Control method, control apparatus, and program

• US 10,114,478 B2
• Filed: 03/08/2013
• Issued: 10/30/2018
• Est. Priority Date: 03/30/2012
• Status: Expired due to Fees

• Current Assignee: Sony Corporation (Sony Group Corp.)
• Original Assignee: Sony Corporation (Sony Group Corp.)
• Inventors: Tsukahara, Tsubasa, Ueno, Masatoshi, Kuriya, Shinobu, Goto, Tetsuro, Kabasawa, Kenichi, Nakagawa, Toshiyuki
• Primary Examiner(s): Leiby, Christopher E
• Application Number:
  US14/385,835
• Publication Number:
  US 20150042563A1
• Time in Patent Office: 2,062 Days
• CPC Class Codes: G06F 3/017 Gesture based interaction, e.g. based on a set of recognized hand gestures interaction based on gestures traced on a digitiser G06F3/04883
• CPC Class Codes: G06F 3/0346 with detection of the device orientation or free movement in a 3D space, e.g. 3D mice, 6-DOF [six degrees of freedom] pointers using gyroscopes, accelerometers or tilt-sensors

Abstract

There is provided a control method, including: outputting a displacement value depending on a displacement amount of an input device in a case where operation is input in the input device, the operation being for a control target displayed on a display apparatus, the position of the display apparatus being specified by a first coordinate system, the position of the input device being specified by a second coordinate system; calculating a displacement amount of the input device in the second coordinate system based on the displacement value; and displaying the control target, the control target being moved to a position corresponding to a displacement amount in the first coordinate system by using a transformation matrix, the transformation matrix transforming a displacement amount of the input device in the second coordinate system into a displacement amount in the first coordinate system.

Claims

1. A control method, comprising:

outputting a displacement value depending on a displacement amount of an input device in a case where operation is input in the input device, the operation being for a control target displayed on a display apparatus, the position of the display apparatus being specified by a first coordinate system, the position of the input device being specified by a second coordinate system;

calculating a displacement amount of the input device in the second coordinate system based on the displacement value; and

displaying the control target, the control target being moved to a position corresponding to a displacement amount in the first coordinate system by using at least one of a first transformation matrix and a second transformation matrix, the first transformation matrix transforming the displacement amount of the input device in the second coordinate system into the displacement amount in the first coordinate system when the input device is still, the second transformation matrix transforming the displacement amount of the input device in the second coordinate system into the displacement amount in the first coordinate system when the input device is moving, wherein the first transformation matrix is obtained on the basis of posture of sensors and the second transformation matrix is obtained on the basis of a 3D rotation matrix,

wherein the input device includes a shell part divided into a plurality of divisions each having a substantially same shape, a plurality of pressure sensors configured to detect force applied to each division of the shell part, and the plurality of pressure sensors is less than the plurality of divisions, and

wherein the displacement amount of the input device is determined according to an output from the pressure sensors.

2. The control method according to claim 1, further comprising

updating a transformation matrix based on an angular velocity value in the second coordinate system, the transformation matrix transforming angular velocity in the second coordinate system into angular velocity of the control target in the first coordinate system, the angular velocity value in the second coordinate system being received from an input device, the input device including an input device main body and an angular velocity sensor, the angular velocity sensor being accommodated in the input device main body, the angular velocity sensor being configured to detect angular velocity of the input device main body and to output the displacement value, the displacement value including an angular velocity value depending on the detected angular velocity.

3. The control method according to claim 2, further comprising:

calculating a roll angle based on an acceleration value in the second coordinate system, the roll angle being an angle of rotation of the input device in a direction that the input device faces the display apparatus, the acceleration value in the second coordinate system being received from the input device, the input device including an acceleration sensor, the acceleration sensor being accommodated in the input device main body, the acceleration sensor being configured to detect acceleration and gravity acceleration of the input device main body and to output the displacement value, the displacement value including an acceleration value, the acceleration value depending on the detected acceleration and the detected gravity acceleration; and

calculating a pitch angle of the second coordinate system with respect to the first coordinate system based on the acceleration value and the gravity acceleration.

