Head-mounted display device and positioning apparatus therefor

Abstract

The present application provides a head-mounted display device and a positioning device thereof. The positioning device includes a first sensor, a second sensor, a third sensor, a first hub sensor, and a controller. The first sensor and the second sensor have a fixed relative position. The third sensor is disposed on a first flexible member of the head-mounted display device. The first hub sensor is disposed on a first connecting portion connecting a body portion and the first flexible member, and is configured to sense a first movement state of the first flexible member. The controller is configured to calculate first relative position information of the first sensor, the second sensor, and the third sensor, and correct the first relative position information according to the first movement state.

Description

Technical Field

[0001] This invention relates to a head-mounted display device and its positioning device, and particularly to a head-mounted display device and its positioning device that can be adjusted according to the user's body shape. Background Technology

[0002] With the advancement of electronic technology, head-mounted displays that can present stereoscopic effects have become mainstream.

[0003] To enhance the user experience, the electronic system can provide external devices (such as handles) to work with the head-mounted display for interactive operation. These external devices can transmit ultrasonic signals, while the head-mounted display is equipped with multiple sensors to receive these signals and perform triangulation calculations to determine the position of the external device.

[0004] In the prior art, when the position of at least one of the sensors on a head-mounted display device changes, the triangulation calculations it performs may produce errors, thus failing to accurately locate the position of external devices. This can lead to hand-eye coordination problems for users during interactive operations. Summary of the Invention

[0005] The present invention relates to a positioning device suitable for head-mounted display devices, which can adjust the positioning results according to the user's body shape.

[0006] According to an embodiment of the present invention, a positioning device is applicable to a head-mounted display device. The positioning device includes a first sensor, a second sensor, a third sensor, a first pivot sensor, and a controller. The first sensor and a second sensor are disposed in a first region of the body portion of the head-mounted display device, wherein the first sensor and the second sensor have a fixed relative position. The third sensor is disposed on a first flexible component of the head-mounted display device. The first pivot sensor is disposed on a first connecting portion of the head-mounted display device for connecting the body portion and the first flexible component, wherein the first pivot sensor is used to sense a first movement state of the first flexible component. The controller is coupled to the first pivot sensor, the first sensor, the second sensor, and the third sensor to calculate first relative position information of the first sensor, the second sensor, and the third sensor, and to correct the first relative position information according to the first movement state.

[0007] According to an embodiment of the present invention, a head-mounted display device includes a body, a first flexible component, a first connecting portion, and a positioning device. The first connecting portion connects the body and the first flexible component. The positioning device includes a first sensor, a second sensor, a third sensor, a first pivot sensor, and a controller. The first and second sensors are disposed in a first region of the body of the head-mounted display device, wherein the first and second sensors have a fixed relative position. The third sensor is disposed on the first flexible component. The first pivot sensor is disposed on the first connecting portion and is used to sense a first movement state of the first flexible component. The controller is coupled to the first pivot sensor, the first sensor, the second sensor, and the third sensor to calculate the first relative position information of the first sensor, the second sensor, and the third sensor, and to correct the first relative position information according to the first movement state.

[0008] Based on the above, the present invention provides a pivot sensor on the connection between the flexible component and the main body of a head-mounted display device. The pivot sensor senses the movement state of the flexible component and uses this movement state to correct the relative positions of the first, second, and third sensors. In this way, when the flexible component generates different movement information due to different users, the positioning device can effectively correct the relative positions of the first, second, and third sensors. When the positioning device detects the position of an external device, it can effectively maintain the accuracy of the detection results. Attached Figure Description

[0009] The accompanying drawings are included to further illustrate the invention, and are incorporated in and constitute a part of this specification. The drawings illustrate embodiments of the invention and, together with the description, serve to explain the principles of the invention.

[0010] Figure 1 This is a schematic diagram of a head-mounted display device according to an embodiment of the present invention;

[0011] Figures 2A to 2C This is a schematic diagram of one embodiment of the detection action of the movement state of a flexible component in this invention.

[0012] Figures 3A to 3C This is a schematic diagram of another embodiment of the detection action of the movement state of the flexible component in this invention.

[0013] Figure 4 This is a schematic diagram of a head-mounted display device according to another embodiment of the present invention;

[0014] Figure 5 This is a flowchart illustrating the positioning action of a head-mounted display device according to an embodiment of the present invention.

