Operation device

Abstract

The operation device which is held or worn by an operator and is used for operation of an operation object is provided with: a rotating wheel (151) which rotates around a rotating shaft (S1) as a rotating center; and a motor (155) that rotates the rotating wheel (151).

Description

Technical Field

[0001] The invention relates to an operating device which is held or worn by an operator and is used for operating an object. Background Art

[0002] Various operating devices such as mice and keyboards that are communicatively connected to electronic devices such as game consoles and computers for operating objects are becoming popular. In addition, with the diversification of game content such as virtual reality (VR) and somatosensory games, operating devices that are handheld or worn by the operator are becoming popular (e.g., Patent Document 1).

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent Application Publication No. 2020-91904

[0006] Non-patent document 1: Sky Engineering Research Institute, "What is gyroscopic moment? ~ The reason why the gyroscopic top does not fall over" [retrieved on October 19, 2022], Internet, <URL: https: / / www.sky-engin.jp / blog / gyroscopic-moment / > Summary of the invention

[0007] Problems to be solved by the invention

[0008] Patent document 1 discloses a controller used for game operation. The controller of Patent document 1 includes a vibrator inside, and the controller can be vibrated by driving the vibrator. Thus, force feedback (force feedback) can be given so that the hand of the operator who is playing the game can feel the vibration.

[0009] In recent years, VR, motion-sensing games and other game contents require the reproduction of a more realistic sense of presence. However, in force feedback achieved through the vibration of a vibrator, the reproducibility of the sense of presence is limited. Therefore, a variety of force feedback that can provide a sense of touch other than vibration is also required in the operating device.

[0010] The present invention has been made in view of the above-mentioned problems, and an object of the present invention is to provide an operating device capable of performing various force feedback.

[0011] Technical means of solving problems

[0012] In order to solve the above-mentioned problem, the operating device of the present invention is held or worn by the operator for operating the operating object, and the operating device is characterized in that it includes: a rotating body that rotates with a rotating axis as the rotation center; and a rotation driving unit that causes the rotating body to rotate with the rotating axis as the rotation center.

[0013] According to the above configuration, the rotation drive unit can generate an inertial force in a specific direction by changing the posture or rotation speed of the rotating body. By utilizing the inertial force, various force feedbacks (not simple vibration) can be performed in the operating device.

[0014] Furthermore, the operating device may be configured to allow the rotating body that rotates about the rotating axis as a rotation center to rotate about a first rotation axis that is orthogonal to the rotating axis as a rotation center.

[0015] According to the above configuration, by changing the posture of the rotating body, an inertial force (gyroscopic moment) in a specific direction can be generated.

[0016] Furthermore, the operating device may be configured to allow the rotating body that rotates about the rotating axis as a rotation center to rotate about a second rotation axis that is orthogonal to both the rotating axis and the first rotation axis as a rotation center.

[0017] According to the above configuration, gyroscopic moments can be generated in two different directions that are orthogonal to the rotation axis of the rotating body.

[0018] Moreover, the operating device can be set to the following structure, that is, it includes: a first frame, which supports the rotating body in a manner that the rotating body can rotate with the rotating axis as the rotation center; a second frame, which supports the first frame in a manner that the first frame can rotate with the second rotating axis as the rotation center, and can rotate with the first rotating axis as the rotation center; and a guide frame, which can rotate with the first rotating axis as the rotation center, and can cause the first frame to rotate with the second rotating axis as the rotation center by transmitting its own rotation to the first frame.

[0019] According to the above configuration, in the mechanism for generating the gyroscopic moment, the influence of the deadweight of the driving source for rotating the rotating body can be eliminated, thereby achieving high responsiveness.

[0020] Furthermore, in the operating device, the rotation drive unit may be configured to be able to control the rotation direction and rotation speed of the rotating body.

[0021] According to the above configuration, in the mechanism for generating the gyroscopic moment, the rotation direction and the rotation speed of the rotating body are controlled, thereby also having a function as a reaction wheel.

