JP2003240542A - Revolution detecting device and signal processing system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To accurately detect a revolution of an object to be detected around a plurality of axes normal to each other by disposing only one sensor that detects the revolution around one axis. <P>SOLUTION: A movable mounting section 24 is formed on one of holding pieces 22 of a sensor mounting body 20 by which a controller (an object to be detected) 51 is sandwiched, and a revolution detecting sensor 10 such as an angular velocity sensor or the like is pivotally mounted on the movable mounting section 24. When the revolution detecting sensor 10 is vertically raised, the revolution of the controller 51 around the X-axis can be detected with a maximum accuracy. When the revolution detecting sensor 10 is inclined through 90°, the revolution of the controller 51 around the Z-axis can be detected with the maximum accuracy. The detection is also realized by making up a revolution detecting device with the movable mounting section 24 and the revolution detecting sensor 10 without disposing the sensor mounting body 20 that holds the object to be detected, and by mounting the movable mounting section 24 on a headphone or a head mountable display by using adhesive or a double- sided adhesive tape. <P>COPYRIGHT: (C)2003,JPO

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to rotation of an object to be detected such as a controller of a video game machine, headphone for voice reproduction or head-mounted display, that is, angular velocity (rotational angular velocity), rotation angle (rotational displacement) or angle. The present invention relates to a device for detecting acceleration (rotational angular acceleration) and a signal processing system using the rotation detection device.

[0002]

2. Description of the Related Art Detection of rotation of an object to be detected to control signal processing has been considered in various fields.

For example, in a video game machine, conventionally, a game player generally operates a target object in a game by manually operating a button provided on a controller (operation input section) of the game machine. However, recently, various controllers are used in order to increase the realism and virtual reality of the game.

As one of them, for example, by incorporating a sensor for detecting the rotation of the controller in the controller, the rotation of the controller is detected in the main body of the game machine, and the game player rotates the controller left and right like a steering wheel of a car. It is conceivable to interactively control the game contents, such as controlling the moving direction of the car in the game, or controlling the moving distance of the golf shot in the game when the controller is rotated up and down.

Further, in a device which reproduces sound, when the listener listens to the sound through headphones, a sound image due to the sound signal of the sound source is localized in the listener's head, and the sound is heard from the inside of the head. In a device that reproduces video and audio as described above, the sound source in the video and the sound image position actually heard do not match, resulting in extremely unnatural sound field reproduction or sound image localization.

Therefore, when listening to a voice through headphones, as shown in FIG. 11, transfer functions HL and HR from the position of the virtual sound source 5 to the left and right ears 3L and 3R of the listener 3 are measured or calculated in advance. The digital audio signal of the sound source is filtered by a digital filter that convolves the impulse response obtained by converting the transfer functions HL and HR on the time axis, and then converted into an analog audio signal to produce the left and right acoustic transducers of the headphones 1. By supplying 1L and 1R, the position of the virtual sound source 5 outside the listener's head,
For example, it has been considered to localize the sound image at the position of the sound source in the displayed video.

Further, in this case, when the angular velocity sensor 9 is attached to the headband 1a of the headphone 1 and the listener's head rotates left and right as shown by the arrow Ax, the angular velocity detection signal output from the angular velocity sensor 9 is integrated. Then, the rotation angle of the listener's head is detected, the orientation of the listener's head when the orientation of the virtual sound source 5 is used as the reference orientation, and the transfer functions HL, HR are corrected according to the detection result. As described above, by processing the audio signal in real time, the sound image is localized at the position of the virtual sound source 5 outside the listener's head, for example, the position of the sound source in the displayed image, regardless of the direction of the listener 3. It is possible.

[0008]

However, as described above, the rotation detecting sensor is incorporated in the controller 51 of the game machine as shown in FIG.
When detecting the rotation of, the rotation in the direction indicated by the arrow Ax around the axis along the detected axis of the rotation detection sensor, for example, around the X axis (in the X plane perpendicular to the X axis) in the XYZ three-dimensional space. Arrows about other axes that can be detected but are perpendicular to it, eg around the Y axis (in the Y plane perpendicular to the Y axis) and around the Z axis (in the Z plane perpendicular to the Z axis). Ay
It is not possible to detect rotation in the directions indicated by and Az.

Therefore, as described above, the controller 51 is rotated left and right to control the moving direction of the car in the game, and the controller 51 is rotated up and down to increase the flight distance of the golf shot in the game. It is not possible to control the game contents by detecting rotations in a plurality of directions such as controlling.

