Angle control device, angle control method, and program

Abstract

An angle control device according to one aspect of the present invention comprises: a display that includes a control unit and a display unit and that is worn by a user on the head; a movable riding unit which has a rotation mechanism and on which a user rides; and a control device that transmits video to the display and controls a rotation angle set in the riding unit on the basis of data in which has been recorded the movement to be reproduced, in synchronization with the video, by the riding unit. The control unit measures the oscillation of the head of the user in a state in which video is not displayed on the display unit. The control device limits the range of the rotation angle to be set in the riding unit on the basis of an oscillation measurement result by the control unit.

Description

Angle control device, angle control method and program

[0001] One aspect of the present invention relates to an angle control device, an angle control method, and a program.

[0002] As an example of an angle control device, a simulator device including a virtual reality head-mounted display (VRHMD) and a riding section is known. A simulator device having such a configuration can present physical movement information synchronized with visual information to a user.

[0003] An example of a simulator device having the above configuration is a windsurfing (WS) simulator device, which allows a user wearing a VRHMD on their head to stand on a board-shaped boarding section and simulate windsurfing. The WS simulator is a device designed to improve the rider's skills. In addition to visual information, the WS simulator device also displays the acceleration and rotation (angle) of the boarding section.

[0004] Furthermore, Non-Patent Document 1 describes an automobile VR system that uses an electric vehicle as a motion platform and presents the acceleration of the vehicle and the rotation of the seat in addition to visual information.

[0005] Yusuke Hasegawa, "The Impact of Motion Expression on User Experience in a VR System Using a Car," Waseda University, Department of Expression Engineering, School of Fundamental Science and Engineering, 2017 Master's Thesis Abstract, Internet <URL: http: / / www.ias.sci.waseda.ac.jp / GraduationThesis / 2017_summary / 5116E017_s.pdf>, [Retrieved May 23, 2023]

[0006] In sports such as windsurfing, the user must stand on a board-like boarding section and maintain balance by using their sense of balance. Therefore, when a user with a reduced sense of balance (such as an elderly person) uses a WS simulator device, if a uniform acceleration or rotation is presented, the user may fall over.

[0007] The present invention has been made in light of the above-mentioned circumstances, and aims to provide a technique that can prevent accidents in which the user falls.

[0008] In order to solve the above problems, one aspect of the present invention provides an angle control device that includes a display that has a control unit and a display unit and is worn on the user's head, a movable riding unit that has a rotation mechanism and is mounted on the user's riding unit, and a control unit that transmits video to the display and controls the rotation angle to be set on the riding unit based on data that records movements to be reproduced in the riding unit in synchronization with the video. The control unit measures the user's head sway while no video is displayed on the display unit. The control unit limits the range of rotation angle to be set on the riding unit based on the results of the sway measurement by the control unit.

[0009] According to one aspect of the present invention, it is possible to prevent accidents in which the user falls, thereby ensuring safety.

[0010] FIG. 1 is a schematic diagram showing an example of the configuration of an angle control device according to the first embodiment. FIG. 2 is a diagram explaining an angle when a riding section included in the angle control device according to the first embodiment is rotated. FIG. 3 is a diagram explaining an angle when a riding section included in the angle control device according to the first embodiment is rotated. FIG. 4 is a block diagram showing an example of the hardware configuration of a VRHMD included in the angle control device according to the first embodiment. FIG. 5 is a block diagram showing an example of the hardware configuration of a riding section included in the angle control device according to the first embodiment. FIG. 6 is a block diagram showing an example of the hardware configuration of a simulator control device included in the angle control device according to the first embodiment. FIG. 7 is a block diagram showing an example of the functional configuration of a VRHMD, riding section, and simulator control device included in the angle control device according to the first embodiment. FIG. 8 is a waveform diagram showing an example of the roll angle of board measurement data used in the angle control device according to the first embodiment. FIG. 9 is a waveform diagram showing an example of the roll angle after converting the roll angle of the board measurement data shown in FIG. 8. FIG. 10 is a flowchart showing an example of the head posture measurement operation of the angle control device according to the first embodiment. FIG. 11 is a flowchart showing an example of the angle control operation of the angle control device according to the first embodiment. FIG. 12 is a block diagram showing an example of the functional configuration of a VRHMD, a riding section, and a simulator control device included in an angle control device according to a first modified example of the first embodiment. FIG. 13 is a waveform diagram showing an example of a roll angular velocity based on the roll angle of board measurement data used in the angle control device according to the first modified example of the first embodiment. FIG. 14 is a flowchart showing an example of angle control operation of the angle control device according to the first modified example of the first embodiment. FIG. 15 is a schematic diagram showing an example of the configuration of an angle control device according to a second modified example of the first embodiment. FIG. 16 is a block diagram showing an example of the hardware configuration of a VRHMD included in the angle control device according to the second modified example of the first embodiment. FIG. 17 is a block diagram showing an example of the functional configuration of a VRHMD, a riding section, and a simulator control device included in the angle control device according to the second modified example of the first embodiment. FIG. 18 is a block diagram showing an example of the hardware configuration of a VRHMD included in the angle control device according to a third modified example of the first embodiment.FIG. 19 is a block diagram showing an example of the functional configuration of a VRHMD, a riding section, and a simulator control device included in an angle control device according to a third modified example of the first embodiment. FIG. 20 is a block diagram showing an example of the functional configuration of a VRHMD, a riding section, and a simulator control device included in an angle control device according to a second embodiment. FIG. 21 is a top view of the riding section included in the angle control device according to the second embodiment. FIG. 22 is a waveform diagram showing an example of the relative altitude of board measurement data used in the angle control device according to the second embodiment. FIG. 23 is a waveform diagram showing an example of the pitch angle of board measurement data used in the angle control device according to the second embodiment. FIG. 24 is a waveform diagram showing an example of the pitch angle after converting the pitch angle of the board measurement data shown in FIG. 23. FIG. 25 is a waveform diagram showing an example of the pitch angle after converting the pitch angle of the board measurement data shown in FIG. 23. FIG. 26 is a flowchart showing an example of the reference position measurement operation of the angle control device according to the second embodiment. FIG. 27 is a flowchart showing an example of the angle control operation of the angle control device according to the second embodiment. FIG. 28 is a diagram showing a state in which a user rides on the riding section included in the angle control device according to the second embodiment and changes the pitch angle of the riding section. FIG. 29 is a diagram illustrating angles when the pitch angle of the riding section included in the angle control device according to the second embodiment is changed.

[0011] Hereinafter, embodiments will be described with reference to the drawings. In the following description, components having substantially the same functions and configurations will be designated by the same reference numerals. When particularly distinguishing between elements having similar configurations, different letters or numbers may be added to the end of the same reference numerals.

[0012] 1. First Embodiment An angle control device according to a first embodiment will be described below. In the following, a WS simulator device will be described as an example of the angle control device.

[0013] 1.1 Configuration 1.1.1 Configuration of Angle Control Device The configuration of the angle control device according to this embodiment will be described with reference to Fig. 1. Fig. 1 is a schematic diagram showing an example of the configuration of the angle control device 1. Fig. 1 shows a situation in which a user is riding on a riding section 5 in a simulator 2 included in the angle control device 1.

[0014] 1, the angle control device 1 includes a simulator 2 and a simulator control device 3. Hereinafter, the simulator control device 3 will also be simply referred to as the "control device 3."

[0015] The simulator 2 is a device that has the function of providing a simulated windsurfing experience. The simulator 2 includes, for example, a VRHMD 4, a support base ST, connection parts JP1 to JP3, a support part SP, a boarding part 5, a mast MT, and a sail SL. Hereinafter, the VRHMD 4 will also be referred to simply as "HMD 4."

