Position indicating device

Abstract

To make it possible to stop vibration of a position indicating device that can indicate a position.SOLUTION: A position indicating device for indicating a position in a virtual reality space includes: a vibration unit which generates vibration; a pressure sensor which detects a pressure applied by a user to the position indicating device; and a processing unit which ceases vibration of the vibration unit when the pressure is detected by the pressure sensor in a state in which the position can be indicated in the virtual reality space and the vibration unit vibrates.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a position indication device and a spatial position indication system, and more particularly to a position indication device and a spatial position indication system that are compatible with haptics. [Background technology]

[0002] Technologies for writing or drawing on a virtual plane in a virtual reality (including VR: Virtual Reality, AR: Augmented Reality, and MR: Mixed Reality) space have been emerging. For example, "Tilt Brush" described in Non-Patent Document 1 uses a dedicated controller to draw pictures in the air in a virtual reality space. Patent Document 1 also discloses a game in which a virtual marker, paintbrush, and paint spray can are used to create artwork or graffiti on a virtual or real surface.

[0003] Furthermore, with regard to virtual reality, a technology called haptics has been attracting attention. Haptics is a technology that applies vibrations to a virtual reality user. For example, Patent Document 1 discloses a technology in which actuators are provided in each of the marker-type, paintbrush-type, and paint spray can-type controllers, and vibrations are applied to the actuators. Furthermore, Non-Patent Document 2 discloses a technology in which interference between a surgical instrument such as a virtual catheter and a 3D model is determined based on the position and direction of a stylus mechanically connected to a robot arm, and a feel (force characteristics such as viscosity, rigidity, and friction) corresponding to each part is generated. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] U.S. Patent No. 8,884,870 [Non-patent literature]

[0005] [Non-Patent Document 1] "What is the VR drawing app 'Tilt Brush'? How to use it and how to purchase it", [online], MoguraVR, [searched February 28, 2018], Internet<URL:http: / / www.moguravr.com / vr-tilt-brush / > [Non-Patent Document 2] "ImmersiveTouch Surgical Training Simulator", [online], Japan Binary Co., Ltd., [searched February 28, 2018], Internet <URL:http: / / www.nihonbinary.co.jp / Products / Medical / MedicalTraining / SurgicalSimulation / ImmersiveTouch.html> Summary of the Invention [Problem to be solved by the invention]

[0006] By the way, a pen-type stylus (hereinafter referred to as "electronic pen") that is configured to input data to a tablet (including a tablet computer and a digitizer) by transmitting and receiving signals to and from the tablet is known. Conventionally, this type of electronic pen could not be used in a virtual reality space, but in recent years, there has been an increasing demand to be able to use an electronic pen in a virtual reality space.

[0007] Therefore, one object of the present invention is to provide a position-indicating device that enables the use of an electronic pen in a virtual reality space.

[0008] In addition, when using an electronic pen in a virtual reality space, it is preferable to be able to input not only to a real tablet but also to a virtual tablet. In this case, it is desirable to have the electronic pen generate a force sense when the tip of the electronic pen hits the surface of an object in the virtual reality space. However, a position sensor for detecting the position of the electronic pen has a certain size, and at least at present, there is no small position sensor that can be installed on the tip of the pen. As a result, even if a force sense is generated when the detected position hits the surface of an object, the tip of the pen is not necessarily on the surface of the object at that time, which makes the user feel uncomfortable.

[0009] Therefore, another object of the present invention is to provide a spatial position indication system that can generate a sense of force without causing a user to feel uncomfortable when using an electronic pen in a virtual reality space. [Means for solving the problem]

[0010] A position indication device according to one aspect of the present invention is a position indication device having a housing configured to accommodate an electronic pen having a pen tip, a force sense generating unit that generates a force sense, and a controller that controls the force sense generating unit to generate a force sense when the distance between the position of the pen tip in a virtual reality space of the electronic pen mounted on the housing and an object in the virtual reality space is equal to or less than a predetermined value.

[0011] A position indication device according to another aspect of the present invention is a position indication device having a position indication unit, a force sense generating unit that generates a force sense, and a controller that controls the force sense generating unit to generate a force sense when the distance between the position of the position indication unit in a virtual reality space and an object in the virtual reality space is equal to or less than a predetermined value.

[0012] The spatial position indication system according to the present invention is a spatial position indication system that includes a computer that executes the steps of acquiring the position of a position indication unit of a position indication device in real space, acquiring the position of the position indication unit in a virtual reality space based on the position of the position indication unit in the real space, determining whether or not the distance between the position of the position indication unit in the virtual reality space and an object in the virtual reality space is less than or equal to a predetermined value, and transmitting a control signal for controlling the force sense generating unit to the position indication device having a force sense generating unit depending on the determination result of the determination step. Effect of the Invention

[0013] According to a position indication device according to one aspect of the present invention, an electronic pen can be mounted on the spatial position indication device, making it possible to use the electronic pen in a virtual reality space.

[0014] According to a position indication device according to another aspect of the present invention, the electronic pen itself operates as a spatial position indication device, making it possible to use the electronic pen in a virtual reality space.

[0015] According to the position indication device and spatial position indication system of the present invention, a force sense can be generated in the force sense generating section of the position indication device (or electronic pen) based on the position of the pen tip rather than the position of the position indication device (or electronic pen) indicated by position information, making it possible to generate a force sense without causing a user using the electronic pen to feel uncomfortable in a virtual reality space. [Brief description of the drawings]

