JP2008017348A - Video display apparatus, and distortion correction processing method of video signal - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a video display apparatus and a distortion correction processing method of a video signal capable of displaying a video image without distortion for a viewer. <P>SOLUTION: The video display apparatus includes: a projector 1; a screen 2 with a video screen 2a; a movable mechanism section 3 for moving the projector 1 and the screen 2; a sensor section 4 for measuring the position and posture of the projector 1 and the screen 2; a viewpoint position measurement section 7 for measuring a viewpoint position α of the viewer M; and a video signal processing section 5 that obtains a correction parameter for correcting distortion of the video image displayed on the video screen 2a on the basis of the measured viewpoint position α and the screen 2 or the projector 1 or the relative position and posture between the screen 2 and the projector 1, and the shape of the video screen 2a of the screen 2 and applies distortion correction processing to the video signal received by the projector 1. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a video display device using video display means having a projection surface of an arbitrary shape and a video signal distortion correction processing method.

   2. Description of the Related Art Conventionally, a technique for projecting an image on a large screen and causing an observer to perform various simulated experiences is known.

  These virtual reality generation systems generate the most information from the human senses and account for 80% to 85% of the information obtained from all human senses. By presenting a simple video, an immersive feeling is given to the video. In virtual reality, in order to generate a more realistic virtual space, it is the most important element to present information to the eye.

  Thus, there is a demand for a video display device that not only presents video, but also realizes a natural appearance such as wide field of view and stereoscopic vision.

As such an image display device, there is an image display device (screen) having a hemispherical projection surface and an image projection device for projecting a wide-field image without distortion on the image display device ( For example, Patent Document 1).
Japanese Patent No. 3387487 (paragraphs 0011 to 0013, FIG. 1 and FIG. 2)

  By the way, for example, in order to perform an operation while the operator observes the state of the internal organs of the subject captured by an endoscopic camera, there is a desire to install the video projection device as described above in the operating room, Since the configuration of the device described in Patent Document 1 is to fix the image display means, it cannot cope with the use in which the position of the operator changes due to the progress of the operation or the like.

  The present invention has been made in view of the above-described points, and an object of the present invention is to provide video display means, video projection means, and the viewpoint position of an observer who views the video on the projection surface of the video display means. To provide a video display device and a video signal distortion correction processing method capable of displaying an image without distortion for an observer even if any two relative positions and postures selected by the above change. is there.

In order to achieve the above-described object, in an invention related to a video display device, video projection means for inputting video signals and projecting video light, and an arbitrary shape for projecting video light by projecting video light from the video projection means A video display means having a projection surface, and any two relative positions and postures selected from the viewpoint position of the observer viewing the video on the projection screen of the video projection means, the video display means, and the video display means. Movable means for moving; measuring means for measuring the relative position and attitude; the relative position and attitude measured by the measuring means; the remaining one preset position and attitude not selected; From the shape of the projection surface, a correction parameter for correcting distortion of the image projected on the projection surface of the image display means by the projection of the image projection means is obtained, and the image projection means is determined based on the correction parameter. Video signal processing means for performing distortion correction processing on the video signal to be applied. Also, in the invention relating to the distortion correction processing method for video signal, the video projection means, the video display means, A selection process of selecting any two from the viewpoint positions of the observer viewing the video on the projection screen of the video display means, and the two relative positions and postures selected in the selection process to a desired position and posture A position adjustment process for setting the remaining one preset position and posture that is not selected, the two selected relative positions and postures adjusted in the position adjustment process, and the remaining one that is not selected. Based on two set positions and orientations and the shape of the projection surface of the image display means, the image light projected from the image projection means corrects the distortion of the image projected on the projection surface of the image display means. A correction parameter calculation step for calculating a correction parameter for calculating a positive parameter, and a distortion correction processing step for performing distortion correction on the video signal input to the video projection unit based on the calculated correction parameter. To do.

  The invention relating to the video display apparatus is such that any two relative positions and postures selected from the video projector, the video display, and the viewpoint position of the observer viewing the video on the projection screen of the video display change. The video signal processing means displays on the projection screen from the relative position and orientation measured by the measurement means, the remaining one preset position and orientation that is not selected, and the shape of the projection plane. Since the distortion correction process is performed, an image without distortion can be displayed to the observer, and the stereoscopic image for stereoscopic viewing can be displayed so that the observer can see an immersive image. There is an effect that can be done.

  Further, the invention relating to the distortion correction processing method of the video signal includes any two relative positions selected from the video projection means, the video display means, and the viewpoint position of the observer viewing the video on the projection plane of the video display means. And adjusting the posture, and setting the remaining one position and posture that are not selected, the correction parameter for correcting the distortion of the image projected on the projection screen of the image display means is calculated, and the calculated correction parameter is used as the calculated correction parameter. Based on this, the video signal input to the video projection means is subjected to distortion correction processing, thereby realizing a video display device that displays a video without distortion to the observer.

Embodiments of the present invention will be described below.
(Embodiment 1)
As shown in FIGS. 1 (a) and 1 (b), the video display device of this embodiment includes a projector 1 as video projection means for inputting video signal S and projecting video light, and video light projected from the projector 1. In order to move the position and posture of the projector 1 and the screen 2 as an image display means having an arbitrary shape with a concave surface facing the observer who displays the image, for example, a hemispherical concave projection surface 2a. A movable mechanism 3 that moves the screen 2, a viewpoint position measuring unit 7 that detects a viewpoint position α of the observer M viewing the projection surface 2 a of the screen 2, and positions and orientations of the projector 1 and the screen 2 are detected. For example, the projection surface 2a of the screen 2 and the viewpoint of the observer M obtained based on the sensor unit 4 and the measurement information of the sensor unit 4 and the viewpoint position measuring unit Correction parameters for correcting the distortion of the image displayed on the projection surface 2a of the screen 2, which is obtained from the relative position and orientation of the position α, the position and orientation of the projector 1, and the shape of the projection surface 2a of the screen 2. The video signal processing unit 5 that performs distortion correction processing on the video signal S input to the projector 1 is configured as a main component.