[0016] The HMD 4 is a display worn by the user on the head for viewing images. The HMD 4 is configured to be able to play images. The HMD 4 is configured to be able to measure the posture of the HMD 4. The HMD 4 is also configured to be able to communicate with the control device 3 via a network. Details of the HMD 4 will be described later.

[0017] The support base ST is a member that supports the connection parts JP1 to JP3, the support part SP, the boarding part 5, the mast MT, and the sail SL.

[0018] The connection part JP1 is a member that connects the support base ST and the support part SP. The connection part JP1 is provided on the support base ST.

[0019] The connection part JP2 is a member that connects the support base ST and the mast MT. The connection part JP2 is provided on the support base ST.

[0020] The support part SP is a member that supports the connection part JP3 and the riding part 5. The support part SP is provided on the connection part JP1.

[0021] The connection part JP3 is a member that connects the support part SP and the riding part 5. The connection part JP3 is provided on the support part SP.

[0022] The boarding section 5 is a plate-shaped member modeled after a board used in windsurfing. A user rides on the boarding section 5. The boarding section 5 is provided on the connection part JP3. The boarding section 5 is connected to the connection part JP3, for example, at the center of the underside of the boarding section 5. The boarding section 5 is also rotatably connected to the support part SP via the connection part JP3. In other words, the boarding section 5 is a movable member that can rotate around the center of the boarding section 5. In the following, a plane parallel to the upper and lower surfaces of the support base ST is defined as the XY plane. The direction from the boarding section 5 toward the mast MT is defined as the X direction. In other words, the boarding section 5 and the mast MT are aligned in the X direction. The X direction (to the right) corresponds to the traveling direction of the boarding section 5. The direction perpendicular to the X direction in the XY plane is defined as the Y direction. The direction approximately perpendicular to the XY plane is defined as the Z direction. The boarding section 5 is configured to be rotatable around the X and Y directions.

[0023] Here, the angle when the riding section 5 is rotated will be described with reference to FIGS. 2 and 3. FIG.

[0024] Fig. 2 is a diagram illustrating the angle when the riding section 5 is rotated around the X direction as an axis. In Fig. 2, the center position of the riding section 5 in the Y direction is indicated by a dashed line. Hereinafter, the angle formed between the XY plane and the riding section 5 when the riding section 5 is rotated around the X direction as an axis will be referred to as the "roll angle θ."

[0025] 3 is a diagram illustrating the angle when the riding section 5 is rotated around the Y direction as an axis. In FIG. 3, the center position of the riding section 5 in the X direction is indicated by a dashed line. Hereinafter, the angle formed between the XY plane and the riding section 5 when the riding section 5 is rotated around the Y direction as an axis will be referred to as the "pitch angle φ."

[0026] The riding section 5 is configured to be able to control the rotation of the riding section 5, i.e., the attitude (roll angle θ and pitch angle φ) of the riding section 5. The riding section 5 is also configured to be able to communicate with the control device 3 via a network. Details of the riding section 5 will be described later.

[0027] The mast MT is a columnar member that resembles a mast used in windsurfing. The mast MT is provided on the connecting part JP2.

[0028] The sail SL is a member that resembles a sail used in windsurfing and is attached to the side of the mast MT.

[0029] The control device 3 is a device that controls the overall operation of the simulator 2. The control device 3 is, for example, a PC (Personal Computer). The control device 3 is configured to be able to communicate with the HMD 4 and the riding unit 5 via a network. The control device 3 is configured to be able to transmit images to the HMD 4. The control device 3 is configured to be able to control the rotation angle set in the riding unit 5 based on data that records the movements to be reproduced in the riding unit 5 in synchronization with the images. Details of the control device 3 will be described later.

[0030] 1.1.2 Hardware Configuration of Angle Control Device The hardware configuration of the angle control device 1 will be described.

[0031] <HMD> The hardware configuration of the HMD 4 will be described with reference to Fig. 4. Fig. 4 is a block diagram showing an example of the hardware configuration of the HMD 4. Fig. 4 also shows the control device 3.

[0032] As shown in FIG. 4 , the HMD 4 includes a control unit 11 , a communication unit 12 , a display unit 13 , and a camera 14 .

[0033] The control unit 11 includes a CPU (Central Processing Unit) 21, a ROM (Read Only Memory) 22, and a RAM (Random Access Memory) 23. The control unit 11 controls the overall operation of the HMD 4.

[0034] The CPU 21 executes, for example, a process of playing back video on the display unit 13 and a process of measuring the attitude of the HMD 4. Hereinafter, the process of playing back video on the display unit 13 will be referred to as an "video playing process." The process of measuring the attitude of the HMD 4 will be referred to as an "attitude measurement process." The video playing process and the attitude measurement process will be described in detail later.

[0035] The ROM 22 is a non-volatile memory and stores programs for causing the CPU 21 to execute, for example, a video playback process and a posture measurement process.

[0036] The RAM 23 is used as a work area for the CPU 21. The RAM 23 is, for example, a semiconductor memory such as a DRAM (Dynamic Random Access Memory) or an SRAM (Static Random Access Memory). The RAM 23 temporarily stores, for example, the above-mentioned programs executed by the CPU 21, images played by the image playback process, data obtained by the posture measurement process, and data obtained during execution of the posture measurement process. Hereinafter, the data obtained by the posture measurement process will be referred to as "head posture data DT1." The head posture data DT1 includes, for example, the roll angle and pitch angle of the HMD 4. In FIG. 4, data other than the head posture data DT1 are omitted from the illustration. The above-mentioned programs executed by the CPU 21 are loaded from the ROM 22 to the RAM 23 by the CPU 21, for example, immediately after the angle control device 1 is powered on.

[0037] The communication unit 12 is a communication interface that controls communication between the HMD 4 and the control device 3. The communication unit 12, for example, receives an image from the control device 3. The communication unit 12, for example, transmits head posture data DT1 obtained by the posture measurement process to the control device 3.

[0038] The display unit 13 is a device that plays back the video received from the control device 3. The display unit 13 is, for example, a liquid crystal display. The user views the video played back by the display unit 13 through two lenses (not shown) in the HMD 4 that correspond to both eyes.

[0039] The camera 14 is a device that captures images of the environment surrounding the HMD 4. The camera 14 is, for example, a monocular camera or a stereo camera. In the attitude measurement process, the attitude of the HMD 4 is measured based on the images captured by the camera 14. Note that the HMD 4 may include multiple cameras 14. When the HMD 4 includes multiple cameras 14, the attitude of the HMD 4 is measured based on the images captured by the multiple cameras 14.

[0040] <Riding Unit> The hardware configuration of the riding unit 5 will be described with reference to Fig. 5. Fig. 5 is a block diagram showing an example of the hardware configuration of the riding unit 5. Fig. 5 also shows the control device 3.

[0041] As shown in FIG. 5 , the riding section 5 includes a control section 31 , a communication section 32 , and a rotation mechanism 33 .

[0042] The control unit 31 includes a CPU 41, a ROM 42, and a RAM 43. The control unit 31 controls the operation of the entire riding unit 5.

[0043] The CPU 41 executes, for example, processing to control the attitude (roll angle θ and pitch angle φ) of the riding section 5. Hereinafter, the processing to control the attitude (roll angle θ and pitch angle φ) of the riding section 5 will be referred to as "angle control processing." Details of the angle control processing will be described later.

[0044] The ROM 42 is a non-volatile memory and stores a program for causing the CPU 41 to execute, for example, an angle control process.