[0016] [Figure 1] 1 is a diagram showing a configuration of a spatial position indication system 1 according to a first embodiment of the present invention. [Diagram 2] FIG. 2(a) is a perspective view showing the appearance of the electronic pen 5, and FIG. 2(b) is a schematic block diagram showing the functional blocks of the electronic pen 5. [Diagram 3]3 is a diagram showing a first example of the configuration of the force-sense generating unit 56 shown in FIG. 2(b). FIG. [Figure 4] 2(b). FIG. 4 is a diagram showing a second example of the configuration of the force-sense generating unit 56 shown in FIG. [Diagram 5] 2(b). FIG. 4 is a diagram showing a third example of the configuration of the force-sense generating unit 56 shown in FIG. [Figure 6] 2(b). FIG. 4 is a diagram showing a fourth example of the configuration of the force-sense generating unit 56 shown in FIG. [Figure 7] 2(b). FIG. 11 is a diagram showing a fifth example of the configuration of the force-sense generating unit 56 shown in FIG. [Figure 8] 2(b). FIG. 11 is a diagram showing a sixth example of the configuration of the force-sense generating unit 56 shown in FIG. [Figure 9] 2(b). FIG. 11 is a diagram showing a seventh example of the configuration of the force-sense generating unit 56 shown in FIG. [Figure 10] FIG. 13 is a diagram showing an example of a control signal generated by the computer 2 when the force-sense generating unit 56 is configured to move the housing 5a by utilizing a change in the hardness of the magnetic fluid. [Figure 11] 2 is a process flow diagram showing the process performed by a control unit 2a of a computer 2. FIG. [Figure 12] 12 is a diagram showing details of the process of acquiring the pen tip position in the virtual reality space, which is executed in steps S2 and S6 in FIG. 11. FIG. [Figure 13] FIG. 12 is an explanatory diagram of the processing executed in FIG. [Figure 14] FIG. 11 is a diagram showing a spatial position indicating device 6 used in a spatial position indicating system 1 according to a second embodiment of the present invention. [Figure 15] 3 is a process flow diagram showing a process performed by the processing unit 50 shown in FIG. 2. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0017] Hereinafter, an embodiment of the present invention will be described in detail with reference to the accompanying drawings.

[0018] 1 is a diagram showing a configuration of a spatial position indication system 1 according to a first embodiment of the present invention. As shown in the figure, the spatial position indication system 1 according to the present embodiment includes a computer 2, a virtual reality display 3, a tablet 4, an electronic pen 5, lightning houses 7a and 7b, and position sensors 8a to 8c. The position sensors 8a to 8c are provided on the tablet 4, the virtual reality display 3, and the electronic pen 5, respectively.

[0019] 1 are arranged in a room in principle. In the spatial position indication system 1, almost the entire room can be used as a virtual reality space.

[0020] The computer 2 includes a control unit 2a and a memory 2b. Each process performed by the computer 2 described below can be realized by the control unit 2a reading and executing a program stored in the memory 2b.

[0021] The computer 2 is connected to each of the virtual reality display 3, the lightning houses 7a and 7b, and the tablet 4 by wire or wirelessly. In the case of a wired connection, it is preferable to use, for example, a Universal Serial Bus (USB). In the case of a wireless connection, it is preferable to use, for example, a wireless LAN such as Wi-Fi (registered trademark) or a short-range wireless communication such as Bluetooth (registered trademark). Note that if the tablet 4 or the virtual reality display 3 has a built-in computer function, the computer 2 may be configured by that computer.

[0022] The computer 2 is configured with a function of displaying a virtual reality space on the virtual reality display 3. This virtual reality space may be a VR (Virtual Reality) space, an AR (Augmented Reality) space, or an MR (Mixed Reality) space. When a VR space is displayed, a user wearing the virtual reality display 3 recognizes virtual reality, which is separated from the real world. On the other hand, when an AR space or an MR space is displayed, a user wearing the virtual reality display 3 recognizes a space in which virtual reality and the real world are mixed.

[0023] The computer 2 functions as a rendering device that renders various 3D objects (objects) in a virtual reality space that is set based on the positions of the lightning houses 7a and 7b, and is configured to update the display of the virtual reality display 3 with the rendering results. As a result, various 3D objects appear in the virtual reality space displayed on the virtual reality display 3. The rendering by the computer 2 is performed based on 3D object information stored in the memory 2b. The 3D object information is information that indicates the shape, position, and orientation of a 3D object in a virtual reality space that indicates the virtual reality space set by the computer 2, and is stored in the memory 2b for each 3D object to be rendered.

[0024] The 3D objects rendered by the computer 2 include 3D objects that exist in reality, such as the tablet 4 and electronic pen 5 shown in Fig. 1 (hereinafter referred to as "first 3D object"), and 3D objects that do not exist in reality, such as a virtual tablet (not shown), (hereinafter referred to as "second 3D object"). When rendering these 3D objects, the computer 2 first detects the position and orientation of the position sensor 8b in the real space, and obtains viewpoint information indicating the user's viewpoint based on the detection result.

[0025] When rendering the first 3D object, the computer 2 further detects the position and orientation in the real space of the position sensor (e.g., the position sensors 8a and 8c) attached to the corresponding object, and stores the detection result in the memory 2b. Then, the computer 2 renders the first 3D object in the virtual reality space based on the stored position and orientation, the above-mentioned viewpoint information, and the shape stored for the first 3D object. The computer 2 also detects the operation performed by the user in the virtual reality space by detecting the position of the position sensor 8c, particularly with respect to the electronic pen 5, and performs a process of newly creating a second 3D object based on the result (i.e., newly storing 3D object information in the memory 2b) or moving or updating the second 3D object already held (i.e., updating the 3D object information already stored in the memory 2b). This point will be described in detail later.

[0026] On the other hand, when rendering a second 3D object, the computer 2 is configured to render the second 3D object in the virtual reality space based on the 3D object information stored in the memory 2b and the viewpoint information described above.

[0027] The computer 2 further performs a process of determining whether or not to cause a force sense generating unit 56 (described later) of the electronic pen 5 to generate a force sense based on the position of the pen tip of the electronic pen 5 in the virtual reality space (position in the virtual reality space) and the position in the virtual reality space of a 3D object being displayed in the virtual reality space, and transmitting a control signal for activating the force sense generating unit 56 to the electronic pen 5 when it is determined that a force sense should be generated. In a specific example, the computer 2 is configured to transmit a control signal for activating the force sense generating unit 56 to the electronic pen 5 when the pen tip of the electronic pen 5 comes into contact with the touch surface of the virtual tablet in the virtual reality space. This point will be described in detail again later.

[0028] The virtual reality display 3 is a VR display (head-mounted display) that is worn on a human head. There are various types of virtual reality displays generally available on the market, such as "transparent" or "non-transparent," "glasses-type" or "hat-type," and any of these can be used as the virtual reality display 3.

