XR controller

Abstract

The present invention provides an XR controller configured so as to be able to detect the position and orientation of the XR controller with high precision using a plurality of marks disposed on the surface of a housing. The XR controller comprises a shell and first marks arranged on the surface of the shell in a phyllotaxis mode.

Description

Technical Field

[0001] The present invention relates to an XR-compatible controller (hereinafter referred to as an XR controller) used in a space (hereinafter referred to as the "XR space") constructed by XR technologies such as VR (Virtual Reality), AR (Augmented Reality), MR (Mixed Reality), and SR (Substitutional Reality). Background Art

[0002] A system is known that places multiple markers on the surface of an XR controller as trackers, uses one or more cameras to capture and track these markers, and thereby detects the position and posture of the XR controller. Patent Document 1 discloses an example of such a system. This document discloses an example of a method for placing markers on the surface of an XR controller housing in the shape of a pen with a handle attached.

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: International Publication No. 2022 / 201693 Summary of the Invention

[0006] Problems to be solved by the invention

[0007] However, in order to detect the position and posture of the XR controller with high precision, at least three markers need to be configured in a sufficiently separated state in the image captured by the camera, and the configuration pattern of the three markers needs to be sufficiently different (dissimilar) depending on the shooting direction.

[0008] Therefore, one of the objects of the present invention is to provide an XR controller configured to detect position and posture with high precision.

[0009] Means for solving problems

[0010] The XR controller of the present invention includes a housing and first marks arranged sequentially on the surface of the housing.

[0011] Effects of the Invention

[0012] According to the present invention, the position and posture of the XR controller can be detected with high accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a diagram showing a usage state of the tracking system 1 according to the first embodiment of the present invention.

[0014] Figure 2 1 and 2 are diagrams showing a state in which the user holds the controller 6 with his right hand.

[0015] Figure 3 The controller 6 is viewed from various perspectives.

[0016] Figure 4 The controller 6 is viewed from various perspectives.

[0017] Figure 5 It is a perspective view of the controller 6 according to the first embodiment of the present invention.

[0018] Figure 6 This is a diagram illustrating a method of arranging a plurality of marks (arranging at substantially equal density) in the background art.

[0019] Figure 7 This is a diagram illustrating a method of arranging a plurality of markers (arranged at the vertices of a regular polyhedron or a geodesic dome) in the background art.

[0020] Figure 8 This is a diagram illustrating a method of arranging a plurality of markers (arranged at the vertices of a regular polyhedron or a geodesic dome) in the background art.

[0021] Figure 9 This is a diagram illustrating a method of arranging a plurality of marks (arranging in a grid pattern) in the background art.

[0022] Figure 10 (a) is a diagram showing a type of spiral phyllotaxy, and (b) is a diagram showing an example of 3 / 8 phyllotaxy.

[0023] Figure 11 1 and 2 are diagrams showing an example of a specific arrangement of a plurality of marks in the spiral arrangement portion 10 .

[0024] Figure 12 1 and 2 are diagrams showing an example of a specific arrangement of a plurality of marks in the spiral arrangement portion 10 .

[0025] Figure 13 It is a perspective view of a controller 6 according to a modified example of the first embodiment of the present invention.

[0026] Figure 14 It is a perspective view of a controller 6 according to a second embodiment of the present invention.

[0027] Figure 15 (a) is a diagram showing an example in which a plurality of marks are arranged on the surface of an ellipsoid, and (b) is a diagram showing an example in which a plurality of marks are arranged on the surface of a cylinder.

[0028] Figure 16 1 is a diagram showing another example (double helix) of the arrangement of the plurality of markers in the spiral arrangement portion 12 .

[0029] Figure 17 1 and 2 are diagrams showing another example of the arrangement of the plurality of marks in the spiral arrangement portion 12 (a combination of spirals that are reversed in the phyllotaxy axis direction).

[0030] Figure 18 This is a diagram showing another example of the arrangement of the plurality of marks in the spiral arrangement portion 12 (a spiral obtained by varying the intervals in the phyllotaxy axis direction).

[0031] Figure 19 It is a perspective view of a controller 6 according to a first modified example of the second embodiment of the present invention.

[0032] Figure 20 It is a perspective view of a controller 6 according to a second modified example of the second embodiment of the present invention.

[0033] Figure 21 It is a perspective view of a controller 6 according to a third modified example of the second embodiment of the present invention.

[0034] Figure 22 It is a perspective view of a controller 6 according to a fourth modified example of the second embodiment of the present invention.

[0035] Figure 23 (a) and (b) are diagrams showing examples of arrangement of markers in the non-spiral arrangement portion 16 .

[0036] Figure 24 It is a perspective view of a controller 6 according to a fifth modified example of the second embodiment of the present invention.

[0037] Figure 25 1 is a diagram showing an example of a specific arrangement of a plurality of markers in the controller 6 according to the fifth modified example of the second embodiment of the present invention.

[0038] Figure 26 1 is a diagram showing an example of a specific arrangement of a plurality of markers in the controller 6 according to the fifth modified example of the second embodiment of the present invention.

