JP5272439B2 - Force sensor - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a haptic control device by which even a beginner easily recognizes a specified region in a stroke range of a performance operation element. <P>SOLUTION: A CPU for managing operation of a keyboard musical instrument controls an actuator 7 so that performance reaction force may be generated in a pedal 4 according to a detection result of a motion detection section. The CPU 40 controls the actuator 7 so that reporting reaction force N1 and N2 which increases and reaches a peak, and thereafter decreases may be generated, in addition to the performance reaction force, when a position of the pedal 4 detected by the motion detection section 6 is in a start position and an end position of a half pedal region A<SB>H</SB>. <P>COPYRIGHT: (C)2009,JPO&amp;INPIT

Description

  The present invention relates to a force control device for a performance operator such as a pedal.

  As is well known, an acoustic piano (hereinafter referred to as “raw piano”) has a structure that generates a sound by hitting a hammer against a string in response to a keystroke. The sound produced by a live piano varies in sound and magnitude depending on the strength and speed of the keystrokes. The live piano also has a pedal for controlling the reverberation of the sound. For example, a grand piano is a damper pedal, a sostenuto pedal, or a shift pedal. These pedals rotate around a fulcrum provided on the keyboard instrument body in accordance with the player's stepping operation (= performance operation).

  Among these, a damper pedal (hereinafter simply referred to as a pedal) is a pedal that controls a damper for stopping vibration of a piano string, and is most frequently used. Here, the damper has a one-to-one correspondence with the string, and normally, the damper is separated from the string in response to the keystroke, and the sound is stopped by pressing the string in response to the key release. Each damper is connected to the pedal through some connecting portions. These connecting portions are provided with so-called play. For this reason, even if the pedal is depressed shallowly, the operation is not transmitted to the damper. However, when the pedal is depressed deeply, the damper is released for all strings, and even if the finger is released from the key, no sound is stopped by the damper, and all the sounds that have been pressed remain. In this case, all the strings including the strings corresponding to the keys that have not been pressed resonate, and the overtones sound clearly. Thus, various expressions can be given to the sound by operating the damper with the damper pedal.

  Accordingly, with the displacement (= rotation) from the initial position of the pedal, a reaction force (= the force in the return direction of the pedal, the load on the player's foot) as shown in FIG. 5 is generated in the pedal. That is, while the pedal is not fully depressed and its movement is not transmitted to the damper, the reaction force gradually increases with respect to an increase in the amount of displacement from the initial position of the pedal. Further, when the pedal is depressed and the damper starts to move away from the string, the reaction force generated in the pedal with respect to the increase in the displacement of the pedal increases rapidly. Further, when the pedal is further depressed and the damper is completely separated from the string, the reaction force gradually increases again against the increase in the displacement amount of the pedal. Thereafter, when the damper hits the stopper, the reaction force rapidly increases again. As shown in FIG. 5, the reaction force characteristic generated in the pedal with respect to the amount of displacement of the pedal has a hysteresis, and when returning the pedal, a different path is obtained from when the pedal is depressed.

As described above, the region A _H where the reaction force rapidly increases in accordance with the amount of displacement of the pedal is referred to as a so-called “half pedal region”. This half pedal area A _H is an area where the damper slightly restrains the string. The half pedal region A _H is depression late region A2 from depression of the pedal is shallow its operation pedal depression early region A1 (hereinafter initial region A1) not transmitted to the damper and the damper completely away from the strings until it hits the stopper The rate of change of the reaction force generated in the pedal is large compared to (hereinafter referred to as the latter region A2). This half pedal area _AH is a very important area for music change. Advanced player recognizes the half pedal region A _H a feel a rapid increase of the reaction force described above, the displacement amount of the pedal in the half pedal region A _H is adjusted in a plurality of stages, a contact rate of the damper against the string It is known to control the timbre and sound by changing it.

  There is an electronic piano as an electronic musical instrument that simulates the tone, operability, and appearance of a live piano as described above. This electronic piano has a structure in which sound is generated from an electronic sound source unit in response to operation of a keyboard, and does not have a string. For this reason, since it is relatively inexpensive compared with a live piano, it has been rapidly spreading in recent years. As described above, since an electronic piano does not have strings, its pedal structure is different from that of a live piano. As for the pedal structure in such a conventional electronic piano, for example, a pedal unit for an electronic keyboard instrument disclosed in Patent Document 1 and a pedal device for an electronic keyboard instrument disclosed in Patent Document 2 have been proposed.