[0029] The virtual reality display 3 is connected to each of the position sensor 8a and the electronic pen 5 (including the position sensor 8c) by wire or wirelessly. The position sensors 8a and 8c are configured to notify the virtual reality display 3 of light reception level information (described later) through this connection. The virtual reality display 3 notifies the computer 2 of the light reception level information notified from each of the position sensors 8a and 8c, together with the light reception level information of the position sensor 8b built into the virtual reality display 3. Based on the light reception level information thus notified, the computer 2 detects the position and orientation of each of the position sensors 8a to 8c in real space.

[0030] The tablet 4 is a device having a tablet surface 4a. The tablet surface 4a is preferably a flat surface and may be made of a material suitable for sliding the pen tip of the electronic pen 5. In one example, the tablet 4 is a so-called digitizer, and is configured with a touch sensor that detects the position indicated by the electronic pen 5 on the touch surface, and a communication function that notifies the computer 2 of the detected indicated position. In this case, the tablet surface 4a is configured by the touch surface of the digitizer. In another example, the tablet 4 is a so-called tablet computer, and is configured with a display, a touch sensor that detects the position indicated by the electronic pen 5 on the display surface of the display, and a communication function that notifies the computer 2 of the detected indicated position. In this case, the tablet surface 4a is configured by the display surface of the display.

[0031] The position sensor 8a is fixedly installed on the surface of the tablet 4. Therefore, the position and orientation of the position sensor 8a detected by the computer 2 indicates the position and orientation of the tablet surface 4a in the virtual reality space coordinate system.

[0032] Electronic pen 5 is a stylus having a pen-like shape, and is configured to have a function as an input device to tablet 4 (hereinafter referred to as "tablet input function") and a function as an input device to computer 2 (hereinafter referred to as "virtual reality space input function"). The tablet input function includes a function for indicating a position on the touch surface of tablet 4. Meanwhile, the virtual reality space input function includes a function for indicating a position in virtual reality space. Details of each function will be described separately below.

[0033] The lightning houses 7a and 7b are base station devices constituting a position detection system for detecting the positions of the position sensors 8a to 8c, and each of the lightning houses 7a and 7b is configured to be able to emit a laser signal while changing the direction according to the control of the computer 2. Each of the position sensors 8a to 8c is configured to receive the laser signal emitted by each of the lightning houses 7a and 7b with each light receiving sensor, and obtain light receiving level information including each light receiving level. The light receiving level information thus obtained is supplied to the computer 2 via the virtual reality display 3 as described above.

[0034] Fig. 2(a) is a perspective view showing the appearance of the electronic pen 5, and Fig. 2(b) is a schematic block diagram showing the functional blocks of the electronic pen 5. As shown in Fig. 2(a), the electronic pen 5 is configured to have a substantially cylindrical housing 5a and a pen tip 5b provided at the tip of the housing 5a. Note that various members for implementing a force-sense generating unit 56, which will be described later, may be attached to the surface of the actual electronic pen 5, but are not shown in Fig. 2(a). In addition, although not shown, various switches may be provided on the side or end of the electronic pen 5.

[0035] When performing input using the tablet input function, the user holds the housing 5a with one hand and brings the pen tip 5b into contact with the touch surface of the tablet 4. Then, while maintaining the contact state, the user moves the pen tip 5b on the touch surface to perform an input operation using the electronic pen 5. On the other hand, when performing input using the virtual reality space input function, the user holds the housing 5a with one hand and moves the electronic pen 5 in the air to perform an input operation using the electronic pen 5.

[0036] The input by the virtual reality space input function includes the input to the virtual tablet described above. In this case, the user wearing the virtual reality display 3 can see the virtual tablet, but in reality, the tablet does not exist at that location. Therefore, the pen tip 5b cannot be brought into contact with the touch surface of the virtual tablet, which makes it difficult to input to the virtual tablet. Therefore, the spatial position instruction system 1 performs a process of generating a force sense when the pen tip 5b is located at the position of the touch surface of the virtual tablet, thereby giving the user a sensation as if the pen tip 5b is in contact with the touch surface of the virtual tablet. This point will be described in detail later.

[0037] 2(b), the electronic pen 5 functionally comprises a processing unit 50, communication units 51 and 53, a writing pressure detection unit 52, a position detection unit 54, a switch unit 55, and a force-sense generation unit 56.

[0038] The processing unit 50 is connected to the other units in the electronic pen 5 and controls them, and is configured with a processor that performs various processes described below. Note that, although the processing unit 50 is arranged in the electronic pen 5 in this embodiment, the present invention is not limited to this, and the processing unit 50 may be arranged outside the electronic pen 5.

[0039] The communication unit 51 and the pen pressure detection unit 52 are functional units that realize the tablet input function.

[0040] The communication unit 51 has a function of transmitting and receiving signals to and from the touch sensor of the tablet 4 under the control of the processing unit 50. This signal transmission and reception includes a case where a signal is transmitted unilaterally from the electronic pen 5 to the tablet 4, and a case where a signal is transmitted and received bidirectionally between the electronic pen 5 and the tablet 4. In addition, as a specific method for transmitting and receiving signals, for example, an electromagnetic induction method or an active electrostatic method may be used.

[0041] The pen pressure detection unit 52 is a functional unit that detects the pressure (pen pressure) applied to the pen tip 5b, and in a specific example, is configured by a capacitance sensor (not shown) whose capacitance value changes depending on the pen pressure. Below, the tablet input function will be specifically described using an example in which the communication unit 51 transmits and receives signals by an active electrostatic method.

[0042] The touch sensor that supports the active electrostatic method is configured to transmit a beacon signal at a predetermined time interval from a sensor electrode (not shown) arranged in the touch surface. The beacon signal includes a command for controlling the electronic pen 5 from the touch sensor. The contents of the control by the command include, for example, transmitting pen pressure data indicating the pen pressure detected by the pen pressure detection unit 52, transmitting the pressed state of various switches (not shown) provided on the electronic pen 5, transmitting a unique ID previously stored in the memory (not shown) of the electronic pen 5, and the like.

[0043] The communication unit 51 detects the beacon signal via a pen tip electrode (not shown) provided at the pen tip of the electronic pen 5, and supplies the detected beacon signal to the processing unit 50. In response to the supplied beacon signal, the processing unit 50 generates a pen signal including a burst signal, which is an unmodulated carrier wave, and a data signal obtained by modulating the carrier wave with data corresponding to a command, and supplies the pen signal to the communication unit 51. The communication unit 51 transmits the supplied pen signal to the touch sensor via the pen tip electrode.

