JP2018156533A - Haptic presentation device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a haptic presentation device that can reduce an operation burden of an operator.SOLUTION: A control unit 5 of a haptic presentation device 1 is configured to, in an increase section Tin which a detected load F with the load added to an operation plane 20 increases, exceeding an ON-determination threshold Th, change the ON-determination threshold Thaccording to the detected load F; and change an OFF-determination threshold Thaccording to the changed ON-determination threshold Th. Further, the control unit 5 is configured to, in a decrease section Tin which a next detected load F decreases below the changed OFF-determination threshold Th, change the OFF-determination threshold Thaccording to the detected load F; and change the ON-determination threshold Thaccording to the changed OFF-determination threshold Th.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a tactile sense presentation device.

  As a conventional technique, a sensor board, an operation standard provided on an operation surface that is an upper surface of the sensor board, recognizable by tactile sense, and a switch that is operated by pressing the operation standard and is disposed under the sensor board, Are known (see, for example, Patent Document 1).

  As a switch of this capacitive pointing device, for example, a switch constituted by a metal dome, a rubber dome, or the like can be used.

JP 2009-277038 A

  However, in the conventional electrostatic capacitance type pointing device, the operation surface is pushed down, that is, the load at which the push operation is determined to be on is fixed, so that the operation load may be increased depending on the operator.

  Accordingly, an object of the present invention is to provide a tactile sensation presentation apparatus that can reduce the operation load on the operator.

  One aspect of the present invention has an on determination threshold value for determining whether a push operation performed on the operation surface is on, and an off determination threshold value for determining whether a push operation is off, and is added to the operation surface. In the increasing section where the detected load increases beyond the ON determination threshold, the ON determination threshold is changed according to the detected load, and the OFF determination threshold is changed according to the changed ON determination threshold. Then, in the decreasing section where the detected load decreases below the off-determination threshold that has changed, the off-determination threshold is changed according to the detected load and the on-determination threshold according to the changed off determination threshold Provided is a tactile sensation presentation device provided with a determination unit that changes.

  According to the present invention, the operation load on the operator can be reduced.

FIG. 1A is a schematic diagram illustrating an example of the inside of a vehicle in which the tactile presentation device according to the embodiment is arranged, and FIG. 1B is an example of a block diagram of the tactile presentation device. (C) is the schematic for demonstrating an example of the vibration added to the detected load and the operation surface. FIG. 2A is a graph illustrating an example of a time change of a load detected by the tactile presentation device according to the embodiment, and FIG. 2B is an example of a section in which the tactile presentation device determines that the push operation is performed. FIG. 2C is a schematic diagram illustrating an example of a tactile sensation timing to be presented. FIG. 3 is a flowchart illustrating an example of an operation mainly in an increase section of the tactile sense presentation device according to the embodiment. FIG. 4 is a flowchart illustrating an example of an operation mainly in a decrease section of the tactile sense presentation device according to the embodiment.

(Summary of embodiment)
The tactile sensation presentation apparatus according to the embodiment has an on determination threshold value for determining whether the push operation performed on the operation surface is on, and an off determination threshold value for determining whether the push operation is off. In an increasing section in which the load detected by adding to the surface increases beyond the on-determination threshold, the on-determination threshold is changed according to the detected load and the off-determination threshold according to the changed on-determination threshold In the decreasing section where the detected load subsequently decreases below the changed off judgment threshold value, the off judgment threshold value is changed according to the detected load and the on judgment is made according to the changed off judgment threshold value. It is schematically configured with a determination unit that changes the threshold value.

  In this tactile sensation presentation device, the ON determination threshold value and the OFF determination threshold value change according to the detected load. Therefore, the determination threshold value suitable for the operator is used compared to the case where this configuration is not adopted. It is possible to reduce the operation load on the operator.

