WO2019142873A1 - Programme et dispositif d'entrée d'opération - Google Patents

Programme et dispositif d'entrée d'opération Download PDF

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Publication number
WO2019142873A1
WO2019142873A1 PCT/JP2019/001324 JP2019001324W WO2019142873A1 WO 2019142873 A1 WO2019142873 A1 WO 2019142873A1 JP 2019001324 W JP2019001324 W JP 2019001324W WO 2019142873 A1 WO2019142873 A1 WO 2019142873A1
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WO
WIPO (PCT)
Prior art keywords
actuator
operation button
power consumption
user
input device
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PCT/JP2019/001324
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English (en)
Japanese (ja)
Inventor
佑輔 中川
健司 川島
亮 吹越
正穂 森田
Original Assignee
株式会社ソニー・インタラクティブエンタテインメント
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Application filed by 株式会社ソニー・インタラクティブエンタテインメント filed Critical 株式会社ソニー・インタラクティブエンタテインメント
Priority to JP2019566505A priority Critical patent/JP7035090B2/ja
Publication of WO2019142873A1 publication Critical patent/WO2019142873A1/fr

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    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
    • A63F13/00—Video games, i.e. games using an electronically generated display having two or more dimensions
    • A63F13/25—Output arrangements for video game devices
    • A63F13/28—Output arrangements for video game devices responding to control signals received from the game device for affecting ambient conditions, e.g. for vibrating players' seats, activating scent dispensers or affecting temperature or light
    • A63F13/285—Generating tactile feedback signals via the game input device, e.g. force feedback
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer

Definitions

  • the present invention relates to an operation input device having a function of presenting a haptic sensation to a user.
  • WO 2017/150128 discloses an operation input device having a function of presenting a haptic sensation to a user.
  • This input device has an operation button operated by the user and an actuator for moving the operation button. When the operation button is pressed, the actuator applies a reaction force to the operation button to present a tactile sensation to the user.
  • maintains with left and right hands is disclosed by the specification of international publication 2014/061362.
  • This operation input device has a plurality of operation buttons on the upper surface and the front surface.
  • One of the objects of the present disclosure is to propose an operation input device capable of increasing the types of expressible haptics.
  • Another object of the present disclosure is to propose an operation input device capable of suppressing an increase in power consumption and a program for controlling the operation input device.
  • One example of the operation input device proposed in the present disclosure includes a first operation button and a button drive member that moves the first operation button, and a first actuator that moves the button drive member to present a haptic sensation to the user. And a second operation button separated from the first operation button in the left-right direction, and a button drive member for moving the second operation button, wherein the button drive member is moved to present a haptic sensation to the user And an actuator.
  • this operation input device it is possible to increase the types of expressible haptics as compared with the operation input device having the function of presenting haptics.
  • Another example of the operation input device proposed in the present disclosure includes a first operation button, a first actuator that moves the first operation button to present a haptic sensation to the user, a second operation button, and the second operation button.
  • a controller configured to control the first actuator and the second actuator.
  • the control device calculates a target position of the second actuator according to the output of the first sensor, and calculates a target position of the first actuator according to the output of the second sensor. According to this operation input device, since the two actuators move in coordination, it is possible to increase the types of haptics that can be expressed.
  • Another example of the operation input device proposed in the present disclosure includes a first operation button, a first actuator that moves the first operation button to present a haptic sensation to the user, a second operation button, and the second operation button.
  • a second actuator that presents a haptic sensation to a user by moving an operation button and a control device that controls the first actuator and the second actuator.
  • the control device executes vibration control that vibrates the first actuator between two positions and vibrates the second actuator at two positions, and the control device controls the first actuator in the vibration control. And the phase of the second actuator are made different. According to this operation input device, since the two actuators move in coordination, it is possible to increase the types of haptics that can be expressed.
  • Still another example of the operation input device proposed in the present disclosure includes a first operation button, a first actuator that moves the first operation button to present a haptic sensation to the user, a second operation button, and the second operation button.
  • a second actuator that moves the operation button to present a haptic sensation to the user and a control device that controls the first actuator and the second actuator.
  • the control device consumes at least a reduction among the power consumption of the first actuator and the power consumption of the second actuator. Execute power reduction processing. According to this operation input device, it is possible to suppress an increase in power consumption due to simultaneous drive of two actuators.
  • One example of a program proposed in the present disclosure includes moving a first operation button, a first actuator that presents a haptic sensation to a user by moving the first operation button, a second operation button, and a second operation button.
  • Program for controlling an operation input device having a second actuator for presenting a haptic sensation to a user the program corresponding to a position of the first operation button or the first actuator.
  • 2 Calculate a target position of the actuator, and calculate a target position of the first actuator according to the means for driving the second actuator toward the target position and the position of the second operation button or the second actuator
  • the computer functions as a means for driving the first actuator toward the target position. According to this program, since the two actuators move in concert, it is possible to increase the types of expressible haptics.
  • Another example of the program proposed in the present disclosure includes a first operation button, a first actuator that moves the first operation button to present a haptic sensation to the user, a second operation button, and the second operation button. And a second actuator for presenting a haptic sensation to the user.
  • the program causes the first actuator to vibrate between two positions, and A computer functions as means for vibrating the second actuator between two positions, and as means for differentiating the phases of the vibration of the first actuator and the vibration of the second actuator. According to this program, since the two actuators move in concert, it is possible to increase the types of expressible haptics.
  • Still another example of the program proposed in the present disclosure includes a first operation button, a first actuator that moves the first operation button to present a haptic sensation to the user, a second operation button, and the second operation.
  • It is a program for controlling the operation input device provided with the 2nd actuator which moves a button and presents a user with a tactile force sense, and the program is of the power consumption of the first actuator and the power consumption of the second actuator.
  • a computer is used as a means for determining whether the sum exceeds a threshold, and when the sum of the power consumption exceeds a threshold, means for reducing at least one of power consumption of the first actuator and power consumption of the second actuator. Make it work. According to this program, an increase in power consumption due to simultaneous driving of two actuators can be suppressed.
