WO2019207792A1

WO2019207792A1 - Chair device

Info

Publication number: WO2019207792A1
Application number: PCT/JP2018/017305
Authority: WO
Inventors: 伸次高嶋; 祐一町田
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
Priority date: 2018-04-27
Filing date: 2018-04-27
Publication date: 2019-10-31

Abstract

This chair device: comprises a seat surface body and a support body that causes the seat surface body to be inclined; and accepts an inclination instruction inputted from the outside to control inclination in response to the inclination instruction. The support body applies a force, in a direction toward or away from an installation surface, to at least one site of a seat surface outer edge section. The chair device further comprises an elastic member having one end fixed to the bottom section of the seat surface body, and the other end side disposed on the installation surface to swingably support the seat surface body.

Description

Chair equipment

The present invention relates to a chair device capable of controlling the inclination of a seating surface.

In recent years, in movie theaters and the like, chair devices (seats) having a function of vibrating a seating surface and allowing viewers to experience vibration according to a movie scene have been used.

Such a chair device needs to use a sufficient driving force to vibrate the seat surface in a state where a plurality of people are seated. Therefore, in movie theaters and the like, hydraulic cylinders are arranged at the four corners of the chair device, and vibration is generated by extending and contracting the cylinders.

However, it is not practical to use a device of the sensation type like the chair device of this movie theater at home because the mechanism for controlling vibration and tilt is large. Therefore, in order to provide a home-use device, there is a demand for a chair device that can control vibration and tilt with relatively light power and low power consumption.

The present invention has been made in view of the above circumstances, and an object thereof is to provide a chair device capable of controlling vibration, inclination, etc. with relatively light power and low power consumption.

The present invention that solves the problems of the conventional example described above is a seat surface body, a support body that supports the seat surface body, and has a tilting means for tilting the seat surface body, and an inclination instruction input from the outside. And a control unit that controls the tilting unit in response to the tilting instruction, wherein the tilting unit of the support body has an installation surface with respect to at least one portion of the outer edge of the seating surface. Applying means for applying a force in a direction toward or away from the elastic member, and an elastic member having one end fixed to the bottom of the seat surface body and the other end arranged on the installation surface to support the seat surface so as to be able to swing. It is supposed to have.

According to the chair device of the present invention, since the tilt control is performed in a state where the seat surface body is urged upward by the elastic body, the tilt of the seat surface can be controlled with a force that distorts the elastic body, and a relatively lightweight force and low It can be vibrated or tilted with power consumption.

It is a schematic perspective view showing the example of the chair apparatus which concerns on embodiment of this invention. It is explanatory drawing showing the example of a shape of the supporting member of the chair apparatus which concerns on embodiment of this invention. It is the schematic showing the structural example of the chair apparatus which concerns on embodiment of this invention. It is a functional block diagram showing the example of the information processing apparatus which controls the chair apparatus which concerns on embodiment of this invention. It is explanatory drawing showing the example of arrangement | positioning of the sensor which measures the inclination of the user in the chair apparatus which concerns on embodiment of this invention. It is another explanatory drawing showing the example of arrangement of the sensor which measures the inclination of the user in the chair device concerning an embodiment of the invention. It is a schematic explanatory drawing showing the example of the leg | foot support part which supports the user's leg | foot in the chair apparatus which concerns on embodiment of this invention.

Embodiments of the present invention will be described with reference to the drawings. In the following description and drawings, the size and ratio of each part are not limited to those illustrated, and can be designed to have an appropriate size and ratio. As illustrated in FIG. 1, the chair device 1 according to the embodiment of the present invention supports a seat surface body 10, an elastic member 20 that biases the seat surface body 10 upward, a pedestal portion 30, and the seat surface body 10. The support body 40 and the drive unit 50 are configured to be included. The chair device 1 is connected to an information processing device 2 such as a home game machine.

The seat body 10 includes a seat portion 11 and a backrest portion 12 that are seated by a user and that are substantially rectangular (for example, each side of the rectangle may be a curve with a slightly convex center at the center). Consists of. The seat surface body 10 includes an inclination in the left-right direction of the seat surface body 10 (around the normal axis of the surface of the backrest portion 12 facing the user's back) and a front-rear direction (a seating portion 11 orthogonal to the front-rear direction). An inclination sensor 15 for measuring the inclination around the axis in the in-plane direction is attached. In the example of FIG. 1, the inclination sensor 15 is fixed to the back side surface of the seat surface body 10. The tilt sensor 15 outputs information representing the measurement result to the information processing apparatus 2.

