JP2009180966A - Image forming apparatus - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an image forming apparatus which can draw an image on a projection face so that the image to be observed can be viewed by an observer when the observer sees the projection face from an observation point even when the position or the shape of the projection face of an object is unknown. <P>SOLUTION: The image forming apparatus 1 is so configured that the image is drawn by scanning the projection face set at the surface of the object with light, and has: a light emission part; an optical scanning part 5; an identification means 9 which identifies the position and the shape of the projection face; a driving pattern generation means 7 which generates a driving pattern of the light emission part which cancels the distortion of the image due to the non-flat shape of the projection face in the shape identified with the identification means 9 so that the image to be observed can be viewed by the observer when the observer sees the projection face from the observation point; and a control means which controls the operation of the light emission part corresponding to the driving pattern generated by the driving pattern generation means 7. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to an image forming apparatus.

For example, as an image forming apparatus that projects light and displays an image, a projection type projector as in Patent Document 1 is known.
In the projection type projector of Patent Document 1, when the projector main body is arranged to be inclined with respect to the screen, the length in the horizontal direction of the screen differs between the upper side and the lower side of the image (video) projected on the screen. It has a trapezoidal distortion correction means for correcting distortion called “trapezoidal distortion”.

  However, in the projection type projector of Patent Document 1, when the position and shape of the screen are known and the shape is a substantially planar shape, it is possible to correct the distortion of the image displayed on the screen and form a natural image. However, when the shape of the screen is a non-planar shape, the distortion generated due to the non-planar shape of the screen in the image projected on the screen cannot be corrected. In particular, when the position or shape of the screen is unknown or when it changes over time, it cannot be handled. That is, in the projection type projector of Patent Document 1, if the position and shape of the screen are unknown or change over time, the image may protrude from the screen, or the image on the screen may be distorted. Thus, the observer cannot visually recognize a natural image.

JP 2001-249401 A

  The object of the present invention is to make it possible to visually recognize an observation image that the observer wants to observe even when the position and shape of the projection plane of the object are unknown, when the observer views the projection plane from the observation point. Another object is to provide an image forming apparatus capable of drawing an image on a projection surface.

Such an object is achieved by the present invention described below.
The image forming apparatus of the present invention is configured to draw an image by scanning light onto a projection plane set on the surface of an object,
A light emitting portion for emitting light;
A movable plate provided with a light reflecting portion that reflects light emitted from the light emitting portion is provided so as to be rotatable in at least one direction or two directions orthogonal to each other, and the light reflected by the light reflecting portion by the rotation An optical scanning unit having an actuator for scanning the projection plane;
Specifying means for specifying the position and shape of the projection plane;
Due to the non-planar shape of the projection plane in the shape specified by the specifying means so that the observation image that the observer wants to observe is viewed when the observer views the projection plane from the observation point Drive pattern generating means for generating a drive pattern of the light emitting part so as to cancel the distortion of the image,
Control means for controlling the operation of the light emitting portion in correspondence with the drive pattern generated by the drive pattern generation means.

  As a result, even if the position and shape of the projection plane of the target object are unknown, the observer observes (visually recognizes) when the observer views the projection plane from the observation point according to the position and shape of the projection plane. ) It is possible to draw an image on the projection surface so that an observation image (hereinafter simply referred to as “observation image”) to be viewed is visually recognized. In other words, if the shape of the projection surface is a substantially planar shape, of course, even if it is a non-planar shape, or even if the position and shape of the projection surface changes over time, Observed images can be viewed.

In the image forming apparatus of the present invention, a coordinate system having an x axis, a y axis, and a z axis orthogonal to each other is assumed.
The specifying means includes distance detection means for optically detecting a distance of each part of the projection plane from a reference position, and defines the projection plane as an aggregate of a plurality of polygons. The vertex and each part of the projection plane are associated with each other, and based on the detection result of the distance detection means, three-dimensional coordinates of each part of the projection plane in the coordinate system are obtained, and the position and shape of the projection plane are determined. It is preferably configured to identify.
Thereby, the position and shape of the projection surface of a target object can be specified more reliably.

In the image forming apparatus according to the aspect of the invention, the distance detection unit includes a measurement light emitting unit that emits measurement light, an irradiation unit that irradiates the measurement light toward the projection surface, and the projection surface of the measurement light. It is preferable to obtain a distance of each part of the projection surface from the reference position based on a detection result of the detection unit.
Thereby, the position and shape of the projection surface of a target object can be specified more reliably.
In the image forming apparatus according to the aspect of the invention, it is preferable that the light emitting unit and the light scanning unit have a function of the irradiation unit.
Thereby, a structure can be simplified.

In the image forming apparatus of the present invention, the projection surface is configured such that its position or shape changes over time,
When drawing an image on the projection plane, the specifying unit specifies the position and shape of the projection plane as needed in response to the change, and the drive pattern generation unit is configured so that an observer can project the projection from the observation point. In the shape specified by the specifying means, the distortion of the image due to the non-planar shape of the projection plane is offset so that the observation image that the observer wants to observe is visually recognized when viewing the surface. It is preferable to be configured to generate the drive pattern of the light emitting unit.
Thereby, when the position and shape of the projection surface of an object change with time, it is possible to make an observer visually recognize an observation image more reliably.

In the image forming apparatus of the present invention, the projection surface is configured such that its position or shape changes over time,
When drawing an image on the projection surface, the specifying unit scans the measurement light together with the light scanning prior to the light scanning by the light scanning unit to obtain the three-dimensional coordinates, and the driving pattern. The generating means is configured to provide a non-projection surface for the shape specified by the specifying means so that when the observer views the projection plane from an observation point, the observation image desired to be observed by the observer is visually recognized. It is preferable that the driving pattern of the light emitting unit is generated so as to cancel out the distortion of the image due to the planar shape.
Thereby, when the position and shape of the projection surface of an object change with time, it is possible to make an observer visually recognize an observation image more reliably.

In the image forming apparatus according to the aspect of the invention, the irradiation unit is provided such that a movable plate including a light reflection unit that reflects the measurement light emitted from the measurement light emission unit is rotatable in at least one direction or two directions orthogonal to each other. The actuator preferably irradiates the projection surface with measurement light reflected by the light reflecting portion by the rotation.
Thereby, it is possible to more reliably irradiate each part of the projection surface of the object with the measurement light, and to specify the position and shape of the projection surface.

In the image forming apparatus according to the aspect of the invention, it is preferable that the measurement light does not affect the image.
Thereby, deterioration of the visibility of an image can be prevented.
In the image forming apparatus of the present invention, the drive pattern generation unit sets a virtual observer virtual screen between the observation point and the projection plane, and the observation set on the observer virtual screen. A large number of points for the observer are identified, and when viewed from the observation point, each of the many points for the observer set on the virtual screen for the observer corresponds to a position on the projection plane. In addition, it is preferable to generate a drive pattern that irradiates the light emitted from the light emitting unit to the associated position on the projection plane.
As a result, it is possible to generate a driving pattern according to the position and shape of the projection plane of the target object more reliably, and project the observation image so that the observation image is visually recognized when the observer views the projection plane from the observation point. An image can be drawn on the surface.

In the image forming apparatus according to the aspect of the invention, the driving pattern generation unit obtains, for each of the many points for the observer, three-dimensional coordinates of the intersection of the point and a line segment passing through the observation point and the projection plane. Accordingly, it is preferable to associate a large number of points for the observer with each part of the projection plane, and obtain the associated position on the projection plane.
Thereby, it is possible to associate a large number of points set on the virtual screen with each part of the projection surface of the target object relatively easily and accurately.

In the image forming apparatus according to the aspect of the invention, the drive pattern generation unit may calculate, for each part of the projection plane, the three-dimensional coordinates of the intersection of the part and the line segment passing through the observation point and the observer virtual screen. It is preferable that the number of points for the observer and the respective parts of the projection plane are associated with each other, and the associated position on the projection plane is obtained.
Thereby, it is possible to associate a large number of points set on the virtual screen with each part of the projection surface of the target object relatively easily and accurately.

In the image forming apparatus of the present invention, a plurality of the observation points are installed,
Having position detecting means for detecting the position of the observer;
The drive pattern generation unit preferably selects one of the plurality of observation points based on the position of the observer detected by the position detection unit.
This eliminates the need to input the three-dimensional coordinates of the observation point before using the image forming apparatus, improving operability. Also, by storing (storing) a plurality of observation points, the most suitable observation point can be selected according to the position of the observer, and the image drawing characteristics of the image forming apparatus are improved.

In the image forming apparatus according to the aspect of the invention, it is preferable that an observation point located closest to the observer's position is selected from the plurality of observation points.
Thereby, the most suitable observation point is automatically selected according to the position of the observer, and the image drawing characteristics of the image forming apparatus are improved.
In the image forming apparatus of the present invention, the optical scanning unit includes a pair of the actuators,
Each of the pair of actuators rotates the movable plate, a support portion that rotatably supports the movable plate, a connecting portion that connects the movable plate and the support portion, and the movable plate. It is preferable that the movable plate is provided so that the rotation center axes of the movable plates are orthogonal to each other.
Thereby, a two-dimensional image can be drawn on the projection surface of the object with a relatively simple configuration.

In the image forming apparatus according to the aspect of the invention, the optical scanning unit includes a behavior detection unit that detects the behavior of the movable plate of the actuator, and the control unit is based on a detection result of the behavior detection unit and the drive pattern. It is preferable to control the operation of the light emitting part.
Thereby, it is possible to draw an image on the projection plane such that the observation image is visually recognized when the observer views the projection plane from the observation point.
The image forming apparatus of the present invention preferably has a screen as the object.
Thereby, the visibility of an image improves.

In the image forming apparatus according to the aspect of the invention, the drive pattern generation unit sets a virtual image drawing device virtual screen between the light emitting unit and the surface of the object, and the virtual image drawing device virtual screen is set on the image drawing device virtual screen. A large number of points for the image drawing device set to, and a number of points for the observer associated with the position on the surface of the object are respectively displayed on the virtual screen for the image drawing device. It is preferable to generate a driving pattern in which light emitted from the light emitting unit is irradiated to a set position on the surface in association with a large number of points for the image drawing device set. .
In the image forming apparatus according to the aspect of the invention, the drive pattern generation unit may intersect points of the intersection with the surface of the object and a line segment passing through the light emitting unit and a large number of points for the image drawing apparatus. It is preferable to obtain the associated position by obtaining the three-dimensional coordinates.