[Embodiment]
(Outline of the tactile presentation device 1)
FIG. 1A is a schematic diagram illustrating an example of the inside of a vehicle in which the tactile presentation device according to the embodiment is arranged, and FIG. 1B is an example of a block diagram of the tactile presentation device. (C) is the schematic for demonstrating an example of the vibration added to the detected load and the operation surface. FIG. 2A is a graph illustrating an example of a time change of a load detected by the tactile presentation device according to the embodiment, and FIG. 2B is an example of a section in which the tactile presentation device determines that the push operation is performed. FIG. 2C is a schematic diagram illustrating an example of a tactile sensation timing to be presented.

“◯” shown in FIG. 2A indicates the time when the load F is measured, and indicates the order in which the attached numbers are detected. Hereinafter, a case where a numeral n is added to “◯” is described as time t _n . Accordingly, FIG. 2A shows an example of the load F detected from time t ₁ to time t ₂₂ .

  In each figure according to the embodiment described below, the ratio between figures may be different from the actual ratio. In FIG. 1B, main signals and information flow are indicated by arrows. Furthermore, “A to B” indicating a numerical range is used in the meaning of A or more and B or less.

  For example, as shown in FIG. 1A, the tactile sense presentation device 1 is disposed on a floor console 80 between a driver seat and a passenger seat of the vehicle 8. The tactile sense presentation device 1 is electrically connected to an electronic device mounted on the vehicle 8 and is configured to operate a cursor or the like displayed on a display unit of the electronic device. The display device 85 disposed on the center console 81 of the vehicle 8 functions as a display unit of the electronic device, for example.

As shown in FIGS. 1A to 1C, the tactile sense presentation device 1 includes an on determination threshold value Th _{ON for} determining whether a push operation performed on the operation surface 20 is on, and a push operation. A control unit 5 as a determination unit having an _OFF determination threshold value Th _OFF for determining _OFF is schematically provided.

The control unit 5, as shown in FIG. 2 (a), the load force F detected is added to the operation surface 20 is detected in increasing segment T _i increases beyond the ON determination threshold Th _ON The ON determination threshold value Th _ON is changed according to F, and the OFF determination threshold value Th _OFF is changed according to the changed _ON determination threshold value Th _ON .

The control unit 5 causes subsequently changed off decision threshold Th _OFF with decreasing interval T _d in the detected load F is detected load F decreases below the OFF determination threshold Th _OFF has changed The ON determination threshold value Th _ON is changed according to the changed _OFF determination threshold value Th _OFF .

The control unit 5, on determining the threshold value Th _ON and OFF determination threshold Th _OFF and the difference △ Th is a predetermined range and so as to turn on the determination threshold Th _ON and OFF determination threshold Change Th _OFF in conjunction.

That is, the control unit 5 sets the detected load F to the ON determination threshold value Th _ON in the increase interval T _i , and sets the detected load F to the OFF determination threshold value Th _OFF in the decrease interval T _d. It is configured.

Further, the control unit 5, as on determining the threshold _{Th ON} does not become smaller than the first ON determination threshold _{Th ON,} also not off decision threshold _{Th OFF} is smaller than the first off decision threshold _{Th OFF} It is comprised so that it may change.

The first on-determination threshold value Th _ON and the off-determination threshold value Th _OFF are, for example, judgments stored by default as in a section from time t ₁ to time t ₅ shown in FIG. The threshold value, in other words, the initial value of the determination threshold value used before the determination threshold value changes, that is, before the detected load F exceeds the _ON determination threshold value Th _ON is shown.

  Here, as shown in FIGS. 1B and 1C, the tactile sense presentation device 1 detects the touch pad 2 that detects a tracing operation on the operation surface 20 and the load F applied to the operation surface 20. And an actuator 4 as a vibration applying unit that applies vibration to the operation surface 20.

  The controller 5 is configured to present a tactile sensation (tactile feedback) by adding vibration to the operation surface 20 as the push operation is turned on and off. For example, as shown in FIG. 1C, the actuator 4 vibrates the operation surface 20 up and down with reference to the reference position 200 of the operation surface 20 before the vibration is applied.

