JP5120422B2 - Operation input device - Google Patents

Description

  The present invention relates to an operation input device that receives an operation input.

  2. Description of the Related Art Conventionally, there has been known an operation input device provided with a tactile stimulation device that applies a stimulus to a finger during operation (see, for example, Patent Document 1). This operation input device generates a driving force for moving a member that gives a stimulus to an operator's finger by using a magnetic field of a permanent magnet by supplying a driving current to a movable driving coil.

JP 2005-4365 A

  However, in the above-described conventional technology, a force can be generated only in the same direction as the operator's pushing direction (Z direction).

  In view of the above, an object of the present invention is to provide an operation input device that can give an operator a force in a direction different from the pushing direction of the operator.

In order to achieve the above object, an operation input device according to the present invention comprises:
Coils,
A core that is displaced in the axial direction of the coil by the action of an operation input;
A yoke disposed on the end face side of the coil,
There is a non-rotationally symmetric gap between the core and the yoke with respect to the axis of the core, and when a current is passed through the coil, a magnetic attractive force generated between the core and the yoke acts on the core. It is characterized by that.

  According to the present invention, a force in a direction different from the pushing direction of the operator can be applied to the operator.

It is a 1st side view for demonstrating the principle of the operation input apparatus which is embodiment of this invention. It is a 2nd side view for demonstrating the principle of the operation input apparatus which is embodiment of this invention. It is a figure for demonstrating the non-rotationally symmetrical gap 4c. It is a figure for demonstrating the non-rotationally symmetrical gap 4d. It is a figure for demonstrating the non-rotationally symmetrical gap 4e. 1 is an exploded perspective view of an operation input device 100 according to a first embodiment of the present invention. 1 is an overall perspective view of an operation input device 100. FIG. 3 is a top view of the operation input device 100. FIG. It is AA sectional drawing of the operation input apparatus 100. FIG. It is a structural diagram of a yoke. 3 is a cross-sectional view of the operation input device 100 taken along the line BB. FIG. It is BB sectional drawing at the time of magnetic attraction force FA1, FA2. 2 is an exploded perspective view of an operation input device 200. FIG. 1 is an overall perspective view of an operation input device 200. FIG. It is sectional drawing in the YZ plane of the operation input device. It is sectional drawing of the operation input apparatus 200 at the time of magnetic attraction force FA3 generation | occurrence | production. 3 is an exploded perspective view of an operation input device 300. FIG. 1 is an overall perspective view of an operation input device 300. FIG. It is sectional drawing in the YZ plane of the operation input apparatus 300 in an initial position state. It is sectional drawing of the operation input apparatus 300 at the time of magnetic attractive force FA5 and FA6 generation | occurrence | production. It is a disassembled perspective view of the operation input apparatus 400 which is the 4th Example of this invention. 3 is a cross-sectional view of an operation input device 400. FIG. It is a block diagram of the example of a detection circuit which detects the change of the inductance of the coil comprised in each of operation input device 100A-100D. It is a block diagram of the drive circuit 66 and the receiving circuit 67 in FIG. It is the figure which showed the waveform in each point of FIG. It is a wave form diagram when operating the operation input device 400 by the control method which controls the operation input device 400. FIG. It is a time chart for demonstrating the method to detect pushing down amount W based on the rising waveform of the electric current which flows into a coil.

  Hereinafter, embodiments for carrying out the present invention will be described with reference to the drawings. An operation input device according to an embodiment of the present invention is an operation interface that receives a force from an operator's finger or the like and outputs an output signal that changes in accordance with the received force. An operation input by the operator is detected based on the output signal. By detecting the operation input, it is possible to make the computer grasp the operation content corresponding to the detected operation input.

  For example, in an electronic device such as a home or portable game machine, a portable terminal such as a mobile phone or a music player, a personal computer, or an electric appliance, a display object (for example, a display provided on such an electronic device (for example, An instruction display such as a cursor or pointer, a character, or the like) can be moved according to the operation content intended by the operator. In addition, when an operator gives a predetermined operation input, a desired function of the electronic device corresponding to the operation input can be exhibited.

On the other hand, the inductance L of an inductor such as a coil (winding) usually has a coefficient K, permeability μ, n number of coil turns, cross-sectional area S, and magnetic path length d.
L = Kμn ² S / d
The following relational expression holds. As is clear from this relational expression, when parameters depending on the shape such as the number of turns of the coil and the cross-sectional area are fixed, the inductance changes depending on whether at least one of the surrounding magnetic permeability and the magnetic path length is changed.

  An embodiment of the operation input device using this change in inductance will be described below. This operation input device receives an operator's force input from the Z-axis direction side of an orthogonal coordinate system determined by the X, Y, and Z axes. The Z axis direction refers to a direction parallel to the Z axis. The operation input device includes a displacement member that changes the magnitude of the inductance of the coil. The operation input device can detect the operation input by detecting the movement of the displacement member that is displaced by the operation input of the operator based on a predetermined signal that changes in accordance with the magnitude of the inductance.

  In addition, the operation input device of the present embodiment allows a current that generates a magnetic field around the coil to flow through the coil. Due to the magnetic field generated in this manner, a movement that is a stimulus for the operator is generated in the operation unit where the force of the operator can act.

