JP2003100175A - Manual input device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a manual input device with a small size, light weight, and high knob operability. SOLUTION: This manual input device is composed of a knob 3; an actuator 2 loading the outer force to the nob 3; a detecting means 4 detecting an operating state of the knob 3; and a control means 8 controlling the drive of the actuator 2 based on an output signal (a) of the detecting means 4. The control means 8 has a computing part 83 computing the operation speed of the knob 3 from the output signal (a) of the detecting means 4; and a storage part 82 storing driving wave forms c1, c2, c3 of the actuator 2 corresponding to the output signal (a) of the detecting means 4. The computing part 83 corrects the driving wave forms c1, c2, c3 of the actuator 2 read out of the storage part 82 according to the operation speed of the knob 3 computed with the computing part 83, and the actuator is driven based on the corrected driving wave forms.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a manual input device having a force feedback function, and more particularly to a means for improving the feel of operation given to a knob.

[0002]

2. Description of the Related Art Conventionally, in order to improve the operation feeling of a knob as an input means and ensure the operation of the knob, the knob has a feeling of resistance depending on the operation state such as the operation amount and the operation direction. A manual input device with a force feedback function for applying thrust is known.

FIG. 6 shows an example of a conventionally known manual input device of this type. The manual input device of this example includes a rotary knob 101, a rotary encoder 102 that detects a rotation amount and a rotation direction of the rotary knob 1, and an actuator 103 that applies an external force to the rotary knob 101.
And a control means 104 for taking in the detection signal a output from the rotary encoder 102 and outputting a control signal c for the actuator 103, and a D / A converter for D / A converting the control signal c output from the control means 104. 105,
The control signal d converted into an analog signal by the D / A converter 105 is amplified to drive power e of the actuator 103.
Power amplifier 106 for obtaining The control unit 104 includes a CPU 104a and a storage unit 104b, and the storage unit 104b stores a control signal c corresponding to each pulse of the detection signal a in the form of a waveform table. The CPU 104a fetches the detection signal a from the rotary encoder 102, reads a control signal c corresponding to the fetched detection signal a from the storage unit 104b, and outputs it to the D / A converter 105.

As a result, the actuator 103 is driven, and the external force according to the operation amount and the operation direction can be fed back to the rotary knob 101, so that the manual input device of this embodiment has a good operation feeling of the rotary knob 101. Thus, the rotary knob 101 can be reliably operated.

This type of manual input device is applied as a by-wire type gear shift device in automobiles and as a function adjusting device for various on-vehicle electric devices such as air conditioners, radios, televisions, CD players and navigation systems. .

When applied as a gear shift device, the force feedback function provided in the manual input device is
A click feeling is given to the range switching of the shift lever, and a shift lever from a specific range to another specific range, such as a P (parking) range to an R (reverse) range or a D (drive) range to a 2nd (second) range, is selected. It is used as a locking means that prohibits illegal operations. When used as a function adjusting device for an on-vehicle electric device, the force feedback function provided in the manual input device provides the rotary knob 101 with an appropriate sense of resistance to facilitate fine adjustment of the function, or the rotary knob 101.
It is used to give an appropriate thrust force to the operation of the rotary knob 101.

[0007]

However, in the conventional manual input device described above, the control signal c corresponding to each pulse of the detection signal a output from the rotary encoder 102 is stored in the storage unit 104b, Rotary knob 10
1 is operated, the detection signal a from the storage unit 104b
The control signal c corresponding to
Since the drive knob is driven to give a desired operation feeling to the rotary knob 101, there is a problem that the operation feeling given to the rotary knob 101 changes depending on the operation speed of the rotary knob 101. For example, the rotary knob 10
In the case where the control signal c for giving a click feeling for each predetermined rotation angle in 1 is stored in the storage unit 104b in the form of a waveform table, when the rotary knob 101 is operated at a low speed, the operating speed of the actuator 103 is increased. Since it becomes slower, it becomes impossible to give a sharp click feeling to the rotary knob 101. Conversely, when the rotary knob 101 is operated at high speed, the operating speed of the actuator 103 also becomes high, A shocking force acts on the rotary knob 101, and the operation feeling of the rotary knob 101 deteriorates. Further, when the rotary knob 101 is operated at a high speed, the interval at which the click feeling is generated is shortened, and thus the click feeling different from the click feeling given by the control signal c stored in the storage unit 104b is given to the rotary knob 101. Will be done.

