Evaluation method and evaluation system of electronic pen

Abstract

The invention relates to an evaluation method and an evaluation system of an electronic pen. The evaluation method includes: an arrangement step (S10) in which a planar sensor (22) is arranged such that the direction of a third axis orthogonal to each of a first axis and a second axis in a three-dimensional machine coordinate system is orthogonal to a sensor coordinate plane (40) formed by the first axis and the second axis in a two-dimensional sensor coordinate system; an angle adjustment step (S15) for performing angle adjustment such that the orientation of a machine coordinate plane (50) formed by the first axis and the second axis of the three-dimensional machine coordinate system and the orientation of the sensor coordinate plane (40) coincide with each other; and a position adjustment step (S17) for performing position adjustment so that the sensor reference point (CP) on the sensor coordinate plane (40) and the machine reference point (Pt2) on the machine coordinate plane (50) coincide with each other.

Description

Technical Field

[0001] The invention relates to an evaluation method and an evaluation system for an electronic pen. Background Art

[0002] Conventionally, there is known a method of evaluating the performance of an electronic pen using an evaluation tool and adjusting various settings related to the performance as necessary (for example, refer to Japanese Patent No. 6473554).

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent No. 6473554 Summary of the invention

[0006] Problems to be solved by the invention

[0007] For example, it is assumed that the evaluation is automated by moving the electronic pen while the electronic pen is held by a moving mechanism including a robot. In this case, in order to move the electronic pen to a desired three-dimensional position, it is necessary to adjust the position (or calibrate) so that the "mechanical coordinate system" defined for controlling the driving of the moving mechanism and the "sensor coordinate system" defined by the planar sensor for detecting the position of the electronic pen are consistent. Therefore, there is a demand for performing the above-mentioned position adjustment with a simpler system structure.

[0008] The present invention has been made in view of the above-mentioned problems, and an object of the present invention is to provide an evaluation method and an evaluation system for an electronic pen that can complete position adjustment between a mechanical coordinate system and a sensor coordinate system with a simpler system configuration.

[0009] Means for solving problems

[0010] The evaluation method of an electronic pen in the first scheme of the present invention is a method using an evaluation system, wherein the evaluation system is configured to include a planar sensor for detecting the position of the electronic pen and a moving mechanism for moving the electronic pen while the electronic pen is held, wherein the evaluation method includes: a configuration step in which the planar sensor is configured so that the direction of a third axis that is orthogonal to a first axis and a second axis in a three-dimensional mechanical coordinate system defined for controlling the drive of the moving mechanism is orthogonal to a sensor coordinate plane formed by the first axis and the second axis of a two-dimensional sensor coordinate system defined by the planar sensor; an angle adjustment step in which the angle is adjusted by rotating the configured planar sensor about a normal direction so that the orientation of the mechanical coordinate plane formed by the first axis and the second axis of the three-dimensional mechanical coordinate system is consistent with the orientation of the sensor coordinate plane; and a position adjustment step in which the position is adjusted so that a reference point on the rotated sensor coordinate plane is consistent with a reference point on the mechanical coordinate plane.

[0011] The electronic pen evaluation system in the second scheme of the present invention comprises: a planar sensor for detecting the position of the electronic pen; a moving mechanism for moving the electronic pen while the electronic pen is held; a control device for controlling the driving of the moving mechanism; and a rotating mechanism for rotating the planar sensor with the normal direction of the planar sensor as an axis, the planar sensor being arranged so that the direction of a third axis, which is respectively orthogonal to a first axis and a second axis in a three-dimensional mechanical coordinate system defined for driving and controlling the moving mechanism, is orthogonal to a sensor coordinate plane formed by first axes and second axes of a two-dimensional sensor coordinate system defined for the planar sensor, and the control device adjusts the position of the mechanical coordinate plane so that a reference point on the sensor coordinate plane is consistent with a reference point on the mechanical coordinate plane when the planar sensor is rotated by the rotating mechanism so that the orientation of the mechanical coordinate plane formed by the first axes and second axes of the three-dimensional mechanical coordinate system is consistent with the orientation of the sensor coordinate plane.

[0012] Effects of the Invention

[0013] According to the present invention, the position adjustment between the machine coordinate system and the sensor coordinate system can be performed with a simpler system configuration. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 This is an overall configuration diagram of an electronic pen evaluation system according to one embodiment of the present invention.