[0022] Furthermore, in the operating device, the rotation drive unit may be configured to control a rotation direction and a rotation speed of the rotating body, wherein the rotating body includes a plurality of rotating bodies whose rotation axes are orthogonal to each other.

[0023] According to the above configuration, by using the rotating body and the rotation driving unit as a part of the reaction wheel, the rotation speed of the rotating body is changed, thereby generating an inertial force in a specific direction.

[0024] Moreover, the operating device can be set to the following structure, that is, it includes: a first frame, which supports the rotating body in a manner that the rotating body can rotate with the rotating axis as the rotation center; a second frame, which supports the first frame in a manner that the first frame can rotate with the first rotating axis as the rotation center; and a third frame, which supports the second frame in a manner that the second frame can rotate with the second rotating axis as the rotation center.

[0025] According to the above configuration, when the rotating body is provided with a function as a momentum wheel, the direction of the rotation axis maintained by the momentum wheel can be arbitrarily set.

[0026] Effects of the Invention

[0027] The operating device of the present invention can generate an inertial force in a specific direction. By utilizing the inertial force, a variety of force feedback (not simple vibration) can be performed in the operating device. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] [ Figure 1 ] is a diagram showing an embodiment of the operating device disclosed in the present application, and is a three-dimensional diagram showing an appearance example of a game controller.

[0029] [ Figure 2 ] is a functional block diagram of a game controller according to embodiment 1.

[0030] [ Figure 3 ] is a three-dimensional diagram of the force feedback part of embodiment 1.

[0031] [ Figure 4 ] is viewed from the second axis rotation motor side Figure 3 4 is a side view of the force feedback unit.

[0032] [ Figure 5 ] is viewed from the first axis rotation motor side Figure 3 4 is a side view of the force feedback unit.

[0033] [ Figure 6 ] is to indicate that the Figure 3 Graph of the gyroscopic torque generated by the force feedback part.

[0034] [ Figure 7 ] is to indicate that the Figure 3 Graph of the gyroscopic torque generated by the force feedback part.

[0035] [ Figure 8 ] is to indicate that the Figure 3 Graph of the gyroscopic torque generated by the force feedback part.

[0036] [ Fig. 9 ] is to indicate that the Figure 3 Graph of the gyroscopic torque generated by the force feedback part.

[0037] [ Fig.10 ] is a diagram showing another embodiment of the operating device disclosed in the present application, and is a three-dimensional diagram showing an appearance example of a game controller.

[0038] [ Fig.11 ] is a functional block diagram of a game controller according to embodiment 2.

[0039] [ Fig.12 ] is a three-dimensional diagram of the force feedback part of embodiment 2.

[0040] [ Fig.13 ] is a stereoscopic view of the force feedback part of embodiment 4.

[0041] [ Fig.14 ] is a stereoscopic diagram showing an example of an operating device according to embodiment 5.

[0042] [ Fig.15 ] is a diagram showing an electric lawn mower as another application example of the force feedback unit. DETAILED DESCRIPTION

[0043] [Implementation method 1]

[0044] Hereinafter, embodiments of the operating device disclosed in the present application will be described in detail with reference to the drawings. In the first embodiment, a case where the operating device disclosed in the present application is applied to a game controller is exemplified. Figure 1 1 is a perspective view showing an example of the appearance of a game controller (hereinafter simply referred to as a controller) 10 according to the first embodiment. Figure 2 is a functional block diagram of the controller 10.

[0045] Figure 1The controller 10 shown in the example is a device that the operator holds with both hands and operates, and has an operation input unit 12 (joystick 12A, cross button 12B, key button 12C, etc.) for the operator to perform operation input. Figure 1 The directions of the three orthogonal axes (X-axis, Y-axis, and Z-axis) shown correspond to the left-right direction, the front-back direction, and the up-down direction in the controller 10 , respectively.