  • the number of actuators and operation buttons to which the actuator is applied is not limited to two.
  • the number of actuators may be three or four.
  • the operation input device 100 used to operate the game machine will be described as an example of the embodiment.
  • the present disclosure relates to an operation input device (for example, an input device used for operating a simulation device, an input device used for operating a vehicle, etc.) used for operating an information processing device different from a game machine. It may be applied.
  • FIG. 1A is a plan view showing the operation input device 100
  • FIG. 1B is a perspective view of the operation input device 100
  • FIG. 2 is a block diagram showing the configuration of the system 1 including the operation input device 100 and the operation input device 100. As shown in FIG.
  • the input device 100 has a plurality of operation members on its top surface.
  • four operation buttons 3 a are provided on the right side of the upper surface of the input device 100.
  • a cross key 4 having four convex portions 4a is provided on the left side of the upper surface of the input device 100.
  • a plate-shaped operation pad 5 is provided between the operation button 3 a and the cross key 4.
  • the operation pad 5 has, for example, a touch sensor for detecting the position of the finger of the user who has touched the surface of the operation pad 5.
  • the operation pad 5 is supported so as to move up and down, and the user can depress the operation pad 5. Behind the operation pad 5, two joysticks 6R and 6L are provided.
  • the joysticks 6R, 6L can be tilted in the front-rear direction, the left-right direction, and in the oblique direction with respect to them.
  • the input device 100 also has a grip portion GR extending rearward from the right portion thereof and a left grip portion GL extending rearward from the left portion.
  • the user operates the operation members described above while holding the grips GL and GR with the left and right hands.
  • the input device 100 has the grip portions GL, GR having the electric motors 15R, 15L for vibrating the input device 100 (hereinafter, the electric motors 15R, 15L will be referred to as "vibration motors").
  • the vibration motors 15R and 15L for example, have weights having barycentric positions at positions offset from their rotation axes, and generate vibrations by rotating the weights.
  • the number and type of operation members and the shape of the input device are not limited to the example shown in FIG. 1A.
  • the input device 100 may not have the operation pad 5.
  • the input device 100 also has a plurality of operation members on its front surface. Specifically, an operation button 8R and an operation button 20R are provided on the right side of the front surface, and an operation button 8L and an operation button 20L are provided on the left side of the front surface.
  • the operation buttons 20R and 20L are disposed below the operation buttons 8R and 8L, respectively, and are spaced apart in the left-right direction.
  • the operation buttons 20R and 20L are so-called trigger buttons, and can move in the front-rear direction about a rotation center Ax1 (see FIG. 2) located at the upper part thereof.
  • the input device 100 includes an elastic member (for example, a spring) that pushes the operation buttons 20R and 20L forward. Therefore, when the user releases the operation button 20R, 20L, the operation button 20R, 20L returns to the initial position by the force of the elastic member.
  • an elastic member for example, a spring
  • the structure and arrangement of the operation buttons 20R and 20L are not limited to the example of the operation input device 100.
  • the operation buttons 20R and 20L may be provided on the lower surface or the upper surface of the operation input device 100.
  • the operation buttons 20R and 20L may move up and down around their rotation centers, or may move diagonally with respect to both the up and down direction and the front and back direction.
  • actuators 30R, 30L for pressing the operation buttons 20R, 20L forward and presenting a haptic sensation to the user are disposed behind the operation buttons 20R, 20L, respectively.
  • the actuator 30L is disposed below the cross key 4 disposed on the left of the upper surface of the input device 100, and the actuator 30R is disposed below the operation button 3a disposed on the right of the upper surface of the input device 100 There is.
  • the arrangement of the actuators 30R and 30L is not limited to the example of the input device 100.
  • the actuators 30R, 30L may be disposed behind the operation buttons 8R, 8L, and may present a haptic sensation to the user by pushing the operation buttons 8R, 8L forward.
  • the actuators 30R, 30L contact the operation buttons 20R, 20L and move the operation buttons 20R, 20L, and the button drive member 31 and the electric motor 32 which is a power source for moving the button drive member 31.
  • the electric motor 32 is, for example, a DC motor (including a servomotor).
  • the electric motor 32 may be a stepping motor or may be a geared motor incorporating a reduction gear.
  • the button drive member 31 can move back and forth by the power of the electric motor 32.
  • the button driving member 31 moves linearly along, for example, a guide (not shown).
  • the button drive member 31 may be guided to move along an arc including the locus of the operation buttons 20R, 20L.
  • the actuators 30R and 30L may have a guide that makes the trajectory of the button driving member 31 a circular arc.
  • Such a guide may be formed in a case for holding the button drive member 31 and the electric motor 32.
  • the button drive member 31 may be an arm rotatably supported by a shaft.
  • the button drive member 31 can be separated rearward from the operation buttons 20R and 20L.
  • the button drive member 31 and the operation buttons 20R and 20L may be connected to each other or may be integrally formed.
  • the actuators 30R and 30L have a transmission mechanism for transmitting the power of the electric motor 32 to the button drive member 31.
  • a rack is formed on the button driving member 31, and the transmission mechanism includes a pinion engaged with the rack, a gear, and the like.
  • the transmission mechanism can reduce the rotation of the electric motor 32 and transmit it to the button drive member 31.
  • the transmission mechanism includes a worm gear, and the rotation of the electric motor 32 may be transmitted to the button driving member 31 via the worm gear.
  • FIG. 3 is a schematic view showing an example of the movement of the actuators 30R, 30L and the operation buttons 20R, 20L.
  • the operation buttons 20R and 20L can move in the front-rear direction between an initial position shown in FIG. 3A and a maximum push-in position shown in FIG. 3B.
  • the actuators 30R, 30L (specifically, the button drive member 31) are in contact with the operation buttons 20R, 20L at the initial position.
  • this position of the actuators 30R, 30L will be referred to as "front end position".