[0044] The touch sensor attempts to detect a burst signal by the sensor electrodes, and detects the position of the electronic pen 5 on the touch surface based on the detection result. Also, the touch sensor receives data transmitted by the electronic pen 5 in response to a command by detecting and demodulating a data signal by the sensor electrodes.

[0045] The tablet 4 is configured to sequentially transmit the acquired position of the electronic pen 5 and the data transmitted by the electronic pen 5 to the computer 2. When the pen pressure indicated by the pen pressure data included in the data received from the tablet 4 is greater than a predetermined value (for example, 0), the computer 2 determines that the electronic pen 5 is in contact with the touch surface of the tablet 4. While the computer 2 determines that the electronic pen 5 is in contact with the touch surface of the tablet 4, the computer 2 continuously executes a process of generating ink data (curve data obtained by interpolating a plurality of positions using a predetermined interpolation curve) based on a series of positions sequentially received, and storing the ink data in the memory 2b shown in FIG. 1. This realizes a tablet input function. If the tablet 4 has a display, the computer 2 may sequentially render the ink data stored in the memory 2b and display the result on the display of the tablet 4.

[0046] The communication unit 53, the position detection unit 54, the switch unit 55, and the force-sense generation unit 56 are functional units that realize a virtual reality space input function.

[0047] The communication unit 53 has a function of transmitting and receiving signals to and from the computer 2 via the virtual reality display 3 under the control of the processing unit 50. As described above, this signal transmission and reception is realized by wired or wireless means.

[0048] The position detection unit 54 is a functional unit configured by the position sensor 8c shown in Fig. 1, and has a function of detecting laser signals (position detection signals for detecting positions in real space) transmitted by the lightning houses 7a and 7b, and generating light reception level information (position information) according to the detected laser signals. The light reception level information generated by the position detection unit 54 is transmitted to the computer 2 by the communication unit 53.

[0049] The switch unit 55 is a switch provided on the surface of the housing 5a of the electronic pen 5, and is configured to be depressable by the user. Switch information indicating the pressed state of the switch unit 55 is also transmitted to the computer 2 by the communication unit 53.

[0050] The force-sense generating unit 56 has a function of generating a force sense in response to a control signal supplied from the outside. This control signal is supplied from the computer 2 through the communication unit 53. The force-sense generating unit 56 will be described in more detail later.

[0051] The computer 2 sequentially detects the position and orientation of the position sensor 8c based on the received light reception level information, and determines whether the switch unit 55 is pressed or not based on the received switch information. Then, while it is determined that the switch unit 55 is pressed, the computer 2 continuously executes a process of generating 3D ink data based on a series of positions detected in sequence, and storing the data in the memory 2b shown in FIG. 1. The 3D ink data generated in this manner corresponds to the second 3D object described above, and is subject to the rendering described above. This realizes the virtual reality space input function.

[0052] Here, when the above-mentioned virtual tablet is displayed within the virtual reality space, computer 2 generates 3D ink data only when the touch surface of this virtual tablet and pen tip 5b of electronic pen 5 are in contact within the virtual reality space. This allows the user to input data into the virtual tablet in the same way as input data into real tablet 4. Note that the generation of 3D ink data in this case may be executed regardless of the pressed state of switch unit 55.

[0053] The above is an overview of the spatial position indication system 1. Next, a detailed description will be given of the configuration of the force-sense generating unit 56 provided in the electronic pen 5. Since the force-sense generating unit 56 can have various configurations, seven examples will be given below and described in order.

[0054] Fig. 3 to Fig. 9 are diagrams showing first to seventh examples of the configuration of the force-sense generating unit 56, respectively. Fig. 3 to Fig. 5(a) and (b), Fig. 6, and Fig. 7 are cross-sectional views of the electronic pen 5, and Fig. 8(a) is a perspective view of the electronic pen 5. Fig. 8(b) is an exploded perspective view of portion D shown in Fig. 8(a). Fig. 9 is a perspective view showing the electronic pen 5 in use.

[0055] As shown in FIG. 3, the force-sense generating unit 56 according to the first example is composed of a flat contact portion 56a arranged in front of the pen tip 5b, a sliding portion 56b which is a cylindrical member arranged to cover the housing 5a, and a bridge portion 56c fixed to each of the contact portion 56a and the sliding portion 56b.

[0056] The sliding portion 56b is configured to be slidable in the longitudinal direction of the housing 5a relative to the housing 5a over the illustrated range A from the position shown in FIG. 3(a) to the position shown in FIG. 3(b). However, when the user holds the electronic pen 5, the sliding portion 56b is fixed to the user's hand, so it is the housing 5a that actually moves due to this sliding. When the sliding portion 56b is in the position shown in FIG. 3(a), the pen tip 5b is not in contact with the abutment portion 56a. On the other hand, when the sliding portion 56b is in the position shown in FIG. 3(b), the pen tip 5b is in contact with the abutment portion 56a.

[0057] The processing unit 50 moves the housing 5a from the position shown in Fig. 3(a) to the position shown in Fig. 3(b) in response to a control signal received from the computer 2. This causes the pen tip 5b to collide with the contact portion 56a. Therefore, by configuring the computer 2 to transmit a control signal in response to the pen tip 5b of the electronic pen 5 touching the touch surface of the virtual tablet in the virtual reality space, the user can feel the contact of the pen tip 5b of the electronic pen 5 with the touch surface of the virtual tablet as a real impact.

[0058] Here, the force-sense generating unit 56 is preferably configured to include a magnetic fluid. The magnetic fluid is a material whose hardness can be controlled by the frequency of the applied pulse current. When the frequency of the pulse current applied to the magnetic fluid is changed to continuously transition between a relatively hard state and a relatively soft state, a person in contact with the magnetic fluid feels as if vibration is occurring. Also, various objects can be moved by changing the hardness of the magnetic fluid.