  1 and 2 are views for explaining the principle of an operation input device according to an embodiment of the present invention, and are side views showing a part of the configuration in cross-sectional views. FIG. 1 shows an initial state in which a magnetic field for causing the operator to feel the displacement of the operation surface 6b is not generated, and FIG. 2 illustrates a magnetic field for causing the operator to feel the displacement of the operation surface 6b. It shows the state.

  The operation input device of the present embodiment includes a substrate 1, a coil 2, a displacement member 6, a core 3, a yoke 4, a support member 5 (5a, 5b), a detection unit 160, and a control unit 170. Prepare.

  The substrate 1 is a base portion having an arrangement surface 1a on which the coil 2 is arranged. The substrate 1 may be used as a yoke for the coil 2.

  The displacement member 6 is provided on the side where the operator's force is input to the substrate 1, and has a facing surface 6a facing the arrangement surface 1a and an operation surface 6b on which the operator's force can act. . The displacement member 6 changes the inductance of the coil 2 when the operator's force acts on the operation surface 6 b and the core 3 installed on the facing surface 6 a approaches the coil 2.

  The core 3 is a columnar magnetic body that is displaced on the extension region (including the inside of the inner cylinder) of the inner cylinder of the coil 2 by the action of an operation input. The core 3 is provided at the center of the facing surface 6 a of the displacement member 6. The yoke 4 is a plate-like magnetic body disposed on the upper end surface side of the coil 2. Between the core 3 and the yoke 4, a non-rotationally symmetric gap 4c is provided in the direction perpendicular to the center axis C with respect to the center axis C of the core 3 (details of the non-rotationally symmetric gap 4c). Is described later). By causing a current to flow through the coil 2, a magnetic attractive force generated between the core 3 and the yoke 4 acts on the core 3.

  The support member 5 supports the displacement member 6 so that the distance between the opposing surface 6a and the arrangement surface 1a is changed. For example, the support member 5 supports the displacement member 6 so that the distance between the facing surface 6a and the arrangement surface 1a changes elastically. More specifically, the support member 5 may be a spring member, a rubber member, a sponge member, or a cylinder filled with air or oil. For example, the use of a spring member can reduce the weight and the structure, and the use of a rubber member can achieve insulation. Further, the support member 5 may be a viscous member having viscosity.

  The detection unit 160 is a first pulse signal supply unit that supplies the coil 2 with a first pulse signal that causes the coil 2 to generate a waveform corresponding to the inductance of the coil 2. The detection unit 160 is a detection unit that detects the magnitude of the inductance of the coil 2 by supplying the first pulse signal to the coil 2. For example, the detection unit 160 applies the first drive voltage signal to the coil 2 as the first pulse signal. The detection unit 160 detects the magnitude of the inductance of the coil 2 based on the waveform (first pulse current waveform) of the pulse current flowing through the coil 2 by applying the first drive voltage signal to the coil 2. In addition, the detection unit 160 may determine the inductance of the coil 2 based on, for example, the waveform of the pulse voltage (first pulse voltage waveform) generated at both ends of the coil 2 by applying the first drive voltage signal to the coil 2. The size may be detected. According to the detection result of the magnitude of the inductance of the coil 2, the position of the action point on the operation surface 6b and the displacement amount of the displacement member 6 can be calculated.

  The controller 170 is a second pulse signal supply unit that supplies the coil 2 with a second pulse signal that generates a magnetic attractive force that attracts the core 3 to the yoke 4. For example, the controller 170 applies the second drive voltage signal to the coil 2 as the second pulse signal. A pulse current (second pulse current) flows through the coil 2 by applying the second drive voltage signal to the coil 2. When the second pulse current flows through the coil 2, a magnetic flux (magnetic field H) passing through at least the yoke 4 and the core 3 is generated, and the coil 2 and the core 3 function as an electromagnet as a whole. A magnetic attraction force is generated during 4. With this magnetic attraction force, as shown in FIG. 2, the core 3 is arranged in the direction of the narrowest gap 4c (to the right in the case of FIGS. 1 and 2), with the support points 5c to 5f as swinging fulcrums. Be drawn to. Magnetic field lines La and Lb shown in FIG. Since the core 3 is fixed to the displacement member 6, by moving the core 3 in the lateral direction, the displacement member 6 that is an operation unit touched by the operator can be forcibly moved in the same lateral direction.

  Since a suction force that moves the displacement member 6 in the lateral direction works, the displacement member 6 moves without being canceled for a direction different from the elastic reaction force by the support member 5, and the edge of the displacement member 6 is small by hitting the finger. Even with displacement, the operator can feel a strong feedback force.

  Since the controller 170 can change the magnitude of the magnetic attractive force by changing the magnitude of the peak value of the second pulse signal, the amount of movement of the core 3 and the displacement member 6 can be changed. Further, since the controller 170 can change the magnetic attractive force by changing the cycle and duty ratio of the second pulse signal, the vibration state of the core 3 and the displacement member 6 can be changed. This vibration is not limited to two or more reciprocations, but may be one reciprocation.