  • the actuators 30R, 30L are in contact with the operation buttons 20R, 20L at the maximum push-in positions.
  • this position of the actuators 30R, 30L will be referred to as "contact limit position”.
  • the actuators 30R, 30L (specifically, the button drive member 31) can move further rearward from the contact limit position and can be separated from the operation buttons 20R, 20L until they hit the stopper S2. .
  • this position of the actuators 30R and 30L will be referred to as "rear end position”. That is, the actuators 30R, 30L can move between the front end position and the rear end position away from the operation buttons 20R, 20L.
  • the actuators 30R and 30L move linearly in the example of FIG. 3, the movement of the actuators 30R and 30L is not necessarily limited to this, and may move along, for example, a circular arc as described above.
  • the system 1 includes an operation input device 100 and a main device 10.
  • the input device 100 is, for example, a game controller, and the main device 10 is a game machine that executes a game program.
  • the input device 100 transmits a signal corresponding to the operation to the main device 10.
  • the main device 10 executes the game program based on the signal received from the input device 100.
  • the main device 10 transmits information related to control of the actuators 30R and 30L to the input device 100, and the input device 100 controls the actuators 30R and 30L based on the information.
  • the “information related to control” is, for example, information such as designation of a control mode or a control parameter (a drive range of the actuators 30R, 30L). The control of the actuators 30R, 30L will be described in detail later.
  • the input device 100 includes a right actuator position sensor 35R, a right button position sensor 22R, a left actuator position sensor 35L, and a left button position sensor 22L.
  • the input device 100 also includes switches and sensors for detecting the operation of the above-described operation member (the operation button 3a and the like).
  • the button position sensors 22R and 22L are sensors for detecting the position (pushing amount) of the operation buttons 20R and 20L.
  • the button position sensors 22R and 22L are, for example, configured of a conductive rubber disposed behind the operation buttons 20R and 20L and pressed by the operation buttons 20R and 20L, and a sensor substrate on which a resistor facing the conductive rubber is formed. .
  • the contact area between the conductive rubber and the resistor changes in accordance with the pressing amount of the operation buttons 20R and 20L, and the resistance value of the resistor changes in accordance with the change in the contact area. Therefore, the pressing amount of the operation buttons 20R and 20L can be detected based on the voltage acting on the resistor.
  • the structure of the button position sensors 22R and 22L is not limited to this.
  • the actuator position sensors 35R, 35L are sensors for detecting the positions of the actuators 30R, 30L, and output, for example, a signal corresponding to the rotational position of the electric motor 32 or the rotational position of a gear constituting the transmission mechanism.
  • the actuator position sensors 35R, 35L are configured by potentiometers, for example.
  • the actuator position sensors 35R, 35L may be rotary encoders.
  • the input device 100 includes the control device 11, the communication interface 12, the battery 13, and the drive circuits 14R and 14L in addition to the above-described operation members such as the operation buttons 20R and 20L and the actuators 30R and 30L. doing.
  • the communication interface 12 includes an antenna and a communication circuit, and inputs a signal received from the main device 10 to the control device 11 or transmits data acquired from the control device 11 to the main device 10.
  • the communication interface 12 is, for example, an interface of wireless communication (for example, communication of Bluetooth (registered trademark) standard).
  • the communication interface 12 may be an interface of wired communication (for example, USB standard).
  • the battery 13 is a secondary battery and can be charged by connecting it to an external power supply (not shown).
  • the battery 13 is, for example, a lithium ion battery, but the type is not limited thereto.
  • the control device 11 includes a memory, a microprocessor that executes a program stored in the memory, and the like, and controls the above-described actuators 30R and 30L.
  • the control device 11 drives, for example, the actuators 30R and 30L to a target position, and drives the actuators 30R and 30L in a control mode (for example, a vibration mode or reaction mode described later) designated by the main device 10.
  • the control of the actuators 30R, 30L will be described in detail later.
  • the input device 100 includes the vibration motors 15R and 15L (see FIG. 1A).
  • the control device 11 drives the vibration motors 15R and 15L in accordance with an instruction from the main device 10.
  • the drive circuits 14R and 14L use the current supplied from the battery 13, and the current corresponding to the command value (for example, the duty ratio) output from the control device 11 is output to the actuators 30R and 30L (specifically, the electric motor 32). Supply).
  • the command value for example, the duty ratio
  • FIG. 4 is a block diagram showing the functions possessed by the control device 11.
  • the control device 11 has an actuator control unit 11B as its function.
  • the actuator control unit 11B includes an independent mode execution unit 11d and a cooperation mode execution unit 11e.
  • the independent mode execution unit 11 d separately controls the right actuator 30R and the left actuator 30L. That is, in the control of the independent mode execution unit 11 d, the position and the motion of the right actuator 30R do not cooperate with the position and the motion of the left actuator 30L.
  • the cooperative mode execution unit 11e controls the right actuator 30R and the left actuator 30L while correlating the position (or the movement) of the right actuator 30R with the position (or the movement) of the left actuator 30L.
  • the cooperation mode execution unit 11e controls the right actuator 30R and the left actuator 30L using, for example, a common value as a parameter (for example, an amplitude, a period, and the like) related to control.
  • the cooperation mode execution unit 11e sets the target positions of the two actuators 30R and 30L using the common value as a parameter. Further, as another example, the cooperation mode execution unit 11e may set the target position of the other actuator based on the position and the movement of the one actuator.
  • the input device 100 receives, for example, information designating a control mode from the main device 10. That is, the actuator control unit 11B selectively performs control by the independent mode execution unit 11d and control by the cooperation mode execution unit 11e according to an instruction from the main device 10. The actuator control unit 11B also executes control of a vibration mode execution unit 11f and a reaction mode execution unit 11g described later according to an instruction from the main device 10. First, an example of control performed by the independent mode execution unit 11 d will be described.
  • the independent mode execution unit 11d performs position control on, for example, the actuators 30R and 30L. That is, the independent mode execution unit 11d outputs a command to the drive circuits 14R and 14L based on the difference between the target position and the current position of the actuators 30R and 30L so that the positions of the actuators 30R and 30L coincide with the target positions. Calculate the value.