In the image forming apparatus according to the aspect of the invention, it is preferable that the drive pattern generation unit associates a large number of points for the image drawing apparatus along a light locus on the virtual screen for the image drawing apparatus. .
In the image forming apparatus according to the aspect of the invention, the drive pattern generation unit includes a plurality of points for the image drawing device set on the virtual screen for the image drawing device and the point set on the observer virtual screen. A drive pattern is generated in which a large number of points for the observer are associated and the light emitted from the light emitting unit is irradiated on the points on the associated virtual screen for the observer. Is preferred.

DESCRIPTION OF EXEMPLARY EMBODIMENTS Hereinafter, preferred embodiments of an image forming apparatus of the invention will be described with reference to the accompanying drawings.
<First Embodiment>
First, a first embodiment of the image forming apparatus of the present invention will be described.
FIG. 1 is a block diagram showing a first embodiment of the image forming apparatus of the present invention, FIG. 2 is a schematic perspective view showing the screen of FIG. 1, and FIG. 3 is a block diagram showing the image drawing apparatus main body of FIG. 4 is a schematic perspective view showing the actuator of FIG. 3, FIG. 5 is a schematic sectional view showing the drive of the actuator shown in FIG. 4, and FIG. 6 is a block diagram showing the position detecting means of FIG. 7 is a block diagram illustrating the drive pattern generation unit of FIG. 3, FIG. 8 is a diagram illustrating a method of creating an LUT of the LUT recording unit included in the drive pattern generation unit illustrated in FIG. 7, and FIG. 9 is a diagram illustrating the LUT of FIG. FIG. 10 is a diagram illustrating an LUT creation method of the recording unit, FIG. 10 is a diagram illustrating a setting example of the virtual screen for the image drawing apparatus in FIG. 9, and FIG. 11 is a diagram illustrating a setting example of the optical scanning surface shape polygon in FIG. FIG. 12 is a diagram showing an example of intersections with the optical scanning surface shape polygon of FIG. 9 is a diagram showing an example of the LUT in FIG. 9, FIG. 14 is a schematic diagram when an image drawn on the screen is observed from a place other than the observation point, and FIG. 15 is an image drawn on the screen from the observation point. FIG. 24 is a schematic diagram when observed, and FIG. 24 is a diagram illustrating an example of data arrangement of video data to be displayed. In the following, for convenience of explanation, the upper side in FIGS. 4 and 5 is referred to as “upper”, the lower side as “lower”, the right side as “right”, and the left side as “left”.

As shown in FIG. 1, the image forming apparatus 1 includes a screen (object) 2 and an image forming apparatus main body 3 that scans light on the screen 2 to form an image. In such an image forming apparatus 1, when an observer (not shown) views the screen 2 from an observation point (observation point P <b> 1 or P <b> 2 shown in FIG. 1), an observation image (distortion) that the observer wants to observe (view) is observed. An image is drawn on the screen 2 so that a natural image without any deviation (hereinafter simply referred to as “observed image”) is visible. Hereinafter, these will be sequentially described.
The surface of the screen 2 on the image forming apparatus body 3 side constitutes an optical scanning surface (projection surface) 21 on which light is scanned by the image forming apparatus body 3. A predetermined image such as a still image or a moving image is drawn on the optical scanning surface 21 by scanning light with the image forming apparatus main body 3. By using such a screen 2, the visibility of the image is improved.

  In the present embodiment, it is assumed that the optical scanning surface 21 has a substantially constant shape as the screen 2 and the position of the optical scanning surface 21 is not displaced. Further, as shown in FIG. 2, it is assumed that the optical scanning surface 21 has a non-planar shape. In the configuration example shown in FIG. 2, the optical scanning surface 21 includes a first uneven region 21 a having two serrated protrusions, a second uneven region 21 b having three spherical protrusions, Although the 3rd uneven | corrugated area | region 21c which has the uneven | corrugated which wavy uniformly is formed, it cannot be overemphasized that it is not limited to this shape.

  The constituent material of such a screen 2 is not particularly limited. For example, polyethylene, polypropylene, polyvinyl chloride, polystyrene, polyamide, acrylic resin, ABS resin, fluorine resin, epoxy resin, silicone resin, or these are used. Main copolymers, blends, polymer alloys and the like can be mentioned, and one or more of these can be used in combination.

Next, the image forming apparatus main body 3 will be described.
As shown in FIG. 3, the image forming apparatus main body 3 includes a light source unit (light emitting unit) 4 that emits light, an optical scanning unit 5 that scans light emitted from the light source unit 4 onto an optical scanning surface 21, and an observation. A position detection means 6 for detecting the position of the person, a drive pattern generation means 7 for generating a drive pattern of the light source unit 4, and an operation control device (control means) 8 for controlling the operation of the light source unit 4 and the optical scanning unit 5. And specifying means 9 for specifying the position and shape of the optical scanning surface 21 of the screen 2. Hereinafter, these will be sequentially described.

As shown in FIG. 3, the light source unit 4 includes laser light sources 41r, 41g, and 41b for each color, collimator lenses 42r, 42g, and 42b, and dichroic mirrors 43r provided corresponding to the laser light sources 41r, 41g, and 41b. 43g, 43b.
The laser light sources 41r, 41g, and 41b of the respective colors emit red, green, and blue laser beams RR, GG, and BB, respectively. The laser beams RR, GG, and BB are emitted in a modulated state corresponding to drive signals (drive patterns to be described later) transmitted from the operation control device 8, respectively, and collimator lenses 42r, 42g, which are collimator optical elements, The beam is collimated by 42b into a thin beam.

The dichroic mirrors 43r, 43g, and 43b have characteristics of reflecting the red laser beam RR, the green laser beam GG, and the blue laser beam BB, respectively, and combine the laser beams RR, GG, and BB of the respective colors into one laser beam. Inject LL.
A collimator mirror can be used in place of the collimator lenses 42r, 42g, and 42b. In this case as well, a narrow beam of parallel light beams can be formed. Further, when parallel light beams are emitted from the laser light sources 41r, 41g, and 41b of the respective colors, the collimator lenses 42r, 42g, and 42b can be omitted. Further, the laser light sources 41r, 41g, and 41b can be replaced with light sources such as light emitting diodes that generate similar light beams.

Next, the optical scanning unit 5 will be described.
As shown in FIG. 3, the optical scanning unit 5 includes a pair of actuators 51, 51 and behavior detection means 52 that detects the behavior of each actuator 51. In the following, since the pair of actuators 51 and 51 have the same configuration, one actuator 51 will be described as a representative, and the description of the other actuator 51 will be omitted.

As shown in FIG. 4, the actuator 51 has a base 511, a counter substrate 513 provided to face the lower surface of the base 511, and a spacer member 512 provided between the base 511 and the counter substrate 513. is doing.
The base 511 includes a movable plate 511a, a support portion 511b that rotatably supports the movable plate 511a, and a pair of connecting portions 511c and 511d that connect the movable plate 511a and the support portion 511b.

The movable plate 511a has a substantially rectangular shape in plan view. A light reflecting portion 511e having light reflectivity is provided on the upper surface of the movable plate 511a. The light reflecting portion 511e is made of a metal film such as Al or Ni, for example. A permanent magnet 514 is provided on the lower surface of the movable plate 511a.
The support portion 511b is provided so as to surround the outer periphery of the movable plate 511a in a plan view of the movable plate 511a. That is, the support portion 511b has a frame shape, and the movable plate 511a is located inside thereof.

The connecting portion 511c connects the movable plate 511a and the support portion 511b on the left side of the movable plate 511a, and the connecting portion 511d connects the movable plate 511a and the support portion 511b on the right side of the movable plate 511a. Yes.
Each of the connecting portions 511c and 511d has a longitudinal shape. Further, each of the connecting portions 511c and 511d can be elastically deformed. Such a pair of connecting portions 511c and 511d are provided coaxially with each other, and the movable plate 511a is located with respect to the support portion 511b around this axis (hereinafter referred to as "rotation center axis J"). Rotate.

  Such a substrate 511 is made of, for example, silicon as a main material, and a movable plate 511a, a support portion 511b, and connection portions 511c and 511d are integrally formed. As described above, by using silicon as a main material, it is possible to realize excellent rotation characteristics and to exhibit excellent durability. In addition, fine processing (processing) is possible, and the actuator 51 can be downsized.

The spacer member 512 has a frame shape, and its upper surface is joined to the lower surface of the base 511. Further, the spacer member 512 is substantially equal to the shape of the support portion 511b in a plan view of the movable plate 511a. Such a spacer member 512 is made of, for example, various glasses, various ceramics, silicon, SiO ₂ or the like.
Note that a method for joining the spacer member 512 and the base 511 is not particularly limited. For example, the spacer member 512 and the base member 511 may be joined via another member such as an adhesive, or may be anodic bonded depending on the constituent material of the spacer member 512. May be used.

Similar to the spacer member 512, the counter substrate 513 is made of, for example, various glasses, silicon, SiO ₂ or the like. A coil 515 is provided on the upper surface of the counter substrate 513 and on a portion facing the movable plate 511a.
The permanent magnet 514 has a plate bar shape and is provided along the lower surface of the movable plate 511a. Such a permanent magnet 514 is magnetized (magnetized) in a direction orthogonal to the rotation center axis J in a plan view of the movable plate 511a. That is, the permanent magnet 514 is provided so that a line segment connecting both poles (S pole and N pole) is orthogonal to the rotation center axis J. As shown in FIG. 5, in the present embodiment, the left side of the rotation center axis J is an N pole, and the right side is an S pole.

The permanent magnet 514 is not particularly limited, and for example, a neodymium magnet, a ferrite magnet, a samarium cobalt magnet, an alnico magnet, or the like can be used.
The coil 515 is provided so as to surround the outer periphery of the permanent magnet 514 in a plan view of the movable plate 511a. A predetermined voltage is applied to the coil 515 by the operation control device 8.

For example, when an alternating voltage is applied to the coil 515 by the operation control device 8, a magnetic field in the thickness direction of the movable plate 511a (vertical direction in FIG. 5) is generated, and the direction of the magnetic field is periodically switched. That is, a state A in which the vicinity of the upper side of the coil 515 is the S pole and the vicinity of the lower side is an N pole, and a state B in which the vicinity of the upper side of the coil 515 is the N pole and the vicinity of the lower side is an S pole are alternately switched.
In the state A, as shown in FIG. 5A, the right side of the permanent magnet 514 is displaced upward due to the repulsive force with the magnetic field generated by energizing the coil 515, and the left side of the permanent magnet 514 is the magnetic field. It is displaced downward by the suction force. As a result, the movable plate 511a tilts counterclockwise.