In FIG. 1B, for the sake of simplification, the observer M is shown only with the head and the right eye (also shown in other figures).
In the following example, a case where monocular video light is projected from the projector 1 onto the screen 2 will be described. However, a stereoscopic video for stereoscopic viewing may be displayed on the screen 2. When such a stereoscopic image for stereoscopic viewing is used, the observer can view an immersive image.

  In this case, the viewer who views the image is attached with polarized glasses or liquid crystal shutter glasses having different polarization directions of the image light transmitted by the right eye and the left eye, and the parallax is mutually separated from the projector 1 by the polarization method or the time division method. A plurality of types of video light having different polarization directions are emitted.

  When a stereoscopic image is displayed on the screen 2 by a polarization method (for example, a circular polarization method), a material having a polarization direction of the image light is used as the screen 2, and the polarization direction is changed from the two light exit ports of the projector 1. Different right-eye image light and left-eye image light are emitted. In addition, when a stereoscopic image is displayed on the screen 2 by the time division method, the right eye image light and the left eye image light are alternately emitted in a time division manner from one light exit, and the right eye image light and The emission timing of the image light for the left eye is synchronized with the switching timing of the right eye and the left eye shutter of the liquid crystal shutter glasses.

  Further, as the screen 2 used for stereoscopic images, in the case of the polarization method, a so-called silver screen in which aluminum powder or the like is applied to the surface of the projection surface 2a is used.

  The projector 1 according to the present embodiment includes, for example, a rotation mechanism 30a that is rotatable in a horizontal plane and a rotation mechanism 30b that is rotatable in a vertical plane on a support base 6 fixedly installed on a floor F of a hospital operating room. Positioned through the rotation support unit 30, the position, posture, or projection of the projector 1 in a range of 360 degrees in the horizontal plane by the rotation of the rotation mechanism 30 a and a predetermined angle in the vertical plane by the rotation of the rotation mechanism 30 b. The direction can be changed.

  On the other hand, the screen 2 is supported by the other end of the link mechanism 31 having one end connected to the upper surface of the projector 1, and the position and posture of the screen 2 can be changed by the link mechanism 31.

  Here, the link mechanism unit 31 is. Three arms 31c to 31e connected by rotating nodes 31a and 31b, a rotating mechanism 31f that is attached to the upper surface portion of the projector 1 and rotates in a plane parallel to the upper surface portion, and a rotating shaft and an arm 31c of the rotating mechanism 31f A rotating node 31g interposed between one end of the arm 31e, a rotating mechanism 31h connected to the end of the arm 31e and rotating in a plane perpendicular to the axial direction of the arm 31e, and connected to the rotating shaft of the rotating mechanism 31h. The Y-shaped support arm 31i that supports both sides of the screen 2 disposed between the arm pieces on both sides, and the screen 2 for the projector 1 by the rotating nodes 31a, 31b, 31g and the rotating mechanisms 31f, 31f. Can change the position and posture.

  Thus, the rotation support unit 30 and the link mechanism unit 31 described above constitute the movable mechanism unit 3 that can freely move the positions and postures of the projector 1 and the screen 2 manually.

  The sensor unit 4 is built in each rotation mechanism 30a, 30b of the rotation support unit 30 of the movable mechanism unit 3 to measure the position and orientation of the projector 1 and the screen 2, and is an angle sensor that measures the respective rotation angles. The rotation mechanism 31a, 31b, 31g of the link mechanism unit 31 and the angle sensor that measures each rotation angle built in the rotation mechanisms 31f, 31h, and each angle information measured by these sensor groups is Along with the measurement information of the M viewpoint position α, it is used when calculating distortion correction parameters for distortion correction described later.

  The viewpoint position measurement unit 7 uses a magnetic sensor that can detect a three-dimensional position, and attaches the magnetic sensor to spectacles (polarized glasses or liquid crystal shutter glasses), a mask, a hat, or the like, which is an attachment of the observer M. Consists of means for measuring the viewpoint position α. Of course, in addition to this, for example, a face image of the observer M is picked up by an imaging camera attached to the screen 2, the eyebrow is extracted, and the viewpoint position α is measured from the relative relationship between the eyebrow position and the position of the screen 2 May be used.

  The video signal processing unit 5 is constituted by a personal computer, for example, and as shown in FIG. 2, the functions of the video signal input unit 51, the coordinate calculation unit 52, the correction parameter calculation unit 53, and the correction processing unit 54 are implemented by software. Build by execution.

  The coordinate calculation unit 52 inputs the information of each angle measured by the sensor unit 4 and the measurement information of the viewpoint position measurement unit 7 and inputs the current angle and the link mechanism unit 31 stored in advance. The relative position of the screen 2 with the position of the projector 1 as the origin is calculated from the lengths of the arms 31c to 31d, and the position of the screen 2 with the viewpoint position α of the observer M measured by the viewpoint position measurement unit 7 as the origin. The relative position of is calculated.

  In addition, the coordinate calculation unit 52 simultaneously determines the rotation angle of the screen 2 based on the optical axis direction (projection direction) of the projector 1 from the current angle and the lengths of the arms 31c to 31d. The relative posture with respect to the screen 2 is calculated. Further, the relative orientation between the viewpoint position α that is the rotation angle of the screen 2 and the screen 2 is calculated based on the assumed viewpoint direction from the viewpoint position α of the observer M measured by the viewpoint position measurement unit 7.

  Note that the relative position and orientation of the viewpoint position α and the screen 2 may be calculated instead of the relative position and orientation of the viewpoint position α and the projector 1.

  Further, the coordinate calculation unit 52 determines whether or not the screen 2 is arranged outside the projection range of the projector 1 based on the relative position and distance between the screen 2 and the projector 1 and the angle of view of the projector 1.

  When the image light projected from the projector 1 is not projected onto the screen 2, it is determined that there is no screen 2 and the projection of the image light is stopped.

