JP3537303B2 - Position detecting device and virtual reality providing device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a position detecting device for detecting the position of an attached object within a predetermined range, and a virtual for changing an image to be provided according to the position of a user detected using the position detecting device. The present invention relates to a reality providing device.

[0002]

2. Description of the Related Art In recent years, a virtual reality providing device that gives a feeling as if in a three-dimensional space by giving an image shifted by an amount corresponding to parallax to both eyes has been put into practical use. It is expected to be applied to a wider range of fields. Various methods have been proposed for providing images that are shifted by the amount of parallax to both eyes. Currently, the most common method is called a head-mounted display mounted on the head. A pair of a display device and a lens is arranged, and an image is provided independently to each eye. The user
Wearing a head-mounted display on the head and viewing different images for the amount of parallax provided to each eye, it feels as if it were in a three-dimensional space.

In a game device, a player plays by operating buttons and keys in accordance with a three-dimensional space provided. The player plays with the head mounted display on the head, but in order to provide good virtual reality, if the position or direction is changed, the image provided according to the change Need to change. It is desirable to detect both the position and direction and change the image according to each change. To detect changes in direction, it is common to use a gyro sensor,
There is no good detection method for the position, and it has not been often done to detect a change in position and change the image accordingly. The present invention is directed to detecting a change in position, in other words, the position of a person wearing a head mounted display.

FIG. 9 is a diagram showing a conventional configuration example for detecting the position of the head mounted display. In FIG. 9, reference numeral 100 is a user who wears the head mounted display 102 provided with goggles 104, and the goggles 104 are provided with a device for providing an image to both eyes. An ultrasonic source 105 is provided above the head mounted display 102 and periodically outputs ultrasonic waves. Microphones 106 to 108 that collect ultrasonic waves are provided above the range in which the user moves, and the distance from the ultrasonic source 105 to each microphone is detected by detecting the timing at which the ultrasonic waves are captured by each microphone. And the position of the ultrasonic source 105, that is, the head mounted display 102, is detected by the triangle method. In addition to what is shown, a gyro sensor for detecting the orientation is provided, but is omitted here.

The present invention has been made to realize a position detecting device for detecting a position change of a head mounted display in a virtual reality providing device. However, the invented position detecting device is other than the virtual reality providing device. The present invention can also be applied to, and is not limited to this.

[0006]

The position detecting device for the head mounted display shown in FIG. 9 has a problem that the device is complicated and expensive. Therefore, a simpler and lower cost position detection device has been demanded. The present invention
An object of the present invention is to solve such problems and to realize a low-cost position detection device with a simple structure.

[0007]

The position detection apparatus of the present invention is a position detection apparatus for detecting the position of an attached unit within a predetermined range, a point light source provided above the predetermined range, A lens arranged to form an image of the point light source and an optical image position detection sensor arranged so that the light receiving surface is perpendicular to the optical axis of the lens at the position where the image of the point light source is formed. A light receiving unit that outputs a signal indicating the position of the image of the point light source on the light receiving surface of the optical image position detecting sensor, and an azimuth detecting means for detecting an azimuth that is a rotation of the unit with the vertical direction as a rotation axis, X-axis and Y-axis tilt detecting means for detecting the X tilt and Y tilt, which are rotations of a unit having two predetermined axes perpendicular to each other in the horizontal plane, an azimuth detecting means, and an X-axis and Y-axis tilt detection. The direction of the unit detected by the means, the X tilt and the Y tilt The position of the output image of the light source point of the light-receiving unit obtained by correcting Zui, characterized in that it comprises a position calculating unit for calculating the position of the unit and a positional relationship of the point light source and the lens and the optical image position detecting sensor.

Also, the virtual reality providing apparatus of the present invention is a head-mounted display having an image display means mounted on the user's head and providing images to both eyes of the user, and an image of the head-mounted display. A virtual reality providing apparatus that includes a control unit that generates an image to be displayed on a display unit, and provides a three-dimensional image to a user by differentiating an image provided to both eyes of the user by a parallax. A point light source is arranged on the upper part of the user so that light is emitted downward, and the light receiving unit, the direction detecting means, and the X-axis and Y-axis tilt detecting means are arranged on the head mounted display. Provided to be placed on top,
The control unit is characterized in that the image displayed on the image display means is changed according to the position of the head mounted display detected by the position detection device.

