JPH0981785A - Image projection device and equipment controller - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a small-sized, lightweight image projecting device which provides an image space giving more presence than before by composing the device of a nonflat screen and a small-sized projecting machine in one body, optically or electronically correcting image distortion which is generated in principle, and mounting a three-dimensional head movement detecting function. SOLUTION: The image projecting device is equipped with the nonflat screen 11 on which a projection image is displayed, an image signal generating means 16 which generates an image signal for projection, an image forming means 13 which generates the image to be projected with the image signal, an image projecting means 14 which projects the image formed by the image forming means 13, a projection optical system 12 which forms the projection image formed by the image forming means 13 on the screen 11, a distortion correcting means 15 which electronically corrects distortion generated by a projection optical system consisting of the projection optical system 12, screen 11, and projection image forming means, a heat movement detecting means 17 which detects the movement of a head part, and a control signal generating means 18 which controls the image signal with the detection signal from the head part movement detecting means 17.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an image projection device for projecting an image signal and forming an image on a screen. Also,
The present invention relates to a device control device that detects a head motion of a user and controls various devices correspondingly.

[0002]

[Prior art]

(1) Conventionally, in an image projection device that projects an image on a screen, the screen and the projection device are mainly configured separately. 29 to 32 show conventional examples of the image projection apparatus.
FIG. 29 is an external view from the horizontal direction of an image projection device used in a movie theater, a home theater or the like. Reference numeral 301 denotes a flat screen, and 302 denotes a projector. As shown in the figure, the screen and the projector are placed in a facing position. 303 is a projection image at this time.

This system allows a large number of people to enjoy a realistic image on a large screen, but on the other hand, there are many physical restrictions such as projection in a wide space with the illumination off, and the device itself Large size and large power consumption.

FIG. 30 shows a conventional example in which a screen as seen in a planetarium is not a flat surface but a spherical surface to project a large screen with a realistic sensation. In this case, the spherical screen 3
When an image is directly projected onto the projector 11 by the projector 312, barrel-shaped distortion is generated in the projected image of FIG. 30A as shown in FIG. 30C in principle. There is also a conventional example in which a projection image diagram 30 (d) with less distortion is generated by electronically correcting the distortion diagram 30 (b).

On the other hand, as a personal projection image device, a handy projector having the same configuration as that shown in FIG.
There is a head-mounted projection device as shown in FIG. A handy projector is for personal use, and the projector is compact and does not require much space for projection, but it still has a large screen (4
A projection distance of about 2 meters is required for projection of 0 inch).

FIG. 31 shows a head-mounted projector,
This device does not project the image itself. Projector 3
It is information data that is projected on the transmissive screen 322 in 21 and the information data is displayed separately or overlaid with the image 323 of the external world.

On the other hand, head-mounted displays for individuals of different types have also been developed. FIG. 32 is a diagram showing the principle. In this type, small image display devices 333 and 344 are arranged in front of both eyes, and an image displayed there is viewed as a virtual image 335 magnified by eyepieces 331 and 332.

This example is a method for viewing a virtual image by using the eye adjustment function, whereas the above-mentioned example forms a real image on the screen. The method is different, but the feature is that the shape can be made compact. is there.

However, there is a problem that eye strain is great because the eye adjusting function is continuously used during viewing. As described above, in the conventional example, there is no image projection apparatus that is a method of projecting a real image on a screen and can enjoy a personal, realistic image.

Further, in the field of virtual reality and the field of game application in the head-mounted image display device, a device having a function of detecting the movement of the head has been developed. Is a method of viewing a virtual image, and there is no real image projection type device adopted in the present invention. (2) In recent years, there have been many devices that detect the movement of the head and control the device in response to the movement.

For example, there are a system that changes the image displayed on the head-mounted display according to the movement of the head, a system that changes the attitude of a television camera at a remote location, and the like. The method of obtaining the movement of the head or the tilt angle in such a system can be roughly classified into the following two methods.

One is to prepare a signal source or a device corresponding to it at a reference position for expressing the movement of the head or the tilt angle, and use the magnetic field, ultrasonic waves, images from a CCD camera, etc. Is a method of detecting the movement of the head part and obtaining the position of the head as an absolute value with the reference point as the origin, and the other is the movement of the head incorporated in the headset mounted on the head, or By the sensor that can detect the tilt angle independently, the output itself from that sensor,
Alternatively, it is a method of obtaining the position of the head from the result of processing based on it.

Of these, the former method is capable of accurately obtaining the movement of the head as an absolute value, and can be detected without contacting the user. Therefore, the device for the reference point at a position other than the head can be used. It is necessary to install the detection means (magnetism, light,
Depending on the sound, image, etc.), there should be no obstruction or influence between the reference point and the head or in the vicinity of it, and the position of the head is obtained from the positional relationship with the reference point. Therefore, processing such as image processing and magnetic field detection is required, which may take time.

On the other hand, in the latter method, the accuracy of position detection is relatively low, but the detection speed is fast, the detection environment is not easily influenced by the use environment, and the influence is hardly exerted, and the user only deals with the headset. That is, there is a feature that the device scale can be reduced.

[0015]

[Problems to be Solved by the Invention]

(1) As described above, a conventional image projection device that projects a real image requires a large space for projecting a large screen with a sense of reality, and the device itself tends to be large. .

[0016] At present, commercial products for general household use are also available, but they are not so compact that an individual can easily enjoy realistic images due to some space or projection restrictions.

Further, although the head-mounted display device for viewing a virtual image is compact in shape, it has a problem that eye strain is remarkable because the eye adjusting function is constantly used. (2) Movement of the head by the n sensors 101 to 10n that can independently detect the head movement in one movement direction such as velocity, acceleration, angular velocity, or inclination angle incorporated in the headset 10 in FIG. A conventional example of a method for independently detecting In the apparatus having such a configuration, the tilt angle is sequentially obtained by the signal processing unit as a relative value from the initially set head position, and the control target device 1 is controlled based on this value.

However, in such a conventional configuration, since the basic posture of the user, which is a reference for representing the inclination of the head, is not clearly defined, the turning angle (yaw angle), the forward / backward bending angle ( It is difficult to systematically convert it into a tilt angle composed of a pitch angle) and a lateral bending angle (roll angle). This is because the origin and spatial coordinate axis for obtaining the tilt angle differ depending on the position of the head that is initially set.

A headset 10 mounted on the head
Even if the same motion is performed, the n sensors 101 to 10n capable of independently detecting a head motion in one motion direction such as a speed, an acceleration, an angular velocity, or a tilt angle incorporated in the motion are performed. The output may vary depending on the position of the head when being broken, or the output may change over time due to drift.

Further, when a plurality of sensors 101 to 10n are used, there may be a case where a motion other than for detecting the motion of the head in a certain direction reacts. Furthermore, the correct tilt angle is not always obtained by accumulating the error in the arithmetic processing performed to obtain the tilt angle, the quantization error, or the like. In addition, when this type of device is used for a long time, even if the weight is reduced, the headset 10 having a weight equivalent to a general helmet is worn and the head is moved, and further, it is displayed. Since it is necessary to keep a close eye on the image or the operation status of the device itself, the physiological or psychological burden increases regardless of whether or not the user is aware.

In view of the above problems, an object of the present invention is to first obtain an accurate motion by a sensor that independently detects the motion of the head, and further systematically obtain the tilt angle of the head. The user's basic posture is defined, the position at that time is held as a reference amount, the timing of holding this reference amount is also specified, and the tilt angle of the head can be stably obtained based on this reference amount. To provide a device control device with head movement detection that is easy to handle and has a low operability and a comfortable operability by having a means for limiting the usage time of the device. It is in.

[0022]

According to the present invention, a non-planar screen for displaying an image to be projected, an image signal generating means for generating an image signal to be projected on the screen, and an image signal generating means. Distortion correction means for adding distortion to the image signal generated by the means, image forming means for forming an image to be projected on the screen from the image signal distorted by the distortion correction means, and the image forming means It is characterized by comprising an image projecting means for projecting an image on the screen and a projection optical system for forming an image projected on the screen by the image projecting means.

Further, a non-planar screen for displaying an image to be projected, a head movement detecting means for detecting a movement of the head, and a head movement detected by the head movement detecting means for the screen. Image signal generating means for generating an image signal to be projected onto the screen, distortion correcting means for applying distortion to the image signal generated by the image signal generating means, and the screen from the image signal distorted by the distortion correcting means. Image forming means for forming an image to be projected onto the screen, image projecting means for projecting the image formed by the image forming means on the screen, and image formation of the image projected on the screen by the image projecting means And a projection optical system.

[0024]

[Action]

(1) The present invention integrates a high-magnification projection optical system with a small, non-planar screen as described above, and is equipped with a function for detecting three-dimensional movements of the head.
(EN) A head-mounted image projection device that provides images that are more realistic than before with less eye strain.

A projection image projected from a small image projection device placed on the upper part of the head is projected on a non-planar screen having a wide viewing angle arranged in front of the face, and the three-dimensional movement of the head It is possible to realize a realistic image space by detecting the motion by the motion detection function and controlling the screen. (2) Further, the device control apparatus according to the present invention for detecting a head motion is a user for obtaining a motion amount due to an accurate head motion and further for defining a tilt angle of the head by the above-described configuration and means. The posture is defined and the amount of movement at this time is held as the reference amount at the specified timing, so that the tilt angle can be stably obtained by the sensor that independently detects the movement of the head from the reference amount and the movement amount. be able to.

In addition, the use time of the device is limited based on the elapsed time of use of the device, the rate of increase in the number of blinks of the user, or the duration of eye closure so that the burden on the user's body does not become too large. You can

[0027]

【Example】

(Embodiment 1) FIG. 1 shows an embodiment of claim 1 of the present invention. The image signal is first generated by the image forming means 16 in the image forming means 1.
3 is converted into a signal form that can be displayed. This image generating means can convert an image input from the outside, or can store an image by itself and convert it. Then, after conversion, it is input to the distortion correction means 15. Normally, the input image signal does not include any geometric distortion.

In the projection by the conventional projection device (when the projector and the screen face each other), there is no problem because geometric distortion does not occur except for a slight distortion that the projection lens itself has. In the present invention, a screen and a projector (hereinafter, collectively referred to as the constituent elements 11 to 16 of FIG. 1)
In principle, geometrical distortion occurs because is not in a direct positional relationship in terms of configuration. The distortion correcting means reduces the distortion of the projected image by applying distortion having characteristics opposite to those generated by the positional relationship between the screen and the projector to the signal generated by the image generating means.

