JP2014220588A - Electronic apparatus and program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an electronic apparatus capable of properly acquiring a relative position to a collision object.SOLUTION: An electronic apparatus includes: an acceleration acquisition part which acquires the acceleration time-series added to the own apparatus and also acquires the acceleration time-series for determination used for collision determination based the acquired acceleration; a collision time acquisition part which acquires the collision time with a collision object based on a differential value of the acceleration; a moving direction acquisition part which acquires the moving direction of the own apparatus just before collision from the collision time based on the past acceleration for determination; and a relative position acquisition part which acquires the relative position to the collision object from the moving direction.

Description

  The present invention relates to an electronic device and a program.

  In recent years, electronic devices having a short-range wireless communication function such as Bluetooth (registered trademark) and Wi-Fi (registered trademark) are increasing. A short-range wireless communication function such as Bluetooth (registered trademark) or Wi-Fi (registered trademark) is suitable for exchanging simple information between electronic devices at a distance of several meters to several tens of meters. In order to allow the user to easily use the short-range wireless communication function, it is desirable to realize a GUI (Graphical User Interface) that allows the user to intuitively perform short-range wireless communication.

  For example, a communication terminal as shown in FIG. 1 has been invented for the purpose of intuitively performing near field communication by a user (Japanese Patent Application No. 2012-279134 unpublished at the time of filing this application). FIG. 1 is an example of communication terminals 8A and 8B that enable intuitive file exchange. As shown in FIG. 1, it is assumed that the communication terminals 8A and 8B are arranged adjacent to each other. In the example of FIG. 1, it is assumed that thumbnail images of the file data 7 stored in the communication terminal 8A are displayed on the display screens of the communication terminals 8A and 8B.

  First, the communication terminals 8A and 8B establish communication. When the communication terminal 8A accepts a drag operation of the thumbnail image of the file data 7 after the communication is established, the communication terminals 8A and 8B detect a data display area after the drag operation of the thumbnail image based on the drag operation. As in the example of FIG. 1, it is assumed that the user has dragged the thumbnail image of the file data 7 over the boundary of the screen from the communication terminal 8A to the communication terminal 8B. In this case, at the moment when the user's operation finger is positioned near the boundary of the screen, the display results of the thumbnail images on the screens of the communication terminals 8A and 8B are 9a and 9b, for example.

  For example, when the drag operation is continued until the entire thumbnail image is displayed on the screen of the communication terminal 8B, the communication terminal 8A transmits the file data 7 corresponding to the thumbnail image to the communication terminal 8B. According to the above-described invention of the communication terminal, the user can intuitively transmit and receive file data such as photo data using the short-range wireless communication function.

  In order to start the above-described intuitive data exchange, each communication terminal needs to acquire a relative position between its own terminal and another terminal. For example, the communication terminal 8A acquires information that the communication terminal 8B that is the communication partner exists on the right side, and the communication terminal 8B acquires information that the communication terminal 8A that is the communication partner exists on the left side. There is a need to.

Hereinafter, with reference to FIG. 2 and FIG. 3, one method for each communication terminal to acquire the relative position between its own terminal and another terminal will be described. FIG. 2 is a diagram illustrating a state in which the own terminal and another terminal collide with each other. FIG. 3 is a diagram illustrating an example of a time series of accelerations measured by the communication terminal 8A before and after the collision. As shown in FIG. 2, the short side direction of the terminal is the x-axis direction (rightward on the plane of the paper is positive), the longitudinal direction of the terminal is y-axis direction (upward on the plane of the paper is positive), and the direction orthogonal to the display screen of the terminal is the z-axis direction. (Direction from the terminal back to the terminal front is positive). As shown in FIG. 2, as a result of moving the communication terminal 8A in the positive x-axis direction and the communication terminal 8B in the negative x-axis direction, the right end of the communication terminal 8A and the left end of the communication terminal 8B collide. Shall. At this time, the time series of acceleration in the x-axis direction measured by the communication terminal 8A before and after the collision is as shown in FIG. 3A, for example. As shown in FIG. 3A, the acceleration measured by the communication terminal 8A shows a positive value in a certain section immediately before the collision time 103. This is because the communication terminal 8A moves in the positive x-axis direction immediately before the collision, and acceleration is applied in the positive direction immediately before the collision. On the other hand, the acceleration measured by the communication terminal 8A takes a steep negative peak value immediately after the time 103, which is the collision time. This is because acceleration is applied in the negative x-axis direction by the collision with the colliding object (communication terminal 8B). Assuming that the acceleration peak value immediately after the time 103, which is the collision time, is a2 (m / s ² ), the positional relationship of the communication terminal 8A with the colliding object can be determined by detecting the sign of a2. . For example, if the sign of a2 is negative as shown in FIG. 3A, it can be seen that acceleration has been applied in the negative x-axis direction due to the collision. You can see that it collided with an object. Therefore, it can be seen that the communication terminal 8A exists close to the collided object on the x-axis negative direction (left side in the drawing) immediately after the collision. On the other hand, for example, if the sign of a2 is positive, it can be seen that the acceleration is applied in the positive x-axis direction due to the collision, so the communication terminal 8A collides with the collision object located in the negative x-axis direction (left direction on the paper). I understand that. Therefore, it can be seen that the communication terminal 8A is present immediately in the vicinity of the collided object on the x-axis positive direction (right direction in the drawing) immediately after the collision.

  The problem of the above-described relative position acquisition method will be described with reference to FIG. 3B. FIG. 3B shows an example of time series of acceleration measured by the communication terminal 8A when the communication terminal 8A is moved in the x-axis positive direction and collided with the communication terminal 8B in the x-axis positive direction, as in FIG. 3A. FIG. Therefore, the communication terminal 8A collides with the colliding object (communication terminal 8B) in the x-axis positive direction from the x-axis negative direction side. However, in the example of FIG. 3B, the acceleration peak value a2 takes a positive value immediately after the time 103, which is the collision time. The sign of a2 in this case is the sign opposite to the sign that should be observed theoretically.

