Electronic device having a movable component

Abstract

The invention relates to an electronic device with a movable component. An electronic device, such as a head-mounted electronic device, may include a display for presenting an image to a user. To accommodate changes in pupillary spacing associated with different users, a head-mounted device may have a left-eye optical module and a right-eye optical module that are moved relative to each other with an actuator. The actuator may include a motor, a compound planetary gearbox, and a lead screw that moves the optical module. In particular, the compound planetary gearbox may have a high reduction ratio to reduce the size of the actuator while providing sufficient torque to move the optical module. The compound planetary gearbox may include a first planetary gear and a second planetary gear, the first planetary gear and the second planetary gear being coupled to a common shaft; and the bearing frame carries the planetary gear and drives the lead screw. The second planet gear may have a smaller diameter than the first planet gear, and the second planet gear may mesh with teeth on a ring gear to provide the high reduction ratio.

Description

[0001] This application claims priority to U.S. Patent Application No. 18 / 883,792, filed on September 12, 2024, and U.S. Provisional Patent Application No. 63 / 604,028, filed on November 29, 2023, the entireties of which are hereby incorporated by reference. Technical Field

[0002] The present invention generally relates to electronic devices, and more particularly to wearable electronic devices such as head-mounted devices. Background Art

[0003] Electronic devices such as head-mounted devices are configured to be worn on a user's head. The head-mounted device may have a left optical system and a right optical system for presenting images to the user's left and right eyes. It may be desirable to adjust the positions of the left and right optical systems. Summary of the Invention

[0004] An electronic device such as a head-mounted electronic device may include a display for presenting images to a user. To accommodate variations in pupil spacing associated with different users, the head-mounted device may have a left optical module and a right optical module that move relative to each other. Each optical module may include a display device for generating an image and associated optical components, such as lenses for providing the image to an associated eye zone where the user's eye is located to view the image. The optical modules may sometimes be referred to as optical systems, display systems, lens systems, lens and display assemblies, etc., each of which may have a support structure, such as a lens barrel that supports the respective display and lens.

[0005] An actuator may be used to position the lens barrel within the housing of the head-mounted device. The actuator may include a motor, a compound planetary gearbox, and a lead screw that moves the optical module. In particular, the compound planetary gearbox may have a high reduction ratio to reduce the size of the actuator while providing sufficient torque to move the optical module.

[0006] The compound planetary gearbox may include: a first planetary gear and a second planetary gear that are coupled to a common shaft; and a carrier that carries the planetary gears and drives the lead screw. The second planetary gear may have a smaller diameter than the first planetary gear, and the second planetary gear may engage teeth on an annular gear to provide the high reduction ratio. Brief Description of the Drawings

[0007] Figure 1 is a top view of an exemplary head-mounted device according to some embodiments.

[0008] Figure 2Is a rear view of an exemplary head-mounted device according to some embodiments.

[0009] Figure 3 Is a schematic diagram of an exemplary head-mounted device according to some embodiments.

[0010] Figure 4 Is a schematic diagram of an exemplary actuator that can be used in a head-mounted device according to some embodiments.

[0011] Figure 5 Is a perspective view of an exemplary compound planetary gearbox that can be used in an actuator according to some embodiments.

[0012] Figure 6 Is a top view of an exemplary actuator including a compound planetary gearbox according to some embodiments. Detailed Description

[0013] An electronic device (such as a head-mounted device) may have a front side facing away from the user's head and an opposite back side facing the user's head. An optical module on the back side may be used to provide an image to the user's eyes. The position of the optical module may be adjusted to accommodate different user pupil spacings and / or to provide other suitable adjustments. By covering the back side of the device with a shade, the internal device structure may be hidden from the user. The shade may sometimes be referred to as a cover, a covering structure, a rear housing cover, a rear housing wall, a rear housing structure, a decorative cover, etc., which may help block the potentially unsightly internal structure from view while accommodating the movement of the optical module.

[0014] To move the optical module, one or more actuators may be used. In particular, to allow for active adjustment of the optical module, the actuator may include a motor. The motor may rotate a lead screw, which in turn moves the optical module. In this way, the optical module may be automatically adjusted.

[0015] The actuator may have a small footprint to fit into the head-mounted device and may provide sufficient torque to move the optical module and other connected components such as the shade. Thus, the actuator may include a small motor with low torque coupled to a gearbox with a high reduction ratio. In particular, the gearbox may be a planetary gearbox with a compound stage design to provide a high reduction ratio and a small footprint.

