Vibration device

Abstract

A vibration device includes a vibrator that transmits vibrations, a displacement detecting section that detects a displacement of the vibrator or a housing, and a control unit that causes the vibrator to vibrate based on an input drive signal and detection information of the displacement detecting section.

Description

Technical area

[0001] The technology of the present disclosure relates to a vibration device. Related technology

[0002] Japanese Patent Application Laid-Open (JP-A) No. 2021-186710 discloses a technique in which vibrations are mechanically suppressed to achieve vibration suppression effect and durability by arranging a plurality of coil springs on both sides of a movable member. Brief description of the inventionProblem to be solved by the invention

[0003] It should be noted that it is preferable to suppress the contact of a vibrator with a housing.

[0004] Taking the above-described circumstances into consideration, it is an object of the present disclosure to provide a vibration device that can suppress contact of a vibrator with a housing. Means to solve the problem

[0005] One aspect of the present disclosure is a vibration device comprising: a vibrator that imparts vibration; a displacement detecting section that detects displacement of the vibrator or a housing; and a control unit that causes the vibrator to vibrate based on an input drive signal and detection information of the displacement detecting section. Effect of the invention

[0006] As explained above, the vibration device of the present disclosure enables a vibrator to be suppressed from coming into contact with a housing. Brief description of the drawings Fig. 1 is a schematic diagram of a vibration device according to an embodiment of the present disclosure. Fig.2 is a block diagram illustrating a configuration of a control unit of a vibration device according to a first embodiment of the technology of the present disclosure. Fig. 3 is a diagram for explaining a setting method for a control signal. Fig. 4 is a diagram for explaining a method of setting a level of a drive signal to be suppressed in a case where a compression ratio is “2:1” and a threshold value TH is “10”. Fig. 5 is a diagram for explaining a method of setting a level of a drive signal to be suppressed in a case where a compression ratio is “3:1” and a threshold value TH is “15”. Fig.6 is a flowchart illustrating a vibration control processing routine by a control unit of a vibration device according to a first embodiment of the technology of the present disclosure. Fig. 7A is a diagram for explaining a method of setting a level of a drive signal to be suppressed according to a combination of a moving direction and an acceleration of a vibrator. Fig. 7B is a diagram for explaining a method of setting a level of a drive signal to be suppressed according to a combination of a moving direction and an acceleration of a vibrator. Fig.7C is a diagram for explaining a method of setting a level of a drive signal to be suppressed according to a combination of a moving direction and an acceleration of a vibrator. Fig. 7D is a diagram for explaining a method of setting a level of a drive signal to be suppressed according to a combination of a moving direction and an acceleration of a vibrator. Fig. 8 is a block diagram illustrating a configuration of a control unit of a vibration device according to a fourth embodiment of the technology of the present disclosure. Fig. 9 is a flowchart illustrating a vibration control processing routine by a control unit of a vibration device according to a fourth embodiment of the technology of the present disclosure. Fig.10 is a block diagram illustrating a configuration of a control unit of a vibration device according to a fifth embodiment of the technology of the present disclosure. Fig. 11 is a flowchart illustrating a vibration control processing routine by a control unit of a vibration device according to a fifth embodiment of the technology of the present disclosure. Fig. 12 is a block diagram illustrating a configuration of a control unit of a vibration device according to a sixth embodiment of the technology of the present disclosure. Fig. 13 is a block diagram illustrating a configuration of a control unit of a vibration device according to a seventh embodiment of the technology of the present disclosure. Fig.14 is a graph showing changes in a control signal, a magnetic force, and a position of a vibrator. Fig. 15A is a perspective view illustrating a configuration of a vibration device according to conventional technology. Fig. 15B is a schematic diagram illustrating a steady state of a vibration device according to conventional technology. Fig. 16A is a schematic diagram illustrating a driving state of a vibration device according to conventional technology. Fig. 16B is a schematic diagram illustrating a driving state of a vibration device according to conventional technology. Fig. 16C is a schematic diagram illustrating a driving state of a vibration device according to conventional technology. Fig.17 is a schematic diagram of a vibration device according to an eighth embodiment of the technology of the present disclosure. Fig. 18A is a cross-sectional view illustrating a configuration of an actuator of a vibration device according to an eighth embodiment of the technology of the present disclosure. Fig. 18B is a schematic diagram illustrating a configuration of an actuator of a vibration device according to an eighth embodiment of the technology of the present disclosure. Fig. 19A is a schematic diagram illustrating a connection relationship between an actuator and a control unit of a vibration device according to an eighth embodiment of the technology of the present disclosure. Fig. Figure 19B is a diagram illustrating a configuration of a magnetic circuit including a single coil. Fig. 20A are graphs illustrating a magnitude, an x-component, and a z-component of magnetic flux with respect to displacement at the center of a side surface of a housing of a magnetic circuit including a pair of coils. Fig. 20B are graphs illustrating a magnitude, an x-component, and a z-component of magnetic flux with respect to displacement at the center of a top surface of a housing of a magnetic circuit including a pair of coils. Fig. 21A are graphs illustrating a magnitude, an x-component, and a z-component of magnetic flux with respect to displacement at the center of a side surface of a housing of a magnetic circuit including a single coil. Fig.21B are graphs illustrating a magnitude, an x-component, and a z-component of magnetic flux with respect to displacement at the center of a top surface of a housing of a magnetic circuit including a single coil. Fig. 21C are graphs illustrating a magnitude, an x-component, and a z-component of magnetic flux with respect to displacement at the center of a bottom surface of a housing of a magnetic circuit including a single coil. Fig. 21D are graphs illustrating a magnitude, an x-component, and a z-component of magnetic flux with respect to displacement at a position 4 mm from the center of a side surface of a housing to a coil side of a magnetic circuit including a single coil. Mode for implementing the invention

[0007] In the following, embodiments of the technology of the present disclosure will be explained in detail with reference to the drawings. Brief description of embodiments of the technology of the present disclosure

[0008] A voice coil actuator as used in Fig. 15A is used to transmit vibrations to a hand, body, or the like, and to reproduce feelings, touch, and the like in a pseudo-realistic manner. Voice coil actuators are incorporated into game controllers, massagers, or the like, and the environments in which voice coil actuators are used, such as being handheld or in contact with the body, are often not constant.

[0009] As in Fig. 15B, a voice coil actuator includes a magnet held by a suspension within a housing. Fig.15B is a cross-sectional view illustrating an example of an internal structure of a voice coil actuator in a stationary state. During driving of a voice coil actuator, depending on the usage state, there are sometimes cases where an internal magnet physically comes into contact with an inner wall of the casing, and an abnormal noise is generated. This occurs particularly in devices (e.g., game controllers, massagers, and the like) that are handheld during use and whose usage state is not constant. Moreover, this is particularly likely to occur when driving with a drive signal close to the resonance frequency of the voice coil actuator or a maximum allowable drive signal, which is used in cases where a large vibration is to be transmitted.

[0010] The following is a specific explanation of a usage condition in which an unusual noise is generated.

[0011] Firstly, as in Fig. As shown in Figure 16A, there are sometimes cases where a large load is applied to a voice coil actuator, for example, by strongly gripping or pressing a device in which the voice coil actuator is installed. In such cases, a device main body and the housing itself of the voice coil actuator are physically fixed, a relative movement amount of a magnet with respect to the housing of the voice coil actuator becomes maximum, and the magnet easily comes into contact with the inner wall of the housing.

[0012] As in Fig.16B, further, in a case where the load of a voice coil actuator is extremely small (the voice coil actuator is free), the cabinet is excessively shaken, the relative movement amount of the magnet with respect to the cabinet becomes large, the magnet and the cabinet contact each other, and an abnormal sound is generated.

[0013] On the other hand, as in Fig. 16C, in a case where an appropriate load is applied to a voice coil actuator, the device main body is shaken and displaced by the vibration of the magnet of the voice coil actuator, a relative moving amount of the magnet with respect to the case becomes small, and contact with the case becomes unlikely to occur.