On the contrary, in the state B, as shown in FIG. 5B, the right side of the permanent magnet 514 is displaced downward and the left side of the permanent magnet 514 is displaced upward. Thereby, the movable plate 511a is inclined clockwise.
By alternately repeating the state A and the state B, the movable plate 511a rotates about the rotation center axis J while twisting and deforming the connecting portions 511c and 511d.

The configuration of the actuator 51 is not particularly limited as long as the movable plate 511a can be rotated, and may be a so-called two-degree-of-freedom vibration system actuator, or the coil 515 and the permanent magnet 514. Instead of the electromagnetic drive using, piezoelectric drive using a piezoelectric element or electrostatic drive using electrostatic attraction may be used.
Here, as shown in FIG. 3, the pair of actuators 51, 51 are provided such that their rotation center axes J are orthogonal to each other. By providing the pair of actuators 51 and 51 in this way, the laser beam LL emitted from the light source unit 4 can be scanned two-dimensionally on the optical scanning surface 21. Thereby, a two-dimensional image can be drawn on the optical scanning surface 21 with a relatively simple configuration.

Next, the behavior detection unit 52 will be described.
The means for detecting the behavior of the movable plate 511a of one actuator 51 of the pair of actuators 51 and 51 and the means for detecting the behavior of the movable plate 511a of the other actuator 51 have the same configuration. Therefore, the means for detecting the behavior of the movable plate 511a of one actuator 51 will be described as a representative, and the description of the means for detecting the behavior of the movable plate 511a of the other actuator 51 will be omitted.

As shown in FIG. 4, the behavior detection unit 52 includes a piezoelectric element 521 provided on the connecting portion 321 c of the actuator 51, an electromotive force detection unit 522 that detects an electromotive force generated from the piezoelectric element 521, and an electromotive force detection. A behavior detection unit 523 that detects the behavior of the movable plate 511a based on the detection result of the unit 522.
When the connecting portion 511c is torsionally deformed as the movable plate 511a rotates, the piezoelectric element 521 is deformed accordingly. When the piezoelectric element 521 is deformed from a natural state to which no external force is applied, it has a property of generating an electromotive force having a magnitude corresponding to the deformation amount. Therefore, the behavior detecting unit 523 includes the electromotive force detecting unit 522. Based on the magnitude of the electromotive force detected in step 1, the degree of twist of the connecting portion 511c is obtained, and the behavior (rotation angle) of the movable plate 511a is detected from the degree of twist. A signal (information) relating to the behavior of the movable plate 511a detected in this manner is transmitted to the operation control device 8.

Such behavior detection means 52 may detect the behavior of the movable plate 511a in real time. For example, after detecting the behavior of the movable plate 511a at a predetermined timing (time), the detection timing, The behavior of the movable plate 511a may be predicted based on the alternating voltage (waveform or frequency) applied to the coil 515.
The behavior detecting unit 52 is not limited to the one using the piezoelectric element as in the present embodiment as long as the behavior of the movable plate 511a can be detected. For example, a photodiode may be used. In this case, for example, when the movable plate 511a has a predetermined inclination (rotation angle), the photodiode is configured to receive light (or light reception is blocked). The behavior of the movable plate 511a may be detected from the light reception timing.

Next, the specifying unit 9 will be described.
First, a coordinate system having an x-axis, a y-axis, and a z-axis that are orthogonal to each other is assumed as a common three-dimensional coordinate system for the image forming apparatus 1 (not shown).
The specifying means 9 obtains the three-dimensional coordinates of each part (micro area) of the optical scanning surface 21 of the screen 2 in the coordinate system, and thereby specifies the position and shape of the optical scanning surface 21. 91, a detection unit 92, and a half mirror 93.

  The specifying unit 91 defines the shape of the optical scanning surface 21 of the screen 2 as an aggregate of a plurality of polygons (polygons) as shown in FIG. 11, and apexes G1, G2,... Gi,. , I and n are natural numbers) and the respective portions of the optical scanning surface 21 of the screen 2 are made to correspond to each other, and the three-dimensional coordinates of the vertices G1 to Gn are obtained. Thereby, the three-dimensional coordinates of each part of the optical scanning surface 21 are specified. That is, the position and shape of the optical scanning surface 21 are specified.

Data (information) of the three-dimensional coordinates of the vertices G1 to Gn is transmitted from the specifying unit 91 to the shape specifying unit 72 of the drive pattern generating unit 7 described later, and stored (stored). In the following description, the three-dimensional coordinate data is also simply referred to as “three-dimensional coordinates”.
The method for obtaining the three-dimensional coordinates of the vertices G1 to Gn is not particularly limited, but in this embodiment, the position of the movable plate 511a (light reflecting portion 511e) of the actuator 51 on the rear stage side (upper side in FIG. 3) is the reference position. The specifying unit 9 optically detects the distance of each part of the optical scanning surface 21 from the reference position, and obtains the three-dimensional coordinates of the vertices G1 to Gn based on the detection result. It is configured.

Specifically, the light source unit 4 and the optical scanning unit 5 have the function of the irradiation unit of the specifying unit 9 (also serves as the irradiation unit). In this case, the light source unit 4 has the function of the measurement light emitting unit of the irradiation unit (also serves as the measurement light emitting unit).
The half mirror 93 is emitted between the light source unit 4 and the light scanning unit 5, that is, the laser light LL (measurement light) emitted from the light source unit 4 until reaching the actuator 51 on the previous stage side (lower side in FIG. 3). It is arranged on the optical path.

The half mirror 93 may be movably installed, and a movement mechanism (not shown) for moving the half mirror 93 between the optical path and a position separated (withdrawn) from the optical path may be provided. In this case, for example, when specifying the position and shape of the optical scanning surface 21, the half mirror 93 is moved onto the optical path, and when drawing an image on the optical scanning surface 21, the half mirror 93 is moved from the optical path. Can be evacuated.
The detection unit 92 detects the reflected light of the laser beam LL on the optical scanning surface 21. For example, a light receiving element or the like can be used.
The light source unit 4, the optical scanning unit 5, the half mirror 93, the detection unit 93, and the specifying unit 91 constitute a main part of the distance detection unit.

  When obtaining the three-dimensional coordinates of the vertices G1 to Gn, the light source unit 4 intermittently emits the laser beam LL (measurement beam) while operating the pair of actuators 51 and 51 to generate the two-dimensional laser beam LL. Scan automatically. At this time, a signal (information) regarding the behavior of the movable plate 511 a of each actuator 51, 51 is transmitted from the behavior detection means 52 to the specifying unit 91. Note that it is preferable to drive any one of the laser light sources 41r, 41g, and 41b. In the following description, a case where only the laser light source 41r is driven will be described.

The laser light RR emitted from the laser light source 41r is reflected by the dichroic mirror 43r, a part (about 50%) of the laser light RR passes through the half mirror 93, and is reflected by the light reflecting portion 511e of the movable plate 511a of the pair of actuators 51 and 51. The light is sequentially reflected and emitted (irradiated) in a predetermined direction.
Here, in the case where the optical scanning surface 21 is on the optical path (optical axis) of the laser light RR emitted from the light reflecting portion 511e of the actuator 51 on the rear stage side, the laser light RR is a predetermined part of the optical scanning surface 21. Then, the light is reflected by the optical scanning surface 21, and a part of the reflected light travels on the opposite side to the above-described path, and is sequentially reflected by the light reflecting portion 511e of the movable plate 511a of the pair of actuators 51 and 51. A part (about 50%) of the light is reflected by the half mirror 93 and enters the detection unit 92. In this case, the laser beam RR is detected by the detection unit 92.

On the other hand, when there is no optical scanning surface 21 on the optical path of the laser light RR emitted from the light reflecting portion 511e of the actuator 51 on the rear stage side, the laser light RR does not hit the optical scanning surface 21 and is detected by the detection unit 92. The laser beam RR is not detected.
Since the three-dimensional coordinates (position) of the movable plate 511a (light reflecting portion 511e) of the rear stage side actuator 51, which is the reference position, are known, the optical scanning surface 21 from the light reflecting portion 511e of the rear stage side actuator 51 is known. If the distance L to the portion irradiated with the laser beam RR and the direction of the laser beam RR emitted from the light reflecting portion 511e are known, the three-dimensional portion of the portion of the optical scanning surface 21 irradiated with the laser beam RR is determined. Coordinates can be obtained.

  Since the specifying unit 91 receives the signal regarding the behavior of the pair of movable plates 511a and 511a transmitted from the behavior detecting unit 52, this information, the three-dimensional coordinates of the light reflecting unit 511e of each actuator 51, and the laser The direction of the laser light RR emitted from the light reflecting portion 511e of the rear-stage actuator 51 is determined based on the information about the optical path of the laser light RR emitted from the light source 41r (light source unit 4) and reaching the front-stage actuator 51. Can be sought.

It should be noted that the three-dimensional coordinates of the light reflecting portion 511e of each actuator 51, information on the optical path of the laser light RR emitted from the laser light source 41r and reaching the previous stage side actuator 51, Equation 1 to be described later, etc. Information necessary for obtaining the three-dimensional coordinates of Gn is stored in advance in a storage unit (not shown) of the specifying unit 91.
Further, a value obtained by dividing the time t from when the laser light RR is emitted from the laser light source 41r to when the reflected light of the laser light RR on the optical scanning surface 21 is detected by the detection unit 92 by the speed of light c, Since the optical path length corresponds to that, the optical path length can be obtained by measuring the time t.

Therefore, the time from when the laser light RR is emitted from the laser light source 41r to when the reflected light of the laser light RR on the optical scanning surface 21 is detected by the detection unit 92 is t, and the actuator on the rear stage side from the laser light source 41r. When the optical path length from the light reflecting portion 511e of the rear stage actuator 51 to the detecting portion 92 is L2 and the light velocity is c, the distance L is expressed by the following formula 1. Can be sought.
L = {(t / c) -L1-L2} / 2 (Formula 1)

The time t is measured as follows.
First, when the operation control device 8 emits the laser light RR from the laser light source 41r, the operation control device 8 transmits a trigger signal to the specifying unit 91 in synchronization therewith. The specifying unit 91 also has a function of a measuring unit that measures time, and starts measuring time when receiving the trigger signal.
When the reflected light of the laser beam RR on the optical scanning surface 21 enters the detection unit 92, a detection signal is transmitted from the detection unit 92 to the specifying unit 91. When the specifying unit 91 receives the detection signal, End measurement.
As described above, the three-dimensional coordinates of the vertices G1 to Gn can be respectively obtained.

