KR101032753B1 - Stereo scope apparatus - Google Patents

Abstract

The present invention relates to a stereoscopic device of a force reaction system, and in particular, by using two different sized mirrors to reduce the distance between the user's eyes and the LCD panel and to center the LCD control board to reduce the overall size of the device This invention relates to a stereoscopic device of a force reaction system that is capable of providing a wide viewing angle.

Force reaction, stereoscope, stereoscopic image

Description

Stereoscope unit of force reaction system {STEREO SCOPE APPARATUS}

The present invention relates to a stereoscopic device of a force reaction system, and in particular, by using two different sized mirrors to reduce the distance between the user's eyes and the LCD panel and to center the LCD control board to reduce the overall size of the device This invention relates to a stereoscopic device of a force reaction system that is capable of providing a wide viewing angle.

Unlike 2D plane information, a 3D stereoscopic image is a more realistic image that simultaneously provides depth and spatial shape information. That is, the 3D stereoscopic image is an image of a spatial recognition concept that is synthesized in a process in which the human eyes (that is, the left and right eyes) recognize the environment having a volume that has already been learned and organize in the brain. In other words, it provides a sense of presence, realism and virtual reality as if you are watching the real thing in the field.

The three-dimensional display is a three-dimensional display technology that can express a three-dimensional feeling such as viewing the real by displaying a three-dimensional stereoscopic image with a sense of depth that was impossible in the conventional two-dimensional flat panel display. The three-dimensional image display method includes a three-dimensional image having information before and after (ie, depth) of the object and a three-dimensional image having side information of the object. First, stereoscopic image display is a technique based on the principle of binocular disparity effect, and depends on the technique of how to properly present and fuse each two-dimensional image corresponding to both eyes independently to the left and right eyes. There are two types of presenting techniques, a method of using special glasses and a method of using a strong display surface. The three-dimensional image display technology includes a multi-lens system using a special lens plate, a depth sampling method that is a variable focus mirror method, and a holographic method that records and reproduces the amplitude and phase of light.

On the other hand, the force reaction system is implemented so that 1: 1 mapping can be made in any plane while comparing the position in the computer space with the position of the actual force reaction system in the three-dimensional space.

That is, as a stereoscopic image reproducing apparatus applied to the field of virtual reality, a technology for matching stereoscopic images with a user interface device that goes beyond simple stereoscopic image reproducing technology is implemented in order to improve the technology of virtual reality more and more stereoscopic.

However, in the case of the conventional stereoscopic image device, the view angle is limited, so it is not enough to give a sense of immersion or presence.

In addition, since the LCD panel and the reflecting mirror are put together in the device, the device is too large and there are many limitations in installation and utilization.

The present invention for solving the above problems, the two cameras 11 are mounted on the left and right to the front facing downward, and formed in the form of an open top, the two LCD panels 12 therein in the horizontal direction A lower cover 10 which can be mounted to be disposed in a continuous state; The outer surface is composed of a vertically inclined longitudinal inclined surface coupled to the short vertical surface of the lower cover 10 and a vertically formed horizontal vertical surface coupled to the long horizontal surface of the lower cover 10, Inside, first mirrors 21 for reflecting images output from both LCD panels 12 are installed, and a supporter 24 is fixed to an upper center thereof, and a reverse V-type flow plate 23 is installed. Housings 20 provided with second mirrors 22 for reflecting the images reflected from the first mirrors 21 on both sides of the reverse V-type flow plate 23; And an image reflected from the second mirror 22 of the housing 20 through an eyepiece glass 31 having a structure in which the face face part of the human body is in close contact with the housing 20 and the left and right eyes are positioned. Eyepiece 30 to be delivered to the left and right eyes of the user; And a V-shaped V-shaped fixing plate partitioning the arrangement of the two LCD panels 12 and separating the left and right image images shown in the two LCD panels 12 in the center of the lower cover 10 ( 13) is erected, characterized in that the control board 14 for controlling the left and right LCD panels on the opposite surface of the V-shaped fixing plate 13 is mounted on the surface.

Preferably, the first mirror 21 provided on the longitudinal inclined surface of the housing 20 and the second mirror 22 provided on the inverted V-type flow plate 23 are arranged in parallel.

