JP2008065416A - Head motion tracker device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a head motion tracker device capable of calculating the head angle of a passenger with respect to reference coordinates set in a traveling object with high precision. <P>SOLUTION: This head motion tracker device 1 is provided with: an optical system motion tracker mounted on the head of a passenger 3, and equipped with an optical marker group 7 configured of at least three optical markers and a camera device 2 mounted on a traveling object for detecting an optical marker; a relative position storage part 47 for storing the relation of the relative positions of optical markers; and a head information calculation part 22 for calculating relative head information including the head angle of the passenger 3 with respect to reference coordinates set in the traveling object by the optical system motion tracker and the relative position storage part 47. This head motion tracker device 1 is provided with a relative position calculation part 23 for calculating the relation of the relative positions of each of the optical markers by making the camera device 2 detect the optical markers. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a head motion tracker device (hereinafter also referred to as an HMT device) for measuring at least an occupant's head angle with respect to reference coordinates set on a moving body. The present invention is used in, for example, an HMT device that calculates a current angle (that is, a current head angle) of a helmet with a head-mounted display device used in a moving body such as a game machine or a vehicle.

  For example, in a rescue operation by a rescue flying boat, by locking the aiming image displayed by the helmet with a head-mounted display device and the rescue target so as not to lose sight of the found 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 attitude of the flying object (rescue flying boat), the pilot head angle with respect to the reference coordinates set on the flying object is measured. ing. For this purpose, an HMT apparatus is used.

As such a conventional HMT device, for example, an optical HMT device is disclosed in which a plurality of reflecting plates are attached to a helmet with a head-mounted display device and the reflected light when the light is irradiated from the light source is monitored by the camera device. (For example, refer to Patent Document 1). There is also an 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 an optical marker group, LEDs (light emitting diodes) are attached at three locations so as to be separated from each other, and the relative positions of these three LEDs The relationship of (relative position) is stored in advance using position parameters of design information (such as a design drawing of a helmet with a head-mounted display device). Then, by photographing these three LEDs simultaneously with two cameras that can be viewed in stereo and fixed in place, the relationship between the current relative positions of the three LEDs can be determined by the so-called triangulation principle. calculate. If three positions (positions of three LEDs) fixed to the helmet with a head-mounted display device can be specified by the camera device, the head-mounted display device for the camera device is referred to by referring to the stored position parameters. Since the position and orientation (angle) of the attached helmet can be specified, as a result, the current position and the current angle of the helmet with a head-mounted display device with respect to the reference coordinates are calculated.
JP-T 9-506194

  However, when an LED is used as an optical marker, there is a problem in storing the center (the physical emission center of the LED) where the LED actually emits light using the position parameter of the design information. Here, FIG. 9 is a cross-sectional view showing a schematic configuration of a general LED. The LED 50 includes a semiconductor unit 51, a reflection plate 52, and a lens 53. As shown in FIG. 9, there may be a difference produced during manufacture between the center obtained from the outer shape of the LED and the center where the LED actually emits light (physical light emission center of the LED). Even if the center (position parameter of design information) obtained from the outer shape of the LED is stored, a measurement error may occur. Furthermore, when a passenger wears a helmet with a head-mounted display device, the chin strap of the helmet with a head-mounted display device is tightened to fix the head-mounted display device. While the attached helmet deformed, the LED sometimes deformed.

  Therefore, an object of the present invention is to provide a head motion tracker device capable of calculating a passenger's head angle with respect to reference coordinates set on a moving body with high accuracy.

  The head motion tracker device of the present invention, which has been made to solve the above-mentioned problems, is mounted on a passenger's head and includes an optical marker group consisting of at least three optical markers and a moving body, and detects the optical markers. Set in the movable body by an optical motion tracker provided with a camera device, a relative position storage unit that stores a relationship between the relative positions of the optical markers, and the optical motion tracker and the relative position storage unit. A head motion tracker device including a head information calculation unit that calculates relative head information including a head angle of a passenger with respect to a reference coordinate, and by detecting an optical marker with the camera device, A relative position calculator for calculating the relationship between the relative positions of the optical markers is provided.