[0016] Figure 1 A top view of an exemplary head-mounted device that may include an actuator with a planetary gearbox is shown. As Figure 1As shown, a head-mounted device such as electronic device 10 may have a head-mounted support structure such as housing 12. Housing 12 may include a portion (e.g., support structure 12T) for allowing the device 10 to be worn on a user's head. Support structure 12T may be formed of fabric, polymer, metal, and / or other materials. Support structure 12T may form a strap or other head-mounted support structure that helps support device 10 on the user's head. The main support structure of housing 12 (e.g., main housing portion 12M) may support electronic components such as display 14. Main housing portion 12M may include a housing structure formed of metal, polymer, glass, ceramic, and / or other materials. For example, housing portion 12M may have a housing wall on front face F and housing walls on adjacent top, bottom, left, and right side faces, which are formed of a rigid polymer or other rigid support structure, and these rigid walls may optionally be covered with electronic components, fabric, leather, or other soft materials, etc. The walls of main housing portion 12M may enclose internal components 38 in internal region 34 of device 10 and may separate internal region 34 from the environment (external region 36) around device 10. Internal components 38 may include integrated circuits, actuators, batteries, sensors, and / or other circuits and structures for device 10. Housing 12 may be configured to be worn on a user's head and may form glasses, a hat, a helmet, goggles, and / or other head-mounted devices. In this document, the configuration in which housing 12 forms goggles is sometimes described as an example.

[0017] The front face F of housing 12 may face outward away from the user's head and face. The opposite rear face R of housing 12 may face the user. The portion of housing 12 on rear face R (e.g., a portion of main housing 12M) may form a covering, such as a shade 12C. In an exemplary configuration, shade 12C includes a fabric layer that separates internal region 34 from the external region to the rear of device 10. If desired, other structures may be used to form shade 12C. The presence of shade 12C on rear face R may help hide the internal housing structure, internal components 38, and other structures in internal region 34 from being seen by the user.

[0018] Device 10 may have left and right optical modules 40 (also referred to herein as optical components 40). Each optical module may include a corresponding display 14, a lens 30, and a support structure 32. The support structure 32, which may sometimes be referred to as a lens barrel or an optical module support structure, may include a hollow cylindrical structure having an open end or other support structure for housing the display 14 and the lens 30. The support structure 32 may include, for example, a left lens barrel that supports the left display 14 and the left lens 30 and a right lens barrel that supports the right display 14 and the right lens 30. The display 14 may include a pixel array or other display device to generate an image. The display 14 may include, for example, organic light-emitting diode pixels formed on a substrate having a thin-film circuit and / or formed on a semiconductor substrate, pixels formed by crystal semiconductor die, liquid crystal display pixels, a scanning display device, and / or other display devices for generating an image. The lens 30 may include one or more lens elements for providing image light from the display 14 to a corresponding eye zone 13. The lens may be implemented using refractive glass lens elements, using a mirror lens structure (refractive-reflective lens), using holographic lenses, and / or other lens systems. When the user's eyes are located in the eye zones 13, the displays (display panels) 14 operate together to form the display of the device 10 (e.g., the user's eyes may view the images provided by the corresponding left and right optical modules 40 in the eye zones 13 such that a stereoscopic image is created for the user). When the user views the display, the left image from the left optical module is fused with the right image from the right optical module.

[0019] Not all users have the same interpupillary distance IPD. To provide the device 10 with the ability to adjust the interpupillary distance between the modules 40 along the lateral dimension X and thus adjust the distance IPD between the eye zones 13 to accommodate different user interpupillary distances, the device 10 may be provided with an actuator 42. The actuator 42 may be a manually controlled and / or computer-controlled actuator (e.g., a computer-controlled motor) for moving the support structures 32 relative to each other.

[0020] As Figure 2 shown, the shade 12C may cover the back surface R while leaving the lenses 30 of the optical modules 40 uncovered (e.g., the shade 12C may have an opening that aligns with and receives the module 40). When the modules 40 move relative to each other along the dimension X to accommodate different interpupillary distances of different users, the modules 40 move relative to the walls of a fixed housing structure such as the main portion 12M and relative to each other. To prevent undesired wrinkling and buckling of the shade 12C when the optical modules 40 move relative to the rigid portions of the housing 12M and relative to each other, the fabric layer or other covering layer in the shade 12C may be configured to slide, stretch, open / close, and / or otherwise adjust to accommodate the movement of the optical modules.

[0021] Figure 3 A schematic diagram of an exemplary electronic device such as a head-mounted device or other wearable device is shown. Figure 3 The device 10 can operate as a stand-alone device and / or the resources of the device 10 can be used to communicate with external electronic equipment. For example, the communication circuitry in the device 10 can be used to send user input information, sensor information, and / or other information to an external electronic device (e.g., wirelessly or via a wired connection). Each of these external devices can include Figure 3 components of the type shown in the device 10.