The elastic member 20 is, for example, a coil spring, and one end side in the expansion / contraction direction is fixed to the upper surface of the pedestal portion 30, and the other end side is attached to the center portion of the bottom surface of the seating portion 11 of the seat surface body 10. In this way, the elastic member 20 is erected from the pedestal portion 30, and the seat surface body 10 is supported by the elastic body 20, so that the seat surface body 10 is supported in a swingable motion state, and the seat portion 11 The surface is biased in a horizontal direction. That is, when no force is applied to the seat surface body 10 or the support body 40 that supports the seat surface body 10 (natural state), the seating portion 11 of the seat surface body 10 is horizontal with respect to the floor surface (installation surface). Maintained.

Note that the elastic member 20 may be covered with a flexible cover (top) C. In the example of FIG. 1, a state where the cover C is broken (a state where the elastic member 20 can be seen) is illustrated.

The pedestal 30 is a rectangular parallelepiped box having a rectangular upper surface that is at least one size larger than the seat 10 in a plan view, for example. The lower surface of the pedestal portion 30 is disposed in contact with the floor surface (the installation surface of the chair device 1), and the other end side of the elastic member 20 is attached to the upper surface.

The support body 40 that supports the seat surface body 10 has a rectangular frame 41 fixed to the bottom surface of the seat portion 11. The frame 41 is fixed so that each side thereof is in a state along each side of the seating portion 11, as illustrated in FIG. Accordingly, when viewed from the center of the seating portion 11, the left front, right front, left rear, and right rear vertices of the seating portion 11 coincide with the directions of the vertices A, B, C, and D of the frame 41. . The shape of the frame 41 is not limited to a rectangular shape, and may be an arbitrary polygonal shape or a circular shape.

Further, a handle 42 may protrude upward on the left front side and the right front side of the frame 41. A user seated on the chair device 1 can secure the stability of the seated state by gripping the handle 42.

As illustrated in FIG. 3, the drive unit 50 includes a wire 51, a reel 52 around which the wire 51 is wound, a clutch (C) 53, a motor (M) 54, an encoder (E) 55, and a drive control circuit. 56. FIG. 3 is an explanatory diagram schematically showing the arrangement and configuration of the drive unit 50. In an example of the present embodiment, the driving unit 50 is provided corresponding to each of the vertices A, B, C, and D of the frame 41, which is an example of the seating surface peripheral portion. Then, one end of the wire 51 of each driving unit 50 is fixed to each vertex of the corresponding frame 41. The other end of the wire 51 is wound around a reel 52 disposed in the pedestal 30 through a corresponding opening provided on the upper surface of the pedestal 30. When the wire 51 is wound around the reel 52 and pulled, the apex of the frame 41 to which the pulled wire 51 is fixed is pulled in the pulling direction, and the pedestal 30 is inclined.

In the present embodiment, the corresponding opening on the upper surface of the pedestal portion 30 through which the wire 51 of each drive unit 50 passes is at a point-symmetrical position with respect to the center of the frame 41 (each equidistant from the center of the frame 41). It shall be. That is, when the seat surface of the seat surface body 10 is horizontal with respect to the floor surface, the reels 52 of the drive units 50 are rotated by the same angle and the wires 51 are wound up by the same length (that is, , When each driving unit 50 pulls the corresponding vertex of the frame 41), the seating surface 10 and the support 40 are driven so that the seating surface of the seating surface 10 is kept horizontal with respect to the floor surface. It is assumed that the arrangement positions of the parts 50 are determined.

Further, in the present embodiment, when the user is not seated on the seating surface 10, the elastic member 20 has a natural length, and each wire 51 of each drive unit 50 is not slack (a state in which tension is generated). It is assumed that the length of each wire 51 of each drive unit 50 is adjusted so that

In addition, the drive unit 50 performs an initialization process in response to an instruction (initialization instruction operation or the like) indicating that an initialization process should be performed in a state where the user is seated on the seat surface body 10. This initialization process will be described later.

Here, the drive unit 50 is provided corresponding to each vertex of the frame 41 as an example of the peripheral edge of the seat surface, but the present embodiment is not limited to this, and the midpoint of each side of the frame 41 The drive unit 50 may be provided corresponding to the above. The seating surface peripheral portion only needs to be within a predetermined range from the outer periphery of the seating portion 11 and is here on the side (or on the apex) of the frame 41, but is not limited thereto.

The rotation shaft of the reel 52 is connected to the rotation shaft of the motor 54 through the clutch 53. The motor 54 is a stepping motor or a servo motor, for example, and rotates the reel 52 by a specified angle to wind the wire 51. In the present embodiment, the motor 54 is controlled by a drive control circuit 56. The drive control circuit 56 is configured to include a microcomputer, for example, and instructs the rotation angle to the motor 54.

