JP2008027363A - Head motion tracker device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a head motion tracker device for accurately calculating the current location and current angle of the head of an occupant. <P>SOLUTION: This head motion tracker device is provided with: a head marker group 7; a camera device 2 for detecting a light beam from the head marker group 7; an optical detection head information calculation part 22 for calculating the optical detection head information of the occupant 3 for the camera device 2. This head motion tracker device is provided with: a reference marker 5 mounted on a location which is different from one location of a traveling object 30; a reference initial information storage part 42 for storing reference initial information including the initial location of the reference marker 5 for the camera device 2 based on the light beam detected when the traveling object 30 is put in a static status; a traveling information calculation part 23 for calculating traveling information including the traveling quantity of the reference marker 5 for the camera device 2 based on the light beam detected when the traveling object 30 is put in a traveling status and the reference initial information; and a head information correction part 26 for calculating traveling object head information including the head location and heat angle of the occupant 3 based on the optical detection head information and the traveling information. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to an optical head motion tracker (hereinafter also referred to as an HMT device), and more particularly, to an optical HMT device having a function of correcting a positional shift due to impact, vibration, or the like. The present invention is used in, for example, an HMT device that detects a current position and a current angle (that is, a current head position and a head angle) of a helmet with a head-mounted display device used in a game machine, a vehicle, and the like. .

  Here, the optical HMT device is a camera that can be mounted on a head with a helmet or the like to which a head marker (optical marker) such as a reflector or a light emitter is attached, so that the position of the head marker can be viewed stereoscopically. A device that tracks the movement of the head by measuring with the device.

  A technique for accurately measuring the current position and current angle of an object that changes from moment to moment is used in various fields. For example, in a game machine, an image is displayed by using a helmet with a head-mounted display device in order to realize virtual reality (VR). At this time, it is necessary to change the image in accordance with the current position and the current angle of the head mounted display-equipped helmet. Therefore, in order to measure the current position and current angle of the helmet with a head-mounted display device, an HMT device is used.

  Also, in the rescue operation by the rescue flying boat, in order not to lose sight of the found rescue target, by locking when the aiming image displayed by the helmet with head mounted display device corresponds to the rescue target, Calculating the position of the locked rescue target has been done. At this time, in order to calculate the position of the rescue target, in addition to the latitude, longitude, altitude, and posture of the flying object, the head angle and head position of the pilot with respect to the moving object coordinate system set on the flying object are measured. is doing. For this purpose, an HMT apparatus is used.

As an HMT device used for a helmet with a head-mounted display device, an apparatus that optically measures the current position and current angle of the helmet with a head-mounted display device is disclosed (see Patent Document 1). For example, an optical HMT device is disclosed in which a plurality of reflectors are attached to a helmet with a head-mounted display device, and reflected light when light is emitted from a light source is monitored by a camera device. There is also an optical HMT device that the applicant has applied for earlier (Japanese Patent Application No. 2005-106418). Specifically, on the outer peripheral surface of the helmet with a head-mounted display device, as a head marker group, LEDs as light emitters are attached to three locations so as to be separated from each other, and the relative of these three head markers is The positional relationship is stored in advance in the HMT apparatus. Then, these three head markers can be stereoscopically photographed at the same time by two cameras that can be viewed in stereo and fixed in place, so that the current three heads can be obtained according to the so-called triangulation principle. The relative position of the marker is measured. If the positions of the three points (positions of the three LEDs) fixed to the helmet with a head-mounted display device can be specified, the position and orientation (angle) of the helmet can be specified. The movement distance amount and the movement angle amount of the helmet with a display device are calculated.
JP-T 9-506194

However, as shown in FIG. 6, for example, when using the HMT device 51 with the flying object 80, the pilot 63 gets on the cockpit of the flying object 80, but the cockpit vibrates during the flying of the flying object 80. There is a case. At this time, if the two cameras 52a and 52b are installed on the ceiling of the cockpit via the fixed shaft 52c, the two cameras 52a and 52b are strongly affected by the vibration, so the head with respect to the cameras 52a and 52b. Even if the current position and the current angle of the helmet 60 with the wearable display device are calculated, it may not be possible to accurately measure. For example, when the head of the pilot 63 moves forward from the current position and the camera devices 52a and 52b temporarily vibrate forward due to the amount of movement of the head of the pilot 63, the head position of the pilot 63 Has been determined by the HMT device 51 to have moved backward.
Furthermore, the mounting state of the cameras 52a and 52b may change (deform) when subjected to an impact or strong gravitational acceleration. In such a case, a head-mounted display device is attached to the cameras 52a and 52b. There is a problem that even if the current position and current angle of the helmet 60 are calculated, it cannot be measured accurately.

