JP6079202B2 - Vibration device and vibration program - Google Patents

Description

  The present invention relates to a vibration device and a vibration program.

  Japanese Patent Application Laid-Open No. 2004-151867 discloses an apparatus that determines a virtual plane on an object and measures protrusions on the surface of the object on the basis of the virtual plane.

JP-A-10-160445

  However, the conventional vibration device cannot collect vibration data faithfully corresponding to the unevenness of the surface even if it tries to collect vibration corresponding to the unevenness of the surface while moving the surface of the object. There's a problem.

  The present invention has been made in view of the above points, and an object of the present invention is to provide a vibration device and a vibration program that can collect vibration data faithfully according to the unevenness of the surface of the object.

In one aspect of the present invention, a vibration collection unit that collects vibration data according to the shape of the surface of an object with respect to multiple axes, a position detection unit that detects the position of the device on the surface, and the data collected with respect to multiple axes. A predetermined reference plane is determined based on the vibration data, a normal detection unit that detects a normal direction of the reference plane, and the vibration data collected by the vibration collection unit at a position detected by the position detection unit. a vibration device that includes a vibration detecting section for detecting as information indicating the vibration of the components the normal direction of the front notation line direction in which the normal line detecting unit detects in the position of the components.

One aspect of the present invention relates to a vibration collection procedure for collecting vibration data corresponding to the shape of the surface of an object for multiple axes, a position detection procedure for detecting the position of the device on the surface, and the multiple axes. collected on the basis of the vibration data to determine the predetermined reference plane, and the normal detection procedure to detect the normal direction of the reference plane, collected by the vibration collection procedure in position detected by the position detection procedure has been the front detected by the normal detection procedure in the position of the component of the vibration data notation line direction component for executing a vibration detecting step of detecting as information indicating the vibration of the normal direction, the It is a vibration program.

  According to the present invention, the vibration device and the vibration program can collect vibration data that faithfully corresponds to the unevenness of the surface of the object.

It is a block diagram which shows the structural example of the vibration apparatus in 1st Embodiment of this invention. It is a figure which shows the usage example of the vibration apparatus which collects vibration data in 1st Embodiment of this invention. It is a figure which shows the example of the method of detecting the normal line direction of the micro area | region of the surface of the target object in 1st Embodiment of this invention. It is a figure which shows the example of the normal line direction in 1st Embodiment of this invention. It is a figure which shows the usage example of the vibration apparatus which reproduces a vibration in 1st Embodiment of this invention. It is a flowchart which shows the example of an operation | movement procedure of the vibration apparatus which collects vibration data in 1st Embodiment of this invention. It is a flowchart which shows the example of an operation | movement procedure of the vibration apparatus which reproduces a vibration in 1st Embodiment of this invention. It is a figure which shows the example of arrangement | positioning of a vibration part in 2nd Embodiment of this invention. It is a figure which shows the example of a manifestation exercise | movement in 2nd Embodiment of this invention.

[First Embodiment]
A first embodiment of the present invention will be described in detail with reference to the drawings. The vibration device collects vibration data on multiple axes according to the unevenness of the surface of the object by being held by the user and moving on the surface of the object. Further, the vibration device detects the vibration in the normal direction of the surface of the object for each position of the own device. Thereby, the vibration device and the vibration program can collect vibration data according to the unevenness of the surface of the object faithfully.

  In addition, the vibration device reproduces vibration according to the unevenness of the surface of the object faithfully while moving on the surface of the predetermined reproduction object while being held by the user. Thereby, the vibration device and the vibration program can faithfully reproduce the vibration felt by the user by stroking the surface of the object on the surface of the predetermined object for reproduction.

  FIG. 1 is a block diagram illustrating a configuration example of the vibration device. The vibration device 100 includes an operation unit 110, a control unit 120, a vibration collection unit 130, a position detection unit 140, a normal detection unit 150, a vibration detection unit 160, a storage unit 170, and a vibration unit 180. Prepare.

  The operation unit 110 receives an operation input by a user and outputs a signal corresponding to the operation input to the control unit 120. Here, the signal corresponding to the operation input is, for example, an operation mode switching signal for switching between an operation mode in which the vibration device 100 collects vibration data and an operation mode in which the vibration device 100 reproduces vibration.