[0014] It would be conceivable to prevent the magnet from contacting the housing by uniformly reducing the drive signal input according to the usage condition in which the abnormal noise is generated, namely by narrowing the dynamic range; however, the vibrations as a whole become smaller and the transmitted feeling also becomes weaker.

[0015] Therefore, in one embodiment of the technology of the present disclosure, a magnetic detection sensor is provided on an outer side of a casing of an actuator, a moving direction and acceleration of a vibrator are determined based on a change in the position of an internal vibrator (magnet) that changes upon input, and the level of a control signal is controlled based on the moving direction and acceleration so that the movement of the vibrator is suppressed just before the vibrator physically collides with the casing, or a control signal corresponding to a difference from the input drive signal is output to an actuator 10, thereby controlling the vibration of a vibrator 12. By directly detecting the movement of the vibrator and using it in the drive control of the vibrator, various physical load fluctuations can be compensated for.Furthermore, control is also possible with respect to the input of an excessive drive signal to detect the movement of the vibrator.

[0016] The direction of movement can be determined based on the input drive signal and a sensor signal input from the magnetic detection sensor, allowing the magnetic detection sensor to be mounted at any position on the exterior of the housing. This allows application to actuators of various existing shapes, eliminating the need to modify existing actuators. First embodiment

[0017] Configuration of the vibration device of the first embodiment of the technology of the present disclosure

[0018] Fig. 1 is a schematic diagram of a vibration device 100 according to an embodiment of the technology of the present disclosure.

[0019] As in Fig. As shown in Figure 1, the vibration device 100 includes the actuator 10, a magnetic detection sensor 20 provided on a surface of a housing 10A, and a control unit 30. The actuator 10 includes the housing 10A, the vibrator 12 provided within the housing 10A, and a suspension 14 that supports the vibrator 12. The actuator 10 is configured, for example, by a voice coil actuator.

[0020] The magnetic detection sensor 20 detects a magnetic force, which is the strength of the magnetism of the vibrator 12 and changes due to the input of a drive signal. As the vibrator 12 moves within the housing 10A due to the input of a drive signal, a difference in the magnetic force is detected based on a positional relationship between the vibrator 12 and the magnetic detection sensor 20. For example, a linear Hall element can be used as the magnetic detection sensor 20.

[0021] As in Fig. 2, the control unit 30 includes a drive signal input section 32, a sensor signal input section 34, an AD conversion section 36, a determination section 38, a signal setting section 40, and a drive circuit 42.

[0022] The drive signal input section 32 receives a drive signal input from an external source (for example, from an audio player, a game controller, a massage device, or the like). Note that although the description is exemplified by a case where a drive signal input is received from an external source, the present disclosure is not limited thereto. For example, a previously stored signal pattern or sound source signal, or a signal pattern or sound source signal generated by a program, may be received as a drive signal.

[0023] The sensor signal input section 34 receives the input of a sensor signal corresponding to a magnetic force detected by the magnetic field sensor 20.

[0024] The AD conversion section 36 performs AD conversion of the sensor signal received from the sensor signal input section 34 and outputs a digital signal.

[0025] The determination section 38 determines whether the magnetic force detected by the magnetic field sensor 20 is greater than or equal to a threshold value based on the output of the AD conversion section 36.

[0026] In a case where it is determined that the magnetic force detected by the magnetic detection sensor 20 is greater than or equal to the threshold value, the signal setting section 40 adjusts the level of the drive signal so as to be suppressed based on the magnetic force detected by the magnetic detection sensor 20.

[0027] The drive circuit 42 outputs a control signal to the actuator 10 to cause the vibrator 12 to oscillate according to the drive signal.

[0028] Next, an explanation will be given regarding a setting method by the signal setting section 40.

[0029] Various methods of use and fastening are conceivable for the vibration device 100. Fig. Figure 3 shows the correspondence between the level of the drive signal and the detected magnetic force in different usage and fixing methods.

[0030] As in Fig. 3, in a case where the main body is firmly fixed, or in a case of a floating state where the main body is completely free (see the dotted line in Fig. 3), the magnetic force is detected along a line emanating from the control signal level “0”.

[0031] Furthermore, if the vibrator is held somewhat loosely and the oscillation range of the vibrator is relatively small (see double dash-dotted line in Fig. 3), the magnetic force is detected along a line starting from the control signal level “10”.

[0032] In a case where it is assumed that the main body, such as a game controller, is moved (see the dotted line and the dashed line in Fig. 3), it is also conceivable that the main body is moved in a direction that is larger than in cases where the main body is firmly fixed, or that is smaller than in cases where the main body is held somewhat loosely, and effective control is also required in such cases.

[0033] Therefore, the control signal level in the Fig. 3. In the dot range, the larger the dot range, the larger the setting.

[0034] The following is an explanation regarding an example in the present embodiment in which a compression method is used as a method for adjusting the drive signal. In the compression method, the magnetic force detected by the magnetic detection sensor 20 is used as the position of the vibrator 12 (a permanent magnet), and in a case where the value exceeds a predetermined threshold TH, the output level of the drive signal is adjusted using a predetermined compression ratio.

[0035] For example, in Fig.4, in a case where the threshold value TH is "10", adjustment is made so that the output level of the drive signal is suppressed at a predetermined compression ratio at or above the magnetic force "10". Note that when the magnetic force becomes greater than or equal to "20", a peak value is reached (in contact with the housing 10A) (see the dotted area in Fig. 4). Furthermore, the output level can be up to 30.

[0036] Assuming that the compression ratio is 2:1, even with a maximum value of 20 for the magnetic force, it is possible to output and process 30, the upper limit of the output level of the drive signal. Note that a triangular area (the gray area in Fig.4), which connects the threshold value TH "10", the magnetic force "20", and the output level "30" of the drive signal, cannot be used. If an attempt is made to set the output level of the drive signal to the magnetic force "20" at an output level of "30" without attenuating the output level of the drive signal, the output level of the drive signal must be completely attenuated so that the maximum value of the magnetic force becomes "20" (see the thin dashed line (OUT 1:1 MAX 30) in Fig. 4). In such cases, the transmitted vibration becomes small overall.

[0037] In case of exceeding the threshold TH, the compression ratio is used as a ratio that compresses an amount exceeding the input level of the drive signal corresponding to the threshold TH, and may be, for example, “2:1”, “3:1”, “4:1” or the like.

[0038] For example, if a value exceeding the input level "10" corresponding to the threshold value "10" of the magnetic force is set to "10", the output level of each compression ratio is as follows. compression ratio Exit 2:1 → 15 (= 10 + 5) 3:1 → 13,3 (= 10 + 3,3) 4:1 → 12,5 (= 10 + 2,5) 5:1 → 12 (= 10 + 2)

[0039] As in Fig. As shown in Figure 5, in a case where the threshold value TH is "15", an adjustment is made so that the output level of the drive signal is suppressed at a predetermined compression ratio at or above the magnetic force "15". Assuming that the compression ratio is "3:1", even with a maximum value of "20" of the magnetic force, it is possible to output and process "30", the upper limit of the output level of the drive signal. Note that a triangular area (the gray area in Fig.5), which connects the threshold TH “15”, the magnetic force “20” and the output level “30”, cannot be used. However, this is smaller than the triangular area in the case of the threshold TH “10” in the above-described Fig. 4. Furthermore, if an attempt is made to set the output level of the control signal to the magnetic force “20” at the output level “30” without suppressing the output level of the control signal, the output level of the control signal must be completely suppressed so that the maximum value of the magnetic force becomes “20” (see the thin dash-dotted line (OUT 1:1 MAX 30) in Fig. 5). In such cases, the transmitted vibration becomes small overall.

[0040] From the above-described Fig. 4 and Fig.5 shows that by setting the threshold TH to as high a value as possible and reducing the compression ratio, a large output level can be efficiently achieved until just before reaching a peak.

[0041] Ideally, suppression should be performed immediately before a peak is reached, for example by a peak limiter (see the bold dashed line (OUT (1:1) PK LIM) in the Fig. 4 and Fig. 5); however, it is difficult to stop abruptly mechanically. Similarly, in a case where the threshold TH is excessively raised, there is less room to reach a peak value (headroom), and therefore it is necessary to determine a balance with the physical vibration characteristics of the vibrator 12.

