Electronic pen

Abstract

The invention relates to an electronic pen (100) with pen position detection, comprising at least one writing core (113), at least one voltage source (103), at least one digital control unit (120) and at least one data transmission module (111), characterized in that the electronic pen (100) comprises at least three position-determining sensors (105, 112, 104), wherein the position-determining sensors are configured to be able to determine from their measurement data an over-determination of the position and / or movement of the electronic pen (100).

Description

[0001] This application is a divisional application of China National Intellectual Property Administration (CNIPA) application No. 201480040837.7 entitled “Electronic Pen”, filed on July 17, 2014. Technical Field

[0002] The present invention relates to an electronic pen of the type specified in the preamble of claim 1, a device specified in the preamble of claim 16, and a method specified in the preamble of claim 17. Background Technology

[0003] The increasing use of electronic information and communication systems, especially personal computers (PCs), laptops, tablets, and smartphones, in daily life, leisure, and work makes it worthwhile to develop improvements in human-computer interfaces.

[0004] Beyond human-computer interfaces such as keyboards, mice, or touch-sensitive surfaces, electronic pens are of particular interest. Their especially significant advantage lies in combining the functionality and ease of writing on a surface with the far greater possibilities of electronic data processing. Therefore, it is desirable for electronic pens to resemble conventional pens as closely as possible in appearance and operation.

[0005] For example, WO02 / 07424A2 describes an electronic information system for handwriting recognition, which has a pen and a tablet computer with a pressure-sensitive or inductively sensitive surface, and wherein the movement of the pen or pen tip is captured from the pressure-sensitive or inductively sensitive surface of the tablet computer or by an accelerometer or optical sensor.

[0006] The sensor data can then be wirelessly transmitted to a personal computer, which can perform handwriting recognition based on the received pen movement data.

[0007] However, a drawback of known electronic information systems used for handwriting recognition is that, among other things, pen position data is not always detectable with sufficient accuracy, and this can lead to incorrect determinations of pen movement, for example. Summary of the Invention

[0008] question

[0009] Therefore, the purpose of this invention is to improve electronic pens, particularly regarding the accuracy of pen position detection.

[0010] Solution

[0011] According to the present invention, the objective is achieved by the electronic pen according to claim 1, the device according to claim 16, and the method according to claim 17.

[0012] Advantageous implementations and further improvements are the subject of the dependent claims.

[0013] The electronic pen with pen position detection may include at least one writing core, at least one voltage source, at least one digital control unit, and at least one data transmission module. Furthermore, the electronic pen may have at least three position determination sensors, wherein the position determination sensors are configured to determine the position and / or over-determination of the electronic pen's movement from their measurement data.

[0014] An electronic pen can be considered a rigid body, meaning it has three translational degrees of freedom and three rotational degrees of freedom, for a total of six degrees of motion. Typically, two three-dimensional position determination sensors are sufficient to describe the position and / or movement of the electronic pen in a three-dimensional coordinate system, except for any necessary initialization and integration errors of the chosen coordinate system.

[0015] In the following text, unless otherwise explicitly stated, a position determination sensor should be understood as a position determination sensor that can measure acceleration and / or the strength of a local magnetic field and / or the rate of rotation in three mutually orthogonal spatial directions.

[0016] The electronic pen according to the invention can allow for super-determination of pen position data or pen position and / or electronic pen movement in a three-dimensional coordinate system due to its at least three position determination sensors.

[0017] On the one hand, this has the advantage of being able to determine the pen position more accurately, for example, by averaging independently measured pen position data, and on the other hand, it avoids ambiguity relative to the position and / or movement of the electronic pen in a three-dimensional coordinate system.

[0018] The aforementioned ambiguity in the pen position data measured by the position determination sensor arises from the fact that when two rotational axes (e.g., the axes of a position determination sensor mounted on a gimbal for measuring three-dimensional rotational rates) are aligned in parallel, information about one degree of freedom is lost, and the movement of the electronic pen can no longer be uniquely described. This embodiment of lost degree-of-freedom information is also known as gimbal blockade.

[0019] However, this problem does not occur in the electronic pen according to the invention, because at least three position determination sensors can capture all six degrees of freedom at least once and in a unique manner for each position and / or movement of the electronic pen.

[0020] Another source of inaccuracy in location data stems from thermal noise in the location determination sensor circuitry. This random noise signal can be significantly reduced by averaging it using a sufficient number of sensors.

[0021] Additional inaccuracies may arise from time delays or skews in data acquisition, as the data is read serially via the data bus and subsequently processed as if it were recorded at exactly the same time. Furthermore, averaging the signals from multiple sensors can be a good way to minimize this error.

[0022] In addition to the position determination sensor, the electronic pen may include a force sensor coupled to the writing core.

[0023] The advantage of this is that, for example, the position determination sensor and / or digital control unit and / or data transmission module are only required to be fully activated when the measured value exceeds a predetermined force, such as when the electronic pen is placed on a writing substrate (such as paper) by pressing or applying pressure to the writing core.

[0024] This reduces the energy or power consumption of the electronic pen because people can distinguish between the use and non-use of the electronic pen used for writing or drawing on the writing substrate, and, for example, when not in use, the position determination sensor and / or other electrically operated components of the electronic pen can be partially or completely turned off.

