JP6879130B2 - Operating device and X-ray imaging unit - Google Patents

Description

The present disclosure relates to an operating device and an X-ray imaging unit.

Patent Document 1 describes a capacitive touch sensor. In Patent Document 1, the threshold value for determining the presence or absence of contact with the touch sensor is periodically calibrated.

Japanese Unexamined Patent Publication No. 2010-191834 (published on September 2, 2010)

A touch sensor may also be provided in the operating device for remotely controlling the device to be operated. In such an operating device, the presence or absence of contact with the touch sensor is detected, and various processes are performed based on the detection result.

Here, the sensitivity of the touch sensor changes depending on various environments in the operating device. Therefore, in Patent Document 1, the threshold value for determining the presence or absence of contact with the touch sensor is periodically calibrated.

However, if the calibration is performed regularly, that is, automatically after a predetermined time and number of days have passed, the power for the calibration is consumed more than necessary.

One aspect of the present disclosure is to suppress power consumption by performing threshold calibration at a required timing.

In order to solve the above problems, the operation device according to one aspect of the present disclosure is an operation device that is detachably held by a holding mechanism provided in the operation target device and remotely operates the operation target device. Alternatively, it is attached to the holding mechanism and a contact determination unit that determines whether or not the human body is in contact with the touch sensor based on the plurality of touch sensors and the touch sensor output values and threshold values from the one or more touch sensors. It has a holding detection unit that detects that the holding state has been set, and a calibration unit that calibrates the threshold value when the holding detecting unit detects that the holding state has been reached.

As a result, as in Patent Document 1, in the case of performing calibration on a regular basis, that is, automatically when a predetermined time and number of days have passed, the frequency is higher than necessary assuming all usages and environments. It is necessary to calibrate. In comparison with this, according to the above disclosure, since calibration can be performed when necessary, power consumption can be suppressed. As a result, unnecessary battery consumption can be prevented. Moreover, accurate grip detection can be performed.

In the operation device according to one aspect of the present disclosure, the calibration unit may start calibration of the threshold value after a predetermined time has elapsed from the detection that the holding detection unit is in the holding state.

In the operation device according to one aspect of the present disclosure, when the calibration unit starts the calibration of the threshold value, if it is determined that the human body is in contact with the touch sensor, the calibration unit starts the calibration of the threshold value. You don't have to.

In the operating device according to one aspect of the present disclosure, if it is determined that the human body has come into contact with the touch sensor during the calibration of the threshold value, the calibration unit stops the calibration of the threshold value. You may.

In the operation device according to one aspect of the present disclosure, the calibration unit has a touch sensor output value acquisition step of acquiring a plurality of touch sensor output values a predetermined number of times from the one or a plurality of touch sensors, and the touch sensor output value acquisition. The calibration is performed by executing a calibration process including a calibration value calculation step of calculating a calibration value for calibrating the threshold value for each touch sensor from the plurality of touch sensor output values acquired in the step. May be good.

In the operation device according to one aspect of the present disclosure, whether the difference between the plurality of touch sensor output values acquired in the touch sensor output value acquisition step is within a predetermined range after the calibration unit starts executing the calibration process. Alternatively, the threshold value may be changed to the calibration value as long as the difference between the calibration value calculated in the calibration value calculation step and the threshold value, which is the calibration value when the calibration value was previously calibrated, is within a predetermined range. ..

In the operation device according to one aspect of the present disclosure, in the calibration unit, the difference between the plurality of touch sensor output values acquired in the touch sensor output value acquisition step is out of a predetermined range, or in the calibration value calculation step. If the difference between the calculated calibration value and the threshold value is outside the predetermined range, the threshold value may not be changed.

In the operating device according to one aspect of the present disclosure, the calibration unit may stop the calibration when the operating device is removed from the holding mechanism during the execution of the calibration.

The operating device according to one aspect of the present disclosure may further include a calibration notification unit that notifies that the calibration unit is calibrating the threshold value.

The operating device according to one aspect of the present disclosure may further include an error notification unit for notifying that the threshold value has not been calibrated correctly.

In the X-ray imaging unit according to one aspect of the present disclosure, the operation target device is an X-ray imaging device, and may include the operation target device and the operation device according to one aspect of the present disclosure.

In the X-ray imaging unit according to one aspect of the present disclosure, the holding mechanism may have a contact prevention unit that prevents the human body from coming into contact with the one or more touch sensors in the holding state.

In the X-ray imaging unit according to one aspect of the present disclosure, the holding mechanism may have a removal blocking unit that prevents the operating device from being removed during calibration by the calibration unit.

According to one aspect of the present invention, by executing the calibration of the threshold value at a necessary timing, the effect of suppressing the power consumption can be obtained.

It is a figure which shows the appearance of the X-ray photographing unit which comprises the operation apparatus which concerns on one Embodiment of this invention. It is a perspective view which shows the appearance of the holder provided with the operation device shown in FIG. 1 and the X-ray imaging unit. (A) to (d) are diagrams showing a state in which the operating device is operated by the operator. It is a figure which shows the state which removed the front case and the lower cap in the operation apparatus shown in FIG. It is a figure which shows the front case and the front electrode in the operation apparatus shown in FIG. It is a figure which shows the rear case and the rear electrode in the operation apparatus shown in FIG. It is a block diagram which shows the structure of the X-ray imaging unit shown in FIG. (A) is a diagram showing a touch sensor output value in a state where the operator is not in contact with the first touch sensor and the second touch sensor, and (b) is a diagram showing the operator to the first touch sensor and the second touch sensor. It is a figure which shows the touch sensor output value in the contact state. It is a figure which shows the internal structure of the operation device and a holder shown in FIG. It is a figure which shows the flow of the calibration process performed by the operation apparatus shown in FIG. It is a figure which shows an example of the time chart of the calibration by the operation apparatus shown in FIG. It is a figure which shows another example of the time chart of the calibration by the operation apparatus shown in FIG. It is a figure which shows another example of the time chart of the calibration by the operation apparatus shown in FIG. It is a figure which shows the flow of the calibration process performed by the calibration part in the operation apparatus. It is a figure which shows the flow of the process of determining the presence or absence of contact with a touch sensor during the touch sensor output value acquisition step of the calibration part. It is a figure which shows the flow of the process of determining the presence or absence of contact with a touch sensor after the touch sensor output value acquisition step of the calibration part. It is a figure which shows the flow of the process which stops the calibration when there is a contact with a touch sensor during the touch sensor output value acquisition step of the calibration part. It is a figure which shows the flow of the calibration process including the determination of the suitability of the calibration value calculated by the calibration part. It is a figure which shows the process flow of the modification of the calibration including the determination of the suitability of the calibration value calculated by the calibration part. It is a figure which shows the flow which the calibration part corrects at least one value of a plurality of touch sensor output values during execution of calibration. (A) is a diagram showing how the first touch sensor output value of the first touch sensor is smaller than the threshold value, and (b) is a diagram showing how the second touch sensor output value of the second touch sensor is larger than the threshold value. .. It is a figure which shows the flow which the calibration part cancels the calibration according to the value of a plurality of touch sensor output values during execution of calibration. It is a figure which shows the flow that the calibration part discards a part of touch sensor output values according to the value of a plurality of touch sensor output values during execution of calibration. It is a perspective view which shows the appearance of the operation apparatus shown in FIG. 2 and the holder which concerns on modification 1. FIG. It is a figure which shows an example of the structure of the operation apparatus and holder which concerns on modification 2. It is a figure which shows another example of the structure of the holder which concerns on modification 2. It is a block diagram which shows the structure of the X-ray imaging unit which concerns on Embodiment 2. It is a figure which shows the process flow of the said operation apparatus which performs calibration when a temperature change is more than a certain constant. It is a figure which shows the process flow of the said operation apparatus which performs calibration when the change of a battery voltage is more than a certain degree. It is a figure which shows the process flow of the operation apparatus which performs calibration when the number of operations of an operation part is more than a certain number. It is a figure which shows the process flow of the said operation apparatus which performs calibration when a battery effect is performed. It is a figure which shows the process flow of the operation apparatus which performs calibration when the apparatus power of the X-ray imaging apparatus is turned on. It is a figure which shows the processing flow of the said operating apparatus which performs calibration when there is no operation of the operating apparatus for a certain period of time. It is a figure which shows the process flow of the said operation apparatus which performs calibration when the touch sensor output value is constant for a certain period of time.