  In the electronic keyboard instrument pedal unit disclosed in Patent Document 1 described above, the pedal is urged by a spring so that a reaction force (restoring force) acts when the pedal is depressed. Further, the pedal device for an electronic keyboard instrument disclosed in Patent Document 2 has a rate of change in reaction force according to the amount of displacement of the pedal by using a second urging member and a lever in addition to the first urging member. Is one step change.

  However, the conventional pedal unit for an electronic keyboard instrument disclosed in Patent Document 1 has a constant rate of change of reaction force and no change. The pedal device for an electronic keyboard instrument disclosed in Patent Document 2 can change the rate of change of the reaction force in a stepwise manner, but the change is single, and the response generated in the pedal of a live piano It is different from force change. Therefore, it is conceivable to apply the technique described in Patent Document 3 to the pedal. That is, it can be considered that an external force is applied to the pedal by the actuator 7 so that a reaction force change similar to that of a live piano occurs in the pedal.

However, only generates the pedal reaction force changes in equivalent acoustic piano as described above, it has been difficult to identify the half pedal region A _H for a beginner, a problem that is. In view of this, a display device has been proposed in which the half pedal area A _H displayed on the dial face is indicated by a pointer that rotates according to the amount of displacement of the pedal (for example, Patent Document 4). However, in this case, the player needs to recognize the half pedal region A _H looking at the display device. For this reason, beginners concentrate on keyboard operations and musical scores, and cannot afford to look at the display device. That is, not able to resolve the pedal recognition of the half pedal region A _H is difficult is a specific region within the stroke range of (performance operators), the problem that for a beginner.
JP 2001-022355 A JP 2004-334008 A Japanese Patent Publication No.7-111631 JP 2000-259148 A

  Accordingly, the present invention focuses on the above-described problems, and an object thereof is to provide a force sense control device that allows even a beginner to easily recognize a specific region in the stroke range of a performance operator. .

The invention according to claim 1, which has been made to solve the above-mentioned problems, is a pedal that is arranged in a keyboard instrument body and rotates in a reciprocating direction within a predetermined stroke range around a fulcrum as a player performs a performance operation. The operation detecting means for detecting the operation of the pedal , the first driving means for applying an external force to the pedal , and the performance reaction force corresponding to the detection result from the action detecting means is generated in the pedal. A force sense control device provided with force sense control means for controlling the drive means, or a member that the player is in contact with during performance, or that the player can wear while performing member, a contact member is a second driving means for providing a driving force to the contact member, the position of the pedal detected by the operation detecting unit is half pedal region of said stroke range of the pedal Only when it is in position and and end rounding position, and a notification control means for notifying the fact to the player by applying vibration to the contact member by controlling the second driving means, said The half pedal region is a region sandwiched between the initial pedal depression region and the late pedal depression region, and the reaction force generated in the pedal with respect to the displacement amount of the pedal compared to the initial pedal depression region and the late pedal depression region. It exists in the force sense control apparatus characterized by being a field | area where the change rate of is large .

According to a second aspect of the invention, the previous SL contact member is constituted by the pedal, said second driving means is constituted by said first driving means, the notification control means, in the force control means Only when the position of the pedal detected by the motion detection means is at the start position and the end position of the half pedal area of the stroke range of the pedal . In addition to the performance reaction force according to the detection result from the motion detection means, the first drive means is controlled so that a notification reaction force that increases and decreases after reaching a peak is generated in the pedal. The force sense control device according to claim 1, wherein the force sense control device is set so as to notify the player of that fact.

  The invention according to claim 3 stores a control table in which the operation of the pedal and the external force information related to the external force applied to the pedal by the driving means are stored, and the notification reaction force is added to the external force information. Control table storage means for storing a normal control table that is not provided and a learning control table in which the notification reaction force is applied to the external force information, and the normal control table according to the operation of the setting operator by the player A control table selecting means for selecting one of the control table and the learning control table, and the force sense control means is detected by the motion detecting means from the control table selected by the control table selecting means. The external force information corresponding to the operated action is obtained, and the first driving unit is controlled based on the obtained external force information. It consists in the force control apparatus according to claim 2, characterized in that.

Invention of claim 4, wherein, prior SL contact member is constituted by a pedal, said second drive means, said first driving means provided separately from the pedal, the notification control means, said operation vibration to the pedal position of the pedal detected by the detection means by controlling the second driving means only when it is in the start position and end position of the half pedal region of said stroke range of the pedal The haptic control device according to claim 1, wherein the haptic control device is set so as to notify the fact.

As described above, according to the first aspect of the present invention, when the pedal is at the beginning and end of the half pedal area , the contact member moves and the player can be notified of the half pedal area by touch. Therefore, it is possible to recognize the half pedal region of the stroke range of easily pedal even beginners.