[0045] The RAM 43 is used as a work area for the CPU 41. The RAM 43 is, for example, a semiconductor memory such as a DRAM or an SRAM. The RAM 43 temporarily stores, for example, the above-mentioned program executed by the CPU 41, the angle parameters PRM received from the control device 3, and data during the angle control process. The angle parameters PRM are parameters obtained by the angle restriction process described below. The angle parameters PRM include, for example, the roll angle and pitch angle set in the riding section 5. In FIG. 5 , elements other than the angle parameters PRM are omitted from the illustration. The above-mentioned program executed by the CPU 41 is loaded from the ROM 42 to the RAM 43 by the CPU 41, for example, immediately after the angle control device 1 is powered on.

[0046] The communication unit 32 is a communication interface that controls communication between the riding unit 5 and the control device 3. The communication unit 32 receives the angle parameter PRM from the control device 3, for example.

[0047] The rotation mechanism 33 is, for example, a motor. In the angle control process, the rotation of the rotation mechanism 33 is controlled based on the angle parameter PRM, and the roll angle θ and pitch angle φ of the riding section 5 are controlled.

[0048] <Simulator Control Device> The hardware configuration of the control device 3 will be described with reference to Fig. 6. Fig. 6 is a block diagram showing an example of the hardware configuration of the control device 3. Fig. 6 also shows the HMD 4 and the riding unit 5.

[0049] As shown in FIG. 6 , the control device 3 includes a control unit 51 , a communication unit 52 , and a storage device 53 .

[0050] The control unit 51 includes a CPU 61, a ROM 62, and a RAM 63. The control unit 51 controls the overall operation of the control device 3.

[0051] The CPU 61 executes, for example, a process for evaluating the shaking of the user's head and a process for limiting the roll angle and pitch angle to be set in the riding unit 5. Hereinafter, the process for evaluating the shaking of the user's head will be referred to as the "shake evaluation process." The process for limiting the roll angle and pitch angle to be set in the riding unit 5 will be referred to as the "angle limit process." Details of the shake evaluation process and the angle limit process will be described later.

[0052] The ROM 62 is a non-volatile memory that stores programs for causing the CPU 61 to execute the vibration evaluation process and the angle restriction process.

[0053] The RAM 63 is used as a work area for the CPU 61. The RAM 63 is, for example, a semiconductor memory such as a DRAM or an SRAM. The RAM 63 temporarily stores, for example, the above-mentioned program executed by the CPU 61, the head posture data DT1 received from the HMD 4, data obtained by the motion evaluation process, the angle parameters PRM obtained by the angle restriction process, and data obtained during the motion evaluation process and the angle restriction process. In FIG. 6 , only the head posture data DT1 and the angle parameters PRM are shown. The above-mentioned program executed by the CPU 61 is loaded from the ROM 62 to the RAM 63 by the CPU 61, for example, immediately after the angle control device 1 is powered on.

[0054] The communication unit 52 is a communication interface that controls communication between the control device 3 and the HMD 4 and riding unit 5. The communication unit 52 receives, for example, head posture data DT1 from the HMD 4. The communication unit 52 transmits an image DTv (described later) to the HMD 4. The communication unit 52 also transmits an angle parameter PRM obtained by angle restriction processing to the riding unit 5 in synchronization with the image DTv.

[0055] The storage device 53 is a storage medium used to store data, programs, etc. The storage device 53 stores, for example, the video DTv and the board measurement data DTb.

[0056] The video DTv is a video played back by the display unit 13. The video DTv is, for example, a live-action video (360-degree video) captured by a camera (e.g., an omnidirectional camera) attached to the head of a windsurfing passenger while the passenger is on a board at sea. The video DTv may also be a video of the sea generated by CG (Computer Graphics).

[0057] The board measurement data DTb is data that records the movement to be reproduced by the riding section 5. The board measurement data DTb includes data on the roll angle and pitch angle of the board acquired at regular time intervals using an acceleration sensor and a gyro sensor provided on the board, for example, when a rider is windsurfing on the board at sea. Hereinafter, the roll angle of the board acquired at regular time intervals will be referred to as the "roll angle θbm." The pitch angle of the board acquired at regular time intervals will be referred to as the "pitch angle φbm." m is a data number. m is an integer greater than or equal to 1. That is, the board measurement data DTb includes m roll angles θbm and m pitch angles φbm. The board measurement data DTb is sampled at, for example, 500 Hz. The board measurement data DTb may also be data on the roll angle and pitch angle of the board generated by a physical simulation.

[0058] The data stored in the storage device 53 may be downloaded via a server on a network. The video DTv and board measurement data DTb may be video obtained in real time from a windsurfing rider on the ocean and the board the rider is riding on, as well as the roll angle and pitch angle of the board.

[0059] 1.1.3 Functional Configuration of Angle Control Device The functional configuration of the angle control device 1 will be described with reference to Fig. 7. Fig. 7 is a block diagram showing an example of the functional configuration of the HMD 4, the riding unit 5, and the control device 3.

[0060] 7 , the HMD 4 functions as a computer including a video playback unit 101, a video acquisition unit 102, and a posture measurement unit 103. The video playback unit 101 is a functional block corresponding to the display unit 13. The video acquisition unit 102 is a functional block corresponding to the camera 14. The posture measurement unit 103 is a functional block corresponding to the control unit 11.

[0061] (Video Playback Unit 101) The video playback unit 101 executes video playback processing. The video playback unit 101 plays back the video DTv received from the storage device 53 in the control device 3, for example.

[0062] (Video Acquisition Unit 102) The video acquisition unit 102 acquires a video of the surrounding environment of the HMD 4. Hereinafter, the video acquired by the video acquisition unit 102 will be referred to as an “video DTa.” The video acquisition unit 102 transmits the acquired video DTa to the posture measurement unit 103.

[0063] (Posture Measurement Unit 103) The posture measurement unit 103 executes posture measurement processing. For example, the posture measurement unit 103 measures the relative posture of the HMD 4 by measuring the movement of the environment surrounding the HMD 4 based on the image DTa received from the image acquisition unit 102 (inside-out method). Specifically, the posture measurement unit 103 estimates the roll angle and pitch angle of the HMD 4 at regular time intervals within a certain time period (for example, 60 seconds) based on the image DTa. Hereinafter, the roll angle of the HMD 4 estimated at regular time intervals will be referred to as the "roll angle θhn." The pitch angle of the HMD 4 estimated at regular time intervals will be referred to as the "pitch angle φhn." n is a data number. n is an integer greater than or equal to 1. The posture measurement unit 103 transmits n roll angles θhn and n pitch angles φhn (measurement results) to the motion assessment unit 301 as head posture data DT1. That is, the head posture data DT1 includes n roll angles θhn and n pitch angles φhn.

[0064] 7, the riding section 5 functions as a computer including an angle control section 201. The angle control section 201 is a functional block corresponding to the control section 31.

[0065] (Angle Control Unit 201) The angle control unit 201 executes angle control processing. The angle control unit 201 controls the roll angle θ and pitch angle φ of the riding unit 5, for example, so as to reproduce the angle parameter PRM received from the angle restriction unit 302, which will be described later.

[0066] 7, the control device 3 functions as a computer including a vibration evaluation unit 301 and an angle restriction unit 302. The vibration evaluation unit 301 and the angle restriction unit 302 are functional blocks corresponding to the control unit 51.

