JP2009075145A - Feeling of movement enhancing apparatus - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To enhance user's feeling of movement by displaying, in a peripheral part of user's field of view, an image that stimulates user's sense of sight. <P>SOLUTION: A feeling of movement enhancing apparatus comprises: display means 12a and 12b for displaying images in a user's peripheral view area and in the direction approximately parallel to the user's central line of visual line; a receiving means 11a for receiving the information of the user's movement; an image generating means 11b which calculates, on the basis of the received information of movement, the rate of travel of the images to be displayed on the display means 12a and 12b and generates an image output signal for displaying, at the calculated rate of travel, optical flow as an image or dynamic images; and a display control means 11c displaying, on the basis of the image output signal generated by the image generating means 11b, the optical flow or dynamic images on the display means 12a and 12b. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a mobility enhancing device that enhances a user's sense of movement by displaying an image that stimulates vision in the periphery of the user's visual field.

  Conventionally, there are flight simulators used for aircraft driving training and games, driving simulators used for automobile driving training and games, and the like.

  For example, a flight simulator simulates actual aircraft behavior on a computer and visually reproduces it, thereby making it possible to present the user with a sense of actually operating the aircraft.

  However, in a general driving training environment or a game environment, the actual aircraft cockpit and the device configuration are greatly different, so it is difficult to generate a control feeling equivalent to that of an actual aircraft operation, It was very difficult to feel the movement of exercising.

  Therefore, there is a flight simulator having a device configuration that is physically equivalent to an actual aircraft cockpit. Specifically, by preparing a cockpit with the same layout as an actual aircraft, using a control stick with almost the same operability as the actual aircraft, a display with the same viewing angle, and a motion platform to present acceleration feeling This makes it possible to generate a maneuvering sensation equivalent to actual aircraft maneuvering. However, these devices generally have a very large device configuration, and the manufacturing and installation costs are very expensive. Therefore, it is not easy to prepare these environments.

  Therefore, a device having a simple device configuration and making the user feel a movement has been desired.

  Here, the physiological characteristics related to human vision will be described.

  The human visual field is classified into a central visual field region and other peripheral visual field regions within a range of several degrees centered on the line of sight. This is a distinction based on the type of sensory receptor cells inside the eyeball. This central visual field area can feel color and has high spatial resolution. For this reason, a human usually reads a character or discriminates a color by capturing an object at the center of the line of sight. However, since it becomes dull in the sensitivity of the sensory receptor in the dark, it is difficult for humans to see the object. On the other hand, humans can hardly feel the color in the peripheral visual field region, and the spatial resolution is low. Instead, the sensitivity for light and dark is high and the temporal resolution is also high. Therefore, it is said that in the peripheral visual field region, human beings are suitable for capturing things and feeling a sense of movement.

  Therefore, an apparatus using the above-described peripheral visual field region has been proposed.

  In Patent Document 1, eight LEDs (Light Emitting Diodes) are arranged around the eyeball, and the LED display location and flashing speed are determined according to the direction and distance of deviation between the target position and the current position. A display to determine has been proposed.

  Further, in Patent Document 2, a visual stimulus is presented on a film affixed to the inner surface of a windshield of a vehicle, and according to detection results of a driving environment detection unit, a vehicle status detection unit, and a driver status detection unit. There has been proposed a driving sensation adjustment device that controls a visual stimulus so that the driver perceives a visual stimulus that approaches or moves away from the driver.

Further, in Patent Document 3, a display means having a display surface (screen) is provided on the instrument panel 3 of an automobile so as to coincide with the front direction of the driver with respect to the road surface. There has been proposed a speed sensation correcting device that displays a pattern (reverse running pattern) that moves away from the direction of travel of the vehicle.
U.S. Pat. No. 4,730,104 JP 2006-69522 A JP 11-149272 A

  However, with the display described in Patent Document 1, it is not possible to enhance the user's sense of movement only by displaying the direction and distance of deviation between the target position and the current position on the LED as information.

  In addition, in the driving sensation adjusting device described in Patent Document 2, the visual field is presented on the film attached to the inner surface of the windshield of the vehicle, so that the peripheral visual field suitable for enhancing the user's mobility Nothing is presented in the area. For this reason, it has been difficult to enhance the sense of movement that the user is exercising.

  Furthermore, in the speed sensation correcting device described in Patent Document 3, a pattern that moves away from the traveling direction side of the vehicle is displayed on the screen of the display unit, and the adaptation effect formed in the user's brain is displayed. Since it cancels out, it was difficult to make a user feel a movement.

  The present invention has been made in view of the above problems, and provides a mobility enhancing device that enhances a user's sense of mobility by displaying an image that stimulates vision in the periphery of the user's visual field. Objective.

  In order to achieve the above object, the first feature of the mobility enhancing apparatus according to the present invention is to provide a mobility that enhances the user's sense of mobility by displaying an image that stimulates vision in the peripheral visual field region of the user. A display device for displaying an image so as to be in the peripheral visual field region of the user and substantially parallel to the direction of the user's line of sight, and a receiving unit for receiving information related to the movement of the user. An image generation means for calculating a moving speed of an image to be displayed on the display means based on the received movement information, and generating an image output signal for displaying an optical flow or a moving image as an image at the calculated moving speed; And a display control unit that displays an optical flow or a moving image on the display unit based on the image output signal generated by the image generation unit.

  In order to achieve the above object, the second feature of the mobility enhancing apparatus according to the present invention is that the receiving means receives speed information indicating the speed of movement of the user and acceleration information indicating the acceleration of the user, Based on the received speed information, the image generation means temporarily calculates the moving speed of the image so that the image is displayed on the display means at an acceleration corresponding to the acceleration indicated by the acceleration information, and at the calculated moving speed, It is to generate an image output signal for displaying an optical flow or a moving image.

  In order to achieve the above object, a third feature of the mobility enhancing apparatus according to the present invention further includes a setting input unit that generates a speed target setting value indicating a user speed target value by a user operation, The receiving means has received speed information indicating the speed of movement of the user and the speed target setting value generated by the setting input unit, and the image generating means has received the speed information that has exceeded the received speed target setting value. Determining whether or not, calculating a moving speed of an image to be displayed on the display unit based on the determination result, and generating an image output signal for displaying an optical flow or a moving image at the calculated moving speed. is there.

  In order to achieve the above object, a fourth feature of the mobility enhancing apparatus according to the present invention is that the receiving means indicates a shift amount indicating a shift between the current position of the user and the target position, and a change speed of the shift amount. The image generation means receives the deviation information including the deviation change rate, and causes the display means to display a deviation amount included in the received deviation information and a total value obtained by multiplying each deviation change rate by a predetermined coefficient. It is calculated as an image moving speed, and an image output signal for displaying an optical flow or a moving image is generated based on the calculated moving speed.

  In order to achieve the above object, a fifth feature of the mobility enhancing apparatus according to the present invention is characterized by further comprising an acceleration sensor fixed to any one of the display means and measuring the acceleration of the fixed display means, and receiving The means receives speed information indicating the speed of movement of the user, and the image generation means is temporarily based on the received speed information at an acceleration corresponding to the acceleration indicated by the acceleration information measured by the acceleration sensor. It is to calculate the moving speed of the image so that the image is displayed on the display means, and to generate an image output signal for displaying the optical flow or the moving image at the calculated moving speed.

  In order to achieve the above object, a sixth feature of the mobility enhancing apparatus according to the present invention is that the display means includes a plurality of LEDs for displaying an optical flow, and a user's line of sight penetrating between the plurality of LEDs. And a substrate on which a plurality of LEDs are fixed so as not to block the light.

  In order to achieve the above object, a seventh feature of the mobility enhancing apparatus according to the present invention is a peripheral visual field region of a user, and is installed and used so as to be substantially parallel to the user's gaze center direction. Image display means for displaying the optical flow in a predetermined display area on the surface where the user moves, receiving means for receiving speed information indicating the speed of movement of the user, and the moving speed of the image displayed on the image display means. And an image generation means for generating an image output signal for displaying an optical flow or a moving image based on the received speed information, and the image generation means moves as the tilt angle of the display area decreases. The display area is set so as to spread toward the user on the surface to be displayed, the optical flow moving speed at the position closest to the user in the display area, and the use in the display area The movement speed of the optical flow according to the position in the display area is calculated so that the difference from the movement speed of the optical flow at the position farthest from the display area increases, and the optical flow at the position closest to the user in the display area is calculated. Set the shape of the optical flow so that the shape and the shape of the optical flow at the position farthest from the user in the display area are significantly different from each other, and set the display area, the calculated moving speed, and the set shape. Based on this, an image output signal for displaying an optical flow is generated, and the optical flow is displayed on the image display means.

  In order to achieve the above object, an eighth feature of the mobility enhancing apparatus according to the present invention is to generate an inclination angle setting value that is an inclination angle of a surface on which a user desires to move by a user operation. A tilt angle setting input unit, and a projection unit that projects the second optical flow in a predetermined display region on a surface that is a peripheral visual field region of the user and moves by the user, and the receiving unit includes: The speed information indicating the speed of movement of the user is received, and the image generation means first of the first image to be displayed on the display means based on the generated tilt angle setting value and the speed indicated by the received speed information. And a first image output signal for displaying an optical flow or a moving image as a first image at the calculated first moving speed is generated, and the generated tilt angle setting value is The lower the user, the more the user moves The display area is set so as to spread toward the user on the upper side, and the lower the generated tilt angle setting value, the second optical flow moving speed and the display area at the position closest to the user in the display area Is generated by calculating the second moving speed of the second optical flow according to the position in the display area so that the difference from the moving speed of the second optical flow at the position farthest from the user is increased. As the tilt angle setting value is lower, the shape of the second optical flow at the position closest to the user in the display area and the shape of the second optical flow at the position farthest from the user in the display area are greatly different. The shape of the second optical flow is set as described above, and the second optical flow is set based on the set display area, the calculated second moving speed, and the set shape. The second image output signal for displaying the flow is generated, and the display control unit displays the first image on the display unit based on the first image output signal generated by the image generation unit, and The projecting means projects the second optical flow based on the second image output signal generated by the generating means.

  In order to achieve the above object, a ninth feature of the mobility enhancing apparatus according to the present invention is that any one of the display means, or the display means fixed to the user's waist or head and fixed. The acceleration sensor for measuring the acceleration generated in the waist of the user or the user's head and the image generation means are further provided on the display means with an acceleration corresponding to the acceleration indicated by the acceleration information from the first moving speed. A third moving speed of the third image is calculated so as to be displayed, and a third image output signal for displaying an optical flow or a moving image as the third image is generated at the calculated third moving speed. Then, the fourth moving speed of the second optical flow is calculated from the second moving speed so as to be temporarily displayed on the projection means at an acceleration corresponding to the acceleration indicated by the acceleration information, and the set display area , Calculated number The fourth image output signal for displaying the second optical flow is generated based on the moving speed and the set shape, and the display control means generates the third image output signal generated by the image generation means. And displaying the third image on the display unit and projecting the second optical flow on the projection unit based on the fourth image output signal generated by the image generation unit.

