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WO2018143360A1 - Système de détection de position relative et système d'affichage d'image - Google Patents

Système de détection de position relative et système d'affichage d'image Download PDF

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Publication number
WO2018143360A1
WO2018143360A1 PCT/JP2018/003457 JP2018003457W WO2018143360A1 WO 2018143360 A1 WO2018143360 A1 WO 2018143360A1 JP 2018003457 W JP2018003457 W JP 2018003457W WO 2018143360 A1 WO2018143360 A1 WO 2018143360A1
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WO
WIPO (PCT)
Prior art keywords
terminal device
type terminal
relative position
position detection
glasses
Prior art date
Application number
PCT/JP2018/003457
Other languages
English (en)
Japanese (ja)
Inventor
良夫 川又
純一郎 和智
Original Assignee
良夫 川又
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 良夫 川又 filed Critical 良夫 川又
Priority to JP2018566093A priority Critical patent/JPWO2018143360A1/ja
Publication of WO2018143360A1 publication Critical patent/WO2018143360A1/fr

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
    • G02B27/02—Viewing or reading apparatus
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09G—ARRANGEMENTS OR CIRCUITS FOR CONTROL OF INDICATING DEVICES USING STATIC MEANS TO PRESENT VARIABLE INFORMATION
    • G09G5/00—Control arrangements or circuits for visual indicators common to cathode-ray tube indicators and other visual indicators
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09G—ARRANGEMENTS OR CIRCUITS FOR CONTROL OF INDICATING DEVICES USING STATIC MEANS TO PRESENT VARIABLE INFORMATION
    • G09G5/00—Control arrangements or circuits for visual indicators common to cathode-ray tube indicators and other visual indicators
    • G09G5/36—Control arrangements or circuits for visual indicators common to cathode-ray tube indicators and other visual indicators characterised by the display of a graphic pattern, e.g. using an all-points-addressable [APA] memory
    • G09G5/38—Control arrangements or circuits for visual indicators common to cathode-ray tube indicators and other visual indicators characterised by the display of a graphic pattern, e.g. using an all-points-addressable [APA] memory with means for controlling the display position

Definitions

  • the present invention relates to a relative position detection system that detects a relative position between a first terminal device and a second terminal device, and an image display system including the relative position detection system.
  • Patent Document 1 Conventionally, for example, as a technique for detecting the relative positions of a plurality of devices and devices, there is a device as shown in Patent Document 1, for example.
  • the apparatus shown in Patent Document 1 is a manipulator system including a head-mounted display mounted on an operator's head and an operation unit that operates a display object (manipulator) displayed on the display.
  • a relative position sensor for detecting a relative position and a relative posture of the wearable display and one of the operation units with respect to the other is provided.
  • the relative position sensor described in Patent Document 1 includes an LED as an index provided on one of the head-mounted display and the operation unit, and a CCD having a field of view provided on the other and capable of photographing the front. And an imaging unit.
  • the absolute position information of each device is obtained by receiving information from the outside such as GPS (Global Positioning System) and the Internet (communication network),
  • GPS Global Positioning System
  • the Internet communication network
  • the relative position between devices is detected from the acquired absolute position information of each device.
  • a position detection system equipped with a camera may cause problems related to shooting related to the privacy of third parties in public places such as streets and trains, and copyrights at bookstores and movie theaters. There is a risk of unintentionally taking a picture.
  • data such as an image taken by a camera is at least temporarily stored in a storage unit in the apparatus. For this reason, there is a possibility that problems may arise in privacy protection and security due to leakage of data such as the image.
  • a storage medium such as a memory for storing captured image data and to increase the processing capability of a processing device for performing arithmetic processing.
  • the present invention has been made in view of the above points, and its object is not to hinder downsizing of the apparatus and simplification of the configuration and processing, but to detect relative positions between a plurality of apparatuses with high accuracy. It is an object of the present invention to provide a possible relative position detection system and an image display system including the same.
  • a relative position detection system is a relative position detection system that detects a relative position between a first terminal device and a second terminal device, and includes the first terminal device and the second terminal.
  • a position detection unit including an acceleration sensor and an angular velocity sensor provided in each of the devices, a data transmission unit provided in at least one of the first terminal device and the second terminal device, and the data transmission provided in the other
  • a data receiving unit that receives data from a unit; and a relative position information acquisition unit that acquires relative position information provided in at least one of the first terminal device and the second terminal device, and the relative position information
  • the acquisition unit is configured to acquire relative position information between the first terminal device and the second terminal device using only the measurement value of the acceleration sensor and the measurement value of the angular velocity sensor. Characterized in that was.
  • the relative position between the first terminal device and the second terminal device is detected only by the detection of the acceleration sensor and the angular velocity sensor.
  • the configuration of the device is greatly simplified, miniaturized and reduced in weight.
  • the relative position can be detected by simple processing, the processing speed of relative position detection can be increased.
  • power saving can be achieved compared to a conventional system including a camera (imaging means), it contributes to the reduction in size and weight of the battery even when a battery is mounted on the terminal device. Can do.
  • the relative position between the first terminal device and the second terminal device is detected only by the detection of the acceleration sensor and the angular velocity sensor. There is no need to receive external information. Therefore, the relative position between the first terminal device and the second terminal device can be detected even in an environment or device configuration that cannot receive information from outside such as GPS and the Internet.
  • the relative position between the first terminal device and the second terminal device is detected only by the detection of the acceleration sensor and the angular velocity sensor. There is no need to be in a position where the apparatuses can visually recognize each other as in the relative position detection system using the means. Therefore, for example, when there is a shield between the devices, or in an environment where the field of view is not good enough, the relative position can be detected even in an environment where the devices are not visible. Results in a relative position detection system with less.
