CN106646903A - Follow-up head display device and method - Google Patents

Abstract

The invention discloses a follow-up head display device, comprising an eyeball tracking device, at least two groups of servo devices, two groups of lenses and two groups of screens, wherein the left eye and the right eye respectively correspond to a group of lenses and a group of screens; an eye, a group of lenses, a group of screens and a group of servo device constitute a visual unit; the lenses of the same group and the screens of the same group can be combined into a combination, the lenses and the screens are logically a combination, the servo device connects the lenses to a frame or connects the combination of the lenses and the screens to the frame, or the four groups of servo devices respectively connect two groups of lenses and two groups of screens to the frame, the screens and/or the lenses are mobile components and are not fixed, and the combination of the lenses and the screens can be separately provided with a servo device.

Description

A kind of servo-actuated head shows apparatus and method

Technical field

The application belongs to virtual reality head-mounted display apparatus field.Specifically, the application is to disclose a kind of servo-actuated head to show Apparatus and method.

Background technology

Virtual reality display device is a kind of 3D video displays of wear-type, be divided into carry screen the complete helmet and Using the mobile phone 3D anaglyph spectacleses of mobile phone screen.Can refer to the Patents such as patent 201420529370.X that I has applied Record.Above patent has adjustable function a bit, and what is had does not have.Prior art exist problem be：In virtual reality head On aobvious, parameters will be adjusted, including but not limited to interpupillary distance, eye distance, sighting distance, camera distance, etc..Prior art It is respectively provided with corresponding interpupillary distance and eye distance adjusting means etc..Need the parameter for adjusting a lot, it is impossible to adjust one by one, where is consumer In remember so multi-parameter.And adjust anyway, optimal effect is all unable to reach, adjust manually, user does not also know What is optimum efficiency.No matter how virtual reality is adjusted, and all still has motion sickness phenomenon.In addition, everyone will adjust, also very Trouble, friend using also can not learn adjust.Somebody does not know that the interpupillary distance eye distance of oneself is how many yet.Prior art thinks pupil Away from, sighting distance, eye distance be a fixed value, so just the problem of solving just is thought after regulation using adjusting manually.

But everyone interpupillary distance is seeing at a distance and to see be nearby different, and lenticular being contracted in is seen remote and seen nearby It is also different.And, the differential seat angle between lens and eyes will also result in scalloping, and then aggravate spinning sensation.See Picture be inclined.And rims of the lens inevitably all has distortion.The 270 ° of wide viewing angles boasted in prior art, it is real Then major part is not complete 3d pictures, and only middle 60 ° or so is 3d.Prior art does not know real wide viewing angle How to realize, and picture of the prior art is not real 3d.And prior art has been absorbed in a mistaken ideas, that is, Need to pursue very high resolution ratio, very big lens, and very high calculating performance.The publicity of many big lens products is bright Point is to be not required to adjust any distance.This mistaken ideas annoyings our industries up to 2 years as long as, by side from my industry band to mistake To, delayed we technology development.It has been absorbed in the pursuit endless to lens curve, the big visual angle lens of such as many surface joinings, So that lens cost is very high.Even if can remetaboly Lens Design, dessert（Euphorosia area）Still very little.

Also one problem is that prior art does not recognize that the non-autonomous bounce of eyes must affect on vision, thus institute The picture of offer is also all that brain feels false.How picture is provided, real big visual angle 3d how is realized, cancels regulation ring Section, this patent is exactly to solve this problem.

The content of the invention

The present invention solves the above problems.The present invention needs eyeball tracking device.Eyeball tracking technology and equipment, is divided into taking the photograph Camera carries out image recognition to the pupil position of eyes, has eyes are illuminated using infrared led in turn, allows camera more Plus easy shooting image；Also determine eyeball position using the capacitive sensing between eyeball and capacitive device.Eyeball is chased after Track, mainly watches point tracking attentively.Blinkpunkt, is exactly in fact the main shaft of eyeball, the position of pupil.Which pupil seen toward, in the visual field The heart is just at that.

Eye space position and angle, including the xy coordinates of pupil position, the z coordinate of eyeball depth, and rotate around x-axis Pitching angular coordinate, around y-axis rotate inclination angular coordinate.In this case, x-axis is trunnion axis, and y-axis is weight axle, and z-axis is eye distance Axle.X-axis correspondence sees up and down the angle of pitch, y-axis correspondence left and right and far and near inclination angle.General human eye cannot be rotated around z-axis.

In traditional vr glasses, often using major diameter（Probably more than 45mm）To realize the big visual field, some lens have reached The terrified rank of more than 50mm is arrived.So big lens, just do not bring big distortion, more disadvantageously allow mid portion The visual field and peripheral part become 2d's.Such as eyeball is turned left, and is eyed left, and is affected right eye to see not by screen arrangement Picture is arrived, only left eye can see picture.

In existing patent, there is a kind of blinkpunkt Rendering.Blinkpunkt is found out by eyeball tracking device, at blinkpunkt Picture high-resolution render, to edge picture, low resolution is rendered.Reduced with this to rendering namely to the performance of video card Require.But lens are still motionless, screen is also motionless.Simply the clear center of the picture on screen is with eyeball shifting Move and move.It is, seeing toward which, it is clear which is just rendered, all unintelligible elsewhere to render.It is whether clear to shrink with crystalline lens It is unrelated, not solve problem.

In traditional vr glasses, often adjust after interpupillary distance and sighting distance, lens and screen are secured with respect to eyes.Now Eyeball is rotated, lens and screen are not moved.So just wanting big lens to lift the angle of visual field.

This patent proposes to use lenslet（Relative, lens diameter is less than 30mm）Even lenticule（Lens diameter is little In 20mm）To realize the big visual field.This seems at first glance impossible.This is also that industry prejudice is located.The big lens of pursuit simply, block up The possibility for exploring other roads is lived.My industry is pursued lens abnormal to multigroup concentric poly-lens free form surface spelling Connect.

