Control device

Abstract

Provided is an operating device (10) having a high degree of freedom of operation by a user. This operating device (10) outputs a signal to a computer (20) in accordance with a change in orientation by an operation of a user, the operating device including: a plurality of link shafts (SF); a plurality of node mechanism units (ND) which form a grid pattern together with the plurality of link shafts (SF), and each of which holds one end of two or more link shafts (SF) among the plurality of link shafts (SF) such that it is possible to change the orientation of the two or more link shafts (SF); and a three-dimensional magnetic sensor (50) that detects respective directions in which the two or more link shafts extend relative to the node mechanism units (ND).

Description

[Technical field]

[0001] The present invention relates to an operation device. [Background technology]

[0002] An operation device used to operate a game device is disclosed in the following Patent Document 1. This operation device is provided with operation members such as operation buttons, directional keys, and an operation stick. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] International Publication No. 2014 / 061362 Summary of the Invention [Problem to be solved by the invention]

[0004] In recent years, with the improvement of computer processing power in game devices and the like, it has become possible to express a variety of movements of display objects. In order to move such display objects in response to user operations, there is a demand for operation devices that offer a high degree of freedom in operation.

[0005] The present invention has been made in view of the above-mentioned problems, and one of its objects is to provide an operation device that allows a user a high degree of freedom in operation. [Means for solving the problem]

[0006] One example of an operating device proposed in the present disclosure is an operating device that outputs a signal to a computer in response to a change in posture due to user operation, and includes a plurality of link shafts and a plurality of node mechanism units that form a lattice pattern together with the plurality of link shafts, each of which has a plurality of node mechanism units that respectively hold one end of at least two or more of the plurality of link shafts so that the posture of the two or more link shafts can be changed, and a first detection means that respectively detects the direction in which the two or more link shafts extend relative to the node mechanism unit. [Brief description of the drawings]

[0007] [Figure 1] FIG. 1 is a diagram illustrating an example of a physical configuration of a display control system according to an embodiment of the present invention. [Diagram 2] FIG. 2 is a perspective view showing an operation device according to the embodiment. [Diagram 3] FIG. 2 is a functional block diagram showing an example of functions realized by the information processing device of the present embodiment. [Figure 4] FIG. 2 is a perspective view showing one node mechanism and four link shafts held by the node mechanism. [Diagram 5] 1 is a perspective view showing a state in which a part of the exterior of the node mechanism is removed. FIG. [Figure 6] FIG. 2 is an exploded perspective view showing a state in which a link shaft is removed from the node mechanism. [Figure 7] 10 is a cross-sectional view showing a state in which a magnet arranged to face a three-dimensional magnetic sensor is displaced. FIG. [Figure 8] FIG. 2 is a diagram illustrating a wiring configuration of the display control system according to the present embodiment. [Figure 9] FIG. 4 is a diagram showing the position coordinates of each part of the node mechanism. [Figure 10] FIG. 2 is a top view showing the operation device attached to the jig. [Figure 11] 11 is a side view showing the operation device attached to the jig. FIG. [Figure 12]11A to 11C are diagrams illustrating an example of a display object displayed in the present embodiment. [Figure 13] 13A and 13B are diagrams illustrating an operation of a user picking up a node mechanism part. [Figure 14] 4 is a flowchart showing a process flow in the information processing apparatus of the present embodiment. [Figure 15] 11A to 11C are diagrams illustrating an example of a display object displayed in the present embodiment. [Figure 16] 11A to 11C are diagrams illustrating an example of a display object displayed in the present embodiment. [Figure 17] 11A to 11C are diagrams illustrating an example of a display object displayed in the present embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0008] Hereinafter, an embodiment of the present invention (hereinafter, referred to as the present embodiment) will be described with reference to the drawings. In the following description, the directions indicated by X1 and X2 in FIG. 2 and the like are the right and left, respectively, the directions indicated by Y1 and Y2 in the drawings are the front and rear, respectively, and the directions indicated by Z1 and Z2 in the drawings are the top and bottom, respectively.

[0009] [Display control system overview] First, an overview of a display control system 100 according to the present embodiment will be described with reference to Figs. 1 to 3. Fig. 1 is a diagram showing an example of a physical configuration of the display control system according to the present embodiment. Fig. 2 is a perspective view showing an operation device of the present embodiment. Fig. 3 is a functional block diagram showing an example of functions realized by the information processing device of the present embodiment.

[0010] The display control system 100 includes an operation device 10, an information processing device (computer) 20, and a display device 40.

[0011] 2, the operation device 10 is a lattice-shaped device having a plurality of node mechanism units ND and a plurality of link shafts SF. The operation device 10 outputs a signal to the information processing device 20 in response to a change in posture caused by a user's operation. The operation device 10 is preferably large enough that the user can grasp both ends of the device with both hands.

[0012] As shown in Fig. 1, the operation device 10 has a three-dimensional magnetic sensor 50, an IMU 60, and a position sensor 70. In the display control system 100, the position coordinates of each node mechanism unit ND are acquired by these various sensors, and the shape of the entire operation device 10 can be recognized. Details of the configurations and functions of the various sensors and the overall configuration of the operation device 10 will be described later. As will be described later, one node mechanism unit ND is provided with four three-dimensional magnetic sensors 50, but in Fig. 1, only one three-dimensional magnetic sensor 50 is shown corresponding to one node mechanism unit ND to avoid cluttering the drawing.