  • the relative position detection system further includes reset means for resetting the measurement values of the acceleration sensor and the angular velocity sensor in the position detection unit when a predetermined condition is satisfied, and the measurement values of the acceleration sensor and the angular velocity sensor. May be a cumulative value from the time when the reset by the reset means is performed.
  • the relative position information acquisition unit uses the relative position between the first terminal device and the second terminal device, or the postures of the first terminal device and the second terminal device as coordinate data. It may be obtainable.
  • the relative position information acquisition unit can acquire the relative position between the first terminal device and the second terminal device or the orientation of the first terminal device and the second terminal device as coordinate data.
  • the relative position or posture between the first terminal device and the second terminal device can be grasped more accurately by simple processing. Therefore, it is possible to simplify the processing in the first terminal device or the second terminal device, and it is possible to acquire the relative position information quickly and reliably.
  • the attitude of the terminal device refers to an inclination with respect to a reference angle (in the same position) that does not include the position information of the terminal device.
  • An image processing system is an image processing system including any one of the above-described relative position detection systems according to the present invention, wherein the first terminal device generates image display data.
  • the second terminal device includes an image display unit for displaying an image based on the image display data, and the image generated by the image display data generation unit of the first terminal device. Display data is transmitted to the second terminal device, an image is displayed by the image display means of the second terminal device based on the image display data, and the image display means Based on the relative position information between the first terminal device and the second terminal device acquired by the information acquisition means, the display position of the image to be displayed based on at least the image display data Characterized in that it constant.
  • the image display position may be determined by the image display unit based on the position of the first terminal device viewed from the second terminal device.
  • the first terminal device and the second terminal device are used.
  • An image can be displayed at a position based on relative position information with the terminal device.
  • the image displayed on the second terminal device is always displayed at the same position with respect to the first terminal device.
  • the relative position detection system of the present invention it is possible to accurately detect the relative position between a plurality of apparatuses while reducing the size and weight of the apparatus and simplifying the configuration and processing. According to such an image display system, the convenience of image display by the first terminal device and the second terminal device can be effectively improved.
  • FIG. 1 is a diagram illustrating an overall configuration example of an image display system including a relative position detection system according to a first embodiment of the present invention. It is a block diagram which shows the function structure of a wristwatch-type terminal device and a glasses-type terminal device. It is a flowchart for demonstrating the procedure of the relative position detection performed between a wristwatch type
  • FIG. 1 It is a figure which shows the image of the display screen displayed based on the data for display screens transmitted to the spectacles type terminal device from the wristwatch type terminal device. It is a figure which shows the example of whole structure of the image display system containing the relative position detection system concerning 2nd embodiment of this invention. It is a block diagram which shows the function structure of a portable terminal device (smart phone).
  • FIG. 1 is a diagram showing an example of the overall configuration of an image display system including a relative position detection system according to the first embodiment of the present invention.
  • the image display system 1 including the relative position detection system shown in FIG. 1 includes a wristwatch type terminal device (first terminal device) 100 and a glasses type terminal device (second terminal device) 200.
  • the wristwatch type terminal device 100 is a wearable terminal in the shape of a wristwatch having a main body portion 101 and a band 102 for mounting the main body portion 101 on an arm
  • the glasses-type terminal device 200 is a pair of glasses functioning as glasses.
  • the eyeglass portion 210 is composed of lenses 201 and 201 and a frame portion 202 that supports the pair of lenses 201 and 201, and a main body portion 205 attached to the frame portion 202 of the eyeglass portion 210. It is a wearable terminal that did.
  • the glasses-type terminal device 200 projects (displays) an image 220 projected from an image projection unit 213, which will be described later, on a lens 201. Thereby, the wearer wearing the glasses-type terminal device 200 visually recognizes that the image projected on the lens 201 exists (is displayed) in the actual scenery viewed through the lens 201. Can do.
  • the image 220 is projected by projecting an image (including video, the same applies hereinafter) such as a display screen of application software executed on the wristwatch-type terminal device 100 as the image 220. It is projected so as to be (visible) at the position of the wristwatch type terminal device 100 or the vicinity thereof. Thus, it appears to the wearer of the glasses-type terminal device 200 that the image (video) 5 on the display screen is displayed at a position near the wristwatch-type terminal device 100, for example.
  • the said image when displaying the said image, it displays so that the said image exists in the vicinity position of the wristwatch-type terminal device 100, and the position (relative position with respect to the glasses-type terminal device 200) of the wristwatch-type terminal device 100 changes.
  • information on the relative position between the wristwatch type terminal device 100 and the eyeglass type terminal device 200 is always acquired (ascertained). It is necessary to be able to do it.
  • the glasses type terminal device 200 and the wristwatch type terminal device 100 are relatively A relative position detection function (relative position detection system) for detecting the position is provided.
  • FIG. 2 is a block diagram showing a functional configuration of the wristwatch type terminal device 100 and the glasses type terminal device 200.
  • the wristwatch type terminal device 100 shown in FIG. 1 includes a control unit (control unit) 111, a storage unit (storage unit) 112, a display unit (display unit) 113, an operation unit (input unit) 114, a data transmission / reception unit 115, and an acceleration sensor. 116a and an angular velocity sensor 116b.
  • the control unit 111 is a part for executing various processes for operating the wristwatch-type terminal device 100, and includes a microprocessor, various peripheral circuits, and the like.
  • the control unit 111 has a function for executing a program (application software, hereinafter simply referred to as “application”) 120 stored in the storage unit 112.
  • control unit 111 detects position information (data) detected by the position detection unit 116 of the wristwatch type terminal device 100 and position information (data) detected by the position detection unit 216 of the glasses type terminal device 200. ), The relative position information of the wristwatch-type terminal device 100 and the glasses-type terminal device 200 can be acquired (understood). Therefore, the control unit 111 also functions as a relative position information acquisition unit that acquires relative position information of the wristwatch type terminal device 100 and the glasses type terminal device 200.
