WO2023166873A1 - Operating system and operating unit - Google Patents

Abstract

Provided are an operating system and an operating unit which are devices usable in a game controller or the like that receives a tilting operation and which are capable of controlling an operation load relating to tilting.　The operating system comprises an operating unit that receives an operation, the operating unit having a tilting body for receiving an operation of tilting from a reference position toward any direction to any angle, to operate an operation object according to the tilted state of the tilting body. The operating unit comprises a load unit 25L that applies a load corresponding to the tilting operation on the tilting body and a control unit 300 that controls the load applied by the load unit 25L according to the tilting direction.

Description

Operating system and operating unit

The present invention relates to an operation system provided with an operation unit that accepts operations, and an operation unit that can be incorporated into such an operation system.

Various devices are in widespread use as operating devices for operating various devices such as computer games. For example, Patent Literature 1 proposes an operation device for a game machine having a plurality of operation buttons. The operation device for a game machine proposed in Japanese Patent Laid-Open No. 2002-200002 creates a sense of realism by generating vibrations or the like in response to feedback from the game machine main body.

JP-A-2002-263365

With the development of computer games, there is a demand for enhanced entertainment such as improved immersion in computer games. Further, for operation devices used for purposes other than computer games, such as industrial devices, there is a demand for an operation device with a high degree of design freedom in terms of operational feeling, such as making it easier to recognize situations related to operations. Such an operation device incorporates an operation unit such as a joystick that receives operations.

The present invention has been made in view of such circumstances, and aims to provide an operation system that can control the operational feeling by controlling the load on the operation.

Another object of the present invention is to provide an operation unit that can be incorporated into such an operation system.

In order to solve the above problems, an operation system disclosed in the present application includes an operation unit that receives an operation, the operation unit has a tilting body that receives an operation of tilting at an arbitrary angle in an arbitrary direction from a reference position, An operation system for operating an operation target in accordance with a tilting state of a tilting body, wherein the operation unit includes a load section that applies a load to the tilting operation of the tilting body, and the load from the load section is applied in a tilting direction. The present invention is characterized by further comprising a control unit that performs control according to the above.

Further, in the operation system, the control section is characterized by controlling the load applied by the load section according to the tilting angle.

Further, the operation system further includes a detection unit used for detecting the tilting direction and the tilting angle, and a table indicating the degree of load in association with the tilting direction and the tilting angle, and the control unit controls the load based on the table. and controlling the load applied by the load section in accordance with the degree of load corresponding to the tilting direction and the tilting angle detected by the detection section.

Further, in the operation system, the control unit applies a load against tilting in a predetermined tilting direction.

Further, in the operation system, the control unit applies a load against tilting in directions other than two or four directions linearly extending from the reference position.

Further, in the operation system, the control unit applies a load against tilting in a fan-shaped direction with the reference position as the center of the fan.

Further, in the operation system, the sector shape is a semicircular shape.

Further, in the operation system, the control unit applies a load when the tilting direction and tilting angle of the tilting body reach a predetermined tilting direction and tilting angle.

Further, in the operation system, the control unit applies a load to tilting outside a closed shape including the reference position within a virtual spherical crown that is a tilting range of the tilting body. .

Further, in the operation system, the control unit applies a load whose magnitude changes according to the tilt angle.

Further, in the operation system, the control unit applies a load that prevents tilting in a direction in which the tilting angle increases.

Further, in the operation system, the control unit applies a load that is transmitted as vibration.

Further, in the operation system, the control unit applies a load to maintain the tilted state by the tilting operation.

Further, the operation system is characterized by comprising an operation device including the operation unit and a main unit including the control section.

Furthermore, the operation unit disclosed in the present application can be incorporated into the operation system, and is characterized by including the load section.

The operation system and the operation unit according to the present invention have excellent effects such as being able to control the feeling of operation by controlling the load on the tilting operation of the tilting body.

1 is a schematic perspective view showing an example of the appearance of an operation device and a main body device used in the operation system disclosed in the present application; FIG. 1 is a schematic perspective view showing an example of the appearance of an operating device disclosed in the present application; FIG. It is a schematic perspective view showing an example of an operation unit disclosed in the present application. 1 is a schematic exploded perspective view showing an example of an operation unit disclosed in the present application; FIG. FIG. 3 is a schematic cross-sectional view schematically showing an example of a cross section of an operation unit disclosed in the present application; FIG. 3 is a schematic cross-sectional view schematically showing an example of a cross section of an operation unit disclosed in the present application; It is a schematic perspective view showing an example of an operation unit disclosed in the present application. 1 is a schematic exploded perspective view showing an example of part of an operation unit disclosed in the present application; FIG. It is a schematic cross-sectional perspective view showing an example of a cross section of an operation unit disclosed in the present application. It is a schematic cross-sectional perspective view showing an example of a cross section of an operation unit disclosed in the present application. 2 is a schematic block diagram conceptually showing an example of a functional configuration of a control board included in a main unit used in the operation system disclosed in the present application; FIG. 1 is a conceptual diagram showing a polar coordinate system; FIG. FIG. 4 is an explanatory diagram conceptually showing an example of a weight table of a control board provided in a main unit used in the operation system disclosed in the present application; FIG. 4 is an explanatory diagram conceptually showing an example of a vibration table of a control board provided in a main unit used in the operation system disclosed in the present application; FIG. 4 is an explanatory diagram conceptually showing an example of a vibration table of a control board provided in a main unit used in the operation system disclosed in the present application; FIG. 4 is an explanatory diagram conceptually showing an example of a vibration table of a control board provided in a main unit used in the operation system disclosed in the present application; FIG. 4 is an explanatory diagram conceptually showing an example of a vibration table of a control board provided in a main unit used in the operation system disclosed in the present application; 2 is a schematic block diagram conceptually showing an example of a functional configuration of a control board included in a main unit used in the operation system disclosed in the present application; FIG. FIG. 4 is a conceptual diagram showing an example of a load control mode in the operation system disclosed in the present application; FIG. 4 is a conceptual diagram showing an example of a load control mode in the operation system disclosed in the present application; FIG. 4 is a conceptual diagram showing an example of a load control mode in the operation system disclosed in the present application; FIG. 4 is a conceptual diagram showing an example of a load control mode in the operation system disclosed in the present application; FIG. 4 is a conceptual diagram showing an example of a load control mode in the operation system disclosed in the present application; FIG. 4 is a conceptual diagram showing an example of a load control mode in the operation system disclosed in the present application; FIG. 4 is a conceptual diagram showing an example of a load control mode in the operation system disclosed in the present application; FIG. 4 is a conceptual diagram showing an example of a load control mode in the operation system disclosed in the present application; FIG. 4 is a conceptual diagram showing an example of a load control mode in the operation system disclosed in the present application; FIG. 4 is a conceptual diagram showing an example of a load control mode in the operation system disclosed in the present application; FIG. 4 is a conceptual diagram showing an example of a load control mode in the operation system disclosed in the present application; FIG. 4 is a conceptual diagram showing an example of a load control mode in the operation system disclosed in the present application; FIG. 4 is a conceptual diagram showing an example of a load control mode in the operation system disclosed in the present application; FIG. 4 is a conceptual diagram showing an example of a load control mode in the operation system disclosed in the present application; FIG. 4 is a conceptual diagram showing an example of a load control mode in the operation system disclosed in the present application; FIG. 4 is a conceptual diagram showing an example of a load control mode in the operation system disclosed in the present application; FIG. 4 is a conceptual diagram showing an example of a load control mode in the operation system disclosed in the present application;

