JP2020091112A - Force presentation system, portable terminal, and force presentation program - Google Patents

Abstract

To appropriately guide a user from a current position to a destination while simplifying the structure of a force presentation terminal.SOLUTION: In a force presentation system 1, a force presentation terminal 2 having a force presentation device for presenting a force and a portable terminal 3 can wirelessly communicate with each other. The portable terminal sends a driving signal for the force presentation device to present a force to the force presentation terminal, and the force presentation terminal receives the driving signal sent from the portable terminal and drives the force presentation device by using the received driving signal.SELECTED DRAWING: Figure 1

Description

The present invention relates to a force sense presentation system, a mobile terminal, and a force sense presentation program.

For example, there is provided a system that guides a user from a current position to a destination by using a force sense presentation terminal that presents a force sense caused by vibration (see, for example, Patent Document 1).

Japanese Patent No. 4800869

In order to guide the user from the current position to the destination, the haptic sense presentation terminal needs to have a function of positioning the present position, a function of calculating a guidance direction, and a function of presenting a haptic sense. Therefore, the size and weight of the haptic presentation terminal increase, and in particular, considering the usage pattern in which the user carries the haptic presentation terminal, the size and weight of the haptic presentation terminal increase, resulting in convenience. There is a problem that There is also a problem that a microcomputer with high processing capacity needs to be mounted and power consumption increases.

The present invention has been made in view of the above circumstances, and an object thereof is to provide a force feedback system capable of appropriately guiding a user from a current position to a destination while simplifying the configuration of the force feedback terminal. , Providing a mobile terminal and a force sense presentation program.

According to the force sense presentation system of the first aspect, the force sense presentation terminal (2) has a force sense presentation device that presents a force sense. The mobile terminal (3) transmits a drive signal for the haptic presentation device to present the haptic to the haptic presentation terminal. The haptic sense presentation terminal receives the drive signal transmitted from the mobile terminal and drives the haptic sense presentation device using the received drive signal.

Unlike the conventional method in which the haptic presentation terminal drives the haptic presentation device independently, the haptic presentation terminal cooperates with the mobile terminal, and the mobile terminal transmits a drive signal to the haptic presentation terminal In, the force sense presentation device was driven and the force sense presentation device presented the force sense. It is not necessary for the haptic presentation terminal to have all of the functions necessary for presenting the haptic sense, and by having some of the functions in the mobile terminal, the configuration of the haptic presentation terminal can be simplified and Can be properly guided from the current position to the destination.

According to the mobile terminal of the fifth aspect, the wireless communication unit (33) wirelessly communicates with a force sense presentation terminal having a force sense presentation device that presents a force sense. The drive signal generation unit (31d) generates a drive signal for the force sense presentation device to present a sense of force. The transmission control unit (31e) causes the wireless communication unit to transmit the drive signal generated by the drive signal generation unit to the force sense presentation terminal.

Similar to the force sense presentation system according to claim 1, the mobile terminal transmits a drive signal to the force sense presenting terminal, so that the force sense presenting device drives in the force sense presenting terminal and the force sense presenting device operates. I tried to present force. It is not necessary for the haptic presentation terminal to have all of the functions necessary for presenting the haptic sense, and by having some of the functions in the mobile terminal, the configuration of the haptic presentation terminal can be simplified and Can be properly guided from the current position to the destination.

The figure which shows the whole structure of one embodiment Figure showing the processing flow (1) Figure showing process flow (Part 2)

An embodiment of the present invention will be described below with reference to the drawings. As shown in FIG. 1, the force sense presentation system 1 is configured so that the force sense presentation terminal 2 and the mobile terminal 3 can wirelessly communicate with each other. The haptic sense presentation terminal 2 and the mobile terminal 3 perform wireless communication between them by a wireless communication system based on a communication standard such as BLE (Bluetooth Low Energy) (Bluetooth is a registered trademark). In the present embodiment, it is assumed that the same person carries and uses both the force sense presentation terminal 2 and the mobile terminal 3, and the current position of the force sense presentation terminal 2 and the current position of the mobile terminal 3 are the same. Are the same.

