WO2021229721A1 - Mid-air haptic control device, mid-air haptic system, and mid-air haptic control method - Google Patents

Mid-air haptic control device, mid-air haptic system, and mid-air haptic control method Download PDF

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Publication number
WO2021229721A1
WO2021229721A1 PCT/JP2020/019115 JP2020019115W WO2021229721A1 WO 2021229721 A1 WO2021229721 A1 WO 2021229721A1 JP 2020019115 W JP2020019115 W JP 2020019115W WO 2021229721 A1 WO2021229721 A1 WO 2021229721A1
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Prior art keywords
haptics
aerial
required accuracy
determination unit
unit
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PCT/JP2020/019115
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French (fr)
Japanese (ja)
Inventor
将平 近藤
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三菱電機株式会社
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Application filed by 三菱電機株式会社 filed Critical 三菱電機株式会社
Priority to JP2022515465A priority Critical patent/JP7072744B2/en
Priority to PCT/JP2020/019115 priority patent/WO2021229721A1/en
Publication of WO2021229721A1 publication Critical patent/WO2021229721A1/en

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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer

Definitions

  • the present disclosure relates to an aerial haptics control device, an aerial haptics system, and an aerial haptics control method.
  • an “aerial display device” a device that displays an image in the air by projecting light into the air
  • a device that presents a tactile sensation in the air by transmitting ultrasonic waves in the air hereinafter referred to as "aerial haptics device”
  • HMI Human Machine Interface
  • Patent Document 1 discloses such a system.
  • the accuracy required for the tactile stimulus realized by the aerial haptics device (hereinafter referred to as "required accuracy”) varies depending on various factors. Specifically, for example, the required accuracy varies depending on whether the operation input by the user is fumbling or visual. Also, for example, the required accuracy varies depending on whether the HMI is simple or complex.
  • Patent Document 1 does not have a configuration for dealing with such fluctuations in required accuracy. Therefore, there is a problem that it is not possible to cope with the fluctuation of the required accuracy.
  • the present disclosure has been made to solve the above-mentioned problems, and an object of the present disclosure is to cope with fluctuations in the required accuracy of tactile stimuli in an aerial haptic device.
  • the aerial haptics control device determines the required accuracy by using the determination information acquisition unit that acquires the determination information used for determining the required accuracy for the tactile stimulus realized by the aerial haptics device and the determination information.
  • Driver selection that selects multiple drive target haptic drivers from multiple haptic drivers included in the haptic driver group in the aerial haptic device by the required accuracy judgment unit and the selection density that differs depending on the required accuracy. It is equipped with a part.
  • FIG. It is a block diagram which shows the main part of the aerial haptics system which concerns on Embodiment 1.
  • FIG. It is a block diagram which shows the main part of the aerial haptics apparatus in the aerial haptics system which concerns on Embodiment 1.
  • FIG. It is a block diagram which shows the main part of the drive control part among the control devices in the aerial haptics system which concerns on Embodiment 1.
  • FIG. It is explanatory drawing which shows the example of a plurality of drive target haptics drivers arranged in a grid pattern. It is explanatory drawing which shows the example of a plurality of drive target haptics drivers arranged in a checkered pattern.
  • FIG. 1 It is a block diagram which shows the hardware composition of the main part of the aerial haptics control apparatus in the aerial haptics system which concerns on Embodiment 1.
  • FIG. 2 is a block diagram which shows the other hardware composition of the main part of the aerial haptics control apparatus in the aerial haptics system which concerns on Embodiment 1.
  • FIG. 2 is a block diagram which shows the other hardware composition of the main part of the aerial haptics control apparatus in the aerial haptics system which concerns on Embodiment 1.
  • FIG. It is explanatory drawing which shows the example of the state which the user's line of sight is not directed to a display area. It is explanatory drawing which shows the example of the state in which a plurality of drive target haptics drivers are selected by the first selection density, and the drive frequency is set to the first drive frequency. It is explanatory drawing which shows the example of the state which a user's line of sight is directed to a display area.
  • FIG. 1 It is explanatory drawing which shows the example of the state which a plurality of drive target haptics drivers are selected by the 2nd selection density, and the drive frequency is set to the 2nd drive frequency.
  • FIG. 1 It is a block diagram which shows the main part of another aerial haptics system which concerns on Embodiment 1.
  • FIG. 2 It is a block diagram which shows the main part of another aerial haptics system which concerns on Embodiment 1.
  • FIG. It is a block diagram which shows the main part of the aerial haptics system which concerns on Embodiment 2.
  • It is a flowchart which shows the operation of the aerial haptics control apparatus in the aerial haptics system which concerns on Embodiment 2.
  • FIG. It is a flowchart which shows the operation of the required accuracy determination part of the aerial haptics control apparatus in the aerial haptics system which concerns on Embodiment 2.
  • FIG. It is explanatory drawing which shows the example of the image corresponding to the operation screen including the UI for slide operation. It is explanatory drawing which shows the example of the state in which a plurality of drive target haptics drivers are selected by the first selection density, and the drive frequency is set to the first drive frequency. It is explanatory drawing which shows the example of the image corresponding to the operation screen including the UI for tap operation. It is explanatory drawing which shows the example of the state which a plurality of drive target haptics drivers are selected by the 2nd selection density, and the drive frequency is set to the 2nd drive frequency.
  • FIG. 2 It is a block diagram which shows the main part of another aerial haptics system which concerns on Embodiment 2.
  • FIG. It is a block diagram which shows the main part of another aerial haptics system which concerns on Embodiment 2.
  • FIG. It is a block diagram which shows the main part of another aerial haptics system which concerns on Embodiment 2.
  • FIG. It is a block diagram which shows the main part of another aerial haptics system which concerns on Embodiment 2.
  • FIG. It is a block diagram which shows the main part of the aerial haptics system which concerns on Embodiment 3.
  • It is a flowchart which shows the operation of the aerial haptics control apparatus in the aerial haptics system which concerns on Embodiment 3.
  • FIG. It is a flowchart which shows the operation of the required accuracy determination part of the aerial haptics control apparatus in the aerial haptics system which concerns on Embodiment 3.
  • FIG. 3 It is a block diagram which shows the main part of another aerial haptics system which concerns on Embodiment 3.
  • FIG. It is a block diagram which shows the main part of another aerial haptics system which concerns on Embodiment 3.
  • FIG. It is a block diagram which shows the main part of another aerial haptics system which concerns on Embodiment 3.
  • FIG. It is a block diagram which shows the main part of another aerial haptics system which concerns on Embodiment 3.
  • FIG. 1 is a block diagram showing a main part of the aerial haptics system according to the first embodiment.
  • FIG. 2 is a block diagram showing a main part of an aerial haptics device in the aerial haptics system according to the first embodiment.
  • FIG. 3 is a block diagram showing a main part of a drive control unit among the control devices in the aerial haptics system according to the first embodiment.
  • the aerial haptics system according to the first embodiment will be described with reference to FIGS. 1 to 3.
  • the aerial haptics system 1 includes a control device 2, a line-of-sight detection device 3, an aerial haptics device 4, and an aerial display device 5.
  • the control device 2 includes a system control unit 11, a drive control unit 12, a display control unit 13, a current detection unit 14, and an operation detection unit 15. Further, the control device 2 includes a determination information acquisition unit 21, a required accuracy determination unit 22, a driver selection unit 23, and a frequency setting unit 24.
  • the determination information acquisition unit 21, the required accuracy determination unit 22, the driver selection unit 23, and the frequency setting unit 24 constitute the main part of the aerial haptics control device 100.
  • the control device 2 is composed of, for example, an in-vehicle information communication device. That is, the control device 2 is configured by, for example, an ECU (Electronic Control Unit).
  • ECU Electronic Control Unit
  • the control device 2 is composed of an in-vehicle information communication device. That is, an example in which the aerial haptics system 1 is for an in-vehicle use will be mainly described.
  • User U of the aerial haptics system 1 is, for example, a passenger of a vehicle (not shown). That is, the user U is, for example, the driver of the vehicle, the passenger of the vehicle, or the driver of the vehicle and the passenger of the vehicle. Hereinafter, an example in which the user U is the driver of the vehicle will be mainly described.
  • the line-of-sight detection device 3 detects the line-of-sight direction L of the user U.
  • the line-of-sight detection device 3 outputs information indicating the detected line-of-sight direction L (hereinafter referred to as “line-of-sight direction information”).
  • the line-of-sight detection device 3 is composed of, for example, a DMS (Driver Monitoring System) or an OMS (Occupant Monitoring System).
  • DMS Driver Monitoring System
  • OMS Olecupant Monitoring System
  • the aerial haptics device 4 uses the haptics driver group DG.
  • the haptics driver group DG includes a plurality of haptics drivers D.
  • Each haptics driver D is composed of, for example, an ultrasonic transducer.
  • a plurality of haptics drivers D are arranged one-dimensionally.
  • the plurality of haptics drivers D are arranged two-dimensionally.
  • M ⁇ N haptics drivers D are arranged in a matrix of N rows and M columns.
  • N is an arbitrary integer of 2 or more.
  • M is an arbitrary integer of 2 or more.
  • the aerial display device 5 displays an image in the air by projecting light into the air.
  • the area where the image is displayed by the aerial display device 5 (hereinafter referred to as “display area”) A1 corresponds to the area where the tactile sensation is presented by the aerial haptics device 4 (hereinafter referred to as “air haptics area”) A2. .. That is, the aerial display device 5 corresponds to the aerial haptics device 4.
  • the aerial display device 5 is configured by, for example, a 3D-HUD (Three-Dimensional Head-Up Display).
  • the system control unit 11 controls the operation of the entire control device 2. As a result, the system control unit 11 controls the operation of the entire aerial haptics system 1.
  • the system control unit 11 is composed of, for example, a dedicated circuit.
  • the drive control unit 12 executes control for driving each haptics driver D based on an instruction from the system control unit 11.
  • the drive control unit 12 is composed of, for example, a dedicated circuit.
  • the drive control unit 12 includes a carrier wave signal generation unit 31, a vibration wave signal generation unit 32, a modulation unit 33, and an amplification unit 34.
  • the carrier wave signal generation unit 31 is an electric signal (hereinafter referred to as “carrier wave”) corresponding to an ultrasonic wave (hereinafter referred to as “carrier wave”) having a predetermined frequency (hereinafter referred to as “carrier frequency”) f based on an instruction by the system control unit 11. It is called a "signal").
  • carrier wave signal generation unit 31 outputs the generated carrier wave signal to the modulation unit 33.
  • the vibration wave signal generation unit 32 is an electric signal (hereinafter referred to as “vibration”) corresponding to ultrasonic waves (hereinafter referred to as “vibration wave”) for realizing vibration corresponding to a desired tactile stimulus based on an instruction by the system control unit 11. It is called a "wave signal").
  • the vibration wave signal generation unit 32 outputs the generated vibration wave signal to the modulation unit 33.
  • the modulation unit 33 modulates the carrier wave signal output by the carrier wave signal generation unit 31 by using the vibration wave signal output by the vibration wave signal generation unit 32.
  • the modulation unit 33 outputs the modulated carrier wave signal (hereinafter referred to as “modulated wave signal”) to the amplification unit 34.
  • the amplification unit 34 amplifies the modulated wave signal output by the modulation unit 33. As a result, the output modulated wave signal is amplified to a predetermined level.
  • the amplification unit 34 outputs the amplified modulated wave signal (hereinafter referred to as “transmission signal”) to the haptics driver group DG.
  • the carrier wave signal generation unit 31 generates a carrier wave signal corresponding to each haptics driver D.
  • the vibration wave signal generation unit 32 generates a vibration wave signal corresponding to each haptics driver D.
  • the modulation unit 33 modulates the corresponding carrier signal using the corresponding vibration wave signal for each haptics driver D.
  • the amplification unit 34 amplifies the modulated wave signal corresponding to each haptics driver D.
  • the amplification unit 34 outputs a transmission signal corresponding to each haptics driver D.
  • each haptics driver D is driven. That is, each haptics driver D transmits ultrasonic US in the air. As a result, the antennae are presented to the aerial haptics region A2. That is, haptics in the aerial haptics region A2 are realized.
  • the ultrasonic US transmitted by the corresponding haptics driver D is reflected by the indicator P and reflected.
  • the ultrasonic US' is received by the corresponding haptics driver D.
  • the corresponding haptics driver D outputs an electric signal (hereinafter referred to as “received signal”) corresponding to the received ultrasonic wave US ′.
  • the display control unit 13 executes control to display images corresponding to various screens by using the aerial display device 5 based on the instruction from the system control unit 11.
  • the display control unit 13 is composed of, for example, a dedicated circuit.
  • the image displayed by the aerial display device 5 includes images corresponding to screens for various operations (hereinafter referred to as "operation screens”).
  • the UI (User Interface) on each operation screen includes a UI for operation input by hand gesture.
  • the UI on each operation screen is referred to as "screen UI”.
  • the screen UI includes a UI for operation input by slide operation (hereinafter referred to as “UI for slide operation”).
  • the screen UI includes a UI for operation input by flick operation (hereinafter referred to as “UI for flick operation”).
  • the screen UI includes a UI for operation input by tap operation (hereinafter referred to as “UI for tap operation”).
  • simple operations for example, tap operations
  • simple operations compared to slide operations or flick operations
  • simple operations for example, tap operations
  • UI for simple operation the UI for simple operation input by simple operation
  • the current detection unit 14 detects the current value I in each haptics driver D. More specifically, the current detection unit 14 detects the current value I_1 corresponding to the transmission signal and the current value I_2 corresponding to the reception signal for each haptics driver D.
  • the current detection unit 14 is composed of, for example, a dedicated circuit.
  • the operation detection unit 15 detects the operation input to the operation screen by the user U by using the current value I detected by the current detection unit 14.
  • the operation detection unit 15 is composed of, for example, a dedicated circuit.
  • the transmission signal is input to the corresponding haptics driver D, and the reception signal is output by the corresponding haptics driver D.
  • the received signal is attenuated with respect to the corresponding transmitted signal. Further, the received signal has a phase difference with respect to the corresponding transmitted signal.
  • the operation detection unit 15 detects the operation by the hand gesture based on the result of the determination. Specifically, for example, the operation detection unit 15 detects a slide operation, a flick operation, or a tap operation.
  • the determination information acquisition unit 21 acquires information (hereinafter referred to as "determination information") used for determination by the request accuracy determination unit 22 described later.
  • the determination information acquired by the determination information acquisition unit 21 includes the line-of-sight direction information. That is, the determination information acquisition unit 21 acquires the line-of-sight direction information output by the line-of-sight detection device 3.
  • the required accuracy determination unit 22 determines the accuracy (that is, required accuracy) RA required for the tactile stimulus realized by the aerial haptic device 4 by using the determination information acquired by the determination information acquisition unit 21. be.
  • the required accuracy determination unit 22 determines whether the required accuracy RA is one of the first required accuracy RA_1 and the second required accuracy RA_2, which are different from each other.
  • the first required accuracy RA_1 corresponds to a higher accuracy than the second required accuracy RA_2.
  • the second required accuracy RA_2 corresponds to a lower accuracy than the first required accuracy RA_1.
  • the required accuracy determination unit 22 determines whether or not the line of sight of the user U is directed to the display area A1 by using the line-of-sight direction information included in the acquired determination information. In other words, the required accuracy determination unit 22 determines whether or not the line of sight of the user U is directed to the aerial haptics region A2. As a result, the required accuracy determination unit 22 determines whether the operation input by the user U is fumbling or visual.
  • the required accuracy determination unit 22 determines that the required accuracy RA is the first required accuracy RA_1. do.
  • the required accuracy determination unit 22 has the required accuracy RA of the second required accuracy RA_2. Is determined.
  • the driver selection unit 23 selects a plurality of haptics drivers (hereinafter referred to as "drive target haptics drivers”) D_D among the M ⁇ N haptics drivers D included in the haptics driver group DG.
  • drive target haptics drivers a plurality of haptics drivers (hereinafter referred to as “drive target haptics drivers”) D_D among the M ⁇ N haptics drivers D included in the haptics driver group DG.
  • the densities (hereinafter referred to as “selective densities”) SD of a plurality of drive target haptics drivers D_D among the M ⁇ N haptics drivers D differ depending on the determination result by the required accuracy determination unit 22. It is a thing.
  • the driver selection unit 23 has a plurality of drivers selected by the first selective density SD_1 of the first selective density SD_1 and the second selective density SD_1 that are different from each other. Select the haptics driver D_D to be driven.
  • the driver selection unit 23 selects a plurality of drive target haptics drivers D_D by the second selection density SD_2.
  • the first selective density SD_1 corresponds to a higher density than the second selective density SD_1.
  • the second selective density SD_2 corresponds to a lower density than the first selective density SD_1.
  • the driver selection unit 23 drives all the haptics drivers D among the M ⁇ N haptics drivers D. Select for the target haptics driver D_D.
  • the driver selection unit 23 uses the plurality of haptics drivers D arranged in a grid pattern among the M ⁇ N haptics drivers D. Is selected as the drive target haptics driver D_D.
  • the driver selection unit 23 selects a plurality of haptics drivers D arranged in a checkered pattern among the M ⁇ N haptics drivers D as the haptics driver D_D to be driven.
  • haptics drivers D excluding a plurality of drive target haptics drivers D_D among M ⁇ N haptics drivers D may be referred to as “non-drive target haptics drivers”. Further, the code of "D_ND" may be used for the non-driven target haptics driver.
  • FIG. 4 shows an example of a plurality of drive target haptics drivers D_D arranged in a grid pattern. That is, as shown in FIG. 4, 25 haptics drivers D arranged in a matrix of 5 rows and 5 columns are included in the haptics driver group DG. Further, 16 drive target haptics drivers D_D and 9 non-drive target haptics drivers D_ND are included in the haptics driver group DG. The 16 driven haptics drivers D_D are arranged in a grid pattern.
  • FIG. 5 shows an example of a plurality of drive target haptics drivers D_D arranged in a checkered pattern. That is, as shown in FIG. 5, 25 haptics drivers D arranged in a matrix of 5 rows and 5 columns are included in the haptics driver group DG. Further, 12 drive target haptics drivers D_D and 13 non-drive target haptics drivers D_ND are included in the haptics driver group DG. The twelve drive target haptics drivers D_D are arranged in a checkered pattern.
  • the driver selection unit 23 instructs the drive control unit 12 to include each drive target haptics driver D_D as a drive target. In other words, the driver selection unit 23 instructs the drive control unit 12 to exclude each non-drive target haptics driver D_ND from the drive target.
  • the frequency setting unit 24 sets the frequency (hereinafter referred to as “driving frequency”) F of the ultrasonic wave US transmitted by each drive target haptics driver D_D to a different value according to the determination result by the required accuracy determination unit 22. It is something to do.
  • the frequency setting unit 24 sets the drive frequency F to a higher drive frequency among the different drive frequencies F_1 and F_1 (hereinafter, "first drive”). It is called “frequency”.) Set to F_1. This is realized, for example, by instructing the carrier signal generation unit 31 to generate a carrier signal corresponding to the higher carrier frequency f_1 among the different carrier frequencies f_1 and f_1.
  • the frequency setting unit 24 sets the drive frequency F to the lower drive frequency among the different drive frequencies F_1 and F_2 (hereinafter, "second drive”). It is called “frequency”.) Set to F_2. This is realized, for example, by instructing the carrier signal generation unit 31 to generate a carrier signal corresponding to the lower carrier frequency f_2 among the different carrier frequencies f_1 and f_2.
  • the drive control unit 12 includes each drive target haptics driver D_D as a drive target based on the instruction from the driver selection unit 23. In other words, the drive control unit 12 excludes each non-drive target haptics driver D_ND from the drive target based on the instruction from the driver selection unit 23.
  • the carrier wave signal generation unit 31 is adapted to generate a carrier wave signal corresponding to the carrier wave frequency f_1 or the carrier wave frequency f_2 based on the instruction by the frequency setting unit 24.
  • the main part of the aerial haptics system 1 is configured.
  • the processes executed by the determination information acquisition unit 21 may be collectively referred to as “determination information acquisition processing”. Further, the processes executed by the request accuracy determination unit 22 may be collectively referred to as “request accuracy determination process”. Further, the processes executed by the driver selection unit 23 may be collectively referred to as “driver selection process”. Further, the processes executed by the frequency setting unit 24 may be collectively referred to as "frequency setting process”.
  • the functions possessed by the determination information acquisition unit 21 may be collectively referred to as “determination information acquisition function”. Further, the functions of the required accuracy determination unit 22 may be collectively referred to as a “required accuracy determination function”. Further, the functions of the driver selection unit 23 may be collectively referred to as a “driver selection function”. Further, the functions of the frequency setting unit 24 may be collectively referred to as "frequency setting function”.
  • the code of "F1” may be used for the determination information acquisition function. Further, the reference numeral of “F2” may be used for the required accuracy determination function. In addition, the code of "F3” may be used for the driver selection function. Further, a code may be used for "F4" for the frequency setting function.
  • the aerial haptics control device 100 has a processor 41 and a memory 42.
  • the memory 42 stores programs corresponding to a plurality of functions (including a determination information acquisition function, a required accuracy determination function, a driver selection function, and a frequency setting function) F1 to F4.
  • the processor 41 reads and executes the program stored in the memory 42. As a result, a plurality of functions F1 to F4 are realized.
  • the aerial haptics control device 100 has a processing circuit 43.
  • the processing circuit 43 executes processing corresponding to a plurality of functions F1 to F4. As a result, a plurality of functions F1 to F4 are realized.
  • the aerial haptics control device 100 includes a processor 41, a memory 42, and a processing circuit 43.
  • a program corresponding to a part of the plurality of functions F1 to F4 is stored in the memory 42.
  • the processor 41 reads and executes the program stored in the memory 42. As a result, some of these functions are realized.
  • the processing circuit 43 executes processing corresponding to the remaining functions of the plurality of functions F1 to F4. As a result, such residual functions are realized.
  • the processor 41 is composed of one or more processors.
  • a CPU Central Processing Unit
  • a GPU Graphics Processing Unit
  • a microprocessor a microprocessor
  • a microprocessor a microprocessor
  • a DSP Digital Signal Processor
  • the memory 42 is composed of one or more non-volatile memories.
  • the memory 42 is composed of one or more non-volatile memories and one or more volatile memories. That is, the memory 42 is composed of one or more memories.
  • the individual memory uses, for example, a semiconductor memory or a magnetic disk. More specifically, each volatile memory uses, for example, a RAM (Random Access Memory).