<Application example>
Hereinafter, embodiments will be described with reference to the drawings. The operation system disclosed in the present application includes an operation device such as a joystick-type game controller and a main device such as a game machine main body. The operation device incorporates an operation unit such as a joystick. The operation device disclosed in the present application can be used, for example, as a joystick controller to operate various objects to be operated, such as computer games, various toys, various moving bodies, various measuring devices, and various industrial robots. It is possible. Hereinafter, an operation system S including an operation device 1 applied to a joystick controller and an operation unit 2 incorporated in the operation device 1 will be described with reference to the drawings.

<Operation system>
The operation device 1 included in the operation system S can be realized in various forms. Hereinafter, an operation system S including various forms of operation devices 1 will be described.

<First Embodiment of Operating Device>
First, a first embodiment of the operating device 1 will be described. FIG. 1 is a schematic perspective view showing an example of the appearance of an operation device 1 and a main unit 3 used in an operation system S disclosed in the present application. An operation system S includes an operation device 1 and a main body device 3 . The operation device 1 includes a housing 10, and the housing 10 is formed at both ends with grip portions 11 to be gripped with the right hand and the left hand, respectively. When the gripping portions 11 at both ends are gripped, the positions on the upper surface where the fingers touch are opened in a substantially circular shape. Protruding. The operation unit 12 is attached to a shaft member 20 (see FIG. 3 etc.) included in the operation unit 2 (see FIG. 3 etc.) incorporated in the operation device 1 . Furthermore, on the upper surface side, a plurality of operation buttons 13 are arranged at positions that can be pressed by the operator's fingers. In the operation device 1 illustrated in FIG. 1, two operation units 2, an operation unit 2 for detecting an operation based on a right hand operation and an operation unit 2 for detecting an operation based on a left hand operation, are installed in one housing. Built in 10. The operator can perform operations such as a tilting operation for tilting the shaft member 20 and a pressing operation for pushing the shaft member 20 toward the inside of the housing 10 on the operation unit 12 . In the present application, for convenience of explanation, the side positioned upward when the operator operates in a general posture, that is, the side where the operation button 13 is arranged and the operation section 12 protrudes will be described as the upper side. .

The main unit 3 incorporates a control board 30 that controls the operation load of the operation unit 2 provided in the operation device 1 .

<Second Embodiment of Operating Device>
Next, a second embodiment, which is another embodiment of the operating device 1, will be described. FIG. 2 is a schematic perspective view showing an example of the appearance of the operating device 1 disclosed in the present application. FIG. 2 shows another form of the operating device 1. As shown in FIG. The operation device 1 illustrated in FIG. 2 incorporates various mechanisms such as one operation unit 2 in one housing 10, and is formed as a controller for one-handed operation. For example, when applied to a controller of an industrial robot, it is possible to operate the operation device 1 according to the present invention with one hand and perform other work with the other hand, so such a configuration is particularly effective. be. It is also effective as a controller for a computer game in which different operating devices 1 are held with the left and right hands.

<Operation unit>
Next, the operation unit 2 will be explained. The operating unit 2 can be realized in various forms. Various forms of the operation unit 2 will be described below.

<First Embodiment of Operation Unit Structure>
First, a first embodiment of the structure of the operation unit 2 will be described. FIG. 3 is a schematic perspective view showing an example of the operation unit 2 disclosed in the present application. FIG. 4 is a schematic exploded perspective view showing an example of the operation unit 2 disclosed in the present application. FIG. 5 is a schematic cross-sectional view schematically showing an example of a cross section of the operation unit 2 disclosed in the present application. 3 to 5 illustrate the operating unit 2 incorporated in the operating device 1 disclosed in the present application. FIG. 5 is a cross section of the internal structure of the operation unit 2 taken along a vertical plane passing through line AB shown in FIG. 3, and shows a part of the structure as a simplified schematic diagram.

The operation unit 2 includes various members related to operations such as a shaft member 20, a tilting body 21, a holding member 22, and a detection unit 23 (detection section). Further, the operation unit 2 includes a support mechanism 24 for supporting members such as the holding member 22 on a substrate (not shown) incorporated in the operation device 1, and a load unit 25 (load section) that applies a load to the operation. and other various members. In the following description, as shown in FIGS. 3 to 5, a state in which a virtual central axis parallel to the longitudinal direction of the shaft member 20 and passing through the center of the tilting body 21 is oriented in the vertical direction is assumed to be the reference posture. defined as

The shaft member 20 has a long rod shape, and the operating part 12 can be attached to the upper end thereof as illustrated in FIGS. 1 and 2 . A lower portion of the shaft member 20 is inserted into a substantially cylindrical insertion portion 210 formed in the tilting body 21 and formed to protrude from the upper end of the tilting body 21 . The upper portion of the shaft member 20 is processed into a shape to which the operating portion 12 can be attached. The shaft member 20 is inserted through the insertion portion 210 of the tilting body 21 and held by the insertion portion 210 so as to be rotatable in the circumferential direction.

The tilting body 21 is a substantially spherical hollow member, and is formed in a shape in which a substantially cylindrical insertion portion 210 through which the shaft member 20 is inserted is attached to a substantially spherical spherical portion 211 . An opening 212 through which the connection line 230 of the detection unit 23 is passed is formed in the side surface of the spherical portion 211 , and the connection line 230 extends outside through the opening 212 . The opening 212 has an oblong shape extending in the vertical direction. At the lower end of the tilting body 21, a pressed portion 213 having a substantially disc shape is formed.

The tilting body 21 receives an operation from the outside (operator) via the operation portion 12 and the shaft member 20, and operates according to the operation. The motion of the tilting body 21 in response to the operator's operation is about a virtual central axis parallel to the longitudinal direction of the shaft member 20 and passing through the center of the tilting body 21 . Specifically, the operation of the shaft member 20 is an operation of tilting the central axis with the center of the tilting body 21 as a fulcrum, and an operation of moving in the vertical direction (extending direction of the central axis). When the shaft member 20 performs a tilting motion, the tilting body 21 performs a tilting motion with the center as a fulcrum in conjunction with the motion of the shaft member 20 . The shaft member 20 and the tilting body 21 can be manipulated and tilted in any direction out of 360°. In addition, the shaft member 20 and the tilting body 21 can be tilted at any angle between the reference posture and a predetermined tilting limit by receiving an operation. When the shaft member 20 moves up and down, the tilting body 21 moves up and down in conjunction with the motion of the shaft member 20 .