[0025] On the other hand, an electronic pen can of course be used without a writing substrate, for example, to write freely or to perform gestures in space, wherein the position determination sensor and / or digital control unit and / or data transmission module can be partially or fully activated even in the absence of a specific pressure applied to the force sensor or in the case of measuring a pressure that is consistent with the mass of the writing core and the acceleration of the electronic pen.

[0026] This is particularly important for processes like line breaks or page turns, where the core does not come into contact with the writing substrate. Therefore, it might be useful, for example, to allow position determination to continue for a few seconds after a pause in writing pressure. Thus, any subsequent movement pattern can be categorized into several types, and corresponding functions can be triggered in a signal or data receiving device (e.g., an external data processing unit). For example, for a primary movement opposite to the writing direction without writing pressure, the input point for the next stroke should be positioned at the beginning of the previous line, at a height one line lower than the previous line.

[0027] Advantageously, the analysis of force sensor data also provides information on the writing refill grade as a byproduct, since the force sensor data is also sensitive to the detection of changes in writing refill quality. Furthermore, the pressure caused by mass force and measured by the force sensor can be compared with the simultaneously measured acceleration in the pen's longitudinal direction, which allows the writing refill quality to be determined and thus its grade derived.

[0028] Therefore, force sensors can be used for more than just on / off switches. In particular, force sensors can provide analog or proportional signals to measure pressure intensity or changes in pressure intensity, which can, for example, help assist in learning to write and facilitate various representations of letters in writing, such as using different colors and / or line thicknesses, on an external display unit.

[0029] The position determination sensor can be designed as an inertial sensor, whose measurement principle is based on inertia and the mechanical displacement of a test mass mounted with a spring. Preferably, such an inertial sensor can be implemented as a so-called inertial micro-electro-mechanical system (MEMS), in which, for example, the mechanical structure can be patterned within a polysilicon layer.

[0030] However, it is also possible to use non-inertial sensors for position determination, and such sensors can be based on other measurement principles, such as magnetic field sensors that operate based on the Hall effect or giant magnetoresistance effect, and can be implemented without moving mechanical parts. Preferred embodiments may include, for example, Foster probe-type sensors (…). -probe type sensors), also known as fluxgate sensors.

[0031] The position determination sensor initially measures the pen's position within a co-moving coordinate system fixed to the body of the electronic pen. A transformation to an absolute reference system suitable for the electronic pen's coordinates can then be performed, as described in further detail below.

[0032] At least two of the multiple position determination sensors in the electronic pen can be three-dimensional accelerometers, and one position determination sensor can be a three-dimensional rotation rate sensor.

[0033] Alternatively, at least two of the multiple position-determining sensors may be three-dimensional accelerometers, and one position-determining sensor may be a one-dimensional, two-dimensional, or three-dimensional magnetic field sensor.

[0034] Accelerometers are preferred over rotational speed sensors, especially since accelerometers can be more energy efficient than rotational speed sensors, which can advantageously affect the lifespan of electronic pens.

[0035] However, the advantage of using a rotation rate sensor is that the movement of the electronic pen in space, independent of the writing substrate, can be more easily measured, and the signal quality, especially for rotational motion around the longitudinal axis, is higher.

[0036] Therefore, it is possible that at least two of the multiple position determination sensors can be three-dimensional rotation rate sensors, and one position determination sensor can be a three-dimensional acceleration sensor.

[0037] Furthermore, one can conceive of an electronic pen in which at least one position determination sensor can be a three-dimensional rotational rate sensor, at least one position determination sensor can be a three-dimensional acceleration sensor, and at least one position determination sensor can be a one-dimensional, two-dimensional, or three-dimensional magnetic field sensor.

[0038] In addition, the electronic pen may include an air pressure sensor, which, by advantageously using an air pressure formula and a known reference air pressure at sea level, allows the position of the electronic pen at altitude differences to be determined and can be used to initialize the position determination sensor.

[0039] The evaluation and analysis of air pressure sensor data can preferably be performed externally to the electronic pen, that is, in a data processing or data analysis unit such as a PC, laptop computer, tablet computer or smartphone, which can receive data from all sensors of the electronic pen, such as data transmission modules.

[0040] The data processing unit may include or have access to a database that stores and provides all possible and required up-to-date time- and / or site-dependent data values ​​for initialization, such as reference air pressure at sea level and / or acceleration due to gravity, and / or Earth's magnetic field strength.

[0041] However, relative determination may be sufficient to determine the location, where pressure changes are interpreted as changes in altitude. A potential drawback in this regard is sensitivity to environmental influences, such as air pressure changes caused by opening or closing nearby doors. However, such changes can be easily filtered out, for example, by a second stationary air pressure sensor. This stationary pressure sensor can be advantageously placed in a receiving device (e.g., the data analysis or processing unit).

[0042] The electronic pen may also have at least one combined sensor, in which at least two different or the same type of sensor may be integrated. For example, a combined sensor may include a three-dimensional rotation rate sensor and a three-dimensional acceleration sensor.