  • the individual non-volatile memory is, for example, a ROM (Read Only Memory), a flash memory, an EPROM (Erasable Programmable Read Only Memory), an EEPROM (Electrically Erasable Programle) drive, a solid state drive O Is.
  • the processing circuit 43 is composed of one or more digital circuits.
  • the processing circuit 43 is composed of one or more digital circuits and one or more analog circuits. That is, the processing circuit 43 is composed of one or more processing circuits.
  • the individual processing circuits are, for example, ASIC (Application Specific Integrated Circuit), PLD (Programmable Logic Device), FPGA (Field Programmable Gate Array), System LSI (Sy), and System (Sy). Is.
  • the processor 41 when the processor 41 is composed of a plurality of processors, the correspondence between the plurality of functions F1 to F4 and the plurality of processors is arbitrary. That is, each of the plurality of processors may read and execute a program corresponding to one or more corresponding functions among the plurality of functions F1 to F4.
  • the processor 41 may include a dedicated processor corresponding to each of the plurality of functions F1 to F4.
  • each of the plurality of memories may store a program corresponding to one or more corresponding functions among the plurality of functions F1 to F4.
  • the memory 42 may include a dedicated memory corresponding to each of the plurality of functions F1 to F4.
  • the processing circuit 43 when the processing circuit 43 is composed of a plurality of processing circuits, the correspondence between the plurality of functions F1 to F4 and the plurality of processing circuits is arbitrary. That is, each of the plurality of processing circuits may execute processing corresponding to one or more corresponding functions among the plurality of functions F1 to F4.
  • the processing circuit 43 may include a dedicated processing circuit corresponding to each of the plurality of functions F1 to F4.
  • the determination information acquisition unit 21 executes the determination information acquisition process (step ST1).
  • the required accuracy determination unit 22 executes the required accuracy determination process (step ST2).
  • the driver selection unit 23 executes the driver selection process (step ST3).
  • the frequency setting unit 24 executes the frequency setting process (step ST4).
  • step ST2 the process executed in step ST2 will be described.
  • the request accuracy determination unit 22 determines whether or not the line of sight of the user U is directed to the display area A1 by using the line-of-sight direction information included in the determination information acquired in step ST1 (step ST11). ).
  • the request accuracy determination unit 22 requests the first request for the required accuracy RA. It is determined that the accuracy is RA_1 (step ST12).
  • step ST11 “YES” when the line of sight of the user U is directed to the display area A1 (step ST11 “YES”), that is, when the operation input by the user U is visual, the required accuracy determination unit 22 has the required accuracy RA. 2 It is determined that the required accuracy is RA_2 (step ST13).
  • FIG. 11 shows an example of a state in which the line of sight of the user U is not directed to the display area A1. That is, FIG. 11 shows an example of a state in which the user U is trying to input an operation by fumbling. More specifically, FIG. 11 shows an example of a state in which the driver's line of sight of the vehicle (not shown) is directed forward. That is, FIG. 11 shows an example of a state in which the driver of the vehicle is trying to input an operation while the vehicle is running.
  • the required accuracy determination unit 22 determines that the required accuracy RA is the first required accuracy RA_1. Then, the driver selection unit 23 selects a plurality of drive target haptics drivers D_D at the first selection density SD_1. Specifically, for example, all the haptics drivers D out of the 16 haptics drivers D arranged in a matrix of 4 rows and 4 columns are selected as the haptics driver D_D to be driven (see FIG. 12). .. Then, the drive frequency F is set to the first drive frequency F_1.
  • FIG. 13 shows an example of a state in which the line of sight of the user U is directed to the display area A1. That is, FIG. 13 shows an example of a state in which the user U is trying to visually input an operation. More specifically, FIG. 13 shows an example of a state in which the line of sight of the driver of the vehicle (not shown) is directed to the display area A1. That is, FIG. 13 shows an example of a state in which the driver of the vehicle is trying to input an operation while the vehicle is stopped.
  • the required accuracy determination unit 22 determines that the required accuracy RA is the second required accuracy RA_2. Then, the driver selection unit 23 selects a plurality of drive target haptics drivers D_D at the second selection density SD_2. Specifically, for example, eight haptics drivers D arranged in a checkered pattern among 16 haptics drivers D arranged in a matrix of 4 rows and 4 columns are used as the haptics driver D_D to be driven. It is set (see FIG. 14). Then, the drive frequency F is set to the second drive frequency F_2.
  • the higher the frequency of the ultrasonic wave the higher the directivity of the ultrasonic wave.
  • the lower the frequency of the ultrasonic wave the lower the directivity of the ultrasonic wave. Therefore, by setting the drive frequency F to the first drive frequency F_1, the directivity of the ultrasonic wave US transmitted by each drive target haptics driver D_D is increased (see FIG. 12).
  • the drive frequency F is set to the second drive frequency F_2, the directivity of the ultrasonic US transmitted by the individual drive target haptics drivers D_D becomes low (see FIG. 14).
  • the accuracy of the tactile stimulus is lowered, but the power consumption in the aerial haptic device 4 can be reduced.
  • the directivity of the ultrasonic US that is, using the second drive frequency F_2
  • the power consumption in the aerial haptic device 4 is reduced, and the tactile stimulus in the aerial haptic region A2 is partially performed. It can be suppressed from being missing. That is, it is possible to prevent the tactile stimuli in the aerial haptics region A2 from being lost in a reciprocal lattice pattern or the tactile stimuli in the aerial haptics region A2 from being missing in a checkered pattern.
  • the number X is reduced (that is, the second selection density SD_2 is used), and the directivity of the ultrasonic US is lowered (that is, the second drive frequency). F_2 is used). As a result, the power consumption of the aerial haptics device 4 can be reduced.
  • the plurality of drive target haptics drivers D_D are arranged in a checkered pattern, the following is compared with the case where the plurality of drive target haptics drivers D_D are arranged in a grid pattern. The effect can be obtained.
  • Target haptics drivers D_D may be adjacent to each other (see FIG. 4).
  • the two driven target haptics drivers D_D are not adjacent to each other (see FIG. 5).
  • adjacent means that they are adjacent in the row direction or the column direction in the matrix of N rows and M columns.
  • the number Y of drive target haptics drivers D_D adjacent to each drive target haptics driver D_D may differ. ..
  • the aerial haptics region is compared with the case where the plurality of drive target haptics drivers D_D are arranged in a grid pattern. It is possible to suppress the occurrence of unevenness of tactile stimulation in A2. In other words, the tactile stimulus in the aerial haptic region A2 can be easily homogenized. Moreover, such a tactile stimulus can be efficiently realized.
  • the aerial haptics control device 100 may not include the frequency setting unit 24. That is, the main part of the aerial haptics control device 100 may be configured by the determination information acquisition unit 21, the required accuracy determination unit 22, and the driver selection unit 23.
  • the aerial haptics system 1 may include a sensor 6.
  • the sensor 6 is composed of, for example, a camera or an infrared sensor.
  • the operation detection unit 15 may use the sensor 6 instead of the current value I when detecting the operation by the hand gesture.
  • Various known techniques can be used to detect the operation by the sensor 6. Detailed description of these techniques will be omitted.
  • the aerial haptics control device 100 has the determination information acquisition unit 21 for acquiring the determination information used for determining the required accuracy RA for the tactile stimulus realized by the aerial haptics device 4.
  • a driver selection unit 23 for selecting a plurality of drive target haptics drivers D_D among the drivers D is provided. This makes it possible to cope with fluctuations in the required accuracy RA.
  • the driver selection unit 23 determines that the required accuracy RA is the first required accuracy RA_1 higher than the second required accuracy RA_2 by the required accuracy determination unit 22, the first selection higher than the second selection density SD_2.
  • a plurality of drive target haptics drivers D_D are selected according to the density SD_1. This makes it possible to realize highly accurate tactile stimulation.
  • the aerial haptics control device 100 sets the drive frequency F in each of the plurality of drive target haptic drivers D_D to the second.
  • a frequency setting unit 24 for setting a first drive frequency F_1 higher than the drive frequency F_1 is provided. This makes it possible to realize highly accurate tactile stimulation.
  • the driver selection unit 23 makes a second selection lower than the first selection density SD_1.
  • a plurality of drive target haptics drivers D_D are selected by the density SD_2, and the aerial haptics control device 100 has a plurality of aerial haptics control devices 100 when the required accuracy determination unit 22 determines that the required accuracy RA is the second required accuracy RA_2.
  • a frequency setting unit 24 for setting the drive frequency F in each of the drive target haptics drivers D_D to the second drive frequency F_2 lower than the first drive frequency F_1 is provided. As a result, the amount of electric charge consumed by the aerial haptics device 4 can be reduced. In addition, it is possible to suppress the partial loss of tactile stimuli in the aerial haptic region A2.
  • the determination information includes the line-of-sight direction information indicating the line-of-sight direction L of the user U of the aerial haptics system 1 including the aerial haptics device 4 and the aerial display device 5 corresponding to the aerial haptics device 4. This makes it possible to determine the required accuracy RA according to whether the operation input by the user U is fumbling or visual.
  • the required accuracy determination unit 22 determines that the required accuracy RA is the first required accuracy RA_1 when the line of sight of the user U is not directed to the display area A1 in the aerial display device 5. Thereby, when the operation input by the user U is fumbling, it is possible to realize a highly accurate tactile stimulus.
  • the required accuracy determination unit 22 determines that the required accuracy RA is the second required accuracy RA_2. Thereby, when the operation input by the user U is visual, the power consumption in the aerial haptics device 4 can be reduced.
  • the determination information acquisition unit 21 acquires the determination information used for determining the required accuracy RA for the tactile stimulus realized by the aerial haptics device 4.
  • the haptics driver in the aerial haptics device 4 by the step ST2 in which the required accuracy determination unit 22 determines the required accuracy RA using the determination information and the selection density SD in which the driver selection unit 23 differs according to the required accuracy RA.
  • a step ST3 for selecting a plurality of driven target haptic drivers D_D among the plurality of haptic drivers D included in the group DG is provided. This makes it possible to cope with fluctuations in the required accuracy RA.
  • FIG. 18 is a block diagram showing a main part of the aerial haptics system according to the second embodiment.
  • the aerial haptics system according to the second embodiment will be described with reference to FIG.
  • the same blocks as those shown in FIG. 1 are designated by the same reference numerals and the description thereof will be omitted.
  • the aerial haptics system 1a includes a control device 2a, an aerial haptics device 4, and an aerial display device 5.
  • the control device 2a includes a system control unit 11, a drive control unit 12, a display control unit 13, a current detection unit 14, and an operation detection unit 15. Further, the control device 2a includes a determination information acquisition unit 21a, a required accuracy determination unit 22a, a driver selection unit 23, and a frequency setting unit 24.
  • the main part of the aerial haptics control device 100a is composed of the determination information acquisition unit 21a, the required accuracy determination unit 22a, the driver selection unit 23, and the frequency setting unit 24.
  • the determination information acquisition unit 21a acquires information (that is, determination information) used for determination by the required accuracy determination unit 22a, which will be described later.
  • the determination information acquired by the determination information acquisition unit 21a includes information indicating the screen UI being displayed in the aerial display device 5 (hereinafter referred to as "screen UI information").
  • the screen UI information is acquired from, for example, the system control unit 11.
  • the required accuracy determination unit 22a determines the accuracy (that is, required accuracy) RA required for the tactile stimulus realized by the aerial haptic device 4 by using the determination information acquired by the determination information acquisition unit 21a. be. More specifically, the required accuracy determination unit 22a determines whether the required accuracy RA is one of the first required accuracy RA_1 and the second required accuracy RA_2, which are different from each other.
  • the request accuracy determination unit 22a determines whether or not the screen UI being displayed is a UI for simple operation by using the screen UI information included in the acquired determination information.
  • the required accuracy determination unit 22a has the required accuracy RA first. It is determined that the required accuracy is RA_1.
  • the required accuracy determination unit 22a has a required accuracy RA of the second required accuracy RA_2. Judge that there is.
  • the main part of the aerial haptics system 1a is configured.
  • determination information acquisition processing the processes executed by the determination information acquisition unit 21a may be collectively referred to as “determination information acquisition processing”. Further, the functions of the determination information acquisition unit 21a may be collectively referred to as “determination information acquisition function”. Further, the reference numeral of "F1a" may be used for the determination information acquisition function.
  • the processes executed by the required accuracy determination unit 22a may be collectively referred to as “required accuracy determination process”. Further, the functions of the required accuracy determination unit 22a may be generically referred to as “required accuracy determination function”. Further, the reference numeral of "F2a" may be used for the required accuracy determination function.
  • the hardware configuration of the main part of the aerial haptics control device 100a is the same as that described with reference to FIGS. 6 to 8 in the first embodiment. Therefore, detailed description thereof will be omitted.
  • the aerial haptics control device 100a has a plurality of functions (including a determination information acquisition function, a required accuracy determination function, a driver selection function, and a frequency setting function) F1a, F2a, F3, and F4.
  • Each of the plurality of functions F1a, F2a, F3, and F4 may be realized by the processor 41 and the memory 42, or may be realized by the processing circuit 43.
  • the processor 41 may include a dedicated processor corresponding to each of the plurality of functions F1a, F2a, F3, and F4.
  • the memory 42 may include a dedicated memory corresponding to each of the plurality of functions F1a, F2a, F3, and F4.
  • the processing circuit 43 may include a dedicated processing circuit corresponding to each of the plurality of functions F1a, F2a, F3, and F4.
  • the determination information acquisition unit 21a executes the determination information acquisition process (step ST1a).
  • the required accuracy determination unit 22a executes the required accuracy determination process (step ST2a).
  • the driver selection unit 23 executes the driver selection process (step ST3).
  • the frequency setting unit 24 executes the frequency setting process (step ST4).
  • step ST2a the operation of the required accuracy determination unit 22a will be described with reference to the flowchart shown in FIG. That is, the process executed in step ST2a will be described.
  • the request accuracy determination unit 22a determines whether or not the screen UI being displayed is a UI for simple operation by using the screen UI information included in the determination information acquired in step ST1a (step). ST21).
  • the required accuracy determination unit 22a determines that the required accuracy RA is the first required accuracy RA_1 (step ST22). On the other hand, when the screen UI being displayed is a UI for simple operation (step ST21 “YES”), the required accuracy determination unit 22a determines that the required accuracy RA is the second required accuracy RA_2 (step ST23).
  • FIG. 21 shows an example of an image corresponding to an operation screen including a UI for slide operation. More specifically, an example of an image corresponding to a map screen is shown. In the figure, the arrow A indicates the slide range of the indicator body P in the slide operation.
  • the required accuracy determination unit 22a determines that the required accuracy RA is the first required accuracy RA_1. Then, the driver selection unit 23 selects a plurality of drive target haptics drivers D_D at the first selection density SD_1. Specifically, for example, all the haptics drivers D out of the 16 haptics drivers D arranged in a matrix of 4 rows and 4 columns are selected as the haptics driver D_D to be driven (see FIG. 22). .. Then, the drive frequency F is set to the first drive frequency F_1.
  • FIG. 23 shows an example of an image corresponding to an operation screen including a UI for tap operation. More specifically, an example of a video corresponding to the menu screen is shown. As shown in FIG. 23, the menu screen includes four buttons B_1 to B_1.
  • the required accuracy determination unit 22a determines that the required accuracy RA is the second required accuracy RA_2. Then, the driver selection unit 23 selects a plurality of drive target haptics drivers D_D at the second selection density SD_2. Specifically, for example, eight haptics drivers D arranged in a grid pattern out of 16 haptics drivers D arranged in a matrix of 4 rows and 4 columns are selected as the haptics driver D_D to be driven. (See FIG. 24). Then, the drive frequency F is set to the second drive frequency F_2.
  • a highly accurate tactile stimulus is required as compared with the case where the screen UI is a tap operation UI.
  • a high-precision tactile stimulus is not required as compared with the case where the screen UI is a UI for slide operation or a UI for flick operation.
  • the number X increases (that is, the first selection density SD_1 is used) as shown in FIG. 22. ), The directivity of the ultrasonic US is increased (that is, the first drive frequency F_1 is used). This makes it possible to realize highly accurate tactile stimulation.
  • the screen UI being displayed is a UI for simple operation (see FIG. 23)
  • the number X is reduced (that is, the second selection density SD_2 is used), and the ultrasonic US is used.
  • the directivity is low (ie, the second drive frequency F_2 is used). As a result, the power consumption of the aerial haptics device 4 can be reduced.
  • the aerial haptics control device 100a may not include the frequency setting unit 24. That is, the main part of the aerial haptics control device 100a may be configured by the determination information acquisition unit 21a, the required accuracy determination unit 22a, and the driver selection unit 23.
  • the aerial haptics system 1a may include a sensor 6.
  • the operation detection unit 15 may use the sensor 6 instead of the current value I when detecting the operation by the hand gesture.
  • the determination information includes the screen UI information indicating the screen UI in the aerial display device 5 corresponding to the aerial haptics device 4.
  • the required accuracy determination unit 22a determines that the required accuracy RA is the first required accuracy RA_1.
  • the required accuracy RA is the first required accuracy RA_1.
  • the required accuracy determination unit 22a determines that the required accuracy RA is the second required accuracy RA_2.
  • the power consumption in the aerial haptics device 4 can be reduced.
  • the power consumption in the aerial haptics device 4 can be reduced.
  • FIG. 28 is a block diagram showing a main part of the aerial haptics system according to the third embodiment.
  • the aerial haptics system according to the third embodiment will be described with reference to FIG. 28.
  • the same blocks as those shown in FIG. 1 are designated by the same reference numerals and the description thereof will be omitted.
  • the aerial haptics system 1b includes a control device 2b, a line-of-sight detection device 3, an aerial haptics device 4, and an aerial display device 5.
  • the control device 2b includes a system control unit 11, a drive control unit 12, a display control unit 13, a current detection unit 14, and an operation detection unit 15. Further, the control device 2b includes a determination information acquisition unit 21b, a required accuracy determination unit 22b, a driver selection unit 23, and a frequency setting unit 24.
  • the main part of the aerial haptics control device 100b is configured by the determination information acquisition unit 21b, the required accuracy determination unit 22b, the driver selection unit 23, and the frequency setting unit 24.
  • the determination information acquisition unit 21b acquires information (that is, determination information) used for determination by the required accuracy determination unit 22b, which will be described later.
  • the determination information acquired by the determination information acquisition unit 21b includes the line-of-sight direction information and the screen UI information.
  • the line-of-sight direction information is acquired from the line-of-sight detection device 3.
  • the screen UI information is acquired from, for example, the system control unit 11.
  • the required accuracy determination unit 22b determines the accuracy (that is, required accuracy) RA required for the tactile stimulus realized by the aerial haptic device 4 by using the determination information acquired by the determination information acquisition unit 21b. be. More specifically, the required accuracy determination unit 22b determines whether the required accuracy RA is one of the first required accuracy RA_1 and the second required accuracy RA_2, which are different from each other.
  • the required accuracy determination unit 22b determines whether or not the line of sight of the user U is directed to the display area A1 by using the line-of-sight direction information included in the acquired determination information. Further, the request accuracy determination unit 22b determines whether or not the screen UI being displayed is a UI for simple operation by using the screen UI information included in the acquired determination information.
  • the required accuracy determination unit 22b determines that the required accuracy RA is the first required accuracy RA_1. do. Further, when the line of sight of the user U is directed to the display area A1 (that is, when the operation input by the user U is visual), the screen UI being displayed is not a UI for simple operation (for example, being displayed). When the screen UI of is a UI for slide operation or a UI for flick operation), the required accuracy determination unit 22b determines that the required accuracy RA is the first required accuracy RA_1.
  • the screen UI being displayed is a UI for simple operation (for example, display).
  • the required accuracy determination unit 22b determines that the required accuracy RA is the second required accuracy RA_2.
  • the main part of the aerial haptics system 1b is configured.
  • determination information acquisition processing the processes executed by the determination information acquisition unit 21b may be collectively referred to as “determination information acquisition processing”. Further, the functions of the determination information acquisition unit 21b may be collectively referred to as “determination information acquisition function”. Further, the reference numeral of "F1b" may be used for the determination information acquisition function.
  • the processes executed by the required accuracy determination unit 22b may be collectively referred to as “required accuracy determination process”. Further, the functions of the required accuracy determination unit 22b may be collectively referred to as “required accuracy determination function”. Further, the reference numeral of "F2b" may be used for the required accuracy determination function.
  • the hardware configuration of the main part of the aerial haptics control device 100b is the same as that described with reference to FIGS. 6 to 8 in the first embodiment. Therefore, detailed description thereof will be omitted.
  • the aerial haptics control device 100b has a plurality of functions (including a determination information acquisition function, a required accuracy determination function, a driver selection function, and a frequency setting function) F1b, F2b, F3, and F4.
  • Each of the plurality of functions F1b, F2b, F3, and F4 may be realized by the processor 41 and the memory 42, or may be realized by the processing circuit 43.
  • the processor 41 may include a dedicated processor corresponding to each of the plurality of functions F1b, F2b, F3, and F4.
  • the memory 42 may include a dedicated memory corresponding to each of the plurality of functions F1b, F2b, F3, and F4.
  • the processing circuit 43 may include a dedicated processing circuit corresponding to each of the plurality of functions F1b, F2b, F3, and F4.
  • the determination information acquisition unit 21b executes the determination information acquisition process (step ST1b).
  • the required accuracy determination unit 22b executes the required accuracy determination process (step ST2b).
  • the driver selection unit 23 executes the driver selection process (step ST3).
  • the frequency setting unit 24 executes the frequency setting process (step ST4).
  • step ST2b the operation of the required accuracy determination unit 22b will be described with reference to the flowchart shown in FIG. That is, the process executed in step ST2b will be described.
  • the required accuracy determination unit 22b determines whether or not the line of sight of the user U is directed to the display area A1 by using the line-of-sight direction information included in the determination information acquired in step ST1b (step ST31). Further, the request accuracy determination unit 22b determines whether or not the screen UI being displayed is a UI for simple operation by using the screen UI information included in the determination information acquired in step ST1b (step). ST32).
  • the required accuracy determination unit 22b determines that the required accuracy RA is the first required accuracy RA_1 (step ST33). Further, when the line of sight of the user U is directed to the display area A1 (step ST31 “YES”) and the screen UI being displayed is not a UI for simple operation (step ST32 “NO”), the required accuracy determination unit. 22b determines that the required accuracy RA is the first required accuracy RA_1 (step ST33).