The holding member 22 is a member arranged so as to cover the tilting body 21, and has a substantially spherical outer shape. The inner surface of the holding member 22 is formed in a substantially concave spherical shape along the outer surface of the tilting body 21, and holds the tilting body 21 operably from the outside. The holding member 22 is assembled by joining two laterally separable halves and incorporates a slide ring 220 so as to be sandwiched inside the halves. The slide ring 220 is formed in a substantially annular shape in plan view. More specifically, it has a substantially spherical shape cut by two horizontal planes. The sliding ring 220 is made of resin such as polyacetal resin (POM), polyamide resin (PA), or polytetrafluoroethylene resin (PTFE), which has a low coefficient of friction. The tilting body 21 held by the holding member 22 is operably held in contact with the sliding ring 220 . Since the tilting body 21 operates such as tilting while maintaining a state of contact with the sliding ring 220, the sliding ring 220 reduces the frictional force generated during the operation.

The support mechanism 24 attached to the lower portion of the holding member 22 includes a pressing member 240, a first biasing member 241, a movable member 242, a fixed member 243, a shaft support portion 244, a second biasing member 245, a depression detection portion 246, and the like. Various members of are incorporated.

The pressing member 240 incorporated in the support mechanism 24 is a member that presses the pressed portion 213 at the lower end of the tilting body 21 from below to above. The pressing member 240 has a disk portion 2400 having a disk shape at its upper portion, and a peripheral edge of the disk portion 2400 extends downward to form a cylindrical portion 2401 having a cylindrical shape. A substantially cylindrical presser 2402 extending downward from the vicinity of the center of the lower surface of the disk portion 2400 of the pressing member 240 is arranged. The support mechanism 24 is formed with an annular groove in plan view into which the cylindrical portion 2401 of the pressing member 240 is loosely fitted with some play. The pusher 2402 passes through a through hole formed in the lower portion of the support mechanism 24 and protrudes downward. The lower end of the pusher 2402 receives upward pressure from the load unit 25 . The pressing member 240 moves up and down while the cylindrical portion 2401 is loosely fitted in the groove. A first biasing member 241 using a return spring such as a compression coil spring is arranged in the groove. The lower end of the first biasing member 241 is fixed to the inner bottom surface of the groove, and the upper end of the first biasing member 241 contacts the pressing member 240 to bias the pressing member 240 upward. When the first biasing member 241 biases the pressing member 240 upward, the pressing member 240 comes into contact with the pressed portion 213 formed at the lower end of the tilting body 21 on the top surface, and pushes the pressed portion 213 upward. press to. As a result, the tilting body 21 operates so as to return to the reference posture even when it receives an operation and performs a tilting motion.

The operation unit 2 disclosed in the present application supports a pressing operation for pressing the operation unit 12 downward, that is, a so-called click operation. When the operation unit 2 receives an operation to press the operation portion 12, the shaft member 20 moves downward in the extending direction of the central axis, and holds the tilting body 21 to which the shaft member 20 is attached and the tilting body 21. The holding member 22 moves downward in conjunction with the shaft member 20 . As a mechanism corresponding to the pressing operation, the support mechanism 24 includes various members such as the movable member 242, the fixed member 243, the shaft supporting portion 244, the second biasing member 245, the pressing detection portion 246, and the like.

The movable member 242 is fixed to the lower end of the holding member 22, and performs a swinging motion in response to a pressing operation. The fixed member 243 swingably supports the movable member 242 with a shaft support portion 244 using a shaft support pin, and the movable member 242 swings with the shaft support portion 244 as a swing fulcrum. A second biasing member 245 using a return spring such as a compression coil spring is arranged above the fixed member 243, and the second biasing member 245 biases the movable member 242 upward. The press detection unit 246 is arranged between the movable member 242 and the fixed member 243, and is configured using members such as a tactile switch and a pressure sensor that receive pressure based on the downward movement of the movable member 242. FIG. As a result, the pressing detection unit 246 has functions such as detecting a pressing operation and generating an operation feeling called a click feeling.

In the operation unit 2, in conjunction with the downward movement of the shaft member 20 based on the pressing operation on the operation portion 12, the movable member 242 swings downward with the shaft support portion 244 as a swing axis, thereby providing a tactile switch and a pressure sensing function. The press detection unit 246 such as a sensor is pressed. In the operation unit 2, the angle at which the movable member 242 swings due to the pressing operation is minute, so the swinging motion of the shaft can be regarded as substantially the same as a minute up-and-down motion. That is, the movable member 242 and the tilting body 21 arranged on the movable member 242 and through which the shaft member 20 is inserted are interlocked with the downward movement of the shaft member 20 based on the pressing operation, and move in the same direction as the pressing operation. Move downwards to become parallel. The term "substantially parallel" as used herein means parallel (downward) or an angle slightly inclined from parallel considering the swing angle, and refers to an angle within a range that can be regarded as substantially parallel. The press detection unit 246 detects press by the movable member 242 and outputs an electrical signal indicating the downward movement of the shaft member 20 via the connection line 230 branched from the detection unit 23 . When the pressing of the operating portion 12 is released, the second biasing member 245 biases the shaft member 20, the tilting body 21, the holding member 22, the movable member 242, and other members to return to the reference position.

The detection unit 23 includes members such as a magnet 231 fixed to the inner bottom, which is the lower end of the tilting body 21, and a magnetic field sensor 232 for detecting a magnetic field, in addition to the connection line 230 described above. The magnet 231 is formed of a flat, substantially cylindrical permanent magnet, and is arranged so that the magnetic poles are oriented parallel to the central axis. In the present application, the direction of the magnetic poles means the direction connecting the two magnetic poles. Therefore, for example, the arrangement of the magnets 231 can be exemplified by a fixed configuration in which the north pole faces upward and the south pole faces downward. The magnetic field sensor 232 is arranged near the center of the spherical portion 211 of the tilting body 21 . The magnetic field sensor 232 has a gimbal structure capable of maintaining its posture regardless of the movement of the tilting body 21 . The magnetic field sensor 232 is configured using an electronic element such as a Hall IC that detects a magnetic field and outputs an electric signal based on the detected magnetic field. The magnetic field detected by the magnetic field sensor 232 is output to the outside via the connection line 230 as an electrical signal.

The load unit 25 is an actuator that pushes up the pressing member 240 from below, and by pushing up the pressing member 240, applies a load for the tilting operation. The load unit 25 has a power source such as a solenoid, a VCM (Voice Coil Motor), a motor, etc. in order to push up the pressing member 240 . The load unit 25 may be configured to directly push up the pusher 2402 as a pusher, or may have various intervening parts such as cams, gears, links, etc. interposed to push up the intervening part as a pusher. When the disk portion 2400 of the pressing member 240 and the pusher 2402 are connected and fixed inseparably, and the pusher 2402 and the load unit 25 are connected and fixed, the load unit 25 causes the pressure member 240 to move. It is also possible to apply a pull down load, ie a negative load. Also, the load by the load unit 25 can be applied as vibration by controlling the energization of the load unit 25 . Structurally, when the pusher of the load unit 25 is separable from the pusher 2402, it is preferable to provide a position detector 25PM (see FIG. 18, etc.) such as a potentiometer for detecting the position of the pusher 2402. When the position detection unit 25PM is provided, the difference between the tilt angle of the tilting body 21 calculated from the position of the pusher 2402 detected by the position detection unit 25PM and the tilt angle of the tilting body 21 detected by the magnetic field sensor 232 is used. Then, the load unit 25 is controlled. This makes it possible to suppress deterioration in response due to the gap between the pusher 2402 and the load unit 25 .