[0015] Explanation of icon numbers

[0016] 100, 400: Head-mounted display devices;

[0017] 110, 410: body part;

[0018] 120, 420: Positioning devices;

[0019] 121~123, 421~423, 426~428: Sensors;

[0020] 124, 424, 429: Hub sensors;

[0021] 125, 425: Controller;

[0022] 130, 140, 430, 440: Flexible components;

[0023] A1, A2: included angle;

[0024] C1: Connecting part;

[0025] DIR1: Direction;

[0026] RA: Reference axis;

[0027] S1: Elastic object;

[0028] S510~S540: Steps for positioning actions. Detailed Implementation

[0029] Reference will now be made in detail to exemplary embodiments of the invention, examples of which are illustrated in the accompanying drawings. Wherever possible, the same element symbols are used in the drawings and description to denote the same or similar parts.

[0030] Please refer to Figure 1 , Figure 1 This 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 (VR), augmented reality (AR), or mixed reality (MR) display effects. In this embodiment, the head-mounted display device 100 has a body 110, flexible components 130 and 140, and a positioning device 120. In this embodiment, the 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 a first connecting portion and a second connecting portion, respectively. The head-mounted display device 100 may be configured as glasses, and the flexible components 130 and 140 may be two temples.

[0031] On the other hand, the positioning device 120 includes sensors 121-123, a hinge sensor 124, and a controller 125. Sensors 121 and 122 are disposed in a first region Z1 of the body portion 110. For example, sensors 121 and 122 may be disposed at two different positions above and below the first eye display in the body portion 110, respectively. Sensors 121 and 122 have a fixed relative position. Sensor 123 may be disposed on the flexible member 130. Sensors 121, 122, and 123 may be connected to form a triangle. The hinge sensor 124 is disposed on the connection portion connecting the flexible member 130 and the body portion 110, and is used to detect the movement state of the flexible member 130.

[0032] Furthermore, the controller 125 is coupled to sensors 121-123 and the pivot sensor 124. In the initial state, the controller 125 obtains the relative position information between sensors 121-123 based on their default positions. In actual use, the user-held external device (handle) can transmit wireless signals, and the sensors 121-123 in the positioning device 125 can receive these wireless signals respectively, obtaining distance information between the external device and sensors 121-123 based on the strength of the received wireless signals. Then, the controller 125 can perform triangulation calculations based on this distance information to obtain the position information of the external device.

[0033] In this embodiment, when a user wears the head-mounted display device 100, the flexible component 130, which serves as the temple, may move along the direction DIR1 due to differences in the user's head shape and / or head size. This movement of the flexible component 130 along the direction DIR1 causes the position of the sensor 123 to differ from its original default position. Here, the pivot sensor 124 can detect the movement state of the flexible component 130. The controller 125 can then recalculate the relative positional relationship between the sensors 121 and 123 based on the movement state of the flexible component 130. In this way, based on the corrected relative positional relationship between the sensors 121 and 123, 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.

[0034] In this embodiment, sensors 121-123 can be ultrasonic receivers to receive ultrasonic wireless signals transmitted by an external device. In other embodiments of the present invention, the external device may also transmit other types of wireless signals, and sensors 121-123 may be corresponding wireless signal receivers, without any certain limitation.

[0035] In this embodiment, the controller 125 can be coupled to sensors 121-123 and hub sensor 124 via a wired connection. The controller 125 can be a processor with computing capabilities. Alternatively, the controller 125 can be a hardware circuit designed using a Hardware Description Language (HDL) or any other digital circuit design method well known to those skilled in the art, and implemented using a Field Programmable Gate Array (FPGA), Complex Programmable Logic Device (CPLD), or Application-Specific Integrated Circuit (ASIC).

[0036] Please refer to the following as well. Figure 1 as well as Figures 2A to 2C ,in Figures 2A to 2C This is a schematic diagram illustrating one embodiment of the detection operation for the movement state of a flexible component in this invention. Figure 2A In this configuration, the main body 110 is interconnected with the flexible component 130 via a connecting portion C1. The connecting portion C1 can be a rotating shaft and is coupled to the pivot sensor 124. The connecting portion C1 may have a reference axis RA. Figure 2A In the initial state, the reference axis RA of the connecting part C1 is parallel to the normal vector of the flexible part 130 (the included angle is 0 degrees).

[0037] exist Figure 2B When the flexible component 130 moves outward, the connecting part C1 rotates, causing the reference axis RA to form an angle A1 (where the angle A1 is greater than 0 degrees) with the normal vector of the flexible component 130 in its initial state. At this time, the pivot sensor 124 can obtain the rotation angle of the connecting part C1 based on the angle A1. The controller 125 can then calculate the movement state of the sensor 123 based on the rotation angle of the connecting part C1.