  FIG. 3 is a diagram for explaining the non-rotationally symmetric gap 4c. FIG. 3 is a diagram viewed from the Z1 direction of FIGS. The core 3 passes through a long hole formed in the central portion of the yoke 4. A gap 4 c that is a portion sandwiched between the outer periphery of the core 3 and the inner periphery of the long hole of the yoke 4 is not rotationally symmetric with respect to the central axis C of the core 3. Since the upper end portion (front side of the paper surface) and the lower end portion (back side of the paper surface) of the core 3 function as magnetic poles of the electromagnet when a current flows through the coil 2, the core 3 generates an attractive force with the yoke 4. Since the distance dA in the X (−) direction of the gap 4c is longer than the distance dB in the X (+) direction of the gap 4c, the magnitude of the X (−) direction component FA of the magnetic attraction force F is equal to the magnetic attraction force F. Is smaller than the magnitude of the X (+) direction component FB. On the other hand, since the distance of the gap 4c in the Y (−) direction and the distance of the gap 4c in the Y (+) direction are substantially equal, the magnitude of the Y (−) direction component FD of the magnetic attractive force F is equal to the magnetic attractive force F. It is substantially equal to the magnitude of the Y (+) direction component FC. Therefore, the core 3 moves in the X (+) direction. As the core 3 moves, the above-described displacement member 6 also moves in the same direction.

  4 and 5 show other forms of non-rotationally symmetric gaps. The non-rotationally symmetric gap 4d in FIG. 4 is formed by dividing the yoke 4 into left and right. Since the distance dA is longer than the distance dB, the core 3 moves to the right side. FIG. 5 shows a non-rotationally symmetric gap 4e. In the case of FIG. 5, a non-rotationally symmetric hole is formed in the central portion of the yoke 4 with respect to the central axis C of the core 3. As in FIG. 4, since the distance dA is longer than the distance dB, the core 3 moves to the right side.

  Subsequently, specific examples of the operation input device and the control method thereof according to the present invention will be described.

  FIG. 6 is an exploded perspective view of the operation input device 100 according to the first embodiment of the present invention. FIG. 7 is an overall perspective view of the operation input device 100. FIG. 8 is a top view of the operation input device 100. The shaft 30 corresponds to the core 3 described above. The coil 20 corresponds to the coil 2 described above.

  As for the yoke for the coil 20, the lower yoke 10 that is the first yoke portion disposed below the coil 20 and the upper yoke 40 that is the second yoke portion disposed above the coil 20 are the coil 20. It is configured by bypassing and connecting outside. The side yokes 11 and 12 of the lower yoke 10 are detour portions located outside the coil 20.

  The lower yoke 13 of the lower yoke 10 is formed with a notch 15 that is notched and opened in a direction perpendicular to the direction of the central axis C of the shaft 30 in the initial state. Further, the lower yoke 13 is formed with a wall portion 14 that stands upright in the direction parallel to the central axis of the shaft 30 in the initial state along the contour of the notch portion 15.

  9 is a cross-sectional view of the operation input device 100 taken along line AA shown in FIG. The shaft 30 is supported by being fitted to the inner cylinder of the shaft holder 51. The shaft 30 is formed by guides 52a and 52b (see FIG. 6) in which concave portions are formed in the vertical direction on the inner wall 52c of the bobbin 52 (see FIG. 6) by pins 51a and 51b formed on the outer surface of the shaft holder 51. Supported in contact. Therefore, the shaft 30 has a degree of freedom in the vertical direction and in the rotational direction in which the straight line connecting the pins 51a and 51b is the rotational axis D.

  The shaft holder 51 is supported by a spring 50 so as to be movable in the vertical direction. Even if the shaft holder 51 is pushed downward by pushing the shaft 30 downward, the shaft holder 51 is pushed back until it comes into contact with the lower surface of the yoke 40 by the repulsive force of the spring 50. As the shaft 30 moves in the vertical direction, the facing area E between the lower end portion 32 of the shaft 30 and the wall portion 14 formed on the lower surface yoke 13 of the lower yoke 10 changes. When the facing area E changes, the magnetic resistance of the magnetic circuit formed by the lower yoke 10, the upper yoke 40, and the shaft 30 changes, so that the inductance of the coil 20 changes. L1 and L2 indicate the directions of the magnetic field passing through the magnetic circuit. By detecting the magnitude of the inductance of the coil 20, the vertical displacement of the shaft 30 is determined based on reference data obtained by measuring in advance the relationship between the magnitude of the inductance of the coil 20 and the vertical displacement of the shaft 30. Can be detected.

  In the case of the figure, as the amount of downward movement of the shaft 30 increases, the opposing area E increases, so that the magnetic resistance of the magnetic circuit decreases. As the amount of movement of the shaft 30 downward increases, the amount of magnetic flux interlinked with the coil 20 when a current is passed through the coil 20 increases, so that the inductance of the coil 20 increases.

  Further, as the amount of movement of the shaft 30 downward increases, the air gap between the lower end portion 32 of the shaft 30 and the wall portion 14 changes, so that the inductance of the coil 20 changes in an increasing direction or a decreasing direction. The portion of the shaft 30 facing the wall portion 14 (or the portion of the wall portion 14 facing the shaft 30) may be formed in a tapered shape or an inversely tapered shape.

  FIG. 10 is a structural diagram of the yoke. Since the notched portion 15 is formed in the lower yoke 10 and the notched portion 41 is formed in the upper yoke 40, the magnetic circuit as a whole is unbalanced with respect to the central axis C. That is, the notch direction of the notch 15 and the notch direction of the notch 41 are opposite to each other. Thereby, a magnetic attraction force FA1 in the X (+) direction that draws the upper end portion 31 of the shaft 30 toward the upper yoke 40 is generated, and the X (−) direction that draws the lower end portion 32 of the shaft 30 toward the wall portion 14 of the lower surface yoke 13. The magnetic attractive force FA2 is generated.

