JPH09307834A - Personal image display device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide the personal image display device in which the image display device traces an observer even when the observer changes a working position and an image is not disable of observation even when the observer looks aside. SOLUTION: The image display device 1 is supported by a motor-driven support device 22, which has four degrees of freedom as rotation θ1 of a moving part 23b of a mount base, rocking motion θ2 of an upper arm 24, expansion/ contraction S of a lower arm 25 with respect to the upper arm 24, and rotation θ3 of a turning device 26. A controller 21 moves the image display device 1 depending on a change in a relative position between an observer 16 and the image display device 1 to apply drive control to the support device 22 so that the relative position relation between the eyeball position of the observer 16 and the image display device 1 is kept fixed state.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a personal image display device used for endoscopic surgery and the like.

[0002]

2. Description of the Related Art In a surgical operation under a microscope, since the positional relationship between the objective optical system and the eyepiece optical system of the surgical microscope is fixed, the relative positional relationship between the subject and the eyeball of the operator (that is, the observer) is changed. I can't. Therefore, if the position of the subject is changed, the position of the eyeball of the observer also changes, and the posture becomes unreasonable, which increases the fatigue of the observer.
As a countermeasure against this, Japanese Patent Application Laid-Open No. 3-39711 proposes a microscope in which an image captured by an objective lens of the microscope is captured by a television camera and the image can be displayed on a display device for observation.

On the other hand, in endoscopic surgery, since a television camera for stereoscopic vision has been recently developed for stereoscopic observation, a display device used for it is a time-division monitor type display device or , A head-mounted image display device (hereinafter, referred to as HMD), and a personal image display device (hereinafter, referred to as PID) of a system in which an observer directly looks into a small left and right independent display device held by a movable arm or the like. ). A stereoscopic endoscope device using such a PID is proposed, for example, by Japanese Patent Laid-Open No. 7-20388.

In the above-mentioned various display devices, the HMD and the arm-holding type PID do not require polarizing glasses and liquid crystal shutter glasses in the case of the time-division type monitor system, and can match the line of sight with the working line. Therefore, work efficiency is good.

However, in the case of the HMD, the device becomes large and heavy in order to obtain a high-definition image quality, so that the head is burdened by the weight. In addition, when the device is used as a medical device in an operating room, etc., the display device is not sterilized, so the operator cannot directly touch it, and have a person outside the clean area wear and remove it. However, there is a problem that the operator cannot perform all operations. on the other hand,
In the case of the arm holding type PID, compared with the HMD method, since there is no weight on the head, fatigue is reduced and the eyes can be freely separated from the display device.
It has the advantage of being able to respond immediately when one wants to observe the surrounding visual field.

[0006]

When a surgical microscope apparatus or PID is used, if the observer changes his / her working position during observation, his / her eyes are moved away from the display device and the image is lost. In order to keep the positional relationship between the eyeball and the display device constant, it is necessary to move the display device relative to the observer's eyeball. However, assuming that it will be used as a medical device in an operating room, etc., it is in a non-sterile state as in the case of the above HMD, so that the operator cannot directly touch it with a person who is outside the clean area. There is a problem that it is necessary for the operator to perform all the operations for moving, and the operator cannot perform all the operations. Further, when the operation for the above movement is impossible, the observer is forced to take an unnatural posture because the display surface of the PID is captured by the eyeball, and the observer becomes tired.

The present invention has been made in view of the above-mentioned problems, and when an arm-holding PID is used as a display device, the observer cannot change the working position to make it impossible to observe even if his eyes are away from the display device. It is an object of the present invention to provide a personal image display device that does not become a problem.

[0008]

To this end, a personal image display device of the present invention comprises an image display device, a holding means for holding the image display device and electrically movable, an observer and the above-mentioned device. Relative positional relationship detecting means for detecting the relative positional relationship between the image display devices, and the relative position between the eyeball position of the observer and the image display device by moving the image display device according to the change in the relative positional relationship. And a control means for driving and controlling the holding means so as to keep the relationship constant.