[0015] Figure 2 It shows that the Figure 1 A flowchart of an example of an evaluation method of an evaluation system.

[0016] Figure 3 is with Figure 2 A detailed flowchart related to the angle adjustment process (step S15) and the position adjustment process (step S17).

[0017] Figure 4 FIG. 1 is a diagram showing an example of a method for determining a sensor reference point on a sensor coordinate plane.

[0018] Figure 5A FIG. 1 is a diagram showing an example of a method of determining a first measurement point on a machine coordinate plane.

[0019] Figure 5B This is a diagram showing an example of a calculation result of a position error between a first measurement point and a second measurement point.

[0020] Figure 6 This is a diagram showing an example of the calculation result of the position error on the sensor coordinate plane after the angle adjustment.

[0021] Figure 7 This is a diagram showing an example of a method of adjusting a reference point on a machine coordinate plane. DETAILED DESCRIPTION

[0022] Regarding the electronic pen evaluation method and the electronic pen evaluation system of the present invention, referring to the attached Figure 1 In order to facilitate understanding of the description, the same components in the drawings are denoted by the same reference numerals as much as possible, and repeated descriptions are omitted.

[0023] [Description of Evaluation System 10]

[0024] <Overall Structure>

[0025] Figure 1 1 is an overall configuration diagram of an evaluation system 10 for an electronic pen 12 in one embodiment of the present invention. The evaluation system 10 is provided to evaluate the performance of the electronic pen 12. Examples of the "performance of the electronic pen 12" include position detection accuracy, operation responsiveness, or communication status. In addition, the purpose of "evaluation" may be, for example, any of inspection at the time of shipment, performance comparison between products, and analysis of defective products.

[0026] Specifically, the evaluation system 10 of the electronic pen 12 includes a test terminal 14, a rotating mechanism 16, a moving mechanism 18, and a control device 20. The electronic pen 12 is a pen-shaped pointing device, and is configured to be able to communicate unidirectionally or bidirectionally with the test terminal 14. The electronic pen 12 is, for example, a stylus pen of an active electrostatic coupling method (AES) or an electromagnetic induction method (EMR).

[0027] The inspection terminal 14 is composed of, for example, a tablet terminal with or without a display function, a smart phone, a personal computer, etc. Specifically, the inspection terminal 14 includes a planar sensor 22, a sensor controller 24, and a host processor 26. It should be noted that a touch surface 28 for the pen tip of the electronic pen 12 to contact is provided above the planar sensor 22.

[0028] When the electronic pen 12 is an AES touch pen, the planar sensor 22 is a capacitance type (more specifically, mutual capacitance type or self capacitance type) sensor in which a plurality of sensor electrodes are arranged in a plane. When the electronic pen 12 is an EMR type touch pen, the planar sensor 22 is a sensor that detects an alternating magnetic field sent from the electronic pen 12 using a plurality of detection coils arranged two-dimensionally.

[0029] Here, a "two-dimensional sensor coordinate system" is defined in order to determine the position on the planar sensor 22. The two-dimensional sensor coordinate system is composed of a U axis (equivalent to a "first axis") and a V axis (equivalent to a "second axis") that are orthogonal to each other. Hereinafter, the plane formed by the U axis and the V axis may be referred to as a "sensor coordinate plane".

[0030] The sensor controller 24 is connected to the planar sensor 22 and is a control circuit for controlling communication with the electronic pen 12 via the planar sensor 22. The sensor controller 24 outputs various data indicating the pointed position, tilt angle, or writing pressure of the electronic pen 12 to the host processor 26.

[0031] The host processor 26 uses the data sequentially output from the sensor controller 24 to perform digital ink generation processing, pointer display processing, etc. In addition, the host processor 26 transmits the data from the sensor controller 24 to the control device 20 via wired communication or wireless communication.

[0032] The rotating mechanism 16 is configured to rotate the inspection terminal 14 placed on the rotating table clockwise or counterclockwise. The power of the rotation may be applied by a rotating actuator (not shown) or by a rotating operation by an operator.

[0033] The moving mechanism 18 is configured to move the electronic pen 12 while the electronic pen 12 is being held. Figure 1 In the example, the moving mechanism 18 is an orthogonal robot having three orthogonal sliding axes. Here, a "three-dimensional mechanical coordinate system" is defined to determine the position of the moving mechanism 18. The three-dimensional mechanical coordinate system is composed of three mutually orthogonal axes: the X-axis (equivalent to the "first axis"), the Y-axis (equivalent to the "second axis"), and the Z-axis (equivalent to the "third axis"). Hereinafter, the plane formed by the X-axis and the Y-axis is sometimes referred to as the "mechanical coordinate plane".