[0042] In this way, the signal adjustment section 40 uses the magnetic force detected by the magnetic detection sensor 20 as the position of the vibrator 12, which is a permanent magnet, controls the output level of the drive signal based on the value, and performs position control of the vibrator 12. That is, as a result of movement within the housing 10A due to the input of the drive signal, a difference in magnetic force is detected based on the positional relationship between the vibrator 12 and the magnetic detection sensor 20, and the output level of the drive signal is adjusted. Operation of the vibration device of the first embodiment of the technology of the present disclosure

[0043] The control unit 30 receives the input of a drive signal from the outside. Furthermore, the control unit 30 receives an input of a sensor signal from the magnetic detection sensor 20. When this occurs, the control unit 30 repeatedly executes a Fig. 6 shown vibration control processing routine.

[0044] In step S100, the drive signal input section 32 detects the input drive signal.

[0045] In step S102, the sensor signal input section 34 detects the input sensor signal.

[0046] In step S104, the AD conversion section 36 performs AD conversion of the sensor signal received from the sensor signal input section 34 and outputs a digital signal.

[0047] In step S106, the determination section 38 determines, based on the output of the AD conversion section 36, whether the magnetic force detected by the magnetic detection sensor 20 is greater than or equal to a threshold value. If the magnetic force detected by the magnetic detection sensor 20 is less than the threshold value, the processing proceeds to step S110 without adjusting the drive signal. On the other hand, if the magnetic force detected by the magnetic detection sensor 20 is greater than or equal to the threshold value, the processing proceeds to step S108.

[0048] In step S108, in a case where it is determined that the magnetic force detected by the magnetic detection sensor 20 is greater than or equal to the threshold value, the signal setting section 40 sets the level of the drive signal so as to be suppressed.

[0049] In step S110, the drive circuit 42 outputs a control signal to the actuator 10 to drive the vibrator 12 according to the drive signal detected in the above-described step S100 or the drive signal set in the above-described step S108.

[0050] As explained above, in the vibration device according to the first embodiment of the technology of the present disclosure, the magnetic force corresponding to the displacement of the vibrator is detected by the magnetic detection sensor. The control unit adjusts the input drive signal according to the magnetic force and causes the vibrator of the actuator to vibrate based on the adjusted drive signal. This can prevent the vibrator from coming into contact with the housing. Second embodiment

[0051] Next, an explanation will be given regarding a vibration device according to a second embodiment. Parts having the same configuration as in the first embodiment are denoted by the same reference numerals, and explanations thereof will be omitted.

[0052] In the second embodiment, a method for setting a drive signal differs from that in the first embodiment.

[0053] In a case where it is determined that the magnetic force detected by the magnetic detection sensor 20 is greater than or equal to a threshold value, the signal setting section 40 of the control unit 30 of the vibration device 100 according to the second embodiment sets the level of the drive signal based on the magnetic force detected by the magnetic detection sensor 20 and the level of the drive signal.

[0054] In particular, the level of the drive signal is adjusted according to a combination of the magnetic force detected by the magnetic detection sensor 20 and the level of the current drive signal.

[0055] Specifically, as shown in Table 1, when the magnetic force is greater than or equal to "18," an adjustment is made to strongly suppress the drive signal level. When this occurs, an adjustment is made to strongly suppress the drive signal level, regardless of the current drive signal level.

[0056] In a case where the magnetic force is less than "18" and greater than or equal to "10," adjustment is made to suppress the drive signal level according to the current drive signal level. When this occurs, in a case where the drive signal level is high, adjustment is made to weakly suppress the drive signal level. On the other hand, in a case where the drive signal level is low, adjustment is made to strongly suppress the drive signal level.

[0057] Furthermore, in a case where the magnetic force is less than "10," the drive signal level is not adjusted regardless of the current drive signal level. Alternatively, the adjustment is performed to conversely increase the drive signal level according to the current drive signal level.

[0059] Table 1 Nr. Magnetic force Signal level Attitude 1 H≥18 - MAX 2 18>H≥10 Low Strong 3 High Weak 4 10 > H Low to high No to inverse setting

[0058] Note that the other configurations and operations of the vibration device 100 according to the second embodiment are the same as those of the first embodiment, and explanation thereof will be omitted.

[0059] As explained above, in the vibration device according to the second embodiment, the magnetic force corresponding to the displacement of the vibrator is detected by the magnetic detection sensor. The control unit adjusts the input drive signal according to a combination of the magnetic force and the level of the drive signal, and causes the vibrator of the actuator to vibrate based on the adjusted drive signal. This prevents the vibrator from coming into contact with the housing and transmits the vibration appropriately. Third embodiment

[0060] Next, an explanation will be given regarding a vibration device according to a third embodiment. Parts having the same configuration as those in the first embodiment are designated by the same reference numerals, and explanations thereof will be omitted.

[0061] In the third embodiment, a method for setting a drive signal is different from those in the first embodiment and the second embodiment.

[0062] In a case where it is determined that the magnetic force detected by the magnetic detection sensor 20 is greater than or equal to a threshold value, the signal setting section 40 of the control unit 30 of the vibration device 100 according to the third embodiment sets the moving direction and acceleration of the vibrator 12 based on the change in the magnetic force per unit time detected by the magnetic detection sensor 20. The signal setting section 40 adjusts the level of the drive signal to suppress it based on the moving direction and acceleration of the vibrator 12.

[0063] Specifically, adjustment is performed to suppress the level of the drive signal according to a combination of the moving direction, the magnetic force, the level of the drive signal, and the acceleration of the vibrator 12.

[0064] As shown in Table 2, particularly in a case where the moving direction of the vibrator 12 is toward the magnetic detection sensor 20 and the acceleration is high, the setting is made to strongly suppress the level of the drive signal (see Fig. 7A). When this occurs, the setting is made to strongly suppress the level of the drive signal, regardless of the current level of the drive signal.

[0065] Fig. Figure 7A shows an example of setting the level of the drive signal so that it is strongly suppressed (see the dotted arrow mark in Fig. 7A) when the vibrator 12 is closer to the magnetic detection sensor 20 than to a reference position (see the dashed line in Fig. 7A) and the acceleration of the vibrator 12 is high (see the unfilled arrow mark in Fig. 7A).

[0066] In a case where the direction of movement of the vibrator 12 is toward the magnetic detection sensor 20 and the acceleration is low, the setting is made so that the level of the drive signal is weakly suppressed (see Fig. 7B). Fig. Figure 7B shows an example of setting the level of the drive signal to be suppressed according to the current drive signal level (see the dotted arrow mark in Fig. 7B) when the vibrator 12 is closer to the magnetic detection sensor 20 than to the reference position (see the dotted line in Fig. 7B) and the acceleration of the vibrator 12 is low (see the unfilled arrow mark in Fig. 7B).

[0067] Furthermore, when the moving direction of the vibrator 12 is toward the magnetic detection sensor 20 and the acceleration is high, the adjustment is made so that the level of the drive signal is weakly suppressed (see Fig. 7C). Fig. Figure 7C shows an example of setting the level of the drive signal to be suppressed according to the level of the drive signal (see the dotted arrow mark in Fig. 7C) when the vibrator 12 moves away from the magnetic detection sensor 20 near the reference position (see the dot-dash line in Fig. 7C) and the acceleration of the vibrator 12 is high (see the unfilled arrow mark in Fig. 7C).

[0068] Furthermore, when the direction of movement of the vibrator 12 is toward the magnetic detection sensor 20 and the acceleration is low, the level of the drive signal is not adjusted (see Fig.7D). Alternatively, the adjustment is carried out in such a way that, conversely, the level of the control signal is increased according to the level of the current control signal or the application. Fig. Fig. 7D shows an example in which the level of the drive signal is not adjusted when the vibrator 12 moves away from the magnetic detection sensor 20 to the vicinity of the reference position (see the dot-dash line in Fig. 7D) and the acceleration of the vibrator 12 is low (see the unfilled arrow mark in Fig. 7D).