In the position detecting apparatus of the present invention, when the head mounted display, that is, the light receiving unit moves, the position of the image of the point light source on the light receiving surface of the optical image position detecting sensor changes according to the amount of movement. Utilizing this, the light receiving unit detects the position by detecting the position of the image.
In this case, the structure is simple and can be realized at low cost. The position of the image of the point light source on the light receiving surface of the optical image position detection sensor is
It changes when the direction of the light receiving unit changes. The change in direction is divided into components of azimuth, X inclination, and Y inclination. Therefore, it is necessary to detect and correct the change in direction.

As described above, since the head mounted display is provided with the gyro sensor for detecting the orientation of the head mounted display, it is already provided as the azimuth detecting means and the X axis and Y axis inclination detecting means. If a gyro sensor is used, the cost will not increase. Further, by using such a position detection device, it is possible to realize a virtual reality providing device that can provide a more realistic interval by changing an image to be provided in accordance with a change in position.

[0011]

DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 1 is a diagram showing the overall configuration of a virtual reality providing apparatus according to an embodiment of the present invention. This virtual reality providing device gives a patient who needs rehabilitation virtual reality such as moving outdoors, and causes the patient to operate the instrument accordingly, thereby increasing the rehabilitation effect. .

In FIG. 1, reference numeral 100 is a patient undergoing rehabilitation, 101 is a rehabilitation device, 102 is a head-mounted display attached to the head of the patient 100, and 103 is attached to the head-mounted display 102. The light receiving unit, 111 and 112 are columns, 113 is a point light source unit, 1
Reference numeral 14 denotes a light source driver that drives the light source of the point light source unit 113, 70 denotes a control unit that controls the entire apparatus, and 62 denotes a button switch for setting an initial angle and position.

The head mounted display 102 has display means such as a liquid crystal display device for providing independent images to both eyes and a projection lens. The control unit 70 supplies an image signal to the display means so that images different in parallax are provided to both eyes. The patient 100 feels like being outdoors by viewing images that differ in parallax with both eyes. The patient 100 operates the rehabilitation instrument 101 according to an instruction provided by an audio signal or the like from the control unit 70 while viewing the provided image. Control unit 70
Detects an operation state, changes a provided image, and gives a feeling of moving outdoors in accordance with a patient's operation.

Patient 100 is a rehabilitation instrument 1
The face orientation is changed during the 01 operation. In order to provide good virtual reality, it is necessary to change the provided image according to changes in the position of the patient 100 and the orientation of the face. The point light source unit 113 is connected to the patient 100 by the pillars 111 and 112.
Is disposed above the position where the rehabilitation instrument 101 is operated. The light receiving unit 103 is disposed above the head mounted display 102 so as to receive light from the point light source unit 113. Light source driver 114
In accordance with a control signal from the control unit 70.
The lighting of the light source 3 is controlled. The control unit 70 changes the image to be provided according to the position and orientation of the head mounted display 102 detected by the light receiving unit 103 and an azimuth meter, which will be described later, and the X direction and Y direction inclinometers.

FIG. 2 is a diagram showing a point light source unit 113, a light receiving unit 103 provided on the top of the head mounted display 102, and a tilt / azimuth unit 20. As shown in FIG. As will be described later, the tilt / azimuth unit 20 is provided with an X-direction inclinometer, a Y-direction inclinometer, and an orientation meter. As shown in FIG. 2, the point light source unit 113 is a sufficiently small light source, and emits light in a predetermined range below it.
As will be described later, in order to reduce the influence of disturbance light by providing a filter that transmits only a predetermined wavelength in the light receiving unit 103, it is desirable to emit only light of a predetermined wavelength. For this purpose, a light source that outputs light of a single wavelength, such as an LED, is used, or a filter that transmits only light of a predetermined wavelength is provided.