The operation of the operation unit 2 configured as above will be described. FIG. 6 is a schematic cross-sectional view schematically showing an example of a cross section of the operation unit 2 disclosed in the present application. FIG. 6 shows a state in which the shaft member 20 and the tilting body 21 of the operation unit 2 are tilted from the reference position in response to the operator's tilting operation from the state shown in FIG.

When the operating portion 12 receives a tilting operation, the shaft member 20 and the tilting body 21 of the operating unit 2 tilt with the center of the tilting body 21 as a fulcrum. When the shaft member 20 and the tilting body 21 are in the reference posture as illustrated in FIG. Since the shaft member 20 and the tilting body 21 are pressed toward each other, they assume a stable posture. As illustrated in FIG. 6, when the shaft member 20 and the tilting body 21 are tilted, the pressed portion 213 presses the pressing member 240 downward at the peripheral edge portion. In the state illustrated in FIG. 6, the pressing member 240 presses the peripheral edge of the pressed portion 213 upward where the center of the tilting body 21 is located. force acts in the direction As illustrated in FIG. 6, when the shaft member 20 and the tilting body 21 are tilted from the reference posture, a force acts in the direction of returning to the reference posture, resulting in an unstable state. Therefore, when the tilting force applied by the operator is released, the shaft member 20 and the tilting body 21 return to their reference positions.

The force associated with pressing the pressing member 240 is the resultant force of the force urged by the first urging member 241 and the force pushed up by the load unit 25 . The force biased by the first biasing member 241 is determined by the spring constant and the length in the pressing direction. The force exerted by load unit 25 is controlled in a manner to be described below.

The operator perceives the force of the pressing member 240 that returns the tilting body 21 to the reference position as a load for the operation. The operation unit 2 disclosed in the present application presses the pressing member 240 not only by pressing by the first biasing member 241 but also by the operation of the controllable load unit 25 . By controlling the operation of the load unit 25, the load felt by the operator can be controlled.

When the shaft member 20 and the tilting body 21 tilt, the magnetic field generated by the magnet 231 detected by the magnetic field sensor 232 changes, and the changed state is output to the outside as a signal indicating the tilting direction and the tilting angle.

<Second Embodiment of Operation Unit Structure>
Next, a second embodiment of the structure of the operation unit 2 will be described. FIG. 7 is a schematic perspective view showing an example of the operation unit 2 disclosed in the present application. FIG. 8 is a schematic exploded perspective view showing an example of part of the operation unit 2 disclosed in the present application. 9 and 10 are schematic cross-sectional perspective views showing an example of a cross section of the operation unit 2 disclosed in the present application. FIG. 9 is a cross section of the internal structure of the operation unit 2 cut along a vertical plane passing through the line segment CD shown in FIG. 7, and a part of the structure is shown in simplified form. FIG. 10 is a cross section of the internal structure of the operation unit 2 taken along a vertical plane passing through the EF line segment shown in FIG. 7, and a part of the structure is shown in simplified form. In the following description of the second embodiment of the structure of the operation unit 2, for convenience of explanation, the direction of the line segment CD is defined as the X direction, and the direction of the line segment EF is defined as the Y direction.

The operation unit 2 includes members such as a shaft member 20, a tilting body 21, and a holding member 22, and further includes a support member 26, a first load unit 25a (load section), a first detection unit 23a (detection section), a second It includes members and mechanisms such as a load unit 25b (loading section) and a second detection unit 23b (detection section). 7 to 10 show a state in which the operating portion 12 is attached to the upper end of the shaft member 20. FIG.

The shaft member 20 has an elongated rod shape, and the operating part 12 can be attached to its upper end. A lower portion of the shaft member 20 is connected to a tilting body 21 .

The tilting body 21 is a substantially spherical member, and has two first support shafts 214 protruding in a direction parallel to the X direction. A straight line connecting the two protruding first support shafts 214 passes through the center of the ball of the tilting body 21, and the first support shaft 214 serves as a rotation shaft that supports the tilting body 21 so as to be rotatable.

The holding member 22 is a member with a substantially spherical outer shape formed so as to cover the tilting body 21 , and includes an inner shell portion 221 and an outer shell portion 222 .

The inner shell part 221 is an inner member that covers the tilting body 21, and the inner surface is formed in a substantially concave spherical shape along the outer surface of the tilting body 21, and the outer shape is formed in a substantially spherical shape. The inner shell 221 is assembled by joining two longitudinally separable halves. The inner shell portion 221 has two first bearing portions 2210 which serve as bearings for rotatably supporting the first support shaft 214 of the tilting body 21 and penetrate in the X direction at positions corresponding to the first support shaft 214. It is opened as a through hole of Further, the inner shell portion 221 is formed with two second support shafts 2211 protruding in a direction parallel to the Y direction. A straight line connecting the two protruding second support shafts 2211 passes through the center of the sphere of the holding member 22, and the second support shaft 2211 rotatably supports the tilting body 21 and the inner shell portion 221. It becomes the driving shaft.

The outer shell portion 222 is an outer member that covers the inner shell portion 221. The inner surface of the outer shell portion 222 is formed in a substantially concave spherical shape along the outer surface of the inner shell portion 221, and the outer shape is formed in a substantially spherical shape. . The shell 222 is assembled by joining two longitudinally separable halves. In the outer shell portion 222, a second bearing portion 2220 serving as a bearing that rotatably supports the second support shaft 2211 of the inner shell portion 221 penetrates in the Y direction at a position corresponding to the second support shaft 2211. It is opened as a through hole of the place. Further, the outer shell portion 222 is formed with two third support shafts 2221 protruding in a direction parallel to the X direction. The third support shaft 2221 serves as a rotation shaft that rotatably supports the tilting body 21, the inner shell portion 221 and the outer shell portion 222. As shown in FIG.

The support member 26 is a plate-shaped frame formed in a semi-arc shape, and the inner surface is formed in a shape along the outer surface of the outer shell portion 222 of the holding member 22 . The support member 26 has a third bearing portion 260 as a through hole formed at each end of the support member 26 as a bearing for rotatably supporting the third support shaft 2221 of the outer shell portion 222 . Since the third bearing portion 260 serves as a bearing for the third support shaft 2221, the support member 26 itself is also pivotally supported by the third support shaft 2221 so as to be swingable. In the vicinity of the center of the support member 26, a guide hole 261 having a substantially rounded rectangular shape with long sides extending in the longitudinal direction of the support member 26 is opened, and the shaft member 20 is inserted through the guide hole 261. When the tilting direction of the shaft member 20 is the X direction, the shaft member 20 tilts along the guide hole 261 , and when the tilting direction is the Y direction, the shaft member 20 tilts together with the support member 26 . When the tilting direction is other than the X direction and the Y direction, the operation is performed in the X direction and the Y direction.