[0043] It is also possible that, for example, the combined sensor may include a three-dimensional accelerometer and a one-dimensional, two-dimensional, or three-dimensional magnetic field sensor, or the combined sensor may include a three-dimensional rotational rate sensor and a one-dimensional, two-dimensional, or three-dimensional magnetic field sensor. Another embodiment of the combined sensor may include a three-dimensional rotational rate sensor, a three-dimensional accelerometer, and a one-dimensional, two-dimensional, or three-dimensional magnetic field sensor. Using a combined sensor advantageously allows for a more compact design of the electronic pen and may also potentially reduce the production cost of the electronic pen.

[0044] The combined sensor may also have data processing and analysis electronics that can process data in all spatial directions of all sensor types, and drift compensation signals, such as drift compensation angle signals in quaternions and / or Euler angles, have been provided at the digital output, for example.

[0045] Therefore, the combined sensor may occupy a surface area of, for example, less than 5 mm × 5 mm.

[0046] The sensor signal, determined by the position of the sensor, can be used to create a motion or movement profile by integrating (summing) the acceleration. The distance traveled can be calculated by further integrating the velocity determined over a certain time interval.

[0047] To make better use of the recorded data, it is helpful to know the initial conditions or initial reference data, such as information about the velocity and / or position at the beginning of the integration process.

[0048] Because users of electronic pens may not want to constantly adjust the reference point, initialization based on the initial conditions of characteristic or unique activities during normal use of the pen is possible. Such initialization activities could be, for example, putting down the pen, the average writing direction for a single letter, or reversing the direction. Furthermore, measurements of contact with the writing substrate (e.g., paper) can be used to determine such initial reference data, and these measurements can be taken via a previously described force sensor coupled to the writing core.

[0049] For the use and data analysis of electronic pens, knowing the position and movement of the pen tip or writing reel is particularly important. However, due to technical reasons, integrating the position determination sensor directly into the pen tip can be easier and sometimes even more advantageous in terms of position determination accuracy. However, the position and / or movement of the pen tip can also be calculated by performing a corresponding coordinate transformation on the data from the position determination sensor.

[0050] While data from the electronic pen's sensors can be partially or fully processed and / or analyzed by the pen's digital control unit, it may be preferable, given the energy required for such processing, that the sensor data be transmitted, for example, wirelessly to an external data processing or analysis unit in a largely unprocessed form. However, it is possible, for example, that proprietary algorithms can be housed within the electronic pen's digital control unit and / or preprocessed there, where the raw data from the sensor exists in a reduced representation, for example, with independent translation and rotation components. This can also help reduce the amount of data to be transmitted, which, depending on the degree of reduction, can lead to significant energy savings.

[0051] Advantageously, at least two accelerometers can be arranged as far away from the center of the electronic pen as possible (such as the center of the pen's longitudinal axis) in order to optimize the acceleration signal strength, and thus, using the differences in acceleration recorded by them, information about the pen's rotation can be obtained. The average of the acceleration on the three axes can then be considered as the translational acceleration on each axis.

[0052] In general, the position determination sensor can be arranged along the longitudinal axis of the electronic pen and / or along an axis that is parallel to and / or not parallel to the longitudinal axis of the electronic pen.

[0053] In particular, the accelerometer may be arranged along the longitudinal axis of the electronic pen, or preferably along an axis that is parallel to, inclined to, or perpendicular to the longitudinal axis.

[0054] An additional rotation rate sensor can improve the signal quality of rotational acceleration about the longitudinal axis and prevent ambiguity in determining the position or movement of the electronic pen. The additional rotation rate sensor may also be arranged along the longitudinal axis of the electronic pen, or preferably along an axis parallel to, inclined to or perpendicular to the longitudinal axis.

[0055] Alternatively or additionally to the rotation rate sensor, a third acceleration sensor may be arranged, for example, with a circumferential offset of 180°+ / -90° relative to the position of one of the first two acceleration sensors, in order to resolve ambiguities in position or movement determination, for example, by evaluating the signals from the acceleration sensors.

[0056] To further facilitate signal processing, it may be advantageous to position the second position determining sensor in a plane orthogonal to the longitudinal axis of the pen and possibly within the plane of the first position determining sensor.

[0057] Two position determination sensors can be positioned on a circle, the center of which can be defined by the longitudinal axis of the pen. When measuring the entire circumference of 360°, their positions on the circle can be, for example, at 0° and 180°.

[0058] However, any other positioning is possible, provided that the distance between the two sensors, which are perpendicular to the axis, is large enough that rotation will be measured by the difference signal.

[0059] In addition, magnetic field sensors and other sensors can also be arranged along the longitudinal axis of the electronic pen or along an axis that is parallel to, inclined to, or perpendicular to the longitudinal axis.

[0060] The positioning of the optional air pressure sensor mentioned above is almost arbitrary, as it only provides a relative signal and can be limited, for example, only by considerations of circuit design optimization.

[0061] The location determination sensors can also be arranged along the longitudinal axis of the electronic pen or along an axis that is parallel to, inclined to, or perpendicular to the longitudinal axis. The sensors are designed as a combination of sensors, also known as a sensor group.