The force sense presentation terminal 2 includes a control unit 21, a positioning sensor 22, a force sense presentation device 23, an activation switch 24, a touch sensor 25, a wireless communication unit 26, and a power supply unit 27. The control unit 21 is configured by a microcomputer (hereinafter, referred to as a microcomputer) having a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), and an I/O (Input/Output). The control unit 21 executes the computer program stored in the non-transitional tangible recording medium to execute the process corresponding to the computer program and control the overall operation of the force sense presentation terminal 2. The computer program executed by the control unit 21 includes a part of the force sense presentation program.

The positioning sensor 22 includes a GPS (Global Positioning System) receiver, a geomagnetic sensor, an acceleration sensor, an atmospheric pressure sensor, and the like, and outputs sensor data detected by various sensors to the control unit 31.

The force sense presentation device 23 is, for example, a force sense presenting device that presents three-axis force senses in the front-rear direction, the left-right direction, and the up-down direction, and a vibration generating mechanism that induces an illusion phenomenon and a drive that drives the vibration generating mechanism. And a circuit. The vibration generation mechanism has, for example, an actuator, and may have any structure as long as it generates vibration. When the drive command is input from the control unit 21, the force sense presentation device 23 drives the vibration generating mechanism by the drive circuit according to the drive command and presents the force sense due to the vibration. That is, when the user holds the force sense presentation terminal 2 in his/her hand and the force sense is presented from the force sense presentation terminal 2, the user is prompted to move in the directions of the three axes due to the illusion phenomenon. In addition, the technique of presenting the force sense by the force sense presentation device 23 described above is disclosed in, for example, JP-A-2017-73101, JP-A-2007-248478, and JP-A-2005-190465 (AIST). The technique shown is used, and the principle of generating and presenting a pulled sensation is utilized by utilizing the non-linearity of human senses.

The start switch 24 is turned on/off by a user operation, outputs an on signal to the control unit 21 when switched from off to on, and outputs an off signal to the control unit 21 when switched from on to off. The force sense presentation terminal 2 is activated when the activation switch 24 is switched from off to on, enters a state in which the force sense by the force sense presentation device 23 can be presented, and is stopped when the activation switch 24 is switched from on to off. The state in which the force sense by the force sense presentation device 23 cannot be presented becomes. When the user touches, the touch sensor 25 outputs a touch detection signal to the control unit 21. The wireless communication unit 26 performs wireless communication with the mobile terminal 3. The power supply unit 27 supplies drive power to each functional block inside the force sense presentation terminal 2.

The controller 21 includes a transmission controller 21a, a reception controller 21b, and a drive controller 21c. These functional blocks correspond to the processing of the computer program executed by the microcomputer. When the sensor data is input from the positioning sensor 22, the transmission control unit 21a causes the wireless communication unit 26 to transmit the input sensor data to the mobile terminal 3. The reception control unit 21b causes the wireless communication unit 26 to receive the drive signal transmitted from the mobile terminal 3. When the drive signal transmitted from the mobile terminal 3 is received by the wireless communication unit 26, the drive control unit 21c outputs a drive command according to the received drive signal to the force sense presentation device 23 to present the force sense. The device 23 is driven.

The mobile terminal 3 is, for example, a smartphone and has a voice call function, a data communication function, an HMI (Human Machine Interface) function, and the like. The mobile terminal 3 includes a control unit 31, a positioning sensor 32, a wireless communication unit 33, and a power supply unit 34. The control unit 31 is composed of a microcomputer having a CPU, a ROM, a RAM, and an I/O. The control unit 31 executes the computer program stored in the non-transitional tangible recording medium to execute the process corresponding to the computer program, and controls the overall operation of the mobile terminal 3. The computer program executed by the control unit 31 includes a part of the force sense presentation program. The control unit 31 has a higher processing capacity than the control unit 21 of the force sense presentation terminal 2.

The positioning sensor 32 includes a GPS receiver, a geomagnetic sensor, an acceleration sensor, an atmospheric pressure sensor, etc., and outputs sensor data detected by various sensors to the control unit 31. The positioning sensor 32 has higher performance than the positioning sensor 22 of the force sense presentation terminal 2 described above. The wireless communication unit 33 performs wireless communication with the force sense presentation terminal 2. The power supply unit 34 supplies drive power to each functional block inside the mobile terminal 3.

