JP2011227734A - Input device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an input device capable of easing uncomfortable feeling due to misalignment between a moving direction and a direction of a friction force.SOLUTION: An input device 1 comprises: a body part 10; an operation knob 2 movable to the body part 10; moving direction detection means 301 which detects a moving direction against the body part 10 of the operation knob 2; an X-axis voice coil motor 14 and a Y-axis voice coil motor 15 capable of imparting driving force to the operation knob 2; and motor control means 302 which controls the driving force so that resultant force of the friction force and the driving force during movement of the operation knob 2 becomes a direction opposite to the moving direction of the operation knob 2.

Description

  The present invention relates to an input device, and more particularly to an input device including an actuator that can give a force sense to a user's operation.

  2. Description of the Related Art Conventionally, a force sense input device has been known as a device that provides an operational feeling to an operation unit operated by a user (see, for example, Patent Document 1).

  The input device described in Patent Document 1 includes an operation unit operated by a user, an actuator that gives a force sense to the operation unit, and a control unit that controls a force sense by the actuator according to the position of the operation unit. ing. The actuator includes a first electric motor that moves the operation unit in the x-axis direction and a second electric motor that moves the operation unit in the y-axis direction, and drives the electric motor to swing the swing arm, together with the swing arm. A force sense is applied to the operation unit attached to the swinging swinging lever.

JP 2006-268154 A

  However, in this type of input device, frictional resistance is generated by the friction of each part that slides with the movement of the operation unit, and when the user moves the operation unit in a direction oblique to the x-axis direction and the y-axis direction. In some cases, a resistance force due to friction is generated in a direction inclined with respect to the direction opposite to the moving direction of the operation unit. In such a case, the user may feel uncomfortable.

  Accordingly, an object of the present invention is to provide an input device that can alleviate a sense of incongruity due to a shift between the moving direction of the operation unit and the direction of the frictional force.

[1] In order to achieve the above object, the present invention provides a main body, an operation unit movable with respect to the main body, a moving direction detecting means for detecting a moving direction of the operating unit with respect to the main body, The driving force application unit capable of applying a driving force to the operation unit, and the operation in which the resultant force of the friction force when the operation unit is moved and the driving force of the driving force application unit is detected by the moving direction detection unit An input device is provided that includes control means for controlling the driving force of the driving force applying unit so as to be in a direction opposite to the moving direction of the unit.

[2] The driving force applying unit includes: a first actuator that applies a driving force in a first direction; and a second actuator that applies a driving force in a second direction that intersects the first direction. The control means controls the first and second actuators according to the moving speed of the operation unit in the first direction and the moving speed in the second direction, [1] The input device described in the above may be used.

[3] The control unit estimates the frictional force based on a relationship between the driving force when the operating unit is moved by the driving force of the driving force applying unit and the moving speed of the operating unit. The input device according to [1] or [2] may be used.

[4] Further, the control means gradually increases the driving force of the driving force applying unit while the operating unit is stationary, and the driving force of the driving force applying unit when the operating unit starts to move is increased. The input device according to the above [3], which estimates the frictional force based on the size.

  According to the present invention, it is possible to alleviate a sense of incongruity due to a shift between the moving direction of the operation unit and the direction of the friction force.

FIG. 1 is an external perspective view of an input device according to the first embodiment of the present invention. FIG. 2 is a perspective view showing an outline of a mechanical configuration of the input device according to the first embodiment of the present invention. FIG. 3 is a functional block diagram showing a functional configuration of the control unit according to the first embodiment of the present invention. FIG. 4 is a vector diagram showing the relationship between the moving direction of the operation knob and the frictional force and driving force acting on the operation knob according to the first embodiment of the present invention. FIG. 5 is a graph showing an example of operation when the motor control unit according to the second embodiment of the present invention estimates the frictional force of the operation knob. FIG. 5A shows the coil current of the X-axis voice coil motor. (B) shows the moving speed of the operation knob in the X-axis direction.

[First Embodiment]
FIG. 1 is an external perspective view showing an input device according to the first embodiment of the present invention. The input device 1 is connected to an information processing device such as a car navigation system of a vehicle or a computer, and is used as a pointing device for a user to operate the position of a pointer displayed on a display device such as a liquid crystal display.