  • the independent mode execution unit 11d detects the current position of the actuators 30R and 30L based on the outputs of the actuator position sensors 35R and 35L.
  • the input device 100 receives the target position of the actuators 30R and 30L from the main device 10.
  • the main device 10 sets a target position, and transmits the target position to the input device 100.
  • the main unit 10 brings the target position closer to the front end position (FIG. 3A). By doing so, even if the user presses the operation button 20R, 20L, the movement of the operation button 20R, 20L is restricted by the actuators 30R, 30L, so that the user can recognize that the object is hard.
  • the input device 100 receives from the main unit 10 a target position for the right actuator 30R (herein referred to as a first target position) and a target position for the left actuator 30L (here referred to as a second target position) Do.
  • the first target position and the second target position are set independently of each other.
  • the independent mode execution unit 11d calculates a command value to be output to the drive circuit 14R based on the difference between the current position of the right actuator 30R and the first target position. Further, the independent mode execution unit 11d calculates a command value to be output to the drive circuit 14L based on the difference between the current position of the left actuator 30L and the second target position.
  • the input device 100 may receive, from the main device 10, the coefficient of the function used to calculate the command value in addition to the target position. For example, when the control device 11 performs a proportional operation of calculating a command value proportional to the difference between the target position and the current position, a proportional coefficient may be received from the main device 10.
  • the input device 100 may receive a command value (for example, a voltage command value or a current command value) from the main device 10 as information related to control of the actuators 30R and 30L.
  • a command value for example, a voltage command value or a current command value
  • the input device 100 receives from the main device 10 a command value for the right actuator 30R and a command value for the left actuator 30L.
  • the independent mode execution unit 11 d outputs a command value for the right actuator 30R and a command value for the left actuator 30L to the drive circuits 14R and 14L, respectively.
  • the input device 100 may receive, from the main device 10, a time (command value duration) in which the use of the command value is continued along with the command value.
  • the independent mode execution unit 11 d may end the use of the command value corresponding to the command value continuation time when the command value continuation time has elapsed.
  • the process by the independent mode execution unit 11 d is not limited to the example described here.
  • the input device 100 may use the target position recorded in the memory of the control device 11 without receiving the target position of the actuators 30R and 30L from the main device 10.
  • the cooperation mode execution unit 11e has a vibration mode execution unit 11f and a reaction mode execution unit 11g.
  • Vibration mode The vibration mode execution unit 11 f periodically moves the right actuator 30R and the left actuator 30L. That is, the vibration mode execution unit 11 f vibrates the right actuator 30R between the two positions and also vibrates the left actuator 30L between the two positions. At this time, the vibration mode execution unit 11f, for example, makes the period and the amplitude of the two actuators 30R and 30L the same, but makes the phase of the right actuator 30R and the phase of the left actuator 30L different. According to the vibration mode execution unit 11f, for example, in a scene where the character operated by the user in the game space provided by the main device 10 holds a gun in each of the right hand and the left hand and fires alternately and continuously, It can express the force received from the trigger. The amplitudes of the two actuators 30R and 30L may be different from each other in the vibration mode execution unit 11f.
  • the vibration mode execution unit 11f realizes vibration by performing position control on, for example, the two actuators 30R and 30L. For example, the vibration mode execution unit 11f sets the target position for the right actuator 30R between two positions (for example, the front end position ((A) in FIG. 3) and the rear end position ((C) in FIG. 3)). Switch periodically. In addition, the vibration mode execution unit 11 f switches the target position of the left actuator 30L at the same two positions (that is, the front end position and the rear end position) in the same cycle as the right actuator 30R. Then, the vibration mode execution unit 11 f shifts the switching timing of the target position of the right actuator 30R and the switching timing of the target position of the left actuator 30L.
  • FIG. 5 is a time chart showing an example of such a change in the target position.
  • the solid line in the figure shows the target position for the right actuator 30R
  • the broken line in the figure shows the target position for the left actuator 30L.
  • the target position of the right actuator 30R is the front end position
  • the target position of the left actuator 30L is the rear end position
  • the target position of the right actuator 30R is the rear end position.
  • the target position for the left actuator 30L is the front end position. That is, the phase of the target position for the right actuator 30R and the phase of the target position for the left actuator 30L are shifted by 1/2 cycle.
  • the target position set in the control of the vibration mode execution unit 11 f is not limited to the example of FIG. 5.
  • the target positions for the actuators 30R, 30L may be two positions defined between the front end position and the rear end position.
  • the phase shift may not necessarily be a half cycle, and may be, for example, a quarter cycle.
  • FIG. 6 is a flowchart showing an example of processing performed by the vibration mode execution unit 11 f described above.
  • the vibration mode execution unit 11f acquires a target position and a vibration cycle common to the actuators 30R and 30L, and a phase difference between the two actuators 30R and 30L (S101, in the description herein, “the front end position And “rear end position” are set.
  • the target position, the vibration period, and the phase difference are, for example, values that the input device 100 receives from the main device 10. Unlike this, the target position, the vibration period, and the phase difference may be recorded in advance in the memory of the input device 100.
  • the vibration mode execution unit 11f moves the actuators 30R and 30L to the initial position (S102). For example, the vibration mode execution unit 11 f moves the right actuator 30R to the rear end position, and moves the left actuator 30L to the front end position.
  • the vibration mode execution unit 11f may move both of the right actuators 30R and 30L to an intermediate position between the contact limit position and the front end position (a position equidistant from the contact limit position and the front end position).
  • the vibration mode execution unit 11 f sets the front end position at the target position of the right actuator 30R, and sets the rear end position at the target position of the left actuator 30L (S103, hereinafter, the target position of the right actuator 30R
  • the target position of the left actuator 30L is referred to as a "second target position".
  • the vibration mode execution unit 11 f detects the current position of the right actuator 30 R, and calculates a command value (referred to as a first command value) of the right actuator 30 R based on the detected current position and the first target position ( S104).