[0046] like Figure 2 As shown, the controller 10 includes a control unit 11, an operation input unit 12, a communication unit 13, a drive unit 14, and a force feedback unit 15. The communication unit 13 is a component for the controller 10 to communicate with the game console body (not shown) wirelessly or wired. The force feedback unit 15 is a component that receives the drive from the drive unit 14 and gives feedback to the operator holding the controller 10 in his hand so that he feels the force, and is built into the controller 10. The control unit 11 is a component that performs overall control of the controller 10 (processing control of the input signal from the operation input unit 12, communication control with the game console body via the communication unit 13, and drive control of the drive unit 14).

[0047] In the controller 10, the force feedback unit 15 is not a component that generates simple vibrations like a conventional vibrator, but can generate force by inertial force so that the operator can feel that a force is applied in a specific direction. In the first embodiment, the force feedback unit 15 using gyroscopic torque is exemplified.

[0048] Figure 3 It is a perspective view of the force feedback unit 15 . Figure 4 It is a side view of the force feedback unit 15 as viewed from the second axis rotation motor 157 side. Figure 5 It is a side view of the force feedback unit 15 as viewed from the first axis rotation motor 156 side.

[0049] like Figures 3 to 5 As shown in FIG. 1 , the force feedback unit 15 has a rotating wheel (rotating body) 151, an inner frame (first frame) 152, an intermediate frame (second frame) 153, and a guide frame 154 as the main structure of the mechanism for generating a gyroscopic moment. In addition, the force feedback unit 15 has a motor (rotation drive unit) 155, a first axis rotation motor 156, and a second axis rotation motor 157 as equivalent to Figure 2 The structure of the driving unit 14 is provided with support legs 158a to 158d for fixing the force feedback unit 15 to the base 101. In addition, the motor 155 adopts a structure in which the rotating wheel 151 is used as a rotor and a stator 155a is arranged inside the rotor. Moreover, in the force feedback unit 15, the support legs 158a and 158b for axially supporting the rotating axis S2 of the intermediate frame 153 described later have the function of an outer frame. Moreover, in Figures 3 to 5In the figure, for convenience, the base 101 on which the force feedback part 15 is installed is recorded as a flat plate, but the base 101 can also be a part of the frame component of the controller 10.

[0050] The rotating wheel 151 is axially supported by the inner frame 152 and can be rotated around the rotation axis S1 (see Figure 4 , Figure 5 ) is driven by rotation. Moreover, the two end portions of the inner frame 152 are rotatably mounted relative to the middle frame 153.

[0051] The intermediate frame 153 is axially supported by two supporting legs 158a and 158b disposed opposite to each other, and can be rotated about a rotation axis S2 (first rotation axis: see Figure 4 )'s rotation ( Figure 5 In addition, the first axis rotation motor 156 is a servo motor or a stepping motor used for rotation control of the intermediate frame 153, and is fixedly installed in the support leg 158a.

[0052] When the middle frame 153 rotates in the direction of arrow A, the inner frame 152 mounted on the middle frame 153 and the rotating wheel 151 axially supported by the inner frame 152 also rotate in the direction of arrow A. In addition, the rotation here refers to a rotational motion that can rotate in two directions and has a limited angle range. That is, in the force feedback unit 15, the middle frame 153 and the first axis rotating motor 156 have the function of changing the inclination of the rotating axis S1 in the rotating wheel 151 along the direction of arrow A.

[0053] The guide frame 154 is axially supported by two supporting legs 158c and 158d disposed opposite to each other, and can be rotated about a rotation axis S3 (second rotation axis: see Figure 5 )'s rotation ( Figure 4 In addition, the second axis rotation motor 157 is a servo motor or a stepping motor used for rotation control of the guide frame 154, and is fixedly installed in the support leg 158c.

[0054] The guide frame 154 is provided with a guide hole 154a in the shape of an elongated hole whose long side is parallel to the direction of the rotation axis S3, and one end of the rotation axis member in the rotating wheel 151 is inserted into the guide hole 154a. When the guide frame 154 rotates in the direction of arrow B, the rotating wheel 151 receives force via the rotation axis member inserted into the guide hole 154a. Thus, when the guide frame 154 rotates in the direction of arrow B, the rotating wheel 151 and the inner frame 152 also rotate in the direction of arrow B at the same time. That is, in the force feedback unit 15, the guide frame 154 and the second axis rotation motor 157 have the function of changing the inclination of the rotation axis S1 in the rotating wheel 151 along the direction of arrow B.