The clutch 53 is controlled by the drive control circuit 56 and switches between a state in which the rotational force of the motor 54 is transmitted to the reel 52 (ON) and a state in which the rotational force of the motor 54 is not transmitted to the reel 52 (OFF). In the example of the present embodiment, when the clutch 53 is disengaged (off state), the reel 52 is in a freely rotatable state (no force is applied in any rotation direction, and rotation is restricted). State).

The motor 54 receives the control from the drive control circuit 56 and rotates the reel 52 in the direction in which the wire 51 is wound with the torque instructed by the drive control circuit 56.

The encoder 55 determines the rotation angle of the rotation axis of the reel 52 from the position of the reel 52 when the user is not seated (position where the wire 51 is completely pulled out, hereinafter referred to as initial position). Detect and output as difference. As an example, when the reel 52 is rotated by n turns and an angle φ from the initial position, the rotation angle θ represented by the detection result output by the encoder 55 is θ = 2nπ + φ (radian).

In the example of the present embodiment, the reel 52, the clutch 53, the motor 54, the encoder 55, and the drive control circuit 56 of each drive unit 50 are housed inside the box of the pedestal unit 30.

The drive control circuit 56 performs an initialization process in accordance with an instruction input from the information processing apparatus 2 described later. At this time, it is assumed that the user is seated on the seating body 10. In a state before the initialization process is performed (a state before the user is seated on the seat body 10), the drive control circuit 56 of each drive unit 50 has the clutch 53 disengaged (turned off), It is assumed that the reel 52 is in a freely rotatable state.

Therefore, when the user is seated, the elastic member 20 becomes shorter than the natural length due to the weight of the user, and the wire 51 becomes loose.

When the initialization process is started, the drive control circuit 56 of each drive unit 50 connects the clutch 53 (turns on), and rotates the reel 52 in the direction in which the wire 51 is wound around the motor 54. At this time, the drive control circuit 56 outputs to the motor 54 so as to rotate the motor 54 with such a torque that the rotation of the motor 54 stops when the looseness of the wire 51 is eliminated (when tension is generated in the wire 51). Control voltage etc. And the drive control circuit 56 of each drive part 50 acquired the output value of the encoder 55 acquired last time when rotation of the motor 54 stopped, ie, every predetermined timing, when the wire 51 became a state without a slack. The output of the encoder 55 at the time when the difference (change amount) between the value and the value acquired this time is equal to or smaller than a predetermined threshold value is obtained, and the output value of the encoder 55 at this time is stored as a reference value.

Further, the drive unit 50 outputs the output value (reference value) of the encoder 55 at this time to the information processing apparatus 2.

The information processing apparatus 2 is a consumer game machine or the like, is connected to the drive control circuit 56 of each drive unit 50, instructs the drive unit 50 to perform initialization processing, and also instructs the drive control circuit 56 Then, an instruction (drive instruction) for controlling the motor 54 and the clutch 53 is output.

In an example of the present embodiment, the information processing device 2 instructs initialization processing at a predetermined timing, such as at the start of an application program that controls the chair device 1, such as a game application or a game application. .

In addition, in the information processing apparatus 2, an application for controlling the chair apparatus 1 is intended to present to the user information on the measurement result output from the inclination sensor 15 (information on the actual inclination direction and inclination angle of the chair apparatus 1). An instruction signal for each of the plurality of drive units 50 of the chair device 1 is generated based on the information on the tilt direction and the tilt angle. This instruction signal is, for example, a signal that instructs the rotation angle of the motor 54 of each drive unit 50. A specific method for generating this signal will be described in detail later.

The information processing apparatus 2 includes a program control device such as a CPU, and executes a program stored in a storage unit such as a memory, thereby functionally receiving a sensor information receiving unit 61 as illustrated in FIG. The weight / gravity center estimation unit 62, the processing execution unit 63, the instruction information generation unit 64, and the instruction output unit 65 are configured.

The sensor information receiving unit 61 has an inclination (hereinafter referred to as a roll angle) in the left-right direction of the seat body 10 (around the normal axis of the surface of the backrest 12 facing the user's back) Information representing the inclination of the direction (around the axis in the direction in the plane of the seating portion 11 orthogonal to the front-rear direction) (hereinafter, this inclination angle is referred to as a tilt angle) is received from the inclination sensor 15. In the description of the present embodiment, both the roll angle and the tilt angle are expressed as angles with respect to the gravitational direction (vertical direction). That is, the roll angle and the tilt angle are set to “0” when not tilted, and the absolute value thereof increases as it tilts back and forth or right and left.