[0062] In a combined sensor, such as an accelerometer and at least one other position detection sensor, such as a rotation rate sensor or a magnetic field sensor, it may be advantageous in certain situations to arrange the combined sensor as centrally as possible within the electronic pen. For example, if the accelerometer of the combined sensor is anticipated to be primarily involved in translational motion, then a central arrangement of the combined sensor and the accelerometer can result in lower noise and interference components.

[0063] The position determination sensor may be located on or within the housing of the electronic pen, or on an assembly between the writing reel and the housing. The assembly may have a cylindrical shape and may, for example, be a circuit carrier sleeve, such as... Figure 1a or Figure 1b As described in [the text].

[0064] Another approach is to build the circuitry onto a thin film for insertion into an injection mold or injection molding die. Since the welding temperature (e.g., 238°C for vapor phase welding) is much higher than the processing temperature of ordinary plastics, thermal damage does not occur during plastic packaging, and the component can be optimally secured. Simultaneously, this selective embedding of the circuitry carrier or position-determining sensor into the pen sleeve or housing allows for maximizing the sensor distance from the pen's longitudinal axis.

[0065] Electronic pens can have modular designs and, for example, plug-in and / or screw connections, to allow easy replacement of the writing reel and / or the battery that serves as the voltage source. However, single-use or disposable models without interchangeable parts are also conceivable.

[0066] For example, a writing core that can be written with an easily slippery writing paste or ink may have a diameter of 2 mm to 10 mm, preferably 4 mm to 5 mm. The length of the writing core may be between 50 mm and 200 mm, preferably between 80 mm and 100 mm.

[0067] The casing of an electronic pen can be substantially cylindrical. Alternatively, cubic or polyhedral casings, or cylindrical shapes with convex or concave polygonal cross-sections, are also conceivable.

[0068] When circuitry is embedded within a housing, a polygonal design on the inner surface of the housing is recommended, which allows components to be positioned on the planar portion of the inner surface. This allows, for example, avoiding damage to the contact between the component and the circuit carrier or circuit substrate when inserted into an injection molding die.

[0069] Electronic pens may have a length between 90mm and 200mm, and an average diameter or average outer diameter between 3mm and 20mm. However, from an ergonomic point of view, an outer diameter of 5mm to 12mm is preferred, which places higher demands on component packaging.

[0070] Advantageously, the shape of the electronic pen can be chosen so that it can be as similar as possible to a regular pen in appearance and operation.

[0071] Based on the operating mode of the electronic pen, the coordinate system used to evaluate and analyze the position of the electronic pen can be initialized differently. While it is advantageous to know the absolute position of the electronic pen on the writing substrate (or the position relative to a reference point on the writing substrate, such as paper) when drawing, it may become possible, for example, to perform character recognition solely from the dynamic movement of the electronic pen.

[0072] For example, to define a coordinate system on a two-dimensional writing substrate such as paper, three reference points are typically required. Assuming the user always contacts the writing substrate in the same plane while drawing, integrated force measurement allows for management using only two reference points, which determine the horizontal position of the writing substrate. All other writing substrate touches or contacts can then be used to determine the drawing or writing plane.

[0073] The force sensor thus coupled to the writing core can provide useful data for calibrating and initializing the writing plane, and can, for example, compare or match the acceleration value of the position determination sensor with the writing pressure data, so that, for example, the pen sinking below the writing plane can be identified as unacceptable.

[0074] The initialization process can be performed, for example, by touching a corner of the writing substrate, which can also be used to define the available drawing area.

[0075] However, it is not always possible to assume that the position of the writing substrate is constant. Therefore, it is useful to define an absolute reference frame, such as an orthogonal reference frame with x, y, and z axes, where, for example, the z-axis may be opposite to or in the direction of gravitational acceleration. For example, the Earth's magnetic field can be used as a reference frame to determine the rotation of the xy plane. This absolute reference frame should also be referred to as the geographic reference frame below.

[0076] After the position determination sensor is initialized, coordinate transformation or conversion can be performed, for example, by translation and / or rotation, from the coordinate system in which the body of the electronic pen is fixed and moved (i.e., the coordinate system in which the position determination sensor takes measurements) to a geographic reference system, and vice versa.

[0077] For example, during the use of an electronic pen, position determination sensors and other sensors can record data at least every 50ms, thereby ensuring that the sampling frequency is above the natural frequency of the writer's hand (e.g., 5Hz) in order to detect and capture all movements of the hand or the electronic pen.

[0078] The resolution and accuracy of position detection by an electronic pen can be less than or better than 1 mm.

[0079] Instead of permanent absolute pen position detection, it is also possible to track the movement pattern of the electronic pen over time periods of 1s, 2s, 4s, or 6s or longer, so that the recorded movement pattern can be assigned to individual letters and / or words.

[0080] This allocation or analysis can, for example, be performed on an external data processing unit.

[0081] The measured location data can be vectorized by the digital control unit, or otherwise formatted, and then transmitted via the data transmission module to the data receiving module and data processing unit for analysis and processing of the received data. This can be accomplished, for example, using encrypted wireless data transmission according to the Bluetooth Low Energy (BLE) standard.

[0082] It is also possible to integrate the data processing unit into the pen, for example, for integration of the measured data and error correction, and to allow for a reduction in the amount of data transmitted and greater robustness against data failures. Selectable data generated by the pen's integration data processing unit can be transmitted via a data transmission module.