  The input device 1 includes a main body 10 and an operation knob 2 as an operation section that can be moved in the X-axis direction and the Y-axis direction with respect to the main body 10 by a manual operation by a user's hand. The main body 10 is covered with a cover 11, and the operation knob 2 is connected to a knob shaft 20 protruding from an opening 11 a provided in the center of the cover 11.

  FIG. 2A is a perspective view showing an outline of the mechanical configuration of the input device 1. The input device 1 has a support drive mechanism 100 provided in the main body 10. The support drive mechanism 100 supports the operation knob 2 so as to be movable and drivable with respect to the main body 10.

  The support driving mechanism 100 includes an X carriage 121 and a Y carriage 122 that are arranged so as to be orthogonal to each other.

  Both ends of the X carriage 121 are supported by a pair of X axis slide guides 131 and 131 fixed to the main body 10 and can slide in the X axis direction. The X carriage 121 has a long hole 121a formed to extend in the Y-axis direction, and the knob shaft 20 passes through the long hole 121a.

  One end of the X carriage 121 is provided with an X axis voice coil motor 14 as a first actuator that drives the X carriage 121 in the X axis direction.

  As shown in FIG. 2B, the X-axis voice coil motor 14 includes a U-shaped yoke 141 made of a magnetic material having a first arm 141a and a second arm 141b, and a second arm 141b of the first arm 141a. And a voice coil 143 fitted to the second arm 141b so as to be able to advance and retreat. When a coil current is supplied to the voice coil 143, the voice coil 143 moves in the X-axis direction. It is configured as follows. The yoke 141 is fixed to the main body 10, and the voice coil 143 is connected to the X carriage 121.

  As shown in FIG. 2A, the other end of the X carriage 121 is connected to an X axis linear encoder 161 for detecting the position of the X carriage 121 in the X axis direction. The X-axis linear encoder 161 outputs a signal corresponding to the position of the X carriage 121 in the X-axis direction.

  The Y carriage 122 is supported by a pair of Y axis slide guides 132 and 132 fixed to the main body 10 at both ends in the longitudinal direction, and is slidable in the y axis direction above the X carriage 121. The Y carriage 122 has a long hole 122a formed so as to extend in the X-axis direction, and the knob shaft 20 passes through the long hole 122a.

  A Y-axis voice coil motor 15 as a second actuator that drives the Y carriage 122 in the Y-axis direction is provided at one end of the Y carriage 122. The Y-axis voice coil motor 15 has the same configuration as the X-axis voice coil motor 14.

  A Y-axis linear encoder 162 for detecting the position of the Y carriage 122 in the Y-axis direction is connected to the other end of the Y carriage 122. The Y-axis linear encoder 162 outputs a signal corresponding to the position of the Y carriage 122 in the Y-axis direction.

  The operation knob 2 is attached to one end of the knob shaft 20, and the first support member 171 is fixed to the other end of the knob shaft 20. The first support member 171 has a disk shape having a diameter larger than the width of the long hole 121a of the X carriage 121, and restricts the upward movement of the knob shaft 20 in the axial direction.

  A second support member 172 is fixed to a portion of the knob shaft 20 on the operation knob 2 side of the Y carriage 122. The second support member 172 has a disk shape having a diameter larger than the width of the long hole 122a of the Y carriage 122, and restricts the downward movement of the knob shaft 20 in the axial direction.

  When the X carriage 121 moves in the X axis direction by the driving force of the X axis voice coil motor 14, the inner surface of the long hole 121 a is pressed against the outer peripheral surface of the knob shaft 20. Further, when the Y carriage 122 is moved in the Y axis direction by the driving force of the Y axis voice coil motor 15, the inner surface of the long hole 122 a is pressed against the outer peripheral surface of the knob shaft 20. With this configuration, a driving force corresponding to the magnitude and direction of the coil current supplied to the X-axis voice coil motor 14 and the Y-axis voice coil motor 15 can be applied to the operation knob 2 via the knob shaft 20. ing.