  • the storage unit 112 is a storage medium such as a flash memory.
  • the storage unit 112 stores various data such as the application 120 executed by the control unit 111. That is, the data stored in the storage unit 112 is read from the storage unit 112 by the control unit 111 as necessary, and is used for various processes and controls executed by the control unit 111.
  • the control unit 111 can store new data in the storage unit 112 or update already stored data.
  • the display unit 113 is a device for displaying various images and videos in addition to displaying a display screen and an operation screen for displaying the execution contents of the application, a time display screen as a clock, and the like.
  • a liquid crystal display or the like is used.
  • the operation unit 114 detects various operations input by the operator in order to use various functions of the wristwatch type terminal device 100, and includes various input means (operation buttons, a touch panel, a voice recognition device, or the like). Is possible. The operator can perform various operations necessary for executing an application, which will be described later, performed on the wristwatch type terminal device 100 by operating the operation unit 114.
  • the position detection unit 116 is a part for acquiring data related to the position of the wristwatch type terminal device 100, and includes an acceleration sensor 116a and an angular velocity sensor 116b.
  • an acceleration sensor 116a and the angular velocity sensor 116b for example, a MEMS (Micro Electro Mechanical System) type sensor can be used.
  • the acceleration sensor 116a can measure the change in position from the gravitational acceleration on the earth and the acceleration of the wristwatch type terminal device 100. (Here, the change in position also includes a change in angle (orientation / tilt).)
  • the angular velocity sensor 116b measures the change in angle from the reference angle of the wristwatch type terminal device 100.
  • position detection for the wristwatch type terminal device 100 in this specification refers to the detection of the position (change) and posture (change) of the wristwatch type terminal device 100 by the acceleration sensor 116a and the angular velocity sensor 116b. To do.
  • the position detection unit 116 is configured to reset data detected (measured) when a predetermined reset operation described later is performed, and newly start position detection (measurement) from that point. . Therefore, in the position detection by the position detection unit 116, the position at the time when the data is reset is set as the initial position (movement amount 0), and the movement amount (relative position with respect to the initial position) from the initial position is continuously measured. To detect the current position. Therefore, in the following description, “position detection” refers to detection of the movement amount from the initial position.
  • the data transmission / reception unit 115 transmits a data signal including various data input from the control unit 111 and the storage unit 112 to the data transmission / reception unit 215 of the glasses-type terminal device 200, and the data transmission / reception unit of the glasses-type terminal device 200.
  • 215 has a function of receiving data transmitted from 215.
  • the data transmission / reception unit 115 has a function of transmitting data regarding the position of itself (the wristwatch type terminal device 100) detected by the position detection unit 116 to the glasses-type terminal device 200.
  • the glasses-type terminal device 200 has a function of receiving data related to the position of the glasses-type terminal device 200 detected by the position detection unit 216 from the data transmission / reception unit 215 of the glasses-type terminal device 200.
  • the data transmission / reception unit 115 displays an image on the glasses-type terminal device 200 such as an application display screen and a web browser display screen data (data corrected by relative position information described later). It has a function of transmitting necessary data to the data transmission / reception unit 215 of the glasses-type terminal device 200.
  • the glasses-type terminal device 200 includes a control unit (control unit) 211, a storage unit (storage unit) 212, an image projection unit 213, a data transmission / reception unit 215, an acceleration sensor 216a, and an angular velocity sensor 216b.
  • the position detecting unit 216 includes a configuration.
  • the control unit 211 is a part for executing various processes for operating the glasses-type terminal device 200, and includes a microprocessor, various peripheral circuits, and the like.
  • the control unit 211 controls the image projection unit 213 based on the data related to the image display transmitted from the wristwatch type terminal device 100, thereby causing the image projection unit 213 to display the image 220 on the lens 201 of the glasses-type terminal device 200. It has a function to project.
  • the storage unit 212 is a storage medium such as a flash memory. Note that the data stored in the storage unit 212 is read from the storage unit 212 by the control unit 211 as necessary, and is used for various processes and controls executed by the control unit 211. In addition, the control unit 211 can store new data in the storage unit 212 or update already stored data. The storage unit 212 can temporarily store various data such as data related to images transmitted from the wristwatch type terminal device 100.
  • the position detection unit 216 is a component for acquiring data relating to the position of the glasses-type terminal device 200, and is configured to include an acceleration sensor 216a and an angular velocity sensor 216b, similar to the position detection unit 116 of the wristwatch-type terminal device 100. ing.
  • an acceleration sensor 216a and the angular velocity sensor 216b for example, a MEMS-type (Micro-Electro-Mechanical System) -type sensor can be used.
  • the acceleration sensor 216a measures the position change of the glasses-type terminal device 200 from the gravitational acceleration on the earth and the acceleration of the glasses-type terminal device 200.
  • the positional change here includes a change in angle (orientation / inclination).
  • the angular velocity sensor 216b measures an angular change from the reference angle of the glasses-type terminal device 200. Therefore, by correcting the information on the angle (direction / tilt) included in the detection value of the acceleration sensor 216a with the detection value of the angular velocity sensor 216b, the angle (direction / tilt) included in the detection value of the glasses-type terminal device 200 is corrected. By correcting the information, it is possible to measure a so-called pure movement (position) change (change in three-dimensional coordinate values (x, y, z)) that excludes changes in the direction and inclination of the glasses-type terminal device 200. .
  • a change in the posture (angle not including position information (at the same position)) (change in three-dimensional coordinate values (x, y, z)) of the glasses-type terminal device 200 can be measured from the detection value of the angular velocity sensor 216b. it can.