The weight / center-of-gravity estimation unit 62 is a chair device at a timing at which initialization processing is to be performed (timing at which initialization processing is instructed by a user, or when an application program for controlling the chair device 1 such as a game application is started). 1 is instructed to initialize.

Further, the weight / gravity center estimation unit 62 receives and stores the reference value information of each drive unit 50 input from the drive unit 50 of the chair device 1 after instructing the initialization process. The weight / center of gravity estimation unit 62 also performs a process of estimating the weight of the user based on the reference value information.

Specifically, as the weight of the user increases, the amount of rotation from the initial position of each reel 52 increases, so the reference value increases monotonously with respect to the weight W of the user. Therefore, the weight / center of gravity estimation unit 62 estimates the weight W using the average (which may be an arithmetic average) vav of the reference values of the reels 52 as W = p · vav. Here, p is a proportionality constant determined experimentally in advance.

Alternatively, the weight / center-of-gravity estimation unit 62 calculates an average (which may be an arithmetic average) vav of the reference values of the reels 52 when a load w is applied vertically downward to the seat body 10 of the chair device 1, for a plurality of w. The values are obtained in advance, and the average (which may be an arithmetic average) vav of the reference values of the reels 52 obtained during the initialization process is used to interpolate the values obtained in advance. The load applied to the face body 10 in the vertically downward direction may be estimated, and the estimation result may be the weight W of the user.

Further, the weight / centroid estimation unit 62 determines that the variation in the reference value information (the difference between the average of the reference values and the reference value) of each drive unit 50 obtained during the initialization process is greater than a predetermined threshold value. Alternatively, the user may be seated at the center of the seating body 10 and display the initial seating surface so as to be parallel to the floor surface.

Further, the weight / center of gravity estimation unit 62, in the process of performing the drive instruction, outputs information on the tilt direction and tilt angle to be presented to the user, which is output from the process execution unit 63 described later, and the sensor information receiving unit 61. The direction of the center of gravity of the user's weight is estimated based on the information received by the user.

Specifically, the information on the inclination direction and the inclination angle to be presented to the user, which is output from the processing execution unit 63 described later, includes the roll angle θR and the tilt angle θT of the seat surface 10 to be presented. . The weight / gravity center estimation unit 62 determines the difference ΔθR between the roll angle θSR and tilt angle θST output from the tilt sensor 15 received by the sensor information receiving unit 61 and the roll angle θR and tilt angle θT output from the processing execution unit 63. From θR−θSR and ΔθT = θT−θST, the roll angle and tilt angle in the direction of the center of gravity of the user's weight are estimated as ΔθR and ΔθT.

The process execution unit 63 executes a process such as a game application. This process execution part 63 outputs the information of the inclination direction and inclination angle which should be shown to the user sitting on the chair apparatus 1 by processes, such as a game application. As described above, here, the information on the tilt direction and tilt angle to be presented to the user, which is output from the processing execution unit 63, includes the roll angle θR and the tilt angle θT of the seat surface 10 to be presented. Shall be.

The processing execution unit 63 accepts ΔθR and ΔθT as roll angles and tilt angles in the direction of the center of gravity of the user's weight estimated by the weight / center of gravity estimation unit 62, and uses the information for processing such as a game application. May be provided.

For example, the process execution unit 63 makes the seat surface body 10 have different inclinations with respect to the inclination direction and the inclination angle (θR, θT) that the user intends to present in the execution process of the game application that operates the hang glider. When the body weight is moved (the inclination direction and inclination angle of the seat surface body 10 are changed), the actual inclination direction and inclination angle of the seat surface body 10 (θSR, θST output from the inclination sensor 15) are the inclinations to be presented. The direction and the inclination angle (θR, θT) are different values. Therefore, the difference between the actual inclination direction and inclination angle of the seating body 10 and the inclination direction and inclination angle to be presented (ΔθR, ΔθT) is used as information indicating the direction of the center of gravity of the user's weight, and the direction of the center of gravity. In this case, the game process may be executed by changing the attitude of the hang glider in the game, assuming that the sale (wings) of the hang glider is inclined.

The instruction information generation unit 64 outputs information on the roll angle θR and tilt angle θT of the seat surface 10 to be presented and information on the current tilt direction and tilt angle of the seat surface body 10 (tilt sensor) output from the processing execution unit 63. The reels that pull the wire 51 fixed to the vertices A, B, C, and D of the frame 41 using the difference from θSR, θST) output by the motor 15 and ΔθR = θR−θSR and ΔθT = θT−θST. For example, the rotation angle of the motor 54 that rotates the motor 52 is determined as follows. In the following example, the drive unit 50 related to the vertex A is expressed as a drive unit 50A, the drive unit 50 related to the vertex B is expressed as a drive unit 50B ..., and each unit such as a motor included therein is also represented by a symbol representing the vertex A, B, C, and D are attached for distinction.