In the personal image display device of the present invention, the control means moves the image display device in accordance with a change in the relative positional relationship between the observer and the image display device detected by the relative positional relationship detecting means. In order to keep the relative positional relationship between the eyeball position of the observer and the image display device constant, the holding means that holds the image display device and is electrically movable is driven and controlled.

[0010]

Embodiments of the present invention will be described below in detail with reference to the drawings. FIG. 1 is a diagram showing an overall configuration of a first embodiment of a personal image display device of the present invention,
2 to 14 are detailed diagrams of each part in the first embodiment.

The personal image display device of this embodiment is
As shown in FIG. 1, an image display device (hereinafter referred to as PID) 1 is provided. As shown in FIG. 2, the PID 1 is covered on the outside with a housing 2, and inside thereof, an observation optical system 9, a small image display element 3, a backlight 4, an image display circuit 5, The first light receiving element circuit 6 and the second light receiving element circuit 7 are provided so as to correspond to the left and right eyes of the observer.

Further, as shown in FIG. 3 which is a sectional view taken along the line AA of FIG. 2, for example, infrared rays are radiated to the central portion of the outer peripheral upper portion of the housing 2 of the PID 1 facing the center of the observer's eye width. The first light emitting device 10 and the first light receiving elements 11L and 11R for receiving the reflected light in which the light emitted from the first light emitting device 10 is reflected by the reflecting plate 17 described later are provided at the same height. There is.

In addition, in the middle part of the outer periphery of the housing 2 of PID1,
At the central portion facing the center of the observer's eye width, BB of FIG.
As shown in FIG. 4 which is a cross-sectional view, a second light receiving element group 14 that receives infrared light from a second light emitter 18 described later is provided. As shown in FIG. 5, the second light receiving element group 14 includes a light receiving element 141 located at the center when viewed from the observer side and both sides (left and right) in the horizontal direction of the light receiving element 141.
Light receiving elements 142 and 143 located at
Of the light receiving elements 144 located on both sides (up and down) in the vertical direction of the
145 and five light receiving elements.

A forehead mounting device 15 is provided on the forehead of the observer 16 as shown in FIGS. 1 and 2. The forehead attachment device 15 includes the reflector 1 installed above the observer's forehead.
7 and a second light emitter 18 buried immediately below. The reflector 17 and the second light emitter 18 are integrally supported, and are fixed to the head of the observer 16 by a belt 19.

In FIG. 1, reference numeral 22 is a holding device that holds the PID 1 and is movable electrically. At the uppermost part of the holding device 22, there is a fixed part 23a fixed to a structure such as a ceiling, and a movable part 23b rotatable in the horizontal direction. The mount 2 is capable of rotating the entire device in the horizontal direction.
3 are provided. The upper arm 2 is attached to the movable portion 23b.
Four fulcrums are provided, and the upper arm 2 is centered around this fulcrum.
4 can be electrically swung. A lower arm 25 that is electrically expandable and contractable is connected to the upper arm 24 in a telescopic manner, and one end of a flexible pipe 27 is coupled to the lower end of the lower arm 25. A rotating device 26 that is electrically rotatable is supported at the other end of the flexible tube 27, and the rotating device 26 is coupled to the upper surface of the PID 1. The holding device 22 has a horizontal rotation angle θ of the movable portion 23b of the mounting base.
1, the swing angle θ2 of the upper arm 24, the amount S of expansion and contraction of the lower arm 25 with respect to the upper arm 24, and the horizontal rotation angle θ3 of the rotating device 26 are set to have four degrees of freedom.

In FIG. 1, reference numeral 21 is a control device, and the control device 21 is connected with a cable 8 for electrically connecting with the PID 1 via the inside of the holding device 22.
The control device 21 is provided with a reset button 20, and the reset button 20 has a proper relative positional relationship between the PID 1 and the forehead attachment device 15 and the observer 16 wearing the attachment device 15. (That is, when the observer 16 can correctly observe the entire display screen of PID1), the button is pressed. A signal obtained by processing the signals from the first light receiving elements 11L and 11R by the first light receiving element circuit 6 is input to the control device 21. Further, the control circuit 21 receives signals obtained by processing the signals from the five light receiving elements 141 to 145 forming the second light receiving element group 14 by the second light receiving element circuit 7.