[0038] For example, the controller 125 can calculate the movement state of the sensor 123 based on the position of the sensor 123 on the flexible component 130 and the included angle A1.

[0039] exist Figure 2C When the flexible component 130 retracts, the connecting part C1 also rotates, causing the reference axis RA to form an angle A2 (where the angle A2 is less than 0 degrees) with the normal vector of the flexible component 130 in its initial state. At this time, the pivot sensor 124 can obtain the rotation angle of the connecting part C1 based on the angle A2. The controller 125 can then calculate the movement state of the sensor 123 based on the rotation angle of the connecting part C1 and the position of the sensor 123 on the flexible component 130.

[0040] Please refer to the following as well. Figure 1 as well as Figures 3A to 3C ,in Figures 3A to 3C This is a schematic diagram illustrating another embodiment of the detection operation for the movement state of a flexible component in this invention. Figure 3A In this configuration, the main body 110 is interconnected with the flexible member 130 via a connecting portion C1. The connecting portion C1 has an elastic element S1 and is coupled to the pivot sensor 124 via the elastic element S1. Figure 3A In the initial state, the elastic member S1 of the connecting part C1 has an initial state.

[0041] exist Figure 3B When the flexible component 130 moves outward, the elastic component S1 can be stretched accordingly, resulting in a first deformation state. At this time, the pivot sensor 124 can obtain the rotation angle of the connecting part C1 based on the first deformation state, and calculate the movement state of the sensor 123 based on the rotation angle of the sensor 123 on the connecting part C1 and the position of the sensor 123 on the flexible component 130.

[0042] exist Figure 3C When the flexible component 130 retracts, the elastic component S1 is correspondingly compressed, resulting in a second deformation state. At this time, the pivot sensor 124 can obtain the rotation angle of the connecting portion C1 based on the second deformation state. The controller 125 can then calculate the movement state of the sensor 123 based on the rotation angle of the connecting portion C1 and the position of the sensor 123 on the flexible component 130.

[0043] Please refer to the following: Figure 4 , Figure 4This 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 includes a body portion 410, flexible components 430 and 440, and a positioning device 420. In this embodiment, the body portion 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 via a first connecting portion and a second connecting portion. The head-mounted display device 400 may be configured as glasses, and the flexible components 430 and 440 may be two temples.

[0044] On the other hand, the positioning device 420 includes sensors 421-423, 426-428, hinge sensors 424 and 429, and a controller 425. Sensors 421 and 422 are disposed in a first region of the body portion 410. For example, sensors 421 and 422 may be disposed at two different locations above and below the first eye display in the body portion 410, respectively. Sensors 421 and 422 have a fixed relative position. Sensors 426 and 427 may be disposed at two different locations above and below the second eye display in the body portion 410, respectively. Sensors 426 and 427 have a fixed relative position.

[0045] Additionally, sensors 423 and 428 can be respectively disposed on flexible components 430 and 440. Sensors 421, 422, and 423 can be connected to form a triangle, and sensors 426, 427, and 428 can be connected to form another triangle. Furthermore, a pivot sensor 424 is disposed on the connection portion connecting the flexible component 430 and the main body 410; a pivot sensor 429 is disposed on the connection portion connecting the flexible component 440 and the main body 410. Pivot sensors 424 and 429 are used to detect the movement states of the flexible components 430 and 440, respectively.

[0046] The controller 425 is coupled to sensors 421-423, 426-428, and hub sensors 424 and 429, and is used to perform calculations and corrections of the relative position information between sensors 421-423 and between sensors 426-428. The controller 425 can also be used to perform positioning operations for external devices.

[0047] The details of the calculation and correction of the relative position information and the positioning action of the external device have been explained in detail in the foregoing embodiments and implementation methods, and will not be repeated here.

[0048] Please refer to Figure 5 , Figure 5 This is a flowchart of the positioning operation of a head-mounted display device according to an embodiment of the present invention. In step S510, a pivot sensor on the connecting part of the head-mounted display, which connects the main body and the flexible component (temple), detects the change in the position of the temple (=X). Next, in step S520, the head-mounted display device compensates for the position of the sensor mounted on the temple based on the change (=X). Next, in step S530, the head-mounted display device redefines the relative positions of the three sensors on the main body and the temple. And in step S540, the sensor receives an ultrasonic signal transmitted from the handle (external device) to perform triangulation calculations using the compensated relative positions of the three sensors, thereby locating the position of the handle.

[0049] The implementation details of the above steps S510 to S540 have been described in detail in the foregoing embodiments and implementation methods, and will not be repeated here.