  • the vibration mode execution unit 11 f also detects the current position of the left actuator 30 L, and calculates a command value (referred to as a second command value) of the left actuator 30 L based on the detected current position and the second target position S105).
  • the vibration mode execution unit 11f outputs the first command value and the second command value to the drive circuits 14R and 14L, respectively (S106), and it is determined whether the termination condition of the control by the vibration mode execution unit 11f is satisfied. It judges (S107).
  • the vibration mode execution unit 11f determines that the end condition is satisfied.
  • the time to continue the vibration mode may be defined. In this case, when the time has elapsed, the vibration mode execution unit 11 f determines that the termination condition is satisfied.
  • the vibration mode execution unit 11 f determines whether a half cycle has passed since the previous switching of the target position (previous S109) (S108). If the half cycle has not yet passed, the vibration mode execution unit 11 f returns to the process of S104 and resumes the process of transition. On the other hand, when it is determined in S108 that the 1 ⁇ 2 cycle has elapsed, the vibration mode execution unit 11f switches the first target position and the second target position (S109).
  • the vibration mode execution unit 11f repeatedly executes the processing of S103 to S109.
  • the process of the vibration mode execution unit 11 f is not limited to the example described above.
  • the vibration mode execution unit 11f outputs two drive functions 14R and 14L using two periodic functions (for example, a function of cosine wave or sine wave, a function of rectangular wave, or a function of triangular wave) having different phases.
  • the command value may be calculated.
  • the “first command value” and the “second command value” are command values respectively output to the drive circuit 14R of the right actuator 30R and the drive circuit 14L of the left actuator 30L.
  • “A” is the amplitude of the command value, and is received from, for example, the main device 10.
  • “k” and “ ⁇ ” are the period and the phase difference, respectively, and these are also received from, for example, the main device 10.
  • the actuators 30R, 30L may not reach the target position depending on the relationship between the maximum torque that the actuators 30R, 30L can output and the force with which the user presses the operation buttons 20R, 20L. Even in this case, the vibration mode execution unit 11 f may periodically switch the target positions of the actuators 30R and 30L. That is, the vibration mode execution unit 11 f may periodically switch the target positions of the actuators 30R and 30L regardless of whether or not the actuators 30R and 30L reach the target positions.
  • the vibration mode execution unit 11f when it is detected that the actuators 30R, 30L do not reach the target position in this way, for example, when the current positions of the actuators 30R, 30L do not change over a predetermined time, the vibration mode execution unit 11f
  • the drive range of the actuators 30R, 30L may be changed.
  • the vibration mode execution unit 11 f selects two target positions, one between the front end position and the contact limit position, and the contact limit. It may be changed to two, the position and the rear end position.
  • the vibration mode execution unit 11 f sets one of the two target positions closer to the rear end position than the contact limit position, and the other of the two target positions is the same as the contact limit position or close to the front end position It may be set to the position. By doing this, it is possible to transmit the shock when the actuators 30R, 30L collide with the operation buttons 20R, 20L as vibrations to the user's finger. As shown in FIG. 5, the target positions of the actuators 30R and 30L may be set to the front end position and the rear end position from the start of control.
  • the vibration mode execution unit 11f determines whether the user's finger is pressing the operation button 20R or 20L based on the output of the button position sensors 22R and 22L, and the vibration mode execution unit 11f according to the determination result. May execute the process. In this case, for example, when the user's finger touches one of the operation buttons, but the user's finger does not touch the other operation button, vibration mode control is performed on the actuator provided on the one operation button. May be performed.
  • control of the vibration mode may be started for the actuator provided on the other operation button.
  • the vibration mode execution unit 11 f sets a target position for an actuator to be driven later so that a predetermined phase difference or a phase difference received from the main device 10 is realized.
  • FIG. 7 is a diagram for explaining control of the actuators 30R and 30L by the reaction mode execution unit 11g.
  • the right actuator 30R is in the contact limit position, and the left actuator 30L is in the front end position.
  • the left actuator 30L is pushed toward the rear end position, the right actuator 30R moves toward the front end position, and the right operation button 20R is moved. Push towards the initial position.
  • FIG. 7C the right actuator 30R reaches the front end position, and the left actuator 30L reaches the contact limit position.
  • FIG. 7A since the right operation button 20R is pressed, the right actuator 30R is in the contact limit position, and the left actuator 30L is in the front end position.
  • the reaction mode execution unit 11g calculates the target position of the left actuator 30L according to the output of the right actuator position sensor 35R (or the right button position sensor 22R). Further, the reaction mode execution unit 11g calculates the target position of the right actuator 30R according to the output of the left actuator position sensor 35L (or the left button position sensor 22L). For example, in a situation where the right operation button 20R is pressed and the right actuator 30R approaches the retracted position, the reaction mode execution unit 11g brings the target position of the left actuator 30L closer to the front end position. At this time, the reaction mode execution unit 11g calculates the target position of the left actuator 30L based on the current position of the right actuator 30R (or the current position of the right operation button 20R).
  • the reaction mode execution unit 11g calculates the target position of the right actuator 30R based on the current position of the left actuator 30L (or the current position of the left operation button 20L).
  • FIG. 8 is a flowchart showing an example of processing performed by the reaction mode execution unit 11g.
  • the reaction mode execution unit 11g detects the current position of the actuators 30R, 30L (S201).
  • the cooperation mode execution unit 11 e determines which of the two operation buttons 20 ⁇ / b> R and 20 ⁇ / b> L should prioritize the operation. That is, since both the right operation button 20R and the left operation button 20L may be pressed, the cooperation mode execution unit 11e determines which operation button 20R, 20L is permitted to be pushed.
  • the reaction mode execution unit 11g determines whether the operation on the right operation button 20R has priority over the operation on the left operation button 20L (S202).
  • This determination can be performed, for example, by comparing second derivative values (acceleration) of the positions of the operation buttons 20R and 20L.
