JP6012498B2 - Input device - Google Patents

Description

  The present invention relates to an input device in which a force sense is given to an operation unit to improve an operation feeling.

  In recent years, force feedback technology called haptics or haptic commanders (both haptics and haptic commanders are registered trademarks of Alps Electric Co., Ltd.) has been developed. For example, force feedback technology that generates an artificially generated force sense in response to an operation of the operation unit is employed in the force sense imparting input devices disclosed in Patent Documents 1 and 2.

  For example, when the operation unit is moved to a certain position, when the operation unit approaches the position, a force sense that quickly pulls the operation unit to the position is generated, so that the operation feeling can be improved. The sense of force can be generated by driving a motor.

JP 2007-302154 A JP 2008-158675 A

  However, there is a problem that even if the operation on the operation unit is finished, the operation unit does not stand still and causes minute vibrations.

  In other words, if the operation unit does not stop at the predetermined position and the operation unit slightly passes the predetermined position due to the magnitude of the driving force of the motor, a reverse driving force is generated from the motor to return to the predetermined position, so that the reciprocating movement occurs. Will occur repeatedly. As a result, the operation unit vibrates.

  FIG. 5 shows a conventional control method for the vibration of the operation unit. FIG. 5A is a graph showing the transition of the position of the operation unit with the horizontal axis representing time and the vertical axis representing the position of the operation unit. FIG. 5B is a time chart of the driving force (torque) of the motor. It is.

  In the conventional control method, in order to return the operation unit that has passed the predetermined position to the predetermined position, as shown in FIG. 5 (b), the driving force from the positive to the negative and the negative to the positive from the motor. The driving force acts repeatedly. As a result, as shown in FIG. 5A, the operation unit does not stand still and vibrates finely.

  In the control unit, for example, the number of vibrations of the operation unit and the time during which the vibration has continued are counted, and if the number of vibrations more than a predetermined value is detected or the vibration continues for a predetermined time or more, Decrease gradually to converge the vibration of the operation unit.

  Thus, once the vibration of the operation unit can be converged, but the convergence position A of the operation unit (see FIG. 5A) is at a position where a large driving force is generated in the feeling curve, There is a problem that the motor again exerts the driving force after the vibration is converged, and the vibration of the operation unit is resumed.

  As described above, in the conventional control method, the vibration and convergence of the operation unit repeatedly occur, and the operation unit continues to vibrate substantially.

  Therefore, the present invention solves the above-described conventional problems, and in particular, an object of the present invention is to provide an input device that can stably stabilize the vibration of the operation unit as compared with the conventional art.

An operation unit supported movably,
A drive unit for applying a force sense to the operation unit;
A detection unit capable of detecting movement of the operation unit;
It is possible to switch between the normal mode and the vibration convergence mode. A control unit that sets the normal mode for generating a force sense for the operation unit when the operation unit moves beyond the threshold;
It is characterized by having.

  As described above, the present invention includes a control unit that can be switched between the normal mode and the vibration convergence mode. In the control unit, when the position of the operation unit is varied within a predetermined threshold, the operation is performed by the operator. It is judged that the operation unit is vibrating instead of moving, and a vibration convergence mode for converging the vibration is set by attenuating the driving force (torque) from the drive unit, and the operation unit has moved beyond the threshold value. At this time, assuming that the operator is operating the operation unit, a normal mode for generating a force sense for the operation unit is set. As described above, according to the present invention, if the operation unit is within the threshold value, the vibration convergence mode is set without considering the operation by the operator, so that the vibration of the operation unit can be stably stopped. Further, when it is detected that the operation unit has moved beyond the threshold, it is possible to smoothly release the convergence state and generate a force sense for the operation unit.

  In the present invention, the detection unit or the control unit can detect the movement direction of the operation unit, and the operation unit is in a state where the position of the operation unit is fluctuated within the threshold value. It is preferable that the vibration convergence mode is set on the assumption that the operation unit vibrates when an alternate movement with the second direction opposite to the first direction is detected.

  Thereby, it is easy to determine the vibration state of the operation unit appropriately and easily, and the vibration convergence mode can be set accurately.