With lenslet and or lenticule it is corresponding, what this case was used, be also the small screen（Less than 3.5 cun）Or micro- screen Curtain（Less than 2.5 cun）, because the particularity of this programme, can also be using extraordinary screen（High-resolution screen within 1 cun, Jing It is usually used in military project）.So-called extraordinary screen, is in fact another ripe Screen Technology field.VR fields before this case application, Usual thinking is the screen using mobile phone screen or mp4, all than larger.Prior art blocked using extraordinary the small screen can Can property.This programme enables those skilled in the art to open up outlook, and must not consider before this.

Accordingly, the focal length of lens is again smaller than the focal length of lens that traditional vr fields are used（Lenslet is less than 30mm, micro- Mirror is less than 20mm）.

In addition, the lens of this case to eyes distance relatively at present all heads are aobvious will be much smaller.Both lens needed patch Nearly pupil, this sampled images can be more preferable.This is required, when eyeball tracking device detects blink, servomechanism installation will in time by mirror Move after piece, prevent from hindering eyelid blink action, it is impossible to encounter eyelid.When eyelid is opened again, servomechanism installation will in time by thoroughly Mirror resets.In conventional art, eyeball to lens distance at least more than 2cm, this case can reach 1-5mm.

Angle of visual field selected by this case is more than 80 degree.This is lens itself curve and the coefficient result of little eye distance.

Preferably, the diameter of lens is less than 10mm, and focal length is less than 10mm, combination of the diagonal screen dimension less than 1 inch For optimum.

Preferably, using liquid zoom lens, then lens can be fixed with relative screen, and both a few sighting distance was adjusted in combination The free degree servomechanism installation of section.

Little lenticule and screen more than use so that lens become very little with the combination volume of screen, so as to also can Preferably move.Volume diminishes, and the thickness of vr glasses also diminishes, so heavy unlike now so big.

Eyeball tracking technology, can teach that the locus of the pupil of each eye, including xyz coordinates and xyz Axle steer.In addition to rotation of the eyeball relative to eyes main shaft, just it is left five frees degree, 5 coordinate parameters.Namely Say, it would be desirable to which eyeball tracking device teaches that its relative position and direction to 5 coordinates of our eyeball pupils.Its In at least to provide xy coordinates, to be then given x turn, y rotational coordinates, then also to provide z coordinate.Z-axis rotate for eyeball around Axis oculi is rotated.

The response time of described eyeball tracking device should be less than 20ms.

Then we need servomechanism installation.Servomechanism installation one end be arranged on frame on, one end be connected to lens and or screen Curtain.Servomechanism installation is independently arranged according to right and left eyes, and two sets of servomechanism installations are belonging respectively in the two single regulating systems in left and right. That is, at least two sets servomechanism installations.When the combination that lens and screen are not integrally formed, there may be four sets of servos Device connects respectively the lens and screen of right and left eyes.Described frame can be an entirety, it is also possible to two vision lists of correspondence Unit is changed into two parts, and need not interconnect.Described frame itself both can be fixed, or have been moved Aobvious part.Described frame both can be that the shared entirety of left and right visual unit, or left and right visual unit individually connect The discrete rack construction for connecing.

The servomechanism installation of this case indication is that the device of real time kinematics can be carried out according to real time position instruction.Such as servo Motor, mechanical arm, articulated robot, portal frame servomechanism installation of 3D printer etc..It is anti-that servomechanism installation contains in itself position Feedback device, such as encoder, potentiometer, grating.Such as not high wealthy position feedback device, then need separately to add position feedback device.

Combination is " logic " part.Both, even if connecting the screen and lens of right and left eyes respectively using four sets of servomechanism installations, It is still what is be joined logically together between the screen and lens of each group of visual unit.Even if being physically connected without device, Be not bound with body, in logic with programmed algorithm in, the distance between lens and screen, angle is all to correspond to sighting distance and pitching Angle, inclination angle, are all logic connections.

Combination is similar to slr camera, equally there is lens, and equally there is a screen rear end（It is ccd for camera）, Likewise, lens or lens group can carry out various regulations relative to screen.One combines body unit, and screen is regarded as ccd, It is like a small-sized camera.

This case includes eyeball tracking device, and two groups of lens, two stack screens, right and left eyes correspond to respectively one group of lens and a group screen Curtain, eye, one group of lens, a stack screen constitute the screen of a visual unit, one of which lens and this group can be with Composition combination, including servomechanism installation connection lens are in frame, or the combination of connection lens and screen is in frame, or bag Include four groups of servomechanism installations connect two groups of lens and two stack screens respectively can also be single in frame, the lens and the combination of screen Solely it is provided with servomechanism installation.Here 3 schemes, that is, scheme 1 are included：Including servomechanism installation connection lens in frame, now Screen can be provided with servomechanism installation, it is also possible to be not provided with, and two stack screens now can also refer to two offices on one piece of screen Portion viewing area.The screen area also should change position with lens and eyeball on screen, that is, move.This screen Curtain regional movement also belongs to screen motion category.Scheme 2：Connect combination in support including servomechanism installation.Scheme 3：Including point Other servomechanism installation connects respective lens and screen.

The screen and or lens be moving parts.It is so-called motor-driven, refer to that they are not fixed, it is not static, but receive Servomechanism installation drives, can be with the part of mechanical movement.In traditional vr, the standing screens of putting of Jing are fixed static, or even What is more Lens are set for fixed and static, and also are boastted shamelessly and is declared that human eye can be with self adaptation.

Described frame, is the relatively motionless upper level structure of fixed mask and projection.Outside such as tradition vr glasses Shell, fixed mount described in the prior art etc..Particularly, relative to a frame, described in this case can be two single Separate frame, each frame correspondence installs a visual unit, and is connected to the upper level of head-mounted display apparatus On fixed interface.

Described frame can also be provided with servo motion device, this servo with the upper level fixed interface of head mounted display The function of device be make frame relative to head mounted display upper level move, so as to change the lens being arranged in frame and Screen is realized following the trail of relative to the position of eyeball.This servomechanism installation is included in watching between frame and lens or combination During clothes are put, it is equivalent to drive the servomechanism installation of lens or combination.Both, it is arranged on watching between frame and head mounted display Clothes are put, and are equivalent to the servomechanism installation being arranged between frame and lens or screen.Both drive the position to lens or screen Functional equivalent.This case application is described hereinafter, be included in lens and or the servomechanism installation that is connected of screen in.