  • position detection for the glasses-type terminal device 200 in this specification refers to detection of the position (change) and posture (change) of the glasses-type terminal device 200 by the acceleration sensor 216a and the angular velocity sensor 216b. To do.
  • the data transmission / reception unit 215 transmits a data signal including various data input from the control unit 211 and the storage unit 212 to the data transmission / reception unit 115 of the wristwatch type terminal device 100 and the data transmission / reception unit of the wristwatch type terminal device 100.
  • 115 has a function of receiving data transmitted from 115.
  • the data transmission / reception unit 215 has a function of transmitting data regarding the position of itself (the glasses-type terminal device 200) detected by the position detection unit 216 to the wristwatch-type terminal device 100.
  • the wristwatch type terminal device 100 has a function of receiving data related to the position of the wristwatch type terminal device 100 detected by the position detection unit 216 from the data transmission / reception unit 115 of the wristwatch type terminal device 100.
  • the communication means for exchanging data between the data transmission / reception unit 115 of the wristwatch type terminal device 100 and the data transmission / reception unit 215 of the glasses-type terminal device 200
  • various known short-range wireless communication standards for digital devices are used. It is possible to use a communication means or the like.
  • the communication means here is not only communication means that exchanges data by direct communication between the data transmission / reception unit 115 of the wristwatch type terminal device 100 and the data transmission / reception unit 215 of the glasses-type terminal device 200,
  • communication means that performs communication over a long distance using radio waves such as radio waves or mobile communication networks or communication networks is also included.
  • FIG. 3 is a flowchart for explaining a relative position detection process (procedure) performed between the wristwatch-type terminal device 100 and the glasses-type terminal device 200.
  • a predetermined reset condition is satisfied in each of the wristwatch type terminal device 100 and the glasses type terminal device 200 (steps ST1-1 and ST2-1).
  • the reset here refers to resetting (initializing) the detection values (measurement values) of the position detection units 116 and 216.
  • the case where the predetermined reset condition is satisfied includes, for example, determining that the reset condition is satisfied when each of the wristwatch type terminal device 100 and the glasses type terminal device 200 can be regarded as being in the reference position. It is done.
  • the reference position mentioned here corresponds to a predetermined position or a position where measurement (determination) can be clearly performed.
  • a charging device for supplying power to the wristwatch type terminal device 100 and the glasses type terminal device 200 is provided, and the wristwatch type terminal device 100 and the glasses type terminal device 200 are provided in the charging device.
  • the wristwatch-type terminal device 100 and the glasses-type terminal device 200 can be regarded as being in a predetermined reference position when the item is placed.
  • the wristwatch type terminal device 100 and the eyeglass type terminal device 200 are configured to be able to detect contact (contact) with each other by some means, and the wristwatch type terminal device 100 and the eyeglass type terminal device 200 are in contact with each other.
  • the user is at a predetermined reference position. Specifically, it can be considered that resetting is performed by the operator performing a reset operation (such as pressing a reset button) when the terminal devices are at the reference position.
  • a weak electrical signal is made to flow on the surface of the casing of the wristwatch-type terminal device 100 and the glasses-type terminal device 200, or information such as a unique number is made to flow by weak radio waves, thereby detecting mutual contact. It is possible to make it possible.
  • step S1-1 when a predetermined reset condition is satisfied in the wristwatch type terminal device 100 (YES in step ST1-1), the detected position information (data) of the position detector 116 of the wristwatch type terminal device 100 is reset (step S1).
  • step S1-1 On the other hand, if the predetermined reset condition is not satisfied (NO in step ST1-1), the detected position information (data) of the position detector 116 is not reset.
  • step ST2-1 when a predetermined reset condition is satisfied in the glasses-type terminal device 200 (YES in step ST2-1), the detected position information (data) of the position detection unit 216 of the glasses-type terminal device 200 is reset (step).
  • step ST2-2 On the other hand, if the predetermined reset condition is not satisfied (NO in step ST2-1), the detected position information (data) of the position detector 216 is not reset.
  • the position detection unit 116 of the wristwatch type terminal device 100 determines whether to reset the detected position information (step ST1-1) and reset processing (step ST1-2), and the glasses type terminal device 200
  • the reset determination (step ST2-1) and the reset process (ST2-2) of the detected position information of the position detection unit 216 can be performed as separate processes at different timings, these watch types It is desirable that the reset determination and reset processing in the terminal device 100 and the reset determination and reset processing in the glasses-type terminal device 200 be performed at the same timing as the same processing.
  • the wristwatch type terminal device 100 performs position detection (step ST1-3). This is detection of its own position by detection of a position detection unit 116 (acceleration sensor 116a, angular velocity sensor 116b) provided in the wristwatch type terminal device 100. If the detected position information is reset by the position detector 116 in the previous step ST1-1, the detection data of the position detector 116 is an integrated value with respect to the reset value (initial value). . That is, position detection (measurement) is performed with the reset position as the initial position. On the other hand, in the glasses-type terminal device 200, the position of the glasses-type terminal device 200 is detected (step ST2-3).
  • the position information detected by the glasses-type terminal apparatus 200 is transmitted to the wristwatch-type terminal apparatus 100 (step ST2-4), and the position information is received by the wristwatch-type terminal apparatus 100 (step ST1-4).
  • the wristwatch type terminal device 100 uses the position information of the wristwatch type terminal device 100 acquired in the previous step ST1-3 and the position information of the eyeglass type terminal device 200 acquired in step ST1-4.
  • the relative position information of the type terminal device 100 and the eyeglass type terminal device 200 is acquired (step ST1-5). Thereby, the relative position of the wristwatch-type terminal device 100 and the glasses-type terminal device 200 is grasped.
  • FIG. 4 is a diagram for explaining the acquisition of relative position information performed when the position detection data is reset by the position detection units 116 and 216 and when the relative position is grasped after the reset.