  • the required accuracy determination Unit 22b determines that the required accuracy RA is the second required accuracy RA_2 (step ST34).
  • the required accuracy RA can be determined according to the line-of-sight direction L and the screen UI. Then, it is possible to realize a highly accurate tactile stimulus or reduce the power consumption in the aerial haptics device 4 according to the determined required accuracy RA.
  • the aerial haptics control device 100b may not include the frequency setting unit 24. That is, the main part of the aerial haptics control device 100b may be configured by the determination information acquisition unit 21b, the required accuracy determination unit 22b, and the driver selection unit 23.
  • the aerial haptics system 1b may include a sensor 6.
  • the operation detection unit 15 may use the sensor 6 instead of the current value I when detecting the operation by the hand gesture.
  • the determination information is the user U of the aerial haptics system 1b including the aerial haptics device 4 and the aerial display device 5 corresponding to the aerial haptics device 4.
  • the line-of-sight direction information indicating the line-of-sight direction L is included, and the screen UI information indicating the screen UI in the aerial display device 5 is included.
  • the required accuracy determination unit 22b determines that the required accuracy RA is the first required accuracy RA_1 when the line of sight of the user U is not directed to the display area A1 in the aerial display device 5. Thereby, when the operation input by the user U is fumbling, it is possible to realize a highly accurate tactile stimulus.
  • the required accuracy RA is the first required accuracy RA_1 when the screen UI is not a UI for simple operation. Is determined to be.
  • the screen UI is not a UI for simple operation (for example, when the screen UI is a UI for slide operation or a UI for flick operation), high accuracy is achieved. Tactile stimulus can be realized.
  • the required accuracy RA is the second required accuracy. It is determined that it is RA_2.
  • the operation input by the user U is visual, and the screen UI is a UI for simple operation (for example, when the screen UI is a UI for tap operation), the power consumption in the aerial haptics device 4 Can be reduced.
  • the aerial haptics control device, the aerial haptics system, and the aerial haptics control method according to the present disclosure can be used, for example, in an in-vehicle information communication device.
  • 1,1a, 1b aerial haptics system 1,2a, 2b control device, 3 line-of-sight detection device, 4 aerial haptics device, 5 aerial display device, 6 sensors, 11 system control unit, 12 drive control unit, 13 display control unit , 14 Current detection unit, 15 Operation detection unit, 21,21a, 21b Judgment information acquisition unit, 22, 22a, 22b Requirement accuracy judgment unit, 23 Driver selection unit, 24 Frequency setting unit, 31 Carrier signal generation unit, 32 Vibration Wave signal generation unit, 33 modulation unit, 34 amplification unit, 41 processor, 42 memory, 43 processing circuit, 100, 100a, 100b aerial haptics control device, D haptics driver, DG haptics driver group.

Abstract

A mid-air haptic control device (100) comprises: a determination information acquisition unit (21) that acquires determination information used for determining the required accuracy (RA) for tactile stimulus realized with a mid-air haptic device (4); a required accuracy determination unit (22) that determines the required accuracy (RA) using the determination information; and a driver selection unit (23) that selects, according to selection densities (SD) that differ in accordance with the required accuracy (RA), multiple haptic drivers to be driven (D_D) from among multiple haptic drivers (D) included in a haptic driver group (DG) of the mid-air haptic device (4).

Description

空中ハプティクス制御装置、空中ハプティクスシステム及び空中ハプティクス制御方法Aerial haptics controller, aerial haptics system and aerial haptics control method
　本開示は、空中ハプティクス制御装置、空中ハプティクスシステム及び空中ハプティクス制御方法に関する。 The present disclosure relates to an aerial haptics control device, an aerial haptics system, and an aerial haptics control method.
　従来、空中に光を投影することにより、空中に映像を表示する装置（以下「空中ディスプレイ装置」という。）が開発されている。また、空中に超音波を送信することにより、空中に触覚を提示する装置（以下「空中ハプティクス装置」という。）が開発されている。また、空中ディスプレイ装置及び空中ハプティクス装置を用いて、空中におけるＨＭＩ（Ｈｕｍａｎ　Ｍａｃｈｉｎｅ　Ｉｎｔｅｒｆａｃｅ）を実現するシステムが開発されている。特許文献１には、かかるシステムが開示されている。 Conventionally, a device that displays an image in the air by projecting light into the air (hereinafter referred to as an "aerial display device") has been developed. Further, a device that presents a tactile sensation in the air by transmitting ultrasonic waves in the air (hereinafter referred to as "aerial haptics device") has been developed. In addition, a system that realizes an HMI (Human Machine Interface) in the air has been developed by using an aerial display device and an aerial haptics device. Patent Document 1 discloses such a system.
特開２０１７－１６２１９５号公報Japanese Unexamined Patent Publication No. 2017-162195
　空中ハプティクス装置により実現される触覚刺激に要求される精度（以下「要求精度」という。）は、種々の要因により変動するものである。具体的には、例えば、要求精度は、ユーザによる操作入力が手探りによるものであるか目視によるものであるかに応じて変動するものである。また、例えば、要求精度は、ＨＭＩが単純であるか複雑であるかに応じて変動するものである。 The accuracy required for the tactile stimulus realized by the aerial haptics device (hereinafter referred to as "required accuracy") varies depending on various factors. Specifically, for example, the required accuracy varies depending on whether the operation input by the user is fumbling or visual. Also, for example, the required accuracy varies depending on whether the HMI is simple or complex.
　特許文献１記載のシステムは、かかる要求精度の変動に対応するための構成を有していない。このため、かかる要求精度の変動に対応することができない問題があった。 The system described in Patent Document 1 does not have a configuration for dealing with such fluctuations in required accuracy. Therefore, there is a problem that it is not possible to cope with the fluctuation of the required accuracy.
　本開示は、上記のような課題を解決するためになされたものであり、空中ハプティクス装置における触覚刺激の要求精度の変動に対応することを目的とする。 The present disclosure has been made to solve the above-mentioned problems, and an object of the present disclosure is to cope with fluctuations in the required accuracy of tactile stimuli in an aerial haptic device.
　本開示に係る空中ハプティクス制御装置は、空中ハプティクス装置により実現される触覚刺激に対する要求精度の判定に用いられる判定用情報を取得する判定用情報取得部と、判定用情報を用いて要求精度を判定する要求精度判定部と、要求精度に応じて異なる選択密度により、空中ハプティクス装置におけるハプティクスドライバ群に含まれる複数個のハプティクスドライバのうちの複数個の駆動対象ハプティクスドライバを選択するドライバ選択部と、を備えるものである。 The aerial haptics control device according to the present disclosure determines the required accuracy by using the determination information acquisition unit that acquires the determination information used for determining the required accuracy for the tactile stimulus realized by the aerial haptics device and the determination information. Driver selection that selects multiple drive target haptic drivers from multiple haptic drivers included in the haptic driver group in the aerial haptic device by the required accuracy judgment unit and the selection density that differs depending on the required accuracy. It is equipped with a part.
　本開示によれば、上記のように構成したので、空中ハプティクス装置における触覚刺激の要求精度の変動に対応することができる。 According to the present disclosure, since it is configured as described above, it is possible to cope with fluctuations in the required accuracy of tactile stimuli in an aerial haptic device.
実施の形態１に係る空中ハプティクスシステムの要部を示すブロック図である。It is a block diagram which shows the main part of the aerial haptics system which concerns on Embodiment 1. FIG. 実施の形態１に係る空中ハプティクスシステムにおける空中ハプティクス装置の要部を示すブロック図である。It is a block diagram which shows the main part of the aerial haptics apparatus in the aerial haptics system which concerns on Embodiment 1. FIG. 実施の形態１に係る空中ハプティクスシステムにおける制御装置のうちの駆動制御部の要部を示すブロック図である。It is a block diagram which shows the main part of the drive control part among the control devices in the aerial haptics system which concerns on Embodiment 1. FIG. 格子状に配置された複数個の駆動対象ハプティクスドライバの例を示す説明図である。It is explanatory drawing which shows the example of a plurality of drive target haptics drivers arranged in a grid pattern. 市松模様状に配置された複数個の駆動対象ハプティクスドライバの例を示す説明図である。It is explanatory drawing which shows the example of a plurality of drive target haptics drivers arranged in a checkered pattern. 実施の形態１に係る空中ハプティクスシステムにおける空中ハプティクス制御装置の要部のハードウェア構成を示すブロック図である。It is a block diagram which shows the hardware composition of the main part of the aerial haptics control apparatus in the aerial haptics system which concerns on Embodiment 1. FIG. 実施の形態１に係る空中ハプティクスシステムにおける空中ハプティクス制御装置の要部の他のハードウェア構成を示すブロック図である。It is a block diagram which shows the other hardware composition of the main part of the aerial haptics control apparatus in the aerial haptics system which concerns on Embodiment 1. FIG. 実施の形態１に係る空中ハプティクスシステムにおける空中ハプティクス制御装置の要部の他のハードウェア構成を示すブロック図である。It is a block diagram which shows the other hardware composition of the main part of the aerial haptics control apparatus in the aerial haptics system which concerns on Embodiment 1. FIG. 実施の形態１に係る空中ハプティクスシステムにおける空中ハプティクス制御装置の動作を示すフローチャートである。It is a flowchart which shows the operation of the aerial haptics control apparatus in the aerial haptics system which concerns on Embodiment 1. FIG. 実施の形態１に係る空中ハプティクスシステムにおける空中ハプティクス制御装置のうちの要求精度判定部の動作を示すフローチャートである。It is a flowchart which shows the operation of the required accuracy determination part of the aerial haptics control apparatus in the aerial haptics system which concerns on Embodiment 1. FIG. ユーザの視線が表示領域に向けられていない状態の例を示す説明図である。It is explanatory drawing which shows the example of the state which the user's line of sight is not directed to a display area. 第１選択密度により複数個の駆動対象ハプティクスドライバが選択されて、駆動周波数が第１駆動周波数に設定された状態の例を示す説明図である。It is explanatory drawing which shows the example of the state in which a plurality of drive target haptics drivers are selected by the first selection density, and the drive frequency is set to the first drive frequency. ユーザの視線が表示領域に向けられている状態の例を示す説明図である。It is explanatory drawing which shows the example of the state which a user's line of sight is directed to a display area. 第２選択密度により複数個の駆動対象ハプティクスドライバが選択されて、駆動周波数が第２駆動周波数に設定された状態の例を示す説明図である。It is explanatory drawing which shows the example of the state which a plurality of drive target haptics drivers are selected by the 2nd selection density, and the drive frequency is set to the 2nd drive frequency. 実施の形態１に係る他の空中ハプティクスシステムの要部を示すブロック図である。It is a block diagram which shows the main part of another aerial haptics system which concerns on Embodiment 1. FIG. 実施の形態１に係る他の空中ハプティクスシステムの要部を示すブロック図である。It is a block diagram which shows the main part of another aerial haptics system which concerns on Embodiment 1. FIG. 実施の形態１に係る他の空中ハプティクスシステムの要部を示すブロック図である。It is a block diagram which shows the main part of another aerial haptics system which concerns on Embodiment 1. FIG. 実施の形態２に係る空中ハプティクスシステムの要部を示すブロック図である。It is a block diagram which shows the main part of the aerial haptics system which concerns on Embodiment 2. 実施の形態２に係る空中ハプティクスシステムにおける空中ハプティクス制御装置の動作を示すフローチャートである。It is a flowchart which shows the operation of the aerial haptics control apparatus in the aerial haptics system which concerns on Embodiment 2. FIG. 実施の形態２に係る空中ハプティクスシステムにおける空中ハプティクス制御装置のうちの要求精度判定部の動作を示すフローチャートである。It is a flowchart which shows the operation of the required accuracy determination part of the aerial haptics control apparatus in the aerial haptics system which concerns on Embodiment 2. FIG. スライド操作用のＵＩを含む操作画面に対応する映像の例を示す説明図である。It is explanatory drawing which shows the example of the image corresponding to the operation screen including the UI for slide operation. 第１選択密度により複数個の駆動対象ハプティクスドライバが選択されて、駆動周波数が第１駆動周波数に設定された状態の例を示す説明図である。It is explanatory drawing which shows the example of the state in which a plurality of drive target haptics drivers are selected by the first selection density, and the drive frequency is set to the first drive frequency. タップ操作用のＵＩを含む操作画面に対応する映像の例を示す説明図である。It is explanatory drawing which shows the example of the image corresponding to the operation screen including the UI for tap operation. 第２選択密度により複数個の駆動対象ハプティクスドライバが選択されて、駆動周波数が第２駆動周波数に設定された状態の例を示す説明図である。It is explanatory drawing which shows the example of the state which a plurality of drive target haptics drivers are selected by the 2nd selection density, and the drive frequency is set to the 2nd drive frequency. 実施の形態２に係る他の空中ハプティクスシステムの要部を示すブロック図である。It is a block diagram which shows the main part of another aerial haptics system which concerns on Embodiment 2. FIG. 実施の形態２に係る他の空中ハプティクスシステムの要部を示すブロック図である。It is a block diagram which shows the main part of another aerial haptics system which concerns on Embodiment 2. FIG. 実施の形態２に係る他の空中ハプティクスシステムの要部を示すブロック図である。It is a block diagram which shows the main part of another aerial haptics system which concerns on Embodiment 2. FIG. 実施の形態３に係る空中ハプティクスシステムの要部を示すブロック図である。It is a block diagram which shows the main part of the aerial haptics system which concerns on Embodiment 3. 実施の形態３に係る空中ハプティクスシステムにおける空中ハプティクス制御装置の動作を示すフローチャートである。It is a flowchart which shows the operation of the aerial haptics control apparatus in the aerial haptics system which concerns on Embodiment 3. FIG. 実施の形態３に係る空中ハプティクスシステムにおける空中ハプティクス制御装置のうちの要求精度判定部の動作を示すフローチャートである。It is a flowchart which shows the operation of the required accuracy determination part of the aerial haptics control apparatus in the aerial haptics system which concerns on Embodiment 3. FIG. 実施の形態３に係る他の空中ハプティクスシステムの要部を示すブロック図である。It is a block diagram which shows the main part of another aerial haptics system which concerns on Embodiment 3. FIG. 実施の形態３に係る他の空中ハプティクスシステムの要部を示すブロック図である。It is a block diagram which shows the main part of another aerial haptics system which concerns on Embodiment 3. FIG. 実施の形態３に係る他の空中ハプティクスシステムの要部を示すブロック図である。It is a block diagram which shows the main part of another aerial haptics system which concerns on Embodiment 3. FIG.
　以下、この開示をより詳細に説明するために、この開示を実施するための形態について、添付の図面に従って説明する。 Hereinafter, in order to explain this disclosure in more detail, a mode for carrying out this disclosure will be described in accordance with the attached drawings.
実施の形態１．
　図１は、実施の形態１に係る空中ハプティクスシステムの要部を示すブロック図である。図２は、実施の形態１に係る空中ハプティクスシステムにおける空中ハプティクス装置の要部を示すブロック図である。図３は、実施の形態１に係る空中ハプティクスシステムにおける制御装置のうちの駆動制御部の要部を示すブロック図である。図１～図３を参照して、実施の形態１に係る空中ハプティクスシステムについて説明する。 Embodiment 1.
FIG. 1 is a block diagram showing a main part of the aerial haptics system according to the first embodiment. FIG. 2 is a block diagram showing a main part of an aerial haptics device in the aerial haptics system according to the first embodiment. FIG. 3 is a block diagram showing a main part of a drive control unit among the control devices in the aerial haptics system according to the first embodiment. The aerial haptics system according to the first embodiment will be described with reference to FIGS. 1 to 3.
　図１に示す如く、空中ハプティクスシステム１は、制御装置２、視線検出装置３、空中ハプティクス装置４及び空中ディスプレイ装置５を含むものである。制御装置２は、システム制御部１１、駆動制御部１２、表示制御部１３、電流検出部１４及び操作検出部１５を含むものである。また、制御装置２は、判定用情報取得部２１、要求精度判定部２２、ドライバ選択部２３及び周波数設定部２４を含むものである。判定用情報取得部２１、要求精度判定部２２、ドライバ選択部２３及び周波数設定部２４により、空中ハプティクス制御装置１００の要部が構成されている。 As shown in FIG. 1, the aerial haptics system 1 includes a control device 2, a line-of-sight detection device 3, an aerial haptics device 4, and an aerial display device 5. The control device 2 includes a system control unit 11, a drive control unit 12, a display control unit 13, a current detection unit 14, and an operation detection unit 15. Further, the control device 2 includes a determination information acquisition unit 21, a required accuracy determination unit 22, a driver selection unit 23, and a frequency setting unit 24. The determination information acquisition unit 21, the required accuracy determination unit 22, the driver selection unit 23, and the frequency setting unit 24 constitute the main part of the aerial haptics control device 100.
　制御装置２は、例えば、車載用の情報通信機器により構成されている。すなわち、制御装置２は、例えば、ＥＣＵ（Ｅｌｅｃｔｒｏｎｉｃ　Ｃｏｎｔｒｏｌ　Ｕｎｉｔ）により構成されている。以下、制御装置２が車載用の情報通信機器により構成されている場合の例を中心に説明する。すなわち、空中ハプティクスシステム１が車載用である場合の例を中心に説明する。 The control device 2 is composed of, for example, an in-vehicle information communication device. That is, the control device 2 is configured by, for example, an ECU (Electronic Control Unit). Hereinafter, an example in which the control device 2 is composed of an in-vehicle information communication device will be mainly described. That is, an example in which the aerial haptics system 1 is for an in-vehicle use will be mainly described.
　空中ハプティクスシステム１のユーザＵは、例えば、車両（不図示）の搭乗者である。すなわち、ユーザＵは、例えば、当該車両の運転者、当該車両の同乗者、又は当該車両の運転者及び当該車両の同乗者の各々である。以下、ユーザＵが当該車両の運転者である場合の例を中心に説明する。 User U of the aerial haptics system 1 is, for example, a passenger of a vehicle (not shown). That is, the user U is, for example, the driver of the vehicle, the passenger of the vehicle, or the driver of the vehicle and the passenger of the vehicle. Hereinafter, an example in which the user U is the driver of the vehicle will be mainly described.
　視線検出装置３は、ユーザＵの視線方向Ｌを検出するものである。視線検出装置３は、当該検出された視線方向Ｌを示す情報（以下「視線方向情報」という。）を出力するものである。視線検出装置３は、例えば、ＤＭＳ（Ｄｒｉｖｅｒ　Ｍｏｎｉｔｏｒｉｎｇ　Ｓｙｓｔｅｍ）又はＯＭＳ（Ｏｃｃｕｐａｎｔ　Ｍｏｎｉｔｏｒｉｎｇ　Ｓｙｓｔｅｍ）により構成されている。視線方向Ｌの検出には、公知の種々の技術を用いることができる。これらの技術についての詳細な説明は省略する。 The line-of-sight detection device 3 detects the line-of-sight direction L of the user U. The line-of-sight detection device 3 outputs information indicating the detected line-of-sight direction L (hereinafter referred to as “line-of-sight direction information”). The line-of-sight detection device 3 is composed of, for example, a DMS (Driver Monitoring System) or an OMS (Occupant Monitoring System). Various known techniques can be used to detect the line-of-sight direction L. Detailed description of these techniques will be omitted.
　図２に示す如く、空中ハプティクス装置４は、ハプティクスドライバ群ＤＧを用いるものである。ハプティクスドライバ群ＤＧは、複数個のハプティクスドライバＤを含むものである。個々のハプティクスドライバＤは、例えば、超音波トランスデューサにより構成されている。 As shown in FIG. 2, the aerial haptics device 4 uses the haptics driver group DG. The haptics driver group DG includes a plurality of haptics drivers D. Each haptics driver D is composed of, for example, an ultrasonic transducer.
　複数個のハプティクスドライバＤは、一次元状に配列されている。または、複数個のハプティクスドライバＤは、二次元状に配列されている。図２に示す例においては、Ｍ×Ｎ個のハプティクスドライバＤがＮ行Ｍ列のマトリクス状に配列されている。ここで、Ｎは、２以上の任意の整数である。また、Ｍは、２以上の任意の整数である。 A plurality of haptics drivers D are arranged one-dimensionally. Alternatively, the plurality of haptics drivers D are arranged two-dimensionally. In the example shown in FIG. 2, M × N haptics drivers D are arranged in a matrix of N rows and M columns. Here, N is an arbitrary integer of 2 or more. Further, M is an arbitrary integer of 2 or more.
　以下、複数個のハプティクスドライバＤが二次元状に配列されている場合の例を中心に説明する。より具体的には、Ｍ×Ｎ個のハプティクスドライバＤがＮ行Ｍ列のマトリクス状に配列されている場合の例を中心に説明する。 Hereinafter, an example in which a plurality of haptics drivers D are arranged two-dimensionally will be mainly described. More specifically, an example in which M × N haptics drivers D are arranged in a matrix of N rows and M columns will be mainly described.
　空中ディスプレイ装置５は、空中に光を投影することにより、空中に映像を表示するものである。空中ディスプレイ装置５により映像が表示される領域（以下「表示領域」という。）Ａ１は、空中ハプティクス装置４により触覚が提示される領域（以下「空中ハプティクス領域」という。）Ａ２に対応している。すなわち、空中ディスプレイ装置５は、空中ハプティクス装置４に対応するものである。空中ディスプレイ装置５は、例えば、３Ｄ－ＨＵＤ（Ｔｈｒｅｅ－Ｄｉｍｅｎｓｉｏｎａｌ　Ｈｅａｄ－Ｕｐ　Ｄｉｓｐｌａｙ）により構成されている。 The aerial display device 5 displays an image in the air by projecting light into the air. The area where the image is displayed by the aerial display device 5 (hereinafter referred to as “display area”) A1 corresponds to the area where the tactile sensation is presented by the aerial haptics device 4 (hereinafter referred to as “air haptics area”) A2. .. That is, the aerial display device 5 corresponds to the aerial haptics device 4. The aerial display device 5 is configured by, for example, a 3D-HUD (Three-Dimensional Head-Up Display).
　システム制御部１１は、制御装置２全体の動作を制御するものである。これにより、システム制御部１１は、空中ハプティクスシステム１全体の動作を制御するものである。システム制御部１１は、例えば、専用の回路により構成されている。 The system control unit 11 controls the operation of the entire control device 2. As a result, the system control unit 11 controls the operation of the entire aerial haptics system 1. The system control unit 11 is composed of, for example, a dedicated circuit.