That is, the instruction information generating unit 64 rotates the rotation angle φA (relative angle from the reference value, hereinafter referred to as φB, φC,...) Of the motor 54A that rotates the reel 52A that pulls the wire 51A fixed to the vertex A (front left of the seating surface). The same for)
φA = α ・ ΔθR + β ・ ΔθT
And Here, α and β are positive constants experimentally determined in advance.

In addition, the instruction information generation unit 64 sets the rotation angle φB of the motor 54B that rotates the reel 52B that pulls the wire 51B fixed to the apex B (right front of the seating surface),
φB = -α ・ ΔθR + β ・ ΔθT
Further, the instruction information generation unit 64 is fixed to the rotation angle φC of the motor 54C that rotates the reel 52C that pulls the wire 51C fixed to the vertex C (seat surface right rear) and the vertex D (seat surface left rear). The rotation angle φD of the motor 54D that rotates the reel 52D that pulls the wire 51D is
φC ＝－α ・ ΔθR－β ・ ΔθT
φD = α ・ ΔθR－β ・ ΔθT
And

Here, φA, φB... ΦD represent the rotational direction in which the wire 51 is wound (increases the inclination) when the value is positive.

Specifically, when ΔθR is positive, that is, θR> θSR, the instruction information generation unit 64 rotates the reel 52 in the direction in which the wire 51 fixed to the vertex A and the vertex D (left side of the seating surface) is wound, and the vertex B, rotate the reel 52 in a direction to pull out the wire 51 fixed to the vertex C (the right side of the seating surface), and rotate the seating surface clockwise (as viewed from the front) by the angle corresponding to the roll angle ΔθR. . When ΔθR is negative, conversely, the seat surface is rotated counterclockwise (as viewed from the front) by an angle corresponding to the roll angle | ΔθR | (where | x | is the absolute value of x Means).

Further, similarly for the tilt angle ΔθT, if ΔθT is positive, that is, θT> θST, the instruction information generation unit 64 reels the wire 51 fixed to the vertex A and the vertex B (front side of the seating surface) in the winding direction. 52 is rotated to rotate the reel 52 in a direction to pull out the wire 51 fixed to the vertex C and vertex D (back of the seating surface), and the seating surface is viewed by an angle corresponding to the tilt angle ΔθT (as viewed from the left side). ) Rotate clockwise (inclination direction). When ΔθT is negative, the seat surface is rotated counterclockwise (as viewed from the left side) by the angle corresponding to the tilt angle | ΔθT |

In this case, it is assumed that P control (proportional control) is performed to control the rotation direction of the motor using a difference (ΔθR, etc.) between a target value (θR, etc.) and a current value (θSR, etc.). However, the present embodiment is not limited to this, and the instruction information generation unit 64 holds the past difference (ΔθR, etc.), and the difference between the time difference values of the difference (current ΔθR, etc. and the past ΔθR, etc.) ) May be further added to perform so-called PD control, or PID control may be performed using a value corresponding to the integral value. Since these control methods are widely known, detailed description thereof is omitted here.

In addition, the instruction information generation unit 64 according to the present embodiment refers to the parameter α when calculating the rotation angle with reference to the user's weight information estimated by the weight / gravity center estimation unit 62 during the initialization process. , Β may be determined. In this case, the values of α and β are determined for each weight range (for example, when the user's weight W is 30 kg or more and less than 40 kg, α = α1, β = β1, and when 40 kg or more and less than 50 kg, α = α2, β = β2... and the like are determined experimentally (the above α1, β1, α2, β2... are experimentally determined), and the rotation angles φA, φB... φD are obtained using values corresponding to the estimated weight W. It is good as well.

In this way, even when the inclination angle changes according to the pulling amount of the wire 51 due to the difference in body weight, the control can be performed so that the desired inclination angle is obtained.

The instruction information generation unit 64 may output an instruction to control the clutch 53 of the driving unit 50 with reference to θSR and θST (information of actual driving amount) output from the inclination sensor 15. For example, the instruction information generation unit 64 outputs the absolute value of θST output from the inclination sensor 15 when the absolute value of θSR output from the inclination sensor 15 exceeds a predetermined threshold value θRth, that is, | θSR |> θRth. When the value exceeds a predetermined threshold value θTth, that is, when | θST |> θTth, the clutches 53A, B, C, and D of the drive units 50A, B, C, and D are turned off to rotate the motor 54. Control may be performed so that force is not transmitted to the reel 52 (the movement of the wire in the pulling direction is braked).