  • the reaction mode execution unit 11g permits the operation of the operation button pressed with a larger force, and regulates the operation (movement) of the other operation button. For example, the reaction mode execution unit 11g determines whether the acceleration of the right operation button 20R obtained based on the output of the right button position sensor 22R is larger than the acceleration of the left operation button 20L obtained based on the output of the left button position sensor 22L. To judge.
  • the reaction mode execution unit 11g determines that the acceleration of the right actuator 30R obtained based on the output of the right actuator position sensor 35R is larger than the acceleration of the left actuator 30L obtained based on the output of the left actuator position sensor 35L. It may be determined whether or not.
  • a pressure sensor may be provided on the operation buttons 20R and 20L. In this case, the reaction mode execution unit 11g may determine whether the operation on the right operation button 20R has priority over the operation on the left operation button 20L based on the output of the pressure sensor.
  • P1act is the current position of the right actuator 30R
  • P2tg is the target position of the left actuator 30L.
  • K is a constant.
  • the constant K is set to 200 Be done.
  • the reaction mode execution unit 11g calculates a command value for the right actuator 30R and a command value for the left actuator 30L (S204).
  • the command value for the left actuator 30L is calculated based on, for example, the difference between the target position P2tg of the left actuator 30L calculated in S203 and the current position of the left actuator 30L.
  • the command value (voltage command value) for the right actuator 30R is, for example, a value defined in advance.
  • the command value for the right actuator 30R is set, for example, so as to generate a certain resistance to the pressing of the right operation button 20R.
  • the reaction mode execution unit 11g outputs two command values to the drive circuits 14R and 14L (S207), and determines whether the termination condition of the control by the reaction mode execution unit 11g is satisfied (S208). For example, when receiving a termination instruction from the main unit 10, the reaction mode execution unit 11g determines that the termination condition is satisfied. As another example, the time which continues control by reaction mode execution part 11g may be defined beforehand. In this case, when the time has elapsed, the reaction mode execution unit 11g determines that the termination condition is satisfied. If the termination condition is not satisfied, the reaction mode execution unit 11g returns to the process of S201 and executes the subsequent processes again.
  • P2act is the current position of the left actuator 30L
  • P1tg is the target position of the right actuator 30R.
  • K is the same as described above.
  • the reaction mode execution unit 11g calculates a command value for the right actuator 30R and a command value for the left actuator 30L (S206).
  • the command value for the right actuator 30R is calculated based on, for example, the difference between the target position P1tg of the right actuator 30R calculated in S207 and the current position of the right actuator 30R.
  • the command value (voltage command value) for the left actuator 30L is, for example, a value defined in advance. Specifically, the command value for the left actuator 30L is set, for example, so as to generate a certain resistance against the pressing of the left operation button 20L.
  • the process shown in FIG. 8 is repeatedly performed while control by the reaction mode execution part 11g is performed.
  • the actuators 30R and 30L may not reach the target position depending on the relationship between the maximum torque that the actuators 30R and 30L can output and the force with which the user presses the operation buttons 20R and 20L.
  • the reaction mode execution unit 11g controls the actuators whose current positions do not change. You may change the mode. For example, for an actuator whose current position does not change, the control mode may be switched to a vibration mode (a mode for vibrating between two target positions), and this actuator may be driven between the rear end position and the contact limit position. By doing this, since the impact due to the collision between the actuator and the operation button is transmitted as vibration to the user's finger, the user can recognize that the actuator has not reached the target position.
  • a vibration mode a mode for vibrating between two target positions
  • the actuator control unit 11B has a power consumption reduction unit 11i.
  • the power consumption reduction unit 11i performs processing to reduce at least one of the two actuators 30R and 30L when the total power consumption of the two actuators 30R and 30L exceeds a threshold.
  • the power consumption reduction unit 11i reduces the power consumption, for example, by correcting or changing the command value calculated by the independent mode execution unit 11d. According to this, it is possible to suppress an increase in power consumption due to simultaneous driving of the two actuators 30R and 30L.
  • the power consumption reduction unit 11i sets the command value so that each of the power consumption of the two actuators 30R and 30L is less than or equal to a predetermined value. calculate. More specifically, the power consumption reduction unit 11i sets the command value so that each of the power consumption of the two actuators 30R and 30L is equal to or less than “upper limit of total power consumption ⁇ predetermined ratio (for example, 50%)”. calculate.
  • the power consumption reduction unit 11i uses the two actuators 30R and 30L that consume more power than the actuator whose driving has been started earlier than the actuator whose driving has been started later in time. It may be acceptable. For example, in a situation where the left actuator 30L starts moving from the rear end position to the front end position after the right actuator 30R starts to vibrate, for example, between the front end position and the rear end position, more movement is performed by the left actuator 30L. Power consumption may be allowed.
  • the left actuator 30L that starts driving later allows more power consumption (for example, “upper limit of total power consumption x 70%”) than “upper limit of total power consumption x 50%”, and driving starts first Power consumption that is lower than “upper limit of total power consumption ⁇ 50%” (for example, “upper limit of total power consumption ⁇ 30%”) is permitted for the right actuator.
  • the haptic force can be presented intensively on the operation button (in the above example, the left operation button 20L) whose operation has been started later, the limited power can be effectively used. Become.
  • the power consumption reduction unit 11i allows a large amount of power to be consumed by the actuator whose drive has been changed later in time among the two actuators 30R and 30L.
  • the “actuator whose drive has been changed” means, for example, an actuator which is a parameter received from the main device 10 and in which a control parameter (for example, a target position) specifying the drive of the actuator has been changed.
  • a control parameter for example, a target position
  • this one of the actuators is an "actuated actuator". It corresponds to In this case, the actuator whose vibration range is expanded is allowed to consume more power than the other actuator.
  • the total power consumption of the two actuators 30R and 30L exceeds the threshold, more power consumption may be allowed to the actuator that is expected to drive more.
  • more power is supplied to an actuator having a larger vibration range (difference between two target positions set for each actuator) of the two actuators 30R and 30L. Consumption may be allowed.