　駆動制御部１２は、システム制御部１１による指示に基づき、個々のハプティクスドライバＤを駆動する制御を実行するものである。駆動制御部１２は、例えば、専用の回路により構成されている。 The drive control unit 12 executes control for driving each haptics driver D based on an instruction from the system control unit 11. The drive control unit 12 is composed of, for example, a dedicated circuit.
　すなわち、図３に示す如く、駆動制御部１２は、搬送波信号生成部３１、振動波信号生成部３２、変調部３３及び増幅部３４を含むものである。 That is, as shown in FIG. 3, the drive control unit 12 includes a carrier wave signal generation unit 31, a vibration wave signal generation unit 32, a modulation unit 33, and an amplification unit 34.
　搬送波信号生成部３１は、システム制御部１１による指示に基づき、所定の周波数（以下「搬送波周波数」という。）ｆを有する超音波（以下「搬送波」という。）に対応する電気信号（以下「搬送波信号」という。）を生成するものである。搬送波信号生成部３１は、当該生成された搬送波信号を変調部３３に出力するものである。 The carrier wave signal generation unit 31 is an electric signal (hereinafter referred to as “carrier wave”) corresponding to an ultrasonic wave (hereinafter referred to as “carrier wave”) having a predetermined frequency (hereinafter referred to as “carrier frequency”) f based on an instruction by the system control unit 11. It is called a "signal"). The carrier wave signal generation unit 31 outputs the generated carrier wave signal to the modulation unit 33.
　振動波信号生成部３２は、システム制御部１１による指示に基づき、所望の触覚刺激に対応する振動を実現するための超音波（以下「振動波」という。）に対応する電気信号（以下「振動波信号」という。）を生成するものである。振動波信号生成部３２は、当該生成された振動波信号を変調部３３に出力するものである。 The vibration wave signal generation unit 32 is an electric signal (hereinafter referred to as “vibration”) corresponding to ultrasonic waves (hereinafter referred to as “vibration wave”) for realizing vibration corresponding to a desired tactile stimulus based on an instruction by the system control unit 11. It is called a "wave signal"). The vibration wave signal generation unit 32 outputs the generated vibration wave signal to the modulation unit 33.
　変調部３３は、振動波信号生成部３２により出力された振動波信号を用いて、搬送波信号生成部３１により出力された搬送波信号を変調するものである。変調部３３は、当該変調された搬送波信号（以下「変調波信号」という。）を増幅部３４に出力するものである。 The modulation unit 33 modulates the carrier wave signal output by the carrier wave signal generation unit 31 by using the vibration wave signal output by the vibration wave signal generation unit 32. The modulation unit 33 outputs the modulated carrier wave signal (hereinafter referred to as “modulated wave signal”) to the amplification unit 34.
　増幅部３４は、変調部３３により出力された変調波信号を増幅するものである。これにより、当該出力された変調波信号は、所定のレベルに増幅される。増幅部３４は、当該増幅された変調波信号（以下「送信信号」という。）をハプティクスドライバ群ＤＧに出力するものである。 The amplification unit 34 amplifies the modulated wave signal output by the modulation unit 33. As a result, the output modulated wave signal is amplified to a predetermined level. The amplification unit 34 outputs the amplified modulated wave signal (hereinafter referred to as “transmission signal”) to the haptics driver group DG.
　ここで、搬送波信号生成部３１は、個々のハプティクスドライバＤに対応する搬送波信号を生成する。振動波信号生成部３２は、個々のハプティクスドライバＤに対応する振動波信号を生成する。変調部３３は、個々のハプティクスドライバＤについて、対応する振動波信号を用いて対応する搬送波信号を変調する。増幅部３４は、個々のハプティクスドライバＤに対応する変調波信号を増幅する。増幅部３４は、個々のハプティクスドライバＤに対応する送信信号を出力する。 Here, the carrier wave signal generation unit 31 generates a carrier wave signal corresponding to each haptics driver D. The vibration wave signal generation unit 32 generates a vibration wave signal corresponding to each haptics driver D. The modulation unit 33 modulates the corresponding carrier signal using the corresponding vibration wave signal for each haptics driver D. The amplification unit 34 amplifies the modulated wave signal corresponding to each haptics driver D. The amplification unit 34 outputs a transmission signal corresponding to each haptics driver D.
　これにより、個々のハプティクスドライバＤが駆動する。すなわち、個々のハプティクスドライバＤが空中に超音波ＵＳを送信する。これにより、空中ハプティクス領域Ａ２に触覚が提示される。すなわち、空中ハプティクス領域Ａ２におけるハプティクスが実現される。 As a result, each haptics driver D is driven. That is, each haptics driver D transmits ultrasonic US in the air. As a result, the antennae are presented to the aerial haptics region A2. That is, haptics in the aerial haptics region A2 are realized.
　なお、空中ハプティクス領域Ａ２のうちの指示体（例えばユーザの指）Ｐが存在する領域においては、対応するハプティクスドライバＤにより送信された超音波ＵＳが指示体Ｐにより反射されて、当該反射された超音波ＵＳ’が当該対応するハプティクスドライバＤにより受信される。当該対応するハプティクスドライバＤは、当該受信された超音波ＵＳ’に対応する電気信号（以下「受信信号」という。）を出力する。 In the region of the aerial haptics region A2 where the indicator (for example, the user's finger) P exists, the ultrasonic US transmitted by the corresponding haptics driver D is reflected by the indicator P and reflected. The ultrasonic US'is received by the corresponding haptics driver D. The corresponding haptics driver D outputs an electric signal (hereinafter referred to as “received signal”) corresponding to the received ultrasonic wave US ′.
　表示制御部１３は、システム制御部１１による指示に基づき、空中ディスプレイ装置５を用いて、種々の画面に対応する映像を表示する制御を実行するものである。表示制御部１３は、例えば、専用の回路により構成されている。 The display control unit 13 executes control to display images corresponding to various screens by using the aerial display device 5 based on the instruction from the system control unit 11. The display control unit 13 is composed of, for example, a dedicated circuit.
　ここで、空中ディスプレイ装置５により表示される映像は、種々の操作用の画面（以下「操作画面」という。）に対応する映像を含むものである。個々の操作画面におけるＵＩ（Ｕｓｅｒ　Ｉｎｔｅｒｆａｃｅ）は、ハンドジェスチャによる操作入力用のＵＩを含むものである。以下、個々の操作画面におけるＵＩを「画面ＵＩ」という。 Here, the image displayed by the aerial display device 5 includes images corresponding to screens for various operations (hereinafter referred to as "operation screens"). The UI (User Interface) on each operation screen includes a UI for operation input by hand gesture. Hereinafter, the UI on each operation screen is referred to as "screen UI".
　具体的には、例えば、画面ＵＩは、スライド操作による操作入力用のＵＩ（以下「スライド操作用のＵＩ」という。）を含むものである。または、例えば、画面ＵＩは、フリック操作による操作入力用のＵＩ（以下「フリック操作用のＵＩ」という。）を含むものである。または、例えば、画面ＵＩは、タップ操作による操作入力用のＵＩ（以下「タップ操作用のＵＩ」という。）を含むものである。 Specifically, for example, the screen UI includes a UI for operation input by slide operation (hereinafter referred to as "UI for slide operation"). Alternatively, for example, the screen UI includes a UI for operation input by flick operation (hereinafter referred to as "UI for flick operation"). Alternatively, for example, the screen UI includes a UI for operation input by tap operation (hereinafter referred to as "UI for tap operation").
　以下、スライド操作又はフリック操作に比して単純な操作（例えばタップ操作）を総称して「単純操作」ということがある。また、単純操作による操作入力用のＵＩを「単純操作用のＵＩ」ということがある。 Hereinafter, simple operations (for example, tap operations) compared to slide operations or flick operations may be collectively referred to as "simple operations". In addition, the UI for operation input by simple operation may be referred to as "UI for simple operation".
　電流検出部１４は、個々のハプティクスドライバＤにおける電流値Ｉを検出するものである。より具体的には、電流検出部１４は、個々のハプティクスドライバＤについて、送信信号に対応する電流値Ｉ＿１を検出するとともに、受信信号に対応する電流値Ｉ＿２を検出するものである。電流検出部１４は、例えば、専用の回路により構成されている。 The current detection unit 14 detects the current value I in each haptics driver D. More specifically, the current detection unit 14 detects the current value I_1 corresponding to the transmission signal and the current value I_2 corresponding to the reception signal for each haptics driver D. The current detection unit 14 is composed of, for example, a dedicated circuit.
　操作検出部１５は、電流検出部１４により検出された電流値Ｉを用いて、ユーザＵにより操作画面に対して入力された操作を検出するものである。操作検出部１５は、例えば、専用の回路により構成されている。 The operation detection unit 15 detects the operation input to the operation screen by the user U by using the current value I detected by the current detection unit 14. The operation detection unit 15 is composed of, for example, a dedicated circuit.
　すなわち、空中ハプティクス領域Ａ２のうちの指示体Ｐが存在する領域においては、対応するハプティクスドライバＤに送信信号が入力されるとともに、当該対応するハプティクスドライバＤにより受信信号が出力される。通常、受信信号は、対応する送信信号に対して減衰したものとなる。また、受信信号は、対応する送信信号に対して位相差を有するものとなる。 That is, in the region of the aerial haptics region A2 where the indicator P exists, the transmission signal is input to the corresponding haptics driver D, and the reception signal is output by the corresponding haptics driver D. Normally, the received signal is attenuated with respect to the corresponding transmitted signal. Further, the received signal has a phase difference with respect to the corresponding transmitted signal.
　このため、個々のハプティクスドライバＤにおける電流値Ｉ＿１，Ｉ＿２の差分値ΔＩに基づき、対応する領域における指示体Ｐの有無を判定することができる。操作検出部１５は、かかる判定の結果に基づき、ハンドジェスチャによる操作を検出する。具体的には、例えば、操作検出部１５は、スライド操作、フリック操作又はタップ操作を検出する。 Therefore, it is possible to determine the presence / absence of the indicator P in the corresponding region based on the difference value ΔI of the current values I_1 and I_1 in each haptics driver D. The operation detection unit 15 detects the operation by the hand gesture based on the result of the determination. Specifically, for example, the operation detection unit 15 detects a slide operation, a flick operation, or a tap operation.
　判定用情報取得部２１は、後述する要求精度判定部２２による判定に用いられる情報（以下「判定用情報」という。）を取得するものである。ここで、判定用情報取得部２１により取得される判定用情報は、視線方向情報を含むものである。すなわち、判定用情報取得部２１は、視線検出装置３により出力された視線方向情報を取得するものである。 The determination information acquisition unit 21 acquires information (hereinafter referred to as "determination information") used for determination by the request accuracy determination unit 22 described later. Here, the determination information acquired by the determination information acquisition unit 21 includes the line-of-sight direction information. That is, the determination information acquisition unit 21 acquires the line-of-sight direction information output by the line-of-sight detection device 3.
　要求精度判定部２２は、判定用情報取得部２１により取得された判定用情報を用いて、空中ハプティクス装置４により実現される触覚刺激に要求される精度（すなわち要求精度）ＲＡを判定するものである。 The required accuracy determination unit 22 determines the accuracy (that is, required accuracy) RA required for the tactile stimulus realized by the aerial haptic device 4 by using the determination information acquired by the determination information acquisition unit 21. be.
　より具体的には、要求精度判定部２２は、要求精度ＲＡが互いに異なる第１要求精度ＲＡ＿１及び第２要求精度ＲＡ＿２のうちのいずれであるかを判定するものである。ここで、第１要求精度ＲＡ＿１は、第２要求精度ＲＡ＿２に比して高い精度に対応するものである。他方、第２要求精度ＲＡ＿２は、第１要求精度ＲＡ＿１に比して低い精度に対応するものである。 More specifically, the required accuracy determination unit 22 determines whether the required accuracy RA is one of the first required accuracy RA_1 and the second required accuracy RA_2, which are different from each other. Here, the first required accuracy RA_1 corresponds to a higher accuracy than the second required accuracy RA_2. On the other hand, the second required accuracy RA_2 corresponds to a lower accuracy than the first required accuracy RA_1.
　すなわち、要求精度判定部２２は、上記取得された判定用情報に含まれる視線方向情報を用いて、ユーザＵの視線が表示領域Ａ１に向けられているか否かを判定する。換言すれば、要求精度判定部２２は、ユーザＵの視線が空中ハプティクス領域Ａ２に向けられているか否かを判定する。これにより、要求精度判定部２２は、ユーザＵによる操作入力が手探りよるものであるか目視によるものであるかを判定する。 That is, the required accuracy determination unit 22 determines whether or not the line of sight of the user U is directed to the display area A1 by using the line-of-sight direction information included in the acquired determination information. In other words, the required accuracy determination unit 22 determines whether or not the line of sight of the user U is directed to the aerial haptics region A2. As a result, the required accuracy determination unit 22 determines whether the operation input by the user U is fumbling or visual.
　ユーザＵの視線が表示領域Ａ１に向けられていない場合（すなわちユーザＵによる操作入力が手探りによるものである場合）、要求精度判定部２２は、要求精度ＲＡが第１要求精度ＲＡ＿１であると判定する。他方、ユーザＵの視線が表示領域Ａ１に向けられている場合（すなわちユーザＵによる操作入力が目視によるものである場合）、要求精度判定部２２は、要求精度ＲＡが第２要求精度ＲＡ＿２であると判定する。 When the line of sight of the user U is not directed to the display area A1 (that is, when the operation input by the user U is due to fumbling), the required accuracy determination unit 22 determines that the required accuracy RA is the first required accuracy RA_1. do. On the other hand, when the line of sight of the user U is directed to the display area A1 (that is, when the operation input by the user U is visual), the required accuracy determination unit 22 has the required accuracy RA of the second required accuracy RA_2. Is determined.
　ドライバ選択部２３は、ハプティクスドライバ群ＤＧに含まれるＭ×Ｎ個のハプティクスドライバＤのうちの複数個のハプティクスドライバ（以下「駆動対象ハプティクスドライバ」という。）Ｄ＿Ｄを選択するものである。ここで、Ｍ×Ｎ個のハプティクスドライバＤのうちの複数個の駆動対象ハプティクスドライバＤ＿Ｄの密度（以下「選択密度」という。）ＳＤは、要求精度判定部２２による判定結果に応じて異なるものである。 The driver selection unit 23 selects a plurality of haptics drivers (hereinafter referred to as "drive target haptics drivers") D_D among the M × N haptics drivers D included in the haptics driver group DG. be. Here, the densities (hereinafter referred to as “selective densities”) SD of a plurality of drive target haptics drivers D_D among the M × N haptics drivers D differ depending on the determination result by the required accuracy determination unit 22. It is a thing.
　すなわち、要求精度ＲＡが第１要求精度ＲＡ＿１であると判定された場合、ドライバ選択部２３は、互いに異なる第１選択密度ＳＤ＿１及び第２選択密度ＳＤ＿２のうちの第１選択密度ＳＤ＿１により複数個の駆動対象ハプティクスドライバＤ＿Ｄを選択する。他方、要求精度ＲＡが第２要求精度ＲＡ＿２であると判定された場合、ドライバ選択部２３は、第２選択密度ＳＤ＿２により複数個の駆動対象ハプティクスドライバＤ＿Ｄを選択する。ここで、第１選択密度ＳＤ＿１は、第２選択密度ＳＤ＿２に比して高い密度に対応するものである。他方、第２選択密度ＳＤ＿２は、第１選択密度ＳＤ＿１に比して低い密度に対応するものである。 That is, when it is determined that the required accuracy RA is the first required accuracy RA_1, the driver selection unit 23 has a plurality of drivers selected by the first selective density SD_1 of the first selective density SD_1 and the second selective density SD_1 that are different from each other. Select the haptics driver D_D to be driven. On the other hand, when it is determined that the required accuracy RA is the second required accuracy RA_2, the driver selection unit 23 selects a plurality of drive target haptics drivers D_D by the second selection density SD_2. Here, the first selective density SD_1 corresponds to a higher density than the second selective density SD_1. On the other hand, the second selective density SD_2 corresponds to a lower density than the first selective density SD_1.
　具体的には、例えば、要求精度ＲＡが第１要求精度ＲＡ＿１であると判定された場合、ドライバ選択部２３は、Ｍ×Ｎ個のハプティクスドライバＤのうちの全てのハプティクスドライバＤを駆動対象ハプティクスドライバＤ＿Ｄに選択する。他方、要求精度ＲＡが第２要求精度ＲＡ＿２であると判定された場合、ドライバ選択部２３は、Ｍ×Ｎ個のハプティクスドライバＤのうちの格子状に配置された複数個のハプティクスドライバＤを駆動対象ハプティクスドライバＤ＿Ｄに選択する。または、ドライバ選択部２３は、Ｍ×Ｎ個のハプティクスドライバＤのうちの市松模様状に配置された複数個のハプティクスドライバＤを駆動対象ハプティクスドライバＤ＿Ｄに選択する。 Specifically, for example, when it is determined that the required accuracy RA is the first required accuracy RA_1, the driver selection unit 23 drives all the haptics drivers D among the M × N haptics drivers D. Select for the target haptics driver D_D. On the other hand, when it is determined that the required accuracy RA is the second required accuracy RA_2, the driver selection unit 23 uses the plurality of haptics drivers D arranged in a grid pattern among the M × N haptics drivers D. Is selected as the drive target haptics driver D_D. Alternatively, the driver selection unit 23 selects a plurality of haptics drivers D arranged in a checkered pattern among the M × N haptics drivers D as the haptics driver D_D to be driven.
　以下、Ｍ×Ｎ個のハプティクスドライバＤのうちの複数個の駆動対象ハプティクスドライバＤ＿Ｄを除く０個以上のハプティクスドライバＤを「非駆動対象ハプティクスドライバ」ということがある。また、非駆動対象ハプティクスドライバに「Ｄ＿ＮＤ」の符号を用いることがある。 Hereinafter, 0 or more haptics drivers D excluding a plurality of drive target haptics drivers D_D among M × N haptics drivers D may be referred to as “non-drive target haptics drivers”. Further, the code of "D_ND" may be used for the non-driven target haptics driver.
　図４は、格子状に配置された複数個の駆動対象ハプティクスドライバＤ＿Ｄの例を示している。すなわち、図４に示す如く、５行５列のマトリクス状に配列された２５個のハプティクスドライバＤがハプティクスドライバ群ＤＧに含まれている。また、１６個の駆動対象ハプティクスドライバＤ＿Ｄ及び９個の非駆動対象ハプティクスドライバＤ＿ＮＤがハプティクスドライバ群ＤＧに含まれている。１６個の駆動対象ハプティクスドライバＤ＿Ｄは、格子状に配置されている。 FIG. 4 shows an example of a plurality of drive target haptics drivers D_D arranged in a grid pattern. That is, as shown in FIG. 4, 25 haptics drivers D arranged in a matrix of 5 rows and 5 columns are included in the haptics driver group DG. Further, 16 drive target haptics drivers D_D and 9 non-drive target haptics drivers D_ND are included in the haptics driver group DG. The 16 driven haptics drivers D_D are arranged in a grid pattern.
　図５は、市松模様状に配置された複数個の駆動対象ハプティクスドライバＤ＿Ｄの例を示している。すなわち、図５に示す如く、５行５列のマトリクス状に配列された２５個のハプティクスドライバＤがハプティクスドライバ群ＤＧに含まれている。また、１２個の駆動対象ハプティクスドライバＤ＿Ｄ及び１３個の非駆動対象ハプティクスドライバＤ＿ＮＤがハプティクスドライバ群ＤＧに含まれている。１２個の駆動対象ハプティクスドライバＤ＿Ｄは、市松模様状に配置されている。 FIG. 5 shows an example of a plurality of drive target haptics drivers D_D arranged in a checkered pattern. That is, as shown in FIG. 5, 25 haptics drivers D arranged in a matrix of 5 rows and 5 columns are included in the haptics driver group DG. Further, 12 drive target haptics drivers D_D and 13 non-drive target haptics drivers D_ND are included in the haptics driver group DG. The twelve drive target haptics drivers D_D are arranged in a checkered pattern.
　ドライバ選択部２３は、個々の駆動対象ハプティクスドライバＤ＿Ｄを駆動の対象に含めることを駆動制御部１２に指示するようになっている。換言すれば、ドライバ選択部２３は、個々の非駆動対象ハプティクスドライバＤ＿ＮＤを駆動の対象から除外することを駆動制御部１２に指示するようになっている。 The driver selection unit 23 instructs the drive control unit 12 to include each drive target haptics driver D_D as a drive target. In other words, the driver selection unit 23 instructs the drive control unit 12 to exclude each non-drive target haptics driver D_ND from the drive target.
　周波数設定部２４は、個々の駆動対象ハプティクスドライバＤ＿Ｄにより送信される超音波ＵＳの周波数（以下「駆動周波数」という。）Ｆを、要求精度判定部２２による判定結果に応じて異なる値に設定するものである。 The frequency setting unit 24 sets the frequency (hereinafter referred to as “driving frequency”) F of the ultrasonic wave US transmitted by each drive target haptics driver D_D to a different value according to the determination result by the required accuracy determination unit 22. It is something to do.
　すなわち、要求精度ＲＡが第１要求精度ＲＡ＿１であると判定された場合、周波数設定部２４は、駆動周波数Ｆを、互いに異なる駆動周波数Ｆ＿１，Ｆ＿２のうちのより高い駆動周波数（以下「第１駆動周波数」という。）Ｆ＿１に設定する。これは、例えば、互いに異なる搬送波周波数ｆ＿１，ｆ＿２のうちのより高い搬送波周波数ｆ＿１に対応する搬送波信号の生成を搬送波信号生成部３１に指示することにより実現される。 That is, when it is determined that the required accuracy RA is the first required accuracy RA_1, the frequency setting unit 24 sets the drive frequency F to a higher drive frequency among the different drive frequencies F_1 and F_1 (hereinafter, "first drive"). It is called "frequency".) Set to F_1. This is realized, for example, by instructing the carrier signal generation unit 31 to generate a carrier signal corresponding to the higher carrier frequency f_1 among the different carrier frequencies f_1 and f_1.