  • the relative position detection system of the present embodiment when a predetermined reset condition is satisfied in the wristwatch type terminal device 100 and the glasses type terminal device 200, the wristwatch type terminal device 100 and the glasses type terminal device.
  • the position detection information (measurement) is reset in the position detection units 116 and 216 in both 200.
  • a change in position (amount of movement) with the position where the reset is performed as an initial position is detected, and a relative position can be acquired (understood).
  • the relative position (change) between the wristwatch-type terminal device 100 and the glasses-type terminal device 200 and the postures (changes) of the wristwatch-type terminal device 100 and the glasses-type terminal device 200 can be acquired as coordinate data. is there.
  • the acquisition (ascertaining) of the relative position of the wristwatch-type terminal device 100 and the glasses-type terminal device 200 here means that if one of the positions of the wristwatch-type terminal device 100 and the glasses-type terminal device 200 is used as a starting point, the other position is obtained. It is possible to grasp the relative movement amount when the wristwatch-type terminal device 100 and the glasses-type terminal device 200 are respectively moved from the positions where the reset is performed. State. When the wristwatch-type terminal device 100 and the glasses-type terminal device 200 change the same position from the reset position, there is no change in the relative position (that is, the relative movement amount is 0).
  • FIG. 5 is a flowchart for explaining a procedure of image display processing performed between the wristwatch type terminal device 100 and the glasses type terminal device 200.
  • image display process a process of projecting and displaying the display screen of the application 120 activated on the wristwatch type terminal apparatus 100 by the function of the image projection unit 213 of the glasses type terminal apparatus 200 (hereinafter, this process is referred to as “projection display”). Will be referred to as “processing”).
  • step ST3-1 it is determined whether or not the operation of the operation unit 114 (operation for starting the application 120) has been performed on the wristwatch type terminal device 100 (step ST3-1). As a result, when the operation of the operation unit 114 is not performed (NO), the process does not proceed to the next process until the operation of the operation unit 114 is performed. On the other hand, when the operation unit 114 is operated (YES), the application is started (step ST3-2). Thereafter, the relative position information of the wristwatch type terminal device 100 and the glasses type terminal device 200 is acquired (step ST3-3). The acquisition of the relative position information in step ST3-3 is the process of step ST1-5 in the flowchart of FIG. Thereby, the relative position information of the wristwatch-type terminal device 100 and the glasses-type terminal device 200 is grasped.
  • step ST3-4 a process for converting screen data of the application 120 into data for projection display processing is performed (step ST3-4).
  • the relative position information of the wristwatch-type terminal device 100 and the glasses-type terminal device 200 is incorporated into the screen display data of the application 120, so that the image on the screen is suitable for the position corresponding to the wristwatch-type terminal device 100. It is a process for making it display by various sizes and shapes.
  • the screen data subjected to the conversion process is transmitted to the data transmitting / receiving unit 215 of the glasses-type terminal device 200 (step ST3-5).
  • the glasses-type terminal device 200 receives the screen data transmitted from the wristwatch-type terminal device 100 (step ST4-1), and the image projection unit 213 based on the received screen data receives the screen image (or video). ) 220 is projected toward the lens 201 (step ST4-2). Thereby, the wearer of the glasses-type terminal device 200 visually recognizes the image 220 of the application screen as if it is projected directly above the wristwatch-type terminal device 100 by the image 220 projected on the lens 201. Can do.
  • the wristwatch type terminal device 100 determines whether or not the operation of the operation unit 114 (operation for ending the application 120) has been performed (step ST3-6). As a result, when the operation unit 114 is not operated (NO), the process returns to step ST3-3 and the process is repeated from the procedure for acquiring (obtaining) the relative position. On the other hand, if the operation unit 114 is operated (YES), the application is terminated (step ST3-7). On the other hand, in the glasses-type terminal device 200, the process of outputting the display screen image is continued until the reception of the display screen data transmitted from the wristwatch type terminal device 100 is completed (step ST4-3).
  • FIG. 6 is a diagram showing a display screen image 5 displayed based on the display screen data transmitted from the wristwatch type terminal device 100 to the glasses type terminal device 200.
  • the eyeglass-type terminal device 200 projects (displays) an image 220 from an image projection unit 213 onto a lens 201.
  • the wearer wearing the glasses-type terminal device 200 seems to have the image 220 projected on the lens 201 present (displayed) in the actual scenery seen through the lens 201. Can be visually recognized.
  • the relative position information of the wristwatch type terminal device 100 and the eyeglass type terminal device 200 is grasped, and based on this relative position information, the image seen through the lens 201 is always the wristwatch type such as the position directly above the wristwatch type terminal device 100. It can be controlled to be displayed at the same position with respect to the terminal device 100.
  • the relative positions of the wristwatch-type terminal device 100 and the glasses-type terminal device 200 are detected only by the detection of the acceleration sensors 116a and 216a and the angular velocity sensors 116b and 216b.
  • the configuration of the apparatus is significantly larger than that of a conventional position detection system including a camera (imaging means) and a system that performs relative position detection based on absolute position detection based on external information such as GPS. Simplification and reduction in size and weight can be achieved.
  • the relative position can be detected by simple processing, the processing speed of relative position detection can be increased.
  • the wristwatch type terminal device (first terminal device) 100 and the glasses type terminal device (second terminal device) are only detected by the acceleration sensors 116a and 216a and the angular velocity sensors 116b and 216b. ) Since it is configured to detect the relative position of 200, it is not necessary to receive information from outside such as GPS and the Internet. Therefore, the relative position of the wristwatch type terminal device 100 and the glasses type terminal device 200 can be detected even in an environment or device configuration in which information from outside such as GPS or the Internet cannot be received.
