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WO2025013405A1 - Équipement électronique, appareil de commande de fluide, appareil de présentation tactile, procédé de commande de fluide et véhicule - Google Patents

Équipement électronique, appareil de commande de fluide, appareil de présentation tactile, procédé de commande de fluide et véhicule Download PDF

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Publication number
WO2025013405A1
WO2025013405A1 PCT/JP2024/017926 JP2024017926W WO2025013405A1 WO 2025013405 A1 WO2025013405 A1 WO 2025013405A1 JP 2024017926 W JP2024017926 W JP 2024017926W WO 2025013405 A1 WO2025013405 A1 WO 2025013405A1
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WO
WIPO (PCT)
Prior art keywords
pump
electronic device
fluid
drive circuit
drive signal
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
PCT/JP2024/017926
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English (en)
Japanese (ja)
Inventor
昭仁 西池
彰 小野
浩信 安倍
正樹 折橋
洋志 鈴木
裕人 川口
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Sony Group Corp
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Sony Group Corp
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Publication date
Application filed by Sony Group Corp filed Critical Sony Group Corp
Publication of WO2025013405A1 publication Critical patent/WO2025013405A1/fr
Pending legal-status Critical Current
Anticipated expiration legal-status Critical

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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
    • F04B41/00—Pumping installations or systems specially adapted for elastic fluids
    • F04B41/06—Combinations of two or more pumps

Definitions

  • the present disclosure relates to an electronic device, a fluid control device, and a tactile presentation device that include a pump that draws in and/or discharges a fluid, a fluid control method that controls the pump, and a vehicle that has a tactile presentation device.
  • Patent Document 1 discloses a technology that adjusts the perceived position of a tactile stimulus using a single tactile stimulator. According to Patent Document 1, the frequency of the vibration output from the tactile stimulator is changed according to the position of the tactile stimulator and predetermined position information (paragraphs 0006 and 0007).
  • Patent Document 2 discloses a method for adjusting the acceleration generated by left and right tactile presentation units (at least one of which is a linear vibration actuator that is a voice coil motor) that have different resonant frequencies by selectively attenuating (suppressing) the components near the respective resonant frequencies (paragraph 0076, Figure 18).
  • Patent Document 3 discloses a diaphragm-type fluid control device, which is a pump capable of sucking in and discharging fluid, as a mechanism used in a tactile presentation device. According to Patent Document 3, this fluid control device is installed in an electronic device such as a tactile presentation device to present a pseudo sense of pressure or touch (paragraphs 0027 and 0141).
  • An electronic device includes: a first pump for discharging and/or aspirating a fluid; a device different from the first pump; and a drive circuit for selectively controlling the first pump and the device.
  • the drive circuit selectively outputs drive signals of different frequencies. This allows the first pump and device to be driven by a single drive circuit. This reduces the number of circuits and signals, making the electronic device smaller and lighter. By combining first pumps and devices with different characteristics, the tactile sensation presented can be expanded.
  • the drive circuit may selectively control the first pump and the second pump by selectively outputting to the first pump and the second pump either a first drive signal having a frequency within a predetermined range with respect to the first resonant frequency or a second drive signal having a frequency within a predetermined range with respect to the second resonant frequency.
  • the drive circuit selectively outputs drive signals of different frequencies.
  • This makes it possible to drive a first pump and a second pump, which are multiple pumps with different resonant frequencies, with a single drive circuit. Since the first pump and the second pump can be selectively turned on and off simply by selectively outputting drive signals of different frequencies, the number of circuits and signals can be reduced, making electronic devices smaller and lighter.
  • the tactile sensation presented can be expanded.
  • a displacement of the first pump is less than a first threshold;
  • a displacement of the second pump may be less than a second threshold value.
  • the liquid ejection device may further include a container that contains a fluid to be discharged and/or sucked by the first pump and that is deformed in accordance with the discharge and/or sucking of the fluid.
  • the container may be flexible.
  • the container further contains a fluid to be discharged and/or drawn by the second pump, and is deformed in accordance with the discharge and/or drawing of the fluid;
  • the response characteristics of the container when the drive circuit selectively controls the first pump and the second pump may be different from the response characteristics of the container when the first drive signal is output to the first pump to control it, and may also be different from the response characteristics of the container when the second drive signal is output to the second pump to control it.
  • the first pump is a positive pressure pump that discharges a fluid
  • the second pump may be a negative pressure pump that draws in a fluid
  • the response characteristics of the discharge and intake can be improved by selecting a first positive pressure pump and a second negative pressure pump with variable frequency for one container.
  • a variety of tactile sensations, such as vibrations and clicking sensations, from low to wide bands can be presented.
  • the drive circuit outputs the first drive signal to the first pump and the second pump to cause the first pump to discharge a fluid, and then outputs the second drive signal to the first pump and the second pump to cause the second pump to suck in a fluid;
  • a response characteristic of the container caused by the control may be different from a response characteristic of the container when the first pump is controlled by outputting the first drive signal to the first pump.
  • the fluid is discharged into the container, and then actively sucked in immediately after the discharge stops, allowing the container to expand and then rapidly contract.
  • the fluid may contain a fragrance.
  • deodorization by suction is possible, so users can enjoy the fragrance even in public spaces without worrying about their surroundings.
  • deodorization is possible, it is possible to emit a stronger fragrance.
  • a different tactile sensation may be presented to the user when the drive circuit outputs the first drive signal to control the first pump and when it outputs the second drive signal to control the second pump.
  • a different tactile sensation is presented to the user when the drive circuit outputs a first drive signal to control the first pump and when it outputs a second drive signal to control the second pump.
  • the first pump and the second pump may have different flow rates and/or pressures.
  • tactile sensations such as relatively large raised tactile sensations (smooth, bumpy), relatively fine, uneven tactile sensations (rough) and vibrations.
  • the first pump having a first resonant frequency
  • the device is DC controlled;
  • the drive circuit may selectively control the first pump and the device by selectively outputting either a first drive signal having a frequency within a predetermined range of the first resonant frequency or a DC voltage to the first pump and the device.
  • valve 509 DC control
  • the first pump (resonant frequency pulse control) and valve 509 (DC control) are controlled by a single drive circuit, making it possible to reduce the number of circuits and signals while still providing indications of expansion, expansion maintenance, and contraction of valve 509.
  • the drive circuit may selectively control the first pump and the device by time-sharing control of the first pump and the device.
  • An electronic device may include two or more of the above devices.
  • AC voltages and DC voltages with different frequencies are output in a time-division manner, making it possible to control a variety of devices with a single drive circuit.
  • the first pump and the device may be connected in parallel or in series to the drive circuit.
  • the drive circuit switches between the first drive signal and the second drive signal in a time-division manner and outputs them to the first pump and the second pump.
  • the drive circuit outputs either the first drive signal or the second drive signal to the first pump and the second pump.
  • the drive circuit selectively controls the first pump and the second pump in a time-division manner. With this control, the first pump and the second pump can be selectively controlled in a time-division manner regardless of whether they are connected to the drive circuit in parallel or in series.
  • the drive circuit may selectively control the first pump and the device by varying a frequency, a voltage, a current and/or a pulse width.
  • multiple types of devices can be controlled with a single drive circuit.
  • the first resonant frequency of the first pump may be determined by physical characteristics of the first pump and/or external elements.
  • the first pump may be driven by a piezoelectric element or a motor.
  • the drive circuit may calibrate the first drive signal in response to feedback of the response characteristics of the container when the first drive signal is output to the first pump and controlled.
  • the drive circuit may calibrate the first drive signal in response to feedback of the output characteristics of the first pump and/or the response characteristics of the container when the first drive signal is output to the first pump and controlled.
  • the electronic device may further include a level shifter and/or a voltage divider circuit provided between the drive circuit and the device.
  • a fluid control device includes: a first pump for discharging and/or aspirating a fluid; a device different from the first pump; and a drive circuit for selectively controlling the first pump and the device.
  • a tactile presentation device includes: a first pump for discharging and/or aspirating a fluid; a device different from the first pump; and a drive circuit for selectively controlling the first pump and the device.
  • a fluid control method includes: A drive circuit selectively controls a first pump and a device different from the first pump for pumping and/or aspirating fluid.
  • a vehicle includes: a first pump for discharging and/or aspirating a fluid; a device different from the first pump; and a drive circuit for selectively controlling the first pump and the device.
  • FIG. 1 is a perspective view illustrating an example of an electronic device according to a first embodiment of the present disclosure.
  • FIG. 1 is a cross-sectional view illustrating an example of a pump. The configuration of the electronic device is shown. 4 shows frequency characteristics of a first pump and a second pump.
  • 3A and 3B are schematic diagrams illustrating time-division control of a first pump and a second pump.
  • 10 shows a configuration of an electronic device according to a second embodiment.
  • 1 shows a schematic diagram of the response characteristics of a container.
  • 13 shows a configuration of an electronic device according to a third embodiment.
  • 1 shows a schematic diagram of the response characteristics of a container.
  • 13A and 13B are schematic diagrams illustrating response characteristics of a container according to a fourth embodiment.
  • FIG. 13 shows a configuration of an electronic device according to a fifth embodiment.
  • 1 shows a schematic of the response characteristics of a container and a valve.
  • 13 shows a configuration of an electronic device according to a sixth embodiment.
  • FIG. 13 is a perspective view illustrating an example of an electronic device according to a seventh embodiment.
  • 13 shows a configuration of an electronic device according to an eighth embodiment.
  • 23A and 23B illustrate an example of an electronic device according to a ninth embodiment. The configuration of the electronic device is shown.
  • FIG. 1 is a block diagram showing an example of the configuration of a vehicle control system.
  • FIG. 2 is a diagram showing an example of a sensing region.
