JP5428261B2 - Control device, head mounted display device, program, and control method - Google Patents

Description

  The present invention relates to a control device, a head mounted display device, a program, and a control method.

  Conventionally, a head-mounted display device (HMD), headphones, etc., which have a gyro sensor, a magnetic sensor, etc. and are mounted on the user's head have been developed, and displayed on the HMD display according to the movement of the user's head. Various techniques have been developed for improving the operability of screen operations such as images and videos and moving the sound field.

  For example, in Patent Document 1, drift data included in rotation angle data detected by a gyro sensor using data of rotation angles in three axial directions orthogonal to each other by a gyro sensor and azimuth angles of the same three axes by a magnetic sensor. A technique is disclosed in which a component is corrected with azimuth angle data from a magnetic sensor to reduce detection errors.

In Patent Document 2, a virtual screen is generated based on the output value of the gyro sensor in the posture of the user's viewpoint, and both of the virtual screens based on predetermined posture information are shown to the user. A technique for calculating correction information based on an output value of a gyro sensor when it is determined that they match is disclosed.
JP 11-248456 A JP 2003-203252 A

  However, in Patent Document 1, there is a problem that the circuit scale is increased and the cost is increased because the posture is corrected using both the gyro sensor and the magnetic sensor.

  On the other hand, in Patent Document 2, an arithmetic device having high processing calculation capability for generating a virtual screen is required, and a series of correction work is troublesome.

  SUMMARY OF THE INVENTION In view of the above-described problems of the prior art, an object of the present invention is to provide a technique capable of processing posture information correction at high speed without increasing the circuit scale.

One aspect of a control device illustrating the present invention includes a mounting unit that is mounted on a user, and a detection unit that is provided in the mounting unit and detects angular velocities in at least two axes of three axes that intersect each other among user movements. And instructing the user to rotate about one of the at least two axes , calculate an angular velocity vector based on the rotational motion from the angular velocities on the at least two axes detected by the detector, and calculate the angular velocity based on the rotational motion. calculating a conversion value converted into the angular velocity vector of only one axis vector, the conversion value mounting portion is a correction value for correcting the amount of deviation from a predetermined position to be attached to the user, the correction value And a control unit that corrects the output from the detection unit.

Another aspect of the control device exemplifying the present invention is a mounting unit that is mounted on a user, and a detection unit that is provided in the mounting unit and detects angular velocities in at least two axes of three axes that intersect each other among user's movements. And instructing the user to rotate about one of the at least two axes , calculate an angular velocity vector based on the rotational motion from the angular velocities on the at least two axes detected by the detector, and calculate the angular velocity based on the rotational motion. calculating a conversion value converted into the angular velocity vector of only one axis vector, the conversion value mounting portion is a correction value for correcting the amount of deviation from a predetermined position to be attached to the user, the correction value And a control unit for notifying the user that the device is not mounted at a predetermined position.

Further , the control unit may instruct the user to perform a rotational motion on at least two of the three axes.

Further , the control unit may instruct the user of a predetermined movement as needed, and may update the correction value based on the predetermined movement detected by the detection unit.

One aspect of the head mounted display device to illustrate the present invention comprises a control device of the present invention, a display unit for displaying an image, and a support portion for holding the display unit.

One aspect of a program exemplifying the present invention is to detect angular velocities in at least two axes of three axes intersecting each other among movements of a user wearing a device having a mounting unit to be worn by the user, and at least two axes The rotational velocity around one axis is instructed to the user, the angular velocity vector due to the rotational motion is calculated from the detected angular velocities in at least two axes, and the angular velocity vector due to the rotational motion is the angular velocity vector of only one axis. A conversion value to be converted into the calculation value is calculated, and the conversion value is used as a correction value for correcting a deviation amount from a predetermined position where the mounting unit should be mounted on the user, and the angular velocity detected based on the correction value is corrected. Have the computer execute the process .

Another aspect of the program exemplifying the present invention is to detect angular velocities in at least two axes of three axes intersecting each other among movements of a user wearing a device having a mounting unit to be worn by the user, and at least two axes The rotational velocity around one axis is instructed to the user, the angular velocity vector due to the rotational motion is calculated from the detected angular velocities in at least two axes, and the angular velocity vector due to the rotational motion is the angular velocity vector of only one axis. When the conversion value is larger than the predetermined value, the conversion value to be converted into the correction value is calculated as a correction value for correcting the deviation amount from the predetermined position where the mounting portion should be mounted on the user. The computer is caused to execute a process of notifying that the camera is not mounted at a predetermined position .

