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JPH0640804

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Notice
This translation is machine-generated. It cannot be guaranteed that it is intelligible, accurate,
complete, reliable or fit for specific purposes. Critical decisions, such as commercially relevant or
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DESCRIPTION JPH0640804
[0001]
BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an
apparatus for detecting the angle of rotation of a moving body, and in particular, is applied as a
means for obtaining control information for realizing virtual reality in video equipment and audio
equipment, The present invention relates to a device capable of stably detecting the rotation
angle of a moving body in a wide area by a simple configuration using infrared light.
[0002]
2. Description of the Related Art Conventionally, not only attitude control systems such as
aircraft and robots but also various control methods by detecting the rotation angle of a moving
body have been performed in various fields. Recently, in order to realize virtual reality in video
control in a video game console, sound image control in an audio system, etc., it is necessary to
accurately detect the rotational state of the viewer's head.
[0003]
A simple three-dimensional digitizer utilizing a magnetic field as shown in FIG. 7 has been
proposed as a detection device, and it is actually applied to a head mounted display system or the
like.
The detection principle of this digitizer is that a fixed source coil (three-dimensional orthogonal
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coil) 51 is supplied with an alternating current by the drive circuit 52, and a magnetic field 53
generated by the source coil 51 is attached to a detection target (a three-dimensional orthogonal
coil). The coil 54 detects the voltage induced in the sensor coil 54 by the signal detection circuit
55, and the computer 56 detects the attitude (rotational state) of the sensor coil 54 using the
above detection signal levels. It is calculated to create control information.
[0004]
Therefore, if the sensor coil 54 is attached to the display goggles to be detected or the head of
the person wearing it, the posture information of the head of the wearer can be obtained, and the
information is used to By performing control of the image, it is possible to realize an image
expression realizing virtual reality.
[0005]
Further, since this detection method can be realized with a simple configuration using two threedimensional orthogonal coils, high detection accuracy can not be expected as with a gyro or the
like used for attitude control of an aircraft, etc. It has the advantage of being able to detect
posture information with a small and lightweight device, and it can be said that it is suitable for a
video and audio system that detects the viewer's posture and executes virtual reality.
[0006]
By the way, when the above three-dimensional digitizer is used, the sensor coil 54 must be within
the range of the magnetic field from which an effective detection signal can be obtained. There is
a problem that the action range of the viewer is limited to a very narrow range.
That is, the magnetic field generated by the source coil 51 is weak, and the sensor coil 54 can not
detect a valid signal only in an area with a radius of about 1.5 m even in the actual head mounted
display system implemented. Outside the area, normal video control is not possible.
In such a case, it is possible to widen the effective area by generating a strong magnetic field by
increasing the current supplied to the source coil 51. However, the power consumption increases
and the magnetic field adversely affects the electronic circuits of the system. There is a
possibility of exerting.
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[0007]
Further, the three-dimensional digitizer described above is a detection method using a reactance
element, so that the response speed becomes slow, and according to the example of the head
mounted display system described above, against the rotation of the sensor coil 54. The detection
signal is output with a delay of about 0.25 to 0.33 sec, the tracking control of the video
expression is delayed, and the quality of the virtual reality is degraded. Furthermore, the threedimensional quadrature coil is relatively expensive, and the voltage induced in the sensor coil 54
is also very small, so the signal detection circuit needs to be designed with high precision, which
makes the entire system expensive.
[0008]
Therefore, the present invention is as an inexpensive system having a wide detection area, a high
response speed, and a low cost by using infrared light while being compact and lightweight like
the above three-dimensional digitizer. It was created for the purpose of providing a moving body
rotation angle detection device that can be realized.
[0009]
SUMMARY OF THE INVENTION The present invention relates to a device for detecting the angle
of rotation of a moving body, comprising: a light emitting means for infrared light fixed at a fixed
position; a distance between the ordinary light emitting means and the moving body; And a
plurality of infrared light sensors attached to the moving body at a sufficiently small distance
with respect to each other and the light receiving surfaces being nonparallel to each other, and
each of the infrared light sensors is the infrared light of the light emitting means A device for
detecting a rotation angle of a moving body, comprising signal detection means for differentially
detecting a signal to be received and output light and outputting the differential signal as
rotation angle information of the moving body.
[0010]
In the present invention, the infrared light emitted from the light emitting means is received by
the plurality of infrared light sensors attached to the moving body, and the difference in the
amount of received light of each infrared light sensor is the rotation angle of the moving body
The output signal of each infrared light sensor is differentially detected by the signal detection
means by using the method corresponding to the above to obtain the rotation angle information
of the moving body.
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[0011]
In this case, it is premised that the infrared light reaching each infrared light sensor is a
substantially parallel light flux, so that the distance between each infrared light sensor is set
between the light emitting means and the moving body It is set small enough for the normal
distance to be
[0012]
Even if the infrared light is parallel light, if the light receiving surfaces of the infrared light
sensors are parallel to each other, the incident angles of the infrared light to the light receiving
surfaces of the infrared light sensors are always the same. And rotation information can not be
obtained.
Therefore, the infrared light sensors are attached to the moving body in a state in which the light
receiving surfaces have a non-parallel relationship with each other, and each of the infrared light
sensors corresponds to the change in the light reception amount of each infrared light sensor as
the moving body rotates. Since the difference between the output signals of the infrared light
sensor changes, the differential signal is used to obtain the rotation angle information of the
moving body.
[0013]
DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT An embodiment of the present
invention will be described in detail with reference to FIGS.
The present embodiment is an application of the present invention to a system for realizing
virtual reality of video and sound images in a video game, and the overall configuration of the
system is shown in FIG. An operation unit of the machine, 3 is a television receiver, 4 is a
headphone, and a CD-ROM storing a game program is set in the game machine body 1 and is
input from the operation unit 2 according to the progress of the game. The video / audio data is
selectively read out from the CD-ROM based on the operation signal, and the video displayed on
the television receiver 3 and the audio output from the left and right channels of the headphone
4 are controlled.
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[0014]
By the way, in the system of this embodiment, the infrared light emitter 5 is installed on the
television receiver 3, while the infrared light sensor unit 6 is provided on the top of the band of
the headphone 4 The sensor unit 6 receives the infrared light 7 emitted from the infrared light
emitter 5 and detects the rotation angle of the head 8 of the game executor who wears the
headphone 4 The virtual reality is realized by the game machine body 1 controlling the video and
audio using the rotation angle data.
[0015]
Here, the appearance of the sensor unit 6 shown in FIG. 4 is shown in FIG. 5 (D): front view, (E):
plan view and (F): side view, and the housing A conical protrusion 10a having a taper angle of 45
° is provided on the tip end face of 10, and four infrared light sensors 11a, 11b, 11c, 11d are
90 along the surface of the conical protrusion 10a. Mounted through a central angle of °.
Therefore, the light receiving surfaces of the infrared light sensors 11a, 11b, 11c, and 11d are
mutually at an angle of 90 ° in the vertical and horizontal directions.
[0016]
Then, as shown in FIG. 4, when the game executor faces the television receiver 3 and plays a
game while watching the screen, the game machine main body 1 is fixed to the infrared light
emitter 5. A synchronization signal of a cycle is output, and the infrared light emitter 5 emits
infrared light 7 in synchronization with the signal.
At this time, the infrared light emitter 5 emits infrared light 7 from substantially one point, but in
the normal case, the distance between the television receiver 3 and the game executor is about 1
to several meters, On the other hand, since the diameter of the conical projection 10a of the
sensor unit 6 is at most about 2 cm, the luminous flux of the infrared light 7 should be regarded
as substantially parallel luminous flux in the vicinity of the sensor unit 6.
[0017]
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Under these conditions, the light receiving states of the infrared light sensors 11a and 11b are as
shown in FIGS. 1 (A), (B) and (C), and FIG. In (B), when the game executor substantially faces the
screen of the television receiver 3 and the axial direction of the sensor unit 6 substantially
coincides with the light flux direction of the infrared light 7, (B) shows the game executor (C)
shows the case where the game executor rotates the head 8 to the left when the head 8 is rotated
to the right.
Here, first, in the state of (A), the infrared light 7 is incident at an incident angle of 45 ° to the
light receiving surfaces of the infrared light sensors 11a and 11b, and both infrared light sensors
11a , 11b are equal, and the amplitude level of the output voltage by their light reception
becomes equal. On the other hand, in the state of (B), the incident angle of the infrared light 7 on
the light receiving surface of the infrared light sensor 11a is large, and conversely, the incident
angle of the infrared light 7 on the infrared light sensor 11b is small. That is, the incident angles
with respect to the respective infrared light sensors 11a and 11b change by the angle at which
the game executor rotates the head 8 to the right, and the amount of light received by the
infrared light sensor 11a decreases corresponding to the rotation angle. In the infrared light
sensor 11b, the amount of light received is increased. Further, in the state of (C), the relationship
is reverse to the state of (B), and the amount of light received by the infrared light sensor 11a
increases corresponding to the angle at which the game executor rotates the head 8 to the left In
the infrared light sensor 11b, the amount of light received is reduced. However, the abovementioned "incident angle" is used in the meaning which represented the angle of the light beam
with respect to the axis | shaft perpendicular | vertical to the light-receiving surface of the
infrared sensor 11a by the absolute value.