[0013] The information processing device 20 may be, for example, a game device having a function of executing a game program, a function of playing moving images, a function of communicating via the Internet, etc. The information processing device 20 includes a processor 21, a storage unit 22, a communication unit 23, and an input / output unit 24.

[0014] The processor 21 is, for example, a program-controlled device such as a CPU that operates according to a program installed in the information processing device 20. The processor 21 has a function of executing a program and generating a moving image as a result of the execution.

[0015] The storage unit 22 is, for example, a storage element such as a ROM or a RAM, a hard disk drive, etc. The storage unit 22 stores programs executed by the processor 21, etc.

[0016] The communication unit 23 is, for example, a communication interface for wired or wireless communication.

[0017] The input / output unit 24 is, for example, an input / output port such as an HDMI (registered trademark) (High-Definition Multimedia Interface) port or a USB port.

[0018] The operation device 10 is capable of wired or wireless communication with a communication unit 23 included in the information processing device 20 .

[0019] The display device 40 may be, for example, a liquid crystal display, etc. The display device 40 may also be a head-mounted display that the user can wear on his / her head.

[0020] 3, the information processing device 20 realizes an acquisition unit 31, a calculation unit 32, and a display control unit 33. The acquisition unit 31 is realized mainly by the processor 21 and the communication unit 23. The calculation unit 32 and the display control unit 33 are realized mainly by the processor 21. Each of these functions is realized by a computer executing a program according to this embodiment. This program may be stored in a computer-readable information storage medium.

[0021] The acquisition unit 31 acquires position coordinates of a plurality of lattice points included in the operation device 10. In this embodiment, the position coordinates of the plurality of lattice points correspond to the position coordinates of a plurality of node mechanism units ND, respectively. Note that the position coordinates of the plurality of node mechanism units ND are acquired based on information detected by various sensors included in the operation device 10.

[0022] The calculation unit 32 calculates the position coordinates of a plurality of control points that are pre-associated with the lattice points based on the position coordinates of the lattice points of the plurality of node mechanism units ND. Note that it is preferable that each of the plurality of control points is pre-associated with a portion of a display object.

[0023] The display control unit 33 determines the display mode of each of the elements included in the display object based on the position coordinates of a plurality of lattice points previously associated with each of the elements. The display control unit 33 also causes the display device 40 to display the display object based on the position coordinates of a plurality of control points respectively corresponding to the position coordinates of the lattice points.

[0024] [Configure operation device] Next, the configuration of the operating device 10 of this embodiment will be described mainly with reference to Fig. 2. Fig. 2 shows the operating device 10 in a basic posture. In this embodiment, the "basic posture" of the operating device 10 is a posture in which the multiple node mechanism units ND are all at the same position in the up-down direction and are disposed at equal intervals from each other in the front-rear and left-right directions.

[0025] The operating device 10 has a plurality of node mechanism parts ND and a plurality of link shafts SF.

[0026] The node mechanism ND holds the ends of the link shafts SF so that the attitude of the link shafts SF can be changed. One node mechanism ND holds the ends of at least two or more link shafts SF. Both ends of all the link shafts SF are held by the node mechanism ND. By adopting such a configuration, the operating device 10 as a whole has a lattice shape.

[0027] 2 shows an example in which five node mechanism units ND are arranged in each of the front-rear and left-right directions. That is, an example is shown in which the operation device 10 has 25 node mechanism units ND. With this arrangement, the external shape of the operation device 10 is approximately rectangular.

[0028] 2 shows a state in which the node mechanism ND and the link shaft SF are exposed to the outside, but when actually used by a user, the operation device 10 may be entirely covered with a covering member such as cloth. In that case, the covering member may be of a size and made of a material that can deform or expand in response to changes in the attitude of the operation device 10.

[0029] In FIG. 2, the node mechanism unit ND provided at the front and left end of the lattice-shaped operation device 10 is indicated by the reference numeral "ND11". Also, the further back or to the right from the node mechanism unit ND11, the larger the reference numeral is indicated. That is, for example, the node mechanism unit ND adjacent to the rear of the node mechanism unit ND11 is indicated by the reference numeral "ND21", and the node mechanism unit ND adjacent to the right of the node mechanism unit ND11 is indicated by the reference numeral "ND12". However, in this specification, when there is no particular need to distinguish between them, they will be simply referred to as "node mechanism unit ND".

[0030] The link shaft SF has both ends held by the node mechanism ND and connects adjacent node mechanism parts ND among the multiple node mechanism parts ND. Specifically, the link shaft SF connects adjacent node mechanism parts ND in the left-right direction, and also connects adjacent node mechanism parts ND in the front-rear direction.

[0031] As shown in Fig. 2, among the multiple link shafts SF, a shaft that extends in the left-right direction and connects adjacent node mechanism units ND in the left-right direction is designated by the symbol "SF1". Also, among the multiple link shafts SF, a shaft that extends in the front-rear direction and connects adjacent node mechanism units ND in the front-rear direction is designated by the symbol "SF2". However, in this specification, when there is no particular need to distinguish between them, they will be simply referred to as "link shafts SF".

[0032] 2, each of the node mechanism units ND11, ND15, ND51, and ND55 arranged at the corners of the lattice-shaped operating device 10 holds two link shafts SF. Also, each of the node mechanism units ND12-14, etc. arranged at the ends other than the corners holds three link shafts SF. Also, each of the node mechanism units ND22, etc. arranged other than the ends holds four link shafts SF. In this way, the number of link shafts SF held in the node mechanism unit ND differs depending on the arrangement of the node mechanism unit ND, but it is preferable that one node mechanism unit ND holds at least two link shafts.