The image signal whose distortion has been corrected here is converted into a projected image by the image forming means 13. The image formed by the image forming means is the image projection means 14 and the projection lens 1 of high magnification.
It is projected as a realistic image on the non-planar screen 11 by 2.

Separately from this, the head movement detecting means mounted on the head detects the three-dimensional movement of the head, and the control signal generating means generates a control signal corresponding to the movement of the head. Then, by changing the signal itself generated by the image generating means, a more interactive and realistic image space can be generated.

FIG. 2 shows a state in which the head mounted image projection device according to the present invention is mounted. Here, in order to simplify the drawing, 12 to 16 in FIG.
17 and 18 are represented as the motion detection unit 24. As is clear from this figure, compared to the conventional projection device, it is possible to enjoy an image that is very compact but realistic.

FIG. 3 is a diagram showing a concrete state of image correction. FIG. 3A is an image without distortion, and FIG. 3C is an image when projected on a non-planar screen obliquely from above without distortion correction. Finally, the distortion image 3 (b) is added to form the projected image image 3 (d) with less distortion on the screen.

In the present invention, the screen has a non-planar shape, but the features of the conventional flat screen will be described with reference to FIG. Here, a spherical surface is taken as an example of the non-planar screen to explain in the horizontal direction, but the same applies to the vertical direction, so the description thereof will be omitted.

In FIG. 4, 41 is a flat screen, 42 is a spherical screen, and 43 is a projector arranged on the upper part of the head.
In FIG. 4, the distance from the projector to the screen is d (m),
Letting the half angle of view of the projection lens be θ (rad), the horizontal lengths required for projection are given by the following equations, assuming L1 and L2 for a flat screen and a spherical screen, respectively.

[0035]

[Equation 1] Is required. As is clear from the above equation, at θ << 1
You can set tan θ = θ, but as θ increases, L1 >> L2.

For example, when d = 1 (m), the angle of view is 90 degrees (θ = π
In / 2), L1 = 2 (m) and L2 = 1.57 (m), and it is necessary to increase it by nearly 30% in order to realize the same angle of view as a spherical screen on a flat screen. Increasing the angle of view widens this difference. Further, in the case of projection on a flat screen, when the projector and the screen are separated as in the conventional example, it is necessary to turn off the surrounding illumination at the time of projection to make the screen dark.

Further, if the flat screen and the projector are integrated, the size becomes considerably large. If a non-planar screen and a projector are integrated as in the present invention, it is possible to project without affecting the surroundings (without being affected), and since the parts other than the screen do not enter the field of view, they are immersed in the projected image. You can do it. However, although the distortion increases structurally toward the periphery of the screen, in the present invention, by adding a correction signal in consideration of this distortion to the signal from the image signal generating means, the distortion is small and the image is realistic. You can

Another embodiment of the present invention is shown in FIG. Reference numeral 51 is a non-planar screen formed inside the housing, 52 is a projection optical system, 53 is an image forming means, 54 is a projector main body, and 55
Is the rear depth of field, 56 is the front depth of field, 57 is the line extending the average distance from the projector to the screen, 5
8 is an extension line of an axis perpendicular to the optical axis of the projection lens, 59
Is an extension of the axis of the image display device.

In the present embodiment, the three extension lines 57, 58 and 59 are arranged so as to be tilted so as to be gathered at one point P, and in this state, the projection optical system is configured so as to be within the depth of field.

With such a relationship, it is possible to focus on the entire surface of the projection screen irrespective of the depth of field according to the Scheimpflug's law.
In the present invention, since the screen is not flat, it is unavoidable to rely on the depth of field of the optical system to focus on the entire screen, but as shown in FIG. Compared with the case of applying it as it is (the screen, the projection optical system, and the image forming means are parallel to each other), the depth of field necessary for focusing on the entire screen can be made shallow. Since the depth of field is roughly proportional to the F value of the lens, the fact that the depth of field can be made shallow means that the F value of the projection lens itself can be made small. This means that the light quantity of the light source that projects the image can be effectively used. This can reduce the electric power of the light source for obtaining the same brightness of the projected image as compared with the conventional one, leading to power saving. According to this embodiment, it is possible to obtain a brighter, sharper and clearer projected image.

7 to 9 are views for explaining modified examples of the present invention. FIG. 7 shows the basic projection magnification relationship of the optical system. Reference numeral 71 is a projected image, 72 is a projection lens, and 73 is an image formed by the image forming means.

The projection magnification at this time is s1, s2, s3 for the distance from the principal point of the projection lens to the projected image, and s'1, s'2, s'3 for the distance from the principal point to the image of the image projection means. Then, the screen edge and the screen center can be expressed by the following equations.

[0043]

[Equation 2] This is m1 = m2 = m3 when projecting on a flat screen directly facing the projection lens, resulting in uniform magnification, but if the screen and projection lens do not face each other, or if the screen is not flat even when facing directly Distortion occurs because the magnification on the projection screen is not uniform.

FIG. 8 is a horizontal cross section of a modification of the present invention.
81 is a screen which is made aspheric in order to reduce the distortion of the projected image, 82 is a screen on a spherical surface with a constant radius of curvature,
Reference numeral 83 is an image forming unit, and 84 is a projector. In the case of the 82 screen, if the projection magnification on the spherical screen is defined as in FIG. 7, m2> m1 and m3, and as is clear from the figure, the projection magnification is significantly reduced in the peripheral area of the screen compared to the central area of the screen. .

As a result, barrel distortion occurs on the projection screen and the image quality is significantly degraded. In this case, since the magnification of the peripheral portion is lower than that of the central portion, it is possible to correct the distortion by electronically increasing the magnification of the image in the peripheral portion. Complicated processing is required,
It is not suitable for projection of moving images that require real-time processing.

The feature of the present invention is to continuously change the curvature of the screen so that the image quality of the projected image by the electronic distortion correction falls within the allowable limit. In FIG. 8, if the horizontal angle of view within the visually permissible distortion range is θH, other angles (θH ~
θ) is the image distortion correction area. Since the correction in this range is lower than the screen center magnification, it is necessary to increase (enlarge) the magnification. This correction is performed only by electronic correction within a range in which the image quality is acceptable by electronic correction, and the range exceeding that is corrected by combining the electronic correction and the correction based on the screen shape. In FIG. 8, the correction in the correction area exceeds the electronic correction area, and the screen shape in the correction area is continuously changed as shown by the broken line. As a result, the magnification of the peripheral portion of the projected image due to the screen shape changes as follows (since the screen shape is symmetrical, m1 = m3).

[0047]

(Equation 3) And the peripheral magnification increases compared to the spherical screen,
The difference from the magnification of the central part is reduced. As a result, the distortion of the projected image can be suppressed within the allowable range by performing the electronic correction after the distortion correction based on the screen shape.

FIG. 9 is a diagram in which the present invention is applied in the vertical direction. 91 is an aspherical screen for reducing distortion, 92 is a spherical screen, 93 is an image forming means, and 94 is
Is a projector. The relationship between the projector and the screen is symmetrical in the horizontal direction, but in the vertical direction the distortion characteristics are reversed in the upper half and the lower half of the screen because the projector is placed overhead, so the curvature radius changes. Are also opposite to each other. In the upper half, the distance between the projection lens and the screen is short with respect to the center of the screen, and the magnification is low.Therefore, in order to increase the magnification, the surface is made aspheric so that the distance is larger than the radius of curvature of the spherical screen. On the contrary, in order to suppress the magnification, asphericalization is performed so that the distance is shorter than the radius of curvature of the spherical screen. Also in this case, as in the horizontal direction, the curvature to be aspherical is set so that the distortion of the projected image after the electronic correction is further within the allowable range.
As described above, by taking the electronic distortion correction into consideration, by making the radius of curvature of the screen aspherical, it is possible to realize a compact image projection apparatus with less distortion.

10 and 11 are views for explaining another modification of the present invention. Here, a vertical cross section of the present invention will be described as an example. 111 is a non-planar screen, 112 is a projection lens, 113 is an image forming means, 114 is a distortion correction means, and 115 is an image input means. In this case, the distance between the projection lens and the screen is short in the upper half and long in the lower half with respect to the center of the projection screen.

Therefore, the projection magnification of the projection screen increases from top to bottom, and significant distortion occurs at the top and bottom of the screen (FIG. 11A). As for the correction of this distortion, it is as described above that the electronic correction or the correction by asphericalizing of the screen is effective, but in the present embodiment, the distortion of the projection optical system is further affected by the characteristics of the projection lens itself. Reduces the distortion of the projected image by giving the distortion of the inverse characteristic. In this embodiment, the projection lens is provided with a pincushion distortion as shown in FIG.
As shown in 1 (c), the distortion of the projected image is reduced. In this way, since the burden of the electronic correction and the correction due to the asphericalization of the screen can be reduced by correcting the distortion even with the projection lens, a head-mounted image projection device with a simple configuration and less distortion is realized. You can

FIG. 12 shows another modification of the present invention. In this embodiment, an optical system for distortion correction is provided in addition to the projection lens for projecting an image on the screen. In the figure, 131 is a non-planar screen, 132 is a projection optical system, 133 is an inverted real image plane by a distortion correction optical system, 134 is a distortion correction optical system,
Reference numeral 35 is an image forming unit, 136 is a distortion correcting unit, 137 is an image signal generating unit, and 138 is an average image plane of the screen.

First, the projection optical system alone is shown in FIG.
Distortion as shown in will occur. In this case, the vertical magnification increases as the distance between the optical system and the screen increases toward the bottom of the screen. Since it also has a curvature in the horizontal direction, a nonlinear distortion as shown in the figure occurs. This distortion can be explained as follows. Approximating the magnification assuming an average image plane on a curved screen, the magnification at the top and bottom of the screen is (the projected image on the screen against the inverted real image plane by the distortion correction optical system shown in the figure). Magnification)

[0053]

(Equation 4) Here, distortion occurs because md> mu. Therefore, if this unbalance is compensated by a correction optical system so that the total difference in magnification becomes small, the distortion can be greatly reduced.