  In order to achieve the above object, the tenth feature of the mobility enhancing device according to the present invention is to provide a feeling of mobility that enhances the sense of mobility of the user by displaying an image that stimulates vision in the peripheral visual field region of the user. An enhancement device, which is a peripheral visual field region of a user and displays an image so as to be substantially parallel to the direction of the user's line of sight, and any one of the display means or the waist of the user Alternatively, the display is fixed according to the acceleration indicated by the acceleration information measured by the acceleration sensor that is fixed to the head and is fixed to the display means, the waist of the user, or the acceleration generated in the user's head. Image generating means for calculating a moving speed of an image to be displayed on the means and generating an image output signal for displaying an optical flow or a moving image as an image at the calculated moving speed; and image generating means Based on a more generated image output signal is to and a display control means for displaying on the display means an optical flow or a moving image.

  In order to achieve the above object, the eleventh feature of the mobility enhancing apparatus according to the present invention is further provided with a camera that is fixed to the display unit and that captures an image in a direction opposite to the direction of the fixed display unit, The image generation means calculates the moving speed of the image taken by the camera displayed on the display means according to the acceleration measured by the acceleration sensor, and displays the image taken by the camera at the calculated moving speed. The image output signal is generated.

  ADVANTAGE OF THE INVENTION According to this invention, a user's sense of movement can be strengthened by displaying the image which stimulates vision in a user's visual field periphery area | region.

  Hereinafter, an embodiment of a mobility enhancing device according to the present invention will be described with reference to the drawings.

  A human can feel a sense of movement by extracting a feature point from the surrounding video that can be visually recognized in the peripheral visual field described above, capturing the movement of the feature point, and estimating its own movement. This movement of feature points is called an optical flow.

  Accordingly, in the first embodiment of the present invention, a flight simulation system to which a mobility enhancing device that enhances the user's mobility is displayed by displaying an optical flow at an appropriate speed in the peripheral visual field as viewed from the user. explain.

<Configuration>
FIG. 1 is a block diagram illustrating a configuration of a flight simulation system to which a mobility enhancing apparatus that is Embodiment 1 of the present invention is applied.

  As shown in FIG. 1, the flight simulation system 10 includes a mobility enhancing device 1 that is Embodiment 1 of the present invention, a flight simulator 3, a central visual field display unit 4, and an input unit 5.

  The mobility enhancing apparatus 1 that is Embodiment 1 of the present invention is connected to a flight simulator 3, and the flight simulator 3 is connected to a central visual field display unit 4 and an input unit 5.

  The flight simulator 3 is composed of a general-purpose computer or the like, and simulates actual behavior of an aircraft on the computer based on an operation signal input by a user operation from the input unit 5. Then, the flight simulator 3 generates instrument data arranged in the cockpit of an aircraft simulated on the computer (hereinafter referred to as a simulated aircraft) and image data for displaying a scenery outside the cockpit. It is displayed on the display unit 4. The flight simulator 3 also supplies speed information and acceleration information on the simulated aircraft to the mobility enhancing device 1.

  The central visual field display unit 4 is composed of a liquid crystal display, a CRT display, or the like, and displays an image generated by the flight simulator 3.

  The input unit 5 generates an operation signal by a user operation and supplies it to the flight simulator 3.

  The mobility enhancing device 1 includes a microcomputer 11 and display means 12a and 12b.

  The microcomputer 11 includes a receiving unit 11a, an image generating unit 11b, and a display control unit 11c in terms of its functions.

  The receiving unit 11a receives speed information indicating the speed of movement of the user and acceleration information indicating the acceleration of the user. In addition, although the user is operating from the input unit 5 and the user himself / herself is not moving with respect to the ground, the speed of the simulated aircraft on which the user is aboard is calculated here. It is treated as the user's acceleration as the acceleration of the simulated aircraft.

  Based on the received speed information, the image generation means 11b calculates a first moving speed for displaying the optical flow on the display means 12a and 12b as a speed according to the speed information, and temporarily displays the acceleration indicated by the acceleration information. A second moving speed for displaying the optical flow on the display means 12a and 12b with an acceleration corresponding to the first moving speed is calculated, and the optical flow or the moving image is calculated based on the calculated first moving speed and the second moving speed. An LED output signal for display is generated.

  The display control unit 11c displays the optical flow on the display units 12a and 12b based on the LED output signal generated by the image generation unit 11b.

  The display means 12a, 12b includes a matrix LED (Light Emitting Diode) in which 16 × 32 LEDs are configured in a matrix, and the size of the matrix LED is a small one of about 4 × 8 cm. And the display means 12a, 12b is arrange | positioned in the position used as a peripheral visual field area for a user, and displays the optical flow produced | generated by the microcomputer 11. FIG.

  As described above, a human extracts a feature point from surrounding video that can be visually recognized in the peripheral visual field region, and captures the movement of the feature point, that is, the optical flow, and estimates its own movement. Since the optical flow itself can be expressed as a flow of a collection of light spots, in the mobility enhancing apparatus 1 that is Embodiment 1 of the present invention, the LEDs provided in the display means 12a and 12b are moved at a predetermined moving speed. Display the optical flow by displaying it as it moves.

  FIG. 2 is a layout diagram illustrating the layout of the display means 12a and 12b of the mobility enhancing apparatus 1 that is Embodiment 1 of the present invention.

  FIG. 2 shows a view as seen from above the user when the user A wears the mobility enhancing device 1. As shown in the figure, generally, a range within about 10 ° in the vertical and horizontal directions with respect to the center direction of the visual field of the user A is defined as the central visual field region 21. The ranges outside 10 ° are the peripheral visual field regions 22a and 22b. Then, the central visual field display unit 4 is arranged so as to enter the central visual field region 21 of the user A, and the mobility enhancement according to the first embodiment of the present invention is performed so as to enter the peripheral visual field regions 22a and 22b of the user A. Display means 12a, 12b of the apparatus 1 are arranged. Further, the display means 12a and 12b are disposed to face the left and right sides of the user's line-of-sight center so as to be substantially parallel to the user's line-of-sight center direction.

  FIG. 3 is a perspective view of the display means 12a and 12b of the mobility enhancing apparatus 1 which is Embodiment 1 of the present invention fixed to a helmet worn by a user.

  As shown in FIG. 3, the display means 12a and 12b are arranged on the helmet 6 on the left and right sides of the user's line-of-sight center in the peripheral visual field region of the user and substantially parallel to the user's line-of-sight center direction. They are fixed opposite each other.

  Since the distance between the user's eyes and the display means 12a and 12b is always fixed by being fixed in this way, even if the user moves the head, the display is always performed in the peripheral visual field region for the user. Means 12a and 12b are arranged.

  FIG. 4 is a diagram showing an example of the display means 12a and 12b of the mobility enhancing apparatus 1 that is Embodiment 1 of the present invention.

  As shown in FIG. 4, the display means 12a, 12b includes a matrix LED in which the LEDs 7 are configured in a matrix of 16 rows × 32 columns. The optical flow can be displayed by blinking the LEDs so as to move at a predetermined moving speed in the vertical and horizontal directions.

  The display means 12a and 12b of the mobility enhancing apparatus which is Embodiment 1 of the present invention is configured to include a matrix LED in which 16 × 32 LEDs 7 are configured in a matrix, but the number and arrangement of the LEDs are the same. Not exclusively. That is, any configuration may be used as long as the LEDs 7 are arranged so that the optical flow can be displayed.

<Action>
Next, the operation of the flight simulation system 10 to which the mobility enhancing apparatus 1 that is Embodiment 1 of the present invention is applied will be described with reference to FIG.

  First, the flight simulator 3 simulates an actual aircraft behavior on a computer based on an operation signal input by a user operation from the input unit 5. The flight simulator 3 generates instrument data arranged in the cockpit of the simulated aircraft simulated on the computer and image data for displaying the scenery outside the cockpit, and displays it on the central visual field display unit 4. . Then, the flight simulator 3 transmits the speed information and acceleration information in the simulated aircraft to the receiving unit 11a of the microcomputer 11 of the mobility enhancing device 1.

  Next, the receiving means 11a of the microcomputer 11 receives the speed information and acceleration information transmitted from the flight simulator 3, and supplies them to the image generating means 11b.

  The image generation unit 11b supplied with the speed information and the acceleration information temporarily reflects the acceleration according to the acceleration indicated by the supplied acceleration information on the speed calculated based on the supplied speed information, and optically The movement speed of the flow is calculated, and an LED output signal for causing the display means 12a and 12b to display the optical flow at the calculated movement speed is generated.

  The image generation processing by the image generation unit 11b will be specifically described below.

  Since the image generation unit 11b is supplied with the speed information and the acceleration information at a predetermined cycle, for example, at a certain time (time t1), the speed information and the acceleration information are supplied, and after the elapse of a predetermined cycle from the time t1. A case where the next speed information and acceleration information are supplied at a certain time t3 will be described.

Assume that the speed indicated by the supplied speed information is X _t1 (km / hr) and the acceleration indicated by the supplied acceleration information is R _t1 (km / hr ² ) at time _t1 . At this time, the image generating means 11b is a speed that makes the user feel that the optical flow moving speed at the time t1 is moving according to the supplied speed X _t1 (km / hr). and sets to 1 the moving speed _Y t1 (km / _hr), depending on the ^{R t1 (km / hr 2)} , the acceleration _S t1 (km / hr is the acceleration, such as feel to be accelerated to the user ² ) is set.

Then, at the time t2, which is between the time t1 and the time t3, using the elapsed time from the time _t1 , Y _t1 (km / hr), and S _t1 (km / hr ² ), the optical flow at the time t2 The second moving speed Z _t2 (km / hr), which is the moving speed of, is calculated as a speed accelerated from Y _t1 (km / hr) by S _t1 (km / hr ² ).

Next, when speed information of X _t3 (km / hr) is supplied at time t3, the image generation unit 11b sets the first movement speed, which is the movement speed of the optical flow at time _t3 , to X _t3 ( (km / hr), Y _t3 (km / hr), which is a speed that makes the user feel that the user is moving, is set. However, Y _t3 (km / hr) is less than Z _t2 (km / hr).

In this way, simply, the moving speed of the optical flow at the time point _t1 is set to the first moving speed Y _t1 (km / hr), and the moving speed of the optical flow at the time point t3 is set to the first moving speed Y _t3 (km / Hr), it is possible to enhance the user's feeling of movement, but the movement speed of the optical flow at the time point _t1 is set to the first movement speed Y _t1 (km / hr), and the movement speed at the time point t2 is set. By setting the movement speed of the optical flow as the second movement speed Z _t2 (km / hr) and setting the movement speed of the optical flow at the time t3 as the first movement speed Y _t3 (km / hr), At time t2, since the moving speed with a large overshoot is set, it is possible to further enhance the sense of movement for the user.

  Then, the image generation unit 11b generates an LED output signal for blinking the LED so that the optical flow is displayed on the display units 12a and 12b at the first movement speed and the second movement speed of the set optical flow. Then, the generated LED output signal is supplied to the display control means 11c.

  Next, the display control unit 11c supplied with the LED output signal from the image generation unit 11b controls the 16 × 32 LEDs of the display units 12a and 12b to blink based on the supplied LED output signal.

In the above example, during the period from the time point t1 to the time point t2, the display control unit 11c sets the optical flow movement speed as the first movement speed Y _t1 (km / hr), blinks the LED, and from the time point t2 to the time point t3. The display control means 11c sets the optical flow moving speed as the second moving speed Z _t2 (km / hr) until the LED blinks, and from the time t2 to the time t3, the display control means 11c The movement speed of the optical flow is set to the first movement speed Y _t3 (km / hr), and the LED is blinked.