Described eyeball tracking device is independent two group, and one is provided with every group of visual unit, and so-called independence refers to two Group eyeball tracking device is simultaneously not connected to, even if or be mechanically connected, be also not connected in logic.This is because each visual unit will The respective eyes of independent tracking.Two eyeballs are followed the trail of using an eyeball tracking device, is time choosing, do not abandoned, be included in and patrol In collecting two sets of independent eyeball tracking devices.

It is described with lens and or the servomechanism installation that is connected of screen, at least with the free degree of x-axis movement, preferably The free degree with y-axis direction, it is preferred that there is the pitching degree of angular freedom rotated around x-axis, preferably have around inclining that y-axis rotates The oblique angle free degree, the preferred free degree with z-axis eyeball depth, most preferably 6 with above-mentioned 5 frees degree or completely The free degree.Change bad invention, meet above-mentioned laddering description, do not abandon the row of protection.

When lens and screen individually make a combination, single servomechanism installation is provided between lens and screen.This Servomechanism installation connects lens and screen, adjusts distance-eyesight distance of the screen relative to lens, and or, adjust screen relative to The angle of pitch of lens, inclination angle.The inclination angle refers to the angle rotated around plumb line.Screen revolves around the axis of normal to screen The rotational freedom for turning, typically need not be adjusted, and in particular cases can also be added again in addition.That is, this servomechanism installation is extremely There is less 1 one-movement-freedom-degree, the device of 2 rotational freedoms can also be again provided with.The free degree correspondence of wherein y-axis rotation is inclined Oblique angle, the free degree correspondence angle of pitch of x-axis rotation.The internal servomechanism installation of described combination, with the movement of at least one z-axis Sighting distance adjusts the free degree, can also preferably there is the inclination degree of angular freedom rotated around y-axis, preferably should also have and be rotated around x-axis Pitching degree of angular freedom, most preferably there is the three above free degree.

The servomechanism installation can be prosthetic robot, mechanical arm, servo straight line electric cylinders, and bolt and nut is driven, gear Rack-driving etc. can meet the electric-controlled mechanical adjusting means of requirement.The lens mount that such as lens are installed has external screw thread, and There is internal thread, both are threadedly coupled on the installing rack of screen, then motor is set in the installing rack of screen, and is provided with gear and sting The gear on lens mount is closed, promotes lens to rotate relative to screen, precession or the back-out in the case where driving is rotated of both screw threads, from And lens are adjusted to the distance of screen.For another example, the mutual fit of the installing rack of lens mount and screen, arranges motor on installing rack And gear, the tooth bar of vertical line arrangement on lens mount is engaged, such motor is rotated just can be changed as lens mount and installing rack fit Between slip.For another example, three corresponding servo electric cylinders are respectively provided with lens with the three of screen points, change the length of electric cylinders Degree can change distance, angle of the lens relative to screen.For another example, using mechanical arm or articulated robot connection screen and Lens, change both relative angles and or distance.Can respectively there is embodiment to explain in a specific embodiment.Various enforcements There is no segmentation between example, can be mutually combined and use.Embodiment is example, does not represent restriction.

Including controller, eyeball tracking device is for electrically connecting to, from wherein obtaining coordinate, and this coordinate is transported Calculate, and given an order to servomechanism installation according to operation result.The controller is not necessarily single circuit board, is not necessarily Single part.Controller can be integrated in eyeball tracking device, that is, without controller physically.The controller Can be one section of program on certain circuit board, one section of algorithm, what this program and algorithm played a part of is exactly controller.So Controller is a logical block, is not physical unit.

Described controller and the main frame of head mounted display has data/address bus to connect, transmission eyeball position angle, scenery Depth, eyesight information etc..The eyesight information is obtained from high in the clouds account, or the eyesight letter for manually or automatically measuring Breath.

The eyeball tracking device is connected with each servomotor or is connected with each servomotor by controller, control Device processed receives the coordinate of eyeball tracking device, and carries out computing and distribution control instruction, the rotation of controlled motor.

Described eyeball tracking device may be provided in frame.What so it was given is exactly eyeball relative to the absolute of frame Coordinate.Servo-drive system is also required to move to corresponding absolute coordinate, to reach the purpose of adjustment.

Described eyeball tracking device is arranged on lens, or is arranged on the combination of lens and screen.So it What is be given is exactly eyeball relative to lens or the relative coordinate of combination.Advantage of this is that, if arranging ideal position 0 point of coordinate, then after Rotation of eyeball, servomechanism installation only need to again to coordinate 0 point draw close.On this basis, can also be Set location feedback device on lens or combination.That is, described servomechanism installation does not need servo-drive system, only need Telecontrol equipment is wanted to add position feedback device.Now, the instruction that controller is given be exactly upwards, downwards, clockwise, the inverse time Pin, when returning at 0, stop motion.Relative in frame, absolute position control becomes relative position control System.

The simplified version of such case is that eyeball tracking device directly gives the rotating forward of corresponding motor, inverts, ceases and desist order. Eyeball tracking device is in all the time at 0 point, if be not at 0 point of operating that will provide the corresponding motor of corresponding deviation coordinate referred to Make so as to turn again at 0 point.On this basis, corresponding control algolithm can also be added, such as deviation is big, returns positive speed just Fast, deviation is little, and it is just slow to return positive dynamics, even using pid control algorithm realizing preferably tracking.The eye Ball follow-up mechanism is connected with each servomotor or is connected with each servomotor by controller, and controller receives eyeball and chases after The coordinate of track device, and carry out computing and distribution control instruction, the rotation of controlled motor.

Described eyeball tracking device is independent two group, and right and left eyes are followed the trail of respectively.Although because this case or so vision list Unit is not necessarily in symmetrical, but the setting of two groups of eyeball tracking devices, or it is symmetrical, because in hypothesis, it will be assumed that use Family eyes are in definite value, sight look straight ahead.The spacing of two groups of eyeball tracking devices should take the long sight interpupillary distance of certain a group mankind and put down Average, such as Chinese, 62mm or so, 65mm or so for the foreigner.Certainly, this distance is with specific use The interpupillary distance of the eyes at family is that do not have any relation, does not also have any impact.

All trackings of this case indication, are all real-time, continual trackings.Purpose is exactly to track eyeball to transport in real time It is dynamic, and the picture of optimum is presented.