The light receiving unit 103 is provided with a lens 11 whose optical axis is vertical when the patient is looking in the horizontal direction, and a light receiving surface on an image forming surface on which the image of the point light source 113 is formed by the lens 11. Only the light having a predetermined wavelength emitted from the light image position detection sensor 12 and the point light source unit 113 is the lens 11.
And a filter 13 that makes the light incident on the filter. The optical image position detection sensor 12 has a light receiving surface made of an optical semiconductor, and is positioned at positions corresponding to four vertices of a square on the light receiving surface.
When a common electrode is provided at a position corresponding to the center of a square and light is irradiated in a dot shape on the light receiving surface, the resistance between each individual electrode and the common electrode changes. A point image irradiation position is detected by applying a voltage between the common electrodes and detecting a current flowing through each individual electrode, and is generally called a position sensor. Again, the name position sensor is used.

As shown in FIG. 2, a point formed by the lens 11 in a state where the light receiving unit 103 is disposed directly below the point light source unit 113 and the point light source unit 113 is positioned on the optical axis of the lens 11. The lens 11 and the position sensor 12 are positioned so that the image of the light source unit 113 is at the position of the common electrode of the position sensor 12. That is, the common electrode of the position sensor 12 is arranged on the optical axis of the lens 11. The position of the common electrode is the origin of the coordinate system.
As shown in FIG. 2, when the light receiving unit 103 is moved, the position of the point light source unit 113 with respect to the optical axis of the lens 11 changes, and the position of the optical image on the light receiving surface of the position sensor 12 also changes. Since there is a predetermined relationship between the amount of movement of the light receiving unit 103 and the amount of movement of the light image on the light receiving surface of the position sensor 12, the position of the light image on the light receiving surface of the position sensor 12 is detected to detect the light receiving unit 103. Is calculated.

FIG. 3 is a diagram showing a configuration of a portion for performing processing for calculating the position of the light receiving unit 103 in this embodiment. This part is provided in the control unit 70. The control unit 70 is provided with a computer for generating images to be provided to both eyes of the patient 100, and the light receiving unit 103.
The computer also calculates the position of.
In FIG. 3, reference numeral 31 is a CPU, and 32 is R.
OM and 33 are RAMs, which constitute a normal computer. Actually, an external storage device or the like for storing video information is provided. However, since it is not directly related to the invention, it is not shown here, and a description thereof is omitted. The computer receives the position sensor 12, the X-direction inclinometer 21, and the Y-direction inclinometer 2 via the input port 34.
2. It is configured so that the output of the azimuth meter 23 can be read.

The X-direction inclinometer 21, Y-direction inclinometer 22, and azimuth meter 23 detect rotational components around the respective coordinate axes of the head mounted display 102. The compass 23 detects rotation about the Z axis, which is a vertical axis, and outputs the direction in which the patient 100 is facing. The X-direction inclinometer 21 detects rotation about the Y axis, and outputs an inclination in the XZ axis plane. Also,
The Y-direction inclinometer 21 detects rotation about the X axis, and outputs a tilt in the YZ axis plane. Here, it is assumed that the patient 100 does not tilt his / her head too much during rehabilitation.

The X-direction inclinometer 21, Y-direction inclinometer 22, and azimuth meter 23 are known rotational angle detectors having an angular accelerometer and a processing circuit for calculating a rotational angular velocity and a rotational angle from the detected angular acceleration. For example, it has a structure as shown in FIG. The one shown in FIG. 4 is called the first balance type, and the cantilever 51 supported by the pivot 53 is arranged so as to be perpendicular to the direction 59 in which the angular velocity is detected. Acceleration is applied and the other end of the cantilever 51 is displaced, but this is detected as an electrical signal by the pick-off 54 and input to the servo amplifier 55. The servo amplifier 55 supplies a current corresponding to this signal to the proof mass 52.
And feeding back to the electromagnet portion of the auxiliary wire ring 56.
As a result, the cantilever 51 is accelerated in the opposite direction and stabilized. The feedback current at this time is proportional to the acceleration, and the acceleration is detected by detecting the feedback current. Since the speed can be detected by integrating the acceleration over time, and the rotation angle can be detected by integrating the speed over time, such processing is performed by the signal processing unit 58, and the rotation angle is output.