The control unit 31 includes a reception control unit 31a, a positioning unit 31b, a guidance direction calculation unit 31c, a drive signal generation unit 31d, and a transmission control unit 31e. The reception control unit 31a causes the wireless communication unit 33 to receive the sensor data transmitted from the force sense presentation terminal 2. The positioning unit 31b uses the sensor data received by the wireless communication unit 33 from the force sense presentation terminal 2 and the sensor data input from the positioning sensor 32 of its own terminal to identify the current position of the mobile terminal 3. To do.

The guidance direction calculation unit 31c calculates the guidance direction using the positioning result of the positioning unit 31b. That is, the guidance direction calculation unit 31c calculates the guidance direction from the specified current position toward the destination when the current position of the mobile terminal 3 is specified by the positioning unit 31b. The guidance direction calculation unit 31e calculates a guidance direction from the current position toward the parking position, for example, when the parking position is set as the destination. The drive signal generation unit 31d generates a drive signal using the calculation result of the guidance direction calculation unit 31c. The transmission control unit 31e causes the wireless communication unit 33 to transmit the drive signal generated by the drive signal generation unit 31d to the force sense presentation terminal 2.

Next, the operation of the above configuration will be described with reference to FIGS. Here, a case where the user is guided from the current position of the mobile terminal 3 to the destination will be described.
In the force sense presentation terminal 2, the control unit 21 waits for an instruction to shift to the pairing standby state, and shifts to the pairing standby state by, for example, the user switching the activation switch 24 from off to on. If it is determined that the instruction has been issued, it is activated and shifts to the pairing standby state (A1). When the control unit 21 shifts to the pairing standby state, it waits for reception of a search signal.

In the mobile terminal 3, when the control unit 31 determines that the instruction to shift to the peripheral device search state has been issued by the user performing a predetermined operation while waiting for the instruction to shift to the peripheral device search state. , And shifts to the peripheral device search state (B1). When shifting to the peripheral device search state, the control unit 31 causes the wireless communication unit 33 to transmit a search signal, searches for a device in a pairing standby state, and waits for reception of a response signal.

In the force sense presentation terminal 2, when the control unit 21 determines that the search signal transmitted from the mobile terminal 3 is received by the wireless communication unit 26, the control unit 21 causes the wireless communication unit 26 to transmit a response signal.

In the mobile terminal 3, when the control unit 31 determines that the response signal transmitted from the force sense presentation terminal 2 is received by the wireless communication unit 33, the control unit 31 displays the search result of peripheral devices, and the response from the force sense presentation terminal 2 is displayed. The user is notified of the occurrence (B2). For example, when the control unit 31 determines that the user has issued a connection instruction to connect the force sense presentation terminal 2 to the connection target, the control unit 31 performs a connection start process (B3), and sends a connection request signal from the wireless communication unit 33 to the force sense presentation terminal 2. It is transmitted and waits for the reception of the connection response signal from the force sense presentation terminal 2.

When the control unit 21 of the force sense presentation terminal 2 determines that the connection request signal transmitted from the mobile terminal 3 is received by the wireless communication unit 26, the control unit 21 causes the wireless communication unit 26 to transmit the connection response signal to the mobile terminal 3. In this case, the control unit 21 uses the authentication function to authenticate, for example, the mobile terminal 3 that is the transmission source of the connection request signal and the own terminal, and the connection response signal is transmitted to the wireless communication unit on the condition that the authentication result is positive. You may make it transmit from 26 to the portable terminal 3.

In the mobile terminal 3, when the control unit 31 determines that the connection response signal transmitted from the force sense presentation terminal 2 is received by the wireless communication unit 33, the control unit 31 shifts to the wireless connection with the force sense presentation terminal 2 ( A2, B4), the connection result is displayed, and the user is notified of the transition to the wireless connection with the force sense presentation terminal 2 (B5).