  Furthermore, the coordinate calculation unit 52 calculates the distance between the screen 2 and the projector 1, notifies the projector 1 of the degree of enlargement or reduction of the image light, and the zoom / focus mechanism (not shown) of the projector 1. It is desirable to control the image light so that the image light can be projected over the entire surface of the screen 2. That is, the zoom function of the zoom / focus mechanism enlarges / reduces the projection light, and the focus function performs focusing according to the distance of the position of the projection surface 2a of the screen 2.

  The correction parameter calculation unit 53 includes the relative position and posture of the projector 1 and the screen 2 including the position and posture of the projector 1 received from the coordinate calculation unit 52 (these are preset positions and postures), and an image. The relative position and orientation of the viewer M's viewpoint position α and the screen 2 and the current angle of view of the projector 1 are input, and distortion when a planar video signal described later is projected on the screen 2 is input. A distortion correction table is created as a distortion correction parameter for correction.

  In this creation, the relative position and orientation of the viewpoint position α and the projector 1 may be used instead of the relative position and orientation of the observer M's viewpoint position α and the screen 2.

  This distortion correction table is a correspondence map between a flat projection surface and a mesh model of the projection surface of the screen 2 having an arbitrary shape. Coordinate conversion is performed according to the distortion correction table, for example, a flat video signal is converted into an arbitrary shape for each pixel. This is for conversion into an output video signal for display on the projection surface.

  The video signal input unit 51 generates a planar video signal for projecting a video on a plane from the video signal S of an imaging camera (for example, an endoscopic camera that captures the visceral state of a subject in an operating room) from the outside. To the correction processing unit 54.

  When the planar video signal output from the video signal input unit 51 is input, the correction processing unit 54 projects the planar video signal onto the projection surface of the screen 2 in accordance with the correction parameter calculated by the correction parameter calculation unit 53. Distortion correction processing for visually recognizing an image without distortion from the M viewpoint position α is performed.

  Further, the correction processing unit 54 converts the planar video signal into an output video signal for display on an arbitrary shape projection surface for each pixel, creates an output video signal, and supplies the output video signal to the projector 1. As a result, the projector 1 projects the image light that has been subjected to distortion correction in accordance with the relative position and orientation of the screen 2 and the projector 1 toward the screen 2.

  As described above, according to the video display device to which the present invention is applied, even if the screen 2 and the projector 1 are connected by the link mechanism unit 31, the projector is obtained from the information of the sensor unit 4 and the viewpoint position measuring unit 7. By measuring the relative position and posture between the position 1 and the posture 1 and the screen 2 and the viewpoint position α of the observer M, it is possible to automatically perform the distortion correction processing on the planar video signal, and there is no distortion. An image can be displayed on the screen 2.

  Further, according to the video display apparatus of the present embodiment, even when there is an obstacle between the screen 2 and the projector 1 and the screen 2 or the projector 1 is moved, the new projector 1 and the screen 2 can be moved. By performing again the distortion correction processing based on the relative position and posture and the relative position and posture of the observer M's viewpoint position α and the screen 2, an immersive feeling without being affected by the shadow of an obstacle, etc. Therefore, a clear image with no distortion can be displayed on the screen 2.

  For example, when the observer is a doctor, in the operating room, the rotation support unit 30 and the link mechanism unit 31 are driven so that a bed, an instrument, an illumination device, or the like that becomes an obstacle is sandwiched between the screen 2 and the projector 1. Since the screen 2 and the position of the projector 1 can be arranged, the image of the affected area of the subject is projected on the screen 2 even in a space such as an operating room with little space, and the image is clear without distortion. It is also possible to perform an operation while watching a simple image. In particular, when a stereoscopic image for stereoscopic viewing is used, the depth direction can be easily recognized, and the internal organ position and the like can be easily recognized.

  Next, an actual usage example of the present embodiment will be described.

  FIG. 2 shows a case where the screen 2 is set to an appropriate position and posture from a state in which the position and posture of the screen 2 are not appropriate from the viewpoint position α of the observer M. First, in FIG. Since the viewpoint position α of the person M is not an appropriate position set in advance, the position and posture of the screen 2 are appropriately set with respect to the viewpoint position α by moving the link mechanism unit 31 as shown in FIG. Change to state.

  In this changed state, since the projection surface 2a of the screen 2 is inclined downward, the rotation support unit 30 is moved so that the projection light of the projector 1 is changed and the image light is appropriately projected onto the projection surface 2. As a result, as shown in FIG. 2C, the position and orientation of the projector 1 are changed to make the projection axis obliquely upward. Thereby, the image light from the projector 1 can be appropriately projected onto the projection surface 2 a of the screen 2.

  If the position and orientation of the screen 2 and the projector 1 are changed, the relative position and orientation of the screen 2 and the viewpoint position α of the observer M are also changed. That is, this changing process is a position adjusting process of the position of the screen 2 and the projector 1 and the viewpoint position α of the observer M. When this process is completed, the video signal processing unit 5 includes information on the angle measured from the sensor unit 4 and Based on the measurement information of the viewpoint position measurement unit 7 and the shape of the projection surface 2a, that is, the final position and orientation of the projector 1 shown in FIG. The relative position and orientation of the projection surface 2a of the screen 2 and the viewpoint position α of the observer M based on the angle information measured from the unit 4 and the measurement information of the viewpoint position measurement unit 7, and the projection surface of the screen 2 Based on the shape of 2a, the distortion correction parameter is calculated as described above (correction parameter calculation process). Performs processing for correcting the image signal (correction process), it will be able to project the image without distortion on the projected surface 2a of the screen 2.

  2, the position and orientation of the screen 2 are changed with respect to the viewpoint position α of the observer M, and the projection axis of the projector 1 is set to the screen 2 in response to the change in the position and orientation of the screen 2. Although the position and orientation of the projector 1 are changed so as to be appropriate, the position and orientation of the screen 2 are changed while the position and orientation of the projector 1 are set to the predetermined position and orientation. Along with this, there is a usage form in which the observer M moves the viewpoint position α to an optimal position.

  FIG. 3 shows this usage pattern. In FIG. 3A, the relative positions and orientations of the projector 1 and the screen 2 are such that the projection surface 2a of the screen 2 is not within the projection range of the projector 1. When the projection of the image light from the projector 1 is stopped, the projection surface 2a of the screen 2 is within the projection range of the projector 1 and the projection is started as shown in FIG. By moving the link mechanism unit 31, the position and posture of the screen 2 are changed. In this case, naturally, the relative position and posture of the viewpoint position α of the observer M and the projection surface 2a of the screen 2 are changed. In FIG. 3B, the observer M exists in the projection range. The projected image light is shielded by the observer M. Therefore, as shown in FIG. 3C, the observer M moves to a position where the image light is not blocked. By this movement, the position of the viewpoint position α of the observer M and the relative position and posture of the projection surface 2a of the screen 2 are further changed. When the position adjustment process is finally completed, the video signal processing unit 5 is based on the angle information measured from the sensor unit 4, the measurement information of the viewpoint position measurement unit 7, and the shape of the projection surface 2a. The final position and orientation of the projector 1 shown in 3 (c) is set as the set position and orientation, and the position and orientation, the angle information measured from the sensor unit 4, and the measurement information of the viewpoint position measurement unit 7 are included. Based on the relative position and orientation of the projection screen 2a of the screen 2 and the viewpoint position α of the observer M, and the shape of the projection surface 2a of the screen 2, the distortion correction parameter is calculated as described above (correction). Parameter calculation process), and after completion of the correction parameter calculation process, a process of correcting the plane image signal by the distortion correction parameter is performed (correction process process), and the projection surface 2a of the screen 2 has no distortion. It will be able to project the image.

  Although the movable mechanism 3 is manually moved to change the position and orientation of the projector 1 and the screen 2 described above, the movable mechanism 3 may be driven by an electric drive unit. In this case, the video signal processing unit 5 is equipped with a voice recognition function for recognizing the voice of the observer M or an operation input function for detecting an operation of the observer M, and a screen based on the voice or the operation of the observer M. Means for inputting a command for changing the position and orientation of the projector 2 and the projection direction of the projector 1, and by interpreting this command and controlling the electric drive unit to move the movable mechanism unit 3, And a control means for changing the general position and orientation.

  In this case, the coordinate calculation unit 24 and the correction parameter calculation unit 53 of the video signal processing unit 5 update the correction parameters in accordance with changes in the position and orientation of the screen 2, and the screen 2 position corresponding to the intention of the observer M. It is possible to observe an image with no distortion.

  Further, when the relative position and orientation of the screen 2 and the projector 1 are changed according to a command from the observer M, a lock mechanism that fixes the relative position and orientation of the screen 2 and the projector 1 after the change is provided. It is desirable that the rotary nodes 31a, 31b and 31g and the rotary mechanisms 30a, 30b, 31f and 31h are provided. Thereby, after changing the relative position and attitude | position of the screen 2 and the projector 1 by the instruction | indication of the observer M, the screen 2 position can be fixed reliably.

  In this embodiment, the support base 6 is fixed to the floor F. However, a caster may be provided so as to be movable (the same applies to other embodiments described later).

  Furthermore, in the present embodiment, a screen 2 having a hemispherical concave (dome-shaped) projection surface 2a is used as the screen 2, but a screen having a planar projection surface 2a or a secondary part using a cylindrical shape is used. A screen having a curved projection surface 2q may be used. Further, a screen formed by various combinations of a hemispherical concave (dome-shaped) projection surface, a planar projection screen, and a quadratic curved projection surface may be used (the same applies to other embodiments described later).

  Furthermore, in the above-described embodiment, the optical axis of the projector 1 is directed in the direction of the projection surface 2a of the screen 2, but the image light emitted from the projector 1 is reflected by the reflection mirror in the opposite direction, Image light may be projected onto the screen 2. In this case, a rotary actuator that makes the reflection angle of the image light variable according to the control signal of the image signal processing unit 5 is installed on the reflection mirror support unit.

  Then, the current position and orientation of the screen 2 are calculated by the video signal processing unit 5 to calculate the position and orientation at the center position of the screen 2 with respect to the orientation (rotation angle) of the reflecting mirror and reflected by the reflecting mirror. The rotation angle of the reflection mirror on which the image light is projected over the entire surface of the screen 2 is calculated to control the rotary actuator, while the image light reflected by the reflection mirror is displayed over the entire surface of the screen 2 without distortion. As described above, the relative position and orientation of the screen 2 and the reflecting mirror are calculated to create correction parameters, and distortion correction processing is performed.

  By using such a reflection mirror, an image without distortion can be displayed even when the screen 2 is in an arbitrary position and posture without providing a mechanism for changing the position and posture of the projector 1.

Furthermore, compared with the case where the position / orientation of the projector 1 is directly changed, the projector 1 can be changed with less power using a simple mechanism.
(Embodiment 2)
By the way, although the video display apparatus of the above-mentioned Embodiment 1 presupposes that the movable mechanism part 3 is moved manually, for example, when the screen 2 is moved manually and the screen 2 is out of the projection range of the projector 1. Even so, in this embodiment, the optical axis of the projector 1 can be automatically directed to the center of the screen 2.

  In the present embodiment, as shown in FIG. 4, a screen drive unit 37 for changing the position and posture of the screen 2, a projector drive unit 38 for changing the position and posture of the projector 1, and an image display range. The image capturing unit 10 is a camera that captures an image, and in the video signal processing unit 5, a screen drive position calculation unit 55, a projector drive position calculation unit 56, an image processing unit 57, a correspondence table storage unit 58, a projection range. A calculation unit 59 is provided.

  The projection range calculation unit 59 covers the entire screen 2 based on the optical axis direction of the projector 1, the angle of view of the projector 1, the center position of the screen 2, the size of the screen 2, the distance between the screen 2 and the projector 1, and the like. To determine whether image light is projected.

  If it is determined in this determination that the image light is not projected over the entire screen 2, the zoom / focus adjustment mechanism (not shown) covers the projection surface 2a of the screen 2 by the zoom function. As described above, the projection range is enlarged or reduced. In addition, the projector drive position calculation unit 56 creates drive parameters that change the position and orientation of the projector 1, and drives the projector drive unit 38 so that the optical axis of the image light is directed toward the center of the screen 2. .