The present invention clearly eliminates the concept of interpupillary distance regulation, and this is an industry mistaken ideas all the time.Think certain Adjust interpupillary distance.Even if but in fact, have adjusted interpupillary distance, when user focuses on the position of far and near different distance, working as user When eyeing left or eyeing right, confirm image depth information and avoid when the involuntary bounce of brain control eyeball of user During vision dead zone, even the interpupillary distance of same user is also dynamic change.The present invention the substitute is, by the position of pupil Put and directly demarcated, and be directly tracked with servo-drive system.Dynamic regulation interpupillary distance has been reached equivalent to covert Effect, however it is necessary that clear and definite this is not interpupillary distance adjust, but pupil tracking.

Described in the preceding paragraph, dynamic interpupillary distance can be called.It should be noted that being in fact without this concept of interpupillary distance, although Can so say, but be meant that different.

That is, being not provided with the interpupillary distance adjusting means for interconnecting between the right lenses or lens group described in this case. It is not directly coupled between right lenses, is not also indirectly connected with, there is no interpupillary distance adjusting means, there is no interpupillary distance and adjust concept. The implication of interpupillary distance, in traditional vr, it appears that be exactly a fixed value of eyes, is the symmetrical value of right and left eyes.But it is bright in this case Really propose it is not so.

This is not present with away from regulation, can with the understanding in terms of another, that is, not be between right lenses Central Symmetry.Right lenses must be symmetrical in traditional virtual reality device.This is technology barrier.This case is explicitly indicated that Across this obstacle.That is right lenses can be moved to the left simultaneously, or while move right, not into center pair Claim.Left lens even can be corresponding across center line to the right, and right lens can also be across center line to the left side.Should say definitive big Part-time right lenses are all asymmetric.This and traditional concept are to overturn completely.

The present invention explicitly introduce a dynamic vision away from concept.This concept is defined as follows：When object is seen by lens, The people of different vision conditions can see clearly the interval of object, as dynamic vision away from scope.That is, such as twenty-twenty vision People can see 15cm- ∞ at the moment clearly, after the refraction of lens, can see 5-10cm at the moment clearly；The people of 500 ° of myopia can see clearly originally At the moment the scope of 10-30cm, after the refraction of lens, can see 4-6cm at the moment clearly.Here it is dynamic vision away from.Sighting distance in the past Concept, be value that some is fixed, such as myopia is exactly adjusted to after 6cm, just maintains static.But when virtual Image for nearby image when, what image gave people feels be it is near, can 6cm be to the visual focusing of eyes and big ganglion cerebral body it is remote, it is crystalline Body is flat, so will swoon；It is same for the people of twenty-twenty vision, if it is that 5cm is constant to arrange sighting distance, eyes and Big ganglion cerebral body can all tell user that this is object nearby, and crystalline lens is punctured into ball, but virtual image sometimes shows at a distance Object, both produce conflict, and brain produces motion sickness.Solve motion sickness, it is necessary to dynamic regulation sighting distance.Allow virtual image away from It is mapped from corresponding with a distance from sighting distance, allows lenticular contraction to be mapped with the distance of image.

Note, either dynamic interpupillary distance or dynamic vision away from concept, the technical staff of the industry is never consciously Arrive！And we have thought that interpupillary distance is a concept for mistake.

Eyeball tracking device, can teach that the relevant location information of eyeball, but can not tell lenticular bending Luminosity information.Also just cannot determine dynamic vision away from scope.Want to obtain this scope, can survey with manual test or automatically Amount.Automatic measurement diopter, there is in the prior art many schemes.Image imaging on the retina is such as utilized, by taking the photograph Camera shoots the picture on retina to measure eyesight.When on retina seeming that clearly, the pattern that user sees is exactly clear Ground.Horizon range can also be user input, or search from the account in high in the clouds.These are all eyesight information.

The method of measurement sighting distance adjustable range is as follows：Characteristic image is shown on screen, draw near regulation screen, and one opens Beginning, user did not saw image, and first distance is write down when user can see clearly, and screen continues to move, when again user does not see When write down second distance, be both the sighting distance adjustable range of active user between first distance and second distance.

The preceding paragraph, with reference to the video camera of automatic diopter test, then whether can also clearly be come with the imaging of retina Automatically determine the sighting distance adjustable range of user.Arranging a video camera is used to shoot the picture on retina, when on retina Picture is that clearly, the content that user sees is exactly clearly.When picture becomes unintelligible, illustrate too near, it is impossible to focus on .So this scope to first time between unintelligible clear for the first time, is exactly dynamic horizon range.

Sighting distance adjustable range once it is determined that, in just can recorded the account of user.Can call from this account later Data.

Adjust lens and or screen the angle of pitch be correspondence user overlook and look up；Adjust lens and or screen inclination Angle is that being seen for correspondence user closely see and remote, left see that the right side is seen.

Described lens are electric control varifocal lens.Such as liquid zoom lens, or the zoom lens of slr camera etc..It is existing Have in technology can electric control varifocal lens.

If eyeball tracking device is arranged in frame, the position of eyeball tracking device Real time identification eyeball and angle are sat Mark, coordinate is passed in real time controller, and controller sends corresponding movement instruction to servo-drive system, servo through calculating According to instruction action to eyeball correspondence position, while eyeball coordinate is sent into main frame, main frame is given system according to eyeball coordinate The corresponding picture of current gaze direction of gaze, above whole process continues uninterrupted generation.

On the basis of above method, present scene depth is sent to controller by main frame, and controller is according to present scene depth Degree control servo-drive system changes the distance between lens and screen.

Eyeball tracking device is arranged on lens or combination, and eyeball tracking device recognizes the relative position of eyeball and angle Degree coordinate, is compared with 0 point coordinates, finds out tool displacement devious and rotational coordinates, according to these corresponding deviation coordinates, Control corresponding servomechanism installation to be moved, while eyeball coordinate is sent into main frame, main frame is given currently according to eyeball coordinate The corresponding picture in watching direction, above whole process continues uninterrupted generation.Now also need on lens or combination Gesture feedback device is set.This gesture feedback device is used to detect the image to be provided of the camera in current hosts.Described Gesture feedback device can be the position feedback devices such as gyroscope, potentiometer, encoder, magnetic field sensor, optical position detection.

Preferably, the depth of present scene is delivered to controller by main frame, and controller is according to scenery depth calculation dynamic vision Away from the concrete numerical value of scope, the distance between lens and screen is defined with this numerical value, and movement instruction is sent into servomechanism installation, Servomechanism installation changes the distance between lens and screen, and above procedure uninterruptedly occurs in real time.

Uninterruptedly refer to and never terminate.Namely follow all the time, eyeball position is detected all the time, servo-drive system is moved in real time all the time Make.

The decomposition submethod of above method is, s1, the position coordinates of the continual detection eyeball of eyeball tracking device；

The coordinate for detecting is sent respectively to controller and main frame by s2, eyeball tracking device by bus；

S3, controller carries out following action according to eyeball coordinate control servo-drive system；

S4, main frame adjusts the position of current two video cameras according to eyeball coordinate so that virtual video camera and the position of eyeball Overlap just is put, and the scenery of now two video cameras is exported to screen；

S5, on the basis of above method, main frame can also send the scenery depth of Current camera to controller；

S6, controller adjusts sighting distance both the distance between lens and screen according to scene depth information control servo-drive system.

The distance between lens and screen change, the fortune of the servomechanism installation that both can have been leaned in the combination of lens and screen It is dynamic, it is also possible to which that the relative motion by connecting the servomechanism installation of lens and screen respectively coordinates to complete.Both, logically, lens It is a logic entirety with screen, but physically, can separates, it is also possible to is combined into a combination.

Including the data cube computation plugged into main frame, by wired or wireless connection transmission data, the data transmitted It is position and the angle of eyeball, preferably can also transmits the depth information of current region scenery.Described main frame is virtual reality The aobvious processing unit of head, such as be exactly computer for pc heads are aobvious, is exactly cpu, gpu of mobile phone for mobile phone, for It is exactly image processor on all-in-one etc. for all-in-one.Described main frame is exactly the device for producing image.Described data Connection refers to various wired or wireless data transfer connected mode.The other end of the data cube computation being connected with main frame, Can be eyeball tracking device, or controller.The position of described eyeball and angle, should be just virtually existing in main frame The position of camera and angle in real content.

The primary optical axis of described lens and crystalline lens optical axis coincidence.Described screen center is on lens primary optical axis.

The primary optical axis of described lens and crystalline lens optical axis coincidence, and keep overlapping forever by servomechanism installation, enter one Step, on lens primary optical axis, further, described lens are parallel all the time with screen or in fixation for described screen center Angle.

Secondary choosing, described screen is parallel with lens plane, only changes sighting distance, does not change the angle of pitch and inclination angle.

Discount of the present invention shows feeling of immersion, the sense of reality for being truly realized us and being pursued always.Left-hand seat was both used, it is any per capita Any parameter need not be adjusted.Everyone perception is consistent.

Description of the drawings：

Fig. 1 is the stereogram of embodiment 1；

Fig. 2 is the stereogram of embodiment 1；

Fig. 3 is the stereogram of embodiment 2；

Fig. 4 is the stereogram of embodiment 2；

Fig. 5 is the stereogram of embodiment 3；

Title and label in accompanying drawing：Frame 1, lens 2, screen 3, combination 4, lens mount 21, combination framework 41, part spiral shell Bar 211, focusing ring 41, focusing belt 42, focusing motor 43, servo electric cylinders 11, eyeball identifying device 5, eyesight video camera 51, eye Eyeball 6, joint robotic arm 12, control panel 13, screen link 44, higher level's connection servomechanism installation 14, the portal frame of z-axis movement 15, three servo electric cylinders 16.

Specific embodiment

The application is further detailed below in conjunction with the accompanying drawings.It is not emphasis for rack section, has very in prior art Many forms, simple band mistake.So-called frame is exactly the upper level carrier that can fix the equipment such as lens and screen.The width of frame Almost big with the shell of traditional vr glasses, because while lens and screen diminish, but actuating range becomes big.But The thickness and height of frame wants little, thinning.

Servo scheme 1 in frame, machine frame inside each combination is connected to 6 connecting rods.This 6 connecting rods are servo straight lines Motor, is commonly called as electric cylinders.6 servomotors have substantially determined that the free degree in 6 directions of combination, for this case has had more than needed one The individual free degree.Each connecting rod one end connection frame of 6 connecting rods, other end connection combination.Arrangement is per two companies Bar shares a node, and 6 connecting rods of each unit are connected to 3 nodes of lens and screen portions.Each vision list There are 6 nodes in unit.3 nodes of lens or screen portions are equidistant.It is commonly connected to two connecting rods of a node, and node One triangle of structure composition of other side.The two groups of visual units in left and right come to 12 connecting rods.

Servo scheme 2 in frame, machine frame inside each visual unit is provided with 5 servomotors connection combinations, makes Combination has the free degree in 5 directions.This 5 servomotors, are like mechanical arm.And combination, it is exactly this mechanical arm Output end.5 described each joint of shaft mechanical arm can be rotation or mobile, slip.The joint of 5 described shaft mechanical arms Motion algorithm refers to existing 5 axle robot.As long as the position command that servo-drive system receives mechanical arm working end carries out action. Special due to eye distance, everyone is similar, so two sighting distance units can share the servomotor in one group of eye distance direction.

Servo scheme 3 in frame, it is different with mechanical arm, can be watching for each servomotor correspondence one degree of freedom Mechanism is taken, 3d printers, mobile gantry frame, crane boom is similar to.Including x-axis and the servomechanism installation of y-axis straight-line displacement, including z-axis Servomechanism installation, including the servomechanism installation rotated around x, including the servomechanism installation rotated around y.Both, including 3DOF mobile dress The tumbler with 2DOF is put, it is similar with 5 axle milling machines or lathe structure.Special in eye distance, everyone is similar, institute With the servomotor that two sighting distance units can share one group of eye distance direction, that is, the servomechanism installation for sharing one group of certain axle.

In addition to above servomechanism installation, it is also possible to dynamic using pneumatic, hydraulic pressure, oil, isoline or mechanical action servo is rotated Device, such as straight line cylinder, hydraulic cylinder, oil cylinder.