Next, processing for calculating the position of the optical unit 10 from the position of the optical image on the light receiving surface of the position sensor 12 detected by the light receiving unit 103 will be described. FIG.
These are figures explaining the process when the light receiving unit 103 moves in a state where the optical axis of the lens 11 is vertical and the azimuth is not changed. An XYZ coordinate system indicates a coordinate system of a space in which the patient moves, and an xyz coordinate system indicates a coordinate system of the position sensor 12.

When the lens 11 moves on the XY plane, the position of the optical image on the xy plane changes as shown in (1) of FIG. (2) in FIG. 5 shows a state in which the state (1) is projected onto the XZ plane. As shown in the figure, when the distance from the center of the lens 11 to the light receiving surface is W and the x coordinate of the point image is x0, the angle θ is expressed by the following equation (1). θ = Tan ⁻¹ x0 / W (1) When the distance from the point light source unit 113 to the center of the lens 11 is H, the X coordinate X0 of the center of the lens 11 is expressed by the following equation (2).

X0 = H × Tanθ = H × Tan (Tan ⁻¹ x0 / W) (2) Since these equations hold true for components projected on the YZ plane, the center position of the lens 11 can be calculated. FIG.
These are figures explaining processing when the optical axis of the lens 11 does not coincide with the Z axis, that is, when the outputs of the X-direction inclinometer 21 and the Y-direction inclinometer 22 are not zero and the light receiving unit 103 is tilted. .

Also in this case, it is possible to calculate the X component and the Y component separately by projecting the state of (1) in FIG. 6 onto the XZ plane and the YZ plane. (2) of FIG. 6 shows the state projected on the XZ plane. In FIG. 6B, if the optical axis of the lens 11 is tilted by φ with respect to the vertical direction, the angle θ is expressed by the following equation (3).

Θ = Tan ⁻¹ x0 / W + φ (1) Accordingly, the X coordinate X1 of the center of the lens 11 is expressed by the following equation (4).
It is represented by X1 = H × Tanθ = H × Tan (Tan ⁻¹ x0 / W + φ) (4) These equations are similarly established for components projected on the YZ plane.

FIG. 7 is a diagram for explaining the processing when the optical axis of the lens 11 is rotated by ψ about the Z axis. In this case, the xy coordinates are converted into x′y ′ coordinates. A conversion formula between the xy coordinates and the x′y ′ coordinates is expressed by the following formula (5). x ′ = xCosψ−ySinψ y ′ = cSinψ + yCosψx ² + y ² = x ′ ² + y ′ ² (5) As described above, the head mounted display 102
The position can be detected even when the camera tilts or rotates.

FIG. 8 is a flowchart showing the position detection processing operation in this embodiment. In step 201, the control unit 70 instructs the patient 100 to press the initial angle setting button switch 62 in the instructed direction. In step 202, the button switch 62
Confirm that is pressed, and if it is pressed, step 2
Proceed to 03.

In step 203, the X-direction inclinometer 21
Then, the angles indicated by the Y-direction inclinometer 22 and the compass 23 are reset to indicate zero. In step 204,
The output of the position sensor 12 is read, and the output of the position sensor 12 at that time is stored as an offset value. As described above, the position sensor 12 has the light receiving unit 103 disposed immediately below the point light source unit 113 and the point light source unit 113 is positioned on the optical axis of the lens 11 as shown in FIG. Although the image of the point light source unit 113 formed by the lens 11 is positioned so as to be at the position of the common electrode of the position sensor 12, there is actually an error, so such correction is performed. In the following description, the output of the position sensor 12 is a signal in which this amount is corrected.

In step 205, the patient 100 is informed that rehabilitation is started. Step 2
In 06, an X-direction inclinometer 21, a Y-direction inclinometer 22,
The output of the direction meter 23 is read, and the inclination in the X direction, the inclination in the Y direction, and the direction are calculated. In step 207, the output of the position sensor 12 is read, and the position of the point light source unit 113 on the light receiving surface of the position sensor 12 is read. In step 208, the correction and the center position of the lens 11 are calculated based on the X-direction tilt, the Y-direction tilt and the azimuth detected in step 206. Step 209
Then, after outputting the calculated center position of the lens 11 as the position of the head mounted display 102, the process returns to step 206, and from step 206 to step 209 until the end.
Repeat the process.

