TWI782700B - Head mounted display device and position device thereof - Google Patents

Abstract

A head mounted display device and a position device thereof are provided. The position device includes a first sensor, a second sensor, a third sensor, a first hinge sensor and a controller. The first sensor and second sensor have a fixed relative position. The third is disposed on a first flexible part of the head mounter display device. The first hinge sensor is disposed on a first connection part for connecting a main part and the first flexible part, where the first hinge sensor is used to sense a first movement state of the first flexible part. The controller is used to calculate first relative position information of the first sensor, the second sensor and the third sensor, and further calibrate the first relative position information according to the first movement state.

Description

Head-mounted display device and its positioning device

The present invention relates to a head-mounted display device and its positioning device, and in particular to a head-mounted display device and its positioning device which can be calibrated according to the user's body shape.

With the advancement of electronic technology, head-mounted display devices capable of presenting stereoscopic display effects have become a mainstream.

In order to enhance the user experience, an external device (such as a handle) may be provided in the electronic system to cooperate with the head-mounted display device for interactive operations. The external device can send ultrasonic signals, and the head-mounted display device is equipped with a plurality of sensors to receive the ultrasonic signals sent by the external device, so as to perform triangulation calculation to locate the position of the external device.

In the conventional technical field, when the position of at least one of the sensors on the head-mounted display device changes, errors may occur in the triangulation calculation performed by it, and thus the position of the external device cannot be correctly positioned. . In this way, when the user performs interactive operations, hand-eye incoordination may occur.

The invention provides a positioning device suitable for a head-mounted display device, which can correct the positioning result according to the body shape of the user.

The positioning device of the present invention is suitable for a head-mounted display device. The positioning device includes a first sensor, a second sensor, a third sensor, a first hinge sensor and a controller. The first sensor and a second sensor are disposed in a first area of the body of the head-mounted display device, wherein the first sensor and the second sensor have fixed relative positions. The third sensor is disposed on the first flexible component of the head-mounted display device. The first hinge sensor is arranged on the head-mounted display device to connect the body part and the first connecting part of the first flexible part, wherein the first hinge sensor is used to sense the first flexible part The first mobile state. The controller is coupled to the first hinge sensor, the first sensor, the second sensor and the third sensor to calculate The first relative position information, and correct the first relative position information according to the first moving state.

The head-mounted display device of the present invention includes a main body, a first flexible component, a first connecting portion and a positioning device. The first connecting part is used for connecting the main body part and the first flexible part. The positioning device includes a first sensor, a second sensor, a third sensor, a first hinge sensor and a controller. The first sensor and the second sensor are disposed in a first area of the main body of the head-mounted display device, wherein the first sensor and the second sensor have fixed relative positions. The third sensor is arranged on the first flexible component. The first hinge sensor is disposed on the first connecting portion and used for sensing a first moving state of the first flexible component. The controller is coupled to the first hinge sensor, the first sensor, the second sensor and the third sensor to calculate The first relative position information, and correct the first relative position information according to the first moving state.

Based on the above, in the head-mounted display device, the present invention provides a hinge sensor on the connection between the flexible component and the main body. The hinge sensor senses the moving state of the flexible component, and corrects the relative positions of the first sensor, the second sensor and the third sensor through the moving state of the flexible component. In this way, when the flexible component generates different movement information due to wearing by different users, the positioning device can effectively monitor the relative positions of the first sensor, the second sensor and the third sensor. Correction. When the positioning device detects the position of the external device, the accuracy of the detection result can be effectively maintained.

Please refer to FIG. 1 , which is a schematic diagram of a head-mounted display device according to an embodiment of the present invention. The head-mounted display device 100 is a three-dimensional display device, and can present virtual reality (Virtual Reality, VR), augmented reality (Augmented Reality, AR) or mixed reality (Mixed Reality, MR) display effects. In this embodiment, the head-mounted display device 100 has a main body 110 , flexible components 130 and 140 and a positioning device 120 . In this embodiment, the main body 110 may have a first-eye display and a second-eye display. The flexible components 130 and 140 are respectively coupled to the first-eye display and the second-eye display through the first connection portion and the second connection portion. The head-mounted display device 100 can be configured as glasses, and the flexible components 130 and 140 can be two temples.

On the other hand, the positioning device 120 includes sensors 121 - 123 , a hinge (Hinge) sensor 124 and a controller 125 . The sensors 121 and 122 are disposed in the first zone Z1 of the body part 110 . For example, the sensors 121 and 122 may be respectively disposed at two different positions above and below the first-eye display in the main body 110 . The sensor 121 and the sensor 122 have fixed relative positions. In addition, the sensor 123 can be disposed on the flexible component 130 . The sensor 121 , the sensor 122 and the sensor 123 can be connected to form a triangle. In addition, the hinge sensor 124 is disposed on the connecting portion used to connect the flexible component 130 and the main body portion 110 , and is used to detect the moving state of the flexible component 130 .