Combination in above servo scheme can also for lens and or screen.Therefore above the servo of 3 servo schemes is filled Putting can connect combination（Such scheme itself）, it is also possible to individually connect lens（Servo scheme A in frame）, it is also possible to it is single Solely connect screen（Servo scheme B in frame）, it is also possible to connect lens and screen respectively（Servo scheme C in frame）.ABC Scheme is combined with 123 schemes, the servo connection scheme being collectively forming in 9 frames.Connect respectively in special C schemes lens and The servomechanism installation of screen can respectively have various scheme again.

With reference to being provided with lens and screen in vivo.Lens are connected to lens mount, and screen is connected to combination framework.Frame servo Device can both be connected to the front end of combination, that is, the position of lens, it is also possible to be connected to rear end, that is, the portion of screen Position.Accordingly, both can be that lens mount is arranged on combination framework, framework connection screen（Combination scheme 1）, or screen Curtain is arranged on screen mount, and then screen mount is arranged on combination framework, and combination framework reconnects lens（Combination scheme 2）.

In addition to above scheme, when lens and screen are directly coupled together by servomechanism installation, it is also possible to without various connections Frame.

It is just as in fact, is exactly lens and screen nested structure relation between the two.

In addition, with reference to multistage middle link can also be designed in vivo, make connection more reliable, move more smooth.

With reference to internal servo scheme 1, the lens and screen on combination are the connections of slip fit, are similar to the saturating of slr camera The relation of mirror and ccd.Combination is provided with a sighting distance servomotor, this motor one end connection combination framework, and one end connects Connect lens mount.It is screw mandrel and nut or rack-and-pinion inside sighting distance servomotor so that this servomotor drive lens frame phase Sighting distance is adjusted for combination framework is movable.Screen cannot can only move linearly relative to lens rotation in this example.Such as Fruit will rotate, and can separately add the servomotor for rotating to connect both.

With reference to internal servo scheme 2, sighting distance is adjusted and can also be that the gear of motor engages a sighting distance focusing ring, and sighting distance is adjusted Focus circle is connected with lens mount for screw drive, and lens mount is linked in combination framework, and arranges groove restriction lens mount phase For the rotation of framework, then when Motor drive focusing ring is rotated, focusing ring engages the screw rod on lens mount and relative to its turn Dynamic, because lens mount can not be rotated, lens mount will stretch out indentation relative to combination framework straight-line displacement, and this device is just Seem slr camera focus control it is the same.This displacement is exactly that sighting distance is adjusted.

When motor constantly adjusts sighting distance with scenery depth, the sighting distance adjustable range of this case is formed.In frame It is additionally provided with eyeball tracking device.This eyeball tracking device is exactly an infrared led and video camera.

A single retina video camera is additionally provided with frame, to absorb the image on retina.We are eyeball Follow-up mechanism and controller make a module, and an entirety is provided with controller, the coordinate of eyeball is entered in eyeball tracking device Row computing, and it is converted into the servomechanism installation coordinate to be moved.Eyeball tracking device and controller are electrically connected with, controller with Servomechanism installation is electrically connected with.

With reference to internal servo scheme 3, the servomechanism installation in combination can also be multiple frees degree, need appropriate increasing Plus servomechanism installation.3 servo linear motors are such as set, sighting distance, the angle of pitch, this 3 freedom of inclination angle can be thus adjusted Spend.Respective link now can be not provided between lens and screen.Because they are directly by this 3 servo linear motors Link up.If 3 connecting rods will control 3 frees degree, in addition it is also necessary to some fixed constraints, otherwise cannot normally position.This example The rotational freedom for arranging 3 connecting rods is restrained, that is, connecting rod is fixed on certain link, such as on combination framework, connecting rod Direction normal to screen.Now, 3 points determine the distance of a plane and the angle of two axles.

Combination between all of above scheme, constitutes this case at least 3x2x3=18 dominant open embodiment.Illustrate below Demonstrate,

Embodiment 1, as shown in figure 1, being the frame servo scheme combination combination servo scheme 2 of 6 connecting rods.Shown in Fig. 1 is one Half, such as left vision unit.Right vision unit and this striking resemblances, are exactly contrary mirror image.Why one is shown Half, it is because so becoming apparent from, more succinctly.And, this example frame both can be that the visual unit of the right and left is co-located on One frame is interior, or is separately positioned in respective disjunct frame.Both, left and right frame both can into be connected, Symmetrically but can be not attached to.

Combination in Fig. 1 is the real combination that lens and screen are mechanically connected.It is namely previously described not Only connect in logic, the combination for physically also connecting.There are lens in combination, there is lens mount, there is combination framework, also shield Curtain.Lens be arranged on lens mount on, be line constraint between lens mount and combination framework, be only capable of it is for linear motion, it is jagged Lens mount is limited relative to the coaxial rotation of combination framework.The servo only one of which free degree in combination.In combination Lens all the time parallel to screen or be all the time in fixed angle.There is half of screw on lens mount.Also turn on combination framework Dynamic to be connected to a focusing ring, focusing ring is internal the screw thread being engaged with lens mount, and both form screw drive.Focusing ring Jing Cross the shaft that focusing belt is connected to focusing motor.Focusing motor is arranged on combination framework.Focusing motor is rotated and passes through skin V belt translation drives focusing ring to rotate, and the screw drive on lens is engaged, so as to realize straight line of the lens relative to combination framework Displacement.Described focusing motor is servomotor.Can between lens mount and combination framework arrange potentiometer, grating or Person's other positions feedback device, motor of now focusing can also be common electric machine.Screen is arranged on combination framework.This combination The scheme of body, can only adjust sighting distance, it is impossible to enough adjust lens relative to the inclined angle of screen rotation.

As shown in figure 1, whole combination, by the six roots of sensation servo electric cylinders frame is connected to.Six roots of sensation servo electric cylinders connect respectively Three points on three points and frame on combination.Six roots of sensation servo electric cylinders are according to servo instruction driving combination in frame Do the motion of 6DOF.But it is because that we need not be around the rotation of z-axis, it is possible to z-axis is limited in control logic and is turned It is dynamic.

As shown in figure 1, eyeball identifying device is a video camera, or can also be provided with the lighting apparatus such as ir led.Eyeball is known Other device is fixedly mounted in frame.

It is the half of head-mounted display apparatus shown in Fig. 1, second half is in mirror image in this.Particularly, second half frame Both the frame of this side can have been connected, it is also possible to be not connected to.

In Fig. 1, an eyesight video camera can also be set, for recognizing the image on retina so as to measure on combination Eyesight, or the camera recognized as eyeball with this camera.

Fig. 1 can also be seen that the video camera of eyeball identifying device slopes slightly downward, it is easier to be directed at eyes.

The part that numeral 4 includes in Fig. 1, is all combination.

Fig. 2 is shown the stereogram of another angle.The connected mode of 6 servo electric cylinders, and screen can be seen Position.Combination, like being a little camera.

It is in any angles and positions under the driving of 6 servo electric cylinders that Fig. 2 also show combination framework to can be.

In the present embodiment, related connecting line should also be included.Including the company of the focusing motor being arranged on combination Wiring, the connecting line of the servo controller of also 6 servo electric cylinders entirety, they are both connected to controller.Controller is again and eye Ball identifying device is connected.Associated cable is not drawn into, but will be appreciated that.Position set by controller is also very free in frame.

In Fig. 1, deliberately the heeling condition of distance will be seen in correspondence with reference to solid offsetting, combination, be combination turning around y-axis It is dynamic；Deliberately the pitch attitude of height will be seen in correspondence with reference to solid offsetting, combination in Fig. 2, be rotation of the combination around x-axis.Extremely In combination x, y, z axle movement, it should be readily understood that.

Embodiment 2, as shown in figure 3, being that the frame servo scheme combination of manipulator is not provided with the scheme of combination.This example Frame becomes a piece of flat board to enlighten to everybody.Frame itself and the implication limited without what, one flat plate also may be used Being frame.As long as various servomechanism installations and lens, screen etc. can be installed, frame can be called.And, this frame is also Can relatively thereon one-level shows the device being connected with head and arranges servomechanism installation again.So, frame is very flexible structure.One Cantilever beam can also become frame.

This example is provided with joint robotic arm in frame.Specifically mechanical bond with above, it is also possible to be installed on side Face, below, the back side, depending on the setting of frame flat board.

The lens and screen of this example are an entirety in control logic, but in frame for movement and are not attached to.This figure can To find out, the not combination of an entity in fact, simply lens with the mutual alignment relation of screen equivalent to a combination Body.Fig. 3 depicts entity controller, and controller can also be integrated into camera or joint robotic arm.

The joint robotic arm of this example has 6 axles, wherein the 1st, 4,6 are rotation, remaining is more specifically configured to swing Repeat no more.Its configuration is similar with industrial joint robot.This example is provided with two joint robotic arms, respectively connect lens and Screen.Lens are provided with corresponding lens mount and the two joint Manipulator arms between respectively with screen and screen link is connected Connect.Even the servo-control system of a joint arm is connected to controller.In addition to articulated robot, 6 connecting rods of each lens, often 6 connecting rods of individual screen, altogether the embodiment of 24 connecting rods also can, this is the reasonable deformation of this example, in all sides of as described before Under the inspiration of case.

This example depicts the position of eyes, convenient to understand.Eyes are by the image on lens inspection screen.

This example also has eyeball identifying device and eyesight video camera, and the position of eyesight video camera it can also be provided that eyeball is known Other device.

Fig. 4 is from seeing to obtain stereogram below, it can be seen that the pupil and lens of eyeball, screen, between eyeball identifying device Position relationship.The attachment means between the structure and lens and screen of joint Manipulator arm can also be seen.

Embodiment 3, as shown in figure 5, being the scheme of portal frame.This example can see frame become one or so it is united whole Body.In fact embodiment 1 and embodiment 2 can so be done, and certain frame can also be not connected to.Portal frame, is exactly that similar 3d beats The xyz axles of print machine etc are plus rotation.There is bar to stitch in the middle of the frame of Fig. 5, this is to enlighten everybody, this frame can be with " breaking into two with one's hands " point It is independent into left and right two.

Two basic change body can be seen in Fig. 5, but there is no combination framework.Frame servomechanism installation is directly installed on screen On curtain link, then it is provided with three servo electric cylinders-connecting rods between screen link and lens mount, this three servo electric cylinders are matched somebody with somebody Put and be defined the universal rotational free degree, only the straight-line displacement free degree, both, all the time normal to screen connects this three electric cylinders Connect frame.

Although being provided with servomechanism installation in frame, the position that frame is combined with upper level is still provided with higher level's connection Servomechanism installation.This higher level's connection servomechanism installation is changed into movable by frame.This example is that frame is changed into vertical direction, that is, Previously described y-axis straight-line displacement direction, can move.That is, the lens and screen in this example combination are relative to eye The position of eyeball will lean on this higher level's connection servomechanism installation located.

The portal frame of z-axis movement is provided with frame.Servomechanism installation is provided between this portal frame and frame and makes it before and after z Axial displacement.Combination is arranged on this portal frame.Each combination is provided with servomechanism installation, allows each combination independent Move left and right relative to this portal frame, that is, x-axis straight-line displacement.Because the servomechanism installation on each combination is independent , so, there is no this in left and right visual unit, the interpupillary distance adjusting means that not there are tradition vr glasses between the combination of left and right yet Individual concept.

Eyeball tracking device is provided with the upper lid of frame.Between the two at a distance of about 60-70mm.

In infringement judges, it is in servomechanism installation in frame that higher level's connection servomechanism installation can be can be regarded as.Or, will be upper Primary structure is used as frame.

In this example, if using upper level structure as frame, then the frame alleged by now, it is possible to regard y-axis gantry as Frame.

Described servomechanism installation can be arbitrary line gearshift.

The servomechanism installation of the inclination without screen and pitching in this example, but screen can do to incline to be transported with the servo of pitching It is dynamic.Here it is a kind of citing for changing bad invention.

The advantage of general principle, principal character and the application of the application has been shown and described above.The technology of the industry Personnel it should be appreciated that the application is not restricted to the described embodiments, the simply explanation described in above-described embodiment and specification this The principle of application, the application also has various changes and modifications on the premise of without departing from the application spirit and scope, these changes Change and improve and both fall within the range of claimed the application.