  In the present invention, the operation unit is supported so as to be movable in a plurality of intersecting directions. When the operation unit moves in the intersecting directions, the operation unit generates a plurality of force sensations in each direction. Preferably, the drive unit is provided, and the vibration convergence mode and the normal mode can be switched for each drive unit. As a result, the normal mode for generating a force sense and the vibration convergence mode can be appropriately switched for each operation in multiple directions.

  According to the present invention, if the operation unit is within the threshold value, the vibration convergence mode is set without considering the operation by the operator, so that the vibration of the operation unit can be stably stopped. Further, when it is detected that the operation unit has moved beyond the threshold, it is possible to smoothly release the convergence state and generate a force sense for the operation unit.

FIG. 1A is a perspective view of an input device according to the present embodiment, and FIG. 1B is a schematic diagram showing an internal mechanism of the input device. FIG. 2 is an explanatory diagram for explaining the vibration convergence mode and the normal mode in the present embodiment. FIG. 3 is a block diagram of the input device according to the present embodiment. FIG. 4 is a flowchart of the input device according to this embodiment. FIG. 5 is an explanatory diagram for explaining a conventional method of controlling the vibration of the operation unit.

  FIG. 1A is a perspective view of an input device according to the present embodiment, and FIG. 1B is a schematic diagram showing an internal mechanism of the input device. FIG. 3 is a block diagram of the input device according to this embodiment.

  The input device 1 shown in FIGS. 1 and 3 includes an operation unit 2, motors (drive units) 3 and 4, sensors (detection units) 5 and 6, and a control unit 7. The input device 1 in the present embodiment is an input device incorporating force feedback technology called haptic or haptic commander (both haptic and haptic commander are registered trademarks of Alps Electric Co., Ltd.).

  As shown in FIG. 1, the operation unit 2 is supported so as to be movable in, for example, the X direction and the Y direction in a state of protruding from the surface of the support 8. The X direction and the Y direction have an orthogonal relationship in the plane. For example, a monitor unit (not shown) is provided on the surface of the support 8, and a direction display operable with the operation unit 2 and a function display corresponding to the operation direction are displayed on the monitor unit.

  The operation unit 2 is supported so as to be movable in the X direction and the Y direction, for example, by a gear mechanism (not shown). The moving direction control of the operation unit 2 is performed using an electromagnetic brake. Therefore, for example, the operation unit 2 can be moved in the Y1 direction from the reference position B in FIG. 1A, but can be controlled using an electromagnetic brake so that it cannot be moved in the Y2 direction from the reference position B. .

  As shown in FIG. 1B, a first motor 3, a second motor 4, a first sensor 5, and a second sensor 6 are provided inside the support 8. For example, the first sensor 5 detects movement information of the operation unit 2 in the X direction when the operation unit 2 illustrated in FIG. 1A is operated in the X direction. For example, the first motor 3 A force sense is given to the operation unit 2 operated in the X direction. Further, for example, the second sensor 6 detects movement information of the operation unit 2 in the Y direction when the operation unit 2 illustrated in FIG. 1A is operated in the Y direction, for example, the second motor 4, A force sense is given to the operation unit 2 operated in the Y direction. The “force sense” refers to a sense of force applied when the operator operates the operation unit 2.

  For example, the 1st sensor 5 and the 2nd sensor 6 consist of potentiometers etc. which were provided in the axis of rotation which enables operation in the X direction and the Y direction. The first sensor 5 and the second sensor 6 may each be one for detecting the position in the X direction and one for detecting the position in the Y direction, but the sensor for detecting the position in the X direction and the position in the Y direction A plurality of detection sensors may be provided.

  The operation unit 2 includes a reference position B from the reference position B in the X1 direction (first direction in the X direction), an X2 direction opposite to the X1 direction (second direction in the X direction), and a reference position B from the Y1 direction (Y The first direction in the direction) and the Y2 direction (the second direction in the Y direction) opposite to the Y1 direction are supported so as to be movable. However, the movable direction can be controlled by the control by the electromagnetic brake as described above.

  Assume that the operator operates (moves) the operating tool 2 from the reference position B in the X1 direction, for example. At this time, movement information of the operating tool 2 can be obtained by the first sensor 5. “Movement information” includes the position (absolute position or relative position) of the operation unit 2, the moving direction, the moving amount, and the like. In addition, based on the detection signal (movement information) of the sensors 5 and 6, the structure which calculates the position of the operation part 2, a movement direction, and a movement amount from the said detection signal in the control part 7 may be sufficient.