[0059] FIG. 10 is a diagram showing an example of a control signal generated by the computer 2 when the force-sense generating unit 56 is configured to move the housing 5a by utilizing the change in hardness of the magnetic fluid. As shown in the figure, the control signal in this case is composed of a pulse current signal that repeats a burst period BU and a blank period BL at a constant duty ratio. According to this control signal, the magnetic fluid becomes harder as the ratio of the burst period BU to the entire period increases. Therefore, the computer 2 controls the hardness of the magnetic fluid by controlling the duty ratio of the control signal, and as a result, moves the housing 5a. In this way, the force sense is generated by the magnetic fluid.

[0060] As shown in FIG. 4, the force-sense generating unit 56 according to the second example includes a flat contact portion 56a arranged in front of the pen tip 5b, a bridge portion 56c fixed to the housing 5a, and a hinge portion 56d provided between the contact portion 56a and the bridge portion 56c.

[0061] The contact portion 56a is configured to be rotatable around one end connected to the hinge portion 56d within the illustrated range B from the position shown in FIG. 4(a) to the position shown in FIG. 4(b). When the contact portion 56a is in the position shown in FIG. 4(a), the pen tip 5b is not in contact with the contact portion 56a. On the other hand, when the contact portion 56a is in the position shown in FIG. 4(b), the pen tip 5b is in contact with the contact portion 56a. In this example, too, it is preferable to realize the movement of the contact portion 56a by using a magnetic fluid.

[0062] The processing unit 50 moves the contact portion 56a from the position shown in Fig. 4(a) to the position shown in Fig. 4(b) in response to a control signal received from the computer 2. This causes the pen tip 5b to collide with the contact portion 56a, so that, similar to the first example, the user can feel the contact of the pen tip 5b of the electronic pen 5 with the touch surface of the virtual tablet as a real impact.

[0063] As shown in FIG. 5, the force-sense generating unit 56 according to the third example includes a flat contact portion 56a arranged in front of the pen tip 5b, a bridge portion 56c fixed to the housing 5a, and a slide portion 56e formed integrally with the contact portion 56a.

[0064] As shown in FIG. 5, the slide portion 56e has, for example, a tenon that accommodates the end of the bridge portion 56c, and is configured to be movable in the longitudinal direction of the electronic pen 5 over the illustrated range C from the position shown in FIG. 5(a) to the position shown in FIG. 5(b) by the bridge portion 56c sliding in the tenon. When the slide portion 56e is in the position shown in FIG. 5(a), the pen tip 5b is not in contact with the abutment portion 56a. On the other hand, when the slide portion 56e is in the position shown in FIG. 5(b), the pen tip 5b is in contact with the abutment portion 56a. In this example, too, it is preferable to realize the movement of the slide portion 56e by using a magnetic fluid.

[0065] The processing unit 50 moves the sliding portion 56e from the position shown in Fig. 5(a) to the position shown in Fig. 5(b) in response to a control signal received from the computer 2. This causes the pen tip 5b to collide with the contact portion 56a, so that, similarly to the first and second examples, the user can feel the contact of the pen tip 5b of the electronic pen 5 with the touch surface of the virtual tablet as a real impact.

[0066] The force-sense generating unit 56 according to the fourth example includes a stiffness varying unit 56f arranged so as to be exposed on the surface of the housing 5a, as shown in Fig. 6. The stiffness varying unit 56f is made of vinyl containing the above-mentioned magnetic fluid or the like.

[0067] The processing unit 50 changes the stiffness of the stiffness changing unit 56f by providing the stiffness changing unit 56f with the control signal received from the computer 2. This makes it seem as if the stiffness of the stiffness changing unit 56f is vibrating, so that the user can feel the contact of the pen tip 5b of the electronic pen 5 with the touch surface of the virtual tablet as a real impact, as in the first to third examples.

[0068] As shown in FIG. 7, the force-sense generating unit 56 according to the fifth example is composed of a base unit 56g fixed to the housing 5a, a vibration unit 56h arranged within the base unit 56g, and an actuator 56i which is a high-rigidity member arranged with one end pressed against the vibration unit 56h and the other end pressed against the inner wall of the housing 5a.

[0069] The processing unit 50 vibrates the vibration unit 56h by providing the vibration unit 56h with the control signal received from the computer 2. Then, the vibration is transmitted to the housing 5a through the actuator 56i, so that the housing 5a also vibrates. This allows the user to feel the contact of the pen tip 5b of the electronic pen 5 with the touch surface of the virtual tablet as a real impact, as in the first to fourth examples.

[0070] As shown in Fig. 8(a), the force-sense generating unit 56 according to the sixth example includes a groove 5c provided in the housing 5a and a vibration unit 56j disposed inside the housing 5a. A part of the vibration unit 56j is exposed to the outside through the groove 5c. The vibration unit 56j includes the magnetic fluid described above.

[0071] 8(b) shows the specific structure of the groove 5c and the vibration part 56j. As shown in the figure, the vibration part 56j is configured to have a base part 56ja, which is a cylindrical member arranged in the housing 5a, and three protrusions 56jb provided so as to protrude from the side surface of the base part 56ja. The three protrusions 56jb are formed integrally with the base part 56ja and are arranged at equal intervals in the circumferential direction of the base part 56ja. The grooves 5c are provided corresponding to the three protrusions 56jb, respectively.

[0072] The processing unit 50 vibrates the vibration unit 56j by providing the vibration unit 56j with the control signal received from the computer 2. The user can directly feel this vibration through the three protrusions 56jb exposed through the grooves 5c, and therefore can feel the contact of the pen tip 5b of the electronic pen 5 with the touch surface of the virtual tablet as a real impact, similar to the first to fifth examples.

[0073] 9, the force-sense generating unit 56 according to the seventh example is provided as a separate body from the main body of the electronic pen 5, and specifically includes a flat contact portion 56a disposed in front of the pen tip 5b, and a bridge portion 56k fixed to the user's arm. An opening 56ka is provided near one end of the bridge portion 56k, and the bridge portion 56k is fixed to the user's arm by the user inserting his or her arm into this opening 56ka.

[0074] The contact portion 56a is configured to be movable over the illustrated range E near the other end of the bridge portion 56k. The specific movement range of the contact portion 56a is determined so that the contact portion 56a comes into contact with the pen tip 5b when it is closest to the electronic pen 5. Considering that the size of the hand varies from user to user, it is preferable to adjust the movement range of the contact portion 56a for each user by a calibration process performed in advance. In this example, too, it is preferable to realize the movement of the contact portion 56a by using a magnetic fluid.