[0067] (Movement Evaluation Unit 301) The movement evaluation unit 301 executes movement evaluation processing. The movement evaluation unit 301 evaluates the movement of the head of the user wearing the HMD 4, for example, based on the head posture data DT1 received from the posture measurement unit 103. Specifically, the movement evaluation unit 301 calculates a movement area C based on the head posture data DT1. The movement area C is an index for evaluating the movement of the center of gravity (sense of balance). The movement area C is expressed by the following equation (1): C=(θhmax-θhmin)×(φhmax-φhmin) (1) θhmax is the maximum value of the roll angle θhn of the head posture data DT1. θhmin is the minimum value of the roll angle θhn of the head posture data DT1. φhmax is the maximum value of the pitch angle φhn of the head posture data DT1. φhmin is the minimum value of the pitch angle φhn of the head posture data DT1.

[0068] It is known that a person with a reduced sense of balance has a relatively large sway area C. The sway evaluation unit 301 may, for example, determine whether the sway area C is greater than a preset threshold (for example, 1 [deg] ２ ]) or more, it is determined that the user has a reduced sense of balance and is highly likely to fall, and a signal Sa is generated to limit the roll angle and pitch angle to be set in the riding unit 5. The vibration evaluation unit 301 transmits the generated signal Sa to the angle limiting unit 302.

[0069] (Angle Limiting Unit 302) The angle limiting unit 302 executes angle limiting processing. The angle limiting unit 302 receives the board measurement data DTb from the storage device 53, for example.

[0070] When the angle limiting unit 302 receives the signal Sa (when the motion evaluation unit 301 generates the signal Sa), it converts the roll angle θbm of the board measurement data DTb into an angle θbm' within a preset angle limit range. The angle limiting unit 302 converts the pitch angle φbm of the board measurement data DTb into an angle φbm' within a preset angle limit range. The angle limiting unit 302 transmits the roll angle θbm' and the pitch angle φbm' to the angle control unit 201 as angle parameters PRM. The preset angle limit range is, for example, a range of -10 degrees to 10 degrees. In this case, the roll angle θbm' is expressed by the following equation (2). The pitch angle φbm' is expressed by the following equation (3). θbm' = θbm × (20 / (θbmax - θbmin)) (2) φbm' = φbm × (20 / (φbmax - φbmin)) (3) θbmax is the maximum value of the roll angle θbm in the board measurement data DTb. θbmin is the minimum value of the roll angle θbm in the board measurement data DTb. φbmax is the maximum value of the pitch angle φbm in the board measurement data DTb. φbmin is the minimum value of the pitch angle φbm in the board measurement data DTb.

[0071] If the angle limiting unit 302 does not receive the signal Sa (if the motion evaluation unit 301 does not generate the signal Sa), it transmits the roll angle θbm and pitch angle φbm of the board measurement data DTb to the angle control unit 201 as the angle parameters PRM.

[0072] FIG. 8 is a waveform diagram showing an example of the roll angle θbm of the board measurement data DTb sampled at regular time intervals. The vertical axis represents the roll angle θbm [deg]. The horizontal axis represents time. As shown in FIG. 8, the roll angle θbm fluctuates in the range of approximately -22 [deg] to 22 [deg]. Note that the pitch angle φbm of the board measurement data DTb sampled at regular time intervals also has a waveform similar to that of the roll angle θbm.

[0073] The angle limiting unit 302 limits the range of rotation angles set in the riding unit 5 to prevent a user with a reduced sense of balance from falling. For example, the angle limiting unit 302 converts the roll angle θbm to a roll angle θbm' using the above formula (2) so as to limit the roll angle θbm to a range of -10 degrees to 10 degrees. The angle limiting unit 302 converts the pitch angle φbm to a pitch angle φbm' using the above formula (3) so as to limit the pitch angle φbm to a range of -10 degrees to 10 degrees.

[0074] FIG. 9 is a waveform diagram showing an example of a roll angle θbm' obtained after the roll angle θbm of the board measurement data DTb shown in FIG. 8 is converted by the angle limiting unit 302. The vertical axis represents the roll angle θbm' [deg]. The horizontal axis represents time. As shown in FIG. 9, the roll angle θbm' is limited to a range of -10 [deg] to 10 [deg]. Note that the pitch angle φbm' also has a waveform similar to that of the roll angle θbm'.

[0075] 1.2 Operation The operation of the angle control device 1 according to this embodiment will be described. The operation of the angle control device 1 includes a head posture measurement operation and an angle control operation. The head posture measurement operation is an operation for measuring the posture of the user's head. The head posture measurement operation is performed before the user starts the simulator experience with the angle control device 1. The angle control operation is an operation for controlling the roll angle θ and pitch angle φ of the riding section 5 based on the measurement results obtained by the head posture measurement operation after the user starts the simulator experience with the angle control device 1. Hereinafter, the angle control operation of the angle control device 1 according to this embodiment will also be referred to as a "first angle control operation."

[0076] (Head Posture Measuring Operation) The head posture measuring operation will be described with reference to Fig. 10. Fig. 10 is a flowchart showing an example of the head posture measuring operation of the angle control device 1.

[0077] Before starting the simulator experience, the user wears the HMD 4. After the user wears the HMD 4, the HMD 4 sets the display unit 13 to a state in which no image is displayed (S101).

[0078] Next, the HMD 4 (control unit 11) measures the posture of the HMD 4, i.e., the shaking of the user's head, at regular time intervals (S102) while the image DTv is not displayed on the display unit 13. The posture of the HMD 4 is measured using the method described above, and head posture data DT1 is obtained as the measurement result.

[0079] Next, the HMD 4 transmits the head posture data DT1 to the control device 3 (S103). The head posture data DT1 is stored in the RAM 23 and the RAM 63 in the control device 3.

[0080] (First Angle Control Operation) The first angle control operation will be described with reference to Fig. 11. Fig. 11 is a flowchart showing an example of the first angle control operation of the angle control device 1.

[0081] After the head posture measurement operation is completed, the user boards the boarding unit 5. When the simulator experience begins, the control device 3 calculates the motion area C based on the head posture data DT1 (the measurement result of the posture of the HMD 4) (S111). The motion area C is calculated using the method described above. The control device 3 also transmits the video DTv to the HMD 4, and the video DTv is played on the display unit 13.

[0082] Next, the control device 3 determines whether the motion area C is equal to or greater than a preset threshold value (S112). If the motion area C is equal to or greater than the threshold value (S112: YES), the control device 3 generates a signal Sa that limits the roll angle and pitch angle to be set in the riding section 5 (S113). The signal Sa is stored in the RAM 63. On the other hand, if the motion area C is less than the threshold value (S112: NO), the process proceeds to step S114, which will be described later.

[0083] Next, the control device 3 receives the board measurement data DTb from the storage device 53 (S114).

[0084] Next, the control device 3 determines whether or not the signal Sa has been generated (S115).

[0085] When signal Sa is generated (S115: YES), the control device 3 converts the roll angle θbm of the board measurement data DTb into an angle θbm' within the above-mentioned angle limit range, and converts the pitch angle φbm of the board measurement data DTb into an angle φbm' within the above-mentioned angle limit range (S116).

[0086] Next, the control device 3 transmits the roll angle θbm′ and pitch angle φbm′ to the riding section 5 as angle parameters PRM (S117). The angle parameters PRM are stored in the RAM 63 and the RAM 43 in the riding section 5.

[0087] On the other hand, if the signal Sa has not been generated (S115: NO), the control device 3 transmits the roll angle θbm and pitch angle φbm of the board measurement data DTb to the riding unit 5 as angle parameters PRM (S118). The angle parameters PRM are stored in the RAM 63 and the RAM 43 in the riding unit 5.