Claims (10)

1. a kind of aobvious device of servo-actuated head, is characterised by, including eyeball tracking device, servomechanism installation, lens, screen, wherein, lens It is two groups for two groups, screen, at least two groups of servomechanism installation,

Wherein, right and left eyes correspond to respectively one group of lens and a stack screen, eye, one group of lens, a stack screen, one group of servo Device constitutes a visual unit,

The screen of wherein same group lens and same group can constitute combination, and described lens and screen are logically one all the time Individual combination,

Connect lens in frame including servomechanism installation, or the combination of connection lens and screen is in frame,

Or connect two groups of lens and two stack screens respectively in frame including four groups of servomechanism installations,

The screen and or lens be moving parts, do not fix,

Servomechanism installation can be also individually provided with the lens and the combination of screen,

Described lens can be lens group, described two stack screens or can be same screen left and right different screen region.

2. the aobvious device of the servo-actuated head of one kind according to power 1, is characterised by, the primary optical axis and crystalline lens optical axis weight of described lens Close, and keep overlapping forever by servomechanism installation, further, described screen center is on lens primary optical axis, then enters one Step, described lens are parallel all the time with screen or in fixed angle,

Further, servo motion device can be also provided between frame and the upper level device of head mounted display,

Preferably, described lens or can be electric control varifocal lens.

3. the aobvious device of the servo-actuated head of one kind according to power 1, is characterised by, including the data cube computation bus plugged into main frame, leads to Wired or wireless connection transmission data is crossed, the data transmitted are the position of two eyeballs and angle, preferably can also be passed The depth information of defeated current region scenery, preferably can also transmit eyesight information；Eyeball tracking device is electrically connected with controller, Controller is electrically connected with servomechanism installation.

4. the aobvious device of the servo-actuated head of one kind according to power 1, is characterised by, described eyeball tracking device is at least logically independent Two groups, on this basis preferred mechanical connection aspect be also mutually not connected to, further,

Traditional interpupillary distance adjusting means is not set between described right lenses or lens group, is not centrosymmetric between right lenses Mechanically or electrically logical constraint.

5. the aobvious device of the servo-actuated head of one kind according to power 1, is characterised by, it is described with lens and or watching of being connected of screen Clothes are put, and at least with the free degree of x-axis movement, the preferred free degree with y-axis direction preferably has and rotated around x-axis Pitching degree of angular freedom, it is preferred that there is inclination degree of angular freedom rotate around y-axis, preferably there is the freedom of z-axis eyeball depth Degree, most preferably with above-mentioned 5 frees degree or completely 6DOF.

6. the aobvious device of the servo-actuated head of one kind according to power 1, is characterised by, the internal servomechanism installation of described combination, with extremely The sighting distance of few z-axis movement adjusts the free degree, can also preferably have the inclination degree of angular freedom rotated around y-axis, preferably also There should be the pitching degree of angular freedom rotated around x-axis, most preferably there is the three above free degree.

7. the aobvious device of the servo-actuated head of one kind according to power 1, is characterised by, described eyeball tracking device is arranged in frame, Or on lens, or be arranged on the combination of lens and screen, corresponding, the seat that described eyeball tracking device is given Coordinate-absolute coordinate of the eyeball relative to frame is designated as, either relative to lens or the coordinate-relative coordinate of combination, this Information passes through transmission in main frame,

Further,

The eyeball tracking device is connected with each servomotor or is connected with each servomotor by controller, controller The coordinate of eyeball tracking device is received, to main frame eyeball coordinate is sent, and carry out computing and distribution control instruction, control servo system System positioning motion.

8. the aobvious device of the servo-actuated head of one kind according to power 1, is characterised by, the servomechanism installation is n shaft mechanicals arm or n servos The servo-mechanical movement device such as straight line electric cylinders or n axis joints robot, bolt and nut transmission, rack pinion.

9. the aobvious device of the servo-actuated head of one kind according to power 1, is characterised by, described lens are lenslet, and described screen is The small screen, further, described lens are lenticule, and described screen is micro- screen, corresponding, the described focal length of lens It is little focal length, wherein, most preferred scheme is,

The diameter of lens is less than 10mm, and focal length is less than 10mm, and diagonal screen dimension is less than 1 inch, it is preferred that eyes are to lens Distance be less than 5mm.

10. a kind of servo-actuated head appearing method, is characterised by, method 1, and the position of eyeball tracking device Real time identification eyeball and angle are sat Mark, coordinate is passed in real time controller, and controller sends corresponding movement instruction to servo-drive system, servo through calculating According to instruction action to eyeball correspondence position, while eyeball coordinate is sent into main frame, main frame is given system according to eyeball coordinate The corresponding picture of current gaze direction of gaze, above whole process continues uninterrupted generation in real time, or,

Method 2, the relative position and angle coordinate of eyeball tracking device identification eyeball, is compared with 0 point coordinates, finds out and has The displacement of deviation and rotational coordinates, according to these corresponding deviation coordinates, control corresponding servomechanism installation and are moved, and work as eyeball Control servomechanism installation stop motion when follow-up mechanism returns again at 0 relative to eyeball, above whole process continue in real time not between It is disconnected to occur,

On the basis of above method,

The depth of present scene is delivered to controller by method 3, main frame, and controller is according to scenery depth calculation dynamic horizon range Concrete numerical value, the distance between lens and screen is defined with this numerical value, and movement instruction is sent into servomechanism installation, servo dress The distance between change lens and screen are put, above procedure uninterruptedly occurs in real time,

Decomposition step is：

S1, the position coordinates of the continual detection eyeball of eyeball tracking device；

The coordinate for detecting is sent respectively to controller and main frame by s2, eyeball tracking device by bus；

S3, controller carries out following action according to eyeball coordinate control servo-drive system；

S4, main frame adjusts the position of current two video cameras according to eyeball coordinate so that virtual video camera and the position of eyeball Overlap just is put, and the scenery of now two video cameras is exported to screen；

S5, on the basis of above method, main frame can also send the scenery depth of Current camera to controller；

S6, controller adjusts sighting distance both the distance between lens and screen according to scene depth information control servo-drive system.