[Embodiment 1]
(Configuration of X-ray imaging unit)
FIG. 1 is a perspective view showing an operation device for operating the operation target device according to the present embodiment together with a holder and an operation target device. The operation target device is an X-ray imaging device 2 that irradiates a patient with X-rays, detects the X-rays transmitted through the patient, and generates an X-ray image. The X-ray imaging apparatus 2 includes an X-ray imaging apparatus main body 1 and a holder 100 (holding mechanism) attached to the X-ray imaging apparatus main body 1. As shown in FIG. 1, the holder 100 holds the operating device 200 (operating device) detachably.

FIG. 2 is a perspective view showing an operating device according to the present embodiment. The operation device 200 is a remote controller for remotely controlling the X-ray imaging device 2. The operating device 200 has a front case 250, a rear case 260, and a lower cap 270, which are housings. The operation device 200 has a substantially cylindrical shape, and a main switch 210 is provided on the upper surface thereof, and an option switch 220 is provided on the upper surface of the peripheral surface. The operator grasps the peripheral surface of the operating device 200, and operates the operating device 200 by, for example, pressing the main switch 210 provided on the upper surface with the thumb and the option switch 220 provided on the peripheral surface with the index finger. To do. That is, the X-ray imaging device 2 is operated.

The main switch 210 is a switch that operates in two stages including a first switch member 201 and a second switch member 202 having different origin positions when not pressed by an operator. The first switch member 201 is configured so that the moving distance to the origin position is longer than that of the second switch member 202.

The operation unit 280 includes a main switch 210 and an option switch 220 that accept operations by the operator. The operating device 200 outputs an X-ray imaging instruction to the X-ray imaging device 2 when the main switch 210 is pressed, and indicates the X-ray irradiation range of the X-ray imaging device 2 when the option switch 220 is pressed. An instruction for turning on or off the lighting of the lighting equipment is output to the X-ray imaging apparatus 2.

As shown in FIGS. 3A to 3C, the main switch 210 includes the first switch member 201 and the second switch member 202 as described above. The main switch 210 can press the second switch member 202 when the first switch member 201 is pressed.

As shown in FIG. 3C, when the first switch member 201 is pressed, the operating device 200 takes an X-ray image (via the holder 100) of information that the first switch member 201 is pressed. Output to the device body 1. Then, the rotation of the X-ray tube anode target (not shown) in the X-ray imaging apparatus main body 1 starts. The X-ray tube anode target takes a certain amount of time to reach a sufficient rotation speed.

As shown in FIG. 3D, when the second switch member 202 is pressed, that is, when both the first switch member 201 and the second switch member 202 are pressed to the origin position, the operating device 200 receives the operating device 200. Information indicating that the second switch member 202 has been pressed is output to the X-ray imaging apparatus main body 1 (via the holder 100).

As a result, the X-ray imaging apparatus main body 1 irradiates X-rays and performs X-ray imaging. The detection of whether or not the operator is holding the operating device 200 will be described later.

4 to 6 are views showing the internal structure of the operating device 200. FIG. 4 is a view showing a state in which the front case 250 and the lower cap 270 of the operating device 200 are removed, FIG. 5 is a view showing the front case 250 and the first touch sensor 241, and FIG. 6 is a rear case. It is a figure which shows 260 and the 2nd touch sensor 242.

As shown in FIGS. 4 to 6, the operating device 200 includes a touch sensor control unit 234 composed of, for example, an IC, a first touch sensor 241 and a first touch sensor 241 inside the operation device 200 surrounded by the front case 250 and the rear case 260. It includes a 2-touch sensor 242, a communication unit 231 composed of, for example, an IC, and a battery 243.

The first touch sensor 241 and the second touch sensor 242 (hereinafter, may be simply referred to as a touch sensor) are capacitive electrodes. Here, in the front case 250, a hole 250a is formed at a position where the option switch 220 is arranged. The first touch sensor 241 is arranged below the hole 250a (in the direction opposite to the direction in which the main switch 210 is provided) along the inner wall of the front case 250. The second touch sensor 242 is arranged along the inner wall of the rear case 260, and is arranged at a position that faces the first touch sensor 241 in the radial direction.

The number of touch sensors is not limited to two, and three or more touch sensors may be arranged side by side along the inner walls of the front case 250 and the rear case 260 in the circumferential direction.

The touch sensor control unit 234 is electrically connected to the first touch sensor 241 and the second touch sensor 242 (and other touch sensors if they have other touch sensors), and the first touch sensor 241 and Whether or not the operating device 200 is gripped by the operator based on the change in the capacitance of the second touch sensor 242 (including other touch sensors if they have other touch sensors; the same applies hereinafter). Is detected. The details of the detection method will be described later.

The communication unit 231 transmits an operation signal based on the operation of the operation unit 280 to the communication unit of the holder 100 by wireless communication. Further, the communication unit 231 may receive an activation signal indicating an activation state of the X-ray imaging apparatus main body 1 from the holder 100. The wireless communication method performed by the communication unit 231 is not particularly limited, and examples thereof include Bluetooth (registered trademark) and infrared rays.

Although FIGS. 4 to 6 show an example in which the touch sensor control unit 234 and the communication unit 231 are configured by separate ICs, the touch sensor control unit 234 and the communication unit 231 are combined into one IC. It may be included.

(Block diagram of X-ray imaging unit 300)
FIG. 7 is a functional block diagram showing the configuration of the X-ray imaging unit 300 of the present embodiment. As shown in FIG. 7, the X-ray imaging unit 300 includes an X-ray imaging device 2 and an operating device 200. The holder 100 has a communication unit 101. The communication unit 101 on the X-ray imaging apparatus 2 side may be provided not in the holder 100 but in the X-ray imaging apparatus main body 1.

The operation device 200 includes an operation unit 280, a control unit 230, a battery 243, a temperature sensor 244, a notification unit 245 (calibration notification unit, error notification unit), and a first touch sensor which is at least two touch sensors. It has 241 and a second touch sensor 242.

The control unit 230 integrally controls the operation of each unit of the operation device 200. The control unit 230 includes a communication unit 231, a calibration unit 232, a holding detection unit 233, and a touch sensor control unit 234 (contact determination unit).

The communication unit 231 is a communication unit on the operation device 200 side, and performs the above-mentioned wireless communication with the communication unit 101 on the X-ray imaging device 2 side.

The touch sensor control unit 234 controls the drive of the first touch sensor 241 and the second touch sensor 242. The touch sensor control unit 234 outputs a drive signal to the first touch sensor 241 and the second touch sensor 242 at predetermined time intervals, and the first touch sensor 241 and the second touch sensor 242 output capacitance values at predetermined time intervals. It is output to the touch sensor control unit 234 as a touch sensor output value. When a part of the operator's body such as a finger comes into contact with the first touch sensor 241 and the second touch sensor 242, the capacitance increases (or decreases).

FIG. 8A is a diagram showing a touch sensor output value in a state where the operator is not in contact with the first touch sensor 241 and the second touch sensor 242, and FIG. 8B is a diagram in which the operator is the first. It is a figure which shows the touch sensor output value in the state of being in contact with a touch sensor 241 and the 2nd touch sensor 242.

As shown in FIG. 8A, the touch sensor control unit 234 sets a preset threshold value for the touch sensor output value Vout from the first touch sensor 241 and the second touch sensor 242 during measurement of the presence or absence of contact. If the value Vl is smaller than Vth, the operator determines that the first touch sensor 241 and the second touch sensor 242 are not in contact with each other. As shown in FIG. 8B, the touch sensor control unit 234 sets a preset threshold value for the touch sensor output value Vout from the first touch sensor 241 and the second touch sensor 242 during measurement of the presence or absence of contact. If the value is Vh or more, it is determined that the operator is in contact with the first touch sensor 241 and the second touch sensor 242. The touch sensor control unit 234 determines whether the operator's finger or the like is in contact with or is not in contact by comparing the magnitude relationship between the touch sensor output value Vout and the threshold value Vth for each touch sensor.

In this way, the touch sensor control unit 234 determines whether or not the operator is in the gripping state of gripping the operating device 200 based on the output values of the touch sensors output from the plurality of touch sensors, and is in the gripping state. Generates gripping state information indicating whether or not. That is, the touch sensor control unit 234 determines whether the operation in which at least one of the main switch 210 and the option switch 220 is pressed is a normal operation intended by the operator or an erroneous operation not intended by the operator. It is also a judgment unit to do.