  Here, the “optical motion tracker” means that an optical marker such as a light emitter (lamp, LED, etc.), a reflector, and a phosphor is attached to an object whose motion is to be detected, and the optical marker group is optically attached. It refers to a motion tracker that can track the movement of an object by sequentially detecting optical marker groups by arranging optical detection means such as a camera device to detect.

  According to the HMT device of the present invention, the relative position calculation unit calculates the relationship between the relative positions of the optical markers by causing the camera device to detect the optical markers. In other words, when a passenger wears a helmet with a head-mounted display device on which an optical marker is installed, even if the optical marker is deformed, it is deformed by tightening the chin strap of the helmet with a head-mounted display device By actually detecting the center at which the optical marker in use at a later time emits light, the relative position storage unit can store the relationship between the relative positions of the optical markers in use. Thereby, the head information calculation unit can accurately calculate the relative head information including the passenger's head angle with respect to the reference coordinates set in the moving body.

(Means and effects for solving other problems)
In each of the above inventions, the optical marker includes at least five optical markers, and the relative position calculation unit detects at least four optical markers to thereby detect the relative positions of the at least four optical markers. Calculate the relative position of each optical marker by detecting the first stage of calculating the relationship, three optical markers of at least four optical markers, and optical markers other than at least four optical markers The second stage may be executed.
According to the HMT device of the present invention, for example, when a large number of optical markers are installed throughout the helmet with a head-mounted display device, all the optical marker groups can be continuously detected by the camera device. Even if the optical markers cannot be detected by the camera device at a time, the relationship between the relative positions of all the optical markers can be calculated by executing the first stage and the second stage. Therefore, in all the optical markers, by detecting the center at which the optical marker in actual use emits light, the relative position storage unit can store the relationship of the relative position of each optical marker in use. it can.

  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.

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 the helmet with a head-mounted display device shown in FIG. FIG. 3 is a diagram for explaining reference coordinates (XYZ coordinates) set for the flying object. Further, FIGS. 4 to 6 are diagrams for explaining a method for calculating the relationship between the relative positions of the LED groups 7. In the present embodiment, the head angle of the pilot 3 at the reference coordinates (XYZ coordinates) set on the flying object 30 is calculated.
The HMT device 1 includes a head mounted helmet 10 with a display device mounted on the head of a pilot 3, a camera device 2 (2a, 2b) supported by a fixed shaft 2c fixed to the flying object 30, and a computer. It is comprised from the control part 20 comprised by these.

  The helmet 10 with a head-mounted display device includes a display (not shown), a combiner 8 that guides the eyes of the pilot 3 by reflecting image display light emitted from the display, and a position and orientation (that is, LED group 7 functioning as an optical marker group serving as an index when measuring (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 configured such that six LEDs of LEDa, LEDb, LEDc, LEDd, LEDe, and LEDf that emit infrared light having different wavelengths are separated from each other. . In addition, the relationship of all relative positions of LEDa, LEDb, LEDc, LEDd, LEDe, and LEDf of the helmet 10 with a head-mounted display device is stored in the relative position storage unit 47 of the memory 41 by a calculation method described later. . Therefore, the position of at least three LEDs among the current LEDa, LEDb, LEDc, LEDd, LEDe, and LEDf is calculated by the triangulation method to be described later, and the data stored in the relative position storage unit 47 is referred to. Thereby, the angle of the helmet 10 with a head mounted display device to which the LED group 7 is fixed can be specified.

  The flying body 30 is a cockpit on which the pilot 3 is boarded, and includes a seat 30a on which the pilot 3 is seated and a camera device 2 (2a, 2b).

The camera device 2 (2a, 2b) is composed of two cameras 2a, 2b. The photographing direction is directed to the head-mounted helmet 10 with a display device, and the three-dimensional structure of the helmet 10 with a head-mounted display device. It 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) that can be seen.
Therefore, as shown in FIG. 3, the position of the LEDa with respect to the camera device 2 (2a, 2b) is extracted from the position of the LEDa displayed in the image data photographed by the camera device 2 (2a, 2b). Further, by extracting the direction angle (α °) from the camera 2a and the direction angle (β °) from the camera 2b, and using the distance (d1) between the camera 2a and the camera 2b, a triangulation method can be used. It can be calculated. The positions of LEDs as other optical markers with respect to the camera device 2 (2a, 2b) are calculated in the same manner.