[0055] In addition, when the rotating wheel 151 rotates in the direction of arrow B, the inner frame 152 that axially supports the rotating wheel 151 rotates relatively with respect to the middle frame 153. Therefore, the middle frame 153 does not hinder the rotation of the rotating wheel 151 in the direction of arrow B. On the other hand, when the rotating wheel 151 rotates in the direction of arrow A, the rotating shaft member of the rotating wheel 151 moves along the guide hole 154a. Therefore, the guide frame 154 does not hinder the rotation of the rotating wheel 151 in the direction of arrow A.

[0056] In the force feedback unit 15, the state in which the rotation axis S1 of the rotating wheel 151 is arranged parallel to the Z axis (vertical direction) is set as the initial state. In addition, it is set that in the force feedback unit 15 in the initial state, the rotation axis S2 is parallel to one of the X axis and the Y axis in the controller 10 ( Figures 3 to 5 The rotation axis S3 is arranged parallel to the other of the X-axis and the Y-axis ( Figures 3 to 5 In the example, the Y axis is configured parallel to the axis.

[0057] In the force feedback unit 15 of the above structure, when the rotating wheel 151 is rotated at high speed by the motor 155, the inclination of the rotating axis S1 of the rotating wheel 151 is changed by the first axis rotating motor 156 or the second axis rotating motor 157, thereby generating an inertial rotational force (so-called gyroscopic moment).

[0058] Figures 6 to 9 is a diagram for explaining the gyroscopic moment that can be generated by the force feedback unit 15. Figures 6 to 9 In the embodiment, the rotational force applied by the first axis rotation motor 156 or the second axis rotation motor 157 is defined as F1, and the gyroscopic moment generated in the force feedback unit 15 as a result thereof is defined as F2. Moreover, the rotation direction of the rotating wheel 151 at this time is counterclockwise when viewed from the upper side of the controller 10.

[0059] like Figure 6As shown, when a rotation force F1 is applied to the controller 10 in the forward rotation direction (clockwise when viewed from the right side of the controller 10) around the rotation axis S2 by the first axis rotation motor 156, a gyroscopic moment F2 is generated in the left rotation direction (counterclockwise when viewed from the rear side of the controller 10) around the rotation axis S3. Figure 7 As shown, when a rotation force F1 is applied to the first axis rotation motor 156 in the rearward rotation direction (counterclockwise when viewed from the right side of the controller 10) around the rotation axis S2, a gyroscopic moment F2 is generated in the rightward rotation direction (clockwise when viewed from the rear side of the controller 10) around the rotation axis S3. Figure 8 As shown in FIG. 1 , when a rotation force F1 in a left rotation direction about the rotation axis S3 is applied by the second axis rotation motor 157, a gyroscopic moment F2 in a backward rotation direction about the rotation axis S2 is generated. Fig. 9 As shown, when a rotation force F1 in a right rotation direction about the rotation axis S3 is applied by the second axis rotation motor 157, a gyroscopic moment F2 in a forward rotation direction about the rotation axis S2 is generated.

[0060] also, Figures 6 to 9 The gyro moment F2 shown is expressed by the following equation (1). That is, when equation (1) is applied to Figures 6 to 9 In the case of the example, consider a coordinate system O-xyz in which an axisymmetric rigid body (here the rotating wheel 151) rotates around a fixed point or a point O at the center of gravity on the axis of symmetry (here the Z axis) and has no angular velocity around the axis of symmetry of the rigid body. The coordinate system O-xyz is an intermediate coordinate system that rotates in conjunction with the rigid body around the x-axis and the y-axis, but does not rotate around the Z axis. In formula (1), if the inertia moment around the axis of symmetry (Z axis) of the rigid body (rotating wheel 151) is set to Ia, and the angular velocities around the x-axis, y-axis, and z-axis are set to ωx, ωy, and Ω, respectively, an apparent torque (i.e., gyro torque) Mgyro (here the gyro torque F2) is generated in the coordinate system O-xyz. Moreover, the generation principle and calculation formula of the gyro torque are known, for example, as disclosed in non-patent document 1, and therefore a detailed description is omitted here.