  According to invention of Claim 2, the pedal which is a performance operator can be diverted as a contact part. Further, the first driving means can be used as the second driving means. For this reason, the configuration is simplified and the cost can be reduced.

  According to the third aspect of the present invention, since either the normal control table or the learning control table can be selected in accordance with the operation of the setting operator of the performer, the usability is improved for both beginners and experts.

According to the fourth aspect of the present invention, a pedal which is a performance operator can be used as a contact member .

First Embodiment Hereinafter, an embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a cross-sectional view showing a configuration of a pedal unit used in a keyboard instrument in which a pedal force sense control device of the present invention is incorporated. FIG. 2 is a partial front view of the pedal unit shown in FIG. The pedal unit 1 shown in FIG. 1 is disposed at the foot of a keyboard instrument body. In the following description, “up / down / left / right front / back” of the pedal unit 1 means “up / down / left / right front / back” in an upright state as viewed from the performer side during performance. As shown in the figure, the pedal unit 1 includes a case 2, a board 3, a pedal 4 as a performance operator and a contact portion, a guide portion 5, a motion detection portion 6 as motion detection means, and a first And an actuator 7 as a second driving means.

  The case 2 is composed of a case main body portion 8 provided with an opening on the upper side, and a case lid portion 9 that closes the opening of the case main body portion 8, and includes a substrate 3, a pedal 4, a guide portion 5, The motion detector 6 and the actuator 7 are accommodated. The substrate 3 is disposed horizontally in the case 2. The pedal 4 is provided so as to be elongated in the front-rear direction. The pedal 4 is disposed below the substrate 3 of the case 2. The pedal 4 is pivotally supported by a pedal support portion 10 provided on the bottom surface of the case body 8 and rotates around a fulcrum C1. The pedal 4 is provided so that a front end thereof protrudes from an opening provided on the front surface of the case main body 8 so that a player can perform a stepping operation.

  The guide part 5 is composed of a guide main body part 11 and a pair of restricting parts 12. The guide main body 11 is fixed to the upper surface of the pedal 4. The guide body 11 is provided with a hemispherical protrusion 13 protruding in the left-right direction. The pair of regulating portions 12 are provided so as to sandwich the left and right direction of the guide main body portion 11. In the guide portion 5, when the pedal 4 is shaken in the left-right direction, the protrusions 13 provided on the guide main body portion 11 come into contact with the pair of restricting portions 12 to restrict the left-right shake of the pedal 4. The lower limit stopper member 14 is a stopper that abuts against the pedal 4 when the pedal 4 is depressed as shown by a dotted line and regulates the lower limit of the rotation range of the pedal 4. The upper limit stopper member 15 is a stopper that restricts the upper limit of the rotation range of the pedal 4 by contacting the guide main body 11 described above at the initial position where the pedal 4 is not depressed as shown by the solid line. .

  The operation detection unit 6 detects the operation of the pedal 4 (the position (displacement amount) of the pedal, speed, acceleration, rotation angle, angular velocity, or a plurality of these). For example, a position detection sensor such as a rotary resistor or an optical sensor may be used as the motion detection unit 6. In the present embodiment, the motion detection unit 6 is provided at a position facing the pedal 4 on the lower surface of the substrate 3, but the present invention is not limited to this.

  The actuator 7 includes a magnetic circuit 16, a plunger 17, and a shaft 18. The magnetic circuit 16 includes a magnetic frame 19 and a coil 20. The magnetic frame 19 is composed of a soft body, and a coil 20 is accommodated therein. The magnetic frame 19 includes a saucer-like frame main body portion 21 whose upper side is opened, and a frame lid portion 22 that covers the opening portion of the frame main body portion 21. The frame lid portion 22 is provided with an upper opening portion 23 from which a plunger 17 (described later) protrudes and a lower opening portion 24 (from which a shaft 18 (described later) protrudes) arranged in the vertical direction. The coil 20 is made of a copper wire or the like and is wound around a bobbin (not shown) provided with an insulating material.

  The plunger 17 is disposed at the center of the coil 20 described above so that the axis is parallel to the vertical direction. The plunger 17 is urged by a spring (not shown) so that the upper end of the plunger 17 protrudes from the coil 20 at an initial position where the pedal 4 is not depressed. The shaft 18 is fixed to the lower side of the plunger 17. The lower end of the shaft 18 protrudes from the lower opening 24 provided in the frame main body 21 and the substrate opening 25 provided in the substrate 3, and contacts the pedal 4 on the rear end side with respect to the pedal support portion 10. It touches. According to the actuator 7 described above, when a current is passed through the coil 20, a force for pulling the plunger 17 into the coil 20 (force directed downward) is applied. Accordingly, the plunger 17 applies a downward external force to the rear side of the pedal support portion 10 of the pedal 4 via the shaft 18 to give a reaction force to the player. Further, as the current flowing through the coil 20 is increased, the force for pulling the plunger 17 into the coil 20 is increased, and the reaction force applied to the performer can be increased.