In order to be able to express the position of each LED at this time in space coordinates, the reference coordinates (XYZ coordinates) which are fixed to the camera device 2 (2a, 2b) and move together with the camera device 2 ) Is used. The specific origin position of the reference coordinates (XYZ coordinates) and the explanation of the XYZ axis directions will be described later. The position coordinates of LEDa, LEDb, LEDc, LEDd, LEDe, LEDf by the reference coordinates (XYZ coordinates) are (X1, Y1, Z1), (X2, Y2, Z2), (X3, Y3, Z3), (X4, Y4, Z4), (X5, Y5, Z5), and (X6, Y6, Z6). Among these, for example, the position coordinates (X1, Y1, Z1), (X2, Y2, Z2), (X3, Y3, Z3) of LEDa, LEDb, LEDc with respect to the camera device 2 (2a, 2b) are specified. Thereby, the angle of the helmet 10 with a head-mounted display device to which LEDa, LEDb, and LEDc are fixed can be specified using the coordinate system.
That is, by detecting the infrared light emitted from the LED group 7 which is an optical marker group, the current position coordinates of at least three LEDs are obtained, so that the head mounted type for the camera device 2 (2a, 2b) is obtained. The current angle of the helmet 10 with a display device can be calculated, and this can be expressed by an angle with respect to the coordinate axis of the reference coordinates (XYZ coordinates). The “angle relative to the coordinate axis” refers to the roll direction Θ (rotation relative to the X axis), the elevation direction Φ (rotation relative to the Y axis), and the azimuth direction Ψ (rotation relative to the Z axis).

  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 process executed by the CPU 21 of the control unit 20 will be described separately for each functional block. The process includes a motion tracker drive unit 28, a head information calculation unit 22, a relative position calculation unit 23, and a video display unit 25.

  Further, the memory 41 is formed with an area for storing various data necessary for the control unit 20 to execute processing, a reference coordinate storage unit 43 for storing reference coordinates (XYZ coordinates), and the LED group 7. And a relative position storage unit 47 for storing the relationship between the relative positions.

  Here, the reference coordinates (XYZ coordinates) will be described. The reference coordinates (XYZ coordinates) are a three-dimensional coordinate system that moves together with the camera device 2 (2a, 2b). The origin and the direction of each coordinate axis can be arbitrarily determined, but the direction from the camera 2b to the camera 2a can be determined. The X-axis direction is defined to be perpendicular to the X-axis direction and perpendicular to the ceiling and the downward direction is the Z-axis direction, perpendicular to the X-axis direction and horizontal to the ceiling, and the rightward direction is the Y-axis direction. And the camera 2b are defined as midpoints.

  Therefore, the reference coordinate storage unit 43 stores origin position information, which is information necessary for defining the reference coordinates (XYZ coordinates), which is a coordinate system fixed to the camera device 2, and information regarding the X, Y, and Z axis directions. Remember. Specifically, a square grid-like reference coordinate scale with the X, Y, and Z axis directions as the grid directions is arranged in advance on the moving body 30 to acquire image data. Based on the lattice points, the origin position and information in the X, Y, and Z axis directions are stored in association with each other. Thus, by comparing the stored image data with the image data when the LED is photographed, the coordinate position of the LED displayed in the image data is obtained.

  The motion tracker drive unit 28 outputs a command signal for turning on the LED group 7, and detects the LED group 7 by the camera device 2 (2a, 2b), and performs control to acquire position information based on image data. .

The head information calculation unit 22 calculates the positions of at least three LEDs and calculates relative head information including the head angle (Θa, Φa, ψa) of the pilot 3 with respect to the camera device 2 (XYZ coordinates). Is to do.
For example, the coordinate positions (X1, Y1, Z1), (X2, Y2, Z2), (X3, Y3, Z3) of LEDa, LEDb, LEDc with respect to the camera device 2 (2a, 2b) are calculated, and these three coordinates are calculated. Based on the position, the current angle of the head-mounted display device helmet 10 to which the LED group 7 is fixed is determined by referring to the relationship between the relative positions of the LEDs a, b, and c stored in the relative position storage unit 47. decide.