  A signal corresponding to the operation input is input from the operation unit 110 to the control unit 120. The control unit 120 controls each unit of the vibration device 100 based on a signal corresponding to the operation input. For example, the control unit 120 switches between an operation mode in which the vibration device 100 collects vibration data and an operation mode in which the vibration device 100 reproduces vibration based on an operation mode switching signal as a signal corresponding to an operation input. Note that the control unit 120 may operate based on a program stored in advance in the storage unit 170.

  The vibration collecting unit 130 collects vibration data according to the unevenness of the surface of the target object on multiple axes by moving the surface of the target object (not shown) while the vibration device 100 is held by the user. The vibration collecting unit 130 has a sensor for collecting vibration data. This sensor detects an operation amount of vibration, for example, acceleration of the vibration device 100. The vibration collection unit 130 outputs vibration data collected for multiple axes (for example, data indicating acceleration, speed, and amplitude of the vibration device 100) to the position detection unit 140, the normal detection unit 150, and the vibration detection unit 160. .

  FIG. 2 shows an example of use of a vibration device that collects vibration data. In FIG. 2, the object 200 is arranged in a three-dimensional space in which an x, y, z coordinate system is defined. The user 300 holds the vibration device 100 that operates in the operation mode for collecting vibration data, and moves the vibration device 100 so as to stroke the surface of the object 200. In FIG. 2, as an example, the user 300 moves the vibration device 100 in the order of the trajectory 210, the trajectory 220, and the trajectory 230.

  Returning to FIG. 1, the description of the configuration example of the vibration device 100 is continued. Vibration data collected for multiple axes is input from the vibration collection unit 130 to the position detection unit 140. When the vibration device 100 operates in an operation mode for collecting vibration, the position detection unit 140 detects the position of the vibration device 100 on the surface of the object 200 (for example, a position in the x, y, z coordinate system). Here, the position detection unit 140 detects the position (movement amount) of the vibration device 100 by performing second order integration on acceleration data as vibration data. Further, the position detection unit 140 may detect the position (movement amount) of the vibration device 100 based on an image captured by the vibration device 100. Further, the position detection unit 140 may detect the position of the vibration device 100 at a predetermined period. The position detection unit 140 outputs position data of the vibration device 100 on the surface of the object 200 to the normal detection unit 150 and the vibration detection unit 160.

  On the other hand, when the vibration device 100 operates in an operation mode for reproducing vibration, the position detection unit 140 detects the position of the vibration device 100 (for example, x1, x1) on the surface of a predetermined reproduction object (described later with reference to FIG. 5). The position in the y1, z1 coordinate system) is detected. The position detection unit 140 outputs position data of the vibration device 100 on the surface of the predetermined reproduction object to the control unit 120.

  Vibration data collected for multiple axes is input from the vibration collection unit 130 to the normal detection unit 150. The normal detection unit 150 determines a predetermined reference plane (orientation data) based on vibration data collected for multiple axes, and determines the normal direction (normal vector) of the reference plane to the position of the vibration device 100. Detect every time. More specifically, the normal detection unit 150 detects the reference plane (localization data) and its normal direction (normal vector) as follows.

  FIG. 3 shows an example of a method for detecting the normal direction of a reference plane (orientation data) of a minute region on the surface of an object. The amount of vibration motion (for example, the length of the position vector) according to the unevenness of the surface of the object 200 (see FIG. 2) is collected for multiple axes by the vibration collection unit 130. The normal detection unit 150 calculates a three-dimensional (x, y, z coordinate system) position vector in a minute region on the surface of the object 200 at a predetermined cycle (for example, a cycle of several thousandths of a second). To detect. Based on a plurality of position vectors, the normal line detection unit 150 determines a virtual plane that minimizes the normal vector as a reference plane (localization data) of the surface of the object 200.