To this end, the distortion correction optical system and the image forming means are arranged as shown in FIG. In the relationship of the figures, the uppermost magnification and the lowermost magnification of the inverted real image plane formed by the distortion correction optical system for the image formed by the image forming unit are

[0055]

(Equation 5) Therefore, in order to eliminate the distortion, the arrangement of the distortion correction optical system 134 and the image forming means may be determined so that mu · mcd = md · mcu. At this time, by arranging the correction optical system, the image-forming surface by the correction optical system, and the respective extension lines of the image forming apparatus so as to be gathered at one point p (Scheenfluff's law), the entire screen can be focused.

FIG. 13B shows distortion characteristics of the correction optical system alone. Strictly considering the characteristics of the optical system, the characteristics are nonlinear, but here the distortion characteristics due to the geometrical arrangement are simply shown. As a result, the distortion of the projected image is greatly reduced without using the electronic correction unit 136 (FIG. 13).
(C)).

Even if the magnifications cannot be exactly matched due to various restrictions of the apparatus, the optical correction can reduce the load of electronic correction, correction by the screen shape, and the like.

14 to 17 are views for explaining another embodiment of the present invention. FIG. 14A shows a projection state of a conventional image projection device. Reference numeral 151 is a screen, 152 is a projection lens, and 153 is an image forming means.

FIG. 14B shows a change in the peripheral light amount ratio with respect to the angle of view at this time. As shown in FIG. 14B, the peripheral light amount decreases in proportion to the fourth power of cos θ with respect to the angle of view θ.

In the conventional image projection apparatus, the angle of view is relatively small, but since a large screen is realized by increasing the distance between the projection lens and the screen, it is necessary to strengthen the light source to obtain the required brightness. However, the decrease in peripheral light amount did not pose a problem.

However, in the present invention, since a large screen with a realistic sensation is projected at a position relatively close to the naked eye, the angle of view of the projection lens inevitably becomes considerably larger than that of the conventional projection lens.
The decrease in the peripheral light amount has a great influence on the image quality. For this reason,
In the present embodiment, the reduction of the peripheral light amount due to the increase of the angle of view is improved.

FIG. 15A shows a vertical section of the present invention.
161 is a non-planar screen, 162 is a projection lens, 1
63 is an image forming means. FIG. 15B shows the peripheral light amount ratio (Iθ / I0) when the screen reflectance is uniform. As shown in FIG. 15B, in the upper half (θ direction) and the lower half (−θ direction) of the screen center, the decrease in the peripheral light amount is unbalanced, and when the angle of view is increased, the decrease amount and the unbalanced amount are unbalanced. And the image quality is significantly deteriorated.

FIG. 16 (a) shows a vertical cross section of the present invention.
171 is a non-planar screen, 172 is a projection lens, 1
Reference numeral 73 is an image forming means. FIG. 16B shows the peripheral light amount ratio when the screen reflectance is uniform. Also in this case, as in the vertical section, the peripheral light amount greatly decreases depending on the angle of view, so that the image quality deteriorates significantly.

As described above, when the reflectance of the non-planar screen remains uniform, the peripheral light amount significantly deteriorates depending on the screen and the projection position. In the present embodiment, it is suggested that the image quality deterioration due to the reduction of the peripheral light amount is suggested by changing the reflectance of the screen depending on the projection location.

FIG. 17 shows an example in which the decrease in the peripheral light amount is suppressed within an allowable range by continuously changing the reflectance of the screen depending on the projection location. FIG.
(C) is an example applied to the vertical section of FIG. FIG.
17A is a peripheral light amount ratio when the screen reflectance is uniform, FIG. 17B is a screen reflectance that is continuously changed to reduce a decrease in the peripheral light amount ratio, FIG. 17C.
Is the peripheral light amount ratio after correction. In this way, the image quality can be significantly improved by providing the screen reflectance with a characteristic that is opposite to the reduction in the peripheral light amount ratio of the optical system.

An embodiment of the motion detecting mechanism installed in the present invention will be described below. First, it demonstrates using FIG. The head-mounted image projection device described in the present invention has a function of independently detecting the movement of the head. Therefore, the movement of the head is detected by setting a reference state quantity inside the body and detecting a change in the output of the movement detection sensor corresponding to the state quantity.

Conventionally, in a virtual reality system having a motion detecting function, a game center, etc., motion detection has been performed using a magnetic sensor. This is because when a sensor (orthogonal coil) is placed in a magnetic field generated by a source (orthogonal coil), a current is induced in the sensor, and the position and angle of the state quantity are detected by detecting this. Although this method detects motion accurately, it has the disadvantage that it requires a fixed source part in addition to the sensor that detects motion in principle, and the device itself is large and expensive. .

The motion detection function incorporated in the present invention is intended to realize motion detection which is independent by itself and has no practical problem in a low cost system. FIG. 18 is a flowchart showing the steps of detecting the mounting state, initializing the reference value and starting the motion detection operation. Performing the operation as shown in the figure, setting the state of each motion detection sensor at the time of wearing as the initial value, and thereafter detecting the movement of the head by the amount of displacement from the initial value, the independent motion detection function Can be realized.

FIG. 19 is a diagram for explaining the present invention. Unlike the conventional image projection apparatus, the present invention has a head movement detection function in addition to the projection apparatus. Figure 19 shows the movement of the head.
As shown in FIG. 3, it is roughly divided into the following three parts (a: tilt in the left-right direction of the head, b: tilt in the front-back direction of the head, c: rotation of the head in the horizontal direction).

Therefore, the three-dimensional movement of the head can be detected by detecting these three movements. In this embodiment, as the motion detecting means, a tilt angle detecting sensor is used for a and b, and a motion is detected by an angular velocity detecting sensor for c.

FIG. 20 shows the mounting state of each sensor.
Reference numeral 211 denotes a tilt angle sensor that detects the tilt of the head in the left-right direction, 212 is an angular velocity detection sensor that detects the rotation of the head in the horizontal direction, and 213 is a tilt angle sensor that detects the tilt of the head in the front-rear direction. Although 211 and 213 are the same inclination angle sensor, they are arranged so that the angle detection sensitivities become maximum when they are offset by 90 degrees.

In FIG. 20, each inclination angle sensor is arranged on the x and y axes, but this does not necessarily have to be on the axes, and on the same plane, each is parallel to the x and y axes, and There is no problem as long as the detection directions are 90 degrees apart from each other. The angular velocity sensor is arranged substantially at the position of the center of rotation of the head and detects the rotation in the horizontal direction.

FIG. 21 shows the relationship between the detected angle and the output when the sensors are arranged as shown in FIG. FIG.
1 (a) is a detection angle and input / output characteristics corresponding to the tilt angle sensor 211, FIG. 21 (b) is a detection angular velocity and input / output characteristics corresponding to the angular velocity sensor 212, and FIG. 21 (c) is corresponding to the tilt angle sensor 213. These are the detected angle and the input / output characteristics. Since each sensor has a linear input-output relationship with positive and negative angles or angular velocities, the three-dimensional movement of the head can be easily detected from the outputs of these sensors.

Although the output of the angular velocity sensor is shown as it is, if the angle is detected as in the case of the tilt angle sensor, the angle (state can be calculated by initializing and then integrating the output of the angular velocity sensor). Quantity) can be obtained.

An embodiment of the present invention will be described with reference to FIGS. FIG. 22 shows the input / output characteristics when the rotation axis of the angular velocity sensor for detecting the horizontal rotation of the head used in this embodiment is deviated. As shown in the figure, the output voltage E0 when it is tilted by an angle θ with respect to the rotation axis (z axis in this example) remarkably decreases as the tilt angle increases. In the head-mounted image projection apparatus proposed by the present invention, the mounting state varies depending on the person who wears it, and there is a possibility that the center of rotation will be different depending on the person who wears it. For this reason, if it is attempted to cover the entire range with one angular velocity sensor, the sensitivity for detecting the motion of the head may be significantly deteriorated in some cases.

Here, in order to prevent the deterioration of the motion detection sensitivity, a plurality of angular velocity sensors for detecting the rotational angular velocity in the horizontal direction of the head are arranged, and the angular velocity sensor closest to the center of rotation of the wearer is used for rotation. Detect motion.

FIG. 23 shows the arrangement of a plurality of angular velocity sensors. The figure is a view of the head-mounted image projection device of the present invention as viewed from the back. In this embodiment, three angular velocity sensors are arranged. In the figure, reference numerals 242, 243, and 244 denote angular velocity sensors arranged at positions where the rotation axes are inclined by an angle θ. The placement position is the central axis 245 in the left-right direction.
Shall be moved. The respective angular velocity sensors are arranged at every inclination angle θ such that the sensitivity of motion detection is within the allowable limit.

FIG. 24 shows the sensitivity of each sensor to the tilt angle. As can be seen from the figure, since the peak of the sensitivity of each sensor appears for each tilt angle θ, it is possible to detect with a uniform sensitivity over a wide range, compared with the detection with one tilt angle sensor.

The operation flow of this embodiment will be described with reference to FIG. First, the output comparing means 264 compares the outputs 261, 262, 263 from a plurality of angular velocity sensors having different rotation axes when the head is horizontally rotated by mounting the image projection apparatus of the present invention. The sensor having the largest output is designated by the sensor designating means 265, and subsequent motion detection is performed using the designated sensor output. By doing so, it is possible to detect the motion evenly in a wide range of wearing states.

In the embodiment shown in FIG. 26, three angular velocity sensors are used to detect the movement of the head. FIG. 26 shows the mounting position of the angular velocity sensor. 271 detects rotation about the Z axis, 272 detects rotation about the Y axis, and 273 detects rotation about the X axis.

In this embodiment, since all movements of the head are detected by rotation, it is necessary to mount the sensor at the rotation axis or within the range where the detection sensitivity is allowable from the rotation axis. By doing so, the three-dimensional movement of the head can be detected. Since the angular velocity sensor used here detects only the amount of change with respect to the motion with the output as it is, it is possible to detect the state by integrating the sensor output when detecting as the state amount depending on the application. In this example as well, similarly, the output from the sensor is stored as an initial value at the time of mounting, and thereafter, the motion detection is performed based on the amount of change from the initial value, whereby an independent motion detection function can be realized by itself.