  11 is a cross-sectional view of the operation input device 100 taken along the line BB shown in FIG. FIG. 12 is a cross-sectional view taken along the line BB when the magnetic attractive forces FA1 and FA2 are generated. When a current is passed through the coil 20, the rotation axis D is arranged such that the upper end portion 31 of the shaft 30 narrows the minimum gap with the upper yoke 40 and the lower end portion 32 of the shaft 30 narrows the minimum gap with the wall portion 14. The shaft 30 rotates around the center. This rotational motion is transmitted to the operator as a feedback force from the operation input device. The shaft 30 is supported by the rubber ring 53 at the position of the upper end portion 31, and when moved in the rotation direction, the shaft 30 returns to the initial position so that the rotation axis C is parallel to the Z axis by the repulsive force of the rubber ring 53. .

  FIG. 13 is an exploded perspective view of the operation input device 200 according to the second embodiment of the present invention. FIG. 14 is an overall perspective view of the operation input device 200. The shaft 130 corresponds to the core 3 described above. The coil 120 corresponds to the coil 2 described above. The description of the same parts as described above is omitted.

  The yoke with respect to the coil 120 includes a lower yoke 110 that is a first yoke portion disposed on the lower side of the coil 120 and an upper yoke 140 that is a second yoke portion disposed on the upper side of the coil 120. It is configured by bypassing and connecting outside. The side yokes 111 and 112 of the lower yoke 110 are detour portions located outside the coil 120.

  A central hole 115 is formed in the lower surface yoke 113 of the lower yoke 110. Further, the lower yoke 113 is formed with a wall portion 114 that stands upright in a direction parallel to the central axis C of the shaft 130 in the initial state along only a part of the contour of the central hole 115. In the case of the figure, the wall part 114 is formed only on the Y (−) direction side in the four axial directions of the XY plane.

  FIG. 15 is a cross-sectional view of the operation input device 200 on the YZ plane. The shaft 130 is restrained in the radial direction by an upper hole 152 c of the bobbin 152 and the shaft holder 151. The shaft holder 151 is formed with a shaft holder escape portion 151 a in a direction perpendicular to the axial direction of the shaft 130. Therefore, the shaft 130 is movable in the vertical direction, and has a degree of freedom of rotation on the shaft holder escape portion 151a side with the hole 152c on the upper side of the bobbin 152 as a rotation fulcrum.

  The shaft 130 is supported so as to be movable in the vertical direction by a spring 150 that contacts a resin washer 153 attached to the shaft 130 in a flange shape. Even if the shaft 130 is pushed downward, the resin washer 153 is pushed back by the repulsive force of the spring 150, so that the shaft 130 is pushed back until it comes into contact with the lower surface of the bobbin 152. Since the diameter of the resin washer 153 is larger than the diameter of the upper hole 152 c of the bobbin 152, the resin washer 153 does not jump out of the hole 152 c even if it receives the reaction force of the spring 150. As the shaft 130 moves in the vertical direction, the facing area E between the lower end portion 132 of the shaft 130 and the wall portion 114 formed on the lower surface yoke 113 of the lower yoke 110 changes. When the facing area E changes, the magnetic resistance of the magnetic circuit formed by the lower yoke 110, the upper yoke 140, and the shaft 130 changes, so the inductance of the coil 120 changes. L3 indicates the direction of the magnetic field passing through the magnetic circuit. By detecting the magnitude of the inductance of the coil 120, the amount of vertical displacement of the shaft 130 is determined based on reference data obtained by measuring in advance the relationship between the magnitude of inductance of the coil 120 and the amount of vertical displacement of the shaft 130. Can be detected.

  FIG. 16 is a cross-sectional view of the operation input device 200 when the magnetic attractive force FA3 is generated. By applying a high voltage to the coil 120 to cause a large current to flow, the lower end portion 132 of the shaft 130 is caused to move into the hole 152c of the bobbin 152 by the magnetic attractive force FA3 acting between the lower end portion 132 of the shaft 130 and the wall portion 114. Is inclined toward the side of narrowing the minimum gap with the wall 114. The portion of the lower end portion 132 of the shaft 130 has a large air gap with the wall portion 114, and thus the shaft 130 is inclined accordingly. When the current flowing through the coil 120 is stopped, the reaction force of the spring 150 causes the shaft 130 to return to the initial position so that the rotation axis C is parallel to the Z axis.

  FIG. 17 is an exploded perspective view of the operation input device 300 according to the third embodiment of the present invention. FIG. 18 is an overall perspective view of the operation input device 300. The shaft 230 corresponds to the core 3 described above. The coil 220 corresponds to the coil 2 described above. The description of the same parts as described above is omitted.

  The yoke with respect to the coil 220 includes a lower yoke 210 that is a first yoke portion disposed below the coil 220 and an upper yoke 240 that is a second yoke portion disposed above the coil 220. It is configured by bypassing and connecting outside. The side yokes 241 and 242 of the upper yoke 240 are bypass parts located outside the coil 220.

  A central hole 244 is formed in the upper surface yoke 243 of the upper yoke 240. The lower yoke 210 has a central hole, and a cylindrical wall that stands upright in a direction parallel to the central axis C of the shaft 230 in the initial state along the entire circumference of the outline of the central hole. A portion 212 is formed.