  When communication terminals collide with each other, vibration and impact are applied to the communication terminal at the moment of collision, so that the acceleration peak value in the opposite direction to the movement direction immediately before the collision and the acceleration peak value in the opposite direction alternate. Is measured. These peak values may be measured back and forth depending on the sampling interval and sampling timing. As described above, when the peak value a2 immediately after the time 103, which is the collision time, is used for the relative position acquisition, an erroneous determination of the relative position may occur when the order of the peak values is measured before and after the sampling interval or sampling timing. Occur. Therefore, an object of the present invention is to provide an electronic device that can accurately acquire a relative position with respect to a collision object.

  The electronic device of the present invention includes an acceleration acquisition unit, a collision time acquisition unit, a movement direction acquisition unit, and a relative position acquisition unit.

  The acceleration acquisition unit acquires a time series of acceleration applied to the own device, and acquires a time series of determination acceleration used for collision determination based on the acquired acceleration. The collision time acquisition unit acquires the collision time with the collision object based on the differential value of the determination acceleration. The movement direction acquisition unit acquires the movement direction of the own aircraft immediately before the collision based on the past determination acceleration from the collision time. The relative position acquisition unit acquires a relative position with the colliding object from the moving direction.

  According to the electronic apparatus of the present invention, it is possible to accurately acquire the relative position with respect to the collision object.

The figure which shows the example of the communication terminal which enables the exchange of an intuitive file. The figure which illustrates the state which made the own terminal and the other terminal collide. The figure which shows the example of the time series of the acceleration measured with a communication terminal before and after a collision. 1 is a block diagram illustrating a configuration of an electronic device according to a first embodiment of the present invention. 5 is a flowchart showing the operation of the electronic apparatus according to the first embodiment of the present invention. 1 is a block diagram illustrating a configuration of an acceleration acquisition unit of an electronic device according to a first embodiment of the present invention. 6 is a flowchart showing the operation of the acceleration acquisition unit of the electronic apparatus according to the first embodiment of the present invention. The figure which shows the example of the time series of the acceleration acquired by the acceleration measurement part of the electronic device of Example 1 of this invention. The figure which illustrates about the time-series difference of the acceleration when the electronic device is placed on the inclined surface and when it is placed on the horizontal surface. The block diagram which shows the structure of the collision time acquisition part of the electronic device of Example 1 of this invention. 5 is a flowchart showing the operation of the collision time acquisition unit of the electronic device according to the first embodiment of the present invention. The figure which illustrates each time acquired from the acceleration for determination. The figure which illustrates each time acquired from the acceleration for determination in case there exist two or more candidates of collision time. The block diagram which shows the structure of the moving direction acquisition part of the electronic device of Example 1 of this invention. 5 is a flowchart showing the operation of the movement direction acquisition unit of the electronic device according to the first embodiment of the invention. FIG. 3 is a diagram for explaining an example in which the integration range is determined without adjusting the collision time in the first embodiment. FIG. 3 is a diagram for explaining an example in which the integration range is determined by adjusting the collision time in the first embodiment. The block diagram which shows the structure of the electronic device of Example 2 of this invention. 9 is a flowchart showing the operation of the electronic device of the second embodiment of the present invention. The block diagram which shows the structure of the apparatus state acquisition part of the electronic device of Example 2 of this invention. The flowchart which shows operation | movement of the apparatus state acquisition part of the electronic device of Example 2 of this invention. The figure which illustrates about the relationship between the time series of the acceleration for determination, and a state determination threshold value. The block diagram which shows the structure of the collision time acquisition part of the electronic device of Example 2 of this invention. The flowchart which shows operation | movement of the collision time acquisition part of the electronic device of Example 2 of this invention. The block diagram which shows the structure of the moving direction acquisition part of the electronic device of Example 2 of this invention. 9 is a flowchart showing the operation of the movement direction acquisition unit of the electronic device according to the second embodiment of the present invention. FIG. 6 is a diagram illustrating a range in which integration is performed in the second embodiment. The figure which shows the specific example of the threshold value defined according to an apparatus state.

<Explanation of terms>
[Electronics]
In the present invention, an electronic device has a function of measuring acceleration applied to its own device among electronic products to which electronic technology is applied, and has a size and weight that allow a user to hit each other. It shall be pointed out in general. Specific examples of the electronic device include a portable terminal, a tablet information terminal, a PDA, a game machine, a notebook PC, an electronic book terminal, a digital audio player, a digital camera, and a digital video camera. In the following embodiments, a portable terminal is used as a specific example of an electronic device.

  Hereinafter, embodiments of the present invention will be described in detail. In addition, the same number is attached | subjected to the structure part which has the same function, and duplication description is abbreviate | omitted.

  Hereinafter, the electronic apparatus according to the first embodiment will be described with reference to FIGS. 4 and 5. FIG. 4 is a block diagram showing the configuration of the electronic apparatus 1 of the present embodiment. FIG. 5 is a flowchart showing the operation of the electronic apparatus 1 of this embodiment. As illustrated in FIG. 4, the electronic device 1 of the present embodiment includes an acceleration acquisition unit 11, a collision time acquisition unit 12, a movement direction acquisition unit 13, and a relative position acquisition unit 14.