  • the two actuators 30, 30L may be allowed to consume equal amounts of power.
  • control parameters for example, a vibration period, a target position (that is, a target position (ie, , Vibration range, etc.) may be defined in advance.
  • FIG. 9 is a flowchart illustrating an example of processing performed by the power consumption reduction unit 11i.
  • a data area for example, a flag
  • 0 is recorded for an actuator whose drive has been started first
  • 1 is recorded for an actuator whose drive has been started later.
  • an actuator whose drive has been started first is referred to as a "first drive actuator”
  • an actuator whose drive is started later is referred to as a "post drive actuator”.
  • the power consumption reduction unit 11i determines whether the two actuators 30R and 30L are driven (S301). For example, the power consumption reduction unit 11i determines whether or not the drive instruction is received from the main device 10 for the two actuators 30R and 30L. In S301, when only one of the two actuators 30R and 30L is driven, the power consumption reduction unit 11i does not perform the processing for power consumption reduction, and for example, the command value calculated by the independent mode execution unit 11d Are output to the drive circuits 14R and 14L.
  • the power consumption reduction unit 11i calculates the total power consumption (Wsum) of the two actuators 30R, 30L ("W1" in Fig. 9 is first).
  • Power consumption of the drive actuator, "W2" is power consumption of the rear drive actuator. Since the command value includes information on the voltage value or current value of the electric power supplied from the drive circuits 14R and 14L to the electric motor 32, the power consumption (W1, W2) of the actuators 30R and 30L is estimated from the command value. It can be calculated.
  • the input device 100 may include an ammeter that detects the current value of the power supplied from the drive circuits 14R and 14L to the electric motor 32. In this case, the power consumption reduction unit 11i may calculate the power consumption of each of the actuators 30R and 30L based on the output of the ammeter and the command value.
  • the power consumption reduction unit 11i determines whether the total power consumption Wsum exceeds a predetermined threshold value Wth (S303).
  • the threshold value Wth is, for example, the upper limit Wmax of the total power consumption allowed for the two actuators 30R and 30L, but may be different from the upper limit Wmax.
  • the upper limit Wmax of the total power consumption may be equal to or larger than the maximum power consumption allowed when only one actuator is driving.
  • the power consumption reduction unit 11i uses the command value calculated by the independent mode execution unit 11d as the confirmation command value (S309, S310
  • the “decision command value” is a command value output to the drive circuits 14R and 14R in the processing of S308 described later
  • “V1” described in S309 of FIG. 11d is the calculated command value
  • “V2” described in S310 in the same drawing is the command value calculated by the independent mode execution unit 11d for the rear drive actuator.
  • the power consumption reduction unit 11i determines that the power consumption W1 of the first drive actuator exceeds the maximum power consumption (K1 ⁇ Wmax) allowed for the first drive actuator. It is determined whether or not (S304). Wmax is the upper limit of the total power consumption of the two actuators 30R and 30L as described above.
  • the coefficient K1 indicates the rate of power consumption allowed for the pre-drive actuator, and is a value smaller than 0.5, for example. If it is determined in S304 that the power consumption W1 of the first drive actuator does not exceed the maximum power consumption (K1 ⁇ Wmax) allowed for the first drive actuator, the power consumption reduction unit 11i calculates the command value V1 calculated by the independent mode execution unit 11d.
  • the power consumption reduction unit 11i determines the maximum power consumption permitted for the first drive actuator ((1) A command value V1max corresponding to K1 ⁇ Pmax) is set as a fixed command value (S305).
  • the command value V1max is, for example, a voltage value or a current value for obtaining the maximum power consumption (K1 ⁇ Pmax).
  • the power consumption reduction unit 11i determines whether the power consumption W2 of the post-drive actuator exceeds the maximum power consumption (K2 ⁇ Wmax) allowed for the post-drive actuator (S306).
  • Wmax is the upper limit of the total power consumption of the two actuators 30R and 30L as described above.
  • the coefficient K2 indicates the ratio of the power consumption allowed for the post drive actuator, and is a value (for example, a value of 0.5 or more) larger than the above-described coefficient K1. If it is determined in S306 that the power consumption W2 of the post drive actuator does not exceed the maximum power consumption (K2 ⁇ Wmax) allowed for the post drive actuator, the power consumption reduction unit 11i calculates the command value calculated by the independent mode execution unit 11d.
  • V2 be a determined command value (S310).
  • the power consumption W2 of the post-drive actuator exceeds the maximum power consumption (K2 ⁇ Wmax) allowed for the post-drive actuator in the determination of S306, the power consumption reduction unit 11i is permitted for the post-drive actuator.
  • the command value V2max corresponding to the maximum power consumption (K2 ⁇ Wmax) is set as the finalized command value (S307).
  • the command value V2max is, for example, a voltage value or a current value for obtaining the maximum power consumption (K2 ⁇ Wmax).
  • the power consumption reduction unit 11i outputs, to the drive circuits 14R and 14L, the determination command value determined for the front drive actuator in the process of S305 or S309 and the determination command value determined for the rear drive actuator in the process of S307 or S310 ( S308).
  • the power consumption reduction unit 11i repeatedly executes, for example, the process illustrated in FIG. 9 at a predetermined cycle while the operation input device 100 is in operation.
  • the process performed by the power consumption reduction unit 11i is not limited to the example described above.
  • the following modifications are possible.
  • the change in control that is, change or start of actuation of the actuator
  • the process for reducing the power consumption may not be performed.
  • the process for reducing the power consumption may not be performed.
  • the power consumption allowed for the first drive actuator may be gradually reduced according to the elapsed time since the start of driving of the second drive actuator.
  • the power consumption allowed for the post drive actuator may gradually increase according to the elapsed time from the start of drive of the post drive actuator.
  • the coefficient K1 for distributing the upper limit of the total power consumption of the two actuators 30R and 30L to the first drive actuator gradually decreases with the lapse of time from the start of driving of the second drive actuator, and the upper limit of the total power consumption is
  • the coefficient K2 for distributing to the post drive actuator may be gradually increased according to the elapsed time from the start of drive of the post drive actuator.