[0075] The processing unit 50 causes the contact portion 56a to collide with the pen tip 5b by providing the control signal received from the computer 2 to the force-sense generating unit 56. This allows the user to feel the contact of the pen tip 5b of the electronic pen 5 with the touch surface of the virtual tablet as a real impact, similar to the first to sixth examples.

[0076] Seven examples have been given above to explain the configuration of the force-sense generating unit 56 provided in the electronic pen 5. Next, the generation of a control signal for the force-sense generating unit 56 by the computer 2 will be explained in detail.

[0077] Fig. 11 is a process flow diagram showing the process performed by the control unit 2a (see Fig. 1) of the computer 2. Fig. 12 is a diagram showing details of the process of acquiring the pen tip position in the virtual reality space executed in steps S2 and S6 of Fig. 11. Fig. 13 is an explanatory diagram of the process executed in Fig. 11. Hereinafter, with reference to these diagrams, the generation of a control signal for the force-sense generating unit 56 by the computer 2 will be described in detail.

[0078] Referring first to Fig. 11, the computer 2 first displays an object in a virtual reality space (step S1). This object is the second 3D object (e.g., a virtual tablet) described above. Fig. 13(a) shows the surface S of the object thus displayed in a three-dimensional coordinate space.

[0079] Next, the computer 2 performs a process of acquiring the position VP2 of the pen tip 5b of the electronic pen 5 in the virtual reality space (step S2). More specifically, as shown in Fig. 12, the computer 2 first acquires light reception level information (step S20). This light reception level information is generated by the position detection unit 54 of the electronic pen 5 (see Fig. 2), and the computer 2 acquires the light reception level information by receiving it from the electronic pen 5.

[0080] The computer 2 that has acquired the light reception level information acquires (calculates) a real space position P1 (first real space position) indicating the position of the electronic pen 5 in real space based on the acquired light reception level information (step S21). The position P1 thus acquired is the position of the position sensor 8c shown in FIG. 1, and is not the position of the pen tip 5b. Therefore, the computer 2 performs a process of acquiring (calculating) a real space position P2 (second real space position) indicating the position of the pen tip 5b of the electronic pen 5 in real space by converting the position of the position sensor 8c into the position of the pen tip 5b based on the shape of the electronic pen 5 previously stored in the memory 2b (step S22).

[0081] Next, computer 2 acquires (calculates) position VP2 in virtual reality space indicating the position of pen tip 5b of electronic pen 5 in virtual reality space based on acquired position P2 (step S23). The process of acquiring the pen tip position in virtual reality space ends here.

[0082] 11, the computer 2 that has acquired the position VP2 judges whether or not the pen tip 5b of the electronic pen 5 has collided with the surface S based on the position VP2 and the position of the surface S of the object (displayed in step S1) in the virtual reality space (second judgment step, steps S3 and S4). Specifically, if the position VP2, which is a point, is included in the area that constitutes the surface S, it is judged that a collision has occurred, and if not, it is judged that a collision has not occurred.

[0083] If it is determined in step S4 that a collision has occurred (positive determination in step S4), the computer 2 generates a control signal for generating a force sense and transmits it to the electronic pen 5 (second force sense generation step, step S5). This control signal is, for example, the pulse current signal shown in FIG. 10. The processing unit 50 of the electronic pen 5 causes the force sense generation unit 56 to generate a force sense in response to this control signal, allowing the user to experience a collision with the surface S (for example, the touch surface of a virtual tablet).

[0084] Next, computer 2 again performs a process of acquiring position VP2 in the virtual reality space (step S6), and determines whether or not the distance between surface S and position VP2 is equal to or less than a predetermined value L (first determination step, steps S7 and S8). This process may be performed by determining whether or not the distance between position Vp2 and the point where the normal to surface S that passes through position VP2 intersects with surface S is equal to or less than a predetermined value L.

[0085] If it is determined in step S8 that the force is equal to or less than the predetermined value L (positive determination in step S8), the computer 2 generates a control signal for generating a force sense again and transmits it to the electronic pen 5 (first force sense generating step, step S9). This allows the user to obtain the sensation of continuing to touch the surface S even if the pen tip 5b of the electronic pen 5 moves away from the surface S due to shaking of the hand, provided that the user is not too far away. Since it is difficult to intentionally keep the pen tip 5b in contact with a surface S that does not actually exist, this process is extremely effective in a virtual reality space.

[0086] After completing step S9, the computer 2 returns to step S6 to continue the process. This allows the user to continue to feel contact with the surface S while the distance between the surface S and the position VP2 is equal to or less than the predetermined value L (i.e., while the determination result of step S8 is positive).

[0087] 11, the computer 2 may execute a process of moving the object position so that the position VP2 is a position on the surface S (step S10) in addition to executing step S9. This makes it possible to maintain the contact state visually as well as haptically.

[0088] If it is determined in step S4 that no collision has occurred (negative determination in step S4), and if it is determined in step S8 that the value is not equal to or less than the predetermined value L (negative determination in step S8), the computer 2 returns to step S2 and continues the process. In this case, the force sense generation unit 56 does not generate a force sense, so that the force sense generation unit 56 is prevented from generating a force sense even if the distance between the position VP2 and the surface S is large. Therefore, it is possible to cause the force sense generation unit 56 to generate a force sense without causing a user using the electronic pen 5 in the virtual reality space to feel uncomfortable.

[0089] 11, the condition for ceasing the generation of the force sense after the pen tip 5b of the electronic pen 5 collides with the surface S (i.e., the condition for returning to step S2) is that the distance between the surface S and the position VP2 is no longer equal to or smaller than the predetermined value L, but other events may be used as the condition for ceasing the generation of the force sense. For example, the generation of the force sense may be ceasing when the movement distance of the electronic pen 5 after colliding with the surface S exceeds a predetermined value, when the movement speed of the electronic pen 5 exceeds a predetermined value, when the acceleration of the electronic pen 5 exceeds a predetermined value, when the user makes a predetermined gesture using the electronic pen 5, when it is detected by a microphone (not shown) that the user has made a predetermined voice input, when it is detected by a pressure sensor (not shown) (for example, a pressure sensor provided on the side of the electronic pen 5 to measure the gripping force of the electronic pen 5 by the user) that the user has applied a predetermined pressure, etc.