The relative position calculation unit 23 calculates the relationship between the relative positions of the LED groups 7 by outputting the command signal to the motion tracker driving unit 28 to acquire the position information of the LED groups 7 based on the image data. The control to be stored in the relative position storage unit 47 is performed.
First, as a first step, an instruction to be so as to face a specific direction (initial state) in the pilot 3 wearing the head-mounted display device with the helmet 10, as shown in FIG. 4, 5, LEDa (A ₀ ), LEDb (B ₀ ), LEDc (C ₀ ), and LEDd (D ₀ ) are detected, and the relationship between the relative positions of LEDa, LEDb, LEDc, and LEDd is calculated by a calculation method that will be described later. The specific direction (initial state) is set so that LEDa (A ₀ ), LEDb (B ₀ ), LEDc (C ₀ ), and LEDd (D ₀ ) are always detected.
Next, as a second step, by instructing the pilot 3 wearing the head-mounted display-equipped helmet 10 to point in a second direction (second state) different from the specific direction (initial state), FIG. As shown in FIG. 4, LEDb (B ₁ ), LEDc (C ₁ ), LEDd (D ₁ ), LEDe (E ₁ ), and LEDf (F ₁ ) are detected to detect LEDa, LEDb, LEDc, LEDd, LEDe. The relationship between the relative positions of the LEDs f is calculated by a calculation method described later. The second direction (second state) means that LEDb (B ₁ ), LEDc (C ₁ ) and LEDd (D ₁ ), LEDe (E ₁ ) and LEDf (F ₁ ) are always detected. Is set. At this time, the relative position storage unit 47 stores the relationship between the relative positions of LEDa, LEDb, LEDc, LEDd, LEDe, and LEDf.

  The video display unit 25 performs control for emitting video display light based on the relative head information. As a result, the pilot 3 can visually recognize the display image displayed on the display.

(Calculation method of relative position relationship of LED group 7)
A method of calculating the relationship between the relative positions of LEDa, LEDb, LEDc, LEDd, LEDe, and LEDf by the head motion tracker device 1 will be described. FIG. 7 is a flowchart for explaining a method of calculating the relationship between the relative positions of LEDa, LEDb, LEDc, LEDd, LEDe, and LEDf by the head motion tracker device 1.

  First, in the process of step S101, the pilot 3 wearing the helmet 10 with a head-mounted display device is instructed to face a specific direction (initial state). At this time, the four LEDs LEDa, LEDb, LEDc, and LEDd can be detected by the camera device 2, but the two LEDs LEDe and LEDf cannot be detected by the camera device 2.

Next, in the process of step S <b> 102, the motion tracker driving unit 28 detects four LEDs of LEDa, LEDb, LEDc, and LEDd as the first stage in the camera device 2. As a result, the coordinate positions of LEDa (A ₀ ), LEDb (B ₀ ), LEDc (C ₀ ), and LEDd (D ₀ ) at the reference coordinates (XYZ coordinates) are (X1, Y1, Z1), (X2), respectively. , Y2, Z2), (X3, Y3, Z3), (X4, Y4, Z4) are calculated.

Next, in the process of step S103, the relative position calculation unit 23 determines helmet coordinates (xyz coordinates) in order to express the current angle of the head-mounted display device helmet 10 with reference coordinates (XYZ coordinates).
Specifically, using equations (1) to (3), LEDa (X1, Y1, Z1) on the head-mounted display device helmet 10 is defined as a helmet reference point, and the helmet reference point is defined as a starting point. One direction (direction from LEDa (X1, Y1, Z1) to LEDb (X2, Y2, Z2)) is defined as the helmet x-axis direction ex, and one direction starting from the helmet reference point (perpendicular to the x-axis direction) Direction and in the same plane as the direction of the x-axis direction and LEDa (X1, Y1, Z1) to LEDc (X3, Y3, Z3) as the helmet y-axis direction ey, the helmet reference point is the starting point One direction (direction perpendicular to the x-axis direction and the y-axis direction) is defined as the helmet z-axis direction ez (see FIGS. 2 and 4). As a result, the current angle of the head-mounted display device helmet 10 is the angle of the x-axis, y-axis, and z-axis of the helmet coordinates (xyz coordinates) with respect to the X-axis, Y-axis, and Z-axis of the reference coordinates (XYZ coordinates) ( (Θ, Φ, ψ).
Note that ex, ey, and ez represent vectors, and A ₀ B ₀ , A ₀ C _{0, and the} like also represent vectors.