[0018]
By the way, the sensor unit 6 shown in FIG. 5 incorporates the signal detection circuit shown in
FIG. 1A, and the output signal of each of the infrared light sensors 11a and 11b is a capacitor for
removing the DC component. 12a and 12b to input to the non-inversion terminal and the
inversion terminal of the differential amplifier 13, the detection circuit 14 detects the differential
AC output of the differential amplifier 13 to detect an amplitude voltage, and the A / D converter
15 The voltage level after detection is A / D converted and output to the game machine body 1 as
left / right rotation angle data (D1). Therefore, when the game executor turns the head 8 to the
left and right in FIG. 1, the turning angle data (D1) is detected by the sensor unit 6 and taken into
the game console 1 through the signal line of the headphone 4 become.
[0019]
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The operation of the sensor unit 6 is the same for the infrared light sensors 11c and 11d
mounted in the vertical direction, and as shown in FIG. 2, the game executor turns the head 8 up
and down. Then, the output signals of the infrared light sensors 11c and 11d are processed by
the built-in circuit 16 of another system having the same configuration as that described above,
and the vertical rotation angle data (D2) is output to the game machine body 1. In this case, when
the game player rotates the head 8 upward, the amount of light received by the infrared light
sensor 11c decreases and the amount of light received by the infrared light sensor 11d increases,
and the head 8 is rotated downward. The opposite is true.
[0020]
Here, the amplitudes of the output voltages of the infrared light sensors 11a, 11b, 11c and 11d
with respect to the rotation angle of the sensor unit 6 and the differential output of the
differential amplifier 13 have a relationship as shown in the graph of FIG. It becomes. However,
the rotation angle in this graph is a positive angle when the sensor unit 6 is rotated to the right
and upward, and according to a negative angle when the sensor unit 6 is rotated to the left and
downward, for example, Is rotated to the right by the angle .theta., The left and right rotation
angle data (D1) is output to the game console 1 as the differential output Va.
[0021]
Next, in the system of FIG. 4, the operation procedure for the game machine body 1 to realize
virtual reality of video and sound images will be described with reference to the flow chart of FIG.
When the reset button of the operation unit 2 is pressed while facing the screen, the game
machine body 1 sets posture data in which the posture of the game player's head 8 in that state
is in the initial state (S1). Further, at that time, the game machine body 1 activates the infrared
light emitter 5 and outputs a synchronization signal to the infrared light emitter 5, and blinks the
infrared light emitter 5 in the cycle of the synchronization signal ( S
[0022]
Next, while watching the video of the game being displayed on the television receiver 3 and
listening to the audio outputted from the left and right channels of the headphone 4, the game
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executor has a button of the operation unit 2 or a button of the operation unit 2. You will enjoy
the game by operating the joystick, but if you turn the head 8 during the game execution
process, the sensor unit 6 will move up and down with the left / right rotation data (D1) based on
the principle explained above The rotation data (D2) is detected, and each data (D1, D2) is output
to the game console 1 through the signal line of the headphone 4 (S2). On the other hand, the
game machine body 1 executes movement control of the image and movement control of the
sound image based on the operation data obtained from the operation unit 2 and the rotation
angle data (D1, D2) transferred from the sensor unit 6 (S3) ). Therefore, the video and the sound
image are moved according to the rotation angle of the head of the game executor, and the
virtual video and audio movement is expressed according to the movement, so that a more
realistic presence is realized. Exude a feeling.
[0023]
The detection of the rotation data (D1, D2) and the control procedure based thereon are executed
every cycle (Ts: 10 sec, for example) of the synchronization signal to the infrared light emitter 5
(S4), Video and sound images are controlled almost in real time to realize high quality virtual
reality. In this system, infrared light can be detected by the sensor unit 1 even if a general
infrared light sensor is used widely. The area is very wide, and even when the game executor is
separated from the infrared light emitter 5 by several tens of meters, accurate detection of the
rotation data (D1, D2) can be performed. In addition, since a signal can be obtained with higher
sensitivity than the conventional magnetic field detection method using a three-dimensional
orthogonal coil, it has an advantage that more accurate and precise virtual reality can be realized.
[0024]
According to the present invention, the apparatus for detecting the angle of rotation of the
moving body according to the present invention detects the angle of rotation using infrared light,
so that the moving body can move more freely than when the conventional magnetic field
detection method is used. This makes it possible to obtain rotation angle information without
being subject to disturbances such as noise and the like. In addition, since the detection system
can be realized at a low cost because it can be realized with a very simple configuration using
widely used parts and circuit elements, the rotation angle data can be constructed with its high
detection sensitivity and fast response speed. It is possible to execute the various controls used
with high accuracy. In particular, it is suitable as a device for obtaining control information for
realizing high-quality virtual reality with video equipment and audio equipment, and realizes
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more advanced video expression and audio expression in television game machines and the like.
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