  When the user moves the operation knob 2 in the X-axis direction and the Y-axis direction, the knob shaft 20 moves the X carriage 121 and the Y carriage 122 according to the movement amount. Since the positions of the X carriage 121 and the Y carriage 122 can be detected by the X axis linear encoder 161 and the Y axis linear encoder 162, the position of the operation knob 2 relative to the main body 10 can be detected.

  The knob shaft 20, the X carriage 121, the Y carriage 122, the X axis slide guides 131 and 131, the Y axis slide guides 132 and 132, the X axis voice coil motor 14, and the Y axis voice coil motor 15 constitute the support drive mechanism 100. To do.

  FIG. 3 is a functional block diagram showing a functional configuration of the control unit 3 of the input device 1. The control unit 3 is disposed inside the main body 10 of the input device 1 and controls each part of the input device 1.

  The control unit 3 includes a control unit 30 including a CPU (Central Processing Unit), a storage unit 31 including a storage element that stores a control program 210 of the control unit 30, the X-axis voice coil motor 14 and the Y-axis voice coil. A drive circuit 32 that supplies power to the motor 15 and a communication unit 33 that communicates with the display device 4 that displays a pointer at a position corresponding to the position of the operation knob 2 are configured.

  The drive circuit 32 includes a switching element that is turned on or off according to a drive signal supplied from the control unit 30 and supplies a coil current to the X-axis voice coil motor 14 and the Y-axis voice coil motor 15. The coil current is supplied to the X-axis voice coil motor 14 and the Y-axis voice coil motor 15 by the Modulation method.

  The control unit 30 functions as the moving direction detection unit 301, the motor control unit 302, and the like by operating based on the control program 310 stored in the storage unit 31.

  The moving direction detecting means 301 receives a signal indicating the position of the X carriage 121 in the X axis direction and a signal indicating the position of the Y carriage 122 in the Y axis direction from the X axis linear encoder 161 and the Y axis linear encoder 162 at predetermined time intervals. Based on these signals, X-axis coordinates and Y-axis coordinates indicating the position of the operation knob 2 with respect to the main body 10 are calculated. The moving direction detection unit 301 stores the calculated X-axis coordinate and Y-axis coordinate information of the operation knob 2 in the storage unit 31 and transmits the information to the display device 4 through the communication unit 33.

  Further, the moving direction detection means 301 detects the moving direction of the operation knob 2 based on a temporal change in the position of the operation knob 2. More specifically, the position of the operation knob 2 based on a signal newly acquired from the X-axis linear encoder 161 and the Y-axis linear encoder 162 is compared with the position of the operation knob 2 a predetermined time before the X-axis The amount of movement in the direction and the amount of movement in the Y-axis direction are detected. The movement amount in the X-axis direction and the movement amount in the Y-axis direction represent the movement direction of the operation knob 2.

  The motor control unit 302 estimates the frictional force acting on the operation knob 2 by the movement of the operation knob 2 based on the movement amount in the X-axis direction and the movement amount in the Y-axis direction calculated by the movement direction detection unit 301. The motor control means 302 then detects the direction of the resultant force of the estimated friction force and the driving force applied from the support drive mechanism 100 to the operation knob 2 in the direction opposite to the movement direction of the operation knob 2 detected by the movement direction detection means 301. The X-axis voice coil motor 14 and the Y-axis voice coil motor 15 are controlled so that

(Control contents of motor control means 302)
FIG. 4 is a vector schematically showing the relationship between the movement direction of the operation knob 2, the frictional force acting on the operation knob 2 due to the movement, and the driving force by the X-axis voice coil motor 14 and the Y-axis voice coil motor 15. FIG.

  If the movement amount of the operation knob 2 in the X-axis direction is −dx and the movement amount in the Y-axis direction is −dy, the direction of the movement direction of the operation knob 2 is as a vector D. The moving direction of the operation knob 2 includes an X-axis component and a Y-axis component.