Next, in the process of step S <b> 104, the relative position calculation unit 23 calculates the relative positions of LEDa, LEDb, and LEDc, and stores them in the relative position storage unit 47.
Specifically, using Equations (4) and (5), the coordinate position (α _b , 0, 0) of LEDb (B ₀ ) in helmet coordinates (xyz coordinates) based on LEDa (A ₀ ). And the coordinate position (α _c , β _c , 0) of LEDc is calculated (see FIG. 4).
A ₀ B ₀ = α _b ex (4)
A ₀ C ₀ = α _c ex + β _c ey (5)

Next, in the process of step S <b> 105, the relative position calculation unit 23 calculates the relative position between LEDa and LEDd and stores the calculated relative position in the relative position storage unit 47.
Specifically, the coordinate position (α _d , β _d , γ _d ) of LEDd (D ₀ ) in helmet coordinates (xyz coordinates) is calculated using Equation (6) (see FIG. 5).
A ₀ D ₀ = α _d ex + β _d ey + γ _d ez (6)

  Next, in the process of step S106, the pilot 3 wearing the head mounted display-equipped helmet 10 is instructed to face the second direction (second state). At this time, five LEDs, LEDb, LEDc, LEDd, LEDe, and LEDf, can be detected by the camera device 2, but LEDa cannot be detected by the camera device 2.

Next, in the process of step S107, the motion tracker driving unit 28 detects five LEDs, LEDb, LEDc, LEDd, LEDe, and LEDf, in the camera device 2 as the second stage. Thus, LEDb of the reference coordinates (XYZ _{coordinate) (B 1), LEDc (} C 1), LEDd (D 1), LEDe (E 1), the coordinate position of LEDf _{(F 1),} respectively (X2, Y2 , Z2), (X3, Y3, Z3), (X4, Y4, Z4), (X5, Y5, Z5), (X6, Y6, Z6).

Next, in the process of step S <b> 108, the relative position calculation unit 23 calculates the relative positions of LEDa, LEDe, and LEDf, and stores them in the relative position storage unit 47.
Specifically, the coordinate positions (α _e , β _e , γ _e ) of LEDe (E ₁ ) in helmet coordinates (xyz coordinates) are calculated using the equations (7) to (10) described below ( 4 and 6).
First, since LEDa is not detected, the relative relationship between LEDe, LEDb, LEDc, and LEDd detected even in the initial state is expressed by Expression (7).
_{B 1 E 1 = α e'B} 1 C 1 + β e'B 1 D 1 + γ e '(B 1 C 1 × B 1 D 1) ··· (7)
Α _e ′, β _e ′, and γ _e ′ are obtained from the equation (7). Further, since the relative relationship between LEDb, LEDc, LEDd, and LEDe is constant, if equation (7) is established, equation (8) is established in the initial state.
_{B 0 E 0 = α e'B} 0 C 0 + β e'B 0 D 0 + γ e '(B 0 C 0 × B 0 D 0) ··· (8)
When equation (8) is transformed,
_{A 0 E 0 -A 0 B 0} = α e'B 0 C 0 + β e'B 0 D 0 + γ e '(B 0 C 0 × B 0 D 0)
_{A 0 E 0 = α e'B} 0 C 0 + β e'B 0 D 0 + γ e '(B 0 C 0 × B 0 D 0) + A 0 B 0
It becomes. At this time, since the coordinate positions of LEDa (A ₀ ), LEDb (B ₀ ), LEDc (C ₀ ), and LEDd (D ₀ ) have already been calculated in the process of step S102, reference coordinates (XYZ coordinates) The coordinate position of LEDe (E ₀ ) at is obtained. here,
A ₀ E ₀ = α _e ex + β _e ey + γ _e ez (9)
It is. Therefore, since ex, ey, and ez have already been set in the process of step S103, the LEDe (E ₀ in the helmet coordinates (xyz coordinates) is compared by comparing the expressions (8) and (9). ) Coordinate position (α _e , β _e , γ _e ) is obtained. Further, the coordinate positions (α _f , β _f , γ _f ) of the LED _f (F ₀ ) in the helmet coordinates (xyz coordinates) are similarly calculated.

