JP4557877B2 - Suspension-type mounting device and suspension-type head-mounted image display device using the same - Google Patents

Description

The present invention relates to a suspension mounting device for mounting a head mounted device such as a head mounted image display device on a user's head in a suspended manner, and a suspension head mounted image display using the same. It relates to devices.

2. Description of the Related Art Conventionally, there has been known a head-mounted image display device that uses a small liquid crystal panel or the like and enlarges an image on the panel as a virtual image by an eyepiece optical system and displays it in front of an observer's eyes. This is because the image display device is fixed to the head and the image corresponding to the direction in which the observer is facing is displayed, making it feel as if the displayed object is present in front of the eyes, and various simulations. Etc. are used.

In particular, an apparatus used for such a purpose is required to realize a wide viewing angle that is closer to the viewing angle of the observer. However, at present, in such a wide viewing angle video display device, the optical system becomes large, so the entire device becomes heavy, and the weight burden on the observer's head increases.

In order to cope with such a point, an apparatus in which the weight of the apparatus is not directly applied to the observer by suspending the video display apparatus with a string-like body has been proposed (see Patent Document 1).
Japanese Patent Laid-Open No. 5-293791

However, in the method of the above-mentioned patent document, when the wearer tilts the head 110 forward as shown in FIG. 14, the direction of action of the tension T applied to the string-like body 101 that suspends the video display device 100 and A force F is generated due to a shift in the direction of the load W due to gravity acting on the center of gravity G of the image display device 100. Furthermore, a moment M is also generated due to the difference in action point between the tension T and the load W. Since these forces F and moment M act on the center of rotation O of the neck of the wearer 110, they receive a force in the direction in which the head 110 is pushed back, and can realize a state equivalent to the case where the display device 100 is light. Can not.

In view of the above problems, the suspension mounting device of the present invention for mounting a head mounted device such as a head mounted video display device on the user's head has the following means or mechanism. To do. That is, this has a fixing means for fixing the head-mounted device to the user's head, a first means, a second means, and a third means. The first means is to pass three independent (not parallel) rotation axes through the approximate center of gravity of the head-mounted device to obtain three degrees of freedom to tilt the head-mounted device in any direction in space. It is a mechanism to configure. The second means is a mechanism for always causing one of the rotating shafts to substantially coincide with the vertical direction. The third means is a mechanism for suspending the first means movably in the vertical direction in order to cancel the load due to gravity of the head-mounted device in a balanced manner. Here, the rotation axis may be an axis that actually physically exists as a rotation support axis or the like, or may exist as an axis that is virtually configured in the entire mechanism.

In view of the above problems, the suspended head-mounted image display device of the present invention includes a main body of a head-mounted image display device that displays an image from the user's eyes, and the above-described suspended mounting device. It is characterized by that.

According to the present invention described above, the tension acting on a head-mounted device such as a video display device and the load direction due to gravity can always be made substantially coincident. Therefore, when the device fixed on the user's head is tilted in an arbitrary direction, the generation of moments due to the force due to the tension due to the suspension and the deviation of the load direction due to the gravity and the deviation of the action point can be prevented or reduced. In this way, a load due to weight is hardly applied to a wearer wearing the head-mounted device, and a state almost the same as that of wearing a light head-mounted device can be realized. Even when the head is moved, the load due to the weight of the head-mounted device hardly affects, and the head-mounted device smoothly follows the movement of the head and realizes the same state as when the head-mounted device is light it can.

Hereinafter, specific examples will be described with reference to the drawings in order to clarify the embodiments of the present invention.

<First embodiment>
FIG. 1 is a perspective view showing a suspended head-mounted image display apparatus according to a first embodiment of the present invention. In FIG. 1, 1 is a video display device. The video display device 1 includes a display unit 2 and a mounting unit 3 (fixing means).

As shown in FIG. 2, the display unit 2 includes a display panel 30 composed of a liquid crystal panel for displaying images, and a prism lens 31 for presenting an image displayed on the panel 30 to a viewer's eye 32 as a virtual image. I have. In FIG. 2, an alternate long and short dash line J indicates the optical path of the display optical system. The display unit 2 further includes an imaging camera 33 including a lens 34 and an imaging device 35 such as a CCD. The display center, that is, the line-of-sight direction J of the observer's eye 32 and the optical axis center K ( (Shown by a one-dot chain line in the figure). As a result, the observer can view the external image through the camera 33 as if it were viewed with his / her own eye 32. The video displayed on the panel 30 is configured by processing a video signal from the image sensor 35 with a PC or the like. A portion 2a shown in FIG. 1 shows a window of the imaging camera 33.