　他方、要求精度ＲＡが第２要求精度ＲＡ＿２であると判定された場合、周波数設定部２４は、駆動周波数Ｆを、互いに異なる駆動周波数Ｆ＿１，Ｆ＿２のうちのより低い駆動周波数（以下「第２駆動周波数」という。）Ｆ＿２に設定する。これは、例えば、互いに異なる搬送波周波数ｆ＿１，ｆ＿２のうちのより低い搬送波周波数ｆ＿２に対応する搬送波信号の生成を搬送波信号生成部３１に指示することにより実現される。 On the other hand, when it is determined that the required accuracy RA is the second required accuracy RA_2, the frequency setting unit 24 sets the drive frequency F to the lower drive frequency among the different drive frequencies F_1 and F_2 (hereinafter, "second drive"). It is called "frequency".) Set to F_2. This is realized, for example, by instructing the carrier signal generation unit 31 to generate a carrier signal corresponding to the lower carrier frequency f_2 among the different carrier frequencies f_1 and f_2.
　駆動制御部１２は、ドライバ選択部２３による指示に基づき、個々の駆動対象ハプティクスドライバＤ＿Ｄを駆動の対象に含めるようになっている。換言すれば、駆動制御部１２は、ドライバ選択部２３による指示に基づき、個々の非駆動対象ハプティクスドライバＤ＿ＮＤを駆動の対象から除外するようになっている。このとき、搬送波信号生成部３１は、周波数設定部２４による指示に基づき、搬送波周波数ｆ＿１又は搬送波周波数ｆ＿２に対応する搬送波信号を生成するようになっている。 The drive control unit 12 includes each drive target haptics driver D_D as a drive target based on the instruction from the driver selection unit 23. In other words, the drive control unit 12 excludes each non-drive target haptics driver D_ND from the drive target based on the instruction from the driver selection unit 23. At this time, the carrier wave signal generation unit 31 is adapted to generate a carrier wave signal corresponding to the carrier wave frequency f_1 or the carrier wave frequency f_2 based on the instruction by the frequency setting unit 24.
　このようにして、空中ハプティクスシステム１の要部が構成されている。 In this way, the main part of the aerial haptics system 1 is configured.
　以下、判定用情報取得部２１により実行される処理を総称して「判定用情報取得処理」ということがある。また、要求精度判定部２２により実行される処理を総称して「要求精度判定処理」ということがある。また、ドライバ選択部２３により実行される処理を総称して「ドライバ選択処理」ということがある。また、周波数設定部２４により実行される処理を総称して「周波数設定処理」ということがある。 Hereinafter, the processes executed by the determination information acquisition unit 21 may be collectively referred to as "determination information acquisition processing". Further, the processes executed by the request accuracy determination unit 22 may be collectively referred to as “request accuracy determination process”. Further, the processes executed by the driver selection unit 23 may be collectively referred to as "driver selection process". Further, the processes executed by the frequency setting unit 24 may be collectively referred to as "frequency setting process".
　以下、判定用情報取得部２１が有する機能を総称して「判定用情報取得機能」ということがある。また、要求精度判定部２２が有する機能を総称して「要求精度判定機能」ということがある。また、ドライバ選択部２３が有する機能を総称して「ドライバ選択機能」ということがある。また、周波数設定部２４が有する機能を総称して「周波数設定機能」ということがある。 Hereinafter, the functions possessed by the determination information acquisition unit 21 may be collectively referred to as "determination information acquisition function". Further, the functions of the required accuracy determination unit 22 may be collectively referred to as a "required accuracy determination function". Further, the functions of the driver selection unit 23 may be collectively referred to as a "driver selection function". Further, the functions of the frequency setting unit 24 may be collectively referred to as "frequency setting function".
　以下、判定用情報取得機能に「Ｆ１」の符号を用いることがある。また、要求精度判定機能に「Ｆ２」の符号を用いることがある。また、ドライバ選択機能に「Ｆ３」の符号を用いることがある。また、周波数設定機能に「Ｆ４」に符号を用いることがある。 Hereinafter, the code of "F1" may be used for the determination information acquisition function. Further, the reference numeral of "F2" may be used for the required accuracy determination function. In addition, the code of "F3" may be used for the driver selection function. Further, a code may be used for "F4" for the frequency setting function.
　次に、図６～図８を参照して、空中ハプティクス制御装置１００の要部のハードウェア構成について説明する。 Next, with reference to FIGS. 6 to 8, the hardware configuration of the main part of the aerial haptics control device 100 will be described.
　図６に示す如く、空中ハプティクス制御装置１００は、プロセッサ４１及びメモリ４２を有している。メモリ４２には、複数個の機能（判定用情報取得機能、要求精度判定機能、ドライバ選択機能及び周波数設定機能を含む。）Ｆ１～Ｆ４に対応するプログラムが記憶されている。プロセッサ４１は、メモリ４２に記憶されているプログラムを読み出して実行する。これにより、複数個の機能Ｆ１～Ｆ４が実現される。 As shown in FIG. 6, the aerial haptics control device 100 has a processor 41 and a memory 42. The memory 42 stores programs corresponding to a plurality of functions (including a determination information acquisition function, a required accuracy determination function, a driver selection function, and a frequency setting function) F1 to F4. The processor 41 reads and executes the program stored in the memory 42. As a result, a plurality of functions F1 to F4 are realized.
　または、図７に示す如く、空中ハプティクス制御装置１００は、処理回路４３を有している。処理回路４３は、複数個の機能Ｆ１～Ｆ４に対応する処理を実行する。これにより、複数個の機能Ｆ１～Ｆ４が実現される。 Alternatively, as shown in FIG. 7, the aerial haptics control device 100 has a processing circuit 43. The processing circuit 43 executes processing corresponding to a plurality of functions F1 to F4. As a result, a plurality of functions F1 to F4 are realized.
　または、図８に示す如く、空中ハプティクス制御装置１００は、プロセッサ４１、メモリ４２及び処理回路４３を有している。メモリ４２には、複数個の機能Ｆ１～Ｆ４のうちの一部の機能に対応するプログラムが記憶されている。プロセッサ４１は、メモリ４２に記憶されているプログラムを読み出して実行する。これにより、かかる一部の機能が実現される。また、処理回路４３は、複数個の機能Ｆ１～Ｆ４のうちの残余の機能に対応する処理を実行する。これにより、かかる残余の機能が実現される。 Alternatively, as shown in FIG. 8, the aerial haptics control device 100 includes a processor 41, a memory 42, and a processing circuit 43. A program corresponding to a part of the plurality of functions F1 to F4 is stored in the memory 42. The processor 41 reads and executes the program stored in the memory 42. As a result, some of these functions are realized. Further, the processing circuit 43 executes processing corresponding to the remaining functions of the plurality of functions F1 to F4. As a result, such residual functions are realized.
　プロセッサ４１は、１個以上のプロセッサにより構成されている。個々のプロセッサは、例えば、ＣＰＵ（Ｃｅｎｔｒａｌ　Ｐｒｏｃｅｓｓｉｎｇ　Ｕｎｉｔ）、ＧＰＵ（Ｇｒａｐｈｉｃｓ　Ｐｒｏｃｅｓｓｉｎｇ　Ｕｎｉｔ）、マイクロプロセッサ、マイクロコントローラ又はＤＳＰ（Ｄｉｇｉｔａｌ　Ｓｉｇｎａｌ　Ｐｒｏｃｅｓｓｏｒ）を用いたものである。 The processor 41 is composed of one or more processors. As the individual processor, for example, a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), a microprocessor, a microprocessor, or a DSP (Digital Signal Processor) is used.
　メモリ４２は、１個以上の不揮発性メモリにより構成されている。または、メモリ４２は、１個以上の不揮発性メモリ及び１個以上の揮発性メモリにより構成されている。すなわち、メモリ４２は、１個以上のメモリにより構成されている。個々のメモリは、例えば、半導体メモリ又は磁気ディスクを用いたものである。より具体的には、個々の揮発性メモリは、例えば、ＲＡＭ（Ｒａｎｄｏｍ　Ａｃｃｅｓｓ　Ｍｅｍｏｒｙ）を用いたものである。また、個々の不揮発性メモリは、例えば、ＲＯＭ（Ｒｅａｄ　Ｏｎｌｙ　Ｍｅｍｏｒｙ）、フラッシュメモリ、ＥＰＲＯＭ（Ｅｒａｓａｂｌｅ　Ｐｒｏｇｒａｍｍａｂｌｅ　Ｒｅａｄ　Ｏｎｌｙ　Ｍｅｍｏｒｙ）、ＥＥＰＲＯＭ（Ｅｌｅｃｔｒｉｃａｌｌｙ　Ｅｒａｓａｂｌｅ　Ｐｒｏｇｒａｍｍａｂｌｅ　Ｒｅａｄ　Ｏｎｌｙ　Ｍｅｍｏｒｙ）、ソリッドステートドライブ又はハードディスクドライブを用いたものである。 The memory 42 is composed of one or more non-volatile memories. Alternatively, the memory 42 is composed of one or more non-volatile memories and one or more volatile memories. That is, the memory 42 is composed of one or more memories. The individual memory uses, for example, a semiconductor memory or a magnetic disk. More specifically, each volatile memory uses, for example, a RAM (Random Access Memory). In addition, the individual non-volatile memory is, for example, a ROM (Read Only Memory), a flash memory, an EPROM (Erasable Programmable Read Only Memory), an EEPROM (Electrically Erasable Programle) drive, a solid state drive O Is.
　処理回路４３は、１個以上のデジタル回路により構成されている。または、処理回路４３は、１個以上のデジタル回路及び１個以上のアナログ回路により構成されている。すなわち、処理回路４３は、１個以上の処理回路により構成されている。個々の処理回路は、例えば、ＡＳＩＣ（Ａｐｐｌｉｃａｔｉｏｎ　Ｓｐｅｃｉｆｉｃ　Ｉｎｔｅｇｒａｔｅｄ　Ｃｉｒｃｕｉｔ）、ＰＬＤ（Ｐｒｏｇｒａｍｍａｂｌｅ　Ｌｏｇｉｃ　Ｄｅｖｉｃｅ）、ＦＰＧＡ（Ｆｉｅｌｄ　Ｐｒｏｇｒａｍｍａｂｌｅ　Ｇａｔｅ　Ａｒｒａｙ）、ＳｏＣ（Ｓｙｓｔｅｍ　ｏｎ　ａ　Ｃｈｉｐ）又はシステムＬＳＩ（Ｌａｒｇｅ　Ｓｃａｌｅ　Ｉｎｔｅｇｒａｔｉｏｎ）を用いたものである。 The processing circuit 43 is composed of one or more digital circuits. Alternatively, the processing circuit 43 is composed of one or more digital circuits and one or more analog circuits. That is, the processing circuit 43 is composed of one or more processing circuits. The individual processing circuits are, for example, ASIC (Application Specific Integrated Circuit), PLD (Programmable Logic Device), FPGA (Field Programmable Gate Array), System LSI (Sy), and System (Sy). Is.
　ここで、プロセッサ４１が複数個のプロセッサにより構成されているとき、複数個の機能Ｆ１～Ｆ４と複数個のプロセッサとの対応関係は任意である。すなわち、複数個のプロセッサの各々は、複数個の機能Ｆ１～Ｆ４のうちの対応する１個以上の機能に対応するプログラムを読み出して実行するものであっても良い。プロセッサ４１は、複数個の機能Ｆ１～Ｆ４の各々に対応する専用のプロセッサを含むものであっても良い。 Here, when the processor 41 is composed of a plurality of processors, the correspondence between the plurality of functions F1 to F4 and the plurality of processors is arbitrary. That is, each of the plurality of processors may read and execute a program corresponding to one or more corresponding functions among the plurality of functions F1 to F4. The processor 41 may include a dedicated processor corresponding to each of the plurality of functions F1 to F4.
　また、メモリ４２が複数個のメモリにより構成されているとき、複数個の機能Ｆ１～Ｆ４と複数個のメモリとの対応関係は任意である。すなわち、複数個のメモリの各々は、複数個の機能Ｆ１～Ｆ４のうちの対応する１個以上の機能に対応するプログラムを記憶するものであっても良い。メモリ４２は、複数個の機能Ｆ１～Ｆ４の各々に対応する専用のメモリを含むものであっても良い。 Further, when the memory 42 is composed of a plurality of memories, the correspondence between the plurality of functions F1 to F4 and the plurality of memories is arbitrary. That is, each of the plurality of memories may store a program corresponding to one or more corresponding functions among the plurality of functions F1 to F4. The memory 42 may include a dedicated memory corresponding to each of the plurality of functions F1 to F4.
　また、処理回路４３が複数個の処理回路により構成されているとき、複数個の機能Ｆ１～Ｆ４と複数個の処理回路との対応関係は任意である。すなわち、複数個の処理回路の各々は、複数個の機能Ｆ１～Ｆ４のうちの対応する１個以上の機能に対応する処理を実行するものであっても良い。処理回路４３は、複数個の機能Ｆ１～Ｆ４の各々に対応する専用の処理回路を含むものであっても良い。 Further, when the processing circuit 43 is composed of a plurality of processing circuits, the correspondence between the plurality of functions F1 to F4 and the plurality of processing circuits is arbitrary. That is, each of the plurality of processing circuits may execute processing corresponding to one or more corresponding functions among the plurality of functions F1 to F4. The processing circuit 43 may include a dedicated processing circuit corresponding to each of the plurality of functions F1 to F4.
　次に、図９に示すフローチャートを参照して、空中ハプティクス制御装置１００の動作について説明する。 Next, the operation of the aerial haptics control device 100 will be described with reference to the flowchart shown in FIG.
　まず、判定用情報取得部２１が判定用情報取得処理を実行する（ステップＳＴ１）。次いで、要求精度判定部２２が要求精度判定処理を実行する（ステップＳＴ２）。次いで、ドライバ選択部２３がドライバ選択処理を実行する（ステップＳＴ３）。次いで、周波数設定部２４が周波数設定処理を実行する（ステップＳＴ４）。 First, the determination information acquisition unit 21 executes the determination information acquisition process (step ST1). Next, the required accuracy determination unit 22 executes the required accuracy determination process (step ST2). Next, the driver selection unit 23 executes the driver selection process (step ST3). Next, the frequency setting unit 24 executes the frequency setting process (step ST4).
　次に、図１０に示すフローチャートを参照して、要求精度判定部２２の動作について説明する。すなわち、ステップＳＴ２にて実行される処理について説明する。 Next, the operation of the required accuracy determination unit 22 will be described with reference to the flowchart shown in FIG. That is, the process executed in step ST2 will be described.
　まず、要求精度判定部２２は、ステップＳＴ１にて取得された判定用情報に含まれる視線方向情報を用いて、ユーザＵの視線が表示領域Ａ１に向けられているか否かを判定する（ステップＳＴ１１）。 First, the request accuracy determination unit 22 determines whether or not the line of sight of the user U is directed to the display area A1 by using the line-of-sight direction information included in the determination information acquired in step ST1 (step ST11). ).
　ユーザＵの視線が表示領域Ａ１に向けられていない場合（ステップＳＴ１１“ＮＯ”）、すなわちユーザＵによる操作入力が手探りによるものである場合、要求精度判定部２２は、要求精度ＲＡが第１要求精度ＲＡ＿１であると判定する（ステップＳＴ１２）。 When the line of sight of the user U is not directed to the display area A1 (step ST11 “NO”), that is, when the operation input by the user U is by groping, the request accuracy determination unit 22 requests the first request for the required accuracy RA. It is determined that the accuracy is RA_1 (step ST12).
　他方、ユーザＵの視線が表示領域Ａ１に向けられている場合（ステップＳＴ１１“ＹＥＳ”）、すなわちユーザＵによる操作入力が目視によるものである場合、要求精度判定部２２は、要求精度ＲＡが第２要求精度ＲＡ＿２であると判定する（ステップＳＴ１３）。 On the other hand, when the line of sight of the user U is directed to the display area A1 (step ST11 “YES”), that is, when the operation input by the user U is visual, the required accuracy determination unit 22 has the required accuracy RA. 2 It is determined that the required accuracy is RA_2 (step ST13).
　次に、図１１～図１４を参照して、空中ハプティクス制御装置１００におけるドライバ選択処理及び周波数設定処理の具体例について説明する。また、空中ハプティクス制御装置１００の効果について説明する。 Next, a specific example of the driver selection process and the frequency setting process in the aerial haptics control device 100 will be described with reference to FIGS. 11 to 14. Further, the effect of the aerial haptics control device 100 will be described.
　図１１は、ユーザＵの視線が表示領域Ａ１に向けられていない状態の例を示している。すなわち、図１１は、ユーザＵが手探りによる操作入力をしようとしている状態の例を示している。より具体的には、図１１は、車両（不図示）の運転者の視線が前方に向けられている状態の例を示している。すなわち、図１１は、当該車両の運転者が当該車両の走行中に操作入力をしようとしている状態の例を示している。 FIG. 11 shows an example of a state in which the line of sight of the user U is not directed to the display area A1. That is, FIG. 11 shows an example of a state in which the user U is trying to input an operation by fumbling. More specifically, FIG. 11 shows an example of a state in which the driver's line of sight of the vehicle (not shown) is directed forward. That is, FIG. 11 shows an example of a state in which the driver of the vehicle is trying to input an operation while the vehicle is running.
　この場合、要求精度判定部２２により、要求精度ＲＡが第１要求精度ＲＡ＿１であると判定される。そして、ドライバ選択部２３により、第１選択密度ＳＤ＿１にて複数個の駆動対象ハプティクスドライバＤ＿Ｄが選択される。具体的には、例えば、４行４列のマトリクス状に配列された１６個のハプティクスドライバＤのうちの全てのハプティクスドライバＤが駆動対象ハプティクスドライバＤ＿Ｄに選択される（図１２参照）。そして、駆動周波数Ｆが第１駆動周波数Ｆ＿１に設定される。 In this case, the required accuracy determination unit 22 determines that the required accuracy RA is the first required accuracy RA_1. Then, the driver selection unit 23 selects a plurality of drive target haptics drivers D_D at the first selection density SD_1. Specifically, for example, all the haptics drivers D out of the 16 haptics drivers D arranged in a matrix of 4 rows and 4 columns are selected as the haptics driver D_D to be driven (see FIG. 12). .. Then, the drive frequency F is set to the first drive frequency F_1.
　図１３は、ユーザＵの視線が表示領域Ａ１に向けられている状態の例を示している。すなわち、図１３は、ユーザＵが目視による操作入力をしようとしている状態の例を示している。より具体的には、図１３は、車両（不図示）の運転者の視線が表示領域Ａ１に向けられている状態の例を示している。すなわち、図１３は、当該車両の運転者が当該車両の停止中に操作入力をしようとしている状態の例を示している。 FIG. 13 shows an example of a state in which the line of sight of the user U is directed to the display area A1. That is, FIG. 13 shows an example of a state in which the user U is trying to visually input an operation. More specifically, FIG. 13 shows an example of a state in which the line of sight of the driver of the vehicle (not shown) is directed to the display area A1. That is, FIG. 13 shows an example of a state in which the driver of the vehicle is trying to input an operation while the vehicle is stopped.
　この場合、要求精度判定部２２により、要求精度ＲＡが第２要求精度ＲＡ＿２であると判定される。そして、ドライバ選択部２３により、第２選択密度ＳＤ＿２にて複数個の駆動対象ハプティクスドライバＤ＿Ｄが選択される。具体的には、例えば、４行４列のマトリクス状に配列された１６個のハプティクスドライバＤのうちの市松模様状に配置された８個のハプティクスドライバＤが駆動対象ハプティクスドライバＤ＿Ｄに設定される（図１４参照）。そして、駆動周波数Ｆが第２駆動周波数Ｆ＿２に設定される。 In this case, the required accuracy determination unit 22 determines that the required accuracy RA is the second required accuracy RA_2. Then, the driver selection unit 23 selects a plurality of drive target haptics drivers D_D at the second selection density SD_2. Specifically, for example, eight haptics drivers D arranged in a checkered pattern among 16 haptics drivers D arranged in a matrix of 4 rows and 4 columns are used as the haptics driver D_D to be driven. It is set (see FIG. 14). Then, the drive frequency F is set to the second drive frequency F_2.
　ここで、第１選択密度ＳＤ＿１を用いることにより、ドライバ選択部２３により選択される駆動対象ハプティクスドライバＤ＿Ｄの個数Ｘが多くなる。例えば、図１２に示す例においては、Ｘ＝１６である。他方、第２選択密度ＳＤ＿２を用いることにより、ドライバ選択部２３により選択される駆動対象ハプティクスドライバＤ＿Ｄの個数Ｘが少なくなる。例えば、図１４に示す例においては、Ｘ＝８である。 Here, by using the first selection density SD_1, the number X of the drive target haptics drivers D_D selected by the driver selection unit 23 increases. For example, in the example shown in FIG. 12, X = 16. On the other hand, by using the second selection density SD_2, the number X of the drive target haptics drivers D_D selected by the driver selection unit 23 is reduced. For example, in the example shown in FIG. 14, X = 8.
　また、一般に、超音波の周波数が高いほど、かかる超音波の指向性が高くなる。換言すれば、超音波の周波数が低いほど、かかる超音波の指向性が低くなる。このため、駆動周波数Ｆが第１駆動周波数Ｆ＿１に設定されることにより、個々の駆動対象ハプティクスドライバＤ＿Ｄにより送信される超音波ＵＳの指向性が高くなる（図１２参照）。他方、駆動周波数Ｆが第２駆動周波数Ｆ＿２に設定されることにより、個々の駆動対象ハプティクスドライバＤ＿Ｄにより送信される超音波ＵＳの指向性が低くなる（図１４参照）。 Also, in general, the higher the frequency of the ultrasonic wave, the higher the directivity of the ultrasonic wave. In other words, the lower the frequency of the ultrasonic wave, the lower the directivity of the ultrasonic wave. Therefore, by setting the drive frequency F to the first drive frequency F_1, the directivity of the ultrasonic wave US transmitted by each drive target haptics driver D_D is increased (see FIG. 12). On the other hand, when the drive frequency F is set to the second drive frequency F_2, the directivity of the ultrasonic US transmitted by the individual drive target haptics drivers D_D becomes low (see FIG. 14).
　ここで、個数Ｘを多くする（すなわち第１選択密度ＳＤ＿１を用いる）とともに超音波ＵＳの指向性を高くする（すなわち第１駆動周波数Ｆ＿１を用いる）ことにより、高精度な触覚刺激を実現することができる。 Here, by increasing the number X (that is, using the first selection density SD_1) and increasing the directivity of the ultrasonic US (that is, using the first drive frequency F_1), highly accurate tactile stimulation can be realized. Can be done.