In this case, the instruction information generation unit 64 is configured such that when the absolute value of θSR output from the tilt sensor 15 is lower than a predetermined threshold value θRth, that is, | θSR | ≦ θRth and θST output from the tilt sensor 15. When the absolute value is below a predetermined threshold value θTth, that is, when | θST | ≦ θTth, the clutches 53A, B, C, D of the respective drive units 50A, B, C, D are connected to Control is performed to transmit the rotational force to the reel 52.

Thus, the rotation of the motor 54 can prevent the seat body 10 from tilting to an extreme roll angle or tilt angle, and the user sitting on the chair device 1 does not feel instability.

The instruction output unit 65 outputs the instruction output from the instruction information generation unit 64 to the drive control circuit 56 of the corresponding drive unit 50.

The chair device 1 of the present embodiment has the above-described configuration and is connected to the information processing device 2 described above and operates as follows.

For example, it is assumed that the information processing apparatus 2 is executing a game application for operating a hang glider. As the processing of this application, the information processing device 2 displays the inclination direction and the inclination angle of the virtual hang glider sale in the game in the coronal plane of the user sitting on the chair device 1 as the game player. It is represented by an inclination angle (roll angle) θR and an inclination angle (tilt angle) θT in the sagittal plane, and these are the inclination direction and inclination angle to be presented.

On the other hand, when the user is seated on the seat portion 11, the chair device 1 supports the seat surface of the seat portion 11 in a swingable state while the elastic member 20 is slightly shorter than the natural length (that is, assumed). The elastic member 20 having such an elastic force that the swinging motion is not disabled when a user with a weight of a person sitting is used).

Initially, it is assumed that the user is seated in the center of the seating section 11 without intentionally tilting the seating section 11. The tilt sensor 15 attached to the seating part 11 detects and outputs the actual roll angle and tilt angle (θSR, θST) of the seating part 11. Here, since the user is intentionally seated without tilting the seating section 11, θSR = 0 and θST = 0.

The information processing device 2 includes information on the roll angle θR and tilt angle θT of the seating body 10 to be presented by the game application, and information on the current tilt direction and tilt angle of the seating section 11 output by the chair device 1 (tilt sensor). 15 are calculated, and ΔθR = θR−θSR and ΔθT = θT−θST.

The information processing apparatus 1 then controls the rotation angle of the motor 54 that rotates the reel 52 that pulls the wire 51 fixed to each vertex A, B, C, D of the frame 41 using these values. Alternatively, it is determined by using a well-known control method such as PD control, and is output to the corresponding motor 54.

For example, when ΔθR is positive, that is, θR> θSR = 0, the information processing apparatus 2 rotates the reel 52 in a direction in which the wire 51 fixed to the vertex A and the vertex D (left side of the seating surface) is wound, The reel 52 is rotated in a direction to pull out the wire 51 fixed to the apex B and apex C (the right side of the seating surface), and the seating portion 11 fixed to the frame 41 is viewed by the angle corresponding to the roll angle ΔθR (viewed from the front). ) Rotate clockwise.

If ΔθT is positive, that is, θT> θST = 0, the information processing apparatus 2 rotates the reel 52 in the direction of winding the wire 51 fixed to the vertex A and the vertex B (front side of the seating surface). C, the reel 52 is rotated in the direction of pulling out the wire 51 fixed to the vertex D (back of the seating surface), and the seating portion 11 fixed to the frame 41 is viewed by the angle corresponding to the tilt angle ΔθT (viewed from the left side). ) Rotate clockwise (inclination direction).

This allows the user to experience the inclination of the sale in the hang glider game with the seating surface being inclined with the roll angle θR and the tilt angle θT.

On the other hand, when the user moves the weight in the seating portion 11 so as to return to the direction in which there is no tilt against the tilt, the actual tilt direction and tilt angle of the seating portion 11 (θSR, θST output by the tilt sensor 15). ) Is different from the inclination direction and inclination angle (θR, θT) to be presented. Therefore, the information processing device 2 receives the actual inclination direction and inclination angle of the seating portion 11 and obtains the difference (ΔθR, ΔθT) between the inclination direction and the inclination angle to be presented, and the weight of the user As information indicating the direction of the center of gravity of the game, it is used for processing of the game application, and the hang glider's sale (wing) is inclined in the direction of the center of gravity, and the attitude of the hang glider in the game is changed to process the game. Execute.

[User's own inclination]
In the above description of the present embodiment, the information processing device 2 controls the chair device 1 using information on the actual tilt direction and tilt angle of the seating unit 11. Is not limited to this.