One aspect of the control method illustrating the present invention is a detection step of detecting angular velocities in at least two axes of three axes intersecting each other among movements of a user wearing a device having a wearing unit worn by the user; , instructs the user to rotational movement about the axis of one of at least two axes, calculating the angular velocity vector with the rotational motion from an angular velocity in at least two axes are detected, the angular velocity vector by the rotational motion 1 A calculation step for calculating a conversion value to be converted into an angular velocity vector of only one axis, and the conversion value as a correction value for correcting a deviation amount from a predetermined position where the mounting unit should be mounted on the user. And a correction step of correcting the angular velocity detected based on the correction.

Another aspect of the control method exemplifying the present invention is a detection step of detecting angular velocities in at least two axes of three axes intersecting each other among movements of a user wearing a device having a wearing unit worn by the user; , instructs the user to rotational movement about the axis of one of at least two axes, calculating the angular velocity vector with the rotational motion from an angular velocity in at least two axes are detected, the angular velocity vector by the rotational motion 1 A calculation step for calculating a conversion value to be converted into an angular velocity vector of only one axis , a conversion value as a correction value for correcting a deviation amount from a predetermined position where the mounting unit should be mounted on the user, and the correction value is And a warning step that informs the user that the device is not mounted at a predetermined position when it is larger than the predetermined value.
Another aspect of the control device exemplifying the present invention is a mounting unit that is mounted on a user, and a detection unit that is provided in the mounting unit and detects angular velocities in at least two axes of three axes that intersect each other among user's movements. And instructing the user to rotate about one of the at least two axes, calculate an angular velocity vector based on the rotational motion from the angular velocities on the at least two axes detected by the detector, and calculate the angular velocity based on the rotational motion. A control unit that calculates a conversion value for converting the vector into an angular velocity vector of only one axis, and corrects an output from the detection unit based on the conversion value.
Another aspect of the program exemplifying the present invention is to detect angular velocities in at least two axes of three axes intersecting each other among movements of a user wearing a device having a mounting unit to be worn by the user, and at least two axes The rotational velocity around one axis is instructed to the user, the angular velocity vector due to the rotational motion is calculated from the detected angular velocities in at least two axes, and the angular velocity vector due to the rotational motion is the angular velocity vector of only one axis. A conversion value to be converted into is calculated, and the computer is caused to execute processing for correcting the angular velocity detected based on the conversion value.

  According to the present invention, correction of posture information can be processed at high speed without increasing the circuit scale.

<< Description of One Embodiment >>
FIG. 1 is an external view of a head mounted display device (HMD) 100 according to an embodiment of the present invention. FIG. 2 shows a schematic diagram of the configuration of the HMD 100.

  As shown in FIG. 1, the HMD 100 includes a headband 10, left and right headphones 11 </ b> L and headphones 11 </ b> R, a side arm 12 and a side arm 12 connected via a connecting portion (not shown) installed on the left headphone 11 </ b> L. The display unit 13 is installed at the tip of the head, and the cross button 14 is provided on the headphones 11R. As shown in FIG. 1, the headband 10 of the HMD 100 presses the left and right ears of the user via the left and right headphones 11L and the headphones 11R by the elastic force, so that the entire HMD 100 becomes the user's head. Fixed to. In the present embodiment, the display unit 13 is installed so as to come to the position of the visual field of the user's left eye. In addition, the screen operation for the screen display of the display unit 21 of FIG. 2 is originally performed according to the movement of the user's head, but the volume of the headphones 11L and headphones R is adjusted using the cross button 14, or the display unit 21 is operated. It may be used to perform a screen operation on the screen display.

  As shown in FIG. 2, the HMD 100 includes a display unit 21 in the display unit 13, and a speaker L22L and a speaker R22R in each of the left and right headphones 11L and the headphones 11R. Further, the HMD 100 includes an operation member 23 that is a cross button 14, an image output interface (image output I / F) 24, an audio output interface (audio output I / F) 25, a CPU 26, and A / D conversion units 27 to 29. , A storage unit 30, a gyro X31, a gyro Y32, and a gyro Z33. In the present embodiment, the image output I / F 24, the audio output I / F 25, the CPU 26, the A / D conversion units 27 to 29, the storage unit 30, the gyro X31, the gyro Y32, and the gyro Z33 are the headband 10, the headphones 11L, or Installed as appropriate in any of the headphones 11R. In addition, the A / D conversion units 27 to 29, the gyro X31, the gyro Y32, and the gyro Z33 operate as detection units that respectively detect angular velocities ωx, ωy, and ωz due to the rotational motions in the XYZ axial directions among the user motions. . In this embodiment, the rotation axis of the movement of the user's head in the front-rear direction is the X axis (or pitch axis), the rotation axis of the movement of the user's head in the horizontal direction is the Z axis (yaw axis), and the user's head The rotation axis of the tilt movement is defined as the Y axis (roll axis).