Next, the position detection means 6 will be described.
As shown in FIG. 6, the position detection means 6 of the present embodiment includes an orthogonal coil type (orthogonal coil type) position sensor 61, a magnetic field generator 62 that generates a magnetic field acting on the position sensor 61, and the position sensor 61. The signal processing unit 63 that processes the signal detected in step S3 and the information processing unit 64 are provided.

The position sensor 61 is used by being attached to an observer or being held by an observer. Here, the position sensor 61 is preferably located as close as possible to the eyes of the observer. For example, the position sensor 61 may be fixed to a mounting portion that can be mounted on the observer's ear, or may be fixed to a cap that can be mounted on the head.
As shown in FIG. 6, the position sensor 61 includes an X-direction detection coil (first coil) 611, a Y-direction detection coil (second coil) 612, and Z-direction detection. And a coil (third coil) 613.

As the magnetic field generation unit 62, for example, a configuration having almost the same configuration as the position sensor 61, that is, an orthogonal coil type (orthogonal coil type) magnetic field generator (X direction coil, Y direction coil, Z direction coil) is used. it can. Such a magnetic field generation unit 62 is connected to the operation control device 8, and generates a magnetic field when a voltage is applied by the operation control device 8.
The magnetic field generated by the magnetic field generator 62 is detected by the position sensor 61. In this case, a magnetic field is sequentially generated from the X direction coil, the Y direction coil, and the Z direction coil of the magnetic field generation unit 62, and the X direction detection coil 611, the Y direction detection coil 612, and the Z direction detection of the position sensor 61, respectively. Detection is performed with three coils 613.

Each signal (detection data) detected in each of the XYZ directions by the position sensor 61 is amplified by the amplification unit 631 of the signal processing unit 63 and converted into a digital signal by the A / D conversion unit 632, respectively. It is transmitted to the information processing unit 64.
The information processing unit 64 receives the signal and derives the position of the observer (that is, three-dimensional coordinates) based on the signal (information). By providing the position detecting means 6 in this way, the position of the observer can be obtained accurately and reliably.

Next, the drive pattern generation means 7 will be described.
As shown in FIG. 7, the drive pattern generation means 7 includes an observation point information storage unit 711 for storing the three-dimensional coordinates of the observation points P1 and P2 and their observation directions, and the three-dimensional coordinates of the image forming apparatus main body 3 and An image drawing device information storage unit 712 for storing a direction, a shape specifying unit 72 for defining the shape of the optical scanning surface 21, an observer virtual screen setting unit 731 for setting an observer virtual screen, and an image drawing device An image drawing device virtual screen setting unit 732 for setting a virtual screen, and a lookup table (hereinafter simply referred to as “LUT”) in which the observer virtual screen and the image drawing device virtual screen SS1 are associated with each other are recorded. LUT recording unit 74, LUT selection unit 75 for selecting a predetermined LUT from LUT recording unit 74, and image converted on the virtual screen for the image drawing apparatus By displaying, and a image forming unit 76 which virtually form an observation image on the observer for the virtual screen, and a generator 77 for generating a driving pattern of the light source unit 4.

  The observation point information storage unit 711 stores the three-dimensional coordinates of the observation points P1 and P2 and their observation directions. By storing the three-dimensional coordinates of a plurality of observation points in this way, the most appropriate observation point can be selected from among the three-dimensional coordinates according to the position of the observer, and the image drawing characteristics of the image forming apparatus 1 are improved. In the present embodiment, the case where two observation points P1 and P2 are set as the observation points is described. However, the number of observation points to be set is not limited to this, and only one point is set. Or three or more locations. Needless to say, the larger the number of observation points set, the more remarkable the effect.

The image drawing device information storage unit 712 stores the three-dimensional coordinates and the orientation of the image forming apparatus main body 3.
The three-dimensional coordinates of the observation points P1 and P2 and the observation direction thereof are preferably stored in the observation point information storage unit 711 in advance, for example, when the image forming apparatus 1 is manufactured or shipped. Accordingly, it is not necessary to input (set) the three-dimensional coordinates before using the image forming apparatus 1, and the operation of the image forming apparatus 1 can be prevented from becoming complicated.

Similarly to the specifying unit 91, the shape specifying unit 72 defines the shape of the optical scanning surface 21 of the screen 2 as an aggregate of a plurality of polygons as shown in FIG. The transmitted three-dimensional coordinate data of each vertex G1 to Gn is stored.
The observer virtual screen setting unit 731 virtually sets the observer virtual screen S1 and the observer virtual screen S2 between the observation point P1 and the screen 2 and between the observation point P2 and the screen 2, respectively. Set. Further, the observer virtual screen setting unit 731 sets a large number of points (small regions) Q1, Q2,... Qm (where m is a natural number) on each observer virtual screen S1, and each point Q1. Store the three-dimensional coordinates of ~ Qm. The observer virtual screen setting unit 731 stores the same three-dimensional coordinates for the observer virtual screen S2.

As shown in FIG. 1, the observer virtual screen S <b> 1 has a planar shape, and is set to be orthogonal to a line segment passing through the observation point P <b> 1 and the substantially center of the optical scanning surface 21. Moreover, it is preferable that the entire region of the optical scanning surface 21 is included in the region of the observer virtual screen S1 in a plan view as viewed from the observation point P1.
The points Q1 to Qm may be regularly set on the observer virtual screen S1 or may be set irregularly. However, the arrangement should match the data of the video to be displayed. preferable. For example, as shown in FIG. 24, if the video data SD to be displayed is in a data arrangement of v rows × u columns (v and u are both natural numbers) and is regularly arranged in a grid pattern from the upper left image data, Points Q1 to Qm are also set in a regular order from the upper left point of the observer virtual screen S1. Further, as the number of points Q to be set increases, a clearer image can be drawn on the optical scanning surface 21. The number of points varies depending on the size (area) of the optical scanning surface 21 and is preferably 10,000 to 10,000,000 (for example, 640 horizontal x 480 vertical).

Similarly, the image drawing device virtual screen setting unit 732 virtually sets the image drawing device virtual screen SS1 between the image forming apparatus main body 3 and the screen 2.
As shown in FIG. 1, the image drawing device virtual screen SS1 is also flat like the observer virtual screen S1 and the observer virtual screen S2, and is substantially at the center between the image forming apparatus main body 3 and the optical scanning surface 21. Is set to be orthogonal to the line segment passing through. Further, it is preferable that the entire region of the optical scanning surface 21 is included in the region of the image drawing device virtual screen SS1 in a plan view as viewed from the image forming apparatus main body 3.

As shown in FIG. 10, the image drawing device virtual screen setting unit 732 has a number of points on the locus 78 of light emitted from the image drawing device (hereinafter referred to as drawing points) on the image drawing device virtual screen SS1. D1, D2,... Dk (where k is a natural number) are set, and the three-dimensional coordinates of the respective drawing points D1 to Dk are stored. In this way, by setting the drawing points D1 to Dk on the locus 78, all the drawing points can be irradiated with the laser beam LL, and thus the drawing characteristics are improved.
The interval between the drawing points D1 to Dk is preferably set to the maximum resolution capability of the image forming apparatus main body 3.
The number of points is preferably equal to the maximum resolution of the image forming apparatus main body 3 (for example, horizontal 1280 × vertical 960).

  In the LUT recording unit 74, when the screen 2 is viewed from the observation point P1, the LUT 741 in which the drawing points D1 to Dk correspond to the drawing points corresponding to the drawing points D1 to Dk, respectively, is similar to this. In addition, when the screen 2 is viewed from the observation point P2, a LUT 742 is recorded in which the drawing points D1 to Dk correspond to the drawing points corresponding to the drawing points D1 to Dk, respectively.

Hereinafter, a first method and a second method will be described as the association method. Needless to say, the association method is not limited to the method described below. In addition, the matching method is the same for the observer virtual screens S1 (observation points P1) and S2 (P2), and is the same for the points Q1 to Qm. The point Q1 of the observer virtual screen S1 will be described as a representative, and the description of other points will be omitted.
In the first method, first, the LUT recording unit 74 receives, from the observation point information storage unit 711 and the observer virtual screen setting unit 731, the three-dimensional coordinates of the observation point P 1, the observation direction, and the observer virtual screen, respectively. The three-dimensional coordinates of the point Q1 on S1 are read out, and a line segment (hereinafter referred to as “line segment L”) passing through the observation point P1 and the point Q1 is obtained based on both the three-dimensional coordinates.

Next, the LUT recording unit 74 reads out the three-dimensional coordinates of the vertices G1 to Gn stored in the shape specifying unit 72, and the line segment L has three adjacent points in the vertices G1 to Gm as shown in FIG. Find the coordinates that intersect with the polygon determined by. As shown in FIG. 8, the line segments L intersect at an intersection point T1.
Further, the LUT recording unit 74 receives the image drawing device information storage unit 712 and the image drawing device virtual screen setting unit 732 from the three-dimensional coordinates and orientation of the image forming device main body 3 and the image drawing device virtual screen, respectively. The coordinate information on SS1 is read, and a line segment (hereinafter referred to as “line segment L1”) passing through the intersection T1 and the image forming apparatus body 3 is obtained based on the three-dimensional coordinates of both, and the virtual screen for the image drawing apparatus The coordinates of the intersection of SS1 and L1 (coordinates on the image drawing apparatus virtual screen SS1) are obtained, and the drawing point closest to the intersection is drawn from the drawing points D1 to Dk as the actual intersection. . In FIG. 9, since D1 is closest, the intersection is set as the drawing point D1.

  The LUT recording unit 74 associates the coordinates of the drawing point D1 with the point Q1, and records the information in the LUT 741. In this way, the drawing point D1 is associated with the point Q1, and the three-dimensional coordinates (position) of the part (micro area) of the optical scanning surface 21 to which the drawing point D1 corresponds can be obtained. According to such a method, the association can be performed relatively easily and accurately. When the line segment L does not intersect with any of the polygons determined by the three adjacent points of the vertices G1 to Gn, or when the line segment L1 does not intersect with the image rendering device virtual screen SS1, it is out of the screen range. That is, 0 is associated with non-display.