  In the example shown in FIG. 3, the normal detection unit 150 detects a position vector V0 determined by the start point coordinates P0 (xa, ya, za) and the end point coordinates P1 (xb, yb, zb) in the first period, and the start point coordinates Assume that a position vector V1 determined by P1 (xb, yb, zb) and end point coordinates P2 (xc, yc, zc) is detected in the second period. In addition, the normal line detection unit 150 detects a position vector V2 determined by the start point coordinates P2 (xc, yc, zc) and the end point coordinates P3 (xd, yd, zd) in the third period, and the start point coordinates P3 (xd, yd). , Zd) and the position vector V3 determined by the end point coordinates P4 (xe, ye, ze) are detected in the fourth period. In addition, the normal line detection unit 150 detects a position vector V4 determined by the start point coordinates P4 (xe, ye, ze) and the end point coordinates P5 (xf, yf, zf) in the fifth period, and the start point coordinates P5 (xf, yf). , Zf) and the position vector V5 determined by the end point coordinates P6 (xg, yg, zg) are detected in the sixth period.

  The normal detection unit 150 draws a perpendicular line from the end point coordinate (start point coordinate of the position vector V1) P1 (xb, yb, zb) detected in the first period to the virtual plane 240 of a predetermined first posture. The length of this perpendicular is the length of the normal vector S0 of the virtual plane 240. In addition, the normal line detection unit 150 lowers a perpendicular line to the virtual plane 240 from the end point coordinate (start point coordinate of the position vector V2) P2 (xc, yc, zc) of the position vector V1 detected in the second period. The length is the length of the normal vector S1 of the virtual plane 240.

  In addition, the normal detection unit 150 is perpendicular to the virtual plane 240 of a predetermined first posture from the end point coordinate (start point coordinate of the position vector V3) P3 (xd, yd, zd) of the position vector V2 detected in the third period. And the length of the perpendicular is set as the length of the normal vector S2 of the virtual plane 240. In addition, the normal detection unit 150 is perpendicular to the virtual plane 240 of a predetermined first posture from the end point coordinates (start point coordinates of the position vector V4) P4 (xe, ye, ze) detected in the fourth period. And the length of the perpendicular is set as the length of the normal vector S3 of the virtual plane 240.

  In addition, the normal detection unit 150 is perpendicular to the virtual plane 240 of a predetermined first posture from the end point coordinates (start point coordinates of the position vector V5) P5 (xf, yf, zf) of the position vector V4 detected in the fifth period. And the length of the perpendicular is set as the length of the normal vector S4 of the virtual plane 240. Further, the normal line detection unit 150 draws a perpendicular line from the end point coordinate P6 (xg, yg, zg) of the position vector V5 detected in the sixth period to the virtual plane 240 of a predetermined first posture, and the length of the perpendicular line Is the length of the normal vector S5 of the virtual plane 240. For the normal vectors S0 to S5, the normal line detection unit 150 calculates the square value of each length for each normal vector, and calculates the sum of the square values.

  On the other hand, the normal detection unit 150 is perpendicular to the virtual plane 250 of a predetermined second posture from the end point coordinate (start point coordinate of the position vector V1) P1 (xb, yb, zb) of the position vector V0 detected in the first period. And the length of the perpendicular is the length of the normal vector M0 of the virtual plane 250. In addition, the normal detection unit 150 is perpendicular to the virtual plane 250 having a predetermined second posture from the end point coordinates (start point coordinates of the position vector V2) P2 (xc, yc, zc) of the position vector V1 detected in the second period. And the length of the perpendicular is the length of the normal vector M1 of the virtual plane 250.

  In addition, the normal detection unit 150 is perpendicular to the virtual plane 250 having a predetermined second attitude from the end point coordinates (start point coordinates of the position vector V3) P3 (xd, yd, zd) of the position vector V2 detected in the third period. And the length of the perpendicular is the length of the normal vector M2 of the virtual plane 250. In addition, the normal line detection unit 150 is perpendicular to the virtual plane 250 having a predetermined second posture from the end point coordinates (start point coordinates of the position vector V4) P4 (xe, ye, ze) detected in the fourth period. And the length of the perpendicular is the length of the normal vector M3 of the virtual plane 250.