[0071] Table 2 Corresponding drawing Magnetic force Δt magnetic force change acceleration Attitude Fig. 7A Large Large High MAX (Approximately) Fig. 7B Large (Approximately) Small Low Strong to weak Fig. 7C Small (moving away) Large High Strong to weak Fig. 7D Small (moving away) Small Low No to inverse setting

[0069] In this way, the acceleration and direction of movement of the vibrator 12 are determined, and the level of the drive signal is adjusted so that the vibrator 12 does not collide with the housing 10A. In the magnetic detection sensor 20, a gradually increasing or decreasing magnetic force is detected, the position and direction of movement of the vibrator 12 are determined, the acceleration is calculated based on the change in the magnetic force per unit time, and the level of the drive signal is adjusted. This occurs intermittently. The higher the adjustment frequency, the more precise the control is possible.

[0070] Note that the other configurations and operations of the vibration device 100 according to the third embodiment are the same as those of the first embodiment, so their explanation will be omitted.

[0071] As explained above, in the vibration device according to the third embodiment, the magnetic force corresponding to the displacement of the vibrator is detected by the magnetic detection sensor. The control unit obtains the moving direction and acceleration of the vibrator based on the change in the magnetic force, adjusts the input drive signal according to a combination of the moving direction and acceleration of the vibrator, and causes the vibrator of the actuator to vibrate based on the adjusted drive signal. In this way, the vibrator can be prevented from coming into contact with the housing.

[0072] Furthermore, by performing a reverse adjustment, the vibration can be felt strongly, for example, in a case where the vibration is difficult to transmit despite a high drive signal level. This is particularly effective not only for gaming applications, but also for applications where the vibration must be reliably transmitted, such as warnings. Fourth embodiment

[0073] Next, an explanation will be given regarding a vibration device according to a fourth exemplary embodiment. Parts having the same configuration as in the first exemplary embodiment are designated by the same reference numerals, and explanations thereof will be omitted.

[0074] The fourth embodiment differs from the first embodiment to the third embodiment in that a brake signal for stopping the vibration of the vibrator 12 is generated. Configuration of the vibration device of the fourth embodiment of the technology of the present disclosure

[0075] As in Fig. 8, a control unit 430 includes the drive signal input section 32, the sensor signal input section 34, the AD conversion section 36, the determination section 38, a brake signal generation section 440, and the drive circuit 42.

[0076] When it is determined that the magnetic force detected by the magnetic detection sensor 20 is greater than or equal to a threshold value, the brake signal generating section 440 outputs a brake signal to stop driving the vibrator 12.

[0077] Specifically, to forcibly stop the vibration of the vibrator 12, the braking signal generating section 440 generates a signal opposite to the operation of the vibrator 12 or a signal with a DC component and outputs the signal as a braking signal. Note that the movement of the vibrator 12 is predicted from a change in the magnetic force detected by the magnetic detection sensor 20.

[0078] When this occurs, the brake signal generating section 440 uses the magnetic force detected by the magnetic detection sensor 20, generates a brake signal corresponding to the value, and performs position control of the vibrator 12. The greater the magnetic force, the stronger the brake signal is generated to forcibly stop the vibration of the vibrator 12.

[0079] The drive circuit 42 outputs a control signal to the actuator 10 to cause the vibrator 12 to oscillate in accordance with the drive signal and the brake signal. Specifically, the control unit 42 converts the drive signal into a brake signal, outputs a control signal to the actuator 10, and causes the vibrator 12 to oscillate. Operation of the vibration device of the fourth embodiment of the technology of the present disclosure

[0080] The control unit 30 receives the input of a drive signal from the outside. Furthermore, the control unit 30 receives a sensor signal from the magnetic detection sensor 20. When this occurs, the control unit 30 repeatedly performs a Fig. 9 shown vibration control processing routine.

[0081] In step S100, the drive signal input section 32 detects the input drive signal.

[0082] In step S102, the sensor signal input section 34 detects the input sensor signal.

[0083] In step S104, the AD conversion section 36 performs AD conversion of the sensor signal received by the sensor signal input section 34 and outputs a digital signal.

[0084] In step S106, the determination section 38 determines, based on the output of the AD conversion section 36, whether the magnetic force detected by the magnetic detection sensor 20 is greater than or equal to a threshold value. If the magnetic force detected by the magnetic detection sensor 20 is less than the threshold value, the processing proceeds to step S402 without generating a brake signal. On the other hand, if the magnetic force detected by the magnetic detection sensor 20 is greater than or equal to the threshold value, the processing proceeds to step S400.

[0085] In step S400, the brake signal generating section 440 outputs a brake signal to stop driving the vibrator 12.

[0086] In step S402, the drive circuit 42 outputs to the actuator 10 the drive signal detected in step S100 described above and a control signal corresponding to the brake signal generated in step S400 described above, and drives the actuator 10.

[0087] As explained above, in the vibration device according to the fourth embodiment, the magnetic force corresponding to the displacement of the vibrator is detected by the magnetic detection sensor. The control unit generates a braking signal corresponding to the magnetic force, and the vibrator of the actuator is caused to vibrate based on the drive signal and the braking signal. In this way, the vibrator can be prevented from coming into contact with the housing. Fifth embodiment

[0088] Next, an explanation will be given regarding a vibration device according to a fifth embodiment. Parts having the same configuration as those in the first embodiment are denoted by the same reference numerals, and explanations thereof will be omitted.

[0089] The fifth embodiment differs from the fourth embodiment in that a stop signal for stopping the output of a control signal to the actuator 10 is generated. Configuration of the vibration device of the fifth embodiment of the technology of the present disclosure

[0090] As in Fig. 10, a control unit 530 includes the drive signal input section 32, the sensor signal input section 34, the AD conversion section 36, the determination section 38, a stop signal generation section 540, and the drive circuit 42.

[0091] If it is determined that the magnetic force detected by the magnetic detection sensor 20 is greater than or equal to a threshold value, the stop signal generating section 540 outputs a stop signal for stopping the output of the control signal to the actuator 10.

[0092] Specifically, the stop signal generating section 540 outputs a stop signal for stopping the output of the drive circuit 42 to stop the vibration of the vibrator 12.

[0093] The drive circuit 42 causes the vibrator 12 to oscillate according to the drive signal. When this occurs, the drive circuit 42 stops outputting the control signal to the actuator 10 if a stop signal has been input. Operation of the vibration device of the fifth embodiment of the technology of the present disclosure

[0094] The control unit 30 receives the input of a drive signal from the outside. Furthermore, the control unit 30 receives an input of a sensor signal from the magnetic detection sensor 20. When this occurs, the control unit 30 repeatedly executes a Fig. 11 shown vibration control processing routine.

[0095] In step S100, the drive signal input section 32 detects the input drive signal.

[0096] In step S102, the sensor signal input section 34 detects the input sensor signal.

[0097] In step S104, the AD conversion section 36 performs AD conversion of the sensor signal received by the sensor signal input section 34 and outputs a digital signal.

[0098] In step S106, the determination section 38 determines, based on the output of the AD conversion section 36, whether the magnetic force detected by the magnetic detection sensor 20 is greater than or equal to a threshold value. If the magnetic force detected by the magnetic detection sensor 20 is less than the threshold value, the processing proceeds to step S502 without generating a stop signal. On the other hand, if the magnetic force detected by the magnetic detection sensor 20 is greater than or equal to the threshold value, the processing proceeds to step S500.

[0099] In step S500, the stop signal generating section 540 outputs a stop signal for stopping the output of the drive circuit 42.

[0100] In step S502, the drive circuit 42 causes the vibrator 12 to oscillate according to the drive signal acquired in step S100 above. At this time, if the stop signal output in step S500 above is input, the drive circuit 42 stops outputting the control signal to the actuator 10.