[0083] Alternatively or additionally, an external data processing unit may, for example, perform integration and error correction on the data received by the data receiving module.

[0084] Data processed by the data processing unit of the electronic pen and / or data processed by an external data processing unit can be output to a data output unit and / or stored in a data storage unit.

[0085] For error correction, among other techniques, Kalman filtering can be used here, such as including position determination sensor data related to data from a force sensor coupled to the writing reel. Advantageously, this can thus correct, for example, artificial drift in the writing direction baseline caused by problematic integration of the sensor data.

[0086] The potential outsourcing of actual processing of location-determining data, such as handwriting recognition processing, has the advantage of eliminating computationally intensive and / or storage-intensive processing steps for the digital control unit. These computationally intensive and / or storage-intensive processing steps can impair the smooth operation of sensor data collection and, in some cases, adversely affect the battery life used as a voltage source for an electronic pen.

[0087] However, as mentioned above, the processing of data collected and recorded by the electronic pen's sensors can also occur within the pen itself.

[0088] Furthermore, it is conceivable that, for example, the data transmission module of an electronic pen could also receive data from external devices, particularly control and / or configuration commands.

[0089] Therefore, the electronic pen can communicate with external devices to receive and send data.

[0090] It should also be noted that electronic pens can also be used simply as usual, for example, writing and / or drawing with the writing core, or working with the easily flowing writing paste or ink. Attached Figure Description

[0091] The following figures illustrate this exemplarily:

[0092] Figure 1a Exemplary implementation of an electronic pen

[0093] Figure 1b Exemplary Implementation of Circuit Carrier Sleeve

[0094] Figure 2 Another exemplary implementation of the electronic pen Detailed Implementation

[0095] Figure 1a An embodiment of the electronic pen 100 according to the present invention is shown.

[0096] For example, a writing core 113 filled with a flowable paste or ink may be held or enclosed by a circuit carrier sleeve 122, which may in turn be surrounded by the housing 115 of the electronic pen.

[0097] The circuit carrier sleeve 122 may optionally include a protrusion 117 on the second sleeve portion 101 of the circuit carrier sleeve 122, which can be used to hold the writing refill.

[0098] Force sensor 107 can be coupled to writing core 113 via pin 110, for example, and measures the pressure or acceleration force applied to writing core 113.

[0099] The circuit carrier sleeve 122 may also carry a first position determination sensor, such as a rotation rate sensor 112, which may be arranged along the longitudinal axis 121 of the electronic pen 100, for example, within the first sleeve member 102 of the circuit carrier sleeve 122.

[0100] The second and third position determination sensors may be located on the circuit carrier sleeve 122 and outside the longitudinal axis 121. For example, the first acceleration sensor 105 may be attached to the first sleeve portion 102 of the circuit carrier sleeve 122, preferably near the end / cap 116 opposite to the tip 1 of the electronic pen.

[0101] The second accelerometer 104 may be arranged, for example, on the second sleeve portion 101 of the circuit carrier sleeve 122, preferably at almost the maximum distance from the first accelerometer 105, thereby advantageously allowing improved accuracy in determining position and motion from the difference between accelerations measured at two different positions, particularly regarding information about the rotation of the electronic pen 100.

[0102] A voltage source 103, such as a battery for supplying power to the electronic pen 100, may be located within the first sleeve portion 102 of the circuit carrier sleeve 122, as may the digital control unit 120 and the data transmission module 111.

[0103] The data transmission module 111 can send data from the electronic pen 100 to an external data processing unit (not shown) and a data receiving module (not shown).

[0104] The electronic pen 100 may have a cap (not shown) that can be inserted into or screwed onto the end cap 116 when the electronic pen 100 is in use.

[0105] The electronic pen 100 may have a modular structure, for example, using insert and / or threaded connections, thereby making, for example, the writing reel 113 and / or the battery serving as the voltage source 103 easily replaceable. However, a single-use or disposable model of the electronic pen 100 without interchangeable parts is also conceivable.

[0106] Figure 1b An embodiment of an alternative circuit carrier sleeve 200 for an electronic pen according to the present invention is shown.

[0107] The circuit carrier sleeve 200 may include a first sleeve portion 202 and a second sleeve portion 201. The second sleeve portion 201 may include two flanges 218 and 219, which may include a writing refill (not shown, but similar to writing refill 113, for example), but it does not have, for example, a similar feature to... Figure 1a The protrusion 117. The first sleeve portion 202 may include a compartment 203 for receiving a voltage source such as a battery.

[0108] Multiple different types of position determination sensors, namely accelerometers, rotational speed sensors, magnetic field sensors, air pressure sensors, and combined sensors, can be located at almost any position on the surface of the circuit carrier sleeve 200.

[0109] An exemplary arrangement for an implementation with three accelerometers is shown. This implementation can advantageously feature optimized energy consumption, as accelerometers typically use less energy than other location-determining sensors such as rotational rate sensors.

[0110] For example, accelerometers 205 and 204 can be arranged on the circuit carrier sleeve 200 along axis 217, which is parallel to the longitudinal axis 214 of the electronic pen. Accelerometers 205 and 204 can be located on the same axis 217.