  Next, an electrical configuration diagram of the electronic keyboard instrument 26 incorporating the pedal unit 1 having the above-described configuration will be described with reference to FIG. As shown in the figure, the electronic keyboard instrument 26 includes the above-described operation detection unit 6, drive control unit 27, operation detection unit 50, drive control unit 51, setting operator 28, ROM 29, RAM 30, timer 31, and display control circuit. 32, hard disk drive (HDD) 33, MIDI (Musical Instrument Digital Interface) interface (MIDII / F) 34, external storage device 35 as external connection means, communication interface (communication I / F) 36 as external connection means, sound source A circuit 37 and a flash memory 38 are connected to the CPU 40 via the bus 39, respectively.

  The CPU 40 operates according to various control programs and controls the entire electronic keyboard instrument 26. The operation detection unit 6 detects the operation of the pedal 4 as described above, and transmits the detected operation information to the bus 39. When the actuator 7 is electrically connected and receives a command value from the bus 39, the drive control unit 27 supplies a current corresponding to the command value to the coil 20 of the actuator 7 to operate the actuator 7. Let The operation detection unit 50 detects the operation of the keyboard 52 and transmits the detected operation information to the bus 39. The drive control unit 51 is connected to an actuator 53 that applies an external force to the keyboard 52. When the drive control unit 51 receives a command value from the bus 39, the drive control unit 51 supplies a current corresponding to the command value to a coil (not shown) of the actuator 53. 53 is operated to apply a reaction force to the keyboard 52. The ROM 29 stores various control processing programs executed by the CPU 40, which will be described later, and music data such as an SMF (Standard Midi File) format. The RAM 30 temporarily stores input information such as automatic performance data and text data, various flags, buffer data, performance results, and the like. The timer 31 measures the interrupt time and various times in the timer interrupt process.

  The display control circuit 32 is connected to a display device 41 composed of, for example, an LCD. The display control circuit 32 displays various information such as a score and a selection screen on the display device 41. The HDD 33 stores various application programs including various control programs of the CPU 40 described later, a control table used for force sense control processing described later, and the like. When the control processing program is not stored in the ROM 29, the control processing program is stored in the hard disk in the HDD 33, and is read into the RAM 30, so that the control processing program is stored in the ROM 29. The CPU 40 can be made to perform these operations. In this way, the control processing program can be added or upgraded.

  Another MIDI device 42 is connected to the MID II / F 34. The MID II / F 34 inputs a MIDI signal from an external device such as another MIDI device 42 or outputs a MIDI signal to the external device. The external storage device 35 is a device that is connected to an external storage medium and driven. A server device 44 is connected to the communication I / F 36 via a communication network 43 such as a LAN (local area network), the Internet, or a telephone line. An external device 45 such as a personal computer is connected to the communication I / F 36.

  The communication I / F 36 is used to download a control processing program executed by the CPU 40 and a control table described later from the server device 44. The CPU 40 transmits a command for requesting download of a control processing program, a control table, and the like to the server device 44 via the communication I / F 36 and the communication network 43. Upon receiving this command, the server device 44 transmits the requested control processing program, a control table described later, and the like to the bus 39 via the communication network 43 and the communication I / F 36. When the CPU 40 receives these control processing programs and control tables, the download is completed by storing them in the hard disk in the HDD 33. Further, the communication I / F 36 is connected to the external device 45, and the electronic keyboard instrument 26 can receive a control processing program and a control table from the external device 45.

  An audio output unit 46 is connected to the sound source circuit 37. The tone generator circuit 37 converts the music data output by the CPU 40 in response to the operation of the keyboard 52 into a musical sound signal and outputs it to the audio output unit 46. The audio output unit 46 includes a DAC, an amplifier, a speaker, and the like, and outputs a sound corresponding to the musical sound signal output from the sound source circuit 37. The flash memory 38 is configured by, for example, an EEPROM. The flash memory 38 can re-save music data and store music data such as a control table to be described later.

Next, a normal control table, a normal output table, a learning control table, and a learning output table used for the above-described force sense control will be described with reference to FIGS. As shown in FIG. 4, the normal control tables and normal output tables of the normal control types T _{A1 to} T _AN are stored in the memory in the electronic keyboard instrument 26 such as the flash memory 38 and the HDD 33 in association with each other. . In addition, learning control tables and learning output tables of the learning control types T _{B1 to} T _BN are stored in association with each other.