Further, since the control signal c corresponding to each pulse of the detection signal a output from the rotary encoder 102 is stored in the storage unit 104b, in order to realize highly accurate drive control of the actuator 103. Requires a high-resolution rotary encoder 102 and a CPU 104a having a high calculation capability, which also causes a problem that the manual input device becomes expensive.

If a speed increasing mechanism such as a gear mechanism or a winding mechanism is provided between the rotary knob 101 and the rotary encoder 102, the rotary encoder 102 having a low resolution can be provided.
High-accuracy force feedback control can be realized by using, but since the structure becomes complicated and the device becomes heavy, large and costly, and reliability and durability are likely to decrease, It cannot be applied as a manual input device.

In the above description, the manual input device provided with the rotary knob 101 was described as an example. However, instead of the rotary knob 101, a manual input device provided with a joystick type knob swingable in the two-dimensional direction, or a fixed input device. A manual input device having a lever-shaped knob that pivots in a plane is also known in the related art, and each of these manual input devices has a similar problem.

The present invention has been made in order to solve the deficiency of the prior art, and its object is to provide a manual input device which is small in size, light in weight and inexpensive and has excellent knob operability. To provide.

[0012]

In order to solve the above-mentioned problems, the present invention firstly provides a knob, an actuator for applying an external force to the knob, and a detection means for detecting the operating state of the knob. A control unit for controlling the drive of the actuator based on an output signal of the detection unit, and the control unit includes a calculation unit for calculating an operation speed of the knob from an output signal of the detection unit and the detection unit. And a storage unit that stores a drive waveform of the actuator according to the output signal of the control unit, and the control unit is read from the storage unit according to the operation speed of the knob calculated by the calculation unit. The drive waveform of the actuator is corrected, and the actuator is driven based on the corrected drive waveform.

As described above, when the driving waveform of the actuator read from the storage unit is corrected according to the operating speed of the knob calculated by the calculation unit, and the actuator is driven based on the corrected driving waveform, the knob is Since it is possible to give the knob a constant operating feel regardless of the operating speed, the operability of the manual input device can be improved. For example, when a control signal for giving a click feeling to the knob at each predetermined operation angle is stored in the storage unit in the form of a waveform table, when the knob is operated at a low speed, the operation speed is changed according to the operation speed. Then, the drive waveform of the actuator read from the storage unit is corrected to a sharper waveform, and the actuator is driven based on the corrected drive waveform, whereby a sharp click feeling can be maintained. On the contrary, when the knob is operated at high speed, the drive waveform of the actuator read from the storage unit is corrected to a gentler waveform according to the operation speed, and based on this corrected drive waveform, By driving the actuator, it is possible to prevent the impact force from acting on the knob. Furthermore, when the knob is operated at high speed, correction is performed by omitting part of the drive waveform of the actuator read from the storage unit, and by driving the actuator based on this corrected drive waveform, It is possible to maintain the same click feeling as the click feeling given by the control signal stored in the storage unit.

Further, since the drive waveform of the actuator read from the storage unit is corrected in accordance with the operation speed of the knob calculated by the calculation unit, the detection unit with high resolution and the calculation unit with high calculation capability or an increased number are required. Without the need for a speed mechanism,
The size and cost of the manual input device can be reduced.

In order to solve the above-mentioned problems, the present invention secondly provides a knob, an actuator for applying an external force to the knob, a detection means for detecting the operation state of the knob, and an operation state of the knob. A monitor for visually displaying, a speaker for aurally displaying the operation state of the knob, and a control means for controlling driving of the actuator, the monitor and the speaker based on an output signal of the detecting means, The control unit includes a calculation unit that calculates the operating speed of the knob from the output signal of the detection unit, and a storage unit that stores the drive waveform of the actuator according to the output signal of the detection unit. The means corrects the drive waveform of the actuator read from the storage unit according to the operation speed of the knob calculated by the calculation unit, and based on the corrected drive waveform. To drive the actuator and a speaker, the monitor, and the configuration of displaying the driving waveform of the actuator which is read from the storage unit in response to an output signal of said detecting means.