[0101] As explained above, in the vibration device according to the fifth embodiment, the magnetic force corresponding to the displacement of the vibrator is detected by the magnetic detection sensor, a stop signal is generated by the control unit according to the magnetic force, and the vibrator of the actuator is caused to vibrate based on the drive signal and the stop signal. This can prevent the vibrator from coming into contact with the housing. Sixth embodiment

[0102] Next, an explanation will be given regarding a vibration device according to a sixth embodiment. Parts having the same configuration as in the first embodiment are denoted by the same reference numerals, and explanations thereof will be omitted.

[0103] The sixth embodiment differs from the first embodiment in that the control circuit performs feedback control using the sensor signal as a feedback signal. Configuration of the vibration device of the sixth embodiment of the technology of the present disclosure

[0104] As in Fig. 12, a control unit 630 of the vibration device 100 according to the sixth embodiment includes the drive signal input section 32, the sensor signal input section 34, and a drive circuit 642.

[0105] The sensor signal of the magnetic detection sensor 20 is fed back to the control circuit 642 as a feedback signal. The control circuit 642 controls the oscillation of the vibrator 12 according to the magnetic force detected by the magnetic detection sensor 20 by comparing it with the input control signal and outputting a control signal corresponding to the difference to the actuator 10. Operation of the vibration device of the sixth embodiment of the technology of the present disclosure

[0106] The control unit 630 receives an input of a drive signal from the outside. Furthermore, the control unit 630 receives an input of a sensor signal from the magnetic detection sensor 20.

[0107] The drive signal input section 32 detects the input drive signal. The sensor signal input section 34 detects the input sensor signal. The drive circuit 642 then outputs a control signal to the actuator 10 according to a difference between the detected drive signal and the detected sensor signal, and drives the actuator 10.

[0108] As explained above, in the vibration device according to the sixth embodiment, the magnetic detection sensor detects the magnetic force corresponding to the displacement of the vibrator, outputs a sensor signal, and the control unit causes the vibrator of the actuator to vibrate using the sensor signal as a feedback signal. This can prevent the vibrator from coming into contact with the housing.

[0109] The control configuration is simple, and conventional feedback circuits can be used. Furthermore, complex control programs and algorithms are not required. Furthermore, since a sensor signal from the magnetic detection sensor is applied directly to the control circuit, delay is minimized, enabling fast control.

[0110] It should be noted that the feedback control explained in the sixth embodiment described above can be applied to any of the first to fifth embodiments described above. In particular, as in the above-described Fig. 2, Fig. 8 and Fig.10, a sensor signal is output from the sensor signal input section 34 as a feedback signal to the drive circuit 42. The drive circuit 42 outputs a control signal corresponding to a difference between the detected drive signal and the detected sensor signal to the actuator 10 and controls the actuator 10. Seventh embodiment

[0111] Next, an explanation will be given regarding a vibration device according to a seventh embodiment. Parts having the same configuration as in the first embodiment are denoted by the same reference numerals, and explanations thereof will be omitted.

[0112] The seventh embodiment differs from the first embodiment in that the output of the drive circuit is stopped at a time when a sensor signal is detected by the magnetic detection sensor. Configuration of the vibration device of the seventh embodiment of the technology of the present disclosure

[0113] As in Fig. 13, a control unit 730 of the vibration device 100 according to the seventh embodiment includes the drive signal input section 32, the sensor signal input section 34, the AD conversion section 36, the determination section 38, the signal setting section 40, the drive circuit 42, and a stop signal generation section 740.

[0114] The stop signal generating section 740 outputs a stop signal that stops the output of the drive circuit 42 at a time when the sensor signal input section 34 detects a sensor signal from the magnetic detection sensor 20.

[0115] Therefore, as in Fig.14, the output of the control signal is stopped for a short period of time during which the magnetic force is measured (a period during which the movement of the vibrator is not inhibited), and a more accurate magnetic force is measured and the position of the vibrator 12 is determined.

[0116] Note that the other configurations and operations of the vibration device 100 according to the seventh embodiment are identical to those in the first embodiment, and explanation thereof is omitted.

[0117] The magnetic force measured by the magnetic detection sensor is considered a value obtained by adding the magnetic force of the vibrator containing the permanent magnet and the magnetic force generated by the coil in the actuator. To accurately detect the position of the vibrator, it is desirable to detect only the magnetic force of the vibrator. Therefore, in the present embodiment, by stopping the output of the control signal during the magnetic force measurement, the influence of the magnetic force generated by the coil can be suppressed. Eighth embodiment

[0118] Next, an explanation will be given regarding a vibration device according to an eighth embodiment. Parts having the same configuration as in the first embodiment are denoted by the same reference numerals, and explanations thereof will be omitted.

[0119] The eighth embodiment differs from the first embodiment in that the magnetic detection sensor 20 is provided at a central part of a side surface of the housing 10A, and a control signal is generated to the actuator to apply a pulling force by using a voice coil actuator including a pair of coils. Configuration of the vibration device of the eighth embodiment of the technology of the present disclosure

[0120] As in Fig. 17, a vibration device 800 includes an actuator 901, the magnetic detection sensor 20 provided on a surface of the housing 10A, and a control unit 900. In the present embodiment, the magnetic detection sensor 20 is provided on a side surface of the housing 10A. Fig.17 illustrates an example in which the magnetic detection sensor 20 is provided at a central part of a side surface of the housing 10A.

[0121] As in Fig. 18A, the actuator 901 is mainly composed of the housing 10A constituting an outer shell, an electromagnetic driving part 3 provided inside the housing 10A, the vibrator 12 capable of being vibrated by the electromagnetic driving part 3, a first support unit 5a and a second support unit 5b each elastically supporting both ends of the vibrator 12, and a first inner guide 6a and a second inner guide 6b each regulating the movement of the first support unit 5a and the second support unit 5b.

[0122] Both opening ends of a cylindrical housing main body of the housing 10A are closed by a first cover housing 11a and a second cover housing 11b.

[0123] The electromagnetic drive part 3 includes a yoke 41 made of a cylindrical soft magnetic material and arranged inside the housing 10A, and a first coil 21a and a second coil 21b attached to an inner surface of the yoke 41 in a state electrically insulated from the yoke 41.

[0124] The first coil 21a and the second coil 21b are wound along the inner surface of the yoke 41. The first coil 21a and the second coil 21b can each generate a magnetic field by applying current from a terminal.

[0125] The vibrator 12 is surrounded by the first coil 21a and the second coil 21b and arranged to oscillate along an oscillation axis O. The vibrator 12 consists of a disc-shaped magnet 50, a disc-shaped first pole piece 51a and a disc-shaped second pole piece 51b arranged to clamp the magnet 50, and a first mass (weight) 52a and a second mass (weight) 52b arranged to clamp the magnet 50, the first pole piece 51a and the second pole piece 51b.

[0126] The magnetization direction of the magnet 50 corresponds to the direction of the vibration axis O. The first pole piece 51a and the second pole piece 51b are made of a soft magnetic material and are attached to the magnet 50 by the magnetic attraction force of the magnet 50, an adhesive, or the like. The first mass 52a and the second mass 52b are made of a non-magnetic material and are attached to the first pole piece 51a and the second pole piece 51b, respectively, by an adhesive or the like. Therefore, the magnet 50, the first pole piece 51a, the second pole piece 51b, the first mass 52a, and the second mass 52b, which constitute the vibrator 12, are integrally connected to each other. The first mass 52a and the second mass 52b are formed with flat contact surfaces with the first pole piece 51a and the second pole piece 51b.The surfaces on the other side of the contact surfaces are formed spirally with the vibration axis O as the central axis, and the distal end parts 53a and 53b on the central axis thereof protrude furthest to the outside.

[0127] In the vibrator 12 thus configured, both end portions in the direction of the vibration axis O, namely the distal end portions 53a and 53b of the first mass 52a and the second mass 52b, respectively, are held by the first support unit 5a and the second support unit 5b.

[0128] The first support unit 5a is configured of a first damper 60a (a first plate spring) and a first elastic member 61a provided on a surface of the first damper 60a.

[0129] A support portion 71a, which includes a hole 70a, is formed at a central portion of the first damper 60a. The first damper 60a is coupled to the vibrator 12 via the hole 70a. Specifically, the distal end portion 53a of the first mass 52a is inserted through the hole 70a, and the distal end portion 53a is crimped by compression.