[0033] [Node Mechanism] Next, the configuration of the node mechanism ND will be described in detail with reference to Figs. 4 to 6. Fig. 4 is a perspective view showing one node mechanism and four link shafts held by the node mechanism. Fig. 5 is a perspective view showing a state in which part of the exterior of the node mechanism has been removed. Fig. 6 is an exploded perspective view showing a state in which the link shafts have been removed from the node mechanism. Figs. 4 and 5 show the node mechanism ND to which four link shafts SF extending forward, backward, left, and right are attached. Note that Fig. 5 shows a state in which the node mechanism shown in Fig. 4 has been turned upside down and at least the lower plate 12 and the mounting part 132 have been removed.

[0034] The node mechanism ND has an upper plate 11, a lower plate 12, and a holding portion 13 that is sandwiched between the upper plate 11 and the lower plate 12 and holds an end of the link shaft SF. The holding portion 13 is fixed to the upper plate 11 and the lower plate 12.

[0035] 4 and 5, four holding parts 13 are provided on one node mechanism part ND so that the holding parts 13 can be connected to adjacent node mechanism parts ND in the left-right direction and the front-rear direction via link shafts SF.

[0036] 5, in this embodiment, holding portion 13 has a housing portion 131 that houses spherical portion B, which is the end portion of link shaft SF described below, and has an inner wall that conforms to the shape of spherical portion B. Furthermore, holding portion 13 is formed with an opening 131h that opens housing portion 131 and has a diameter smaller than the diameter of spherical portion B.

[0037] 4, the holding unit 13 holds the link shaft SF2 extending forward from the node mechanism ND in a manner that allows for angular change of ±45° around the X-axis and ±45° around the Z-axis with the holding unit 13 as the starting point. The link shaft SF2 extending rearward from the node mechanism ND, the link shaft SF1 extending leftward, and the link shaft SF1 extending rightward are also held by the holding unit 13 in a manner that allows for angular change.

[0038] As shown in FIG. 6, the holding portion 13 includes a first member 131a and a second member 131b that form the accommodation portion 131, and an attachment portion 132 to which they are attached.

[0039] 6, each of the holding units 13 is provided with a three-dimensional magnetic sensor 50 which is a first detection means for detecting the direction in which the link shaft SF extends relative to the node mechanism unit ND. Since one node mechanism unit ND is provided with four holding units 13, one node mechanism unit ND is provided with four three-dimensional magnetic sensors 50. The direction in which the link shaft SF extends relative to the node mechanism unit ND is, in other words, the inclination angle of the link shaft SF relative to the node mechanism unit ND.

[0040] The three-dimensional magnetic sensor 50 is preferably provided facing the magnet M so as to be able to detect changes in the magnetic field generated by the magnet M provided in the spherical portion B of the link shaft SF described below. Note that in this embodiment, the three-dimensional magnetic sensor 50 capable of detecting magnetic signals in the X-axis, Y-axis, and Z-axis directions is described as an example of the first detection means, but this is not limited thereto, and a magnetic sensor capable of detecting magnetic signals in each axial direction may be provided. In addition, the first detection means is not limited to a magnetic sensor, and may be any sensor having a function of detecting the direction in which the link shaft SF extends relative to the node mechanism unit ND.

[0041] Here, since a plurality of link shafts SF are held in one node mechanism ND, a plurality of magnets M are arranged adjacent to each other. Therefore, the plurality of magnets M may magnetically affect each other, and the three-dimensional magnetic sensor 50 may not be able to properly detect changes in the magnetic field. Therefore, in this embodiment, a configuration including a magnetic suppression wall is adopted as a part of the holding unit 13. Specifically, the mounting unit 132 is configured with a magnetic suppression wall made of an iron plate that reduces the magnetic effect of the magnet M. This makes it possible to prevent the three-dimensional magnetic sensor 50 from being magnetically affected by magnets M other than the magnet M arranged opposite the three-dimensional magnetic sensor 50. As a result, the three-dimensional magnetic sensor 50 can accurately detect the direction in which the link shaft SF extends with respect to the node mechanism ND in which the three-dimensional magnetic sensor 50 is provided. The magnetic suppression wall may be made of a high magnetic permeability material such as permalloy, which is mainly composed of iron and nickel.

[0042] 4, an IMU (Inertial Measurement Unit) 60 is mounted on the upper plate 11 as a second detection means for detecting the attitude of the node mechanism unit ND. The IMU 60 includes a gyro sensor and an acceleration sensor, and detects the angular velocity and acceleration of the node mechanism unit ND. Note that in this embodiment, an IMU is used as an example of the second detection means, but the present invention is not limited to this, and any sensor having a function of detecting the attitude of the node mechanism unit ND may be used.

[0043] Although not shown, a microprocessor may be mounted on the lower plate 12. This microprocessor may calculate various information such as the inclination angle of the link shaft SF and the length of the link shaft SF based on the output values ​​of the various sensors. By mounting a microprocessor in each node mechanism unit ND in this way, real-time sensing can be ensured.

[0044] [Link shaft] Next, the configuration of the link shaft SF will be described in detail with reference to Figures 4 to 7. Figure 7 is a cross-sectional view showing the state in which a magnet disposed opposite to a three-dimensional magnetic sensor is displaced.