　他方、個数Ｘを少なくする（すなわち第２選択密度ＳＤ＿２を用いる）ことにより、触覚刺激の精度が低下するものの、空中ハプティクス装置４における消費電力を低減することができる。また、このとき、超音波ＵＳの指向性を低くする（すなわち第２駆動周波数Ｆ＿２を用いる）ことにより、空中ハプティクス装置４における消費電力を低減しつつ、空中ハプティクス領域Ａ２における触覚刺激が部分的に欠落するのを抑制することができる。すなわち、空中ハプティクス領域Ａ２における触覚刺激が逆格子状に欠落したり、又は空中ハプティクス領域Ａ２における触覚刺激が市松模様状に欠落したりするのを抑制することができる、 On the other hand, by reducing the number X (that is, using the second selection density SD_2), the accuracy of the tactile stimulus is lowered, but the power consumption in the aerial haptic device 4 can be reduced. Further, at this time, by lowering the directivity of the ultrasonic US (that is, using the second drive frequency F_2), the power consumption in the aerial haptic device 4 is reduced, and the tactile stimulus in the aerial haptic region A2 is partially performed. It can be suppressed from being missing. That is, it is possible to prevent the tactile stimuli in the aerial haptics region A2 from being lost in a reciprocal lattice pattern or the tactile stimuli in the aerial haptics region A2 from being missing in a checkered pattern.
　ユーザＵが手探りによる操作入力をするときは（図１１参照）、手探りによる操作入力をスムーズにする観点から、高精度な触覚刺激を実現するのが好適である。このとき、空中ハプティクスシステム１においては、図１２に示す如く、個数Ｘが多くなる（すなわち第１選択密度ＳＤ＿１が用いられる）とともに、超音波ＵＳの指向性が高くなる（すなわち第１駆動周波数Ｆ＿１が用いられる）。これにより、高精度な触覚刺激を実現することができる。この結果、手探りによる操作入力をスムーズにすることができる。 When the user U inputs an operation by groping (see FIG. 11), it is preferable to realize a highly accurate tactile stimulus from the viewpoint of smoothing the operation input by groping. At this time, in the aerial haptics system 1, as shown in FIG. 12, as the number X increases (that is, the first selection density SD_1 is used), the directivity of the ultrasonic US becomes higher (that is, the first drive frequency). F_1 is used). This makes it possible to realize highly accurate tactile stimulation. As a result, it is possible to smooth the operation input by groping.
　他方、ユーザＵが目視による操作入力をするときは（図１３参照）、ユーザＵが手探りによる操作入力をするときに比して、高精度な触覚刺激が不要である。このとき、空中ハプティクスシステム１においては、図１４に示す如く、個数Ｘが少なくなる（すなわち第２選択密度ＳＤ＿２が用いられる）とともに、超音波ＵＳの指向性が低くなる（すなわち第２駆動周波数Ｆ＿２が用いられる）。これにより、空中ハプティクス装置４における消費電力を低減することができる。 On the other hand, when the user U makes a visual operation input (see FIG. 13), a highly accurate tactile stimulus is not required as compared with the case where the user U makes a fumbling operation input. At this time, in the aerial haptics system 1, as shown in FIG. 14, the number X is reduced (that is, the second selection density SD_2 is used), and the directivity of the ultrasonic US is lowered (that is, the second drive frequency). F_2 is used). As a result, the power consumption of the aerial haptics device 4 can be reduced.
　なお、複数個の駆動対象ハプティクスドライバＤ＿Ｄが市松模様状に配置されていることにより、複数個の駆動対象ハプティクスドライバＤ＿Ｄが格子状に配置されている場合に比して、以下のような効果を得ることができる。 Since the plurality of drive target haptics drivers D_D are arranged in a checkered pattern, the following is compared with the case where the plurality of drive target haptics drivers D_D are arranged in a grid pattern. The effect can be obtained.
　すなわち、複数個の駆動対象ハプティクスドライバＤ＿Ｄが格子状に配置されているとき、複数個の駆動対象ハプティクスドライバＤ＿Ｄのうちの各２個の駆動対象ハプティクスドライバＤ＿Ｄについて、当該２個の駆動対象ハプティクスドライバＤ＿Ｄが互いに隣接することがある（図４参照）。他方、複数個の駆動対象ハプティクスドライバＤ＿Ｄが市松模様状に配置されているとき、当該２個の駆動対象ハプティクスドライバＤ＿Ｄが互いに隣接することはない（図５参照）。ここで、「隣接する」とは、Ｎ行Ｍ列のマトリクスにおける行方向又は列方向に隣接することを意味する。 That is, when a plurality of drive target haptics drivers D_D are arranged in a grid pattern, the two drive target haptics drivers D_D of each of the plurality of drive target haptics drivers D_D are driven. Target haptics drivers D_D may be adjacent to each other (see FIG. 4). On the other hand, when a plurality of driven target haptics drivers D_D are arranged in a checkered pattern, the two driven target haptics drivers D_D are not adjacent to each other (see FIG. 5). Here, "adjacent" means that they are adjacent in the row direction or the column direction in the matrix of N rows and M columns.
　換言すれば、複数個の駆動対象ハプティクスドライバＤ＿Ｄが格子状に配置されているときは、個々の駆動対象ハプティクスドライバＤ＿Ｄに隣接する駆動対象ハプティクスドライバＤ＿Ｄの個数Ｙが異なり得るものである。他方、複数個の駆動対象ハプティクスドライバＤ＿Ｄが市松模様状に配置されているときは、個数Ｙが一定である（Ｙ＝０）。 In other words, when a plurality of drive target haptics drivers D_D are arranged in a grid pattern, the number Y of drive target haptics drivers D_D adjacent to each drive target haptics driver D_D may differ. .. On the other hand, when a plurality of drive target haptics drivers D_D are arranged in a checkered pattern, the number Y is constant (Y = 0).
　このため、複数個の駆動対象ハプティクスドライバＤ＿Ｄが市松模様状に配置されていることにより、複数個の駆動対象ハプティクスドライバＤ＿Ｄが格子状に配置されている場合に比して、空中ハプティクス領域Ａ２における触覚刺激のむらの発生を抑制することができる。換言すれば、空中ハプティクス領域Ａ２における触覚刺激を容易に均一にすることができる。また、かかる触覚刺激を効率良く実現することができる。 Therefore, since the plurality of drive target haptics drivers D_D are arranged in a checkered pattern, the aerial haptics region is compared with the case where the plurality of drive target haptics drivers D_D are arranged in a grid pattern. It is possible to suppress the occurrence of unevenness of tactile stimulation in A2. In other words, the tactile stimulus in the aerial haptic region A2 can be easily homogenized. Moreover, such a tactile stimulus can be efficiently realized.
　次に、図１５を参照して、空中ハプティクスシステム１の変形例について説明する。 Next, a modified example of the aerial haptics system 1 will be described with reference to FIG.
　図１５に示す如く、空中ハプティクス制御装置１００は、周波数設定部２４を含まないものであっても良い。すなわち、判定用情報取得部２１、要求精度判定部２２及びドライバ選択部２３により空中ハプティクス制御装置１００の要部が構成されているものであっても良い。 As shown in FIG. 15, the aerial haptics control device 100 may not include the frequency setting unit 24. That is, the main part of the aerial haptics control device 100 may be configured by the determination information acquisition unit 21, the required accuracy determination unit 22, and the driver selection unit 23.
　次に、図１６及び図１７を参照して、空中ハプティクスシステム１の他の変形例について説明する。 Next, another modification of the aerial haptics system 1 will be described with reference to FIGS. 16 and 17.
　図１６又は図１７に示す如く、空中ハプティクスシステム１は、センサ６を含むものであっても良い。センサ６は、例えば、カメラ又は赤外線センサにより構成されている。操作検出部１５は、ハンドジェスチャによる操作を検出するにあたり、電流値Ｉを用いるのに代えてセンサ６を用いるものであっても良い。センサ６による操作の検出には、公知の種々の技術を用いることができる。これらの技術についての詳細な説明は省略する。 As shown in FIG. 16 or FIG. 17, the aerial haptics system 1 may include a sensor 6. The sensor 6 is composed of, for example, a camera or an infrared sensor. The operation detection unit 15 may use the sensor 6 instead of the current value I when detecting the operation by the hand gesture. Various known techniques can be used to detect the operation by the sensor 6. Detailed description of these techniques will be omitted.
　以上のように、実施の形態１に係る空中ハプティクス制御装置１００は、空中ハプティクス装置４により実現される触覚刺激に対する要求精度ＲＡの判定に用いられる判定用情報を取得する判定用情報取得部２１と、判定用情報を用いて要求精度ＲＡを判定する要求精度判定部２２と、要求精度ＲＡに応じて異なる選択密度ＳＤにより、空中ハプティクス装置４におけるハプティクスドライバ群ＤＧに含まれる複数個のハプティクスドライバＤのうちの複数個の駆動対象ハプティクスドライバＤ＿Ｄを選択するドライバ選択部２３と、を備える。これにより、要求精度ＲＡの変動に対応することができる。 As described above, the aerial haptics control device 100 according to the first embodiment has the determination information acquisition unit 21 for acquiring the determination information used for determining the required accuracy RA for the tactile stimulus realized by the aerial haptics device 4. , A plurality of haptics included in the haptics driver group DG in the aerial haptics device 4 by the requirement accuracy determination unit 22 for determining the requirement accuracy RA using the determination information and the selection density SD different according to the requirement accuracy RA. A driver selection unit 23 for selecting a plurality of drive target haptics drivers D_D among the drivers D is provided. This makes it possible to cope with fluctuations in the required accuracy RA.
　また、ドライバ選択部２３は、要求精度判定部２２により要求精度ＲＡが第２要求精度ＲＡ＿２よりも高い第１要求精度ＲＡ＿１であると判定された場合、第２選択密度ＳＤ＿２よりも高い第１選択密度ＳＤ＿１により複数個の駆動対象ハプティクスドライバＤ＿Ｄを選択する。これにより、高精度な触覚刺激を実現することができる。 Further, when the driver selection unit 23 determines that the required accuracy RA is the first required accuracy RA_1 higher than the second required accuracy RA_2 by the required accuracy determination unit 22, the first selection higher than the second selection density SD_2. A plurality of drive target haptics drivers D_D are selected according to the density SD_1. This makes it possible to realize highly accurate tactile stimulation.
　また、空中ハプティクス制御装置１００は、要求精度判定部２２により要求精度ＲＡが第１要求精度ＲＡ＿１であると判定された場合、複数個の駆動対象ハプティクスドライバＤ＿Ｄの各々における駆動周波数Ｆを第２駆動周波数Ｆ＿２よりも高い第１駆動周波数Ｆ＿１に設定する周波数設定部２４を備える。これにより、高精度な触覚刺激を実現することができる。 Further, when the required accuracy RA is determined by the required accuracy determination unit 22 to be the first required accuracy RA_1, the aerial haptics control device 100 sets the drive frequency F in each of the plurality of drive target haptic drivers D_D to the second. A frequency setting unit 24 for setting a first drive frequency F_1 higher than the drive frequency F_1 is provided. This makes it possible to realize highly accurate tactile stimulation.
　また、ドライバ選択部２３は、要求精度判定部２２により要求精度ＲＡが第１要求精度ＲＡ＿１よりも低い第２要求精度ＲＡ＿２であると判定された場合、第１選択密度ＳＤ＿１よりも低い第２選択密度ＳＤ＿２により複数個の駆動対象ハプティクスドライバＤ＿Ｄを選択するものであり、空中ハプティクス制御装置１００は、要求精度判定部２２により要求精度ＲＡが第２要求精度ＲＡ＿２であると判定された場合、複数個の駆動対象ハプティクスドライバＤ＿Ｄの各々における駆動周波数Ｆを第１駆動周波数Ｆ＿１よりも低い第２駆動周波数Ｆ＿２に設定する周波数設定部２４を備える。これにより、空中ハプティクス装置４における消費電量を低減することができる。また、空中ハプティクス領域Ａ２における触覚刺激が部分的に欠落するのを抑制することができる。 Further, when the required accuracy RA is determined by the required accuracy determination unit 22 to be the second required accuracy RA_2, which is lower than the first required accuracy RA_1, the driver selection unit 23 makes a second selection lower than the first selection density SD_1. A plurality of drive target haptics drivers D_D are selected by the density SD_2, and the aerial haptics control device 100 has a plurality of aerial haptics control devices 100 when the required accuracy determination unit 22 determines that the required accuracy RA is the second required accuracy RA_2. A frequency setting unit 24 for setting the drive frequency F in each of the drive target haptics drivers D_D to the second drive frequency F_2 lower than the first drive frequency F_1 is provided. As a result, the amount of electric charge consumed by the aerial haptics device 4 can be reduced. In addition, it is possible to suppress the partial loss of tactile stimuli in the aerial haptic region A2.
　また、判定用情報は、空中ハプティクス装置４及び空中ハプティクス装置４に対応する空中ディスプレイ装置５を含む空中ハプティクスシステム１のユーザＵの視線方向Ｌを示す視線方向情報を含む。これにより、ユーザＵによる操作入力が手探りによるものであるか目視によるものであるかに応じた要求精度ＲＡの判定を実現することができる。 Further, the determination information includes the line-of-sight direction information indicating the line-of-sight direction L of the user U of the aerial haptics system 1 including the aerial haptics device 4 and the aerial display device 5 corresponding to the aerial haptics device 4. This makes it possible to determine the required accuracy RA according to whether the operation input by the user U is fumbling or visual.
　また、要求精度判定部２２は、ユーザＵの視線が空中ディスプレイ装置５における表示領域Ａ１に向けられていない場合、要求精度ＲＡが第１要求精度ＲＡ＿１であると判定する。これにより、ユーザＵによる操作入力が手探りによるものであるとき、高精度な触覚刺激を実現することができる。 Further, the required accuracy determination unit 22 determines that the required accuracy RA is the first required accuracy RA_1 when the line of sight of the user U is not directed to the display area A1 in the aerial display device 5. Thereby, when the operation input by the user U is fumbling, it is possible to realize a highly accurate tactile stimulus.
　また、要求精度判定部２２は、ユーザＵの視線が空中ディスプレイ装置５における表示領域Ａ１に向けられている場合、要求精度ＲＡが第２要求精度ＲＡ＿２であると判定する。これにより、ユーザＵによる操作入力が目視によるものであるとき、空中ハプティクス装置４における消費電力を低減することができる。 Further, when the line of sight of the user U is directed to the display area A1 in the aerial display device 5, the required accuracy determination unit 22 determines that the required accuracy RA is the second required accuracy RA_2. Thereby, when the operation input by the user U is visual, the power consumption in the aerial haptics device 4 can be reduced.
　また、実施の形態１に係る空中ハプティクス制御方法は、判定用情報取得部２１が、空中ハプティクス装置４により実現される触覚刺激に対する要求精度ＲＡの判定に用いられる判定用情報を取得するステップＳＴ１と、要求精度判定部２２が、判定用情報を用いて要求精度ＲＡを判定するステップＳＴ２と、ドライバ選択部２３が、要求精度ＲＡに応じて異なる選択密度ＳＤにより、空中ハプティクス装置４におけるハプティクスドライバ群ＤＧに含まれる複数個のハプティクスドライバＤのうちの複数個の駆動対象ハプティクスドライバＤ＿Ｄを選択するステップＳＴ３と、を備える。これにより、要求精度ＲＡの変動に対応することができる。 Further, in the aerial haptics control method according to the first embodiment, the determination information acquisition unit 21 acquires the determination information used for determining the required accuracy RA for the tactile stimulus realized by the aerial haptics device 4. , The haptics driver in the aerial haptics device 4 by the step ST2 in which the required accuracy determination unit 22 determines the required accuracy RA using the determination information and the selection density SD in which the driver selection unit 23 differs according to the required accuracy RA. A step ST3 for selecting a plurality of driven target haptic drivers D_D among the plurality of haptic drivers D included in the group DG is provided. This makes it possible to cope with fluctuations in the required accuracy RA.
実施の形態２．
　図１８は、実施の形態２に係る空中ハプティクスシステムの要部を示すブロック図である。図１８を参照して、実施の形態２に係る空中ハプティクスシステムについて説明する。なお、図１８において、図１に示すブロックと同様のブロックには同一符号を付して説明を省略する。 Embodiment 2.
FIG. 18 is a block diagram showing a main part of the aerial haptics system according to the second embodiment. The aerial haptics system according to the second embodiment will be described with reference to FIG. In FIG. 18, the same blocks as those shown in FIG. 1 are designated by the same reference numerals and the description thereof will be omitted.
　図１８に示す如く、空中ハプティクスシステム１ａは、制御装置２ａ、空中ハプティクス装置４及び空中ディスプレイ装置５を含むものである。制御装置２ａは、システム制御部１１、駆動制御部１２、表示制御部１３、電流検出部１４及び操作検出部１５を含むものである。また、制御装置２ａは、判定用情報取得部２１ａ、要求精度判定部２２ａ、ドライバ選択部２３及び周波数設定部２４を含むものである。判定用情報取得部２１ａ、要求精度判定部２２ａ、ドライバ選択部２３及び周波数設定部２４により、空中ハプティクス制御装置１００ａの要部が構成されている。 As shown in FIG. 18, the aerial haptics system 1a includes a control device 2a, an aerial haptics device 4, and an aerial display device 5. The control device 2a includes a system control unit 11, a drive control unit 12, a display control unit 13, a current detection unit 14, and an operation detection unit 15. Further, the control device 2a includes a determination information acquisition unit 21a, a required accuracy determination unit 22a, a driver selection unit 23, and a frequency setting unit 24. The main part of the aerial haptics control device 100a is composed of the determination information acquisition unit 21a, the required accuracy determination unit 22a, the driver selection unit 23, and the frequency setting unit 24.
　判定用情報取得部２１ａは、後述する要求精度判定部２２ａによる判定に用いられる情報（すなわち判定用情報）を取得するものである。ここで、判定用情報取得部２１ａにより取得される判定用情報は、空中ディスプレイ装置５における表示中の画面ＵＩを示す情報（以下「画面ＵＩ情報」という。）を含むものである。画面ＵＩ情報は、例えば、システム制御部１１から取得される。 The determination information acquisition unit 21a acquires information (that is, determination information) used for determination by the required accuracy determination unit 22a, which will be described later. Here, the determination information acquired by the determination information acquisition unit 21a includes information indicating the screen UI being displayed in the aerial display device 5 (hereinafter referred to as "screen UI information"). The screen UI information is acquired from, for example, the system control unit 11.
　要求精度判定部２２ａは、判定用情報取得部２１ａにより取得された判定用情報を用いて、空中ハプティクス装置４により実現される触覚刺激に要求される精度（すなわち要求精度）ＲＡを判定するものである。より具体的には、要求精度判定部２２ａは、要求精度ＲＡが互いに異なる第１要求精度ＲＡ＿１及び第２要求精度ＲＡ＿２のうちのいずれであるかを判定するものである。 The required accuracy determination unit 22a determines the accuracy (that is, required accuracy) RA required for the tactile stimulus realized by the aerial haptic device 4 by using the determination information acquired by the determination information acquisition unit 21a. be. More specifically, the required accuracy determination unit 22a determines whether the required accuracy RA is one of the first required accuracy RA_1 and the second required accuracy RA_2, which are different from each other.
　すなわち、要求精度判定部２２ａは、上記取得された判定用情報に含まれる画面ＵＩ情報を用いて、表示中の画面ＵＩが単純操作用のＵＩであるか否かを判定する。表示中の画面ＵＩが単純操作用のＵＩでない場合（例えば表示中の画面ＵＩがスライド操作用のＵＩ又はフリック操作用のＵＩである場合）、要求精度判定部２２ａは、要求精度ＲＡが第１要求精度ＲＡ＿１であると判定する。他方、表示中の画面ＵＩが単純操作用のＵＩである場合（例えば表示中の画面ＵＩがタップ作用のＵＩである場合）、要求精度判定部２２ａは、要求精度ＲＡが第２要求精度ＲＡ＿２であると判定する。 That is, the request accuracy determination unit 22a determines whether or not the screen UI being displayed is a UI for simple operation by using the screen UI information included in the acquired determination information. When the screen UI being displayed is not a UI for simple operation (for example, when the screen UI being displayed is a UI for slide operation or a UI for flick operation), the required accuracy determination unit 22a has the required accuracy RA first. It is determined that the required accuracy is RA_1. On the other hand, when the displayed screen UI is a UI for simple operation (for example, when the displayed screen UI is a tapping UI), the required accuracy determination unit 22a has a required accuracy RA of the second required accuracy RA_2. Judge that there is.
　このようにして、空中ハプティクスシステム１ａの要部が構成されている。 In this way, the main part of the aerial haptics system 1a is configured.
　以下、判定用情報取得部２１ａにより実行される処理を総称して「判定用情報取得処理」ということがある。また、判定用情報取得部２１ａが有する機能を総称して「判定用情報取得機能」ということがある。また、かかる判定用情報取得機能に「Ｆ１ａ」の符号を用いることがある。 Hereinafter, the processes executed by the determination information acquisition unit 21a may be collectively referred to as "determination information acquisition processing". Further, the functions of the determination information acquisition unit 21a may be collectively referred to as "determination information acquisition function". Further, the reference numeral of "F1a" may be used for the determination information acquisition function.
　以下、要求精度判定部２２ａにより実行される処理を総称して「要求精度判定処理」ということがある。また、要求精度判定部２２ａが有する機能を総称して「要求精度判定機能」ということがある。また、かかる要求精度判定機能に「Ｆ２ａ」の符号を用いることがある。 Hereinafter, the processes executed by the required accuracy determination unit 22a may be collectively referred to as "required accuracy determination process". Further, the functions of the required accuracy determination unit 22a may be generically referred to as "required accuracy determination function". Further, the reference numeral of "F2a" may be used for the required accuracy determination function.
　空中ハプティクス制御装置１００ａの要部のハードウェア構成は、実施の形態１にて図６～図８を参照して説明したものと同様である。このため、詳細な説明は省略する。 The hardware configuration of the main part of the aerial haptics control device 100a is the same as that described with reference to FIGS. 6 to 8 in the first embodiment. Therefore, detailed description thereof will be omitted.
　すなわち、空中ハプティクス制御装置１００ａは、複数個の機能（判定用情報取得機能、要求精度判定機能、ドライバ選択機能及び周波数設定機能を含む。）Ｆ１ａ，Ｆ２ａ，Ｆ３，Ｆ４を有している。複数個の機能Ｆ１ａ，Ｆ２ａ，Ｆ３，Ｆ４の各々は、プロセッサ４１及びメモリ４２により実現されるものであっても良く、又は処理回路４３により実現されるものであっても良い。 That is, the aerial haptics control device 100a has a plurality of functions (including a determination information acquisition function, a required accuracy determination function, a driver selection function, and a frequency setting function) F1a, F2a, F3, and F4. Each of the plurality of functions F1a, F2a, F3, and F4 may be realized by the processor 41 and the memory 42, or may be realized by the processing circuit 43.