[0034] The control device 20 is a computer that controls the driving of the moving mechanism 18 (or the rotating mechanism 16 ). Specifically, the control device 20 includes a processor 30 , a memory 32 , and a display 34 .

[0035] The processor 30 is composed of a calculation processing device including a CPU (Central Processing Unit), a GPU (Graphics Processing Unit) or an MPU (Micro-Processing Unit). The processor 30 reads and executes a control program stored in the memory 32 to perform drive control of the moving mechanism 18, drive control of the rotating mechanism 16, or display control of the display 34.

[0036] The memory 32 is composed of a non-temporary and computer-readable recording medium (or storage medium). Here, the computer-readable recording medium is a storage device including an HDD or a magneto-optical disk, a ROM (Read Only Memory), a CD (Compact Disc)-ROM, a flash memory, or other removable media. In the memory 32, for example, calibration data of a three-dimensional mechanical coordinate system or inspection results of the electronic pen 12 are stored.

[0037] The display 34 can display black-and-white images or color images, and is composed of, for example, a liquid crystal panel, an organic EL (Electro-Luminescence) panel, or electronic paper. The display 34 displays the mechanical coordinate values ​​indicating the position of the moving mechanism 18 and the sensor coordinate values ​​indicating the indicated position of the electronic pen 12 according to the instructions from the processor 30.

[0038] <Description of Evaluation Method>

[0039] The evaluation system 10 in this embodiment is configured as described above. Next, regarding the evaluation method of the electronic pen 12 using the evaluation system 10, referring to Figure 2 The process Figure 1 Side description.

[0040] (Step S11: Arrangement Process)

[0041] exist Figure 2In the "arrangement process" of step S11, the planar sensor 22 is arranged. Specifically, the operator places the inspection terminal 14 incorporating the planar sensor 22 on the rotating table of the rotating mechanism 16. Thus, the planar sensor 22 is arranged so that the direction of the Z axis constituting the three-dimensional mechanical coordinate system (XYZ coordinate system) is orthogonal to the sensor coordinate plane 40 (UV coordinate system). Here, "orthogonal" includes not only the case of being completely orthogonal, but also the case of being orthogonal within the allowable range (for example, within ±3°).

[0042] (Step S13: Installation process)

[0043] In the “installation process” of step S13 , the electronic pen 12 to be evaluated is installed. Specifically, the operator holds the electronic pen 12 with the movable portion of the moving mechanism 18 (here, the arm of the orthogonal robot).

[0044] (Step S15: Angle adjustment process)

[0045] In the "angle adjustment process" of step S15, the angle of the planar sensor 22 is adjusted. Specifically, the operator or the control device 20 rotates the rotation mechanism 16 on which the inspection terminal 14 is installed by a desired angle. Thus, the angle is adjusted so that the orientation of the mechanical coordinate plane 50 formed by the X-axis and the Y-axis of the three-dimensional mechanical coordinate system and the orientation of the sensor coordinate plane 40 are consistent. Here, "consistent" includes not only the case of complete consistency but also the case of consistency within an allowable range (for example, within ±3°).

[0046] The angle adjustment process includes [1] a setting process, [2] an acquisition process, [3] a determination process (or a temporary determination process), and [4] a determination process. In the "setting process", reference points on the sensor coordinate plane 40 (hereinafter referred to as sensor reference points) and reference points on the mechanical coordinate plane 50 (hereinafter referred to as mechanical reference points) are set respectively. In the "acquisition process", a set of coordinate values ​​representing the positions of multiple points on the sensor coordinate plane 40 corresponding to the positions of multiple points on the X-axis of the mechanical coordinate plane 50 or on an imaginary line parallel to the X-axis is acquired. In the "determination process", the rotation amount of the planar sensor 22 is determined based on the set of coordinate values ​​acquired in the acquisition process. In the "determination process", the orientation of the planar sensor 22 is determined by performing the acquisition process and the determination process once or repeatedly performing them twice or more.