[0039] Figure 27 1 is a diagram showing an example of a specific arrangement of a plurality of markers in the controller 6 according to the fifth modified example of the second embodiment of the present invention. DETAILED DESCRIPTION

[0040] Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

[0041] Figure 1This figure illustrates a tracking system 1 according to the first embodiment of the present invention in use. As shown in this figure, tracking system 1 includes a computer 2, a position detection device 3, three cameras 4a through 4c, a head-mounted display 5, and a pen-shaped controller 6. The computer 2, position detection device 3, cameras 4a through 4c, head-mounted display 5, and controller 6 are each configured to communicate via wired or wireless communication.

[0042] like Figure 1 As shown, a user uses the tracking system 1 while sitting on a desk chair 101, wearing a head-mounted display 5 on their head and holding a controller 6 in their right hand. The display surface of the head-mounted display 5 displays an XR space rendered by a computer 2, and the user operates the controller 6 above the desk 100 while observing the XR space.

[0043] The controller 6 is an XR controller used in the XR space and is used to control 3D objects displayed in the XR space (specifically, the drawing and movement of 3D objects). The controller 6 is also pen-shaped and is used for input using the position detection device 3 .

[0044] exist Figure 1 In the example shown, computer 2 is a notebook personal computer placed in the center of table 100. However, computer 2 does not necessarily need to be placed in the center of table 100; it can be placed in a location where it can communicate with position detection device 3, cameras 4a to 4c, head-mounted display 5, and controller 6. Furthermore, computer 2 may be a variety of computers, including desktop personal computers, tablet personal computers, smartphones, and server computers, in addition to notebook personal computers.

[0045] Computer 2 periodically detects the positions and postures of the head-mounted display 5, controller 6, and position detection device 3 based on images captured by cameras 4a to 4c, thereby tracking their movements. Based on the tracked movements of each device and the operational status of the various operating buttons and dial buttons (described later) provided on controller 6, computer 2 generates an XR space and the 3D objects displayed therein, renders the generated XR space and 3D objects, and transmits them to head-mounted display 5. By displaying the rendered images transmitted from computer 2, head-mounted display 5 displays the XR space containing one or more 3D objects.

[0046] exist Figure 1In the example shown, position detection device 3 is formed of a tablet computer, which is placed on the upper surface of table 100 at a position that corresponds to the front side of computer 2 when viewed from the user. However, position detection device 3 does not necessarily need to be placed in this position; it can be placed within the reach of the user sitting on table chair 101. Alternatively, position detection device 3 and computer 2 may be formed of an integrated device such as a tablet terminal.

[0047] Position detection device 3 periodically detects the position of the pen tip of controller 6 on the touch surface and sequentially transmits the detected positions to computer 2. Based on the transmitted positions, computer 2 generates and renders the stroke data that constitutes a 2D or 3D object. The specific method of position detection by position detection device 3 is not particularly limited; for example, an active electrostatic method or an electrostatic induction method is preferably used.

[0048] Cameras 4a through 4c are imaging devices for capturing still or moving images, and are configured to sequentially supply the captured images to computer 2. Camera 4a is positioned opposite the user across table 100, oriented to capture the top surface of table 100. Camera 4b is positioned above and to the left of the user, oriented to capture the top surface of table 100. Camera 4c is positioned above and to the right of the user, oriented to capture the top surface of table 100. Cameras 4a through 4c each have a rolling shutter. To minimize distortion of controller 6 within the image, the rolling shutter's sub-scanning direction is aligned with the vertical direction.

[0049] Figure 2 : is a diagram showing a state where the user holds the controller 6 with his right hand. Figure 3 (a) Figure 3 (b) Figure 4 (a) Figure 4 (b) is a perspective view of the controller 6 viewed from various angles. It should be noted that the actual controller 6 has the following Figure 5 The spiral arrangement portion 10 is shown, but its depiction is omitted in these figures. Figures 5 to 12 The spiral arrangement 10 will be described in detail.

[0050] like Figure 2 、 Figure 3 (a) Figure 3 (b) Figure 4 (a) Figure 4As shown in (b), the controller 6 includes a pen-shaped pen portion 6p and a handle portion 6g fixed to the pen portion 6p with its longitudinal direction intersecting the axial direction of the pen portion 6p. Hereinafter, the axial direction of the pen portion 6p will be referred to as the x-direction, the direction within the plane formed by the x-direction and the longitudinal direction of the handle portion 6g and perpendicular to the x-direction will be referred to as the z-direction, and the direction perpendicular to both the x-direction and the z-direction will be referred to as the y-direction.

[0051] like Figure 3 As shown in (a), pressure pads 6pa, 6pb and shift buttons 6pc, 6pd are provided on the surface of the pen portion 6p. The pressure pads 6pa, 6pb are components including a pressure sensor and a touch sensor, respectively, and are arranged symmetrically with respect to the xz plane at positions near the pen tip on the side of the pen portion 6p. The pressure detected by the pressure sensor is used for selection or drawing on the application. On the other hand, the information indicating the presence or absence of touch detected by the touch sensor is used to implement on / off determination of the pressure sensor output and a light double-click. The shift buttons 6pc, 6pd are switches assigned to the application menu, respectively, and are arranged symmetrically with respect to the xz plane at positions between the pressure pads 6pa, 6pb and the handle portion 6g. As shown according to Figure 2 As understood, the user holding the controller 6 with the right hand operates the pressure pad 6pa and the shift button 6pc with the thumb, and operates the pressure pad 6pb and the shift button 6pd with the index finger.