　ここで、プロセッサ４１は、複数個の機能Ｆ１ａ，Ｆ２ａ，Ｆ３，Ｆ４の各々に対応する専用のプロセッサを含むものであっても良い。また、メモリ４２は、複数個の機能Ｆ１ａ，Ｆ２ａ，Ｆ３，Ｆ４の各々に対応する専用のメモリを含むものであっても良い。また、処理回路４３は、複数個の機能Ｆ１ａ，Ｆ２ａ，Ｆ３，Ｆ４の各々に対応する専用の処理回路を含むものであっても良い。 Here, the processor 41 may include a dedicated processor corresponding to each of the plurality of functions F1a, F2a, F3, and F4. Further, the memory 42 may include a dedicated memory corresponding to each of the plurality of functions F1a, F2a, F3, and F4. Further, the processing circuit 43 may include a dedicated processing circuit corresponding to each of the plurality of functions F1a, F2a, F3, and F4.
　次に、図１９に示すフローチャートを参照して、空中ハプティクス制御装置１００ａの動作について説明する。なお、図１９において、図９に示すステップと同様のステップには同一符号を付している。 Next, the operation of the aerial haptics control device 100a will be described with reference to the flowchart shown in FIG. In FIG. 19, the same steps as those shown in FIG. 9 are designated by the same reference numerals.
　まず、判定用情報取得部２１ａが判定用情報取得処理を実行する（ステップＳＴ１ａ）。次いで、要求精度判定部２２ａが要求精度判定処理を実行する（ステップＳＴ２ａ）。次いで、ドライバ選択部２３がドライバ選択処理を実行する（ステップＳＴ３）。次いで、周波数設定部２４が周波数設定処理を実行する（ステップＳＴ４）。 First, the determination information acquisition unit 21a executes the determination information acquisition process (step ST1a). Next, the required accuracy determination unit 22a executes the required accuracy determination process (step ST2a). Next, the driver selection unit 23 executes the driver selection process (step ST3). Next, the frequency setting unit 24 executes the frequency setting process (step ST4).
　次に、図２０に示すフローチャートを参照して、要求精度判定部２２ａの動作について説明する。すなわち、ステップＳＴ２ａにて実行される処理について説明する。 Next, the operation of the required accuracy determination unit 22a will be described with reference to the flowchart shown in FIG. That is, the process executed in step ST2a will be described.
　まず、要求精度判定部２２ａは、ステップＳＴ１ａにて取得された判定用情報に含まれる画面ＵＩ情報を用いて、表示中の画面ＵＩが単純操作用のＵＩであるか否かを判定する（ステップＳＴ２１）。 First, the request accuracy determination unit 22a determines whether or not the screen UI being displayed is a UI for simple operation by using the screen UI information included in the determination information acquired in step ST1a (step). ST21).
　表示中の画面ＵＩが単純操作用のＵＩでない場合（ステップＳＴ２１“ＮＯ”）、要求精度判定部２２ａは、要求精度ＲＡが第１要求精度ＲＡ＿１であると判定する（ステップＳＴ２２）。他方、表示中の画面ＵＩが単純操作用のＵＩである場合（ステップＳＴ２１“ＹＥＳ”）、要求精度判定部２２ａは、要求精度ＲＡが第２要求精度ＲＡ＿２であると判定する（ステップＳＴ２３）。 When the screen UI being displayed is not a UI for simple operation (step ST21 "NO"), the required accuracy determination unit 22a determines that the required accuracy RA is the first required accuracy RA_1 (step ST22). On the other hand, when the screen UI being displayed is a UI for simple operation (step ST21 “YES”), the required accuracy determination unit 22a determines that the required accuracy RA is the second required accuracy RA_2 (step ST23).
　次に、図２１～図２４を参照して、空中ハプティクス制御装置１００ａにおけるドライバ選択処理及び周波数設定処理の具体例について説明する。また、空中ハプティクス制御装置１００ａの効果について説明する。 Next, a specific example of the driver selection process and the frequency setting process in the aerial haptics control device 100a will be described with reference to FIGS. 21 to 24. Further, the effect of the aerial haptics control device 100a will be described.
　図２１は、スライド操作用のＵＩを含む操作画面に対応する映像の例を示している。より具体的には、地図画面に対応する映像の例を示している。図中、矢印Ａは、スライド操作における指示体Ｐのスライド範囲を示している。 FIG. 21 shows an example of an image corresponding to an operation screen including a UI for slide operation. More specifically, an example of an image corresponding to a map screen is shown. In the figure, the arrow A indicates the slide range of the indicator body P in the slide operation.
　この場合、要求精度判定部２２ａにより、要求精度ＲＡが第１要求精度ＲＡ＿１であると判定される。そして、ドライバ選択部２３により、第１選択密度ＳＤ＿１にて複数個の駆動対象ハプティクスドライバＤ＿Ｄが選択される。具体的には、例えば、４行４列のマトリクス状に配列された１６個のハプティクスドライバＤのうちの全てのハプティクスドライバＤが駆動対象ハプティクスドライバＤ＿Ｄに選択される（図２２参照）。そして、駆動周波数Ｆが第１駆動周波数Ｆ＿１に設定される。 In this case, the required accuracy determination unit 22a determines that the required accuracy RA is the first required accuracy RA_1. Then, the driver selection unit 23 selects a plurality of drive target haptics drivers D_D at the first selection density SD_1. Specifically, for example, all the haptics drivers D out of the 16 haptics drivers D arranged in a matrix of 4 rows and 4 columns are selected as the haptics driver D_D to be driven (see FIG. 22). .. Then, the drive frequency F is set to the first drive frequency F_1.
　図２３は、タップ操作用のＵＩを含む操作画面に対応する映像の例を示している。より具体的には、メニュー画面に対応する映像の例を示している。図２３に示す如く、メニュー画面は、４個のボタンＢ＿１～Ｂ＿４を含むものである。 FIG. 23 shows an example of an image corresponding to an operation screen including a UI for tap operation. More specifically, an example of a video corresponding to the menu screen is shown. As shown in FIG. 23, the menu screen includes four buttons B_1 to B_1.
　この場合、要求精度判定部２２ａにより、要求精度ＲＡが第２要求精度ＲＡ＿２であると判定される。そして、ドライバ選択部２３により、第２選択密度ＳＤ＿２にて複数個の駆動対象ハプティクスドライバＤ＿Ｄが選択される。具体的には、例えば、４行４列のマトリクス状に配列された１６個のハプティクスドライバＤのうちの格子状に配置された８個のハプティクスドライバＤが駆動対象ハプティクスドライバＤ＿Ｄに選択される（図２４参照）。そして、駆動周波数Ｆが第２駆動周波数Ｆ＿２に設定される。 In this case, the required accuracy determination unit 22a determines that the required accuracy RA is the second required accuracy RA_2. Then, the driver selection unit 23 selects a plurality of drive target haptics drivers D_D at the second selection density SD_2. Specifically, for example, eight haptics drivers D arranged in a grid pattern out of 16 haptics drivers D arranged in a matrix of 4 rows and 4 columns are selected as the haptics driver D_D to be driven. (See FIG. 24). Then, the drive frequency F is set to the second drive frequency F_2.
　通常、画面ＵＩがスライド操作用のＵＩ又はフリック操作用のＵＩであるときは、画面ＵＩがタップ操作用のＵＩであるときに比して、高精度な触覚刺激が要求される。換言すれば、画面ＵＩがタップ操作用のＵＩであるときは、画面ＵＩがスライド操作用のＵＩ又はフリック操作用のＵＩであるときに比して、高精度な触覚刺激が不要である。 Normally, when the screen UI is a slide operation UI or a flick operation UI, a highly accurate tactile stimulus is required as compared with the case where the screen UI is a tap operation UI. In other words, when the screen UI is a UI for tap operation, a high-precision tactile stimulus is not required as compared with the case where the screen UI is a UI for slide operation or a UI for flick operation.
　そこで、空中ハプティクスシステム１ａにおいては、表示中の画面ＵＩが単純操作用のＵＩでない場合（図２１参照）、図２２に示す如く、個数Ｘが多くなる（すなわち第１選択密度ＳＤ＿１が用いられる）とともに、超音波ＵＳの指向性が高くする（すなわち第１駆動周波数Ｆ＿１が用いられる）。これにより、高精度な触覚刺激を実現することができる。他方、表示中の画面ＵＩが単純操作用のＵＩである場合（図２３参照）、図２４に示す如く、個数Ｘが少なくなる（すなわち第２選択密度ＳＤ＿２が用いられる）とともに、超音波ＵＳの指向性が低くなる（すなわち第２駆動周波数Ｆ＿２が用いられる）。これにより、空中ハプティクス装置４における消費電力を低減することができる。 Therefore, in the aerial haptics system 1a, when the screen UI being displayed is not a UI for simple operation (see FIG. 21), the number X increases (that is, the first selection density SD_1 is used) as shown in FIG. 22. ), The directivity of the ultrasonic US is increased (that is, the first drive frequency F_1 is used). This makes it possible to realize highly accurate tactile stimulation. On the other hand, when the screen UI being displayed is a UI for simple operation (see FIG. 23), as shown in FIG. 24, the number X is reduced (that is, the second selection density SD_2 is used), and the ultrasonic US is used. The directivity is low (ie, the second drive frequency F_2 is used). As a result, the power consumption of the aerial haptics device 4 can be reduced.
　次に、図２５を参照して、空中ハプティクスシステム１ａの変形例について説明する。 Next, a modified example of the aerial haptics system 1a will be described with reference to FIG. 25.
　図２５に示す如く、空中ハプティクス制御装置１００ａは、周波数設定部２４を含まないものであっても良い。すなわち、判定用情報取得部２１ａ、要求精度判定部２２ａ及びドライバ選択部２３により空中ハプティクス制御装置１００ａの要部が構成されているものであっても良い。 As shown in FIG. 25, the aerial haptics control device 100a may not include the frequency setting unit 24. That is, the main part of the aerial haptics control device 100a may be configured by the determination information acquisition unit 21a, the required accuracy determination unit 22a, and the driver selection unit 23.
　次に、図２６及び図２７を参照して、空中ハプティクスシステム１ａの他の変形例について説明する。 Next, another modification of the aerial haptics system 1a will be described with reference to FIGS. 26 and 27.
　図２６又は図２７に示す如く、空中ハプティクスシステム１ａは、センサ６を含むものであっても良い。操作検出部１５は、ハンドジェスチャによる操作を検出するにあたり、電流値Ｉを用いるのに代えてセンサ６を用いるものであっても良い。 As shown in FIG. 26 or 27, the aerial haptics system 1a may include a sensor 6. The operation detection unit 15 may use the sensor 6 instead of the current value I when detecting the operation by the hand gesture.
　以上のように、実施の形態２に係る空中ハプティクス制御装置１００ａにおいて、判定用情報は、空中ハプティクス装置４に対応する空中ディスプレイ装置５における画面ＵＩを示す画面ＵＩ情報を含む。これにより、表示中の画面ＵＩが単純操作用のＵＩであるか否かに応じた要求精度ＲＡの判定を実現することができる。 As described above, in the aerial haptics control device 100a according to the second embodiment, the determination information includes the screen UI information indicating the screen UI in the aerial display device 5 corresponding to the aerial haptics device 4. As a result, it is possible to determine the required accuracy RA according to whether or not the screen UI being displayed is a UI for simple operation.
　また、要求精度判定部２２ａは、画面ＵＩが単純操作用のＵＩでない場合、要求精度ＲＡが第１要求精度ＲＡ＿１であると判定する。これにより、表示中の画面ＵＩが単純操作用のＵＩでないとき、高精度な触覚刺激を実現することができる。具体的には、例えば、表示中の画面ＵＩがスライド操作用のＵＩ又はフリック操作用のＵＩであるとき、高精度な触覚刺激を実現することができる。 Further, if the screen UI is not a UI for simple operation, the required accuracy determination unit 22a determines that the required accuracy RA is the first required accuracy RA_1. As a result, when the screen UI being displayed is not a UI for simple operation, highly accurate tactile stimulation can be realized. Specifically, for example, when the screen UI being displayed is a UI for slide operation or a UI for flick operation, highly accurate tactile stimulation can be realized.
　また、要求精度判定部２２ａは、画面ＵＩが単純操作用のＵＩである場合、要求精度ＲＡが第２要求精度ＲＡ＿２であると判定する。これにより、表示中の画面ＵＩが単純操作用のＵＩであるとき、空中ハプティクス装置４における消費電力を低減することができる。具体的には、例えば、表示中の画面ＵＩがタップ操作用のＵＩであるとき、空中ハプティクス装置４における消費電力を低減することができる。 Further, when the screen UI is a UI for simple operation, the required accuracy determination unit 22a determines that the required accuracy RA is the second required accuracy RA_2. Thereby, when the screen UI being displayed is a UI for simple operation, the power consumption in the aerial haptics device 4 can be reduced. Specifically, for example, when the screen UI being displayed is a UI for tap operation, the power consumption in the aerial haptics device 4 can be reduced.
実施の形態３．
　図２８は、実施の形態３に係る空中ハプティクスシステムの要部を示すブロック図である。図２８を参照して、実施の形態３に係る空中ハプティクスシステムについて説明する。なお、図２８において、図１に示すブロックと同様のブロックには同一符号を付して説明を省略する。 Embodiment 3.
FIG. 28 is a block diagram showing a main part of the aerial haptics system according to the third embodiment. The aerial haptics system according to the third embodiment will be described with reference to FIG. 28. In FIG. 28, the same blocks as those shown in FIG. 1 are designated by the same reference numerals and the description thereof will be omitted.
　図２８に示す如く、空中ハプティクスシステム１ｂは、制御装置２ｂ、視線検出装置３、空中ハプティクス装置４及び空中ディスプレイ装置５を含むものである。制御装置２ｂは、システム制御部１１、駆動制御部１２、表示制御部１３、電流検出部１４及び操作検出部１５を含むものである。また、制御装置２ｂは、判定用情報取得部２１ｂ、要求精度判定部２２ｂ、ドライバ選択部２３及び周波数設定部２４を含むものである。判定用情報取得部２１ｂ、要求精度判定部２２ｂ、ドライバ選択部２３及び周波数設定部２４により、空中ハプティクス制御装置１００ｂの要部が構成されている。 As shown in FIG. 28, the aerial haptics system 1b includes a control device 2b, a line-of-sight detection device 3, an aerial haptics device 4, and an aerial display device 5. The control device 2b includes a system control unit 11, a drive control unit 12, a display control unit 13, a current detection unit 14, and an operation detection unit 15. Further, the control device 2b includes a determination information acquisition unit 21b, a required accuracy determination unit 22b, a driver selection unit 23, and a frequency setting unit 24. The main part of the aerial haptics control device 100b is configured by the determination information acquisition unit 21b, the required accuracy determination unit 22b, the driver selection unit 23, and the frequency setting unit 24.
　判定用情報取得部２１ｂは、後述する要求精度判定部２２ｂによる判定に用いられる情報（すなわち判定用情報）を取得するものである。ここで、判定用情報取得部２１ｂにより取得される判定用情報は、視線方向情報及び画面ＵＩ情報を含むものである。視線方向情報は、視線検出装置３から取得される。画面ＵＩ情報は、例えば、システム制御部１１から取得される。 The determination information acquisition unit 21b acquires information (that is, determination information) used for determination by the required accuracy determination unit 22b, which will be described later. Here, the determination information acquired by the determination information acquisition unit 21b includes the line-of-sight direction information and the screen UI information. The line-of-sight direction information is acquired from the line-of-sight detection device 3. The screen UI information is acquired from, for example, the system control unit 11.
　要求精度判定部２２ｂは、判定用情報取得部２１ｂにより取得された判定用情報を用いて、空中ハプティクス装置４により実現される触覚刺激に要求される精度（すなわち要求精度）ＲＡを判定するものである。より具体的には、要求精度判定部２２ｂは、要求精度ＲＡが互いに異なる第１要求精度ＲＡ＿１及び第２要求精度ＲＡ＿２のうちのいずれであるかを判定するものである。 The required accuracy determination unit 22b determines the accuracy (that is, required accuracy) RA required for the tactile stimulus realized by the aerial haptic device 4 by using the determination information acquired by the determination information acquisition unit 21b. be. More specifically, the required accuracy determination unit 22b determines whether the required accuracy RA is one of the first required accuracy RA_1 and the second required accuracy RA_2, which are different from each other.
　すなわち、要求精度判定部２２ｂは、上記取得された判定用情報に含まれる視線方向情報を用いて、ユーザＵの視線が表示領域Ａ１に向けられているか否かを判定する。また、要求精度判定部２２ｂは、上記取得された判定用情報に含まれる画面ＵＩ情報を用いて、表示中の画面ＵＩが単純操作用のＵＩであるか否かを判定する。 That is, the required accuracy determination unit 22b determines whether or not the line of sight of the user U is directed to the display area A1 by using the line-of-sight direction information included in the acquired determination information. Further, the request accuracy determination unit 22b determines whether or not the screen UI being displayed is a UI for simple operation by using the screen UI information included in the acquired determination information.
　ユーザＵの視線が表示領域Ａ１に向けられていない場合（すなわちユーザＵによる操作入力が手探りによるものである場合）、要求精度判定部２２ｂは、要求精度ＲＡが第１要求精度ＲＡ＿１であると判定する。また、ユーザＵの視線が表示領域Ａ１に向けられている場合（すなわちユーザＵによる操作入力が目視によるものである場合）において、表示中の画面ＵＩが単純操作用のＵＩでないとき（例えば表示中の画面ＵＩがスライド操作用のＵＩ又はフリック操作用のＵＩであるとき）、要求精度判定部２２ｂは、要求精度ＲＡが第１要求精度ＲＡ＿１であると判定する。 When the line of sight of the user U is not directed to the display area A1 (that is, when the operation input by the user U is due to fumbling), the required accuracy determination unit 22b determines that the required accuracy RA is the first required accuracy RA_1. do. Further, when the line of sight of the user U is directed to the display area A1 (that is, when the operation input by the user U is visual), the screen UI being displayed is not a UI for simple operation (for example, being displayed). When the screen UI of is a UI for slide operation or a UI for flick operation), the required accuracy determination unit 22b determines that the required accuracy RA is the first required accuracy RA_1.
　他方、ユーザＵの視線が表示領域Ａ１に向けられている場合（すなわちユーザＵによる操作入力が目視によるものである場合）において、表示中の画面ＵＩが単純操作用のＵＩであるとき（例えば表示中の画面ＵＩがタップ操作用のＵＩであるとき）、要求精度判定部２２ｂは、要求精度ＲＡが第２要求精度ＲＡ＿２であると判定する。 On the other hand, when the line of sight of the user U is directed to the display area A1 (that is, when the operation input by the user U is visual), the screen UI being displayed is a UI for simple operation (for example, display). (When the screen UI inside is the UI for tap operation), the required accuracy determination unit 22b determines that the required accuracy RA is the second required accuracy RA_2.
　このようにして、空中ハプティクスシステム１ｂの要部が構成されている。 In this way, the main part of the aerial haptics system 1b is configured.
　以下、判定用情報取得部２１ｂにより実行される処理を総称して「判定用情報取得処理」ということがある。また、判定用情報取得部２１ｂが有する機能を総称して「判定用情報取得機能」ということがある。また、かかる判定用情報取得機能に「Ｆ１ｂ」の符号を用いることがある。 Hereinafter, the processes executed by the determination information acquisition unit 21b may be collectively referred to as "determination information acquisition processing". Further, the functions of the determination information acquisition unit 21b may be collectively referred to as "determination information acquisition function". Further, the reference numeral of "F1b" may be used for the determination information acquisition function.
　以下、要求精度判定部２２ｂにより実行される処理を総称して「要求精度判定処理」ということがある。また、要求精度判定部２２ｂが有する機能を総称して「要求精度判定機能」ということがある。また、かかる要求精度判定機能に「Ｆ２ｂ」の符号を用いることがある。 Hereinafter, the processes executed by the required accuracy determination unit 22b may be collectively referred to as "required accuracy determination process". Further, the functions of the required accuracy determination unit 22b may be collectively referred to as "required accuracy determination function". Further, the reference numeral of "F2b" may be used for the required accuracy determination function.
　空中ハプティクス制御装置１００ｂの要部のハードウェア構成は、実施の形態１にて図６～図８を参照して説明したものと同様である。このため、詳細な説明は省略する。 The hardware configuration of the main part of the aerial haptics control device 100b is the same as that described with reference to FIGS. 6 to 8 in the first embodiment. Therefore, detailed description thereof will be omitted.
　すなわち、空中ハプティクス制御装置１００ｂは、複数個の機能（判定用情報取得機能、要求精度判定機能、ドライバ選択機能及び周波数設定機能を含む。）Ｆ１ｂ，Ｆ２ｂ，Ｆ３，Ｆ４を有している。複数個の機能Ｆ１ｂ，Ｆ２ｂ，Ｆ３，Ｆ４の各々は、プロセッサ４１及びメモリ４２により実現されるものであっても良く、又は処理回路４３により実現されるものであっても良い。 That is, the aerial haptics control device 100b has a plurality of functions (including a determination information acquisition function, a required accuracy determination function, a driver selection function, and a frequency setting function) F1b, F2b, F3, and F4. Each of the plurality of functions F1b, F2b, F3, and F4 may be realized by the processor 41 and the memory 42, or may be realized by the processing circuit 43.
　ここで、プロセッサ４１は、複数個の機能Ｆ１ｂ，Ｆ２ｂ，Ｆ３，Ｆ４の各々に対応する専用のプロセッサを含むものであっても良い。また、メモリ４２は、複数個の機能Ｆ１ｂ，Ｆ２ｂ，Ｆ３，Ｆ４の各々に対応する専用のメモリを含むものであっても良い。また、処理回路４３は、複数個の機能Ｆ１ｂ，Ｆ２ｂ，Ｆ３，Ｆ４の各々に対応する専用の処理回路を含むものであっても良い。 Here, the processor 41 may include a dedicated processor corresponding to each of the plurality of functions F1b, F2b, F3, and F4. Further, the memory 42 may include a dedicated memory corresponding to each of the plurality of functions F1b, F2b, F3, and F4. Further, the processing circuit 43 may include a dedicated processing circuit corresponding to each of the plurality of functions F1b, F2b, F3, and F4.