  • FIG. 1 is a perspective view showing a schematic example of an electronic device according to a first embodiment of the present disclosure.
  • the electronic device 100 is a fluid control device that executes a fluid control method, and is also a tactile presentation device that utilizes the fluid control device.
  • the electronic device 100 has a tactile presentation layer 101 that can be touched by a user, for example, with a finger.
  • the tactile presentation layer 101 is flexible, and the surface is exposed so that it can be touched by the user.
  • the tactile presentation layer 101 may constitute the surface (flat surface, curved surface) of an object that a user normally touches with his or her fingers.
  • the tactile presentation layer 101 may constitute the inner wall surface of a house that functions as an in-house interface, the surfaces of various electronic devices that function as tactile displays, etc.
  • the tactile presentation layer 101 may constitute an in-vehicle console that functions as an operation system interface, an in-vehicle steering wheel that functions as an interface for the operation system or danger notification, or the interior surface of the vehicle, etc.
  • the electronic device 100 further has multiple (two in this example) flexible containers (described later in FIG. 3) built inside the input sites 102, 103 of the tactile presentation layer 101, and multiple (two in this example) pumps (described later in FIG. 3) connected to the multiple containers, respectively.
  • Each of the multiple pumps operates independently, and is a positive pressure pump that ejects a fluid (typically air; the same applies below) into the multiple containers.
  • the containers are balloons that contain the fluid ejected via the pump, and expand and deform as the fluid is ejected.
  • the pumps may be capable of sucking fluid from the containers, and the containers may contract and deform as the fluid is sucked in.
  • the material of the container and the tactile presentation layer 101 may be, for example, silicone material or urethane.
  • silicone material it may have a Shore A hardness of about 40 and a thickness of about 1 mm.
  • the electronic device 100 further includes a sensor.
  • the sensor may be configured integrally with the tactile presentation layer 101.
  • the sensor detects resistance, capacitance, piezoelectricity, fluid pressure, amount of received light, sound, etc., and may be a combination of these.
  • the sensor detects the proximity or contact of the user's fingers with the input areas 102, 103 on the surface of the tactile presentation layer 101.
  • the electronic device 100 functions as an input device.
  • the tactile presentation layer 101 has a planar shape, and the input sections 102 and 103 also have planar shapes.
  • the steady state no fluid is ejected into the container inside the tactile presentation layer 101, and the container is not expanding.
  • the user can touch the input area 102 of the tactile presentation layer 101 with his or her fingers to perform an input operation (touch, push, etc.). Because the container inside the input area 102 is inflated, the tactile sensation felt by the user is different from when touching other flat areas of the tactile presentation layer 101.
  • the sensor detects the user's touch of the input area 102 on the surface of the tactile presentation layer 101.
  • Figure 2 is a cross-sectional view showing a schematic example of a pump.
  • the pump 110 has a flow path space component, an inlet 3, and an outlet 4.
  • the flow path space forming portion forms a flow path space S1 that serves as a flow path for fluid F (typically, air).
  • the flow path space forming portion is composed of an upper surface member 6, a lower surface member 7, and a spacer member 8.
  • the internal space surrounded by the upper surface member 6, the lower surface member 7, and the spacer member 8 forms the flow path space S1.
  • the flow path space S1 generates pressure inside, causing a pump function to act on the fluid F.
  • the upper surface member 6 is made of a flexible material.
  • the lower surface member 7 is configured so that its outer shape when viewed from the top-bottom direction is the same as that of the upper surface member 6.
  • the lower surface member 7 is disposed opposite the upper surface member 6 along the top-bottom direction. Therefore, the top-bottom direction (Z direction) corresponds to the facing direction in which the upper surface member 6 and the lower surface member 7 face each other.
  • the spacer member 8 is disposed between the upper surface member 6 and the lower surface member 7.
  • the inlet 3 and the outlet 4 are configured to face each other along the X direction.
  • the inlet 3 is an opening through which the fluid F flows into the flow path space S1 (arrow A1).
  • the inlet 3 is provided in the spacer member 8 and is configured on the outer periphery of the flow path space S1.
  • the inlet 3 is an opening that connects the external space of the flow path space configuration portion with the flow path space S1.
  • the outlet 4 is an opening through which the fluid F flows out of the flow path space S1 (arrow A2).
  • the outlet 4 is provided in the spacer member 8, and is configured at a position different from the inlet 3 on the outer periphery of the flow path space S1.
  • the outlet 4 is also an opening that connects the external space of the flow path space forming portion with the flow path space S1.
  • the piezoelectric element 17 is connected to the top surface of the top surface member 6.
  • the top surface member 6 and the piezoelectric element 17 form a diaphragm 22.
  • a drive signal (AC voltage) is applied to the piezoelectric element 17.
  • the piezoelectric element 17 is an element capable of electromechanical conversion, and can bend the top surface member 6 by expanding and contracting in response to the application of a voltage.
  • the piezoelectric element 17 has a unique resonant frequency.
  • the piezoelectric element 17 bends the upper surface member 6 downward and upward (thickness direction, arrow A3), increasing and decreasing the volume of the flow path space S1.
  • the upper surface member 6 is periodically bent downward and upward, causing the upper surface member 6 to vibrate in the vertical direction.
  • the volume of the flow path space S1 decreases.
  • the volume decreases the most, resulting in the minimum volume state.
  • the volume of the flow path space S1 increases.
  • the center of the top member 6 moves to the topmost side, the volume increases the most, resulting in the maximum volume state.
  • the piezoelectric element 17 By using the piezoelectric element 17, it is possible to realize vibrations in the high frequency band with high response. In other words, it is possible to repeat increases and decreases in the volume of the flow path space S1, which is a relatively small amount of fluctuation, very quickly. As a result, it is possible to improve the pump output (pressure) and realize high pump function.
  • the diaphragm type pump 110 is very advantageous in terms of miniaturization.
  • the upper surface member 6 and the lower surface member 7 can be sized to be approximately 10 mm in diameter and 1 mm in thickness.
  • the opposing distance between the upper surface member 6 and the lower surface member 7 can also be designed to be approximately 100 ⁇ m. It is desirable that the upper surface member 6 does not come into contact with the lower surface member 7 in the minimum volume state.
  • the pump 110 of this embodiment can be realized in any size.
  • the upper surface member 6, the lower surface member 7, and the spacer member 8 are made of metal materials such as stainless steel or 42 alloy. Of course, other metal materials may be used. Any material other than metal materials, such as plastic materials, may also be used. Each of the upper surface member 6, the lower surface member 7, and the spacer member 8 may be made of a different material.
  • Figure 3 shows the configuration of the electronic device.
  • the electronic device 100 has a first housing 104, a second housing 105, a first pump 106, a second pump 107 (device), and a drive circuit 108.
  • the first container 104 is built into the inside of the input portion 102 of the tactile presentation layer 101.
  • the second container 105 is built into the inside of the input portion 103 of the tactile presentation layer 101.
  • the structures (e.g., material, size, thickness, internal pressure, etc.) of the first container 104 and the second container 105 may be the same or different.
  • the first container 104 and the second container 105 are flexible balloons that contain the fluid discharged via the first pump 106 and the second pump 107 and expand and deform as the fluid is discharged.
  • the first pump 106 is a positive pressure pump that discharges fluid into the first housing 104.
  • the first pump 106 may also function as a negative pressure pump that draws fluid from the first housing 104.
  • the second pump 107 is a positive pressure pump that discharges fluid into the second housing 105.
  • the second pump 107 may also function as a negative pressure pump that draws fluid from the second housing 105.
  • the first pump 106 and the second pump 107 are typically diaphragm-type pumps 110 ( Figure 2) that utilize a piezoelectric element 17, but may also be pumps driven by a motor.
  • Figure 4 shows the frequency characteristics of the first pump and the second pump.
  • the horizontal axis indicates frequency (kHz), and the vertical axis indicates displacement ( ⁇ m).
  • the first pump 106 and the second pump 107 have different frequency characteristics and different resonant frequencies.
  • the resonant frequency of the first pump 106 (referred to as the first resonant frequency) is 19 kHz. That is, when an AC voltage of 19 kHz is applied to the first pump 106, the displacement of the first pump 106 (specifically, the displacement of the upper surface member 6 (FIG. 2)) is maximum (0.8 ⁇ m in this figure).
  • the resonant frequency of the second pump 107 (referred to as the second resonant frequency) is 23 kHz. That is, when an AC voltage of 23 kHz is applied to the second pump 107, the displacement of the second pump 107 (specifically, the displacement of the upper surface member 6 (FIG. 2)) is maximum (0.8 ⁇ m in this figure).
  • the displacement of the first pump 106 is less than the first threshold (in this example, the minimum value of 0.2 ⁇ m).
  • the displacement of the second pump 107 is less than the second threshold (in this example, the minimum value of 0.2 ⁇ m).
  • the first resonant frequency and the second resonant frequency may be determined by the physical characteristics and/or external elements of the first pump 106 and the second pump 107.
  • the first threshold and the second threshold may be the same or different.
  • the first pump 106 and the second pump 107 are connected in parallel or series to the drive circuit 108.
  • the first pump 106 and the second pump 107 are connected in parallel to the drive circuit 108.
  • the drive circuit 108 can output a first drive signal (AC voltage) having a frequency within a predetermined range relative to the first resonant frequency (19 kHz).
  • a frequency within a predetermined range relative to the first resonant frequency (19 kHz) means a frequency that is the same as or close to the first resonant frequency (19 kHz).
  • the drive circuit 108 can output a first drive signal having a frequency of 19 kHz.
  • the drive circuit 108 can output a second drive signal (AC voltage) having a frequency within a predetermined range relative to the second resonant frequency (23 kHz).