  When the projector driving unit 38 drives an actuator (not shown) in the rotation support unit 30 to change the position and orientation of the projector 1 relative to the screen 2, the correction parameter calculation unit 53 causes the current image of the projector 1 to be changed. The correction parameter is updated in consideration of the angle.

  Thus, the video signal from the video signal input unit 51 can be subjected to distortion correction processing using the updated correction parameter, and the video can be displayed on the screen 2 without any distortion.

  Furthermore, even when a shadow is generated on the screen 2, the screen 2 is automatically moved to avoid the shadow. The reason why the screen 2 is shaded is that the screen 2 has a large angle with respect to the optical axis direction of the projector 1 because the image light is blocked because there is an obstacle in the optical path from the projector 1 to the screen 2. There is a situation where the image light is blocked by a part of 2.

  For this purpose, the state photographing mechanism unit 10 in FIG. 4 is for photographing the entire projection surface 2 a of the screen 2, and the photographed image data is taken into the image processing unit 57 in the video signal processing unit 5. Then, the image processing unit 57 determines whether the image light is projected over the entire projection surface 2a.

  That is, the image processing unit 57 inputs the video signal picked up by the state photographing mechanism unit 10, analyzes the video signal, and determines whether or not there is a shadow in the video displayed on the screen 2. .

  For example, when there is a pixel group whose luminance is lower than the predetermined luminance, the image processing unit 57 determines that the pixel group is a shadow. The reason why the shadow is generated on the screen 2 is that the screen 2 is obstructed by the obstacle in the optical path from the projector 1 to the screen 2, and the screen 2 has a large rotation angle with respect to the optical axis direction of the projector 1. There is a situation where the image light is blocked by a part of 2.

  When the image processing unit 57 determines that a shadow is generated on the screen 2, the image processing unit 57 determines an area in the screen 2 where the shadow is generated and notifies the screen drive position calculation unit 55 of the region.

  Here, the correspondence table storage unit 58 stores a correspondence table that describes the correspondence between the area where the shadow is generated in the screen 2 and the change direction and change amount of the position and orientation of the screen 2.

  Accordingly, the screen drive position calculation unit 55 refers to the correspondence table stored in the correspondence table storage unit 58 in response to the notification of the area where the shadow is generated from the image processing unit 57, so that the screen 2 Control in which the screen drive unit 37 drives actuators (not shown) in the link mechanism unit 31 and the rotation mechanism 31h in order to create drive parameters and change them to positions and postures in which no shadow is reflected on the screen 2. Output a signal.

  Incidentally, in order to determine the occurrence of a shadow (sh) in the image processing unit 57, for example, as shown in FIG. 5, video projection areas 2-1, 2-2, 2-3, 2-4, 2-5, 2-6, 2-7, and 2-8 are set in advance, and it is determined in which image projection area a shadow (sh) is generated. In the correspondence table, the change direction and the change amount of the screen 2 to be moved in the direction of the center position of the screen 2 from the image projection area where the shadow (sh) is generated are registered.

  For example, when the image processing unit 57 determines that a shadow is generated in the video projection area 2-5, the direction indicated by the arrow in FIG. 5, that is, the direction from the video projection area 2-5 to the video projection area 2-1. The screen 2 is moved in the direction of the arrow shown in the figure.

  When an actuator (not shown) in the link mechanism unit 31 and the rotation mechanism 31h is driven by a control signal from the screen drive position calculation unit 55 to the screen drive unit 37, the position and orientation of the screen 2 with respect to the projector 1 change. The change in the position and orientation of the screen 2 is detected by the sensor unit 11, the relative position and orientation of the screen 2 and the projector 1 are recalculated, and the correction parameter is updated.

  As a result, a distortion correction process using the updated correction parameter is performed on the video signal from the video signal input unit 51, and an image can be displayed on the screen 2 without distortion and without a shadow.

  In addition, the video signal processing unit 5 inputs the relative position and orientation of the screen 2 and the projector 1 obtained from the coordinate calculation unit 24, and calculates the current projection range of the projector 1 by the projection range calculation unit 59. .

  The operation of such a video display apparatus is as shown in FIG.

  The operation shown in FIG. 6 includes both an operation for changing the position and orientation of the screen 2 and an operation for changing the position and orientation of the projector 1.

  When the image display device calculates the relative position and orientation of the screen 2 and the projector 1 by the processing of step S1 to step S3, the projection range calculation unit 59 calculates the projection range of the projector 1 in step S11. In S <b> 12, it is determined whether or not the image light is within an appropriate projection range projected over the entire screen 2.

  If it is determined that it is within the proper projection range, the process proceeds to step S7 and subsequent steps. If not, the process proceeds to steps S13a and S13b.

  In step S <b> 13 a, the video display device calculates the drive position of the projector 1 by the projector drive position calculation unit 56 so that the projection range of the projector 1 is within the appropriate projection range, and sets the drive parameter to the projector drive unit 38. Supply.

  Accordingly, in step S14a, the projector driving unit 38 can drive an actuator (not shown) in the rotation support unit 30 to change the position and orientation of the projector 1.

  At the same time, in step S13b, the video display device calculates the projection range in which the size and focus of the video image projected by the projector 1 on the projection surface 2a of the screen 2 is calculated by the projection range calculation unit 59, and sets the drive parameters to the projector. 1 is supplied to a drive unit (not shown) of the zoom / focus adjustment mechanism in the system 1.

  As a result, in step S14b, the drive unit of the zoom / focus adjustment mechanism drives the zoom / focus adjustment mechanism so as to obtain the optimum zoom magnification and focus position.

  If it is determined in step S12 that the projection range of the projector 1 is within the proper projection range, the correction parameter for distortion correction processing in step S7 after taking into account the angle of view adjusted by the zoom / focus adjustment mechanism. Using the calculated correction parameter, distortion correction processing is performed on the planar video signal in the next step S8, and the video is projected from the projector 1 in step S9.