However, if the two or three rotation detecting sensors are arranged so that the respective detected axes are orthogonal to each other, the rotation around the two or three axes in the X, Y and Z axes can be detected. can do. But then
The rotation detecting device becomes larger and the cost of the rotation detecting device increases.

As shown in FIG. 11, when the angular velocity sensor 9 is attached to the headphone 1 to detect the rotation of the listener's head and the audio signal is processed according to the detection result, the wearing state of the headphone 1 is also checked. (Tilt) and angular velocity sensor 9
The rotation of the listener's head cannot be accurately detected depending on the mounting state (tilt) of the.

Therefore, according to the present invention, the rotation of an object to be detected around a plurality of orthogonal axes can be accurately detected by providing only one sensor for detecting the rotation around one axis. The detection device can be downsized and the cost can be reduced.

[0013]

According to the rotation detecting device of the present invention, the rotation detecting sensor for detecting the rotation of the object to be detected and the detected shaft of the rotation detecting sensor can be tilted within a predetermined angle range. And a movable mounting portion supporting the rotation detecting sensor.

In this case, the movable mounting portion is provided integrally with or rotatably attached to the sensor mounting body that holds the object to be detected, or is integrally provided to the object to be detected. It can be mounted or rotatably mounted.

In the rotation detecting device of the present invention configured as described above, when the detected axis of the sensor is set to the X-axis direction in the XYZ three-dimensional space, the rotation of the detected object around the X-axis is detected with maximum accuracy. When the sensor is rotated with respect to the movable mounting portion so that the detection axis of the sensor is in the Y-axis direction or the Z-axis direction, the rotation of the detection object around the Y-axis or the Z-axis has the maximum accuracy. Can be detected with.

[0016]

DESCRIPTION OF THE PREFERRED EMBODIMENTS [Embodiment of Rotation Detection Device: FIG. 1
9] FIGS. 1 (A) and 1 (B) show a first example of the rotation detecting device of the present invention, and FIG. 9 (B) is a sectional view of a movable mounting portion.

In the rotation detecting device of this example, the movable mounting portion 24 is integrally formed with the sensor mounting body 20 for sandwiching an object to be detected, such as a controller of a game machine, a headphone for voice reproduction, and a head mounted display which will be described later. The rotation detection sensor 10 is rotatably attached to the movable attachment portion 24.

In the sensor mounting body 20, a pair of holding pieces 21 and 22 each having toothed portions 21a and 22a formed on the inner surfaces of the tip ends are integrated by a shaft 23, and a spring (not shown) is provided between the holding pieces 21 and 22. It has a clip shape for holding the object to be detected.

The movable mounting portion 24 is formed in a hemispherical shape integrally with one holding piece 22, and a groove portion 25 extending in the longitudinal direction of the holding pieces 21 and 22 is formed at the center thereof.

The rotation detecting sensor 10 has a shaft portion 12 on one end side.
The shaft tip portion 13 is formed, and the shaft tip portion 13 is inserted into the groove portion 25 of the movable mounting portion 24 and is rotatably attached to the movable mounting portion 24 by the shaft 26. However,
The shaft tip portion 13 has a movable mounting portion 2 so as not to swing easily.
It is sandwiched by 4.

The rotation detecting sensor 10 detects the rotation around the axis shown as the detected shaft 11, for example,
An angular velocity sensor such as a piezoelectric vibration gyro. The rotation detection sensor 10 has a code 19 for extracting an output detection signal.
Are connected.

In the rotation detecting device as described above, when the rotation detecting sensor 10 is erected vertically with respect to the sensor mounting body 20 as shown in the drawing with the object to be detected sandwiched by the sensor mounting body 20, as shown in FIG. The rotation of the object to be detected around the vertical axis of (B) can be detected with maximum accuracy.

From this state, when the rotation detecting sensor 10 is tilted by 90 ° to the front side or the rear side along the groove 25 of the movable mounting portion 24 as shown by the arrow 14 or 15,
The rotation of the object to be detected around the horizontal axis in FIG. 1B can be detected with maximum accuracy.

FIG. 2 shows a case where the rotation detecting device of the example of FIG. 1 is used for a controller of a video game machine. In this example, the rotation detection device is attached to the controller 51 such that the central portion of the controller 51 is sandwiched between the sensor attachments 20.

In this example, when the rotation detection sensor 10 is set upright as shown in the drawing, the rotation of the controller 51 around the X axis can be detected with the maximum accuracy, and the rotation can be detected as indicated by the arrow 14 or 15. When the detection sensor 10 is tilted forward or backward by 90 °, the rotation of the controller 51 around the Z axis can be detected with maximum accuracy.