The mounting portion 3 is integrally attached to the band 7 and the frames 4 and 5 that are provided integrally with the display portion 2 and extend in the left-right direction, the flexible band 7 that connects the rear end portions thereof, and the band 7. It has a back head presser 8. The frames 4 and 5 are provided with knobs 4a and 5a having a ratchet mechanism (not shown) for adjusting the length of the band 7, respectively. By moving these knobs 4a, 5a in the direction of arrow H, the occipital region presser 8 can be moved back and forth. Thereby, the observer's head is sandwiched between the front head presser 6 provided in the display unit 2 and the display unit 2 and thus the video display device 1 is fixed to the head. .

On the side surfaces 2b and 2c of the display unit 2, there are provided rotation support shafts 9 and 10, which are attached to the side surfaces 2b and 2c so as to be rotatable in the direction of arrow A. The rotation shaft center X of the support shafts 9 and 10 is provided at a position passing through the center of gravity G of the video display device 1 including the display unit 2 and the mounting unit 3. Further, pins 9a and 10a are rotatably provided at end portions of the support shafts 9 and 10, and a string-like body 11 such as a wire is attached to the pins 9a and 10a. The string-like body 11 is suspended near the center by a pulley 12 that is rotatably attached to the support member 13 in the direction of arrow B, and the display device 1 is suspended from the support member 13.

As shown in FIGS. 3 and 4, the string-like body 11 is suspended from the pulley 12 in a state of being wound at least once. The extending direction of the rotating shaft 12a of the pulley 12 is parallel to the Y axis that is perpendicular to the X axis and passes through the center of gravity G. Thus, the display device 1 can be rotated around the Y axis. The rotation axis of the Y axis exists as an axis that is virtually configured in the entire mechanism. As shown in the drawing, it is preferable that the string-like body 11 is wound around the pulley 12 twice in order to generate an appropriate frictional force and maintain the posture of the display device 1 in its state.

The support member 13 is attached to a string-like body 14 such as a wire so as to be rotatable in the direction of arrow C. Here, when the string-like body 14 is sufficiently long, the twist of the string-like body can be used, and a rotation mechanism that allows the support member 13 to rotate in the direction of arrow C is not necessarily required.

The string-like body 14 is connected to the length adjusting unit 16. As shown in FIG. 5, the length adjusting unit 16 has a constant load spring 17, and the string-like body 14 is connected to the constant load spring 17. Therefore, the video display device 1 is attached so as to be movable in the vertical direction indicated by the arrow D while maintaining the weight and balance through the support member 13 by winding or unwinding the string-like body 14 by the constant load spring 17. ing.

In the length adjustment unit 16, a sensor unit 15 is provided at the entrance. In the sensor unit 15, a sensor 18 such as a photocoupler is attached so as to surround the string-like body 14, and the inclination of the string-like body 14 in the direction indicated by reference numerals 14A and 14B or the direction perpendicular to the paper surface of FIG. 5 is detected. It has become. Here, when no external force is applied to the video display device 1, that is, when the string-like body 14 extends vertically, the string-like body 14 coincides with the Z axis passing through the center of gravity G of the video display apparatus 1.

The length adjusting unit 16 is integrally attached to a sliding arm 20 that slides in the direction of arrow E with respect to the rotating arm 21. Here, a length adjustment drive unit 22 having a drive motor and the like for sliding control of the slide arm 20 with respect to the rotary arm 21 is provided.

The rotation arm 21 is rotationally driven and controlled in the direction of arrow F by a rotation drive unit 23 having a drive motor or the like provided on the column 24. A cable 19 for supplying a video signal, a power source, and the like to the video display device 1 is wound around through a member such as the support 24. If the cable 19 has sufficient flexibility, a configuration in which the cable-like body 14 also serves as the cable 19 is possible.