Specifically, when the operator grips the operation device 200 to operate the operation unit 280, the area in which the first touch sensor 241 of the front case 250 is arranged and the second touch sensor 242 of the rear case 260 move. The operator's finger or the like comes into contact with the arranged area, and the capacitances of the first touch sensor 241 and the second touch sensor 242 change. The touch sensor control unit 234 is in a gripping state in which the operating device 200 is gripped when the capacitances of both the first touch sensor 241 and the second touch sensor 242 change so as to be equal to or higher than the threshold value Vth. Detect (perform grip detection).

When the operating device 200 has three or more touch sensors such as four, and when the capacitance of at least two touch sensors changes so as to be equal to or higher than the threshold value Vth, the operating device 200 is gripped. Detects that it is in a gripping state (performs gripping detection).

Further, the touch sensor control unit 234 may monitor whether or not the touch sensor output value from each touch sensor is constant for a predetermined time or more recorded in advance.

As described above, the operation unit 280 includes a main switch 210 having the first switch member 201 and the second switch member 202, and an option switch 220. When the operator operates the main switch 210 and the option switch 220, the operation unit 280 transmits an operation signal corresponding to the operation to the control unit 230. The operation signal is a signal for operating the X-ray photographing apparatus 2.

When the control unit 230 receives the operation signal from the operation unit 280 and the grip state information generated by the touch sensor control unit 234 is in the grip state (that is, when the grip detection is performed), the communication unit 231 sends the operation signal. Is transmitted to the communication unit 101 on the X-ray imaging apparatus 2 side. As a result, the X-ray imaging apparatus 2 performs the operation intended by the operator.

On the other hand, even if the control unit 230 receives the operation signal from the operation unit 280, if the grip state information acquired by the touch sensor control unit 234 is not in the grip state (that is, when the grip detection is not performed), the communication unit 231 The operation signal is not transmitted to the communication unit 101 on the X-ray imaging apparatus 2 side.

For example, when the operator removes the operating device 200 from the holder 100 and puts it in a pocket of clothes to perform other operations other than taking an X-ray image, and the operating device 200 is erroneously operated in the pocket. Think. In such a case, since one of the electrodes of the first touch sensor 241 and the second touch sensor 242 is in contact with the operator through clothes in the pocket, the capacitance changes. However, since the other electrode is not in contact with the operator, the touch sensor control unit 234 detects that the operating device 200 is not in the gripped state. Therefore, even if the operation unit 280 is operated in such a state, the operation signal is not transmitted and the X-ray imaging apparatus main body 1 does not irradiate X-rays.

Further, as a work other than the acquisition of the X-ray image, it is conceivable that the operation device 200 in the pocket and the bed or the like come into contact with each other while assisting the patient. Even in such a case, if the conductor does not come into contact with both the area where the first touch sensor 241 is provided and the area where the second touch sensor 242 is provided, the touch sensor control unit 234 Does not detect that the operating device 200 is in the gripping state. Therefore, even if one of the electrodes of the first touch sensor 241 and the second touch sensor 242 comes into contact with the operator through clothes and the other electrode comes into contact with a bed or the like that is not a conductor, the touch sensor control unit 234 It does not detect that the operating device 200 is in the gripping state.

As described above, the operating device 200 according to the present embodiment includes at least two electrodes as sensors for detecting contact with the human body, and when two of them detect contact, it detects that the device is in the gripped state. Therefore, even if the operation unit 280 is operated in an unintended state, that is, in a state where the operation device 200 is not gripped, the operation signal is not transmitted to the X-ray photographing apparatus main body 1. As a result, it is possible to prevent X-rays from being emitted from the X-ray imaging apparatus main body 1 due to an erroneous operation that is an operation not intended by the operator.

The calibration unit 232 shown in FIG. 7 calibrates the threshold value Vth for each of the plurality of touch sensors. The touch sensor control unit 234 detects contact and non-contact of the operator's finger or the like for each touch sensor based on the threshold value Vth calibrated by the calibration unit 232 for each touch sensor. Since each touch sensor is a capacitance type, the sensitivity changes depending on the external environment. Therefore, in order to prevent malfunction, the calibration unit 232 calibrates the threshold value Vth for each touch sensor. In the present embodiment, the calibration unit 232 calibrates the threshold value Vth for each touch sensor when the operation device 200 is attached to the holder 100.

The notification unit 245 may be, for example, at least one of a buzzer and a light emitting element (LED). The control unit 230 outputs a notification instruction to the notification unit 245 when a predetermined time has elapsed since the operation device 200 was removed from the holder 100. Whether the operating device 200 is attached to or removed from the holder 100 is specified by the detection result of the holding detection unit 233. The notification unit 245 performs a notification operation by at least one of sound and light in response to a notification instruction from the control unit 230. That is, the notification unit 245 sounds a buzzer or causes a light emitting element to emit light. As a result, the notification unit 245 notifies the operator that the operation device 200 has been removed from the holder 100 for a predetermined time.

Further, as will be described later, if the operator touches the touch sensor with a finger or the like during the calibration of the touch sensor, accurate calibration cannot be performed. Therefore, the notification unit 245 may perform the notification operation while the calibration unit 232 is calibrating. In this case, when the calibration unit 232 starts executing the calibration, the calibration unit 232 outputs a notification instruction to the notification unit 245. Then, the notification unit 245 performs a notification operation by at least one of sound and light in response to a notification instruction from the control unit 230. That is, the notification unit 245 sounds a buzzer or causes a light emitting element to emit light. As a result, the notification unit 245 notifies the operator not to touch the touch sensor with a finger or the like because the calibration is in progress.

Further, the calibration unit 232 may output a notification instruction to the notification unit 245 when the calibration is completed. It is preferable that the notification operation performed by the notification unit 245 at this time is different from the notification operation during calibration. For example, the notification unit 245 may make the buzzer sound different, or make the light emitting color and the light emitting mode (for example, blinking or lighting) of the light emitting element different.

Further, the notification unit (not shown) provided in the holder 100 may perform the notification operation together with the notification operation by the notification unit 245 or instead of the notification operation by the notification unit 245. Specifically, the calibration unit 232 transmits the notification instruction to the holder 100 via the communication unit 231 to realize the notification operation by the notification unit provided in the holder 100. Further, by transmitting the notification instruction to the holder 100, it is possible to display the screen corresponding to the leaving instruction on the display unit (not shown) provided in the X-ray imaging apparatus main body 1.

The holding detection unit 233 detects whether or not the operating device 200 is attached to the holder 100. Hereinafter, the state in which the operating device 200 is attached to the holder 100 is referred to as a "holding state", and the state in which the operating device 200 is removed from the holder 100 is referred to as a "non-holding state".

FIG. 9 is a diagram showing the internal configuration of the operating device 200 and the holder 100. For example, as shown in FIG. 9, the operating device 200 includes a Hall IC as a holding detection unit 233, and the holder 100 is provided with a magnet 110. As a result, the Hall IC senses the magnet 110 of the holder 100 while the operating device 200 is mounted on the holder 100. As a result, the Hall IC detects that the operating device 200 has changed from the non-holding state to the holding state. On the other hand, the Hall IC detects that the operating device 200 has changed from the holding state to the non-holding state when the magnet 110 cannot be detected.

The method for detecting the change from the non-holding state to the holding state is not limited to the above example. For example, electrodes are provided for each of the operating device 200 and the holder 100, and when the holding detection unit 233 senses contact between the electrodes while the operating device 200 is mounted on the holder 100, the operating device 200 is not. It may be possible to detect that the holding state has changed to the holding state. Further, the operation device 200 is provided with a photo sensor, a micro switch, a heat sensor, and the like, and the holding detection unit 233 acquires a signal output from these, and indicates that the operation device 200 has changed from the non-holding state to the holding state. It may be detected.

Further, the holding detection unit 233 is used not only when the user attaches the operating device 200 to the holder 100, but also when the power of the X-ray photographing apparatus 2 is turned on while the operating device 200 is attached to the holder 100. , It may be considered that the state has changed from the non-holding state to the holding state. In other words, the calibration unit 232 may execute the calibration when the power supply (not shown) of the X-ray imaging apparatus 2 is turned on with the operation device 200 mounted on the holder 100.

When the holding detection unit 233 detects that the holding state has changed from the non-holding state, the holding detection unit 233 outputs a signal (hereinafter, referred to as a “holding detection signal”) to that effect to the calibration unit 232. Further, when the holding detection unit 233 detects that the holding state has changed to the non-holding state, the holding detection unit 233 outputs a signal indicating that fact (hereinafter, referred to as a “non-holding detection signal”) to the calibration unit 232.

(Flow of calibration process)
FIG. 10 is a diagram showing a flow of calibration processing performed by the operating device 200. In the example shown in FIG. 10, the holding detection unit 233 monitors whether or not the operating device 200 is mounted on the holder 100 (step S1). Then, when it is detected that the operating device 200 is attached to the holder 100 (Yes in step S1), the calibration unit 232 calibrates the threshold value Vth for each of the plurality of touch sensors (step S20).

As described above, the operating device 200 according to the present embodiment executes calibration when it detects that its own device is mounted on the holder 100. As a result, the threshold value Vth of each touch sensor can be calibrated in a situation where it is unlikely that the operator is gripping or operating the operating device 200. Therefore, the threshold value can be calibrated at the required timing. As a result, the power consumption required for calibration can be suppressed. In addition, the possibility that the touch sensor is accurately calibrated can be increased.

(Start and stop of calibration)
11 to 13 are time charts of calibration by the operating device 200. As described above, the calibration unit 232 cannot perform accurate calibration when the touch sensor detects contact. Therefore, it is preferable that the calibration unit 232 starts the calibration after a predetermined time has elapsed after the operation device 200 is attached to the holder 100. In other words, it is preferable that the calibration unit 232 starts the calibration after a predetermined time has elapsed from the acquisition of the holding detection signal from the holding detection unit 233. As a result, the operator of the operating device 200 can start the calibration after mounting the operating device 200 on the holder 100 and releasing the hand from the operating device 200.

For example, as shown in FIG. 11A, the calibration unit 232 may start calibration after waiting for 0.5 seconds after the operating device 200 is attached to the holder 100. The time provided for calibration is not particularly limited, but may be 2.0 seconds as shown in FIG. 11 (a), and calibration is continued until the threshold value Vth becomes a value within a predetermined range. You may. The predetermined range may be determined based on, for example, the threshold value Vth before correction. Further, as shown in FIG. 11A, the operating device 200 goes into a sleep state when the calibration is completed.

Further, the calibration unit 232 may be configured not to start the calibration or to stop the calibration when there is a possibility that accurate calibration cannot be performed. For example, in the case of the example shown in FIG. 11B, the calibration unit 232 stops the calibration when the operating device 200 is removed from the holder 100 during the execution of the calibration. Specifically, when the calibration unit 232 acquires the non-holding detection signal from the holding detection unit 233 during the execution of the calibration, the calibration is stopped.

Further, for example, in the case of the example shown in FIG. 12A, the calibration unit 232 operates the main switch 210 or the option switch 220 before the execution of the calibration (that is, during the standby time), and the calibration start timing is determined. However, when the operation is continued, the calibration is not started. Specifically, the calibration unit 232 does not start the calibration if the operation signal acquired from the operation unit 280 during the standby time is continuously acquired even when the calibration start timing is reached.

Further, for example, in the case of the example shown in FIG. 12B, the calibration unit 232 stops the calibration when the main switch 210 or the option switch 220 is operated during the execution of the calibration. Specifically, the calibration unit 232 stops the calibration when the operation signal is acquired from the operation unit 280 during the execution of the calibration.

Further, for example, in the case of the example shown in FIG. 13, if the touch sensor detects the contact with the human body when the operating device 200 is attached to the holder 100, the calibration unit 232 does not start the calibration. Specifically, when the holding detection signal is acquired from the holding detection unit 233, the calibration unit 232 does not start the calibration if the touch detection signal is acquired from the touch sensor control unit 234.

Although not shown, the calibration unit 232 may stop the calibration when the touch sensor detects the contact with the human body during the execution of the calibration.

As described above, when the calibration unit 232 is in a situation where accurate calibration may not be possible, the operator does not start the calibration or cancels the calibration, so that the operator remains in contact with the touch sensor. Calibration can be performed to prevent improper thresholds from being set.

Further, as shown in FIGS. 11B, 12 and 13, the calibration unit 232 preferably notifies the notification unit 245 that the calibration has not been started or the calibration has been stopped. .. In other words, it is preferable that the calibration unit 232 notifies the notification unit 245 when an error occurs in the calibration. Specifically, the calibration unit 232 causes the notification unit 245 to perform a notification operation by outputting a notification instruction to the notification unit 245. This allows the operator to recognize that an error has occurred in the calibration.

It is preferable that the notification operation is different from the notification operation during and after calibration and the notification operation when the operating device 200 is removed from the holder 100 for a predetermined time. In the illustrated example, the notification unit 245 continues the notification operation until the error is resolved, for example, in the case of (b) of FIG. 11, until the operation device 200 is reattached to the holder 100. The notification operation time of the notification unit 245 is not limited to this example.

Further, when an error occurs, the calibration unit 232 waits until the retry operation is performed. The retry operation is, for example, reattaching the operation device 200 to the holder 100. In the case of the example of FIG. 11B, when the removed operating device 200 is attached to the holder 100 as shown in the drawing, the calibration unit 232 re-executes the calibration. Further, in the case of the example of FIG. 13, although not shown, when the operating device 200 is removed from the holder 100 and reattached to the holder 100, the calibration unit 232 re-executes the calibration.

In the case of the example of FIG. 12, the calibration unit 232 exceptionally restarts the calibration without performing the above retry operation. This is because when the main switch 210 or the option switch 220 is operated while being mounted on the holder 100, a predetermined process is executed (in other words, the operation is not strictly an error). Is. In the case of this example, as shown in FIG. 12, when the operation of the main switch 210 or the option switch 220 is completed, that is, when the operation signal from the operation unit 280 is no longer acquired, the calibration unit 232 starts the calibration. ..

Further, although not shown, in the example of FIG. 13, when the touch sensor no longer detects the contact with the human body, the calibration may be performed again without waiting for the retry operation. Further, in the example of FIG. 12, the retry operation may be waited for.

In addition, the calibration is basically completed in about 1 second. Therefore, in the example of FIG. 12, when the operation of the main switch 210 or the option switch 220 is completed, or when the touch sensor does not detect the contact with the human body in the example of FIG. 13, it is provided for calibration. If the time remaining is 1 second or more, the calibration unit 232 may execute the calibration.

(Details of calibration by calibration unit 232)
FIG. 14 is a diagram showing a flow of calibration processing performed by the calibration unit 232.

As shown in FIG. 14, for example, when the above-mentioned step S1 is Yes, the calibration unit 232 then acquires the touch sensor output value for each touch sensor (step S21).

When the calibration unit 232 acquires the touch sensor output value for each touch sensor a predetermined number of times (Yes in step S22), the calibration unit 232 obtains a calibration value for each touch sensor, that is, a new threshold value from the plurality of touch sensor output values for the predetermined number of times. Calculate (step S23). For example, the calibration unit 232 acquires the touch sensor output value for each touch sensor 32 times, and calculates the average value of the 32 touch sensor output values for each touch sensor. Then, a calibration value, that is, a new threshold value is calculated for each of the plurality of touch sensors from the average value.

Next, the calibration unit 232 stores the calculated calibration value, that is, a new threshold value, in the touch sensor control unit 234 (step S24). As a result, the calibration by the calibration unit 232 is completed.

Of the steps executed by the calibration unit 232, the step of acquiring the touch sensor output value for a predetermined number of times (in the above case, step S21 and step S22) may be referred to as a touch sensor output value acquisition step. Further, among the steps executed by the calibration unit 232, the step of calculating the calibration value (step S23 in the above case) may be referred to as the calibration value calculation step. The calibration unit 232 calibrates the threshold value by executing a calibration process including a touch sensor output value acquisition step and a calibration value calculation step.

As described above, the calibration unit 232 calculates the calibration value of a touch sensor using a plurality of touch sensor output values acquired from the touch sensor in time series. For example, in the case of the first touch sensor 241 the calibration unit 232 outputs 32 touch sensor output values in time series from the first touch sensor 241 for a predetermined number of times (for example, 32 times) in the touch sensor output value acquisition step. get. Next, in the calibration value calculation step, the calibration unit 232 calculates the average value of the touch sensor output values from the 32 touch sensor output values acquired in the touch sensor output value acquisition step, and the first touch sensor is calculated from the average value. Calculate the calibration value of 241. After that, the calibration unit 232 calibrates the threshold value of the first touch sensor 241 using the calibration value (corrects the threshold value to the calculated calibration value). Calibrate other touch sensors for each touch sensor.

Therefore, if the touch sensor output value is significantly different due to the touch sensor being touched by an operator's finger or the like while the calibration unit 232 is calibrating, an accurate calibration value cannot be calculated.

Therefore, as described below, it is possible to provide a process for determining whether to calibrate using the calibration value calculated by the calibration unit 232 this time, or to discard the calibration value calculated this time (do not change the threshold value). preferable.

(Contact judgment during calibration 1)
FIG. 15 is a diagram showing a flow of processing for determining the presence / absence of contact with the touch sensor during the touch sensor output value acquisition step of the calibration unit 232. As shown in FIG. 15, in order to calculate an accurate calibration value, it may be determined whether or not there is contact with the touch sensor during the calibration of the touch sensor by the calibration unit 232.

In the processing example of the calibration unit 232 shown in FIG. 15, steps S22a to S22f are provided in place of step S22 shown in FIG. 14, and steps S23a and S25 are further provided.

Here, the calibration unit 232 will be described as executing the process shown in FIG. 15 after step S1 is executed. However, when the process of the calibration unit 232 shown in FIG. 15 is executed, the process of step S1 described above is executed. May be omitted. The same applies to the processes described below with reference to FIGS. 16 to 23.

When, for example, the above-mentioned step S1 is Yes (or when the calibration is started at a predetermined timing, etc.), the calibration unit 232 outputs a touch sensor for each touch sensor. Acquire the value (step S21).

When the calibration unit 232 acquires the touch sensor output value for each touch sensor at the first predetermined number of times (for example, 16 times) which is a part of the total predetermined number of times (for example, 32 times) (Yes in step S22a), then , The calibration unit 232 determines whether or not the difference (difference between the maximum value and the initial value) of the touch sensor output values for the first predetermined number of times is within a predetermined range determined in advance, and stores the determination result. (Step S22b). Next, the calibration unit 232 determines whether or not the fluctuation of the touch sensor output value acquired in step S22b is within a preset predetermined range, and stores the determination result (step S22b).

Then, the calibration unit 232 acquires the touch sensor output value for each touch sensor (step S22c).

When the calibration unit 232 acquires the touch sensor output value for each touch sensor at the second predetermined number of times (for example, 16 times) which is a part of the total predetermined number of times (for example, 32 times) (Yes in step S22d), then , The calibration unit 232 determines whether or not the difference (difference between the maximum value and the minimum value) of the touch sensor output values for the second predetermined number of times is within the preset predetermined range, and stores the determination result. (Step S22e).

Next, the calibration unit 232 determines whether or not the touch sensor output value of each touch sensor for the total predetermined number of times (for example, 32 times) required for calculating the calibration value has been acquired (step S22f). If No in step S22f, the process returns to step S22b.

In step S22f, when the calibration unit 232 determines that the touch sensor output value of each touch sensor has been acquired for the total predetermined number of times (for example, 32 times) required for calculating the calibration value (Yes in step S22f), then, A calibration value is calculated for each touch sensor from the touch sensor output values of each touch sensor for a total predetermined number of times (for example, 32 times) acquired in steps S21, S22a, S22c, S22d, and S22f (step S23).

Next, the calibration unit 232 refers to the determination result determined in steps S22b and S22e during the acquisition of the touch sensor output value for the total predetermined number of times, and the difference in the touch sensor output value for each touch sensor ( It is determined whether or not the difference between the maximum value and the minimum value is within the predetermined range (step S23a: touch sensor output value determination step).

In step S23a, when the calibration unit 232 determines that the difference between the touch sensor output values is within the predetermined range (Yes in step S23a), the calibration value calculated in step S23 is stored in the touch sensor control unit 234 (Yes). Step S24). That is, the calibration unit 232 completes the calibration by correcting the threshold value to the newly calculated calibration value. This is because, in the case of Yes in step S23a, it can be determined that the operator's finger or the like has not touched the touch sensor by the time the touch sensor output values for the total predetermined number of times (for example, 32 times) have been acquired. is there. Then, the touch sensor control unit 234 performs grip detection using the calibration value calculated in step 23.

On the other hand, in step S23a, when the calibration unit 232 determines that the fluctuation of the touch sensor output value is out of the predetermined range (No in step S23a), the calibration value calculated in step S23 is discarded and the calibration value is discarded. Is not stored in the touch sensor control unit 234 (step S25). That is, the calibration unit 232 stops the calibration without correcting the threshold value, and maintains the calibration value at the time of the previous calibration. In the case of No in step S23a, it can be determined that the touch sensor has not been touched by the operator's finger or the like by the time the touch sensor output values for the total predetermined number of times (for example, 32 times) have been acquired, which is accurate. This is because it is not possible to calculate a proper calibration value. As a result, the touch sensor control unit 234 performs grip detection using the previously calculated calibration value already stored in itself, instead of the calibration value calculated in step 23.

Note that step S22b and S22e are omitted, and the calibration unit 232 collectively determines in step S23a whether or not the fluctuation of the touch sensor output value acquired in one or a plurality of steps S22b is within a predetermined range. You may. Further, the calibration value not used in step S25 may be stored without being deleted.

As described above, according to the calibration shown in FIG. 15, the calibration unit 232 has the difference in the touch sensor output values acquired in the touch sensor output value acquisition steps (steps S21, S22a, S22c, S22d) within a predetermined range. For example, the calibration value calculated in the calibration value calculation step (step S23) after this is stored in the touch sensor control unit 234 (Yes / S24 in step S23a). That is, the calibration unit 232 completes the calibration by changing the threshold value to the calibration value calculated in the calibration value calculation step.

Further, if the difference between the touch sensor output values acquired in the touch sensor output value acquisition step (steps S21, S22a, S22c, S22d) is out of the predetermined range, the calibration unit 232 performs the subsequent calibration value calculation step (step). The calibration value calculated in S23) is discarded (No. S25 in step S23a). That is, the calibration unit 232 stops the calibration by maintaining the threshold value stored in the touch sensor control unit 234, which is the calibration value at the time of the previous calibration.

As a result, it is possible to prevent erroneous calibration due to contact of a finger or the like with the touch sensor during calibration. As a result, the occurrence of malfunction can be prevented.

In addition, the number of recalibrations when the operating device 200 does not operate correctly can be reduced, and the battery life can be extended.

Further, even when the operator holds the operation unit 280, the touch sensor control unit 234 detects a subtle change in the touch sensor output value, so that whether or not a finger or the like is touching the touch sensor with high accuracy can be determined. Judgment can be made.

FIG. 16 is a diagram showing a flow of processing for determining the presence or absence of contact with the touch sensor after the touch sensor output value acquisition step of the calibration unit 232. As shown in FIG. 16, the calibration unit 232 may collectively determine the contact with the touch sensor after the touch sensor output value acquisition step, not during the touch sensor output value acquisition step.

When, for example, the above-mentioned step S1 is Yes (or when the calibration is started at a predetermined timing, etc.), the calibration unit 232 outputs a touch sensor for each touch sensor. Acquire the value (step S21).

When the calibration unit 232 acquires the touch sensor output value for each touch sensor a predetermined number of times (for example, 32 times) (Yes in step S22), the calibration unit 232 then receives a difference in the touch sensor output values for the predetermined number of times (Yes). Whether or not the difference between the maximum value and the minimum value) is within the predetermined range is determined for each touch sensor (step S23a).

In step S23a, when the calibration unit 232 determines that the difference in the touch sensor output value is within a predetermined range for each touch sensor (Yes in step S23a), the calibration unit 232 touches each touch sensor a predetermined number of times (for example, 32 times). A calibration value is calculated for each touch sensor from the sensor output value (step S23).

On the other hand, in step S23a, when the calibration unit 232 determines that the difference in the touch sensor output values is out of the predetermined range (No in step S23a), the calibration value of the touch sensor is not calculated and the touch sensor is calibrated. To cancel.

In this way, the calibration unit 232 determines whether the difference between the plurality of touch sensor output values acquired in the touch sensor output value acquisition steps (steps S21 and S22) is within the predetermined range or outside the predetermined range. The touch sensor output value determination step (step S23a) is performed before the calibration value calculation step (step S23).

When the calibration unit 232 determines in the touch sensor output value determination step (step S23a) that the difference between the plurality of touch sensor output values acquired in the touch sensor output value acquisition steps (steps S21 and S22) is within a predetermined range. , The threshold value is changed to the calibration value calculated in the calibration value calculation step (step S23).

On the other hand, in the touch sensor output value determination step (step S23a), the calibration unit 232 determines that the difference between the plurality of touch sensor output values acquired in the touch sensor output value acquisition steps (steps S21 and S22) is out of the predetermined range. If it is determined, the calibration value calculation step (step S23) is not performed. That is, in this case, the calibration unit 232 stops the calibration of the touch sensor without calculating the calibration value of the touch sensor.

Even in this way, similarly to the process shown in FIG. 15, it is possible to prevent erroneous calibration due to contact of a finger or the like with the touch sensor during calibration. As a result, the occurrence of malfunction can be prevented.

In addition, the number of recalibrations when the operating device 200 does not operate correctly can be reduced, and the battery life can be extended.

FIG. 17 is a diagram showing a flow of processing for canceling calibration when the touch sensor is touched during the touch sensor output value acquisition step of the calibration unit 232. As shown in FIG. 17, the calibration unit 232 may end the execution of the calibration when it is determined that the touch sensor has been touched during the calibration.

When, for example, at least one of steps S11 to S17 described above is Yes (or when the calibration is started at a predetermined timing, etc.), the calibration unit 232 is then subjected to the touch sensor. The touch sensor output value is acquired every time (step S21).

When the calibration unit 232 acquires the touch sensor output value for each touch sensor at the first predetermined number of times (for example, 16 times) which is a part of the total predetermined number of times (for example, 32 times) (Yes in step S22a), then , The calibration unit 232 determines whether or not the difference (difference between the maximum value and the minimum value) of the touch sensor output values for the first predetermined number of times is within the preset predetermined range (step S22ba).

In step S22ba, when the calibration unit 232 determines that the difference (difference between the maximum value and the minimum value) of the touch sensor output values for the first predetermined number of times is out of the preset predetermined range (No in step S22ba). , The calibration of the touch sensor is stopped without calculating the calibration value of the touch sensor.

On the other hand, in step S22ba, when the calibration unit 232 determines that the difference (difference between the maximum value and the minimum value) of the touch sensor output values for the first predetermined number of times is within the preset predetermined range (step S22ba). Yes), the processes of step S22c and step S22d are executed in order.

In step S22d, when the calibration unit 232 acquires the touch sensor output value for each touch sensor when the second predetermined number of times (for example, 16 times) is a part of the total predetermined number of times (for example, 32 times) (Yes in step S22d). ), Next, the calibration unit 232 determines whether or not the difference (difference between the maximum value and the minimum value) of the touch sensor output values for the second predetermined number of times is within the preset predetermined range (step). S22ea).

In step S22d, the calibration unit 232 determines that the calibration unit 232 determines that the difference (difference between the maximum value and the minimum value) of the touch sensor output values for the second predetermined number of times is out of the preset predetermined range. The calibration of the touch sensor is stopped without calculating the calibration value of the touch sensor.

On the other hand, in step S22d, the calibration unit 232 determines that the calibration unit 232 has a difference (difference between the maximum value and the minimum value) of the touch sensor output values for the second predetermined number of times within a preset predetermined range. Then, the processes of steps S22f, S23, and S24 are executed in order.

As described above, even with the process shown in FIG. 17, erroneous calibration is performed due to the contact of a finger or the like with the touch sensor during calibration, as in the process shown with FIGS. 15 and 16. Can be prevented. As a result, the occurrence of malfunction can be prevented.

In addition, the number of recalibrations when the operating device 200 does not operate correctly can be reduced, and the battery life can be extended.

(Contact judgment 2 during calibration)
Further, the calibration unit 232 may determine the suitability of the calculated calibration value as shown in FIG. 18 instead of the processing shown in FIGS. 15 and 16. FIG. 18 is a diagram showing a processing flow of a configuration including a determination of suitability of the calibration value calculated by the calibration unit 232.

When, for example, the above-mentioned step S1 is Yes (or when the calibration is started at a predetermined timing, etc.), the calibration unit 232 outputs a touch sensor for each touch sensor. Acquire the value (step S21). Then, the calibration unit 232 performs the processes of steps S22 and S23 described with reference to FIG.

In step S23, the calibration unit 232 calculates a calibration value for each touch sensor from a plurality of touch sensor output values for a predetermined number of times.

Next, in the calibration unit 232, is the difference between the calibration value calculated in step S23 and the calibration value (calibration value stored in the touch sensor control unit 234) calculated last time and currently used within a predetermined range? Whether or not it is determined (step S23b).

In step S23b, if the difference between the calibration value calculated in step S23 and the calibration value (threshold stored in the touch sensor control unit 234) at the time of the previous calibration is within a predetermined range. (Yes in step S23b), it is estimated that the calibration value calculated in step S23 is normal, and the calibration value is stored in the touch sensor control unit 234 (step S24). That is, the calibration unit 232 changes the threshold value to the calibration value calculated in step S23, and completes the calibration.

In step S23b, if the difference between the calibration value calculated in step S23 and the calibration value (threshold stored in the touch sensor control unit 234) at the time of the previous calibration is out of the predetermined range, the calibration unit 232 (No in step S23b), it is presumed that the touch sensor was touched by a finger or the like during calibration, the calibration value calculated in step S23 is discarded, and the calibration value is not saved in the touch sensor control unit 234 (step S25). As a result, the calibration unit 232 stops the calibration of the touch sensor.

In this way, after the calibration unit 232 starts executing the calibration process, the difference between the calibration value calculated in the calibration value calculation step (step 23) and the threshold value when the calibration value is calibrated before is within a predetermined range. If it is within, the threshold value is changed to the calibration value calculated in the calibration value calculation step (step 23) (step S24).

On the other hand, if the difference between the calibration value calculated in the calibration value calculation step (step 23) and the threshold value is out of the predetermined range, the calibration unit 232 can estimate that the touch sensor has been touched by a finger or the like during calibration. Therefore, the calibration value calculated in the calibration value calculation step (step 23) is discarded, and the threshold value is not changed (step S25). That is, the calibration unit 232 stops the calibration by maintaining the threshold value stored in the touch sensor control unit 234, which is the calibration value at the time of the previous calibration.

As a result, it is possible to prevent erroneous calibration due to contact of a finger or the like with the touch sensor during calibration. As a result, the occurrence of malfunction can be prevented.

In addition, the number of recalibrations when the operating device 200 does not operate correctly can be reduced, and the battery life can be extended. The calibration values not used in step S25 may be stored without being deleted.

FIG. 19 is a diagram showing a processing flow of a modified example of calibration including determination of suitability of the calibration value calculated by the calibration unit 232. As shown in FIG. 19, the calibration unit 232 may further determine the magnitude relationship between the calculated calibration value and the currently used threshold value, and adopt the one whose value is considered to be accurate.

As shown in FIG. 19, the processes of steps S21 to S23b described with reference to FIG. 18 are performed.

Then, in step S23b, if the calibration value calculated in the calibration value calculation step (step S23) is out of the predetermined range (No in step S23b), the calibration unit 232 further determines whether or not the calibration value is smaller than the threshold value. (Step S23c).

In step S23c, when the calibration unit 232 determines that the calibration value calculated in step S23 is smaller than the threshold value stored in the touch sensor control unit 234 after the previous calibration (No in step S23c), the previously calibrated threshold value. It is estimated that the calibration value calculated in step S23 is more accurate than that, and the calibration value calculated in step S23 is stored in the touch sensor control unit 234 (step S24). As a result, the calibration unit 232 completes the execution of the calibration.

On the other hand, in step S23c, when the calibration unit 232 determines that the calibration value calculated in step S23 is equal to or greater than the threshold value stored in the touch sensor control unit 234 after the previous calibration (Yes in step S23c), the previous time. It is estimated that the calibrated threshold value is more accurate than the calibration value calculated in step S23, the calibration value calculated in step S23 is discarded, and the calibration value is not saved in the touch sensor control unit 234 (step S25). As a result, the calibration unit 232 stops the calibration.

According to this, it is possible to perform calibration with higher accuracy. As a result, not only is it possible to prevent the touch sensor from being calibrated with a finger or the like touched during calibration and erroneous calibration is performed, but also erroneous calibration is performed due to other factors, and the operating device 200 malfunctions. Can be prevented from occurring.

Further, since the number of recalibrations when the operating device 200 does not operate correctly can be reduced, the influence on the battery life can be reduced. The calibration values not used in step S25 may be stored without being deleted.

(Correction of touch sensor output value during calibration)
The calibration unit 232 may correct a plurality of touch sensor output values acquired at the same time during the execution of calibration.

FIG. 20 is a diagram showing a flow in which the calibration unit 232 corrects at least one value of a plurality of touch sensor output values during execution of calibration. The calibration unit 232 may perform the calibration process shown in FIG. 20 instead of the calibration process shown in FIG.

As shown in FIG. 20, for example, when the above-mentioned step S1 is Yes (or when the calibration is started at a predetermined timing, etc.), the calibration unit 232 then touch-sensors for each touch sensor. Acquire the output value (step S21).

Next, the calibration unit 232 determines whether or not at least one touch sensor output value among the touch sensor output values obtained from each touch sensor simultaneously acquired in step S21 is equal to or greater than the threshold value (step S21a).

In step S21a, when the calibration unit 232 determines that at least one touch sensor output value is equal to or higher than the threshold value (Yes in step S21a), the touch sensor output value of the touch sensor determined to be equal to or higher than the threshold value is used. Based on the value of the touch sensor output value less than the threshold value of, the value is corrected to the value less than the threshold value (step S21b). After that, the processes of steps S22 to S24 shown in FIG. 14 are performed in order.

FIG. 21 is a diagram showing a state in which the calibration unit 232 corrects at least one value of a plurality of touch sensor output values during execution of calibration. In steps S21a and S21b shown in FIG. 20, the calibration unit 232 may correct the touch sensor output value as shown in FIG. 21, for example. FIG. 21A shows how the first touch sensor output value V1out of the first touch sensor 241 is smaller than the threshold value, and FIG. 21B shows that the second touch sensor output value V2out of the second touch sensor 242 is smaller than the threshold value. It is a figure showing a large state.

It is assumed that the operating device 200 has, for example, two touch sensors of the first touch sensor 241 and the second touch sensor 242 shown in FIG. 7.

In step S21 shown in FIG. 20, the touch sensor output value acquired from the first touch sensor 241 by the calibration unit 232 at a certain time during calibration is the first touch sensor output value V1out shown in FIG. 21 (a). At the same time, it is assumed that the touch sensor output value acquired by the calibration unit 232 from the second touch sensor 242 is the second touch sensor output value V2out shown in FIG. 21 (b).

Then, in step S21a shown in FIG. 20, the calibration unit 232 refers to the threshold value Vth stored in the touch sensor control unit 234, and determines whether or not the touch sensor output value is equal to or greater than the threshold value Vth for each touch sensor. judge.

Here, as shown in FIG. 21 (a), the first touch sensor output value V1out is a value Vl that is less than the threshold value Vth, and as shown in FIG. 21 (b), the second touch sensor output value. V2out is a value Vh that is equal to or higher than the threshold value Vth.

In this way, when only the touch sensor output value from one of the two touch sensors is equal to or greater than the threshold value, the operator is not holding (not holding) the operation unit 280. It is presumed that one of the two touch sensors happened to come into contact with a finger or the like.

In this case, instead of restarting the calibration from the beginning, in step S21b, the value Vh of the second touch sensor output value V2out is corrected to the value Vl of the first touch sensor output value V1out. Then, as shown in steps S22 to S24, the calibration unit 232 continues the execution of the calibration and ends the calibration. As a result, it is possible to prevent recalibration due to touching a finger or the like during calibration, and it is possible to delay the battery life.

In the case where the operation device 200 has two or more touch sensors such as four touch sensors, the touch sensor output value of one touch sensor is equal to or more than the threshold value, and the touch sensor output of the other touch sensor. When the value is less than the threshold value, the touch sensor output value which is equal to or more than the threshold value may be corrected so as to be the average value of other touch sensor output values which are less than the threshold value.

(Another example of stopping the execution of calibration during calibration)
With reference to FIGS. 11 to 13, the calibration unit 232 has described an example in which calibration is stopped when there is a risk that accurate calibration may not be possible. On the other hand, the calibration unit 232 may stop the calibration according to the values of the plurality of touch sensor output values acquired at the same time during the execution of the calibration.

FIG. 22 is a diagram showing a flow in which the calibration unit 232 cancels the calibration according to the values of a plurality of touch sensor output values during the execution of the calibration. The calibration unit 232 may perform the calibration process shown in FIG. 22 instead of the calibration process shown in FIG. When performing the process shown in FIG. 22, when the touch sensor detects contact with the human body when the operating device 200 is attached to the holder 100, which has been described with reference to FIG. 13, the calibration unit 232 calibrates. The configuration that does not start is may be omitted.

As shown in FIG. 22, when the calibration unit 232 starts executing the lattice pattern, for example, when the above-mentioned step S1 is Yes (or when the predetermined timing is reached, etc.), the calibration unit 232 is then subjected to the calibration unit 232. , Acquire the touch sensor output value for each touch sensor (step S21).

Next, in the calibration unit 232, at least one touch sensor output value among the touch sensor output values from the touch sensors simultaneously acquired in step S21 is equal to or higher than the threshold value stored in the touch sensor control unit 234. Whether or not it is determined (step S21a).

In step S21a, when the calibration unit 232 determines that at least one touch sensor output value is equal to or greater than the threshold value stored in the touch sensor control unit 234 (Yes in step S21a), the calibration unit 232 determines the touch sensor output value a predetermined number of times. The calibration is stopped without obtaining the data (step S26). After that, the calibration unit 232 may cause the notification unit 245 to perform a notification operation in order to notify the notification unit 245 that the calibration has not been completed normally.

In step S21a, when the calibration unit 232 determines that at least one touch sensor output value is less than the threshold value stored in the touch sensor control unit 234 (No in step S21a), the process proceeds to step S22 shown in FIG. Proceeding, the processes of steps S23 and S24 are performed in order, and the calibration is normally completed.

According to the process shown in FIG. 22, the calibration unit 232 estimates that when any of the output values of the plurality of touch sensors exceeds the threshold value, a finger or the like touches any of the plurality of touch sensors, and thereafter. The acquisition of the touch sensor output value of, that is, the execution of calibration is stopped. This can delay the battery life.

(Some touch sensor output values are discarded during calibration)
The calibration unit 232 may discard a part of the touch sensor output values according to the values of the plurality of touch sensor output values acquired at the same time during the execution of the calibration.

FIG. 23 is a diagram showing a flow in which the calibration unit 232 discards a part of the touch sensor output values according to the values of the plurality of touch sensor output values during the execution of the calibration. The calibration unit 232 may perform the calibration process shown in FIG. 23 instead of the calibration process shown in FIG.

As shown in FIG. 23, when the calibration unit 232 starts executing the lattice pattern, for example, when the above-mentioned step S1 is Yes (or when the predetermined timing is reached, etc.), the calibration unit 232 is then subjected to the calibration unit 232. , Acquire the touch sensor output value for each touch sensor (step S21).

Next, in the calibration unit 232, at least one touch sensor output value among the touch sensor output values from the touch sensors simultaneously acquired in step S21 is equal to or higher than the threshold value stored in the touch sensor control unit 234. Whether or not it is determined (step S21a).

In step S21a, when the calibration unit 232 determines that at least one touch sensor output value is equal to or greater than the threshold value stored in the touch sensor control unit 234 (Yes in step S21a), the touch sensor output value equal to or greater than the threshold value. Is discarded (step S21c).

Then, the processes of steps S22, S23, and S24 are performed, and the calibration unit 232 ends the execution of the calibration.

In step S21a, when the calibration unit 232 determines that at least one touch sensor output value is not equal to or greater than the threshold value stored in the touch sensor control unit 234 (No in step S21a), the calibration unit 232 performs the processes of steps S22, S23, and S24. And finish the calibration execution.

In the process shown in FIG. 23, when the process of step S23 is performed through Yes in step S21a, the touch sensor output value of the touch sensor whose touch sensor output value is discarded is the data for a predetermined number of times (for example, 32 times). There is no, and the number of touch sensor output values is small by the amount discarded. For example, when one touch sensor output value is discarded, the calibration unit 232 calculates the calibration value for the touch sensor from the remaining number of touch sensor output values obtained by subtracting the number of discarded times from the predetermined number of times. Calculate (step S23).

As a result, it is possible to suppress the occurrence of recalibration and extend the battery life.

(Modification example 1 of holder 100)
Hereinafter, a modified example of the holder 100 will be described with reference to FIG. 24. FIG. 24 is a perspective view showing the appearance of the operating device 200 and the holder 100 according to the present modification.