If the groove 25 of the movable mounting portion 24 is formed to extend in a direction perpendicular to the longitudinal direction of the sandwiching pieces 21 and 22, and the rotation detecting sensor 10 is tilted 90 °, or as shown in the figure. If the groove portion 25 of the movable mounting portion 24 is formed to extend in the longitudinal direction of the sandwiching pieces 21 and 22, and if the shape of the controller 51 allows it, the rotation detecting device is changed from the direction perpendicular to the illustrated direction to the controller 51.
When the rotation detection sensor 10 is tilted by 90 °, the rotation of the controller 51 around the Y axis can be detected with maximum accuracy.

FIG. 3 shows a second example of the rotation detecting device of the present invention. In this example, the sensor mounting body 20 as shown in FIGS. 1 and 2 is not provided, and the rotation detecting device is configured by the movable mounting portion 24 and the rotation detecting sensor 10, and is movable mounted by an adhesive or a double-sided adhesive tape. The part 24 is attached to the headband 1 a of the headphone 1.

In this example, when the rotation detecting sensor 10 is set upright as shown in the drawing, the rotation of the headphones 1 (listener head) around the X axis can be detected with maximum accuracy, and the arrow 14 or 15 can be detected. As shown in FIG. 4, the rotation detection sensor 10 is moved to the front side or the rear side, and as shown in FIG.
When tilted, the rotation of the headphones 1 (listener head) around the Z axis can be detected with maximum accuracy.

The movable mounting portion 24 is attached to the headband 1 by extending the groove portion 25 in the left-right direction of the headband 1a.
When the rotation detection sensor 10 is tilted by 90 ° after being attached to a, the rotation of the headphones 1 (listener head) around the Y axis can be detected with maximum accuracy.

The rotation detecting device having the clip-shaped sensor mounting body 20 of the example shown in FIGS. 1 and 2 is mounted on the headphone 1 so that the headband 1a is sandwiched between the sensor mounting body 20 and the headphone 1 ( The rotation of the listener's head) can also be detected.

Also, as shown in FIG.
Is a so-called street type,
As shown in the drawing, the rotation detecting device including the movable mounting portion 24 and the rotation detecting sensor 10 of the example shown in FIGS. 3 and 4 is attached to the neckband 1c of the headphone 1,
Alternatively, the rotation detecting device including the clip-shaped sensor mounting body 20 of the example shown in FIGS. 1 and 2 is mounted on the headphone 1 so that the neck band 1c is sandwiched between the sensor mounting body 20 and the headphone 1 (listener). The rotation of the head can be detected.

Further, as shown in FIG. 6, the rotation detecting device including the movable mounting portion 24 and the rotation detecting sensor 10 of the example shown in FIGS. The rotation of the component-mounted display 30 (the user's head) can be detected.

The head-mounted display 30 is used by the user 4
Body portion 31 located in front of the eyes of the user, and arm portions 32L and 32R for hanging the body portion 31 on the user's 4 ear.
Is provided, and for example, the rotation detecting device is attached to the central portion of the main body 31 thereof.

As a result, the user 4
With the head-mounted display 30, the image can be viewed as if the image is displayed at a fixed position on the front even when facing the left and right directions as indicated by the arrow Ax.

The rotation detecting device having the clip-shaped sensor mounting body 20 of the example shown in FIGS. 1 and 2 is mounted on the head so that the body 31 or the arm 32L or 32R is sandwiched by the sensor mounting 20. Head mounted display 30 (user's head)
It is also possible to detect the rotation of.

When the rotation detecting device is constituted by the movable mounting portion 24 and the rotation detecting sensor 10 as in the example shown in FIGS. 3 and 4, the movable mounting portion 2 is arranged as shown in FIG.
4 can be rotatably attached to an object to be detected such as the headband 1a or the neckband 1c shown in FIG. 5 by the shaft 27. According to this, the rotation detection sensor 10 can be rotated at any time. Can be tilted in the moving position.

Even when the rotation detecting device is configured to have the clip-shaped sensor mounting body 20 as in the example shown in FIGS. 1 and 2, the movable mounting portion 24 is fixed to the holding piece 2.
Instead of being integrally formed with the second member 2, it may be rotatably attached to the holding piece 22.