  The display unit 21 is installed in the display unit 13 at a position that enters the left eye field on the side facing the user's left eye, and displays an image, a video, a setting screen, or the like transferred from the CPU 26 by the image output I / F 24. The signal converted for display on the display unit 21 is used for display. A liquid crystal panel (LCD) or the like can be appropriately selected and used for the display unit 21.

  The speaker L22L and the speaker R22R are installed in the headphone 11L and the headphone 11R, respectively, and audio signals such as audio and music added to the video transferred from the CPU 26 are converted from digital to analog signals by the audio output I / F 25. Outputs the converted signal. As the speaker L22L and the speaker R22R, a general speaker or the like can be used.

  The operation member 23 can be used for performing screen operations on the screen display of the display unit 21 as well as adjusting the volume of the speakers L22L and R22R of the headphones 11L and 11R. The operation member 23 issues an operation signal to the CPU 26 for selecting a menu such as music or adjusting the volume. In the present embodiment, the operation member 23 is installed on the side surface of the headphone 11R using the cross button 14 shown in FIG. In addition to the cross button 14, the operation member 23 is a button such as a button that is independent of the up / down / left / right and determination buttons, a stick-type switch that can instruct up / down / left / right directions and determination, or a capacitive sensor. A sensor or the like can be appropriately selected and used.

  When the user presses a power button (not shown), the CPU 26 turns on the power of the HMD 100, reads the control program stored in the storage unit 30, and initializes the HMD 100. The CPU 26 controls the HMD 100 based on outputs from the operation member 23, the gyro X 31, the gyro Y 32, and the gyro Z 33 through user instructions and operations. For example, the CPU 26 performs an operation such as reproduction of an image or a video by a screen operation on the screen display of the display unit 21, and outputs a voice signal or a music voice signal added to the video to the speakers L22L and R22R of the headphones 11L and 11R. Etc. A CPU of a general computer can be used as the CPU 26.

  The A / D conversion units 27 to 29 convert the signals of the angular velocities ωx, ωy, and ωz detected by the gyro X31, the gyro Y32, and the gyro Z33, respectively, according to the rotational motions of the user in the XYZ axis directions from analog to digital. .

  The storage unit 30 corrects angular velocities ωx ′, ωy ′, and ωz ′ detected by the gyro X31, the gyro Y32, and the gyro Z33, along with a control program for the CPU 26 to control the HMD 100, data such as images, movies, and music. Holds the correction value. Programs and data stored in the storage unit 30 can be referred to as appropriate from the CPU 26. A storage device such as a general hard disk device, a magneto-optical disk device, or a removable memory card can be selected and used for the storage unit 30.

  The gyro X31, the gyro Y32, and the gyro Z33 are gyro sensors that respectively detect angular velocities ωx, ωy, and ωz due to the rotational motion of the user in the XYZ axis directions. In the present embodiment, the gyro X31, the gyro Y32, and the gyro Z33 together with the A / D conversion units 27 to 29 are installed in the headphone 11L or the headphone 11R.

  When the HMD 100 of the present embodiment having the above-described configuration is mounted on the user's head, the screen operation on the display screen of the display unit 21 can be performed basically when the user moves the head. However, an error may occur depending on how the HMD 100 is worn on the user's head or how the user moves his / her neck, and the user's intended operation may not always be performed.

  Therefore, in the present embodiment, in order to accurately perform the screen operation for the screen display of the display unit 21 according to the movement of the user's own head, depending on how the HMD 100 is mounted on the user's head or the user's heel. Processing for correcting an error caused by how the neck is moved will be described with reference to the flowchart of FIG. In the following description, the coordinate system of the user is XYZ, and the coordinate system of the gyro sensor is X′Y′Z ′.