[0022] As Figure 3 shown, a head-mounted device such as the device 10 can include control circuitry 20. The control circuitry 20 can include storage and processing circuitry for supporting the operation of the device 10. The storage and processing circuitry can include storage devices such as non-volatile memory (e.g., flash memory or other electrically programmable read-only memory configured to form a solid-state drive), volatile memory (e.g., static or dynamic random access memory), etc. The processing circuitry in the control circuitry 20 can be used to collect inputs from sensors and other input devices and can be used to control output devices. The processing circuitry can be based on one or more microprocessors, microcontrollers, digital signal processors, baseband processors, and other wireless communication circuitry, power management units, audio chips, application-specific integrated circuits, etc. During operation, the control circuitry 20 can use the display 14 and other output devices to provide visual and other outputs to the user.

[0023] To support communication between the device 10 and external equipment, the control circuitry 20 can communicate using the communication circuitry 22. The circuitry 22 can include an antenna, radio frequency transceiver circuitry, and other wireless communication circuitry and / or wired communication circuitry. The circuitry 22 (which can sometimes be referred to as control circuitry and / or control and communication circuitry) can support two-way wireless communication between the device 10 and external equipment (e.g., companion devices such as computers, cellular telephones, or other electronic devices, accessories such as pointing devices, computer styli, or other input devices, speakers, or other output devices, etc.) via a wireless link. For example, the circuitry 22 can include radio frequency transceiver circuitry such as a wireless local area network transceiver circuitry configured to support communication via a wireless local area network link, a near field communication transceiver circuitry configured to support communication via a near field communication link, a cellular telephone transceiver circuitry configured to support communication via a cellular telephone link, or a transceiver circuitry configured to support communication via any other suitable wired or wireless communication link. For example, it can be via link, A link, a wireless link operating at a frequency between 10 GHz and 400 GHz, a 60 GHz link or other millimeter-wave link, a cellular phone link or other wireless communication link supports wireless communication. The device 10 (if required) may include power circuitry for transmitting and / or receiving wired and / or wireless power, and may include a battery or other energy storage device. For example, the device 10 may include a coil and a rectifier to receive wireless power provided to the circuitry in the device 10.

[0024] The device 10 may include input-output devices such as the device 24. The input-output device 24 may be used to collect user input, to collect information about the user's surrounding environment, and / or to provide output to the user. The device 24 may include one or more displays such as the display 14. The display 14 may include one or more display devices such as an organic light-emitting diode display panel (a panel having organic light-emitting diode pixels formed on a polymer substrate or a silicon substrate including pixel control circuitry), a liquid crystal display panel, a microelectromechanical systems display (e.g., a two-dimensional mirror array or a scanning mirror display device), a display panel having a pixel array formed by crystal semiconductor light-emitting diode dies (sometimes referred to as micro LEDs), and / or other display devices.

[0025] The sensors 16 in the input-output device 24 may include force sensors (e.g., strain gauges, capacitive force sensors, resistive force sensors, etc.), audio sensors such as microphones, touch and / or proximity sensors (such as capacitive sensors, such as touch sensors forming buttons, touch pads, or other input devices), and other sensors. If desired, the sensors 16 may include optical sensors (such as optical sensors that emit and detect light), ultrasonic sensors, optical touch sensors, optical proximity sensors, and / or other touch sensors and / or proximity sensors, monochromatic and color ambient light sensors, image sensors, fingerprint sensors, iris scan sensors, retina scan sensors, and other biometric sensors, temperature sensors, sensors for measuring three-dimensional contactless gestures ("air gestures"), pressure sensors, sensors for detecting position, orientation, and / or movement (e.g., accelerometers, magnetic sensors such as compass sensors, gyroscopes, and / or inertial measurement units that include some or all of these sensors), health sensors such as blood oxygen sensors, heart rate sensors, blood flow sensors, and / or other health sensors, radio frequency sensors, depth sensors (e.g., structured light sensors and / or depth sensors based on stereoscopic imaging devices that capture three-dimensional images), optical sensors such as self-mixing sensors and light detection and ranging (lidar) sensors that acquire time-of-flight measurements, humidity sensors, moisture sensors, gaze tracking sensors, electromyography sensors that sense muscle activation, facial sensors, and / or other sensors. In some arrangements, the device 10 may use the sensors 16 and / or other input-output devices to collect user input. For example, buttons may be used to collect button press input, touch sensors overlapping with the display may be used to collect user touch screen input, touch pads may be used to collect touch input, microphones may be used to collect audio input, accelerometers may be used to monitor when a finger touches the input surface and thus may be used to collect finger press input, etc.

