Apparatus and method for determining the position of a device
An apparatus and method are disclosed for use in a device, such as a handheld printer or scanner, having functionality that requires information of its position relative to an origin and initial orientation. The module includes two sensors to generate movement data indicative of movement direction and orientation changes of the device. The location and orientation of the device relative to the origin and initial orientation is derived based on the movement data. A handheld printer or scanner implementing the device may thus be moved in different directions across a media to print or scan images, text, or other objects.
1. A method comprising:
determining a first movement distance and a first movement direction for a first point on a device, and a second movement distance and a second movement direction for a second point on the device; and
determining a location and an orientation of the device based on the first movement distance and the first movement direction and the second movement distance and the second movement direction;
identifying when the device loses physical contact with a medium; and
selecting a spatial tracking mode when the device loses physical contact with the medium, wherein the spatial tracking mode determines three dimensional coordinates from an inertial motion sensor.
2. The method of claim 1 wherein the inertial motion sensor is an accelerometer or a gyrometer.
3. The method of claim 1 , wherein the device is an image forming device for printing on the medium.
4. The method of claim 3 , wherein the image forming device is handheld.
5. The method of claim 3 , further comprising:
switching the image forming device from the spatial tracking mode to an image forming mode in response to determining that the image forming device has regained physical contact with the medium.
6. The method of claim 5 , wherein determining that the image forming device has regained physical contact with the medium is based on analysis of the three dimensional coordinates.
7. The method of claim 1 , wherein the medium is a scanning medium and the device comprises a scanner.
8. The method of claim 1 , wherein the first movement distance and the second movement distance are caused by a user operation.
9. The method of claim 1 , wherein the location of the device or the orientation of the device includes three or more components.
10. The method of claim 1 , wherein the location of the device includes three translational coordinates.
11. The method of claim 1 , wherein the orientation of the device includes three angular parameters.
12. The method of claim 1 , further comprising:
determining print data based on image data, the location, and the orientation; and
communicating the print data to a print mechanism configured to dispense ink.
13. The method of claim 12 , further comprising:
receiving the image data from a host device.
14. The method of claim 1 , further comprising:
receiving image signals from an imaging mechanism;
generating image data based on the image signals, the location, and the orientation; and
associating the location and the orientation of the device with print data or scan data.
15. The method of claim 1 , wherein the device includes a printer or a scanner.
16. The method of claim 1 , the first movement distance or the second movement distance is generated by at least one sensor.
17. The method of claim 16 , wherein the at least one sensor includes an optical motion sensor.
18. The method of claim 17 , wherein the device includes a printer or a scanner.
19. The method of claim 16 , wherein the at least one sensor includes a track-ball motion sensor.
20. The method of claim 19 , wherein the device includes a printer or a scanner.
21. The method of claim 16 , wherein the at least one sensor includes a laser motion sensor.
22. The method of claim 21 , wherein the device includes a printer or a scanner.
23. The method of claim 16 , wherein the at least one sensor includes a first motion sensor and a second motion sensor, comprised of a light-emitting diode and complementary metal-oxide semiconductor pair.
24. The method of claim 23 , wherein the device includes a printer or a scanner.
25. The method of claim 1 , further comprising:
zeroing an origin of the device.
26. The method of claim 25 , wherein the origin is a corner of the medium.
27. The method of claim 1 , wherein the device is self-propelled.
28. The method of claim 1 , wherein determining the first movement distance and the first movement direction for the first point further comprises:
detecting preprinted infrared markings from the medium; and
correlating the preprinted infrared markings with a map.
29. The method of claim 1 , further comprising:
selecting a detailed tracking mode when the device gains physical contact with the medium.