  • the relative positions of the wristwatch-type terminal device 100 and the glasses-type terminal device 200 are detected only by the detection of the acceleration sensors 116a and 216a and the angular velocity sensors 116b and 216b.
  • the relative position can be detected even in an environment where the watch-type terminal device 100 and the glasses-type terminal device 200 are not directly visible, such as when there is a shield between the watch-type terminal device 100 and the glasses-type terminal device 200.
  • the relative position detection system of the present embodiment like a relative position detection system provided with a conventional camera, shooting related to the privacy of a third party in a public place such as in a city or on a train, a bookstore or a movie There is no risk of unintentionally taking a photo or the like that may cause a problem with copyrights in a hall.
  • data such as a photographed image is not stored in the storage units 112 and 212 in the apparatus. Accordingly, there is no possibility of leakage of data such as the image, so that there is no problem in protecting privacy and ensuring security.
  • a storage medium such as a memory for storing captured image data and to increase the processing capability of the processing device for performing arithmetic processing.
  • the relative position and orientation of the wristwatch type terminal device 100 and the glasses type terminal device 200 can be acquired as coordinate data, so that the wristwatch type terminal device 100 can be obtained with simple processing. And the relative position of the glasses-type terminal device 200 can be accurately grasped. Therefore, it is possible to simplify the processing in the wristwatch type terminal device 100 and the glasses type terminal device 200, and it is possible to acquire the relative position information quickly and reliably.
  • the image display system 1 including the relative position detection system of the present embodiment information on the relative positions of the wristwatch type terminal device 100 and the glasses type terminal device 200 detected by the relative position detection system having the above configuration is used. It can be controlled so that the image 5 of the screen seen through the lens 201 is always located at a position directly above the wristwatch type terminal device 100 or the like. Therefore, the convenience of the screen display of the wristwatch type terminal device 100 can be improved while the wristwatch type terminal device 100 and the eyeglass type terminal device 200 have a simple configuration with a reduced number of parts.
  • the case where the detection of the relative position of the wristwatch-type terminal device 100 and the glasses-type terminal device 200 is performed as a function of the wristwatch-type terminal device 100 is described. It is also possible to configure so that the detection of the relative position of the glasses-type terminal device 200 (the process of step ST1-5 in FIG. 3) is performed as a function of the glasses-type terminal device 200.
  • the glasses-type terminal device 200 has a configuration in which a main body unit 205 having a functional configuration such as a control unit 211 is integrally attached to a frame unit 202 of the glasses unit 210 as shown in FIG.
  • the main body 205 does not necessarily have to be configured integrally with the glasses portion 210, and may be configured as another device that can be retrofitted to ready-made glasses. Good. That is, the main body 205 shown in FIG. 1 may be configured to be able to be attached later to, for example, existing glasses.
  • the display screen of the application was illustrated as an example of the display screen at the time of displaying an image using the relative position detection system concerning this invention, not only this but another display screen (for example, It is also possible to use a display screen of a web browser).
  • the wristwatch type terminal device 100 and the glasses type terminal device 200 are provided with the components shown in FIG. 2 , but the components shown in FIG. Only the components as the relative position detection system and the image display system according to the present invention are shown. Therefore, in addition to the components shown in FIG. 2, the wristwatch-type terminal device 100 and the glasses-type terminal device 200 are, for example, imaging means such as a camera, means for performing position detection by GPS, and external communication such as the Internet. Communication means for connecting to a network may be provided.
  • these image pickup means and communication means are not used as means for detecting position information in the relative position detection system according to the present invention, and the relative position detection system according to the present invention is merely the position shown in FIG. It is assumed that the position detection is performed only by the acceleration sensors 116a and 216a and the angular velocity sensors 116b and 216b included in the detection units 116 and 216.
  • the acceleration sensors 116a and 216a and the angular velocity sensor 116b are used to increase the accuracy of the detection values of the acceleration sensors 116a and 216a and the angular velocity sensors 116b and 216b included in the position detection units 116 and 216. It is preferable to provide correction means for correcting the detection value of 216b.
  • the following correction means (1) to (5) are conceivable.
  • the relative distance between the wristwatch-type terminal device 100 and the glasses-type terminal device 200 can be reset ( At that time, the measurement values of the position detection units 116 and 216 of the wristwatch type terminal device 100 and the glasses type terminal device 200 are corrected (the error included in the measurement values is corrected). Can be.
  • the watch-type terminal device 100 and the glasses-type terminal device 200 are configured to detect contact (contact) with each other by some means. As a result, the measurement value of the position detection unit of the wristwatch type terminal device 100 and the glasses type terminal device 200 can be corrected at that time. That is, in these cases, processing for correcting the measurement values of the position detection units 116 and 216 of the wristwatch type terminal device 100 and the glasses type terminal device 200 is performed in accordance with the reset processing.
  • Relative positions of the wristwatch-type terminal device 100 and the glasses-type terminal device 200 are determined according to the strength of radio waves received by the data transmission / reception units 115 and 215 of the wristwatch-type terminal device 100 and the glasses-type terminal device 200. Based on the information, it is possible to correct the measurement values (correct the errors included in the measurement values) of the position detection units 116 and 216 of the wristwatch type terminal device 100 and the glasses type terminal device 200 based on the information. That is, for example, when one of the data transmission / reception units 115 and 215 of the wristwatch-type terminal device 100 and the glasses-type terminal device 200 has received a radio wave having an intensity greater than or equal to a predetermined threshold value, the wristwatch-type terminal device 100. It is possible to determine that the relative position (distance) of the glasses-type terminal device 200 has become equal to or less than a predetermined value, and correct the measured values of the position detectors 116 and 216 based on the information on the distance.
  • the sensor further includes a correction sensor for correcting the measurement values of the acceleration sensors 116a and 216a and the angular velocity sensors 116b and 216b included in the position detection units 116 and 216, and the correction sensors include the acceleration sensors 116a and 216a.
  • the measurement values of the angular velocity sensors 116b and 216b are corrected.
  • An example of the correction sensor here is a geomagnetic sensor (electronic compass).
  • the above-described geomagnetic sensor is provided as an integral or separate body in addition to the acceleration sensors 116a and 216a and the angular velocity sensors 216b and 216b.
  • a chip-type sensor may be provided.
  • a value obtained by correcting the measurement values of the acceleration sensors 116a and 216a and the angular velocity sensors 116b and 216b with the measurement values of the geomagnetic sensor can be obtained as the detection values of the position detection units 116 and 216.
  • the position detection of the wristwatch-type terminal device 100 or the glasses-type terminal device 200 is performed only by the acceleration sensors 116a and 216a and the angular velocity sensors 116b and 216b, and the geomagnetic sensor is the acceleration sensor 116a or 216a. It functions as a means for correcting the measurement value of position detection by the angular velocity sensors 116b and 216b.
  • the measured values of the acceleration sensors 116a and 216a and the angular velocity sensors 116b and 216b included in the position detectors 116 and 216 are accumulated as data, and by analyzing the accumulated data, the tendency of errors occurring in the measured values can be grasped.
  • the measurement value may be corrected based on this tendency.
  • the degree of deterioration of the measured values of the position detection unit 116 of the wristwatch type terminal device 100 and the position detection unit 216 of the glasses type terminal device 200 is determined, and correction is performed so as to match the measurement value with the smaller degree of deterioration. Do. That is, as the movement amount of the wristwatch-type terminal device 100 or the glasses-type terminal device 200 after the reset process is larger, the error is accumulated in the measurement values of the position detection unit 116 or 216, and thus the deterioration of the measurement value tends to progress. There is.
  • the movement amount after reset processing of each of the wristwatch type terminal device 100 and the eyeglass type terminal device 200 is determined at a certain point in time, and the position detection unit 116 or 216 measures so as to match the measurement value with the smaller movement amount. Processing for correcting the value can be performed.
  • the correction processes (1) to (5) may be configured to be performed independently or may be performed in combination. By performing these correction processes, errors occurring in the measurement values of the position detectors 116 and 216 provided with only the acceleration sensors 116a and 216a and the angular velocity sensors 116b and 216b can be suppressed, and therefore the position detector 116, The accuracy of detection of the relative position based on the measured value of 216 can be effectively increased.
  • FIG. 7 is a diagram showing an example of the overall configuration of an image display system 1-2 including a relative position detection system according to the second embodiment of the present invention.
  • FIG. 8 is a block diagram illustrating a functional configuration of the portable terminal device 300.
  • the image display system 1-2 according to this embodiment includes a wristwatch-type terminal device (first terminal device) 100 and a glasses-type terminal device (second terminal device) 200, as well as other portable terminal devices (first devices). 3 terminal device) 300.
  • the portable terminal device 300 is a small communication terminal device or computer device such as a so-called smartphone or tablet computer. As shown in FIG.
  • the portable terminal device 300 includes a control unit (control unit) 311, a storage unit (storage unit) 312, a display unit (display unit) 313, an operation unit (input unit) 314, and a data transmission / reception unit. 315 is provided.
  • the control unit 311 is a part for executing various processes for operating the portable terminal device 300, and includes a microprocessor, various peripheral circuits, and the like.
  • the control unit 311 has a function for executing the program (application) 320 stored in the storage unit 312.
  • the storage unit 312 is a storage medium such as a flash memory or a hard disk.
  • the storage unit 312 stores various data such as the application 320 executed by the control unit 311. That is, the data stored in the storage unit 312 is read from the storage unit 312 by the control unit 311 as necessary, and is used for various processes and controls executed by the control unit 311.
  • the control unit 311 can store new data in the storage unit 312 or update already stored data.
  • the display unit 313 is a device for displaying various images and videos in addition to displaying a display screen and an operation screen for displaying the execution contents of the application 320, and a liquid crystal display or the like is used.
  • the operation unit 314 detects various operations input by the operator in order to use various functions of the portable terminal device 300, and includes various input means (operation buttons, a touch panel, a voice recognition device, or the like). Is possible. The operator can perform various operations necessary for executing an application, which will be described later, performed on the portable terminal device 300 by operating the operation unit 314.
  • the data transmission / reception unit 315 transmits data signals including various data input from the control unit 311 and the storage unit 312 to the data transmission / reception units 115 and 215 of the wristwatch-type terminal device 100 or the glasses-type terminal device 200, and
  • the terminal device 100 has a function of receiving data transmitted from the data transmission / reception units 115 and 215 of the glasses-type terminal device 100 or the glasses-type terminal device 200.
  • the data transmission / reception unit 315 receives data relating to the position of the glasses-type terminal device 200 detected by the glasses-type terminal device 200 by the position detection unit 216 from the data transmission / reception unit 215 of the glasses-type terminal device 200, and also a wristwatch-type terminal.
  • the device 100 has a function of receiving data related to the position of the wristwatch type terminal device 100 detected by the position detection unit 116 from the data transmission / reception unit 115 of the wristwatch type terminal device 100.
  • the data transmission / reception unit 315 also includes data necessary for displaying images on the glasses-type terminal device 200, such as display screen data of the application 320 and data of the display screen of the web browser (data corrected by relative position information). Is transmitted to the data transmission / reception unit 215 of the glasses-type terminal device 200.
  • the image display system 1-2 of the present embodiment is different from the image display system 1 of the first embodiment in that the application for displaying an image is executed by the wristwatch type terminal device 100 in the first embodiment.
  • the wristwatch type is based on the point that the portable terminal device 300 performs, and the positional information detected by the wristwatch type terminal device 100 and the positional information detected by the glasses type terminal device 200.