[0047] In addition, regarding the acquisition process, the multiple points may include a first point and a second point selected in a manner of sandwiching a reference point (that is, a mechanical reference point) on the mechanical coordinate plane 50. The mechanical reference point may be the midpoint between the first point and the second point, or may not be the midpoint. In addition, the acquisition process may also include [1] the process of the electronic pen 12 placing the pen down and lifting the pen at one of the multiple points on the touch surface 28 through the drive of the moving mechanism 18 and [2] the process of the sensor controller 24 acquiring the coordinate value representing the position of one point on the sensor coordinate plane 40 upon detecting the placement of the pen.

[0048] It should be noted that, while the electronic pen 12 is being moved, it is more preferable to keep the pen tip of the electronic pen 12 out of contact with the touch surface 28 (that is, in a hovering state). This is because the pen tip of the electronic pen 12 has a small mechanical gap, and if the electronic pen 12 is moved while the pen tip is in contact with the touch surface 28 (the so-called contact state), mechanical adhesion may occur at the core portion of the pen tip.

[0049] (Step S17: Position Adjustment Process)

[0050] In the "position adjustment process" of step S17, the position of the mechanical coordinate plane 50 is adjusted. Specifically, the control device 20 parallel moves the mechanical reference point on the mechanical coordinate plane 50 by a predetermined amount. As a result, the sensor reference point on the rotated sensor coordinate plane 40 and the mechanical reference point on the mechanical coordinate plane 50 coincide with each other. Here, "coincidence" includes not only a complete coincidence but also a coincidence within an allowable range (for example, within ±3 mm).

[0051] (Step S19: Evaluation Process)

[0052] In the "evaluation process" of step S19, the performance of electronic pen 12 is evaluated. Specifically, control device 20 moves electronic pen 12 according to a predetermined operation sequence to perform various evaluations including position detection accuracy, operation responsiveness, and communication status.

[0053] (Step S21: Disassembly Process)

[0054] In the "disassembly process" of step S21, electronic pen 12 is disassembled from moving mechanism 18. Thus, the performance evaluation of electronic pen 12 as the evaluation object is completed.

[0055] (Step S23: Confirmation process)

[0056] In the "confirmation process" of step S23, it is confirmed whether there is an electronic pen 12 to be evaluated next. If there is an electronic pen 12 to be evaluated (step S23: Yes), the process returns to step S13, and steps S13 to S23 are repeatedly executed. On the other hand, if there is no electronic pen 12 to be evaluated (step S23: No), Figure 2 The execution of the flowchart shown ends. As described above, the evaluation system 10 performs the evaluation operation of one or more electronic pens 12 .

[0057] <Specific example of adjustment method>

[0058] Next, regarding a specific example of the adjustment method performed by the evaluation system 10, Figure 3~Figure 7 While explaining in detail. Figure 3 is with Figure 2 A detailed flowchart related to the angle adjustment process (step S15) and the position adjustment process (step S17).

[0059] exist Figure 3 In step S101 , the control device 20 obtains the coordinate value of the sensor reference point CP on the sensor coordinate plane 40 .

[0060] Figure 4 : is a diagram showing an example of a method for determining the sensor reference point CP on the sensor coordinate plane 40. Here, the position of the upper left corner of the sensor coordinate plane 40 is defined as the origin O (0, 0). In addition, the right direction from the origin O is defined as the positive direction of the U axis, and the downward direction from the origin O is defined as the positive direction of the V axis. In this case, the position of the lower right corner of the sensor coordinate plane 40 is equivalent to the logical maximum value (Umax, Vmax). Figure 2 In the example of FIG. 1 , the sensor reference point CP is set to the center (Umax / 2, Vmax / 2) of the sensor coordinate plane 40 , but it can also be set to various other positions.

[0061] exist Figure 3 In step S103, the control device 20 measures the error Error between the current indicated position of the electronic pen 12 (hereinafter referred to as the pen position Pt1) and the sensor reference point CP on the sensor coordinate plane 40. Specifically, after the control device 20 obtains the coordinate value of the pen position Pt1 from the inspection terminal 14, it measures the distance to the sensor reference point CP (that is, the error Error).

[0062] In step S105, the control device 20 checks the magnitude relationship between the error Error measured in step S103 and the threshold value Th1. When the magnitude relationship of Error ≥ Th1 is satisfied (step P105: No), the control device 20 proceeds to step S107.

[0063] In step SP107, the control device 20 controls the drive of the moving mechanism 18 in such a manner that the error Error measured in step S103 is reduced. Thereby, the electronic pen 12 moves toward the sensor reference point CP on the sensor coordinate plane 40.