[0026] If desired, the electronic device 10 may include additional components (see, for example, other devices 18 in the input-output device 24). The additional components may include haptic output devices, actuators for moving a movable housing structure, audio output devices such as speakers, light-emitting diodes for status indicators, light sources such as light-emitting diodes that illuminate portions of the housing and / or the display structure, other optical output devices, and / or other circuits for collecting input and / or providing output. The device 10 may also include a battery or other energy storage device, a connector port for supporting wired communication with auxiliary equipment and for receiving wired power, and other circuitry.

[0027] Regardless of the components within the electronic device 10, it may be desirable to use the actuator 42 ( Figure 1) to move the optical module 40. In particular, it may be desirable to move these optical modules automatically. Thus, a motor may be incorporated into the actuator 42. Figure 4 An exemplary example of an actuator that can be used to move the optical module is shown.

[0028] As Figure 4 shown, the actuator 42 may include a motor 44, a gearbox 46, and a lead screw 48. The motor 44 can be, for example, a small motor with low torque, such as a stepper motor. For example, the motor 44 may have a diameter less than 10 mm, 8 mm, less than 15 mm, between 5 mm and 12 mm, or another suitable diameter.

[0029] The gearbox 46 may couple the motor 44 to the lead screw 48. In operation, the motor 44 may drive the gearbox 46, which in turn may drive the lead screw 48. The lead screw 48 may be coupled to the optical module 40 ( Figure 1 ) or another adjustable component in the device 10. In this way, the actuator 42 can automatically adjust the optical module or other adjustable components in the device 10.

[0030] Since the motor 44 is small and has low torque, the gearbox 46 may have a high reduction ratio to increase the torque of the actuator 42. For example, the gearbox 46 may have a reduction ratio of at least 7:1, at least 5:1, between 7:1 and 15:1, 7.3:1, or another suitable reduction ratio. Thus, the torque applied to the lead screw 48 can be increased, allowing the lead screw 48 to move a larger load.

[0031] To have a high reduction ratio in a small size, the gearbox 46 can be a compound planetary gearbox. Figure 5 An exemplary example of a compound planetary gearbox is shown.

[0032] As Figure 5 shown, the gearbox 46 may include first planetary gears 52A, 52B, and 52C driven by a gear 50 (also referred to herein as the input gear 50). The gear 50 may be coupled to the output of the motor 44 ( Figure 4 ). The carrier 58 may carry the first planetary gears 52, the second planetary gears 54, and the shaft 56.

[0033] Shafts 56A, 56B, and 56C can extend into each of the first planetary gears 52A, 52B, and 52C, respectively. The second planetary gears 54A, 54B, and 54C can be coupled to shafts 56A, 56B, and 56C, respectively. The second planetary gears 54 can be smaller than the first planetary gears 52, such as having a smaller diameter. The shafts 56 can be press-fit pins, snap-fit pins, or other suitable pins to couple the second planetary gears 54 to the first planetary gears 52. Alternatively or additionally, the shafts 56 can be integrally formed with the carrier 58. In this way, each of the first planetary gears 52 and the second planetary gears 54 can be formed in-line on a common shaft 56.

[0034] By having the first planetary gears 52 and the second planetary gears 54, the gearbox 46 can be a compound planetary gearbox and have a high reduction ratio such as at least 7:1, at least 5:1, greater than 10:1, between 7:1 and 15:1, or 7.3:1, while maintaining a small footprint. In particular, since the first planetary gears 52 and the second planetary gears 54 are formed on a common shaft 56, the first planetary gears 52 and the second planetary gears 54 can rotate and orbit at the same speed, but engage different gears, thereby allowing higher reduction per stage and a higher torque-to-weight ratio.

[0035] Although Figure 5 The gearbox 46 is shown having three first planetary gears 52, three second planetary gears 54, and three shafts 56, but this is merely illustrative. In general, the gearbox 46 can include any suitable number of first planetary gears, second planetary gears, and shafts between the first planetary gears and the second planetary gears.

[0036] The gearbox 46 can be within the actuator to drive the lead screw 48. Figure 6 An illustrative example of the gearbox 46 in the actuator is shown.

[0037] As Figure 6 shown, the actuator 42 can include a gearbox 46 coupled to the motor 44. In particular, the shaft 45 can be coupled to the gear 50, which in turn can be coupled to the first planetary gear 52. The first planetary gear 52 can be formed on the shaft 56 together with the second planetary gear 54. The shaft 56 can be coupled to the carrier 58, which in turn can be coupled to the lead screw 48. Additionally, the teeth of the second planetary gear 54 can engage the teeth on the ring gear 60.

