing a latter stage of the circuit of FIG.
【図９】図１の空間座標検出装置を適用した入力装置の
斜視図である。9 is a perspective view of an input device to which the spatial coordinate detection device of FIG. 1 is applied.
【図１０】従来の入力装置を示す斜視図である。FIG. 10 is a perspective view showing a conventional input device.
１０ 発光部 １１ 検出部 １２，１３ 光源 １４ 可視光カットフィルタ １５ 絞り板 １５ａ，１５ｂ 絞り口 １６ 受光素子群 １７ 第１の受光素子 １７ａ，１７ｂ 分割受光部 １８ 第２の受光素子 １８ａ，１８ｂ，１８ｃ，１８ｄ 分割受光部 Ｓ１２Ａ，Ｓ１２ｂ，Ｓ１３Ａ，Ｓ１３Ｂ スポット光 ２７ 機器本体 ２８ 画面 ２９ 操作部材 Reference Signs List 10 light emitting section 11 detection section 12, 13 light source 14 visible light cut filter 15 diaphragm plate 15a, 15b diaphragm aperture 16 light receiving element group 17 first light receiving element 17a, 17b split light receiving section 18 second light receiving element 18a, 18b, 18c , 18d Split light receiving section S12A, S12b, S13A, S13B Spot light 27 Device body 28 Screen 29 Operating member
───────────────────────────────────────────────────── フロントページの続き (72)発明者 佐藤 荒尾 東京都大田区雪谷大塚町１番７号 アルプ ス電気株式会社内 (72)発明者 斉藤 潤一 東京都大田区雪谷大塚町１番７号 アルプ ス電気株式会社内 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Sato Arao 1-7 Yukiya Otsuka-cho, Ota-ku, Tokyo Alps Electric Co., Ltd. (72) Inventor Junichi Saito 1-7 Yukiya-Otsuka-cho, Ota-ku, Tokyo Alp Su Electric Co., Ltd.
Claims (5)
れ、前記発光部には、識別可能な光を発する２個の光源
が間隔を開けて配置され、前記検出部には、前記両光源
から発せられた光を所定面積のスポット光に絞る複数の
開口と、各開口に対向し前記スポット光を受光する複数
組の受光素子とが設けられ、前記各開口は任意のＸ−Ｙ
直交座標を設定した時にＹ軸方向に沿って配置され、前
記各受光素子の１組は前記スポット光のＹ軸方向の移動
を検出するＹ側受光素子であり、残りの組は前記スポッ
ト光のＸ軸とＹ軸方向の移動を検出するＸ−Ｙ側受光素
子であることを特徴とする空間座標検出装置。1. A light emitting unit and a detecting unit are arranged at positions separated from each other, two light sources that emit identifiable light are arranged at intervals in the light emitting unit, and the detecting unit includes A plurality of apertures for narrowing the light emitted from both light sources into spot lights of a predetermined area and a plurality of sets of light receiving elements facing each aperture and receiving the spot light are provided, and each aperture is an arbitrary XY
When the Cartesian coordinates are set, they are arranged along the Y-axis direction, one set of each of the light-receiving elements is a Y-side light-receiving element that detects the movement of the spot light in the Y-axis direction, and the rest of the sets are of the spot light. A spatial coordinate detection device, which is an XY side light receiving element that detects movement in the X-axis and Y-axis directions.
素子と前記Ｘ−Ｙ側受光素子のＹ側受光部からの受光光
量に基づいて、これらＹ側受光素子とＸ−Ｙ側受光素子
に照射される各スポット光の位置を求める演算部が設け
られていることを特徴とする空間座標検出装置。2. The Y side light receiving element and the XY side light receiving element according to claim 1, based on the amount of light received from the Y side light receiving element of the Y side light receiving element and the XY side light receiving element. A spatial coordinate detection device, characterized in that a calculation unit for determining the position of each spot light irradiated on the space coordinate detection device is provided.
受光部のＸ側およびＹ側受光部からの受光光量に基づい
て、該Ｘ−Ｙ側受光素子に照射される両スポット光の位
置を求める演算部が設けられていることを特徴とする空
間座標検出装置。3. The method according to claim 1, wherein, based on the amounts of light received from the X-side and Y-side light-receiving portions of the XY-side light-receiving portion, the two spot light beams irradiated to the XY-side light-receiving element are detected. A spatial coordinate detecting device, characterized in that a calculation unit for obtaining a position is provided.
て、前記検出部には、２つの開口と、一方の開口を通過
したスポット光を検出するＹ軸方向に分割された２分割
受光素子と、他方の開口を通過したスポット光を検出す
るＸ軸およびＹ軸方向に分割された４分割受光素子とが
設けられていることを特徴とする空間座標検出装置。4. The two-divided light receiving element according to claim 1, wherein the detection section has two openings and a Y-axis-divided light receiving element that detects spot light that has passed through one of the openings. And a four-division light-receiving element divided in the X-axis and Y-axis directions for detecting spot light that has passed through the other opening.
て、前記発光部は画面を有する機器本体側に配設され、
前記検出部はオペレータによって手動操作される操作部
材側に配設されていることを特徴とする空間座標検出装
置。5. The device according to claim 1, wherein the light emitting unit is arranged on a device body side having a screen,
The spatial coordinate detection device, wherein the detection unit is arranged on the side of an operation member that is manually operated by an operator.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP24150594A JP3416291B2 (en) | 1994-10-05 | 1994-10-05 | Spatial coordinate detector |
| GB9510424A GB2289756B (en) | 1994-05-26 | 1995-05-23 | Space coordinates detecting device and input apparatus using same |
| US08/452,453 US5627565A (en) | 1994-05-26 | 1995-05-26 | Space coordinates detecting device and input apparatus using same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP24150594A JP3416291B2 (en) | 1994-10-05 | 1994-10-05 | Spatial coordinate detector |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH08106352A true JPH08106352A (en) | 1996-04-23 |
| JP3416291B2 JP3416291B2 (en) | 2003-06-16 |
Family
ID=17075332
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP24150594A Expired - Fee Related JP3416291B2 (en) | 1994-05-26 | 1994-10-05 | Spatial coordinate detector |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP3416291B2 (en) |
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