[0061] [Number 1]

[0062]

[0063] In the controller 10, the gyroscopic torque generated by the force feedback unit 15 can provide feedback to the operator's hand so that the operator feels a force. As described above, the generated gyroscopic torque gives the operator's hand a feeling of a rotational force with a specific direction, and its direction can also be generated relative to multiple directions. Thus, the controller 10 including the force feedback unit 15 can perform a variety of force feedback. For example, in the case of a racing game, by generating a gyroscopic torque in the left and right rotation directions, the rotational reaction force of the steering wheel can be simulated.

[0064] Furthermore, in the force feedback unit 15 described above, the inner frame 152, the middle frame 153, and the guide frame 154 are controlled to rotate in order to generate the rotational force F1, but the first axis rotation motor 156 and the second axis rotation motor 157, which are the driving sources of the rotational control, themselves do not move together with these frames. In particular, the second axis rotation motor 157 must transmit the rotational force from the outside of the middle frame 153 to the inner frame 152, but by setting a structure in which the rotational force is transmitted to the inner frame 152 via the guide frame 154, it is no longer necessary to attach the second axis rotation motor 157 to the middle frame 152. As a result, the force feedback unit 15 can rotate the inner frame 152, the middle frame 153, and the guide frame 154 without being affected by the weight of the first axis rotation motor 156 and the second axis rotation motor 157, and can be highly responsive.

[0065] [Implementation method 2]

[0066] In the second embodiment, a case where the operation device disclosed in the present application is applied to a game controller different from that in the first embodiment is exemplified. Fig.10 1 is a perspective view showing an example of the appearance of a game controller (hereinafter simply referred to as a controller) 20 according to the second embodiment. Fig.11 is a functional block diagram of the controller 20.

[0067] Fig.10 The controller 20 shown in the example is in the shape of a joystick having a long side direction, and the operator holds one end (hand side) of the joystick with one hand and operates by waving the controller itself. In addition, the controller 20 also has an operation input unit 22 for the operator to input operation, and the operation input unit 22 includes an operation member 22A ( Fig.10 In addition, for the convenience of explanation, the posture in which the operating member 22A is facing upward is set as the basic posture. Fig.10 The directions of the three orthogonal axes (X-axis, Y-axis, and Z-axis) shown correspond to the left-right direction, the front-back direction, and the up-down direction in the controller 20, respectively.

[0068] like Fig.11As shown, the controller 20 includes a control unit 21, an operation input unit 22, a motion detection sensor unit 23, a communication unit 24, a drive unit 25, and a force feedback unit 26. The motion detection sensor unit 23 is a component that detects the motion of the controller 20 swung by the operator, and includes sensors such as an inclination sensor or an acceleration sensor. In the controller 20, the detection signal obtained by the motion detection sensor unit 23 is used as the operation input signal of the operator. The communication unit 24 is a component for the controller 20 to communicate with the game console body (omitted from the figure) wirelessly or wired. The force feedback unit 26 is a component that receives the drive from the drive unit 25 and gives feedback to the operator who holds the controller 20 in his hand so that he feels the force, and is built into the controller 20. The control unit 21 is a component that performs overall control of the controller 20 (processing control of the input signal from the operation input unit 22, communication control with the game console body via the communication unit 24, and drive control of the drive unit 25).

[0069] In the controller 20, the force feedback unit 26 is not a component that generates simple vibrations like a conventional vibrator, but can generate force by inertial force so that the operator can feel that a force is applied in a specific direction. In the second embodiment, the force feedback unit 26 using a reaction wheel is exemplified.

[0070] Fig.12 2 is a three-dimensional diagram of the force feedback unit 26. Fig.12 As shown, the force feedback unit 26 includes a flywheel (rotating body) 261 and a Fig.11 The servo motor (rotation driving unit) 262 of the driving unit 25. In addition, 262 can also be a stepping motor.