Finally, all coordinates on the image rendering device virtual screen SS1 are not checked and associated with each other by using a method such as linear interpolation from the coordinates associated with the upper, lower, left, and right coordinates. An LUT as shown in FIG. 13 is generated.
In the LUT of FIG. 13, the intersection points Q1 to Qm (where r and s are natural numbers from 1 to m) are linearly interpolated and associated with the drawing points D1 to Dk.

Next, the second method of association will be described. In the following, for the sake of convenience of explanation, the drawing point D1 (point Q1) set on the image drawing device virtual screen SS1 will be described as a representative. The description of is omitted.
In the second method, first, the timing of the laser beam LL used when specifying the shape of the optical scanning surface 21 is measured in accordance with the drawing points D1 to Dk, and the three-dimensional coordinates of the vertices G1 to Gn are measured. The drawing point corresponding to the data is stored in the shape specifying unit 72. That is, the vertexes G1 to Gn are associated with the drawing points D1 to Dk in advance and stored in the shape specifying unit 72. As a result, since the intersection points T1 to Tn always coincide with the vertices G1 to Gn, there is no need to obtain T1 to Tn as in the first method, the calculation is simplified, and thereafter the vertices G1 to Gn are used. Calculations can be performed.

The LUT recording unit 74 receives the three-dimensional coordinates of the observation point P1, the three-dimensional coordinates of the vertex G1 set on the optical scanning plane 21, and the corresponding drawing points from the observation point information storage unit 711 and the shape specifying unit 72, respectively. The number (D1 in this case) is read out, and a line segment (hereinafter referred to as “line segment L ′”) passing through the observation point P1 and the point G1 is obtained based on both three-dimensional coordinates.
Next, the LUT recording unit 74 reads out the three-dimensional coordinates of the points Q1 to Qm stored in the observer virtual screen setting unit 731 and determines which of the points Q1 to Qm the line segment L ′ intersects. . As shown in FIG. 8, since the line segment L ′ intersects with the point Q1, the LUT recording unit 74 associates the drawing point D1 associated with the vertex G1 with the point Q1, and stores the information in the LUT 741. Record. In this manner, the point Q1 on the observer virtual screen S1 can be associated with the drawing point D1 on the image drawing device virtual screen SS1.

  As a processing method when the line segment L ′ does not intersect any of the points Q1 to Qm, for example, when the intersection point of the line segment L ′ and the observer virtual screen S1 is on S1. , The point closest to the intersection is associated with the drawing point D1, and when the intersection does not exist on the S1, the drawing point D1 is not displayed, and 0 is associated. An LUT as shown is generated.

  The LUT selection unit 75 uses the LUTs 741 and 742 based on the observer position detected by the position detection unit 6 and the three-dimensional coordinates of the observation points P1 and P2 stored in the observation point information storage unit 711. One LUT is selected. As a result, an optimal LUT can be selected from the LUTs 741 and 742, and an image recognized as an observation image when the observer views the screen 2 can be drawn on the optical scanning surface 21. In other words, an image in which image distortion due to the non-planar shape of the optical scanning surface 21 is canceled can be drawn on the optical scanning surface 21.

As a method of selecting one of the LUTs 741 and 742, for example, a method of selecting an observation point closer to the observer's position from the observation points P1 and P2 and selecting an LUT corresponding to the observation point can be given. . Thereby, the said effect becomes remarkable.
Alternatively, an observation point located on the straight line connecting the observer and the substantially central portion of the screen 2 or closest to the straight line may be selected, and an LUT corresponding to the observation point may be selected. In addition, when a plurality of observation points are located on the straight line, it is preferable to select an observation point located closest to the observer among them.

Hereinafter, for convenience of explanation, the case where the LUT 741 is selected will be described as a representative.
The image forming unit 76 virtually forms an observation image on the observer virtual screen S1 based on an observation image signal input from an external device (not shown). Further, the image forming unit 76 sets each of the points Q1 to Qm set on the observer virtual screen S1 in an area corresponding to the point based on the observation image formed on the observer virtual screen S1. Identify the displayed color.

The generation unit 77 generates a drive pattern of the light source unit 4 based on the color information of each point Q1 to Qm specified by the image forming unit 76 and the LUT 741 selected by the LUT selection unit 75.
More specifically, the generation unit 77 generates the drawing points D1 to Dk associated with the points Q1 to Qm by the LUT 741 based on the color information of the points Q1 to Qm, respectively. A drive pattern is generated such that the laser beam LL having the same color as the associated point (for example, the point Q1 in the case of the drawing point D1) is projected. That is, the generation unit 77 determines which color of the laser light LL should be projected to which drawing point among the drawing points D1 to Dk on the image drawing device virtual screen SS1. According to the drive pattern generated in this way, when the observer views the screen 2 from the observation point P1, the observer can view the observation image. A signal (information) related to the drive pattern generated in this way is transmitted to the operation control device 8.

  The operation control device 8 receives a signal relating to the behavior of the pair of movable plates 511a and 511a transmitted from the behavior detection means 52. Therefore, in correspondence with the drive pattern generated by the generation unit 77, for example, when the respective inclinations of the pair of movable plates 511a and 511a correspond to the drawing point D1, the laser beam LL having the same color as that of the point Q1 is almost the same. By operating the light source unit 4 so as to emit light, an image recognized as an observation image when the observer views the screen 2 can be drawn on the optical scanning surface 21.

  As described above, according to the image forming apparatus 1, even if the position and shape of the optical scanning surface 21 of the screen 2 are unknown, the position and shape of the optical scanning surface 21 can be specified. Depending on the position and shape of the optical scanning surface 21, when the observer views the optical scanning surface 21 from the observation point, the observation image desired to be observed by the observer is visually recognized on the optical scanning surface 21. An image can be drawn.

  Further, even if the shape of the optical scanning surface 21 is non-planar, the distortion of the image generated due to the non-planar shape of the optical scanning surface 21 is canceled, thereby allowing the observer to visually recognize the observation image. it can. That is, when an image is drawn on the optical scanning surface 21 by the image forming apparatus 1, for example, when the screen 2 is viewed from the vicinity of the image forming apparatus main body 3 (position other than the observation point P1), the optical scanning surface 21 as shown in FIG. The image appears to be distorted due to the non-planar shape of FIG. 15, but when the screen 2 is viewed from the observation point P <b> 1, the observed image as shown in FIG. Can be visually recognized.

In the present embodiment, LUTs 741 and 742 corresponding to the observation points P1 and P2 are created in advance and recorded in the LUT recording unit 74, but the present invention is not limited to this. After a point is selected, an LUT corresponding to the observation point may be created.
Further, the method for detecting the distance of each part of the optical scanning surface 21 from the reference position is not limited to the above-described method. For example, the external light triangle method used in the field of cameras, the TTL method, etc. Can also be used. Furthermore, the method is not limited to the optical detection method, and for example, a method using ultrasonic waves or the like may be employed.

Further, in the present embodiment, it is assumed that the shape of the optical scanning surface 21 of the screen 2 is non-planar. However, the shape is not limited to this, and the optical scanning surface 21 may be substantially flat.
In this embodiment, it is assumed that the optical scanning surface 21 has a substantially constant shape and the position of the optical scanning surface 21 is not displaced as the screen 2. However, the present invention is not limited to this. Either or both of the position and shape of 21 may change over time. When one or both of the position and the shape of the optical scanning surface 21 change with time, when drawing an image on the optical scanning surface 21, the position of the optical scanning surface 21 is changed as needed in response to the change. Then, the shape is specified and the drive pattern of the light source unit 4 is generated.

Second Embodiment
Next, a second embodiment of the image forming apparatus of the present invention will be described.
FIG. 16 is a block diagram showing an image drawing apparatus main body in the second embodiment of the image forming apparatus of the present invention.
Hereinafter, the image display apparatus according to the second embodiment will be described focusing on the differences from the first embodiment described above, and description of similar matters will be omitted.

In the second embodiment, it is assumed that at least one of the position and shape of the optical scanning surface 21 changes (can change) with time as the screen 2. Needless to say, the present invention can also be applied to the case where the optical scanning surface 21 has a substantially constant shape and the position of the optical scanning surface 21 is not displaced.
As shown in FIG. 16, in the image forming apparatus 1 according to the second embodiment, the specifying unit 9 includes a laser light source 94 and a collimator lens 95 as a measurement light emitting unit that emits measurement light, a specifying unit 91, and a detecting unit 92. And a half mirror 93.

  As the laser light source 94, for example, a light source that emits light other than visible light such as infrared light (infrared light) is preferably used. Thereby, deterioration of the visibility of the image drawn on the optical scanning surface 21 of the screen 2 can be prevented. In this case, if the half mirror 93 reflects a part of the light having only the frequency of the laser light source 94, it can be detected without affecting the drawing laser light sources 41r, 41g, and 41b. Drawing characteristics are improved.

The laser light source 94 may emit visible light. In this case, the measurement laser light source 94 uses a light source having a frequency different from that of the drawing laser light sources 41r, 41g, and 41b, and It is preferable to drive the laser light source 94 and the like so that the measurement light does not affect the image drawn on the optical scanning surface 21, that is, the observer cannot visually recognize the measurement light.
Laser light (measurement light) 96 emitted from the laser light source 94 is collimated by a collimator lens 95 to form a thin beam.

  In this image forming apparatus 1, while specifying the position and shape of the optical scanning surface 21 of the screen 2 (determining the three-dimensional coordinates of the vertices G1 to Gn), the information is used at the same time for the image drawing apparatus. The drawing points D1 to Dk on the virtual screen SS1 are associated with the points Q1 to Qm on the observer virtual screen S1, a driving pattern of the light source unit 4 is generated, and an image is drawn on the optical scanning surface 21. That is, when drawing an image on the optical scanning surface 21, the specifying unit 9 sequentially obtains the three-dimensional coordinates of the vertices G1 to Gn by simultaneously scanning the detection laser light. At this time, the laser beam 96 is intermittently emitted from the laser light source 94.