  The acceleration acquisition unit 11 acquires a time series of accelerations applied to the aircraft, and acquires a time series of determination accelerations used for collision determination based on the acquired accelerations (S11). The collision time acquisition unit 12 acquires the collision time with the colliding object based on the differential value of the determination acceleration (S12). For example, the collision time acquisition unit 12 may set the time at which the differential value (absolute value) of the determination acceleration is equal to or greater than a predetermined value as the collision time. This will be described again with reference to the example of FIG. 3A. The collision time acquisition unit 12 continues to measure the differential value of acceleration at a predetermined time interval. For example, when the acceleration measurement time interval and the differential value measurement timing are both s, and the differential value (absolute value) | a2-a3 | / s is equal to or greater than a predetermined value in the example of FIG. The time 103 which is the first time when the differential value (absolute value) is equal to or greater than a predetermined value is specified as the collision time. The collision time acquisition unit 12 may simply acquire a case where the differential value (absolute value) is equal to or greater than the predetermined value as the collision time, or a difference unit 121, an encoding unit 122, an inclination unit 123, which will be described later, and the like. The collision time may be acquired by these. The above-described collision time acquisition method is advantageous in that it is easy to implement, but the collision time acquisition method described later is preferable in that the acquired collision time is highly accurate. It should be noted that the difference unit 121, the sign unit 122, and the tilt unit 123, which will be described later, all acquire the time of collision with the collision object based on the magnitude and sign of the differential value of the determination acceleration in a broad sense. This is the same as the method for acquiring the collision time.

  Next, the movement direction acquisition unit 13 acquires the movement direction of the own aircraft immediately before the collision based on the past determination acceleration from the collision time (S13). For example, the movement direction acquisition unit 13 goes back in the past from the collision time to the time when the acceleration sensor is activated, and acquires the movement direction of the aircraft immediately before the collision based on a part or all of the determination acceleration from the collision time. Also good. Further, the moving direction acquisition unit 13 goes back to the past from the collision time to the past time in the time interval in which the acceleration measurement value log remains, and determines part or all of the time from the collision time to the past time. The moving direction of the aircraft immediately before the collision may be acquired based on the acceleration for use. Further, as in the example of the integration unit 131 to be described later, the movement direction acquisition unit 13 is based on a part of or all of the determination acceleration retroactive to a predetermined time in advance from the collision time. The moving direction may be acquired. The relative position acquisition unit 14 acquires the relative position with the colliding object from the moving direction (S14).

  Hereinafter, an implementation example of the acceleration acquisition unit 11 of the electronic apparatus 1 according to the present embodiment will be described with reference to FIGS. 6 and 7. FIG. 6 is a block diagram illustrating a configuration of the acceleration acquisition unit 11 of the electronic apparatus 1 according to the present embodiment. FIG. 7 is a flowchart showing the operation of the acceleration acquisition unit 11 of the electronic apparatus 1 of the present embodiment. As shown in FIG. 6, the acceleration acquisition unit 11 of the electronic device 1 of the present embodiment includes an acceleration measurement unit 111, a reference value update unit 112, and a determination acceleration acquisition unit 113.

  The acceleration measuring unit 111 measures the acceleration applied to the own device and outputs the time series (S111). The reference value update unit 112 updates the reference value of acceleration every predetermined time (S112). The determination acceleration acquisition unit 113 acquires the determination acceleration based on the reference value and the time series of the acceleration (S113).

<Example of acceleration measured by acceleration measuring unit 111>
Hereinafter, an example of acceleration measured by the acceleration measuring unit 111 will be described with reference to FIG. FIG. 8 is a diagram illustrating an example of a time series of accelerations acquired by the acceleration measuring unit 111 of the electronic apparatus 1 according to the present embodiment. The acceleration measuring unit 111 can be configured by an acceleration sensor. Although the acceleration measuring unit 111 can be configured with a single-axis acceleration sensor, it is preferable to configure the acceleration measuring unit 111 with a biaxial or triaxial acceleration sensor because a collision from various directions can be detected. FIG. 8 is a diagram illustrating a time series of acceleration as a graph of time (seconds) on the horizontal axis and acceleration (m / s ² ) on the vertical axis. In FIG. 8, as in FIG. 2, the short side direction of the electronic device is the x-axis direction (the right direction on the paper is positive), the long side direction of the electronic device is the y-axis direction (the upward direction on the paper is positive), and is orthogonal to the display screen of the electronic device. The direction to perform was defined as the z-axis direction (the direction from the back of the electronic device toward the front of the electronic device was positive). FIG. 8A is an x-axis, FIG. 8B is a y-axis, and FIG. 8C is a graph showing a time series of acceleration in the z-axis direction. It should be noted that the acceleration graphs that appear below are all graphs representing the time series of x-axis acceleration for the sake of clarity, and all collisions are executed only in the x-axis direction.

<Reference value, reference value update unit 112, determination acceleration acquisition unit 113>
Hereinafter, the reference value will be described with reference to FIG. FIG. 9 is a diagram illustrating the difference in time series of acceleration when the electronic device 1 is placed on an inclined surface and when placed on a horizontal plane. FIG. 9 is a diagram illustrating a time series (x-axis direction) of acceleration as a graph of time (seconds) on the horizontal axis and acceleration (m / s ² ) on the vertical axis. As shown in the broken line graph of FIG. 9, when the electronic device 1 is placed on an inclined surface and is stationary, the time series of acceleration (in the x-axis direction) is a static value (in the example of FIG. 9, near the value a8). Value). On the other hand, as shown in the solid line graph of FIG. 9, when the electronic device 1 is placed on a horizontal plane and is stationary, the acceleration time series (x-axis direction) is a static value close to zero (in the example of FIG. 9). A value in the vicinity of the value a9). In the collision determination, values such as a8 and a9 can be noise. In particular, the acceleration value when the electronic apparatus 1 is placed on an inclined surface and is stationary like a8 can be noise. Thus, static values such as a8 and a9 measured when the electronic device 1 is in a stationary state are used as reference values, and are uniformly subtracted from the measured acceleration time series. Specifically, the reference value update unit 112 determines whether the time-series differential value of acceleration is less than a predetermined stationary determination threshold value every predetermined time (for example, 2000 msec), and the differential value is less than the stationary determination threshold value. If it is, the electronic device is determined to be stationary and the reference value is updated (S112). On the other hand, when the time-series differential value of acceleration is equal to or greater than a predetermined stationary determination threshold, the reference value updating unit 112 determines that the electronic device is not stationary and does not update the reference value. The determination acceleration acquisition unit 113 acquires a determination acceleration used for collision determination described later, for example, by subtracting the updated latest reference value from the latest measurement value of acceleration (S113). The process of deriving the acceleration for determination by subtracting the reference value from the acceleration measurement value is preferable from the viewpoint of noise removal, but is not limited to this, and the acceleration acquisition unit for determination 113 performs some processing on the acceleration measurement value. Instead, the acceleration measurement value itself may be used as the determination acceleration. In this case, the reference value update unit 112 can be omitted, and the determination acceleration acquisition unit 113 can also be omitted because it does not substantially perform any processing. Further, the determination acceleration acquisition unit 113 may perform other noise processing on the acceleration measurement value, and may use the acceleration measurement value after execution of the noise processing as the determination acceleration. In this case, the reference value update unit 112 can be omitted.