[0052] like Figure 3 (a), (b) and Figure 4 As shown in (a) and (b), the surface of the handle portion 6g is provided with a touch top button 6ga, a grab button 6gb, touch buttons 6gc and 6gd, a dial button 6ge, and a recessed portion 6gf. The touch top button 6ga is a switch that functions as a power button by long pressing, and is arranged on the surface of the end portion closer to the pen portion 6p of the two ends in the longitudinal direction of the handle portion 6g. Hereinafter, this end portion will be referred to as the "upper end portion", and the end portion farther from the pen portion 6p of the two ends in the longitudinal direction of the handle portion 6g will be referred to as the "lower end portion". The dial button 6ge is a rotatable annular component configured to output a rotation amount. This rotation amount is used, for example, to rotate the selected object. The dial button 6ge is also arranged on the upper end portion of the handle portion 6g in a manner surrounding the touch top button 6ga.

[0053] The grab button 6gb is a switch for grabbing and moving objects and is located near the lower end of the pen tip-side side surface of the grip portion 6g. Furthermore, the touch buttons 6gc and 6gd, each serving as a button assist switch similar to the right button of a mouse, are located on the pen tip-side side surface of the grip portion 6g, near the pen portion 6p when viewed in the z-direction. The touch button 6gc is located on the thumb side when the controller 6 is held in the right hand, while the touch button 6gd is located on the index finger side when the controller 6 is held in the right hand.

[0054] As according to Figure 2 As can be understood, a user holding the controller 6 in their right hand presses the grab button 6gb with their middle finger. Furthermore, the user presses the touch button 6gc with their thumb, and the touch button 6gd with their index finger. The user's thumb rotates the dial button 6ge and presses the touch top button 6ga. However, because the touch top button 6ga and the dial button 6ge are located in a position where they cannot be operated unless the user intentionally raises their thumb to the upper end of the grip portion 6g, they are normally not hidden by the user's hand and are exposed.

[0055] like Figure 2 As shown, the recess 6gf is configured so that the portion from the base of the index finger to the base of the thumb fits in when the user grips the controller 6. Providing the recess 6gf in the controller 6 reduces fatigue of the user using the controller 6.

[0056] Next, the spiral arrangement portion 10 provided in the controller 6 in order to enable the computer 2 to detect the position and posture of the controller 6 with high accuracy will be described in detail.

[0057] Figure 5 This is a perspective view of the controller 6 of this embodiment. As shown in this figure, the controller 6 is composed of a spherical portion 7 mounted on the end of the pen portion 6p. The spherical portion 7, the pen portion 6p, and the handle portion 6g together constitute the housing of the controller 6. A plurality of marks are arranged in a leaf sequence on the surface of the spherical portion 7, and the plurality of marks form a spiral arrangement portion 10. The leaf sequence arrangement will be referred to later. Figures 10 to 12 Describe in detail.

[0058] The specific type of the markers constituting the spiral arrangement portion 10 is not particularly limited, but infrared LEDs (Light Emitting Diodes) are preferred. In this case, the cameras 4a to 4c are each an infrared camera capable of visualizing infrared rays, and the computer 2 is configured to detect the position and posture of the controller 6 based on the arrangement of the markers appearing in the images captured by the cameras 4a to 4c. Figures 6 to 12 The arrangement of the plurality of marks in the spiral arrangement portion 10 will be described in detail.

[0059] first, Figures 6 to 9 This is a diagram illustrating a method for arranging multiple markers. Figures 6 to 9 After explaining various configuration methods, refer to Figures 10 to 12 , the detailed structure of the spiral arrangement portion 10 of this embodiment and the advantages of adopting the spiral arrangement portion 10 of this embodiment are described in detail.

[0060] Figure 6 is a diagram showing an example of arranging a plurality of marks at a substantially uniform density. Figure 6 In FIG, the sphere represents the spherical portion 7, and the black circle represents each mark. Hereinafter, the arrangement of this example is referred to as "substantially uniform density arrangement." Figure 6 (a)~ Figure 6 (c) shows examples of multiple marks arranged at a high and approximately uniform density, an example of an arrangement at a medium and approximately uniform density, and an example of an arrangement at a low and approximately uniform density. Methods for determining the specific positions of each mark in the approximately uniform density arrangement include randomly generating multiple arrangement patterns using methods such as the successive randomization method and the Poisson disk sampling method, and then determining the most optimal arrangement pattern from these using methods such as the Monte Carlo method.

[0061] In order for the computer 2 to detect the position and posture of the controller 6 with high accuracy, it is necessary to arrange multiple markers on the surface of the housing so that at least three markers are reflected in the images captured by each of the cameras 4a to 4c in a sufficiently separated state (i.e., without uneven arrangement), and their arrangement patterns (geometric features) are sufficiently different (i.e., not similar) depending on the shooting direction. This arrangement is hereinafter referred to as the "preferred arrangement". Figure 6 In the case of the roughly even density configuration shown, if the number of marks is large enough, the preferred configuration can also be achieved. However, due to the size of each infrared LED and the size of the spherical portion 7, there is a limit to the number of marks that can be arranged on the surface of the spherical portion 7. Therefore, it is unrealistic to achieve the preferred configuration through a roughly even density configuration.

[0062] Figure 7 and Figure 8 This diagram shows an example of how marks are arranged at the vertices of a regular polyhedron (such as a dodecahedron and an icosahedron) or a geodesic dome (a solid formed by subdividing the faces of a regular polyhedron or a semi-regular polyhedron to increase the number of vertices). This example arrangement is hereinafter referred to as a "polyhedron-derived arrangement."