  Typically, the subsequent operation when the three-dimensional coordinates of the vertex G1 are obtained will be described. Since the vertex G1 corresponds to the drawing point D1 on the virtual screen SS1 for image drawing apparatus, the drawing point D1 and the observation are observed. The points Q1 to Qm on the user virtual screen S1 are associated with each other, the color displayed in the area corresponding to the associated point is specified, and held in the LUT recording unit 74 as the LUT for the next frame. Here, since the drawing laser and the detection laser irradiate the same position, the LUT used for drawing is one frame before. In accordance with the result, the laser light sources 41r, 41g, and 41b are driven so that the corresponding color laser light LL is projected onto the drawing point D1. For example, when the point Q1 and the drawing point D1 correspond to each other and the point Q1 and the drawing point D1 are associated with each other, if the color displayed in the region corresponding to the point Q1 is red, only the red laser light RR is obtained. The laser light sources 41r, 41g, and 41b are driven so that is projected onto the drawing point D1.

Thereafter, the same operation is sequentially performed for Q2 to Qm.
As the association method, either the first method or the second method described above can be used, but the second method is preferable because the processing can be performed quickly.
According to the image forming apparatus 1, the same effect as that of the first embodiment can be obtained.
And in this image forming apparatus 1, when the change of the shape of the projection surface of the object can be predicted, of course, even when the prediction is not possible, when the observer views the projection surface from the observation point, The image can be drawn on the projection plane so that the observation image that the observer wants to observe is visually recognized. For example, when a flag is used as an object and a still image is drawn on the flag, even if the shape of the flag changes irregularly due to wind or the like, the state where the same image without distortion continues to be displayed.

<Third Embodiment>
Next, a third embodiment of the image forming apparatus of the present invention will be described.
FIG. 17 is a block diagram showing an image drawing apparatus main body in the third embodiment of the image forming apparatus of the present invention. Note that the positional relationship between the actuator 51 and the measurement light emitting units 97 and 98 in FIG. 17 is not strict. In addition, the measurement light emitting unit 98 in FIG. 17 is omitted because it has the same configuration as the measurement light emitting unit 97.

Hereinafter, the image display apparatus according to the third embodiment will be described with a focus on differences from the second embodiment described above, and descriptions of similar matters will be omitted.
In the third embodiment, it is assumed that at least one of the position and the shape of the optical scanning surface 21 changes (can change) with time as the screen 2.
As shown in FIG. 17, the image forming apparatus 1 according to the third embodiment includes a pair of measurement light emitting units 97 and 98. Laser light 96 is output from the measurement light emitting unit 97, and laser light 99 is output from the measurement light emitting unit 98. The outputted detection laser beams 96 and 99 are irradiated to the same position on the actuator 51 with respect to the drawing laser beam LL at respective incident angles of α0 and α1. These laser beams for detection 96 and 99 are incident perpendicular to the rotation axis J of the actuator 51.

  On the other hand, the actuator 51 reciprocates, and the drawing points D1 to Dk on the image drawing device virtual screen SS1 are drawn from left to right and then from right to left as shown in FIG. In this way, the drawing direction is switched. Since the measurement light emitting units 97 and 98 always specify the position and shape of the optical scanning surface 21 of the screen 2 slightly ahead of this drawing direction (destination to be drawn from now on), each measurement light emitting unit switches the drawing direction. It works by switching at the same time.

  For example, as shown in FIG. 18, when drawing the drawing point Dd when drawing from left to right, only the measurement light emitting unit 97 is operated (the measurement light emitting unit 98 is stopped), and this measurement is performed. Using the light emitting unit 97, the position and shape of the light scanning surface 21 of the screen 2 at the point Ds ahead of the current drawing point Dd are specified. Conversely, when drawing the drawing point Dd ′ when drawing from right to left, only the measurement light emitting unit 98 is operated (the measurement light emitting unit 97 is stopped), and the current drawing point Dd ′ is drawn. The position and shape of the optical scanning surface 21 of the screen 2 at the previous point Ds ′ are specified.

In this manner, the image forming apparatus 1 draws an image on the optical scanning surface 21 as in the second embodiment.
Further, it is desirable that the incident angles α0 and α1 of the detection laser beams 96 and 99 with respect to the drawing laser beam LL are equal. Furthermore, if this angle is reduced, the measurement point can be brought closer to the drawing point, the time from measurement to actual drawing at the measurement point can be shortened, and it can be applied to a screen that changes at high speed. Therefore, it is preferable. Moreover, since the error between the measurement point and the actual drawing point is reduced by reducing this angle, the accuracy of specifying the position and shape of the optical scanning surface 21 of the screen 2 is also improved.
According to the image forming apparatus 1, the same effect as that of the second embodiment can be obtained.
In the image forming apparatus 1, even when the shape of the projection plane of the object changes rapidly, the observation image that the observer wants to observe is visually recognized when the observer views the projection plane from the observation point. Thus, an image can be drawn on the projection plane.

<Fourth embodiment>
Next, a fourth embodiment of the image forming apparatus of the present invention will be described.
FIG. 19 is a block diagram showing an image drawing apparatus main body in the fourth embodiment of the image forming apparatus of the present invention. Note that the positional relationship between the screen 2 and the optical scanning unit 50 in FIG. 19 is not strict.

Hereinafter, the image display apparatus according to the fourth embodiment will be described with a focus on differences from the second embodiment described above, and descriptions of similar matters will be omitted.
In the fourth embodiment, it is assumed that at least one of the position and shape of the optical scanning surface 21 changes (can change) with time as the screen 2. Needless to say, the present invention can also be applied to the case where the optical scanning surface 21 has a substantially constant shape and the position of the optical scanning surface 21 is not displaced.

  As shown in FIG. 19, in the image forming apparatus 1 according to the fourth embodiment, the specifying unit 9 includes a laser light source 94 and a collimator lens 95 as a measurement light emitting unit that emits measurement light, and the optical scanning unit 5 described above. A pair of actuators 51, 51 and a behavior detecting means 52 for detecting the behavior of each actuator 51, a measuring light scanning unit (measurement light scanning unit) 50, a specifying unit 91, a detecting unit 92, and a half mirror 93. I have. The laser light source 94, the collimator lens 95, and the optical scanning unit 50 constitute an irradiation unit.

  In the image forming apparatus 1, as in the second embodiment, the position and shape of the optical scanning surface 21 of the screen 2 are specified (while obtaining the three-dimensional coordinates and intersections T1 to Tn of the vertices G1 to Gn). At the same time, using the information, the drawing points D1 to Dk on the image drawing device virtual screen SS1 are associated with the points Q1 to Qm on the observer virtual screen S1, and the drive pattern of the light source unit 4 is changed. Generate an image on the optical scanning surface 21. That is, when the image is drawn on the optical scanning surface 21, the specifying unit 9 precedes the scanning of the laser beam LL by the optical scanning unit 5 and scans the laser beam LL together with the scanning of the laser beam LL, as in the third embodiment. The unit 50 scans the laser beam 96 and sequentially obtains the three-dimensional coordinates of the vertices G1 to Gn. At this time, the laser beam 96 is intermittently emitted from the laser light source 94.

As the association method, the first method described above is preferable.
According to the image forming apparatus 1, the same effect as that of the first embodiment can be obtained.
And in this image forming apparatus 1, when the change of the shape of the projection surface of the object can be predicted, of course, even when the prediction is not possible, when the observer views the projection surface from the observation point, The image can be drawn on the projection plane so that the observation image that the observer wants to observe is visually recognized.

<Fifth Embodiment>
Next, a fifth embodiment of the image forming apparatus of the present invention will be described.
20 is a schematic plan view showing an actuator provided in the image drawing apparatus according to the fifth embodiment of the present invention, FIG. 21 is a sectional view taken along line BB in FIG. 20, and FIG. 22 is an actuator shown in FIG. FIG. 23 is a diagram illustrating an example of voltages generated in the first voltage generation unit and the second voltage generation unit illustrated in FIG. 22. In the following, for convenience of explanation, the front side in FIG. 20 is referred to as “up”, the back side in FIG. 20 is referred to as “down”, the right side is referred to as “right”, and the left side is referred to as “left”. The upper side, the lower side is called “lower”, the right side is called “right”, and the left side is called “left”.

Hereinafter, the image display apparatus according to the fifth embodiment will be described with a focus on differences from the first embodiment described above, and description of similar matters will be omitted.
The image forming apparatus of the fifth embodiment is substantially the same as the first embodiment except that the configuration of the actuator provided in the optical scanning unit is different.
The optical scanning unit 5 has one actuator 53.

The actuator 53 includes a base 54 including a first vibration system 54a, a second vibration system 54b, and a support portion 54c as shown in FIG. 20, a counter substrate 56 arranged to face the base 54, and a base 54. A spacer member 55 provided between the substrate 56, a permanent magnet 57, and a coil 58 are provided.
The first vibration system 54a includes a frame-shaped drive unit 541a provided inside the frame-shaped support unit 54c, and a pair of first connection units 542a that support the drive unit 541a on the support unit 54c. 543a.

The second vibration system 54b includes a movable plate 541b provided inside the drive unit 541a, and a pair of second coupling portions 542b and 543b that support the movable plate 541b on both sides of the drive unit 541a. Yes.
The drive unit 541a has an annular shape in a plan view of FIG. In addition, the shape of the drive part 541a will not be specifically limited if it has comprised frame shape, For example, you may comprise the square ring shape in planar view of FIG. A permanent magnet 57 is joined to the lower surface of the driving unit 541a.

  Each of the first connecting portions 542a and 543a has a longitudinal shape and can be elastically deformed. The first connecting portions 542a and 543a connect the driving portion 541a and the supporting portion 54c so that the driving portion 541a can be rotated with respect to the supporting portion 54c, respectively. Such first connecting portions 542a and 543a are provided coaxially with each other, and the drive portion 541a is connected to the support portion 54c around this axis (hereinafter referred to as “rotation center axis J1”). And is configured to rotate.

The first connecting portion 542a is provided with a piezoelectric element 521 for detecting the behavior of the movable plate 541b (the rotation angle around the rotation center axis J1).
The movable plate 541b has a circular shape in a plan view of FIG. However, the shape of the movable plate 541b is not particularly limited as long as the movable plate 541b can be formed inside the drive unit 541a. For example, the shape of the movable plate 541b may be an elliptical shape or a rectangular shape in a plan view of FIG. It may be done. A light reflecting portion 544b having light reflectivity is formed on the upper surface of the movable plate 541b.