[0071] In the force feedback unit 26, the flywheel 261 is driven to rotate by the servo motor 262, and the rotation reaction force generated when the rotation of the flywheel 261 is accelerated (including rotation from a stop) or decelerated (including stop from the start of rotation) can provide feedback to the operator's hand so that the operator feels the force. Specifically, when the flywheel 261 is accelerated, the servo motor 262 is subjected to a force in the direction opposite to the rotation direction of the flywheel 261. Moreover, when the flywheel 261 is decelerated, the servo motor 262 is subjected to a force in the same direction as the rotation direction of the flywheel 261.

[0072] In the controller 20, the force feedback unit 26 is arranged near the front end of the controller 20, and the rotation axis of the flywheel 261 is orthogonal to the long axis of the controller 20, thereby providing a force in a specific direction to the operator's hand. Specifically, by aligning the rotation axis of the flywheel 261 with the Fig.10The Z-axis direction (up and down direction) can provide a force in the Y-axis direction (left and right direction) to the operator's hand. Fig.10 In the Y-axis direction, it can apply force in the Z-axis direction to the operator's hand.

[0073] In addition, the acceleration or deceleration of the flywheel 261 can be performed continuously or intermittently. Thus, for example, the pulling of a fishing rod in a fishing game can be simulated. Moreover, the magnitude of the force applied to the operator's hand also changes according to the magnitude of the acceleration of the flywheel 261. Furthermore, in the controller 20, it is also possible to Fig.10 As shown, a plurality of force feedback units 26 are built in, wherein the directions of the rotation axes of the flywheels 261 are different from each other (more specifically, the rotation axes are orthogonal to each other). In this case, one controller 20 can generate forces in various directions.

[0074] Moreover, in the present embodiment 2, the case where the force feedback unit 26 using the reaction wheel is mounted on the one-handed handheld controller 20 is illustrated, but the force feedback unit 26 can also be mounted on the two-handed handheld controller 20. Similarly, the force feedback unit 15 using the gyroscopic torque can be mounted not only on the two-handed handheld controller 10, but also on the one-handed handheld controller 20. Moreover, in the force feedback unit 15 using the gyroscopic torque, the function as a reaction wheel can also be realized by increasing or decreasing the rotation speed of the rotating wheel 151. At this time, the two axes brought by the gyroscopic torque are added to the one axis brought by the reaction wheel, and the three-axis rotational force can be obtained. Furthermore, the force feedback unit 15 or the force feedback unit 26 can also be mounted on a type of controller that is directly worn on the operator's body. As a wearable controller, for example, a controller that is put on the operator's hand like a glove can be considered.

[0075] [Implementation method 3]

[0076] In the above-mentioned Embodiment 1 and Embodiment 2, the following structure is illustrated, that is, for the rotating body (rotating wheel 151 or flywheel 261), only the driving part (motor 155 or servo motor 262) that drives its rotation is combined. However, the disclosure of the present application is not limited to this, and a brake that stops the rotation of the rotating body suddenly may be combined with the rotating body. For the brake used at this time, a magnetorheological (MR) fluid (magnetic viscosity fluid) brake or an electrorheological (ER) fluid (electrorheological viscosity fluid) brake can be preferably used.

[0077] For example, consider a structure in which a brake (not shown) is installed on the rotating shaft of the flywheel 261 in the force feedback unit 26 described in Embodiment 2. In the structure, by rotating the flywheel 261 at high speed and stopping the rotation instantly by the brake, the operator can feel the touch of a near impact. In this way, for example, the feeling of hitting a ball (the ball hitting the racket) when playing a tennis game can be simulated.

[0078] In addition, the impact sensation brought by the rotation stop achieved by using the brake can also be applied to the force feedback unit 15 described in Embodiment 1. At this time, the brake can be set relative to any axis of the rotation axis S1 to the rotation axis S3, but it is extremely preferred to be set relative to the rotation axis S1. That is, the rotation axis S1 is the rotation axis of the rotating wheel 151. By setting a brake on it, the high-speed rotating wheel 151 can be stopped instantly, thereby generating a feeling close to an impact.