  Thus, according to the mobility enhancing apparatus 1 which is Embodiment 1 of the present invention, the display means 12a and 12b are arranged in the peripheral visual field region where the sensitivity for light and darkness is high and the temporal resolution is high for the user, By displaying the optical flow at an appropriate speed on the display means 12a and 12b, it is possible to enhance the sense of movement of the user.

  Further, as described above, since the display means 12a and 12b are constituted by a small LED array, manufacturing and installation costs can be suppressed at a low cost.

  When a pilot (user) who controls an actual aircraft is operating the aircraft, the speed of the aircraft may deviate from the speed target value due to the influence of wind or the like. In such a case, by increasing the user's sense of movement, the user can quickly adjust the speed of the aircraft to the speed target value.

  In the second embodiment of the present invention, an optical flow is applied to the peripheral visual field area without blocking the visual field of the peripheral visual field area of the user based on the speed target setting value that is applied to an actual aircraft and is set by a user operation. A movement enhancing device that enhances the user's feeling of movement by displaying will be described.

<Configuration>
FIG. 5 is a block diagram showing a configuration around the cockpit of an aircraft to which the mobility enhancing apparatus according to the second embodiment of the present invention is applied.

  As shown in FIG. 5, the aircraft 40 includes a mobility enhancing apparatus 101 that is Embodiment 2 of the present invention, an aircraft control unit 31, an instrument display unit 32, and an input unit 33.

  The mobility enhancing apparatus 101 according to the second embodiment of the present invention is connected to the control unit 31, and the control unit 31 is connected to the instrument display unit 32 and the input unit 33.

  The control unit 31 controls the actual aircraft 40 based on an operation signal input from the input unit 33 by a user operation. And the control part 31 displays the measured value measured by various measuring instruments (not shown) on the instrument display part 32. FIG. In addition, the control unit 31 supplies speed information on the aircraft 40 to the mobility enhancing apparatus 101.

  The instrument display unit 32 includes a liquid crystal display and various instruments, and displays various information necessary for the user, that is, the pilot, to operate the aircraft 40 based on instructions from the control unit 31.

  The input unit 33 includes a control stick or the like, generates an operation signal by a user operation, and supplies the operation signal to the control unit 31.

  The mobility enhancing device 1 includes a microcomputer 11 and display means 13a and 13b.

  The microcomputer 11 includes a receiving unit 11a, an image generating unit 11b, and a display control unit 11c in terms of its functions.

  The receiving unit 11 a receives speed information indicating the speed of movement of the user and the speed target setting value generated by the setting input unit 14. Although the user is operating from the input unit 5 and the user is not moving with respect to the aircraft 40, here, the speed of the aircraft 40 on which the user is boarding is determined based on the speed of the user. Treat as speed.

  The image generation means 11b determines whether or not the received speed information exceeds the received speed target set value, and based on this determination result, calculates the moving speed of the optical flow to be displayed on the display means 13a and 13b, An LED output signal for displaying an optical flow at the calculated moving speed is generated.

  Further, the image generation unit 11b has a temporary storage unit therein, and stores the speed target set value generated by the set value input unit 14 described later in the temporary storage unit.

  The display control unit 11c displays the optical flow on the display units 13a and 13b based on the LED output signal generated by the image generation unit 11b.

  The display means 13a and 13b are comprised by matrix LED (Light Emitting Diode).

  FIG. 6 is a diagram showing an example of the display means 13a and 13b of the mobility enhancing apparatus 101 that is Embodiment 2 of the present invention.

  As shown in FIG. 6, the display means 13a, 13b is a small-sized matrix LED having a size of about 4 × 8 cm, and includes 5 × 5 LEDs. The display means 13a and 13b are arranged at a position that is a peripheral visual field region for the user and are the user's line of sight, like the display means 12a and 12b of the mobility enhancing apparatus 1 that is Embodiment 1 of the present invention. The optical flow generated by the microcomputer 11 is displayed so as to be opposed to the left and right sides of the user's line-of-sight center so as to be substantially parallel to the central direction.

  In addition, the display means 13a and 13b are generally known to have a spatial resolution lower than that of the central visual field area for the user in the peripheral visual field area. The transparent substrate is used as the substrate on which the LEDs are arranged so that the user can visually recognize the other side of the display means 13a, 13b from the gap. Thereby, by displaying the optical flow at an appropriate moving speed by the LED, the user's sense of movement can be enhanced, and the user can visually recognize the other side of the display means 13a, 13b.

  In addition, although the display means 13a and 13b of the movement feeling enhancement apparatus 101 which is Example 2 of this invention was set as the structure provided with a transparent substrate as a board | substrate with which LED is arrange | positioned, it is not restricted to this. What is necessary is just to set it as the structure provided with the board | substrate which fixed LED so that the light which penetrates between these LEDs may not be interrupted, ie, so that a user's eyes | visual_axis may not be interrupted.

  The set value input unit 14 generates a target speed set value for the aircraft 40 by a user operation and supplies it to the microcomputer 11.

<Action>
Next, the operation of the aircraft 40 to which the mobility enhancing apparatus 101 according to the second embodiment of the present invention is applied will be described with reference to FIG.

  First, the control unit 31 controls the aircraft 40 based on an operation signal input from the input unit 33 by a user operation. And the control part 31 displays the measured value measured by various measuring instruments on the instrument display part 32, and transmits the speed information in the aircraft 40 to the receiving means 11a of the microcomputer 11 of the mobility enhancing apparatus 101.

  When a speed target value setting operation is performed on the set value input unit 14 by a user operation, the set value input unit 14 generates a target speed set value for the aircraft 40 and supplies it to the microcomputer 11.

  When the speed target set value is supplied from the set value input unit 14, the receiving means 11a of the microcomputer 11 supplies the speed target set value to the image generating means 11b. The speed target set value is stored in the storage means.

  Next, the receiving unit 11a of the microcomputer 11 receives the speed information supplied from the control unit 31, and supplies it to the image generating unit 11b.

  The image generation means 11b supplied with the speed information generates an LED output signal for causing the display means 13a and 13b to display the optical flow as an image based on the supplied speed information.

  Specifically, the image generation means 11b reads the speed target setting value stored in the temporary storage means, and when the supplied speed information exceeds the read speed target setting value, the display means 13a, 13b. For example, the movement speed of the optical flow to be displayed is calculated as a speed that makes the user feel that the speed has increased. Then, when the supplied speed information is less than the read speed target set value, the image generation means 11b reduces the movement speed of the optical flow displayed on the display means 13a and 13b, for example, to the user. It is calculated as a speed that makes you feel. Then, the image generation means 11b generates an LED output signal for displaying an optical flow at the calculated moving speed.

  Then, the image generation unit 11b supplies the generated LED output signal to the display control unit 11c.

  Next, the display control unit 11c to which the LED output signal is supplied from the image generation unit 11b performs control so that the 16 × 32 LEDs of the display units 13a and 13b blink based on the supplied LED output signal.

  As described above, according to the mobility enhancing apparatus 101 according to the second embodiment of the present invention, the display means 13a and 13b are arranged in the peripheral visual field region where the sensitivity for light and darkness is high and the temporal resolution is high for the user. By displaying the optical flow at an appropriate speed on the means 13a and 13b, the user can feel a sense of movement. Moreover, since the display means 13a and 13b are comprised with a small LED array as mentioned above, manufacturing and installation expense can be held down cheaply.

  Furthermore, since the display means 13a, 13b of the mobility enhancing apparatus 101, which is Embodiment 2 of the present invention, has a configuration in which LEDs are arranged on a transparent substrate, the user can go beyond the display means 13a, 13b from the gap between the LEDs. The side can be visually recognized. As a result, when the user controls the aircraft, the various instruments arranged in the cockpit do not become blind spots of the display means 13a, 13b, so the user does not bother moving his / her head. You can see the instruments.

  When a pilot (user) who controls an aircraft tries to land the aircraft, the flight axis, which is the aircraft's direction of travel, deviates from the runway axis to the left or right due to the influence of wind or other factors. There is. In such a case, by enhancing the user's sense of movement, the user can quickly adjust the flight axis of the aircraft to the runway axis.

  Therefore, in the third embodiment of the present invention, the optical flow is applied to the actual aircraft and the optical flow is displayed in the peripheral visual field region in the vertical and horizontal directions for the user based on the deviation amount from the control unit of the aircraft and the deviation change rate. Thus, a movement enhancement device that enhances the movement feeling of the user will be described.

<Configuration>
FIG. 7 is a block diagram showing a configuration around the cockpit of an aircraft to which the mobility enhancing apparatus according to the third embodiment of the present invention is applied.

  As shown in FIG. 7, the aircraft 40 includes a mobility enhancing device 102 that is Embodiment 3 of the present invention, an aircraft control unit 31, an instrument display unit 32, and an input unit 33.

  The mobility enhancing apparatus 102 according to the third embodiment of the present invention is connected to the control unit 31, and the control unit 31 is connected to the instrument display unit 32 and the input unit 33.

  The control unit 31 controls the actual aircraft 40 based on an operation signal input from the input unit 33 by a user operation. And the control part 31 displays the measured value measured by various measuring instruments (not shown) on the instrument display part 32. FIG. Further, the control unit 31 includes a landing support device (localizer), generates a deviation amount between the flight axis of the aircraft 40 and the runway axis, and a change rate of the deviation as deviation information, and moves the deviation information. It transmits to the feeling enhancement apparatus 102.

  The instrument display unit 32 includes a liquid crystal display and various instruments, and displays various information necessary for the user, that is, the pilot, to operate the aircraft based on instructions from the control unit 31.

  The input unit 33 includes a control stick or the like, generates an operation signal by a user operation, and supplies the operation signal to the control unit 31.

  The mobility enhancing device 1 includes a microcomputer 11 and display means 13a to 13d.

  The microcomputer 11 includes a receiving unit 11a, an image generating unit 11b, and a display control unit 11c in terms of its functions.

  The receiving unit 11a receives speed information indicating the speed of movement of the user, and includes a shift amount indicating a shift between the current position of the user and the target position, and a shift change rate indicating a change speed of the shift amount. Receive deviation information. Although the user is operating from the input unit 5 and is not moving with respect to the user aircraft 40, here, the speed of the aircraft 40 on which the user is boarding is determined based on the speed of the user. The amount of deviation between the flight axis of the aircraft 40 on which the user is boarding and the axis of the runway is treated as the amount of deviation of the user.

  Based on the received speed information, the image generating unit 11b calculates a first moving speed for displaying the optical flow on the display units 12a and 12b as a speed corresponding to the speed indicated by the speed information, and uses the calculated moving speed. A first LED output signal for displaying an optical flow is generated, and a total value obtained by multiplying each of the shift amount and the shift change rate included in the received shift information by a predetermined coefficient is displayed on the display means 13c, The second movement speed of the optical flow to be displayed on 13d is calculated, and a second LED output signal for displaying the optical flow at the calculated second movement speed is generated.

  The display control unit 11c displays the optical flow on the display units 13a and 13b based on the first LED output signal generated by the image generation unit 11b, and the second LED output signal generated by the image generation unit 11b. Based on the above, the optical flow is displayed on the display means 13a, 13b.

  The display means 13a-13d are comprised by matrix LED (Light Emitting Diode).

  FIG. 8 is a diagram showing the positional relationship of the display means 13a to 13d when the display means 13a to 13d of the mobility enhancing apparatus 102 which is Embodiment 3 of the present invention is worn by a user. These are the figure which looked at the user from the side direction, (b) is the figure which looked at the user from the front direction, (a) is the figure which looked at the user from the upper direction.

  As shown in FIG. 8B, the display means 13a and 13b are the peripheral visual field region of the user and are opposed to the left and right of the user's line-of-sight center so as to be substantially parallel to the user's line-of-sight center direction. Installed. The display means 13c and 13d are installed in opposition to the upper and lower sides of the user's line-of-sight center so as to be a peripheral visual field region of the user and substantially parallel to the user's line-of-sight center direction.

  And the display means 13a-13d displays the optical flow produced | generated by the microcomputer 11. FIG.

  In addition, since the display means 13a to 13d are generally known to users to have a lower spatial resolution in the peripheral visual field region than in the central visual field region, the LED array density is set to 5 ×, for example. The transparent substrate is used as the LED substrate so that the user can visually recognize the other side of the display means 13a to 13d from the gap.

<Action>
Next, the operation of the aircraft 40 to which the mobility enhancing apparatus 102 that is Embodiment 3 of the present invention is applied will be described with reference to FIG.

  First, the control unit 31 controls the aircraft 40 based on an operation signal input from the input unit 33 by a user operation. And the control part 31 displays the measured value measured by various measuring instruments on the instrument display part 32, and also the speed information and deviation | shift information in the aircraft 40 to the receiving means 11a of the microcomputer 11 of the mobility enhancement apparatus 102 Send.

  Next, the receiving unit 11a of the microcomputer 11 receives the speed information and the deviation information from the control unit 2 and supplies them to the image generating unit 11b.

  The image generation means 11b to which the speed information is supplied generates a first LED output signal for displaying the first optical flow on the display means 13a and 13b based on the supplied speed information and is supplied. Based on the deviation information, a second LED output signal for displaying the second optical flow on the display means 13c and 13d is generated.

  Specifically, the image generating unit 11b displays a first optical flow that causes the display units 13a and 13b to display a speed that makes the user feel that the user is moving according to the speed indicated by the supplied speed information. The first moving speed is calculated.

  The image generating unit 11b then displays the shift rate included in the supplied shift information, that is, the second moving speed of the second optical flow for displaying on the display units 13c and 13d the speed according to the shift rate. Calculate as For example, the deviation amount included in the supplied deviation information and the total value of the deviation change rate multiplied by a specific coefficient are calculated as the second moving speed of the second optical flow displayed on the display means 13c and 13d. To do.

  In this case, if the supplied deviation amount and deviation change rate are both “0” at a certain time, the second moving speed of the second optical flow is “0”. In addition, at a certain point in time, even if the supplied deviation amount is “0”, if the deviation change rate is not “0”, the user is prompted to perform an operation to correct it. The speed multiplied by the coefficient is set as the second moving speed of the second optical flow.

  Then, the image generation unit 11b generates a first LED output signal for displaying the second optical flow at the calculated first moving speed, and at the second optical speed at the calculated second moving speed. A second LED output signal for flow display is generated.

  Then, the image generation unit 11b supplies the generated first LED output signal and second LED output signal to the display control unit 11c.

  Next, the display control unit 11c to which the first LED output signal and the second LED output signal are supplied from the image generation unit 11b, based on the supplied first LED output signal, displays 13a and 13b. The 16 × 32 LEDs are controlled to blink, and the 16 × 32 LEDs of the display means 13c and 13d are controlled to blink based on the supplied second LED output signal.

  As described above, according to the mobility enhancing apparatus 101 that is Embodiment 2 of the present invention, the display means 13a to 13d are arranged in the peripheral visual field region where the sensitivity for light and darkness is high and the temporal resolution is high for the user. By displaying a high-speed optical flow on the means 13a to 13d, the user can feel a sense of movement. Moreover, since the display means 13a and 13b are comprised with a small LED array as mentioned above, manufacturing and installation expense can be held down cheaply.

  Furthermore, the display means 13c and 13d of the mobility enhancing apparatus 102, which is Embodiment 3 of the present invention, is the user's peripheral visual field region and the user's line of sight so as to be substantially parallel to the user's line-of-sight center direction. Since they are installed facing the top and bottom of the center, it is possible to enhance the user's sense of movement in the left-right direction. This allows the user to quickly align the flight axis of the aircraft with the runway axis.

  When a pilot (user) who controls a helicopter tries to hover the helicopter at a high altitude or at sea, there is usually no landmark around the helicopter. During hovering at sea, the hovering position might not be noticed. In such a case, by enhancing the user's sense of movement, the user can quickly recognize the displacement of the helicopter at high altitude or at sea, and can accurately hover the helicopter.

  Therefore, in the fourth embodiment of the present invention, it is applied to an actual helicopter, and by displaying the optical flow in the peripheral visual field region up and down, left and right based on the deviation change rate, the deviation amount, and the acceleration, A movement feeling enhancing device that enhances the movement feeling of a user will be described.

<Configuration>
FIG. 9 is a block diagram showing a configuration around a cockpit of a helicopter to which the mobility enhancing apparatus according to the fourth embodiment of the present invention is applied.

  As shown in FIG. 9, the helicopter 50 includes a mobility enhancing device 103 that is Embodiment 4 of the present invention, a helicopter control unit 31, an instrument display unit 32, and an input unit 33.

  The mobility enhancing apparatus 103 according to the fourth embodiment of the present invention is connected to the control unit 31, and the control unit 31 is connected to the instrument display unit 32 and the input unit 33.

  The control unit 31 controls the helicopter 50 based on an operation signal input by a user operation from the input unit 33. And the control part 31 displays the measured value measured by various measuring instruments (not shown) on the instrument display part 32. FIG. In addition, the control unit 31 generates, as deviation information, a deviation amount indicating a deviation between the current position and the hovering target position of the helicopter 50, and a deviation change rate indicating a change rate of the deviation amount. Transmit to the enhancement device 103.

  The instrument display unit 32 includes a liquid crystal display and various instruments, and displays various information necessary for the user, that is, the operator, to operate the helicopter 50 based on instructions from the control unit 31.

  The input unit 33 includes a control stick or the like, generates an operation signal by a user operation, and supplies the operation signal to the control unit 31.

  The mobility enhancing device 1 includes a microcomputer 11 and display means 13a to 13d.

  The microcomputer 11 includes a receiving unit 11a, an image generating unit 11b, and a display control unit 11c in terms of its functions.

  The receiving unit 11a receives shift information including a shift amount indicating a shift between the current position of the user and the target position and a shift change rate indicating a change speed of the shift amount. In addition, although the user is operating from the input unit 5 and the user is not moving with respect to the helicopter 50, here, the speed of the helicopter 50 on which the user is boarding is determined as the movement of the user. The amount of deviation between the current hovering position of the helicopter 50 on which the user is aboard and the target hovering position is treated as the amount of deviation of the user. The receiving unit 11 a receives acceleration information from the acceleration sensor 15.

  The image generation unit 11b decomposes the shift amount and shift change rate included in the received shift information into a vertical component, a horizontal component, and a front-back component.

  Then, the image generation unit 11b calculates a total value obtained by multiplying the decomposed vertical shift amount and the shift change rate by a predetermined coefficient as the vertical movement speed of the optical flow. Then, a total value obtained by multiplying each of the decomposed deviation amount in the front-rear direction and the deviation change rate by a predetermined coefficient is calculated as the moving speed in the front-rear direction of the optical flow. Then, the first moving speed of the optical flow to be displayed on the display means 13a, 13b is calculated by performing a vector calculation on the calculated moving speed in the vertical direction and the moving speed in the front-rear direction.

  Further, the image generation unit 11b temporarily displays the optical flow on the display units 13a and 13b with the acceleration corresponding to the acceleration indicated by the acceleration information measured by the acceleration sensor 15 from the calculated first moving speed. The third movement speed is calculated, the optical flow is displayed at the first movement speed, and a third LED output signal for temporarily displaying at the calculated third movement speed is generated.

  Further, the image generation unit 11b calculates a total value obtained by multiplying each of the decomposed shift amount in the left-right direction and the shift change rate by a predetermined coefficient as the moving speed in the left-right direction of the optical flow. Then, a total value obtained by multiplying each of the decomposed deviation amount in the front-rear direction and the deviation change rate by a predetermined coefficient is calculated as the moving speed in the front-rear direction of the optical flow. Then, the calculated moving speed in the left-right direction and the moving speed in the front-rear direction are calculated as a second moving speed of the optical flow to be displayed on the display means 13c, 13d.

  In addition, the image generation unit 11b is configured to temporarily display the optical flow on the display units 13c and 13d with the acceleration corresponding to the acceleration information measured by the acceleration sensor 15 from the calculated second movement speed. Is calculated, the optical flow is displayed at the second movement speed, and a fourth LED output signal is generated to be temporarily displayed at the calculated fourth movement speed.

  The display control unit 11c displays the optical flow on the display units 13a and 13b based on the third LED output signal generated by the image generation unit 11b, and the fourth LED output signal generated by the image generation unit 11b. Based on the above, the optical flow is displayed on the display means 13a, 13b.

  The display means 13a-13d are comprised by matrix LED (Light Emitting Diode). In addition, since the display means 13a-13d is the same structure as the display means 13a-13d of the mobility enhancing apparatus 102 which is Example 3 of this invention, description is abbreviate | omitted.

  The acceleration sensor 15 is fixed to the helicopter 50 or any one of the display means 13a to 13d, measures the acceleration, and supplies it to the microcomputer 11 as acceleration information.

<Action>
Next, the operation of the helicopter 50 to which the mobility enhancing device 103 that is Embodiment 4 of the present invention is applied will be described with reference to FIG.

  First, the control unit 31 controls the helicopter 50 based on an operation signal input by a user operation from the input unit 33. And the control part 31 displays the measured value measured by various measuring instruments on the instrument display part 32, and transmits the shift | offset | difference information in the helicopter 50 to the receiving means 11a of the microcomputer 11 of the mobility enhancement apparatus 103. FIG.

  The acceleration sensor 15 measures acceleration and supplies the measured acceleration to the receiving unit 11a of the microcomputer 11 as acceleration information.

  Next, the receiving unit 11a of the microcomputer 11 supplies the deviation information transmitted from the control unit 31 to the image generating unit 11b and also supplies the acceleration information supplied from the acceleration sensor 15 to the image generating unit 11b.

  The image generation unit 11b supplied with the shift information and the acceleration information decomposes the shift amount and shift change rate included in the received shift information into a vertical component, a horizontal component, and a front-back component.

  Then, the image generation unit 11b calculates a total value obtained by multiplying the decomposed vertical shift amount and the shift change rate by a predetermined coefficient as the vertical movement speed of the optical flow. Then, a total value obtained by multiplying each of the decomposed deviation amount in the front-rear direction and the deviation change rate by a predetermined coefficient is calculated as the moving speed in the front-rear direction of the optical flow. Then, the first moving speed of the optical flow to be displayed on the display means 13a, 13b is calculated by performing a vector calculation on the calculated moving speed in the vertical direction and the moving speed in the front-rear direction.

  Further, the image generation unit 11b calculates a total value obtained by multiplying each of the decomposed shift amount in the left-right direction and the shift change rate by a predetermined coefficient as the moving speed in the left-right direction of the optical flow. Then, a total value obtained by multiplying each of the decomposed deviation amount in the front-rear direction and the deviation change rate by a predetermined coefficient is calculated as the moving speed in the front-rear direction of the optical flow. Then, the calculated moving speed in the left-right direction and the moving speed in the front-rear direction are calculated as a second moving speed of the optical flow to be displayed on the display means 13c, 13d.

  In addition, the image generating unit 11b is configured to temporarily display the optical flow on the display units 13a and 13b with the acceleration according to the acceleration information measured by the acceleration sensor 15 from the calculated first moving speed. Is calculated, the optical flow is displayed at the first moving speed, and a third LED output signal is generated to be displayed at the calculated third moving speed temporarily.

  Further, the image generating unit 11b temporarily displays the optical flow on the display units 13c and 13d with the acceleration corresponding to the acceleration indicated by the acceleration information measured by the acceleration sensor 15 from the calculated second moving speed. The fourth movement speed is calculated, the optical flow is displayed at the second movement speed, and a fourth LED output signal for temporarily displaying at the calculated fourth movement speed is generated.

  The generation processing of the third LED output signal by the image generation unit 11b will be specifically described below.

  Since the image generation unit 11b calculates the first moving speed in a predetermined cycle, for example, the first moving speed is calculated at a certain time (time t1), and after a predetermined period of time has elapsed from the time t1. A case where the next first moving speed is calculated at time t3 will be described. Further, since acceleration is supplied from the acceleration sensor 15 at a predetermined cycle, it is assumed that acceleration information is supplied at time t1.

Assume that the calculated first moving speed is X _t1 (m / hr) and the acceleration indicated by the supplied acceleration information is R _t1 (m / hr ² ) at time _t1 . At this time, the image generation unit 11b sets the acceleration S _t1 (m / hr ² ) as an acceleration that makes the user feel acceleration according to R _t1 (m / hr ² ).

Then, at the time t2 between the time t1 and the time t3, the optical flow at the time t2 is calculated using the elapsed time from the time t1, the time X _t1 (m / hr), and the S _t1 (m / hr ² ). The third moving speed Z _t2 (m / hr) is calculated as a speed accelerated from X _t1 (m / hr) by S _t1 (m / hr ² ).

Next, when speed information is supplied at time t3, a first movement speed _Xt3 (m / hr) is calculated. However, X _t3 (m / hr) is less than X _t2 (m / hr).

In this way, the movement speed of the optical flow at the time point t1 is set as the first movement speed X _t1 (m / hr), and the movement speed of the optical flow at the time point t2 is set as the first movement speed X _{t1 at the} time point _t1. (M / hr) and the third movement speed Z _t2 (m / hr) calculated using S _t1 (m / hr ² ), and the movement speed of the optical flow at time t3 is set to the first movement By setting the speed X _t3 (m / hr), simply set the moving speed of the optical flow at time t1 to X _t1 (m / hr), and set the moving speed of the optical flow at time _t3 to X _t3 Compared with the case where (m / hr) is set, since the moving speed that greatly overshoots is set at the time point t2, the user can feel a sense of movement more enhanced.

  The image generation unit 11b then causes the LED to blink so that the display unit 12a, 12b displays the optical flow at the first moving speed and the third moving speed of the set optical flow. An output signal is generated, and the generated third LED output signal is supplied to the display control means 11c.

  Next, the display control unit 11c to which the third LED output signal is supplied from the image generation unit 11b blinks the 5 × 5 LEDs of the display units 12a and 12b based on the supplied third LED output signal. To control.

In the above example, the display control means 11c blinks the LED so that the optical flow moves at the first movement speed X _t1 (m / hr) from the time t1 to the time t2, and from the time t2 to the time t3. During this time, the display control unit 11c blinks the LED so that the optical flow moves at the third movement speed Z _t2 (m / hr), and during the period from the time t2 to the time t3, the display control unit 11c LED blinks so that the first movement speed moves at _Xt3 (km / hr).

  Similarly, the image generating unit 11b temporarily displays the optical flow with the acceleration corresponding to the acceleration indicated by the acceleration information measured by the acceleration sensor 15 from the calculated second moving speed. The fourth LED output signal for calculating the fourth movement speed so as to be displayed on 13d, displaying the optical flow at the second movement speed, and temporarily displaying at the calculated fourth movement speed. Is generated.

  Next, the display control unit 11c, to which the third LED output signal and the fourth LED output signal are supplied from the image generation unit 11b, displays the display units 12a, 12b based on the supplied third LED output signal. The optical flow is displayed and the optical flow is displayed on the display means 12c and 12d based on the supplied fourth LED output signal.

  Thus, according to the mobility enhancing apparatus 103 that is Embodiment 4 of the present invention, the display means 13a to 13d are arranged in the peripheral visual field region where the sensitivity for light and darkness is high and the temporal resolution is high for the user. By displaying a high-speed optical flow on the means 13a to 13d, the user can feel a sense of movement. Moreover, since the display means 13a-13d are comprised with a small LED array as mentioned above, manufacturing and installation expense can be held down cheaply.

  Furthermore, the display means 13a to 13d of the mobility enhancing apparatus 103 according to the fourth embodiment of the present invention are the peripheral visual field region of the user and the user's line of sight so as to be substantially parallel to the user's line-of-sight center direction. Since it is installed facing the top, bottom, left and right of the center, it is possible to enhance the user's sense of movement in the top, bottom, left and right directions. As a result, even when the helicopter 50 is at a high altitude or during sea hovering, the user can quickly recognize the displacement of the helicopter and hover the helicopter 50.

  When a user runs using a room runner, although he is running, he does not actually move and stays in the same place, so what is in the user's field of view hardly moves. For this reason, if the user is actually running on a road, a park, or the like, the user cannot feel a sense of mobility, and it is considered that a part of the fun in running is missing.

  Therefore, in a fifth embodiment of the present invention, a mobility enhancement device that is applied to a room runner and that enhances the sense of mobility of a user by displaying a moving image at an appropriate speed in the peripheral visual field as viewed from the user. explain.

<Configuration>
FIG. 10 is a block diagram illustrating a configuration of a room runner to which the mobility enhancing apparatus that is Embodiment 5 of the present invention is applied.

  As shown in FIG. 10, the room runner 60 includes a mobility enhancing device 104, a room runner control unit 34, a room runner display unit 35, an input unit 36, and a belt unit 37 that are Embodiment 5 of the present invention. It has.

  The mobility enhancing device 104 that is Embodiment 5 of the present invention is connected to the room runner control unit 34, and the room runner control unit 34 includes a room runner display unit 35, an input unit 36, and a belt unit 37. It is connected.

  The room runner control unit 34 controls the moving speed of the belt unit 37 based on an operation signal input by a user operation from the input unit 36. Further, the room runner control unit 34 supplies speed information indicating the moving speed of the belt unit 37 to the movement enhancing device 104.

  The room runner display unit 35 is configured with a liquid crystal display or the like, and displays a room runner setting menu or the like generated by the room runner control unit 34.

  The input unit 36 generates an operation signal by a user operation and supplies it to the room runner control unit 34.

  The belt unit 37 includes a belt and a motor that rotates the belt, and rotates the belt in accordance with an instruction from the room runner control unit 34.

  As shown in FIG. 10, the mobility enhancing device 104 according to the fifth embodiment of the present invention includes a room runner control unit 34, a room runner display unit 35, and an input unit 36 for the sake of explanation. However, for example, the present invention can also be applied to a room runner in which the room runner control unit 34 and the input unit 36 are provided in the room runner display unit 35 and integrated.

  The mobility enhancing device 104 includes a microcomputer 11, an acceleration sensor 15, display means 16 a and 16 b, and a moving image storage means 21.

  The microcomputer 11 includes a receiving unit 11a, an image generating unit 11b, and a display control unit 11c in terms of its functions.

  The receiving unit 11 a receives speed information indicating the speed of movement of the user, and receives acceleration information indicating the acceleration measured by the acceleration sensor 15. In addition, although the user is walking on the belt part 37 of the room runner and the user himself / herself is not moving with respect to the ground, here, the operation of the belt part 37 in which the user is walking is performed. Treat speed as the speed of movement of the user.

  Based on the received speed information, the image generating means 11b calculates a first moving speed for displaying the moving image on the display means 16a, 16b as a speed according to the received speed information, and temporarily stores the acceleration sensor. A second moving speed for displaying the moving image on the display means 16a, 16b is calculated at an acceleration corresponding to the acceleration measured by 15, and a moving image is calculated based on the calculated first moving speed and the second moving speed. A moving image output signal for displaying an image is generated.

  The display control unit 11c displays the moving image on the display units 16a and 16b based on the moving image output signal generated by the image generating unit 11b.

  The acceleration sensor 15 is fixed to one of the display means 16a and 16b, measures the acceleration, and supplies it to the microcomputer 11 as acceleration information. The acceleration sensor 15 may be fixed to the user's waist or head.

  The display means 16a and 16b are configured by a liquid crystal display or the like, and are arranged at a position that becomes a peripheral visual field region for the user, like the display means 12a and 12b of the mobility enhancing apparatus 1 that is Embodiment 1 of the present invention. . The display means 16a and 16b display moving images in accordance with instructions from the microcomputer 11.

  The moving image storage means 21 stores moving image data to be displayed on the display means 16a and 16b.

<Action>
Next, the effect | action of the room runner 60 to which the movement enhancing device 104 which is Example 5 of this invention is applied is demonstrated using FIG.

  First, when the room runner control unit 34 operates the belt unit 37, the room runner control unit 34 controls the moving speed of the belt unit 37 based on an operation signal input from the input unit 36 by a user operation. Further, the room runner control unit 34 transmits speed information indicating the moving speed of the belt unit 37 to the movement enhancing device 104.

  The acceleration sensor 15 measures acceleration and supplies the measured acceleration to the microcomputer 11 as acceleration information.

  Next, the receiving unit 11a of the microcomputer 11 supplies the speed information supplied from the room runner control unit 34 and the acceleration information supplied from the acceleration sensor 15 to the image generating unit 11b.

  The image generation means 11b supplied with the speed information and the acceleration information temporarily reflects the acceleration according to the acceleration indicated by the supplied acceleration information on the speed according to the speed indicated by the supplied speed information, The moving speed of the moving image is calculated, and a moving image output signal for causing the display means 12a and 12b to display the moving image at the calculated moving speed is generated.

  The image generation processing by the image generation unit 11b will be specifically described below.

  Since the image generation unit 11b is supplied with the speed information and the acceleration information at a predetermined cycle, for example, at a certain time (time t1), the speed information and the acceleration information are supplied, and after the elapse of a predetermined cycle from the time t1. A case where the next speed information and acceleration information are supplied at a certain time t3 will be described.

It is assumed that the speed indicated by the supplied speed information is X _t1 (m / hr) and the acceleration indicated by the supplied acceleration information is R _t1 (m / hr ² ) at time _t1 . At this time, the image generation means 11b is a speed that makes the user feel that the moving speed of the moving image at the time point t1 is moving according to the supplied speed X _t1 (m / hr). 1 is set as a moving speed Y _t1 (m / hr), and according to R _t1 (m / hr ² ), the acceleration S _t1 (m / hr) is an acceleration that makes the user feel that the vehicle is accelerating. ² ) is set.

Then, at the time t2, which is between the time t1 and the time t3, using the elapsed time from the time _t1 , Y _t1 (m / hr), and S _t1 (m / hr ² ), the moving image at the time t2 The second moving speed Z _t2 (m / hr) that is the moving speed of is calculated as a speed accelerated from Y _t1 (m / hr) by S _t1 (m / hr ² ).

Next, when speed information of X _t3 (m / hr) is supplied at time t3, the image generation unit 11b sets the first movement speed, which is the moving speed of the moving image at time _t3 , to X _t3 ( m / hr) is set to Y _t3 (m / hr), which is a speed that makes the user feel that the user is moving. However, Y _t3 (m / hr) is less than Z _t2 (m / hr).

Thus, simply, the moving speed of the moving image at the time point _t1 is set to the first moving speed Y _t1 (m / hr), and the moving speed of the moving image at the time point t3 is set to the first moving speed Y _t3 (m / Hr), it is possible to enhance the user's feeling of movement, but the moving speed of the moving image at time _t1 is set to the first moving speed Y _t1 (m / hr), and the time at time t2 is set. By setting the moving speed of the moving image as the second moving speed Z _t2 (m / hr) and setting the moving speed of the moving image at the time t3 as the first moving speed Y _t3 (m / hr), At time t2, since the moving speed with a large overshoot is set, it is possible to further enhance the sense of movement for the user.

  Then, the image generation unit 11b reads the target moving image from the moving image storage unit 21, extracts the color difference signal from the read moving image, and sets the moving speed of the extracted color difference signal as the first moving speed and the second moving speed. Set as the moving speed.

  Further, the image generation unit 11b generates and generates a moving image output signal so that the moving images are displayed on the display units 16a and 16b at the first moving speed and the second moving speed of the set moving image. The moving image output signal thus supplied is supplied to the display control means 11c.

  Next, the display control unit 11c to which the moving image output signal is supplied from the image generation unit 11b controls the display units 16a and 16b based on the supplied moving image output signal.

In the above example, the display control unit 11c displays the moving speed of the moving image as the first moving speed Y _t1 (km / hr) from the time t1 to the time t2, and from the time t2 to the time t3. The display control means 11c displays the moving speed of the moving image as the second moving speed Z _t2 (km / hr). From the time t2 to the time t3, the display control means 11c sets the moving speed of the moving image. It displays as 1st moving speed _Yt3 (km / hr).

  However, if the color difference signal is calculated and displayed as a specific moving speed in this way, in principle, a color shift occurs in the moving image. In order to solve this problem, the color shift can be eliminated by performing a process of returning the color to the original for every predetermined period in units of pixels.

  For example, it is assumed that the color of a specific pixel is blue in a moving image at a certain time. In this case, when the color difference signal is simply displayed at a specific movement speed, the pixel continues to move while maintaining the blue color, and is shifted from the surrounding image. However, for example, by performing processing that assimilate with a surrounding color (for example, red) after a certain time, the color shift can be finally eliminated. For example, in a situation where an image is rendered every 1/120 second, processing is performed to assimilate with surrounding colors after 4 frames. Then, 4 frames are 1/30 second, so this cannot be perceived by human vision. However, when viewed in units of 1/120 frames, since the color information is moving, it is presented as speed information, which can enhance the user's sense of movement.

  That is, the user usually looks like an ordinary image when looking at the image, but when it is in the peripheral visual field region, it contains a function as an image that enhances the sense of movement. .

  Thus, according to the mobility enhancing apparatus 104 that is Embodiment 5 of the present invention, the display means 16a and 16b are arranged in the peripheral visual field region where the sensitivity for light and darkness is high and the temporal resolution is high for the user, By displaying a moving image that moves at an appropriate speed on the display means 16a and 16b, the user can feel a sense of movement. Moreover, since the display means 16a and 16b are comprised with a small-sized liquid crystal display etc. as mentioned above, manufacturing and installation expense can be held down cheaply.

  Further, according to the mobility enhancing device 104 that is Embodiment 5 of the present invention, based on the acceleration from the acceleration sensor fixed to the display means 16a, 16b in addition to the speed information of the belt portion 37, the display means 16a, Since the image displayed on 16b is produced | generated, an image can be displayed according to the rhythm of a user's walk. As a result, the user can further feel a sense of movement.

  The movement of a feature point that is actually perceived by a human in the real world, that is, the optical flow is an amount that depends on two variables, that is, the position of the feature point and the relative movement speed. That is, as the feature point is farther from the person or the movement speed of the person itself is slower, the movement speed of the optical flow is also slower. If the distance between the position where the optical flow is presented and the eye is constant, the change in the speed of the optical flow is considered to directly lead to the change in the human movement feeling.

  In general, the optical flow presentation position in the real world, that is, the distance between the feature point and the human eye is not constant and varies greatly depending on the environment. For this reason, it is considered that a certain amount of familiarity is required to sense the speed of movement from the optical flow presented there. However, since humans use this function on a daily basis, it is considered that in principle, humans feel a sense of movement regardless of the distance between the position where the optical flow is presented and the eye. However, particularly when focusing on the relationship between the eyes and the ground, the distance between them is the height of the person, which is basically constant and rarely changes greatly. In addition, humans can sense their walking speed through somatic sensations.

  In other words, as far as the optical flow in the downward direction of the eye is concerned, humans always learn the correspondence between their movement speed and the movement speed of the optical flow on a daily basis, and move accurately without requiring learning or familiarity. It is thought that it is possible to get a feeling. For example, when the user is using a room runner, it is assumed that an optical flow having a speed slower than the actual walking speed is presented on the ground. Then, the contradiction occurs between the speed information from the somatosensory sense and the visual speed information, and it is thought that the sense that “they should have walked but did not advance easily” is obtained.

  Therefore, in the sixth embodiment of the present invention, the optical flow is displayed at the appropriate speed in the peripheral visual field in the left-right direction when viewed from the user and is applied to the room runner, and the peripheral visual field in the downward direction as viewed from the user. A mobility enhancement device that enhances the user's mobility by displaying an optical flow at an appropriate speed will be described.

<Configuration>
FIG. 11 is a block diagram illustrating a configuration of a room runner to which a mobility enhancing device that is Embodiment 6 of the present invention is applied.

  As shown in FIG. 11, the room runner 70 includes a mobility enhancing device 105 that is Embodiment 6 of the present invention, a room runner control unit 34, a room runner display unit 35, and an input unit 36.

  The mobility enhancing apparatus 105 according to the sixth embodiment of the present invention is connected to the room runner control unit 34, and the room runner control unit 34 includes a room runner display unit 35, an input unit 36, and a belt unit 37. It is connected.

  The room runner control unit 34 controls the rotation speed of the belt unit 37 based on an operation signal input by a user operation from the input unit 36. Further, the room runner control unit 34 supplies speed information indicating the moving speed of the belt unit 37 to the movement enhancing device 104.

  The room runner display unit 35 is configured with a liquid crystal display or the like, and displays a room runner setting menu or the like generated by the room runner control unit 34.

  The input unit 36 generates an operation signal by a user operation and supplies it to the room runner control unit 34.

  The belt unit 37 includes a belt and a motor that rotates the belt, and rotates the belt in accordance with an instruction from the room runner control unit 34.

  As shown in FIG. 11, the mobility enhancing apparatus 105 according to the sixth embodiment of the present invention includes a room runner control unit 34, a room runner display unit 35, and an input unit 36 for the sake of explanation. However, for example, the present invention can also be applied to a room runner in which the room runner control unit 34 and the input unit 36 are provided in the room runner display unit 35 and integrated.

  The mobility enhancing device 104 includes a microcomputer 11, an acceleration sensor 15, display means 12 a and 12 b, an inclination angle setting input unit 17, and a projection means 18.

  The microcomputer 11 includes a receiving unit 11a, an image generating unit 11b, and a display control unit 11c in terms of its functions.

  The receiving unit 11 a receives speed information indicating the speed of the user, receives acceleration information indicating the acceleration measured by the acceleration sensor 15, and receives the tilt angle input set value input by the tilt angle setting input unit 17. To do. In addition, although the user is walking on the belt portion 37 of the room runner and the user is not moving with respect to the ground, the operating speed of the belt portion 37 where the user is walking is here. Is treated as the speed of movement of the user.

  The image generation unit 11b calculates the first moving speed of the optical flow to be displayed on the display units 12a and 12b so as to be slower than the speed according to the received speed information as the generated tilt angle setting value is higher. .

  Further, the image generating unit 11b temporarily displays the optical flow on the display units 12a and 12b with the acceleration corresponding to the acceleration indicated by the acceleration information measured by the acceleration sensor 15 from the calculated first moving speed. A third movement speed is calculated, and a third LED output signal for displaying the calculated third movement speed is generated.

  Further, the lower the generated tilt angle setting value is, the image generation unit 11b has the optical flow moving speed at the position closest to the user in the display area and the optical flow at the position farthest from the user in the display area. The second moving speed of the optical flow corresponding to the position in the display area is calculated so that the difference from the moving speed becomes large.

  Then, the image generation unit 11b temporarily displays the optical flow on the projection unit 18 with the acceleration corresponding to the acceleration indicated by the acceleration information measured by the acceleration sensor 15 from the calculated second moving speed. 4 is calculated.

  Further, the image generation means 11b sets the optical flow display area so as to spread toward the user side on the surface on which the user moves as the generated inclination angle setting value is lower, and the generated inclination angle is set. As the setting value is lower, the shape of the optical flow is set so that the shape of the optical flow at the position closest to the user in the display area and the shape of the optical flow at the position farthest from the user in the display area are greatly different. A fourth LED output signal for displaying the optical flow is generated based on the set display area, the calculated fourth moving speed, and the set shape.

  The display control unit 11c displays the optical flow on the display units 12a and 12b based on the third LED output signal generated by the image generation unit, and displays the fourth LED output signal generated by the image generation unit 11b. Based on this, the optical flow is projected on the projection means 18.

  The acceleration sensor 15 is fixed to one of the display means 12a and 12b, measures the acceleration, and supplies it to the microcomputer 11 as acceleration information.

  The display means 12a and 12b are constituted by matrix LEDs, and the size of the matrix LEDs is a small size of about 4 × 8 cm, and includes 16 × 32 LEDs. And the display means 12a, 12b is arrange | positioned in the position used as a peripheral visual field area for a user, and displays the optical flow produced | generated by the microcomputer 11. FIG.

  The inclination angle setting input unit 17 generates an inclination angle setting value, which is an inclination angle of the belt portion 37 desired by the user, by a user operation.

  The projection means 18 projects an optical flow on a predetermined display area on the belt portion 37 that is a peripheral visual field area of the user in accordance with an instruction from the microcomputer 11.

<Action>
Next, the effect | action of the room runner 70 to which the movement enhancing device 105 which is Example 6 of this invention is applied is demonstrated using FIG.

  First, when the room runner control unit 34 operates the belt unit 37, the room runner control unit 34 controls the moving speed of the belt unit 37 based on an operation signal input from the input unit 36 by a user operation. In addition, the room runner control unit 34 transmits the speed information indicating the moving speed of the belt unit 37 to the mobility enhancing device 104.

  The acceleration sensor 15 measures acceleration and supplies the measured acceleration to the microcomputer 11 as acceleration information.

  The tilt angle setting input unit 17 generates the tilt angle setting value of the belt unit 37 desired by the user when the tilt angle of the belt unit 37 desired by the user is input by the user's input operation. The generated tilt angle setting value is supplied to the microcomputer 11.

  Next, the receiving unit 11a of the microcomputer 11 generates an image of the speed information received from the room runner control unit 34, the acceleration information supplied from the acceleration sensor 15, and the tilt angle setting value supplied from the tilt angle setting input unit 17. Supply to means 11b.

  The image generating unit 11b to which the speed information, the acceleration information, and the tilt angle setting value are supplied displays the display unit 12a so that the higher the generated tilt angle setting value, the slower the speed corresponding to the speed indicated by the received speed information. , 12b, the first moving speed of the optical flow to be displayed is calculated.

  Further, the image generating unit 11b temporarily displays the optical flow on the display units 12a and 12b with the acceleration corresponding to the acceleration indicated by the acceleration information measured by the acceleration sensor 15 from the first moving speed. 3 is calculated, and a first LED output signal for displaying the optical flow at the first movement speed and the third movement speed is generated.

  The image generation process in the image generation unit 11b will be specifically described below.

  Since the image generation unit 11b calculates the first moving speed in a predetermined cycle, for example, the first moving speed is calculated at a certain time (time t1), and after a predetermined period of time has elapsed from the time t1. A case where the next first moving speed is calculated at time t3 will be described. Further, since acceleration is supplied from the acceleration sensor 15 at a predetermined cycle, it is assumed that acceleration information is supplied at time t1.

Assume that the calculated first moving speed is X _t1 (m / hr) and the acceleration indicated by the supplied acceleration information is R _t1 (m / hr ² ) at time _t1 . At this time, the image generation unit 11b sets the acceleration S _t1 (m / hr ² ) as the acceleration corresponding to R _t1 (m / hr ² ).

Then, at the time t2 between the time t1 and the time t3, the optical flow at the time t2 is calculated using the elapsed time from the time t1, the time X _t1 (m / hr), and the S _t1 (m / hr ² ). The third moving speed Z _t2 (m / hr) is calculated as a speed accelerated from X _t1 (m / hr) by S _t1 (m / hr ² ).

Next, when speed information is supplied at time t3, a first movement speed _Xt3 (m / hr) is calculated. However, X _t3 (m / hr) is less than X _t2 (m / hr).

Thus, the movement speed of the optical flow at the time point _t1 is set to the first movement speed X _t1 (m / hr), and the movement speed of the optical flow at the time point t2 is set to the third movement speed Z _t2 (m / hr). hr) and the movement speed of the optical flow at time t3 is set to the first movement speed X _t3 (m / hr), so that the movement speed of the optical flow at time t1 is simply set to X _t1 ( m / hr), and the moving speed of the optical flow at time _t3 is smaller than the acceleration that occurs when a normal user walks at time t2, as compared to the case where X _t3 (m / hr) is set. Since the optical flow moves due to the acceleration, the user can feel a sense of movement and resistance in this case more than when actually walking.

  Then, the image generation unit 11b causes the LED to blink so that the optical flow is displayed on the display units 12a and 12b at the set first movement speed and third movement speed of the optical flow. A signal is generated, and the generated third LED output signal is supplied to the display control means 11c.

  Next, the display control unit 11c supplied with the third LED output signal from the image generation unit 11b blinks the 16 × 32 LEDs of the display units 12a and 12b based on the supplied third LED output signal. To control.

In the above example, the display control means 11c blinks the LED so that the optical flow moves at the first movement speed X _t1 (m / hr) from the time t1 to the time t2, and from the time t2 to the time t3. During this time, the display control unit 11c blinks the LED so that the optical flow moves at the third movement speed Z _t2 (m / hr), and during the period from the time t2 to the time t3, the display control unit 11c LED blinks so that the movement speed moves at _Xt3 (km / hr).

  Next, the image generation unit 11 b generates an LED output signal for displaying an optical flow projected by the projection unit 18 onto the belt unit 37.

  The process of generating an image to be projected by the projection unit 18 by the image generation unit 11b will be specifically described below.

  For example, when the user is walking on a horizontal plane, the feature point at a position away from the user has a low speed due to the relationship between the distance between the user's eye and the feature point that the user can visually recognize, A feature point near the user should recognize that the speed is fast. On the other hand, for example, when the user is walking uphill, the speed of the feature point at a position away from the user and the feature point at a position closer to the user than when walking on the horizontal plane The speed difference from the speed of the feature point should be small, and the movement speed of the feature point located away from the user should approach the movement speed of the feature point near the user.

  Also, if the shape of the feature point that prevents the shape of the feature point from changing as much as possible is circular, and the user is walking on the horizontal plane, the shape of the feature point at a position away from the user is an ellipse. The shape of the feature point should change to a circle as it gets closer to the user. On the other hand, for example, when the user is walking uphill, the shape of the feature point at a position away from the user is closer to a circle than when walking on a horizontal plane. Should be.

  Therefore, as the tilt angle is smaller, 1) the optical flow is projected in such a way as to spread from the back as viewed from the user, and 2) the moving speed of the optical flow is made as uniform as possible. ) An LED output signal for displaying the optical flow on the belt unit 37 so as to change the shape of the optical flow as much as possible is generated.

Specifically, for example, the image generating unit 11b
1) The display area is set so that the lower the tilt angle setting value generated by the tilt angle setting input unit 17 is, the wider the region 37b is from the farthest position 37b on the belt unit 37 as viewed from the user. And
2) Set the second moving speed of the optical flow at the position 37a closest to the user as viewed from the user according to the speed indicated by the supplied speed information, and set the speed so that the user feels moving. The lower the tilt angle setting value generated by the tilt angle setting input unit 17 of the second movement speed of the optical flow at the position 37b farthest from the user, the lower the tilt angle set value generated by the tilt angle setting input unit 17, Calculate as a speed that makes the difference from the moving speed large,
3) The shape of the optical flow at the position 37a closest to the user is circular, and the shape of the optical flow at the position 37b farthest from the user is the inclination angle setting generated by the inclination angle setting input unit 17. The lower the value, the greater the difference, that is, the elliptical shape is set.

  Further, the image generation unit 11b temporarily projects the optical flow on the projection unit 18 with the acceleration corresponding to the acceleration indicated by the acceleration information measured by the acceleration sensor 15 from the calculated second moving speed. 4 is calculated.

  Since the fourth movement speed calculation process in the image generation unit 11b is the same as the third movement speed calculation process, the description thereof is omitted.

  Then, the image generation unit 11b displays the optical flow on the belt unit 37 based on the set optical flow display area, the calculated fourth movement speed of the optical flow, and the set shape. A fourth LED output signal for generating

  Then, the image generation unit 11b supplies the generated fourth LED output signal to the display control unit 11c.

  Next, the display control unit 11c, to which the third LED output signal and the fourth LED output signal are supplied from the image generation unit 11b, displays the display units 12a, 12b based on the supplied third LED output signal. The optical flow is displayed, and the optical flow is projected onto the belt unit 37 by the projection unit 18 based on the supplied fourth LED output signal.

  Thus, according to the mobility enhancing apparatus 105 that is Embodiment 6 of the present invention, the display means 12a and 12b are arranged in the peripheral visual field region where the sensitivity for light and darkness is high and the temporal resolution is high for the user, The slow flow optical flow is displayed on the display means 12a and 12b, and the smaller the inclination angle of the belt portion 37 is on the projection means 18, 1) in a form that spreads from the back to the front as seen from the user. By projecting the optical flow, 2) making the moving speed of the optical flow as uniform as possible, and 3) displaying the optical flow on the belt portion 37 so as to change the shape of the optical flow as much as possible, the user can Feels more moved than when actually walking, and in this case feels more resistant, so the user is ascending uphill It is possible to obtain the cormorants Do not move feeling.

  Thereby, without giving the belt portion 37 a function of inclining, the user can be given a simulated experience of climbing, for example, so that the manufacturing cost can be reduced at a low cost. In addition, for those who want to use room runners while experiencing mountain climbing, but who have weak legs that are difficult to actually climb up a slope, climbing without placing a burden on the legs Can be made.

  Further, according to the mobility enhancing device 105 that is Embodiment 6 of the present invention, based on the acceleration from the acceleration sensor fixed to the display means 12a, 12b in addition to the speed information of the belt portion 37, the display means 12a, Since the optical flow to be displayed on 12b is generated, an image can be displayed in accordance with the walking rhythm of the user. Thereby, the user can feel a sense of movement more.

  Further, as described above, the display means 12a and 12b of the mobility enhancing apparatus 105 which is the sixth embodiment of the present invention is composed of a small LED array and is projected by the projection means 18 to display the optical flow. And installation costs can be kept low.

  In the seventh embodiment of the present invention, a movement enhancement device that enhances the user's movement feeling by displaying a moving image at an appropriate speed in the peripheral visual field region as viewed from the user will be described.

<Configuration>
FIG. 12 is a block diagram illustrating a configuration of a mobility enhancing apparatus that is Embodiment 7 of the present invention.

  As shown in FIG. 12, the mobility enhancing apparatus 106 that is Embodiment 7 of the present invention includes a microcomputer 11, an acceleration sensor 15, cameras 19a and 19b, and display means 20a and 20b.

  The microcomputer 11 includes a receiving unit 11a, an image generating unit 11b, and a display control unit 11c in terms of its functions.

  The receiving unit 11 a receives acceleration information from the acceleration sensor 15.

  The image generation unit 11b calculates the moving speed of the moving images photographed by the cameras 19a and 19b so that the display units 20a and 20b display the accelerations according to the acceleration indicated by the acceleration information measured by the acceleration sensor. A moving image output signal for displaying a moving image captured by the cameras 19a and 19b at the calculated moving speed is generated.

  The display control unit 11c displays the captured moving image on the display units 20a and 20b based on the moving image output signal generated by the image generation unit 11b.

  The acceleration sensor 15 is fixed to one of the display means 20a and 20b, measures the acceleration, and supplies it to the microcomputer 11 as acceleration information.

  The cameras 19a and 19b are fixed to the display means 20a and 20b, respectively, and take images in the direction opposite to the direction of the display surface of the display means 20a and 20b, that is, in the left-right direction as viewed from the user. Then, the captured moving image data is supplied to the microcomputer 11.

  The display means 20a, 20b is configured by a liquid crystal display or the like, and is disposed at a position that is a peripheral visual field region for the user, like the display means 12a, 12b of the mobility enhancing apparatus 1 that is Embodiment 1 of the present invention. . Then, the display means 20a, 20b displays a moving image in accordance with an instruction from the microcomputer 11.

<Action>
Next, the operation of the mobility enhancing apparatus 106 that is Embodiment 7 of the present invention will be described with reference to FIG.

  First, when the mobility enhancing device 106 is turned on, the acceleration sensor measures acceleration, supplies the measured acceleration to the microcomputer 11 as acceleration information, and the cameras 19a and 19b send the captured moving image data to the microcomputer 11. To supply.

  Next, the receiving means 11a of the microcomputer 11 receives the image data supplied from the cameras 19a and 19b and the acceleration information supplied from the acceleration sensor 15, and supplies them to the image generating means 11b.

  The image generation unit 11b supplied with the acceleration information generates a moving image output signal for displaying the moving image as an image on the display units 20a and 20b based on the supplied acceleration information.

  Specifically, the image generation unit 11b reads out the moving image data stored in the moving image storage unit 21, extracts only the color difference component from the read out moving image, and determines the moving speed of the extracted color difference image as the received acceleration. Accordingly, the acceleration is calculated so as to make the user feel that the user is accelerating, and only the extracted color difference image is simply enlarged or reduced according to the calculated moving speed. For example, after converting RGB (x, y) to I (x, y), U (x, y), V (x, y) (I: luminance image, UV: color difference image), U (kx, As ky), V (kx, ky) (k: enlargement ratio), it is superimposed on I (x, y) and converted back to RGB.

  In this case, as in the fifth embodiment, the luminance image and the color difference image are shifted. However, the color shift is not a problem because the user is insensitive to the shift in the peripheral visual field region and may not notice it.

  Next, the image generation unit 11b supplies the generated moving image output signal to the display control unit 11c.

  Next, the display control unit 11c to which the moving image output signal is supplied from the image generation unit 11b displays the moving image on the display units 20a and 20b based on the supplied moving image output signal.

  Thus, according to the mobility enhancing apparatus 106 that is Embodiment 7 of the present invention, the display means 20a and 20b are arranged in the peripheral visual field region where the sensitivity for light and darkness is high and the temporal resolution is high for the user, By displaying images with high acceleration on the display means 20a, 20b, the user can feel a sense of movement. Moreover, since the display means 20a and 20b are comprised with a small-sized liquid crystal display etc. as mentioned above, manufacturing and installation expense can be held down cheaply.

  The movement enhancement device 106 according to the seventh embodiment of the present invention includes cameras 19a and 19b, and displays moving images at appropriate movement speeds based on images taken by the cameras 19a and 19b. However, the camera 19a, 19b may be omitted. For example, the image generation unit 11b calculates the movement speed of the optical flow so that the display units 20a and 20b display the acceleration according to the acceleration indicated by the acceleration information measured by the acceleration sensor 15, and uses the calculated movement speed. An LED output signal for displaying the optical flow may be generated, and the display control unit 11c may display the optical flow on the display units 20a and 20b based on the LED output signal generated by the image generation unit 11b. .

It is the block diagram which showed the structure of the flight simulation system to which the mobility enhancing device which is Example 1 of this invention is applied. It is the layout explaining the arrangement | positioning of the display means of the movement enhancement apparatus which is Example 1 of this invention. It is a perspective view of the display means of the mobility enhancement apparatus which is Example 1 of this invention fixed to the helmet with which a user is mounted | worn. It is the top view which showed an example of the display means of the movement enhancement apparatus which is Example 1 of this invention. It is the block diagram which showed the structure of the cockpit periphery of the aircraft to which the mobility enhancement apparatus which is Example 2 of this invention is applied. It is the figure which showed an example of the display means of the movement enhancement apparatus which is Example 2 of invention. It is the block diagram which showed the structure of the cockpit periphery of the aircraft to which the mobility enhancement apparatus which is Example 3 of this invention is applied. It is the figure which showed the positional relationship of the display means when the display means of the movement enhancement apparatus which is Example 3 of this invention is mounted | worn by the user. It is the block diagram which showed the structure of the cockpit periphery of the helicopter to which the movement enhancement apparatus which is Example 4 of this invention is applied. It is the block diagram which showed the structure of the room runner to which the movement enhancement apparatus which is Example 5 of this invention is applied. It is the block diagram which showed the structure of the room runner to which the mobility enhancing device which is Example 6 of this invention is applied. FIG. 12 is a block diagram illustrating a configuration of a mobility enhancing apparatus that is Embodiment 7 of the present invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1,101,102,103,104,105,106 ... Mobility sensation apparatus 11 ... Microcomputer 11a ... Reception means 11b ... Image generation means 11c ... Display control means 12a-12d, 13a-13d, 16a, 16b, 20a, 20b Display unit 14 Setting value input unit 14 Setting input unit 15 Acceleration sensors 16a and 16b Display unit 17 Inclination angle setting input unit 18 Projection unit 19a and 19b Camera 21 Moving image storage unit

Claims (11)

A mobility enhancing device that enhances the user's sense of movement by displaying an image that stimulates vision in the peripheral visual field area of the user,
Display means for displaying the image so as to be a peripheral visual field region of the user and substantially parallel to a direction of the user's line of sight;
Receiving means for receiving information relating to the movement of the user;
Based on the received information relating to movement, a moving speed of the image to be displayed on the display means is calculated, and an image output signal for displaying an optical flow or a moving image as the image is generated at the calculated moving speed. Image generating means;
Display control means for displaying the optical flow or the moving image on the display means based on the image output signal generated by the image generation means;
A mobility enhancing device characterized by comprising: The receiving means includes
Receiving speed information indicating the speed of movement of the user and acceleration information indicating the acceleration of the user;
The image generating means includes
Based on the received speed information, a moving speed of the image is temporarily calculated so that the image is displayed on the display unit at an acceleration corresponding to the acceleration indicated by the acceleration information. The movement enhancement device according to claim 1, wherein an image output signal for displaying the optical flow or the moving image is generated. A setting input unit that generates a speed target setting value indicating a target value of the speed of the user by the user's operation;
The receiving means includes
Receiving speed information indicating the speed of movement of the user and a speed target set value generated by the setting input unit;
The image generating means includes
It is determined whether or not the received speed information exceeds the received speed target setting value, and based on this determination result, the moving speed of the image to be displayed on the display means is calculated, and the calculated moving speed is The movement enhancement device according to claim 1, wherein an image output signal for displaying the optical flow or the moving image is generated. The receiving means includes
Receiving shift information including a shift amount indicating a shift between the current position of the user and the target position and a shift change rate indicating a change speed of the shift amount;
The image generating means includes
A total value obtained by multiplying each of the shift amount and the shift change rate included in the received shift information by a predetermined coefficient is calculated as the moving speed of the image to be displayed on the display unit, and the calculated moving speed is calculated. The movement enhancement device according to claim 1, wherein an image output signal for displaying the optical flow or the moving image is generated based on the image. An acceleration sensor fixed to any one of the display means and measuring an acceleration of the fixed display means;
The receiving means includes
Receiving speed information indicating the speed of movement of the user;
The image generating means includes
Based on the received speed information, temporarily calculate the moving speed of the image so that the image is displayed on the display means at an acceleration corresponding to the acceleration indicated by the acceleration information measured by the acceleration sensor, The movement enhancement device according to claim 1, wherein an image output signal for displaying the optical flow or the moving image is generated at the calculated moving speed. The display means includes
A plurality of LEDs for displaying the optical flow, and a substrate on which the plurality of LEDs are fixed so as not to block the line of sight of the user penetrating between the plurality of LEDs. The mobility enhancing device according to any one of claims 1 to 5. An image display means for displaying an optical flow in a predetermined display area on a surface which is a peripheral visual field area of the user and is substantially parallel to the direction of the user's line of sight and on which the user moves; ,
Receiving means for receiving speed information indicating the speed of movement of the user;
An image generation means for generating an image output signal for displaying an optical flow or a moving image based on the received speed information, and a moving speed of an image to be displayed on the image display means;
The image generating means includes
As the inclination angle of the display area is lower, the display area is set so as to expand toward the user side on the surface on which the user moves, and at the position closest to the user in the display area. The movement speed of the optical flow according to the position in the display area is calculated so that the difference between the movement speed of the optical flow and the movement speed of the optical flow at the position farthest from the user in the display area is large. The shape of the optical flow at the position closest to the user in the display area and the shape of the optical flow at the position farthest from the user in the display area are set to be significantly different. Then, an option is set based on the set display area, the calculated moving speed, and the set shape. Generating an image output signal for displaying the optical flow, and displaying the optical flow on the image display means;
A device for enhancing the feeling of movement. An inclination angle setting input unit that generates an inclination angle setting value that is an inclination angle of a surface on which the user moves, which the user desires, by an operation of the user;
Projection means for projecting a second optical flow in a predetermined display area on a surface that is a peripheral visual field area of the user and on which the user moves,
The receiving means includes
Receiving speed information indicating the speed of movement of the user;
The image generating means includes
Based on the generated tilt angle setting value and the speed indicated by the received speed information, a first moving speed of the first image to be displayed on the display means is calculated, and the calculated first moving speed is used. A first image output signal for displaying the optical flow or the moving image as the first image is generated, and the lower the generated inclination angle setting value, the more the user moves on the surface on which the user moves. The display area is set so as to spread toward the user side, and the lower the generated tilt angle setting value, the moving speed of the second optical flow at a position closest to the user in the display area And the second option corresponding to the position in the display area so that the difference between the moving speed of the second optical flow at the position farthest from the user in the display area is large. The second moving speed of the optical flow is calculated, and the lower the generated inclination angle setting value, the shape of the second optical flow at the position closest to the user in the display area and the display area in the display area The shape of the second optical flow is set so that the shape of the second optical flow at a position farthest from the user is greatly different, and the set display area and the calculated second moving speed are set. And generating a second image output signal for displaying the second optical flow based on the set shape,
The display control means includes
Based on the first image output signal generated by the image generation means, the first image is displayed on the display means, and based on the second image output signal generated by the image generation means, the first image output signal is displayed. 2. The mobility enhancing device according to claim 1, wherein two optical flows are projected onto the projection unit. Any one of the display means, or an acceleration sensor fixed to the user's waist or head and measuring the acceleration generated on the fixed display means, the user's waist or the user's head; ,
The image generation means further determines a third movement speed of the third image so as to cause the display means to display the acceleration at a speed corresponding to the acceleration indicated by the acceleration information temporarily from the first movement speed. Calculating a third image output signal for displaying the optical flow or the moving image as the third image at the calculated third moving speed;
A fourth moving speed of the second optical flow is calculated from the second moving speed so as to be temporarily displayed on the projection unit at an acceleration corresponding to the acceleration indicated by the acceleration information, and is set. Generating a fourth image output signal for displaying the second optical flow based on the display area, the calculated fourth moving speed, and the set shape;
The display control means includes
Based on the third image output signal generated by the image generation means, the third image is displayed on the display means, and on the basis of the fourth image output signal generated by the image generation means, The movement enhancement device according to claim 8, wherein two optical flows are projected onto the projection unit. A mobility enhancing device that enhances the user's sense of movement by displaying an image that stimulates vision in the peripheral visual field area of the user,
Display means for displaying the image so as to be a peripheral visual field region of the user and substantially parallel to a direction of the user's line of sight;
Any one of the display means, or an acceleration sensor fixed to the user's waist or head and measuring the acceleration generated on the fixed display means, the user's waist or the user's head; ,
A moving speed of the image to be displayed on the display means is calculated according to the acceleration indicated by the acceleration information measured by the acceleration sensor, and an optical flow or a moving image is displayed as the image at the calculated moving speed. Image generating means for generating an image output signal;
Display control means for displaying the optical flow or the moving image on the display means based on the image output signal generated by the image generation means;
A mobility enhancing device characterized by comprising: A camera that is fixed to each of the display means and captures an image in a direction opposite to the direction of the fixed display means;
The image generating means includes
According to the acceleration measured by the acceleration sensor, a moving speed of an image photographed by the camera displayed on the display means is calculated, and an image photographed by the camera is displayed at the calculated moving speed. The movement output device according to claim 10, wherein an image output signal is generated.

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