The first load unit 25a is a power source such as a motor for applying a load to the tilting body 21 for tilting in the X direction. Concatenated. The first detection unit 23a has a reduction gear and an angle sensor, transmits power from the first load unit 25a to the tilting body 21, and detects the tilting angle of the tilting body 21 in the X direction.

The second load unit 25b is a power source such as a motor for applying a load for tilting the tilting body 21 in the Y direction. Concatenated. Further, the second detection unit 23b is tightly connected to the third bearing portion 260 of the support member 26. As shown in FIG. The second detection unit 23b has a reduction gear and an angle sensor, transmits the power from the second load unit 25b to the tilting body 21 via the support member 26, and detects the tilting angle of the tilting body 21 in the Y direction. It is detected via the angle of the supporting member 26 that tilts together with the tilting body 21 .

When the shaft member 20 and the tilting body 21 tilt, the first detection unit 23a and the second detection unit 23b detect tilt angles in the X direction and the Y direction, respectively, and output signals convertible to the tilt direction and the tilt angle. be.

As described above, the operation unit 2 disclosed in the present application can be implemented in various forms.

<Control configuration example>
Next, a control configuration example for the operation of the operation unit 2 disclosed in the present application will be described. The operating unit 2 can be implemented with various control configurations. Various forms of the control configuration of the operation unit 2 will be described below.

<First Embodiment of Control Configuration of Operation Unit>
First, a first embodiment of the control configuration of the operation unit 2 will be described. FIG. 11 is a schematic block diagram conceptually showing an example of the functional configuration of the control board 30 included in the main unit 3 used in the operation system S disclosed in the present application. The main unit 3 includes various control chips such as LSI (Large Scale Integration) and VLSI (Very Large Scale Integration), various recording chips such as ROM (Read Only Memory) and RAM (Random Access Memory), and various elements. is provided with a control board 30 on which

A control chip included in the control board 30 functions as a control unit 300 such as a CPU (Central Processing Unit) that controls the entire board. In addition, the control chip and recording chip included in the control board 30 function as a configuration of a polar coordinate conversion unit 301, an output voltage determination unit 302, a driver 303, etc. using various integrated circuits, various software programs, various elements, etc. The control unit 300 controls these configurations. Further, the recording chip included in the control board 30 has a storage area used as a storage unit 304 for storing various information, and the control unit 300 can read/write the contents stored in the storage unit 304. It is possible. Various tables such as a weighting table 3040 (table) and a vibration table 3041 (table) are set in the storage area used as the storage unit 304 . The control unit 300 receives signals used as the tilting direction and the tilting angle from the detection unit 23D of the operation unit 2 provided in the operation device 1, refers to the table selected by the selection unit 3S, and controls the operation of the load unit 25L. do.

The detection unit 23D is a circuit for detecting the tilting direction and the tilting angle of the tilting body 21, and includes the detection unit 23 shown as the first embodiment of the structure of the operation unit 2 and the first detection unit 23a explained as the second embodiment. and the second detection unit 23b. If the detection unit 23D detects values that can be converted into a tilt direction and a tilt angle, the tilt angle in the X direction and the tilt angle in the Y direction are detected like the first detection unit 23a and the second detection unit 23b. It can also be implemented as a form of detection.

FIG. 12 is a conceptual diagram showing a polar coordinate system. The rectangular parallelepipeds shown in FIG. 12 indicate the X-axis, Y-axis and Z-axis in the orthogonal coordinate system. Arrows extending diagonally from the origin in FIG. 12 indicate the tilting direction of the tilting body 21 . As shown in FIG. 12, the tilting direction of the tilting body 21 can be indicated by the deflection angle φ on the XY plane and the deflection angle θ from the Z-axis. The deflection angle φ corresponds to the tilting direction, and the deflection angle θ corresponds to the tilting angle. Also, the tilt angle in the X direction and the tilt angle in the Y direction can be converted into the deflection angles φ and θ. A polar coordinate conversion unit 301 included in the control unit 300 converts signals such as the tilt direction and the tilt angle detected by the detection unit 23D, the tilt angle in the X direction and the tilt angle in the Y direction, into information indicating polar coordinates.

FIG. 13 is an explanatory diagram conceptually showing an example of the weight table 3040 of the control board 30 included in the main unit 3 used in the operation system S disclosed in the present application. A weighting table 3040 illustrated in FIG. 13 shows the relationship between the deflection angle φ corresponding to the tilting direction, the deflection angle θ corresponding to the tilting angle, and the load applied by the load section 25L. In the weighting table 3040, values indicating loads are stored in association with cells forming a table in which the deflection angle φ is indicated in the row direction and the deflection angle θ is indicated in the column direction. The weighting table 3040 illustrated in FIG. 13 classifies the angle of argument φ into 36 steps from 0 to 175 in increments of 5°, and classifies the angle of argument θ into 26 steps from 0 to 25. The load is stored as a value indicating a weight classified into 256 steps (8 bits) from 0 to 255. By referring to the weight table 3040, the control section 300 can determine the weight to be applied as the load from the argument φ and the argument θ. In FIG. 13, the load from the load portion 25L is applied only to tilting in the tilting direction with the deflection angle φ of 0 to 90°, and the load due to the load increases as the tilting angle indicated by the deflection angle θ increases. A weight table 3040 is illustrated.

The load from the load part 25L can be applied not only as a pressing force with a constant weight, but also as a vibration with a varying force. FIG. 14 is an explanatory diagram conceptually showing an example of the vibration table 3041 of the control board 30 included in the main unit 3 used in the operation system S disclosed in the present application. A vibration table 3041 illustrated in FIG. 14 is a table used for determining the presence or absence of vibration as a load. The vibration table 3041 illustrated in FIG. 14 stores "1" indicating the presence of vibration or "0" indicating the absence of vibration in association with the deflection angles φ classified into 36 stages and the deflection angles θ classified into 26 stages. ing. FIG. 14 shows that in tilting in the tilting direction with the deflection angle φ of 0 to 90°, when the tilting angle becomes larger than a predetermined angle, a load as vibration is applied by the load portion 25L.