[0079] [Implementation method 4]

[0080] In the fourth embodiment, the force feedback unit 31 which can be used as a momentum wheel is exemplified. In the momentum wheel, a high-speed rotating wheel has an effect of trying to maintain its rotation axis.

[0081] Fig.13 3 is a three-dimensional diagram of the force feedback unit 31. Fig.13 As shown, the force feedback unit 31 includes a rotating wheel (rotating body) 311, an inner frame (first frame) 312, an intermediate frame (second frame) 313, an outer frame (third frame) 314, a motor (rotation drive unit) 315, a first axis rotation motor 316, and a second axis rotation motor 317. The motor 315 adopts a structure in which the rotating wheel 311 is used as a rotor and a stator 315a is arranged inside the rotating wheel 311. For the first axis rotation motor 316 and the second axis rotation motor 317, a servo motor or a stepping motor is used.

[0082] In the force feedback unit 31, the inner frame 312 supports the rotating wheel 311 in such a manner that the rotating wheel 311 can rotate around the rotating axis S1. Moreover, the motor 315 for driving the rotating wheel 311 to rotate is also fixed in the inner frame 312. The middle frame 313 supports the inner frame 312 in such a manner that the inner frame 312 can rotate around the rotating axis S2 (first rotating axis). Moreover, the first axis rotating motor 316 for rotating and displacing the inner frame 312 relative to the middle frame 313 is also fixed in the middle frame 313. The outer frame 314 supports the middle frame 313 in such a manner that the middle frame 313 can rotate around the rotating axis S3 (second rotating axis). Moreover, the second axis rotating motor 317 for rotating and displacing the middle frame 313 relative to the outer frame 314 is also fixed in the outer frame 314.

[0083] In the force feedback unit 31, the rotating wheel 311 is rotated at high speed by the motor 315, thereby generating an inertial force to maintain the direction (inclination) of the rotation axis S1. When the force feedback unit 31 is mounted on, for example, a game controller (controller 10 or controller 20), the outer frame 314 is fixedly mounted on the frame member of the controller.

[0084] In the controller equipped with the force feedback unit 31, when the operator moves the controller (at least including the action of rotating the controller) during the operation of the force feedback unit 31 (during the rotation of the rotating wheel 311), an inertial force in the direction of restoring the direction of the rotation axis S1 is generated relative to the action of the controller, and the inertial force becomes force feedback to the operator. That is, in the force feedback unit 15 and the force feedback unit 26 described above, force feedback can be actively performed from the controller side by the action of the gyroscopic torque or the reaction wheel, but the force feedback unit 31 based on the action of the momentum wheel can perform passive force feedback when the operator performs an action on the controller.

[0085] Furthermore, in the force feedback unit 31, the direction of the rotation axis S1 can be changed by rotating the inner frame 312 by the first axis rotation motor 316 or by rotating the middle frame 313 by the second axis rotation motor 317. That is, in the controller equipped with the force feedback unit 31, the direction of the rotation axis S1 to be maintained can be set to any direction.

[0086] Furthermore, in the force feedback unit 15 and the force feedback unit 16 described above, the rotating wheel 151 or the flywheel 261 may be rotated at a high speed to function as a momentum wheel.

[0087] [Implementation method 5]

[0088] In the above-mentioned Embodiments 1 to 4, the case where the operating device disclosed in the present application is applied to a game controller is exemplified. However, the application of the operating device disclosed in the present application is not limited to a game controller, but can also be applied to various other devices.

[0089] As an example, the force feedback unit 15 using the gyroscopic torque can be applied to power tools such as handy drills. In drilling operations using a handy drill, it is important to maintain the posture so that the angle of the rotation axis of the drill bit does not change. In this case, the force feedback unit 15 arranges the rotation axis S1 of the rotating wheel 151 in parallel with the rotation axis of the drill bit. When the posture of the handy drill deviates (when the rotation axis of the drill bit tilts), the force feedback unit 15 can generate the gyroscopic torque described above, which becomes a rotational force to correct the deviation.