[0063] Figure 7 (a) shows an example of a regular dodecahedron. Figure 7 (b) shows an example of arranging marks at positions corresponding to the 20 vertices of a regular dodecahedron on the surface of a sphere. Figure 7In (b), the sphere represents the spherical portion 7, the black dots represent the respective marks, and the arrows extending from the black dots represent the normal direction of the spherical surface (curved surface) at the position of the black dots. This point will be discussed later. Figure 9 (b) Figure 11 、 Figure 15 (a) Figure 15 (b) Figure 16 (a) Figure 17 (a) Figure 18 The same is true for (a). However, Figure 16 (a) and Figure 17 In (a), white dots and × marks are used instead of black dots for ease of drawing.

[0064] in addition, Figure 8 (a) shows projections of the spherical portion 7 having 20 marks arranged at 20 vertices of a regular dodecahedron in the x direction (upper left), the z direction (lower left), and the y direction (lower right). Figure 8 (b) shows the image captured by camera 4a Figure 8 (a) The image obtained when the spherical portion 7. Here, Figure 8 Each figure (a) is a perspective view, and is marked with not only the marks on the front side when viewed from the line of sight, but also the marks on the back side. This will be discussed later. Figure 12 (a) Figure 16 (b) Figure 17 (b) Figure 18 The same is true for (b). However, Figure 8 In (a), the arrangement of the marks on the front side and the arrangement of the marks on the back side are identical, so the result is the same figure as when only the marks arranged on the front side are plotted.

[0065] As according to Figure 7 and Figure 8 As can be understood, using a polyhedron-derived arrangement allows at least three markers to be reflected in the images captured by cameras 4a to 4c with sufficient separation (i.e., without uneven placement). However, a polyhedron-derived arrangement has the problem of not being able to achieve an arrangement in which the marker placement pattern (geometric features) sufficiently differs (i.e., is dissimilar) depending on the imaging direction. This problem is hereinafter referred to as the "opening problem."

[0066] The problem of opening in the polyhedron derived configuration is due to the high symmetry of the configuration. This is explained in a specific example. Figure 8Of the three projections shown in (a), the projection from the z direction (lower left) is identical to the projection from the y direction (lower right). Furthermore, the projection from the x direction (upper left) is identical to the projection from the z direction (lower left) and the projection from the y direction (lower right), except for being rotated 90°. That is, the placement pattern (geometric features) of the markers does not differ significantly depending on the shooting direction. As a result, even if one observes Figure 8 Even in the image shown in (b), it is impossible to determine the direction from which the image was taken. Therefore, it can be said that it is difficult to achieve an optimal configuration through polyhedron-derived configuration.

[0067] Figure 9 This diagram shows an example of arranging multiple markers in a lattice pattern (square lattice, hexagonal lattice, rectangular lattice, rhombic lattice, etc.) This example arrangement is hereinafter referred to as a "planar lattice-derived arrangement." Figure 9 (a) shows an example of a square grid drawn on a sphere. Figure 9 (b) shows that Figure 9 (a) shows an example of placing markers at some of the intersections of a square grid (ie, the intersections of line segments dividing latitude, longitude, etc.).

[0068] Using a plane-lattice-derived layout allows for at least three markers to be reflected in the images captured by cameras 4a to 4c with sufficient separation (i.e., without uneven placement). However, similar to the polyhedron-derived layout, the plane-lattice-derived layout also suffers from the same aperture problem. Therefore, achieving an optimal placement is difficult even with a plane-lattice-derived layout.

[0069] The spiral arrangement portion 10 of this embodiment can overcome the shortcomings of the above-mentioned substantially uniform density arrangement, polyhedron-derived arrangement, and plane lattice-derived arrangement, and can arrange multiple marks on the surface of the shell so that at least three marks are reflected in the images captured by the cameras 4a to 4c in a sufficiently separated state (i.e., without uneven arrangement), and their arrangement patterns (geometric features) are sufficiently different (i.e., not similar) depending on the shooting direction. Figures 10 to 12 Provide detailed explanation.

[0070] First, let's discuss phyllotaxis in general. This refers to the arrangement of plant leaves relative to their stems in nature. These include "alternate phyllotaxis," where one leaf is attached to each stem node; "opposite phyllotaxis," where two leaves are attached to each stem node; and "whorled phyllotaxis," where three or more leaves are attached to each stem node. Within alternate phyllotaxis, the phyllotaxis in which leaves are attached in a spiral pattern extending along the stem is particularly known as "spiral phyllotaxis."

[0071] Figure 10(a) is a diagram showing the types of spiral phyllotaxy. As shown in the figure, there are various types of spiral phyllotaxy classified according to the way the leaves are attached, and each type is called r / n phyllotaxy. The r / n phyllotaxy is a type of leaf attachment in which the n+1th leaf emerges from the stem at the same angle (when viewed from directly above) after the first leaf, and the leaves rotate r spirally around the stem between the first and n+1th leaves. Figure 10 As shown in (a), there can be various combinations of r and n, such as 1 / 2 phyllotaxy, 1 / 3 phyllotaxy, 2 / 5 phyllotaxy, 3 / 8 phyllotaxy, 5 / 13 phyllotaxy, and 8 / 21 phyllotaxy.

[0072] It is known that r and n of r / n phyllotaxis satisfy the following relationship: r / n=F k / (mF k +F k-1 ) (Hinper-Brown law). Among them, F k is the kth term of the Fibonacci sequence, where m is a natural number. In most cases, m = 2. In this case, r and n are composed of the Fibonacci numbers (1, 1, 2, 3, 5, 8, etc.) and the numbers two after them (2, 3, 5, 8, 13, 21, etc.).

[0073] Figure 10 (b) is a diagram showing an example of a 3 / 8 leaf order (r=3, n=8). The "135 degrees" shown in the figure is the projection angle between the nth leaf and the n+1th leaf (the angle when viewed from the axial direction of the spiral), which is called the "opening degree". Figure 10 As shown in (a), the degree of opening varies depending on the type of phyllotaxy. Specifically, it is 180 degrees in a 1 / 2 phyllotaxy, 120 degrees in a 1 / 3 phyllotaxy, 144 degrees in a 2 / 5 phyllotaxy, 135 degrees in a 3 / 8 phyllotaxy, 1800 / 13≈138.5 degrees in a 5 / 13 phyllotaxy, and 2880 / 21≈137.1 degrees in an 8 / 21 phyllotaxy.

[0074] Figure 11 and Figure 12 1 and 2 are diagrams showing an example of a specific arrangement of a plurality of marks (a plurality of marks arranged in phyllodectic order) in the spiral arrangement portion 10 . Figure 11 An example of arranging 22 marks by 8 / 21 phyllotaxy relative to the surface of the sphere is shown. As shown in the figure, the multiple marks constituting the spiral arrangement portion 10 are arranged in such a way that the axis of the phyllotaxy arrangement (equivalent to the line of the stem, hereinafter referred to as the "phyllotaxy axis") passes through the center of the sphere constituting the spherical portion 7. The intervals between the marks in the direction of the phyllotaxy axis can be equal. It should be noted that in Figure 11 , an example is shown in which the pen axis (=x-axis) coincides with the phyllotaxy axis, but they do not necessarily need to coincide. Figure 12 (a) shows Figure 11Projections of the spherical portion 7 with multiple marks from the x direction (upper left), z direction (lower left), and y direction (lower right) of the example, Figure 12 (b) shows the image captured by camera 4a Figure 12 (a) The image obtained when the spherical portion 7 is formed.

[0075] As from Figure 11 and Figure 12 As can be understood, when using a phyllotaxy arrangement, it is possible to achieve that at least three markers are reflected in the images captured by cameras 4a to 4c in a sufficiently separated state (i.e., without uneven arrangement). In addition, when using a phyllotaxy arrangement, the markers can be arranged in such a way that the arrangement pattern (geometric features) of the markers is sufficiently different (i.e., not similar) depending on the shooting direction, which can avoid the occurrence of opening problems. Figure 12 As can be seen from the image (b), the image is not Figure 12 The lower left image (z-projection) in (a) corresponds to the upper left image (x-projection), not the lower right image (y-projection). This fact, as seen from the side surface, eliminates the aperture issue if a phyllotaxis arrangement is used. Therefore, the phyllotaxis arrangement can be considered to achieve the optimal configuration.

[0076] As described above, the configuration of controller 6 in this embodiment allows for multiple markers to be arranged on the housing surface, ensuring that at least three markers are reflected in images captured by cameras 4a to 4c with sufficient separation (i.e., without uneven placement), and that their placement patterns (geometric features) vary sufficiently (i.e., are not similar) depending on the shooting direction. Therefore, the multiple markers arranged on the housing surface enable highly accurate detection of the position and posture of controller 6.

[0077] Figure 13 It is a three-dimensional diagram of the controller 6 of a modified example of the present embodiment. The controller 6 of this modified example is configured to further include a spherical portion 8 mounted on the upper end of the handle portion 6g in the controller 6 of the present embodiment. The spherical portion 8, the pen portion 6p, the handle portion 6g, and the spherical portion 7 together constitute the housing of the controller 6. On the surface of the spherical portion 8, a plurality of marks (infrared LEDs) are arranged in the same leaf sequence as on the surface of the spherical portion 7, and the spiral configuration portion 11 is formed by these plurality of marks. The computer 2 is configured to detect the position and posture of the controller 6 based on the configuration of the respective marks of the spiral configuration portions 10 and 11 appearing in the image captured by the cameras 4a to 4c. Thus, the computer 2 can detect the posture of the controller 6 based on the relative positional relationship of the spiral configuration portions 10 and 11, and can therefore detect the position and posture of the controller 6 with higher accuracy.

[0078] It should be noted that the spirally arranged portion 10 and the spirally arranged portion 11 do not need to be identical in shape. For example, the spherical portion 7 and the spherical portion 8 may have different sizes, and the spirally arranged portion 10 and the spirally arranged portion 11 may have different phyllotaxis. This prevents the computer 2 from misidentifying the spirally arranged portion 10 and the spirally arranged portion 11 and detecting the same.

[0079] Next, a tracking system 1 according to a second embodiment of the present invention will be described. The tracking system 1 according to this embodiment differs from the tracking system 1 according to the first embodiment in the structure of the controller 6. Therefore, the following description will omit the same reference numerals as those in the first embodiment for the points identical to those in the tracking system 1 according to the first embodiment, and will focus on the differences from the first embodiment.