  Next, an implementation example of the collision time acquisition unit 12 of the electronic apparatus 1 according to the present embodiment will be described with reference to FIGS. 10 and 11. FIG. 10 is a block diagram illustrating a configuration of the collision time acquisition unit 12 of the electronic apparatus 1 according to the present embodiment. FIG. 11 is a flowchart showing the operation of the collision time acquisition unit 12 of the electronic device 1 of this embodiment. As illustrated in FIG. 10, the collision time acquisition unit 12 of the electronic device 1 of the present embodiment includes a difference unit 121, a coding unit 122, an inclination unit 123, and a collision determination threshold value storage unit 124. The collision determination threshold value storage unit 124 stores a difference threshold value and an inclination threshold value (collectively referred to as a collision determination threshold value), and the difference unit 121 acquires the difference threshold value from the collision determination threshold value storage unit 124 to obtain the inclination. The unit 123 can acquire the tilt threshold value from the collision determination threshold value storage unit 124. The difference unit 121 acquires the difference condition satisfaction time based on the comparison result between the difference between the latest time determination acceleration and the past time determination acceleration and a predetermined difference threshold value (S121). More specifically, for example, the difference unit 121 acquires the difference condition satisfaction time based on the comparison result between the determination acceleration at the latest time, the difference between the determination acceleration at a time past a predetermined time, and a predetermined difference threshold. . Here, the difference unit 121 calculates a difference between the determination acceleration at the latest time and the determination acceleration at each time from the latest time to a time past a predetermined time, and sets the maximum value of the difference as a predetermined difference threshold value. It is good also as comparison object. The sign unit 122 specifies a sign inversion time at which the sign of the differential value of the determination acceleration is inverted at a time past the difference condition satisfaction time (S122). The inclination unit 123 specifies the collision time based on the comparison result between the differential value of the acceleration for determination of the time past the sign inversion time and the predetermined inclination threshold (S123).

<Difference unit 121, sign unit 122, inclination unit 123>
Hereinafter, specific examples of the operations of the difference unit 121, the encoding unit 122, and the inclination unit 123 will be supplementarily described with reference to the example of FIG. 12. FIG. 12 is a diagram illustrating each time acquired from the acceleration for determination. In addition, the values of the accelerations for determination at times 101, 102, 103, and 104 in the figure are a1, a2, a3, and a4 in this order. It is assumed that the predetermined time that the difference unit 121 goes back from the latest time is Td, and the time 104 is a time that goes back from the time 101 to the time Td in the past. In the example of FIG. 12, it is assumed that the absolute value | a1-a4 | of the difference between the determination acceleration a1 at time 101 and the determination acceleration a4 at time 104 is greater than or equal to the difference threshold value. In this example, when the time 101 is the latest time, the difference unit 121 determines that the latest time is based on | a1-a4 | being equal to or greater than the difference threshold stored in advance in the collision determination threshold storage unit 124. 101 is acquired as the difference condition satisfaction time (S121). The predetermined time Td = s can also be set. In this case, when the time 101 is the latest time, the difference unit 121 | a1-a2 based on the determination acceleration value a1 at the time 101 and the determination acceleration value a2 at the most recent time 102. If | is equal to or greater than the difference threshold, the latest time 101 is acquired as the difference condition satisfaction time. Note that, as described above, the difference unit 121 has the most difference from the determination acceleration a1 at the time 101 among the determination accelerations at each time from the time 101 which is the latest time to the time 104 which is the predetermined time Td in the past. The absolute value | a1−a2 | of the difference from the determination acceleration a2 at time 102, which is the time when it becomes larger, may be compared with a predetermined difference threshold value. In this case, if | a1-a2 | is equal to or greater than the difference threshold, the difference unit 121 acquires the latest time 101 as the difference condition satisfaction time.

  In the example of FIG. 12, since (a1-a2) × (a2-a3) <0 is satisfied, the time 102 corresponds to the sign inversion time. Therefore, the code | cord | chord part 122 specifies the time 102 when a code | symbol is reversed first in the time before the time 101 which is difference condition satisfaction time as a code | symbol inversion time (S122).

  In the example of FIG. 12, the differential value (absolute value) of the acceleration for determination at time 103 can be expressed as | a2-a3 | / s, where s is the unit time. Here, it is assumed that | a2-a3 | / s is equal to or greater than the inclination threshold value. In this case, the inclination unit 123 has a differential value (absolute value) | a2-a3 | / of the acceleration for determination at a time 103 that is a time before the time 102 that is the sign inversion time and that is the latest time of the time 102. Based on the fact that s is equal to or greater than the inclination threshold, the time 103 is specified as the collision time (S123). In addition, when there are a plurality of times when the differential value (absolute value) of the determination acceleration is equal to or greater than the inclination threshold at a time past the time 102, the inclination unit 123 extracts all of them as candidates for the collision time, Of the time candidates, the past one may be specified as the collision time. In addition, the inclination part 123 skips this time, when the differential value (absolute value) of the acceleration for determination becomes less than an inclination threshold value in the time 103 which is the past time immediately before the time 102 which is the sign inversion time. Thus, it may be determined whether or not the differential value (absolute value) of the acceleration for determination is equal to or greater than the inclination threshold at time 104, which is the next past time. In this way, the tilt unit 123 continues the determination retroactively until the time when the differential value (absolute value) of the determination acceleration is equal to or greater than the tilt threshold, and the first time that satisfies the condition is set as a collision time candidate. it can. In this case, if there is a time at which the differential value (absolute value) of the determination acceleration is equal to or greater than the inclination threshold at a time earlier than the time when the condition is initially satisfied, the inclination unit 123 sets all of these as collision time candidates. It is possible to extract and specify the oldest collision time candidate as the collision time. This will be described in detail below.

<When there are multiple collision time candidates>
Hereinafter, an example of the operation of the tilt unit 123 when there are a plurality of collision time candidates will be described with reference to FIG. 13. FIG. 13 is a diagram illustrating each time acquired from the determination acceleration when there are a plurality of collision time candidates. In the example of FIG. 13, it is assumed that time 101 is acquired as the difference condition satisfaction time and time 102 is specified as the sign inversion time, as in FIG. In the example of FIG. 13, the differential value (absolute value) of the determination acceleration at time 103A can be expressed as | a2-a3A | / s. Here, it is assumed that | a2-a3A | / s is equal to or greater than the inclination threshold. In this case, as described above, the inclination unit 123 has a differential value (absolute value) of the acceleration for determination at the time 103A that is a time that is past the time 102 that is the sign inversion time and that is the latest time of the time 102. Based on the fact that a2-a3A | / s is equal to or greater than the inclination threshold, the time 103A is specified as the collision time. However, as is clear from FIG. 13, the time 103A is slightly later than the actual collision time. When the time 103A is handled as a collision time, noise will be included in the integration processing described later. Therefore, when the time 103A satisfies the condition as the collision time, the tilting unit 123 performs the same comparison at the time 103B, which is one time earlier than the time 103A. The differential value (absolute value) of the determination acceleration at time 103B can be expressed as | a3A−a3B | / s. Here, it is assumed that | a3A-a3B | / s is also equal to or greater than the inclination threshold. Therefore, the inclination part 123 makes time 103A and time 103B both candidates for the collision time. The tilting unit 123 repeats the same comparison for a time past the time 103B. Although not shown in FIG. 13, there may be times 103C and 103D that are candidates for the collision time at a time before the time 103B. The inclination unit 123 searches for a collision time candidate retroactively until the differential value (absolute value) of the acceleration for determination does not exceed the inclination threshold value. The inclination part 123 can specify the past time as the collision time, for example, among these collision time candidates. In the example of FIG. 13, the tilting unit 123 can identify the time 103 </ b> B, which is the past time, among the times 103 </ b> A and 103 </ b> B searched for as collision time candidates as the collision time.

  Next, an implementation example of the movement direction acquisition unit 13 of the electronic apparatus 1 according to the present embodiment will be described with reference to FIGS. 14 and 15. FIG. 14 is a block diagram illustrating a configuration of the movement direction acquisition unit 13 of the electronic apparatus 1 according to the present embodiment. FIG. 15 is a flowchart illustrating the operation of the movement direction acquisition unit 13 of the electronic apparatus 1 according to the present embodiment. As illustrated in FIG. 15, the movement direction acquisition unit 13 of the electronic device 1 of the present embodiment includes an integration unit 131, a direction determination unit 132, another device direction acquisition unit 133, an adjustment time storage unit 134, and an integration time. A storage unit 135 and a movement determination threshold value storage unit 136 are included. The adjustment time storage unit 134 stores a predetermined adjustment time. The integration time storage unit 135 stores a predetermined integration time. The movement determination threshold value storage unit 136 stores a predetermined movement determination threshold value. The integration unit 131 integrates the determination acceleration from the collision time to the past integration time stored in the integration time storage unit 135 (S131). Alternatively, the integration unit 131 may integrate the determination acceleration from the adjusted collision time to the past integration time, which is a time that goes back to the past adjustment time stored in the adjustment time storage unit 134 from the collision time (S131). ). The direction determination unit 132 determines the movement direction based on the comparison result between the integration result and the movement determination threshold value stored in the movement determination threshold value storage unit 136 (S132). Specifically, the direction determination unit 132 determines that the own device is moving when the absolute value of the integration result is equal to or greater than the movement determination threshold, and the integration result in the positive coordinate direction when the integration result is positive. Is negative, it is determined that the aircraft is moving in the negative coordinate direction (S132). On the other hand, when the absolute value of the integration result is less than the movement determination threshold, the direction determination unit 132 determines that the own device is stationary (S132). When it is determined that the own device is stationary, the other device direction acquisition unit 133 establishes communication with another electronic device in the vicinity and acquires the latest movement direction from the other electronic device with which communication has been established (S133). . In order to execute step S133, the object to be collided with the device needs to be another electronic device capable of establishing communication, and the other electronic device needs to have the same function as the electronic device of the present invention. It is assumed that the movement operation immediately before the collision is performed in the other electronic device.

<Integration unit 131, direction determination unit 132>
Hereinafter, the operations of the integration unit 131 and the direction determination unit 132 will be described supplementarily with reference to FIGS. FIG. 16 is a diagram for explaining an example in which the integration range is determined without adjusting the collision time in this embodiment. FIG. 17 is a diagram illustrating an example in which the integration range is determined by adjusting the collision time in this embodiment.

  As shown in FIG. 16, it is assumed that the collision time acquisition unit 12 has acquired the time 103B as the collision time, and the time 105 is a time that goes back in time Ti from the time 103B. Here, it is assumed that the integration time stored in advance in the integration time storage unit 135 is Ti. When the integration unit 131 does not perform adjustment based on the adjustment time, the integration unit 131 integrates the determination acceleration from the time 103B that is the collision time to the time 105 that is the past time of the integration time Ti (S131). The integration range is a region INT hatched with diagonal lines in FIG.

  As described above, the integration unit 131 can also use the adjustment time. By appropriately setting the adjustment time, the peak value of the acceleration for determination immediately after the collision can be excluded from the integration range, so that erroneous determination of the moving direction determination can be reduced. As shown in FIG. 17, it is assumed that time 103B is a collision time, and time 103C is a time that goes back from time 103B to time Tfix in the past. The adjustment time stored in advance in the adjustment time storage unit 134 is Tfix. In the example of FIG. 17, the integration unit 131 integrates the acceleration for determination from the time 103C, which is the adjusted collision time retroactive to the adjustment time Tfix, to the time 105, which is the integration time Ti past (S131). The integration range is a region INT hatched with diagonal lines in FIG. The direction determination unit 132 determines that the aircraft is moving when the absolute value of the integration result is equal to or greater than the movement determination threshold. If INT is positive, the direction determination unit 132 determines that the movement direction is the coordinate positive direction, and INT is If it is negative, the movement direction is determined as the coordinate negative direction (S132). On the other hand, when the absolute value of the integration result is less than the movement determination threshold, the direction determination unit 132 determines that the own device is stationary (S132). When it is determined that the own device is stationary, the other device direction acquisition unit 133 establishes communication with another electronic device in the vicinity and acquires the latest movement direction from the other electronic device with which communication has been established (S133). .

  As described above, the relative position acquisition unit 14 acquires the relative position with respect to the collision object from the movement direction acquired by the movement direction acquisition unit 13 (S14). When the movement direction immediately before the collision of the own aircraft is a positive direction, the relative position acquisition unit 14 sets the relative position to the negative direction side of the colliding object, and the movement direction immediately before the collision of the own aircraft is a negative direction. If the relative position is the positive direction side of the colliding object, and the aircraft is stationary immediately before the collision and the moving direction of the other aircraft immediately before the collision is the positive direction, the relative position is the collision object ( When the other aircraft is in the stationary direction just before the collision and the movement direction just before the other aircraft is negative, the relative position is the negative direction of the colliding object (other aircraft) The relative position is acquired as the side (S14).

  According to the electronic apparatus 1 of the present embodiment, the collision time acquisition unit 12 acquires the collision time with the object to be collided, and the movement direction acquisition unit 13 acquires the movement direction of the own aircraft immediately before the collision or the other aircraft. The relative position with respect to the colliding object can be obtained accurately.

  Hereinafter, with reference to FIG. 18 and FIG. 19, an electronic apparatus according to the second embodiment in which a function of acquiring a device state is added to the electronic apparatus 1 according to the first embodiment will be described. FIG. 18 is a block diagram showing the configuration of the electronic device 2 of this embodiment. FIG. 19 is a flowchart showing the operation of the electronic apparatus 2 of this embodiment. The device state here refers to the overall state of the device that constantly affects the measured acceleration, for example, whether the device is being gripped or placed on a desk or the like. Shall.

  As illustrated in FIG. 18, the electronic device 2 of the present embodiment includes an acceleration acquisition unit 11, a collision time acquisition unit 22, a movement direction acquisition unit 23, a relative position acquisition unit 14, and a device state acquisition unit 25. Including. The difference between the electronic device 2 of the present embodiment and the electronic device 1 of the first embodiment is that the collision time acquisition unit 12 and the movement direction acquisition unit 13 in the first embodiment are the same as the collision time acquisition unit 22 and the movement direction acquisition in the present embodiment. The point is that the unit 23 is changed, and the device state acquisition unit 25 is added. Hereinafter, the collision time acquisition unit 22, the movement direction acquisition unit 23, and the device state acquisition unit 25 that are different from the first embodiment will be described. The device state acquisition unit 25 acquires the device state that is the device use state from the comparison result between the determination acceleration in the predetermined section and the predetermined state determination threshold value (S25). The collision time acquisition unit 22 acquires the collision time based on a collision determination threshold value (difference threshold value, inclination threshold value) determined according to the device state (S22). The movement direction acquisition unit 23 acquires a movement direction based on a movement determination threshold determined according to the device state (S23).

  Hereinafter, an implementation example of the device state acquisition unit 25 of the electronic device 2 according to the present embodiment will be described with reference to FIGS. FIG. 20 is a block diagram illustrating a configuration of the device state acquisition unit 25 of the electronic device 2 according to the present embodiment. FIG. 21 is a flowchart showing the operation of the device state acquisition unit 25 of the electronic device 2 of this embodiment. As illustrated in FIG. 20, the device state acquisition unit 25 includes a state determination unit 251, a state determination time storage unit 252, and a state determination threshold storage unit 253. The state determination time storage unit 252 stores a predetermined state determination time. The state determination threshold storage unit 253 stores a predetermined state determination threshold. The state determination unit 251 compares the determination acceleration in the section from the predetermined time to the state determination time stored in the state determination time storage unit 252 and the state determination threshold stored in the state determination threshold storage unit 253. From this, the device state is determined (S251).

<State determination unit 251>
Hereinafter, an example of the operation of the state determination unit 251 will be supplementarily described with reference to FIG. FIG. 22 is a diagram illustrating the relationship between the determination time series and the state determination threshold. As shown in FIG. 22, the collision time acquisition unit 22 specifies and acquires time 101 as the difference condition satisfaction time, time 102 as the sign inversion time, and time 103 as the collision time. The above-described state determination time is Ts, and in the example of FIG. 22, the time 106 is assumed to be a time traced back from the time 101 to the time Ts. Further, the state determination threshold value described above is Va, and a region where the absolute value of the determination acceleration is less than the state determination threshold value Va is indicated by hatching. Note that the acceleration values for determination at times 101, 102, 103, and 106 in the figure are a1, a2, a3, and a6 in this order. In the example of FIG. 22, the state determination unit 251 determines that the determination acceleration (absolute value) in a section from a predetermined time (for example, the time 101 that is the difference condition satisfaction time) to the state determination time Ts is greater than or equal to the state determination threshold Va. In such a case, the device state is acquired as handheld (gripped), and in other cases, the device state is acquired as desktop (S251). In the example of FIG. 22, the state determination unit 251 has the determination acceleration (absolute value) | a1 |, | a2 |, | a3 |, and | a6 | Therefore, it is determined that the device state is handheld (gripped). On the other hand, the state determination unit 251 determines that the device state is desktop when there is a moment when the determination acceleration (absolute value) in the section is less than the state determination threshold Va.

  In addition to this, for example, the state determination unit 251 compares the determination acceleration (absolute value) in the section from the time 103 as the collision time to the state determination time Ts and the state determination threshold value Va as the predetermined time. Also good. In this case, in the example of FIG. 22, the state determination unit 251 determines the device state because | a3 |, | a6 |, etc., which are accelerations for determination (absolute values) in the section, are both equal to or greater than the state determination threshold value Va. Judged as hand-held (gripped).

  Next, an implementation example of the collision time acquisition unit 22 of the electronic device 2 according to the present embodiment will be described with reference to FIGS. FIG. 23 is a block diagram illustrating a configuration of the collision time acquisition unit 22 of the electronic device 2 according to the present embodiment. FIG. 24 is a flowchart illustrating the operation of the collision time acquisition unit 22 of the electronic device 2 according to the present embodiment. As shown in FIG. 23, the collision time acquisition unit 22 includes a difference unit 221, an encoding unit 122, an inclination unit 223, and a collision determination threshold storage unit 224. The operation of the encoding unit 122 is the same as that in the first embodiment. The collision determination threshold value storage unit 224 stores in advance the collision determination threshold value (difference threshold value, inclination threshold value) corresponding to each of the aforementioned device states. The difference unit 221 selects a difference threshold value determined according to the device state from the collision determination threshold value storage unit 224, and acquires a difference condition satisfaction time based on a comparison result between the difference threshold value and the difference (S221). Step S221 is different from step S121 in that a difference threshold is selected according to the device state, but the method for comparing with the difference is the same as step S121. The inclination unit 223 selects an inclination threshold value determined according to the device state from the collision determination threshold value storage unit 224, and based on the comparison result between the inclination threshold value and the differential value of the acceleration for determination at a past time from the sign inversion time. The collision time is specified (S223). Step S223 is different from step S123 in that an inclination threshold value is selected according to the device state, but the comparison method with the differential value is the same as step S123.

  Next, an implementation example of the movement direction acquisition unit 23 of the electronic apparatus 2 according to the present embodiment will be described with reference to FIGS. 25 and 26. FIG. 25 is a block diagram illustrating a configuration of the movement direction acquisition unit 23 of the electronic apparatus 2 according to the present embodiment. FIG. 26 is a flowchart illustrating the operation of the movement direction acquisition unit 23 of the electronic apparatus 2 according to the present embodiment. As illustrated in FIG. 25, the movement direction acquisition unit 23 includes an integration unit 231, a direction determination unit 232, another device direction acquisition unit 133, an adjustment time storage unit 134, an integration time storage unit 135, and a movement determination threshold value. A storage unit 236. The operation of the other device direction acquisition unit 133 is the same as that of the first embodiment. Information stored in the adjustment time storage unit 134 and the integration time storage unit 135 is the same as that in the first embodiment. In the movement determination threshold value storage unit 236, movement determination threshold values corresponding to the above-described device states are stored in advance.

  The integrating unit 231 integrates the determination acceleration from the collision time or the adjusted collision time to a predetermined integration time (S231). Here, the integrating unit 231 integrates the relative value of the determination acceleration based on the determination acceleration at the collision time, for example. The operation of the integrating unit 231 will be supplementarily described with reference to the example of FIG. FIG. 27 is a diagram illustrating a range in which integration is executed in the present embodiment. As shown in FIG. 27, it is assumed that the collision time acquisition unit 22 specifies and acquires time 101 as the difference condition satisfaction time, time 102 as the sign inversion time, and time 103 as the collision time. In this case, for example, the integrating unit 231 integrates a relative value obtained by subtracting the determination acceleration a3 at the time 103 which is the collision time from the determination acceleration from the time 103 which is the collision time to the time 105 which is the past time of the integration time Ti. (S231). For example, the integration range is INT (R) with hatching. Next, the direction determination unit 232 selects a movement determination threshold determined according to the device state from the movement determination threshold storage unit 236, and determines the movement direction based on a comparison result between the movement determination threshold and the integration result. (S232). Step S232 differs from step S132 in that a movement determination threshold value is selected according to the device state, but the method for comparison with the integration result is the same as step S132.

<Optimization of threshold based on device status>
Hereinafter, with reference to FIG. 28, the optimization of the threshold value based on the device state will be supplementarily described. FIG. 28 is a diagram showing a specific example of the threshold value determined according to the device state. As shown in FIG. 28, it is preferable that the absolute value of the movement determination threshold value (left, right) is set to be smaller than that on the desk when held (gripped). This is an adjustment for reducing the erroneous determination in the movement determination in relation to the change of the integral value described above from the absolute value to the relative value. In addition, it is preferable that the inclination threshold value and the difference threshold value are set slightly smaller in hand-held (gripping) than on the desk. As described above, this is an adjustment for reducing erroneous determination in collision determination.

  As described above, according to the electronic device 2 of the present embodiment, in addition to the effects of the first embodiment, the device state (for example, whether the electronic device is gripped or placed on a desk without being gripped). ), The difference threshold value, the tilt threshold value, the movement determination threshold value, etc. are optimized, and the relative values based on the determination acceleration value at a predetermined time are integrated. The relative position of can be obtained accurately.

  In addition, the various processes described above are not only executed in time series according to the description, but may be executed in parallel or individually according to the processing capability of the apparatus that executes the processes or as necessary. Needless to say, other modifications are possible without departing from the spirit of the present invention.

  Further, when the above-described configuration is realized by a computer, processing contents of functions that each device should have are described by a program. The processing functions are realized on the computer by executing the program on the computer.

  The program describing the processing contents can be recorded on a computer-readable recording medium. As the computer-readable recording medium, for example, any recording medium such as a magnetic recording device, an optical disk, a magneto-optical recording medium, and a semiconductor memory may be used.

  The program is distributed by selling, transferring, or lending a portable recording medium such as a DVD or CD-ROM in which the program is recorded. Furthermore, the program may be distributed by storing the program in a storage device of the server computer and transferring the program from the server computer to another computer via a network.

  A computer that executes such a program first stores, for example, a program recorded on a portable recording medium or a program transferred from a server computer in its own storage device. When executing the process, the computer reads a program stored in its own recording medium and executes a process according to the read program. As another execution form of the program, the computer may directly read the program from a portable recording medium and execute processing according to the program, and the program is transferred from the server computer to the computer. Each time, the processing according to the received program may be executed sequentially. Also, the program is not transferred from the server computer to the computer, and the above-described processing is executed by a so-called ASP (Application Service Provider) type service that realizes the processing function only by the execution instruction and result acquisition. It is good.

Note that the program in this embodiment includes information that is used for processing by an electronic computer and that conforms to the program (data that is not a direct command to the computer but has a property that defines the processing of the computer). In this embodiment, the present apparatus is configured by executing a predetermined program on a computer. However, at least a part of these processing contents may be realized by hardware.

Claims (10)

An acceleration acquisition unit that acquires a time series of acceleration applied to the aircraft, and acquires a time series of determination acceleration used for collision determination based on the acquired acceleration;
A collision time acquisition unit for acquiring a collision time with a colliding object based on the differential value of the determination acceleration;
A moving direction acquisition unit that acquires the moving direction of the aircraft immediately before the collision based on the past determination acceleration from the collision time;
An electronic apparatus comprising: a relative position acquisition unit that acquires a relative position with respect to the colliding object from the moving direction. The electronic device according to claim 1,
The acceleration acquisition unit
A reference value update unit that updates the reference value of the acceleration every predetermined time;
An electronic device comprising: a determination acceleration acquisition unit that acquires the determination acceleration based on the reference value and a time series of the acceleration. The electronic device according to claim 1 or 2,
The collision time acquisition unit,
Including a difference unit that obtains a difference condition satisfaction time based on a comparison result between a difference between the latest time determination acceleration and a past time determination acceleration and a predetermined difference threshold;
The said collision time acquisition part is an electronic device which acquires the said collision time based on the differential value of the said acceleration for determination of the past time from the said difference condition satisfaction time. The electronic device according to claim 3,
The collision time acquisition unit,
Including a sign portion for specifying a sign inversion time at which the sign of the differential value of the acceleration for determination is reversed at a time past the difference condition satisfaction time,
The said collision time acquisition part is an electronic device which acquires the said collision time based on the differential value of the said acceleration for determination of the past time from the said code inversion time. The electronic device according to claim 4,
The collision time acquisition unit,
An electronic device including an inclination part that specifies a collision time based on a comparison result between a differential value of the determination acceleration at a time past the sign inversion time and a predetermined inclination threshold. An electronic device according to any one of claims 1 to 5,
The moving direction acquisition unit is
An integration unit for integrating acceleration for determination from the collision time to a predetermined integration time in the past;
An electronic device comprising: a direction determination unit that determines the movement direction based on a comparison result between the integration result and a predetermined movement determination threshold value. An electronic device according to any one of claims 1 to 5,
The moving direction acquisition unit is
An integration unit that integrates a determination acceleration from an adjusted collision time to a predetermined integration time in the past, which is a time that goes back from the collision time to a predetermined adjustment time; and
An electronic device comprising: a direction determination unit that determines the movement direction based on a comparison result between the integration result and a predetermined movement determination threshold value. The electronic device according to claim 5,
It further includes a device state acquisition unit that acquires a device state that is a use state of the device from a comparison result between the determination acceleration in the predetermined section and the predetermined state determination threshold value,
The difference unit acquires a difference condition satisfaction time based on a comparison result between a difference threshold value determined according to the device state and the difference,
The electronic device in which the inclination unit specifies a collision time based on a comparison result between an inclination threshold value determined according to the device state and a differential value of a determination acceleration at a time earlier than the sign inversion time. The electronic device according to claim 6 or 7,
It further includes a device state acquisition unit that acquires a device state that is a use state of the device from a comparison result between the determination acceleration in the predetermined section and the predetermined state determination threshold value,
The direction determination unit is
An electronic device that determines the moving direction based on a comparison result between a movement determination threshold value determined according to the device state and the integration result.   The program for functioning a computer as an electronic device in any one of Claim 1 to 9.

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