JPS63135986A - Visually acting apparatus - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to a visual surrogate device that can be used by blind people to perceive perspective.

(Prior Art) A conventional visual proxy device uses a bimorph vibrator as shown in FIG. make it move. By placing a finger on this tactile pin, the vertical movement of the tactile pin is sensed by the finger, and visual substitution is performed.

On the other hand, JP-A-60-116077, 60-11661
No. 1, No. 60-189581, 3rd Academic Conference of the Robotics Society of Japan (November 28-30, 1985) 2. Description of the Related Art Object information processing devices are known that project images in a mosaic pattern onto one image sensor to obtain a signal according to the distance from a lens to an object.

(Problems to be Solved by the Invention) According to the conventional visual proxy device described above, when information about the outside world is obtained using the tactile pin, the obtained information is flat information.

An object of the present invention is to provide a visual proxy device that solves the above problems.

(Means for Solving the Problems) In order to solve the above-mentioned problems, the present invention provides object information generation means for outputting object shape and distance information to the object; Discrimination means for determining whether the distance corresponding to the output distance information is beyond a predetermined set value; and a vibrator having a tactile pin implanted in its free end and displacing the tactile pin in accordance with a control applied voltage. Then, the tactile pin corresponding to the object shape determined to be farther than a predetermined setting by the discriminating means is displaced in one direction, and the tactile pin corresponding to the object shape determined to be not further than the predetermined value is moved in another direction. control means for displacing in the direction.

(Function) The object information generating means outputs the object shape and distance information to the object. The determining means determines whether the distance corresponding to the distance information output from the object information generating means is greater than or equal to a predetermined value. On the other hand, the tactile pin is implanted at the free end of the vibrator, and as voltage is applied, the tactile pin is displaced via the vibrator. The tactile pin corresponding to the shape of the object for which the distance corresponding to the distance information is determined to be beyond a predetermined setting value by the determining means is displaced in one direction, and it is determined that the distance corresponding to the distance information is not beyond the predetermined setting value. The tactile pin corresponding to the object shape is displaced in the other direction. Therefore, the vertical movement of the tactile pin relative to the finger placed on the tactile pin is sensed, and perspective can also be determined by this sensing.

(Example of the invention) The present invention will be explained below with reference to Examples.

FIG. 2 is a block diagram showing one embodiment of the present invention.

Data including the position of the object read from the object information generating device 1 is stored in the frame memory 2.

The data stored in frame memory 2 is read into CPU 3,
Tufftile information, which will be described later, is extracted from the information read by the CPU 3. Now, CPU3 is 8 bifu t-cpu
shall be. Data is written from the CPU 3 to 64 8-bit latches 51 to 5.4 through the I10 port 4. Also, when writing from CPU3, the signal is 64.
The count value of the counter 6 is supplied to the decoder 7 for decoding, and the output of the decoder 7 is supplied to the latches 5I-5.4 and used as selection signals for the latches 5I-564.

Each lunch 5t = (m”1 to 64) is 2 bits each, 4
e81 to 8□, 6 indicates a drive circuit, and as shown in FIG. 3, the transistor T
, , /%l T p 3, and the connection points between the collector of the transistor Trff and the collector of the transistor Tr2 are bimorph oscillators 91 to 9! A power supply voltage of 100 V is applied through each of s and s.

Examples of bimorph oscillators 9I to 9□ are constructed as shown in FIG. FIG. 1 shows the structure of a ceramic bimorph resonator. An intermediate electrode 14 is sandwiched between two piezoelectric elements 12 and 13, each having an electrode 11 deposited on one surface. Short circuit electrode 15
shorted by. Note that the short-circuit electrode side is a free end, and the opposite side is a fixed end. Such a bimorph oscillator9. ~9t3. At the free end of the bimorph oscillator 9, as shown in FIG.・〜9□6. The fixed end is fixed by a fixing base 16, and the free end has a tactile pin 17 fixed vertically.

Therefore, when a positive voltage is applied between the electrode 1 and the intermediate electrode 14, the piezoelectric element 12 expands in the X direction, and the piezoelectric element 13 contracts in the X direction. As a result, the free end of the bimorph oscillator is displaced in the negative direction of the Z-axis. Conversely, when a negative voltage is applied between the electrode 1 and the intermediate electrode 14, the piezoelectric element 12
is contracted in the X direction, and the piezoelectric element 13 is expanded in the X direction. As a result, the free end of the bimorph oscillator is displaced in the positive direction of the Z-axis. The tactile pin 17 moves up and down as the free end of the bimorph vibrator moves in the Z-axis direction.

Therefore, in the drive circuit shown in FIG.
,, Vibrator voltage VA as shown in Table 1 is applied to the bimorph vibrator by the potential supplied to the input INt, and the tactile pin 17 is moved.

Table 1 On the other hand, the CPU 3 issues a time interrupt based on the output of the timer 20, and writes to the latches 5, 5, h4 at the time of the interrupt. The relationship between the written data and the tactile pins 17 is as shown in Table 2. Table 2 exemplifies the case where the frequency of the interrupt by the timer 20 is 1000 Hz. Further, the setting device 21 is a setting device for setting the position of a division point, which will be described later.

Table 2 Also, a frequency of 500/NHZ can be used in the same way. Furthermore, even if the frequency is the same, the number 3 in Table 3 is
The difference in stimulation intensity depending on the time ratio between ON-OFF and neutral state can also be used, as shown in table fat, (b).

As shown in Tables 2 and 3 above, it is also possible to provide information with gradations due to differences in frequency and intensity.

Here, with the image information from the frame memory 2 taken into the CPU 3, for example, 24
The distance to the 0 point is calculated, and this calculated distance data is subjected to various processes to obtain tufftile presentation data. Distance calculation is well known as described above, and next, an algorithm for creating tufftile presentation information from distance data will be explained.

The first method of creating tufftile presentation information from distance data is to divide by a predetermined distance set by the setting device 21 and change the presentation conditions for each division. This is a method of combining points and treating them as one object.

In the first method, for example, a landscape with a mountain in the distance and a tree in the foreground is shown in FIG.

In Figure 5, Figure 5 (al) shows the scenery with the above mountains and trees.Of the 240 points of distance data, the mountain is at 1 km, the tree is at 10 m, and the sky is at position (1). Now, if we set 100m as the dividing point, the area in front of it will be presented as a tree shape as shown in Figure 5 (bl), and the area beyond that will be presented as a combination of mountain and sky as shown in Figure 5 (C). shows.

Furthermore, if 100m and 10kn+ are set as division points, trees will be shown separately below 100m, mountains will be shown between 100m and 10km, and the sky will be shown separately above 10km+.

In this way, objects and situations can be separated into parts based on differences in distance.

The setting values of the above-mentioned division points may be fixed values, or may be freely set by the user. In the example shown in FIG. 5, when the set value is 9 to 11 m, if a part of the tree is to be separated, the presented figure changes greatly by slightly changing the set value. When the entire tree is displayed, there will be no change in the shape even if the setting value is changed significantly. By determining such points by the user, the optimum dividing point can be set.

A flowchart of an algorithm for separating objects and situations into several parts based on differences in distance as described above is shown in FIG. i indicates a parameter in the column direction, j indicates a parameter in the row direction, and k indicates a segmentation point parameter.

n is the division score, s (k) (k = 1, 2
, ----n) indicates the first division point, and (k:
s (k) < s (k + 1) ), d (t
? J) indicates the distance between each point.

Assuming that s (o) ~ 0, s (n+1) = oo, for each segment point, determine whether the distances of all points on the screen are within the range of the segment point distance, and then calculate tac (i, j , k) = 1 (when it exists) ta
Let c(i, j, k)=O (when it does not exist).

Therefore, tac(n, masu, k) is a matrix indicating the distance of the ~(k+1)th interval point, and in Fig. 6, tac(' l
J) is greater than or equal to s (k), d(i, j) is s
(k+1) or less, and based on the result, tac(i
, j, k) by inserting 1'' or 10''. This flowchart allows objects and situations to be separated into several parts based on differences in distance.

Next, as a method of displaying the figures divided according to the above,
(b) A method of displaying based on the difference in stimulus intensity due to differences in frequency and amplitude, (b) A method of displaying by changing the number of presentations, and (c) A method of displaying by presenting a point between two categories. be. In method (a) above, the strength of the vibration stimulation is felt to be different depending on the frequency or amplitude, due to the characteristics of the cutaneous illusion. Therefore, by assigning different frequencies or amplitudes to each of the divided figures, it is possible to determine the distance in the image by presenting the figure - times.

An algorithm for creating vibrations of each frequency based on tufftile presentation information will be described.

The input to the drive circuit 8 and the state of one element of the vibrator are as shown in Table 1 above, and the input is IN.

, and input IN2 are held by latches.

Therefore, by periodically writing the IN, signal, and INt signals, the vibrator is repeatedly displaced upward and downward, and vibrations are formed.

The array that specifies the presentation points for each of n presentation frequencies is freq
(12, 20, n) and f request (12,
20, n) “0”, “1° inverted arrangement is inV
It is prepared at (12, 20, n).

In addition, the input signals IN of the 256 points of the vibrator, and IN,
The array INI (12, 20, 2n), lN2 (12,
20, 2n), and the n presentation frequencies are 10
00/21'I (Hz). Flowcharts for this presentation are shown, for example, in FIGS. 7(a) and 8. FIG. 7 shows a routine for assigning different frequencies to each figure, and FIG. 8 shows an output subroutine. Also, FIG. 7(b) shows I in FIG. 7(a).
FIG. 7(C) shows a subroutine for clearing N+ and IN, and FIG. 7(C) shows a logical sum routine forming a part of the routine in FIG. 7(a).

In the case of (b) above, for example, when the presentation switch is pressed, the presentation will be sequentially presented from a nearby point to a point that is gradually farther away. go. For example, considering four categories: within 3m, within 10m, within 50m, and farther than 50m, one time for within 3m, two times for within 3-10m, and 10 times.
The presentation is performed three times for objects within ~50 m, and four times for objects farther away than 50 m. Therefore, the distance is determined based on the number of presentations.

Furthermore, in the case of (c) above, only points included in the distance between two predetermined points are displayed. Therefore, it is determined that there is an object between two predetermined points in the presented portion.

The second method described above is a method of treating adjacent points that are close together as one object, as shown in Fig. 9.
In the case of a long wall, the points from the closest point to the farthest point are distributed as continuous points, and it is difficult to separate the wall using the first method described above. In such a case, the continuously changing portion is extracted and presented.

An algorithm for combining nearby points that are close together and treating them as one object will be explained.

First, we define the following three sets.

A= ((t, J) I (t $ J) is a point inside the object) B= ((i, j) l (t, j) is a point outside the object or an unprocessed point] Two-dimensional array obj ( 12, 19), π(i,
j) εA−Ob J (t * J) > 0(
i, j) εB→Obj (i p j)=O.

Adjacent points are checked above, below, left and right of the target point, and when the distance to the target point is less than a certain threshold value sl, it is recognized as the same object.

Among the elements (iy J) of the set A, at points where judgments regarding adjacent points have been completed, Obj (i, j) = 2, and at points where judgments have not been completed, Obj (i, j) = 1.

The judgment is repeated assuming that one point (ioyJo) included in the object and the threshold 4f1sl have been specified, and the process ends when there is no unjudged point.

This can be shown in flowcharts as shown in FIGS. 10 to 13.

In FIGS. 10 to 13, m1shori indicates the number of undecided points. The defined subroutines in FIG. 10 are as shown in FIGS. 11 to 13.

(Effects of the Invention) As explained above, according to the present invention, the object information generating means outputs the object shape and the distance information to the object, and when the distance corresponding to the distance information is beyond a predetermined setting value, Since the tactile pin is displaced in one direction, and when the distance is not beyond a predetermined set value, the tactile pin is displaced in the other direction, the vertical movement of the tactile pin relative to the finger placed on the tactile pin is sensed. This sensing also allows us to perceive perspective.

[Brief explanation of the drawing]

Fig. 1 is a perspective view showing the structure of a bimorph resonator, Fig. 2 is a block diagram of an embodiment of the present invention, Fig. 3 is a circuit diagram showing an example of a drive circuit, and Fig. 4 is a tactile pin provided. FIG. 5 is a diagram for explaining the operation of an embodiment of the present invention, and FIGS. 6 to 8 are diagrams for explaining the operation of an embodiment of the present invention. Flowchart, No. 9
The figure is a diagram for explaining the operation of another embodiment of the present invention, and FIGS. 10 to 13 are flowcharts for explaining the operation of another embodiment of the invention. 1... Object information generator, 2... Frame memory,
3-CPU, 4-110 boat, 5195b4"' latch, 6...64 base counter, 7...decoder, 8
1 to 8□0...drive circuit, 9. ~9□3. ...Bimorph resonator, 11...electrode, 12 and 13...
Piezoelectric element, 14... intermediate electrode, 15... short circuit electrode,
16... Fixed stand, 17... Tactile pin, 20... Timer, 21... Setting device.

Claims (1)

[Claims] an object information generating means for outputting object shape and distance information to the object; and a control means for determining whether a distance corresponding to the distance information outputted from the object information generating means is beyond a predetermined setting value. , a vibrator having a tactile pin implanted in its free end, the tactile pin being displaced in response to a control application signal, and a tactile pin corresponding to the shape of the object determined to be beyond a predetermined setting by the determining means. A visual proxy device comprising: a control means for displacing a tactile pin in one direction and displacing in the other direction a tactile pin corresponding to a shape of an object determined to be not beyond a predetermined value.