[0038] In operation, the motor 44 can spin the shaft 45, which can rotate the gear 50. Since the teeth of the gear 50 mesh with the teeth of the planetary gear 52, the planetary gear 52 can rotate with the gear 50. The rotation of the gear 50 can rotate the shaft 56 and the planetary gear 54. When the shaft 56 rotates, the carrier 58 will also rotate, thus rotating the lead screw 48. As previously discussed, the lead screw 48 can then move components in the electronic device, such as the optical module.

[0039] In addition, since the teeth of the second planetary gear 54 mesh with the teeth 62 of the ring gear 60 and the second planetary gear 54 is smaller than the first planetary gear 52, the carrier 58 and thus the lead screw 48 can rotate with more torque than in the case where the second planetary gear 54 is omitted. In this way, the gearbox 46 can have a high reduction ratio such as at least 7:1, at least 5:1, between 7:1 and 15:1, or 7.3:1 to increase the output torque of the lead screw 48.

[0040] Additionally, the actuator 42 (including the gearbox 46) can have a small footprint. In particular, the gearbox 46 and the motor 44 can have a diameter d and a width w. The diameter d can be less than 10 mm, between 5 mm and 12 mm, 8 mm, at least 5 mm, or another suitable diameter. The width w can be less than 20 mm, between 14 mm and 19 mm, 16 mm, at least 12 mm, or other suitable widths. Thus, the gearbox 46 can provide increased torque to the lead screw 48 relative to the output of the motor 44 while maintaining the small form factor of the actuator 42, allowing the actuator 42 to be mounted in an electronic device such as a head-mounted device.

[0041] As described above, one aspect of the present technology is the collection and use of information, such as information from input-output devices. The present disclosure contemplates that, in some cases, data including personal information data may be collected, where the personal information data uniquely identifies or can be used to contact or locate a specific person. Such personal information data may include demographic data, location-based data, phone numbers, email addresses, Twitter IDs, home addresses, data or records related to the user's health or fitness level (e.g., vital sign measurements, medication information, exercise information), date of birth, user names, passwords, biometric information, or any other identifying or personal information.

[0042] The present disclosure recognizes that the use of such personal information in the technology of the present invention can be used to benefit users. For example, the personal information data can be used to deliver target content that the user is more interested in. Thus, the use of such personal information data enables the user to exercise planned control over the delivered content. In addition, the present disclosure also anticipates other uses of personal information data that are beneficial to users. For example, health and fitness data can be used to provide insights into the user's overall health condition, or can be used as positive feedback for individuals who use technology to pursue health goals.

[0043] The present disclosure anticipates that entities responsible for the collection, analysis, disclosure, transmission, storage or other use of such personal information data will comply with sound privacy policies and / or privacy practices. Specifically, such entities should implement and adhere to privacy policies and privacy practices that are recognized as meeting or exceeding industry or government requirements for maintaining the privacy and security of personal information data. Such policies should be accessible to users and should be updated as the collection and / or use of data changes. Personal information from users should be collected for legitimate and reasonable entity uses and should not be shared or sold outside of these legitimate uses. In addition, such collection / sharing should be carried out after receiving the informed consent of the user. Additionally, such entities should consider taking any necessary steps to protect and safeguard access to such personal information data and ensure that other entities with access to personal information data comply with the privacy policies and procedures of other entities. Additionally, such entities can subject themselves to third-party assessments to demonstrate their compliance with widely accepted privacy policies and privacy practices. Furthermore, the policies and practices should be adapted to the specific type of personal information data being collected and / or accessed and to the applicable laws and standards including considerations of specific jurisdictions. For example, in the United States, the collection or access to certain health data may be governed by federal and / or state laws such as the Health Insurance Portability and Accountability Act, while health data in other countries may be subject to other regulations and policies and should be handled accordingly. Therefore, different privacy practices should be asserted for different types of personal data in each country.

[0044] Notwithstanding the foregoing, the present disclosure also contemplates embodiments in which a user selectively blocks the use or access of personal information data. That is, the present disclosure contemplates that hardware elements and / or software elements may be provided to prevent or block access to such personal information data. For example, the inventive technology may be configured to allow a user to select "opt-in" or "opt-out" of collecting personal information data at any time during or after registering for a service. In another example, a user may choose not to provide certain types of user data. In yet another example, a user may choose to limit the length of time that user-specific data is maintained. In addition to providing "opt-in" and "opt-out" options, the present disclosure also contemplates providing notifications related to access or use of personal information. For example, a user may be notified when downloading an application ("app") that their personal information data will be accessed, and then reminded again before the personal information data is accessed by the app.

[0045] In addition, it is the intent of the present disclosure that personal information data should be managed and processed in a manner that minimizes the risk of unintentional or unauthorized access or use. Once data is no longer needed, the risk can be minimized by restricting data collection and deleting the data. In addition, and when applicable, including in certain health-related applications, data de-identification can be used to protect the privacy of users. In appropriate circumstances, de-identification can be facilitated by removing specific identifiers (e.g., date of birth, etc.), controlling the amount or characteristics of data stored (e.g., collecting location data at the city level rather than the address level), controlling the manner in which data is stored (e.g., aggregating data across users), and / or other methods.