In addition, the controller 125 is coupled to the sensors 121 - 123 and the hinge sensor 124 . In the initial state, the controller 125 can obtain relative position information between the sensors 121-123 according to the preset positions of the sensors 121-123. In actual use, the external device (handle) held by the user can send out wireless signals, and the sensors 121~123 in the positioning device 125 can receive the above-mentioned wireless signals respectively, and according to the received wireless signals, The strength of the signal is used to obtain the distance information between the external device and the sensors 121-123 respectively. Next, the controller 125 can perform a triangulation calculation according to the above-mentioned distance information, and obtain the location information of the external device.

In this embodiment, when the user wears the head-mounted display device 100, the flexible member 130 as the temple may be different due to the user's head shape and/or the size of the user's head. Movement in direction DIR1. The movement of the flexible component 130 in the direction DIR1 will make the position of the sensor 123 different from the original preset position. Here, the hinge sensor 124 can detect the moving state of the flexible part 130 . The controller 125 can recalculate the relative positional relationship among the sensors 121 - 123 according to the moving state of the flexible part 130 . In this way, according to the relative positional relationship between the sensors 121-123 after the sensors 121-123 have been calibrated, the positioning device 120 can maintain the accuracy of the positioning action of the external device and maintain the performance of the head-mounted display device 100. Spend.

In this embodiment, the sensors 121 - 123 may be ultrasonic receivers for receiving wireless signals sent by external devices which are ultrasonic signals. In other embodiments of the present invention, the external device can also send other types of wireless signals, and the sensors 121 - 123 can be corresponding wireless signal receivers, without certain limitations.

The controller 125 in this embodiment can be coupled to the sensors 121 - 123 and the hinge sensor 124 through wires. The controller 125 can be a processor with computing capability. Alternatively, the controller 125 may be designed through a hardware description language (Hardware Description Language, HDL) or any other digital circuit design method known to those skilled in the art, and through a field programmable logic gate array ( Field Programmable Gate Array, FPGA), Complex Programmable Logic Device (Complex Programmable Logic Device, CPLD), or a hardware circuit implemented in the form of an Application-specific Integrated Circuit (ASIC).

Please refer to FIG. 1 and FIG. 2A to FIG. 2C synchronously below, wherein FIG. 2A to FIG. 2C are schematic diagrams illustrating an implementation of the detection operation of the moving state of the flexible component in the embodiment of the present invention. In FIG. 2A , the body portion 110 is connected to the flexible member 130 through the connection portion C1 . The connection part C1 can be a rotation shaft, and is coupled with the hinge sensor 124 . The connecting portion C1 may have a reference axis RA. In FIG. 2A , in an initial state, the reference axis RA of the connecting portion C1 is parallel to the normal vector of the flexible component 130 (the included angle is 0 degree).

In FIG. 2B , when the flexible member 130 moves outwardly, the connecting part C1 can rotate, and an included angle A1 ( The included angle A1 is greater than 0 degrees). At this time, the hinge sensor 124 can obtain the rotation angle of the connecting part C1 according to the included angle A1. The controller 125 can calculate the movement state of the sensor 123 according to the rotation angle of the connecting part C1.

For example, the controller 125 can calculate the movement state of the sensor 123 according to the position of the sensor 123 on the flexible component 130 and the angle A1.

In FIG. 2C , when the flexible member 130 moves inwardly, the connection part C1 can also rotate, and make an included angle A2 between the reference axis RA and the normal vector of the flexible member 130 in the initial state. (The included angle A2 is less than 0 degrees). At this time, the hinge sensor 124 can obtain the rotation angle of the connecting part C1 according to the included angle A2. The controller 125 can calculate the movement state of the sensor 123 according to the rotation angle of the connecting portion C1 and the position of the sensor 123 on the flexible component 130 .

Please refer to FIG. 1 and FIG. 3A to FIG. 3C synchronously below, wherein FIG. 3A to FIG. 3C are schematic diagrams illustrating another implementation of the detection operation of the moving state of the flexible component in the embodiment of the present invention. In FIG. 3A , the main body portion 110 is connected to the flexible member 130 through the connection portion C1 . The connecting portion C1 has an elastic object S1 and is coupled to the hinge sensor 124 through the elastic object S1 . In FIG. 3A , in an initial state, the elastic member S1 of the connecting portion C1 has an initial state.