In the force sense presentation terminal 2, when the control unit 21 determines that the user has instructed the guidance start by touching the touch switch 25 while being wirelessly connected to the mobile terminal 3, the control unit 21 performs the guidance start process. Then, the guidance start signal is transmitted from the wireless communication unit 26 to the mobile terminal 3, and the sensor data input from the positioning sensor 32 is transmitted from the wireless communication unit 26 to the mobile terminal 3.

In the mobile terminal 3, when the control unit 31 determines that the guidance start signal transmitted from the force sense presentation terminal 2 is received by the wireless communication unit 33, the control unit 31 waits for reception of sensor data from the force sense presentation terminal 2. When the control unit 31 determines that the sensor data transmitted from the force sense presentation terminal 2 is received by the wireless communication unit 33, the control unit 31 determines the received sensor data and the sensor data input from the positioning sensor 32 of its own terminal. Positioning is performed using this to specify the current position of the mobile terminal 3 (B6).

When the current position of the mobile terminal 3 is specified, the control unit 31 calculates the guidance direction from the current position of the mobile terminal 3 toward the destination using the positioning result (B7), and uses the calculation result to output the drive signal. (B8, drive signal generation procedure). That is, the control unit 31 generates a drive signal for instructing the presentation of the force sense about the axis in the front-rear direction when the guide direction in the front-rear direction is calculated, for example. After generating the drive signal in this way, the control unit 31 causes the wireless communication unit 33 to transmit the generated drive signal to the force sense presentation terminal 2 (transmission control procedure).

In the haptic presentation terminal 2, when the control unit 21 determines that the drive signal transmitted from the mobile terminal 3 is received by the wireless communication unit 26, the control unit 21 outputs a drive command according to the received drive signal to the haptic presentation device 23. To drive the force sense presentation device 23 (A4). That is, if the user holds the force sense presentation terminal 2, the force sense presentation terminal 2 presents force senses in the front-rear direction, the left-right direction, and the up-down direction. , Moving up and down is encouraged.

After that, the control unit 31 determines whether the current position of the mobile terminal 3 has reached the destination, and when determining that the current position of the mobile terminal 3 has not reached the destination, the force sense presentation terminal 2 The sensor data is continuously transmitted from the wireless communication unit 33, and the sensor data is continuously received by the wireless communication unit 33, thereby repeating the above processing. When the control unit 31 determines that the current position of the mobile terminal 3 has reached the destination, the control unit 31 causes the wireless communication unit 33 to transmit the force sense presentation end signal to the force sense presentation terminal 2 so that the force sense presentation terminal 2 outputs the signal. The transmission of the sensor data is stopped, and the above processing is ended. As described above, when the force sense presentation terminal 2 and the mobile terminal 3 perform processing in cooperation with each other, for example, when the parking position of the multi-storey parking lot is set as the destination, the user guides from the current position to the parking position. To be done.

As described above, according to this embodiment, the following operational effects can be obtained. In the haptic presentation system 1, the haptic presentation terminal 2 cooperates with the mobile terminal 3, and the mobile terminal 3 transmits a drive signal to the haptic presentation terminal 2 so that the haptic presentation device 23 in the haptic presentation terminal 2 It was driven so that the force sense presentation device 23 presents a force sense. It is not necessary for the haptic presentation terminal 2 to have all of the functions necessary for presenting the haptic sense, and the mobile terminal 3 has some of the functions, thereby simplifying the configuration of the haptic presentation terminal 2. At the same time, the user can be properly guided from the current position to the destination. Further, the specification of the microcomputer of the force sense presentation terminal 2 can be reduced and the processing capacity of the microcomputer of the mobile terminal 3 can be effectively utilized.

In the mobile terminal 3, positioning is performed using the sensor data detected by the positioning sensor 22 of the force sense presentation terminal 2 and the sensor data detected by the positioning sensor 32 of the own terminal, and the guiding direction is determined using the positioning result. The drive signal is generated by calculation. By using the sensor data detected by the positioning sensor 32 of the mobile terminal 3, the positioning sensor 22 of the force sense presentation terminal 2 does not need to be a high-performance sensor, and the minimum necessary sensor may be adopted. The cost can be reduced.