[0064] Return to step S105. When it becomes satisfied that Error < Th1 at a certain pen position (step S105: YES), the control device 20 proceeds to the next step S108.

[0065] In step S108, the control device 20 sets the pen position on the mechanical coordinate plane 50 as the mechanical reference point Pt2 and maintains the hovering state of the electronic pen 12.

[0066] In step S109, the control device 20 controls the drive of the moving mechanism 18 in such a manner that the electronic pen 12 moves in the left - right direction (that is, the X - axis direction) starting from the mechanical reference point Pt2.

[0067] Figure 5A FIG. is an example showing a method for determining the first measurement point Pt4 on the mechanical coordinate plane 50. Here, the mechanical coordinate plane 50 is represented by a rectangular region of the sensor coordinate plane 40 determined based on the mechanical reference point Pt2. The right direction from the upper - left corner position of the mechanical coordinate plane 50 is defined as the positive direction of the X - axis, and the downward direction from this position is defined as the positive direction of the Y - axis. For example, the first measurement point Pt4 corresponds to the position obtained by parallel - moving the mechanical reference point Pt2 by MVR in the positive X - axis direction. Additionally, although not shown in Figure 5A the second measurement point Pt5 corresponds to the position obtained by shifting the mechanical reference point Pt2 by MVL in the negative X - axis direction.

[0068] In Figure 3 step S110 of, the control device 20 controls the drive in such a manner that after the electronic pen 12 reaches the first measurement point Pt4 or the second measurement point Pt5, it makes a point - contact (that is, touches down and lifts up) with respect to the touch surface 28. And the control device 20 calculates the coordinate value on the V - axis of the first measurement point Pt4 and the coordinate value on the V - axis of the second measurement point Pt5, respectively.

[0069] Figure 5B FIG. is an example showing a method for calculating the position error between the first measurement point Pt4 and the second measurement point Pt5. The error ER corresponds to the deviation amount on the V - axis between the imaginary line on the sensor coordinate plane 40 and the first measurement point Pt4. The error EL corresponds to the deviation amount on the V - axis between the imaginary line on the sensor coordinate plane 40 and the second measurement point Pt5. From Figure 5BIt is understandable that as the deviation between the orientation of the sensor coordinate plane 40 and the mechanical coordinate plane 50 increases, the values of the errors ER and EL increase.

[0070] In Figure 3 step S111 of, the control device 20 confirms the magnitude relationship between the position error |ER - EL| and the threshold Th2. When the magnitude relationship of |ER - EL| ≥ Th2 is satisfied (step S111: No), the control device 20 proceeds to step S113.

[0071] In step S113, the operator or the control device 20 drives the rotation mechanism 16 in a manner that reduces the position error calculated in step S110, causing the planar sensor 22 to rotate integrally with the inspection terminal 14.

[0072] Hereinafter, steps S111 and S113 are repeatedly executed until the position error is sufficiently reduced. And when the relationship of |ER - EL| < Th2 is satisfied (step S113: Yes), the control device 20 proceeds to the next step S115.

[0073] In step S115, the control device 20 calculates the movement amount of the electronic pen 12 based on the difference between the mechanical reference point Pt2 and the sensor reference point CP on the sensor coordinate plane 40, and moves the electronic pen 12 to the sensor reference point CP.

[0074] In step S117, the control device 20 determines the coordinate value of the current mechanical reference point Pt2 and saves this coordinate value to the memory 32.

[0075] In this way, the control device 20 ends the angle adjustment operation ( Figure 2 step S15 of Figure 2 ) and the position adjustment operation (

[0076] [Summary of the Embodiment]

[0077] As described above, the evaluation system 10 in this embodiment includes: a planar sensor 22 that detects the position of the electronic pen 12; a moving mechanism 18 that moves the electronic pen 12 while holding it; a control device 20 that controls the driving of the moving mechanism 18; and a rotation mechanism 16 that rotates the planar sensor 22 about the normal direction of the planar sensor 22. The planar sensor 22 is arranged such that the direction of the third axis (Z axis) that is orthogonal to the first axis (X axis) and the second axis (Y axis) respectively in the three-dimensional mechanical coordinate system defined for driving control of the moving mechanism 18 is orthogonal to the sensor coordinate plane 40 formed by the first axis (U axis) and the second axis (V axis) in the two-dimensional sensor coordinate system defined in the planar sensor 22.