[0080] Figure 14 This is a perspective view of the controller 6 of this embodiment. As shown in this figure, the controller 6 of this embodiment is configured not to be located in the spherical portion 7 (see Figure 5 ) Instead, the side surface of the pen portion 6p has a spiral configuration portion 12. The controller 6 of this embodiment is not provided with the spherical portion 7.

[0081] If the structure of the spiral arrangement portion 12 is specifically described, the spiral arrangement portion 12 is first arranged on the side of the pen portion 6p that is closer to the end side than the grip portion 6g. Figure 14 Although not explicitly shown in the drawing, the spiral arrangement portion 12 is configured to have a plurality of marks arranged in phyllotaxy such that the phyllotaxy axis coincides with the pen axis. The type of the mark is the same as that of the first embodiment, and is preferably an infrared LED.

[0082] Figure 15 (a) is a diagram showing an example in which a plurality of marks are arranged on the surface of an ellipsoid. Figure 15 (b) is a diagram showing an example of a plurality of marks arranged on the surface of a cylinder. Both are examples of arranging 22 marks by 8 / 21 phyllotaxy. In the former, a plurality of marks are arranged in phyllotaxy in such a way that the phyllotaxy axis is consistent with the major diameter of the ellipsoid, and in the latter, a plurality of marks are arranged in phyllotaxy in such a way that the phyllotaxy axis is consistent with the cylinder axis. The spacing of the marks in the phyllotaxy axis direction is the same as that in the case of arrangement on the surface of a sphere, and can be set to an equal spacing. As shown in these examples, as a curved surface for phyllotaxy of a plurality of marks, not only the surface of the sphere described in the first embodiment but also surfaces of various shapes can be used. The spiral arrangement portion 12 of this embodiment utilizes this property of the phyllotaxy arrangement and arranges a plurality of marks on the side of the pen portion 6p.

[0083] The configuration of controller 6 in this embodiment also allows for multiple markers to be arranged on the housing surface, ensuring that at least three markers are reflected in images captured by cameras 4a to 4c with sufficient separation (i.e., without uneven placement), and that their placement patterns (geometric features) vary sufficiently (i.e., are not similar) depending on the shooting direction. Therefore, the multiple markers arranged on the housing surface enable highly accurate detection of the position and posture of controller 6.

[0084] Here, the arrangement of the plurality of marks in the spiral arrangement portion 12 is not limited to Figure 15 The simple phyllotaxy shown in (a) and (b) is shown below. Figures 16 to 18 This point will be explained in detail.

[0085] Figures 16 to 18 Each of the figures shows another example of the arrangement of multiple marks in the spiral arrangement portion 12. (a) of each figure is a perspective view of the spiral arrangement portion 12, and (b) of each figure shows projections of the spiral arrangement portion 12 shown in (a) in the x direction (upper left), z direction (lower left), and y direction (lower right).

[0086] Figure 16 An example of a spiral arrangement portion 12 composed of two spirals composed of a plurality of marks arranged in phyllotaxy through 3 / 8 phyllotaxy is shown. In the figure, the white dot shows the spiral on one side, and the cross mark shows the spiral on the other side. In this example, the spiral on the other side is formed by rotating the spiral on one side by 180° around the phyllotaxy axis (around the x-axis), and the two spirals form a double helix. The spiral arrangement portion 12 of this embodiment can also be composed of such a double helix, thereby further reducing the risk of the occurrence of the opening problem. In addition, in Figure 16 , an example of a double helix is ​​shown, but the helical arrangement portion 12 may be constituted by a multiple helix of three or more.

[0087] Figure 17 An example of a spiral arrangement section 12 composed of two spirals, each composed of multiple marks arranged in a phyllotaxy pattern, is also shown. In this figure, white dots indicate one spiral, and crosses indicate the other spiral. In this example, the other spiral is formed by reversing the one spiral in the phyllotaxy axis direction (x direction). The spiral arrangement section 12 of this embodiment can also be formed by combining spirals that are mutually reversed in the phyllotaxy axis direction, thereby further reducing the risk of opening problems.

[0088] It should be noted that in Figure 17In the example, the number of marks per spiral is 7, but the number of marks when the spirals are reversed in the phyllotaxy axis direction (x direction) is 13 (not 7×2=14 because 2 of them are in the same position). Figure 17 For example, compared with the case where multiple markers are arranged through 5 / 13 phyllotaxy at the same pitch in the phyllotaxy axis direction as a single spiral, it can be said that the same number of markers can be achieved within a narrow range in the phyllotaxy axis direction.

[0089] Figure 18 An example of forming a spiral arrangement portion 12 by forming a spiral composed of a plurality of marks arranged in a phyllotaxy pattern through a 3 / 8 phyllotaxy pattern is shown. However, in this example, the intervals between two adjacent marks in the phyllotaxy axis direction (x direction) are increased in an arithmetic progression. The spiral arrangement portion 12 of this embodiment may also be formed by a deformed phyllotaxy arrangement formed by changing the intervals in the phyllotaxy axis direction, thereby further reducing the risk of the opening problem. It should be noted that in Figure 18 In the embodiment, the interval between two adjacent marks in the phyllotaxy axis direction is increased in an arithmetic progression, but the interval between two adjacent marks in the phyllotaxy axis direction can also be changed by other methods. In one example, the interval can also be increased in a geometric progression.