[0045] The link shaft SF has an extension portion E extending in the left-right or front-rear direction, and a spherical portion B forming the end of the extension portion E. In this embodiment, the extension portion E is configured to be extendable. The extension portion E may be extendable by being composed of two members that are arranged to be slidable relative to each other. The extension portion E arranged to extend in the left-right direction is extendable in the left-right direction, and the extension portion E arranged to extend in the front-rear direction is extendable in the front-rear direction. The maximum length of the extension portion E may be approximately 1.4 times its minimum length.

[0046] Further, a position sensor 70 is attached to the extension portion E as a third detection means for detecting the displacement of the extension portion E. The position sensor 70 may be, for example, a resistive position sensor, and may include a variable resistor that converts a change in mechanical position into an analog electrical signal. The displacement of the extension portion E detected by the position sensor 70 may be output to the information processing device 20 as information on the distance between two node mechanism portions ND that hold both ends of the link shaft SF having the extension portion E.

[0047] As shown in FIG. 7, a magnet M is embedded in the spherical portion B. The magnet M is preferably a permanent magnet. The magnet M is preferably provided so as to face a three-dimensional magnetic sensor 50 provided in the node mechanism ND. The orientation of the magnet M changes as the direction in which the link shaft SF extends relative to the node mechanism ND changes. The change in the orientation of the magnet M changes the magnetic field detected by the three-dimensional magnetic sensor 50. The change in the magnetic field detected by the three-dimensional magnetic sensor 50 is preferably output to the information processing device 20 as information relating to the direction in which the link shaft SF extends relative to the node mechanism ND.

[0048] The solid line in Fig. 7 indicates the link shaft SF when the operating device 10 is in the basic position, and the dashed line in Fig. 7 indicates the link shaft SF when inclined with respect to the node mechanism ND. The position of the magnet M with respect to the three-dimensional magnetic sensor 50 differs between the solid line state in Fig. 7 and the dashed line state in Fig. 7, and therefore the magnetic field detected by the three-dimensional magnetic sensor 50 differs.

[0049] [Transmission path] Next, the transmission path of the display control system 100 according to this embodiment will be described with reference to Fig. 8. Fig. 8 is a diagram showing a schematic wiring configuration of the display control system according to this embodiment. Note that in Fig. 8, the node mechanism unit ND and the link shaft SF are partially omitted, but their arrangement is the same as that shown in Fig. 2.

[0050] As described above, the node mechanism units ND each have a three-dimensional magnetic sensor 50 and an IMU 60 mounted thereon. In addition, the shafts SF each have a position sensor 70 mounted thereon. Signals detected by these sensors are output to the information processing device 20. If signal lines are individually connected to each of the node mechanism units ND, the wiring will become complicated.

[0051] Therefore, in this embodiment, a configuration is adopted in which five node mechanism units ND arranged in the front-rear direction output signals to the information processing device 20 through a common transmission path. Specifically, as shown in Fig. 8, a common signal line SL is connected to the five node mechanism units ND arranged in the front-rear direction. That is, in this embodiment, five signal lines SL arranged in the left-right direction are adopted.

[0052] Furthermore, in this embodiment, a host node mechanism unit NDh is provided as an information aggregation unit for aggregating signals sent through five signal lines SL. This allows signals from 25 node mechanism units ND to be aggregated by one host node mechanism unit NDh and output to the communication unit 23 of the information processing device 20 via the host node mechanism unit NDh (see FIG. 1). Note that, for convenience, the term host node mechanism unit NDh is used here, but the configuration of the host node mechanism unit NDh is different from that of the node mechanism unit ND. In other words, the host node mechanism unit NDh does not have various sensors, etc.

[0053] Also, the power supply lines may have the same wiring configuration as the signal lines SL shown in Fig. 8. That is, power may be supplied to the five node mechanism units ND arranged in the front-rear direction through a common power supply line.

[0054] Here, an example in which the operation device 10 includes a signal line SL and a power line has been described, but the present invention is not limited to this example, and a signal may be sent to the information processing device 20 by wireless communication. In this case, each node mechanism unit ND may be equipped with a wireless communication circuit. By using wireless communication technology in this way, wiring is not required, and the attitude of the operation device 10 can be changed more flexibly.

[0055] [Getting the position coordinates of the node mechanism] Next, acquisition of the position coordinates of the node mechanism unit ND will be described with reference to Fig. 9. Fig. 9 is a diagram showing the position coordinates of each unit of the node mechanism unit. Here, a node number is assigned to each of the multiple node mechanism units ND. That is, in an example in which there are 25 node mechanism units ND as shown in Fig. 2, each node mechanism unit ND is assigned one of node numbers 1 to 25. Fig. 9 shows a node mechanism unit ND with node number n and a node mechanism unit ND with node number n+1 adjacent to the node mechanism unit ND.

[0056] 9 shows a state in which the link shaft SF connecting the node mechanism unit ND of node number n and node number n+1 is tilted, and the posture of the node mechanism unit ND of node number n+1 itself is tilted. Below, we will explain how to obtain the position coordinates of the node mechanism unit ND of node number n+1 in this state.

[0057] The coordinates of the center position of the node mechanism part ND of node number n are P n (X n , Y n , Z n ) The coordinates of the center position of the node mechanism part ND of node number n+1 are P n+1 (X n+1 , Y n+1 , Z n+1 ) In this embodiment, the coordinates of the center position of the node mechanism unit ND are set as the position coordinates of that node mechanism unit ND.