Although the present disclosure has been described with reference to exemplary embodiments, it is understood that the disclosure is not limited to such exemplary embodiments and structures. The present disclosure also includes various modifications and modifications within an equivalent range. In addition, various combinations and forms, and other combinations and forms including only one element, more, or less than those, also fall within the scope and spirit of the present disclosure.
Although the configuration using the force sense presentation device 23 that presents the three-axis force sense is illustrated, the force sense presentation device that presents the one-axis or two-axis force sense may be used.

The control unit and the method described in the present disclosure are realized by a dedicated computer provided by configuring a processor and a memory programmed to execute one or more functions embodied by a computer program. May be. Alternatively, the control unit and its method described in the present disclosure may be realized by a dedicated computer provided by configuring a processor with one or more dedicated hardware logic circuits. Alternatively, the control unit and the method thereof described in the present disclosure are based on a combination of a processor and a memory programmed to execute one or a plurality of functions and a processor configured by one or more hardware logic circuits. It may be realized by one or more dedicated computers configured. Further, the computer program may be stored in a computer-readable non-transition tangible recording medium as an instruction executed by the computer.

In the drawings, 1 is a haptic presentation system, 2 is a haptic presentation terminal, 3 is a mobile terminal, 31 is a control unit, 31a is a reception control unit, 31b is a positioning unit, 31c is a guiding direction calculation unit, and 31d is a drive signal generation. Reference numeral 31e is a transmission controller 31e, and reference numeral 33 is a wireless communication unit.

Claims (9)

A haptic presentation terminal (2) having a haptic presentation device for presenting a haptic sense and a mobile terminal (3) are capable of wireless communication,
The portable terminal transmits a drive signal for the force sense presentation device to present a force sense to the force sense presentation terminal,
The haptic sense presentation terminal receives a drive signal transmitted from the mobile terminal, and drives the haptic sense presentation device using the received drive signal. The haptic presentation terminal transmits sensor data detected by a positioning sensor of the terminal itself to the mobile terminal,
The mobile terminal receives sensor data transmitted from the force sense presentation terminal, performs positioning using the received sensor data and sensor data detected by a positioning sensor of the terminal itself, and uses the positioning result. The force sense presentation system according to claim 1, wherein the guide direction is calculated to generate a drive signal. The force feedback system according to claim 2, wherein the positioning sensor of the mobile terminal has higher performance than the positioning sensor of the force feedback terminal. The force sense presentation system according to claim 2 or 3, wherein the mobile terminal calculates a guidance direction from the current position to the parking position with the parking position of the vehicle as the destination. A wireless communication unit (33) that wirelessly communicates with a force presentation terminal having a force presentation device that presents a force sense;
A drive signal generation unit (31d) that generates a drive signal for the force sense presentation device to present a force sense;
A mobile terminal, comprising: a transmission control unit (31e) that transmits the drive signal generated by the drive signal generation unit from the wireless communication unit to the force sense presentation terminal. A reception control unit (31a) that causes the wireless communication unit to receive the sensor data detected by the positioning sensor of the force sense presentation terminal;
A positioning unit (31b) that performs positioning using the sensor data received by the wireless communication unit from the force sense presentation terminal and the sensor data detected by the positioning sensor of the own terminal;
A guiding direction calculation unit (31c) for calculating a guiding direction using the positioning result of the positioning unit,
The mobile terminal according to claim 5, wherein the drive signal generation unit generates a drive signal using a calculation result of the guide direction calculation unit. The mobile terminal according to claim 6, wherein the positioning sensor of the own terminal has higher performance than the positioning sensor of the force sense presentation terminal. The mobile terminal according to claim 6 or 7, wherein the guidance direction calculation unit calculates a guidance direction from the current position toward the parking position with the parking position of the vehicle as the destination. A mobile terminal (3) including a wireless communication unit (33) that wirelessly communicates with a haptic presentation terminal having a haptic presentation device that presents a haptic sense,
A drive signal generation procedure for generating a drive signal for the force presentation device to present a force sense;
And a transmission control procedure for transmitting the drive signal generated by the drive signal generation procedure from the wireless communication unit to the force sense presentation terminal.

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