[0090] Next, refer to Figures 19 to 23 The controller 6 according to first to fourth modified examples of the present embodiment will be described.

[0091] Figure 19 It is a stereoscopic diagram of the controller 6 of the first variant of the present embodiment. The controller 6 of this variant is configured such that, in the controller 6 of this embodiment, there is also a spiral configuration portion 13 provided on the side of the pen portion 6p that is closer to the pen tip than the grip portion 6g. The spiral configuration portion 13 is similar to the spiral configuration portion 12 and is configured to have a plurality of marks arranged in a phyllotaxy manner such that the phyllotaxy axis is consistent with the pen axis. The more specific configuration of the plurality of marks in the spiral configuration portion 13 may be the same as that of the spiral configuration portion 12 or may be different. For example, in the spiral configuration portion 12, a plurality of marks may be configured by a simple phyllotaxy arrangement. On the other hand, in the spiral configuration portion 13, the plurality of marks may be configured by referring to Figures 16 to 18 Multiple markers are arranged in a phyllodes pattern, as described above, in the irregular spiral structure. If different markers are arranged in spiral arrangement portion 12 and spiral arrangement portion 13, computer 2 can easily distinguish and detect spiral arrangement portion 12 and spiral arrangement portion 13 based on the respective marker arrangements in the images captured by cameras 4a to 4c. Furthermore, the risk of opening problems can be reduced compared to using spiral arrangement portion 12 alone.

[0092] Figure 20This is a perspective view of a controller 6 according to a second variant of this embodiment. The controller 6 of this variant is configured to further include a non-spiral arrangement portion 14 disposed at the distal end of the pen portion 6p in addition to the controller 6 of this embodiment. The non-spiral arrangement portion 14 is configured to include one or more markings that are disposed independently of the phyllotaxis. By combining this non-spiral arrangement portion 14 with the spiral arrangement portion 12, the risk of opening problems can be reduced. Therefore, the computer 2 can detect the position and posture of the controller 6 with higher accuracy than when using the spiral arrangement portion 12 alone.

[0093] Figure 21 This is a perspective view of the controller 6 of the third variant of the present embodiment. The controller 6 of this variant is configured to further include a non-spiral configuration portion 15 configured at the pen tip. Like the non-spiral configuration portion 14, the non-spiral configuration portion 15 is configured to include one or more markings that are configured independently of the phyllotaxis. By combining the non-spiral configuration portion 14 with the spiral configuration portion 12 in addition to the non-spiral configuration portion 14, the risk of opening problems can be further reduced. Therefore, compared to the case where the non-spiral configuration portion 14 and the spiral configuration portion 12 are used in combination, the computer 2 can detect the position and posture of the controller 6 with higher precision.

[0094] Figure 22 : is a perspective view of the controller 6 of the fourth modified example of the present embodiment. The controller 6 of this modified example is configured to further include a non-spiral configuration portion 16 in the controller 6 of this embodiment, and the non-spiral configuration portion 16 is provided on the side of the pen portion 6p that is closer to the pen tip than the grip portion 6g. In the first modified example, an example was described in which the spiral configuration portion 13 was provided on the side of the pen portion 6p that is closer to the pen tip than the grip portion 6g. However, a larger space is required to provide the spiral configuration portion 13, so as shown in FIG. Figure 19 As shown, in the first modification, the installation space of the pressure pads 6pa and 6pb is encroached by the spiral arrangement portion 13. Since the non-spiral arrangement portion 16 can be installed without a large space like the spiral arrangement portion 13, the pressure pads 6pa and 6pb can be installed without such encroachment.

[0095] Figure 23 (a) and (b) are diagrams showing examples of the arrangement of the marks in the non-helical arrangement portion 16. Figure 23 In the example (a), marks (black dots) are placed at the three vertices of the equilateral triangle of the yz cross section (cross section perpendicular to the pen axis) of the circular pen portion 6p. This arrangement can reduce the possibility of opening problems compared to the case of using only the spiral arrangement portion 12. Figure 23In example (b), markers (black circles) are placed at three of the five vertices of a regular pentagon arranged in the yz cross-section (a cross-section perpendicular to the pen axis) of the circular pen portion 6p (vertices A, C, and D, denoted clockwise from A to E). This placement reduces the likelihood of an opening problem even when the spiral arrangement portion 12 is not captured and only the non-spiral arrangement portion 16 is captured.

[0096] Figure 24 This is a perspective view of a controller 6 according to a fifth variation of the present embodiment. The controller 6 according to this variation further reduces the risk of opening problems by using a non-helical portion 14 in addition to the helical portion 12 and the non-helical portion 16 in the controller 6 according to the fourth variation of the present embodiment. Therefore, the computer 2 can detect the position and posture of the controller 6 with higher accuracy than when only the helical portion 12 and the non-helical portion 16 are used.

[0097] Figures 25 to 27 1 is a diagram showing an example of a specific arrangement of a plurality of markers in the controller 6 according to a fifth modification of the present embodiment. Figure 25 (a)~ Figure 25 (d) and Figure 26 (a)~ Figure 26 (d) shows the side view of the controller 6 obtained when the viewpoint is rotated around the x direction (the axial direction of the pen portion 6p) by the angle shown in the figure. Figure 27 (a) shows the side of the controller 6 viewed from the pen tip, Figure 27 (b) shows the side of the controller 6 viewed from the end of the pen. Figures 25 to 27 Shown by Figure 17 The arrangement of the plurality of marks shown constitutes a spiral arrangement portion 12. Figure 23 The arrangement of the plurality of marks shown in (b) constitutes an example of the non-helical arrangement portion 16 .