As described above, when the drive waveform of the actuator read from the storage unit is corrected according to the operation speed of the knob calculated by the arithmetic unit, and the actuator is driven based on the corrected drive waveform, As in the case of the first problem solving means, a constant operation feeling can be always given to the knob regardless of the operation speed of the knob, so that the operability of the manual input device can be improved. Further, when the speaker is driven based on the corrected drive waveform, the user can know the operation state of the knob by both the driving force of the actuator applied to the knob and the sound emitted from the speaker. When such a manual input device is used as a function adjusting means for an on-vehicle electric device, the feedback function of the manual input device can be sufficiently exerted even under severe conditions such as running on a rough road, and various electric devices can be used. The operation of can be performed quickly and accurately. Furthermore, when the drive waveform of the actuator corresponding to the output signal of the detection means read out from the storage unit is displayed on the monitor without correction, it is possible to inform the user that the operating speed of the knob is inappropriate. , The knob operation after that can be optimized.

In order to solve the above problems, the present invention thirdly stores the plurality of drive waveforms in the storage section, and the drive waveforms read from the storage section by a switch attached to the control means. It is configured to switch.

As described above, when a plurality of drive waveforms are stored in the storage unit and the drive waveform read from the storage unit can be switched by the switch attached to the control means, for example, the manual input device according to the present invention can be used. When used as a function adjusting means of an on-vehicle electric device, the operation feeling given to the knob by the actuator can be changed for each type of the on-vehicle electric device or the type of the function to be adjusted. Adjustments can be made quickly and accurately.

In order to solve the above problems, the present invention fourthly calculates the operating speed of the knob by the arithmetic unit,
The operation is performed only within a predetermined time from the time when the knob is started, and after the time elapses, until the time when the operation of the knob is stopped, the storage unit is operated according to the operation speed of the knob calculated within the time. The drive waveform of the actuator read out is corrected.

As described above, the operation speed of the knob is calculated by the arithmetic unit only within a predetermined time from the operation start time of the knob, and after the elapse of the time, the operation time of the knob is stopped. If the drive waveform of the actuator read out from the storage unit is corrected according to the operation speed of the knob calculated in the above, it is possible to reduce the burden on the operation unit required to calculate the operation speed of the knob. It is possible to reduce the size and cost of the manual input device without requiring a control unit having a high calculation ability.

In order to solve the above-mentioned problems, the present invention, fifthly, calculates the operating speed of the knob by the arithmetic unit,
From the time when the operation of the knob is started to the time when the operation of the knob is stopped, the operation is performed once or multiple times intermittently, and the operation of the knob is performed next time each time the operation speed of the knob is calculated by the calculation unit. Until the speed is calculated, the drive waveform of the actuator read from the storage unit is corrected according to the previously calculated operation speed of the knob.

As described above, the calculation of the operating speed of the knob by the calculation unit is intermittently performed once or a plurality of times between the time when the operation of the knob is started and the time when the operation of the knob is stopped. Whenever the calculation is performed, until the next operation speed of the knob is calculated, if the drive waveform of the actuator read from the storage unit is corrected according to the previously calculated operation speed of the knob, Since the drive waveform of the actuator is repeatedly corrected during operation, even if the operating speed of the knob fluctuates during operation of the knob, a constant operating feeling can be given to the knob, and the operating feeling of the knob is improved. can do.

[0023]

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, an example of a manual input device according to the present invention will be described as an example in which it is applied as a function adjusting means of an on-vehicle electric device.

As shown in FIG. 1, the manual input device of this embodiment includes a housing 1, an actuator 2 installed inside the housing 1, and an actuator 2 protruding from the housing 1 to the outside. Knob 3 fixed to one end of the drive shaft 2a of
And a detection means 4 including a code wheel 4a fixed to the other end of the drive shaft 2a of the actuator 2 and a photo interrupter 4b installed in the housing 1, a switch 5, a speaker 6, and a monitor 7. , Control means 8 for controlling the entire system including the actuator 2, switch 5, speaker 6 and monitor 7.