[0078] The control device 20 adjusts the position of the mechanical coordinate plane 50 in a manner that makes the reference point (sensor reference point CP) on the sensor coordinate plane 40 and the reference point (mechanical reference point Pt2) on the mechanical coordinate plane 50 consistent with each other, while the planar sensor 22 is rotated by the rotating mechanism 16 in a manner that makes the orientation of the mechanical coordinate plane 50 formed by the X-axis and Y-axis of the three-dimensional mechanical coordinate system consistent with the orientation of the sensor coordinate plane 40.

[0079] In addition, the evaluation method using the evaluation system 10 in this embodiment includes: a configuration process (step S11), in which the control device 20 configures the planar sensor 22 in a manner that the direction of the Z axis in the three-dimensional mechanical coordinate system is orthogonal to the sensor coordinate plane 40 formed by the U axis and the V axis of the two-dimensional sensor coordinate system; an angle adjustment process (step S15), in which the configured planar sensor 22 is rotated about the normal direction as an axis so as to adjust the angle in a manner that the orientation of the mechanical coordinate plane 50 and the orientation of the sensor coordinate plane 40 are consistent; and a position adjustment process (step S17), in which the position is adjusted in a manner that the sensor reference point CP on the rotated sensor coordinate plane 40 and the mechanical reference point Pt2 on the mechanical coordinate plane 50 are consistent.

[0080] In this way, by sequentially performing [1] normal direction adjustment in the mechanical coordinate plane 50, [2] plane angle adjustment, and [3] plane position adjustment, the position adjustment between the three-dimensional mechanical coordinate system and the two-dimensional sensor coordinate system can be performed with a simpler system structure.

[0081] In addition, the angle adjustment process may include: an acquisition process (step S110), acquiring a set of coordinate values ​​representing the positions of multiple points on the sensor coordinate plane 40 corresponding to the positions of multiple points on the X-axis of the mechanical coordinate plane 50 or on an imaginary line parallel to the X-axis; and a determination process (step S113), determining the rotation amount of the planar sensor 22 based on the acquired set of coordinate values.

[0082] In addition, the angle adjustment step may further include a determination step (step S111 ) of determining the orientation of the planar sensor 22 by performing the acquisition step and the determination step once or repeatedly performing the acquisition step and the determination step twice or more.

[0083] In addition, in a case where the multiple points include a first point (first measurement point Pt4) and a second point (second measurement point Pt5) selected in a manner of clamping a mechanical reference point Pt2 on the mechanical coordinate plane 50, in the determination process, the orientation of the planar sensor 22 can be determined when the difference |ER-EL| between the coordinate value of the first measurement point Pt4 and the coordinate value of the second measurement point Pt5 on the V-axis of the sensor coordinate plane 40 becomes smaller than a predetermined threshold value (Th2).

[0084] Furthermore, when the evaluation system 10 further includes a sensor controller 24 that is connected to the planar sensor 22 and outputs coordinate values ​​indicating the designated position of the electronic pen 12 , the coordinate value set output from the sensor controller 24 may be acquired in the acquisition step.

[0085] In addition, when a touch surface 28 for the tip of the electronic pen 12 to contact is provided above the planar sensor 22, the acquisition process may include: [1] the process of the electronic pen 12 putting down and lifting the pen at one of multiple points on the touch surface 28 by driving the moving mechanism 18; and [2] the process of the sensor controller 24 acquiring the coordinate value representing the position of one point on the sensor coordinate plane 40 when detecting the putting down of the pen.

[0086] [Modifications]

[0087] It should be noted that the present invention is not limited to the above-mentioned embodiments, and can of course be freely changed within the scope of the main purpose of the invention. Alternatively, the various structures can be arbitrarily combined within the scope that does not cause technical contradictions. Alternatively, the execution order of the various steps constituting the flow chart can also be changed within the scope that does not cause technical contradictions.

[0088] In the above embodiment, the case where the position detection function of the inspection terminal 14 is used to detect the indicated position of the electronic pen 12 is described as an example, but the detection method of the indicated position is not limited to this structure. For example, a camera pointing to the touch surface 28 may be provided to analyze the captured image to detect the indicated position of the electronic pen 12.