  Therefore, the present invention calculates and corrects the amount of positional deviation caused by vibration or change even when the camera device vibrates or changes the mounting state of the camera device. It is an object of the present invention to provide a head motion tracker device that can accurately calculate a current position and a current angle.

  The HMT device of the present invention, which has been made to solve the above problems, is attached to a position of a head marker group arranged on the head of the occupant and a moving body on which the occupant is boarded, and the head And a camera device that detects a light beam from the group of marker groups in a stereoscopic view, and an optical detection that calculates optical detection head information including a head position and a head angle of the occupant relative to the camera device based on the detected light beam. A head motion tracker device comprising a head information calculation unit, wherein the reference marker is attached to a position different from one position of the moving body, and is detected from the reference marker when the moving body is stationary. A reference initial information calculation unit that calculates reference initial information including an initial position of a reference marker with respect to the camera device based on the obtained light, and stores the calculated reference initial information While calculating the reference initial information storage unit and the reference current position information including the current position of the reference marker with respect to the camera device, based on the light beam detected from the reference marker when the moving body is in a moving state, Based on the calculated reference current position information and the reference initial information, a movement information calculation unit that calculates movement information including a movement amount of the reference marker with respect to the camera device, and based on the movement information, the optical detection head information Is provided with a head information correction unit for correcting the above.

  According to the HMT device of the present invention, the mounting position of the camera device needs to detect light from the head marker group, for example, a ceiling above the head, but the mounting position of the reference marker is Unlike the mounting position of the camera device, it can be a position that hardly vibrates and does not change when subjected to an impact or acceleration of gravity. Therefore, when the moving body is in a stationary state in advance, the camera device is returned to the original position by measuring the reference initial information including the initial position of the reference marker with respect to the camera device based on the light beam detected from the reference marker. The reference position of the existing camera device can be stored. Thereby, when the moving body is in a moving state, the current position of the reference marker relative to the camera device is calculated based on the light beam detected from the reference marker, and the current position of the reference marker is compared with the reference initial information. Thus, the movement information including the movement amount of the reference marker relative to the camera device can be calculated. That is, the movement amount of the camera device can be calculated from the movement information. Therefore, when calculating the moving body head information including the head position and head angle of the occupant, for example, even when the camera apparatus vibrates, it is possible to perform correction to reduce or eliminate the influence of vibration. Even when the mounting position of the camera device is misaligned for some reason, it is possible to perform correction to reduce or eliminate the influence of the misalignment.

(Means and effects for solving other problems)
In the above invention, the reference marker may be two or more.
According to the HMT device of the present invention, translational movement and rotational movement of the camera device can be calculated from movement information including the movement amount of the reference marker.

Furthermore, in the above invention, the reference marker may be three or more.
According to the HMT apparatus of the present invention, it is possible to calculate a three-dimensional rotational movement together with the translational movement of the camera apparatus from the movement information including the movement amount of the reference marker.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. Note that the present invention is not limited to the embodiments described below, and it goes without saying that various aspects are included without departing from the spirit of the present invention.
The embodiment described below calculates the current position and the current angle of the helmet with a head mounted display device worn by a pilot who rides on the flying object. Even when the state is deformed or the mounting position of the camera device is displaced due to vibration, the current position and the current angle of the helmet with a head-mounted display device can be accurately calculated.

  FIG. 1 is a diagram showing a schematic configuration of an HMT device according to an embodiment of the present invention, and FIG. 2 is a plan view of a helmet with a head-mounted display device and a reference marker portion shown in FIG.