The housing 1 is installed inside a panel 9 which constitutes a dashboard or a console box of an automobile, and the knob 3 is arranged outside the panel 9.

As the actuator 2, any known actuator such as a rotary motor, a linear motor or a solenoid can be used as long as it can apply a required external force to the knob 3. Note that FIG. 1 illustrates the case where a rotary motor is used.

The knob 3 is used as an adjusting knob of an on-vehicle electric device, and is formed of a plastic molded product into a required shape.

As the detecting means 4, any known position signal detector such as an encoder or a variable resistor can be used as long as it can detect the operating direction and operating amount of the knob 3. The actuator 2 is shown in FIG.
Code wheel 4a and housing 1 fixed to the drive shaft 2a of the
An optical rotary encoder including a photo interrupter 4b installed in the above is exemplified.

The switch 5 is for selecting the function of the on-vehicle electric device to be adjusted by operating the knob 3, and in the manual input device of this example, for selecting a radio station. Push button switch 5a, a push button switch 5b for selecting a desired song recorded on a CD, and a push button switch 5 for adjusting the volume.
c and are provided.

As the speaker 6, in order to express force feedback by sound, a speaker dedicated to force feedback can be provided separately from the speaker provided in the vehicle audio device, or the speaker provided in the vehicle audio device. It can also be used as a speaker for force feedback. When the speaker for exclusive use of force feedback is provided, it is not necessary to change the wiring of the vehicle-mounted audio device, so that the manual input device can be easily applied to the automobile. On the other hand, when the speaker provided in the in-vehicle audio device is also used as the speaker for force feedback, it is not necessary to separately provide a speaker dedicated to force feedback, so that the configuration of the manual input device can be integrated. It is possible to reduce the size, cost, and power of the input device.

As the monitor 7, for example, a display device such as a liquid crystal display device or a CRT display device capable of displaying an image is used.

The control means 8 inputs the output signal a of the detection means 4 and the output signal b of the switch 5, and the drive waveforms c1 and c2 of the plurality of types of actuators 2 according to the output signal a of the detection means 4. , C3 stored in memory 82
Then, the operating speed of the knob 3 is calculated from the output signal a of the detecting means 4, and the drive waveforms c1, c2 of the actuator read from the storage unit 82 according to the calculated operating speed of the knob.
An arithmetic unit 83 that corrects c3 and a first driver circuit 84 that inputs the control signals d1, d2, d3 output from the arithmetic unit 83 and generates a drive signal e1 for the actuator 2
2, a second driver circuit 85 for generating the drive signal e2 for the speaker 6, a third driver circuit 86 for generating the drive signal e3 for the monitor 7, and an output section 87. The drive waveforms c1 and c of the actuator 2 are
2, c3 are stored in the form of control signals of the actuator 2 corresponding to each pulse of the detection signal a. Also,
The first to third driver circuits 84, 85, 86 are
The control signals d1 to d3 output from the computing unit 83 are D / A
It is composed of a D / A converter for converting and a signal amplifier for amplifying the D / A converted signal.

In FIG. 2, the drive waveforms c1, c2, c3 of each actuator 2 stored in the storage section 82 and the knob 3 corresponding to the drive waveforms c1, c2, c3 of each actuator 2 are stored.
And the function of.

FIG. 2A shows the storage section 82 when the push button switch 5a is operated and "radio station selection" is selected.
It is a figure which shows the drive waveform c1 of the actuator read further, and when the knob 3 is rotated 45 degrees, 1 is set to the knob 3.
It has a waveform that gives the feeling of clicking once. Therefore, as shown in FIG. 2B, by allocating each broadcasting station to the rotation position of the knob 3, it is possible to select a desired radio station with a click feeling when the knob 3 is rotated.