[0089] In the above-described embodiment, the angle of the sensor coordinate plane 40 is adjusted while the electronic pen 12 is moved along the X-axis direction ( Figure 5A to Figure 6 ) is used as an example, but the moving direction of the electronic pen 12 may also be the Y-axis direction. In this case, the first measurement point Pt4 and the second measurement point Pt5 are set so as to exist on the Y-axis of the mechanical coordinate plane 50 or on an imaginary line parallel to the Y-axis.

[0090] [Explanation of Reference Numerals]

[0091] 10‥Evaluation system, 12‥Electronic pen, 14‥Inspection terminal, 16‥Rotation mechanism, 18‥Movement mechanism, 20‥Control device, 22‥Planar sensor, 24‥Sensor controller, 40‥Sensor coordinate plane, 50‥Mechanical coordinate plane.

Claims

1. A method for evaluating an electronic pen, the method using an evaluation system, the evaluation system comprising a planar sensor for detecting a position of the electronic pen and a moving mechanism for moving the electronic pen while the electronic pen is held, wherein: The evaluation method includes: a configuration step of configuring the planar sensor so that a direction of a third axis orthogonal to the first axis and the second axis in a three-dimensional mechanical coordinate system defined for controlling the driving of the moving mechanism is orthogonal to a sensor coordinate plane formed by the first axis and the second axis of a two-dimensional sensor coordinate system defined by the planar sensor; An angle adjustment step of rotating the disposed planar sensor about a normal direction so that the orientation of a mechanical coordinate plane formed by a first axis and a second axis of the three-dimensional mechanical coordinate system is consistent with the orientation of the sensor coordinate plane; and The position adjustment step is to adjust the position so that a sensor reference point, which is a reference point on the rotated sensor coordinate plane, and a machine reference point, which is a reference point on the machine coordinate plane, coincide with each other.

2. The electronic pen evaluation method according to claim 1, The angle adjustment process comprises: an acquisition step of acquiring a set of coordinate values ​​representing positions of a plurality of points on the sensor coordinate plane corresponding to positions of the plurality of points on a first axis of the mechanical coordinate plane or on an imaginary line parallel to the first axis; and The step of determining is to determine the rotation amount of the planar sensor based on the acquired coordinate value set.

3. The electronic pen evaluation method according to claim 2, The angle adjustment step further includes a determination step of determining the orientation of the planar sensor by performing the acquisition step and the determination step once or repeatedly performing the acquisition step and the determination step twice or more.

4. The electronic pen evaluation method according to claim 3: The multiple points include a first point and a second point selected so as to sandwich the mechanical reference point on the mechanical coordinate plane. In the determining step, the orientation of the planar sensor is determined when a difference between a coordinate value of the first point and a coordinate value of the second point on a second axis of the sensor coordinate plane becomes smaller than a predetermined threshold value.

5. The electronic pen evaluation method according to claim 2, The evaluation system further includes a sensor controller connected to the planar sensor and outputting a coordinate value indicating a position indicated by the electronic pen. In the acquisition step, the coordinate value set output from the sensor controller is acquired.

6. The electronic pen evaluation method according to claim 5, A touch surface for the tip of the electronic pen to contact is provided above the planar sensor. The obtaining process comprises: The electronic pen performs a process of putting down the pen and lifting the pen at one of the multiple points on the touch surface by driving the moving mechanism; and The sensor controller acquires a coordinate value indicating the position of the one point on the sensor coordinate plane when the sensor controller detects the pen drop.

7. An electronic pen evaluation system comprising: A planar sensor to detect the position of the electronic pen; A moving mechanism for moving the electronic pen while the electronic pen is held; A control device for controlling the driving of the moving mechanism; and a rotating mechanism for rotating the planar sensor with the normal direction of the planar sensor as an axis, The planar sensor is arranged so that the direction of a third axis orthogonal to the first axis and the second axis in a three-dimensional mechanical coordinate system defined for driving and controlling the moving mechanism is orthogonal to a sensor coordinate plane formed by the first axis and the second axis of a two-dimensional sensor coordinate system defined by the planar sensor. The control device adjusts the position of the mechanical coordinate plane in a manner that makes the reference point on the sensor coordinate plane, i.e., the sensor reference point, and the reference point on the mechanical coordinate plane, i.e., the mechanical reference point, consistent with each other, when the planar sensor is rotated by the rotating mechanism in a manner that makes the orientation of the mechanical coordinate plane formed by the first axis and the second axis of the three-dimensional mechanical coordinate system consistent with the orientation of the sensor coordinate plane.

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