  The HMT device 1 includes a helmet 10 with a head-mounted display device attached to the head of the pilot 3, a camera device 2 (2a, 2b) supported by a fixed shaft 2c fixed to the flying object 30, and a flight. When the body 30 is moving, the reference marker portion 40 attached to the front panel portion 30b, which is a position that is not easily affected by vibrations and impacts in the flying body 30, and the control unit 20 configured by a computer, Consists of

The flying body 30 is a cockpit on which the pilot 3 is boarded, and includes a seat 30a on which the pilot 3 sits and a front panel portion 30b. As the flying object 30 flies, each part of the cockpit on which the pilot 3 is boarded vibrates. At this time, since the front panel portion 30b is not easily affected by vibration as described above, the reference marker portion 40 hardly vibrates. Note that the reference marker unit 40 may be attached to another position as long as it is not affected by vibration.
The helmet 10 with a head-mounted display device includes a display (not shown), a combiner 8 that leads the eyes of the pilot 3 by reflecting image display light emitted from the display, the position of the helmet 10, The LED group 7 functions as a head marker serving as an index when measuring the direction (that is, the head position and head angle). In addition, the pilot 3 wearing the helmet 10 with a head-mounted display device can visually recognize the display image by the display and the front actual thing of the combiner 8.

  As shown in FIG. 2, the LED group 7 is attached so that three (or three or more) LEDs 7a, 7b, 7c that emit infrared light having different wavelengths are separated from each other. The relative positional relationship between the three LEDs 7a, 7b, and 7c of the helmet 10 with a head-mounted display device and the attachment position with respect to the helmet 10 are previously stored in the initial head data storage unit 44 of the memory 41 described later. I remember it. Therefore, the current positions of the three LEDs 7a, 7b, 7c are calculated by a triangulation method described later, and the current LEDs 7a, 7b are referred to by referring to the data stored in the initial head data storage unit 44. , 7c can be specified, and the position and angle (orientation) of the helmet 10 to which the LEDs 7a, 7b, 7c are fixed can be specified.

  The reference marker unit 40 includes the LED group 5. As shown in FIG. 2, the LED group 5 includes two LEDs 5 a and 5 b that emit infrared light having different wavelengths so as to be separated from each other by a certain distance (d2). The LED group 5 and the LED group 7 emit infrared light having different wavelengths so that they can be distinguished. In addition, since the reference marker unit 40 is attached at a position where it hardly vibrates as described above, the camera device 2 (2a, 2b) is displaced from the initial position (original setting position) by vibration or deformation. In this case, it is used when calculating the moving distance and moving angle of the camera device 2 (2a, 2b) due to the positional deviation.

  In the camera device 2 (2a, 2b), the shooting direction is directed to the head-mounted helmet with display device 10 and the reference marker unit 40, and the LED group 7 and the reference marker of the head-mounted helmet with display device 10 The LED group 5 of the unit 40 is installed on the ceiling of the flying body 30 via the fixed shaft 2c so as to be separated by a certain distance (d1) so that the LED group 5 can be stereoscopically viewed at the same time.

  Therefore, the position of the LED 7a, which is a head marker, with respect to the camera device 2 (2a, 2b) is extracted from the position of the marker displayed in the image photographed by the camera device 2 (2a, 2b), and further the camera 2a. By extracting the direction angle from the camera 2 and the direction angle from the camera 2b and using the distance (d1) between the camera 2a and the camera 2b, it can be calculated by the triangulation method. The positions of the LEDs 7b and 7c, which are other head markers, with respect to the camera device 2 (2a and 2b) are calculated in the same manner.

Optical detection coordinates which are coordinate systems fixed to the camera device 2 (2a, 2b) and moving together with the camera device 2 so that the position of each head marker at this time can be expressed in spatial coordinates System (X'Y'Z 'coordinate system) is used. A specific origin position of the optical detection coordinate system (X′Y′Z ′ coordinate system) and description of the X′Y′Z ′ axis direction will be described later. The position coordinates of the LEDs 7a, 7b, 7c are (X1 ′, Y1 ′, Z1 ′), (X2 ′, Y2 ′, Z2 ′), (X3 ′) by the optical detection coordinate system (X′Y′Z ′ coordinate system). , Y3 ′, Z3 ′). Position coordinates (X1 ′, Y1 ′, Z1 ′), (X2 ′, Y2 ′, Z2 ′), (X3 ′, Y3 ′, Z3 ′) of the three LEDs 7a, 7b, 7c with respect to the camera device 2 (2a, 2b) ) Is specified, the position and angle (orientation) of the helmet 10 to which the LEDs 7a, 7b, 7c are fixed can be specified using the coordinate system.
In other words, the current position coordinates of the three LEDs 7a, 7b, and 7c are obtained by detecting the infrared light emitted from the LED group 7 that is the head marker, so that the head with respect to the camera device 2 (2a and 2b) is obtained. The current position and orientation (angle) of the helmet 10 with a part-mounted display device can be calculated, and can be expressed by the position coordinates and the angle with respect to the coordinate axes.