  In addition, the normal detection unit 150 is perpendicular to the virtual plane 250 having a predetermined second posture from the end point coordinates (start point coordinates of the position vector V5) P5 (xf, yf, zf) of the position vector V4 detected in the fifth period. And the length of the perpendicular is set as the length of the normal vector M4 of the virtual plane 250. Further, the normal line detection unit 150 draws a perpendicular line from the end point coordinate P6 (xg, yg, zg) of the position vector V5 detected in the sixth period to the virtual plane 250 in a predetermined second posture, and the length of the perpendicular line Is the length of the normal vector M5 of the virtual plane 250. The normal line detection unit 150 calculates the square value of each length of the normal vectors M0 to M5 for each normal vector, and calculates the sum of the square values.

  The normal detection unit 150 compares the calculated sum of square values for each virtual plane, and determines the virtual plane that minimizes the calculated sum of square values as a reference plane (localization data) of a minute region on the surface of the object 200. (Least square method) In FIG. 3, the normal detection unit 150 compares the sum of the square values of the normal vectors S0 to S5 with the sum of the square values of the normal vectors M0 to M5, and compares each of the normal vectors. A virtual plane (for example, virtual plane 250) having a minimum sum of square values is determined as a reference plane (localization data) of a minute region on the surface of the object 200.

  The method for determining the reference plane is not limited to the least square method. For example, the normal detection unit 150 compares the total length of the normal vectors for each virtual plane, and determines the virtual plane having the minimum calculated length as the minimum area of the surface of the object 200. It may be determined as a reference plane (orientation data).

  In FIG. 3, the form in which the reference plane (orientation data) is determined based on the position vector for six periods has been described. However, the reference plane (orientation data) is based on position vectors that are smaller or more than six periods. May be determined.

  FIG. 4 shows an example of the normal direction. In the example illustrated in FIG. 2, the vibration device 100 moves on the surface of the target object 200 in the order of the trajectory 210, the trajectory 220, and the trajectory 230. The normal detection unit 150 determines the x1-y1 plane as the reference plane based on the above calculation. In this way, the normal detection unit 150 detects the z1 axis direction as the normal direction of the reference plane. The normal detection unit 150 outputs the normal direction data of the reference plane to the vibration detection unit 160.

  Returning to FIG. 1, the description of the configuration example of the vibration device 100 is continued. The normal direction data of the reference plane is input from the normal detection unit 150 to the vibration detection unit 160. In addition, vibration data collected for multiple axes is input from the vibration collection unit 130 to the vibration detection unit 160. In addition, position data of the vibration device 100 is input from the position detection unit 140 to the vibration detection unit 160.

  Based on the normal direction data of the reference plane, the vibration data collected for multiple axes, and the position data of the vibration device 100, the vibration detection unit 160 obtains information indicating the vibration in the normal direction of the reference plane. Detection is performed for each position of the vibration device 100 on the surface of 200. In other words, the vibration detection unit 160 detects information indicating the vibration in the normal direction of the reference plane and a predetermined cycle (for example, a cycle of several thousandths of a second). The vibration detection unit 160 stores information indicating the vibration in the normal direction of the reference plane in the storage unit 170 in association with the position of the vibration device 100 on the surface of the object 200.

  The storage unit 170 stores information indicating vibration in the normal direction of the reference plane in association with the position of the vibration device 100 on the surface of the object 200. The storage unit 170 outputs various stored data in response to access from the control unit 120 or the like. Note that the storage unit 170 may store in advance a program for operating the control unit 120.

  When the vibration device 100 operates in an operation mode that reproduces vibration, the vibration unit 180 (vibrator) vibrates according to control by the control unit 120. Here, the vibration unit 180 vibrates on the surface of a predetermined reproduction object based on information indicating vibration in the normal direction of the reference plane. More specifically, the vibration in the normal direction of the surface of the object 200 corresponding to the position of the vibration device 100 on the reference plane corresponding to the position of the vibration device 100 on the surface of the predetermined reproduction object is shown. Based on the information, the vibration unit 180 vibrates. The vibration unit 180 may be a voice coil motor (VCM) or a speaker, for example, as a vibration reproduction device.

  FIG. 5 shows an example of use of a vibration device that reproduces vibration. In FIG. 5, a reproduction object 400 is arranged in a three-dimensional space. The position (coordinates) of the surface of the reproduction object 400 and the position (coordinates) of the reference plane are associated in advance. For example, in FIG. 5, the position (coordinates) of the surface of the reproduction object 400 and the position (coordinates) of the reference plane correspond in advance so that the locus 430 and the locus 230 (see FIG. 2) correspond to each other. It is attached.

  The user 300 holds the vibration device 100 that operates in the operation mode for reproducing vibration, and moves the vibration device 100 so as to stroke the surface of the reproduction object 400. In FIG. 5, the user 300 moves the vibration device 100 along a trajectory 430 associated with the trajectory 230 (see FIG. 2). In FIG. 5, the x1, y1, z1 coordinate system is defined with the end point of the locus 430 associated with the locus 230 as the origin so that the x1-y1 plane coincides with the surface of the reproduction object 400. .

  The normal direction (z1 axis in FIG. 5) of the surface of the reproduction object 400 at the end point of the locus 430 corresponds to the normal direction (z1 axis in FIG. 4) of the reference plane at the end point of the locus 230 (see FIG. 2). It is attached. At the end point of the trajectory 430 on the surface of the reproduction object 400, the vibration unit 180 (see FIG. 1) is in the normal direction of the reference plane (see FIG. 4) associated with the end point of the trajectory 230 on the surface of the object 200. vibrate based on information indicating the vibration of the z1 axis).

Next, an example of the operation procedure of the vibration device will be described.
FIG. 6 is a flowchart illustrating an example of an operation procedure of the vibration device that collects vibration data.
(Step S <b> 1) The vibration collection unit 130 (see FIG. 1) causes unevenness on the surface of the object 200 by moving the surface of the object 200 (see FIG. 2) while the vibration device 100 is held by the user. Corresponding vibration data is collected for multiple axes.

(Step S2) The position detection unit 140 (see FIG. 1) detects the position (coordinates) of the vibration device 100 on the surface of the object 200.
(Step S3) The normal detection unit 150 (see FIG. 1) determines the normal direction of the reference plane (for example, the z1 axis direction in FIG. 4) based on the vibration data collected for multiple axes, and the vibration device 100. Detect for each position.

(Step S4) The vibration detection unit 160 (see FIG. 1) normals the reference plane based on the normal direction data of the reference plane, the vibration data collected for multiple axes, and the position data of the vibration device 100. Information indicating the vibration in the direction is detected for each position of the vibration device 100.
(Step S5) The storage unit 170 (see FIG. 1) stores information indicating the vibration in the normal direction of the reference plane in association with the position of the vibration device 100.

FIG. 7 is a flowchart illustrating an example of an operation procedure of the vibration device that reproduces vibration.
(Step Sa1) The position detection unit 140 detects the position (coordinates) of the vibration device 100 on the surface of the reproduction object 400 (see FIG. 5). The position detection unit 140 outputs position data of the vibration device 100 on the surface of the reproduction object 400 to the control unit 120.

  (Step Sa2) The control unit 120 performs vibration in the normal direction of the reference plane, which is associated with the position of the vibration device 100 on the surface of the target object 200, corresponding to the position of the vibration device 100 on the surface of the reproduction object 400. Is obtained from the storage unit 170.

  (Step Sa3) The vibration unit 180 corresponds to the position of the vibration device 100 on the surface of the object 200 and corresponds to the position of the vibration device 100 on the surface of the reproduction object 400, in the normal direction of the reference plane. Based on the information indicating that, the control unit 120 vibrates according to the control.

As described above, the vibration device 100 includes the vibration collection unit 130 that collects vibration data according to the unevenness of the surface of the object 200 for multiple axes, the position detection unit 140 that detects the position of the device itself on the surface, A predetermined reference plane is determined based on the vibration data collected for multiple axes, and a normal line for detecting the normal direction of the reference plane for each position (for example, coordinates P1, P3, P5 shown in FIG. 3). A detection unit 150; and a vibration detection unit 160 that detects information indicating vibration in a normal direction of the reference plane for each position.
With this configuration, the normal detection unit 150 detects the normal direction of the reference plane for each position of the device on the surface of the object 200. Thereby, the vibration device 100 can collect vibration data that faithfully corresponds to the unevenness of the surface of the object 200.

In addition, the vibration program is a computer that collects vibration data according to the unevenness of the surface of the object 200 for multiple axes, a procedure for detecting the position of the device on the surface, and the collected data for multiple axes. A procedure for determining a predetermined reference plane based on vibration data, detecting a normal direction of the reference plane for each position, and a procedure for detecting information indicating vibration in the normal direction of the reference plane for each position And execute.
Thereby, the vibration program can collect vibration data that faithfully corresponds to the unevenness of the surface of the object 200.

Further, the vibration data may collect acceleration of the device itself.
Further, the position detection unit 140 may detect the position of the device itself on the surface based on the acceleration. For example, the position detection unit 140 detects the position (movement amount) of the vibration device 100 by performing second order integration on the acceleration.

Further, the vibration device 100 may include the vibration unit 180. The vibration unit 180 may vibrate on the surface of the reproduction object 400 based on information indicating vibration in the normal direction of the reference plane associated with the position of the own device on the surface of the target object 200.
Thus, the vibration device 100 and the vibration program can faithfully (really) reproduce the vibration felt by the user by stroking the surface of the object 200 on the surface of the reproduction object 400.

  For example, the user 300 holds the vibration device 100 that operates in an operation mode for collecting vibration data, and moves the vibration device 100 so as to stroke the surface of a horse (not shown). In addition, the user 300 holds the vibration device 100 that operates in an operation mode for reproducing vibration, and moves the vibration device 100 so as to stroke the surface of the reproduction object 400. As a result, the vibration device 100 and the vibration program can faithfully (really) reproduce the vibration felt by the user by stroking the surface of the horse (vibration caused by the hair of the horse) on the surface of the object 400 for reproduction. .

  In the above embodiment, the vibration device 100 executes both vibration collection and reproduction. However, vibration collection and reproduction may be executed by different devices.

[Second Embodiment]
The second embodiment is different from the first embodiment in that vibration is reproduced on the surface of the vibration device 100 as the reproduction object 400. Only the differences from the first embodiment will be described below.

  Hereinafter, the presentation effect obtained by the user of the vibration device by generating a sense of localization and movement is referred to as a “vibration effect”. Here, the sense of orientation is phantom sensation, that is, when two points on the user's skin are vibrated (stimulated) at the same time, as if at a specific position between the two points. This is a sense that the user feels that there is a vibration localization. Also, the sense of movement refers to apparent movement, that is, when the two points of the user's skin are vibrated (stimulated) with a phase difference and an output difference, the localization of vibration moves. It is a feeling that the user feels like.

  FIG. 8 shows an example of the arrangement of the vibration part. As an example, the vibration device 100 includes vibration units 180-1 to 180-4 at four corners of the casing. Hereinafter, the matters common to the vibration units 180-1 to 180-4 are referred to as “vibration unit 180”. The vibration device 100 vibrates the casing of the device itself by vibrating each vibration unit based on the vibration data. Note that the vibration device 100 may vibrate the vibration unit 180 while reproducing image (video) data and audio data.

  FIG. 9 shows an example of the apparent exercise. In FIG. 9, a coordinate system (x2, y2) = (− 1.0 to +1.0, −1.0 to +1.0) is defined with the center of the casing of the vibration device 100 as the origin. The coordinate system (x2, y2) is a coordinate system determined so that the position on the surface of the object 200 corresponds to the position on the surface of the vibration device 100.

  The vibration part 180-1 (channel 1) is arranged at coordinates (−0.9, +0.9) as an example. Moreover, the vibration part 180-2 (channel 2) is arrange | positioned at a coordinate (+0.9, +0.9) as an example. Moreover, the vibration part 180-3 (channel 3) is arrange | positioned at a coordinate (-0.9, -0.9) as an example. Moreover, the vibration part 180-4 (channel 4) is arrange | positioned at a coordinate (+0.9, -0.9) as an example.

  In FIG. 9, as an example, the user feels the movement feeling that the vibration localization feeling moves linearly from the start point coordinates (+0.4, +0.2) to the end point coordinates (−0.3, −0.55). Can get. Here, the start point coordinates and the end point coordinates are coordinates respectively corresponding to the start point and the end point of the trajectory that the vibration device 100 has moved on the surface of the object 200.

  In addition, the vibration apparatus 100 may have a contact sensor (not shown) on the surface. The contact sensor outputs data indicating the coordinates (x2, y2) at which contact is detected to the control unit 120. The control unit 120 may vibrate the vibration unit 180 based on data indicating the coordinates (x2, y2) at which the contact is detected.

  The vibration device 100 can faithfully (really) reproduce the vibration felt by the user by stroking the surface of the target object 200 on the surface of the vibration device 100 without the reproduction object 400.

  The embodiment of the present invention has been described in detail with reference to the drawings. However, the specific configuration is not limited to this embodiment, and includes designs and the like that do not depart from the gist of the present invention.

  For example, the reference surface of the surface of the object 200 (see FIG. 2) may be a curved surface instead of a flat surface. In this case, the reproduction object 400 (see FIG. 5) may be a curved surface corresponding to the reference surface of the surface of the object 200.

  The program for realizing the vibration device described above is recorded on a computer-readable recording medium, and the program recorded on the recording medium is read into the computer system and executed to execute the execution process. May be. Here, the “computer system” may include an OS and hardware such as peripheral devices.

  Further, the “computer system” includes a homepage providing environment (or display environment) if a WWW system is used. The “computer-readable recording medium” refers to a storage device such as a flexible medium, a magneto-optical disk, a portable medium such as a ROM and a CD-ROM, and a hard disk incorporated in a computer system. Furthermore, the “computer-readable recording medium” dynamically holds a program for a short time like a communication line when transmitting a program via a network such as the Internet or a communication line such as a telephone line. In this case, it also includes those that hold a program for a certain period of time, such as volatile memory inside a computer system that serves as a server or client in that case. The program may be a program for realizing a part of the functions described above, and may be a program capable of realizing the functions described above in combination with a program already recorded in a computer system.

DESCRIPTION OF SYMBOLS 100 ... Vibration apparatus 110 ... Operation part 120 ... Control part 130 ... Vibration collection part 140 ... Position detection part 150 ... Vibration detection part 160 ... Normal detection part 170 ... Memory | storage part 180 ... Vibration part 200 ... Object 210 ... Trajectory 220 ... Trajectory 230 ... Trajectory 240 ... Virtual plane 250 ... Virtual plane 300 ... User 400 ... Reproduction object 430 ... Trajectory

Claims (7)

A vibration collection unit that collects vibration data according to the shape of the surface of the object for multiple axes;
A position detector for detecting the position of the device itself on the surface;
The normal detection unit determines a predetermined reference plane on the basis of the vibration data collected for multiaxial, to detect the normal direction of the reference plane,
Information indicating the vibration notation line direction component before the normal detection unit has detected in the position of the normal direction of the component of the vibration data to which the vibration collecting unit collects at the position where the position detection unit detects a vibration detection unit that detects as,
That includes a vibration device. The normal detection unit calculates the length of a perpendicular line dropped to an arbitrary virtual plane for each position of the device detected by the position detection unit, and calculates a virtual plane that minimizes the sum of the perpendicular lengths. vibrating device according to 請 Motomeko 1 that determine as the reference plane. The normal line detection unit calculates the length of a perpendicular line dropped to an arbitrary virtual plane for each position of the device detected by the position detection unit, and the sum of the square values of the perpendicular lengths is minimized. vibrating device according virtual plane 請 Motomeko 1 that determine as the reference plane. The vibration data, vibration device according to any one of claims 3 information indicating the acceleration of at least its own device from including請 Motomeko 1. Wherein the position detection unit, a position of the own device in the surface, the vibration device according to 請 Motomeko 4 you detected based on information indicating the acceleration. It has a vibration part,
The vibrating portion, the surface of the predetermined object associated with said reference plane, any one of claims 5 請 Motomeko 1 that vibrate based on the information indicating the vibration in the normal direction of the reference plane The vibration device according to Item. On the computer,
Vibration collection procedure for collecting vibration data according to the shape of the surface of the object for multiple axes,
A position detection procedure for detecting the position of the device itself on the surface;
The normal detection procedure to determine the predetermined reference plane, to detect the normal direction of the reference plane based on the vibration data collected for multi-axis,
Vibrating the component before notation line direction detected by the normal detection procedure in the position of the components of the vibration data collected by the vibrating collection procedure in position detected by the position detecting procedure of the normal direction Vibration detection procedure to detect as information indicating,
A vibration program for running.

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