More preferably, the eyepiece 30 is provided with a pressure adjustment screw 32, the reverse V-type flow plate 23 is pulled or pushed in accordance with the user's rotation control with respect to the pressure adjustment screw (32) It is characterized in that to be able to adjust the angle of the second mirror 22 mounted on the reverse V-type flow plate (23).

In the stereoscopic device of the force reaction system according to the present invention, the control board for controlling each LCD panel is not mounted on the back of the LCD panel, but is mounted on the V-type fixing plate so that the thickness of the corresponding LCD panel can be reduced. It becomes possible to compact. That is, the V-type fixing plate consequently receives the control board for driving both LCD panels while partitioning the two LCD panels through the pointed lower portion without affecting the image of the LCD panel being transmitted to the inclined first mirror. By doing so, the compactness of the overall apparatus can be achieved.

In addition, the V-shaped fixing plate also serves as a mounting for the control board but serves as a barrier separating the left and right images. That is, if there is no V-type fixing plate, the images of the left and right LCD panels are seen by both eyes, but the V-type fixing plate is installed between the left and right LCD panels to prevent image transmission between the left and right eyes, thereby separating the left and right images.

In addition, since most head-mounted displays are focused on enabling light and high-quality playback, the view angle is only 90 ° or less, which is not enough to feel a sense of presence or immersion. The device also has the effect of enabling a wide viewing angle by diagonally arranging parallel mirrors of different sizes.

In addition, since the distance between the user's eyes and eyes is different, the installation angle of the second mirror is provided with a pressure adjusting screw so as to enable a more accurate transmission of stereoscopic images and to not feel discomfort when viewing stereoscopic images. It can be adjusted.

Hereinafter, an embodiment according to the present invention will be described with reference to FIG. 1.

1 shows an overall force reaction system to which a stereoscope device of a force reaction system according to an embodiment of the present invention is applied.

As shown in FIG. 1, the force reaction system to which the stereoscopic device of the force reaction system of the present invention is applied includes a human interface device 200 that enables a user to interact with a computer, such as a force reaction force generating haptic device, and The work computer 300 for controlling the human interface device 200 and an image transmitted from the work computer 300 to the user are provided to the user, or the image captured by the human interface device 200 by the camera is displayed. It is configured to include a stereo scope device 100 to provide a three-dimensional experience to the user.

Here, the human interface device 200 may be equipped with the stereoscope device 100 as an interface device including a tension-based force reaction device (see patent application 2003-0029201), and allows a user to manipulate the position / direction. And a device capable of presenting force reaction force.

The work computer 300 controls the information of the human interface device 200. Here, the work computer 300 should be a speed capable of transmitting and receiving data about 60 times per second with position and direction information with the human interface device 200, and force information at least 1000 times per second. Must have acceptable performance. The internal graphics card must also be able to update the left and right images at least 60 times per second with a 1024 × 768 resolution.

In the present invention, a workspace that can interact with a computer using the human interface device 200 is called a human interface workspace.

In addition, the visual space seen when the human interface device 200 moves while looking at the stereo scope device 100 is called a visual information workspace. This visual information workspace corresponds to the workspace of the virtual space created by the computer.

The visual information workspace and the human interface workspace coincide with each other on a certain coordinate axis through a shave function, and reproduce the real-time position of the end effector of the human interface device 200 in a visual workspace generated by a computer. This is called a Co-Location workspace.

Any location in the human interface workspace is defined as HP (x, y, z) and this location refers to the location of the end effector of the human interface device 200.

An arbitrary position in the visual information workspace (or the virtual workspace) is defined as VP (x, y, z).

Any position in the colocation workspace is defined as CP (x, y, z), which represents the relationship between HP (x, y, z) and VP (x, y, z) in the colocation coordinate system. .

On the other hand, in order to implement a more intuitive feeling in the virtual reality than the subjective feeling to the user in such a force reaction system as shown in Figures 2 and 3 stereo to enable intuitive user operation without being constrained by the work space Scope device 100 is provided.