[0130] Further, the first damper 60a includes three arm portions 72a that spirally extend from the support portion 71a to the outer periphery. The respective arm portions 72a are formed at regular intervals at 120° increments around the vibration axis O. An outer peripheral end of each arm portion 72a is connected to an annular frame portion 73a along an inner surface of the housing body. The frame portions 73a are connected to each other by flange portions 13a that project radially inward at three positions on the inner surface of the housing body at intervals of 120° around the vibration axis O.

[0131] The first damper 60a is formed by a single metal disc spring or multiple metal disc springs. In the present embodiment, for example, a thin stainless steel plate (a spring material) is used. The material of the first damper 60a is not limited to metal and may be a composite material containing resin or fiber. Materials that are fatigue-resistant and have excellent flexibility are desirable.

[0132] The first damper 60a formed in this way is elastically deformable within a predetermined range in the vibration axis direction O and a crossing direction including a radial direction perpendicular to the vibration axis direction O. Note that this predetermined range corresponds to an amplitude range of the vibrator 12 in a case where the vibrator 12 is normally used as the actuator 901. Therefore, the predetermined range is a range in which at least the first damper 60a does not come into contact with the housing 10A and a range in which the elastic deformation limit of the first damper 60a is not exceeded.

[0133] The first elastic member 61a is in the shape of a plate that follows a shape from the support portion 71a of the first damper 60a to a specific area of ​​each arm portion 72a and is fixed to a surface of the first damper 60a. The vibration of the first damper 60a is damped by the elastic deformation of the first elastic member 61a.

[0134] The second support unit 5b has the same configuration as the first support unit 5a and includes a second damper 60b (a second disc spring) and a second elastic member 61b. Note that, in the present embodiment, the second damper 60b and the first damper 60a each have the same shape and are formed of the same material, and the second elastic member 61b and the first elastic member 61a each have the same shape and are formed of the same material. Three arm parts 72b of the second damper 60b extend from a support part 71b formed with the hole 70b to an annular frame part 73b. The second damper 60b is coupled to the vibrator 12 by inserting the distal end part 53b of the second mass 52b into the hole 70b and compressing and crimping it.Furthermore, the second damper 60b is coupled to three flange parts 13b, with the annular frame part 73b protruding from the inner surface of the housing body. A projection part 14b of the flange parts 13b is inserted through the through hole formed in the frame part 73b and connected by pressing and crimping. Note that the spiral direction of each arm 72b of the second damper 60b is opposite to the spiral direction of each arm 72a of the first damper 60a. Therefore, during vibration, the vibrator 12 receives torques in opposite directions from the first damper 60a and the second damper 60b, and therefore, the vibrator 12 does not rotate around the vibration axis O even when the vibrator 12 is displaced in the direction of the vibration axis O.

[0135] The first inner guide 6a is located on one side in the direction of the vibration axis O of the actuator 901 and is provided further toward a different side (a central part of the housing 10A) in the direction of the vibration axis O than the first support unit 5a. The second inner guide 6b is located on the other side in the direction of the vibration axis O of the actuator 901 and is provided further toward one side (a central part of the housing 10A) in the direction of the vibration axis O than the second support unit 5b. That is, the first inner guide 6a and the second inner guide 6b are provided further toward the center in the direction of the vibration axis O than the first support unit 5a and the second support unit 5b within the housing 10A.

[0136] As in Fig.18B, the vibrator 12 held by the first damper 60a and the second damper 60b is positioned at the center of the first coil 21a and the second coil 21b in a state where the actuator 901 does not supply electric current to either the first coil 21a or the second coil 21b.

[0137] When the vibrator 12 oscillates, alternating current is supplied to the first coil 21a and the second coil 21b in directions in which magnetic fields of opposite polarities are alternately generated. That is, the same polarity is generated at adjacent parts of the first coil 21a and the second coil 21b.

[0138] In the case of Fig. 18B, a thrust force is applied towards the other side in the direction of the oscillation axis O (in Fig.18B the right side) indicated by the solid arrow A is generated at the vibrator 12, and when the current flowing to the first coil 21a and the second coil 21b is reversed, a thrust is generated at the vibrator 12 toward one side in the direction of the vibration axis O (the left side in Fig. 18B), indicated by the dashed arrow B.

[0139] When alternating current is supplied to the first coil 21a and the second coil 21b in this way, the vibrator 12 vibrates along the vibration axis O while being biased from both sides by the first damper 60a and the second damper 60b.

[0140] As in Fig.19A, the first coil 21a and the second coil 21b are each connected to respective independent external connection parts 912, and the control unit 900 controls the respective levels of the drive signals output to each independent external connection part 912 based on detection information of the magnetic detection sensor 20.

[0141] For example, the control unit 900 detects the amplitude of the vibrator 12 based on the detection information of the magnetic detection sensor 20 and controls the respective levels of the drive signals output to each independent external connection part 912 to control the deviation of the amplitude in the positive and negative directions. Therefore, the independent signal control of the first coil 21a and the second coil 21b enables highly accurate and more complex vibration control (such as the representation of a tensile force). This allows vibration expressions such as a tensile force, a sense of resistance of the object surface, and a subtle sense of unevenness of the object surface to be realized.

[0142] Here, the traction illusion involves the indistinct perception of an acceleration that slowly changes according to the nonlinearity of perception. For example, a oscillation in a temporally asymmetric waveform (a shape resembling a sawtooth wave) is applied as a condition for creating an illusion during stimulus design.

[0143] Furthermore, vibration frequencies that are effective for the human body, such as the traction illusion or vibration detection by a biotactile sensor (receptor), are in a low band (less than or equal to 100 Hz).

[0144] When the resonance frequency of the actuator 901 is lowered while maintaining a high acceleration, the amplitude amount of the vibrator tends to be increased, and the amplitude limit is easily exceeded.

[0145] Furthermore, in a case where an additional mass fluctuates significantly due to gripping or the like, the amplitude amount is further increased, so that amplitude control becomes more important.

[0146] Therefore, in the present embodiment, the amplitude amount is monitored by the magnetic detection sensor 20 and vibration control is performed, thereby enabling driving at a low frequency while avoiding contact with the housing 10A.

[0147] Furthermore, amplitude control can be performed based on the detected displacement, thus eliminating the need for a configuration that requires mechanical amplitude limitation of the actuator. For example, vibration control is possible even in a case where there is no cover housing in the direction of vibration.

[0148] Note that the other configurations of the vibration device 800 are identical to those of the first embodiment, and their explanation is omitted.

[0149] Furthermore, vibration control can be performed similarly to the control unit 30 explained in the first embodiment. In such a case, the determination section 38 of the control unit 30 determines, based on the output of the AD conversion section 36, whether a distance between the housing 10A and a position of the vibrator 12 detected by the magnetic detection sensor 20 is smaller than a threshold value. In a case where it is determined that the distance between the housing 10A and the position of the vibrator 12 detected by the magnetic detection sensor 20 is smaller than the threshold value, the signal adjustment section 40 performs the following processing. Namely, the signal adjustment section 40 adjusts the level of the drive signal so as to be suppressed based on the distance between the housing 10A and the position of the vibrator 12 detected by the magnetic detection sensor 20.

[0150] Furthermore, vibration control can be performed similarly to the control unit 30 explained in the second embodiment. In such a case, the determination section 38 of the control unit 30 determines, based on the output of the AD conversion section 36, whether a distance between the housing 10A and a position of the vibrator 12 detected by the magnetic detection sensor 20 is smaller than a threshold value. In a case where it is determined that the distance between the housing 10A and the position of the vibrator 12 detected by the magnetic detection sensor 20 is smaller than the threshold value, the signal adjustment section 40 performs the following processing. Namely, the signal adjustment section 40 adjusts the level of the drive signal according to a combination of the distance between the housing 10A and the position of the vibrator 12 detected by the magnetic detection sensor 20, and the level of the drive signal.