In the above configuration, the first means for configuring the three independent rotation shafts through the substantially center of gravity of the head-mounted device to obtain three degrees of freedom for tilting the video display device 1 in an arbitrary direction in the space, The rotary support shafts 9 and 10, the string-like body 11, the pulley 12, the support member 13, the string-like body 14 and the like are included.

The second means for making one of the rotating shafts substantially coincide with the vertical direction at all times includes a sensor unit 15 that is a detecting unit, arms 20, 21, a length adjustment driving unit 22, a rotation driving unit 23, and the like. The The third means for suspending the first means movably in the vertical direction in order to cancel the load due to gravity of the head-mounted image display device 1 in a balanced manner is a length having a constant load spring 17. It is composed of a thickness adjustment unit 16 and the like. Instead of the constant load spring 17, a balancer device such as a torque motor or a weight can be used. Further, the moving means of the second means, which allows the video display device 1 to be suspended and moved to any position in the space via the first means, are the arms 20, 21 and the length adjusting drive unit 22. The rotation drive unit 23 and the like.

The string-like body 14 is a suspension means that is suspended in the vertical direction and supports the pulley 12 in order to make the video display device 1 rotatable about a substantially vertical rotation axis that passes through the center of gravity of the video display device 1. Constitute.

6 and 7 show a state in which the video display device 1 having the above-described configuration is fixed to the observer's head 110. FIG. 6 is a view from the side, and FIG. 7 is a view from the front. In FIG. 6, when the wearer tilts the head 110 forward, as shown in FIG. 8, the video display device 1 is linked to the movement of the wearer's head 110 by the rotation support shaft 9 (10). It rotates in the direction indicated by the arrow N with respect to the bodies 11 and 14. At this time, since the head 110 rotates about the center O of the neck, the string-like body 11, and thus the string-like body 14 tilts as shown by the alternate long and short dash line 14a due to the deviation from the position of the center of gravity G of the display device 1. . At the same time, the center of gravity G is lowered.

For the downward movement of the center of gravity G, the string-like body 14 moves in the direction of the arrow L by rewinding by the constant load spring 17. The inclination of the string-like body 14 is detected by the sensor 18 incorporated in the sensor unit 15, and the length adjustment drive unit 22 moves the arm 20 in the direction of arrow M in a direction to cancel the inclination. That is, since the string-like body 14 is always controlled to be vertical based on the detection result of the sensor 18, the load direction due to the weight of the display device 1 matches the tension direction of the string-like body 14. Thus, the force F1 due to the difference between the tension T and the weight load direction W is not generated.

Further, since the position of the center of gravity G of the display device 1 and the position of the rotation axis coincide with each other, no moment is generated due to the displacement of the action point. Therefore, the wearer receives almost no force from the video display device 1. However, the frictional force at the rotating part or the like generated when the display device 1 is moved or the inertial force of the device acts. However, the frictional force can be reduced to a practically negligible value by using bearings such as bearings for each rotating part and sliding part, and the inertial force is not intended to require rapid movement. It can be ignored in practice.

In this respect, the present embodiment is superior to a video display device supported by an arm (see Japanese Patent Laid-Open No. 8-125948). In the case of a device supported by this arm, a load such as friction generated in the connecting portion of the arm to support the image display unit becomes resistance when moving the head, which is equivalent to when a light image display device is mounted. The state cannot be realized. The load such as friction is indispensable for supporting the video display unit, and needs to secure a certain level. Therefore, the load when the video display device is attached becomes larger than that in which the frictional force can be reduced to a practically negligible level as in this embodiment.

From the state shown in FIG. 7, when the head 110 is tilted in the left-right direction as shown in FIG. 9, the video display device 1 rotates the pulley 12 in the direction of arrow P in accordance with the tilt of the head 110, Move position. As a result, the video display device 1 rotates and moves as indicated by an arrow Q about the center of gravity G of the video display device 1. In this movement, no load is applied other than the friction load generated by the rotation of the pulley 12 and the rotation of the pins 9a and 10a at the ends of the rotation support shafts 9 and 10 attached to the display device 1, so that the movement is performed smoothly. .