In an example of this embodiment, the chair device 1 may use a user inclination sensor 16 that measures the inclination of the user who is seated on the seat body 10. As an example, when the user inclination sensor 16 is used, the chair device 1 includes a belt 13 that tightly fixes a user seated on the seat body 10 to the backrest portion 12. As illustrated in FIGS. 5 and 6, the belt 13 includes a chain 13 a having one end fixed to the front surface side (the seating portion 11 side) of the backrest portion 12 and an annular belt fastened around the waist of the user. The other end side of the chain 13a is fixed to one point of the annular belt portion 13b.

The annular belt portion 13b includes a belt main body 131 and a buckle 132, and after the user is seated on the seating portion 11, the end of the belt main body 131 is passed through the buckle 132 and fastened according to the size of the waist. The belt may be a known belt.

Since the annular belt portion 13b is fixed to the seat surface body 10 via the chain 13a, the user can freely move his / her weight within the range regulated by the length of the chain 13a on the seat surface body 10.

In an example of the present embodiment, the user inclination sensor 16 is attached to the annular belt portion 13b. As a specific example, the user inclination sensor 16 is attached at a position where it hits the back of the user when the annular belt portion 13b is fastened to the user. The user inclination sensor 16 uses the inclination angle (roll angle) θPR in the user's coronal plane and the inclination angle (tilt angle) θPT in the sagittal plane as information on the inclination direction and inclination angle of the annular belt portion 13b. Is detected and output.

In this example, the information processing device 2 uses the information on the roll angle θR and the tilt angle θT of the seat surface body 10 to be presented and the current control method for the tilt control of the seat surface body 10 of the chair device 1 as described above. The difference between θSR and θST output from the inclination sensor 15 and ΔθR = θR−θSR and ΔθT = θT−θST are used as information on the inclination direction and inclination angle of the seating surface 10.

On the other hand, the information processing apparatus 2 outputs an instruction to control the clutch 53 of the drive unit 50 with reference to θPR and θPT (information on the user's posture) output from the user inclination sensor 16. For example, the information processing apparatus 2 outputs when the absolute value of θPR output from the user inclination sensor 16 exceeds a predetermined threshold value θRth, that is, when | θPR |> θRth, or the user inclination sensor 16 outputs. When the absolute value of θPT exceeds a predetermined threshold value θTth, that is, when | θPT |> θTth, the clutches 53A, B, C, and D of the drive units 50A, B, C, and D are disconnected, and the motor Control is performed so that the rotational force of 54 is not transmitted to the reel 52.

Further, the information processing device 2 is configured such that when the absolute value of θPR output from the user inclination sensor 16 is below a predetermined threshold value θRth, that is, | θPR | ≦ θRth and θPT output from the user inclination sensor 16. Is smaller than a predetermined threshold value θTth, that is, when | θPT | ≦ θTth, the clutches 53A, B, C, and D of the drive units 50A, B, C, and D are connected, and the motor Control is performed so that the rotational force of 54 is transmitted to the reel 52.

According to this example, even when the inclination of the seat surface body 10 itself does not exceed the threshold value, the clutch 53 is disengaged when the user moves the center of gravity of the body weight and assumes an inclination exceeding the threshold value. As cutting, it controls so that the inclination of the seat surface body 10 is not changed. Thereby, with the user's weight shift, the user's own inclination (relative to the direction of gravity) becomes too large, and the opportunity for the user to feel unstable is reduced.

Here, an example in which the clutch 53 is disengaged when the absolute value of the inclination angle output by the user inclination sensor 16 exceeds a predetermined threshold has been described, but the present embodiment is not limited to this example, and the information In the processing device 2, the absolute value of the tilt angle output from the user tilt sensor 16 exceeds a predetermined threshold value, and the information on the roll angle θR and the tilt angle θT of the seat surface 10 to be presented is the seat surface body. When the inclination angle is larger than the inclination angle output from the inclination sensor 15 fixed to 10 (when the inclination angle is to be controlled to be increased), the clutch 53 is controlled to be disengaged. You may perform control to connect.

[Foot support part]
Moreover, the chair apparatus 1 of this Embodiment may further have the foot support part 70 on which the user who seated on the seat surface body 10 mounts a foot. In this example, in the state where the user is seated on the seat surface body 10 and the legs are naturally extended, the height of the seating portion 11 (the height from the upper surface of the base portion 30 is such that the foot does not contact the upper surface of the base portion 30. ) Is set in advance.