FIG. 3 is a diagram illustrating the relationship between the camera device 2 (2a, 2b) and the reference marker unit 40.
The current position (x1 ′, y1 ′, z1 ′) of the LED 5a of the reference marker unit 40 in the optical detection coordinate system (X′Y′Z ′ coordinate system) with respect to the camera 2a and the camera 2b is a directional angle from the camera 2a ( α), the direction angle (β) from the camera 2b, and the distance (d1) between the camera 2a and the camera 2b are calculated by the triangulation method. The current positions (x2 ′, y2 ′, z2 ′) of the LED 5b with respect to the camera 2a and the camera 2b are calculated in the same manner. Therefore, by specifying the two current position coordinates (x1 ′, y1 ′, z1 ′) and (x2 ′, y2 ′, z2 ′) with respect to the camera 2a and the camera 2b, the positional relationship and the angle between the LED 5a and the LED 5b. Relationships are identified.

Next, the control unit 20 will be described. FIG. 4 is a diagram for explaining the flow of arithmetic processing performed in the control system 20 of the HMT apparatus.
As shown in FIG. 1, the control unit 20 is configured by a computer including a CPU 21, a memory 41, and the like, and performs various controls and arithmetic processes. The processing executed by the CPU 21 will be described separately for each functional block. The optical marker driving unit 28, the reference initial information calculation unit 27, the optical detection head information calculation unit 22, the movement information calculation unit 23, and the head An information correction unit 26 and a video display unit 25 are provided.
The memory 41 is formed with an area for storing various data necessary for the control unit 20 to execute processing, and is an optical detection coordinate that is a coordinate system that moves together with the camera device 2 (2a, 2b). An optical detection coordinate storage unit 43 that stores an origin position and an axial direction necessary for setting a system (X′Y′Z ′ coordinate system), and an initial position of the LED group 5 with respect to the camera device 2 (2a, 2b) A reference initial information storage unit 42 that stores reference initial information including the initial head data storage unit that stores a relative positional relationship between the three LEDs 7a, 7b, and 7c and an attachment position with respect to the helmet 10 (initial head data). 44.

  Here, the optical detection coordinate system (X′Y′Z ′ coordinate system) will be described. The optical detection coordinate system (X′Y′Z ′ coordinate system) is a three-dimensional coordinate system that moves together with the camera device 2 (2a, 2b), and the origin and the direction of each coordinate axis can be arbitrarily determined. In the embodiment, as shown in FIG. 3, the direction from the camera 2b to the camera 2a when the flying object 30 is stopped (initial state) is the X-axis direction, and is perpendicular to the X-axis direction and perpendicular to the ceiling. The direction is defined as the Z-axis direction, the direction perpendicular to the X-axis direction and horizontal to the ceiling, and the rightward direction is defined as the Y-axis direction. The origin is defined as the midpoint of the cameras 2a and 2b.

  The optical detection coordinate storage unit 43 stores axial information and origin information necessary for setting the X′Y′Z ′ coordinate system.

  The reference initial information storage unit 42 is the position of the LED 5a relative to the camera device 2 (2a, 2b) (that is, the X′Y′Z ′ coordinate system) measured in advance when the flying object 30 is stopped (initial state) ( x1 ′, y1 ′, z1 ′) and the position of the LED 5b (x2 ′, y2 ′, z2 ′) are stored as reference initial information. The stored reference initial information is expressed as an initial position (x1, y1, z1) of the LED 5a and an initial position (x2, y2, z2) of the LED 5b.

  The optical marker driving unit 28 outputs a command signal for turning on the LED group 7 and the LED group 5 and controls the camera devices 2a and 2b to capture the LED group 7 and the LED group 5 and acquire position information based on the image. Is what you do.

  The reference initial information calculation unit 27 calculates the position of the LED 5a (x1 ′, y1 ′, z1 ′) and the position of the LED 5b (x2 ′, y2 ′) from an image acquired when the flying object 30 is stopped (initial state) in advance. , Z2 ′) is calculated. The calculated position is stored in the reference initial information storage unit 42 described above as reference initial information, that is, the initial position (x1, y1, z1) of the LED 5a and the initial position (x2, y2, z2) of the LED 5b.