[0111] Preferably, the distance between the accelerometers 205 and 204 can be maximized, thereby advantageously allowing for improved accuracy in determining position and motion from the difference between accelerations measured at two different locations, particularly regarding information about the rotation of the electronic pen.

[0112] The third accelerometer 206 may be positioned opposite the accelerometer 204, offset by, for example, 180° + / - 90° along the circumference 215 of the circuit carrier sleeve 200. The two accelerometers 204 and 206 can thus be located on the same circumference 215 of the circuit carrier sleeve 200 or on two different circumferences 215, 216 along the longitudinal axis 214 of the electronic pen. The third accelerometer 206 may also be positioned on the first sleeve portion 202 of the circuit carrier sleeve 200 at a position 212 opposite to the accelerometer 205.

[0113] It is also conceivable that all three accelerometers are arranged on different axes parallel to the longitudinal axis 214 of the electronic pen, such as, for example, as shown by accelerometers 205, 206 and 204 at alternative location 211.

[0114] Another exemplary alternative location for a position determination sensor, such as an accelerometer, is represented by 213.

[0115] Advantageously, at least two of the three accelerometers 205, 204, and 206 may be arranged on the same axis parallel to the longitudinal axis 214 of the electronics, so as to simplify the processing and analysis algorithms, since in this case only the values ​​from the corresponding axis of the sensor must be considered to calculate the difference and average.

[0116] Conductive paths 208 and 209 may transmit the sensor signal from force sensor 207 to digital control unit (not shown).

[0117] Similar to Figure 1a In one embodiment, the force sensor 207 can be coupled to the writing core (not shown) via pin 210.

[0118] Signals from position determination sensors, such as accelerometers 205, 204, and 206, can be forwarded to the digital control unit (not shown) via conductive path 210. From there, raw or processed sensor data collected by the position determination sensors and other sensors can be preferably wirelessly transmitted to an external data processing unit (not shown) via a data transmission module (not shown).

[0119] The features of the electronic pen 100 can, of course, be combined with the features of the circuit carrier sleeve 200. Furthermore, features as described in the general description can be combined with the features of the electronic pen 100 or the features of the circuit carrier sleeve 200.

[0120] The electronic pen's position determination sensor and other sensors may be configured to capture data at least every 50 ms when the electronic pen is in use. The digital control unit can query all sensors at a frequency of at least 20 Hz.

[0121] Figure 2 An embodiment of a possible electronic pen 300 according to the present invention is also shown.

[0122] It should be noted again that all the features described above can be combined in any combination to achieve the benefits described. This means that, for example, the electronic pen 300 may also have some or all of the features of an electronic pen.

[0123] However, to understand the reason, Figure 2 Only a portion or embodiment of the above-described combination of features is shown.

[0124] The electronic pen 300 may have a housing or sleeve 311. Preferably, the housing 311 may have the geometry of a conventional pen, i.e., it may have a predominantly cylindrical shape. It is also conceivable that the housing may be in the form of a cube or polyhedron, or a cylindrical shape with a convex or concave polygonal cross-section.

[0125] The electronic pen 300 may, for example, have a length between 90 mm and 200 mm, and an average diameter or average outer diameter between 3 mm and 20 mm, preferably 5 mm and 12 mm.

[0126] The housing 311 of the electronic pen 300 may be divided into three housing parts, for example, a first part 303, a second part 302 and a third part 301, which may be screwed on or connected to each other by insertion.

[0127] The housing portion 303 may include, for example, a housing end portion 310 that can be screwed onto the housing portion 302 and may have an end cap 304 with a battery compartment cover.

[0128] Among other things, the housing portion 303 may accommodate one or more voltage sources 305, such as zinc-air button batteries, such as the 675 type (1.4V, 650mAh).

[0129] The housing portion 301 may be designed, for example, as a threaded tapered housing end portion 316 from which the writing core 312 can emerge.

[0130] The housing portion 302 may also include a press-fit soft grip area 314.

[0131] The data transmission module 306 can also be found in part 303 or 310 of the housing 311. The data transmission module 306 can wirelessly transmit data from all electronic components of the electronic pen 300 to an external data processing unit (not shown).

[0132] Alternatively or additionally, the electronic pen 300 may also be internally equipped with a separate data processing unit 323 for analyzing and / or processing and / or preprocessing the data before it can be transmitted via the data transmission module 306, so as to output it on a data output unit (not shown) and / or to store it on a data storage unit (not shown).

[0133] For example, a digital control unit, including a microcontroller, is also housed within housing portion 303 or 310.

[0134] The digital control unit 307 can communicate with all other electronic components of the electronic pen 300, particularly sensors, including position determination sensors, especially for communicating data and / or control commands and / or for transmitting electrical energy.

[0135] The connection (not shown) can be achieved via a conductive path, which can be integrated, for example, into the housing 311.

[0136] Multiple different types of position determination sensors, namely accelerometers, rotational speed sensors, magnetic field sensors, air pressure sensors, and combined sensors, can be placed on or within the housing 311 of the electronic pen 300 in virtually any location.

[0137] An exemplary configuration is shown for an implementation having two positions suitable for position determination sensors 308, 313.