  • the coefficient K1 may approach 0 gradually from 0.5 and the coefficient K2 may approach 1 gradually from 0.5. In this way, it is possible to prevent the force (tactile force) acting on the finger from the operation button moved by the front drive actuator from being suddenly dropped.
  • the power consumption reduction unit 11i may determine whether to execute the power consumption reduction process (specifically, the process illustrated in the flowchart of FIG. 9) based on the remaining amount of the battery 13. For example, when the remaining amount is sufficient, the power consumption reducing unit 11i may not perform the power consumption reducing process, and the power consumption reducing unit 11i may perform the power consumption reducing process when the remaining amount is below the threshold.
  • the operation input device 100 includes the vibration motors 15R and 15L that vibrate the grips GR and GL.
  • the control device 11 drives the vibration motors 15R and 15L in accordance with an instruction from the main device 10.
  • the power consumption reduction unit 11i may execute the power consumption reduction process based on the driving states of the vibration motors 15R and 15L. For example, the power consumption reduction unit 11i may execute the power consumption reduction process described above for the actuators 30R and 30L only when the vibration motors 15R and 15L are driven. Alternatively, when the vibration motors 15R and 15L are driven, the power consumption reduction unit 11i reduces the power consumption of the actuators 30R and 30L more significantly than when the vibration motors 15R and 15L are not driven. It is also good.
  • the power consumption reduction unit 11i corrects the command values V1 and V2 calculated by the independent mode execution unit 11d when the sum Wsum of the power consumption of the two actuators 30R and 30L exceeds the threshold value Wth. You may For example, the power consumption reduction unit 11i may multiply the command values V1 and V2 by the correction coefficient. Even with such a method, the power consumption allowed for each of the actuators 30R and 30L when the two actuators 30R and 30L are simultaneously driven can be tolerated for the one of the actuators when only one of the actuators is driving. It can be lower than power consumption.
  • the operation input device 100 moves the right operation button 20R and the right actuator 30R that presents the user with tactile sensation by moving the right operation button 20R, moves the left operation button 20L, and the left operation button 20L.
  • a control device 11 for controlling the right actuator 30R and the left actuator 30L.
  • the control device 11 (reaction mode execution unit 11g) calculates the target position of the left actuator 30L according to the output of the right actuator position sensor 35R or the right button position sensor 22R. Further, the control device 11 calculates the target position of the right actuator 30R according to the output of the left actuator position sensor 35L or the left button position sensor 22L. According to this input device 100, compared with the case where the left and right actuators 30R and 30L are separately driven, variations of the haptic force that can be presented to the user can be increased.
  • the control device 11 (vibration mode execution unit 11f) performs vibration control to vibrate the right actuator 30R between two positions and vibrate the left actuator 30L between two positions, and the control device 11 (vibration mode execution In this vibration control, the part 11 f) makes the phase of the right actuator 30R different from the phase of the left actuator 30L. According to this input device 100, compared with the case where the left and right actuators 30R and 30L are separately driven, variations of the haptic force that can be presented to the user can be increased.
  • the control device 11 determines the power consumption of the right actuator 30R and the power consumption of the left actuator 30L. To reduce the According to the input device 100, an increase in power consumption due to simultaneous driving of the left and right actuators 30R, 30L can be suppressed.
  • the actuator control unit 11 determines the position of the actuators 30R and 30L (the position of the button drive member 31) in accordance with an instruction from the main device 10 or a user who passes the operation member 100 (operation key 4 or the like). And may be held in a position between the front end position and the contact limit position. That is, the actuator control unit 11 sets the target positions of the actuators 30R and 30L according to the instruction from the main device 10 or according to the instruction from the user through the operation member (the cross key 4 etc.) of the operation input device 100. The target position may be maintained until a predetermined termination condition is satisfied (for example, until instructed by the main device 10 or the user).
  • the stroke amount of the operation buttons 20R and 20L when the user continuously presses the operation buttons 20R and 20L can be adjusted. For example, by reducing the stroke amount, continuous hitting of the operation buttons 20R and 20L becomes easy.
  • the target position is set to reduce the stroke amount as described above, the target positions of the left and right actuators 30R and 30L may be the same. By doing so, the left and right actuators 30R, 30L can be hit continuously in the same manner.
  • the cooperative mode executor 11 e may include an interlocked mode executor.
  • the interlocking mode execution unit moves the left actuator 30L toward the rear end position. That is, the interlocking mode execution unit drives the left and right actuators in the same direction.
  • the interlocking mode execution unit sets the same position as the current position of one actuator (or operation button) as the target position of the other actuator.
  • the button drive members 31 of the actuators 30R and 30L may be connected to the operation buttons 20R and 20L or may be integrally formed with the operation buttons 20R and 20L.

Abstract

L'invention concerne un dispositif d'entrée d'opération dans lequel une pluralité de boutons d'actionnement sont respectivement pourvus d'actionneurs pour présenter à un utilisateur une sensation tactile de force, et qui peut présenter la sensation tactile de force de manière appropriée. Le dispositif d'entrée d'opération (100) comprend un actionneur droit (30R) destiné à amener un bouton d'actionnement droit (20R) à être déplacé pour présenter à l'utilisateur une sensation tactile de force, et un actionneur gauche (30L) pour amener un bouton d'actionnement gauche (20L) à être déplacé pour présenter à l'utilisateur une sensation tactile de force. Un dispositif de commande (11) calcule une position cible pour l'actionneur gauche (30L) en fonction d'une sortie d'un capteur de position d'actionneur droit (35R), et calcule une position cible pour l'actionneur droit (30R) en fonction d'une sortie d'un capteur de position d'actionneur gauche (35L).
PCT/JP2019/001324 2018-01-19 2019-01-17 Programme et dispositif d'entrée d'opération WO2019142873A1 (fr)

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