Each of the second connecting portions 542b and 543b has a longitudinal shape and can be elastically deformed. The second connecting portions 542b and 543b connect the movable plate 541b and the drive portion 541a so that the movable plate 541b can be rotated with respect to the drive portion 541a, respectively. Such second connecting portions 542b and 543b are provided coaxially with each other, and the movable plate 541b is located with respect to the drive portion 541a around this axis (hereinafter referred to as “rotation center axis J2”). It is configured to rotate.
The second connecting portion 542b is provided with a piezoelectric element 521 for detecting the behavior of the movable plate 541b (the rotation angle around the rotation center axis J2).

As shown in FIG. 20, the rotation center axis J1 and the rotation center axis J2 are orthogonal to each other. Further, the centers of the drive unit 541a and the movable plate 541b are respectively located on the intersections of the rotation center axis J1 and the rotation center axis J2 in the plan view of FIG. Hereinafter, for convenience of explanation, an intersection of the rotation center axis J1 and the rotation center axis J2 is also referred to as an “intersection point G”.
As shown in FIG. 21, the base 54 as described above is bonded to the counter substrate 56 via the spacer member 55. A coil 58 that generates a magnetic field acting on the permanent magnet 57 is provided on the upper surface of the counter substrate 56.

In the plan view of FIG. 20, the permanent magnet 57 passes through the intersection point G and is inclined with respect to each of the rotation center axis J1 and the rotation center axis J2 (hereinafter, this line segment is referred to as “line segment”). M ”).
Such a permanent magnet 57 has an S pole on one side in the longitudinal direction with respect to the intersection point G and an N pole on the other side. In FIG. 21, the left side of the permanent magnet 57 in the longitudinal direction is the S pole and the right side is the N pole.

In the plan view of FIG. 20, the inclination angle θ of the line segment M with respect to the rotation center axis X is preferably 30 to 60 degrees, more preferably 40 to 50 degrees, and approximately 45 degrees. Is more preferable. By providing the permanent magnet 57 in this way, the movable plate 541b can be smoothly rotated around the rotation center axis J1 and the rotation center axis J2. In the present embodiment, the line segment M is inclined by about 45 degrees with respect to each of the rotation center axis X and the rotation center axis Y.
Further, as shown in FIG. 21, a concave portion 57 a is formed on the upper surface of the permanent magnet 57. The recess 57a is an escape portion for preventing contact between the permanent magnet 57 and the movable plate 541b. By forming such a recess 57a, it is possible to prevent the movable plate 541b from coming into contact with the permanent magnet 57 when the movable plate 541b rotates around the rotation center axis J2.

The coil 58 is formed so as to surround the outer periphery of the drive unit 541a in the plan view of FIG. Thereby, when the actuator 53 is driven, contact between the drive unit 541a and the coil 58 can be reliably prevented. As a result, the distance between the coil 58 and the permanent magnet 57 can be made relatively short, and the magnetic field generated from the coil 58 can be applied to the permanent magnet 57 efficiently.
The coil 58 is electrically connected to the voltage application means 59, and when a voltage is applied to the coil 58 by the voltage application means 59, the respective axes of the rotation center axis J1 and the rotation center axis J2 from the coil 58. A magnetic field is generated in the axial direction perpendicular to.

  As shown in FIG. 22, the voltage applying means 59 includes a first voltage generator 591 that generates a first voltage V1 for rotating the movable plate 541b about the rotation center axis J1, and a movable plate 541b. A second voltage generator 592 for generating a second voltage V2 for rotating around the rotation center axis J2, and the first voltage V1 and the second voltage V2 are superimposed, and the voltage is applied to the coil 58. And a voltage superimposing portion 593 applied to the.

As shown in FIG. 23A, the first voltage generator 591 generates a first voltage V1 (vertical scanning voltage) that periodically changes at a period T1.
The first voltage V1 has a waveform like a sawtooth wave. Therefore, the actuator 53 can effectively perform vertical scanning (sub-scanning) of light. Note that the waveform of the first voltage V1 is not limited to this. Here, the frequency (1 / T1) of the first voltage V1 is not particularly limited as long as it is a frequency suitable for vertical scanning, but is preferably 30 to 80 Hz (about 60 Hz).
In the present embodiment, the frequency of the first voltage V1 is different from the torsional resonance frequency of the first vibration system 54a configured by the drive unit 541a and the pair of first coupling portions 542a and 543a. Has been adjusted.

On the other hand, as shown in FIG. 23B, the second voltage generator 592 generates a second voltage V2 (horizontal scanning voltage) that periodically changes at a period T2 different from the period T1. .
The second voltage V2 has a waveform like a sine wave. Therefore, the actuator 53 can effectively perform main scanning with light. Note that the waveform of the second voltage V2 is not limited to this.

The frequency of the second voltage V2 is preferably higher than the frequency of the first voltage V1. As a result, the movable plate 541b is rotated around the rotation center axis J1 at the frequency of the first voltage V1 and more reliably and smoothly rotated around the rotation center axis J2 at the frequency of the second voltage V2. Can be moved.
The frequency of the second voltage V2 is not particularly limited as long as it is different from the frequency of the first voltage V1 and is suitable for horizontal scanning, but is preferably 10 to 40 kHz. As described above, the frequency of the second voltage V2 is set to 10 to 40 kHz, and the frequency of the first voltage V1 is set to about 60 Hz as described above, so that the movable plate 541b has a frequency suitable for drawing on the screen. It can be rotated around the rotation center axis J1 and the rotation center axis J2. However, if the movable plate 541b can be rotated around the rotation center axis J1 and the rotation center axis J2, the combination of the frequency of the first voltage V1 and the frequency of the second voltage V2 can be obtained. There is no particular limitation.

In the present embodiment, the frequency of the second voltage V2 is adjusted to be equal to the torsional resonance frequency of the second vibration system 54b configured by the movable plate 541b and the pair of second coupling portions 542b and 543b. Has been. Thereby, the rotation angle around the rotation center axis J2 of the movable plate 541b can be increased.
When the resonance frequency of the first vibration system 54a is f ₁ [Hz] and the resonance frequency of the second vibration system 54b is f ₂ [Hz], f ₁ and f ₂ are f ₂ > f. ₁ is preferably satisfied, and more preferably f ₂ ≧ 10f ₁ is satisfied. As a result, the movable plate 541b is rotated more smoothly around the rotation center axis J1 at the frequency of the first voltage V1 and at the frequency of the second voltage V2 around the rotation center axis J2. Can do.

The first voltage generator 591 and the second voltage generator 592 are each connected to the operation control device 8 and are driven based on a signal from the operation control device 8. A voltage superimposing unit 593 is connected to the first voltage generating unit 591 and the second voltage generating unit 592.
The voltage superimposing unit 593 includes an adder 593 a for applying a voltage to the coil 58. The adder 593a receives the first voltage V1 from the first voltage generator 591 and receives the second voltage V2 from the second voltage generator 592 so that these voltages are superimposed and applied to the coil 58. It has become.

The actuator 53 configured as described above is driven as follows.
For example, the first voltage V1 as shown in FIG. 23A and the voltage V2 as shown in FIG. 23B are superimposed by the voltage superimposing unit 593, and the superimposed voltage is applied to the coil 58 ( This superimposed voltage is also referred to as “voltage V3”.
Then, by the voltage corresponding to the first voltage V1 in the voltage V3, the magnetic pole which tries to attract the south pole side of the permanent magnet 57 to the coil 58 and separate the north pole side from the coil 58, and permanent The magnetic pole 57 is alternately switched to the magnetic field to be attracted to the coil 58 while the south pole side of the magnet 57 is to be separated from the coil 58. As a result, the drive unit 541a rotates around the rotation center axis J1 at the frequency of the first voltage V1 together with the movable plate 541b while twisting and deforming the first coupling portions 542a and 543a.

  The frequency of the first voltage V1 is set to be extremely lower than the frequency of the second voltage V2, and the resonance frequency of the first vibration system 54a is the resonance frequency of the second vibration system 54b. Designed lower than. Therefore, the first vibration system 54a is easier to vibrate than the second vibration system 54b, and the movable plate 541b is rotated around the rotation center axis J2 by the first voltage V1. Can be prevented.

  On the other hand, a magnetic field that attempts to attract the south pole side of the permanent magnet 57 to the coil 58 and separates the north pole side from the coil 58 by a voltage corresponding to the second voltage V2 in the voltage V3, The magnetic pole 57 is alternately switched to the magnetic field to be attracted to the coil 58 while the south pole side of the magnet 57 is to be separated from the coil 58. As a result, the movable plate 541b rotates around the rotation center axis J2 at the frequency of the second voltage V2 while twisting and deforming the second connecting portions 542b and 543b.

Since the frequency of the second voltage V2 is equal to the torsional resonance frequency of the second vibration system 54b, the movable plate 541b is predominantly rotated around the rotation center axis J2 by the second voltage V2. Can do. Therefore, it is possible to prevent the movable plate 541b from rotating around the rotation center axis J1 by the second voltage V2.
According to the actuator 53 as described above, light can be scanned two-dimensionally with one actuator, and space saving of the optical scanning unit 5 can be achieved. For example, when using a pair of actuators as in the first embodiment, the relative positional relationship between the actuators must be set with high accuracy. Simplification can be achieved.

According to the fifth embodiment, the same effect as that of the first embodiment can be exhibited.
The fifth embodiment can also be applied to the fourth embodiment. That is, the actuator 53 in the fifth embodiment can be used as the actuator of the optical scanning units 5 and 50 in the fourth embodiment.

Although the image forming apparatus of the present invention has been described based on the illustrated embodiment, the present invention is not limited to this. For example, in the image forming apparatus of the present invention, the configuration of each part can be replaced with an arbitrary configuration that exhibits the same function, and an arbitrary configuration can be added.
Further, the present invention may be a combination of any two or more configurations (features) of the above embodiments.

In the above-described embodiment, the image forming apparatus main body draws an image on the screen. However, the present invention is not limited to this. For example, the image may be drawn on a rock, a wall, or the like.
In the above-described embodiment, the configuration is described in which an optimal observation point is selected from a plurality of preset observation points. However, the present invention is not limited to this. For example, only one observation point is set. It may not be. According to this, the image projected on the screen cannot be accurately recognized unless the screen is viewed from a preset observation point. That is, the observer standing at the observation point can recognize the image, but the surrounding people cannot recognize the image because it looks distorted.