[0058] In addition, the coordinates of the holding positions of the four link shafts SF held by the node mechanism unit ND of node number n are denoted by PJ. m (J m X n , J m Y n , J m Z n) (m is a shaft number 1 to 4). In this embodiment, the holding position is the center of the spherical portion B of the shaft SF. As shown in FIG. 9, the first holding position PJ1 is a position opposite the third holding position PJ3 across the center position of the node mechanism unit ND. Also, the second holding position PJ2 is a position opposite the fourth holding position PJ4 across the center position of the node mechanism unit ND.

[0059] Similarly, the coordinates of the holding positions of the four link shafts SF held by the node mechanism unit ND of node number n+1 are denoted by PJ. m (J m X n+1 , J m Y n+1 , J m Z n+1 ) (m is shaft number 1 to 4).

[0060] In addition, the angle of the link shaft SF held by the node mechanism ND of node number n around the V axis (yaw axis) and H axis (pitch axis) shown in FIG. 4 is AJ. m (J m V n , J m H n )

[0061] The length between the first holding position PJ1 and the third holding position PJ3 in each node mechanism unit ND is defined as W. The length from the first holding position PJ1 of the link shaft SF, one end of which is held by the node mechanism unit ND with node number n, to the third holding position PJ3 of the link shaft SF, the other end of which is held by the node mechanism unit ND with node number n+1, is defined as R. n The length W is a fixed length that is set in advance, and the length R n is a length that changes according to the length of the extendable link shaft SF.

[0062] For example, if the coordinates of the center position of the node mechanism unit ND of node number n are (0, 0, 0), the coordinates of the first holding position PJ1 in that node mechanism unit ND (J1X n , J1Y n , J1Z n) is (W / 2, 0, 0). Similarly, the coordinates of the second holding position PJ2 (J2X n , J2Y n , J2Z n ) becomes (0, -W / 2, 0), and the coordinates of the third holding position PJ3 (J3X n , J3Y n , J3Z n ) becomes (-W / 2, 0, 0), and the coordinates of the fourth holding position PJ4 (J4X n , J4Y n , J4Z n ) becomes (0, W / 2, 0).

[0063] In addition, the coordinates of the third holding position PJ3 in the node mechanism unit ND of node number n+1 (J3X n+1 , J3Y n+1 , J3Z n+1 ) is expressed as follows by polar coordinate transformation based on the first holding position PJ1 of the node mechanism part ND of node number n and the angle AJ1 about the V axis and H axis of the link shaft SF held at the first holding position PJ1: J3X n+1 =J1X n +R n *sin(90°-J1V n )*cos(J1H n ) J3Y n+1 =J1Y n +R n *sin(90°-J1V n )*sin(J1H n ) J3Z n+1 =J1Z n +R n *cos(90°-J1V n )

[0064] In addition, the inclination of the posture of the node mechanism unit ND of node number n+1 itself, that is, the angle around the V axis and H axis, is (V n+1 , H n+1 In this case, the coordinates P(X n+1 , Y n+1 , Z n+1) are the coordinates (J3X) of the third holding position PJ3 in the node mechanism unit ND of node number n+1. n+1 , J3Y n+1 , J3Z n+1 ) is expressed as follows: X n+1 =J3X n+1 +W / 2*sin(90°-V n+1 )*cos(H n+1 ) Y n+1 =J3Y n+1 +W / 2*sin(90°-V n+1 )*sin(H n+1 ) Z n+1 =J3X n+1 +W / 2*cos(90°-V n+1 )

[0065] As described above, the position coordinates of the node mechanism unit ND of node number n+1 can be calculated based on the position coordinates of the node mechanism unit ND of node number n, as well as the inclination of the posture of the node mechanism unit ND of node number n+1 itself, the inclination angle of the link shaft SF with respect to the node mechanism unit ND of node number n, and the length of the link shaft SF. By performing such calculations according to the number of node mechanism units ND, the position coordinates of all node mechanism units ND can be obtained. Note that the inclination angle of the link shaft SF is detected based on the output value of the three-dimensional magnetic sensor 50, the length of the link shaft SF is detected based on the output value of the position sensor 70, and the inclination of the posture of the node mechanism unit ND itself is detected based on the output value of the IMU 60.

[0066] However, it is not essential to calculate the position coordinates of all node mechanism units ND in the same way, and estimated values ​​estimated from the position coordinates of surrounding node mechanism units ND may be used.

[0067] [Relationship between the link shaft inclination angle and the output value of the 3D magnetic sensor] Next, the relationship between the inclination angle of the link shaft SF and the output value of the three-dimensional magnetic sensor 50 in this embodiment will be described with reference to Figs. 10 and 11. Fig. 10 is a top view showing the operation device attached to the jig. Fig. 11 is a side view showing the operation device attached to the jig. Note that in Fig. 10, the node mechanism ND and the link shaft SF are partially omitted, but their arrangement is the same as that shown in Fig. 2.