(Configuration of touchpad 2)
The touch pad 2 detects the position on the touched operation surface 20 by, for example, touching the operation surface 20 with a part of the operator's body or a dedicated pen. In this embodiment, an operation with an operating finger will be described. For example, as shown in FIG. 1C, the operator can operate the connected electronic device by performing a tracing operation or a touch operation on the operation surface 20 with the operation finger 9. Become.

  As the touch pad 2, for example, a touch pad of a resistance film method, an infrared method, a SAW (Surface Acoustic Wave) method, a capacitance method, or the like can be used. The touch pad 2 of the present embodiment is, for example, a capacitive touch pad.

In the touch pad 2, for example, a plurality of drive electrodes and a plurality of detection electrodes are arranged so as to intersect below the operation surface 20 while maintaining insulation. For example, the touch pad 2 performs scanning with all combinations of drive electrodes and detection electrodes to read out the capacitance, and performs an operation of touching the operation surface 20 based on a capacitance equal to or higher than a predetermined threshold value. Calculate finger coordinates. The touch pad 2, for example, outputs the detection information S ₁ is information of the calculated coordinates to the control unit 5 periodically generated and in accordance with the scanning cycle. The coordinates are, for example, coordinates in the XY coordinate system set on the operation surface 20.

(Configuration of load sensor 3)
For example, the load sensor 3 is arranged on the back surface 21 side of the touch pad 2 and configured to detect a load F applied to the operation surface 20. This load sensor 3 detects a load using a strain gauge, for example.

The load sensor 3, for example, as shown in FIG. 2, to the control section 5 as the load information S ₂ detects the load F in the detection period T. As shown in FIG. 1C, the load F is positive in the direction in which the operation surface 20 is pushed down. Note that the detection cycle T may be matched with the scanning cycle of the touch pad 2, for example.

(Configuration of actuator 4)
The actuator 4 is, for example, a unimorph type or bimorph type piezoelectric actuator. For example, the actuator 4 is disposed on the back surface 21 side of the touch pad 2. The actuator 4, as shown in FIG. 1 (c), presenting a tactile feedback on the work surface 20 from the reference position 200 to the operation by vibrating's up and down based on the drive signal S ₃ to be input from the control unit 5.

(Configuration of control unit 5)
The control unit 5 includes, for example, a CPU (Central Processing Unit) that performs operations and processes on acquired data according to a stored program, a RAM (Random Access Memory) that is a semiconductor memory, a ROM (Read Only Memory), and the like. Microcomputer. In this ROM, for example, a program for operating the control unit 5 and the first on-determination threshold value Th _ON and the off-determination threshold value Th _OFF before the change are stored. For example, the RAM is used as a storage area for temporarily storing a calculation result, a detected load F, a changed ON determination threshold value Th _{ON, an} OFF determination threshold value Th _{OFF, and the} like. Further, the control unit 5 has means for generating a clock signal therein, and operates based on this clock signal.

The on determination threshold value Th _ON is a threshold value for determining whether the push operation performed on the operation surface 20 is on. As shown in FIG. 1C, the push operation is an operation of pushing down the operation surface 20 with the operation finger 9, and is used for determining a function assigned to the icon selected by the cursor, for example. In addition, for example, in an image that can be scrolled, such as a map image, the operator moves the cursor to the direction in which the user wants to scroll, and scrolls the map image while pressing the operation surface 20 for a long time. Can be made.

  Furthermore, the operator can select an icon to which a scroll function is assigned in order to scroll items and the like, and can perform a continuous push operation until a desired screen is displayed.

“ENTER” illustrated in FIG. 2B indicates a period in which the determination operation by the push operation is determined, and is a period from on to off. In FIG. 2 (b), the on period from twice followed by the determined time t ₇ to the time t ₁₁ off is determined, and on it is determined twice followed by the determined off from time t ₁₅ It was a period of up to time _{t 18.}

As described above, the control unit 5 is configured to make an ON determination when the detected load F exceeds the _ON determination threshold value Th _ON twice in succession. The control unit 5 can suppress chattering that repeats the ON determination and the OFF determination by the ON determination.

The off determination threshold Th _OFF is a threshold for determining whether the push operation is off. In FIG. 2 (a), as described above, off decision is made at time _{t 11} and time _{t 18.}

For example, as shown in FIG. 2A, the control unit 5 changes the _ON determination threshold value Th _ON according to the load F detected in the increase interval T _i and turns off according to the changed ON determination threshold value Th _ON. The determination threshold value Th _OFF is changed. In the case where the same load F is continuously detected, for example, the time of increasing segment T _i increases, the time of the decreasing segment T _d is decreased.

In FIG. 2 (a), the detected load F is greater than the first ON determination threshold _{Th ON} at time _{t 6.} The detected load F is increased until the time t _9. Note load F at the time t ₉ is assumed to be the load F and the equivalent in time t _8.

Control unit 5, in this increasing segment _{T i,} and on determining the threshold value _{Th ON} the detected load F. Load Specifically, the control unit 5, for example, between the time t ₅ the time t _6, since the detected load F is greater than the first ON determination threshold Th _ON, detected at time t ₆ F is newly set to the ON determination threshold value Th _ON . As the ON determination threshold Th _ON changes, the OFF determination threshold Th _OFF changes so as to increase.

As an example, the first off determination threshold value Th _OFF is set to be a half value of the first on determination threshold value Th _ON . Then, when the load F at which the on determination threshold value Th _ON is detected at time t ₆ is set as the load F, the control unit 5 sets the difference ΔTh from the on determination threshold value Th _ON to the off determination threshold value Th. _OFF is changed.

As described above, the first off determination threshold value Th _OFF is, for example, a half value of the on determination threshold value Th _ON . That is, when the first ON determination threshold Th _ON is 1N as an example, the OFF determination threshold Th _OFF is 0.5N. As an example, the difference ΔTh has a minimum value (for example, 0.5N) between the _ON determination threshold Th _ON and the OFF determination threshold Th _OFF at this time. The minimum value is provided in order to suppress repeated ON determination and OFF determination due to a slight change in the load F.

  For example, as shown in FIG. 2A, the difference ΔTh has a minimum value for the dotted arrow and a maximum value for the one-dot chain line arrow. The difference ΔTh between the minimum value and the maximum value is illustrated as a solid line arrow, for example.

Further, the difference ΔTh is the maximum value in a range in which the difference between the on determination threshold value Th _ON and the off determination threshold value Th _{OFF at} the time t ₇ to the time t ₁₀ and the time t ₁₄ to the time t ₁₇ is predetermined. As a result, the off determination threshold value Th _OFF changes.

For example, at time _{t 7} and time _{t 14,} when the off decision threshold value _{Th OFF} half the value of the changed on determining threshold value _{Th ON,} becomes off push operation is hardly determined. Therefore, when the difference between the changed _ON determination threshold Th _{ON and} the half of the _ON determination threshold Th _ON exceeds the maximum value, the control unit 5 determines the _OFF so that the difference ΔTh becomes the maximum value. The threshold value Th _OFF is changed.

As described above, the maximum value of the difference ΔTh is such that the difference between the _ON determination threshold value Th _ON and the OFF determination threshold value Th _OFF becomes too large, and it is difficult to determine the OFF determination after the ON determination. Provided to suppress. The maximum value of the difference ΔTh is, for example, preferably about 1.5 to 2.5 times the minimum value of the difference ΔTh. As an example, the maximum value of the difference ΔTh in this embodiment is twice the minimum value of the difference ΔTh, that is, 1N when the minimum value is 0.5N.

Therefore, the control unit 5 determines that the difference ΔTh between the _ON determination threshold Th _ON and the OFF determination threshold Th _OFF is within a predetermined range, that is, between 0.5 and 1N. Th _ON and off determination threshold value Th _OFF are changed in conjunction with each other.

The control unit 5, the decreasing segment _{T d,} changes the ON determination threshold _{Th ON} accordance off decision threshold _{Th OFF} which changes with changing the off decision threshold _{Th OFF} according to the detected load F.

The control unit 5 sets the off determination threshold value Th _OFF to the value of the detected load F during the time t ₁₁ to time t ₁₃ and the time t ₁₈ to time t ₁₉ , which are the decrease period T _d . Note the control unit 5, as on determining the threshold _{Th ON} does not become smaller than the first ON determination threshold _{Th ON,} also not off decision threshold _{Th OFF} is smaller than the first off decision threshold _{Th OFF} To change.

At time t ₁₉ , if the load F at time t ₁₉ is set to the OFF determination threshold value Th _OFF , it becomes smaller than the first OFF determination threshold value Th _OFF , so that the control unit 5 turns off at the time t ₁₉ . The determination threshold Th _OFF is the first OFF determination threshold Th _OFF .

Control unit 5, as shown in FIG. 2 (a) ~ FIG 2 (c), and outputs it to the actuator 4 generates the driving signal S ₃ as a trigger that the pushing operation is on determining, presenting a tactile feedback To do. The control unit 5 outputs to the actuator 4 generates the driving signal S ₃ as a trigger that the pushing operation is determined off, presenting a tactile feedback.

Below, an example of operation | movement of the tactile sense presentation apparatus 1 of this Embodiment is demonstrated according to the flowchart of FIG.3 and FIG.4. The flowchart of FIG. 3, an example of a flowchart mainly in increasing segment T _i. The flowchart of FIG. 4 is an example of a flowchart mainly in the decrease interval _Td .

(Operation)
Control unit 5 of the tactile display device 1 periodically acquires load information S ₂ from the load sensor 3 acquires the detected information S ₁ from the touch pad 2 (Step1).

Next, when Th _ON ≤ F (F: detected load Th _ON : ON determination threshold) is established (Step 2: Yes), the control unit 5 confirms whether the ON determination is the second time. When the ON determination is the second time continuously (Step ₃ : Yes), the control unit 5 generates a drive signal S3 and outputs it to the actuator 4 to present a tactile sensation (Step 4). Further, the control unit 5 outputs to the electronic apparatus detected information coordinates the operation finger 9 is detected based on the S ₁ and the push operation are connected to generate the operation information S ₄ including that it is on determining .

Next, the control unit 5 sets the detected load F as a new on determination threshold Th _ON, and changes the off determination threshold Th _OFF in conjunction with the on determination threshold Th _ON (Step 5). At this time, the control unit 5 changes the off determination threshold Th _OFF so that the difference ΔTh becomes an appropriate determination threshold between the minimum value and the maximum value.

Next, the control part 5 acquires the detected load F of the next period. When F ≦ Th _OFF is satisfied (Step 6: Yes), the control unit 5 checks whether or not F ≦ Th _OFF is satisfied for the first time after Th _ON ≦ F is established. Control unit 5, when an F ≦ _{Th OFF} for the first time _{Th ON} ≦ F after the formation (Step7: Yes), generates a drive signal _{S 3} presenting a tactile sensation is output to the actuator 4 (Step8). Further, the control unit 5 outputs to the electronic device coordinates and the push operation of the operation finger 9 is detected based on the detected information S ₁ is connected to generate the operation information S ₄ including that it is determined off .

Next, the control unit 5 changes the detected load F to a new off determination threshold value Th _OFF and changes the on determination threshold value Th _ON according to the off determination threshold value Th _OFF (Step 9). . At this time, the control unit 5 changes the _ON determination threshold Th _ON so that the difference ΔTh becomes an appropriate determination threshold between the minimum value and the maximum value.

Next, the control part 5 acquires the detected load F of the next period. Then, the control unit 5 checks whether there are before the first off decision threshold Th _{OFF (initial} value) or the detected load F is varied. When Th _OFF (first off determination threshold value: initial value) ≦ F holds (Step 10: Yes), the control unit 5 advances the process to Step 1 in FIG.

Here, in Step 2, when Th _ON ≦ F is not satisfied (Step 2: No), the control unit 5 advances the process to Step 6.

Further, in step 3, the control unit 5 advances the process to step 5 when Th _ON ≦ F is established for the first time (Step 3: No).

The control unit 5 in step 6, if not hold the _{F ≦ Th off (Step6: No} ), the process proceeds to step 1 of FIG.

In step 7, if the first F ≦ Th _OFF after the establishment of Th _ON ≦ F is not satisfied (Step 7: No), the control unit 5 advances the process to step 9.

Furthermore, in step 10, when Th _OFF (first off determination threshold value: initial value) ≦ F does not hold (Step 10: No), Th _ON and Th _OFF are returned to the initial values (Step 11), and processing is performed. Exit.

(Effect of embodiment)
The tactile sense presentation device 1 according to the present embodiment can reduce the operation load on the operator. Specifically, the tactile sensation presentation apparatus 1 changes according to the detected load F, with the ON determination threshold value Th _ON and the OFF determination threshold value Th _OFF , compared with a case where this configuration is not employed. The determination threshold value suitable for the operator can be used, and the operation load on the operator can be reduced.

Since the on-determination threshold value Th _ON and the off-determination threshold value Th _OFF change in real time in the tactile sense presentation device 1, when the push operation is performed continuously compared to the case where this configuration is not employed, The operation load of the push operation after the operation load of the push operation is reduced, and the operability is improved.

Since the on-determination threshold value Th _ON and the off-determination threshold value Th _OFF change in real time, the tactile sensation presentation device 1 provides appropriate operability for each operator as compared with the case where this configuration is not adopted. Can do.

  Although the embodiment of the present invention has been described above, this embodiment is merely an example, and does not limit the invention according to the claims. The novel embodiment can be implemented in various other forms, and various omissions, replacements, changes, and the like can be made without departing from the gist of the present invention. In addition, not all the combinations of features described in this embodiment are essential to the means for solving the problems of the invention. Further, this embodiment is included in the scope and gist of the invention, and also included in the invention described in the claims and the equivalent scope thereof.

DESCRIPTION OF SYMBOLS 1 ... Tactile sense presentation apparatus, 2 ... Touch pad, 3 ... Load sensor, 4 ... Actuator, 5 ... Control part, 8 ... Vehicle, 9 ... Operation finger, 20 ... Operation surface, 21 ... Back surface, 80 ... Floor console, 81 ... Center console, 85 ... display device, 200 ... reference position, Th _ON ... on determination threshold, Th _OFF ... off determination threshold

Claims (5)

  It has an on determination threshold value for determining whether the push operation performed on the operation surface is on, and an off determination threshold value for determining whether the push operation is off, and is detected by being added to the operation surface. In an increasing section where the load increases beyond the on determination threshold value, the on determination threshold value is changed according to the detected load and the off determination threshold value is changed according to the changed on determination threshold value. Subsequently, in the decreasing section where the detected load decreases below the off-determination threshold, the off-determination threshold is changed according to the detected load, and the on-determination is performed according to the changed off-determination threshold. A tactile sensation presentation apparatus including a determination unit that changes a threshold value. The determination unit changes the on determination threshold value and the off determination threshold value in conjunction with each other so that a difference between the on determination threshold value and the off determination threshold value falls within a predetermined range. Let
The tactile sense presentation device according to claim 1. The determination unit sets the detected load as the ON determination threshold value in the increase interval, and sets the detected load as the OFF determination threshold value in the decrease interval.
The tactile sense presentation device according to claim 1 or 2. The determination unit changes the on determination threshold value so as not to be smaller than the first on determination threshold value, and the off determination threshold value does not become smaller than the first off determination threshold value.
The tactile sense presentation device according to any one of claims 1 to 3. A vibration adding portion for adding vibration to the operation surface;
The determination unit presents a tactile sensation by adding vibration to the operation surface as the push operation is turned on and off.
The tactile sense presentation device according to any one of claims 1 to 4.

Images