  A plate-like member 234 on which an operator's Z-direction force acts directly or indirectly is attached to the upper end portion 231 of the shaft 230. The shaft 230 passing through the central hole 244 of the upper yoke 240 is inserted into the central hole of the bobbin 252 around which the coil 220 is wound.

  FIG. 19 is a cross-sectional view on the YZ plane of the operation input device 300 in the initial position state. The shaft 230 is supported so as to be movable in the vertical direction by a spring 250 that abuts on a plate-like member 234 that is integral with the shaft 230. Even if the shaft 230 is pushed downward together with the plate-like member 234, the plate-like member 234 is pushed back by the repulsive force of the spring 250, so that the shaft 230 returns to the original position to the initial position state. As the shaft 230 moves in the vertical direction, the facing area between the lower end portion 232 of the shaft 230 and the wall portion 212 formed on the lower yoke 210 changes, so that the magnetic resistance of the magnetic circuit changes and the inductance of the coil 220 changes. Changes. L5. L6 indicates the direction of the magnetic field passing through the magnetic circuit.

  A deficient portion 233 is provided at the lower end 232 of the shaft 230 so that the shaft 230 is non-rotational symmetric with respect to the axis of the shaft 230. As a result, the distance between the missing portion 233 of the shaft 230 and the wall portion 212 becomes non-uniform with respect to the entire circumference of the shaft 230.

  Although the base 211 is used to support the spring 250, the base 211 may be omitted by using the supporting member of the spring 250 also as another member. For example, any of the lower yoke 210, the upper yoke 240, and the bobbin 252 may be used to support the spring 250.

  FIG. 20 is a cross-sectional view of the operation input device 300 when the magnetic attractive forces FA5 and FA6 are generated. By applying a high voltage to the coil 220 and causing a large current to flow, the lower end 232 of the shaft 230 has a minimum gap with the wall 212 due to the magnetic attractive force FA6 acting between the lower end 232 and the wall 212. Suction is performed on the narrowing side (that is, the side where the defect portion 233 is not present). This is because the gap where the defect portion 233 is provided has a large gap with the wall portion 212. When the current flowing through the coil 220 is stopped, the shaft 230 returns to the initial position so that the rotation axis C is parallel to the Z axis by the reaction force of the spring 250.

  FIG. 21 is an exploded perspective view of the operation input device 400 according to the fourth embodiment of the present invention. FIG. 22 is a cross-sectional view of the operation input device 400.

  The operation input device 400 includes a substrate 310 having an arrangement surface on which a plurality of operation input devices (in the case of FIG. 21, the four operation input devices 100 (100A to 100D) described above) are arranged. The operation input device provided on the substrate 310 may be the operation input device 200 or 300 described above. The substrate 310 is a base having an arrangement surface parallel to the XY plane. The origin O, which is the reference point of the three-dimensional orthogonal coordinate system, is set at a position away from the arrangement surface by a predetermined distance on the side where the operator's force is input (in FIG. 21, the upper side with respect to the substrate 310). Has been. The substrate 310 may be a resinous substrate, but may be an iron plate substrate using a steel plate, a silicon steel plate or the like as a base material in order to function as a yoke.

  The operation input devices 100A to 100D are arranged in the circumferential direction of a virtual circle formed by connecting points having the same distance from the origin O. The operation input devices 100A to 100D are preferably arranged at equal intervals in the circumferential direction from the viewpoint of facilitating calculation of the operator's force vector. When each operation input device has the same characteristic, the distance between the centers of gravity of two adjacent coils may be equal. The operation input devices 100A-100D are concentrically arranged every 90 ° in four directions of X (+), X (−), Y (+), and Y (−). The X (−) direction is a direction opposite to the X (+) direction by 180 ° on the XY plane, and the Y (−) direction is 180 ° opposite to the Y (+) direction on the XY plane. The direction of the direction. The operation input device 100A is arranged on the X axis on the positive side with respect to the origin O, the operation input device 100B is arranged on the Y axis on the positive side with respect to the origin O, and the operation input device 100C is arranged on the origin O The operation input device 100D is disposed on the Y axis on the negative side with respect to the origin O.

  Further, the operation input device 400 includes a key 360 that is a displacement member provided on the side where the operator's force is input to the substrate 310. A plate-like key 360 is disposed above the operation input devices 100A-100D provided on the substrate 310. The key 360 includes an opposing surface (a lower surface in FIG. 21) that faces the arrangement surface on which the operation input devices 100A to 100D are arranged, and an operation surface on which an operator's force can act (the upper surface in FIG. 21). Surface). The key 360 has at least one of the four operation input devices 100A-100D as a result of the operator's force acting on the operation surface and the opposing surface approaches the arrangement surface on which the operation input devices 100A-100D are arranged. One shaft 30 (see FIGS. 11 and 12) is pushed downward, and the inductance of the coil 20 surrounding the pushed shaft 30 is changed.

  As shown in FIG. 22, the key 360 is supported by a case 370 so as to be movable in the Z-axis direction. The case 370 has the position of the key 360 in a standby state (initial state) where the operator's force is not applied to the operation surface as a standby position, and the operator's force is applied to the operation surface so that the substrate 310 is moved from the standby position. Support to move in the direction approaching. Case 370 is fixed to substrate 310. Case 370 may be a case of an electronic device such as a game machine to which operation input device 400 is attached, or may be a case of operation input device 400 itself.