The control device 21 controls the PID 1 for the observer 16 based on the signal input from the first light receiving element circuit 6.
Based on the five signals input from the first signal output circuit that outputs the output ratio signal A corresponding to the rotation angle θ3 in the horizontal direction and the five signals input from the second light receiving element circuit 7.
A second signal output circuit for outputting the output ratio signal H corresponding to the horizontal displacement of ID1 and the output ratio signal V and the output signal C corresponding to the vertical displacement of PID1 with respect to the observer 16, and the reset button 20. The signals A, H, V and C when is pressed are respectively output ratio signals (reference signals) AT,
The degree of deviation of the image of PID1 with respect to the observer 16 is detected by comparing the signals A, H, V, and C with the reference signals AT, HT, VT, and CT, respectively, and a reset circuit that stores them as HT, VT, and CT. However, a tracking determination circuit that determines whether or not tracking by the PID 1 is necessary depending on whether or not the observer can observe an image based on the degree of deviation, and a signal A when the tracking determination circuit determines that tracking is necessary. , H, V,
PID by calculation based on C, AT, HT, VT, CT
1 has a tracking calculation circuit that determines the moving direction and tracking amount of each component of the holding device 22, and a control circuit that controls the operation of each component of the holding device 22 based on the moving direction and the tracking amount. ing.

Note that the tracking determination circuit uses the signals A, H,
A change speed calculation circuit that calculates the rate of temporal change with respect to the reference signals AT, HT, VT, and CT of V and C, and a relative distance calculation circuit that calculates the relative distance between the observer 16 and the PID 1 are provided. Therefore, the change speed calculation circuit and the relative distance calculation circuit respectively output the change speed information and the relative distance information to the tracking determination circuit, and the tracking determination circuit determines whether or not tracking is necessary based on these information.

Next, the operation of this embodiment will be described with reference to FIGS. Before starting the observation, the observer fixes the forehead attachment device 15 to the forehead by tightening the belt 19 after the reflection plate 17 and the second light emitter 18 are positioned in the approximate center of the forehead. At the same time, the control device 21 is turned on. First, the observer 16
By bringing the eyeball close to PID1 or pulling PID1 near by hand, the entire image display screen is placed in a observable positional relationship, and in this state, the reset button 2
Start the observation by pressing 0. The output ratio signal A when the reset button is pressed is stored as the left and right reference signals AT illustrated in FIG. 6, the ratio signal H is stored as the left and right reference signals HT illustrated in FIG. 7, and the ratio signal V Is stored as the upper and lower reference signals VT as illustrated in FIG. 8, and the output signal C is stored as the reference signal CT as illustrated in FIGS.

As a result of the behavior of the observer 16 moving during the operation such as surgical operation, for example, as shown in FIG.
The relative positional relationship between the observer 16 and the observer 16 changes, and the central axis L1 of the reflection plate 17 of the forehead attachment device 15 is rotated rightward with respect to the central axis L2 of the first light emitter 10 of PID1 to form a predetermined angle. When it is in the ready state, the light receiving element 11R on the right side is the reflection plate 1
7, the light receiving element 11L on the left side approaches the reflecting plate 17, and the output ratio signal A of the light receiving element 11R on the right side is closer to the light receiving element 11 on the left side as shown in FIG.
Since it is smaller than the L output ratio signal A, the horizontal rotation angle can be detected by comparing these left and right output ratio signals A.