Further, as shown in FIG. 8A, the groove 25 of the movable mounting portion 24 is formed in a cross shape so that the rotation detecting sensor 10 can be tilted at four positions. Alternatively, as shown in FIG. 1B, the shaft tip portion 13 of the rotation detection sensor 10 is formed in a spherical shape, and the movable mounting portion 2 is provided.
The groove 25 of No. 4 is formed in a hemispherical shape, and the rotation detecting sensor 1
The zero can be tilted at any rotation position.

In this case, even if the rotation detecting sensor 10 cannot be tilted by 90 °, the rotation of the object to be detected around the Y axis and the Z axis as shown in FIGS. 2 to 4 can be accurately detected. be able to.

As described above, according to the present invention, by providing only one sensor for detecting the rotation around one axis,
The rotation of the object to be detected around a plurality of orthogonal axes can be accurately detected, and the rotation detection device can be downsized and reduced in cost.

[Embodiment of Signal Processing System: FIG. 9] FIG. 9 shows an example of a signal processing system using the rotation detection device of the present invention. In the game system, a listener (game player) listens to sound through headphones. In this case, as shown in FIG. 11, the sound image is localized at the position of the sound source in the displayed image outside the listener's head regardless of the direction of the listener.

Therefore, in the system of FIG. 9, the headphone 1 is provided with the movable mounting portion 2 as shown in FIGS. 3 and 4.
4 and the rotation detection sensor 10 are attached, or the rotation detection device including the clip-shaped sensor attachment body 20 as shown in FIGS. 1 and 2 is attached. The rotation detection sensor 10 in this case is an angular velocity sensor 9 such as a piezoelectric vibration gyro.

As the game system, the game machine body 4
0, controller 51, game recording medium 5 such as DVD
3 and a television receiver 80 for monitoring. The television receiver 80 includes a display 81 and speakers 82 and 83 on the left and right of the display 81.

The game machine body 40 has a CPU 41 for controlling the entire system, and a bus 42 for controlling the main memory 43, a drawing processing section 44 having a drawing engine, a VRAM 45 for expanding a game image, and the VRAM 45. The operation input signal from the display control unit 46 and the controller 51, which sends a video signal to the television receiver 80 by the bus 4
2 is connected to the interface 47, and an interface 48 for capturing the video signal and the audio signal of the game content from the game recording medium 53 to the bus 42 is connected.

Further, in the game machine body 40, the bus 42
The digital audio signal of the sound source obtained in
As shown in FIG. 11, in the audio processing unit 61 configured by the digital signal processor, the transfer functions HL from the position where the sound image is localized to the left ear 3L and the right ear 3R of the listener 3 are set by the digital filters 63 and 64. And HR are filtered so as to convolve the impulse response converted on the time axis, converted into analog audio signals by D / A converters 65 and 66, and the converted audio signals are amplified by audio amplification circuits 67 and 68. Then, the sound is supplied to the left and right acoustic transducers 1L and 1R of the headphone 1.

Further, in this system, the angular velocity detection signal output from the angular velocity sensor 9 is taken into the game machine main body 40, converted into a digital detection signal by the A / D converter 79, and the converted detection signal is detected. Processing unit 71
In, the low-pass filter 72 filters to remove the noise component in the detection signal, and the integration circuit 73 further integrates it to detect the rotation angle of the listener's head, and the orientation of the position at which the sound image is localized is set as the reference orientation. The azimuth of the listener's head at that time is detected, and the digital audio signal of the sound source is processed in real time in the audio processing unit 61 so as to correct the transfer functions HL and HR according to the detection result.

As a result, no matter which direction the listener faces, the sound image can be localized at the position of the sound source in the displayed image outside the listener's head.

When the digital audio signal of the sound source is a stereo audio signal, the audio processing unit 61 uses the first and second digital filters of the left channel to position the sound image of the audio signal of the left channel. To Listener left and right ear transfer functions HLL and HL
The impulse response obtained by converting R on the time axis is filtered so as to be convoluted, and the first and second digital filters of the right channel cause the right channel audio signal to be located from the position where the sound image is localized to the left and right ears of the listener. After filtering so as to convolve the impulse response obtained by converting the transfer functions HRL and HRR reaching the ear on the time axis, the audio signals of the outputs of the first digital filters of the left and right channels are added, and the second and left channels of the left and right channels are added. Add the audio signals at the output of the digital filter.

Further, in this system, the movement of the player's head can be reflected in the game contents by detecting the rotation of the player's head in the detection processing section 71 of the game machine body 40 as described above.