The stereo scope device 100 has a camera 11 mounted to the front and a lower cover 10 for mounting the LCD panel 12 therein, and coupled to the lower cover 10 and installed in a diagonal shape therein. The housing 20 which reflects the image of the LCD panel 12 through the first mirror 21 and the second mirror 22, which is combined with the housing 20, may be in close contact with the face of the human body. The eyepiece 30 is configured to include an eyepiece surface 30 which transmits the image reflected from the housing 20 to the left and right eyes of the user through the eyepiece glass 31 having the left and right eyes positioned thereon.

The lower cover 10 has an open top and has a rectangular box shape in a horizontal direction, and the LCD panel 12 is installed in an open inner space so as to display an image toward the upper side. The two cameras 11 are coupled to each other in a protruding state. The inner space of the lower cover 10 is configured such that the two LCD panels 12 are arranged in a continuous state in a horizontal direction, and a central portion thereof is partitioned.

In addition, the LCD panel 12 functions as a display for displaying an image taken from the camera 11, and since the LCD panel 12 should be able to generate left and right images separately, the two LCD panels are arranged in a horizontal direction. Done.

Here, the two cameras 11 respectively photograph the left and right images of the lower portion of the lower cover 10 and output the captured images to the LCD panel 12. Therefore, the screen of the left camera is transferred to the left LCD panel, and the screen of the right camera is transferred to the right LCD panel, respectively. That is, different left and right video images are transmitted to the left and right LCD panels.

In this case, a V-shaped V-shaped fixing plate 13 capable of partitioning the two LCD panels 12 is erected at the center of the lower cover 10. In addition, the control board 14 for controlling the LCD panels on the left and right sides is mounted on the surface facing the V-shaped fixing plate 13.

As such, the control board for controlling each LCD panel 12 is not mounted on the rear surface of the LCD panel 12 but is mounted on the V-shaped fixing plate 13 so that the thickness of the LCD panel 12 may be thinned. The device can be made compact, and in fact, even if the V-shaped fixing plate 13 which partitions the two LCD panels 12 when viewed from the top partially covers the upper part of the LCD panel 12, the output is actually output from the LCD panel 12. Since the first mirror 21 to be described later, which is the next path through which the image is transmitted, is installed to have an inclination opposite to the V-shaped fixing plate 13, the image is not cut and transmitted to the first mirror 21. That is, as a result, the V-shaped fixing plate 13 partitions both LCD panels 12 through the pointed lower portions, without causing any problem to the image of the LCD panel 12 being transmitted to the inclined first mirror 21. At the same time, by accommodating the control board 14 for driving the LCD panels 12 on both sides, the compactness of the entire apparatus can be achieved.

Furthermore, the V-shaped fixing plate 13 also serves as a mounting for the control board 14 but serves as a barrier for separating left and right images. That is, if the V-type fixing plate 13 is not present, the images of the left and right LCD panels 12 are both seen by both eyes, but the V-type fixing plate 13 is installed between the left and right LCD panels 12 so that the image between the left and right eyes. This prevents transmission and separates the left and right images.

On the other hand, the housing 20 is a vertically inclined plane inclined in a diagonal shape to be coupled to the short longitudinal surface of the lower cover 10, and a vertically formed horizontal vertical plane to be coupled to the long horizontal surface of the lower cover 10 It is composed.

The vertical inclined surface of the housing 20 is preferably formed to have an angle of 45 ° with the LCD panel 12 installed on the lower cover 10.

First mirrors 21 for reflecting images output from the LCD panels 12 on both sides of the housing 20 may be provided inside the vertical inclined surfaces.

Since the installation surface is a vertical inclined surface inclined inward, the first mirror 21 has the same inclination as the vertical inclined surface. Therefore, as described above, the first mirror 21 can completely reflect and transmit the image output from the LCD panel 12 without being disturbed by the V-type fixing plate 13.

Meanwhile, the support 24 is fixed to the upper center of the housing 20, and the reverse V-type flow plate 23 is installed at the support 24. The reverse V-type flow plate 23 has a number of characteristics different from the V-type fixed plate 13 described above. First, since the reverse V-type flow plate 23 is an inverted V type in which an installation form is suspended at the upper center, the reverse V-type flow plate 23 may have a rhombus as a whole when viewed with the V-shaped fixing plate 13, but the lower end thereof may have a V-shaped fixing plate ( It is spaced apart from the upper part of 13) to some extent.