[0068] As described above, the three-dimensional magnetic sensor 50 detects the direction in which the link shaft SF extends relative to the node mechanism ND based on the detected magnetic field. In other words, it detects the inclination angle of the link shaft SF. Then, in the display control system 100, the position coordinates of the node mechanism ND are obtained based on various sensor outputs including information on the inclination angle of the link shaft SF, and a display object is displayed based on the obtained position coordinates. Here, since the magnetic field detected by each three-dimensional magnetic sensor 50 is affected by individual differences, it is preferable to perform calibration in advance on each link shaft SF (each three-dimensional magnetic sensor 50) to reduce the influence of these individual differences. Note that the individual differences are caused by, for example, the tolerance of the position of the magnet M or the variation in the magnetic characteristics of the magnet M itself.

[0069] However, it would take a long time to perform calibration one by one on the multiple link shafts SF held by the multiple node mechanism units ND. Therefore, in this embodiment, a dedicated jig 80 is used to collectively perform calibration on the multiple link shafts SF held by one node mechanism unit ND.

[0070] The jig 80 includes mounting parts 81 on which the node mechanism parts ND are mounted, the number of which is the same as the number of node mechanism parts ND. At least one of the multiple mounting parts 81 is movable up and down along the Z axis and is rotatable about the Z axis. By moving the mounting parts 81 in this manner, it is possible to set each link shaft SF to any angle. In FIG. 10, the movable mounting part 81 is shown as "mounting part 81a," and a state in which the node mechanism part ND33 is mounted on the mounting part 81a is shown.

[0071] FIG. 10 shows a state in which the tilt angle of the four link shafts SF held by the node mechanism unit ND33 is changed by rotating the mounting unit 81a on which the node mechanism unit ND33 is mounted about the Z axis as the central axis. In this state in which the tilt angle is changed, the output values ​​of the four three-dimensional magnetic sensors 50 provided in the node mechanism unit ND may be obtained. Also, for example, the tilt angle of the link shafts SF may be changed in 5° increments to obtain output values ​​in each state. In the state shown in FIG. 10, the lengths of the four link shafts SF held by the node mechanism unit ND33 are extended in accordance with the change in the tilt angle of the node mechanism unit ND33.

[0072] As shown in Fig. 10, as the inclination angles of one end of the four link shafts SF held by the node mechanism unit ND33 change, the inclination angles of the other ends of the four link shafts SF also change. That is, the inclination angles of the link shafts SF held by the node mechanisms ND23, ND32, ND34, and ND43 change. In this way, by using the jig 80 shown in Fig. 10, eight output values ​​corresponding to the inclination angles of one end and the other end of the four link shafts SF can be obtained collectively.

[0073] 11 shows a state in which the inclination angles of the four link shafts SF held by the node mechanism unit ND33 change as a result of the placement unit 81a on which the node mechanism unit ND33 is placed moving upward. The state in which the inclination angles of the link shafts SF have changed is also shown. In this case, it is preferable to obtain output values ​​from the four three-dimensional magnetic sensors 50 provided in the node mechanism unit ND when the inclination angles of the link shafts SF are changed. It is also preferable to obtain output values ​​in each state by changing the inclination angle of the link shafts SF in increments of 5°, for example.

[0074] [Example of display object] Next, a display example of a display object in the display control system 100 according to this embodiment will be described with reference to Fig. 12 and Fig. 13. Fig. 12 is a diagram showing a display example of a display object displayed in this embodiment. Fig. 13 is a diagram showing a user's pinching and lifting operation of the node mechanism unit.

[0075] Fig. 12 shows a schematic diagram of the operation of the operation device 10 by the user, and also shows a display object that changes in response to the operation. Fig. 12 shows a face, which is a three-dimensional object, as a display object displayed on the screen of the display device 40. Fig. 12 shows the face before the change on the left side of the figure. That is, the face displayed when the operation device 10 is in the basic position. Meanwhile, the face after the change is shown on the right side of the figure. That is, the face displayed when the operation device 10 is changed from the basic position.

[0076] A plurality of control points are associated in advance with a face, which is a three-dimensional object. Each of the plurality of control points is associated in advance with a plurality of lattice points of the operation device 10. Fig. 12 shows lattice points a to c and control points a' to c' that are associated in advance with the lattice points a to c. Fig. 12 shows an example in which the control point a' is associated with the vicinity of the nose on the face, and the control points b' and c' are associated with the vicinity of the mouth on the face.

[0077] First, the information processing device 20 acquires the position coordinates of the lattice points a to c of the operation device 10 by the acquisition unit 31. That is, the information processing device 20 acquires the position coordinates of the node mechanism units ND corresponding to the lattice points a to c.

[0078] Then, the information processing device 20 causes the calculation unit 32 to calculate the position coordinates of the control points a' to c' based on the position coordinates of the lattice points a to c.

[0079] The information processing device 20 causes the display control unit 33 to display on the display device 40 a face, which is a three-dimensional object, based on the position coordinates of the control points a' to c'.

[0080] 12 shows how the lattice points b and c are separated from each other in the left-right direction by changing the attitude of the operation device 10 so as to spread the operation device 10 in the left-right direction. By changing the attitude of the operation device 10 in this way, the distance between the control points b' and c' is widened, and the face, which is a three-dimensional object, is displayed as being spread out in the left-right direction.

[0081] 12, the outer shape of the display object does not have to match the outer shape of the operation device 10. In other words, the outer shape of the display object and the outer shape formed by connecting a plurality of lattice points may be dissimilar.

[0082] The position coordinates of a control point may be determined according to the amount of movement of a lattice point previously associated with the control point, i.e., the position coordinates of the control point may be determined according to the difference between the position coordinates of the lattice point before the movement and the position coordinates of the lattice point after the movement.