  When the operation knob 2 moves in the X-axis direction, the X-axis is moved by the sliding of the knob shaft 20 or the second support member 172 and the Y carriage 122, the sliding of the X carriage 121 and the X-axis slide guides 131 and 131, and the like. Directional friction force is generated. Further, when the operation knob 2 moves in the Y-axis direction, sliding between the knob shaft 20 and the second support member 172 and the X carriage 121, sliding between the Y carriage 122 and the Y-axis slide guides 132 and 132, and the like, A frictional force in the Y-axis direction is generated. These frictional forces are determined by the sum (ΣμP) of products of the respective friction coefficients μ at the plurality of sliding locations and the vertical effect P at the respective sliding locations.

  When the operation knob 2 moves along the X-axis direction or along the Y-axis direction, a frictional force is generated in the operation knob 2 only in the X-axis direction or the Y-axis direction, and the direction in which the frictional force acts Is the direction opposite to the moving direction of the operation knob 2. However, when the operation knob 2 moves in a direction inclined in the X-axis direction and the Y-axis direction, the direction in which the frictional force is applied is not necessarily the opposite direction to the movement direction of the operation knob 2.

In the example of FIG. 4, the vector D indicating the moving direction of the operation knob 2 is inclined by 60 ° with respect to the −X axis direction and is inclined by 30 ° with respect to the −Y axis direction. Further, the X-axis component F _x and the Y-axis component F _{y of} the frictional force acting on the operation knob 2 are substantially equal. For this reason, the extension line of the vector D indicated by the alternate long and short dash line and the vector F _f indicating the direction and magnitude of the frictional force are not in a straight line but are inclined by the angle θ. If the direction in which the user moves the operation knob 2 and the direction in which the frictional force acts are greatly inclined, the user may feel uncomfortable.

  The motor control means 302 controls the X-axis voice coil motor 14 and the Y-axis voice coil motor 15 so that the direction opposite to the movement direction of the operation knob 2 matches the direction of the reaction force acting on the operation knob 2. Generate driving force.

More specifically, the motor control unit 302 determines the movement speed v _x and Y axis of the operation knob 2 in the X axis direction based on the movement amount in the X axis direction and the movement amount in the Y axis direction calculated by the movement direction detection unit 301. obtains the moving velocity v _y direction, calculates the X-axis direction of the driving force F _mx and Y-axis direction of the driving force F _my by the following calculation equation using the predetermined constant Fr.

Here, sign () is a function that becomes 1 when v _x and v _y are + (plus), and −1 when − (minus). That is, when the operation knob 2 moves in the −X axis direction, the driving force F _mx is applied in the −X axis direction, and when it moves in the + X axis direction, the driving force F _mx is applied in the + X axis direction. Further, when the operation knob 2 moves in the −Y axis direction, the driving force F _my is applied in the −Y axis direction, and when it moves in the + Y axis direction, the driving force F _my is applied in the + Y axis direction. Incidentally, the constant Fr may be a frictional force when moving in the direction of the manipulation knob 2 is along the X-axis direction or Y axis direction (the size of the F _x or F _y).

When the driving forces F _mx and F _my act on the operation knob 2, the direction of the vector F _m indicating the resultant force of the friction force and the driving forces F _mx and F _my is a vector D indicating the moving direction of the operation knob 2. The direction is along the opposite direction. That is, the angle formed by the opposite direction of the vector D and the direction of the resistance force acting on the operation knob 2 when the operation knob 2 is moved is reduced by applying the driving forces F _mx and F _my to the operation knob 2. Become.

Further, by causing the driving forces F _mx and F _my to act on the operation knob 2, the magnitude of the vector F _m is the same as the X-axis component F _x and the Y-axis component F _{y of the} frictional force F _f . . As a result, when the operation knob 2 is moved along the X-axis direction, moved along the Y-axis direction, or moved in a direction inclined in the X-axis direction and the Y-axis direction, the same applies. A large resistance force acts on the operation knob 2.

The magnitudes of the driving forces F _mx and F _my are preferably such that the direction of the resultant force with the vector F _f indicating the friction force coincides with the direction opposite to the moving direction of the operation knob 2. Not limited to. The magnitude of the vector F _m may be different from the X-axis component F _x and the Y-axis component F _y of the frictional force F _f .