At this time, the string-like body 14 is inclined as indicated by a one-dot chain line 14a due to a shift between the center O of the neck and the position of the center of gravity G of the display device 1 or a movement in the lateral direction of the wearer. However, this inclination is detected by the sensor 18, and the rotating arm 21 is rotated in the direction indicated by the arrow R with respect to the support column 24 so that the vertical direction of the string-like body 14 passes through the center of gravity G of the display device 1. . Accordingly, the video display device 1 maintains a tilted state as shown in FIG. 9, and almost no force acts on the wearer.

When the head 110 is rotated in the left-right direction with respect to the Z axis, the display device 1 is rotatably attached to the string-like body 14 suspended in the direction passing through the center of gravity G of the display device 1. It is possible to hold a state facing in any direction.

As described above, the video display device 1 moves three-dimensionally in the space in accordance with the movement of the wearer's head 110, and is supported by the string-like body 14 or the like and maintains a state inclined in an arbitrary direction. . Therefore, the load due to the weight of the video display device 1 hardly acts on the wearer.

Furthermore, the virtual support shaft perpendicular to the rotation support shafts 9 and 10 is configured by providing the string-like bodies 11 and the like as described above with respect to the rotation support shafts 9 and 10 provided apart from the video display device 1. The rotation axis of the video display device 1 is formed by matching the intersection of these axes with the position of the center of gravity. Therefore, it is not necessary to provide a frame that is nested so as to surround the display unit 2 to form two orthogonal rotation axes, and a mechanism that constitutes the rotation axis orthogonal to the rotation support shafts 9 and 10 is provided in the display unit 2. Can be shifted from the front. Thus, the apparatus can be configured simply and lightly without blocking the front surface of the display unit 2.

In the above description, the method of fixing the video display device 1 to the head 110 is a goggle type using a band. However, the method is not limited to this as long as the video display unit 2 can be fixed. A fixing method like a string of glasses may be used.

Further, although the column 24 is used for fixing the apparatus, the rotation driving unit 23 and the like may be fixed to the ceiling. Further, in the above description, the vertical movement of the string-like body 14, the sliding of the arm 20, and the rotation of the arm 21 with respect to the deviation between the center of gravity G of the video display device 1 and the rotation center O of the neck of the wearer The position adjustment according to the above has been performed, but this can also be dealt with when the wearer moves. That is, the wearer can move in the space while tilting the video display device 1 in an arbitrary direction without almost feeling the weight load of the video display device 1.

<Second Example>
Next, a second embodiment of the present invention will be described. 10 to 13 show a second embodiment. In the second embodiment, the center of gravity G of the video display device 1 is substantially coincident with the rotation center O of the neck, and the video display device 1 is rotated around the rotation axis passing therethrough. Other points are the same as in the first embodiment.

10 to 13, reference numerals 54 and 55 denote arms extending downward from the left and right side portions of the display unit 2, respectively. The arms 54 and 55 are fixedly attached to the left and right side surfaces of the display unit 2 at a predetermined angle. As shown in the drawing, rotation support shafts 50 and 51 are provided so as to be rotatable about the middle of the arms 54 and 55, at a position substantially coincident with the center of rotation O of the wearer's neck. . Similar to the first embodiment, pins 50a and 51a are rotatably attached to the tip portions of the support shafts 50 and 51, and the string-like body 11 is attached to the pins 50a and 51a. Further, weights 52 and 53 are respectively attached to the ends of the arms 54 and 55 so that the rotation support shafts 50 and 51 attached to the arms 54 and 55 come to the center of gravity G of the display device 1.

When the wearer tilts the head 110 in the left-right direction as shown in FIG. 12 or tilts forward as shown in FIG. 13, the position of the center of gravity G coincides with the rotation center O of the neck, and the rotation axis passes there Since the display device 1 is tilted about the rotation center, there is no need to move the string-like body 14 in the horizontal plane. That is, in the second embodiment, a mechanism for moving the string-like body 14 in the horizontal plane as shown in the first embodiment as long as the head 110 is tilted, such as sitting and working. It is not necessary and the device can be simplified. Of course, in an apparatus applied when the wearer moves in a horizontal plane, a mechanism for moving the string-like body 14 in the horizontal plane as shown in the first embodiment may be provided.