[0151] Furthermore, vibration control can be performed similarly to the control unit 30 explained in the third embodiment. In such a case, the determination section 38 of the control unit 30 determines, based on the output of the AD conversion section 36, whether a distance between the housing 10A and a position of the vibrator 12 detected by the magnetic detection sensor 20 is smaller than a threshold value. The signal setting section 40 determines the moving direction and acceleration of the vibrator 12 based on a change in the position of the vibrator 12 detected by the magnetic detection sensor 20, and adjusts the level of the drive signal to be suppressed based on the moving direction and acceleration of the vibrator 12.

[0152] Furthermore, vibration control can be performed similarly to the control unit 430 explained in the fourth embodiment. In such cases, when the distance between the housing 10A and the position of the vibrator 12 detected by the magnetic detection sensor 20 is less than a threshold value, the brake signal generating section 440 of the control unit 430 outputs a brake signal to stop driving the vibrator 12.

[0153] Furthermore, vibration control can be performed similarly to the control unit 530 explained in the fifth embodiment. In such cases, when the distance between the housing 10A and the position of the vibrator 12 detected by the magnetic detection sensor 20 is less than a threshold value, the stop signal generating section 540 of the control part 530 outputs a stop signal to stop the output of the control signal to the actuator 10.

[0154] Furthermore, vibration control can be performed similarly to the control unit 630 explained in the sixth embodiment. In such a case, the sensor signal of the magnetic detection sensor 20 is fed back as a feedback signal to the drive circuit 642 of the control unit 630. The drive circuit 642 controls the vibration of the vibrator 12 according to the magnetic force detected by the magnetic detection sensor 20 by comparing it with the input drive signal and outputting a control signal corresponding to the difference to the actuator 10.

[0155] Furthermore, vibration control can be performed similarly to the control unit 730 explained in the seventh embodiment. In such a case, the stop signal generating section 740 of the control part 730 outputs a stop signal for stopping the output of the drive circuit 42 at a time when the sensor signal input section 34 detects a sensor signal from the magnetic detection sensor 20. Experimental examples

[0156] As an experimental example to investigate the mounting position of a magnetic sensor for detecting the position of a vibrator by receiving a change in magnetic leakage flux with a magnetic sensor, a magnetic field analysis was performed using FEMTET (registered trademark) to confirm the distribution of magnetic leakage flux.

[0157] Since a magnetic sensor only receives a uniaxial directional value of the magnetic flux density, the magnetic flux density was not evaluated in terms of its magnitude, but in terms of an x-component (radial direction) and a z-component (axial direction) (see Fig. 19A).

[0158] In a magnetic circuit having a pair of coils, a magnetic circuit of a magnet clamped between pole pieces with respect to a cylindrical yoke was used, and a neodymium magnet was used as a magnet configuring the vibrator 12, and the configuration in the z-axis direction (axial direction) was symmetrical.

[0159] As in Fig.As shown in Figure 19B, in a single-coil magnetic circuit, a magnetic circuit with a permanent magnet inserted inside a cup-shaped yoke was used, and a ferrite magnet was used as the magnet configuring the vibrator 12, and the configuration was asymmetrical in the z-axis direction (up and down). The yoke position in the axial direction is not limited to the case center but is arbitrary and is determined based on the positional relationships with the coil and suspension. A case top and a case bottom are provided in the axial direction of the cup-shaped yoke, and a coil is arranged on an inner side of the cup-shaped yoke. Furthermore, the cup-shaped yoke is open at the bottom.

[0160] Fig.20A illustrates, in order from the left, the magnitude, x-component, and z-component of the magnetic flux with respect to the displacement at the center of a side surface of a housing of a magnetic circuit including a pair of coils.

[0161] Fig. Figure 20B illustrates, in order from the left, the magnitude, x-component, and z-component of the magnetic flux with respect to displacement at the center of the top surface of the case of a magnetic circuit comprising a pair of coils.

[0162] The x-component of the magnetic flux with respect to the displacement at the center of a side surface of the housing varied linearly, and there was no offset. Furthermore, the z-component of the magnetic flux with respect to the displacement at the center of a side surface of the housing varied quadratically and became a minimum at a displacement of 0.

[0163] The x-component of the magnetic flux with respect to the displacement at the center of the top of the housing varied linearly with an offset, with the offset amount being greater than the change amount. Furthermore, the z-component of the magnetic flux with respect to the displacement at the center of the top of the housing varied linearly with an offset, with the offset amount being greater than the change amount.

[0164] Therefore, it was found that in a magnetic circuit comprising a pair of coils, it is effective to detect a change in the x-component of the magnetic flux density at the center of a side surface of the housing.

[0165] Fig. Figure 21A illustrates, in order from the left, the magnitude, x-component, and z-component of the magnetic flux with respect to the displacement at the center of a side surface of a housing of a magnetic circuit comprising a single coil.

[0166] Fig.Figure 21B illustrates, in order from the left, the magnitude, x-component, and z-component of magnetic flux with respect to displacement at the center of a top surface of a housing of a magnetic circuit comprising a single coil.

[0167] Fig. Figure 21C illustrates, in order from the left, the magnitude, x-component, z-component, and angle of magnetic flux with respect to displacement at the center of a bottom surface of a housing of a magnetic circuit comprising a single coil.

[0168] The x-component of the magnetic flux with respect to the displacement at the center of a side surface of the housing changed linearly with an offset, and the offset amount was greater than the change amount. Furthermore, the z-component of the magnetic flux with respect to the displacement at the center of a side surface of the housing changed linearly with an offset, and the offset amount was greater than the change amount.

[0169] The x-component of the magnetic flux with respect to the displacement at the center of the top of the case varied quadratically in a distorted manner with a maximum near displacement 0. Furthermore, the z-component of the magnetic flux with respect to the displacement at the center of the top of the case varied linearly with an offset, and the offset amount was larger than the change amount.

[0170] The x-component of the magnetic flux with respect to the displacement at the center of the bottom of the housing changed linearly with an offset, and the offset amount was greater than the change amount. Furthermore, the z-component of the magnetic flux with respect to the displacement at the center of the bottom of the housing changed linearly with an offset, and the offset amount was greater than the change amount.

[0171] Therefore, there were no positions or components in the center of the side surface, the center of the top surface, and the center of the bottom surface where changes in magnetic flux density could be easily detected.

[0172] Fig. 21D shows, in order from the left, the magnitude, x-component, and z-component of the magnetic flux with respect to the displacement at positions spaced a predetermined distance from the center of the side surface of the case of a single-coil magnetic circuit (at positions where the magnetic flux lines are parallel to the z-direction (axial direction) on the side surface of the case).

[0173] The x-component of the magnetic flux with respect to the displacement 4 mm below the center of the housing's side surface varied linearly, with no offset. Furthermore, the z-component of the magnetic flux with respect to the displacement 4 mm below the center of the housing's side surface varied quadratically, with a minimum at a displacement of 0.

[0174] Therefore, it was found that in a magnetic circuit comprising a single coil, it is effective to detect a change in the x-component of the magnetic flux density 4 mm below the center of the side surface of the housing.

[0175] In this way, it was found that providing the magnetic sensor on the side surface of the casing, rather than on the top surface of the casing, is effective in detecting a change in the x-component of the magnetic flux density. Indeed, by providing the magnetic sensor on the side surface of the casing, the magnetic sensor can accurately detect the displacement amount of the vibrator. It is most preferable to provide the magnetic sensor at a position where the magnetic poles are reversed; however, the magnetic sensor may also be provided at a position other than a central part, as long as the magnetic sensor is arranged on a side surface of the casing.

[0176] In the technology of the present disclosure, the displacement of the vibrator or the housing is detected by a displacement detection section. Further, the control unit causes the vibrator to vibrate based on the input drive signal and the detection information of the displacement detection section.

[0177] In this way, by detecting the displacement of the vibrator or the housing and causing the vibrator to vibrate based on the detection information and the drive signal, the vibrator can be suppressed from coming into contact with the housing.

[0178] The displacement detection section according to the technology of the present disclosure is a magnetic detection sensor that detects a magnetic force corresponding to a position of the vibrator that changes upon input of the drive signal, and the control unit can control a level of a control signal based on the detection information of the displacement detection section to cause the vibrator to vibrate according to the drive signal.