In FIG. 3B , when the flexible member 130 moves outwardly, the elastic object S1 can be elongated correspondingly, and a first deformation state is produced. At this time, the hinge sensor 124 can obtain the rotation angle of the connecting portion C1 according to the first deformation state, and according to the rotation angle of the sensor 123 at the connecting portion C1 and the position of the sensor 123 on the flexible member 130 to calculate the movement state of the sensor 123 .

In FIG. 3C , when the flexible member 130 moves inwardly, the elastic object S1 can be compressed correspondingly, and a second deformation state is produced. At this time, the hinge sensor 124 can obtain the rotation angle of the connecting part C1 according to the second deformation state. The controller 125 can calculate the movement state of the sensor 123 according to the rotation angle of the connecting portion C1 and the position of the sensor 123 on the flexible component 130 .

Please refer to FIG. 4 below. FIG. 4 is a schematic diagram of a head-mounted display device according to another embodiment of the present invention. In this embodiment, the head-mounted display device 400 has a main body 410 , flexible components 430 and 440 and a positioning device 420 . In this embodiment, the main body 410 may have a first-eye display and a second-eye display. The flexible components 430 and 440 are respectively coupled to the first-eye display and the second-eye display through the first connection portion and the second connection portion. The head-mounted display device 400 can be configured as glasses, and the flexible components 430 and 440 can be two temples.

On the other hand, the positioning device 420 includes sensors 421 - 423 , 426 - 428 , hinge (Hinge) sensors 424 , 429 and a controller 425 . The sensors 421 and 422 are disposed in a first area of the body part 410 . For example, the sensors 421 and 422 may be respectively disposed at two different positions above and below the first-eye display in the body part 410 . The sensor 421 and the sensor 422 have fixed relative positions. The sensors 426 and 427 can be respectively disposed at two different positions above and below the second-eye display in the main body 410 . The sensor 426 and the sensor 427 have fixed relative positions.

In addition, the sensors 423 and 428 can be respectively disposed on the flexible components 430 and 440 . The sensor 421 , the sensor 422 and the sensor 423 can be connected to form a triangle, and the sensor 426 , the sensor 427 and the sensor 428 can be connected to form another triangle. In addition, the hinge sensor 424 is arranged on the connection part used to connect the flexible part 430 and the body part 410; the hinge sensor 429 is arranged on the connection part used to connect the flexible part 440 and the body part 410 department. The hinge sensors 424 and 429 are used to detect the moving states of the flexible component 430 and the flexible component 440 respectively.

The controller 425 is coupled to the sensors 421-423, 426-428 and the hinge sensors 424 and 429, and is used for performing relative position information between the sensors 421-423 and relative positions between the sensors 426-428 Calculation of information and corrective actions. The controller 425 can also be used to perform the positioning action of the external device.

The calculation and correction of the above-mentioned relative position information, as well as the details of the positioning of the external device, have been described in detail in the aforementioned embodiments and implementations, and will not be repeated here.

Please refer to FIG. 5 . FIG. 5 shows a flow chart of the positioning operation of the head-mounted display device according to the embodiment of the present invention. In step S510 , the hinge sensor on the connecting part used to connect the body part and the flexible part (mirror pin) in the head-mounted display detects the change amount (=X) of the position of the mirror pin. Next, in step S520 , the head-mounted display device may perform compensation according to the variation (=X) for the position of the sensor disposed on the temple. Next, in step S530, the head-mounted display device may redefine the relative positions of the three sensors on the main body and the temples. And in step S540, the sensor receives the ultrasonic signal sent by the handle (external device), and performs triangulation calculation through the relative positions of the three sensors that have been compensated, so as to locate the position of the handle.

The implementation details of the above steps S510-S540 have been described in detail in the aforementioned multiple embodiments and implementation manners, and will not be repeated here.

To sum up, in the head-mounted display device of the present invention, through the hinge sensor provided on the connecting portion between the main body and the flexible component in the positioning device, the movement state of the flexible component can be sensed. , to obtain the moving state of the sensor on the flexible component, and correct the relative position information among the three sensors in the positioning device through the moving state of the sensor on the flexible component. In this way, when the flexible component has different displacements corresponding to different users, the head-mounted display device can maintain the correctness of the positioning action of the external device, effectively maintaining the expressiveness of the head-mounted display device.