[0083] 12 shows the face when the node mechanism unit ND33 corresponding to the lattice point a of the operation device 10 moves upward by the user's pinching and lifting action of the node mechanism unit ND33. Here, the pinching and lifting action refers to the action of the user pinching and lifting a specific node mechanism unit ND upward, as shown in FIG. 13. When the node mechanism unit ND33 is pinched and lifted, the four link shafts SF held by the node mechanism unit ND33 are tilted due to the weight of the four node mechanism units ND adjacent to the node mechanism unit ND33 in the front, rear, left and right directions. In addition, the four link shafts SF held by the pinched and lifted node mechanism unit ND33 are each extended in length due to the weight of the four node mechanism units ND adjacent to the pinched and lifted node mechanism unit ND33 in the front, rear, left and right directions.

[0084] As described above, the lattice point a is associated with the control point a', which corresponds to the nose area of ​​the face. Therefore, by moving the lattice point a upward, the facial expression is deformed so that the face is pulled forward.

[0085] When the user releases the node mechanism unit ND33 from the state shown in Fig. 13, the node mechanism unit ND33 may move downward due to its own weight. This causes the operation device 10 to return to the state before the pinch-up operation. Accordingly, the face displayed on the display device 40 may return to the expression shown on the left side in Fig. 12. In this way, in this example, the shape of the face (display object) can be changed not only in a plane but also in three dimensions. As a result, it is possible to provide a variety of variations in the change of the face shape.

[0086] [flowchart] Next, a processing flow in the information processing device 20 will be described with reference to Fig. 14. Fig. 14 is a flowchart showing a processing flow in the information processing device of this embodiment.

[0087] First, the acquisition unit 31 acquires position coordinates of a plurality of lattice points of the operation device 10 (step S1). Next, the calculation unit 32 calculates position coordinates of a plurality of control points based on the position coordinates of the plurality of lattice points (step S2). Next, the display control unit 33 causes the display device 40 to display a display object based on the position coordinates of the plurality of control points (step S3).

[0088] Further, another display example of the display object will be described with reference to Fig. 15. Fig. 15 is a diagram showing a display example of the display object displayed in this embodiment.

[0089] Fig. 15, like Fig. 14, shows a schematic diagram of a user operating the operating device 10, and also shows display objects that change in response to the operation. Fig. 15 shows three cylindrical objects (hereinafter, cylindrical objects) as display objects displayed on the screen of the display device 40, which are parts that constitute a three-dimensional object. The three cylindrical objects are previously associated with control points a' to c', respectively.

[0090] In this example, when the interval between any of the position coordinates of the three cylindrical objects falls within a predetermined range, the display control unit 33 integrates the three cylindrical objects and displays a new object. Fig. 15 shows how the control points b' and c' approach each other, thereby integrating the three cylindrical objects and displaying one large cylindrical object.

[0091] In this example, control points a′ to c′ are newly associated with one large cylindrical object. As a result, when the user operates the operation device 10 to change its attitude, the shape of the one large cylindrical object changes.

[0092] 15 shows an example in which a new object is displayed according to the interval between a plurality of control points, i.e., the density of a plurality of lattice points, but the present invention is not limited to this. For example, a new object may be displayed based on the amount of movement or the speed of movement of the lattice points.

[0093] Next, other display examples of display objects in the display control system 100 according to this embodiment will be described with reference to Fig. 16 and Fig. 17. Fig. 16 and Fig. 17 are diagrams showing display examples of display objects displayed in this embodiment.

[0094] Fig. 16, like Fig. 12, shows a schematic diagram of a user operating the operating device 10, and also shows display objects that change in response to the operation. Fig. 17 shows two-dimensional objects including characters or images as display objects displayed on the screen of the display device 40.

[0095] A portion of the two-dimensional object may be previously associated with one of the lattice points of the operation device 10. Fig. 16 shows an example in which a portion of the two-dimensional object that includes the characters or image "56789" is previously associated with lattice point a.

[0096] FIG. 16 shows how, as a result of the user performing the pinch-up action shown in FIG. 14, the node mechanism unit ND corresponding to lattice point a moves upward, and the portion including the letters or image "56789" that is pre-associated with lattice point a is enlarged and displayed.

[0097] Fig. 17 shows the operation of the operation device 10 by the user and the display object that changes in response to the operation, similarly to Fig. 16. Fig. 17 shows a two-dimensional object including a character or an image as the display object displayed on the screen of the display device 40, similarly to Fig. 16.

[0098] FIG. 17 shows how a portion of a two-dimensional object is enlarged as the operation device 10 is expanded in the left-right direction.

[0099] [summary] The operation device 10 according to the present embodiment described above is capable of complex shape changes through expansion, contraction and bending. Therefore, the operation device 10 allows a user to operate with a high degree of freedom. In addition, in this embodiment, a display object is displayed based on the position coordinates of each lattice point of the operation device 10, which allows a high degree of freedom of operation, so that the operation of the display object can be realized intuitively by utilizing the user's tactile sense. In addition, in this embodiment, a display object is changed three-dimensionally based on the position coordinates of multiple lattice points, so that various display modes can be expressed.

[0100] Furthermore, in the operation device 10 according to this embodiment, compared to an operation device including a directional key, an operation stick, etc., it is possible to intuitively and simply perform the operation of a complex three-dimensional object by utilizing the user's sense of touch.