  • a frequency within a predetermined range relative to the second resonant frequency (23 kHz) means a frequency that is the same as or close to the second resonant frequency (23 kHz).
  • the drive circuit 108 is capable of outputting a second drive signal having a frequency of 23 kHz.
  • FIG. 5 shows a schematic diagram of time-sharing control of the first and second pumps.
  • the drive circuit 108 switches between the first drive signal and the second drive signal in a time-division manner and outputs them to the first pump 106 and the second pump 107. In other words, the drive circuit 108 outputs either the first drive signal or the second drive signal to the first pump 106 and the second pump 107. In this way, the drive circuit 108 selectively controls the first pump 106 and the second pump 107 in a time-division manner. With this control, the first pump 106 and the second pump 107 can be selectively controlled in a time-division manner regardless of whether they are connected to the drive circuit 108 in parallel or in series.
  • the first drive signal (19 kHz) is applied to both the first pump 106 and the second pump 107 connected in parallel or series to the drive circuit 108. Since the resonant frequency of the first pump 106 is 19 kHz, the first pump 106 is driven and discharges fluid into the first container 104. On the other hand, even if the first drive signal (19 kHz) is applied to the second pump 107, the displacement amount of the second pump 107 is less than the first threshold (in this example, the minimum value) (FIG. 4), so the second pump 107 is not driven and does not discharge fluid into the second container 105.
  • the first threshold in this example, the minimum value
  • the drive circuit 108 outputs the first drive signal (19 kHz), which allows significant drive control of only the first pump 106.
  • the second drive signal (23 kHz) is applied to both the first pump 106 and the second pump 107 connected in parallel or series to the drive circuit 108. Since the resonant frequency of the second pump 107 is 23 kHz, the second pump 107 is driven and discharges fluid into the second container 105. On the other hand, even if the second drive signal (23 kHz) is applied to the first pump 106, the displacement amount of the first pump 106 is less than the second threshold value (in this example, the minimum value) (FIG. 4), so the first pump 106 is not driven and does not discharge fluid into the first container 104.
  • the second threshold value in this example, the minimum value
  • the drive circuit 108 outputs the second drive signal (23 kHz), which allows significant drive control of only the second pump 107.
  • the timing of switching the time-sharing control may be variable depending on the application, etc.
  • the output of the first drive signal and the second drive signal may be switched to high frequency, and the control of the first pump 106 and the second pump 107 may be switched to high frequency.
  • the control of the first pump 106 and the second pump 107 may be switched to high frequency.
  • the drive circuit 108 selectively outputs drive signals of different frequencies. This makes it possible to drive the first pump 106 and the second pump 107, which are multiple pumps with different resonant frequencies, with one drive circuit 108. Since the first pump 106 and the second pump 107 can be selectively turned on and off simply by selectively outputting drive signals of different frequencies, the number of circuits and signals can be reduced, making the electronic device 100 smaller and lighter. By combining the first pump 106 and the second pump 107, which have different characteristics, the tactile sensation presented can be expanded.
  • the resonant frequencies of the first pump 106 and the second pump 107 are different.
  • an AC voltage of 23 kHz (the resonant frequency of the second pump 107) is applied to the first pump 106
  • the displacement amount of the first pump 106 does not have to be the minimum value.
  • an AC voltage of 19 kHz (the resonant frequency of the first pump 106) is applied to the second pump 107
  • the displacement amount of the second pump 107 does not have to be the minimum value.
  • the driving amount of the second pump 107 becomes the maximum value, and at the same time, the first pump 106 may also be driven significantly, although not at the maximum.
  • the driving amount of the first pump 106 becomes the maximum value, and at the same time, the second pump 107 may also be driven significantly, although not at the maximum.
  • This type of design also makes it possible to present a variety of tactile sensations.
  • the drive circuit 108 may calibrate the first drive signal in response to feedback of the response characteristics of the first housing 104 when the first pump 106 is controlled by outputting the first drive signal.
  • the drive circuit 108 may calibrate the second drive signal in response to feedback of the response characteristics of the second housing 105 when the second pump 107 is controlled by outputting the second drive signal.
  • the drive circuit 108 may calibrate the first drive signal in response to feedback of the output characteristics of the first pump 106 and/or the response characteristics of the first housing 104 when the first pump 106 is controlled by outputting the first drive signal.
  • the drive circuit 108 may calibrate the second drive signal in response to feedback of the output characteristics of the second pump 107 and/or the response characteristics of the second housing 105 when the second pump 107 is controlled by outputting the second drive signal.
  • FIG. 6 shows the configuration of an electronic device according to the second embodiment.
  • the electronic device 200 includes a housing 204, a first pump 206, a second pump 207 (device), and a drive circuit 208.
  • the electronic device 200 may further include a tactile presentation layer 101 (FIG. 1).
  • the first pump 206 and the second pump 207 are connected in parallel or in series to one container 204 (balloon).
  • the first pump 206 and the second pump 207 are connected in parallel to the container 204.
  • the first pump 206 is a positive pressure pump that discharges fluid into the container 204.
  • the second pump 207 is a negative pressure pump that draws fluid from the same container 204.
  • the first pump 206 and the second pump 207 have different frequency characteristics and different resonant frequencies.
  • the first resonant frequency of the first pump 206 is 19 kHz.
  • the second resonant frequency of the second pump 207 is 23 kHz.
  • the first pump 206 and the second pump 207 are connected in parallel or series to the drive circuit 208.
  • the first pump 206 and the second pump 207 are connected in parallel to the drive circuit 208.
  • the drive circuit 208 switches between the first drive signal (19 kHz) and the second drive signal (23 kHz) in a time-division manner and outputs them to the first pump 206 and the second pump 207, thereby selectively controlling the first pump 206 and the second pump 207 in a time-division manner.
  • Figure 7 shows a schematic of the response characteristics of the container.
  • (A) shows the change in the internal pressure of the container 204 when fluid is discharged and sucked into the container 204 in a time-division manner, with the horizontal axis being time and the vertical axis being pressure (kPa).
  • (B) shows a schematic diagram of the change in the positive displacement (amount of expansion) of the container 204 when the first pump 206 and the second pump 207 are controlled to discharge and suck fluid into the container 204 in a time-division manner, with the horizontal axis being time and the vertical axis being the amount of displacement.
  • (C) shows a schematic diagram of the change in the positive displacement (amount of expansion) of the container 204 when only the first pump 206 is controlled to discharge fluid into the container 204, with the horizontal axis being time and the vertical axis being the amount of displacement.
  • the drive circuit 208 outputs a first drive signal (19 kHz) to the first pump 206 and the second pump 207 to control the first pump 206 (positive pressure pump), causing fluid to be discharged into the container 204 and expanding the container 204.
  • the drive circuit 208 outputs a second drive signal (23 kHz) to the first pump 206 and the second pump 207 to control the second pump 207 (negative pressure pump), causing fluid to be sucked from the container 204 and causing the container 204 to contract.
  • FIG. B shows the response characteristics of the container 204 when the drive circuit 208 selectively controls the first pump 206 and the second pump 207. Fluid is discharged into the container 204, and the fluid is actively sucked in immediately after the discharge stops, causing the container 204 to expand and then rapidly contract. That is, as shown in (B), the downward slope from when the positive displacement (expansion) of the container 204 reaches its peak until it returns to the reference state is relatively steep.
  • (C) is an example when only the first pump 206 is driven without driving the second pump 207.
  • (C) shows the response characteristics of the container 204 when the first drive signal is output to the first pump 206 and controlled. Fluid is discharged into the container 204, and after the discharge stops, the fluid naturally leaves the container 204 without being sucked in, causing the expanded container 204 to return to its reference state. That is, as shown in (C), the downward slope from when the positive displacement (expansion) of the container 204 reaches its peak until it returns to the reference state is relatively gradual.
  • the response characteristics of the container 204 when the first pump 206 and the second pump 207 are selectively controlled in (B) are different from the response characteristics of the container 204 when only the first pump 206 is driven in (C).
  • the first positive pressure pump 206 and the second negative pressure pump 207 are selected for one container 204 with variable frequency. Since the selection control requires only frequency switching, the first pump 206 and the second negative pressure pump 207 can be switched instantly. This improves the response characteristics of ejection and suction. A variety of haptics, such as vibrations and clicking sensations from low to wide bands, can be presented.
  • the first pump 206 As a positive pressure pump and the second pump 207 as a negative pressure pump, it is possible to realize an electronic device 200 (suction/ejection device) that selectively performs either suction or ejection by changing the frequency of the drive signal from the drive circuit 208.
  • the first pump 206 and the second pump 207 may be housed in a single housing as the electronic device 200 (suction/ejection device).
  • FIG. 8 shows the configuration of an electronic device according to the third embodiment.
  • the electronic device 300 includes a housing 304, a first pump 306, a second pump 307 (device), and a drive circuit 308.
  • the electronic device 300 may further include a tactile presentation layer 101 (FIG. 1).
  • the first pump 306 and the second pump 307 are connected in parallel or in series to one container 304 (balloon).
  • the first pump 306 and the second pump 307 are connected in series to the container 304.
  • the first pump 306 and the second pump 307 are positive pressure pumps that discharge fluid into the container 304.
  • the first pump 306 and the second pump 307 have different flow rates and/or pressures, and in this example, both the flow rates and pressures are different.
  • the first pump 306 has a larger flow rate (faster flow rate) and a smaller pressure than the second pump 307.
  • the second pump 307 has a smaller flow rate (slower flow rate) and a larger pressure than the first pump 306.
  • the first pump 306 and the second pump 307 have different frequency characteristics and different resonant frequencies. For example, the first resonant frequency of the first pump 306 is 19 kHz.
  • the second resonant frequency of the second pump 307 is 23 kHz.
  • the first pump 306 and the second pump 307 are connected in parallel or series to the drive circuit 308.
  • the first pump 306 and the second pump 307 are connected in parallel to the drive circuit 308.
  • the drive circuit 108 switches between the first drive signal (19 kHz) and the second drive signal (23 kHz) in a time-division manner and outputs them to the first pump 306 and the second pump 307, thereby selectively controlling the first pump 306 and the second pump 307 in a time-division manner.
  • Figure 9 shows a schematic of the response characteristics of the container.
  • (A) shows a schematic diagram of the response characteristics of the container 304 when the drive circuit 308 intermittently outputs the second drive signal (23 kHz) to the first pump 306 and the second pump 307 and continues to control the second pump 307 (low flow rate, high pressure).
  • the horizontal axis of (A) is time, and the vertical axis is the pressure of the container 304.
  • the second pump 307 has a small flow rate (slow flow rate) and a high pressure. Therefore, the upward gradient from when the container 304 starts to expand until it reaches a peak, and the downward gradient from when it reaches the peak until it returns to the reference state, are relatively gradual. This makes it possible to present a relatively large, raised tactile sensation (smooth, bumpy).
  • (B) shows a schematic diagram of the response characteristics of the container 304 when the drive circuit 308 intermittently outputs the first drive signal (19 kHz) to the first pump 306 and the second pump 307 and continues to control the first pump 306 (high flow rate, low pressure).
  • the horizontal axis of (B) is time, and the vertical axis is the pressure of the container 304.
  • the first pump 306 has a high flow rate (fast flow rate) and low pressure. Therefore, the upward gradient from when the container 304 starts to expand until it reaches a peak, and the downward gradient from when it reaches the peak until it returns to the reference state are relatively steep. This makes it possible to present a relatively fine, uneven tactile sensation (roughness) or vibration.
  • (C) shows the change in the internal pressure of the container 304 when fluid is discharged and sucked into the container 304 in a time-division manner, with the horizontal axis being time (ms) and the vertical axis being voltage (V) and pressure (kPa) of the container 304.
  • the voltage (V) indicates the on/off state of the drive signal output by the drive circuit 308.
  • the drive circuit 308 outputs a second drive signal (23 kHz) to the first pump 306 and the second pump 307 to control the second pump 307 (low flow rate, high pressure) and discharge fluid into the container 304.
  • a second drive signal 23 kHz
  • the second pump 307 since the second pump 307 has a low flow rate, the pressure in the container 304 increases relatively slowly.
  • the second drive signal is turned off, the fluid begins to escape from the container 304, and the pressure in the container 304 decreases relatively slowly.
  • the drive circuit 308 outputs a first drive signal (19 kHz) to the first pump 306 and the second pump 307 to control the first pump 306 (large flow rate, small pressure) and discharge fluid into the container 304.
  • a first drive signal (19 kHz)
  • the second pump 307 to control the first pump 306 (large flow rate, small pressure) and discharge fluid into the container 304.
  • the first pump 306 since the first pump 306 has a large flow rate, the pressure in the container 304 rises relatively steeply.
  • the second drive signal is turned off, the fluid begins to escape from the container 304, and the pressure in the container 304 drops relatively steeply.
  • the deformation of the container 304 by control of the second pump 307 shown in (b) and the deformation of the container 304 by control of the first pump 306 shown in (d) are made continuous. This makes it possible to realize a composite response characteristic that is different from the response characteristic of the container 304 when the second pump 307 shown in (A) is continuously controlled and different from the response characteristic of the container 304 when the first pump 306 shown in (B) is continuously controlled.
  • different tactile sensations are presented to the user when the drive circuit 308 outputs a first drive signal to control the first pump 306 and when it outputs a second drive signal to control the second pump 307.
  • the first pump 306 high flow rate, low pressure
  • the second pump 307 low flow rate, high pressure
  • the configuration of the electronic device of the fourth embodiment is the same as the configuration of the electronic device 300 of the third embodiment ( Figure 8).
  • FIG. 10 shows a schematic diagram of the response characteristics of the container of the fourth embodiment.
  • the horizontal axis is time, and the vertical axis is the pressure of the container 304.
  • the first pump 306 (large flow rate, small pressure) has a large flow rate (fast flow speed), so the container 304 reaches a predetermined pressure (the threshold at which the user can feel the touch) in a relatively short time.
  • the second pump 307 (low flow rate, high pressure) has a low flow rate (slow flow speed), so it takes a relatively long time for the container 304 to reach a predetermined pressure (the threshold at which the user can feel the touch).
  • the drive circuit 308 first outputs a first drive signal (19 kHz) to the first pump 306 and the second pump 307 to control the first pump 306 (high flow rate, low pressure) and cause the first pump 306 to suddenly discharge fluid into the container 304. Because the first pump 306 has a high flow rate, the pressure in the container 304 rises relatively steeply and reaches a predetermined pressure (a threshold at which the user can feel the touch). This makes it possible to present the user with a touch in a short time after control begins.
  • a predetermined pressure a threshold at which the user can feel the touch
  • the drive circuit 308 then outputs a second drive signal (23 kHz) to the first pump 306 and the second pump 307 to control the second pump 307 (low flow rate, high pressure) and cause the second pump 307 to eject fluid into the container 304. Because the second pump 307 exerts a high pressure, a strong compression can be presented to the user as a tactile sensation.
  • a second drive signal 23 kHz
  • the first pump 306 (high flow rate, low pressure) and the second pump 307 (low flow rate, high pressure) are selectively controlled in a time-division manner. This allows for good responsiveness and the presentation of a high-pressure tactile sensation.
  • FIG. 11 shows the configuration of an electronic device according to the fifth embodiment.
  • the electronic device 500 includes a housing 504, a first pump 506, a second pump 507 (device), a valve 509 (device), and a drive circuit 508.
  • the electronic device 500 may further include a tactile presentation layer 101 (FIG. 1).
  • the first pump 506 and the second pump 507 are connected in parallel or in series to the valve 509.
  • the first pump 506 and the second pump 507 are connected in parallel to the valve 509.
  • the container 504 (balloon) is connected to the valve 509.
  • the first pump 506 and the second pump 507 may be positive pressure pumps.
  • the first pump 506 and the second pump 507 are connected in parallel or series to the drive circuit 508.
  • the first pump 506 and the second pump 507 are connected in parallel to the drive circuit 508.
  • the first resonant frequency of the first pump 506 is 19 kHz.
  • the second resonant frequency of the second pump 507 is 23 kHz.
  • the valve 509 is DC controlled.
  • the drive circuit 508 switches between a DC voltage, a first drive signal (AC voltage of 19 kHz), and a second drive signal (AC voltage of 23 kHz) in a time-division manner and outputs them to the valve 509, the first pump 506, and the second pump 507, thereby selectively controlling the valve 509, the first pump 506, and the second pump 507 in a time-division manner.
  • the drive circuit 508 may be an H-bridge circuit.
  • Figure 12 shows a schematic of the response characteristics of the container and the valve.
  • the drive circuit 508 outputs a DC voltage to the valve 509, the first pump 506, and the second pump 507, and outputs either a first drive signal or a second drive signal. Then, either the first pump 506 or the second pump 507 turns on, the valve 509 opens and discharges fluid into the container 504, causing the container 504 to expand.
  • the drive circuit 508 stops outputting DC voltage to the valve 509, the first pump 506, and the second pump 507, and stops outputting the first drive signal and the second drive signal. Then, the first pump 506 and the second pump 507 are turned off, the valve 509 is closed, and the expansion of the container 504 in (A) is maintained.
  • the drive circuit 508 outputs DC voltage to the valve 509, the first pump 506, and the second pump 507, and continues to stop outputting the first drive signal or the second drive signal. Then, the first pump 506 and the second pump 507 remain off, the valve 509 opens, the fluid in the container 504 is exhausted, and the container 504 contracts.
  • the first pump 506 and the second pump 507 (resonant frequency pulse control) and the valve 509 (DC control) are controlled by a single drive circuit, which makes it possible to present the expansion, maintenance of expansion, and contraction of the valve 509 while reducing the number of circuits and signals.
  • the drive circuit 508 selectively controls the first pump 506, the second pump 507, and the valve 509 by changing the frequency, voltage, current, and/or pulse width.
  • FIG. 13 shows the configuration of an electronic device according to the sixth embodiment.
  • the electronic device 600 includes a first housing 604, a second housing 605, a first pump 606, a second pump 607 (device), an LRA (linear resonant actuator)/motor 609 (device), a level shifter/voltage divider circuit 610, and a drive circuit 608.
  • the electronic device 600 may further include a tactile presentation layer 101 (FIG. 1).
  • the first pump 606 is connected to the first container 604.
  • the second pump 607 is connected to the second container 605.
  • the LRA/motor 609, the first pump 606, and the second pump 607 are connected in parallel or series to the drive circuit 608.
  • the LRA/motor 609, the first pump 606, and the second pump 607 are connected in parallel to the drive circuit 608.
  • a level shifter/voltage divider circuit 610 is connected between the drive circuit 608 and the LRA/motor 609.
  • the first resonant frequency of the first pump 206 is 19 kHz.
  • the second resonant frequency of the second pump 207 is 23 kHz.
  • the drive circuit 608 switches between the first drive signal (19 kHz AC voltage) and the second drive signal (23 kHz AC voltage) in a time-division manner and outputs them to the LRA/motor 609, the first pump 606, and the second pump 607, and selectively controls the LRA/motor 609, the first pump 606, and the second pump 607 in a time-division manner.
  • the first pump 606, the second pump 607, and the LRA/motor 609 can be selectively controlled in a time-division manner by a single drive circuit 608.
  • FIG. 14 is a perspective view showing a schematic example of an electronic device according to the seventh embodiment.
  • the electronic device according to each embodiment of the present disclosure can be realized as a robot 200.
  • the robot 200 is a four-legged pet robot.
  • the tactile presentation layer 101 is the surface of the torso of the robot 200 (particularly the abdomen and chest), and a container 204 is provided inside the surface.
  • the drive circuit 208 selectively controls the first pump 206 and the second pump 207 to discharge fluid into the container 204, and then the fluid is actively sucked in immediately after the discharge stops, thereby expressing the rough breathing of a living organism.
  • FIG. 7C by driving only the first pump 206, the fluid is discharged into the container 204, and after the discharge stops, the fluid naturally leaves the container 204 without being sucked in, thereby expressing the gentle breathing of a living organism.
  • the electronic device according to each embodiment of the present disclosure can also be realized as a soft actuator that uses air pressure.
  • a realization mode of a soft actuator it is possible to realize a bellows-type robot hand with bendable finger joints, or a lifting mechanism like a bellows.
  • the electronic device according to each embodiment of the present disclosure can be realized in various forms, for example, an industrial air cylinder, an air bag, or a cuff for medical use or blood pressure measurement.
  • the electronic device according to each embodiment of the present disclosure can also be realized as a wearable device that is attached to the tip of a user's finger to present various tactile sensations to the user.
  • FIG. 15 shows the configuration of an electronic device according to the eighth embodiment.
  • the electronic device 800 is an aroma diffuser.
  • the aroma diffuser 800 is typically portable and small, and allows the user to smell the aroma at the tip of his or her nose.
  • the electronic device 800 has a first pump 806, a second pump 807 (device), and a drive circuit 808.
  • the electronic device 800 does not have a tactile presentation layer 101 (FIG. 1) or a container (balloon).
  • the first pump 806 is a positive pressure pump that discharges a fluid into the atmosphere.
  • the second pump 807 is a negative pressure pump that draws in a fluid from the atmosphere.
  • the fluid contains a fragrance and is typically a gas, but may be a liquid.
  • the first pump 806 and the second pump 807 have different frequency characteristics and different resonant frequencies. For example, the first resonant frequency of the first pump 806 is 19 kHz. The second resonant frequency of the second pump 807 is 23 kHz.
  • the first pump 806 and the second pump 807 are connected in parallel or series to the drive circuit 808.
  • the first pump 806 and the second pump 807 are connected in parallel to the drive circuit 808.
  • the drive circuit 808 switches between the first drive signal (19 kHz) and the second drive signal (23 kHz) in a time-division manner and outputs them to the first pump 806 and the second pump 807, thereby selectively controlling the first pump 806 and the second pump 807 in a time-division manner.
  • the drive circuit 808 outputs a first drive signal (19 kHz) to the first pump 806 and the second pump 807 to control the first pump 806 (positive pressure pump) and eject a fluid containing a fragrance into the atmosphere.
  • the drive circuit 808 outputs a second drive signal (23 kHz) to the first pump 806 and the second pump 807 to control the second pump 807 (negative pressure pump) to suck in the fluid from the atmosphere and deodorize it.
  • the fluid may contain a fragrance.
  • the user brings the electronic device 800 (aroma diffuser) close to the tip of their nose and tactilely feels the fluid being discharged at the tip of their nose.
  • the electronic device 800 can be said to be a tactile presentation device, even though it does not have a tactile presentation layer or a container (balloon).
  • tactile presentation devices that do not have a tactile presentation layer or a container (balloon) include, for example, an intraocular pressure measuring device, a wearable device that blows gas onto the human body or face while watching content or playing a game, and a wearable device that blows gas onto the human body or face to provide a sensation of wind for cooling or warmth.
  • FIG. 16 shows a schematic diagram of an example of an electronic device according to the ninth embodiment.
  • Electronic device 900 is a wearable device that is attached to the head or other part of the human body, such as headphones or a head-mounted display.
  • Figure 17 shows the configuration of the electronic device.
  • the electronic device 900 has a first housing 904 (balloon), a second housing 905 (balloon), a first pump 906, a second pump 907 (device), a first valve 909 (device), a second valve 903 (device), and a drive circuit 908.
  • the electronic device 900 may further have a tactile presentation layer.
  • the first housing 904 and the second housing 905 or the tactile presentation layer on their surfaces contact the head or the like of the human body.
  • the drive circuit 908 may be an H-bridge circuit.
  • the first pump 906 is connected in series to a first valve 909, and the first container 904 is connected in series to the first valve 909.
  • the second pump 907 is connected in series to a second valve 903, and the second container 905 is connected in series to the second valve 903.
  • the first pump 906 and the second pump 907 are positive pressure pumps.
  • the first pump 906 and the second pump 907 are connected in parallel or series to the drive circuit 908.
  • the first pump 906 and the second pump 907 are connected in parallel to the drive circuit 908.
  • the first resonant frequency of the first pump 206 is 19 kHz.
  • the second resonant frequency of the second pump 207 is 23 kHz.
  • the first valve 909 and the second valve 903 are DC controlled.
  • the drive circuit 908 switches between a DC voltage, a first drive signal (AC voltage of 19 kHz), and a second drive signal (AC voltage of 23 kHz) in a time-division manner and outputs them to the first valve 909, the second valve 903, the first pump 906, and the second pump 907, and selectively controls the first valve 909, the second valve 903, the first pump 906, and the second pump 907 in a time-division manner.
  • first pump 906 and the second pump 907 are naturally exhausting pumps, it is necessary to provide the first valve 909 and the second valve 903 to maintain the expansion of the first container 904 and the second container 905.
  • first pump 906 and the second pump 907 do not have an exhaust function, it is not necessary to provide the first valve 909 and the second valve 903, but it is preferable to provide an exhaust function in the first container 904 and the second container 905.
  • the electronic device 900 When the electronic device 900 is a wearable device that is attached to the head of the human body, such as headphones or a head-mounted display, gaps may occur due to individual differences, and the device may become misaligned when in operation. Therefore, multiple (three or more) sets of pumps and containers (balloons) are installed at the contact points that should be in close contact with the human body. By expanding and contracting the containers (balloons) to absorb individual differences, it can be used for fitting purposes.
  • the electronic device according to each embodiment of the present disclosure may be mounted in a vehicle.
  • the tactile presentation layer 101 of the electronic device 100 may constitute an in-vehicle console or an interior surface of the vehicle that functions as an operation interface in the vehicle.
  • the input portions 102, 103 (FIG. 1) of the tactile presentation layer 101 function as input devices (buttons).
  • FIG. 18 is a block diagram showing an example configuration of a vehicle control system 11, which is an example of a mobile device control system to which the present technology can be applied.
  • the vehicle control system 11 is provided in the vehicle 1 and performs processing related to the automated driving of the vehicle 1.
  • This automated driving includes driving automation of levels 1 to 5, as well as remote driving and remote assistance of the vehicle 1 by a remote driver.
  • the vehicle control system 11 includes a vehicle control ECU (Electronic Control Unit) 21, a communication unit 22, a map information storage unit 23, a location information acquisition unit 24, an external recognition sensor 25, an in-vehicle sensor 26, a vehicle sensor 27, a memory unit 28, a driving automation control unit 29, a DMS (Driver Monitoring System) 30, an HMI (Human Machine Interface) 31, and a vehicle control unit 32.
  • vehicle control ECU Electronic Control Unit
  • communication unit 22 includes a vehicle control ECU (Electronic Control Unit) 21, a communication unit 22, a map information storage unit 23, a location information acquisition unit 24, an external recognition sensor 25, an in-vehicle sensor 26, a vehicle sensor 27, a memory unit 28, a driving automation control unit 29, a DMS (Driver Monitoring System) 30, an HMI (Human Machine Interface) 31, and a vehicle control unit 32.
  • the vehicle control ECU 21, communication unit 22, map information storage unit 23, position information acquisition unit 24, external recognition sensor 25, in-vehicle sensor 26, vehicle sensor 27, memory unit 28, driving automation control unit 29, DMS 30, HMI 31, and vehicle control unit 32 are connected to each other so as to be able to communicate with each other via a communication network 41.
  • the communication network 41 is composed of an in-vehicle communication network or bus that complies with digital two-way communication standards such as CAN (Controller Area Network), LIN (Local Interconnect Network), LAN (Local Area Network), FlexRay (registered trademark), and Ethernet (registered trademark).
  • the communication network 41 may be used differently depending on the type of data being transmitted.
  • CAN may be applied to data related to vehicle control
  • Ethernet may be applied to large-volume data.
  • each part of the vehicle control system 11 may be directly connected without going through the communication network 41, using wireless communication intended for communication over relatively short distances, such as near field communication (NFC) or Bluetooth (registered trademark).
  • NFC near field communication
  • Bluetooth registered trademark
  • the vehicle control ECU 21 is composed of various processors, such as a CPU (Central Processing Unit) and an MPU (Micro Processing Unit).
  • the vehicle control ECU 21 controls all or part of the functions of the vehicle control system 11.
  • the communication unit 22 communicates with various devices inside and outside the vehicle, other vehicles, servers, base stations, etc., and transmits and receives various types of data. At this time, the communication unit 22 can communicate using multiple communication methods.
  • the communication unit 22 communicates with servers (hereinafter referred to as external servers) on an external network via base stations or access points using wireless communication methods such as 5G (fifth generation mobile communication system), LTE (Long Term Evolution), and DSRC (Dedicated Short Range Communications).
  • the external network with which the communication unit 22 communicates is, for example, the Internet, a cloud network, or an operator-specific network.
  • the communication method that the communication unit 22 uses with the external network is not particularly limited as long as it is a wireless communication method that allows digital two-way communication at a communication speed equal to or higher than a predetermined distance.
  • the communication unit 22 can communicate with a terminal present in the vicinity of the vehicle using P2P (Peer To Peer) technology.
  • the terminal present in the vicinity of the vehicle can be, for example, a terminal attached to a mobile object moving at a relatively slow speed, such as a pedestrian or a bicycle, a terminal installed at a fixed position in a store, or an MTC (Machine Type Communication) terminal.
  • the communication unit 22 can also perform V2X communication.
  • V2X communication refers to communication between the vehicle and others, such as vehicle-to-vehicle communication with other vehicles, vehicle-to-infrastructure communication with roadside devices, vehicle-to-home communication with a home, and vehicle-to-pedestrian communication with a terminal carried by a pedestrian, etc.
  • the communication unit 22 can, for example, receive from the outside a program for updating the software that controls the operation of the vehicle control system 11 (Over the Air).
  • the communication unit 22 can further receive map information, traffic information, information about the surroundings of the vehicle 1, etc. from the outside.
  • the communication unit 22 can also transmit information about the vehicle 1 and information about the surroundings of the vehicle 1 to the outside.
  • Information about the vehicle 1 that the communication unit 22 transmits to the outside includes, for example, data indicating the state of the vehicle 1, the recognition results by the recognition unit 73, etc.
  • the communication unit 22 performs communication corresponding to a vehicle emergency notification system such as e-Call.
  • the communication unit 22 receives electromagnetic waves transmitted by a road traffic information and communication system (VICS (Vehicle Information and Communication System) (registered trademark)) such as a radio beacon, optical beacon, or FM multiplex broadcasting.
  • VICS Vehicle Information and Communication System
  • the communication unit 22 can communicate with each device in the vehicle using, for example, wireless communication.
  • the communication unit 22 can perform wireless communication with each device in the vehicle using a communication method that allows digital two-way communication at a communication speed equal to or higher than a predetermined speed via wireless communication, such as wireless LAN, Bluetooth, NFC, or WUSB (Wireless USB).
  • the communication unit 22 can also communicate with each device in the vehicle using wired communication.
  • the communication unit 22 can communicate with each device in the vehicle using wired communication via a cable connected to a connection terminal (not shown).
  • the communication unit 22 can communicate with each device in the vehicle using a communication method that allows digital two-way communication at a communication speed equal to or higher than a predetermined speed via wired communication, such as USB (Universal Serial Bus), HDMI (High-Definition Multimedia Interface) (registered trademark), or MHL (Mobile High-definition Link).
  • a communication method that allows digital two-way communication at a communication speed equal to or higher than a predetermined speed via wired communication, such as USB (Universal Serial Bus), HDMI (High-Definition Multimedia Interface) (registered trademark), or MHL (Mobile High-definition Link).
  • the in-vehicle device refers to, for example, a device that is not connected to the communication network 41 inside the vehicle.
  • examples of in-vehicle devices include mobile devices and wearable devices carried by users inside the vehicle, such as the driver, and information devices brought into the vehicle and temporarily installed.
  • the map information storage unit 23 stores one or both of a map acquired from an external source and a map created by the vehicle 1.
  • the map information storage unit 23 stores a three-dimensional high-precision map, a global map that is less accurate than a high-precision map and covers a wide area, etc.
  • High-precision maps include, for example, dynamic maps, point cloud maps, and vector maps.
  • a dynamic map is, for example, a map consisting of four layers of dynamic information, semi-dynamic information, semi-static information, and static information, and is provided to the vehicle 1 from an external server or the like.
  • a point cloud map is a map made up of a point cloud (point cloud data).
  • a vector map is, for example, a map that is adapted for driving automation by associating traffic information such as the positions of lanes and traffic lights with a point cloud map.
  • the point cloud map and vector map may be provided, for example, from an external server, or may be created by the vehicle 1 based on sensing results from the camera 51, radar 52, LiDAR 53, etc. as a map for matching with a local map described below, and stored in the map information storage unit 23.
  • map data of, for example, an area of several hundred meters square regarding the planned route along which the vehicle 1 will travel is acquired from the external server, etc., in order to reduce communication capacity.
  • the location information acquisition unit 24 receives GNSS signals from Global Navigation Satellite System (GNSS) satellites and acquires location information of the vehicle 1.
  • GNSS Global Navigation Satellite System
  • the acquired location information is supplied to the driving automation control unit 29.
  • the location information acquisition unit 24 is not limited to a method using GNSS signals, and may acquire location information using a beacon, for example.
  • the external recognition sensor 25 includes various sensors used to recognize the situation outside the vehicle 1, and supplies sensor data from each sensor to each part of the vehicle control system 11.
  • the type and number of sensors included in the external recognition sensor 25 are arbitrary.
  • the external recognition sensor 25 includes a camera 51, a radar 52, a LiDAR (Light Detection and Ranging, Laser Imaging Detection and Ranging) 53, and an ultrasonic sensor 54.
  • the external recognition sensor 25 may be configured to include one or more types of sensors among the camera 51, the radar 52, the LiDAR 53, and the ultrasonic sensor 54.
  • the number of cameras 51, radars 52, LiDAR 53, and ultrasonic sensors 54 is not particularly limited as long as it is a number that can be realistically installed on the vehicle 1.
  • the types of sensors included in the external recognition sensor 25 are not limited to this example, and the external recognition sensor 25 may include other types of sensors. Examples of the sensing areas of each sensor included in the external recognition sensor 25 will be described later.
  • the imaging method of camera 51 is not particularly limited.
  • cameras of various imaging methods such as a ToF (Time Of Flight) camera, a stereo camera, a monocular camera, and an infrared camera, which are imaging methods capable of distance measurement, can be applied to camera 51 as necessary.
  • ToF Time Of Flight
  • stereo camera stereo camera
  • monocular camera stereo camera
  • infrared camera infrared camera
  • the present invention is not limited to this, and camera 51 may simply be used for acquiring photographic images, without regard to distance measurement.
  • the external recognition sensor 25 can be equipped with an environmental sensor for detecting the environment relative to the vehicle 1.
  • the environmental sensor is a sensor for detecting the environment such as the weather, climate, brightness, etc., and can include various sensors such as a raindrop sensor, a fog sensor, a sunlight sensor, a snow sensor, an illuminance sensor, etc.
  • the external recognition sensor 25 includes a microphone that is used to detect sounds around the vehicle 1 and the location of sound sources.
  • the in-vehicle sensor 26 includes various sensors for detecting information inside the vehicle, and supplies sensor data from each sensor to each part of the vehicle control system 11. There are no particular limitations on the types and number of the various sensors included in the in-vehicle sensor 26, so long as they are of the types and number that can be realistically installed in the vehicle 1.
  • the in-vehicle sensor 26 may be equipped with one or more types of sensors including a camera, radar, a seating sensor, a steering wheel sensor, a microphone, and a biometric sensor.
  • the camera equipped in the in-vehicle sensor 26 may be a camera using various imaging methods capable of measuring distances, such as a ToF camera, a stereo camera, a monocular camera, or an infrared camera. Without being limited to this, the camera equipped in the in-vehicle sensor 26 may be a camera simply for acquiring captured images, regardless of distance measurement.
  • the biometric sensor equipped in the in-vehicle sensor 26 is provided, for example, on a seat, steering wheel, etc., and detects various types of biometric information of the user.
  • the vehicle sensor 27 includes various sensors for detecting the state of the vehicle 1, and supplies sensor data from each sensor to each part of the vehicle control system 11. There are no particular limitations on the types and number of the various sensors included in the vehicle sensor 27, so long as they are of the types and number that can be realistically installed on the vehicle 1.
  • the vehicle sensor 27 includes a speed sensor, an acceleration sensor, an angular velocity sensor (gyro sensor), and an inertial measurement unit (IMU) that integrates these.
  • the vehicle sensor 27 includes a steering angle sensor that detects the steering angle of the steering wheel, a yaw rate sensor, an accelerator sensor that detects the amount of accelerator pedal operation, and a brake sensor that detects the amount of brake pedal operation.
  • the vehicle sensor 27 includes a rotation sensor that detects the number of rotations of the engine or motor, an air pressure sensor that detects the air pressure of the tires, a slip ratio sensor that detects the slip ratio of the tires, and a wheel speed sensor that detects the rotation speed of the wheels.
  • the vehicle sensor 27 includes a battery sensor that detects the remaining charge and temperature of the battery, and an impact sensor that detects external impacts.
  • the memory unit 28 includes at least one of a non-volatile storage medium and a volatile storage medium, and stores data and programs.
  • the memory unit 28 is used, for example, as an EEPROM (Electrically Erasable Programmable Read Only Memory) and a RAM (Random Access Memory), and the storage medium may be a magnetic storage device such as a hard disc drive (HDD), a semiconductor storage device, an optical storage device, or a magneto-optical storage device.
  • the memory unit 28 stores various programs and data used by each part of the vehicle control system 11.
  • the memory unit 28 includes an EDR (Event Data Recorder) and a DSSAD (Data Storage System for Automated Driving), and stores information about the vehicle 1 before and after an event such as an accident, and information acquired by the in-vehicle sensor 26.
  • EDR Event Data Recorder
  • DSSAD Data Storage System for Automated Driving
  • the driving automation control unit 29 controls the driving automation function of the vehicle 1.
  • the driving automation control unit 29 includes an analysis unit 61, an action planning unit 62, and an operation control unit 63.
  • the analysis unit 61 performs analysis processing of the vehicle 1 and the surrounding conditions.
  • the analysis unit 61 includes a self-position estimation unit 71, a sensor fusion unit 72, and a recognition unit 73.
  • the self-position estimation unit 71 estimates the self-position of the vehicle 1 based on the sensor data from the external recognition sensor 25 and the high-precision map stored in the map information storage unit 23. For example, the self-position estimation unit 71 generates a local map based on the sensor data from the external recognition sensor 25, and estimates the self-position of the vehicle 1 by matching the local map with the high-precision map.
  • the position of the vehicle 1 is based on, for example, the center of the rear wheel pair axle.
  • the local map is, for example, a three-dimensional high-precision map or an occupancy grid map created using technology such as SLAM (Simultaneous Localization and Mapping).
  • the three-dimensional high-precision map is, for example, the point cloud map described above.
  • the occupancy grid map is a map in which the three-dimensional or two-dimensional space around the vehicle 1 is divided into grids of a predetermined size, and the occupancy state of objects is shown on a grid-by-grid basis.
  • the occupancy state of objects is indicated, for example, by the presence or absence of an object and the probability of its existence.
  • the local map is also used, for example, in detection processing and recognition processing of the situation outside the vehicle 1 by the recognition unit 73.
  • the self-position estimation unit 71 may estimate the self-position of the vehicle 1 based on the position information acquired by the position information acquisition unit 24 and the sensor data from the vehicle sensor 27.
  • the sensor fusion unit 72 performs sensor fusion processing to obtain information by combining multiple different types of sensor data (e.g., image data supplied from the camera 51 and sensor data supplied from the radar 52). Methods for combining different types of sensor data include compounding, integration, fusion, and association.
  • the recognition unit 73 executes a detection process to detect the situation outside the vehicle 1, and a recognition process to recognize the situation outside the vehicle 1.
  • the recognition unit 73 performs detection and recognition processing of the situation outside the vehicle 1 based on information from the external recognition sensor 25, information from the self-position estimation unit 71, information from the sensor fusion unit 72, etc.
  • the recognition unit 73 performs detection processing and recognition processing of objects around the vehicle 1.
  • Object detection processing is, for example, processing to detect the presence or absence, size, shape, position, movement, etc. of an object.
  • Object recognition processing is, for example, processing to recognize attributes such as the type of object, and to identify a specific object.
  • detection processing and recognition processing are not necessarily clearly separated, and there may be overlap.
  • the recognition unit 73 detects objects around the vehicle 1 by performing clustering to classify a point cloud based on sensor data from the radar 52, the LiDAR 53, or the like into clusters of points. This allows the presence or absence, size, shape, and position of objects around the vehicle 1 to be detected.
  • the recognition unit 73 detects the movement of objects around the vehicle 1 by performing tracking to follow the movement of clusters of point clouds classified by clustering. This allows the speed and direction of travel (movement vector) of objects around the vehicle 1 to be detected.
  • the recognition unit 73 detects or recognizes vehicles, people, bicycles, obstacles, structures, roads, traffic lights, traffic signs, road markings, etc. based on image data supplied from the camera 51.
  • the recognition unit 73 may also recognize the types of objects around the vehicle 1 by performing recognition processing such as semantic segmentation.
  • the recognition unit 73 can perform recognition processing of traffic rules around the vehicle 1 based on the map stored in the map information storage unit 23, the result of self-location estimation by the self-location estimation unit 71, and the result of recognition of objects around the vehicle 1 by the recognition unit 73. Through this processing, the recognition unit 73 can recognize the positions and states of traffic lights, the contents of traffic signs and road markings, the contents of traffic regulations, and lanes on which travel is possible, etc.
  • the recognition unit 73 can perform recognition processing of the environment around the vehicle 1.
  • the surrounding environment that the recognition unit 73 recognizes may include weather, temperature, humidity, brightness, and road surface conditions.
  • the behavior planning unit 62 creates a behavior plan for the vehicle 1. For example, the behavior planning unit 62 creates the behavior plan by performing route planning and route following processing.
  • Route planning includes global path planning and local path planning.
  • Global path planning involves planning a rough route from the start to the goal.
  • Local path planning is also called trajectory planning, and involves generating a trajectory that allows safe and smooth progress in the vicinity of vehicle 1 on the planned route, taking into account the motion characteristics of vehicle 1.
  • Path following is a process of planning operations for safely and accurately traveling along a route planned by a route plan within a planned time.
  • the action planning unit 62 can, for example, calculate the target speed and target angular velocity of the vehicle 1 based on the results of this path following process.
  • the operation control unit 63 controls the operation of the vehicle 1 to realize the action plan created by the action planning unit 62.
  • the operation control unit 63 controls the steering control unit 81, the brake control unit 82, and the drive control unit 83 included in the vehicle control unit 32 described below, and performs lateral vehicle motion control and longitudinal vehicle motion control so that the vehicle 1 proceeds along the trajectory calculated by the trajectory plan.
  • the operation control unit 63 performs control aimed at driving automation, such as driver assistance functions such as collision avoidance or impact mitigation, following driving, maintaining vehicle speed, collision warning for the vehicle itself, and lane departure warning for the vehicle itself, and driving without the operation of the driver or a remote driver.
  • the DMS 30 performs processes such as authenticating the driver and recognizing the driver's state based on the sensor data from the in-vehicle sensors 26 and the input data input to the HMI 31 (described later).
  • Examples of the driver's state to be recognized include physical condition, alertness, concentration, fatigue, line of sight, level of intoxication, driving operation, posture, etc.
  • the DMS 30 may also perform authentication processing for users other than the driver and recognition processing for the status of the users.
  • the DMS 30 may also perform recognition processing for the status inside the vehicle based on sensor data from the in-vehicle sensor 26. Examples of the status inside the vehicle that may be recognized include temperature, humidity, brightness, odor, etc.
  • HMI31 inputs various data and instructions, and displays various data to the user.
  • the HMI 31 is equipped with an input device that allows a person to input data.
  • the HMI 31 generates input signals based on data and instructions input via the input device, and supplies the signals to each part of the vehicle control system 11.
  • the HMI 31 is equipped with input devices such as a touch panel, buttons, switches, and levers. Without being limited to these, the HMI 31 may further be equipped with an input device that allows information to be input by a method other than manual operation, such as voice or gestures.
  • the HMI 31 may use, as an input device, an externally connected device such as a remote control device that uses infrared or radio waves, or a mobile device or wearable device that supports the operation of the vehicle control system 11.
  • the HMI 31 generates visual information, auditory information, and tactile information for the user or the outside of the vehicle.
  • the HMI 31 also performs output control to control the output, output content, output timing, output method, etc. of each piece of generated information.
  • the HMI 31 generates and outputs, as visual information, information indicated by images or light, such as an operation screen, vehicle 1 status display, warning display, and monitor image showing the situation around the vehicle 1.
  • the HMI 31 also generates and outputs, as auditory information, information indicated by sounds, such as voice guidance, warning sounds, and warning messages.
  • the HMI 31 also generates and outputs, as tactile information, information that is imparted to the user's sense of touch by force, vibration, movement, etc.
  • the output device from which the HMI 31 outputs visual information may be, for example, a display device that presents visual information by displaying an image itself, or a projector device that presents visual information by projecting an image.
  • the display device may be a device that displays visual information within the user's field of vision, such as a head-up display, a transmissive display, or a wearable device with an AR (Augmented Reality) function, in addition to a display device having a normal display.
  • the HMI 31 may also use display devices such as a navigation device, instrument panel, CMS (Camera Monitoring System), electronic mirror, lamp, etc., provided in the vehicle 1 as output devices that output visual information.
  • the output device through which the HMI 31 outputs auditory information can be, for example, an audio speaker, headphones, or earphones.
  • Haptic elements using haptic technology can be used as an output device for the HMI 31 to output tactile information.
  • Haptic elements are provided on parts that the user touches, such as the steering wheel and the seat.
  • the vehicle control unit 32 controls each part of the vehicle 1.
  • the vehicle control unit 32 includes a steering control unit 81, a brake control unit 82, a drive control unit 83, a body control unit 84, a light control unit 85, and a horn control unit 86.
  • the steering control unit 81 detects and controls the state of the steering system of the vehicle 1.
  • the steering system includes, for example, a steering mechanism including a steering wheel, an electric power steering, etc.
  • the steering control unit 81 includes, for example, a steering ECU that controls the steering system, an actuator that drives the steering system, etc.
  • the brake control unit 82 detects and controls the state of the brake system of the vehicle 1.
  • the brake system includes, for example, a brake mechanism including a brake pedal, an ABS (Antilock Brake System), a regenerative brake mechanism, etc.
  • the brake control unit 82 includes, for example, a brake ECU that controls the brake system, and an actuator that drives the brake system.
  • the drive control unit 83 detects and controls the state of the drive system of the vehicle 1.
  • the drive system includes, for example, an accelerator pedal, a drive force generating device for generating drive force such as an internal combustion engine or a drive motor, and a drive force transmission mechanism for transmitting the drive force to the wheels.
  • the drive control unit 83 includes, for example, a drive ECU for controlling the drive system, and an actuator for driving the drive system.
  • the body system control unit 84 detects and controls the state of the body system of the vehicle 1.
  • the body system includes, for example, a keyless entry system, a smart key system, a power window device, a power seat, an air conditioning system, an airbag, a seat belt, a shift lever, etc.
  • the body system control unit 84 includes, for example, a body system ECU that controls the body system, an actuator that drives the body system, etc.
  • the light control unit 85 detects and controls the state of various lights of the vehicle 1. Examples of lights to be controlled include headlights, backlights, fog lights, turn signals, brake lights, projection, and bumper displays.
  • the light control unit 85 includes a light ECU that controls the lights, an actuator that drives the lights, and the like.
  • the horn control unit 86 detects and controls the state of the car horn of the vehicle 1.
  • the horn control unit 86 includes, for example, a horn ECU that controls the car horn, an actuator that drives the car horn, etc.
  • FIG. 19 is a diagram showing an example of the sensing area of the camera 51, radar 52, LiDAR 53, ultrasonic sensor 54, etc. of the external recognition sensor 25. Note that in this figure, the vehicle 1 is shown as seen from above, with the left end side being the front end of the vehicle 1 and the right end side being the rear end of the vehicle 1.
  • Sensing area 101F and sensing area 101B show examples of sensing areas of ultrasonic sensors 54. Sensing area 101F covers the periphery of the front end of vehicle 1 with multiple ultrasonic sensors 54. Sensing area 101B covers the periphery of the rear end of vehicle 1 with multiple ultrasonic sensors 54.
  • sensing results in sensing area 101F and sensing area 101B are used, for example, for parking assistance for vehicle 1.
  • Sensing area 102F to sensing area 102B show examples of sensing areas of a short-range or medium-range radar 52. Sensing area 102F covers a position farther in front of the vehicle 1 than sensing area 101F. Sensing area 102B covers a position farther in the rear of the vehicle 1 than sensing area 101B. Sensing area 102L covers the rear periphery of the left side of the vehicle 1. Sensing area 102R covers the rear periphery of the right side of the vehicle 1.
  • the sensing results in sensing area 102F are used, for example, to detect vehicles, pedestrians, etc., that are in front of vehicle 1.
  • the sensing results in sensing area 102B are used, for example, for collision prevention functions behind vehicle 1.
  • the sensing results in sensing area 102L and sensing area 102R are used, for example, to detect objects in blind spots to the sides of vehicle 1.
  • Sensing area 103F to sensing area 103B show examples of sensing areas by camera 51. Sensing area 103F covers a position farther in front of vehicle 1 than sensing area 102F. Sensing area 103B covers a position farther in the rear of vehicle 1 than sensing area 102B. Sensing area 103L covers the periphery of the left side of vehicle 1. Sensing area 103R covers the periphery of the right side of vehicle 1.
  • the sensing results in sensing area 103F can be used, for example, for recognizing traffic lights and traffic signs, lane departure prevention support systems, and automatic headlight control systems.
  • the sensing results in sensing area 103B can be used, for example, for parking assistance and surround view systems.
  • the sensing results in sensing area 103L and sensing area 103R can be used, for example, for surround view systems.
  • Sensing area 104 shows an example of the sensing area of LiDAR 53. Sensing area 104 covers a position farther in front of vehicle 1 than sensing area 103F. On the other hand, sensing area 104 has a narrower range in the left-right direction than sensing area 103F.
  • the sensing results in the sensing area 104 are used, for example, to detect objects such as surrounding vehicles.
  • Sensing area 105 shows an example of the sensing area of long-range radar 52. Sensing area 105 covers a position farther in front of vehicle 1 than sensing area 104. On the other hand, sensing area 105 has a narrower range in the left-right direction than sensing area 104.
  • the sensing results in the sensing area 105 are used, for example, for ACC (Adaptive Cruise Control), emergency braking, collision avoidance, etc.
  • ACC Adaptive Cruise Control
  • emergency braking braking
  • collision avoidance etc.
  • the sensing areas of the cameras 51, radar 52, LiDAR 53, and ultrasonic sensors 54 included in the external recognition sensor 25 may have various configurations other than those shown in the figure. Specifically, the ultrasonic sensor 54 may also sense the sides of the vehicle 1, and the LiDAR 53 may sense the rear of the vehicle 1.
  • the installation positions of the sensors are not limited to the examples described above. The number of sensors may be one or more.
  • the present disclosure may have the following configurations. (1) a first pump for discharging and/or aspirating a fluid; a device different from the first pump; and a drive circuit for selectively controlling the first pump and the device. (2) The electronic device according to (1) above, the first pump having a first resonant frequency; the device being a second pump having a second resonant frequency for pumping and/or aspirating fluid; The electronic device selectively controls the first pump and the second pump by selectively outputting to the first pump and the second pump either a first drive signal having a frequency within a predetermined range with respect to the first resonant frequency or a second drive signal having a frequency within a predetermined range with respect to the second resonant frequency.
  • the container further contains a fluid to be discharged and/or drawn by the second pump, and is deformed in accordance with the discharge and/or drawing of the fluid;
  • An electronic device in which a response characteristic of the housing when the drive circuit selectively controls the first pump and the second pump is different from a response characteristic of the housing when the first drive signal is output to the first pump to control it, and is also different from a response characteristic of the housing when the second drive signal is output to the second pump to control it.
  • the first pump is a positive pressure pump that discharges a fluid
  • the second pump is a negative pressure pump that draws in a fluid.
  • the drive circuit outputs the first drive signal to the first pump and the second pump to cause the first pump to discharge a fluid, and then outputs the second drive signal to the first pump and the second pump to cause the second pump to suck in a fluid;
  • a response characteristic of the contained body due to the control is different from a response characteristic of the contained body when the first pump is controlled by outputting the first drive signal to the first pump.
  • the electronic device according to any one of (1) to (8), The electronic device, wherein the fluid contains a fragrance.
  • the electronic device according to any one of (1) to (14) above, The first pump and the device are connected in parallel or in series to the drive circuit.
  • the drive circuit selectively controls the first pump and the device by varying frequency, voltage, current and/or pulse width.
  • the electronic device according to (2) above, The first resonant frequency of the first pump is determined by a physical characteristic of the first pump and/or an external component.
  • the electronic device according to any one of (1) to (17),
  • the first pump is driven by a piezoelectric element or a motor.
  • the drive circuit calibrates the first drive signal in response to feedback of a response characteristic of the container when the first drive signal is output to the first pump to control it.
  • the electronic device calibrates the first drive signal in response to feedback of an output characteristic of the first pump and/or a response characteristic of the container when the first drive signal is output to the first pump and controlled.
  • the electronic device further comprises a level shifter and/or a voltage divider circuit provided between the drive circuit and the device.
  • a fluid control method comprising: a drive circuit selectively controlling a first pump that discharges and/or draws in a fluid, and a device other than the first pump.
  • a vehicle comprising a tactile presentation device having the first pump and a drive circuit for selectively controlling the device.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Reciprocating Pumps (AREA)

Abstract

L'invention concerne un équipement électronique comprenant : une première pompe permettant d'évacuer et/ou d'aspirer un fluide ; un dispositif différent de la première pompe ; et un circuit d'entraînement permettant de commander sélectivement la première pompe et le dispositif. La première pompe présente une première fréquence de résonance. Le dispositif a une seconde fréquence de résonance et est une seconde pompe permettant d'évacuer et/ou d'aspirer un fluide. Le circuit d'entraînement peut commander sélectivement la première pompe et la seconde pompe en délivrant en sortie sélectivement, à la première pompe et à la seconde pompe, soit un premier signal d'entraînement ayant une fréquence dans une plage prédéterminée par rapport à la première fréquence de résonance, soit un second signal d'entraînement ayant une fréquence dans une plage prédéterminée par rapport à la seconde fréquence de résonance.
PCT/JP2024/017926 2023-07-07 2024-05-15 Équipement électronique, appareil de commande de fluide, appareil de présentation tactile, procédé de commande de fluide et véhicule Pending WO2025013405A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2023-111913 2023-07-07
JP2023111913 2023-07-07

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WO2025013405A1 true WO2025013405A1 (fr) 2025-01-16

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PCT/JP2024/017926 Pending WO2025013405A1 (fr) 2023-07-07 2024-05-15 Équipement électronique, appareil de commande de fluide, appareil de présentation tactile, procédé de commande de fluide et véhicule

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Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0463974A (ja) * 1990-07-03 1992-02-28 Seiko Epson Corp マイクロポンプにおける検出装置
JP2001099062A (ja) * 1999-09-29 2001-04-10 Daikin Ind Ltd クライオポンプの制御装置
JP2004309163A (ja) * 2003-04-02 2004-11-04 Yaskawa Electric Corp 液送モジュール、液送装置およびその駆動方法
JP2016158879A (ja) * 2015-03-02 2016-09-05 国立大学法人東京工業大学 匂い発生装置
JP2017531870A (ja) * 2014-10-02 2017-10-26 ダヴ 自動車両用の制御装置
JP2018062936A (ja) * 2016-10-13 2018-04-19 研能科技股▲ふん▼有限公司 圧電ポンプの駆動システム
JP2020112978A (ja) * 2019-01-10 2020-07-27 ソニー株式会社 触覚提示装置、触覚提示システムおよび触覚提示方法
US20200272237A1 (en) * 2017-11-15 2020-08-27 Google Llc Touch Communication Device
WO2020217934A1 (fr) * 2019-04-25 2020-10-29 株式会社村田製作所 Dispositif de pompe

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0463974A (ja) * 1990-07-03 1992-02-28 Seiko Epson Corp マイクロポンプにおける検出装置
JP2001099062A (ja) * 1999-09-29 2001-04-10 Daikin Ind Ltd クライオポンプの制御装置
JP2004309163A (ja) * 2003-04-02 2004-11-04 Yaskawa Electric Corp 液送モジュール、液送装置およびその駆動方法
JP2017531870A (ja) * 2014-10-02 2017-10-26 ダヴ 自動車両用の制御装置
JP2016158879A (ja) * 2015-03-02 2016-09-05 国立大学法人東京工業大学 匂い発生装置
JP2018062936A (ja) * 2016-10-13 2018-04-19 研能科技股▲ふん▼有限公司 圧電ポンプの駆動システム
US20200272237A1 (en) * 2017-11-15 2020-08-27 Google Llc Touch Communication Device
JP2020112978A (ja) * 2019-01-10 2020-07-27 ソニー株式会社 触覚提示装置、触覚提示システムおよび触覚提示方法
WO2020217934A1 (fr) * 2019-04-25 2020-10-29 株式会社村田製作所 Dispositif de pompe

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