Next, when the process of step S108 is completed, this flowchart is ended.
When a larger number of LEDs are installed throughout the head mounted display-equipped helmet, when the processing of step S108 is completed, all the LEDs cannot be detected by the camera device, and the relative position If the relative positions of all the LEDs are not calculated by the calculation unit, the processes in steps S107 and S108 may be repeated.

(Operation of the head motion tracker device 1)
Next, a measurement operation for measuring the head angle by the head motion tracker device 1 will be described. FIG. 8 is a flowchart for explaining the measurement operation by the head motion tracker device 1.

First, in the process of step S201, t _{n + 1} and the time storage unit 44 are stored so that t _{n + 1} is updated at time (t _n ).
Next, in the process of step S <b> 202, the motion tracker driving unit 28 detects the LED group 7 with the camera device 2.

Next, in the process of step S <b> 203, the head information calculation unit 22 determines whether LEDa, LEDb, and LEDc are detected by the camera device 2.
When it is determined that LEDa, LEDb, and LEDc are not detected, in step S204, the head information calculation unit 22 determines that at least three of the detected LEDsa, LEDb, LEDc, LEDd, LEDe, and LEDf are detected. Based on the coordinate positions, the coordinate positions (X1 ′, Y1 ′, Z1 ′), (X2 ′, Y2 ′, Z2 ′), (X3 ′, Y3 ′, Z3 ′) of LEDa, LEDb, LEDc are calculated. At this time, the coordinate position of LEDa, LEDb, and LEDc is calculated as follows by referring to the data on the relative position of the LED group 7 stored in the relative position storage unit 47.

Here, as an example, a case where three LEDs of LEDd, LEDe, and LEDf are detected will be described.
First, the coordinate positions (X4 ', Y4', Z4 '), (X5', Y5 ', Z5'), (X6 ', Y6', Z6 ′) is calculated.
Further, the relative position storage unit 47 stores the coordinate positions (α _d , β _d , γ _d ), (α _e , β _e , γ _e ), (α _f ) of the helmet coordinates (xyz coordinates) in LEDd, LEDe, LEDf. , Β _f , γ _f ) are stored.
That is, the expressions (10) to (13) are established.
OA ′ = OD′−A′D ′ = OD ′ − (α _d ex ′ + β _d ey ′ + γ _d ez ′) (10)
OA ′ = OE′−A′E ′ = OE ′ − (α _e ex ′ + β _e ey ′ + γ _e ez ′) (11)
OA ′ = OF′−A′F ′ = OF ′ − (α _f ex ′ + β _f ey ′ + γ _f ey ′) (12)
ez ′ = ex ′ × ey ′ (13)
By calculating Expressions (10) to (13), the coordinate position (X1 ′, Y1 ′, Z1 ′) of LEDa at the reference coordinates (XYZ coordinates) is obtained. At this time, ex ′, ey ′, and ez ′ are also obtained.

Further, the relative position storage unit 47 stores the coordinate positions (α _b , 0, 0), (α _c , β _c , 0) of the LEDb and LEDc in the helmet coordinates (xyz coordinates), and the equation (14), (15) is established.
OB ′ = OA ′ + A′B ′ = OA ′ + α _b ex ′ (14)
OC ′ = OA ′ + A′C ′ = OA ′ + α _c ex ′ + β _c ey ′ (15)
By calculating Expressions (14) and (15), the coordinate position (X2 ′, Y2 ′, Z2 ′) of LEDb and the coordinate position (X3 ′, Y3 ′, Z3 ′) of LEDc at the reference coordinates (XYZ coordinates) are calculated. ) Is obtained.