  In step S15 subsequent to step S8, the video display apparatus analyzes the projection state of the screen 2 captured by the state photographing mechanism unit 10 by the image processing unit 57, and the video is projected over the entire screen 2. If there is no shadow and the image light 6 is projected on the screen 2, the process proceeds to step S 19 to determine the current relative position and orientation of the screen 2 and the projector 1. Maintain and end the process.

  On the other hand, if it is determined in step S15 that a shadow is generated in the video projection range of the screen 2, the image processing unit 57 obtains the video projection area where the shadow is generated, and the screen drive position calculation unit 55 is notified.

  Next, in step S16, the screen drive position calculation unit 55 refers to the correspondence table in the correspondence table storage unit 58 according to the video projection area in which the shadow determined in step S15 has occurred, and in step S17, the position of the screen 2 is determined. Then, the change direction and the change amount of the posture are obtained, and the drive parameters are supplied to the screen drive unit 37.

  Thereby, in step S18, the screen drive unit 37 can drive an actuator (not shown) in the link mechanism unit 31 to change the position and posture of the screen 2.

  The video display device not only determines the video display state of the screen 2 by the state photographing mechanism unit 10, but also includes means for detecting the video display state at the peripheral edge of the screen 2, for example, a plurality of optical sensors (not shown). It may be attached.

  In this case, one optical sensor is provided at each of the peripheral portions of the image projection ranges 2-1 to 2-8 as shown in FIG. And when a shadow exists in the peripheral part of the screen 2, generation | occurrence | production of the said shadow can be detected by one of optical sensors.

When the amount of image light detected by any of the optical sensors decreases and the occurrence of a shadow is detected, a signal processing means (not shown) for notifying the screen drive position calculation unit 58 of the image projection area where the shadow has occurred. In response to the notification from the signal processing means, the screen drive position calculation unit 58 refers to the correspondence table in the correspondence table storage unit 58 to obtain the change direction and change amount of the position and orientation of the screen 2, When the screen drive unit 37 drives an actuator (not shown), the position and posture of the screen 2 can be changed so that no shadow is reflected on the screen 2.
(Embodiment 3)
In the first embodiment described above, the projector 1 is disposed on the support base 6 via the rotation support portion 30 and the screen 2 is attached to the free end side of the link mechanism portion 31. Then, as shown in FIG. 7, the screen 2 is arranged on the support base 6 via the rotation support part 30, and the rotary node is connected to the free end side of the link mechanism part 31 connected via the support arm 31 i of the screen 2. The projector 1 is supported by 31g and a rotation mechanism 31f. Of the other components shown in FIG. 7, the same components as those shown in FIG. In the present embodiment, the video signal processing unit 5 shown in FIG. 1B and the circuit configuration shown in FIG. 3 are used.

  Thus, in this embodiment, when the viewpoint position α of the observer M is not appropriate with respect to the position of the screen 2 as shown in FIG. 7A, the observation is performed as shown in FIG. Person M moves.

At the position shown in FIG. 7B, the observer M enters the projection range of the projector 1 and blocks the image light. Therefore, as shown in FIG. The position and orientation of the projector 1 are changed so that the observer M does not fall within the projection range. A video signal processing unit 5 incorporating the information on the angles of the rotating nodes 31a, 31b, 31g, the information on the angles of the rotating mechanisms 30a, 30b, 31f, 31h, and the measurement information of the viewpoint position measuring unit 7 accompanying this change. As a result of this distortion correction processing, a planar image whose distortion has been corrected along with the projection surface shape is projected on the projection surface 2a of the screen 2 by the image light projected from the projector 1.
(Embodiment 4)
In the video display devices according to the first to third embodiments, the projector 1 or the screen 2 is disposed on the support base 6 via the rotation support unit 30, and the screen 2 is compared with the projector 1 or the screen 2 disposed on the support base 6. Alternatively, the projector 1 is connected to each other via the link mechanism unit 31 of the movable mechanism unit 3, and the video display device arranged in the operating room according to the present embodiment has a ceiling CE as shown in FIG. The screen 2 is arranged on the side via the link mechanism part 31A, and the projector 1 is supported on the support base 6 fixed to the floor F via the rotation support part 30 and the link mechanism part 31B. It is characterized by its configuration.

  The link mechanism portion 31A is fixed to the ceiling CE and includes a rotation mechanism 31j having a rotation shaft that is rotatable in a horizontal plane, an arm 31k having one end connected to the rotation shaft of the rotation mechanism 31j, and the other end of the arm 31k. An arm 31m having one end connected via a rotating node 31l, a rotating node 31n connecting the other end of the arm 31m, an arm 31p having one end connected to the rotating node 31n and the other end connected to the rotating mechanism 31o A support arm 31i to which the screen 2 is attached is connected to the rotation shaft of the rotation mechanism 31o.

  The link mechanism portion 31B connects one end of the arm 31q with the rotation mechanism 30b of the rotation support portion 30 including the rotation mechanisms 30a and 30b disposed on the support base 6 as a rotation node, and the other end of the arm 31q is connected to the projector 1. A rotating mechanism 31r that is rotatable in a vertical plane attached to the lower surface of the projector is connected as a rotating node, and the relative position and orientation of the projector 1 and the screen 2 are changed by the above-described link mechanism 31A. The movable mechanism part 3 for this is comprised.

  The rotation mechanisms 31a, 31b, 31j, 31o, 31r and the rotation nodes 31l, 31n each incorporate an angle sensor of the sensor unit 4, and the angle information measured by each angle sensor is shown in FIG. By outputting to the unit 5, distortion correction of the planar video signal is performed corresponding to the shape of the projection surface of the screen 2 as described above.

  Since the configuration and operation of the viewpoint position monitoring unit and the video signal processing unit 5 are the same as those in the first embodiment, illustration and description are omitted.