  FIG. 23 is a block diagram of an example of a detection circuit that detects a change in inductance of a coil configured in each of the operation input devices 100A to 100D. The inductance detection circuit is a calculation unit that detects a change in inductance of each coil of the operation input devices 100A to 100D. The detection unit 160 and the control unit 170 shown in FIGS. 1 and 2 correspond to this inductance detection circuit. That is, the control unit 160 and the control unit 170 are realized by a single inductance detection circuit.

  The inductance detection circuit is connected to the CPU 60, which is a calculation means, the drive circuit 66 connected to the first output port 61 of the CPU 60, and the other end of each coil whose one end is connected to the ground. A multiplexer (MUX) 68, and a receiving circuit 67 connected to the second output port 62 and the AD port 63 of the CPU 60. Each coil is connected to the CPU 60 by a multiplexer 68 via a common receiving circuit 67 and driving circuit 66. Switching of the connection destination of the multiplexer 68 is uniquely selected by address designation from the CPU 60 via the address bus 64. Therefore, the detection of the inductance of each coil is sequentially performed for each coil by shifting the detection timing of each coil.

  FIG. 24 is a block diagram of the driving circuit 66 and the receiving circuit 67 in FIG. The drive circuit 66 controls the output current of the constant current source 66a in accordance with the output signal from the output port 61 of the CPU 60, thereby causing a current to flow through each coil. The receiving circuit 67 inputs a voltage generated when a current flows through each coil to the peak hold circuit 67b through the amplifier 67a (may be input to the bottom hold circuit). The peak value (analog value) peak-held by the peak hold circuit 67b is input to the AD port 63 and converted into a digital value by the AD converter.

  FIG. 25 is a diagram showing waveforms at each point in FIG. A rectangular wave voltage waveform is output from the output port 61 of the CPU 60. With this voltage, the constant current circuit 66a allows a constant current to flow through the coil. As a result, the coil generates a voltage V2 having a differential waveform. As the voltage waveform V2, a waveform 2-1 synchronized with the rising edge of the voltage waveform V1 is obtained, and a waveform 2-2 synchronized with the falling edge of the voltage waveform V1 is obtained. The waveform 2-2 is a waveform whose positive and negative sides are opposite to those of the waveform 2-1. The amplifier 67a amplifies the voltage waveform V2 to a size suitable for the dynamic range of the AD converter. Depending on whether the voltage waveform V2 is peak-held or bottom-held, the held value is taken into the AD converter (AD port 63). Since the amplitude values of the waveforms 2-1 and 2-2 increase in proportion to the magnitude of the inductance of each coil, the magnitude of the inductance of each coil can be evaluated by detecting this amplitude value.

  FIG. 26 is a waveform diagram when the operation input device 400 is operated by a control method for controlling the operation input device 400. A control method of the operation input device 400 will be described with reference to FIGS.

  The control method of the operation input device 400 includes an inductance detection step of detecting a change in inductance of each coil by supplying a first pulse signal to each coil of the operation input devices 100A to 100D for each coil. In the inductance detection step, the CPU 60 of the inductance detection circuit, as shown in (b), the pulse corresponding to the first pulse signal supplied from the output port 61 as a rectangular wave voltage waveform V1 for each coil. The waveform p (p1 to p9) is output. The pulse waveform p is intermittently output from the output port 61 to each coil, whereby the first pulse signal is intermittently supplied to each coil. Further, by repeating the inductance detection step at a constant cycle, the pulse waveforms p1 to p9 of the voltage waveform V1 are output at a constant cycle. The pulse waveform p is a drive voltage for detecting a change in inductance of each coil.

  As shown in (c), the detection voltage V3 accompanying the increase in inductance is generated by the drive voltage V1 according to the push-down amount W of the shaft 30 (see FIG. 11) shown in (a). When the pressing amount W changes as shown in (a), the amplitude of the detection voltage V3 also increases in proportion to the pressing amount W. The amplitudes of the pulse waveforms s3, s4, and s5 of the detection voltage V3 increase with the increase of the push amount W, and the amplitudes of the pulse waveforms s6 and s7 of the detection voltage V3 decrease with the decrease of the press amount W. When there is no change in the pressing amount W, the amplitude of the pulse waveform of the detection voltage V3 is the same (s1, s2, s8, s9).

  Further, the control method of the operation input device is as shown in FIG. 12 by supplying, for each coil, a second pulse signal having a phase different from that of the first pulse signal supplied in the inductance detection step. And a magnetic attraction force generation step for generating a magnetic attraction force FA1 for attracting the upper end portion 31 of the shaft 30 to the upper yoke 40 and a magnetic attraction force FA2 for attracting the lower end portion 32 of the shaft 30 to the wall portion. In the magnetic attraction force generation step, the CPU 60, as shown in (b), the pulse waveform q corresponding to the second pulse signal supplied from the output port 61 as a rectangular wave voltage waveform V1 for each coil. (Q1 to q5) are output. By outputting the pulse waveform q from the output port 61 to each coil, the second pulse signal is supplied to each coil. Along with the output of the pulse waveform q, as shown in (e), a magnetic attractive force F such as FA1, FA2 is generated.