In addition, as illustrated in FIG. 7, the foot support portion 70 of this example is located in front of the seating portion 11, at the center in the left-right direction, and in the vicinity of the upper end of the support 71 and the support 71 erected from the pedestal 30. A supporting rod member 72 that is fixed and cantilevered in the left-right direction, and a box shape that is swingably attached to the vicinity of the left-right end of the supporting rod member 72 via an annular chain 73. The support 74 is configured. The chain 73 has an annular shape through the inside of the support body 74 through openings formed on both side surfaces of the box-shaped support body 74, and when the user places his / her feet on the upper surface of the support body 74, It does not interfere with the foot.

Further, the support body 74 includes a belt-like member 75 that fastens and fixes the user's foot on the upper surface (support surface 74f on which the user's foot is disposed). Furthermore, the foot support portion 74 includes a support surface driving portion 76 that vibrates the support surface 74f of the support body 74 from below inside the box-shaped housing. The support surface driving unit 76 can be configured by a vibrator that vibrates the support surface or a known haptic device according to an instruction from the information processing apparatus 2.

In this example, the user puts his / her foot on the upper surface (support surface) of the support body 74 and fixes it with the belt-like member 75. In this state, the user can freely move his / her foot within the range regulated by the chain 73, and vibration provided in response to an instruction input from the information processing device 2 is transmitted to the sole of the foot. Thus, for example, in a walking scene, by alternately vibrating the support surface of the support body 74 of the left and right foot support portions 70 from the information processing device 2, a feeling like when walking is used. Can be presented on the soles of the people.

[Yaw angle]
Further, in the examples so far, the inclination of either the roll angle or the tilt angle is presented to the user, but the pedestal 30 is rotated in a plane horizontal to the floor ( It is also possible to experience the rotational movement of the yaw angle by applying a known turntable technique.

[Modification]
Furthermore, in the explanation so far, the direction of the inclination and the inclination angle are controlled by supporting the elastic member from below, pulling at least a part of the peripheral edge of the seating surface downward, and applying a force in a direction approaching the installation surface. Although it is not necessarily in the pulling direction, for example, by using a rigid rod member in place of the wire 51, a force is applied in the pushing-up direction (direction away from the installation surface), and the inclination direction and The tilt angle may be controlled.

[Effect of the embodiment]
As described above, in this embodiment, the seating surface is supported by the elastic member from below, and a force is applied in a direction toward or away from the installation surface with respect to at least one of the outer edge portions of the seating surface. The tilt drive can be realized with a relatively small force (by an inexpensive motor) as compared with a conventional sensation-type chair device that lifts and swings a chair in a suspended state.

In addition, according to the example of detecting the actual inclination of the user, the inclination control can be braked when the user inclines more than the inclination of the chair device itself due to his / her movement, which is not effective for the user. There is no sense of stability.

DESCRIPTION OF SYMBOLS 1 Chair apparatus, 2 Information processing apparatus, 10 Seat surface body, 11 Seat part, 12 Backrest part, 13 Belt, 13a Chain, 13b Annular belt part, 15 Inclination sensor, 16 User inclination sensor, 20 Elastic member, 30 Base part, 40 support body, 41 frame, 42 handle, 50 drive unit, 51 wire, 52 reel, 53 clutch, 54 motor, 55 encoder, 56 drive control circuit, 61 sensor information receiving unit, 62 weight / center of gravity estimation unit, 63 process execution Part, 64 instruction information generation part, 65 instruction output part, 70 foot support part, 71 strut, 72 support rod member, 73 chain, 74 support body, 74f support surface, 75 belt-like member, 76 support surface drive part, 131 belt Body, 132 buckle.

Claims

A seating body,
A support for supporting the seat surface, the support having tilting means for tilting the seat surface;
Control means for accepting an inclination instruction input from the outside and controlling the inclination means according to the inclination instruction;
Including
The tilting means of the support is
An application means for applying a force in a direction toward or away from the installation surface with respect to at least one portion of the outer edge of the seat surface;
The chair apparatus which has an elastic member which is fixed to the bottom part of the said seat surface body, the other end side is distribute | arranged to the installation surface, and supports the said seat surface body so that a swing motion is possible.
The chair device according to claim 1,
The application means includes a wire having one end fixed to at least one portion of the outer edge of the seat surface;
A drive unit disposed on the installation surface side of the seat body and driving the other end side of the wire in a pulling direction;
Comprising
The driving unit includes a detecting unit that detects a driving amount;
Clutch means for braking the movement of the wire in the pulling direction based on the detected driving amount;
A chair device having.
The chair device according to claim 1 or 2,
A user who is seated on the seating surface further has a foot support portion on which a foot is placed;
The foot support part includes a support surface for supporting the foot,
A support surface drive unit that vibrates the support surface from below;
A chair device further comprising: