Viewpoint control of a display of a virtual product in a virtual environment
First Claim
1. An apparatus for visually presenting a virtual environment relative to a physical workspace, the apparatus comprising:
- an output device that visually presents a view of the virtual environment to guide a human operator in performing a number of operations within the physical workspace;
a mounting structure that holds the output device and that is movable with at least one degree of freedom relative to the physical workspace;
a sensor system associated with at least one of the mounting structure or the output device, wherein the sensor system measures movement of the output device relative to the physical workspace to generate sensor data; and
a controller that computes a transformation matrix and a set of scale factors to align the virtual environment and the physical workspace, wherein the controller changes the view of the virtual environment based on the sensor data, the transformation matrix, and the set of scale factors;
whereby the controller changes the view of the virtual environment in correspondence with the movement of the output device relative to the physical workspace.
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Abstract
A method, system, and apparatus for visually presenting a virtual environment relative to a physical workspace. An output device visually presents a view of the virtual environment to guide a human operator in performing a number of operations within the physical workspace. A mounting structure holds the output device and is movable with at least one degree of freedom relative to the physical workspace. A sensor system measures movement of the output device relative to the physical workspace to generate sensor data. A controller computes a transformation matrix and the set of scale factors to align the virtual environment and the physical workspace. The controller changes the view of virtual environment based on the sensor data to thereby change the view of the virtual environment in correspondence with the movement of the output device relative to the physical workspace.
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Citations
20 Claims
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1. An apparatus for visually presenting a virtual environment relative to a physical workspace, the apparatus comprising:
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an output device that visually presents a view of the virtual environment to guide a human operator in performing a number of operations within the physical workspace; a mounting structure that holds the output device and that is movable with at least one degree of freedom relative to the physical workspace; a sensor system associated with at least one of the mounting structure or the output device, wherein the sensor system measures movement of the output device relative to the physical workspace to generate sensor data; and a controller that computes a transformation matrix and a set of scale factors to align the virtual environment and the physical workspace, wherein the controller changes the view of the virtual environment based on the sensor data, the transformation matrix, and the set of scale factors; whereby the controller changes the view of the virtual environment in correspondence with the movement of the output device relative to the physical workspace. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A system for visually presenting a virtual environment relative to a physical workspace, comprising:
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an output device that visually presents a view of the virtual environment to guide a human operator in performing a number of operations within the physical workspace; a support structure positioned relative to the physical workspace; a mounting structure that holds the output device, is movable with at least one degree of freedom relative to the physical workspace, and is moveable relative to the support structure; an alignment system that enables an alignment of the physical workspace and the virtual environment by allowing a set of physical features in the physical workspace that correspond to a set of virtual features in the virtual environment to be located, wherein the set of physical features and the set of virtual features are preselected for the physical workspace and the virtual environment, respectively; a sensor system that measures movement of the output device relative to the physical workspace to generate sensor data; and a controller that computes a set of positions for the set of physical features based on the sensor data and computes a transformation matrix and a set of scale factors to align the virtual environment and the physical workspace using the set of positions, wherein the controller changes the view of the virtual environment based on the sensor data, the transformation matrix, and the set of scale factors; whereby the controller changes the view of the virtual environment in correspondence with the movement of the output device relative to the physical workspace.
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10. A method for visually presenting a virtual environment relative to a physical workspace, the method comprising:
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presenting, visually, a view of the virtual environment on an output device while the output device is positioned relative to the physical workspace; computing a transformation matrix to perform an alignment between the virtual environment and the physical workspace and a set of scale factors to improve an accuracy of the alignment; moving the output device relative to the physical workspace with respect to at least one degree of freedom using a mounting structure that holds the output device; measuring movement of the output device relative to the physical workspace using a sensor system to generate sensor data; and changing the view of the virtual environment based on the sensor data, the transformation matrix, and the set of scale factors whereby the view of the virtual environment is changed in correspondence with the movement of the output device relative to the physical workspace. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17, 18, 19, 20)
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Specification