[0046] Thus, while the present disclosure broadly covers the use of information that may include personal information data to implement one or more of the various disclosed embodiments, the present disclosure also contemplates that various embodiments may also be implemented without access to personal information data. That is, the various embodiments of the inventive technology will not fail to operate properly due to the absence of all or a portion of such personal information data.

[0047] Physical environment: The physical environment refers to the physical world that people can sense and / or interact with without the help of an electronic system. Physical environments such as a physical park include physical objects such as physical trees, physical buildings, and physical people. People can directly sense and / or interact with the physical environment, such as through vision, touch, hearing, taste, and smell.

[0048] Computer-Generated Reality: In contrast, a computer-generated reality (CGR) environment is a fully or partially simulated environment in which people sense and / or interact via an electronic system. In CGR, a subset of a person's physical movements or their representations are tracked, and in response, one or more characteristics of one or more virtual objects simulated in the CGR environment are adjusted in a manner consistent with at least one physical law. For example, a CGR system can detect a person's head rotation and, in response, adjust the graphical content and sound field presented to the person in a manner similar to how such views and sounds would change in a physical environment. In some cases (e.g., for accessibility reasons), the adjustment of the characteristics of virtual objects in a CGR environment can be made in response to a representation of a physical movement (e.g., a voice command). A person can use any of their senses to sense and / or interact with CGR objects, including vision, hearing, touch, taste, and smell. For example, a person can sense and / or interact with an audio object that creates a 3D or spatial audio environment that provides the perception of a point audio source in 3D space. Additionally, an audio object can enable audio transparency that selectively introduces ambient sounds from the physical environment with or without computer-generated audio. In some CGR environments, a person can sense and / or interact only with audio objects. Examples of CGR include virtual reality and mixed reality.

[0049] Virtual Reality: A virtual reality (VR) environment is a simulated environment that is designed to be completely computer-generated sensory input for one or more senses. A VR environment includes multiple virtual objects with which a person can sense and / or interact. For example, computer-generated images of trees, buildings, and avatars representing people are examples of virtual objects. A person can sense and / or interact with the virtual objects in a VR environment by way of a simulation of the person's presence within the computer-generated environment and / or by way of a simulation of a subset of the person's physical movements within the computer-generated environment.

[0050] Mixed Reality: Compared to a VR environment that is designed to be based entirely on computer-generated sensory input, a mixed reality (MR) environment is a simulated environment that is designed to incorporate sensory input or its representation from the physical environment in addition to computer-generated sensory input (e.g., virtual objects). On the virtual continuum, an MR environment is any condition between a fully physical environment at one end and a virtual reality environment at the other end, excluding these two ends. In some MR environments, the computer-generated sensory input can respond to changes in the sensory input from the physical environment. Additionally, some electronic systems for presenting an MR environment can track the position and / or orientation relative to the physical environment so that virtual objects can interact with real objects (i.e., physical items from the physical environment or their representations). For example, the system can cause movement so that a virtual tree appears stationary relative to the physical ground. Examples of mixed reality include augmented reality and augmented virtuality. Augmented Reality: An augmented reality (AR) environment is a simulated environment in which one or more virtual objects are superimposed on the physical environment or a representation of the physical environment. For example, an electronic system for presenting an AR environment can have a transparent or translucent display through which a person can directly view the physical environment. The system can be configured to present virtual objects on the transparent or translucent display such that a person using the system perceives the virtual objects superimposed on the physical environment. Alternatively, the system can have an opaque display and one or more imaging sensors that capture images or video of the physical environment, which are representations of the physical environment. The system combines the images or video with the virtual objects and presents the combination on the opaque display. A person uses the system to indirectly view the physical environment via the images or video of the physical environment and perceives the virtual objects superimposed on the physical environment. As used herein, the video of the physical environment displayed on the opaque display is referred to as "passthrough video," meaning that the system uses one or more image sensors to capture images of the physical environment and uses those images when presenting the AR environment on the opaque display. Further alternatively, the system can have a projection system that projects virtual objects into the physical environment, such as as a hologram or on a physical surface, such that a person using the system perceives the virtual objects superimposed on the physical environment. An augmented reality environment also refers to a simulated environment in which the representation of the physical environment is transformed by computer-generated sensory information. For example, in providing passthrough video, the system can transform one or more sensor images to impose an alternative perspective (e.g., viewpoint) different from the perspective captured by the imaging sensor. As another example, the representation of the physical environment can be transformed by graphically modifying (e.g., magnifying) portions thereof such that the modified portions can be a representative but not a true version of the originally captured image. As yet another example, the representation of the physical environment can be transformed by graphically removing portions thereof or blurring portions thereof.Augmented Virtuality: An augmented virtual (AV) environment is a simulated environment in which a virtual environment or computer-generated environment incorporates one or more sensory inputs from the physical environment. The sensory inputs can be representations of one or more characteristics of the physical environment. For example, an AV park can have virtual trees and virtual buildings, but the human face is a realistic reproduction from an image of a physical person. As another example, a virtual object can adopt the shape or color of a physical item imaged by one or more imaging sensors. As yet another example, a virtual object can adopt a shadow that conforms to the positioning of the sun in the physical environment.