4. The control method according to claim 3, wherein

the transformation matrix transforms the acceleration value and the angular velocity value in the second coordinate system into acceleration and angular velocity of the control target in the first coordinate system.

5. The control method according to claim 4, further comprising

calculating a geomagnetic depression/elevation angle in the first coordinate system and an orientation angle of the input device with respect to the display apparatus based on a magnetic value in the second coordinate system, the magnetic value in the second coordinate system being received from the input device, the input device including a magnetic sensor, the magnetic sensor being accommodated in the input device main body, the magnetic sensor being configured to detect geomagnetic orientation and to output the displacement value, the displacement value including a magnetic value depending on the detected geomagnetic orientation.

6. The control method according to claim 5, further comprising:

calculating velocity and travel distance of the control target in the first coordinate system based on acceleration of the control target in the first coordinate system; and

calculating a travel angle of the control target in the first coordinate system based on angular velocity of the control target in the first coordinate system.

7. The control method according to claim 1, wherein the input device has a substantially spherical shape.

8. The control method according to claim 1, wherein the control target is configured to be displayed as a three dimensional control target.

9. The control method according to claim 1, further comprising determining if the control target starts moving based on operation input in at least one of the pressure sensors.

10. The control method according to claim 1, wherein the pressure sensors are provided at intersection points of the divisions, and each of the pressure sensors has a same distance from each other.

11. The control method according to claim 1, wherein the 3D rotation matrix is expressed as R^ω

θ

which is expressed by the flowing formula,

12. A control apparatus, comprising:

a calculation unit configured to calculate a displacement amount of an input device in a second coordinate system based on a displacement value, the displacement value being output depending on the displacement amount of the input device in a case where operation is input in the input device, the operation being for a control target displayed on a display apparatus, the position of the display apparatus being specified by a first coordinate system, the position of the input device being specified by the second coordinate system; and

a display controller unit configured to display the control target, the control target being moved to a position corresponding to a displacement amount in the first coordinate system by using at least one of a first transformation matrix and a second transformation matrix, the first transformation matrix transforming the displacement amount of the input device in the second coordinate system into the displacement amount in the first coordinate system when the input device is still, the second transformation matrix transforming the displacement amount of the input device in the second coordinate system into the displacement amount in the first coordinate system when the input device is moving, wherein the first transformation matrix is obtained on the basis of posture of sensors and the second transformation matrix is obtained on the basis of a 3D rotation matrix,

wherein the input device includes a shell part divided into a plurality of divisions each having a substantially same shape, a plurality of pressure sensors configured to detect force applied to each division of the shell part, and the plurality of pressure sensors is less than the plurality of divisions, and

wherein the displacement amount of the input device is determined according to an output from the pressure sensors.

13. A non-transitory computer readable storage medium storing a program, causing a computer to execute the steps of:

outputting a displacement value depending on a displacement amount of an input device in a case where operation is input in the input device, the operation being for a control target displayed on a display apparatus, the position of the display apparatus being specified by a first coordinate system, the position of the input device being specified by a second coordinate system;

calculating a displacement amount of the input device in the second coordinate system based on the displacement value; and

displaying the control target, the control target being moved to a position corresponding to a displacement amount in the first coordinate system by using at least one of a first transformation matrix and a second transformation matrix, the first transformation matrix transforming the displacement amount of the input device in the second coordinate system into the displacement amount in the first coordinate system when the input device is still, the second transformation matrix transforming the displacement amount of the input device in the second coordinate system into the displacement amount in the first coordinate system when the input device is moving, wherein the first transformation matrix is obtained on the basis of posture of sensors and the second transformation matrix is obtained on the basis of a 3D rotation matrix,

wherein the input device includes a shell part divided into a plurality of divisions each having a substantially same shape, a plurality of pressure sensors configured to detect force applied to each division of the shell part, and the plurality of pressure sensors is less than the plurality of divisions, and

wherein the displacement amount of the input device is determined according to an output from the pressure sensors.