Further, the above calculation formulas for _obtaining the driving forces F _mx and F _my are predetermined corresponding to the structure of the support driving mechanism 100 shown in FIG. 2A and support the operation knob 2. When the mechanism is different, it can be appropriately determined to apply to the structure of the mechanism. For example, an arithmetic expression for obtaining the driving forces F _mx and F _my measures the frictional force acting on the operation knob 2 when the operation knob 2 is moved in a plurality of directions, and formulas and coefficients according to the measurement results. Etc. can be determined.

(Effects of the first embodiment)
As described above, according to the input device 1 according to the present embodiment, the operating direction of the resistance force when the operating knob 2 is moved is oriented along the direction opposite to the moving direction of the operating knob 2. It is possible to alleviate the feeling of discomfort to the user who operates 2. Further, a resistance force when the operation knob 2 moves in a direction inclined with respect to the X-axis direction and the Y-axis direction, and a resistance force when the operation knob 2 moves in a direction along the X-axis direction or the Y-axis direction. Therefore, it is possible to further reduce a sense of incongruity when the operation knob 2 is operated.

[Second Embodiment]
Next, an input device according to a second embodiment of the present invention will be described. Similarly to the input device 1 according to the first embodiment, the input device according to the present embodiment also includes the operation knob 2, the support drive mechanism 100, the control unit 3, and the like. It differs from the first embodiment in that the frictional force of the operation knob 2 is estimated by a test.

  The motor control means 302 according to the present embodiment controls the X-axis voice coil motor 14 and the Y-axis voice coil motor 15 as the first and second actuators to apply a driving force to the operation knob 2, and at that time The frictional force during the movement of the operation knob 2 is estimated on the basis of the relationship between the driving force and the movement speed of the operation knob 2.

  More specifically, the motor control means 302 gradually increases the driving force acting on the operation knob 2 when the operation knob 2 is not operated by the user and the operation knob 2 is driven. The frictional force when the operation knob 2 is moved is estimated based on the driving force when the movement is started.

  FIG. 5 is a graph showing an example of operation when the motor control means 302 estimates the frictional force of the operation knob 2, (a) shows the coil current of the X-axis voice coil motor 14, and (b) shows the operation knob 2. The moving speed in the X-axis direction is shown respectively.

The motor control unit 302 starts energization at time t ₁ from a non-energized state in which no coil current flows through the voice coil 143 of the X-axis voice coil motor 14. Thereafter, the moving speed of the X carriage 121 is detected from the output signal of the X-axis linear encoder 161 to determine whether the moving speed is 0, that is, whether the operation knob 2 has moved. from t ₁ after a predetermined time has elapsed increasing coil current. The motor control means 302 repeatedly executes this processing, and increases the coil current stepwise at times t ₂ , t ₃ , t ₄ , and t ₅ .

The motor control unit 302 stores the magnitude of the coil current when the X carriage 121 moves. In the example shown in FIG. 5, X carriage 121 when the coil current was I ₁ at time t _5, that is, the operation knob 2 starts moving, stores the coil current I _1.

The coil current I ₁ is an index value related to the frictional force when the operation knob 2 moves. Therefore, the magnitude of the vector F _f indicating the frictional force can be estimated based on the coil current I ₁ .

  The motor control unit 302 executes the frictional force estimation process when, for example, power is supplied to the input device 1 or when a predetermined period has elapsed. The motor control means 302 controls the X-axis voice coil motor 14 and the Y-axis voice coil motor 15 by applying the estimated friction force when the user operates the operation knob 2 thereafter.

Further, the motor control means 302 gradually increases the coil current of the Y-axis voice coil motor 15 to apply a driving force, and the friction in the Y-axis direction in consideration of the coil current when the operation knob 2 starts moving. The force may be estimated. In addition, we estimate the frictional force for both the X-axis direction and the Y-axis direction, X-axis component of the vector F _f showing the frictional force F _x and Y-axis component F _{y (see} FIG. 4) may be estimated respectively . Further, the frictional force estimation process may be performed in both the X-axis direction and the Y-axis direction, and the average value thereof may be applied to control the X-axis voice coil motor 14 and the Y-axis voice coil motor 15.