  When the user presses a power button (not shown) of the HMD 100, the power of the HMD 100 is turned on, and the CPU 26 reads the control program stored in the storage unit 30 and initializes the HMD 100. CPU26 performs the correction process of step S101 to step S104 in order to perform screen operation with respect to the screen display of the display part 21 correctly according to a user's head movement. In the present embodiment, it is assumed that data such as an image, a moving image, or music is stored in the storage unit 30 in advance.

  Step S101: The CPU 26 displays, on the display unit 21, an instruction for a rotational motion that moves the neck once back and forth around the X axis to the user. The CPU 26 causes each gyro X31, gyro Y32, and gyro Z33 to detect angular velocities ωx ′, ωy ′, and ωz ′ due to the rotational motion of the neck around the X axis performed by the user according to the instructions at a predetermined sampling frequency. The data is stored in the storage unit 30 via the D conversion units 27 to 29. Similarly, the CPU 26 displays on the display unit 21 instructions for causing the user to perform a rotation operation of tilting the neck around the Y axis and a rotation operation of swinging the neck left and right around the Z axis. The CPU 26 stores the data of the angular velocities ωx ′, ωy ′, and ωz ′ detected by the respective gyros X31, gyros Y32, and gyros Z33 in the storage unit 30, respectively.

  Here, FIG. 4 shows an example of temporal change of angular velocity data detected by each gyro X31, gyro Y32, and gyro Z33 in the rotational motion around the X axis among the rotational motion of the neck by the user. If the HMD 100 is mounted on the user's head so that the user's coordinate system (X, Y, Z) and the gyro sensor coordinate system (X ′, Y ′, Z ′) completely match each other, If it can be moved back and forth around the X axis, only the component of the angular velocity ωx ′ by the gyro X31 should be detected (this state is determined that the HMD 100 is correctly mounted in this embodiment). However, actually, the angular velocities ωy ′ and ωz ′ are also detected by the gyro Y32 and the gyro Z33 because the HMD 100 is not correctly worn by the user or the neck is moved by the user's heel. This is because, as shown in FIG. 5, depending on whether the mounting position of the HMD 100 is incorrect or the user's own heel moves, the user coordinate system (X, Y, Z) and the gyro sensor coordinate system (X ′, Y ′, Z ′) and are inclined with respect to each other. This deviation (error) prevents the user's intended operation from being performed even if the user moves his neck and performs a screen operation on the screen display of the display unit 21 of the display unit 13.

  Therefore, even if the HMD 100 is not properly worn or the user moves his / her neck with the heel of the user, if the user moves his / her head, the operation intended by the user in the screen operation on the screen display of the display unit 21 is performed. In order to ensure that the angular velocity vector ω ′ = (ωx ′, ωy ′, ωz ′) detected by each of the gyro X31, the gyro Y32, and the gyro Z33 of the gyro sensor is used, It is necessary to perform correction to convert the vector to ω = (ωx, ωy, ωz).

  As shown in FIG. 5, when the angle of (θ, φ, ψ) is shifted between the user's coordinate system and the coordinate system of the gyro sensor in each XYZ axis, the following equation (1) Using the rotation matrix in each XYZ axis, the angular velocity vector ω and the angular velocity vector ω ′ can be related as in the following equation (2).

  Therefore, in the following steps, the angular velocity data detected by the gyro X31, the gyro Y32, and the gyro Z33 by the rotational motion of the neck in each XYZ axis in step S101 is applied to the equations (1) and (2), Angles (θ, φ, ψ) that are correction values are obtained.

  Step S102: The CPU 26 has the highest angular velocity in the rotational motion of the neck in each axis among the angular velocity data detected by the gyro X31, the gyro Y32, and the gyro Z33 by the rotational motion of the neck in each XYZ axis in Step S101. The angular velocities ωx ′, ωy ′, and ωz ′ when Specifically, in the case of the rotational motion of the neck around the X axis in FIG. 4, the CPU 26 determines the angular velocity ωx1 when the absolute value of ωx ′ is the maximum among the detected angular velocities ωx ′, ωy ′, and ωz ′. , Ωy1 and ωz1 are extracted as an angular velocity vector ω ′ in the coordinate system of the gyro sensor during the rotational movement of the neck around the X axis. Similarly, an angular velocity vector ω ′ is extracted from each angular velocity data obtained by rotational movement of the neck around the Y axis and the Z axis.