[0050] In summary, in the head-mounted display device of the present invention, a pivot sensor disposed on the connection between the main body and the flexible component in the positioning device obtains the movement state of the sensors on the flexible component by sensing the movement state of the flexible component, and corrects the relative position information between the three sensors in the positioning device based on the movement state of the sensors on the flexible component. In this way, when the flexible component undergoes different displacements for different users, the head-mounted display device can maintain the accuracy of the positioning action of the external device, effectively maintaining the performance of the head-mounted display device.

[0051] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A positioning device suitable for head-mounted display devices, characterized in that, The positioning device includes: A first sensor and a second sensor are disposed in a first region of the body of the head-mounted display device, wherein the first sensor and the second sensor have a fixed relative position; The third sensor is disposed on the first flexible component of the head-mounted display device; A first pivot sensor is disposed on a first connecting portion of the head-mounted display device for connecting the body portion and the first flexible component, wherein the first pivot sensor is used to sense a first movement state of the first flexible component; and The controller, coupled to the first hub sensor, the first sensor, the second sensor, and the third sensor, is used to calculate the first relative position information of the first sensor, the second sensor, and the third sensor, and to correct the first relative position information according to the first movement state.

2. The positioning device according to claim 1, characterized in that, The first connecting part is a rotating shaft, and the first pivot sensor detects the rotation angle of the rotating shaft to generate the first movement state.

3. The positioning device according to claim 1, characterized in that, The first connecting portion has an elastic element, and the first pivot sensor detects the deformation state of the elastic element to generate the first movement state.

4. The positioning device according to claim 1, characterized in that, The first sensor to the third sensor receive wireless signals sent by an external device, and the controller locates the position of the external device based on the wireless signals received by the first sensor to the third sensor and the first relative position information.

5. The positioning device according to claim 4, characterized in that, The controller locates the external device based on triangulation.

6. The positioning device according to claim 1, characterized in that, Also includes: A fourth sensor and a fifth sensor are disposed in a second region of the body portion of the head-mounted display device, wherein the fourth sensor and the fifth sensor have a fixed relative position; The sixth sensor is disposed on the second flexible component of the head-mounted display device; A second pivot sensor is disposed on a second connection portion of the head-mounted display device for connecting the body portion and the second flexible component, wherein the second pivot sensor is used to sense a second movement state of the second flexible component. The controller is coupled to the second hub sensor, the fourth sensor, the fifth sensor, and the sixth sensor to calculate the second relative position information of the fourth sensor, the fifth sensor, and the sixth sensor, and to correct the second relative position information according to the second movement state.

7. The positioning device according to claim 4, characterized in that, The wireless signal transmitted by the external device is an ultrasonic signal.

8. A head-mounted display device, characterized in that, include: Body part; First flexible component; A first connecting portion is used to connect the main body portion and the first flexible component; as well as Positioning device, including: A first sensor and a second sensor are disposed in a first region of the body portion of the head-mounted display device, wherein the first sensor and the second sensor have a fixed relative position; The third sensor is disposed on the first flexible component of the head-mounted display device; A first pivot sensor is disposed on the first connecting portion, wherein the third sensor is used to sense a first movement state of the first flexible component; and The controller, coupled to the first hub sensor, the first sensor, the second sensor, and the third sensor, is used to calculate the first relative position information of the first sensor, the second sensor, and the third sensor, and to correct the first relative position information according to the first movement state.

9. The head-mounted display device according to claim 8, characterized in that, The first connecting part is a rotating shaft, and the first pivot sensor detects the rotation angle of the rotating shaft to generate the first movement state.

10. The head-mounted display device according to claim 8, characterized in that, The first connecting portion has an elastic element, and the first pivot sensor detects the deformation state of the elastic element to generate the first movement state.

11. The head-mounted display device according to claim 8, characterized in that, The head-mounted display device also includes: The second flexible component; and The second connecting portion is used to connect the main body portion and the second flexible component; The positioning device further includes: A fourth sensor and a fifth sensor are disposed in the second region of the main body, wherein the fourth sensor and the fifth sensor have a fixed relative position; A sixth sensor is disposed on the second flexible component; and A second pivot sensor is disposed on the second connecting portion, wherein the second pivot sensor is used to sense a second movement state of the second flexible component. The controller is coupled to the second hub sensor, the fourth sensor, the fifth sensor, and the sixth sensor to calculate the second relative position information of the fourth sensor, the fifth sensor, and the sixth sensor, and to correct the second relative position information according to the second movement state.

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