By using such a property, for example, during a waiting time for an attraction in an amusement park, the mascot image can be recognized only when it comes to a predetermined position, thereby increasing the mood of the waiter and reducing the waiting time. It can be more comfortable. In this case, the image forming apparatus may draw an image on a screen arranged in advance, or may draw an image on a nearby rock or wall, for example.
Further, in the above-described embodiment, the description has been given of the configuration in which the position of the observer is detected and the optimum observation point is selected from a plurality of observation points based on the detection result. However, the present invention is not limited to this. For example, the observer may select one of a plurality of observation points. That is, the position detecting means for detecting the position of the observer may be omitted.

1 is a configuration diagram illustrating a first embodiment of an image forming apparatus of the present invention. It is a typical perspective view which shows the screen shown in FIG. It is a block diagram which shows the image drawing apparatus of FIG. It is a typical perspective view which shows the actuator of FIG. FIG. 5 is a schematic cross-sectional view showing driving of the actuator shown in FIG. 4. It is a block diagram which shows the position detection means of FIG. It is a block diagram which shows the drive pattern production | generation part of FIG. It is a figure which shows the preparation method of LUT of the LUT recording part of FIG. It is a figure which shows the preparation method of LUT of the LUT recording part of FIG. It is a figure which shows the example of a setting of the virtual screen for image drawing apparatuses of FIG. It is a figure which shows the example of a setting of the optical scanning surface shape polygon of FIG. It is a figure which shows the example of the optical scanning surface shape polygon of FIG. 8, and an intersection. FIG. 10 is a diagram illustrating an example of the LUT in FIG. 9. It is a schematic diagram when the image drawn on the screen shown in FIG. 1 is observed from a place other than the observation point. It is a schematic diagram when the image drawn on the screen shown in FIG. 1 is observed from an observation point. It is a block diagram which shows the image drawing apparatus main body in 2nd Embodiment of the image forming apparatus of this invention. It is a block diagram which shows the image drawing apparatus main body in 3rd Embodiment of the image forming apparatus of this invention. It is a figure which shows the relationship between the drawing point and measurement point on the virtual screen for image drawing apparatuses in 3rd Embodiment of the image forming apparatus of this invention. It is a block diagram which shows the image drawing apparatus main body in 4th Embodiment of the image forming apparatus of this invention. It is a typical top view showing an actuator with which an image drawing device concerning a 5th embodiment of the present invention is provided. It is the BB sectional view taken on the line in FIG. It is a block diagram which shows the drive means with which the actuator shown in FIG. 20 is provided. It is a figure which shows an example of the voltage generated in the 1st voltage generation part shown in FIG. 22, and a 2nd voltage generation part. It is a figure which shows an example of the data arrangement | positioning of the video data to display.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 ... Image forming apparatus 2 ... Screen 21 ... Optical scanning surface 21a ... 1st uneven area 21b ... 2nd uneven area 21c ... 3rd uneven area 3 ... Image forming apparatus main body 4 ... Light source unit ( (Light emitting part) 41r, 41g, 41b... Laser light source 42r, 42g, 42b ... collimator lens 43r, 43g, 43b ... dichroic mirror 5, 50 ... light scanning part 51 ... actuator 511 ... base 511a ... Movable plate 511b …… Supporting portion 511c, 511d …… Connecting portion 511e …… Light reflecting portion 512 …… Spacer member 513 …… Counter substrate 514 …… Permanent magnet 515 …… Coil 52 …… Behavior detecting means 521 …… Piezoelectric element 522 …… Electromotive force detector 523 …… Behavior detector 53 …… Actuator 54 …… Substrate 54a… First vibration system 541a... Driving section 542a, 543a... First coupling section 54b... Second vibration system 541b... Movable plate 542b, 543b... Second coupling section 544b. ...... Supporting part 55 ...... Spacer member 56 ...... Counter substrate 57 ...... Permanent magnet 57 a ...... Recessed part 58 ...... Coil 59 ...... Voltage applying means 591 …… First voltage generating part 592 …… Second voltage generating 593 …… Voltage superposition unit 593a …… Adder 6 …… Position detection means 61 …… Position sensor 611 …… X direction detection coil (first coil) 612 …… Y direction detection coil (second coil) 613 …… Z direction detection coil (third coil) 62 …… Magnetic field generator 63 …… Signal processing unit 631 …… Amplifying unit 632 …… A / D conversion unit 64 …… Information processing unit 7 …… Drive Turn generating means 711 ... Observation point information storage unit 712 ... Image drawing device information storage unit 72 ... Shape specifying unit 731 ... Observer virtual screen setting unit 732 ... Image drawing device virtual screen setting unit 74 ...... LUT recording unit 741, 742 ... LUT 75 ... LUT selection unit 76 ... Image forming unit 77 ... Generation unit 78 ... Trace of light emitted from image drawing device 8 ... Operation control device 9 ... Specific means 91 …… Specific portion 92 …… Detection portion 93 …… Half mirror 94 …… Laser light source 95 …… Collimator lens 96, 99 …… Laser light 97, 98 …… Measurement light emitting portion α0, α1 …… Angle G1 ~ Gi ~ Gn …… Vertex of polygon S1, S2 …… Virtual screen for observer SS1 …… Virtual screen for image drawing device Q1 to Qm …… Point T1 Tn: Intersection points D1 to Dk: Drawing points P1, P2 ... Observation points LL, RR, GG, BB ... Laser light L, L '... Line segments Dd, Dd' ... Drawing points Ds, Ds' ... ... Measurement point SD ... Data arrangement of video data to be displayed

Claims (16)

It is configured to draw an image by scanning light onto a projection plane set on the surface of the object,
A light emitting portion for emitting light;
A movable plate provided with a light reflecting portion that reflects light emitted from the light emitting portion is provided so as to be rotatable in at least one direction or two directions orthogonal to each other, and the light reflected by the light reflecting portion by the rotation An optical scanning unit having an actuator for scanning the projection plane;
Specifying means for specifying the position and shape of the projection plane;
Due to the non-planar shape of the projection plane in the shape specified by the specifying means so that the observation image that the observer wants to observe is viewed when the observer views the projection plane from the observation point Drive pattern generating means for generating a drive pattern of the light emitting part so as to cancel the distortion of the image,
An image forming apparatus comprising: a control unit that controls the operation of the light emitting unit in correspondence with the drive pattern generated by the drive pattern generation unit. Assuming a coordinate system having x, y and z axes orthogonal to each other,
The specifying means includes distance detection means for optically detecting a distance of each part of the projection plane from a reference position, and defines the projection plane as an aggregate of a plurality of polygons. The vertex and each part of the projection plane are associated with each other, and based on the detection result of the distance detection means, three-dimensional coordinates of each part of the projection plane in the coordinate system are obtained, and the position and shape of the projection plane are determined. The image forming apparatus according to claim 1, wherein the image forming apparatus is configured to identify the image forming apparatus.   The distance detection unit includes a measurement light emitting unit that emits measurement light, an irradiation unit that irradiates the measurement light toward the projection surface, and a detection unit that detects reflected light of the measurement light on the projection surface The image forming apparatus according to claim 2, wherein a distance of each part of the projection plane from a reference position is obtained based on a detection result of the detection unit.   The image forming apparatus according to claim 3, wherein the light emitting unit and the optical scanning unit have a function of the irradiation unit. The projection plane is configured to change its position or shape over time,
When drawing an image on the projection plane, the specifying unit specifies the position and shape of the projection plane as needed in response to the change, and the drive pattern generation unit is configured so that an observer can project the projection from the observation point. In the shape specified by the specifying means, the distortion of the image due to the non-planar shape of the projection plane is offset so that the observation image that the observer wants to observe is visually recognized when viewing the surface. The image forming apparatus according to claim 1, wherein the image forming apparatus is configured to generate a drive pattern of the light emitting unit. The projection plane is configured to change its position or shape over time,
When drawing an image on the projection surface, the specifying unit scans the measurement light together with the light scanning prior to the light scanning by the light scanning unit to obtain the three-dimensional coordinates, and the driving pattern. The generating means is configured to provide a non-projection surface for the shape specified by the specifying means so that when the observer views the projection plane from an observation point, the observation image desired to be observed by the observer is visually recognized. The image forming apparatus according to claim 3, wherein the image forming apparatus is configured to generate a drive pattern of the light emitting unit that cancels out distortion of the image caused by a planar shape.   The irradiating unit is provided with a movable plate provided with a light reflecting unit that is emitted from the measuring light emitting unit and reflects the measuring light so as to be rotatable in at least one direction or two directions orthogonal to each other. The image forming apparatus according to claim 3, further comprising an actuator that irradiates the projection surface with measurement light reflected by a reflection unit.   The image forming apparatus according to claim 7, wherein the measurement light does not affect the image.   The drive pattern generation means sets a virtual observer virtual screen between the observation point and the projection plane, and identifies a number of observer points set on the observer virtual screen Then, when viewed from the observation point, a number of points for the observer set on the observer virtual screen are respectively associated with positions on the projection plane, and the associated points The image forming apparatus according to claim 1, wherein a driving pattern is generated so that light emitted from the light emitting unit is irradiated to a position on a projection surface.   The driving pattern generation means obtains the three-dimensional coordinates of the intersection of the projection plane with the point and a line segment passing through the observation point for each point for the observer. The image forming apparatus according to claim 9, wherein a large number of points and each part of the projection surface are associated with each other, and the associated position on the projection surface is obtained.   The drive pattern generation means obtains the three-dimensional coordinates of the intersection of the part and the line passing through the observation point and the virtual screen for the observer for each part of the projection plane. The image forming apparatus according to claim 9, wherein each of the plurality of points is associated with each part of the projection plane, and the associated position on the projection plane is obtained. A plurality of the observation points are installed,
Having position detecting means for detecting the position of the observer;
The image formation according to claim 1, wherein the drive pattern generation unit selects one of the plurality of observation points based on the position of the observer detected by the position detection unit. apparatus.   The image forming apparatus according to claim 12, wherein an observation point located closest to the observer's position is selected from the plurality of observation points. The optical scanning unit includes a pair of the actuators,
Each of the pair of actuators rotates the movable plate, a support portion that rotatably supports the movable plate, a connecting portion that connects the movable plate and the support portion, and the movable plate. 14. The image forming apparatus according to claim 1, further comprising a drive unit, wherein the rotation central axes of the movable plates are orthogonal to each other.   The optical scanning unit includes a behavior detection unit that detects the behavior of the movable plate of the actuator, and the control unit operates the light emitting unit based on a detection result of the behavior detection unit and the drive pattern. The image forming apparatus according to claim 1, wherein the image forming apparatus is controlled.   The image forming apparatus according to claim 1, further comprising a screen as the object.

Images