First, the normal control tables of the normal control types T _{A1 to} T _AN will be described. When this normal control table is selected, the reaction force generated in the pedal with respect to the amount of displacement of the pedal as shown in FIG. 5 is reproduced. That is, the normal control table shows the operation (displacement amount, speed) of the pedal 4 and the reaction force applied to the pedal 4 by the actuator 7 so as to reproduce the initial region A1, the half pedal region A _H , and the late region A2, respectively. It is the table which matched. Since the initial region A1, the half pedal region A _H and the late region A2 have already been described in the background art described above, detailed description thereof will be omitted. In each normal control table, the reaction force is generated by contact with the lower limit stopper portion 14 in the region A3 from the displacement amount where the pedal 4 contacts the lower limit stopper portion 14 to the maximum displacement amount. May be set to 0 or minus. In each normal control table, when the pedal 4 is depressed (pressed) and returned, as shown in FIG. 5, the operation of the pedal 4 (displacement amount, Speed) and the reaction force applied to the pedal 4 by the actuator 7 are associated with each other.

In a live piano, the relationship between the displacement amount of the pedal 4 and the reaction force generated in the pedal 4 varies depending on the speed of the pedal 4, for example. Therefore, the table portion constituting each normal control table is provided for each speed of the pedal 4, for example. Also, depending on the type of live piano such as Yamaha or Bösendorfer, the relationship between the displacement amount of the pedal 4 and the reaction force generated in the pedal 4, particularly the position of the half pedal area AH and the rate of change of the half pedal area AH with respect to the displacement amount. The size of will change. Therefore, the normal control types T _{A1 to} T _AN are provided for each type of live piano.

Next, the learning control tables of the learning control types T _{B1 to} T _BN will be described. When this learning control table is selected, the reaction force generated in the pedal with respect to the amount of displacement of the pedal as shown in FIG. 6 is reproduced. In other words, the learning control table shows the operation (displacement amount, speed) of the pedal 4 and the reaction force applied to the pedal 4 by the actuator 7 so as to reproduce the initial region A1, the half pedal region A _H , and the late region A2, respectively. It is the table which matched. The difference between the learning control table and the normal control table described above is that the notification reaction forces N1 and N2 are added to the reaction force applied to the pedal 4 by the actuator 7 shown in the normal control table. . Informing reaction force N1 repeats the reaction force as the displacement amount of the pedal 4 decreases after reaching a peak when in the beginning position of the half pedal region A _H of the stroke range (predetermined position) twice It is such a reaction force. Informing reaction force N2, such as three times a reaction force displacement amount of the pedal 4 decreases after reaching a peak when in the position at the end of the half pedal region A _H of the stroke range (a predetermined position) Reaction force. What varied repetition of notification reaction force N1, N2 begins position of the half pedal region A _H, in order to facilitate the distinction between the end positions. The normal output table and the training output table are tables indicating command values output to the actuator 7 corresponding to the reaction force applied to the pedal 4 described above.

  The normal control table, normal output table, learning control table, and learning output table described above may be stored in advance in a memory (for example, ROM 29) in the electronic keyboard instrument 26. Further, the normal control table, the normal output table, the learning control table, and the learning output table stored in the storage medium connected to the external storage device 35 by the CPU 40 serving as a storage means are stored in the memory (for example, HDD 33, flash memory) in the electronic keyboard instrument 26. It may be stored in the memory 38). Further, the CPU 40 stores the normal control table, the normal output table, the learning control table, and the learning output table transmitted from the server device 44 via the communication network 43 in a memory (for example, HDD 33, flash memory 38) in the electronic keyboard instrument 26. May be. As is clear from the above, the memory in the electronic keyboard instrument 26 in which the normal control table, normal output table, learning control table, and learning output table are stored corresponds to the control table storage means in the claims.

Next, the operation of the electronic keyboard instrument 26 configured as described above will be described with reference to the flowchart of FIG. First, the CPU 40 starts a force sense control process in response to turning on the power. In the haptic control process, the CPU 40 functions as a control table selection unit, and performs a process of selecting one of the normal control types T _{A1 to} T _AN and the learning control types T _{B1 to} T _BN (step S1). In step S <b> 1, for example, the CPU 40 controls the display control circuit 32 to display a selection screen for the pedal 4 on the display device 41. The selection screen of the pedal 4 is a screen that allows the performer to select a type of a live piano such as Yamaha or Bösendorfer. The selection screen of the pedal 4 is a screen for selecting one of the normal mode and the training mode.