Thus, even in the present embodiment, as in the first and second embodiments, the video signal processing unit 5 corresponding to the change in the relative position and orientation of the observer M's viewpoint position α and the screen 2. Due to the distortion correction processing of the planar video signal by the observer M, the observer M can appropriately view the video image projected on the projection surface 2a of the screen 2.
(Embodiment 5)
The movable mechanism unit 3 used for changing the relative position and orientation of the projector 1 and the screen 2 according to the first to third embodiments is the rotation support unit 30 used to support and arrange the projector 1 or the screen 2 on the support base 6. And the link mechanism portion 31 with the screen 2 or the projector 1 attached to the free end side. In this embodiment, instead of the link mechanism portion 31, as shown in FIG. The bendable bellows arm 32 is used as a connection mechanism.

  One end of the bellows arm 32 is connected and fixed to the central portion of the upper surface of the projector 1, and the other end constituting the free end is supported and suspended by the screen 2, and the bellows arm 32 can be expanded and contracted or bent. The position and orientation of the screen 2 supported and suspended at the free end can be changed relative to the projector 1. The bellows arm 32 incorporates a film-like flexible bending sensor (not shown) that measures the degree of bending and expansion / contraction by changing the resistance value, along with the measurement information of the angle sensors on the rotating mechanisms 30a, 30b side, The measurement information of the bending sensor is output as the measurement information of the sensor unit 4 to the coordinate calculation unit 52 of the video signal processing unit 5 shown in FIG.

  Since the configuration and operation of the viewpoint position monitoring unit and the video signal processing unit 5 are the same as those in the first embodiment, illustration and description are omitted.

Thus, even in the present embodiment, as in the first to fourth embodiments, the plane by the video signal processing unit 5 corresponding to the change in the relative position and orientation of the observer M's viewpoint position α and the screen 2. By the distortion correction processing of the video signal, the observer M can appropriately view the video image displayed on the projection surface 2a of the screen 2.
(Embodiment 6)
In the fifth embodiment, a bellows arm 32 is used as a connection mechanism of the movable mechanism unit 3, and the position and posture of the screen 2 with respect to the projector 1 can be freely changed by the bellows arm 33. As shown in FIG. 10 (a), the configuration is such that the movable mechanism 3 is connected to the upper surface of the projector 1 with one end supported by a support column 36, and can be freely expanded and contracted so as to be parallel to the projection axis of the projector 1. The rod body 33 thus formed is characterized in that it is supported by the screen 2 at the free end of the rod body 33 and suspended.

  As shown in FIGS. 10B and 10C, the rod body 33 is formed to be extendable in both end directions by a plurality of rods 331 to 333 that can be taken in and out in a linear direction, and the degree of expansion and contraction is measured inside. The relative position and orientation information of the screen 2 measured by this sensor with respect to the projector 1, together with the measurement information of the sensor of the rotation support unit 30, is shown in FIG. The signal is output to the coordinate calculation unit 52 of the signal processing unit 5.

  Since the configuration and operation of the viewpoint position monitoring unit and the video signal processing unit 5 are the same as those in the first embodiment, illustration and description are omitted.

Thus, even in the present embodiment, similarly to the first to fifth embodiments, the video signal processing unit 5 responds to the change in the relative position and orientation of the viewpoint position α of the observer M and the screen 2. Through the distortion correction processing of the planar video signal, the observer M can appropriately view the video image displayed on the projection surface 2a of the screen 2.
(Embodiment 7)
In the sixth embodiment, the rod body 33 is used as the connection mechanism of the movable mechanism unit 3. However, in this embodiment, one end is supported and fixed by the support column 36 as shown in FIG. A rail body 34 extending parallel to the rail body 34 is provided, and a runner 34a, which is a traveling means suspended from the rail body 34 so as to be movable along the rail body 34 as shown in FIGS. The screen 2 is supported and suspended.

  The rail body 34 is provided with a sensor for measuring the position of the runner 34a inside, and the rotation support section 30 stores information on the travel position of the runner 34a measured by this sensor, that is, the relative position and orientation of the screen 2 with respect to the projector 1. The measurement information of the sensor is output to the coordinate calculation unit 52 of the video signal processing unit 5 shown in FIG.

  Since the configuration and operation of the viewpoint position monitoring unit and the video signal processing unit 5 are the same as those in the first embodiment, illustration and description are omitted.

Thus, even in the present embodiment, similarly to the first to sixth embodiments, the video signal processing unit 5 responds to the change in the relative position and orientation of the viewpoint position α of the observer M and the screen 2. Through the distortion correction processing of the planar video signal, the observer M can appropriately view the video image displayed on the projection surface 2a of the screen 2.
(Embodiment 8)
As shown in FIG. 12 (a), the present embodiment is provided with an expansion / contraction node by a panda graph mechanism as shown in FIG. 12 (a), as shown in FIG. 12 (b). As shown, there is a feature in that an extendable arm 35 formed to be extendable in both end directions is used.

  The telescopic arm 35 includes a sensor that supports the screen 2 at the free end and hangs it, and measures the degree of expansion and contraction. Information on the relative position and orientation of the screen 2 to the projector 1 measured by this sensor is provided on the rotation support unit. The measurement information of 30 sensors is output to the coordinate calculation unit 52 of the video signal processing unit 5 shown in FIG.

  Since the configuration and operation of the viewpoint position monitoring unit and the video signal processing unit 5 are the same as those in the first embodiment, illustration and description are omitted.

  Thus, even in the present embodiment, similarly to the first to fourth embodiments, the video signal processing unit 5 responds to changes in the relative position and orientation of the viewpoint position α of the observer M and the screen 2. Through the distortion correction processing of the planar video signal, the observer M can appropriately view the video image displayed on the projection surface 2a of the screen 2.

  In addition to the configuration of the above-described embodiment, the connecting mechanism of the movable mechanism unit 3 is formed so as to be retractable in both directions by, for example, rotating a plurality of rods that can be inserted into and removed from each other and screwed together. An arm having one end connected and fixed, and both ends of a rod body supporting the screen 2 at the free end formed by the other end and a screw body having a male screw groove formed on the outer periphery, and one end connected and fixed to the projector 1 side. And a guide portion that guides in a linear direction by restricting the rotation of the traveling body with one end fixed to the upper portion of the image projection means and the other end engaged with the male thread groove of the screw body. A mechanism such as that described above may be employed.