The embodiment of FIGS. 27 and 28 is shown. FIG.
(A) shows one example thereof. After the visual field change is detected by the visual field change conversion means by the output from the head movement detection means, the range corresponding to the visual field in the image signal generated by the image signal generation means via the control signal generation means is used as the projection image. select. FIG. 27B shows image display ranges 284, 285, 286 corresponding to the field of view in the displayable range 283 of the image signal generated by the image signal generating means. Here, the image range generated by the image generating means has a very wide angle of view so as to sufficiently cover the image display range corresponding to the field of view.

On the other hand, the image display range corresponding to the field of view displays 284 when facing the front. When the head is moved so that the head movement detecting means faces diagonally upward to the left, the visual field change converting means selects the range 285 as an image to be projected on the screen 281. Similarly, when it is determined that the movement of the head is directed to the lower right, the image display range 286 is selected. In this way, if the image corresponding to the visual field can be easily switched by the movement of the head, it is possible to enjoy a realistic image.

FIG. 28 (a) shows another embodiment.
In FIG. 27, the display range of the image is switched depending on the field of view by using the image signal generating means, but in this embodiment, the control signal related to the change of the field of view is directly input to the image generating device which externally supplies the signal source of the image, This is a method of changing the input image itself. FIG. 28B shows a display image that is switched by detecting the movement of the head. 293 is a projected image display range when facing forward, 294 is a projected image range when it is determined that it is facing diagonally left upward, and 295 is a projected image display range when it is determined that it is facing diagonally right downward. is there.

In this system, since an input image is generated by an external image generating device, the image projecting device of the present invention may have a simple structure, and if a computer having a high processing capacity is used as the image generating device, it is considerably advanced. It is also possible to realize a virtual reality space.

The first embodiment is summarized as follows. 1. In an image projection apparatus mounted on the head, a non-planar screen for displaying a projected image, an image signal generating means for generating an image signal to be projected, and an image forming means for forming an image to be projected from the image signal An image projecting means for projecting an image formed by the image forming means on a screen, a projection optical system for forming the projected image formed by the image forming means on the screen, a projection optical system and a screen, and a projection Distortion correction means for electronically correcting distortion generated in the projection optical system composed of image forming means, head movement detection means for detecting movement of the head, and image signal based on detection signals from the head movement detection means And a control signal generating means for controlling. 2. The image forming means and the projection optical system are tilted with respect to the screen so that the screen is within the depth of field of the projection optical system. 3. The radius of curvature of the screen is characterized in that it is continuously changed at the projection location in order to reduce the distortion generated in the projection optical system. 4. The projection lens of the projection optical system is characterized by having a distortion aberration having a characteristic opposite to that of the distortion generated by the projection optical system. 5. The distortion correcting means is characterized in that the distortion correcting optical system provided separately from the projection optical system corrects the distortion by adding distortion having characteristics opposite to those of the projection optical system to the projected image. 6. The reflectance of the screen is increased as it goes from the projection center to the periphery of the screen so as to correct the decrease in the peripheral light amount of the projection optical system. 7. The motion detecting means stores the state of the image projection apparatus of the present invention when the device is attached as an initial value, and thereafter performs a head motion detecting operation by detecting a change from the initial value. To do. 8. The head movement detecting means detects a three-dimensional movement of the head by using a biaxial inclination angle detection sensor and a uniaxial rotation angular velocity sensor. 9. The detection of the horizontal rotation of the head by the head movement detecting means is most suitable for the rotational movement of the head of the wearer among the plurality of angular velocity sensors arranged on the left and right central axes of the head. The feature is that an angular velocity sensor with a large output is selected to detect an angle in the horizontal direction. 10. The head movement detecting means is characterized in that the three-dimensional movement of the head is detected by three angular velocity sensors that detect rotational movements of three axes orthogonal to each other. 11. The control signal generating means for controlling the image signal is characterized in that the projection image is changed in the visual field due to the three-dimensional movement of the head. (Effect of Embodiment 1) As described above, according to the present invention, the geometric distortion generated in the configuration is corrected electronically or optically, so that the eye strain is small, the size is small, and the weight is large. It is possible to realize an image projection device that enjoys the screen and creates a realistic image space by the built-in head movement detection function. (Embodiment 2) An embodiment of the present invention will be described below with reference to the drawings.

FIG. 33 is an example of a block diagram showing the configuration of the embodiment according to the present invention. The device control apparatus according to the present embodiment for detecting head movements includes n sensors 101 to 10n capable of independently detecting head movements in one movement direction such as velocity, acceleration, angular velocity, or inclination angle, and movement amount generation. Unit 342, reference amount holding unit 343, state amount generation unit 3
44, change amount generation unit 345, operation pattern memory unit 34
6, the head motion recognition unit 347, the control signal generation unit 348, and the control execution processing unit 349. The sensors 101 to 10n are connected to the motion amount generation unit 342.
2 is connected to the reference amount holding unit 343, the state amount generation unit 344, and the change amount generation unit 345.

Further, the reference amount holding unit 343 is the state amount generation unit 344, the state amount generation unit 344 is the change amount generation unit 345,
Head motion recognition unit 347 and control signal generation unit 348
In addition, the change amount generation unit 345 is connected to the head motion recognition unit 347 and the control signal generation unit 348.

Further, the motion pattern memory unit 346 is the head motion recognition unit 347, the head motion recognition unit 347 is the control signal generation unit 348, the control signal generation unit 348 is the control execution processing unit 349, and the control execution processing unit. 349 is a control target device 3
41 is connected.

The motion amount generating unit 342 is a head in one motion direction such as velocity, acceleration, angular velocity, or inclination angle incorporated in a headset 3510 having a speaker 3511, a microphone 3512, etc. as shown in FIG. N sensors 101 to 10 capable of independently detecting motion
n, and these outputs are converted individually or in combination into an amount called an operation amount. This motion amount is calculated by the motion amount generation unit 342 as shown in FIG.
For example, if the outputs from the three sensors 101 to 103 installed in the headset 3510 so as to detect respective moving speeds in the three orthogonal directions are Vx, Vy, and Vz, the operation amount M at a certain time t is , Each independently like the motion amount a14,

[0091]

(Equation 6) And regulation, or combining them as necessary, as in the operation amount b15,

[0092]

(Equation 7) Is a quantity that represents the head movement based on the output of the sensor defined as. If the outputs of the respective sensors 101 to 103 are treated as individual movement amounts like the former movement amount a14, the processing can be performed independently, so that the circuit configuration can be simplified. This is a process that is also performed in the conventional example shown in FIG.

In the present invention, when the output required for control at a certain time changes to one or two,
Alternatively, when the control does not require head movement information in all three directions, all the sensors 10 to 103 are selectively processed by selectively processing the outputs of the respective sensors 101 to 103.
It is also in mind to improve the signal transmission and processing efficiency as compared with the case where the outputs 1 to 103 are always handled.

Further, different types of sensors 101 to 10 are used.
When the head motion is detected by n, even if the output of the sensor is detected at the same time, if the subsequent processing is independently performed like the motion amount a14, the processing time is As a result, the resulting head movement is temporally different from the actual one. Further, when the interrelation of the outputs of all the incorporated sensors 101 to 10n is obtained, the detection of a state in which the outputs of all the sensors 101 to 10n do not change, that is, the detection of a stationary state or a certain time is performed. Since it is easy to detect the three-dimensional direction vector of the head movement, the head movement can be grasped more accurately. For the above reasons, the present invention is also different from the conventional example in that the latter operation amount b15 is taken into consideration by combining the outputs of the respective sensors 101 to 10n detected at a certain time. There is.

In the apparatus having the structure shown in the conventional example of FIG. 69, systematically obtaining the tilt angle of the head from the sensor capable of independently detecting the movement is a reference for representing the tilt of the head. It is difficult because the basic posture of the user is not generally specified. Therefore, in the equipment control device by head movement detection according to the present invention, the posture as shown in FIG. 36, that is, the state in which the user is facing the front is set as the reference head position, and the movement amount at that time is set. Alternatively, the output of the sensor is held in the reference amount holding unit 343 as a reference amount for obtaining the tilt angle of the head.

By doing so, the head tilt angle can be systematically obtained even by the sensor capable of independently detecting the head motion in one motion direction such as the velocity, the acceleration, the angular velocity, or the tilt angle. That is, the state of the head among the device control apparatus by the head motion detection according to the present invention, the control-controlled device 341, and the user can be shared in one coordinate system. In addition, the median plane in FIG. 36 is a term relating to the measurement of the human body, which is defined as "a center plane that divides the body into left and right phase halves", and a head vertex is defined as "the highest point on the median plane of the head". is there. Further, the held reference amount may have different properties such as a value indicating a stationary state or a value indicating a tilt angle depending on the type and characteristics of the sensor.

The reference amount holding unit 343 holds the reference amount after the device is activated and the headset 3510 is mounted or after the headset 3510 is mounted and the device is activated, the posture defined in FIG. It is basically done in a facing state. As shown in FIG. 37, in the reference amount holding unit 343, first, the operation amount at a certain time is read (S201), and this is read by the headset 3510.
It is determined whether or not the reference amount holding timing of the mounting, the mounting confirmation operation by the user, the power supply to the apparatus, or an arbitrary timing by the apparatus is detected (S202), and this is repeated until it is detected. Immediately after the reference amount holding timing is detected or after a delay time that can be arbitrarily set, the read operation amount is held as the reference amount (S203).

Further, the user is notified (S204) by a holding completion notifying means such as turning on an LED separately prepared that the holding of the reference amount is finished, and the process is finished. If the user does not hold the reference amount holding timing by the holding completion notification, the user can promptly take a countermeasure such as a mounting confirmation operation again or a restart of the apparatus itself.

Thereafter, the inclination angle of the head is obtained by using the reference amount thus held as the reference value for expressing the posture of the head. Thus, unlike the conventional example shown in FIG. 69,
Not only the basic posture for holding the reference amount but also the timing has been specified so that the user can easily confirm whether or not this holding was performed correctly.

In the reference amount holding unit 343, it is judged whether or not the reference amount holding timing of the processing shown in FIG. 37 is detected (S202), and after this is detected, the output V of the sensor is previously set as shown in FIG. A step (S205) of determining whether the set allowable value R or more or the sensor output V obtained corresponding to the head tilt angle is the preset allowable value R or more is added, and the sensor malfunctions. Do not hold an abnormal value or a reference amount in a position other than the basic posture due to an abnormal output, or the user's head not tilted to the front and the head tilted. . Also, in this additional step (S205),
It is also determined whether or not the change ΔV in the output of the sensor at a certain time interval is equal to or greater than a preset allowable value R (S205), and at this time, the head is not stationary and the reference amount is not held. In this way, the reference amount can always be held correctly under the specified conditions.