[0051] Hardware: There are many different types of electronic systems that enable a person to sense various CGR environments and / or interact with various CGR environments. Examples include head-mounted systems, projection-based systems, head-up displays (HUDs), vehicle windshields integrated with display capabilities, windows integrated with display capabilities, displays formed as lenses designed to be placed on a person's eye (e.g., similar to contact lenses), headphones / earpieces, speaker arrays, input systems (e.g., wearable or handheld controllers with or without haptic feedback), smart phones, tablet computers, and desktop / laptop computers. A head-mounted system can have one or more speakers and an integrated opaque display. Alternatively, the head-mounted system can be configured to receive an external opaque display (e.g., a smart phone). The head-mounted system can incorporate one or more imaging sensors for capturing images or video of the physical environment and / or one or more microphones for capturing audio of the physical environment. The head-mounted system can have a transparent or translucent display instead of an opaque display. The transparent or translucent display can have a medium through which light representing an image is directed to a person's eye. The display can utilize digital light projection, OLED, LED, μLED, liquid crystal on silicon, laser scanning light sources, or any combination of these technologies. The medium can be an optical waveguide, a holographic medium, an optical combiner, an optical reflector, or any combination thereof. In one embodiment, the transparent or translucent display can be configured to selectively become opaque. A projection-based system can employ retinal projection technology that projects a graphical image onto a person's retina. The projection system can also be configured to project a virtual object into the physical environment, such as as a hologram or on a physical surface.

[0052] According to one embodiment, a head-mounted device includes: a head-mounted support structure; an optical module within the head-mounted support structure; and an actuator within the head-mounted support structure, the actuator being configured to move the optical module, wherein the actuator includes: a motor, a compound planetary gearbox coupled to the motor, and a lead screw coupled to the compound planetary gearbox.

[0053] According to another embodiment, the compound planetary gearbox optionally includes a first planetary gear and a second planetary gear coupled to a common shaft.

[0054] According to another embodiment, the common shaft is optionally coupled to a carrier, and the carrier is optionally coupled to a lead screw.

[0055] According to another embodiment, the motor optionally includes an output shaft coupled to a gear, and the gear is optionally coupled to the first planetary gear.

[0056] According to another embodiment, the carrier is optionally configured to rotate in response to an input from the motor, and the carrier is configured to rotate the lead screw to move the optical module.

[0057] According to another embodiment, the actuator optionally includes an annular gear that surrounds the carrier, and the annular gear optionally includes teeth that mesh with the teeth of the second planetary gear.

[0058] According to another embodiment, the first planetary gear optionally has a first diameter, and the second planetary gear optionally has a second diameter that is smaller than the first diameter.

[0059] According to another embodiment, the common shaft is optionally a press-fit pin coupled to the first planetary gear and the second planetary gear.

[0060] According to another embodiment, the common shaft is optionally a snap-fit pin coupled to the first planetary gear and the second planetary gear.

[0061] According to another embodiment, the gearbox optionally has a reduction ratio of at least 7:1.

[0062] According to another embodiment, the motor and the gearbox optionally have a diameter of less than 10 mm and a width of less than 20 mm.

[0063] According to one embodiment, a compound planetary gearbox includes: an input gear; a first planetary gear having a first diameter, wherein the first planetary gear is coupled to the input gear; a second planetary gear having a second diameter that is smaller than the first diameter; a common shaft to which the first planetary gear and the second planetary gear are coupled; and a carrier to which the common shaft is coupled, wherein the carrier is configured to rotate to provide an output from the compound planetary gearbox.

[0064] According to another embodiment, the compound planetary gearbox optionally includes an annular gear that surrounds the first planetary gear, the second planetary gear, and the carrier, wherein the annular gear optionally includes teeth that mesh with the teeth of the second planetary gear.

[0065] According to another embodiment, the common axis is optionally a press-fit pin.

[0066] According to another embodiment, the common axis is optionally a snap-fit pin.