[0090] As described above, according to the electronic pen 5 of this embodiment, the electronic pen 5 itself has a position detection unit 54, and therefore the electronic pen 5 operates as a spatial position indicating device, making it possible to use the electronic pen 5 within a virtual reality space.

[0091] Furthermore, according to the spatial position indication system 1 of this embodiment, a force sense can be generated in the force sense generating unit 56 based on the position of the pen tip 5b, rather than the position of the electronic pen 5 indicated by the light reception level information, so that a force sense can be generated without causing a user using the electronic pen 5 in the virtual reality space to feel uncomfortable.

[0092] FIG. 14 is a diagram showing a spatial position indication device 6 used in a spatial position indication system 1 according to a second embodiment of the present invention. FIG. 14(a) is a perspective view showing a state in which the spatial position indication device 6 is used, and FIG. 14(b) is a schematic block diagram showing a functional block of the spatial position indication device 6. As shown in FIG. 14(a), the spatial position indication device 6 is configured so that it can be used by inserting an electronic pen 5. This embodiment differs from the first embodiment in that, among the functions of the electronic pen 5 described with reference to FIG. 2(b), a virtual reality space input function is provided on the spatial position indication device 6 side. The electronic pen 5 according to this embodiment is a general electronic pen that does not have a virtual reality space input function. Hereinafter, the same components as those in the first embodiment are denoted by the same reference numerals, and will be described in detail with a focus on the differences from the first embodiment.

[0093] 14(b), the spatial position indication device 6 is functionally configured to include a processing unit 50, a communication unit 53, a position detection unit 54, a switch unit 55, and a force-sense generation unit 56. The basic functions of these are similar to those described with reference to FIG. 2(b). However, the switch unit 55 is provided on the surface of the spatial position indication device 6, not on the electronic pen 5.

[0094] 14(a), the spatial position indicating device 6 includes a housing 6a, a handle 6b, a position sensor 8c also shown in FIG. 1, a bridge 6d for fixing the position sensor 8c to the housing 6a, a direction indicator 6e, a flat contact portion 56a, and a bridge portion 56m fixed between the housing 6a. Of these, the contact portion 56a and the bridge portion 56m constitute the force-sense generating portion 56 of the spatial position indicating device 6.

[0095] The housing 6a is a member constituting the main body of the spatial position indication device 6, and is configured to be able to mount the electronic pen 5. More specifically, the housing 6a has an insertion port for inserting the electronic pen 5. The handle 6b is a member for a user to hold the spatial position indication device 6. As shown in FIG. 14, a user uses the spatial position indication device 6 by inserting the electronic pen 5 into the insertion port of the housing 6a and holding the handle 6b with one hand. The direction indicator 6e is a member for improving the user's usability, and is configured so that the user can place the thumb of the right hand on it when holding the handle 6b with the right hand.

[0096] The contact portion 56a is disposed in front of the pen tip 5b via the bridge portion 56m. The contact portion 56a is configured to be movable in the vicinity of one end of the bridge portion 56m over the range F shown in the figure. The movement of the contact portion 56a is preferably realized by using the above-mentioned magnetic fluid. The specific position of the contact portion 56a is determined so that the contact portion 56a comes into contact with the pen tip 5b when it is closest to the electronic pen 5. When the processing unit 50 moves the contact portion 56a to the right in the figure in response to a control signal received from the computer 2, the pen tip 5b collides with the contact portion 56a. As a result, similar to the first embodiment, the user can feel the contact of the pen tip 5b of the electronic pen 5 with the touch surface of the virtual tablet as a real impact.

[0097] The processing performed by the computer 2 in this embodiment is basically the same as that described in the first embodiment. However, in step S3 shown in Fig. 11, the first embodiment performs processing to convert the position of the position sensor 8c to the position of the pen tip 5b based on the shape of the electronic pen 5 stored in advance in the memory 2b, but the computer 2 according to this embodiment is configured to perform processing to convert the position of the position sensor 8c to the position of the pen tip 5b based on the shape of the spatial position indication device 6 in a state in which the electronic pen 5 is inserted, which is stored in advance in the memory 2b. This makes it possible to cause the force-sense generating unit 56 to generate a force sense based on the position of the pen tip 5b, not the position of the position sensor 8c.

[0098] As described above, according to the electronic pen 5 of this embodiment, the electronic pen 5 can be mounted on the spatial position pointing device 6. Therefore, it becomes possible to use the electronic pen 5 in a virtual reality space.

[0099] Furthermore, according to the spatial position indication system 1 of this embodiment, a force sense can be generated in the force sense generating unit 56 based on the position of the pen tip 5b, rather than the position of the position sensor 8c indicated by the light reception level information, so that a force sense can be generated without causing a user using the spatial position indication device 6 and electronic pen 5 in the virtual reality space to feel uncomfortable.

[0100] Although the preferred embodiments of the present invention have been described above, the present invention is not limited to these embodiments, and it goes without saying that the present invention can be embodied in various forms without departing from the spirit of the present invention.

[0101] For example, in each of the above embodiments, the computer 2 is configured to generate a force sense in the force sense generating unit 56 when the tip of the electronic pen 5 comes into contact with the touch surface of the virtual tablet in the virtual reality space, but the force sense generating unit 56 may be configured to generate a force sense when the tip of the electronic pen 5 comes into contact with the surface of a second 3D object other than the virtual tablet. Also, instead of contact, the force sense generating unit 56 may be configured to generate a force sense when input by the virtual reality space input function is started (i.e., when generation of a 3D object by the computer 2 is started. Also, in the case of input to a virtual tablet, when generation of 3D ink data is started).

[0102] In addition, in the above second embodiment, an example has been described in which the force-sense generating unit 56 is configured to include the contact portion 56a, but the force-sense generating unit 56 may also be configured by providing a mechanism similar to the example shown in Figures 6 to 8 in the housing 6 or the handle portion 6b.