  Step S103: The CPU 26 normalizes the angular velocity vector ω ′ on each X′Y′Z ′ axis extracted in Step S102. This is because, for example, in the case of a rotational motion of the neck around the X axis, the angular velocity vector ω of the user's coordinate system XYZ must be (1, 0, 0), for example. The same applies to the angular velocity vector ω in the rotational movement of the neck around the other Y and Z axes. Therefore, the three extracted angular velocity vectors ω ′ are normalized to match it.

  Step S104: The CPU 26 substitutes the angular velocity vector ω ′ in each X′Y′Z ′ axis normalized in Step S103 and the angular velocity vector ω in XYZ of the user's coordinate system into Equation (2), for example, Then, the angles (θ, φ, ψ) are obtained using the least square method. The CPU 26 records the obtained angles (θ, φ, ψ) as correction values in the storage unit 30 and ends the process.

  Thereby, the angular velocities ωx ′ detected by the gyro X31, the gyro Y32, and the gyro Z33 according to the movement of the user's head by using the obtained angles (θ, φ, ψ) together with the expressions (1) and (2). , Ωy ′ and ωz ′ are converted and corrected to the angular velocity vector ω of the user's coordinate system, so that even if the HMD 100 is not properly worn or the neck is moved by the user's heel, the user can If the head is moved, the screen operation for the screen display of the display unit 21 of the display unit 13 can be accurately performed. Accordingly, the user can view images, videos, music, and the like displayed on the display unit 21 and make various settings of the HMD 100 without worrying about the wearing state of the HMD 100 or his / her own habit. .

  As described above, in the present embodiment, the CPU 26 causes the user to perform the rotational motion of the neck of each of the XYZ axial axes in advance to perform the process of obtaining the correction value. Even if the method of wearing on the head is inaccurate or the user moves his / her neck with the heel of the user, if the user moves his / her head, the screen operation on the screen display of the display unit 21 can be performed accurately. it can.

In addition, the correction processing of the present embodiment can be performed only by a simple calculation of Expression (1) and Expression (2) using only a gyro sensor capable of measuring angular velocities in the three-axis directions, so that high-speed processing is possible. Cost reduction can be achieved without increasing the circuit scale.
<< Other Embodiments >>
A head-mounted display device according to another embodiment of the present invention is basically the same as the HMD 100 according to one embodiment of FIG. 1, and a description regarding the operation of each component is omitted. The HMD 100 of this embodiment is different from that of the first embodiment in that instead of correcting the angular velocities detected by the gyro X31, the gyro Y32, and the gyro Z33 using the obtained angles (θ, φ, ψ), the angle ( When any value of [theta], [phi], [psi] is equal to or greater than the threshold value, the CPU 26 emits a warning sound such as a beep sound to the speaker L22L and the speaker R22R, and causes the user to remount the HMD 100.

  FIG. 6 is a flowchart of processing in the HMD 100 according to the present embodiment.

  Similarly to one embodiment, when a user presses a power button (not shown) of the HMD 100, the HMD 100 is turned on, and the CPU 26 reads a control program stored in the storage unit 30 and initializes the HMD 100. . CPU26 performs the correction process of step S201 to step S206 in order to perform screen operation correctly with respect to the screen display of the display part 21 according to a user's head movement. In the present embodiment, it is assumed that data such as an image, a moving image, or music is stored in the storage unit 30 in advance. Further, a threshold value (for example, 5 degrees or 10 degrees) for determining whether or not the obtained angle (θ, φ, ψ) is equal to or larger than the threshold value, and the obtained angle (θ, φ, ψ) are the threshold values. It is assumed that warning sound data such as a beep sound is stored in the storage unit 30 in advance.

  Step S201: The CPU 26 displays, on the display unit 21, an instruction for a rotational motion that moves the neck once back and forth around the X axis to the user. The CPU 26 causes the respective gyros X31, gyros Y32, and gyros Z33 to detect angular velocities ωx ′, ωy ′, and ωz ′ caused by the rotational motion of the neck around the X axis according to the instructions at a predetermined sampling frequency. The data is stored in the storage unit 30 via the conversion units 27 to 29. Similarly, the CPU 26 displays on the display unit 21 instructions for causing the user to perform a rotation operation of tilting the neck around the Y axis and a rotation operation of swinging the neck left and right around the Z axis. The CPU 26 stores the data of the angular velocities ωx ′, ωy ′, and ωz ′ detected by the respective gyros X31, gyros Y32, and gyros Z33 in the storage unit 30, respectively.