The optical detection head information calculation unit 22 calculates the optical detection head information including the head position and head angle of the pilot 3 with respect to the camera device 2 (2a, 2b) (X′Y′Z ′ coordinate system). Is to do.
That is, the positions (X1 ′, Y1 ′, Z1 ′), (X2 ′, Y2 ′, Z2 ′) of the three LEDs 7a, 7b, 7c with respect to the camera device 2 (2a, 2b) (X′Y′Z ′ coordinate system). ), (X 3 ′, Y 3 ′, Z 3 ′) and calculate the three positional coordinates with respect to the relative positional relationship between the LEDs 7 a, 7 b, 7 c stored in the initial head data storage unit 44 and the helmet 10. By referring to the data of the attachment position, the current position and the current angle of the helmet 10 to which the LEDs 7a, 7b, 7c are fixed are determined.

  In order to express the determined current position and current angle of the helmet 10 using the X′Y′Z ′ coordinate system, one point on the helmet 10 is defined as a helmet reference point (P), and the helmet reference point is the starting point. Is defined as the helmet reference direction (M). In this embodiment, as shown in FIG. 2, the position of the LED 7a is designated as the helmet reference point (P), and the front direction of the helmet 10 is designated as the helmet reference direction (M). Thereby, the determined current position and current angle of the helmet 10 are the position coordinates (X ′, Y ′, Z ′) of the helmet reference point P, the X ′ axis and the Y ′ axis of the helmet reference direction (M). , And angles with respect to the Z ′ axis (Θ ′, Φ ′, Ψ ′).

That is, the optical detection head information calculation unit 22 has the positions (X1 ′, Y1 ′, Z1 ′), (X2 ′, Y2 ′, Z2 ′), (X3 ′, Y3 ′) of the three LEDs 7a, 7b, 7c, Z3 ′) is calculated, and based on this, the position coordinates (X ′, Y ′, Z ′) of the helmet reference point P, the angles (X ′ axis, Y ′ axis, Z ′ axis) of the helmet reference direction (M) ( Θ ′, Φ ′, Ψ ′) are calculated as head position information (X ′, Y ′, Z ′) and head angle information (Θ ′, Φ ′, Ψ ′).

The movement information calculation unit 23 performs an operation for calculating a movement distance and a movement angle as movement information when the camera apparatus 2 (2a, 2b) is displaced due to vibration or the like.
The movement distance amount is a positional change amount (Δx, Δy, Δz) in the X ′ axis, Y ′ axis, and Z ′ axis directions, and the movement angle amount is an angular change amount (Δθ, (Δφ, Δψ). That is, the initial position (x1, y1, z1) of the LED 5a and the initial position (x2, y2, z2) of the LED 5b with respect to the camera device 2 (2a, 2b) as the stored reference initial information, and the camera device 2 (2a, 2) 2b) by comparing the current position (x1 ′, y1 ′, z1 ′) of the LED 5a and the current position (x2 ′, y2 ′, z2 ′) of the LED 5b with respect to the movement distance amount (Δx, Δy) of the LED group 5 , Δz) and movement angle amounts (Δθ, Δφ, Δψ). The movement distance amounts (Δx, Δy, Δz) and movement angle amounts (Δθ, Δφ, Δψ) of the LED group 5 are calculated, and the movement distance amounts of the camera devices 2a, 2b are reversed by reversing the positive and negative of these. (Δx, Δy, Δz) and movement angle amounts (Δθ, Δφ, Δψ) are calculated as movement information.

The head information correction unit 26 performs control to correct a positional shift caused by vibration of the camera devices 2a and 2b based on the optically detected head information and movement information, and the corrected head position and head angle of the pilot 3 are corrected. Is calculated as moving body head information. That is, the head position (X ′, Y ′, Z ′) and head angle (Θ ′,) of the pilot 3 calculated with respect to the camera device 2 (2a, 2b) (X′Y′Z ′ coordinate system). Φ ′, ψ ′) are operated to translate the movement distance amounts (Δx, Δy, Δz) of the camera device 2 (2a, 2b) and to rotate the movement angle amounts (Δθ, Δφ, Δψ). (Coordinate transformation process by coordinate transformation matrix), instead of the X′Y′Z ′ coordinate system, the moving body coordinates which are fixed to the reference marker unit 40 of the moving body 30 and move together with the reference marker unit 40 The head position (X, Y, Z) and head angle (Θ, Φ, Ψ) of the pilot 3 with respect to the system (XYZ coordinate system) are calculated. And a calculation result is output as mobile body head information.
The output head position (X, Y, Z) and head angle (Θ, Φ, Ψ) is a moving body head information, which is an optical coordinate detection system (X′Y′Z) that moves with vibrations. It is not the 'coordinate system' but the head position and head angle of the pilot 3 with respect to the moving body coordinate system (XYZ coordinate system) in which the positional deviation due to vibration or the like is corrected. And the moving body head information which changes every moment, the relative positional relationship of the three LEDs 7a, 7b, 7c stored in the initial head data storage unit 44, and the attachment position to the helmet 10 (initial head data) And the moving distance amount and the moving angle amount of the helmet 10 with a head mounted display device with respect to the moving body coordinate system (XYZ coordinate system) are determined.