  On the other hand, when it is determined that LEDa, LEDb, and LEDc have been detected, or when the process of step S204 is completed, in step S205, the head information calculation unit 22 determines the coordinate positions of LEDa, LEDb, and LEDc ( X1 ′, Y1 ′, Z1 ′), (X2 ′, Y2 ′, Z2 ′), (X3 ′, Y3 ′, Z3 ′), the pilot 3 head angle (Θa) with respect to the reference coordinates (XYZ coordinates) , Φa, Ψa) are calculated as relative head information.

  Next, in the process of step S206, relative head information including head angles (Θa, Φa, Ψa) is output. That is, the head angle with respect to the reference coordinates set for the flying object 30 is measured.

Next, in step S207, it is determined whether or not the flying object 30 is moving. When it is determined that the flying object 30 is not moving, this flowchart is ended.
On the other hand, when it determines with the flying body moving, it returns to the process of step S201. That is, the processes in steps S201 to S206 are repeated until it is determined that the flying object 30 is not moving.

  As described above, according to the head motion tracker device 1, the relative position calculation unit 23 calculates the relationship between the relative positions of the LEDs by causing the camera device 2 to detect the LED group 7. That is, when the pilot 3 wears the helmet 10 with a head-mounted display device on which the LED is installed, even if the LED is deformed by tightening the chin strap of the helmet 10 with the head-mounted display device, the deformation The relative position storage unit 47 can store the relationship between the relative positions of the LEDs in use by actually detecting the center at which the LED in use at a later time emits light. Thereby, the head information calculation unit 22 can calculate relative head information including the head angle of the pilot 3 with respect to the reference coordinates set in the flying object 30 with high accuracy.

  Furthermore, a large number of LEDs are installed throughout the helmet 10 with a head-mounted display device so that the camera device 2 can continue to detect the LED group 7. Even if the detection cannot be performed in 2, the relationship between the relative positions of all the LEDs can be calculated by executing the first stage and the second stage. Therefore, in all the LEDs, by detecting the center at which the LED in actual use emits light, the relative position storage unit 47 can store the relationship of the relative position of each LED in use.

  The head motion tracker device may be configured to calculate the head position as the relative head information.

  INDUSTRIAL APPLICABILITY The present invention can be used for a head motion tracker device for measuring a head angle with respect to reference coordinates set on a flying object such as a crew member.

It is a figure which shows schematic structure of the head motion tracker apparatus which is one Embodiment of this invention. It is a top view of the helmet with a head-mounted display device shown in FIG. It is a figure for demonstrating a reference | standard coordinate (XYZ coordinate). It is a figure for demonstrating the calculation method of the relationship of the relative position of LED group. It is a figure for demonstrating the calculation method of the relationship of the relative position of LED group. It is a figure for demonstrating the calculation method of the relationship of the relative position of LED group. 4 is a flowchart for explaining a method of calculating a relationship between relative positions of six LED groups 7 by the head motion tracker device 1. It is a flowchart for demonstrating the measurement operation | movement by the head motion tracker apparatus which is one Embodiment of this invention. It is sectional drawing which shows schematic structure of LED.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Head motion tracker apparatus 2 Camera apparatus 3 Pilot 7 LED group 10 Helmet with head mounted display 22 Head information calculation part 23 Relative position calculation part 28 Motion tracker drive part 30 Aircraft 47 Relative position storage part

Claims (2)

An optical motion tracker that is mounted on a head of a passenger and includes an optical marker group including at least three optical markers, and a camera device that is attached to a moving body and detects the optical marker;
A relative position storage unit for storing the relationship between the relative positions of the optical markers;
A head motion tracker device comprising: a head information calculation unit that calculates relative head information including a head angle of a passenger with respect to a reference coordinate set in the moving body by the optical motion tracker and a relative position storage unit Because
A head motion tracker device comprising: a relative position calculation unit that calculates a relationship between relative positions of the optical markers by detecting the optical markers with the camera device. The optical marker comprises at least five optical markers,
The relative position calculation unit calculates a relationship between the relative positions of at least four optical markers by detecting at least four optical markers; and
Performing three of the at least four optical markers and a second step of calculating a relative positional relationship of each of the optical markers by detecting optical markers other than the at least four optical markers. The head motion tracker device according to claim 1.