Both sides of the reverse V-type flow plate 23 is preferably formed to have an angle of 45 ° with the eyepiece glass 31 formed on the eyepiece surface (30).

A second mirror 22 for receiving the image reflected from the first mirror 21 and reflecting the reflected image to the eyepiece glass 31 is installed outside the inverted V-type flow plate 23.

That is, as shown in the drawing, since the first mirror 21 and the second mirror 22 are arranged in parallel, the image output from the LCD panel 12 is 45 ° with the corresponding LCD panel 12. Reflected by the first mirror 21 having an angle of, the image reflected by the first mirror 21 is reflected through the second mirror 22 in parallel again, reflected by the second mirror 22 The image is transmitted to the eyepiece glass 31 completely.

In this case, the first mirror 21 and the second mirror 22 have different sizes. That is, the first mirror 21 has a relatively large size because it must be able to project all the LCD screen, whereas the second mirror 22 is smaller than the first mirror 21 because it is close to the eye. It has a size.

The reason for using mirrors of different sizes can be understood through the spectrum view of a real person. If a person gazes at one side and looks at a specific space from a limited angle, the cross-sectional area of the space is different depending on the distance from the eye. Similarly, in order for the user to see the LCD screen 12 of the inside of the stereo scope device 100 by separating the left and right, the distance between the user's eyes and the LCD panel 12 must be accurately fixed. In the present invention, two mirrors 21 and 22 are used to reduce the fixed distance. In other words, the mirror is used to reduce the distance between the user's eyes and the LCD panel 12 while actually allowing the user to view the screen of the LCD panel 12.

Referring to FIG. 4, FIG. 4A illustrates a case in which a mirror is not used, a distance D between a user's eyes and an image output from the LCD panel 12, and a user's eyes and an LCD panel ( 12) the distance (L1 + L2 + L3) between the same. On the other hand, Figure 4 (b) is a case where two parallel mirrors of different sizes are arranged diagonally, the distance (D) between the user's eyes and the image output from the LCD panel 12 is shown in FIG. Although the distance L1 + L2 + L3 between the user's eyes and the LCD panel 12 is the same as that of FIG. You can see all the screens in (12).

That is, in order to make a wide view angle, a screen that can cover the viewing angle of a person is required and the left and right images must be separately generated, so in the present invention, the two LCD panels 12 are mounted on the lower cover 10. The size of the LCD panel 12 may vary depending on the distance between the eyes of the user and the LCD panel 12. In fact, most head mount displays (HMDs) are focused on enabling light and high-quality playback, so the view angle is less than 90 °, which is not enough to feel a sense of presence or immersion. However, as described above, by using diagonally arranged parallel mirrors having different sizes, the view angle may exceed 150 °.

On the other hand, the eyepiece 30 is the user is in close contact with the face of the user through the eyepiece glass 31 to recognize the left and right images through the left and right second mirror 22, the user's face can be in close contact as a whole It has an appearance that corresponds to the contour of the face and is made of soft material so that it can be worked for a long time in the eyepiece state.

At this time, since the distance between the user's eyes and the eyes are different, the installation angle of the second mirror 22 should be adjusted in order to enable more accurate transmission of stereoscopic images and to not feel discomfort when viewing stereoscopic images. do.

To this end, the pressure adjustment screw 32 is installed on the eyepiece 30. The pressure adjustment screw 32 is the upper screw head portion is exposed to the eyepiece 30 to be rotated by the user, and the lower screw portion penetrates the eyepiece 30 to the reverse V-type flow plate ( It is coupled to the pressing piece 25a connected to 23) and pushes or pulls the pressing piece 25a according to the rotational direction in which the user turns the screw head, thereby adjusting the angle of the reverse V-type flow plate 23. .

That is, the pressing piece 25a is coupled to the reverse V-type flow plate 23 through the connecting bar 25b, and the pressing piece 25a is horizontal with the eyepiece. And the through screw portion of the pressure adjustment screw 32 is coupled to the pressing piece 25a, the screw of the pressure adjusting screw 32 between the eyepiece 30 and the pressing piece 25a. The spring 32a is fitted to the portion, and the flange 25c is fitted to both ends of the spring 32a.