On the other hand, the relative positional relationship between the PID 1 and the observer 16 changes, and the second light emitter 18 of the forehead mounting device 15 changes.
When the central axis of the second light receiving element group 14 of PID1 is deviated from the central axis of PID1 as shown in FIG. 11, for example, the radiation intensity distribution of the light from the second light emitter 18 and the second light receiving element group 14
As shown in FIG. 12, the left and right output ratio signals H and the upper and lower output ratio signals V are shown in FIGS. 13 and 14, respectively.
become that way. At this time, the tracking determination circuit compares the output ratio signal H and the reference signal HT, and the output ratio signal V and the reference signal VT so that the deviation of the relative positional relationship between the PID 1 and the observer 16 is within the observation allowable range. It is determined whether or not there is a PID based on the determination result.
The necessity of tracking 1 is determined. The tracking determination circuit similarly compares the output signal C with the reference signal CT.

The tracking determination circuit is based on the result of the series of comparisons described above, and the current observation distance (observer's eyeball and PID).
The distance from the image displayed in 1) is calculated, it is determined whether the observation distance is within the observation allowable range, and it is determined whether or not PID1 tracking is necessary based on the determination result. It is assumed that the tracking determination circuit is configured to determine again whether tracking is necessary or not after a series of tracking operations is completed.

When it is determined by the tracking determination circuit that tracking is necessary, the tracking calculation circuit causes the mounting base 23 of the holding device 22 of the PID 1 to rotate in the rotation direction (right rotation / left rotation).
And a rotation angle θ1, a swing direction and swing angle θ2 of the upper arm 24, a stretching direction and a stretching amount S of the lower arm 25,
At least one of the rotation direction (right rotation / left rotation) and the rotation angle θ3 of the rotating device 26 is determined according to the change situation of the relative positional relationship, and the holding device 22 of the PID1 is determined.
And tracking information for.

In the holding device 22, the control circuit rotates the movable part 23b of the mount 23, swings the upper arm 24, expands and contracts the lower arm 25, and rotates based on the tracking information determined by the tracking calculation circuit. At least one of the 26 rotations is performed. Thereby, the PID 1 can be tracked by the observer 16, and the observer can observe and work in a comfortable and comfortable posture.

By the way, during the work, the observer 16
In some cases, it may be tempting to check the surrounding conditions other than the image, and in this case it is necessary to prohibit tracking so that the PID 1 does not block the view. Further, the work may be interrupted and the observer 16 may move away from the PID 1 to another place, and in this case also, it is necessary to prohibit the tracking. Further, the observer 16 may exhibit a sudden behavioral change during the work, and in this case, the optical detection system may not be able to output data, so it is necessary to prohibit the tracking. As measures against these, in the present embodiment, the following tracking prohibition conditions are provided.

For example, when the observer 16 makes a behavior to quickly take his eyes off the PID 1 to confirm the surrounding conditions,
The tracking determination circuit receives information on the changing speed of each signal from the changing speed calculating circuit and determines whether or not the changing speed exceeds an allowable range. When the changing speed exceeds the allowable range, tracking by PID1 is prohibited. To do. Thereby, PID
It is possible to check the surrounding situation without obstructing the field of view. Further, when the observer 16 behaves away from the PID1 by a predetermined distance or more, the tracking determination circuit receives the relative distance information between the observer 16 and the PID1 from the relative distance calculation circuit, and then the relative distance. Is outside the allowable observation range, so tracking by PID1 is prohibited. Thereby, other work etc. can be performed. Note that, when the image observation is restarted after the tracking is prohibited, for example, the reset button 20 is pressed, but the tracking may be automatically restarted when a predetermined tracking restart condition is satisfied.

FIG. 15 is a view showing the arrangement of the main parts of the second embodiment of the personal image display device of the present invention. In the present embodiment, in order to improve the responsiveness of tracking, a rotating device 50 is added to the lower end portion of the lower arm 25 in addition to the configuration of the holding device 22 of the first embodiment, and the rotating device 50 has rigidity. The tube 51 is modified to rotatably support it.

In the first embodiment, the flexible tube 27 is used so that the PID 1 is oriented vertically by its own weight as shown in FIG. 1 even when the upper arm 14 swings. . On the other hand, in the present embodiment, the rotation device 50 is added and the pipe 51 is attached to the lower arm 25.
Since the rotation angle is θ4, the degree of freedom is increased by one as compared with the first embodiment, and the flexible tube 51 can be used in place of the flexible tube 27. Therefore, in this embodiment, the PI for the observer 16 is
The responsiveness of D1 tracking is improved.

16 and 17 are a front view and a side view, respectively, showing the configuration of the main part of the third embodiment of the personal image display device of the present invention. In this embodiment, the control method is partly changed from the first embodiment and the holding device 28 is used instead of the holding device 22, and the other parts are the same as those in the first embodiment. Since the configuration is the same, the description is omitted.

The holding device 28 of this embodiment is a holding device that holds the PID 1 and is movable electrically.
As shown in FIGS. 16 and 17, a mounting base 29 is provided on the uppermost part thereof and is supported by a structure such as a ceiling so as to be horizontally rotatable. At the lower end of the mount 29,
A movable table 30 that is movable in a direction (X direction) orthogonal to the observer's line-of-sight direction is coupled to the mounting table 29, and the lower surface of the movable table 30 is an observer's line-of-sight direction (Y direction) with respect to the movable table 30.
A movable base 31 which is movable to the is connected. Mobile stand 31
One end of a hollow upper support 32 is joined to the lower surface of the above, and the upper end of the lower support 33 is telescopically connected to the other end of the upper support 32 in a telescopic manner. The lower end of the lower support 33 is joined to the upper surface of the PID 1. This holding device 28
Is a horizontal rotation angle θ1 of the mounting table 29, a moving amount X of the moving table 30 in a direction orthogonal to the observer's line of sight, a moving table 31.
Is configured to have four degrees of freedom defined by a moving amount Y in the observer's line-of-sight direction and a vertical expansion / contraction amount Z with respect to the upper support 32 of the lower support 33.

According to the present embodiment, since the rotating device 26 provided for controlling the horizontal attitude of the PID 1 in the first embodiment can be omitted, the tracking arithmetic circuit has a horizontal rotating shaft. With respect to the rotation angle θ of the mount 29
Only the calculation of 1 need be performed. Therefore, based on the moving direction and the moving amount obtained by the tracking calculating circuit, the control circuit causes the rotating direction and the rotating angle θ1 of the mount 29, the moving direction and the moving amount X of the moving table 30, the moving table 3 to move.
By controlling the moving direction and the moving amount Y of 1 and the moving direction and the moving amount Z of the lower support 33 with respect to the upper support 32, even if the observer 16 changes the working position, P
Since the ID 1 tracks the observer 16, the observer 16 can observe.

FIG. 18 is a side view showing the configuration of the main part of the fourth embodiment of the personal image display device of the present invention. The present embodiment is modified so that the holding device 34 is used instead of the holding device 28 with respect to the third embodiment, and the other parts are the same as the third embodiment, so the description will be made. Omit it. The holding device 34 of the present embodiment uses a mounting base 35 fixed to a structure such as a ceiling instead of the mounting base 29 which is rotatable in the horizontal direction, and the lower support 33 has a lower end portion of the mounting base 34 of the first embodiment. The difference from the first embodiment is that a rotating device 36 similar to the rotating device 26 is provided to rotate the PID 1 in the horizontal direction (rotation angle θ5).

According to the present embodiment, since the horizontal posture control of the PID 1 which is performed by the mount 29 in the third embodiment is changed to be performed by the rotating device 36, the following advantages are obtained. That is, in the third embodiment described above, when the tracking control is performed in the order of (1) movement and positioning of the PID 1 in the observer's line-of-sight direction, and (2) horizontal attitude control of the PID 1, the mounting table 29 and the upper and lower supports are formed. Three
Since 2, 33 are displaced in the vertical direction, X,
Rotation angle θ for attitude control after positioning in the Y direction
Since the X and Y coordinates are changed by the rotation of 5, additional feedback control is required. Further, when tracking control is performed in the order of (2) and (1) above, additional feedback control is unnecessary, but the posture of PID1 is controlled so that the display surface of PID1 is orthogonal to the line of sight of the observer. Since the coordinate system at that time does not match the coordinate system of the holding device 34 in the horizontal direction, it is necessary to perform coordinate conversion by the function of θ1. On the other hand, in the present embodiment, X,
Since it is sufficient to control Y, Z, and θ5, tracking control is simplified.

It should be noted that the present invention is not limited to the above-mentioned examples, and various changes and modifications can be added, and the present invention may be configured as in the following additional items. An image display device, a holding unit that holds the image display device and is movable electrically, a relative positional relationship detection unit that detects a relative positional relationship between an observer and the image display device, and the relative positional relationship. A personal image comprising: a control unit that drives and controls the holding unit so that the image display apparatus is moved in response to a change to keep a relative positional relationship between the eyeball position of the observer and the image display apparatus constant. In the display device (Appendix 1), the control means has a storage means for storing as an appropriate positional relationship when the relative positional relationship between the observer and the image display device detected by the relative position detecting means is appropriate. A personal image display device characterized by (Appendix 2).

In Supplementary Note 1 or 2, the control means determines whether or not to cause the image display device to follow the movement of an observer based on the relative positional relationship detected by the relative position detection means. A personal image display device comprising: a determination unit, a tracking calculation unit that calculates a movement direction and a movement amount for tracking, and a control unit that controls the tracking of the observer by the holding unit (Appendix 3). ). In Supplementary Note 3, the control unit includes a rotation amount calculation unit that calculates a horizontal rotation amount of the display device with respect to an observer, and a horizontal shift calculation unit that calculates a horizontal shift amount of the display device with respect to an observer. A personal image display device (Appendix 4), comprising: a vertical shift calculation unit that calculates a vertical shift of the display device with respect to an observer.

In Supplementary Note 4, the control means includes a moving speed calculating means for calculating a moving speed of an observer with respect to the image display device based on the relative positional relationship detected by the relative position detecting means, and the moving speed is allowed. A personal image display device characterized by having a tracking determination means for permitting tracking when within a fixed range (Appendix 5). In Supplementary Note 4, the control means is a relative distance calculation means for calculating a relative distance between the observer and the image display device based on the relative positional relationship detected by the relative position detection means, and the relative distance is an allowable constant. A personal image display device (additional item 6), which has a tracking determination means for permitting tracking when within the range.

In Supplementary Note 2, the relative position detecting means includes a first light emitter and a second light emitter which emit infrared rays and the like, and a reflection plate which reflects the infrared rays and the like from the first light emitter. Left and right 2 for receiving the light beam from the first light emitter
A first light receiving element, and a second light receiving element group including a plurality of light receiving elements for receiving the light beam from the second light emitter,
A first light receiving element circuit for calculating a horizontal rotation amount of the display device with respect to an observer based on outputs from the left and right first light receiving elements, and transferring the same to the control means, and the second light receiving element. Based on the output from the group, the horizontal and vertical states of the display device for the observer are calculated and transferred to the control device means, and the output signal from the central light receiving element of the second light receiving element group is described above. A personal image display device (Supplementary note 7), which comprises a second light receiving element circuit which is transferred to a control device.

In the additional item 2, the holding means includes a mounting base capable of rotating the entire apparatus in a horizontal direction, an upper arm electrically swingable around a fulcrum provided on the mounting base, and an upper arm. A lower arm that is telescopically connected to the arm and is capable of electrically expanding and contracting, a rotating device that is capable of electrically rotating the image display device in the horizontal direction, and one end coupled to the lower arm and the other end. A personal image display device (Appendix 8), which comprises a flexible tube coupled to the rotating device. In Supplementary Note 2, the holding means includes a mounting base capable of horizontally rotating the entire apparatus, a first movable base connected to the mounting base and electrically movable in the horizontal direction, and the first movement. A second moving table connected to the table and movable in a direction orthogonal to the moving direction of the first moving table;
An upper support connected to the lower end of the second movable table, and an electrically expandable lower support whose one end is telescopically connected to the upper support and the other end is connected to the image display device. And a personal image display device (Appendix 9).