  The video display unit 25 performs control to emit video display light based on the moving body head information in which the positional deviation due to vibration or the like of the camera device 2 (2a, 2b) is corrected. As a result, the pilot 3 can visually recognize the display image displayed on the display.

  Next, a measurement operation for measuring the head position (X, Y, Z) and head angle (Θ, Φ, Ψ) of the pilot 3 with respect to the moving body coordinate system (XYZ coordinate system) by the HMT device 1 will be described. FIG. 5 is a flowchart showing the measurement operation by the HMT apparatus 1.

First, in the process of step S101, when the flying object is stopped (no vibration), the camera apparatus 2 (2a, 2b) detects infrared light emitted from the LED group 5 to detect the camera apparatus. Measure the initial position (x1, y1, z1) of the LED 5a and the initial position (x2, y2, z2) of the LED 5b with respect to 2 (2a, 2b) (X′Y′Z ′ coordinate system).
Next, in the process of step S102, the initial position (x1, y1, z1) of the LED 5a and the initial position (x2, y2, z2) of the LED 5b are stored in the reference initial information storage unit 42.

  Next, in the process of step S103, infrared light emitted from the LED group 5 and the LED group 7 in the camera device 2 (2a, 2b) when the flying object is flying (there is vibration). By detecting, the current position (x1 ′, y1 ′, z1 ′) of the LED 5a with respect to the camera device 2 (2a, 2b) (X′Y′Z ′ coordinate system) and the current position (x2 ′, y2 ′, z2 ′), LED 7a head marker position (X1 ′, Y1 ′, Z1 ′) relative to camera device 2 (2a, 2b) (X′Y′Z ′ coordinate system), LED 7b head marker position (X2 ′, Y2 ′, Z2 ′) and the head marker position (X3 ′, Y3 ′, Z3 ′) of LED 7c are measured.

  Next, in step S104, the head marker positions (X1 ′, Y1 ′, Z1 ′) of the three LEDs 7a, 7b, 7c with respect to the camera device 2 (2a, 2b) (X′Y′Z ′ coordinate system). , (X2 ′, Y2 ′, Z2 ′), (X3 ′, Y3 ′, Z3 ′) are measured and the relative positions of the head markers stored as the initial head data and the mounting position relationship with respect to the helmet 10 By referring to the data, the head position (X ′, Y ′, Z ′) and the head angle (Θ ′,) of the pilot 3 with respect to the camera device 2 (2a, 2b) (X′Y′Z ′ coordinate system) Φ ′, Ψ ′) is calculated.

  Next, in the process of step S105, the movement information calculation unit 23 causes the initial position (x1, y1, z1) of the LED 5a and the initial position (x2, y2, z2) of the LED 5b and the current position (x1 ′, y1) of the LED 5a. ', Z1') and the current position (x2 ', y2', z2 ') of the LED 5b, the movement distance amount (Δx, Δy, Δz) and the movement angle amount (Δθ, Δφ, Δψ) are calculated.

  Next, in the process of step S106, the moving body head information calculation unit 26 causes the head position (X ′, Y ′) of the pilot 3 with respect to the camera device 2 (2a, 2b) (X′Y′Z ′ coordinate system). , Z ′) and the head angle (Θ ′, Φ ′, Ψ ′), an operation for translating the movement distance amounts (Δx, Δy, Δz) of the camera devices 2a, 2b is performed, and the movement angle amounts (Δθ, By performing an operation of rotating Δφ, Δψ), the head position (X, Y, Z) and head angle (Θ) of the pilot 3 with respect to the moving body coordinate system (XYZ coordinate system) fixed to the reference marker unit 40 , Φ, Ψ).