[0067] According to another embodiment, the common axis is optionally formed integrally with the carrier.

[0068] According to another embodiment, the first planetary gear optionally includes three first planetary gears, the second planetary gear optionally includes three second planetary gears, and the common axis optionally includes three shafts.

[0069] According to one embodiment, an electronic device includes: a housing; and an actuator disposed within the housing, wherein the actuator includes: a motor, a compound planetary gearbox coupled to the motor, wherein the compound planetary gearbox has a reduction ratio of at least 7:1, and the motor and the compound planetary gearbox have a diameter of less than 10 mm and a width of less than 20 mm, and a lead screw coupled to the compound planetary gearbox.

[0070] According to another embodiment, the reduction ratio of the compound planetary gearbox is optionally greater than 10:1.

[0071] According to another embodiment, the compound planetary gearbox optionally includes: a first planetary gear and a second planetary gear coupled to a common axis; and a carrier that optionally carries the first planetary gear and the second planetary gear and is coupled to the common axis to rotate with the first planetary gear and the second planetary gear.

[0072] The foregoing is merely illustrative and various modifications may be made to the embodiments. The foregoing embodiments may be implemented independently or in any combination.

Claims

1. A head mounted device, comprising: Head-mounted support structure; an optical module, the optical module being in the head-mounted support structure; and an actuator in the head-mounted support structure, the actuator being configured to move the optical module, wherein the actuator comprises: motor, A compound planetary gearbox is coupled to the motor, and a leadscrew is coupled to the compound planetary gearbox.

2. The head mounted device of claim 1, wherein the compound planetary gearbox comprises a first planetary gear and a second planetary gear coupled to a common shaft.

3. The head mounted device of claim 2, wherein the common axis is coupled to a carrier and the carrier is coupled to the leadscrew.

4. The head mounted device of claim 3, wherein the motor comprises an output shaft coupled to a gear, and the gear is coupled to the first planetary gear.

5. The head mounted device of claim 4, wherein the carrier is configured to rotate in response to input from the motor, and the carrier is configured to rotate the leadscrew to move the optical module.

6. The head mounted device of claim 5, wherein the actuator further comprises: A ring gear surrounds the carrier, wherein the ring gear includes teeth that mesh with the teeth of the second planetary gears.

7. The head mounted device of claim 2, wherein the first planet gear has a first diameter and the second planet gear has a second diameter that is smaller than the first diameter.

8. The head mounted device of claim 7, wherein the common axis is a press fit pin coupled to the first planetary gear and the second planetary gear.

9. The head mounted device of claim 7, wherein the common axis is a snap-fit ​​pin coupled to the first planetary gear and the second planetary gear.

10. The head mounted device of claim 2, wherein the gear box has a reduction ratio of at least 7:

1.

11. The head mounted device of claim 10, wherein the motor and the gear box have a diameter of less than 10 mm and a width of less than 20 mm.

12. A compound planetary gearbox, comprising: Input gear; a first planetary gear having a first diameter, wherein the first planetary gear is coupled to the input gear; a second planetary gear having a second diameter smaller than the first diameter; a common shaft to which the first planetary gear and the second planetary gear are coupled; and A carrier is provided to which the common shaft is coupled, wherein the carrier is configured to rotate to provide an output from the compound planetary gearbox.

13. The compound planetary gearbox according to claim 12, further comprising: A ring gear surrounds the first planet gears, the second planet gears, and the carrier, wherein the ring gear includes teeth that mesh with the teeth of the second planet gears.

14. The compound planetary gearbox of claim 13, wherein the common shaft is a press fit pin.

15. The compound planetary gearbox of claim 13, wherein the common shaft is a snap fit pin.

16. The compound planetary gearbox of claim 13, wherein said common shaft is integrally formed with said carrier. 17 . The compound planetary gearbox of claim 13 , wherein the first planetary gears include three first planetary gears, the second planetary gears include three second planetary gears, and the common shaft includes three shafts.

18. An electronic device, comprising: shell; and an actuator in the housing, wherein the actuator comprises: motor, a compound planetary gearbox coupled to the motor, wherein the compound planetary gearbox has a reduction ratio of at least 7:1, and the motor and the compound planetary gearbox have a diameter of less than 10 mm and a width of less than 20 mm, and A leadscrew is coupled to the compound planetary gearbox.

19. The electronic device of claim 18, wherein the reduction ratio of the compound planetary gearbox is greater than 10:

1.

20. The electronic device of claim 18, wherein the compound planetary gearbox comprises: a first planetary gear and a second planetary gear, the first planetary gear and the second planetary gear being coupled to a common shaft; and a carrier that carries the first planetary gear and the second planetary gear and is coupled to the common shaft to rotate with the first planetary gear and the second planetary gear.

Images