[0103] In addition, in each of the above embodiments, an example has been described in which a control signal for activating the force-sense generating unit 56 is generated within the computer 2, but this control signal may be generated within the electronic pen 5 or the spatial position indicating device 6. Hereinafter, the processing performed by the processing unit 50 shown in Fig. 2 when the electronic pen 5 is configured in this way will be described with reference to the drawings. Note that the processing is similar when a control signal is generated within the spatial position indicating device 6, except that the processing is performed by the processing unit 50 shown in Fig. 14 instead of Fig. 2.

[0104] Fig. 15 is a process flow diagram showing the process performed by the processing unit 50 shown in Fig. 2. As shown in the figure, the processing unit 50 first acquires information of an object displayed in the virtual reality space (step S30). This object is the second 3D object (for example, a virtual tablet) described above, and the processing unit 50 acquires the object information by receiving it from the computer 2.

[0105] Next, the processing unit 50 performs a process of acquiring the position VP2 of the pen tip 5b of the electronic pen 5 in the virtual reality space (step S31). The details of this process are the same as those described with reference to Fig. 12, so a detailed description will be omitted. The processing unit 50 acquires light reception level information from the position detection unit 54 shown in Fig. 2.

[0106] The processing unit 50, which has acquired the position VP2, determines whether or not the pen tip 5b of the electronic pen 5 has collided with the surface S, based on the position VP2 and the position of the surface S of the object (the information of which has been acquired in step S1) in the virtual reality space (steps S32 and S33). This process is similar to steps S3 and S4 in FIG.

[0107] When it is determined in step S33 that a collision has occurred (positive determination in step S33), the processing unit 50 generates a control signal for generating a force sense and supplies it to the force sense generating unit 56 shown in Fig. 2 (step S34). This allows the user to experience a collision with the surface S (for example, the touch surface of a virtual tablet).

[0108] Next, processing unit 50 again performs processing to acquire position VP2 in the virtual reality space (step S35), and determines whether or not the distance between surface S and position VP2 is equal to or less than predetermined value L (steps S36, S37). This processing is similar to steps S7, S8 in FIG.

[0109] If it is determined in step S37 that the force is equal to or less than the predetermined value L (positive determination in step S37), the processing unit 50 generates a control signal for generating a force sense again and supplies it to the force sense generating unit 56 shown in Fig. 2 (step S38). This allows the user to get the sensation of continuing to touch the surface S even if the pen tip 5b of the electronic pen 5 moves away from the surface S due to shaking of the hand, as long as the pen tip 5b is not too far away.

[0110] After completing step S38, the processing unit 50 returns to step S35 to continue the process. This makes it possible to make the user continue to feel contact with the surface S while the distance between the surface S and the position VP2 is equal to or less than the predetermined value L (i.e., while the determination result of step S8 is positive).

[0111] If it is determined in step S33 that there is no collision (negative determination in step S33), and if it is determined in step S37 that the value is not equal to or less than the predetermined value L (negative determination in step S37), the processing unit 50 returns to step S31 and continues the process. In this case, the force sense generation unit 56 does not generate a force sense, so that the force sense generation unit 56 is prevented from generating a force sense even if the distance between the position VP2 and the surface S is large. Therefore, it is possible to cause the force sense generation unit 56 to generate a force sense without causing a user using the electronic pen 5 in the virtual reality space to feel uncomfortable.

[0112] When the processing unit 50 acquires the position VP2 in the virtual reality space, the processing unit 50 may transmit the acquired position VP2 in the virtual reality space to the computer 2. In this way, the computer 2 can execute step S9 shown in Fig. 11 even when the control signal for the force-sense generating unit 56 is generated within the electronic pen 5. This makes it possible to maintain the contact state visually as well as force-sense.

[0113] In addition, in the explanation of Figure 11, it was mentioned that various events other than the distance between the surface S and the position VP2 being no longer equal to or smaller than the predetermined value L can be used as conditions for ceasing the generation of the force sensation, and this point can be similarly applied to the example of Figure 15. [Explanation of symbols]

[0114] 1. Spatial Positioning System 2. Computer 2a Control section 2b Memory 3 Virtual reality displays 4 Tablet 4a Tablet surface 5 Electronic pen 5a Case 5b Pen tip 5c Groove 6 Spatial positioning devices 6a Case 6b Handle 6d, 56c, 56k, 56m Bridge section 6e turn signal 7a,7b Lightning House 8a~8c Position sensors 50 Processing section 51,53 Communications Department 52 Pen pressure detection unit 54 Position detection unit 55 Switch section 56 Force sensing generation unit 56a Contact part 56b Sliding part 56d Hinge part 56e Slide section 56f Hardness change area 56h,56j Vibration part 56g,56ja Base part 56i Actuator 56jb protrusion 56ka opening BL Blank Period BU Burst Period P1 Position of electronic pen 5 in real space P2: Position of the tip 5b of the electronic pen 5 in real space Position of the tip 5b of the electronic pen 5 in the VP2 virtual reality space S The surface of an object displayed in virtual reality space

Claims

1. A position indicating device for indicating a position in a virtual reality space, comprising: A vibration unit that generates vibrations; a pressure sensor for detecting a pressure applied by a user to the position indicating device; a processing unit that stops vibrating the vibration unit when pressure is detected by the pressure sensor in a state in which a position can be specified in the virtual reality space and the vibration unit is vibrating; A position indicating device having:

2. A position indicating device for indicating a position in a virtual reality space, comprising: A vibration unit that generates vibrations; A housing and an operation unit provided on the housing and operated by a user; a processing unit that stops vibrating the vibration unit when the operation unit is operated by the user in a state in which a position can be specified in the virtual reality space and the vibration unit is vibrating; A position indicating device having:

3. the processing unit vibrates the vibration unit based on a control signal transmitted to the position pointing device by a computer that calculates a position in the virtual reality space based on a position of the position pointing device in real space; 3. A position indicating device according to claim 1 or 2.

4. the computer is a computer that calculates a position indicated by a position indicating unit of a virtual position indicating device in the virtual reality space based on a position of the position indicating device in the real space; The position indicating device according to claim 3 .

5. the processing unit vibrates the vibration unit based on the control signal transmitted to the position indicating device when a position input by the computer into the virtual reality space is in a predetermined state. The position indicating device according to claim 3 .

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