In order to automatically detect the wearing of the headset 3510, as shown in FIG. 39, the joint portion of the belt which is fastened to the head by the chin or the back of the head is used as a switch, or the head accompanying the fixation is used. There are methods such as detecting changes in pressure and temperature on the inner wall surface of the set 3510, and further detecting interruption of an optical switch installed between the inner wall surfaces.

The wearing confirmation operation is a voluntary operation such as pressing a button or turning on / off of a switch, which is installed in a separately prepared controller, which is performed with the user facing the front after the wearing of the headset 3510 is completed. Operation. In this way, by making the user aware of the operation for holding the reference amount, the reference amount can be held more reliably at any timing.

The state quantity generation section 344 has a motion quantity generation section 34.
40. Based on the motion amount obtained in 2 and the reference amount held in the reference amount holding unit 343, the turning angle (yaw angle), the forward / backward bending angle (pitch angle), and the left / right bending angle ( The roll angle) is calculated, and each angle information is sequentially converted into a quantity called a state quantity. State quantity θt at a certain time t
Let θy be the turning angle at this time, θp be the front-back bending angle, and θr be the left-right bending angle, then θt = f (θy, θp,
θr). By processing in this way, it is possible to systematically obtain the tilt angle of the head, which was difficult in the conventional example.

As shown in FIG. 41, the state quantity generating unit 344 first reads the operation quantity at that time (S206).
Next, the stored reference amount is read (S207),
Calculation for obtaining the state quantity is performed (S208). The calculation performed to obtain this state quantity is based on the reference quantity,
If the output of the sensor is the amount of change such as speed, it is an integral,
In the case of an angle value such as a tilt angle, it is subtraction. Also, FIG.
As shown in 2, the state quantity is basically handled as a basic posture of the user when the reference quantity is held on each angle axis, that is, as a relative angle (± θ) with 0 degrees when facing the front. To do. Of course, it is also possible to obtain the rough state of the posture of the head and execute the control only with the sign information (+ or −) of the relative angle.

The change amount generating section 345 calculates the amount of movement associated with continuous head movements, or the amount of change in the state amount in a certain time interval, and sets this as the amount of change. The change amount is a change amount of the operation amount M or the state amount θ, where Δt is a time interval for calculation as shown in FIG. 43.

[0106]

(Equation 8) Can be specified. The time interval for performing the calculation for obtaining the amount of change can be arbitrarily set according to the characteristics of the sensor, the specifications of the controlled device 341, or the user's request.

In the present invention, the control target device 341 is sequentially operated in accordance with the amount of change or the amount of state associated with head movement.
It is also possible to perform not only the control of the motion vector but also the motion pattern according to a series of head motions at a certain time interval. For that purpose, the motion pattern memory unit 346 stores in advance basic motion patterns of various head motions including state quantities, variation quantities, or both.

For example, when the basic operation pattern P consisting of only the state quantity θ is required to control the controlled device 341, the state quantity and the basic operation pattern correspond to each other as shown in FIG. 44 (a). It is stored in the attached table format.
Further, if the basic operation pattern P including both the state amount θ and the change amount ΔC is required, the state amount, the change amount, and the basic operation pattern are associated with each other in a two-to-one relationship as shown in FIG. It is stored in a table format.

As shown in FIG. 45, the head movement recognizing unit 347 first reads the state quantity, the change quantity, or both obtained sequentially from the head movement (S209). These and the data stored in the motion pattern memory are compared (matching process), and a series of head motions are identified as any motion of the basic motion pattern or other motions (S210). Then, the result of the head motion identification processing is output (S211). Further, the user is notified by a notification means such as lighting of a separately prepared LED (S212).

The control signal generation unit 348 is based on the recognition result, the state amount, or the change amount recognized by the motion recognition unit, and is set in advance for the controlled device 341 corresponding to those head motions. It outputs the control signals necessary for control. These can be selectively used depending on the difference in head movement required for control or the user's request. For example, in a system that changes the visual field of the image displayed on the head-mounted display according to the tilt angle of the head, that is, the state amount, the state amount θ and the control signal D for controlling the visual field of the image are set to 1: 1. Correspondingly Figure 4
It may be set as shown in 6 and stored.

The control execution processing section 349 executes control of the control-target equipment 341 via a predetermined interface according to the control signal from the control signal generation section 348. The control target device 341 includes a head-mounted display that changes the visual field of the image according to the head movement, a device that changes the posture of the television camera, and the like.

When the controlled device 341 is not controllable by a control signal from the outside or when miniaturization of the device is required, device control by head motion detection according to the present invention is performed. The whole or part of the device may be incorporated as a part of the signal processing unit of the control target device 341, and the device may be configured as if it is an integrated device.

The output of the sensor may change depending on the state of the head when the head operation is performed. For example, FIG.
Consider an inclination angle sensor 4820 having a structure as shown in FIG. The tilt angle sensor 4820 detects the tilt angle by moving an internal pendulum 4822 in the direction of gravity as shown in FIG. 47 (b). When this sensor is installed so as to detect in the X-axis direction, as the tilt angle in the Y-axis direction orthogonal to each other as shown in FIG.
Part of the friction becomes large and the pendulum 4822 cannot move smoothly in the direction of gravity. As a result, the tilt angle in the X-axis direction cannot be correctly detected. Also, even when the output of the sensor represents an instantaneous value such as speed, the same operation is performed depending on the relationship between the weight of the headset 3510 and the gravitational acceleration, or at which position in the headset 3510 each sensor is installed. May not get the same output.

Therefore, in order to correct this, the sensor output correction means of the motion amount generator 2 first reads the state amount of the state amount generator 344, that is, the current tilt angle of the head as shown in FIG. 48 ( S213). Next, it is determined from the stored sensor output correction data table whether this state quantity is a state quantity that requires correction of the sensor output (S214). When correction is necessary, the correction data is read (S215) and output (S21).
6). The sensor output correction means stores the sensor output correction data only for the state quantities that need correction in the format shown in FIG. By doing so, it is possible to obtain an accurate amount of movement corresponding to the case where the outputs of the sensors are different even with the same head movement.

In controlling the controlled device 341, it may not always be necessary to accurately obtain the outputs of all the sensors incorporated in the headset 3510. For example, due to the unstable head movement as shown in FIG.
When it is desired to move the cursor 5124 on the personal computer screen linearly in one direction of up, down, left or right, or as shown in FIG. 50 (b), the rough vertical movement of the head is “Yes” and the rough horizontal movement is “No”. Considering control of a device having an interface to answer, for example, the outputs of the sensors incorporated in the headset 3510 are compared, and only the output of the sensor with the largest change amount is used for conversion of the operation amount, Assuming that the sensor output has not changed,
A linear motion input is possible, and the processing load in the subsequent stage can be reduced. Therefore, the motion amount generation unit 342 operates only the output of one sensor that can be arbitrarily set based on the result of comparing the outputs of the respective sensors by the single sensor selection unit or when the user requests. Used for quantity conversion. By this single sensor selection means, the controlled device 1 can be controlled only by the operation in a certain operation direction.

The processing in this case is as shown in FIG.
First, the outputs of all the sensors are read (S217), the amount of change in each output (Vy, Vr, Vp) at a certain time interval is calculated (S218), and the magnitude relationship between them is compared (S219 to S221). Only the output of the sensor with a large change amount is used for the conversion of the operation amount, and it is assumed that there is no change in the outputs of the other sensors (My, Mr, M
p) is output (S222 to S224). It should be noted that the output of a single sensor may be selected not only by comparing the amounts of change in the outputs of the sensors but also by the magnitude of the absolute value.

A plurality of different kinds of sensors detect the same direction movement by the head movement, and the sensor used for conversion of the movement amount is adaptively switched according to the characteristics of the movement and the detection characteristics of the sensor to make the head more accurate. The configuration of the device for detecting the motion is considered. For example, consider a case where the rotational angular velocity sensor 5326 and the geomagnetism sensor 5325 are installed at the center of rotation of the head rotation in order to obtain the head rotation angle (yaw angle) as shown in FIG. At this time, the rotation angular velocity sensor 5326
Can obtain the instantaneous value of the head movement, but the calculation is required to obtain the turning angle, and an error is likely to occur at that time. Further, the geomagnetic sensor 5325 can obtain the turning angle of the head. Although it is possible, it has a feature that it is difficult to detect a quick motion because of its slow response speed. So, in this case,
When converting the motion amount in the motion amount generation unit 342, the optimum sensor selection means determines the rotational angular velocity sensor 5326 when the head motion is faster than the set value, and the geomagnetic sensor 5325 when the head motion is slower than the set value. First, one sensor suitable for detection is selected. Further, a sensor identification number (sensor ID) capable of ascertaining which sensor has been selected is output together with the output of the sensor, and the processing unit in the subsequent stage refers to this and performs processing.

Next, the processing of the optimum sensor selecting means in this case will be described with reference to FIG. First, the output Vt of the rotational angular velocity sensor 5326 at a certain time is read (S225). The set value R for selecting one sensor suitable for detection is compared with Vt (S226), and if Vt> R, the rotational angular velocity sensor 5326 is selected (S227), and the output of this sensor and the identification number ( The sensor ID) is output (S228).

On the contrary, when Vt <R, the geomagnetic sensor 53
25 is selected (S229), and the output of this sensor and the identification number (sensor ID) are output (S230).

It is conceivable to use an inexpensive and low-precision sensor as a sensor for detecting head movements for a device for controlling a home TV game by head movements. As shown in FIG. 54, there is a case where the output drifts due to the temperature change of the environment and the usage time even when the output is stationary. In such a case, the reference amount held by the reference amount holding unit 343 becomes not a correct reference for obtaining the tilt angle of the head over time. Therefore, when the output of the sensor changes due to the drift, the reference amount holding unit 343 automatically uses the reference amount updating means to hold the reference amount held as a reference for obtaining the tilt angle of the head corresponding to the change. Update. In addition,
Update data for automatically updating the reference amount corresponding to the drift of the sensor output is stored in the format shown in FIG.

The initial setting operation of the reference amount updating means is performed by the headset 3 in order to accurately obtain the state of the drift change over time.
Place 510 on a stable place such as a desk without attaching it to the head. First, as shown in FIG. 56, a setting work start operation by the user is awaited (S231), and after that, the elapsed use time t is initialized (t = 0) (S232).
Next, the change with time of the output of each incorporated sensor is stored together with the time information at the sampling interval in the memory separately installed (S233). Then, when the change ΔV in the output of the sensor at consecutive sampling intervals becomes equal to or smaller than a preset value R, or when the elapsed time information becomes equal to or larger than the device usage time T assumed by the user, the data is stored in the memory. Is stored (S234), and L is prepared separately.
This is notified to the user by a notification means such as lighting of the ED (S235), and the initialization work is completed.

The method of updating the reference amount based on the drift change data over time is used depending on the sampling interval of the sensor output stored as drift drift over time or the rate of change in the time interval of an integral multiple thereof. . This is because, if the rate of this change is so small that control is not affected, the output of the sensor at that time should be supplementarily updated as the reference amount only when the stationary state is detected regardless of the usage time of the sensor. This is because it is not necessary to update the data frequently.

A process for selectively using the method of updating the reference amount based on the drift change data obtained in the initial setting operation will be described. As shown in FIG. 58, the processing when the drift changes with time as shown in FIG. 57 reads the sensor output due to the drift at the sensor use elapsed times t and t-1 into Dt and Dt-1 (S236). The change amount ΔD of the time interval is obtained (S237). This change amount ΔD is compared with a change rate value R set in advance to properly use the updating method (S238), and when this change amount ΔD is larger than the set value R, that is,

[0124]

[Equation 9] , The stored drift data over time

[0125]

(Equation 10) (S239), and on the contrary, the change amount ΔD is the set value R
Less than, that is,

[0126]

[Equation 11] In the case of, the stationary state is determined regardless of the change in stored drift over time and the sensor usage time (S240),
When this is detected, the output V of this sensor is read auxiliary (S241),

[0127]

(Equation 12) (S242).

The set value R of the change rate for properly using the updating method can be arbitrarily set according to the characteristics of the sensor, the specifications of the controlled device 341, or the user's request.

When the device is actually used, the temperature of the sensor itself is different due to the temperature of the initial setting work and the temperature of the use environment, or due to the restart, etc. The amount Ref0 may differ from the sensor output D0 stored as the drift change data over time corresponding to the sensor usage time t = 0. In this case, if the reference amount is updated based on the stored drift change data, the reference value for obtaining the head tilt angle will not be correct.

Therefore, at this time, the sensor use time t stored in the drift time variation data is shifted by the process shown in FIG. First, the reference amount held in the reference amount holding unit 343 is referred to as Ref0, and the sensor output D0 stored as the drift time change data corresponding to the sensor usage time t = 0 is read (S24).
3) The difference ΔS between them is calculated (S244). (ΔS =
(Ref0-D0) This difference ΔS is compared with the preset magnitude R of the allowable range (S245), and when ΔS> R, the sensor output Dm having the value closest to the reference amount Ref0 is stored. From drift drifting data over time

[0131]

(Equation 13) (S246), and the correction time T is calculated from the sensor usage time m at this time as follows (S247). After (T = t + m), the sensor use time t of the stored drift time change data is shifted by m, and the reference amount at the sensor use time t is set to Reft = DT = Dt + m to update the reference amount (S248). ).

That is, in the case of FIG. 59, since D2 is the sensor output Dm having the value closest to the reference amount Ref0, the correction time T becomes T = t + 2, and thereafter, Reft = Dt + 2.
As, the reference amount is updated.

Even if the inclination angle of the head is to be stably obtained by the operation amount and the reference amount, the angle information in the state amount generation unit 344 becomes the reference because of noise mixed in the output of the sensor or an error generated in the process. There is a possibility that it will be deviated from the state of facing the front. Therefore, FIG.
In order to detect the frontal state of the turning angle axis as in the example shown in FIG. 1, the light emitting unit a62 installed in the headset 3510.
The light from 27 is placed at a predetermined position on the body, for example, FIG. 61 (d).
Reflector a6237 installed in breast pockets, etc.
Irradiate the same to the headset 35
It is received by the light receiving unit a6228 installed in No. 10. Then, as shown in FIGS. 61 (a) and 61 (b), the front state detecting means detects and determines whether or not the head faces the front direction with respect to the body depending on the presence or absence of the reflected light or the strength of the reflected light.

The material and shape of the reflection plate a6237 are appropriately changed according to the specifications of the control target device 341 or the required accuracy of frontal state detection. In addition, FIG.
As shown in (c), the light emitting portion b6229 and the light receiving portion b62.
If 30 and the reflector b6238 are additionally detected, it is possible to more accurately determine whether or not the user is facing the front.

Furthermore, the light from the light emitting portion a6227 installed in the headset 3510 is directly directed to a part of the body, and the reflected light is received by the light receiving portion a6228 also installed in the headset 3510. It may be configured so that the determination is made based on the presence or absence of the reflected light or the strength of the reflected light. It should be noted that the angle determined to be in the front state by the front state detecting means is not necessarily strictly the angle corresponding to the state amount 0 degrees, but may be a range including the state amount 0 degrees (0 degrees ± θ). Good.

Next, the processing of the angle information correcting means for correcting the state quantity by the output of the front state detecting means will be described with reference to FIG. The front state detecting means determines whether or not the result corresponding to the front state is obtained depending on the presence or absence of the reflected light or its intensity (S249). If this is obtained, the angle information correcting means sets the state quantity to 0 degree. Reset to (S25
0).

For example, in the case of FIG. 61A, the light emitting section a
6227, and the respective reflected lights of the light from the light emitting unit b6229 are the light receiving unit a6228 and the light receiving unit b6230.
Therefore, the turning angle information is reset to 0 degrees. On the other hand, in the case of FIG. 61B, the light emitting unit a62
Since the reflected light of the light from 27 is not detected by the light receiving unit a6228, the reset is not performed. By such means
Misalignment of angle information due to various disturbances and errors in the processing process can be easily corrected by the user facing forward,
Control can be continued stably.

If the front state detecting means determines that the front state is set, the LE is separately prepared.
If it is notified by the front state notification means such as lighting of D,
Not only can the user confirm this while the device is in use, but since the user can objectively know that he or she is facing the front when holding the reference amount, it is possible to maintain the reference amount smoothly and accurately. it can. Further, if the apparatus side is set so that the reference amount is held only when it is determined that the front face is in this state, it is possible to always hold the correct reference amount in the basic posture. .

When controlling the apparatus for changing the visual field of the image displayed on the head-mounted display 6236 by the head operation, the visual field range of the image to be observed may be limited as shown in FIG. At this time, the user arbitrarily sets the range in advance, and if the head movement is adjusted according to the notification issued from the device when it becomes the angle information that does not fall within the field of view, only the periphery of the image to be observed Can be observed stably. State quantity generation unit 3 for ensuring this operability
The processing of the angle excess notification means in 44 will be described with reference to FIG. First, the state quantity is read (S251), and it is determined whether the state quantity is above the detection range of the sensor (S252) or above the range arbitrarily settable by the user (S253). If the result is above the set range, the angle excess notification means notifies the user of this (S254).

There are various devices for detecting and controlling head movements, and the required head movements and their basic patterns are different. Therefore, the contents stored in the operation pattern memory are rewritten by the series of processes shown in FIG. First, it is determined whether the output of the memory management means for managing whether or not the contents stored in the operation pattern memory unit 346 can be erased or rewritten is rewritable (S255). When this is rewritable, the user waits for a writing operation start notification (S256). When this notification is detected, the motion including the state quantity of the head, the variation, or both is newly stored in the motion pattern memory unit 6 by the basic motion writing means as the basic motion pattern (S257). This storage process is performed until the operation end notification operation is detected (S258).

The operation of the write operation start notification and the end notification is a voluntary operation by the user such as pressing a button installed in a controller, which is separately prepared, or turning the switch on and off. In this way, when the basic operation pattern is written in the operation pattern memory section 346 by the basic operation writing means, the control signal generation section 348 performs control corresponding to the basic operation pattern including the state quantity, the change quantity, or both. The signal is newly set by the control signal setting means. As described above, the operation of storing the new basic operation pattern is completed not only by writing the basic operation pattern but also by determining that the control signal corresponding thereto is set (S259). The memory device itself may be replaced in order to replace the data stored in the operation pattern memory unit 346.

In the device like the present invention, it is necessary to continue to gaze at the head movements when wearing the heavy headset 3510, the image displayed on the display, or the operation status of the device itself. Become. As a result, a physiological and psychological burden occurs such as a strain on the neck and shoulders, tired eyes, and anxiety and oppression due to the fact that the field of view of the head-mounted display is kept closed. If the user is aware of the fatigue caused by these loads, there is no problem because he / she can take actions such as stopping the use of the device and taking a rest, but especially in entertainment systems such as TV games, he is enthusiastic about the operation. The usage time tends to be too long, and it is very difficult for the user to prevent this.

Therefore, in FIG. 66, the device itself manages the usage time, so that the usage time becomes too long.
That is, the processing for preventing an increase in the burden on the body is shown. First, the elapsed time management unit obtains the elapsed time t from the time when the apparatus is started up to the present (S260), and the elapsed time t
Determines whether the time has exceeded a time limit T preset according to the specifications of the control target device 1, the work load, or the like, or a time limit T that can be arbitrarily set by the user or the administrator (S261). As a result of this determination, when the elapsed time t is equal to or longer than the time limit T, the user is notified of this (S
262), the use time limiting means stops the device control or the operation of the control target device 341 after a fixed time in the control execution processing unit 349 (S263).
After receiving the notification that the time limit has been exceeded, the user performs various work in preparation for a stop, such as recording the work status up to that point. By managing the usage time of the device in this way, the burden on the user's body can be reduced.

The physiological or psychological burden is not necessarily determined only by the length of time the device is used. In particular, visual fatigue greatly depends on various factors such as work content, work environment, image content displayed on a display and degree of interest, or individual differences such as differences in visual acuity. Therefore, an increase in the number of blinks caused by functional deterioration due to visual fatigue, and the length of time that the user unconsciously or consciously closes the eyes to eliminate eye fatigue, that is, eye closure continues. The extension of time is used as a criterion for objectively judging the visual fatigue, and the use time of the device is limited.

Therefore, as in the processing shown in FIG. 67, the opening / closing eye detecting means first holds the initial value N0 of the number of blinks per unit time at the time of activation (S264). next,
The elapsed time t from when the device is started up to the present is read (S265). Then, the open / close eye detecting means determines whether or not the current eye state is blinking (S266), and if the result of blinking is obtained here, the number N of blinks per unit time is obtained (S267). The blinking increase rate calculating means calculates the increase rate from this value N and the held initial value N0 (S268), and determines whether this increase rate is equal to or higher than a preset value R (S269). As a result, when the increase rate is equal to or greater than the set value R, the user is notified of this (S270), and the visual fatigue reducing means stops the device control after a certain time in the control execution processing unit 349,
Alternatively, the operation of the controlled device 341 is stopped (S271).

On the other hand, it is judged by the open / closed eye detecting means whether or not the current eye condition is blinking (S266), and if the result that it is not blinking is obtained, it is then judged whether or not the eye is closed (S272). ). When the result of this determination is that the eye is closed, it is then determined whether this eye is being continued (S273). If the result that the eye-closed state is not being continued is obtained here, the eye-closed start time t0 is obtained from the elapsed time t of use of the apparatus (t0 = t), and this is held (S274). The eye-closing duration time is calculated from the eye-closing start time t0 and the elapsed time t of use of the apparatus (S275), and it is determined whether the eye-closing duration time is equal to or more than a preset value T (S276). As a result, when the eye-closing duration time is equal to or greater than the set value T, the user is notified of this (S27
0), the control execution processing unit 34 by the visual fatigue reducing means.
After a certain time in 9, the device control is stopped, or the operation of the control target device 341 is stopped (S271).

As described above, after the user receives the notification that the number of blinks per unit time has increased or that the eye-closing duration has been extended, that is, that the visual fatigue has exceeded the set standard, Perform various work in preparation for a stop, such as recording work status up to.

Next, FIG. 68 shows an example of a method for automatically detecting blinking in the open / closed eye detecting means and the output obtained at that time. FIG. 68 (a) shows a method of detecting the open / closed state of the eye using an optical means, in which light from a light emitting element 6939 installed in the headset 3510 is applied to the pupil, and the reflected light is also transmitted to the headset 3510. Light-receiving element 69 installed
Receive at 40. As a result, the output obtained by the light receiving element 6940 detects the case of FIG. 68 (b) as blinking and the case of FIG. 68 (c) as the eye-closed state.

On the other hand, FIG. 68 (d) shows a method of detecting the open / closed state of the eye by using an electric means. In order to detect the movement of the eyelid itself, an electrode 6941 is installed on the upper eyelid and a ground electrode 6942 is installed on the earlobe. Then, the biopotential between them is measured. As a result, according to the output of the obtained bioelectric potential, the case shown in FIG.
The case such as (f) is detected as a closed eye state. In this way, by considering that the usage time is limited depending on the degree of visual fatigue, it is possible to provide a device with a small physiological or psychological burden.

Whether the control of the control by the use time limiting means or the visual fatigue reducing means is stopped or the operation is stopped can be set independently by the user, or either of them can be arbitrarily set so as to give priority to either of them. In this way, by combining the limitation of the use time based on the absolute reference value such as the elapsed time or the eye closing duration and the limitation of the use time based on the relative reference value such as the rate of increase in the number of blinks, the user can The physiological and psychological burden of can be effectively reduced. It should be noted that there is a use resumption management means that holds the time when the control is stopped or the operation is stopped by these means and allows the control to be restarted only after a certain period of time, that is, after taking a rest. The device may not be activated.

The second embodiment is summarized as follows. 1. A device that detects head movements and controls equipment corresponding thereto detects one-way head movements by at least one sensor incorporated in a headset mounted on the head, and The amount of detection can be detected individually or in combination as needed, and the amount of movement generated by the amount of motion can be converted sequentially, and the wearing of the headset can be detected automatically as a reference to obtain the tilt angle of the head. After, or after the user confirms the mounting, or after the power is turned on, or when the device has an arbitrary timing, the reference amount holding unit that holds the output from the operation amount generation unit or the output of the sensor, and the operation amount generation unit. The turning angle of the head from the amount of movement obtained in step 1 and the reference amount held in the reference amount holding unit,
Alternatively, a front-back flexion angle or a left-right flexion angle is calculated, and a state quantity generation unit that sequentially converts each angle information as a state quantity, and a movement amount output from the movement amount generation unit according to continuous head movements. Change amount, or a change amount generation unit that calculates the change amount of the state amount output from the state amount generation unit, and a predetermined basic movement pattern of the head amount including the state amount, the change amount, or both. Recognizing the state pattern obtained by the state amount generation section, or the change amount obtained by the change amount generation section, or both, with reference to the operation pattern memory section. Based on the recognition result by the head motion recognition unit, the recognition result by the head motion recognition unit, or the state amount obtained by the state amount generation unit, or the change amount obtained by the change amount generation unit A control signal generation unit that outputs a control signal that is set in advance corresponding to those head movements, and a control execution processing unit that executes control of the controlled device based on the control signal output from the control signal generation unit. And is provided. 2. If the output of the sensor changes depending on the state of the head at the time when the motion is performed, the motion amount generation unit refers to the state amount generation unit to output the sensor It is characterized in that it has a sensor output correcting means for correcting. 3. The motion amount generation unit independently uses only one sensor output that can be arbitrarily set by the user for conversion of the motion amount based on a result of comparing outputs of respective sensors incorporated in the headset. It is characterized by having a sensor selection means. 4. The motion amount generation unit has an optimum sensor selection unit that detects a motion in the same direction caused by a head motion by a plurality of different types of sensors and selects one sensor used for conversion of the motion amount according to the characteristics of the motion. It is characterized by 5. The reference amount holding unit has a reference amount updating means for automatically updating the reference amount corresponding to a change in the reference amount held as a reference for obtaining the tilt angle of the head. 6. Light from at least one light emitting unit installed on the headset is directed toward a part of the body or at least one reflector installed at a predetermined position on the body, and the reflected light is also installed on the headset. In the state quantity generation unit, the front state detection unit detects the presence or absence of reflected light or detects that the head is facing the front direction with respect to the body depending on the intensity of the reflected light. It is characterized in that it has an angle information correction means for correcting the angle information according to the output of the front state detecting section. 7. The state quantity generation unit has an angle excess notification means for notifying the user when the state quantity becomes angle information which is equal to or larger than the detection range of the sensor or a range which can be arbitrarily set by the user. It is characterized by 8. The operation pattern memory unit has a memory management unit for managing whether or not the stored contents can be erased or rewritten. 9. When the output of the memory management unit is rewritable, the operation pattern memory unit detects the operation of the write operation start notification and the end notification performed by the user, and the state quantity of the head or the change during the operation is detected. It is characterized by having a basic action writing means for newly storing an action consisting of an amount or both as a basic action pattern. 10. The control signal generation unit, when the basic operation pattern is written in the operation pattern memory unit by the basic operation writing unit, a control signal corresponding to a basic operation pattern including a state amount, a change amount, or both of them. Is further provided with control signal setting means. 11. Elapsed time management means for obtaining the elapsed time from when the device is started up to the present, and when the elapsed time is preset or exceeds a time limit that can be arbitrarily set by the user, use this It is characterized by further comprising use time limiting means for notifying an operator and stopping the device control or stopping the operation of the device to be controlled by the control execution processing unit after a predetermined time. 12. Open / closed eye detection means for detecting the blinking state or the open / closed state of the eyes of the user, and the number of blinks per unit time at the time of starting the device, and the increase rate of this number with the extension of the device use time Blink increase rate calculation means for calculating, eye-closed duration detection means for obtaining the time for which the eyes are kept closed, and this blink increase rate, or when the eye-closed duration exceeds a preset value, this To the user,
The control execution processing unit further comprises visual fatigue reducing means for stopping the device control or stopping the operation of the controlled device after a predetermined time. (Effect of Embodiment 2) As described above, according to the present invention, the difference in the output due to the difference in the tilt angle of the head of the sensor,
Or erroneous detection that detects something other than what should
Or considering the change with time of output due to drift,
Accurate head movements can be detected by performing processing corresponding to it, and the basic posture is the state of facing the front after startup, and the output of the sensor at this time is held, and by using this as a reference, It is possible to obtain a tilt angle of the head, which includes a turning angle (yaw angle), a front-back bending angle (pitch angle), and a left-right bending angle (roll angle). Further, it is possible to stably obtain the tilt angle by detecting that it is facing the front by optical means and correcting the angle information.

Furthermore, by controlling the elapsed time of use of the device, the number of blinks, or the eye-closing duration, and limiting the use time of the device based on these, the operation by the movement of the head and the displayed image can be performed. It is possible to prevent the physiological or psychological burden on the user from continuing to stare and increase without limitation.

[0153]

As described above, according to the present invention, the geometrical distortion generated in the structure is corrected electronically or optically, thereby reducing eye strain and reducing the size and weight.
We will realize an image projection device that allows you to enjoy a large screen and creates a realistic image space with the built-in head movement detection function.

Further, by using the position of the head as a reference, it is possible to detect the accurate motion of the head.

[Brief description of drawings]

FIG. 1 is a diagram showing a configuration of an exemplary embodiment of the present invention.

FIG. 2 is a diagram showing a state in which the image projection apparatus of the present invention is mounted.

FIG. 3 is a diagram showing image correction according to the present invention.

FIG. 4 is a diagram showing the features of the flat screen of the present invention.

FIG. 5 is a diagram in which an image forming unit and a projection optical system are tilted with respect to a screen.

FIG. 6 is a diagram in which an image forming unit and a projection optical system are tilted with respect to a screen.

FIG. 7 is a diagram in which the radius of curvature of the screen is continuously changed at the projection location.

FIG. 8 is a diagram in which the radius of curvature of the screen is continuously changed at the projection location.

FIG. 9 is a diagram in which the radius of curvature of the screen is continuously changed at the projection location.

FIG. 10 is a diagram showing that the projection lens of the projection optical system has a distortion aberration having characteristics reverse to the distortion generated by the projection optical system.

FIG. 11 is a diagram showing that the projection lens of the projection optical system has a distortion aberration having an inverse characteristic to the distortion generated by the projection optical system.

FIG. 12 is a diagram illustrating that the distortion correction optical system corrects the distortion by adding a distortion having a characteristic opposite to that of the distortion of the projection optical system to the projection image.