[0098] exist Figures 25 to 27 In order to make the position of each mark easier to understand, a dotted circle is marked at the position where the mark exists. In addition, regarding the spiral arrangement portion 12, the dotted circle shows the consecutive numbers 1 to 8 of the 8 marks constituting one spiral, and the dotted circle shows the consecutive numbers A to H of the 8 marks constituting the other spiral. As can be understood from the display of these consecutive numbers, Figures 25 to 27 In the example shown, Figure 17 The arrangement of the plurality of marks shown (one spiral consisting of eight marks arranged in phyllotaxy by 3 / 8 phyllotaxy and another spiral in which the one spiral is inverted in the phyllotaxy axis direction (x direction)).

[0099] While preferred embodiments of the present invention have been described above, the present invention is not limited to these embodiments, and can of course be implemented in various forms without departing from the spirit and scope of the present invention.

[0100] For example, you can also refer to Figures 16 to 18 The described irregular spiral structure (double helix or multiple helix, a combination of spirals that reverse each other in the phyllotaxy axis direction, a spiral obtained by changing the interval in the phyllotaxy axis direction) is applied to the spiral arrangement portion 10 and the spiral arrangement portion 11 described in the first embodiment.

[0101] In addition, the spiral arrangement parts 10 and 11 described in the first embodiment and the spiral arrangement parts 12 and 13 and the non-spiral arrangement parts 14 to 16 described in the second embodiment may be appropriately combined to form a single controller 6. For example, Figure 13 The controller 6 shown is a combination of the spiral arrangement sections 12 and 13 and the non-spiral arrangement section 15, or a combination of the spiral arrangement section 12 and the non-spiral arrangement sections 15 and 16. Furthermore, a portion of the spiral arrangement sections 10 and 11 described in the first embodiment and the spiral arrangement sections 12 and 13 and the non-spiral arrangement sections 14 to 16 described in the second embodiment may be appropriately selected to form a single controller 6. For example, the controller 6 may be configured to include the spiral arrangement section 11 instead of the spiral arrangement section 10, and further to include the spiral arrangement section 13 and the non-spiral arrangement sections 14 to 16 instead of the spiral arrangement section 12.

[0102] Description of Reference Numerals

[0103] 1Tracking system

[0104] 2 Computer

[0105] 3 Position detection device

[0106] 4a~4c cameras

[0107] 5. Head-mounted display

[0108] 6 controllers

[0109] 6g handle

[0110] 6ga touch top button

[0111] 6gb grab button

[0112] 6gc, 6gd touch button

[0113] 6ge dial buttons

[0114] 6gf concave part

[0115] 6p pen

[0116] 6pa, 6pb pressure pad

[0117] 6pc, 6pd shift buttons

[0118] 7, 8 spherical part

[0119] 10~13 spiral configuration parts

[0120] 14~16 non-spiral configuration parts

[0121] 100 tables

[0122] 101 tables and chairs.

Claims

1. An XR controller, comprising: case; and The first mark is arranged in phylloses on the surface of the shell.

2. The XR controller according to claim 1, wherein: The housing includes a pen portion formed in a pen shape, The first mark is arranged on the surface of the pen portion.

3. The XR controller according to claim 2, wherein: The XR controller further includes a second marking different from the first marking, The second marks are arranged in phyllodes on the surface of the housing at positions closer to the pen tip than the first marks.

4. The XR controller according to any one of claims 1 to 3, wherein: The first markers are arranged in phyllodes by a double helical structure.

5. The XR controller according to any one of claims 1 to 4, wherein: The first markers are arranged in phyllotaxy by a combination of spirals that are reversed in the direction of the phyllotaxy axis.

6. The XR controller according to any one of claims 1 to 5, wherein: The first marks are arranged in phyllotaxy by a spiral obtained by varying the intervals in the phyllotaxy axis direction.

7. The XR controller according to claim 1, wherein: The housing includes a spherical portion formed in the shape of a sphere, The first mark is arranged so that the phyllotaxis passes through the center of the sphere constituting the spherical portion.

8. The XR controller according to claim 7, wherein: The housing further includes a pen portion formed in a pen shape, The spherical portion is mounted on the end of the pen portion.

9. The XR controller of claim 1 , wherein: The XR controller further includes a second mark arranged in a phyllosyntactic pattern on the surface of the housing, The housing includes a first spherical portion and a second spherical portion, each formed in a spherical shape. The first mark is arranged in such a manner that the phyllotaxis passes through the center of the sphere constituting the first spherical portion. The second mark is arranged so that the phyllotaxis passes through the center of the sphere constituting the second spherical portion.

10. The XR controller according to claim 9, wherein: The housing further comprises: a pen portion formed in a pen shape; and The handle is fixed to the pen portion in such a manner that its length direction intersects with the axial direction of the pen portion. The first spherical portion is disposed at the end of the pen portion, The second spherical portion is disposed at one of both ends of the grip portion in the longitudinal direction, the end closer to the writing portion.

Images