FIG. 2C is a diagram showing a drive waveform c2 of the actuator read from the storage section 82 when the push button switch 5b is operated to select "CD selection". 2 for knob 3 each time it rotates 5 degrees
It has a waveform that gives the feeling of clicking once. Therefore, as shown in FIG. 2D, the CD is set at the rotation position of the knob 3.
By allocating the recording position of the music recorded in the above, it is possible to select a desired music with a click feeling when the knob 3 is rotated.

FIG. 2E shows the storage unit 8 when the push button switch 5c is operated and "volume adjustment" is selected.
2 is a diagram showing a drive waveform c3 of the actuator read from No. 2, which is a waveform that gives a constant intensity of vibration to the knob 3 as the knob 3 rotates. Therefore, FIG.
As shown in (f), by allocating the sound volume to the rotation position of the knob 3, it is possible to give a favorable resistance feeling to the knob 3 when the knob 3 is rotated.

FIGS. 3 and 4 show a method of correcting the drive waveform c1 of the actuator, which is performed by the arithmetic unit 83.

As described above, since the drive waveform c1 of the actuator 2 is stored in the storage unit 82 in the form of the control signal of the actuator 2 corresponding to each pulse of the detection signal a, the rotation of the knob 3 is performed. The drive waveform c1 of the actuator read from the storage unit 82 changes depending on the speed. That is, when the rotation speed of the knob 3 is slow,
As shown by the broken line in (a), the drive waveform c1 of the actuator 2 is extended compared to the drive waveform c1 of the standard actuator 2 shown by the solid line, and the knob 3 is loaded with a sharp click feeling. Becomes difficult. Conversely,
If the rotation speed of the knob 3 is too fast, the value shown in FIG.
As shown by the dotted line, the drive waveform c1 of the actuator 2
Is sharper than the standard drive waveform c1 of the actuator 2 indicated by the solid line, and a shocking force acts on the knob 3 to deteriorate the operation feeling of the knob 3. In addition, in the case where the rotation speed of the knob 3 becomes extremely high, as shown in FIG.
As indicated by the chain double-dashed line, a plurality of waveforms approach each other, and it becomes difficult to distinguish from the drive waveform c3 of the actuator read from the storage unit 82 when “volume” is selected.

Therefore, the calculation unit 83 calculates the rotation speed of the knob 3 from the output signal a of the detection means 4, and the drive waveform c1 read from the storage unit 82 according to the calculated rotation speed of the knob 3. Is corrected to the standard waveform shown in FIGS. 3 (a), (b), and (c). With this, regardless of the rotation speed of the knob 3, a predetermined click feeling can be constantly given to the knob 3.

The rotation speed of the knob 3 can be calculated by counting the number of pulses of the output signal a input to the input section 81 within the reference time. Further, as shown in FIG. 4A, the calculation of the rotation speed of the knob 3 is performed only within a predetermined time t that is set in advance from the operation start time of the knob 3, and after the time t has elapsed, the knob 3 is It is also possible to correct each drive waveform c1 thereafter according to the operation speed of the knob 3 calculated within the time t until the operation stop time of the operation of the knob 3 as shown in FIG. 4 (b). The rotation speed of the knob 3 is intermittently calculated once or a plurality of times from the start time to the operation stop time, and the operation speed of the knob 3 is calculated next time each time the operation speed of the knob 3 is calculated. Until the operation is performed, the drive waveform c1 can be corrected according to the operation speed of the knob 3 calculated last time.

If the calculation of the rotation speed of the knob 3 is performed only within a predetermined time t, the load on the calculation unit 83 required for the calculation of the operation speed of the knob 3 can be reduced, so that the calculation ability is not necessarily high. It is possible to reduce the size and cost of the manual input device without requiring a control unit. On the other hand, if the calculation of the operating speed of the knob 3 by the calculation unit 83 is performed once or a plurality of times intermittently between the time when the operation of the knob is started and the time when the operation of the knob is stopped, the drive waveform c1 is actually corrected. Since it can be performed more accurately according to the variation in the operating speed of the knob 3, the operating feeling of the knob 3 can be improved.

Although only the method of correcting the drive waveform c1 has been described above, the drive waveforms c2 and c3 can be corrected by the same method.