  Step S202: The CPU 26, in the same procedure as Step S102 of one embodiment, out of the angular velocity data detected by the gyro X31, the gyro Y32, and the gyro Z33 by the rotational movement of the neck on each XYZ axis in Step S201. Then, the angular velocities ωx ′, ωy ′, and ωz ′ when the angular velocities in the rotational movement of the neck in each axis become maximum are extracted.

  Step S203: The CPU 26 normalizes the angular velocity vector ω ′ on each X′Y′Z ′ axis extracted in Step S202.

  Step S204: The CPU 26 substitutes the angular velocity vector ω ′ in each X′Y′Z ′ axis normalized in Step S203 and the angular velocity vector ω in each XYZ of the user's coordinate system into Equation (2), respectively. For example, the angles (θ, φ, ψ) are obtained using the method of least squares.

  Step S205: The CPU 26 determines whether any of the obtained angles (θ, φ, ψ) is equal to or greater than a threshold value stored in the storage unit 30. If any value of the obtained angles (θ, φ, ψ) is equal to or greater than the threshold value, the CPU 26 determines that the HMD 100 is not correctly attached and proceeds to step S206 (YES side). On the other hand, when the calculated values of angles (θ, φ, ψ) are smaller than the threshold value, the CPU 26 determines that the HMD 100 is correctly attached and ends the operation (NO side).

  Step S206: The CPU 26 emits a warning sound such as a beep sound to the headphones 11L and the speakers L22L and R22R of the headphones 11R to inform the user that the HMD 100 is not properly attached. At the same time, the CPU 26 displays the axial direction and the angle value that are equal to or greater than the threshold value on the display unit 21 and prompts the user to remount the HMD 100 at the correct position. The CPU 26 ends a series of work.

  Thus, by comparing the obtained angles (θ, φ, ψ) with the threshold value, the user can wear the HMD 100 at the correct position. If the user moves his / her head, the screen of the display unit 21 of the display unit 13 is displayed. The screen operation for the display can be performed accurately. Accordingly, the user can view images, videos, music, and the like displayed on the display unit 21 and make various settings of the HMD 100 without worrying about the wearing state of the HMD 100 or his / her own habit. .

  As described above, in the present embodiment, the CPU 26 performs the operation of obtaining the angles (θ, φ, ψ) by causing the user to perform the rotational motion of the necks of the XYZ axial axes in advance. Even if the method of mounting the HMD 100 on the user's head is inaccurate, even if the user moves his / her head by re-mounting the user, The screen operation for the screen display of the display unit 21 can be accurately performed.

In addition, the correction processing of the present embodiment can be performed only by a simple calculation of Expression (1) and Expression (2) using only a gyro sensor capable of measuring angular velocities in the three-axis directions, so that high-speed processing is possible. Cost reduction can be achieved without increasing the circuit scale.
≪Supplementary items of embodiment≫
In one embodiment and another embodiment, when the HMD 100 is attached to a user, the HMD 100 obtains angles (θ, φ, ψ) for correcting a shift between the gyro sensor coordinate system and the user coordinate system. In addition, although the user is caused to perform the motion of rotating the neck around each XYZ axis once, the present invention is not limited to this. For example, it may be performed a plurality of times. As a result, more angular velocity vectors ω ′ on each X′Y′Z ′ axis can be obtained, and the angles (θ, φ, ψ) obtained by the method of least squares are more accurate.

  Further, for example, even after obtaining the angles (θ, φ, ψ), the movement of the user's neck at the time of screen response such as “Yes”, “No”, etc. displayed on the display unit 21 of the display unit 13. The angular velocities ωx ′, ωy ′, and ωz ′ are detected by the gyro X31, the gyro Y32, and the gyro Z33, respectively, and combined with the three angular velocity vectors ω ′ obtained at the time of wearing, thereby obtaining the values of the angles (θ, φ, ψ). It may be updated with higher accuracy.

  Further, depending on the conditions, the correction processing based on the rotational motion around each XYZ axis by the user at the time of wearing is omitted, and “Yes” (rotational motion around the X axis) displayed on the display unit 21 during use of the HMD 100 is omitted. ), “No” (rotational motion around the Z axis), etc., and using only the angular velocities detected by each of the gyro X31, gyro Y32, and gyro Z33 due to the movement of the user's neck, the angles (θ, φ) , Ψ) may be obtained or updated.