For example, when the rotation detecting sensor 10 is set upright as shown in FIG. 3, when the player rotates his / her head around the X axis, the image contents of the game are displayed in accordance with the movement. Instead, as shown in FIG. 4, the rotation detection sensor 10
When the player tilts the head or upper body to the left or right to avoid flying objects in the game (rotating around the Z axis), the flying objects are moved according to the movement. Video processing such as changing courses can be performed.

As shown in FIG. 6, when the rotation detecting device is attached to the head-mounted display 30, two systems of digital video signals are written in the image memory and read out from the image memory to obtain an analog image. The signal is converted into a signal and supplied to the video display units 35L and 35R, and the detection signal from the rotation detection sensor 10 controls writing and reading of the video signal to and from the image memory to control the video display unit. 35L and 35
By moving the images displayed on R in the left-right direction on the respective display screens, the user 4 can fix the front face even when facing the left-right direction with the head-mounted display 30 attached. The image can be viewed as if it was displayed at the specified position.

Further, as shown in FIG.
When the rotation detecting device is attached to the rotation detecting device 1, the rotation detecting sensor 10 in the game machine main body 40 as shown in FIG.
By detecting the rotation of the controller 51 by the output of the controller 51, when the game player rotates the controller 51 left and right like a steering wheel of a car, the direction of movement of the car is controlled in the game and the controller 51 is rotated up and down. At this time, the game content can be interactively controlled such as controlling the flight distance of the golf shot in the game.

[0053]

As described above, according to the present invention, it is possible to accurately rotate a detected object around a plurality of orthogonal axes by providing only one sensor for detecting the rotation around one axis. The rotation detection device can be detected, and the rotation detection device can be downsized and reduced in cost.

Therefore, when listening to the sound through the headphones, no matter which direction the listener is facing, a sound reproducing system capable of localizing a sound image at a predetermined position outside the listener's head, and which direction the user faces In addition, a head-mounted display system capable of viewing an image as if the image is being displayed at a fixed position on the front, or a game system capable of changing and controlling the game content according to the movement of a game player And the like can be reliably realized at low cost.

[Brief description of drawings]

FIG. 1 is a diagram showing a first example of a rotation detection device of the present invention.

FIG. 2 is a diagram showing an example of use of the rotation detection device of FIG.

FIG. 3 is a diagram showing a second example of the rotation detection device of the present invention.

FIG. 4 is a diagram showing an example of use of the rotation detection device of FIG.

FIG. 5 is a diagram showing another example of use of the rotation detection device of FIG.

FIG. 6 is a diagram showing another example of use of the rotation detection device of FIG.

FIG. 7 is a diagram showing another example of the rotation detection device of the present invention.

FIG. 8 is a diagram showing another example of the rotation detection device of the present invention.

FIG. 9 is a diagram showing an example of a signal processing system using the rotation detection device of the present invention.

FIG. 10 is a diagram for explaining the operation of the controller of the game machine.

FIG. 11 is a diagram for explaining sound image localization in the case of listening to sound with headphones.

[Explanation of symbols]

Since the main parts are all described in the figure, they are omitted here.

   ─────────────────────────────────────────────────── ─── Continued front page    F term (reference) 2C001 AA09 BA02 BC01 CA01 CA06                       CB01 CB04 CB06 CC02                 2F069 AA83 BB40 DD20 DD27 GG11                       GG41 MM04                 5B087 AA07 BC12 BC13 BC19 BC26                       BC31 DD03                 5D062 AA74 AA75

Claims (7)

[Claims] 1. A rotation detecting sensor for detecting rotation of an object to be detected, and a movable mounting portion supporting the rotation detecting sensor so that a shaft to be detected of the rotation detecting sensor can be tilted within a predetermined angle range. And a rotation detection device including. 2. The rotation detecting device according to claim 1, wherein the movable mounting portion is provided integrally with a sensor mounting body that holds an object to be detected. 3. The rotation detection device according to claim 1, wherein the movable attachment portion is rotatably attached to a sensor attachment body that holds an object to be detected. 4. The rotation detecting device according to claim 1, wherein the movable mounting portion is provided integrally with the object to be detected. 5. The rotation detecting device according to claim 1, wherein the movable attachment portion is rotatably attached to an object to be detected. 6. The rotation detecting device according to claim 1, wherein the rotation detecting sensor is an angular velocity sensor. 7. A signal processing system comprising: the rotation detection device according to claim 1; and a signal processing device that controls signal processing in accordance with an output detection signal of the rotation detection sensor of the rotation detection device. .