  When the operation unit 2 is operated in the X1 direction from the reference position B, a force sense is generated in the operation unit 2 by the driving force (torque) of the first motor 3. For example, the force sense at this time is a force that quickly pulls the operation unit 2 to a predetermined position in the X1 direction. The operator can receive such force sense as tactile force feedback. Note that what kind of force feedback is given can be changed by drive control of the motors 3 and 4. Further, for example, assuming that the force sense is a force that draws to a predetermined position as described above, in this case, the magnitude of the force that draws in the X1 direction and the magnitude of the force that draws in a direction other than X1 can be changed. For example, the input device 1 of the present embodiment can be used for a vehicle, but by changing the force sense according to the operation direction as described above, the driver can change the operation state without looking at the operation unit 2. It is possible to grasp with a sense.

  A driving force is applied from the first motor 3 to give a force sensation to the operation unit 2 operated in the X1 direction. Depending on the magnitude of the driving force at this time, the operation unit 2 should originally be stationary. If it exceeds, the control unit 7 applies a driving force in the opposite direction to the first motor 3 in an attempt to return the operation unit 2 to a predetermined position. At this time, as a result of repeatedly performing control to return the operation unit 2 to a predetermined position, the operation unit 2 is finely vibrated. FIG. 2A is a graph showing the transition of the position of the operation unit with the horizontal axis representing time and the vertical axis representing the position of the operation unit. FIG. 2B is a time chart of the driving force (torque) of the motor. It is. The left side of the horizontal axis shown in FIG. 2A is the start side of the vibration control, and the operation unit vibrates for a while after the start. As shown in FIG. 2B, the vibration of the operation unit is generated by the repeated action of a driving force from positive to negative and a driving force from negative to positive.

  FIG. 4 shows a flowchart using the input device 1 of the present embodiment. In step ST1 shown in FIG. 4, it is detected whether or not the operation unit 2 is vibrating.

  Here, as shown in FIG. 2A, a predetermined threshold LV is set. The threshold LV is defined in a range between the first level position LV1 and the second level position LV2. As shown in FIG. 2A, the vibration is a state in which the position of the operation unit 2 is fluctuated within the threshold LV. Here, the first level position LV1 and the second level position LV2 are, for example, a position on the X1 side and a position on the X2 side sandwiching a predetermined position (a position where the operation unit 2 should be stationary), and a threshold LV Is set by the length between the first level position LV1 and the second level position LV2. The magnitudes of the first level position LV1, the second level position LV2, and the threshold LV can be set according to the vibration state of the operation unit 2 after giving a predetermined force sense to the operation unit 2.

  Based on the detection signal obtained from the first sensor 5, the control unit 7 first determines whether or not the operation unit 2 is in a vibrating state. The first sensor 5 can obtain detection signals for the movement states of the operation unit 2 in the X1 direction and the X2 direction, and the detection signal is sent to the control unit 7.

  As shown in FIG. 2A, the position of the operation unit 2 is fluctuated within the threshold LV, and the movement L1 in the X1 direction and the movement L2 in the X2 direction are represented by the first sensor 5 and the control unit 7. When alternately detected at, the control unit 7 can determine that the vibration has occurred if the movements L1 and L2 are counted a predetermined number of times within a predetermined time.

  In step ST2 of FIG. 4, it is detected whether or not the operator has performed an operation. This can be determined by whether or not the operation unit 2 has moved beyond the threshold LV. If it is determined that the operation unit 2 has not moved beyond the threshold LV, it is determined that no operation has been performed by the operator, and the process proceeds to step ST3. In step ST3, a vibration convergence mode M1 is set in which the driving force (torque) of the first motor 3 is gradually attenuated, and the vibration of the operation unit 2 is converged and stopped. As shown in FIG. 2A, in the vibration convergence mode M1, the state in which the vibration of the operation unit is converged is maintained. Since this vibration convergence state is continued as long as no movement exceeding the threshold LV occurs, it is possible to stably converge the vibration.