  FIG. 26 shows a control method for outputting the pulse waveforms q1 to q5 according to the amplitude of the detection voltage V3, which is the detection result of the change in inductance. That is, when the detection voltage V3 has an amplitude less than a predetermined threshold, the pulse waveform q is not output. When the detection voltage V3 having an amplitude greater than or equal to the predetermined threshold occurs, the pulse waveform q corresponding to the amplitude of the detection voltage V3. Is output. That is, the pulse waveform q that generates the displacement of the operation unit in accordance with the pressing amount W is generated with an amplitude proportional to the amplitude of the detection voltage V3. Then, a magnetic attractive force F having a magnitude corresponding to the amplitude of the pulse waveform q is generated.

  The amplitude voltage, the pulse width, and the output period of the pulse waveform p for detecting the change in inductance need only be large enough to detect the change in inductance by the detection voltage V3. As long as the magnetic attraction force F that can cause the magnetic attraction F is not generated. Thereby, it is possible to prevent the operator from feeling the movement of the operation unit due to the magnetic attractive force F every time the change in inductance is detected. On the other hand, the amplitude voltage, pulse width, and period of the pulse waveform q are the movements of the operation unit that can be sensed by the operator so that the movement of the operation unit that accompanies the pulse waveform q can be reliably detected by the operator. As long as the magnetic attraction force F that can cause the magnetic attraction F is generated. For example, at least one of the amplitude voltage and the pulse width of the pulse waveform q is made larger than the pulse waveform p.

  At this time, if no treatment is made, the CPU 60 may erroneously detect the detection voltage V3 generated by outputting the pulse waveform q for giving motion to the operation unit as a signal indicating a change in inductance. In order to prevent this, for example, as shown in (d), a reset signal VR for preventing the reception circuit 67 from operating may be generated at least during a period in which the pulse waveform q is generated. Thereby, it is possible to prevent the detection voltage V3 from being generated as shown in (c) during the period in which the pulse waveform q is output. Further, since the CPU 60 outputs the pulse waveform q itself, the detection voltage V3 generated along with the pulse waveform q may not be evaluated (ignored) by the CPU 60 as a signal representing a change in inductance.

  Further, (b) shows a control method in which a pulse waveform q having an amplitude corresponding to the magnitude of the push-down amount W is output, but as shown in (f), it depends on the magnitude of the push-down amount W. Alternatively, a control method for outputting the pulse waveform q having a pulse width to displace the operation unit may be used. As the push-down amount W increases, the pulse width of the pulse waveform q is increased.

  Further, as shown in (g), a control method may be used in which the number of pulse waveforms q corresponding to the amount of the push-down amount W is output to displace the operation unit. As the push-down amount W increases, the number of pulse waveforms q is increased.

  Further, as shown in (h), depending on an application (for example, an electronic device used by an operator, more specifically, a game device or a mobile phone) using the operation input device, the pulse waveform q Is not necessarily synchronized with the pulse waveform p, the time interval for generating the pulse waveform q (the output interval of the pulse waveform q) may be changed across the plurality of pulse waveforms p. The pulse waveform p for detecting the change in inductance corresponds to the temporal resolution (follow-up speed) of detecting the change in inductance, and is preferably output at a short time interval. On the other hand, the pulse waveform q for imparting displacement to the operation unit needs to make the operator feel that the displacement of the operation unit has occurred, so the output interval is made longer than the pulse waveform p. For example, as shown in (h), the pulse waveform q may be output during an arbitrary period in which the pulse waveform p is not output so as not to overlap with the pulse waveform p.

  Further, when the output interval of the pulse waveform p becomes narrow and the output timing of the pulse waveform q cannot be secured, the pulse waveform q is prioritized over the pulse waveform p, and the pulse waveform is output during the output period of the pulse waveform q. The output of p may be stopped.

  Further, in the case of FIG. 26, the displacement of the operation unit according to the push-down amount W is generated. However, by changing the supply mode of the pulse waveform q, the way of flowing the current flowing through the coil changes. The mode of vibration applied to the can be changed. For example, it is possible to change the strength of vibration, the vibration frequency, and the number of vibrations given to the operator by changing the flow of current flowing through the coil by changing the supply mode of the second pulse signal. In addition, the occurrence timing of the displacement of the operation unit is not limited to change according to the push-down amount W, but the push-down speed of the operation unit and the object that moves by the operation of the operation unit (for example, a cursor on the display, a pointer, etc.) The movement position and the operation input device may be changed according to the occurrence of an event on the application used. For example, when the pressing amount W reaches a predetermined value, the magnetic attraction force F is generated by supplying the second pulse signal to the coil. The magnetic attraction force F generated in this way can make the operator feel a click.

  FIG. 27 is a time chart for explaining a method of detecting the pressing amount W based on the rising waveform of the current flowing through the coil. In the case of FIGS. 25 and 26, the detection voltage V3 corresponding to the magnitude of the voltage V2 generated at both ends of the coil is used to detect the push-down amount W, but the rising waveform of the current flowing through the coil is used. May be used.

  In FIG. 27, (a) shows the voltage waveform applied to the coil. (B) shows a current waveform flowing in the coil when the voltage of (a) is applied in a state where the shaft is not pushed in. (C) shows a current waveform flowing in the coil when the voltage of (a) is applied in a state where the shaft is pushed in.

  Even when the voltage is instantaneously increased as shown in (a), due to the nature of the coil, the waveform of the current flowing in the coil rises with a slope corresponding to the inductance. Therefore, when the inductance is configured to increase in accordance with the push amount, the slope of the current waveform becomes gentle as the push amount increases. That is, since the magnitude of the inductance can be evaluated by detecting the magnitude of the inclination, the push amount can be detected based on the inductance.

  In the configuration in which the feedback force from the operation input device is given to the operator as in the present invention, the position of the operation unit is changed by the feedback force, and the inductance is changed in accordance with the change. Therefore, if the above-described countermeasure against erroneous detection of the reset signal VR or the like is not taken, there is a possibility that the position of the operation unit and the amount of pushing in may be erroneously detected. However, as shown in FIG. 27, by detecting the push amount at the rising edge of the current waveform, it becomes possible to complete the push amount detection before the position of the operation unit changes. As a result, the feedback force is generated by using the second pulse signal as the first pulse signal without changing the phase of the first pulse signal and the second pulse signal as shown in FIG. It is possible to detect the pushing amount almost simultaneously. In other words, by using the slope of the rising edge of the current waveform when detecting the amount of pushing of the operating unit, the amount of pushing of the operating unit can be reduced without being affected by the change in the position of the operating unit even when feedback force is generated. Detection is possible. It should be noted that the same effect can be obtained even if the voltage waveform shown in FIG.

  As a voltage waveform for generating the feedback force, it is preferable to use a triangular wave such as a sawtooth wave shown in FIG. Since the feedback force feels strongly at the rise, if the peak voltage and the energization time are the same, almost the same feedback force feel can be obtained for the triangular wave and the square wave. That is, by using a triangular wave, a feedback force equivalent to a square wave can be obtained with about half the power.

  Thus, in the case of the operation input device of the present embodiment described above, the operation input is detected and the force is applied to the operator only by supplying two types or one type of pulse signal to the common coil. be able to. In other words, both the function of detecting the operation input and the function of applying force to the operator are realized with a simple configuration in which two types or one type of pulse signal is supplied to the coil without forming a complicated structure. be able to. In addition, since components (coils) can be shared between a configuration for detecting an operation input and a configuration for applying a force to an operator, it is possible to achieve downsizing and cost reduction.

  In addition, feedback vibration can be generated in a direction different from the pushing direction (for example, the direction in which the operating part is tilted or the lateral direction), not in the pushing direction of the operating part, so that feedback vibration is generated in the pushing direction of the operating part. It is possible to make the operator feel the feedback vibration stronger than in the case of making it happen.

  The preferred embodiments of the present invention have been described in detail above, but the present invention is not limited to the above-described embodiments, and various modifications, improvements, and modifications can be made to the above-described embodiments without departing from the scope of the present invention. Substitutions can be added. In addition, another embodiment configured by combining a part of each of the plurality of embodiments described above may be considered.

  The operation input device is not limited to fingers and may be operated with a palm. Moreover, you may operate with a toe or a sole. The surface touched by the operator may be a flat surface, a concave surface, or a convex surface.

DESCRIPTION OF SYMBOLS 1 Board | substrate 2,20,120,220 Coil 3 Core 4 Yoke 4c, 4d, 4e Gap 5a, 5b Support member 5c-5f Swing fulcrum 6 Operation part 10,110,210 Lower yoke 11,12,111,112, 241,242 Side yoke 13,113 Bottom yoke 14,114,212 Wall 15,41,115 Notch 30,130,230 Shaft (core)
31, 131, 231 Upper end portion 32, 132, 232 Lower end portion 40, 140, 240 Upper yoke 50, 150, 250 Spring 51, 151 Shaft holder 51a, 51b Pin 52, 152, 252 Bobbin 52a, 52b Guide 52c Inner wall 53 Rubber Ring 54 Resin ring 100, 200, 300, 400 Operation input device 153 Resin washer 211 Base 233 Deletion part 234 Plate member 360 Key (operation part)
370 Case C Core axis D Rotating shaft E Opposite area F * Magnetic attraction L * Magnetic field line

Claims (9)

Coils,
A core that is displaced in the axial direction of the coil by the action of an operation input;
A yoke disposed on the end face side of the coil,
There is a non-rotationally symmetric gap between the core and the yoke with respect to the axis of the core, and when a current is passed through the coil, a magnetic attractive force generated between the core and the yoke acts on the core. An operation input device.   The operation input device according to claim 1, wherein the yoke includes a notch and / or a wall so that the gap is formed at a position facing the core.   When the yoke is connected to the first yoke portion disposed on one end face side of the coil and the second yoke portion disposed on the other end face side, bypassing the outside of the coil. The operation input device according to claim 1, wherein the operation input device is configured.   The operation input device according to any one of claims 1 to 3, wherein the core is non-rotationally symmetric with respect to the axis of the core. First pulse signal supply means for supplying a first pulse signal to the coil that causes the coil to generate a signal waveform corresponding to the magnitude of the inductance of the coil;
Detecting means for detecting the magnitude of the inductance based on the signal waveform;
The operation input device according to claim 1, further comprising: a second pulse signal supply unit that supplies the coil with a second pulse signal that generates the magnetic attractive force.   The operation input device according to claim 5, wherein the detection unit detects the magnitude of the inductance based on a rising waveform of the signal waveform.   The operation input device according to claim 6, wherein the second pulse signal is used as the first pulse signal.   The operation input device according to claim 5, wherein at least one of the first pulse signal and the second pulse signal is a triangular wave.   The operation input device according to claim 1, wherein an operation input is detected by detecting a change in inductance of the coil.

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