[0101] [others] In this embodiment, an example has been described in which n=5 and m=5, where the number of node mechanism units ND arranged in the front-rear direction is n and the number of node mechanism units ND arranged in the left-right direction is m. However, this is not limited to this, and n and m may be integers of at least 3. Also, n and m may be different numbers.

[0102] Furthermore, the number of node mechanisms ND included in the operation device 10 may be variable. For example, among the node mechanisms ND shown in FIG. 2, by having a node mechanism ND including a holder 13 that does not hold a link shaft SF hold a link shaft SF, it may be possible to make n and m 6 or more. For this purpose, it is preferable that the configurations of the node mechanisms ND themselves are common to each other, regardless of the number of link shafts SF held. Furthermore, by making the configuration of the node mechanisms ND common, it is possible to reduce manufacturing costs. Furthermore, it is preferable that the configurations of the link shafts SF themselves are common to each other, regardless of their arrangement or orientation.

[0103] In addition, in the operation device 10 of the present embodiment, an example has been shown in which four adjacent node mechanisms ND and four link shafts SF connecting them form a rectangular lattice, but the present invention is not limited to this and may be arranged in any polygonal lattice. For example, the node mechanisms ND and link shafts SF may be arranged to form a triangular lattice or a pentagonal lattice.

[0104] In addition, the link shaft SF may be rotatable about a roll axis (dotted line in FIG. 4) when the V axis shown in FIG. 4 is the yaw axis and the H axis is the pitch axis. That is, the node mechanism unit ND may hold the link shaft SF so as to allow rotation about the extension direction of the link shaft SF as the rotation axis. By adopting such a configuration, the degree of freedom of the attitude of the operating device 10 can be further improved.

[0105] In the present embodiment, an example has been described in which the operation device 10 includes various sensors and acquires the position coordinates of the node mechanism unit ND. However, this is not limited to this, and the position coordinates of the node mechanism unit ND may be acquired using a camera or the like that captures an image of the operation device 10 from the outside. In this case, it is preferable to use a camera that can acquire three-dimensional position data.

[0106] As described above, the operating device 10 may be one whose shape changes due to the weight of the node mechanism unit ND. Specifically, for example, one of the node mechanism units ND11 and ND12 shown in Fig. 2 may hold the link shaft SF1 so that the extension direction of the link shaft SF1 held by the node mechanism unit ND11 or ND12 changes due to the weight of the other. Therefore, for example, when the operating device 10 is placed on a mounting surface on which unevenness is formed, the operating device 10 may change its shape to follow the unevenness.

[0107] In addition, the operation device 10 may not have a biasing means for returning the shape to the original shape. In other words, the operation device 10 may maintain its shape except when the user performs an operation to change the shape. For example, as shown on the right side of Fig. 17, when the user releases his / her hand from the operation device 10 in a state in which the display object is partially enlarged and displayed, the enlarged state may be maintained.

Claims

1. An operation device that outputs a signal to a computer in response to a change in posture caused by a user's operation, A plurality of link shafts; a plurality of node mechanisms forming a lattice shape together with the plurality of link shafts, each of the node mechanisms holding one end of at least two or more link shafts among the plurality of link shafts in a manner that allows the attitude of the two or more link shafts to be changed; a first detection means for detecting directions in which the two or more link shafts extend relative to the node mechanism; having Operating device.

2. the first detection means includes a magnetic sensor that detects a magnetic field that changes depending on a direction in which the link shaft held by the node mechanism extends with respect to the node mechanism, The operating device according to claim 1 .

3. a first link shaft of the two or more link shafts is provided with a first magnet; a second link shaft of the two or more link shafts is provided with a second magnet; the node mechanism is provided with a first magnetic sensor that detects a magnetic field generated from the first magnet, and a second magnetic sensor that detects a magnetic field generated from the second magnet, and is provided with a magnetic suppression wall that suppresses a magnetic effect from the first magnet to the second magnetic sensor; The operating device according to claim 2 .

4. The node mechanism is provided with a second detection means for detecting the attitude of the node mechanism. The operating device according to any one of claims 1 to 3.

5. the node mechanism holds the link shaft so as to allow rotation about an axis of rotation in the extension direction of the link shaft, The operating device according to claim 4.

6. The link shaft is capable of variably expanding and contracting the distance between the adjacent node mechanism units. An operating device according to any one of claims 1 to 5.

7. a third detection means for detecting a distance between adjacent node mechanism units is provided on the link shaft; The operating device according to claim 6.

8. The plurality of node mechanism units are arranged in a first direction with n units arranged side by side, and in a second direction perpendicular to the first direction with m units arranged side by side, n and m are integers of 3 or more; An operating device according to any one of claims 1 to 7.

9. a plurality of transmission lines extending in the first direction and aligned in the second direction; At least two or more of the node mechanism units arranged in the first direction among the plurality of node mechanism units output the signal to the computer through the common transmission path. The operating device according to claim 8.

10. An information aggregation unit connected to the plurality of node mechanism units, The signal is output to the computer via the information aggregation unit. An operating device according to any one of claims 1 to 9.

11. the plurality of link shafts include a link shaft having one end held by a first node mechanism and the other end held by a second node mechanism, One of the first node mechanism unit and the second node mechanism unit holds the link shaft so that the extension direction of the link shaft held by the one of the first node mechanism unit and the second node mechanism unit changes due to the weight of the other one of the first node mechanism unit and the second node mechanism unit. An operating device according to any one of claims 1 to 10.

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