100, 400: head-mounted display device 110, 410: body part 120, 420: positioning device 121~123, 421~423, 426~428: sensor 124, 424, 429: Hub sensor 125, 425: controller 130, 140, 430, 440: flexible parts A1, A2: included angle C1: connection part DIR1: Direction RA: reference axis S1: elastic object S510~S540: Steps of positioning action Z1: the first zone Z1

FIG. 1 is a schematic diagram of a head-mounted display device according to an embodiment of the present invention. FIG. 2A to FIG. 2C are schematic diagrams of an implementation of the detection operation of the moving state of the flexible component in the embodiment of the present invention. FIG. 3A to FIG. 3C are schematic diagrams illustrating another implementation of the detection action of the moving state of the flexible component in the embodiment of the present invention. FIG. 4 is a schematic diagram of a head-mounted display device according to another embodiment of the present invention. FIG. 5 is a flow chart of the positioning operation of the head-mounted display device according to the embodiment of the present invention.

100: Head-mounted display device

110: body part

120: positioning device

121~123: sensor

124: Hub sensor

125: Controller

130, 140: flexible parts

DIR1: Direction

Z1: the first zone

Claims (11)

A positioning device, suitable for a head-mounted display device, comprising: A first sensor and a second sensor are arranged in a first area of a body portion of the head-mounted display device, wherein the first sensor and the second sensor have fixed relative position; A third sensor is arranged on a first flexible part of the head-mounted display device; A first hinge sensor is arranged on the head-mounted display device to connect the body part and the first flexible part on a first connecting part, wherein the first hinge sensor is used to sense a first movement state of the first flexible member; and A controller, coupled to the first sensor, the first sensor, the second sensor and the third sensor, for calculating the first sensor, the second sensor A first relative position information of the sensor and the third sensor, and correct the first relative position information according to the first moving state. The positioning device as claimed in claim 1, wherein the first connection part is a rotation shaft, and the first hinge sensor detects the rotation angle of the rotation shaft to generate the first moving state. The positioning device as claimed in claim 1, wherein the first connecting portion has an elastic object, and the first hinge sensor detects the deformation state of the elastic object to generate the first moving state. The positioning device according to claim 1, wherein the first sensor to the third sensor receive a wireless signal sent by an external device, and the controller according to the first sensor to the third sensor The device receives the wireless signal and the first relative position information to locate the position of the external device. The positioning device as claimed in claim 4, wherein the controller locates the external device according to a triangular positioning operation. The positioning device as described in claim 1, further comprising: A fourth sensor and a fifth sensor are arranged in a second area of the body part of the head-mounted display device, wherein the fourth sensor and the fifth sensor have fixed relative position; a sixth sensor disposed on a second flexible component of the head-mounted display device; A second hinge sensor is arranged on the head-mounted display device to connect the body part and the second flexible part on a second connection part, wherein the second hinge sensor is used for sensing a second movement state of the second flexible member, Wherein the controller is coupled to the second hinge sensor, the fourth sensor, the fifth sensor and the sixth sensor to calculate the fourth sensor, the fifth sensor A second relative position information of the device and the sixth sensor, and correct the second relative position information according to the second movement state. The positioning device as claimed in claim 4, wherein the wireless signal sent by the external device is an ultrasonic signal. A head-mounted display device, comprising: a body; a first flexible member; a first connecting portion for connecting the body portion and the first flexible member; and A positioning device, comprising: A first sensor and a second sensor are arranged in a first area of the body part of the head-mounted display device, wherein the first sensor and the second sensor have fixed relative position; A third sensor is arranged on a first flexible part of the head-mounted display device; a first hinge sensor disposed on the first connecting portion, wherein the third sensor is used to sense a first movement state of the first flexible component; and A controller, coupled to the first sensor, the first sensor, the second sensor and the third sensor, for calculating the first sensor, the second sensor A first relative position information of the sensor and the third sensor, and correct the first relative position information according to the first moving state. The head-mounted display device as claimed in claim 8, wherein the first connection part is a rotation shaft, and the first hinge sensor detects the rotation angle of the rotation shaft to generate the first moving state. The head-mounted display device as claimed in claim 8, wherein the first connecting portion has an elastic object, and the first hinge sensor detects a deformation state of the elastic object to generate the first moving state. The head-mounted display device as described in claim item 8, wherein the head-mounted display device further includes: a second flexible member; and a second connecting part, used for connecting the main body part and the second flexible part; The positioning device further includes: A fourth sensor and a fifth sensor are disposed in a second region of the body portion, wherein the fourth sensor and the fifth sensor have fixed relative positions; a sixth sensor disposed on the second flexible member; a second hinge sensor, disposed on the second connection part, wherein the second hinge sensor is used to sense a second movement state of the second flexible component, Wherein the controller is coupled to the second hinge sensor, the fourth sensor, the fifth sensor and the sixth sensor to calculate the fourth sensor, the fifth sensor A second relative position information of the device and the sixth sensor, and correct the second relative position information according to the second movement state.

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