15, 16 and 17 are explanatory diagrams conceptually showing an example of the vibration table 3041 of the control board 30 provided in the main unit 3 used in the operation system S disclosed in the present application. A vibration table 3041 illustrated in FIGS. 15 to 17 shows another embodiment of the vibration table 3041 used when applying a load as vibration. FIG. 15 is a vibration table 3041 showing the force related to vibration, and values classified into 256 steps from 0 to 255 in association with the angle of argument φ classified into 36 steps and the angle of argument θ classified into 26 steps. A force associated with the vibration is stored. FIG. 16 is a vibration table 3041 showing the vibration amplitude related to the vibration, and the values are classified into 256 steps from 0 to 255 in association with the angle of argument φ classified into 36 steps and the angle of argument θ classified into 26 steps. Vibration amplitude associated with the vibration is stored. FIG. 17 is a vibration table 3041 showing frequencies related to vibration, and values classified into 256 steps from 0 to 255 in association with the angle of argument φ classified into 36 steps and the angle of argument θ classified into 26 steps. A frequency related to vibration is stored. By referring to the vibration table 3041, the control unit 300 can determine the vibration determined by the magnitude of the force, the vibration amplitude, and the frequency as the load from the deflection angle φ and the deflection angle θ.

Returning to the block diagram of FIG. 11 , tables such as the weighting table 3040 and the vibration table 3041 are set in the storage area of the storage unit 304 . A plurality of patterns of tables are set in the storage unit 304 by, for example, loading a game program. A table to be used among the plurality of patterns of tables stored in storage unit 304 is determined based on a selection signal received from selection unit 3S. The selection unit 3S may be implemented as hardware such as a thumb rotary switch, or as a function of software that outputs a selection signal according to the progress of the loaded computer game. The control unit 300 controls the output voltage determining unit 302 to determine the output voltage to be applied to the load unit 25L based on tables such as the weighting table 3040 and the vibration table 3041, and outputs a signal indicating the output voltage to the driver 303. . The driver 303 drives the load section 25L based on the input signal indicating the output voltage. In this manner, the control section 300 controls the load section 25L based on the tilting direction and tilting angle of the tilting body 21 .

The load section 25L is a unit that serves as a power source such as a solenoid, a VCM, and a motor, and includes the load unit 25 described as the first embodiment of the structure of the operation unit 2, the first load unit 25a described as the second embodiment, and the It can be implemented in various forms such as the second load unit 25b.

The control board 30 is a part of various configurations provided in the main unit 3, and is a configuration for realizing the operation system S disclosed in the present application. In addition to the control board 30, the main unit 3 has various components for realizing the functions of the main body of the game machine.

<Second Embodiment of Control Configuration of Operation Unit>
Next, a second embodiment of the control configuration of the operation unit 2 will be described. FIG. 18 is a schematic block diagram conceptually showing an example of the functional configuration of the control board 30 included in the main unit 3 used in the operation system S disclosed in the present application. 2nd Embodiment is a form applied when the pusher of the load unit 25 is comprised in the form which the pusher 2402 can separate in the operation unit 2 demonstrated as 1st Embodiment of a structure.

The control board 30 includes a control unit 300, a polar coordinate conversion unit 301, an output voltage determination unit 302, a driver 303, a storage unit 304, etc. The storage unit 304 stores tables such as a weighting table 3040 and a vibration table 3041. It is Further, the control board 30 includes a correction section 305 that corrects the output based on the position information received from the position detection section 25PM that detects the position of the pusher 2402 provided on the pressing member 240. FIG.

Under the control of the control unit 300, the correction unit 305 receives position information indicating the position of the pusher 2402 detected by the position detection unit 25PM. The correction unit 305 calculates the tilt angle of the tilting body 21 from the position of the pusher 2402 indicated by the position information, and compares the calculated tilting angle of the tilting body 21 with the tilting angle of the tilting body 21 detected by the detection unit 23D. Calculate the difference. Then, the correction section 305 corrects the output voltage applied to the load section 25L of the load unit 25 so that the load unit 25 performs an operation to eliminate the calculated difference. Note that if the difference between the calculated tilt angle of the tilting body 21 and the tilt angle of the tilting body 21 detected by the detection unit 23D is equal to or less than a predetermined value, the correction unit 305 does not perform correction processing, and the output voltage determination unit 302 outputs the determined output voltage to the driver 30 .

The rest of the configuration is the same as the configuration of the operation unit 2 in the first embodiment, so the first embodiment will be referred to and the description thereof will be omitted.

<Example of control of the load of the tilting body>
The operation system S disclosed in the present application can realize various loads according to the tilting direction and tilting angle of the tilting body 21 by appropriately setting the contents recorded in the tables such as the weighting table 3040 and the vibration table 3041. be. Several examples of load control modes in the operation system S disclosed in the present application will be described.

<Control example 1>
FIG. 19 is a conceptual diagram showing an example of a load control mode in the operation system S disclosed in the present application. FIG. 19 shows the tilting range of the tilting body 21 as viewed from above by a circular solid line, and the range where the load is applied by the load section 25L is shown by oblique lines. The center of the circle indicated by the solid line indicates the reference position of the tilting body 21, the upper side of the center indicates forward tilting, and the lower, left and right sides indicate rearward, leftward and rightward tilting, respectively. shall be shown. In the control example 1 illustrated in FIG. 19, the tilting direction (operation direction) for tilting the tilting body 21 is not applied by the load portion 25L in the four directions of front, back, left, and right extending linearly from the reference position. , 4 indicates that a load is applied by the load portion 25L. The load applied by the load section 25L can be set as appropriate, such as a load that inhibits tilting in a direction that increases the tilting angle, a load that increases the force required for tilting, a vibration load, or the like. Moreover, it is also possible to set so that the contents of the load are changed according to the tilt angle. Specifically, as the tilt angle increases, various settings are possible, such as a setting to increase the force required for operation, a setting to change the period of vibration, and a setting to change from a force load to a vibration load. For example, when the load set by the load section 25L is a load that suppresses the tilting operation, it is possible to use the operation unit 2 as a cross key in which the operation is limited only to the front, rear, left, and right directions.

<Control example 2>
FIG. 20 is a conceptual diagram showing an example of a load control form in the operation system S disclosed in the present application. In control example 2 illustrated in FIG. 20, the tilting direction in which the tilting body 21 is tilted does not apply the load from the load portion 25L to the front and rear two directions linearly extending from the reference position, and the tilting direction is deviated from the two directions. It shows that a load is applied by the load portion 25L when tilting in the direction shown in FIG. The load applied by the load section 25L can be set in various forms as exemplified in the first control example. For example, when the load setting by the load section 25L is vibration, it is possible to develop a mode such as an action game in which the operation unit 2 vibrates when a predetermined operation is not performed. The load for tilting in directions other than the directions linearly extending from the reference position is not limited to the illustrated four directions and two directions, but can be developed in various forms such as six directions and eight directions.

<Control example 3>
FIG. 21 is a conceptual diagram showing an example of a load control form in the operation system S disclosed in the present application. In control example 3 illustrated in FIG. 21, the tilting direction for tilting the tilting body 21 is in the range from the reference position to the front to the right, that is, the reference position is the center of the fan, and the central angle is 90°. It shows that a load is applied by the load portion 25L to tilting in the substantially fan-shaped direction. In other words, in Control Example 3, the tilting direction in which the tilting body 21 is tilted is a predetermined angle. It shows that it takes As described above, the load applied by the load section 25L can be set in various forms, such as suppression of the tilting operation, change of the force associated with the tilting operation, and vibration. The central angle of the substantially sectoral shape can be set to various angles other than 90°, such as an acute angle, an obtuse angle, and an angle of 180° or more.