FIG. 13 is a diagram showing that the distortion correction optical system corrects the distortion by adding the distortion having the characteristic opposite to the distortion of the projection optical system to the projection image.

FIG. 14 is a diagram showing that the reflectance of the screen increases as it goes to the periphery of the screen.

FIG. 15 is a diagram showing that the reflectance of the screen increases as it goes to the periphery of the screen.

FIG. 16 is a diagram showing that the reflectance of the screen increases toward the periphery of the screen.

FIG. 17 is a diagram showing that the reflectance of the screen increases as it goes to the periphery of the screen.

FIG. 18 is a diagram showing that a state when the image projection apparatus is worn is stored as an initial value, and thereafter, a head motion detection operation is performed by detecting a change from the initial value.

FIG. 19 is a diagram showing that three-dimensional movement of the head is detected using a biaxial tilt angle detection sensor and a uniaxial rotation angular velocity sensor.

FIG. 20 is a diagram showing that a three-dimensional movement of the head is detected using a biaxial tilt angle detection sensor and a uniaxial rotation angular velocity sensor.

FIG. 21 is a diagram showing that three-dimensional movement of the head is detected using a biaxial tilt angle detection sensor and a uniaxial rotation angular velocity sensor.

FIG. 22 is a diagram showing detection of horizontal rotation of the head according to the present invention.

FIG. 23 is a diagram showing detection of horizontal rotation of the head according to the present invention.

FIG. 24 is a diagram showing detection of horizontal rotation of the head according to the present invention.

FIG. 25 is a diagram showing detection of horizontal rotation of the head according to the present invention.

FIG. 26 is a diagram showing that the three-dimensional motion of the head is detected by three angular velocity sensors that detect rotational motions of three axes orthogonal to each other.

FIG. 27 is a diagram showing that the change of the visual field due to the three-dimensional movement of the head is performed on the projection image.

FIG. 28 is a diagram showing that the projection image is changed in the visual field due to the three-dimensional movement of the head.

FIG. 29 is a diagram showing a conventional example.

FIG. 30 is a diagram showing a conventional example.

FIG. 31 is a diagram showing a conventional example.

FIG. 32 is a diagram showing a conventional example.

FIG. 33 is a block diagram showing the configuration of an example according to the second example of the present invention.

FIG. 34 is a schematic configuration diagram of a headset incorporating an operation amount generation unit and a sensor.

FIG. 35 is a block diagram of a motion amount generation section.

FIG. 36 is an explanatory diagram of a basic posture when the reference amount is held in the reference amount holding unit.

FIG. 37 is a flowchart illustrating a process of holding a reference amount in a reference amount holding unit.

FIG. 38 is a flowchart showing a case where the reference amount holding unit does not hold the operation amount as a reference amount.

FIG. 39 is an explanatory diagram of an example of a method for automatically detecting wearing of a headset.

FIG. 40 is an explanatory diagram of a tilt angle of the head and each angle axis for defining the tilt angle.

FIG. 41 is a flowchart illustrating a process performed by a state quantity generation unit.

FIG. 42 is a diagram for explaining how to handle the state quantity as a relative angle with the front state being 0 degree.

FIG. 43 is an explanatory diagram of change amount calculation of the change amount generation unit.

FIG. 44 is a diagram showing an example of a basic operation pattern format stored in an operation pattern memory unit.

[Fig. 45] Fig. 45 is a flowchart illustrating a head movement recognition process performed by the head movement recognition unit.

FIG. 46 is a diagram showing an example of a control signal format stored in a control signal generation unit.

FIG. 47 is an explanatory diagram in the case where the output of the sensor is different due to the same movement of the head.

FIG. 48 is a flowchart illustrating a process performed by the sensor output correction unit.

FIG. 49 is a diagram showing an example of a correction data format stored in the sensor output correction means.

FIG. 50 is a diagram illustrating a case where a linear motion input by head motion is required.

[Fig. 51] Fig. 51 is a flowchart illustrating a process in a single sensor selection unit.

FIG. 52 is a diagram illustrating a case where a plurality of different types of sensors detect a head motion in the same direction.

[Fig. 53] Fig. 53 is a flowchart illustrating a process in the optimum sensor selection unit.

FIG. 54 is a diagram showing an example of changes over time in the drift of the output of the sensor.

FIG. 55 is a diagram showing an example of an update data format stored in the reference amount updating means.

FIG. 56 is a flowchart for explaining the process of the initial setting work in the reference amount updating means.

[Fig. 57] Fig. 57 is a diagram for describing the proper use of the updating method in the reference amount updating means.

[Fig. 58] Fig. 58 is a flowchart illustrating a process of properly using an updating method in the reference amount updating unit.

FIG. 59 is a diagram for explaining a case where the initial value of drift change data and the initial value of the reference amount held in the reference amount holding unit are different.

FIG. 60 is a flowchart illustrating a time shift process in the reference amount updating unit.

FIG. 61 is a diagram showing an example of a method of detecting that the front-face state detecting means faces the front.

[Fig. 62] Fig. 62 is a flowchart illustrating a process in the angle information correction means.

[Fig. 63] Fig. 63 is a diagram for explaining stable device operation by the angle excess notification means.

[Fig. 64] Fig. 64 is a flowchart illustrating a process in the angle excess notifying means.

FIG. 65 is a flowchart illustrating a series of processes for writing a new basic operation pattern in the operation pattern memory unit.

[Fig. 66] Fig. 66 is a flowchart illustrating an elapsed time management unit and a use time limit unit for limiting the use time of the device control apparatus by detecting the head motion.

FIG. 67 is a flowchart illustrating an open / closed eye detection means for limiting the use time of the device control apparatus by detecting a head movement, a blink increase rate calculation means, an eye closed duration detection means, and a visual fatigue reduction means. .

FIG. 68 is a diagram for explaining an example of a method of automatically detecting the open / closed state of the eyes by the open / closed eye detection means and the output obtained at that time.

[Fig. 69] Fig. 69 is a diagram of a configuration example of a device control apparatus by individually detecting the movement of the head in the related art.

[Explanation of symbols]

11, 22, 51, 81, 91, 111, 131, 16
1,171,281,291 Non-planar screen 12,72,112,132,152,162,17
2, 282, 292 Projection lens 13, 53, 63, 73, 83, 93, 113, 13
5,153,163,173 image forming means 14 image projecting means 15,114,136 distortion correcting means 16,115,137 image signal generating means 17 head motion detecting means 18 control signal generating means 23 image projecting section 24 motion detecting section 41, 151, 301 Flat screen 42, 82, 92 Spherical screen 43, 54, 64, 84, 94, 302, 321 Projector 52, 62 Projection optical system 55, 65 Rear depth of field 56, 66 Front subject Depth of field 57,67,138 Average image plane 58,68 Extension line of principal point of projection optical system 59,69 Extension line of image forming means 71 Projected image 133 Inverted real image plane 134 Distortion correction optical system 211,213 Tilt angle sensor 212 , 242, 243, 244, 271, 272, 2
73 Angular velocity sensor 285, 294 Left diagonal upper image 284, 295 Front image 286, 296 Right diagonal lower image 283 Input image range 303 Projected image 322 Transmissive screen 323 Outside image 331, 332 Eyepiece 333, 334 Image display device 335 Virtual image 101 to 10n Sensor 341 Control target device 342 Motion amount generation unit 343 Reference amount holding unit 344 State amount generation unit 345 Change amount generation unit 346 Motion pattern memory unit 347 Head motion recognition unit 348 Control signal generation unit 349 Control execution processing unit 3510 Headset 3511 Speaker 3512 Microphone 3513 Head 3614 Movement amount a 3615 Movement amount b 4016 Belt A 4017 Joining tool A 4018 Belt B 4019 Joining tool B 4820 Tilt angle sensor 4821 Rotating shaft 4822 Pendulum 5 23 monitor 5124 cursor 5325 geomagnetic sensor 5326 rotational angular velocity sensor 6227 light emitting part a 6228 light receiving part a 6229 light emitting part b 6230 light receiving part b 6231 optical path a 6232 optical path b 6233 optical path a ′ 6234 optical path b ′ 6235 signal processing part 6236 head-mounted type Display 6237 Reflector a 6238 Reflector b 6939 Light emitting element 6940 Light receiving element 6941 Electrode 6942 Ground electrode

Claims (5)

[Claims] 1. A non-planar screen for displaying an image to be projected, an image signal generating means for generating an image signal projected on the screen, and an image signal generated by the image signal generating means is distorted. A distortion correcting means for applying an image forming means, an image forming means for forming an image to be projected on the screen from an image signal distorted by the distortion correcting means, and an image forming means for projecting the image formed by the image forming means on the screen. 2. An image projecting device comprising: the image projecting means and the projection optical system for forming an image projected on a screen by the image projecting means. 2. A non-planar screen for displaying an image to be projected, a head movement detecting means for detecting a movement of the head, and the screen by the movement of the head detected by the head movement detecting means. Image signal generating means for generating an image signal to be projected onto the screen, distortion correcting means for adding distortion to the image signal generated by the image signal generating means, and the screen signal from the image signal distorted by the distortion correcting means. Image forming means for forming an image to be projected onto the screen, image projecting means for projecting the image formed by the image forming means onto the screen, and forming the image projected on the screen by the image projecting means An image projection apparatus comprising: a projection optical system. 3. A head movement detecting means for detecting movement of the head, a movement amount generating means for generating a movement amount according to the movement of the head detected by the head movement detecting means, and this movement amount generating means. A reference amount holding means for holding the movement amount generated at any timing by the means as a reference amount for the movement of the head, and the movement amount generation based on the reference amount held by the reference amount holding means. Change amount generating means for generating a change amount of the head angle from the operation amount generated by the means, operation pattern storing means for storing a basic operation pattern of the head operation, and the operation pattern storing means. A recognition means for recognizing the movement of the head based on the change amount of the angle of the head generated by the change amount generation means, and the movement of the head recognized by the recognition means. Device control apparatus being characterized in that and a control means for controlling the device by response. 4. The reference amount holding means holds the operation amount after automatically detecting the mounting of the headset, after a mounting confirmation operation by a user, or after the power is turned on. Equipment control device. 5. A front detecting means for detecting that the head is facing the front with respect to the body, and the change generating means corrects the change of the angle. Item 3. The device control device according to item 3.