  In the frictional force estimation process, the frictional force is estimated based on the coil current (motor output) when the operation knob 2 starts to move. However, the relationship between the coil current and the movement speed during the movement of the operation knob 2 is used. The frictional force may be estimated based on That is, when the operation knob 2 is moved by the X-axis voice coil motor 14 or the Y-axis voice coil motor 15 while the user is not operating the operation knob 2, the driving force and the frictional force acting on the operation knob 2 are used. Since the moving speed is determined according to the relationship, the frictional force can be estimated based on the driving force and the moving speed.

(Effect of the second embodiment)
Thus, according to the input device 1 according to the present embodiment, the movement of the operation knob 2 based on the relationship between the output of the X-axis voice coil motor 14 or the Y-axis voice coil motor 15 and the movement speed of the operation knob 2. Since the frictional force that is sometimes generated can be estimated, an appropriate resistance force can be applied to the operation knob 2 in accordance with the change with time of the frictional force due to the use of the support drive mechanism 100. Further, individual differences of the input device 1 can be dealt with.

[Other embodiments]
The preferred embodiment of the present invention has been described above. However, the present invention is not limited to this embodiment, and various modifications such as those shown below are possible without departing from the scope of the present invention. is there.

  In the above embodiment, the operation knob 2 is configured to move along a horizontal plane with respect to the main body 10, but the present invention is not limited to this. For example, the other end portion of the knob shaft 20 opposite to the one end portion to which the operation knob 2 is connected is supported by the spherical bearing, and the operation knob 2 swings around the swing center of the spherical bearing. May be.

  Moreover, although the said embodiment demonstrated the case where it provided with a pair of actuator which can provide a driving force to two directions orthogonal to the operation knob 2, it is not restricted to this, A driving force can be provided. The directions do not have to be orthogonal. Further, the operation knob 2 is not limited to be movable in a planar shape, and may be configured to move back and forth in a straight line.

DESCRIPTION OF SYMBOLS 1 ... Input device, 2 ... Operation knob, 3 ... Control unit, 4 ... Display apparatus, 10 ... Main-body part, 11 ... Cover, 11a ... Opening part, 14 ... X-axis voice coil motor, 15 ... Y-axis voice coil motor, DESCRIPTION OF SYMBOLS 20 ... Knob shaft, 30 ... Control part, 31 ... Memory | storage part, 32 ... Drive circuit, 33 ... Communication part, 100 ... Support drive mechanism, 121 ... X carriage, 121a, 122a ... Long hole, 122 ... Y carriage, 131 ... X-axis slide guide, 132 ... Y-axis slide guide, 141 ... Yoke, 141a ... first arm, 141b ... second arm, 141b, 142b ... encoder, 142 ... magnet, 143 ... voice coil, 161 ... X-axis linear encoder, 162 ... Y-axis linear encoder, 171 ... first support member, 172 ... second support member, 210 ... control program, 301 ... direction of movement Detection means, 302... Motor control means

Claims (4)

The main body,
An operation unit movable with respect to the main body unit;
A moving direction detecting means for detecting a moving direction of the operation unit relative to the main body;
A driving force applying unit capable of applying a driving force to the operation unit;
The driving force application unit is configured so that the resultant force of the frictional force during movement of the operation unit and the driving force of the driving force application unit is opposite to the movement direction of the operation unit detected by the movement direction detection unit. An input device comprising control means for controlling the driving force. The driving force application unit includes a first actuator that applies a driving force in a first direction, and a second actuator that applies a driving force in a second direction that intersects the first direction.
2. The input according to claim 1, wherein the control unit controls the first and second actuators according to a moving speed of the operation unit in the first direction and a moving speed in the second direction. apparatus.   The said control means estimates the said friction force based on the relationship between the said driving force at the time of moving the said operation part with the driving force of the said driving force provision part, and the moving speed of the said operation part. The input device according to 2. The control means gradually increases the driving force of the driving force applying unit while the operating unit is stationary, and based on the magnitude of the driving force of the driving force applying unit when the operating unit starts to move. The input device according to claim 3, wherein the friction force is estimated.

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