  In one embodiment and other embodiments, in order to obtain the angles (θ, φ, ψ), each of the angular velocity data detected by the gyro X31, the gyro Y32, and the gyro Z33 in step S102 or step S202 is used. The angular velocities ωx ′, ωy ′, and ωz ′ when the angular velocities in the rotational movement of the neck on the XYZ axes are maximized are extracted, but the present invention is not limited to this. Actually, the ratio between the values of the angular velocities detected by the respective gyros X31, gyros Y32 and gyros Z33 is substantially constant regardless of the time t. Therefore, the angular velocity vector ω ′ in the coordinate system of the gyro sensor may be obtained by using the angular velocities ωx ′, ωy ′, and ωz ′ of the X′Y′Z ′ axes at an arbitrary time t.

  In one embodiment and other embodiments, the user is caused to rotate around each XYZ axis, but the present invention is not limited to this, and if there is at least two-axis angular velocity data among the XYZ axes, The angles (θ, φ, ψ) can be obtained.

  Further, in the HMD 100, for example, the present invention is applicable even when there is no one axis among the three gyros of the gyro sensor.

  In one embodiment and the other embodiments, the rotation matrix in each XYZ axis is the one in equation (2). However, when the value of the angle (θ, φ, ψ) is small, for example, cos θ May be calculated by approximating 1 and sin θ approximating θ. In this case, the unit of the angle is radians. For the angles φ and ψ, the same approximation as in the case of the angle θ is possible.

  In one embodiment and other embodiments, the display unit 13 is installed so as to be in the field of view of the user's left eye, but the present invention is not limited to this. The display unit 13 may be an HMD installed so as to be in the field of view of the right eye of the user, or may be an HMD that is in the field of vision of both eyes, such as a glasses type.

  In one embodiment, the obtained angles (θ, φ, ψ) are simply stored in the storage unit 30. However, the present invention is not limited to this, and the angles (θ, φ, which are correction values for each user). , Ψ) may be stored in the storage unit 30. Thereby, when the user wears the HMD 100, the correction process at the time of wearing can be omitted by reading the angle (θ, φ, ψ) of the user to be used in the screen operation for the screen display of the display unit 21. .

  Note that the present invention can be applied not only to the HMD 100 but also to surround headphones or the like, and controls the sound from the left and right headphones 11L and 11R so as to give a sense of realism according to the movement of the user. It can also be applied.

  It should be noted that the present invention is also applicable to having a program for realizing each step in the control method according to the present invention and causing a computer to function as a control device.

  Note that the present invention is also applicable to a recording medium that stores a computer program for realizing each step in the control method according to the present invention.

  It should be noted that the present invention can be implemented in various other forms without departing from the spirit or main features thereof. For this reason, the above-described embodiment is merely an example in all respects and should not be construed in a limited manner. Further, all modifications and changes belonging to the equivalent scope of the claims are within the scope of the present invention.

External view of HMD100 which concerns on one Embodiment of this invention Schematic of the configuration of the HMD 100 of one embodiment Flowchart of processing in HMD 100 according to one embodiment An example showing temporal changes in angular velocity data acquired by each gyro X31, gyro Y32, and gyro Z33 in the longitudinal movement of the neck around the X axis by the user The figure which shows the relationship between the coordinate system XYZ of a user, and the coordinate system X'Y'Z 'of a gyro sensor. Flowchart of processing in HMD 100 according to another embodiment

Explanation of symbols

10 Headband, 11L, 11R Headphone, 12 Side arm, 13 Display unit, 14 Cross button, 21 Display unit, 22L Speaker L, 22R Speaker R, 23 Operation member, 24 Image output I / F, 25 Audio output I / F , 26 CPU, 27 to 29 A / D conversion unit, 30 storage unit, 31 gyro X, 32 gyro Y, 33 gyro Z, 100 HMD

Claims (11)