　次に、図２９に示すフローチャートを参照して、空中ハプティクス制御装置１００ｂの動作について説明する。なお、図２９において、図９に示すステップと同様のステップには同一符号を付している。 Next, the operation of the aerial haptics control device 100b will be described with reference to the flowchart shown in FIG. In FIG. 29, the same steps as those shown in FIG. 9 are designated by the same reference numerals.
　まず、判定用情報取得部２１ｂが判定用情報取得処理を実行する（ステップＳＴ１ｂ）。次いで、要求精度判定部２２ｂが要求精度判定処理を実行する（ステップＳＴ２ｂ）。次いで、ドライバ選択部２３がドライバ選択処理を実行する（ステップＳＴ３）。次いで、周波数設定部２４が周波数設定処理を実行する（ステップＳＴ４）。 First, the determination information acquisition unit 21b executes the determination information acquisition process (step ST1b). Next, the required accuracy determination unit 22b executes the required accuracy determination process (step ST2b). Next, the driver selection unit 23 executes the driver selection process (step ST3). Next, the frequency setting unit 24 executes the frequency setting process (step ST4).
　次に、図３０に示すフローチャートを参照して、要求精度判定部２２ｂの動作について説明する。すなわち、ステップＳＴ２ｂにて実行される処理について説明する。 Next, the operation of the required accuracy determination unit 22b will be described with reference to the flowchart shown in FIG. That is, the process executed in step ST2b will be described.
　まず、要求精度判定部２２ｂは、ステップＳＴ１ｂにて取得された判定用情報に含まれる視線方向情報を用いて、ユーザＵの視線が表示領域Ａ１に向けられているか否かを判定する（ステップＳＴ３１）。また、要求精度判定部２２ｂは、ステップＳＴ１ｂにて取得された判定用情報に含まれる画面ＵＩ情報を用いて、表示中の画面ＵＩが単純操作用のＵＩであるか否かを判定する（ステップＳＴ３２）。 First, the required accuracy determination unit 22b determines whether or not the line of sight of the user U is directed to the display area A1 by using the line-of-sight direction information included in the determination information acquired in step ST1b (step ST31). ). Further, the request accuracy determination unit 22b determines whether or not the screen UI being displayed is a UI for simple operation by using the screen UI information included in the determination information acquired in step ST1b (step). ST32).
　ユーザＵの視線が表示領域Ａ１に向けられていない場合（ステップＳＴ３１“ＮＯ”）、要求精度判定部２２ｂは、要求精度ＲＡが第１要求精度ＲＡ＿１であると判定する（ステップＳＴ３３）。また、ユーザＵの視線が表示領域Ａ１に向けられている場合において（ステップＳＴ３１“ＹＥＳ”）、表示中の画面ＵＩが単純操作用のＵＩでないとき（ステップＳＴ３２“ＮＯ”）、要求精度判定部２２ｂは、要求精度ＲＡが第１要求精度ＲＡ＿１であると判定する（ステップＳＴ３３）。 When the line of sight of the user U is not directed to the display area A1 (step ST31 “NO”), the required accuracy determination unit 22b determines that the required accuracy RA is the first required accuracy RA_1 (step ST33). Further, when the line of sight of the user U is directed to the display area A1 (step ST31 “YES”) and the screen UI being displayed is not a UI for simple operation (step ST32 “NO”), the required accuracy determination unit. 22b determines that the required accuracy RA is the first required accuracy RA_1 (step ST33).
　他方、ユーザＵの視線が表示領域Ａ１に向けられている場合において（ステップＳＴ３１“ＹＥＳ”）、表示中の画面ＵＩが単純操作用のＵＩであるとき（ステップＳＴ３２“ＹＥＳ”）、要求精度判定部２２ｂは、要求精度ＲＡが第２要求精度ＲＡ＿２であると判定する（ステップＳＴ３４）。 On the other hand, when the line of sight of the user U is directed to the display area A1 (step ST31 “YES”) and the screen UI being displayed is a UI for simple operation (step ST32 “YES”), the required accuracy determination Unit 22b determines that the required accuracy RA is the second required accuracy RA_2 (step ST34).
　このように、視線方向情報及び画面ＵＩ情報を用いることにより、視線方向Ｌ及び画面ＵＩに応じて要求精度ＲＡを判定することができる。そして、当該判定された要求精度ＲＡに応じて、高精度な触覚刺激を実現したり、又は空中ハプティクス装置４における消費電力を低減したりすることができる。 In this way, by using the line-of-sight direction information and the screen UI information, the required accuracy RA can be determined according to the line-of-sight direction L and the screen UI. Then, it is possible to realize a highly accurate tactile stimulus or reduce the power consumption in the aerial haptics device 4 according to the determined required accuracy RA.
　次に、図３１を参照して、空中ハプティクスシステム１ｂの変形例について説明する。 Next, a modified example of the aerial haptics system 1b will be described with reference to FIG. 31.
　図３１に示す如く、空中ハプティクス制御装置１００ｂは、周波数設定部２４を含まないものであっても良い。すなわち、判定用情報取得部２１ｂ、要求精度判定部２２ｂ及びドライバ選択部２３により空中ハプティクス制御装置１００ｂの要部が構成されているものであっても良い。 As shown in FIG. 31, the aerial haptics control device 100b may not include the frequency setting unit 24. That is, the main part of the aerial haptics control device 100b may be configured by the determination information acquisition unit 21b, the required accuracy determination unit 22b, and the driver selection unit 23.
　次に、図３２及び図３３を参照して、空中ハプティクスシステム１ｂの他の変形例について説明する。 Next, another modification of the aerial haptics system 1b will be described with reference to FIGS. 32 and 33.
　図３２又は図３３に示す如く、空中ハプティクスシステム１ｂは、センサ６を含むものであっても良い。操作検出部１５は、ハンドジェスチャによる操作を検出するにあたり、電流値Ｉを用いるのに代えてセンサ６を用いるものであっても良い。 As shown in FIG. 32 or FIG. 33, the aerial haptics system 1b may include a sensor 6. The operation detection unit 15 may use the sensor 6 instead of the current value I when detecting the operation by the hand gesture.
　以上のように、実施の形態３に係る空中ハプティクス制御装置１００ｂにおいて、判定用情報は、空中ハプティクス装置４及び空中ハプティクス装置４に対応する空中ディスプレイ装置５を含む空中ハプティクスシステム１ｂのユーザＵの視線方向Ｌを示す視線方向情報を含み、かつ、空中ディスプレイ装置５における画面ＵＩを示す画面ＵＩ情報を含む。これにより、視線方向Ｌ及び画面ＵＩに応じた要求精度ＲＡの判定を実現することができる。 As described above, in the aerial haptics control device 100b according to the third embodiment, the determination information is the user U of the aerial haptics system 1b including the aerial haptics device 4 and the aerial display device 5 corresponding to the aerial haptics device 4. The line-of-sight direction information indicating the line-of-sight direction L is included, and the screen UI information indicating the screen UI in the aerial display device 5 is included. As a result, it is possible to determine the required accuracy RA according to the line-of-sight direction L and the screen UI.
　また、要求精度判定部２２ｂは、ユーザＵの視線が空中ディスプレイ装置５における表示領域Ａ１に向けられていない場合、要求精度ＲＡが第１要求精度ＲＡ＿１であると判定する。これにより、ユーザＵによる操作入力が手探りによるものであるとき、高精度な触覚刺激を実現することができる。 Further, the required accuracy determination unit 22b determines that the required accuracy RA is the first required accuracy RA_1 when the line of sight of the user U is not directed to the display area A1 in the aerial display device 5. Thereby, when the operation input by the user U is fumbling, it is possible to realize a highly accurate tactile stimulus.
　また、要求精度判定部２２ｂは、ユーザＵの視線が空中ディスプレイ装置５における表示領域Ａ１に向けられている場合において、画面ＵＩが単純操作用のＵＩでないとき、要求精度ＲＡが第１要求精度ＲＡ＿１であると判定する。これにより、ユーザＵによる操作入力が目視によるものである場合において、画面ＵＩが単純操作用のＵＩでないとき（例えば画面ＵＩがスライド操作用のＵＩ又はフリック操作用のＵＩであるとき）、高精度な触覚刺激を実現することができる。 Further, in the case where the line of sight of the user U is directed to the display area A1 in the aerial display device 5, the required accuracy RA is the first required accuracy RA_1 when the screen UI is not a UI for simple operation. Is determined to be. As a result, when the operation input by the user U is visual, and the screen UI is not a UI for simple operation (for example, when the screen UI is a UI for slide operation or a UI for flick operation), high accuracy is achieved. Tactile stimulus can be realized.
　また、要求精度判定部２２ｂは、ユーザＵの視線が空中ディスプレイ装置５における表示領域Ａ１に向けられている場合において、画面ＵＩが単純操作用のＵＩであるとき、要求精度ＲＡが第２要求精度ＲＡ＿２であると判定する。これにより、ユーザＵによる操作入力が目視によるものである場合において、画面ＵＩが単純操作用のＵＩであるとき（例えば画面ＵＩがタップ操作用のＵＩであるとき）、空中ハプティクス装置４における消費電力を低減することができる。 Further, in the required accuracy determination unit 22b, when the line of sight of the user U is directed to the display area A1 in the aerial display device 5, when the screen UI is a UI for simple operation, the required accuracy RA is the second required accuracy. It is determined that it is RA_2. As a result, when the operation input by the user U is visual, and the screen UI is a UI for simple operation (for example, when the screen UI is a UI for tap operation), the power consumption in the aerial haptics device 4 Can be reduced.
　なお、本願開示はその開示の範囲内において、各実施の形態の自由な組み合わせ、あるいは各実施の形態の任意の構成要素の変形、もしくは各実施の形態において任意の構成要素の省略が可能である。 It should be noted that, within the scope of the disclosure of the present application, it is possible to freely combine each embodiment, modify any component of each embodiment, or omit any component in each embodiment. ..
　本開示に係る空中ハプティクス制御装置、空中ハプティクスシステム及び空中ハプティクス制御方法は、例えば、車載用の情報通信機器に用いることができる。 The aerial haptics control device, the aerial haptics system, and the aerial haptics control method according to the present disclosure can be used, for example, in an in-vehicle information communication device.
　１，１ａ，１ｂ　空中ハプティクスシステム、２，２ａ，２ｂ　制御装置、３　視線検出装置、４　空中ハプティクス装置、５　空中ディスプレイ装置、６　センサ、１１　システム制御部、１２　駆動制御部、１３　表示制御部、１４　電流検出部、１５　操作検出部、２１，２１ａ，２１ｂ　判定用情報取得部、２２，２２ａ，２２ｂ　要求精度判定部、２３　ドライバ選択部、２４　周波数設定部、３１　搬送波信号生成部、３２　振動波信号生成部、３３　変調部、３４　増幅部、４１　プロセッサ、４２　メモリ、４３　処理回路、１００，１００ａ，１００ｂ　空中ハプティクス制御装置、Ｄ　ハプティクスドライバ、ＤＧ　ハプティクスドライバ群。 1,1a, 1b aerial haptics system, 2,2a, 2b control device, 3 line-of-sight detection device, 4 aerial haptics device, 5 aerial display device, 6 sensors, 11 system control unit, 12 drive control unit, 13 display control unit , 14 Current detection unit, 15 Operation detection unit, 21,21a, 21b Judgment information acquisition unit, 22, 22a, 22b Requirement accuracy judgment unit, 23 Driver selection unit, 24 Frequency setting unit, 31 Carrier signal generation unit, 32 Vibration Wave signal generation unit, 33 modulation unit, 34 amplification unit, 41 processor, 42 memory, 43 processing circuit, 100, 100a, 100b aerial haptics control device, D haptics driver, DG haptics driver group.

Claims (20)

  1. 　空中ハプティクス装置により実現される触覚刺激に対する要求精度の判定に用いられる判定用情報を取得する判定用情報取得部と、
    　前記判定用情報を用いて前記要求精度を判定する要求精度判定部と、
    　前記要求精度に応じて異なる選択密度により、前記空中ハプティクス装置におけるハプティクスドライバ群に含まれる複数個のハプティクスドライバのうちの複数個の駆動対象ハプティクスドライバを選択するドライバ選択部と、
    　を備える空中ハプティクス制御装置。     A judgment information acquisition unit that acquires judgment information used to judge the required accuracy for tactile stimuli realized by an aerial haptic device, and a judgment information acquisition unit.
    The required accuracy determination unit that determines the required accuracy using the determination information,
    A driver selection unit that selects a plurality of drive target haptic drivers among a plurality of haptic drivers included in the haptics driver group in the aerial haptics device with different selection densities according to the required accuracy.
    An aerial haptic controller equipped with.
  2. 　前記ドライバ選択部は、前記要求精度判定部により前記要求精度が第２要求精度よりも高い第１要求精度であると判定された場合、第２選択密度よりも高い第１選択密度により前記複数個の駆動対象ハプティクスドライバを選択することを特徴とする請求項１記載の空中ハプティクス制御装置。 When the required accuracy determination unit determines that the required accuracy is the first required accuracy higher than the second required accuracy, the driver selection unit has the plurality of the driver selection units due to the first selection density higher than the second selection density. The aerial haptics control device according to claim 1, wherein the haptics driver to be driven is selected.
  3. 　前記要求精度判定部により前記要求精度が前記第１要求精度であると判定された場合、前記複数個の駆動対象ハプティクスドライバの各々における駆動周波数を第２駆動周波数よりも高い第１駆動周波数に設定する周波数設定部を備えることを特徴とする請求項２記載の空中ハプティクス制御装置。 When the required accuracy determination unit determines that the required accuracy is the first required accuracy, the drive frequency of each of the plurality of drive target haptic drivers is set to a first drive frequency higher than the second drive frequency. The aerial haptics control device according to claim 2, further comprising a frequency setting unit for setting.
  4. 　前記ドライバ選択部は、前記要求精度判定部により前記要求精度が第１要求精度よりも低い第２要求精度であると判定された場合、第１選択密度よりも低い第２選択密度により前記複数個の駆動対象ハプティクスドライバを選択するものであり、
    　前記要求精度判定部により前記要求精度が前記第２要求精度であると判定された場合、前記複数個の駆動対象ハプティクスドライバの各々における駆動周波数を第１駆動周波数よりも低い第２駆動周波数に設定する周波数設定部を備える
    　ことを特徴とする請求項１記載の空中ハプティクス制御装置。     When the required accuracy determination unit determines that the required accuracy is the second required accuracy lower than the first required accuracy, the driver selection unit has the plurality of the second selected densities lower than the first selected density. It selects the haptics driver to be driven by.
    When the required accuracy determination unit determines that the required accuracy is the second required accuracy, the drive frequency of each of the plurality of drive target haptic drivers is set to a second drive frequency lower than the first drive frequency. The aerial haptics control device according to claim 1, further comprising a frequency setting unit for setting.
  5. 　前記要求精度判定部により前記要求精度が前記第２要求精度であると判定された場合における前記複数個の駆動対象ハプティクスドライバは、格子状に配置されていることを特徴とする請求項４記載の空中ハプティクス制御装置。 4. The fourth aspect of claim 4, wherein the plurality of driven haptic drivers when the required accuracy is determined by the required accuracy determination unit to be the second required accuracy are arranged in a grid pattern. Aerial haptics controller.
  6. 　前記要求精度判定部により前記要求精度が前記第２要求精度であると判定された場合における前記複数個の駆動対象ハプティクスドライバは、市松模様状に配置されていることを特徴とする請求項４記載の空中ハプティクス制御装置。 4. The present invention is characterized in that the plurality of drive target haptic drivers when the required accuracy is determined by the required accuracy determination unit to be the second required accuracy are arranged in a checkered pattern. The aerial haptics controller described.
  7. 　前記判定用情報は、前記空中ハプティクス装置及び前記空中ハプティクス装置に対応する空中ディスプレイ装置を含む空中ハプティクスシステムのユーザの視線方向を示す視線方向情報を含むことを特徴とする請求項２から請求項６のうちのいずれか１項記載の空中ハプティクス制御装置。 The determination information includes the line-of-sight direction information indicating the line-of-sight direction of the user of the aerial haptics system including the aerial haptics device and the aerial display device corresponding to the aerial haptics device, according to claim 2. The aerial haptics control device according to any one of 6.
  8. 　前記要求精度判定部は、前記ユーザの視線が前記空中ディスプレイ装置における表示領域に向けられていない場合、前記要求精度が前記第１要求精度であると判定することを特徴とする請求項７記載の空中ハプティクス制御装置。 The seventh aspect of claim 7, wherein the required accuracy determination unit determines that the required accuracy is the first required accuracy when the user's line of sight is not directed to the display area in the aerial display device. Aerial haptics controller.
  9. 　前記要求精度判定部は、前記ユーザの視線が前記空中ディスプレイ装置における表示領域に向けられている場合、前記要求精度が前記第２要求精度であると判定することを特徴とする請求項７記載の空中ハプティクス制御装置。 The seventh aspect of claim 7, wherein the required accuracy determination unit determines that the required accuracy is the second required accuracy when the user's line of sight is directed to the display area in the aerial display device. Aerial haptics controller.
  10. 　前記判定用情報は、前記空中ハプティクス装置に対応する空中ディスプレイ装置における画面ＵＩを示す画面ＵＩ情報を含むことを特徴とする請求項２から請求項６のうちのいずれか１項記載の空中ハプティクス制御装置。 The aerial haptics control according to any one of claims 2 to 6, wherein the determination information includes screen UI information indicating a screen UI in the aerial display device corresponding to the aerial haptics device. Device.
  11. 　前記要求精度判定部は、前記画面ＵＩが単純操作用のＵＩでない場合、前記要求精度が前記第１要求精度であると判定することを特徴とする請求項１０記載の空中ハプティクス制御装置。 The aerial haptics control device according to claim 10, wherein the required accuracy determination unit determines that the required accuracy is the first required accuracy when the screen UI is not a UI for simple operation.
  12. 　前記要求精度判定部は、前記画面ＵＩが単純操作用のＵＩである場合、前記要求精度が前記第２要求精度であると判定することを特徴とする請求項１０記載の空中ハプティクス制御装置。 The aerial haptics control device according to claim 10, wherein the required accuracy determination unit determines that the required accuracy is the second required accuracy when the screen UI is a UI for simple operation.
  13. 　前記判定用情報は、前記空中ハプティクス装置及び前記空中ハプティクス装置に対応する空中ディスプレイ装置を含む空中ハプティクスシステムのユーザの視線方向を示す視線方向情報を含み、かつ、前記空中ディスプレイ装置における画面ＵＩを示す画面ＵＩ情報を含むことを特徴とする請求項２から請求項６のうちのいずれか１項記載の空中ハプティクス制御装置。 The determination information includes the line-of-sight direction information indicating the line-of-sight direction of the user of the aerial haptics system including the aerial haptics device and the aerial display device corresponding to the aerial haptics device, and the screen UI in the aerial display device. The aerial haptics control device according to any one of claims 2 to 6, wherein the screen UI information is included.
  14. 　前記要求精度判定部は、前記ユーザの視線が前記空中ディスプレイ装置における表示領域に向けられていない場合、前記要求精度が前記第１要求精度であると判定することを特徴とする請求項１３記載の空中ハプティクス制御装置。 13. The thirteenth aspect of the present invention, wherein the required accuracy determination unit determines that the required accuracy is the first required accuracy when the user's line of sight is not directed to the display area in the aerial display device. Aerial haptics controller.
  15. 　前記要求精度判定部は、前記ユーザの視線が前記空中ディスプレイ装置における表示領域に向けられている場合において、前記画面ＵＩが単純操作用のＵＩでないとき、前記要求精度が前記第１要求精度であると判定することを特徴とする請求項１３記載の空中ハプティクス制御装置。 The required accuracy determination unit is the first required accuracy when the user's line of sight is directed to the display area in the aerial display device and the screen UI is not a UI for simple operation. 13. The aerial haptics control device according to claim 13.
  16. 　前記要求精度判定部は、前記ユーザの視線が前記空中ディスプレイ装置における表示領域に向けられている場合において、前記画面ＵＩが単純操作用のＵＩであるとき、前記要求精度が前記第２要求精度であると判定することを特徴とする請求項１３記載の空中ハプティクス制御装置。 When the screen UI is a UI for simple operation when the user's line of sight is directed to the display area in the aerial display device, the required accuracy determination unit has the required accuracy of the second required accuracy. The aerial haptics control device according to claim 13, wherein the aerial haptics control device is characterized in that it is determined to be present.
  17. 　請求項１記載の空中ハプティクス制御装置と、
    　前記空中ハプティクス装置と、
    　を備える空中ハプティクスシステム。     The aerial haptics control device according to claim 1 and
    With the aerial haptics device,
    An aerial haptics system with.
  18. 　前記空中ハプティクス装置に対応する空中ディスプレイ装置を備えることを特徴とする請求項１７記載の空中ハプティクスシステム。 The aerial haptics system according to claim 17, further comprising an aerial display device corresponding to the aerial haptics device.
  19. 　車載用であることを特徴とする請求項１７又は請求項１８記載の空中ハプティクスシステム。 The aerial haptics system according to claim 17 or 18, wherein the system is for in-vehicle use.
  20. 　判定用情報取得部が、空中ハプティクス装置により実現される触覚刺激に対する要求精度の判定に用いられる判定用情報を取得するステップと、
    　要求精度判定部が、前記判定用情報を用いて前記要求精度を判定するステップと、
    　ドライバ選択部が、前記要求精度に応じて異なる選択密度により、前記空中ハプティクス装置におけるハプティクスドライバ群に含まれる複数個のハプティクスドライバのうちの複数個の駆動対象ハプティクスドライバを選択するステップと、
    　を備える空中ハプティクス制御方法。     The step of acquiring the judgment information used for the judgment information acquisition unit to judge the required accuracy for the tactile stimulus realized by the aerial haptics device, and
    A step in which the required accuracy determination unit determines the required accuracy using the determination information,
    A step in which the driver selection unit selects a plurality of drive target haptics drivers among a plurality of haptics drivers included in the haptics driver group in the aerial haptics device by a selection density different according to the required accuracy. ,
    Aerial haptics control method with.
PCT/JP2020/019115 2020-05-13 2020-05-13 Mid-air haptic control device, mid-air haptic system, and mid-air haptic control method WO2021229721A1 (en)

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