The performer operates the setting operator 28 while looking at the force sense selection screen, and selects the type of the live piano and any one of the normal mode and the training mode. If the normal mode is selected, CPU 40 is normally selects one of the normal control type T _A1 through T _AN that corresponds to the type of the selected acoustic piano from among the control type T _A1 through T _AN, selected Normal control types T _{A1 to} T _AN are read into the RAM 30. On the other hand, if the teaching mode is selected, CPU 40 selects one of the training control type T _B1 through T _BN that corresponds to the type of the selected acoustic piano from among the training control type T _B1 through T _BN, The selected learning control types T _{B1 to} T _BN are read into the RAM 30.

Next, after performing various initialization processes (step S2), the CPU 40 controls the motion detection unit 6 to detect the motion of the pedal 4, and detects the motion information (displacement, speed, acceleration, angle, angular velocity). The stepping operation direction (push or return) or any of them is taken in, and it is determined whether or not the pedal 4 is in the initial position from the taken movement information (step S3). When the pedal 4 is not in the initial position, the CPU 40 proceeds to the next step S4. In step S4, the CPU 40 controls the operation detection unit 6 again to detect the operation of the pedal 4, and takes in the detected operation information. Thereafter, the CPU 40 controls the control table corresponding to the operation information fetched in step S4 from among a plurality of control table sections constituting the control tables of the control types T _{A1 to} T _AN and T _{B1 to} T _BN selected in step S1. Is selected (step S5).

  In this embodiment, the control table corresponding to the displacement amount and speed of the pedal 4 detected in step S4 is selected. Next, the CPU 40 refers to the control table selected in step S5, and the reaction force applied to the pedal 4 by the actuator 7 corresponding to the operation information (displacement amount, speed, stepping operation direction in this embodiment) captured in step S4. Is obtained (step S6). Next, the CPU 40 refers to the output table to obtain a command value for the actuator 7 corresponding to the reaction force applied to the pedal 4 obtained in step S6 (step S7). And CPU40 outputs the command value calculated | required by step S7 with respect to the drive control part 27 (step S8). The operations in steps S4 to S8 described above are repeated until the pedal 4 returns to the initial position.

Thus, when the performer operates the pedal, reaction forces according to the selected control types T _{A1 to} T _AN and T _{B1 to} T _BN are applied to the performer. Therefore, when the normal control types T _{A1 to} T _AN are selected, the reaction force generated on the pedal 4 of a normal live piano to which the notification reaction forces N1 and N2 are not applied is given. Also, training if the control type T _B1 through T _BN is selected, it may provide a notification reaction force between the start position and end position of the half pedal region A _H N1, N2 (click feeling) to the player.

  In the region A3, the reaction force applied from the actuator 7 to the pedal 4 is constant, but the reaction force from the lower limit stopper member 14 acts to give the player a reaction force as shown by a one-dot chain line. Thereafter, when the pedal 4 returns to the initial position, the CPU 40 clears the output of the command value to the drive control unit 27 (step S10), and then returns to step S3 again. As is apparent from the above operation, in steps S4 to S8, the CPU 40 functions as a force control means and a notification control means.

The CPU 40 also performs sound source control processing for controlling the sound source circuit 37 so that sound corresponding to the operation of the keyboard 52 detected by the operation detection unit 50 is output from the sound output unit 46 simultaneously with the force sense control processing described above. Do. In this sound source control process, the CPU 40 controls the sound source circuit 37 so that the timbre and sound change stepwise from the start position to the end position of the half pedal area A _H when the position of the pedal 4 is in the half pedal area A _H. Control.

According to the electronic keyboard musical instrument 26 as described above, selecting a teaching mode, CPU 40 is, when the displacement amount of the pedal 4 detected by the operation detecting unit 6 is in the start position and end position of the half pedal region A _H, the actuator 7 can be controlled to give a notification reaction force (click feeling) to the pedal 4 to notify the player to that effect. Thus, the player can be notified of the half pedal area by tactile sense, and even a beginner can easily recognize the half pedal area A _H of the pedal 4.

Further, according to the electronic keyboard musical instrument 26 as described above, CPU 40 is, when the displacement amount of the pedal 4 detected by the operation detecting unit 6 is in the start position and end position of the half pedal region A _H, the operation detecting unit 6 In addition to the performance reaction force according to the detection result, the actuator 7 is controlled so that the notification reaction forces N1 and N2 are generated in the pedal 4 to notify the player of that fact. Thereby, it is not necessary to provide separately the pedal 4 and the contact part to which the notification reaction force is applied. Further, since it is not necessary to separately provide the actuator 7 and the second driving means for generating the notification reaction force, the configuration is simplified and the cost can be reduced.

  Further, according to the electronic keyboard instrument 26 described above, the CPU 40 obtains the reaction force corresponding to the action detected by the action detection unit 6 from one of the selected normal control table and lesson control table, and obtained the force. The actuator 7 is set to be controlled based on the reaction force. For this reason, since either the normal control table or the lesson control table can be selected according to the operation of the setting operator 28 by the performer, it is easy to use for both beginners and experts.

Reference Example Next, the electronic keyboard instrument 26 in the reference example will be described with reference to FIG. The major difference between the first embodiment and the reference example is that the configuration of the actuator 7, the spring 48, and the eccentric motor 54 is provided as the second driving means. As shown in the figure, the actuator 7 includes a flange portion 49 in addition to the magnetic circuit 16, the plunger 17, and the shaft 18. The flange portion 49 is provided at the upper end of the plunger 17. The flange portion 49 is provided so as to be larger than the upper opening 23 provided in the frame lid portion 22. And the plunger 17 is provided so that the flange part 49 may contact | abut to the frame cover part 22 at the initial position when the pedal 4 is not depressed.

  The spring 48 has one end fixed to the frame lid portion 22 and the other end fixed to the flange portion 49. The spring 48 biases the plunger 17 in a direction to push the plunger 17 downward. The spring 48 can apply a reaction force that increases linearly to the pedal 4 in accordance with the amount of displacement of the pedal 4 from the initial position, as indicated by the dotted line in FIG. Therefore, the portion shown by the oblique lines in FIG. 9 that cannot be reproduced by the spring 48 is given by the actuator 7. Therefore, when the spring 4 is used, a normal control table is provided so that the magnitude of the reaction force generated in the pedal 4 by the actuator 7 with respect to the displacement amount of the pedal 4 is as shown in FIG. Thereby, a reaction force according to the displacement amount of the pedal 4 as shown in FIG. 9 can be applied. Thus, by providing the spring 48 as a reaction force generating member that increases the reaction force generated by the pedal 4 as the displacement amount of the pedal 4 moves away from the initial position, the reaction force applied to the pedal 4 by the actuator 7 is increased. Therefore, the actuator 7 and the electronic keyboard instrument 26 main body can be reduced in size, weight, and power consumption. The spring 48 may be provided to urge the pedal 4.

Also, for reporting half pedal region A _H even with the above eccentricity motor 54 in reference example. Next, the operation of the electronic keyboard instrument 26 configured as described above will be described with reference to the flowchart of FIG. First, the CPU 40 starts a force sense control process in response to turning on the power. The CPU 40 performs steps S1 to S8 as in the first embodiment described above. Since Steps S1 to S8 are the same as those in the first embodiment described above, detailed description thereof is omitted here.

After the Step 8 is completed, CPU 40 determines whether or not the displacement amount of the pedal 4 is in the half pedal region A _H based on the detection result from the operation detecting unit 6 (step S11). At this time, if the displacement amount of the pedal 4 is in the half pedal region A _H (Y in step S11), CPU 40 may, after driving the eccentric motor 54 (step S12), the similar to the first embodiment step S9 , Go to S10. Vibration is applied to the pedal 4 by driving the eccentric motor 54. On the other hand, if the displacement amount of the pedal 4 is not in the half pedal region A _H (N in step S11), CPU 40, without driving the eccentric motor 54, the process immediately proceeds to step S9, S10. According to reference example described above, by using a separate eccentric motor 54 and the actuator 7, can provide vibration to the pedal 4 by far the eccentric motor 54 during the displacement of the pedal 4 is in the half pedal region A _H . Accordingly, it is possible to notify the half pedal region A _H to the player by applying vibration on the pedal 4 other than the position at the beginning and end positions of the half pedal region A _H as in the first embodiment, more even beginners The half pedal area can be easily recognized.

In the first embodiment , two types of control pattern groups, that is, a normal control pattern group and a learning control pattern group are stored in, for example, the HDD 33. In the reference example , an eccentric motor 54 is provided separately from the actuator 7. Therefore, only the normal control pattern group may be stored in the memory in the electronic keyboard instrument 26.

In the first implementation described above, had been diverted pedal 4 as a contact member in the claims, the present invention is not limited thereto. For example, an eccentric motor 54 that can be driven wirelessly, for example, is incorporated in a member that can be worn during a performance such as a chair or a player's arm, and the position of the pedal 4 is half pedal area A _H. The eccentric motor 54 may be operated when it is in a predetermined position or a predetermined region.

In the first embodiment described above, had to be able to inform the like half pedal region A _H lend moving the pedal 4, the present invention is not limited thereto. For example, the position of the pedal 4 may be displayed on the display device 41 as shown in FIG. 12 to notify the damper pedal or shift pedal half pedal area A _H and the sostenuto pedal ON position.

  Further, the above-described embodiments are merely representative forms of the present invention, and the present invention is not limited to the embodiments. That is, various modifications can be made without departing from the scope of the present invention.

It is sectional drawing which shows the structure of the pedal unit used for the keyboard musical instrument in which the force sense control apparatus of this invention in 1st Embodiment was integrated. It is a partial front view of the pedal unit shown in FIG. It is a block diagram which shows the structure of the keyboard musical instrument incorporating the pedal unit shown in FIG. It is explanatory drawing which shows the normal control table and normal output table of a normal control type memorize | stored in flash memory or HDD, and the learning control table and learning output table of a learning control type. It is a graph which shows the reaction force which generate | occur | produces in a pedal with respect to the displacement amount of a pedal when the normal control table in a certain operation state is selected. It is a graph which shows the reaction force which generate | occur | produces in the pedal with respect to the displacement amount of a pedal when the learning control table in a certain operation state is selected. It is a flowchart which shows the force sense control processing procedure of CPU shown in FIG. It is sectional drawing which shows the structure of the pedal unit used for the keyboard musical instrument with which the haptic control apparatus of the pedal of this invention in 2nd Embodiment was integrated. It is a graph which shows the reaction force added to a pedal by the spring and actuator with respect to the displacement amount of a pedal. (A) is a graph showing the reaction force applied to the pedal by the actuator with respect to the displacement amount of the pedal depression, and (B) is a graph showing the reaction force applied to the pedal by the actuator with respect to the displacement amount of the pedal return holding. It is a flowchart which shows the force sense control processing procedure of CPU in 2nd Embodiment. It is a figure which shows the screen displayed on the display apparatus of FIG.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 4 ... Pedal (performance operator, contact member), 6 ... Motion detection part (motion detection means), 7 ... Actuator (1st drive means, 2nd drive means), 26 ... Electronic keyboard instrument, 40 ... CPU ( Force sense control means, notification control means), 54 ... eccentric motor (second drive means), C1 ... fulcrum

Claims (4)

A pedal which is arranged in the keyboard instrument body and rotates in a reciprocating direction within a predetermined stroke range around a fulcrum as a player performs a performance operation; an operation detecting means for detecting the operation of the pedal; and A first drive means for applying an external force and a force sense control means for controlling the drive means so that a performance reaction force corresponding to a detection result from the motion detection means is generated in the pedal. In the sense control device,
A contact member that is a member in contact with the performer during performance, or a member that the performer can wear during performance;
Second driving means for applying a driving force to the contact member;
Only when the position of the pedal detected by the operation detecting means is in a position at the beginning and end positions of the half pedal region of said stroke range of the pedal, the contact and controls the second driving means Notification control means for giving vibration to the member and notifying the player to that effect,
The half pedal region is a region sandwiched between an initial pedal depression region and a late pedal depression region, and is a reaction that occurs in the pedal with respect to the amount of displacement of the pedal compared to the initial pedal depression region and the late pedal depression region. A force sense control device characterized in that the force change rate is a large region . Before SL contact member is constituted by the pedal,
The second driving means comprises the first driving means;
The notification control means is composed of the force sense control means, and
Only when the position of the pedal detected by the motion detection means is at the start position and the end position of the half pedal region of the stroke range of the pedal, the force sense control means from the motion detection means. In addition to the performance reaction force according to the detection result, the first drive means is controlled so that a notification reaction force that increases and decreases after reaching the peak is generated in the pedal , and the player is notified of this. The haptic control device according to claim 1, wherein the haptic control device is set so as to be notified. A control table that associates the operation of the pedal and external force information related to the external force applied to the pedal by the driving means is stored, and a normal control table in which the notification reaction force is not applied to the external force information, and A control table storage means for storing a learning control table in which the notification reaction force is applied to the external force information;
Control table selection means for selecting any one of the normal control table and the lesson control table according to the operation of the setting operator by the performer is provided,
The force sense control means obtains the external force information corresponding to the motion detected by the motion detection means from the control table selected by the control table selection means, and based on the obtained external force information, the first force information is obtained. The force sense control device according to claim 2, wherein the force sense control device is set to control the driving means. Before SL contact member is constituted by a pedal,
The second driving means is provided in the pedal separately from the first driving means,
The notification control means controls said second drive means only when the position of the pedal detected by the operation detecting means is in a position at the beginning and end positions of the half pedal region of said stroke range of the pedal The haptic control device according to claim 1, wherein the haptic control device is set so as to give vibration to the pedal and notify that effect.

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