  Of course, you may comprise the connection mechanism of the movable mechanism part 3 by another structure.

  By the way, the above-described video display device is provided in the operating room, the state of the surgical site of the subject during the operation is imaged by the endoscope camera, the video is projected from the projector 1 onto the screen 2, and this video is real-time. While viewing the surgeon, the surgeon advances the operation, but at the same time, the biological information of the subject (information on pulse, blood pressure, etc.) is displayed simultaneously as a video, and the role as a navigator is shown by indicating the progress information of the operation By providing this, it is possible to provide an operating room in which surgery can be performed accurately and quickly.

  Furthermore, in conjunction with a surgical simulation program, for example, a CG image is displayed on the subject, and the operation progress state corresponding to the movement of the operator's hand is indicated by a signal from a sensor-equipped glove attached to the surgeon. You may comprise the simulator which enables the simulation of a surgery virtually by projecting by CG. In this case, the observer (operator) can immerse in the simulation world, which is a virtual reality, without a sense of incongruity because the image displayed on the screen 2 is an image without distortion.

  In the above-described embodiments, the coordinate calculation unit 52 of the video signal processing unit 5 measures the measurement information of the viewpoint position measurement unit 7 that measures the viewpoint position α of the observer M, and the screen 2 that the sensor unit 4 detects. The relative position and orientation of both are obtained from the angle information, and correction is performed based on the obtained relative position and orientation, setting information of the position and orientation of the projector 1, and the shape of the projection surface 2a of the screen 2. Although the parameter calculation unit 53 calculates the correction parameter, the relative value of the two is determined based on the measurement information of the viewpoint position measurement unit 7 that measures the viewpoint position α of the observer M and the angle information of the projector 1 detected by the sensor unit 4. The correction parameter calculation unit 53 calculates the specific position and orientation based on the obtained relative position and orientation, the setting information of the position and orientation of the screen 2, and the shape of the projection surface 2a of the screen 2. Correction parameters may be calculated. Further, the coordinate calculation unit 52 of the video signal processing unit 5 obtains the relative position and orientation of the projector 1 and the angle information of the screen 2 detected by the sensor unit 4, and the obtained relative position and orientation The correction parameter calculation unit 53 may calculate the correction parameter based on the preset viewpoint position of the appropriate observer M set in advance and the shape of the projection surface 2a of the screen 2. In this case, when the actual viewpoint position α of the observer M deviates from the set viewpoint position, a means for notifying the observer M that the observer M has deviated is provided so that the viewpoint position α does not deviate from the set viewpoint position by this notification. Go to and deal with it.

1A and 1B are schematic diagrams of a movable mechanism unit, and FIG. 1B is a circuit configuration diagram of a video signal processing unit. 3 is an explanatory diagram of an example of a usage pattern of Embodiment 1. FIG. FIG. 5 is an explanatory diagram of another usage pattern example of the first embodiment. 6 is a circuit diagram of a video signal processing unit of Embodiment 2. FIG. FIG. 10 is an explanatory diagram of determination of occurrence of a shadow in an image processing unit according to a second embodiment. 6 is a flowchart for explaining operations of the second embodiment. 10 is an explanatory diagram of a usage pattern example of Embodiment 3. FIG. FIG. 6 is a schematic configuration diagram of a movable mechanism unit according to a fourth embodiment. FIG. 10 is a schematic configuration diagram of a movable mechanism unit according to a fifth embodiment. Embodiment 6 is shown, (a) is a schematic block diagram of a movable mechanism part, (b) And (c) is a use explanatory drawing of a rod body. Embodiment 7 is shown, (a) is a schematic block diagram of a movable mechanism part, (b) And (c) is use explanatory drawing of a rail body. Embodiment 8 is shown, (a) is a schematic block diagram of a movable mechanism part, (b) and (c) are usage explanatory drawings of an expansion-contraction arm.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Projector 2 Screen 2a Projection surface 3 Movable mechanism part 30 Rotation support part 30a Rotation mechanism 30b Rotation mechanism 31 Link mechanism part 31a, 31b Rotation node 31c-31e Arm 31f Rotation mechanism 31g Rotation node 31h Rotation mechanism 31i Support arm 4 Sensor part 5 Video signal processing unit 51 Video signal input unit 52 Coordinate calculation unit 53 Correction parameter calculation unit 54 Correction processing unit 6 Support base 7 Viewpoint position measurement unit M Observer α Viewpoint position

Claims (3)

Video projection means for inputting video signals and projecting video light;
Image display means having a projection surface of an arbitrary shape for projecting image light from the image projection means;
Movable means for moving any two relative positions and postures selected from the viewpoint position of the observer viewing the video on the projection plane of the video display means, the video display means, and the video display means;
Measuring means for measuring the relative position and the posture;
Based on the relative position and orientation measured by the measurement means, the remaining one preset position and orientation that is not selected, and the shape of the projection surface, the projection of the video display means is performed by projection of the video projection means. Video signal processing means for obtaining a correction parameter for correcting distortion of the video projected on the screen, and performing distortion correction processing on the video signal input to the video projection means based on the correction parameter;
A video display device comprising: 2. The video display apparatus according to claim 1, wherein the video projection unit projects video light of a plurality of videos given parallax to each other onto a projection surface of the video display unit to display a stereoscopic video. A distortion correction processing method for a video signal in the video display device according to claim 1,
A selection process of selecting any two from the viewpoint position of an observer viewing the video on the projection surface of the video projection means, the video display means, and the video display means;
Adjusting the two relative positions and postures selected in the selection process to a desired position and posture, and a position adjustment step of setting the remaining one preset position and posture not selected;
Based on the two selected relative positions and postures adjusted in the position adjustment process, the remaining one set position and posture other than the selection, and the shape of the projection surface of the image display means A correction parameter calculation process for calculating a correction parameter for calculating a correction parameter for correcting distortion of the image projected on the projection surface of the image display means by the image light projected from the projection means;
And a distortion correction processing step of performing distortion correction on the video signal input to the video projection means based on the calculated correction parameter.

Images