  On the other hand, if it is determined in step ST2 of FIG. 4 that the operator has operated, the process proceeds to step ST4, where the operation unit 2 is switched to the normal mode M2 that generates a predetermined force sense. As shown in FIG. 2A, the operation unit 2 has moved beyond the first level position LV1 that defines the range of the threshold LV. For example, it is assumed that the operator moves the operation unit 2 from the position on the X1 side in the X2 direction. At this time, the first sensor 3 can detect the movement position of the operation unit 2 and the movement amount when moving in the X2 direction. Then, the first sensor 3 and the control unit 7 can detect that the operation unit 2 has moved beyond the first level position LV1, and thereby the vibration convergence mode M1 can be switched to the normal mode M2.

  As shown in FIG. 4, even if the vibration convergence mode M1 is set, if it is determined in step ST2 that the operation unit 2 has moved beyond the first level position LV1, the vibration convergence mode M1 is canceled. It is possible to smoothly shift to the normal mode M2.

  As described above, in this embodiment, the vibration of the operation unit 2 is controlled using the threshold value related to the magnitude of the position variation. As a result, a small vibration that falls within the threshold is felt only within the first short time, and thereafter, the vibration can be stably converged, and a force sense is generated in the operation unit 2 smoothly from the vibration convergence mode. You can enter mode.

  In the above description, the operation unit 2 is moved from the reference position E in the X1 direction. However, the vibration convergence mode is based on the position of the operation unit 2 shown in FIGS. In addition, the activation timing in the normal mode is similarly exhibited even when the operation unit 2 is moved in a direction other than the X1 direction.

  For example, when each of the sensors 5 and 6 is a potentiometer, the amount of movement of the operation unit 2 in the X1, X2, Y1, and Y2 directions can be detected, so that the amount of movement is based on the amount of movement in each direction. Is smaller than the threshold value LV, the vibration convergence mode is set on the assumption that the operation unit 2 is vibrating, and if the movement amount is larger than the threshold value LV, a normal mode for generating a force sense on the operation unit 2 is set. it can.

  The first sensor 5 in the present embodiment can easily and appropriately detect a continuous alternating operation in the X1 direction and the X2 direction in the operating body 2. Further, the second sensor 6 can easily and appropriately detect the continuous alternating operation in the Y1 direction and the Y2 direction in the operating body 2. When the operation unit 2 is in a state where the position of the operation unit 2 fluctuates within the threshold LV and the above-described alternate operation is detected, it can be appropriately and easily determined that the operation unit 2 is vibrating.

  Further, in the present embodiment, the operation unit 2 is supported so as to be movable in the intersecting X and Y directions, and the first motor 3 for generating a force sense when the operation unit 2 moves in the X direction. A second motor 4 for generating a force sense when the operation unit 2 moves in the Y direction is provided. As a result, predetermined force senses can be generated for movement in multiple directions. Further, the vibration convergence mode and the normal mode can be switched for each of the motors 3 and 4.

  The input device 1 of the present embodiment can be used for a vehicle, for example. For example, the present invention can be applied to an input operation unit or shifter arranged on the center console. Although the input device 1 is not limited to a vehicle, the use of the input device 1 for a vehicle makes it possible to improve safety and comfort during driving by an input device that provides tactile force feedback.

LV threshold LV1 first level position LV2 second level position M1 vibration convergence mode M2 normal mode 1 input device 2 operation unit 3, 4 motor (drive unit)
5, 6 Sensor (detector)
7 Control unit 8 Support

Claims (3)

An operation unit supported movably,
A drive unit for applying a force sense to the operation unit;
A detection unit capable of detecting movement of the operation unit;
It is possible to switch between the normal mode and the vibration convergence mode. A control unit that sets the normal mode for generating a force sense for the operation unit when the operation unit moves beyond the threshold;
An input device comprising:   The detection unit or the control unit is capable of detecting a moving direction of the operation unit, and the operation unit is in a state where the position of the operation unit is fluctuated within the threshold, and the first direction and the first direction 2. The input device according to claim 1, wherein the vibration convergence mode is set on the assumption that the operation unit is vibrating when an alternate movement with the second direction opposite to the first direction is detected.   The operation unit is supported to be movable in a plurality of intersecting directions, and a plurality of the drive units for generating the force sense in each direction when the operation unit moves in each direction intersecting. The input device according to claim 1, wherein the input device is provided and is capable of switching between the vibration convergence mode and the normal mode for each drive unit.

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