In the configuration of the second embodiment, the first means includes the rotation support shafts 50 and 51, the string-like body 11, the pulley 12, the support member 13, the string-like body 14, and the like. Although the second means can be omitted, as in the first embodiment, the sensor unit 15, which is the detection means, the arms 20, 21, the length adjustment drive unit 22, the rotation drive unit 24, etc. Means may be configured. Further, the third means includes the length adjusting unit 16 as in the first embodiment. The fourth means for making the center of gravity of the video display device 1 substantially coincide with the center of rotation of the user's neck includes arms 54 and 55, weights 52 and 53, and the like.

In the above embodiment, the head-mounted image display device has been described. However, the suspension mounting device or mounting method of the present invention is applicable to any other head-mounted device. be able to.

FIG. 1 is a perspective view showing a first embodiment according to the present invention. FIG. 2 is an explanatory diagram showing an outline of the display unit. FIG. 3 is a cross-sectional view showing a state in which the string-like body 11 is suspended from a pulley. FIG. 4 is a side view showing a state in which the string-like body 11 is suspended from the pulley. FIG. 5 is an explanatory diagram of the length adjusting unit of the string-like body 14. FIG. 6 is a side view showing a state in which the video display device is mounted. FIG. 7 is a front view showing a state in which the video display device is mounted. FIG. 8 is a diagram showing a state in which the video display device is tilted forward. FIG. 9 is a diagram showing a state in which the video display device is tilted in the left-right direction. FIG. 10 is a front view showing a second embodiment according to the present invention. FIG. 11 is a side view showing the second embodiment. FIG. 12 is a diagram showing a state in which the video display device is tilted in the left-right direction in the second embodiment. FIG. 13 is a diagram showing a state in which the video display device is tilted forward in the second embodiment. FIG. 14 is a diagram for explaining a conventional example.

Explanation of symbols

1 Head-mounted device (head-mounted image display device)
2 Display section
3 Mounting part
9, 10, 50, 51 Rotating support shaft
11, 14 String
12 pulley
13 Pulley support member
15 Sensor section
16 Length adjustment section
20 Sliding arm
21 Rotating arm
22 Length adjustment drive
23 Rotation drive
52, 53 Weight
54, 55 arms

Claims (8)

A suspension-type mounting device for mounting a head-mounted device on a user's head, the fixing means for fixing the head-mounted device to the head, and the head-mounted device in any space a first means constituting the three independent rotation axis to obtain three degrees of freedom to tilt in the direction through the center of gravity of the head mount apparatus, for matching one of the rotary shaft always in a vertical direction It has second means and third means for suspending the first means movably in the vertical direction in order to cancel the load due to gravity of the head-mounted device in a balanced manner. A suspension mounting device. It said first means, spaced apart across the head mount device to the rotatable head mount device about a horizontal direction of the rotational axis center of gravity Ru through the head-mounted device two rotation support shaft which is, during with connecting between the two rotation support shaft to freely rotate the head mount device about the axis of rotation of the rotary shaft at right angles with the direction of the direction of the horizontal in is suspended rotatable pulley and cord-like body extending in a triangular shape, vertical to the rotatable head-mounted device about a passing Ru vertical rotation axis center of gravity of the head-mounted device 2. The suspension mounting apparatus according to claim 1, further comprising suspension means that is suspended in the direction of and supports the pulley. 3. The suspension mounting device according to claim 2, wherein the string-like body connecting the two rotation support shafts provided apart from each other is attached to the pulley by being wound at least once. . 4. The method according to claim 1, wherein the second means includes moving means for suspending the head-mounted device via the first means so as to be movable to any position in the space. The suspension mounting device according to claim 1. The suspension means is a string-like body, and the second means is a detection means for detecting the inclination of the string-like body, and the string-like body is always vertical based on the detection result of the detection means. , the suspension type mounting device according to any one of claims 2 to 4, characterized in that it comprises a moving means for controlling movement in the string-like body in the vertical direction perpendicular to a horizontal plane. The center of gravity of the head mount apparatus, according to claim 1 or 5 the head-mounted device, characterized by further comprising a fourth means for causing one Itasa the center of rotation of the user's neck fixed to the head The suspension mounting apparatus according to any one of the above. 7. The suspension mounting device according to claim 1, wherein the head-mounted device is a head-mounted image display device. A body of the head-mounted image display device that displays an image from the front of the user, suspension type head mount type image display apparatus characterized by having a suspension type mounting apparatus according to claim 7 wherein.

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