Next, the operation of the manual input device according to this embodiment will be described with reference to FIG. 5, taking "radio station selection" as an example.

When a power switch (not shown) is turned on, power is supplied to the control means 8 to reset the arithmetic unit 83 and start the system.

After the system is started, the arithmetic unit 83 determines whether or not the push button switches 5a, 5b, 5c are operated (step S1 to step S3). When the push button switch 5a is operated at the system start, or when the push button switch 5a is operated by the user after the system start, the signal b output from the push button switch 5a is taken into the input section 81 of the control means 8. Then, the calculation unit 83 is switched to the radio station tuning mode (step S
4), the control means 8 is in a state of waiting for a signal from the detection means 4 (step S5).

When the user rotates the knob 3, the code wheel 4a of the detecting means 4 is interlocked with the rotation of the drive shaft 2a.
Is rotated, and the output signal a corresponding to the rotation direction and the rotation amount of the knob 3 is output from the detection means 4. The calculation unit 83 takes in the output signal a via the input unit 81 and reads the drive waveform c1 of the actuator 2 corresponding to the rotation direction and the rotation amount of the knob 3 from the storage unit 82 (step S6).

Next, the calculation unit 83 calculates the rotation speed of the knob 3 from the output signal a of the detection means 4 that has been taken in (step S7), and then the storage unit 82 based on the calculated rotation speed of the knob 3. The drive waveform c1 read out is corrected (step S8), and the first and second driver circuits 84 and 85 are corrected.
Control signals d1 and d corresponding to the drive waveform c1 corrected to
In addition to outputting 2, the control signal d3 corresponding to the uncorrected drive waveform c1 is output to the third driver circuit 86 (step S9). First to third driver circuits 84,
85 and 86 are control signals d output from the calculation unit 83.
1, d2, d3 are converted into a drive signal e1 for the actuator 2, a drive signal e2 for the speaker 6 and a drive signal e3 for the monitor 7 and output to drive the actuator 2, the speaker 6 and the monitor 7 (step S10).

The user selects a desired radio station (procedure S11) based on the operation feeling given by the actuator 2, the operation sound and the broadcast sound emitted from the speaker 6, and the image displayed on the monitor 7, and selects the desired radio station. When the radio station is selected, the operation of the knob 3 is stopped.

When it is determined in step S2 that the push button switch 5b is operated, CD selection is performed in the same procedure as described above, and when it is determined in step S3 that the push button switch 5c is operated. The volume adjustment is performed in the same procedure as described above.

In this way, the drive waveform of the actuator 2 is corrected according to the operation speed of the knob 3 calculated by the calculation unit 83, and the actuator 2 and the speaker 6 are driven based on the corrected drive waveform. Since the user can know the operation state of the knob 3 by both the driving force of the actuator 2 applied to the knob 3 and the sound emitted from the speaker 6, for example, the manual input device according to the present invention can be used to adjust the function of the on-vehicle electrical equipment. When used as a means,
The feedback function of the manual input device can be sufficiently exerted even under severe conditions such as running on a rough road, and various operations for various electric devices can be performed quickly and accurately. Further, when the drive waveform of the actuator 2 corresponding to the output signal a of the detection means 4 read out from the storage unit 82 is displayed on the monitor 7 without correction, the user 3 may find that the operating speed of the knob is inappropriate. Since it can be informed, the subsequent operation of the knob 3 can be optimized.

The manual input device according to the present embodiment stores a plurality of drive waveforms c1, c2, c3 in the storage section 82, and the storage section 82 is stored by the switch 5 attached to the control means 8.
Since the drive waveforms c1, c2, and c3 read out by the switching can be switched, various function adjustments of various electric devices can be performed using one manual input device, and the manual input device according to the present invention is mounted on a vehicle. When used as a function adjusting means of an electric device, the function of each on-vehicle electric device can be adjusted quickly and accurately.

In the above embodiment, the knob 3
However, the gist of the present invention is not limited to this, and can be applied to the case where a swing knob or a slide knob is used as the knob 3. When a rocking knob or a slide knob is used as the knob 3, the “rotation position” in the above-described embodiment is replaced with the “rocking position” or the “sliding position”.