[0039]

As described above, according to the present invention, even if the position or posture of the observer is changed by changing the working position during the observation, the personal image display device can be provided to the observer. The image display device tracks. Therefore, when the eyes are separated from the image display device and the image is lost due to the change of the work position as in the conventional example, the device is moved to match the observer's eyeball and the image display device. It is not necessary, and when it is used for medical purposes in the operating room, etc., it is a non-sterile device and cannot be directly touched by the observer (operator), so it is necessary to have a person outside the clean area move it. Moreover, it is not necessary to take an unnatural posture in which the observer's eyeball and the image display device are aligned with each other. Therefore, observation and work can be performed in a comfortable and comfortable posture.

[Brief description of drawings]

FIG. 1 is a diagram showing an overall configuration of a first embodiment of a personal image display device of the present invention.

FIG. 2 is a cross-sectional view showing details of an image display unit according to the first embodiment.

FIG. 3 is a cross-sectional view taken along the line AA of FIG. 2 showing the arrangement of the first light emitter and the first light receiving element of the first embodiment.

FIG. 4 is a cross-sectional view taken along the line BB of FIG. 2 showing the arrangement of the second light emitter and the second light receiving element of the first embodiment.

FIG. 5 is a diagram showing an arrangement of light receiving elements of a second light receiving element group of the first embodiment together with a radiation intensity distribution of a second light emitter.

FIG. 6 is a diagram showing an output ratio signal for detecting a horizontal rotation amount of the image display device with respect to an observer in the first embodiment.

FIG. 7 is a diagram showing an output ratio signal for detecting a horizontal shift of the image display device with respect to an observer in the first embodiment.

FIG. 8 is a diagram showing an output ratio signal for detecting a vertical shift of the image display device with respect to an observer in the first embodiment.

FIG. 9 is a diagram showing a state when the image display device is horizontally rotated with respect to an observer in the first embodiment.

10 is a diagram showing an output ratio signal in the state of FIG.

FIG. 11 shows the second light receiving element group 14 of the image display device with respect to the central axis of the second light emitter of the forehead attachment device due to the change in the relative positional relationship between the image display device and the observer in the first embodiment. It is a figure showing the state where the central axis of was shifted.

12 is a diagram showing a radiation intensity distribution of light from the second light emitter and a positional relationship of the second light receiving element group 14 in the state of FIG.

13 is a diagram showing a left / right output ratio signal in the state of FIG.

FIG. 14 is a diagram showing a vertical output ratio signal in the state of FIG. 11.

FIG. 15 is a diagram showing a configuration of a main part of a second embodiment of a personal image display device of the present invention.

FIG. 16 is a front view showing a configuration of a main part of a third embodiment of the personal image display device of the present invention.

FIG. 17 is a side view showing the configuration of the main parts of the third embodiment of the personal image display device of the present invention.

FIG. 18 is a side view showing the configuration of the main part of the fourth embodiment of the personal image display device of the present invention.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Personal image display device (PID) 2 Housing 3 Image display element 4 Backlight 5 Image display circuit 6 First light receiving element circuit 7 Second light receiving element circuit 9 Observation optical system 10 First light emitter 11L First Light receiving element 11R First light receiving element 14 Second light receiving element group 15 Forehead mounting device 16 Observer 17 Reflector 18 Second light emitter 19 Belt 20 Reset button 21 Control device 22 Holding device 23 Mounting base 24 Upper arm 25 Lower arm 26 Rotating device 27 Serpentine tube 28 Holding device 29 Mounting base 30 Moving base 31 Moving base 32 Upper supporting body 33 Upper supporting body 33 Lower supporting body 34 Holding device 35 Mounting base 36 Rotating device 50 Rotating device 51 Tube 141 Light receiving element 142 Light receiving element 143 Light receiving element 144 light receiving element 145 light receiving element

Claims (1)

[Claims] 1. An image display device, a holding device that holds the image display device and is movable electrically, and a relative positional relationship detecting device that detects a relative positional relationship between an observer and the image display device. Control means for driving and controlling the holding means so as to keep the relative position relationship between the eyeball position of the observer and the image display device constant by moving the image display device according to the change in the relative position relationship. A personal image display device comprising: