JP4741863B2 - Haptic input device - Google Patents

Description

  The present invention relates to a haptic input device used in, for example, a car navigation system, and in particular, an operation feeling that draws an instruction position that changes according to an operation state of an operation unit into a preset functional area. The present invention relates to a means for improving operability in a haptic force imparting type input device that imparts to a control unit.

  Conventionally, a menu selection button (function area) and a cursor (instructed position) are displayed on the display means, and the desired menu is displayed by moving the cursor to a desired button display position using the input means (operation unit). An input device that enables selection is known. Also, this type of input device is known to have a function of automatically pulling the cursor to a pull-in point set on the button in order to facilitate the movement of the cursor to a desired button display position. Yes.

  FIG. 10 is a block diagram showing an example of an input device having a conventionally known automatic cursor pull-in function. The input device 101 is operated by an operator and detects the amount of movement of the input device 101. A display unit 102 on which a cursor and input points (buttons) moved by the input unit 101 are displayed; a position detection unit 103 that obtains a coordinate position of the cursor on the display unit 102 from a movement amount of the input unit 101; The driving unit 104 is configured to apply a force corresponding to the position coordinates of the cursor to the input unit 101. The input means 101 is arranged corresponding to the rolling ball 105 rolled on the desk and the x-axis and y-axis of the display means 102, and the rotation amount of the rolling ball 105 in the x-axis direction and the rotation in the y-axis direction. Rotation angle detectors 106 and 107 for detecting the amount, and the driving means 104 responds to signals from a driving unit 108 (motors 108 a and 108 b) for rotationally driving the rolling ball 105 and a signal from the position detecting means 103. The drive signal generation unit 109 generates a drive signal for the drive unit 108 (see, for example, Patent Document 1).

  As shown in the lower part of FIG. 11, the drive signal generation unit 109 includes a relative distance between the cursor and the input point, a relative movement direction of the cursor with respect to the input point, and a drive signal supplied to the drive unit 108. When the input unit 101 is operated to bring the cursor closer to the input point, the cursor is in the range of x1 ≦ x ≦ x2 with respect to the input point as shown in the upper part of FIG. At the final stage, a drive signal of +1 shown in the lower part of FIG. 11 is supplied from the drive signal generating part 109 to the drive part 108, and a propulsive force is applied to the rolling ball 105. As shown in the middle part of FIG. The touch as if it was drawn into the input point is given to the means 101, and the cursor is drawn over the input point. When the input unit 101 is operated to move the cursor away from the input point, the distance between the cursor and the input point is in the range of x3 ≦ x ≦ x4. A drive signal is supplied from the drive signal generation unit 109 to the drive unit 108, a resistance force is applied to the rolling ball 105, and the input unit 101 is given a feeling as if it is pulled back to the input point. The above-mentioned range of x1 ≦ x ≦ x2 and the range of x3 ≦ x ≦ x4 are called pull-in areas.

  Therefore, according to the input device having the above-described configuration, an operation for bringing the cursor to a desired input point is facilitated, and for example, a menu displayed on the display means 102 can be easily selected.

In the above-described conventional example, a so-called mouse is used as the input unit 101. Instead of this, a joystick type input device using a so-called joystick is also known.
Japanese Patent Publication No. 07-120247

  By the way, as described in Patent Document 1, a plurality of menu selection buttons (input points) are usually displayed in various arrangements on the display means. However, since the technique described in Patent Document 1 has a plurality of buttons displayed on the display means and does not take into consideration the control of the pulling force particularly when the buttons are close to each other, Patent Document 1 When the described technique is applied to an actual machine, when the cursor is moved from the display position of one button to the display position of the other one button, it is influenced by the pulling force on the one button, so that other The operability of the input means with respect to one button is deteriorated, and the inconvenience that the pointer (cursor) cannot be smoothly moved onto a desired button is likely to occur.

  That is, as shown in the upper part of FIG. 12, the first to third buttons Bt1, Bt2, and Bt3 are displayed on the display unit in a line at a predetermined interval, and are displayed around each button Bt1, Bt2, and Bt3. When the first to third pull-in areas A1, A2, and A3 are individually set, the pointer Pt moves when the pointer Pt is moved to one of the pull-in areas A1, A2, and A3. A predetermined pull-in according to the distance from the pull-in point set in the drawn pull-in area (in this example, the center position O1, O2, O3 of each button Bt1, Bt2, Bt3) to the current position of the pointer Pt When the force is applied to the input unit 101, when the pointer Pt is moved so as to cross the buttons Bt1, Bt2, and Bt3 in this order, the retraction force applied to the input unit 101 is as shown in FIG. It varies as shown in the second lower.

  When the pointer Pt is moved from the pulling point O1 of the first button Bt1 to the pulling point O2 of the second button Bt2, the pointer Pt is moved from the pulling point O1 of the first button Bt1 to the first pulling area A1 and the second pulling area A2. In the period of moving to the boundary portion, the pull-in force according to the distance from the pull-in point O1 to the current position of the pointer Pt is applied to the input means 101, so the operator resists the pull-in force on the input means 101. Apply a large operating force. When the pointer Pt crosses the boundary portion, the pulling force from that point to the pulling point O1 is lost, and instead, a pulling force according to the distance from the pulling point O2 to the current position of the pointer Pt is given to the input means 101. Is done. Here, if the second button Bt2 is a desired pull-in button, the operator weakens the operating force applied to the input means 101 at the stage beyond the boundary portion, so that the pointer Pt is the desired pull-in button. Two buttons Bt2 can be positioned. However, in reality, it is practically difficult to quickly weaken the operating force applied to the input means 101 at the stage beyond the boundary, and even after the boundary is exceeded, the operator can pull in the pull-in point O1. Since it is easy to continue to apply an operation force against the force, the pointer Pt surpasses the boundary between the second pull-in area A2 and the third pull-in area A3 and is not in the desired pull-in button in the third pull-in area A3. It becomes easy to enter.

  The present invention has been made in order to solve such deficiencies in the prior art, and an object of the present invention is to place an indication position that changes in accordance with an operation state of an operation unit within a desired functional area among a plurality of functional areas. An object of the present invention is to provide a haptic input device with excellent operability that can be easily positioned.

In order to solve the above problems, the present invention provides an operation unit, a detection unit that detects an operation state of the operation unit, an actuator that gives a force sense to the operation unit, and an output signal of the detection unit. A control unit that performs calculation of an instruction position according to an operation state of the operation unit and drive control of the actuator; and a storage unit that stores the instruction position and a plurality of preset functional areas. When within the pull-in area set around the coordinates of any one of the plurality of functional areas, the control means performs drive control of the actuator and applies a predetermined pull-in force to the operation unit. applying to, the indicated position to a haptic feedback input device that directs the any one of the functional area, the control means, the indication position is set around the coordinates of a feature region When moving from the retracted area to another attraction region set around the coordinates of the other functional areas, the operation of the indicated position in the other of the drawing area to direct the other functional areas The drawing force applied to the part is configured to be smaller than the predetermined drawing force.

  Thus, when the indicated position moves from one pull-in area to another pull-in area, the pulling force that the control means applies to the operation unit in the other pull-in area is based on a predetermined pull-in force that is applied when it is not. If it is made smaller, the acceleration energy applied after the designated position exceeds the boundary between the two drawing-in areas becomes small, and the designated position can be easily located in another functional area.

Further, the present invention is the force-sensing input device having the above-described configuration, wherein the control means sets the one pull-in area to the other pull-in area when the one pull-in area is in contact with the other pull-in area. Extending in the direction, the other pull-in area is reduced by the extended amount .

  When one pull-in area and another pull-in area are set in contact with each other, if one pull-in area is extended in the direction of another pull-in area adjacent thereto, the other pull-in area is automatically reduced, The pulling force applied to the operation unit for pulling the designated position into another functional area is automatically reduced. Therefore, it is not necessary to perform a special calculation for reducing the pulling force applied in the other pulling area, and the calculation load by the control means can be reduced.

  According to the present invention, in the haptic input device that applies a pulling force in a direction toward the functional region to the operation unit, when the pointing position moves from one pulling region to another pulling region, the control unit moves to another pulling region. Since the pulling force applied to the operation unit in the inside is made smaller than the predetermined pulling force applied when it is not, the acceleration energy applied after the pointing position exceeds the boundary between the two pulling regions becomes small, and the pointing position Can be easily positioned within other functional areas. Therefore, excessive operation of the operation unit is prevented, and it is possible to prevent the pointed position from deviating from the desired functional area.

  DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of a haptic input device according to the present invention will be described below with reference to FIGS. FIG. 1 is a configuration diagram of a haptic input device according to an embodiment, FIG. 2 is a cross-sectional view of the input device according to the embodiment, viewed from the side, and FIG. 3 is a planar direction of the input device according to the embodiment. FIG. 4 is a diagram showing a virtual display screen stored in the storage unit according to the embodiment, and FIG. 5 is a drawing of the pulling force applied to the operation unit with respect to a change in the indicated position within one pulling region. FIG. 6 is a graph showing the change, FIG. 6 is a graph showing the change in the pulling force applied to the operation unit with respect to the change in the pointing position when the pointing position exceeds the boundary between the adjacent pulling areas, and FIG. 7 is the drawing destination functional area FIG. 8 is an explanatory diagram of the pull-in force according to the search result of the pull-in function area, and FIG. 9 is an operation unit for a change in the pointed position when the pointed position exceeds the boundary between adjacent pull-in areas. Of the pulling force applied to Is a graph showing an example.

  As shown in FIG. 1, the haptic input device according to the present embodiment is displayed on a display unit 1 that displays a required image including a pointer Pt and a plurality of buttons Bt1 to Btn, and is displayed on the display unit 1. It mainly comprises an input means 2 for moving the pointer Pt and selecting the buttons Bt1 to Btn displayed on the display means 1, and a control means 3 for controlling the display means 1 and the input means 2. The pointer Pt is displayed in correspondence with an indicated position P stored in the position information storage unit 45 described later, and the buttons Bt1 to Btn are function areas B1 to Bn stored in the position information storage unit 45. It is displayed corresponding to.

  As the display means 1, for example, a liquid crystal display device is used. The coordinates of the pointer Pt and the buttons Bt1 to Bn are determined with the horizontal direction of the display means 1 as the x axis and the vertical direction as the y axis.

  As shown in FIG. 1, the input means 2 includes a mechanism portion 21 having a swing lever 21a, an operation portion 22 attached to a distal end portion of the swing lever 21a, and an operation portion 22 via the swing lever 21a. The first and second actuators 23 and 24 for applying a pull-in force and the first and second detection units 25 and 26 for detecting the operation amounts of the swing lever 21a in two orthogonal directions.

  As shown in FIGS. 2 and 3, the mechanism unit 21 includes a swing lever 21 a, a case 31, a lever holding shaft 32 and a swing arm 33 that are rotatably held by the case 31. The lever holding shaft 32 and the swing arm 33 are arranged in directions orthogonal to each other, and the swing lever 21 a is attached to the lever holding shaft 32 so that it can rotate only in the rotation direction of the swing arm 33. In addition, the code | symbol 21b in a figure has shown the rocking | fluctuation center axis | shaft of the rocking lever 21a. On the other hand, a long groove 33a is formed in the swing arm 33, and a lower end portion of the swing lever 21a is penetrated. The groove width of the long groove 33a is formed to be slightly larger than the diameter of the lower end portion of the swing lever 21a, and the swing lever 21a swings with the rotation of the lever holding shaft 32 (XX direction). In the long groove 33a, the lower end of the swing lever 21a can freely slide, and the swing lever 21a swings with the rotation of the swing center shaft 21b (Y-Y direction). ), The swing arm 33 swings integrally with the swing lever 21a.

  With this configuration, the swing lever 21a can swing in any direction around the lever holding shaft 32 and the swing center shaft 21b. The lever holding shaft 32 is rotated in the swinging direction of the swinging lever 21a by a rotation amount proportional to the swinging amount of the swinging lever 21a in the XX direction, and the swing arm 33 is rotated in the Y direction of the swinging lever 21a. It is rotated in the swing direction of the swing lever 21a by an amount of rotation proportional to the swing amount in the -Y direction.

  The operation unit 22 is formed in a shape and size that can be operated by an operator. On the upper surface of the case 31, selection switches 22a for the buttons Bt1 to Btn displayed on the display unit 1 are set.

  The first actuator 23 is connected to the lever holding shaft 32 and drives the operation unit 22 in the x-axis direction set in the display unit 1. On the other hand, the second actuator 24 is connected to the swing arm 33 and drives the operation unit 22 in the y-axis direction set in the display unit 1. As these first and second actuators 23 and 24, an electric motor such as a DC motor can be used.

  The first and second detectors 25 and 26 are connected to the rotation shafts of the actuators 23 and 24, detect the rotation direction and the rotation amount of the rotation shafts, and output electric signals corresponding to the rotation directions. For example, a rotary encoder or the like is used.

  As shown in FIG. 1, the control means 3 includes a control unit 41 composed of a CPU or MPU, a program storage unit 42 in which an operation program of the control unit 41 is stored, and a first output from the first detection unit 25. Detection signal a and the second detection signal b output from the second detection unit 26 are input to the control unit 41, and the switch signal c output from the selection switch 22a is input to the control unit 41. A position for storing the switch signal input unit 44 and the coordinates of the pointing position P for determining the display position of the pointer Pt displayed on the display means 1 and the coordinates of the functional areas B1 to Bn for determining the display positions of the buttons Bt1 to Btn. Output from the information storage unit 45, the feeling data storage unit 46 that stores the calculation formula of the pull-in force according to the coordinates of the functional areas B1 to Bn and the coordinates of the designated position P, and the control unit 41. First and second motor drivers 47 and 48 for driving the first and second actuators 23 and 24 by outputting actuator drive power f and g corresponding to the actuator drive signals d and e, and output from the control unit 41 And a display driver 49 for driving the display means 1 by outputting the display means drive power i corresponding to the display means drive signal h.

  The control unit 41 calculates the indicated position P from the first detection signal a and the second detection signal b, and operates the pointer Pt displayed on the display unit 1 based on the calculated indicated position P by operating the operation unit 22. It moves in the direction corresponding to the direction by an amount corresponding to the operation amount of the operation unit 22.

  Further, as shown in FIG. 4, the control unit 41 has coordinates (x, y) of the current position of the designated position P and coordinates (x1) of the center positions of the functional areas B1 to Bn stored in the position information storage unit 45. , Y1) and the current position (functional area B5 in the example of FIG. 4) of the functional area to which the designated position P is to be drawn, and the arithmetic expression (feeling pattern of FIG. 5) stored in the feeling data storage unit 46 ) Based on the current position of the designated position P and the coordinate of the center position of the functional area where the designated position P is to be drawn, and the designated position P is obtained at the center position of the calculated functional area. The first and second actuators 23 and 24 are driven so as to pull in.

  The retracting force F applied to the operation unit 22 by the first and second actuators 23 and 24 in order to retract the designated position P to the center position of the functional area B is when the designated position P moves within the retracted area of 1. As illustrated in FIG. 5, a linear function increases from the central position of the functional area B to a predetermined radial position set in the pull-in area A according to the distance from the central position of the functional area B. Then, a predetermined value Fmax is set from the predetermined radius position to the boundary of the pull-in area A. Therefore, the total amount (impact) of the drawing force corresponding to the hatched area in FIG. 5 is obtained until the indicated position P is moved from the center position of the functional area B to the end of the drawing area A. To be granted.

  On the other hand, when the designated position P moves from one drawing area to another drawing area adjacent thereto, for example, when the designated position P moves from the drawing area A1 to the drawing area A2, as shown in FIG. When the position P exceeds the intermediate position between the functional area B1 and the functional area B2, the control unit 41 extends the drawing area A1 by D sentences on both sides, and as a result, the drawing area A1 side of the drawing area A2 is increased by D. Reduce. When the pull-in area A1 side of the pull-in area A2 is reduced in this way, in the reduced area, the pull-in force applied to move toward the functional area A2 becomes smaller than a predetermined value Fmax. As apparent from the comparison between FIG. 5 and FIG. 6, the total amount of the pulling force applied to the operation unit 22 for pulling the designated position P to the center position of the functional area B2 is not reduced in the pulling area A2. Less than the total amount of retraction. Accordingly, the acceleration energy applied to the operation unit 22 after the designated position P exceeds the boundary between the two pull-in areas A1 and A2 is reduced, and the designated position P is easily positioned in the functional area B. Therefore, excessive operation of the operation unit 22 is prevented, and it is possible to prevent the instruction position Pt from excessively deviating from the button Bt2 which is a desired pull-in function area.

Hereinafter, as shown in FIG. 8, the functional areas B1, B2, and B3 are arranged in parallel on the virtual display screen of the position information storage unit 45, and the instruction is made beyond the boundary between the drawing area A1 and the drawing area A2. Taking the case where the position P is moved as an example, FIG. 7 shows a search operation of the pull-in function area performed by the control unit 41 according to the operation program stored in the program storage unit 42 and a calculation operation of the pull-in force based on the search result. This will be described with reference to FIG. The meanings of the symbols N, LN, LN ′, Lmax, Lmin, Nmin, OldNmin, and 2D shown in FIG. 7 are as follows.
N: Function area number of the function area being searched LN: Distance between the function area being searched and the indicated position P LN ′: LN correction value Lmax: Maximum distance (constant)
Lmin: the minimum distance Nmin between the current designated position P and the functional area Nmin: the functional area number of the functional area determined to be closest to the current designated position P OldNmin: determined to be closest to the designated position P in the previous flow Function area number 2D of the function area that has been changed: Variation constant of the pull-in area

  First, the function area number N is set to “1”, and the minimum distance Lmin between the current designated position P and the function area is set to Lmax (step S-1). Lmax is set to an arbitrary value, for example, a value equal to or longer than the length of the diagonal line of the virtual display screen. Next, the distance L1 between the designated position P and the first function area B1 is calculated (procedure S-2), and the function of the function area determined that the function area number N = 1 is closest to the designated position P in the previous flow. It is determined whether or not the area number is OldNmin (step S-3). As shown in the upper part of FIG. 8, when the designated position P is moving in the pull-in area A1, OldNmin is “1”. Therefore, in step S-3, it is determined that N = OldNmin, and step S− Then, the process proceeds to 4, and the correction value L1 ′ of L1 is set to L1 ′ = L1-2D. Next, in step S-5, it is determined whether or not the correction value L1 ′ is smaller than the minimum distance Lmin between the current designated position and the functional area, which is the distance between the current functional area B1 and the designated position P. Since Lmin is set to Lmax in step S-1, L1 ′ <Lmin is necessarily satisfied. Then, the process proceeds to step S-6, and the minimum distance Lmin between the current designated position and the functional area is set to L1 ′, and the functional area number Nmin of the functional area determined to be closest to the current designated position is set. Set to “1”. Thereby, the calculation related to the first function area B1 is completed.

  After completing the calculation for the first function area B1, the process proceeds to step S-7, and it is determined whether the calculations for all the function areas B1, B2, and B3 are completed. At this stage, since the calculation relating to the second function area B2 and the calculation relating to the third function area B3 have not been completed, the process proceeds to step S-8, the function area number N is set to “2”, and the procedure S-- Return to 2. Then, the distance L2 between the designated position P and the second functional area B2 is calculated in step S-2, and it is determined in step S-3 that the functional area number N = 2 is closest to the designated position P in the previous flow. It is determined whether or not the function area number of the function area is OldNmin. Since OldNmin is “1” and the function area number currently being searched is “2”, it is determined in step S-3 that N ≠ OldNmin, and the process proceeds to step S-9 and the correction value L2 ′ of L2 Is set to L2 ′ = L2. Next, the process proceeds to step S-5, and it is determined whether or not the correction value L2 ′ is smaller than the minimum distance Lmin (L1) between the current designated position P and the functional area. As shown in the upper part of FIG. 8, when the designated position P is at the position P1 in the pull-in area A1, since L2 ′> Lmin (L1), the process proceeds to step S-7. As a result, the calculation related to the second function area B2 is terminated, and the process proceeds to the calculation routine related to the third function area B3.

  The calculation result related to the third function area B3 is the same as the calculation result related to the second function area B2, and it is determined that N ≠ OldNmin in step S-3, and the process proceeds to step S-9, and the correction value is determined in step S-5. It is determined that L3 ′ is larger than the minimum distance Lmin (L1) between the current designated position P and the functional area, and the process proceeds to step S-7. Then, in step S-7, it is determined that the calculation for all the functional areas is completed, and in step S-10, the functional area number OldNmin is set to Nmin = 1 set in step S-6. Next, the process proceeds to step S-11, and the pull-in force F corresponding to the distance L1 between the designated position P and the first function area B1 is calculated based on the calculation formula stored in the feeling data storage unit 46. As shown in the upper part of FIG. 8, when the designated position P is at the position P1, a pull-in force Fmax in a direction to draw the designated position P into the central portion of the first function area B1 is applied to the operation unit 22.

  When the indicated position P exceeds the intermediate position M between the functional area B1 and the functional area B2 and enters the position closer to the functional area B2 than the functional area B1, and reaches the position P2 shown in the middle of FIG. Then, the routines from step S-2 to step S-7 are repeatedly executed, and after the routines from step S-2 to step S-7 for all the functional areas are completed, the steps S-10 and S-11 are performed. And execute. That is, first, after calculating the distance L1 between the designated position P and the first function area B1 (step S-2), it is determined that the function area number N = 1 is closest to the designated position P in the previous flow. It is determined whether or not the functional area number of the area is OldNmin (N = 1) (step S-3). Before the designated position P exceeds the intermediate position M between the functional area B1 and the functional area B2, OldNmin = 1. Therefore, in this step S-3, it is determined that N = OldNmin, and the process proceeds to step S-4. Thus, the correction value L1 ′ of L1 is set to L1 ′ = L1-2D. Next, in step S-5, it is determined whether or not the correction value L1 'is smaller than the minimum distance Lmin (Lmax) between the current designated position and the functional area. Since Lmin is set to Lmax, the correction value L1 ′ is inevitably smaller than the minimum distance Lmin between the current designated position and the functional area, and the process proceeds to step S-6. Then, the minimum distance Lmin between the current designated position and the functional area is set to L1 ′, and the functional area number Nmin of the functional area determined to be closest to the current designated position is set to “1”. Thereby, the calculation related to the first function area B1 is completed.

  After completing the calculation for the first function area B1, the process proceeds to step S-7, and it is determined whether the calculations for all the function areas B1, B2, and B3 are completed. At this stage, since the calculation relating to the second function area B2 and the calculation relating to the third function area B3 have not been completed, the process proceeds to step S-8, the function area number N is set to “2”, and the procedure S-- Return to 2. Then, the distance L2 between the designated position P and the second functional area B2 is calculated in step S-2, and it is determined in step S-3 that the functional area number N = 2 is closest to the designated position P in the previous flow. It is determined whether or not the functional area number of the functional area is OldNmin (N = 1). In this routine, since the function area number N is switched from “1” to “2” in step S-8, it is determined in step S-3 that N ≠ OldNmin, and the process proceeds to step S-9. The correction value L2 ′ for L2 is set to L2 ′ = L2. Next, the process proceeds to step S-5, and it is determined whether or not the correction value L2 ′ is smaller than the minimum distance Lmin (L1 ′) between the current designated position P and the functional area. The instruction position P is located on the function area B2 side from the intermediate position M between the function area B1 and the function area B2, but L1 'is subtracted by 2D. Therefore, in step S-5, the correction value L2' is the current value. It is determined that the distance is not smaller than the minimum distance Lmin (L1 ′) between the instruction position P and the functional area B2, and the process proceeds to step S-7. As a result, the calculation related to the second function area B2 is terminated, and the process proceeds to the calculation routine related to the third function area B3.

  The calculation result related to the third function area B3 is the same as the calculation result related to the second function area B2, and it is determined that N ≠ OldNmin in step S-3, and the process proceeds to step S-9, and the correction value is determined in step S-5. It is determined that L3 ′ is larger than the minimum distance Lmin (L1 ′) between the current designated position P and the functional area, and the process proceeds to step S-7. Then, in step S-7, it is determined that the calculation for all the functional areas is completed, and in step S-10, the functional area number OldNmin is set to Nmin = 1 set in step S-6. Next, the process proceeds to step S-11, and the pull-in force F corresponding to the distance L1 between the designated position P and the first function area B1 is calculated based on the calculation formula stored in the feeling data storage unit 46. In this way, when the designated position P is at the position P2 within the range of the variation constant 2D of the pull-in area, the designated position P exceeds the intermediate position M between the functional area B1 and the functional area B2, and the functional area B1. Despite being moved to a position closer to the functional area B2, the operating section 22 is provided with a pulling force Fmax in a direction that pulls the designated position P into the center of the first functional area B1.

  When the designated position P moves beyond the intermediate position M between the functional area B1 and the functional area B2 and moves more than D from the intermediate position M to the position P3 shown in the lower part of FIG. -2 to step S-7 are repeatedly executed, and after the routines from step S-2 to step S-7 for all functional areas are completed, step S-10 and step S-11 are executed. . That is, first, after calculating the distance L1 between the designated position P and the first function area B1 (step S-2), it is determined that the function area number N = 1 is closest to the designated position P in the previous flow. It is determined whether or not the functional area number of the area is OldNmin (N = 1) (step S-3). Immediately after passing from the intermediate position M between the functional area B1 and the functional area B2 by a position closer to the functional area B2 side by D, N = OldNmin is determined in step S-3, and the process proceeds to step S-4. Thus, the correction value L1 ′ of L1 is set to L1 ′ = L1-2D. Next, the process proceeds to step S-5, and it is determined whether or not the correction value L1 ′ = L1-2D is smaller than the minimum distance Lmin (Lmax) between the current designated position P and the functional area. Since Lmin is set to Lmax, it is inevitably determined that the correction value L1 ′ is smaller than the minimum distance Lmin between the current designated position P and the functional area, and the process proceeds to step S-6. Then, Lmin is set to L1 ′, and Nmin is set to “1”. Thereby, the calculation related to the first function area B1 is completed.

  In step S-7, it is determined whether or not the calculation for all the functional areas B1, B2, and B3 has been completed. At this stage, since the calculation relating to the second function area B2 and the calculation relating to the third function area B3 have not been completed, the process proceeds to step S-8, the function area number N is set to “2”, and the procedure S-- Return to 2. Then, the distance L2 between the designated position P and the second functional area B2 is calculated in step S-2, and it is determined in step S-3 that the functional area number N = 2 is closest to the designated position P in the previous flow. It is determined whether or not the function area number of the function area is OldNmin. Immediately after the designated position P exceeds the position that is closer to the functional area B2 by D from the intermediate position M between the functional area B1 and the functional area B2, the functional area determined to be closest to the designated position P in the previous flow The function area number OldNmin of “1” is “1”. In step S-3, it is determined that N ≠ OldNmin, and the process proceeds to step S-9 to set L2 ′ = L2. Next, the process proceeds to step S-5, and it is determined whether or not the correction value L2 ′ is smaller than the minimum distance Lmin (L1 ′) between the current designated position P and the functional area. As is apparent from the lower part of FIG. 8, when the designated position P is at the position P3 immediately after passing the position closer to the functional area B2 by D from the intermediate position M between the functional area B1 and the functional area B2, the correction is performed. Since the value L2 ′ is smaller than the minimum distance Lmin (L1 ′) between the current designated position and the functional area, the process proceeds to step S-6, and the minimum distance Lmin between the current designated position and the functional area is set to L2 ′. The function area number Nmin of the function area determined to be closest to the current designated position is set to “2”. As a result, the calculation related to the second function area B2 is terminated, and the process proceeds to the calculation routine related to the third function area B3.

  The calculation result related to the third function area B3 is the same as the calculation result related to the second function area B2, and N ≠ OldNmin is determined in step S-3, and the process proceeds to step S-9. Then, in step S-5, it is determined that the correction value L3 ′ is larger than the minimum distance Lmin (L2 ′) between the current designated position P and the functional area B2, and the process proceeds to step S-7. Then, in step S-7, it is determined that the calculation for all the functional areas has been completed. In step S-10, the functional area number OldNmin is set to Nmin = 2 set in step S-6. Next, the process proceeds to step S-11, and the pulling force F corresponding to the distance L2 between the designated position P and the second function area B2 is calculated based on the calculation formula stored in the feeling data storage unit 46.

  As described above, when the designated position P is at the position P2 within the range of the pull-in area variation constant 2D, the designated position P is the closest to the functional area B2 rather than the functional area B1. The near functional area is determined to be B1, and the operation section 22 is given the maximum pulling force Fmax in the direction in which the designated position P is pulled into the center of the first functional area B1.

  As a result, in the haptic input device of this example, when the designated position P moves from one drawing area to another drawing area, for example, when the designated position P moves from within the drawing area A1 to the drawing area A2. Since the pull-in area A1 is extended in the direction of the pull-in area A2 and the pull-in area A2 is contracted in the direction of the pull-in area A1, the pull-in given to the operation unit 22 in order to direct the indicated position P into the functional area B2. The force F is smaller than the pulling force applied to the operation unit 22 when it is not. Therefore, the acceleration energy applied after the designated position P exceeds the boundary between the two drawing-in areas becomes small, and the designated position P can be easily positioned in the desired functional area B2. That is, an excessive operation of the operation unit 22 is prevented, and it is possible to suppress the occurrence of inconvenience such that the indicated position P deviates from a desired functional area. Further, as described above, when the pull-in area A2 is automatically reduced by extending the pull-in area A1, and the pull-in force applied to the operation unit 22 to control the instruction position P into the desired functional area B2 is controlled. Further, it is not necessary to perform a special calculation for reducing the pulling force applied without the pulling area A2, and the calculation load can be reduced.

  In the above-described embodiment, the pull-in force that is directed to the desired functional area is reduced by reducing the width of the pull-in area that appears around the desired functional area. As shown, the width of the pull-in area may remain the same and the magnitude of the pull-in force may be reduced.

  Further, in the above-described embodiment, the description has been given by taking as an example the case where the display control is performed so that the pointer P displayed on the display unit 1 is pulled into the button displayed on the display unit 1, but the gist of the present invention is as follows. The present invention is not limited to this, and can be applied to a frame-shaped selection display instead of an arrow-shaped pointer. Further, as illustrated in FIG. can do.

1 is a configuration diagram of a force sense input device according to an embodiment. FIG. It is sectional drawing seen from the side surface direction of the input means which concerns on the example of embodiment. It is sectional drawing seen from the plane direction of the input means which concerns on the example of embodiment. It is a figure which shows the virtual display screen memorize | stored in the memory | storage means which concerns on the example of embodiment. It is a graph which shows the change of the drawing force provided to the operation part with respect to the change of the designated position in 1 drawing-in area | region. FIG. 6 is a graph showing a change in the pulling force applied to the operation unit with respect to a change in the designated position when the designated position exceeds the boundary between adjacent drawing areas. It is a flowchart which shows search operation | movement of a drawing-in destination functional area. It is explanatory drawing of the drawing power according to the search result of the drawing-in function area. It is a graph which shows the other example of the change of the drawing force provided to the operation part with respect to the change of a pointed position when a pointed position exceeds the boundary of the adjacent drawing-in area | region. It is a block diagram of the input device which concerns on a prior art example. It is operation | movement explanatory drawing of the input device which concerns on a prior art example. It is a graph which shows the change of the drawing power with respect to the cursor position in the input device which concerns on a prior art example.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Display means 2 Input means 3 Control means 22 Operation part 23,24 Actuator 25,26 Detection part A1-A3 Pull-in area Bt1-Btn Button B1-Bn Function area Pt Pointer P Instruction position

Claims (2)

An operation unit;
Detecting means for detecting an operation state of the operation unit;
An actuator for giving a force sense to the operation unit;
Control means for performing calculation of the indicated position according to the operation state of the operation unit and drive control of the actuator based on the output signal of the detection means;
Storage means for storing the indicated position and a plurality of preset functional areas;
When the indicated position is within a pull-in area set around the coordinates of any one of the plurality of functional areas, the control means performs drive control of the actuator to the operation unit. A force sense input device that applies a predetermined pulling force and directs the indicated position into any one of the functional areas,
The control means, when the pointing position moves from within one pull-in area set around the coordinates of one functional area to another pull-in area set around the coordinates of another functional area, A haptic force imparting type characterized in that a retraction force applied to the operation unit in order to direct the indicated position into the other functional region in the other retraction region is smaller than the predetermined retraction force. Input device. When the one pull-in area and the other pull-in area are in contact with each other, the control means extends the one pull-in area in the direction of the other pull-in area, and reduces the other pull-in area by the extended amount. haptic feedback input device according to claim 1, characterized in that cause.

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