  • the detection of the relative position information of the terminal device 100 and the glasses-type terminal device 200 is performed by the wristwatch-type terminal device 100 in the first embodiment, whereas in the present embodiment, the detection is performed by the portable terminal device 300. It is.
  • data related to the screen of the application executed on the portable terminal device 300 is transmitted to the glasses-type terminal device 200, and the screen image 220 is displayed on the lens 201 of the glasses-type terminal device 200 from the image projection unit 213. Project.
  • the portable terminal device 300 and the glasses The relative position information of the portable terminal device 200 is detected, and the detected relative position information is transmitted from the portable terminal device 300 to the glasses-type terminal device 200, thereby converting the screen data using the relative position information.
  • the wristwatch type terminal device 100 of the present embodiment only needs to include the position detection unit 116 and the data transmission / reception unit 115, and does not necessarily include the storage unit 112 that stores the application. Further, the data transmission / reception unit 115 of the wristwatch-type terminal device 100 and the data transmission / reception unit 215 of the glasses-type terminal device 200 both exchange data (communication) with at least the data transmission / reception unit 315 of the portable terminal device 300. As long as it has a function, it does not necessarily have to have a function of directly transferring data between the data transmission / reception unit 115 of the wristwatch type terminal device 100 and the data transmission / reception unit 215 of the glasses-type terminal device 200. .
  • the portable terminal device 300 is configured to execute the application and detect the relative position, thereby further simplifying the configuration of the wristwatch type terminal device 100, It becomes possible to reduce the size and weight.
  • the system that detects the relative position between the two terminal devices of the wristwatch type terminal device 100 and the glasses type terminal device 200 has been described as an example.
  • the relative position detection system according to the present invention includes three systems. It is also possible to configure as a system that detects the relative positions of two or more terminal devices. Therefore, for example, a plurality of glasses-type terminal devices shown in the above embodiment may be provided. In that case, it is possible to set so that a plurality of glasses-type terminal devices can see a common image by grasping the relative position of each of the plurality of glasses-type terminal devices with the wristwatch-type terminal device. Is possible.
  • the relative position detection system concerning this invention is used for the relative position detection of the glasses-type terminal device 200 and the wristwatch-type terminal device 100, and the image of the glasses-type terminal device 200 is the vicinity of the wristwatch-type terminal device 100.
  • detection of the relative position by the relative position detection system concerning the present invention is applicable also to other techniques. That is, the terminal device that detects the relative position by the position detection system of the present invention is not limited to these, and may be a terminal device having another configuration.
  • the position of the displayed image or video follows the position of the wristwatch type terminal device 100 has been described.
  • the position of the displayed image is temporarily fixed. Etc. are also possible.
  • an image or video displayed on the upper part of the wristwatch type terminal device may be displayed by being enlarged or reduced by an operation.
  • the images displayed by the image display system according to the present invention include not only 2D images and 2D videos but also 3D display images or videos such as 3D images and 3D videos.
  • the present invention can be used in the following system in place of the system including the wristwatch type terminal device 100 and the glasses type terminal device 200 as described above.
  • a terminal device corresponding to the first terminal device of the present invention is placed beside the car handle, and a car navigation image (video) is projected on the upper portion of the terminal device so as to be seen through the glasses-type terminal device.
  • a car navigation image video
  • Allow wristwatch-type terminal devices to obtain information about exhibitions at museums, etc., and view exhibits etc. in a 360-degree range with 3D images or video displayed on the top of the wristwatch-type terminal devices through glasses-type terminal devices To be able to.
  • the said embodiment demonstrated the case where the position detection between the two terminal devices of the wristwatch-type terminal device 100 which is a 1st terminal device, and the spectacles-type terminal device 200 which is a 2nd terminal device was performed, other than this
  • the first terminal device and the second terminal device reset the relative position information at a certain point, and the second terminal device sends its own position information to the first terminal device thereafter
  • the second terminal device resets the position information with another third terminal device, and if the information transmission means to the first terminal device can be transmitted to the third terminal device, then the second terminal device Even if the 1 terminal device does not go through the 2nd terminal device (if the reset point of the 2nd terminal device is known), the position of the 3rd terminal device can also be grasped. In this way, it is possible to increase the number of terminal devices capable of position detection by repeating the position detection operation between the two terminal devices.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Computer Hardware Design (AREA)
  • Human Computer Interaction (AREA)
  • Optics & Photonics (AREA)
  • User Interface Of Digital Computer (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)
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Abstract

L'invention concerne un système de détection de position relative qui n'empêche pas de réduire la taille d'un dispositif ou n'empêche pas la simplification de la configuration ou du traitement d'un dispositif et qui permet de détecter, avec une grande précision, des positions relatives parmi une pluralité de dispositifs. Ledit système de détection de position relative permettant de détecter des positions relatives d'un premier dispositif terminal et d'un second dispositif terminal est conçu de telle sorte que : le premier dispositif terminal et le second dispositif terminal comprennent une unité de détection de position qui comprend un capteur d'accélération et un capteur de vitesse angulaire et une unité de transmission/réception de données permettant de transmettre/recevoir mutuellement des données; le premier dispositif terminal et/ou le second dispositif terminal comprennent une unité d'acquisition d'informations de position relative permettant d'acquérir des informations concernant les positions relatives du premier dispositif terminal et du second dispositif terminal; et ladite unité d'acquisition d'informations de position relative acquiert des informations concernant les positions relatives du premier dispositif terminal et du second dispositif terminal à l'aide uniquement de valeurs mesurées des capteurs d'accélération et de valeurs mesurées des capteurs de vitesse angulaire.
PCT/JP2018/003457 2017-02-03 2018-02-01 Système de détection de position relative et système d'affichage d'image WO2018143360A1 (fr)

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