<Control example 4>
FIG. 22 is a conceptual diagram showing an example of a load control mode in the operation system S disclosed in the present application. Control Example 4 illustrated in FIG. 22 indicates that the tilting direction of the tilting body 21 is a substantially fan-shaped tilting direction with a central angle of 90°, and a load is applied by the load portion 25L. Further, the load applied by the load section 25L is intermittently set with respect to the tilt angle. In Control Example 4, when the load applied by the load section 25L that has been set is an increase in the force required for the tilting operation or a vibration, when the operator performs the tilting operation, an intermittent load, a so-called click, occurs as the tilting angle increases. You will get the feeling. Therefore, the operator can get a new sense of operation.

<Control example 5>
FIG. 23 is a conceptual diagram showing an example of a load control form in the operation system S disclosed in the present application. In control example 5 illustrated in FIG. 23 , the tilting direction of the tilting body 21 is a substantially fan shape with a central angle of 180°, that is, a load is applied by the load part 25L to tilting in a substantially semicircular direction. It is shown that. Also, the load applied by the load section 25L schematically shows a setting that gradually increases as the tilt angle increases. In the setting of the load by the load unit 25L according to Control Example 5, for example, in a computer game in which the operation target is operated, the load increases only when the operation target moves forward, and the tilt angle is increased to increase the movement speed of the operation target. It is used for settings such as effects that make the operation heavier as the speed is increased. Control Example 5 exemplifies a form in which the load is applied by the load portion 25L only to the tilting forward, but the direction in which the load is applied can be appropriately set to backward, leftward, rightward, oblique, or the like. , and the central angle can also be set as appropriate.

<Control example 6>
FIG. 24 is a conceptual diagram showing an example of a load control form in the operation system S disclosed in the present application. Control Example 6 illustrated in FIG. 24 indicates that the tilting direction of the tilting body 21 is a substantially fan-shaped tilting direction with a central angle of 90°, and a load is applied by the load portion 25L. Also, the load applied by the load section 25L schematically shows a state in which it rotates in the direction indicated by the arrow over time. As described above, Control Example 6 is a mode in which the load of the load section 25L changes over time. The control according to Control Example 6 can be realized by rewriting various tables such as the weighting table 3040 and the vibration table 3041 according to the progress of the computer game.

<Control example 7>
FIG. 25 is a conceptual diagram showing an example of a load control mode in the operation system S disclosed in the present application. Control Example 7 illustrated in FIG. 25 indicates that a load is applied by the load portion 25L to tilting in the direction of a substantially fan shape with a central angle of about 150° to the left and right. Moreover, the tilting in the left-right direction indicates that no load is applied by the load section 25L up to a predetermined angle, and the load is applied by the load section 25L for the tilting operation exceeding the predetermined angle. In the control example 7, the operator feels that the tilting operation to the front and back is light and the operation is easy, and that the load to the tilting operation to the left and right becomes heavy from the middle. Become.

<Control example 8>
FIG. 26 is a conceptual diagram showing an example of a load control mode in the operation system S disclosed in the present application. Control Example 8 illustrated in FIG. 26 indicates that a load is applied by the load portion 25L to tilting forward and backward in a substantially fan-shaped direction with a center angle of approximately 150°. In addition, the tilting in the front-rear direction indicates that no load is applied by the load section 25L up to a predetermined angle, and the load is applied by the load section 25L for the tilting operation exceeding the predetermined angle. In the control example 8, the operator can feel that the tilting operation to the left and right is light and the operation is easy, and that the tilting operation to the front and back becomes heavy from the middle. Become.

<Control example 9>
FIG. 27 is a conceptual diagram showing an example of a load control form in the operation system S disclosed in the present application. Control Example 9 illustrated in FIG. 27 indicates that a load is applied by the load portion 25L to tilting forward and backward in substantially fan-shaped directions with a center angle of approximately 150°. Moreover, the tilting in the front-rear direction is not subject to the load from the load section 25L up to a predetermined angle. When the predetermined angle is exceeded, the load portion 25L applies a load as vibration with a different vibration frequency. In Control Example 9, it is said that the operator's load is light and the operation is easy with respect to the left and right tilting operations, and that vibration occurs in the middle of the forward and backward tilting operations, and the vibration period for further tilting changes. You will get a feel for the operation.

<Control example 10>
FIG. 28 is a conceptual diagram showing an example of a load control form in the operation system S disclosed in the present application. Control Example 10 illustrated in FIG. 28 indicates that the tilting direction of the tilting body 21 is a fan-shaped tilting direction with a central angle of 90°, and a load is applied by the load portion 25L. Further, the load applied by the load section 25L is intermittently set with respect to the tilting angle up to a predetermined tilting angle, and the load is applied to the tilting above the predetermined tilting angle indicated by diagonal lines in two directions. It is designed to be heavy. In Control Example 10, the operator feels a click sensation up to a predetermined tilting angle with respect to a tilting operation in a specific tilting direction, and feels a heavy load with respect to a tilting operation at or above the predetermined angle. It will be.

<Control example 11>
FIG. 29 is a conceptual diagram showing an example of a load control form in the operation system S disclosed in the present application. Control Example 11 illustrated in FIG. 29 indicates that when the tilting body 21 is tilted to the vicinity of the tilting limit, a load that gives a click feeling is applied regardless of the tilting direction.

<Control example 12>
FIG. 30 is a conceptual diagram showing an example of a load control form in the operation system S disclosed in the present application. Control Example 12 illustrated in FIG. 30 indicates that the load is intermittently applied to the tilting operation at short intervals. When the operator performs the tilting operation, the operator feels a rough operation regardless of the operation direction.

<Control example 13>
FIG. 31 is a conceptual diagram showing an example of a load control mode in the operation system S disclosed in the present application. Control Example 13 illustrated in FIG. 31 indicates that the load unit 25 applies a load that pulls down the pressing member 240, that is, a negative load. When the operator performs the tilting operation, the operator gets a very light operational feeling.

<Control example 14>
FIG. 32 is a conceptual diagram showing an example of a load control form in the operation system S disclosed in the present application. Control Example 14 illustrated in FIG. 32 indicates that the load section 25L applies a large load against tilting in all directions. The operator will get a sense of operation that the tilting operation feels heavy.

<Control example 15>
FIG. 33 is a conceptual diagram showing an example of a load control form in the operation system S disclosed in the present application. Control Example 15 illustrated in FIG. 33 is a form in which a load is applied by the load section 25L to tilting outside the closed shape including the reference position within the virtual crown that is the tilting range of the tilting body 21 . Specifically, in Control Example 15, the tilting range of the tilting body 21 is limited to a square range with the reference position as the center of gravity. form. The closed shape that becomes the tilt range is not limited to a square, and various shapes such as a circle, an equilateral triangle, a regular hexagon, and a rectangle can be set.