Therefore, when the user rotates the pressure adjusting screw 32, the pressing piece 25a is raised and the corresponding reverse V-type flow plate 23 is pulled, and the user reverses the pressure adjusting screw 32 in the opposite direction. When it is turned to, the pressing piece 25a is pushed down by the spring 32a and the corresponding reverse V-type flow plate 23 is pushed down, and as a result, the second mounted on the reverse V-type flow plate 23. The installation angle of the mirror 22 is to be adjusted.

At this time, the support 24 is coupled to the upper portion of the reverse V-type flow plate 23 is provided with a bearing (24a) in the coupling portion is able to be adjusted with a small force.

Therefore, the user can display the image of the LCD panel 12 on the left and right which outputs the image image captured by the camera 11 as it is by the first mirror 21 and the second mirror 22 in the housing 20. The face is delivered to the eyepiece glass 31 with the eyepiece, and shows a stereoscopic image to the user.

In this case, in the above-described embodiment, the image output to the LCD panel 12 by the control board 14 has been described as an image captured by the camera 11, but the present invention is not limited thereto and is a separate computer device. For example, the image processed by the work computer 300 may be transmitted to the control board 14 and output to the LCD panel 12.

Now, the operation of the force reaction system to which the above-described stereoscopic apparatus 100 is applied will be briefly described. First, in order to make a co-location, the above-described stereoscopic apparatus 100 is shown in FIG. It must be fixed at.

Herein, an arbitrary position in the visual information workspace is called VP (x, y, z), and the corresponding point HP (x, y, z) in the workspace of the human interface device 200 at that time, The process of generating the colocation is a task of converting any HP (x, y, z) into CP (x, y, z). To do this, a separate Shave function coordinate system is set up and converted using the Shave function. At this time, the visual information workspace means a space generated by a computer or a space photographed by a camera and is fixed, so that the coordinate system is fixed without moving.

1 is a view for explaining a force reaction system to which the present invention is applied.

2 is a perspective view of a stereoscope device according to the present invention;

3 is a side view of a stereoscope device according to the present invention;

4 is a view for explaining the mirror operation of the stereoscope device according to the present invention.

Claims (3)

Two cameras 11 are mounted on the left and right sides with the front facing downward, and the upper part is formed in the shape of an open box, and the lower part which can be mounted so that the two LCD panels 12 are arranged in a continuous state in the horizontal direction. Cover 10; The outer surface is composed of a vertically inclined longitudinal inclined surface coupled to the short vertical surface of the lower cover 10 and a vertically formed horizontal vertical surface coupled to the long horizontal surface of the lower cover 10, Inside, first mirrors 21 for reflecting images output from both LCD panels 12 are installed, and a supporter 24 is fixed to an upper center thereof, and a reverse V-type flow plate 23 is installed. Housings 20 provided with second mirrors 22 for reflecting the images reflected from the first mirrors 21 on both sides of the reverse V-type flow plate 23; And The image is reflected from the second mirror 22 of the housing 20 through an eyepiece glass 31 having a structure in which the face face of the human body is in close contact with the housing 20 and the left and right eyes are positioned. Eyepiece 30 to be delivered to the left and right eyes of; Including; In the center of the lower cover 10, a V-shaped V-shaped fixing plate 13 which partitions the arrangement of the two LCD panels 12 and separates the left and right image images shown by the two LCD panels 12 is erected. And a control board (14) for controlling the left and right LCD panels on the opposite surface of the V-shaped fixing plate (13), respectively, mounted on the surface thereof. The method of claim 1, Stereoscope device of the force reaction system, characterized in that the first mirror 21 provided on the longitudinal inclined surface of the housing 20 and the second mirror 22 provided on the reverse V-type flow plate 23 are arranged in parallel . The method of claim 1, Pressure adjustment screw 32 is installed on the eyepiece 30, The angle of the second mirror 22 mounted on the reverse V-type flow plate 23 is pulled or pushed according to the user's rotation control of the pressure adjusting screw 32. A stereo scope device of a force reaction system, characterized in that it can be adjusted.

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