[0053]

The manual input device of the present invention corrects the drive waveform of the actuator read from the storage unit according to the operating speed of the knob calculated by the arithmetic unit, and based on the corrected drive waveform. Since the actuator is driven, a constant operation feeling can be always given to the knob regardless of the operation speed of the knob, and the operability of the manual input device can be improved. Further, since the drive waveform of the actuator read from the storage unit is corrected according to the operation speed of the knob calculated by the calculation unit, it is not necessary to use a detection unit with high resolution and a calculation unit or speed increasing mechanism with high calculation ability. It is possible to reduce the size and cost of the manual input device without the need.

[Brief description of drawings]

FIG. 1 is a system configuration diagram of a manual input device according to an embodiment.

FIG. 2 is an explanatory diagram illustrating various drive waveforms and a function of a knob stored in a storage unit of the manual input device according to the embodiment.

FIG. 3 is an explanatory diagram showing a method of correcting a drive waveform, which is performed by a calculation unit provided in the manual input device according to the embodiment.

FIG. 4 is an explanatory diagram showing a calculation timing of a rotation speed of a knob, which is performed by a calculation unit provided in the manual input device according to the embodiment.

FIG. 5 is a flowchart showing an operation of the manual input device according to the embodiment.

FIG. 6 is a configuration diagram of a manual input device according to a conventional example.

[Explanation of symbols]

2 actuators 3 knobs 4 Detection means 5 switches 6 speakers 7 monitors 8 Control means 81 Input section 82 Memory 83 Operation unit 84,85,86 driver circuit 87 Output section a Output signal of the detection means 4 b Output signal of switch 5 c1, c2, c3 Drive waveform of actuator 2 d1, d2, d3 control signal e1, e2, e3 drive signal

Claims (5)

[Claims] 1. A knob, an actuator for applying an external force to the knob, a detection means for detecting an operating state of the knob, and a control means for controlling driving of the actuator based on an output signal of the detection means. The control means includes a calculation unit that calculates an operating speed of the knob from an output signal of the detection unit, and a storage unit that stores a drive waveform of the actuator according to the output signal of the detection unit. The control means corrects the drive waveform of the actuator read from the storage unit according to the operation speed of the knob calculated by the calculation unit, and controls the actuator based on the corrected drive waveform. A manual input device characterized by being driven. 2. A knob, an actuator for applying an external force to the knob, a detection means for detecting the operation state of the knob, and a monitor for visually displaying the operation state of the knob.
A speaker that audibly displays the operating state of the knob, the actuator based on the output signal of the detection means,
A control unit for controlling driving of a monitor and a speaker, wherein the control unit includes an arithmetic unit for calculating an operation speed of the knob from an output signal of the detection unit and the actuator according to the output signal of the detection unit. And a storage unit in which the drive waveform of the actuator is stored, the control unit corrects the drive waveform of the actuator read from the storage unit according to the operation speed of the knob calculated by the calculation unit. ,
The actuator and the speaker are driven based on the corrected drive waveform, and the drive waveform of the actuator read from the storage unit according to the output signal of the detection unit is displayed on the monitor. And manual input device. 3. The drive waveform read out from the storage unit is stored in the storage unit, and the drive waveform read out from the storage unit is switched by a switch attached to the control means. Manual input device described in. 4. The operation speed of the knob is calculated by the arithmetic unit only within a predetermined time from the operation start time of the knob, and after the time elapses, until the operation stop time of the knob. The manual drive according to any one of claims 1 to 3, wherein the drive waveform of the actuator read from the storage unit is corrected according to the operation speed of the knob calculated within the time period. Input device. 5. The operation speed of the knob is calculated by the calculation unit once or a plurality of times intermittently between the time when the operation of the knob is started and the time when the operation of the knob is stopped. Every time the operation speed of the knob is calculated, until the next operation speed of the knob is calculated, the actuator read from the storage unit according to the operation speed of the previously calculated knob The manual input device according to claim 1, wherein the drive waveform is corrected.