[0179] The control unit according to the technology of the present disclosure can control a level of the control signal based on the detection information of the displacement detection section and a level of the drive signal.

[0180] The control unit according to the technology of the present disclosure can set the moving direction and acceleration of the vibrator based on a change in the detection information of the displacement detecting section and control the level of the control signal based on the moving direction and acceleration.

[0181] The control unit according to the technology of the present disclosure may stop the output of the control signal according to a detection timing by the displacement detection section.

[0182] The control unit according to the technology of the present disclosure can control the level of the control signal by adjusting the level of the drive signal based on the detection information of the displacement detection section.

[0183] The control unit according to the technology of the present disclosure can adjust the level of the drive signal at a fixed compression ratio in a case where the detected magnetic force exceeds a threshold value.

[0184] The control unit according to the technology of the present disclosure may adjust the level of the drive signal by replacing the drive signal with a brake signal when the detected magnetic force exceeds a threshold.

[0185] The control unit according to the technology of the present disclosure may stop outputting the control signal when the detected magnetic force exceeds a threshold value.

[0186] The control unit according to the technology of the present disclosure can control the level of the control signal using the detected magnetic force as a feedback signal.

[0187] The magnetic detection sensor according to the technology of the present disclosure may be provided on a side surface of the housing.

[0188] The vibration device according to the technology of the present disclosure further includes: a cylindrical electromagnetic drive part provided in an interior of the housing; and a pair of disc springs each supporting one end part and another end part of the vibrator in a vibration axis direction of the vibrator, wherein: the vibrator is provided on a radially inner side of the electromagnetic drive part and is supported so as to be able to vibrate along a vibration axis; the vibrator includes a magnet having a magnetization direction in the vibration axis direction, a pair of pole pieces made of a soft magnetic material that clamp the magnet along the vibration axis from both sides, and a pair of weights made of a non-magnetic material that clamp the pair of pole pieces along the vibration axis from both sides;The electromagnetic drive part includes a pair of coils spaced apart along the oscillation axis and each formed in a cylindrical shape, and a cylindrical yoke made of a soft metallic material provided on a radially outer side of the pair of coils and formed to protrude further toward an outer side in the oscillation axis direction than the pair of coils. The pair of coils can be connected to respective independent external connecting portions.

[0189] The control unit according to the technology of the present disclosure can control the respective levels of the drive signals output to each independent external connection section based on the detection information of the displacement detection section.

[0190] It should be noted that the technology of the present disclosure is not limited to the embodiments described above, and various modifications and applications are possible within a range that does not deviate from the gist of the technology of the present disclosure.

[0191] Since a magnetic detection sensor detects a combined magnetic flux from a magnetic flux exiting a drive coil and a magnetic flux of the vibrator, it is difficult to detect the displacement of the vibrator with high accuracy. Therefore, in the control unit according to the present embodiment, the magnetic flux of the vibrator can be more accurately calculated by predicting the magnetic force from the drive coil of the actuator based on the drive signal and subtracting the predicted magnetic force from the detection data of the magnetic detection sensor. More accurately calculating the magnetic flux of the vibrator enables detection of the displacement of the vibrator with higher accuracy.

[0192] The technology of the present disclosure can be applied to products (e.g., a chair, a bed, a floor, or the like) that use multiple actuators. In such a case, it is not necessary to provide the displacement detection section on all actuators, and it is sufficient to provide the displacement detection section on at least one of the actuators.

[0193] In the above-described embodiments, an example in which a voice coil actuator is used as the actuator has been described; however, the present disclosure is not limited thereto, and actuators other than a voice coil actuator may also be used.

[0194] Although the explanation was given using an example in which a magnetic detection sensor is used as the displacement detection section that detects the displacement of the vibrator, the present disclosure is not limited to this. A displacement detection section that detects the displacement of the housing may also be used. For example, an electrostatic film sensor may be used to detect deformation of the housing, the magnitude of vibration, compression on a device, or the like of a voice coil actuator, and the driving of the actuator may be controlled based on the detection result and a drive signal.

[0195] Furthermore, although the explanation was given using an example in which a magnetic detection sensor is provided on an outer side of a housing of an actuator, the present disclosure is not limited thereto. For example, a magnetic detection sensor may be provided on an inner side of the housing of the actuator. In such a case, incorporating the magnetic detection sensor itself inside the actuator enables miniaturization and uniformity of the positional relationships with the vibrator.

[0196] Furthermore, based on the drive signal, the control unit can control the residual vibration of the vibrator after operation, which causes the vibrator to vibrate.

[0197] The disclosure of Japanese Patent Application No. 2022-202447 is hereby incorporated by reference in its entirety.

[0198] All documents, patent applications, and technical standards described herein are hereby incorporated by reference to the same extent as if each document, patent application, and technical standard had been specifically and individually described as being incorporated by reference. QUOTES CONTAINED IN THE DESCRIPTION

[0000] This list of documents submitted by the applicant was generated automatically and is included solely for the convenience of the reader. This list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions. Cited patent literature

[0000] JP 2021-186710

[0002] JP 2022-202447

[0197]

Claims

[1] Vibration device comprising: a vibrator that transmits vibrations; a displacement detecting section that detects a displacement of the vibrator or a housing; and a control unit that causes the vibrator to vibrate based on an input drive signal and detection information of the displacement detection section. [2] Vibration device according to claim 1, wherein the displacement detection section is a magnetic detection sensor that detects a magnetic force corresponding to a position of the vibrator, which changes due to the input of the drive signal; and the control unit controls a level of a control signal based on the detection information of the displacement detection section to cause the vibrator to oscillate according to the drive signal. [3] The vibration device according to claim 2, wherein the control unit controls the level of the control signal by adjusting a level of the drive signal based on the detection information of the displacement detection section. [4] The vibration device according to claim 3, wherein in a case where the detected magnetic force exceeds a threshold value, the control unit adjusts the level of the drive signal by a predetermined compression ratio. [5] The vibration device according to claim 3, wherein the control unit adjusts the level of the drive signal by replacing the drive signal with a brake signal in a case where the detected magnetic force exceeds a threshold value. [6] The vibration device according to claim 2, wherein the control unit stops the output of the control signal in a case where the detected magnetic force exceeds a threshold value. [7] The vibration device according to claim 2, wherein the control unit controls the level of the control signal based on the detection information of the displacement detecting section and a level of the drive signal. [8] Vibration device according to claim 2, wherein: the control unit determines a movement direction and an acceleration of the vibrator based on a change in the detection information of the displacement detection section; and the control unit controls the level of the control signal based on the direction of movement and acceleration. [9] The vibration device according to claim 2, wherein the control unit stops the output of the control signal in response to a detection timing by the displacement detecting section. [10] The vibration device according to claim 2, wherein the control unit controls the level of the control signal using the detected magnetic force as a feedback signal. [11] The vibration device according to claim 2, wherein the magnetic detection sensor is provided on a side surface of the housing. [12] Vibration device according to claim 1, further comprising: a cylindrical electromagnetic drive part provided at an interior of the housing; and a pair of disc springs each holding one end part and another end part of the vibrator in a vibration axis direction of the vibrator, where: the vibrator is provided on a radially inner side of the electromagnetic drive part and is held so that it can oscillate along an oscillation axis; the vibrator comprises a magnet having a magnetization direction in the vibration axis direction, a pair of pole pieces made of a soft magnetic material and clamping the magnet along the vibration axis from both sides, and a pair of weights made of a non-magnetic material and clamping the pair of pole pieces along the vibration axis from both sides; the electromagnetic driving part comprises a pair of coils provided along the oscillation axis at a distance and each formed in a cylindrical shape, and a cylindrical yoke made of a soft metallic material provided on a radially outer side of the pair of coils and formed to protrude further to an outer side in the oscillation axis direction than the pair of coils; and the pair of coils is connected to respective independent external connecting parts. [13] The vibration device according to claim 12, wherein the control unit controls a level of the respective drive signals output to each independent external connection part based on the detected information of the displacement detecting section.

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