[0090] Furthermore, as another example, it is also possible to consider applying the force feedback unit 15 to Fig.15 The electric lawn mower shown. At this time, a force F1 is applied to the rotary blade disc for mowing the grass, which causes the blade disc to swing forward and backward with the fulcrum (the rotation center of the blade disc) as the center, thereby generating a force F2 that causes the rotary blade disc to swing left and right, thereby obtaining a force to assist the work. As a specific example, when an actuator that causes the blade disc to swing forward and backward is installed on the blade disc part and the blade disc is only swung forward and backward, the blade disc can be swung left and right by using the part that contacts the body as the fulcrum.

[0091] The embodiments disclosed this time are illustrative in all aspects and are not the basis for restrictive interpretation. Therefore, the technical scope disclosed in this application is not interpreted only by the embodiments described above, but is defined based on the records of the claims. Moreover, all changes within the meaning and scope equivalent to the claims are included.

[0092] This application claims priority based on Japanese Patent Application No. 2022-172654 filed with the Japan Patent Office on October 27, 2022, and all of the contents of Japanese Patent Application No. 2022-172654 are incorporated herein by reference.

[0093] Description of Figure Numbers

[0094] 10, 20: Game controller (operating device)

[0095] 11, 21: Control Department

[0096] 12, 22: Operation input unit

[0097] 13, 24: Ministry of Communications

[0098] 14, 25: Drive unit

[0099] 15, 26, 31: Force feedback

[0100] 151: Rotating wheel (rotating body)

[0101] 152, 312: Inner frame (first frame)

[0102] 153, 313: Middle frame (second frame)

[0103] 154: Guidance Framework

[0104] 155, 315: Motor (rotation drive unit)

[0105] 156, 316: First axis rotation motor

[0106] 157, 317: Second axis rotation motor

[0107] 158a~158d:Supporting feet

[0108] 23: Motion detection sensor unit

[0109] 261: Flywheel (rotating body)

[0110] 262: Servo motor (rotation drive unit)

[0111] 314: Outer frame (third frame)

Claims

1. An operating device, held or worn by an operator for operating an object, wherein the operating device is characterized by comprising: A rotating body rotates with its axis of rotation as its center of rotation; as well as The rotation driving unit rotates the rotating body with the rotation axis as a rotation center.

2. The operating device according to claim 1, characterized in that The rotating body that rotates about the rotating axis as a rotation center can be rotated about a first rotation axis that is orthogonal to the rotating axis as a rotation center.

3. The operating device according to claim 2, characterized in that The rotating body that rotates about the rotating axis as a rotation center can be rotated about a second rotation axis that is orthogonal to both the rotating axis and the first rotation axis as a rotation center.

4. The operating device according to claim 3, characterized in that include: a first frame supporting the rotating body in such a manner that the rotating body can rotate about the rotating shaft as a rotation center; a second frame supporting the first frame in such a manner that the first frame can rotate about the second rotation axis as a rotation center, and being rotatable about the first rotation axis as a rotation center; as well as The guide frame is rotatable about the first rotation axis as a rotation center, and can cause the first frame to rotate about the second rotation axis as a rotation center by transmitting its own rotation to the first frame.

5. The operating device according to any one of claims 2 to 4, characterized in that The rotation drive unit can control the rotation direction and rotation speed of the rotating body.

6. The operating device according to claim 1, characterized in that The rotation drive unit is capable of controlling the rotation direction and rotation speed of the rotating body. The rotating body includes a plurality of rotating bodies whose rotation axes are orthogonal to each other.

7. The operating device according to claim 3, characterized in that include: a first frame supporting the rotating body in such a manner that the rotating body can rotate about the rotating shaft as a rotation center; a second frame supporting the first frame in such a manner that the first frame can rotate about the first rotation axis as a rotation center; as well as The third frame supports the second frame in such a manner that the second frame can rotate about the second rotation axis as a rotation center.

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