[0138] For example, the position determination sensor 308 may be a combination sensor, such as including two acceleration sensors or including an acceleration sensor and a rotation rate sensor, and it may be arranged along an axis parallel to the longitudinal axis 324 of the electronic pen in the housing 311 (e.g., in the housing portion 303).

[0139] The position determination sensor 308 may be designed so that it can be inserted into or plugged into the connector band 309.

[0140] Preferably, the distance between the position determining sensors 308 and 313 can be maximized, for example, to advantageously allow for improved accuracy in determining position and motion from differences between acceleration, rotation rate, or other sensor values ​​measured at two different positions, particularly regarding information about the rotation of the electronic pen 300.

[0141] The sensor 313 is located in another position, such as an additional accelerometer or another combination of sensors, which may be arranged along the circumference of the housing 311 (e.g., in the second part 302).

[0142] In other words, the electronic pen 300 has at least three position determination sensors, of which, for example, two sensors (e.g., two accelerometers, or an accelerometer and a rotation rate sensor) can be combined into a combined sensor 308, and a third position determination sensor 313 may be, for example, an accelerometer.

[0143] In addition, the position determination sensor 313 can be positioned closer to the writing tip 318, for example, in the second part 302 of the housing 311.

[0144] Furthermore, the arrangement of position determination sensors 313, 308 is merely exemplary, as they may also be located on or within other parts of housing 311. The only important point is that at least three position determination sensors may be present, allowing for the hyper-determinacy of the pen's position and / or movement.

[0145] The electronic pen 300 may include a writing core 312, which may include, for example, a writing tip 318 comprising nickel silver, and a writing ball 317 comprising, for example, tungsten carbide, and has, for example, a diameter of 0.2 mm to 2 mm, preferably 1.0 + / - 0.2 mm.

[0146] The writing core 312 can be coupled to a force sensor 321, for example, via a pin 319 for frictionally receiving the writing core 312 or connected to the writing core 312.

[0147] Pin 319 may terminate within pin plate 322, which may be coated with a soft conductive material. Pin plate 322 may, for example, press against the tortuous path of thin-film resistor 315, so that the resistance, depending on the writing pressure, can be determined.

[0148] The cap 320 inserted during the assembly of the electronic pen 300 helps to accommodate the force sensor 320.

[0149] The two pages with three accompanying illustrations are shown below.

[0150] The attached figures are thus assigned as follows.

[0151] 100 electronic pens

[0152] 101 The second sleeve portion of the circuit carrier sleeve

[0153] 102 The first sleeve portion of the circuit carrier sleeve

[0154] 103 Voltage source, such as a battery

[0155] 104 Position determination sensor, acceleration sensor

[0156] 105 Position determination sensor, acceleration sensor

[0157] 107 Force sensor, which can be coupled to the writing refill, for measuring writing pressure.

[0158] 110 Pin used to couple the force sensor to the writing reel

[0159] 111 Data Transmission Module

[0160] 112 Position determination sensor, rotation rate sensor

[0161] 113 Writing Core

[0162] 114 Electronic pen tip / writing tip

[0163] 115. The casing of the electronic pen

[0164] 116. The end cap / cap opposite the electronic pen tip, possibly suitable for receiving the pen tip.

[0165] 117 An optional protrusion on the second sleeve portion of the circuit carrier sleeve, used to hold the writing refill.

[0166] 120 Digital Control Unit

[0167] 121 The longitudinal axis of the electronic pen

[0168] 122 Circuit carrier sleeve

[0169] 200 Electronic Pen Circuit Carrier Sleeve

[0170] 201 The second sleeve portion of the circuit carrier sleeve

[0171] 202 The first sleeve portion of the circuit carrier sleeve

[0172] 203 Compartment / battery compartment for housing voltage source

[0173] 204 Position determination sensor, acceleration sensor

[0174] 205 Position determination sensor, acceleration sensor

[0175] 206 Position determination sensor, acceleration sensor

[0176] 207 Force sensor, which can be coupled to the writing refill, for measuring writing pressure.

[0177] 208. Conductive path for transmitting sensor signals (e.g., signals from a position determination sensor) to the digital control unit.

[0178] 209 Conductive path for transmitting sensor signals (e.g., signals from a force sensor) to the digital control unit.

[0179] 210 pins are used to couple the force sensor to the writing cartridge.

[0180] 211 Possible Exemplary Alternative Locations for Position Determination Sensors

[0181] 212 Possible Exemplary Alternative Locations for Position Determination Sensors

[0182] 213 Possible Exemplary Alternative Locations for Location Determination Sensors

[0183] 214 The longitudinal axis of the electronic pen

[0184] 215 The first circumference of the circuit carrier sleeve

[0185] 216 The second circumference of the circuit carrier sleeve

[0186] 217 On the circuit carrier sleeve parallel to the longitudinal axis of the electronic pen / along the axis of the sleeve

[0187] 218 The first flange of the second sleeve portion of the circuit carrier sleeve

[0188] 219 The second flange of the second sleeve portion of the circuit carrier sleeve

[0189] 300 Exemplary Electronic Pens

[0190] 301 The third part of the electronic pen's housing / sleeve / cover.

[0191] 302 The second part of the housing / sleeve / cover of the electronic pen

[0192] 303 First part of the housing / sleeve / cover of the electronic pen

[0193] 304 End cap with battery compartment cover

[0194] 305 One or more voltage sources / batteries, such as zinc-air button batteries

[0195] 306 Data transmission modules, such as BLE modules

[0196] 307 Digital control unit, such as including a microcontroller

[0197] 308 Position determination sensor, such as a combination sensor

[0198] 309 Connector for receiving position determination sensors

[0199] 310 Screw-type first housing end portion of electronic pen

[0200] 311 Electronic pen housing / sleeve

[0201] 312 Writing Core

[0202] 313 Position Determination Sensor

[0203] 314 Press-fit soft grip area

[0204] 315 Thin Film Resistors

[0205] 316 The end portion of the second housing of the screw type, for example, tapered, allows the writing core to exit.

[0206] 317 Writing ball

[0207] 318 Writing Chip Tip

[0208] 319 Pins for frictionally receiving or connecting to a writing refill.

[0209] The 320 cap, which can be inserted during the assembly of the electronic pen, houses a force sensor used to measure writing pressure or axial pressure.

[0210] 321 Force Sensor

[0211] 322 Pin Plate

[0212] 323 Optional data processing unit integrated into the electronic pen

[0213] 324 Vertical axis of the electronic pen

Claims

1. An electronic pen (100) with pen position detection, comprising at least one writing core (113), at least one voltage source (103), at least one digital control unit (120), at least one data transmission module (111), and a housing. Its features are: The electronic pen (100) includes three or more position determination sensors (105, 112, 104), wherein the position determination sensors are configured to determine the position and / or movement of the electronic pen (100) from their measurement data; wherein the three or more position determination sensors are three-dimensional inertial sensors; The writing core (113) is located inside the housing and is arranged along the longitudinal axis of the housing; The electronic pen (100) further includes a component arranged along another axis parallel to the longitudinal axis of the housing, and the component is located between the writing core and the housing in a radial direction perpendicular to the longitudinal axis of the housing; The three or more position determination sensors are arranged along an axis inclined to the longitudinal axis of the electronic pen, the two of the three or more position determination sensors are located on the component and outside the longitudinal axis, and the two of the three or more position determination sensors are respectively arranged near the writing tip and at the opposite end near the writing tip.

2. The electronic pen (100) according to claim 1, characterized in that, A force sensor (107) is coupled to the writing core (113).

3. The electronic pen (100) according to claim 1, characterized in that, It also includes at least one position determination sensor, which is a three-dimensional rotation rate sensor (112).

4. The electronic pen (100) according to claim 1, characterized in that, It also includes at least one position determination sensor, which is a one-dimensional, two-dimensional, or three-dimensional magnetic field sensor.

5. The electronic pen (100) according to claim 1, characterized in that, The electronic pen also includes an air pressure sensor.

6. The electronic pen (100) according to claim 1, characterized in that, The electronic pen includes at least one combined sensor, and at least two sensors can be integrated into the combined sensor.

7. The electronic pen (100) according to claim 6, characterized in that, The combined sensor includes a three-dimensional rotational rate sensor and a three-dimensional acceleration sensor.

8. The electronic pen (100) according to claim 6, characterized in that, The combined sensor includes a three-dimensional accelerometer and a one-dimensional, two-dimensional, or three-dimensional magnetic field sensor.

9. The electronic pen (100) according to claim 6, characterized in that, The combined sensor includes a three-dimensional rotation rate sensor and a one-dimensional, two-dimensional, or three-dimensional magnetic field sensor.

10. The electronic pen (100) according to claim 6, characterized in that, The combined sensor includes a three-dimensional rotation rate sensor, a three-dimensional acceleration sensor, and a one-dimensional, two-dimensional, or three-dimensional magnetic field sensor.

11. The electronic pen (100) according to any one of claims 6-10, characterized in that, The at least one combined sensor is arranged along the longitudinal axis of the electronic pen and / or along an axis that is parallel to, inclined to, or perpendicular to the longitudinal axis.

12. The electronic pen (100) according to claim 1, characterized in that, Two positions located on the component and outside the longitudinal axis determine that the sensor is an accelerometer, and a third accelerometer is arranged circumferentially offset by 180° + / -90° relative to the position of one of the first two accelerometers.

13. The electronic pen (100) according to claim 1, characterized in that, The electronic pen includes an integrated data processing unit for integration and error correction of the measured and recorded data, wherein data optionally generated by the integrated data processing unit can be transmitted.

14. An apparatus for detecting the position of an electronic pen, comprising an electronic pen (100) according to any one of the preceding claims, at least one data receiving module for receiving data transmitted by a data transmission module (111) of the electronic pen (100), a data processing unit for analyzing and processing the received data, a data output unit, and a data storage unit. Its features are: The data processing unit is capable of performing integration and error correction on the received data, and is capable of outputting the processed data via the data output unit and / or storing the processed data on the data storage unit.

15. A method for detecting and identifying the motion pattern and position of an electronic pen (100), said electronic pen (100) being the electronic pen (100) according to any one of claims 1-13, wherein the position and / or movement of the electronic pen (100) is determined by said three or more position determining device sensors.

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