A mounting part to be mounted on the user;
A detection unit that is provided in the mounting unit and detects angular velocities in at least two axes of three axes intersecting each other among the movements of the user;
Instructing the user to rotate around one of the at least two axes , calculating an angular velocity vector due to the rotational movement from the angular velocities in the at least two axes detected by the detector , In order to calculate a conversion value for converting an angular velocity vector due to rotational motion into an angular velocity vector of only one axis, and to correct the amount of deviation from a predetermined position at which the mounting portion should be mounted on the user controller of the correction value, characterized in that it comprises a control unit for correcting the output from the detecting unit based on the correction value. A mounting part to be mounted on the user;
A detection unit that is provided in the mounting unit and detects angular velocities in at least two axes of three axes intersecting each other among the movements of the user;
Instructing the user to rotate around one of the at least two axes , calculating an angular velocity vector due to the rotational movement from the angular velocities in the at least two axes detected by the detector , In order to calculate a conversion value for converting an angular velocity vector due to rotational motion into an angular velocity vector of only one axis, and to correct the amount of deviation from a predetermined position at which the mounting portion should be mounted on the user of the correction value, wherein when the correction value is larger than the predetermined value, the control apparatus characterized by comprising a control unit for transmitting that it is not attached to the predetermined position with respect to the user. In the control device according to claim 1 or 2,
The control unit, to the user, the control apparatus characterized by instructing the rotational motion in at least two axes of the three axes. The control device according to claim 3,
The control unit is configured to instruct a predetermined movement to the user as needed, and update the correction value based on the predetermined movement detected by the detection unit. A control device according to any one of claims 1 to 4,
A display for displaying an image;
A head-mounted display device comprising: a support portion that holds the display portion. Detecting angular velocities in at least two axes of three axes intersecting each other among the movements of the user wearing a device having a wearing unit worn by the user;
The rotational motion about one of the at least two axes is instructed to the user, the angular velocity vector due to the rotational motion is calculated from the detected angular velocities in the at least two axes, and the angular velocity due to the rotational motion is calculated. Calculating a conversion value for converting the vector into an angular velocity vector of only one axis;
The converted value is used as a correction value for correcting a deviation amount from a predetermined position where the mounting portion should be mounted on the user, and an angular velocity detected based on the correction value is corrected.
A program that causes a computer to execute processing . Detecting angular velocities in at least two axes of three axes intersecting each other among the movements of the user wearing a device having a wearing unit worn by the user;
The rotational motion about one of the at least two axes is instructed to the user, the angular velocity vector due to the rotational motion is calculated from the detected angular velocities in the at least two axes, and the angular velocity due to the rotational motion is calculated. Calculating a conversion value for converting the vector into an angular velocity vector of only one axis;
The conversion value is used as a correction value for correcting a deviation amount from a predetermined position where the mounting portion should be mounted on the user. When the correction value is larger than a predetermined value, the predetermined value is given to the user. Tells you that it is not in position
A program that causes a computer to execute processing . A detection step of detecting angular velocities in at least two axes of three axes intersecting each other among the movements of the user wearing the apparatus having a wearing unit to be worn by the user;
The rotational movement about the axis of one of at least two axes indicated to the user, and calculates the angular velocity vector by the rotational motion from an angular velocity in the detected at least two axes, by the rotational motion A calculation step of calculating a conversion value for converting the angular velocity vector into the angular velocity vector of only one axis ;
A correction step for correcting the angular velocity detected based on the correction value, using the converted value as a correction value for correcting a deviation amount from a predetermined position where the mounting portion should be mounted on the user. A control method characterized by the above. A detection step of detecting angular velocities in at least two axes of three axes intersecting each other among the movements of the user wearing the apparatus having a wearing unit to be worn by the user;
The rotational movement about the axis of one of at least two axes indicated to the user, and calculates the angular velocity vector by the rotational motion from an angular velocity in the detected at least two axes, by the rotational motion A calculation step of calculating a conversion value for converting the angular velocity vector into the angular velocity vector of only one axis ;
The conversion value is used as a correction value for correcting a deviation amount from a predetermined position where the mounting portion should be mounted on the user . When the correction value is larger than a predetermined value, the predetermined value is given to the user. And a warning step for notifying that it is not mounted at the position. A mounting part to be mounted on the user;
A detection unit that is provided in the mounting unit and detects angular velocities in at least two axes of three axes intersecting each other among the movements of the user;
Instructing the user to rotate around one of the at least two axes, calculating an angular velocity vector due to the rotational movement from the angular velocities in the at least two axes detected by the detector, A control unit that calculates a conversion value for converting an angular velocity vector due to rotational motion into an angular velocity vector of only one axis, and corrects an output from the detection unit based on the conversion value;
A control device comprising: Detecting angular velocities in at least two axes of three axes intersecting each other among the movements of the user wearing a device having a wearing unit worn by the user;
The rotational motion about one of the at least two axes is instructed to the user, the angular velocity vector due to the rotational motion is calculated from the detected angular velocities in the at least two axes, and the angular velocity due to the rotational motion is calculated. Calculating a conversion value for converting the vector into an angular velocity vector of only one axis;
The angular velocity detected based on the converted value is corrected.
A program that causes a computer to execute processing.

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