Next, in step S107, it is determined whether or not the flying object 30 is flying. When it is determined that the flying object 30 is flying, the process returns to step S103. That is, the processing of Step S103 to Step S106 is repeated until it is determined that the flying object 30 is not flying.
On the other hand, when it is determined that the flying object 30 is not flying, this flowchart is ended.

  As described above, according to the HMT device 1, the mounting position of the camera device 2 is the ceiling above the head because it is necessary to detect the light beam from the LED group 7, but the mounting position of the LED group 5 is The front panel 30b is less likely to vibrate and change when subjected to an impact or gravitational acceleration. Therefore, when the flying object 30 is in a stationary state in advance, the camera device 2 is measured by measuring the reference initial information including the initial position of the LED group 5 with respect to the camera device 2 based on the light beam detected from the LED group 5. Can store the reference position of the camera apparatus 2 at the original position. Thereby, when the flying object 30 is in a moving state, the current position of the LED group 5 with respect to the camera device 2 is calculated based on the light beam detected from the LED group 5, and the current position of the LED group 5 and the reference initial information And the movement information including the movement amount of the LED group 5 with respect to the camera device 2 can be calculated. That is, the movement amount of the camera device 2 can be calculated from the movement information. Therefore, when the moving body head information including the head position and head angle of the pilot 3 is calculated, the influence of vibration can be reduced / removed even when the camera apparatus 2 vibrates.

  The LED group 7 and the LED group 5 are configured to emit infrared light having different wavelengths, but may be configured to emit infrared light having the same wavelength. That is, you may make it identify with another identification method.

In the above embodiment, the two reference markers 5a and 5b are arranged in the reference marker unit 40. However, the reference marker unit 40 may be three or more by adding 5c.
In practice, there is no problem with the two reference markers, but depending on the relationship between the arrangement of the camera device 2 and the arrangement of the reference markers, a positional relationship in which vibration or the like cannot be measured can occur. On the other hand, if three reference markers are arranged, the positional relationship that becomes a blind spot can be eliminated.

  Conversely, when the camera device 2 is fixed in a way that prevents rotational movement, only one translational movement may be measured with a single reference marker.

  The HMT device of the present invention is used, for example, as a device that detects the current position and the current angle of a helmet with a head-mounted display device used in game machines, vehicles, and the like.

It is a figure which shows schematic structure of the HMT apparatus which is one Embodiment of this invention. It is a top view of the helmet with a head-mounted display apparatus shown in FIG. 1, and a reference | standard marker part. It is a figure for demonstrating the setting of an optical detection coordinate system. It is a figure explaining the flow of the arithmetic processing performed when an HMT apparatus calculates moving body head information. It is a flowchart for demonstrating the measurement operation | movement by a HMT apparatus. It is a figure which shows schematic structure of the conventional HMT apparatus.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1,51 Head motion tracker apparatus 2,52 Camera apparatus 3,63 Pilot 5,7 LED group 22 Optical detection head information calculation part 23 Movement information calculation part 26 Mobile body head information correction | amendment part 30,80 Aircraft 42 Reference | standard initial stage Information storage part P Helmet reference point M Helmet reference direction

Claims (3)

A group of head markers arranged on the head of the passenger;
A camera device that is attached to one position of the moving body on which the passenger is boarded, and that detects light from the head marker group in a stereoscopic view;
A head motion tracker device comprising: an optical detection head information calculation unit that calculates optical detection head information including a head position and a head angle of a passenger with respect to the camera device based on a detected light beam;
A reference marker attached to a position different from the one position of the moving body;
A reference initial information calculation unit that calculates reference initial information including an initial position of a reference marker with respect to the camera device, based on a light beam detected from the reference marker when the moving body is stationary;
A reference initial information storage unit for storing the calculated reference initial information;
When the moving body is in a moving state, based on the light beam detected from the reference marker, the reference current position information including the current position of the reference marker with respect to the camera device is calculated, and the calculated reference current position information A movement information calculation unit that calculates movement information including a movement amount of a reference marker with respect to the camera device based on the reference initial information;
A head motion tracker device comprising: a head information correction unit that corrects the optically detected head information based on movement information. The head motion tracker device according to claim 1, wherein there are two or more reference markers. The head motion tracker according to claim 2, wherein the reference markers are three or more.

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