[0088] In this way, the control device 3 limits the range of rotation angles to be set for the riding unit 5 based on the measurement results of the user's head movement by the HMD 4 (control unit 11). The range of rotation angles to be set for the riding unit 5 includes the ranges of the roll angle θ and pitch angle φ of the riding unit 5.

[0089] Next, the riding section 5 controls the roll angle θ and pitch angle φ of the riding section 5 based on the angle parameter PRM (S119).

[0090] 1.3 Effects of the Present Embodiment People with a reduced sense of balance experience greater sway in their center of gravity when their eyes are closed. In the angle control device 1, sway in their center of gravity when their eyes are closed corresponds to the movement of the HMD 4 when the user wears the HMD 4 on their head and nothing is displayed on the display unit 13 of the HMD 4.

[0091] Therefore, in this embodiment, the user wears the HMD 4 on their head, and the posture of the HMD 4, i.e., the movement of the user's head, is measured with nothing displayed on the display unit 13 of the HMD 4. The control device 3 evaluates the movement of the user's head based on the measurement result of the posture of the HMD 4. If the control device 3 determines that the user is likely to fall based on the evaluation result of the user's head movement, it limits the range of rotation angles to be set for the riding unit 5. More specifically, the control device 3 calculates a movement area C based on the measurement result of the posture of the HMD 4, and if the movement area C is equal to or greater than a predetermined threshold, it limits the range of rotation angles to be set for the riding unit 5. In this way, according to this embodiment, it is possible to prevent accidents in which the user falls.

[0092] 1.4 First Modification An angle control device 1 according to a first modification of the first embodiment will be described. In the angle control device 1 according to the first modification of the first embodiment, the functional configuration of the control device 3 differs from that of the first embodiment. Below, the differences between the angle control device 1 according to the first modification of the first embodiment and the first embodiment will be described.

[0093] 1.4.1 Functional Configuration of Simulator Control Device The functional configuration of the control device 3 will be described with reference to Fig. 12. Fig. 12 is a block diagram showing an example of the functional configuration of the HMD 4, the riding unit 5, and the control device 3.

[0094] As shown in FIG. 12, in the control device 3, the angle limiting unit 302 having the configuration shown in FIG. 7 in the first embodiment is replaced with an angle limiting unit 302A.

[0095] (Angle Limiting Unit 302A) When the angle limiting unit 302A receives the signal Sa (when the vibration evaluation unit 301 generates the signal Sa), it converts the roll angle θbm and pitch angle φbm of the board measurement data DTb based on the roll angular velocity and pitch angular velocity. Hereinafter, the roll angular velocity is defined as ωx [deg / s] = dθbm / dt. The pitch angular velocity is defined as ωy [deg / s] = dφbm / dt.

[0096] Specifically, the angle limiting unit 302A converts the roll angle θbm of the board measurement data DTb into an angle θbm' such that the roll angular velocity ωx falls within a preset angular velocity limit range. The angle limiting unit 302A converts the pitch angle φbm of the board measurement data DTb into an angle φbm' such that the pitch angular velocity ωy falls within a preset angular velocity limit range. The angle limiting unit 302A transmits the roll angle θbm' and the pitch angle φbm' to the angle control unit 201 as angle parameters PRM. The preset angular velocity limit range is, for example, a range of -200 [deg / s] to 200 [deg / s]. In this case, the roll angle θbm' is expressed by the following equation (4). The pitch angle φbm' is expressed by the following equation (5). θbm' = θbm × (400 / (ωxmax - ωxmin)) (4) φbm' = φbm × (400 / (ωymax - ωymin)) (5) ωxmax is the maximum value of the roll angular velocity ωx calculated based on the roll angle θbm of the board measurement data DTb. ωxmin is the minimum value of the angular velocity ωx calculated based on the roll angle θbm of the board measurement data DTb. ωymax is the maximum value of the pitch angular velocity ωy calculated based on the pitch angle φbm of the board measurement data DTb. ωymin is the minimum value of the pitch angular velocity ωy calculated based on the pitch angle φbm of the board measurement data DTb.

[0097] If the angle limiting unit 302A does not receive the signal Sa (if the motion evaluation unit 301 does not generate the signal Sa), it transmits the roll angle θbm and pitch angle φbm of the board measurement data DTb to the angle control unit 201 as the angle parameters PRM.

[0098] FIG. 13 is a waveform diagram showing an example of the roll angular velocity ωx based on the roll angle θbm of the board measurement data DTb sampled at regular time intervals. The vertical axis represents the roll angular velocity ωx [deg / s]. The horizontal axis represents time. As shown in FIG. 13, the roll angular velocity ωx fluctuates in the range of approximately -400 [deg / s] to 400 [deg / s]. Note that the pitch angular velocity ωy based on the pitch angle φbm of the board measurement data DTb sampled at regular time intervals also has a waveform similar to that of the roll angular velocity ωx.

[0099] The angle limiting unit 302A limits the range of rotation angles set in the riding unit 5 to prevent a user with a reduced sense of balance from falling. For example, the angle limiting unit 302A converts the roll angle θbm to a roll angle θbm' using the above equation (4) so ​​as to limit the roll angular velocity ωx to a range of -200 [deg / s] to 200 [deg / s]. The angle limiting unit 302A converts the pitch angle φbm to a pitch angle φbm' using the above equation (5) so as to limit the pitch angular velocity ωy to a range of -200 [deg / s] to 200 [deg / s].

[0100] 1.4.2 Operation The angle control operation of the angle control device 1 according to this modification will be described with reference to Fig. 14. Fig. 14 is a flowchart showing an example of the first angle control operation of the angle control device 1. In Fig. 14, step S116 in Fig. 11 shown in the first embodiment is replaced with step S121.

[0101] When signal Sa is generated (S115: YES), the control device 3 converts the roll angle θbm of the board measurement data DTb into an angle θbm' based on the roll angular velocity ωx, and converts the pitch angle φbm of the board measurement data DTb into an angle φbm' based on the roll angular velocity ωy (S121).

[0102] In this way, the control device 3 limits the range of rotation angles to be set for the riding unit 5 based on the measurement results of the user's head movement by the HMD 4 (control unit 11). The range of rotation angles to be set for the riding unit 5 includes the ranges of the roll angle θ and pitch angle φ of the riding unit 5 obtained by limiting the ranges of the roll angular velocity ωx and pitch angular velocity ωy of the riding unit 5.

[0103] 1.4.3 Effects of this Modification In this modification, if the control device 3 determines that the user is likely to fall based on the evaluation result of the user's head sway, it limits the ranges of the roll angular velocity and pitch angular velocity, thereby limiting the rotation angle set in the riding section 5. As a result, according to this modification, it is possible to reduce the occurrence of accidents in which the user falls, similar to the first embodiment.

[0104] 1.5 Second Modification An angle control device 1 according to a second modification of the first embodiment will be described. The angle control device 1 according to the second modification of the first embodiment differs from the first embodiment in that it includes a camera 6. Furthermore, the angle control device 1 according to the second modification of the first embodiment differs from the first embodiment in the hardware configuration and functional configuration of the HMD 4. Below, the differences between the angle control device 1 according to the second modification of the first embodiment and the first embodiment will be described.

[0105] 1.5.1 Configuration of Angle Control Device The configuration of the angle control device 1 will be described with reference to Fig. 15. Fig. 15 is a schematic diagram showing an example of the configuration of the angle control device 1.

[0106] As shown in FIG. 15, the angle control device 1 further includes a camera 6 in addition to the configuration shown in FIG. 1 in the first embodiment.

[0107] The camera 6 is a device that captures an image of the HMD 4. The camera 6 is, for example, a monocular camera or a stereo camera. The camera 6 is configured to be able to communicate with the HMD 4 via a network.

[0108] 1.5.2 Hardware Configuration of HMD The hardware configuration of the HMD 4 will be described with reference to Fig. 16. Fig. 16 is a block diagram showing an example of the hardware configuration of the HMD 4. Fig. 16 also shows the control device 3 and the camera 6.

[0109] As shown in FIG. 16, in the HMD 4, the camera 14 is eliminated from the configuration shown in FIG. 4 of the first embodiment.

[0110] The communication unit 12 receives, for example, an image from the camera 6 .

[0111] 1.5.3 Functional Configuration of HMD The functional configuration of the HMD 4 will be described with reference to Fig. 17. Fig. 17 is a block diagram showing an example of the functional configuration of the HMD 4, the riding unit 5, and the control device 3.

[0112] As shown in Fig. 17, in the HMD 4, the image acquisition unit 102 is eliminated from the configuration of Fig. 7 shown in the first embodiment. Also, in the HMD 4, the posture measurement unit 103 of the configuration of Fig. 7 shown in the first embodiment is replaced with a posture measurement unit 103B.

[0113] (Posture Measurement Unit 103B) The posture measurement unit 103B executes posture measurement processing. For example, the posture measurement unit 103B measures the posture of the HMD 4 by capturing an image of the HMD 4 using a camera 6 installed in the environment surrounding the HMD 4 and measuring the movement of the image (outside-in method). Hereinafter, the image captured by the camera 6 will be referred to as "image DTc." Specifically, the posture measurement unit 103B measures the roll angle θhn and pitch angle φhn of the HMD 4 at regular time intervals within a certain period of time based on the image DTc received from the camera 6. As a result, head posture data DT1 is obtained, as in the first embodiment. The posture measurement unit 103B transmits the head posture data DT1 to the motion evaluation unit 301.

[0114] 1.5.4 Effects of this Modification This modification provides the same effects as the first embodiment.

[0115] 1.6 Third Modification An angle control device 1 according to a third modification of the first embodiment will be described. In the angle control device 1 according to the third modification of the first embodiment, the hardware configuration and functional configuration of the HMD 4 are different from those of the first embodiment. Below, the differences between the angle control device 1 according to the third modification of the first embodiment and the first embodiment will be described.

[0116] 1.6.1 Hardware Configuration of HMD The hardware configuration of the HMD 4 will be described with reference to Fig. 18. Fig. 18 is a block diagram showing an example of the hardware configuration of the HMD 4. Fig. 18 also shows the control device 3.

[0117] 18, the HMD 4 further includes an acceleration sensor 15 and a gyro sensor 16 in addition to the configuration of FIG. 4 shown in the first embodiment. Furthermore, the HMD 4 does not include the camera 14 of the configuration of FIG. 4 shown in the first embodiment.

[0118] 1.6.2 Functional Configuration of HMD The functional configuration of the HMD 4 will be described with reference to Fig. 19. Fig. 19 is a block diagram showing an example of the functional configuration of the HMD 4, the riding unit 5, and the control device 3.

[0119] 19, in the HMD 4, the image acquisition unit 102 and the posture measurement unit 103 of the configuration shown in FIG. 7 in the first embodiment are replaced with a sensor data acquisition unit 104 and a posture measurement unit 103C, respectively. The sensor data acquisition unit 104 is a functional block corresponding to the acceleration sensor 15 and the gyro sensor 16.

[0120] (Sensor Data Acquisition Unit 104) The sensor data acquisition unit 104 acquires acceleration data of the HMD 4 using the acceleration sensor 15. The sensor data acquisition unit 104 acquires angular velocity data of the HMD 4 using the gyro sensor 16. Hereinafter, the data acquired by the sensor data acquisition unit 104 will be referred to as "sensor data DTd." The sensor data acquisition unit 104 transmits the acquired sensor data DTd to the posture measurement unit 103C.

[0121] (Posture measurement unit 103C) The posture measurement unit 103C executes posture measurement processing. For example, the posture measurement unit 103C measures the roll angle θhn and pitch angle φhn of the HMD 4 at regular time intervals within a certain period of time using sensor data DTd received from the sensor data acquisition unit 104. As a result, head posture data DT1 is obtained, as in the first embodiment. The posture measurement unit 103C transmits the head posture data DT1 to the motion evaluation unit 301.

[0122] 1.6.3 Effects of this Modification This modification provides the same effects as the first embodiment.

[0123] 2. Second Embodiment An angle control device 1 according to the second embodiment will be described. In the angle control device 1 according to the second embodiment, the board measurement data DTb and the functional configurations of the HMD 4 and the control device 3 are different from those of the first embodiment. Below, the differences between the angle control device 1 according to the second embodiment and the first embodiment will be described.

[0124] 2.1 Board Measurement Data The board measurement data DTb will be described. In addition to the data on the roll angle θbm and pitch angle φm of the board described in the first embodiment, the board measurement data DTb further includes data on the altitude of the board, acquired at the same regular time intervals as the roll angle θbm and pitch angle φm, using a GPS (Global Positioning System) receiver provided on the board, for example, when a rider is windsurfing on the board at sea. Hereinafter, the altitude of the board at the start of data acquisition (recording) is defined as the "reference altitude RH." The reference altitude RH is, for example, 0 m. The altitude relative to the reference altitude RH is expressed as the "relative altitude Hbm." In other words, the board measurement data DTb includes m relative altitudes Hbm and the reference altitude RH. The board measurement data DTb may also include latitude and longitude data.

[0125] 2.2 Functional Configuration of HMD The functional configuration of the HMD 4 will be described with reference to Fig. 20. Fig. 20 is a block diagram showing an example of the functional configuration of the HMD 4, the riding unit 5, and the control device 3.

[0126] 20, the HMD 4 further includes a position detection unit 105 in addition to the configuration of the first embodiment shown in FIG.

[0127] (Position Detection Unit 105) The position detection unit 105 detects the relative position of the HMD 4 by measuring the movement of the environment surrounding the HMD 4, for example, based on the video DTa received from the video acquisition unit 102. Hereinafter, the process of detecting the relative position of the HMD 4, i.e., the position of the user on the riding unit 5, will be referred to as the "position detection process." The detected position of the HMD 4 will be referred to as the "position Ph." Furthermore, the position Ph detected when the user is standing in the center of the riding unit 5 will be referred to as the "reference position RP." The posture measurement unit 103 transmits the position Ph and the reference position RP (detection results) to the position determination unit 304.

[0128] The position detection process is executed by the CPU 21. A program for causing the CPU 21 to execute the position detection process is stored in the ROM 22, for example.

[0129] 2.3 Functional Configuration of Simulator Control Device The functional configuration of the control device 3 will be described with reference to FIG.

[0130] As shown in Fig. 20 , in the control device 3, the angle limiting unit 302 of the configuration shown in Fig. 7 in the first embodiment is replaced with an angle limiting unit 302D. In addition to the configuration shown in Fig. 7 in the first embodiment, the control device 3 further includes an altitude determination unit 303 and a position determination unit 304. The altitude determination unit 303 and the position determination unit 304 are functional blocks corresponding to the control unit 51.

[0131] (Altitude determination unit 303) The altitude determination unit 303 determines, for example, whether the relative altitude Hbm of the board measurement data DTb received from the storage device 53 is higher than the reference altitude RH. The altitude determination unit 303 transmits the determination result to the angle restriction unit 302D. Hereinafter, the process of determining the relative altitude Hbm of the board measurement data DTb will be referred to as the "altitude determination process." The determination result will be referred to as the "altitude determination result RT1."

[0132] The altitude determination process is executed by the CPU 61. A program for causing the CPU 61 to execute the altitude determination process is stored in the ROM 62, for example.

[0133] (Position Determination Unit 304) The position determination unit 304 determines the position on the riding unit 5 where the user is standing, based on the position Ph and the reference position RP received from the position detection unit 105, for example.

[0134] Here, the position on the riding section 5 where the user stands will be described with reference to FIG.

[0135] FIG. 21 is a top view of the riding section 5. FIG. 21 also shows the support base ST, support section SP, connection sections JP2 and JP3, and the mast MT. In FIG. 21, the center position of the riding section 5 in the X direction is indicated by a dashed line. As shown in FIG. 21, the riding section 5 includes a forward area FA and a rearward area BA. The forward area FA is the area from the center position of the riding section 5 in the X direction to the end of the riding section 5 on the mast MT side. The rearward area BA is the area from the center position of the riding section 5 in the X direction to the end of the riding section 5 on the opposite side from the mast MT. The forward area FA and the rearward area BA are aligned in the X direction.

[0136] For example, if the coordinate value of position Ph in the X direction is equal to or greater than the coordinate value of reference position RP, the position determination unit 304 determines that the user is riding in the forward area FA. For example, if the coordinate value of position Ph in the X direction is smaller than the coordinate value of reference position RP, the position determination unit 304 determines that the user is riding in the rear area BA. The position determination unit 304 transmits the determination result to the angle restriction unit 302D. Hereinafter, the process of determining the position on the riding unit 5 where the user is standing will be referred to as the "position determination process." The determination result will be referred to as the "position determination result RT2."

[0137] The position determination process is executed by the CPU 61. A program for causing the CPU 61 to execute the position determination process is stored in the ROM 62, for example.

[0138] (Angle Limiting Unit 302D) The angle limiting unit 302D receives, for example, the altitude determination result RT1 from the altitude determination unit 303. The angle limiting unit 302D receives the position determination result RT2 from the position determination unit 304. The angle limiting unit 302D receives the board measurement data DTb from the storage device 53. When the relative altitude Hbm of the board measurement data DTb is higher than the reference altitude RH and the position determination result RT2 indicates that the user's position Ph on the board unit 5 is included in the forward area FA (the user is riding in the forward area FA of the board unit 5), the angle limiting unit 302D converts the pitch angle φbm of the board measurement data DTb into an angle φbm' using the following equation (6): φbm' = φbm + s × Hbm (6), where s is a conversion coefficient for converting the relative altitude Hbm to the pitch angle. The conversion coefficient s is set in advance. For example, if the pitch angle is changed by 15 degrees when the relative altitude changes by 1 m, the conversion coefficient s is s = π / 12. The angle limiting unit 302D transmits the pitch angle φbm′ to the angle control unit 201 as the angle parameter PRM.

[0139] If the relative altitude Hbm of the board measurement data DTb is higher than the reference altitude RH and the position determination result RT2 indicates that the user's position Ph on the board unit 5 is included in the rear area BA (the user is riding in the rear area BA of the board unit 5), the angle limiting unit 302D converts the pitch angle φbm of the board measurement data DTb into an angle φbm' using the following equation (7): φbm' = φbm - s × Hbm (7) The angle limiting unit 302D transmits the pitch angle φbm' to the angle control unit 201 as an angle parameter PRM.

[0140] If the relative altitude Hbm of the board measurement data DTb is equal to or less than the reference altitude RH, the angle limiting unit 302D transmits the pitch angle φbm of the board measurement data DTb to the angle control unit 201 as the angle parameter PRM.

[0141] 22 is a waveform diagram showing an example of the relative altitude Hbm of the board measurement data DTb sampled at regular time intervals. The vertical axis represents the relative altitude Hbm [m]. The horizontal axis represents time. As shown in FIG. 22, the relative altitude Hbm fluctuates within a range of approximately -1.5 [m] to 0.5 [m].

[0142] 23 is a waveform diagram showing an example of the pitch angle φbm of the board measurement data DTb sampled at regular time intervals. The vertical axis represents the pitch angle φbm [rad]. The horizontal axis represents time. As shown in FIG. 23, the pitch angle φbm fluctuates within a range of approximately −0.4 [rad] to 0.4 [rad].

[0143] FIG. 24 is a waveform diagram showing an example of the pitch angle φbm' obtained after the pitch angle φbm of the board measurement data DTb shown in FIG. 23 is converted by the angle limiting unit 302D. The vertical axis represents the pitch angle φbm' [rad]. The horizontal axis represents time. As shown in FIG. 24, the pitch angle φbm' is converted to φbm + s × Hbm, and fluctuates within a range of approximately -0.3 [deg] to 0.8 [deg].

[0144] FIG. 25 is a waveform diagram showing an example of the pitch angle φbm' obtained after the pitch angle φbm of the board measurement data DTb shown in FIG. 23 is converted by the angle limiting unit 302D. The vertical axis represents the pitch angle φbm' [rad]. The horizontal axis represents time. As shown in FIG. 25, the pitch angle φbm' is converted to φbm-s×Hbm, and fluctuates within a range of approximately -0.7 [deg] to 0.2 [deg].

[0145] Furthermore, the maximum absolute value of the pitch angle φbm' = φbm + s × Hbm is defined as φp. The maximum absolute value of the pitch angle φbm' = φbm - s × Hbm is defined as φn. The larger of φp and φn is defined as φbmax'. When the movable range of the pitch angle φ of the riding section 5 is in the range of -φr to φr, the angle reduction coefficient r = φbmax' / φr. The board measurement data DTb may include the angle reduction coefficient r.

[0146] 2.4 Operation The operation of the angle control device 1 according to this embodiment will be described. The operation of the angle control device 1 includes a reference position measurement operation and an angle control operation. The reference position measurement operation is an operation that measures the position of the user's head when the user is standing in the center of the riding section 5. The reference position measurement operation is performed before the user starts the simulator experience with the angle control device 1. The angle control operation is an operation that controls the pitch angle φ of the riding section 5 based on the relative altitude Hbm at regular time intervals after the user starts the simulator experience with the angle control device 1. Hereinafter, the angle control operation of the angle control device 1 according to this embodiment will also be referred to as a "second angle control operation."

[0147] (Reference Position Measuring Operation) The reference position measuring operation will be described with reference to Fig. 26. Fig. 26 is a flowchart showing an example of the reference position measuring operation of the angle control device 1.

[0148] Before starting the simulator experience, the user wears the HMD 4, boards the boarding unit 5, and stands in the center of the boarding unit 5. At this time, the boarding unit 5 is horizontal to the XY plane. After the user stands in the center of the boarding unit 5, the HMD 4 detects the position Ph of the HMD 4 (S201). The position Ph of the HMD 4 is detected by the method described above, and the reference position RP is obtained.

[0149] Next, the HMD 4 transmits the reference position RP to the control device 3 (S202). The reference position RP is stored in the RAM 23 and the RAM 63 in the control device 3.

[0150] (Second Angle Control Operation) The second angle control operation will be described with reference to Fig. 27. Fig. 27 is a flowchart showing an example of the second angle control operation of the angle control device 1.

[0151] When the simulator experience starts, the control device 3 receives the board measurement data DTb from the storage device 53 (S211). The control device 3 also transmits the video DTv to the HMD 4, and the video DTv is reproduced on the display unit 13.

[0152] Next, the control device 3 determines whether the relative altitude Hbm of the board measurement data DTb is higher than the reference altitude RH (S212). The altitude determination result RT1 is obtained by the method described above. The altitude determination result RT1 is stored in the RAM 63.

[0153] If the relative altitude Hbm is higher than the reference altitude RH (S212: YES), the HMD 4 detects the position Ph of the HMD 4 (S213). The position Ph of the HMD 4 is detected by the method described above. The position Ph is stored in the RAM 23 and the RAM 63 in the control device 3.

[0154] Next, the control device 3 determines whether the user is riding in the front area FA of the riding section 5 based on the position Ph (S214). The position determination result RT2 is obtained by the method described above. The position determination result RT2 is stored in the RAM 63.

[0155] If it is determined that the user is riding in the front area FA of the boarding section 5 (S214: YES), the control device 3 converts the pitch angle φbm of the board measurement data DTb into angle φbm' (= φbm + s × Hbm) using the method described above (S215).

[0156] If it is determined that the user is riding in the rear area BA of the riding section 5 (S214: NO), the control device 3 converts the pitch angle φbm of the board measurement data DTb into angle φbm' (= φbm - s × Hbm) using the method described above (S216).

[0157] Next, the control device 3 transmits the pitch angle φbm′ to the riding section 5 as the angle parameter PRM (S217). The angle parameter PRM is stored in the RAM 63 and the RAM 43 in the riding section 5.

[0158] On the other hand, if the relative altitude Hbm is equal to or lower than the reference altitude RH (S212: NO), the control device 3 transmits the pitch angle φbm of the board measurement data DTb to the riding unit 5 as the angle parameter PRM (S218). The angle parameter PRM is stored in the RAM 63 and the RAM 43 in the riding unit 5.

[0159] In this way, the control device 3 converts the rotation angle set in the riding section 5 into an angle based on the relative altitude Hbm.

[0160] Next, the riding section 5 controls the pitch angle φ of the riding section 5 based on the angle parameter PRM (S219).

[0161] 28 is a diagram showing a state in which a user rides on the riding section 5 and changes the pitch angle φ of the riding section 5. As shown in FIG. 28, the riding section 5 is rotated, and the front of the riding section 5 is tilted upward.

[0162] Figure 29 is a diagram illustrating the angle when the pitch angle φ of the riding section 5 is changed. As shown in Figure 29, when the control device 3 determines that the relative altitude Hbm is higher than the reference altitude RH and the user is riding in the front area FA of the riding section 5, the pitch angle φ of the riding section 5 is controlled to φbm + s × Hbm. On the other hand, when the control device 3 determines that the relative altitude Hbm is higher than the reference altitude RH and the user is riding in the rear area BA of the riding section 5, the pitch angle φ of the riding section 5 is controlled to φbm - s × Hbm.

[0163] 2.5 Effects of this embodiment This embodiment provides the same effects as the first embodiment.

[0164] Furthermore, in this embodiment, the control device 3 detects the position Ph of the HMD 4 when the relative altitude Hbm is higher than the reference altitude RH. The control device 3 determines whether the user is riding in the front area FA of the riding unit 5 based on the position Ph of the HMD 4. The control device 3 converts the rotation angle to be set in the riding unit 5 to an angle based on the relative altitude Hbm based on the position Ph on the riding unit 5 where the user is standing. More specifically, when the relative altitude Hbm is higher than the reference altitude RH, and the position Ph is included in the front area FA of the riding unit 5, the control device 3 converts the rotation angle to be set in the riding unit 5 to an angle φbm+s×Hbm based on the relative altitude Hbm. When the position Ph is included in the rear area BA of the riding unit 5, the control device 3 converts the rotation angle to be set in the riding unit 5 to an angle φbm-s×Hbm based on the relative altitude Hbm. This allows the user to feel as if they are rising, according to this embodiment.

[0165] 3. Modifications The above-described embodiments may be combined to the extent possible. For example, the first to third modifications of the first embodiment may be combined with the second embodiment.

[0166] Furthermore, in the flowcharts described in the above embodiments, the order of the processes can be changed as much as possible.

[0167] It should be noted that the present invention is not limited to the above-described embodiments, and various modifications can be made in the implementation stage without departing from the spirit of the invention. Furthermore, the embodiments may be implemented in appropriate combinations, in which case the combined effects can be obtained. Furthermore, the above-described embodiments include various inventions, and various inventions can be extracted by selecting and combining the multiple disclosed constituent elements.

[0168] REFERENCE SIGNS LIST 1...Angle control device 2...Simulator 3...Simulator control device 4...VRHMD 5...Riding section 6...Camera 11...Control section 12...Communication section 13...Display section 14...Camera 15...Acceleration sensor 16...Gyro sensor 21...CPU 22...ROM 23...RAM 31...Control section 32...Communication section 33...Rotation mechanism 41...CPU 42...ROM 43...RAM 51...Control section 52...Communication section 53...Storage device 61...CPU 62...ROM 63...RAM 101...Video playback section 102...Video acquisition section 103, 103B, 103C...Attitude measurement section 104...Sensor data acquisition section 105...Position detection section 201...Angle control section 301...Sway evaluation section 302, 302A, 302D...Angle restriction section 303...Altitude determination section 304...Position determination unit

Claims

1. An angle control device comprising: a display having a control unit and a display unit and worn on the head of a user; a movable boarding unit having a rotation mechanism and on which the user rides; and a control device that transmits images to the display and controls the rotation angle to be set on the boarding unit based on data recording the movements to be reproduced on the boarding unit in synchronization with the images, wherein the control unit measures the movement of the user's head when the image is not displayed on the display unit, and the control device limits the range of the rotation angle to be set on the boarding unit based on the results of the measurement of the movement by the control unit.

2. An angle control device as described in claim 1, wherein the data includes roll angles and pitch angles at regular time intervals, and the range of rotation angles to be set for the riding section includes the ranges of roll angles and pitch angles of the riding section.

3. An angle control device as described in claim 1, wherein the data includes roll angles and pitch angles at regular time intervals, and the range of rotation angles to be set on the riding section includes the ranges of roll angles and pitch angles of the riding section obtained by limiting the ranges of roll angular velocity and pitch angular velocity of the riding section.

4. An angle control device as described in claim 1, wherein the measurement of the sway by the control unit includes measuring the attitude of the display at regular time intervals while the image is not displayed on the display unit, and the restriction of the range of the rotation angle by the control device includes calculating a sway area based on the measurement result of the attitude of the display, and if the sway area is equal to or greater than a threshold value, restricting the range of the rotation angle to be set on the boarding unit.

5. An angle control device as described in claim 1, wherein the data further includes a relative altitude with respect to a reference altitude at regular time intervals, and the control device converts the rotation angle to be set in the boarding section into an angle based on the relative altitude.

6. An angle control device as described in claim 5, wherein the boarding section includes a first area and a second area, and the control section further detects the position of the user on the boarding section, and the conversion of the rotation angle by the control device includes: when the relative altitude is higher than the reference altitude, if the position detected by the control section is included in the first area, converting the rotation angle to be set on the boarding section to a first angle based on the relative altitude, and if the position detected by the control section is included in the second area, converting the rotation angle to be set on the boarding section to a second angle based on the relative altitude and different from the first angle.

7. An angle control method executed by an angle control device including a display having a control unit and a display unit and worn on the head of a user, a movable boarding unit having a rotation mechanism and on which the user rides, and a control device that transmits video to the display and controls the rotation angle to be set on the boarding unit based on data recording the movements to be reproduced in the boarding unit in synchronization with the video, the angle control method comprising: measuring the movement of the user's head when the video is not displayed on the display unit; and limiting the range of the rotation angle to be set on the boarding unit based on the measurement result of the movement.

8. A program for causing a processor included in the angle control device to execute processing by the angle control device according to any one of claims 1 to 6.

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