[0030]

As described above, according to the present invention, the position of the head mounted display 102 can be easily detected even if the head mounted display 102 is tilted or rotated, and the influence of the tilt or rotation of the head mounted display 102 can be eliminated. Because it can be done using the detection results of detectors provided for other purposes,
There is no increase in cost.

[Brief description of the drawings]

FIG. 1 is a diagram showing an overall configuration of an embodiment.

FIG. 2 is a diagram illustrating an arrangement of a light source unit, a light receiving unit, a tilt / azimuth meter, and a configuration of the light receiving unit in the embodiment.

FIG. 3 is a diagram illustrating a configuration of a signal processing unit in the embodiment.

FIG. 4 is a diagram showing a configuration of a rotation angle detector that constitutes an inclinometer / azimuth meter.

FIG. 5 is a diagram illustrating a process of calculating a position when the light receiving unit is moved in a state where the optical axis of the lens is vertical and the azimuth is not changed.

FIG. 6 is a diagram illustrating a process of calculating a position when the light receiving unit moves in a state where the optical axis of the lens does not coincide with the Z axis.

FIG. 7 is a diagram illustrating a process of calculating a position when the light receiving unit moves in a state where the optical axis of the lens rotates around the Z axis.

FIG. 8 is a flowchart showing a processing operation in the embodiment.

FIG. 9 is a diagram illustrating a conventional configuration example for detecting the position of a head-mounted display.

[Explanation of symbols]

11 ... Lens 12. Optical image position detection sensor (position sensor) 13 ... Filter 20 ... Inclination and compass unit 21 ... X-direction inclinometer 22 ... Y-direction inclinometer 23 ... compass 70: Control unit 100 ... patient 102: Head mounted display 103. Light receiving unit

Continued from front page (58) Fields surveyed (Int.Cl. ⁷ , DB name) G01B 11/00-11/30 A63B 23/00 G09B 9/02 A63F 13/00

Claims (2)

(57) [Claims] 1. A position detection device for detecting a position of an attached unit within a predetermined range, a point light source (113) provided above the predetermined range, and an image of the point light source (113) And a lens (11) arranged so as to form an image of the light source, and a light receiving surface arranged so as to be perpendicular to the optical axis of the lens (11) at a position where an image of the point light source (113) is formed. A light receiving unit (103) that outputs a signal indicating the position of the image of the point light source (113) on the light receiving surface of the light image position detecting sensor (12). And an azimuth detecting means (23) for detecting an azimuth that is a rotation of the unit with a vertical direction as a rotation axis, and an X inclination that is a rotation of the unit with a predetermined two axes perpendicular to each other in a horizontal plane as a rotation axis X-axis and Y-axis tilt detection Means a (21, 22), orientation and X of the detected said unit of said azimuth detection means (23) and said X-axis and Y-axis inclination detecting means (21, 22)
Based on the inclination and the Y inclination, the position of the image of the point light source (113) output from the light receiving unit (103) is corrected, the position of the corrected image, the point light source (113) and the lens (11) A position detection apparatus comprising: a position calculation unit that calculates the position of the unit from the positional relationship of the optical image position detection sensor (12). 2. A head mounted display (10) having image display means mounted on the head of a user (100) and providing images to both eyes of the user (100).
2) and a control unit (70) for generating an image to be displayed on the image display means of the head mounted display (102), and the image to be provided to both eyes of the user (100) is differentiated by the amount of parallax. In the virtual reality providing device that provides a user with a three-dimensional image, the position detection device according to claim 1 is configured so that light is emitted downward on the user (100). The point light source (113) is arranged, the light receiving unit (103), and the azimuth detecting means (2
3) and the X-axis and Y-axis tilt detecting means (21, 22)
Is arranged on the head mounted display (102), and the control unit (70) is configured to display the image display unit according to the position of the head mounted display (102) detected by the position detecting device. A virtual reality providing apparatus characterized by changing an image displayed on the screen.