<Control example 16>
FIG. 34 is a conceptual diagram showing an example of a load control form in the operation system S disclosed in the present application. Control Example 16 illustrated in FIG. 34 is a mode in which the tilting direction and tilting angle to which the load is applied by the load section 25L are set within a limited range close to a point, and the load by the load section 25L is set to vibration. It is In Control Example 16, the operator feels vibration when performing an operation to tilt the tilting body 21 to a specific position. Control example 16 is set for a computer game such as a party game, a puzzle game, or an action game, so that the operator's sense of immersion in the computer game can be improved.

<Control example 17>
FIG. 35 is a conceptual diagram showing an example of a load control mode in the operation system S disclosed in the present application. Control Example 17 illustrated in FIG. 35 is a form in which the tilting direction and tilting angle to which the load is applied by the load section 25L are set at four points within a limited range close to a point. It is set to hold to maintain state. That is, when the operator performs a tilting operation to a predetermined position, a load is applied to maintain the tilted state by the tilting operation, and the tilting body 21 is fixed while maintaining the tilted state, and the tilting operation becomes impossible. perceive. The fixation of the tilting body 21 is released when predetermined release conditions such as a pressing operation on the operation unit 2 and passage of a predetermined time are satisfied. Control example 17 can improve the operator's sense of immersion in the computer game, for example, by setting the operation to be fixed when aiming in a computer game such as a shooting game. It is possible.

As described above, the operating system S disclosed in the present application is applied to the operating device 1 such as a joystick controller. It is possible to set the load for the tilting operation in various forms.

The present invention is not limited to the embodiments described above, and can be implemented in various other forms. Therefore, the above-described embodiments are merely examples in all respects, and should not be construed in a restrictive manner. The technical scope of the present invention is described by the claims and is not restricted by the text of the specification. Furthermore, all modifications and changes within the equivalent scope of claims are within the scope of the present invention.

For example, in the above-described embodiment, a form applied to a computer game controller has been described, but the present invention is not limited to this, and can be applied to various operation targets such as various toys, various moving bodies, various measuring devices, various industrial robots, and the like. It can be used for manipulation. For example, when applied to a controller of an industrial robot, it is possible to perform control according to the operation situation, such as increasing the operation load when operating a heavy load. For example, when applied to a controller for a toy or a moving body, a control device for radio control (so-called radio-controlled propeller) comprising an operation unit 2 that can be tilted only to the left and right and an operation unit 2 that can be tilted only to the front and back. ) can be performed. In addition, the operation device 1 disclosed in the present application can be used in a variety of ways, such as a one-handed controller, a controller that can be attached to the housing of an arcade game machine, a control stick type controller for flight simulators, a VR (Virtual Reality) controller, and the like. It is possible to develop it for various purposes.

Furthermore, in the above-described embodiment, the control board 30 is incorporated into the main unit 3, but the present invention is not limited to this. It is possible to expand to various forms.

Furthermore, in the above-described embodiment, a mode is shown in which information for determining the load is recorded by associating tables such as the weighting table 3040 and the vibration table 3041 with the angle of argument φ and the angle of argument θ. is not limited to For example, it is possible to develop various forms such as recording information for determining the load in association with the tilt angle in the X direction and the tilt angle in the Y direction in a table. Also, the degree of classification can be appropriately set. For example, the degree of classification of the weight that is the load is not limited to the exemplified 256 steps, but can be appropriately set to 8 steps (4 bits), 1024 steps (10 bits), or the like. The division of the deflection angle φ is not limited to increments of 5°, but can be appropriately set to 1°, 10°, or the like. The same applies to the argument θ.

Furthermore, in the above-described embodiment, the form of determining the load based on tables such as the weighting table 3040 and the vibration table 3041 has been shown, but the present invention is not limited to this. For example, the present invention can be developed in various forms, such as storing in advance a function for calculating the load from the argument φ and the argument θ in the storage unit 304 and deriving the load using the function. be.

S operation system 1 operation device 2 operation unit 20 shaft member 21 tilting body 22 holding member 23 detection unit (detection section)
23a first detection unit (detection section)
23b second detection unit (detection section)
23D detection section 24 support mechanism 25 load unit (load section)
25a first load unit (load section)
25b second load unit (load section)
25L load unit 25PM position detection unit 3 main device 30 control board 300 control unit 301 polar coordinate conversion unit 302 output voltage determination unit 303 driver 304 storage unit 3040 weighting table (table)
3041 Vibration table (table)
305 correction unit 3S selection unit

Claims (15)

An operation unit that receives an operation is provided, the operation unit has a tilting body that receives an operation of tilting in an arbitrary direction at an arbitrary angle from a reference position, and operates an operation target according to the tilting state of the tilting body. an operating system,
The operation unit includes a load section that applies a load to the tilting operation of the tilting body,
An operation system, further comprising: a control section that controls the load applied by the load section in accordance with a tilting direction. The operating system according to claim 1,
The control unit
An operation system, wherein the load applied by the load section is controlled according to the tilting angle. The operating system according to claim 2,
a detection unit used to detect the tilt direction and the tilt angle;
further comprising a table showing the degree of load in association with the tilting direction and the tilting angle,
The control unit
An operation system, wherein the load applied by the load section is controlled based on the table in accordance with the degree of load corresponding to the tilting direction and the tilting angle detected by the detection section. The operating system according to claim 2 or claim 3,
The control unit
An operation system characterized by applying a load against tilting in a predetermined tilting direction. The operating system according to claim 2 or claim 3,
The control unit
An operation system characterized by applying a load against tilting in directions other than two or four directions linearly extending from the reference position. The operating system according to claim 2 or claim 3,
The control unit
An operation system characterized by applying a load against tilting in a fan-shaped direction with the reference position as the center of the fan. The operating system according to claim 6,
The operating system, wherein the sector shape is a semicircular shape. The operating system according to claim 2 or claim 3,
The control unit
An operation system, wherein a load is applied when the tilting direction and tilting angle of the tilting body reach a predetermined tilting direction and tilting angle. The operating system according to claim 2 or claim 3,
The control unit
An operation system, wherein a load is applied to a tilt that deviates from a closed shape including the reference position within a virtual spherical crown that is a tilting range of the tilting body. The operation system according to any one of claims 1 to 9,
The control unit
An operation system characterized by applying a load whose magnitude changes according to the tilting angle. The operation system according to any one of claims 1 to 9,
The control unit
An operation system characterized by applying a load that prevents tilting in a direction in which the tilting angle increases. The operation system according to any one of claims 1 to 9,
The control unit
An operation system characterized by applying a load transmitted as vibration. The operation system according to any one of claims 1 to 9,
The control unit
An operation system characterized by applying a load to maintain a tilted state by a tilting operation. The operating system according to any one of claims 1 to 13,
an operating device comprising the operating unit;
An operation system comprising: a main unit including the control unit; It can be incorporated into the operating system according to any one of claims 1 to 13,
An operation unit comprising the load section.

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