As shown in FIG. 24, the holder 100 may be provided with wall portions 120 (contact prevention portions) on the front surface and the back surface. The wall portion 120 prevents the human body from coming into contact with the touch sensor in the holding state. Specifically, the upper end of the wall portion 120 is above the position where the touch sensor is provided in the operating device 200. As a result, the operator cannot attach the operating device 200 to the holder 100 while touching the touch sensor. Therefore, when the operating device 200 is attached to the holder 100, it is possible to prevent a situation in which calibration is not executed because the touch sensor detects contact with the human body. The wall portion 120 shown in FIG. 24 is an example, and the configuration for preventing the human body from coming into contact with the touch sensor in the holding state is not limited to this example. For example, the upper end of the wall portion 120 may reach the vicinity of the upper end of the operating device 200. This not only prevents the operator from touching the touch sensor during the execution of calibration, but also prevents the operation unit 280 from being operated and the operation device 200 from being removed from the holder 100.

(Modification example 2 of holder 100)
Further, another modification of the holder 100 will be described with reference to FIGS. 25 and 26. FIG. 25 is a diagram showing an example of the configuration of the operating device 200 and the holder 100 according to this modified example. FIG. 26 is a diagram showing another example of calibration of the holder 100 according to this modified example.

The holder 100 may include a mechanism for lifting the operating device 200 (hereinafter, referred to as a lifting mechanism) when the calibration is completed. This makes it possible to notify the operator that the calibration has been completed.

Specifically, as shown in FIG. 25 (b), which is a cross-sectional view of the holder 100, the holder 100 includes a protrusion 131 and a spring 132. One end of the spring 132 is fixed to the holder 100, and the other end is connected to the protrusion 131.

On the other hand, as shown in FIG. 25 (a), the operating device 200 has a stepped portion 290. Here, as shown in FIG. 25 (c), when the operating device 200 is attached to the holder 100, the protruding portion 131 is caught by the stepped portion 290, the protruding portion 131 is pushed to the bottom of the holder 100, and the spring 132 is released. extend. The spring 132 may be configured so that the reaction force thereof is maximized when the protruding portion 131 reaches the bottom portion of the holder 100.

Further, the holder 100 shown in FIG. 25 includes a lock mechanism (removal prevention unit) that prevents the operation device 200 from being removed while the calibration unit 232 is performing calibration. The lock mechanism is composed of, for example, a solenoid, a movable plate, and a coil spring (not shown), and the solenoid, the movable plate, and the coil spring are provided on the back side of the holder 100. Both ends of the movable plate are rotatably supported by the shaft (shaft support portion), and one bent portion of the shaft support portion is connected to the solenoid via a plunger.

Further, in the movable plate, a hook (not shown) protruding toward the front side of the holder 100 is formed at an end portion on the side opposite to the shaft support portion. The hook has an inclined surface on the insertion direction side of the operating device 200.

Further, the holder 100 is formed with a hole 133 in which the hook can appear and disappear with the movement of the movable plate. The hole 133 faces the engaging hole (not shown) of the operating device 200 when the operating device 200 is mounted. Further, the coil spring is provided between the cover 140 and the movable plate, and urges the movable plate to the front side of the holder 100.

The solenoid rotates the movable plate in the direction opposite to the urging force by attracting the plunger by magnetic force when energized. As a result, the movable plate can be locked by the hook protruding from the hole 133 and engaging with the engaging hole of the operating device 200 as the solenoid moves when the solenoid is not energized.

On the other hand, when the power is off, the suction of the plunger is eliminated by the non-magnetic force of the solenoid, and the solenoid rotates the movable plate in the same direction as the urging force by the coil spring. As a result, the movable plate can be unlocked by the hook immersing in the hole 133 as the solenoid moves when the solenoid is energized, and the movable plate is disengaged from the engaging hole of the operating device 200.

The calibration unit 232 controls the energization of the solenoid. Specifically, when the calibration unit 232 starts the calibration, the solenoid is energized. Thereby, the holder 100 can be locked so that the operating device 200 cannot be removed only during the calibration. Therefore, it is possible to prevent the operator from touching the touch sensor during calibration.

On the other hand, the calibration unit 232 stops energizing the solenoid when the calibration is completed. As a result, the operating device 200 is unlocked, and the operating device 200 is lifted by the reaction force of the spring 132 (see (d) in FIG. 25).

The lifting mechanism according to this modification is not limited to the example of FIG. 25. For example, the lifting mechanism may be that shown in FIG. Specifically, as shown in FIG. 26, the holder 100 may include an L-shaped hook 134 and a solenoid 135.

The calibration unit 232 according to this example does not energize the solenoid 135 when the operation device 200 is not attached to the holder 100 and when the operation device 200 is calibrated. Therefore, as shown in FIG. 26A, the L-shaped hook 134 is not attracted to the solenoid 135. When the operating device 200 is inserted (mounted) into the holder 100 in this state, the step portion 290 is caught on the L-shaped hook 134.

On the other hand, the calibration unit 232 starts energizing the solenoid 135 when the calibration is completed. By this energization, as shown in FIG. 26B, the L-shaped hook 134 is attracted to the solenoid 135, and the L-shaped hook 134 is tilted. As a result, the operating device 200 is pushed up.

Further, the calibration unit 232 stops energizing the solenoid 135 when a certain period of time has elapsed from the start of energization or when the operating device 200 is detected by a sensor (not shown) that the operating device 200 has been removed from the holder 100. .. As a result, the L-shaped hook 134 returns to the state where it is not sucked by the solenoid 135.

The lifting mechanism is suitable for the holder 100 in which the upper end of the wall portion 120 described in the first modification is close to the upper end of the operating device 200. In the case of such a holder 100, there is a problem that it is difficult to remove the operating device 200 from the holder 100. On the other hand, by lifting the operating device 200 by the lifting mechanism, the operator can easily remove the operating device 200 when the calibration is completed.

(Modification example 3 of holder 100)
A sensor may be provided in the holder 100, and it may be determined whether or not the operator is touching the operating device 200 mounted on the holder 100 based on the detection result of the sensor. Specifically, the holder 100 has a touch sensor, a photo sensor, and the like. These sensors may be provided at positions that can detect that the operator is touching the operating device 200 mounted on the holder 100. Further, the detection results of these sensors are transmitted to the control unit 230 of the operation device 200 via the communication unit 101.

The calibration unit 232 determines whether or not the operator is touching the operating device 200 based on the detection result from the sensor provided on the holder 100. For example, when the sensor provided in the holder 100 is a touch sensor, the calibration unit 232 receives the touch sensor output value. Then, if the touch sensor output value is equal to or higher than a predetermined threshold value (not shown), the calibration unit 232 (in other words, if it is a value indicating that the operator is swinging to the touch sensor), It is determined that the operator is touching the operating device 200. When the calibration unit 232 determines that the operator is touching the operation device 200, the calibration unit 232 does not start the calibration but notifies the notification unit 245 (see FIG. 13).

[Embodiment 2]
The conditions for performing calibration are not limited to the case where it is detected that the operating device 200 is mounted on the holder 100 as described in the first embodiment. Hereinafter, the operation device 200 that performs calibration when conditions different from those of the first embodiment will be described will be described with reference to FIGS. 27 to 34.

FIG. 27 is a functional block diagram showing the configuration of the X-ray imaging unit 300 of the present embodiment. The operating device 200 shown in FIG. 27 differs from the operating device 200 shown in FIG. 7 in that it newly has a battery 243 and a temperature sensor 244, and the control unit 230 newly has a battery control unit 235 and a temperature. It is a point having a sensor control unit 236 and a counter 237.

The battery control unit 235 monitors the remaining amount of the battery 243 by monitoring the voltage of the battery 243 (hereinafter, may be referred to as the battery voltage). The battery 243 is a power source that supplies electric power to each part of the operating device 200 such as the control unit 230, the temperature sensor 244, the notification unit 245, the first touch sensor 241 and the second touch sensor 242.

The temperature sensor control unit 236 controls the drive of the temperature sensor 244. The temperature sensor 244 measures the temperature and outputs the measured temperature sensor value to the temperature sensor control unit 236. The temperature sensor 244 may be provided inside the front case 250 and the rear case 260, or may be mounted outside any of the front case 250 and the rear case 260.

The counter 237 counts the number of operations of the operation unit 280 and measures the elapsed time since the operation unit 280 is operated at least one of them.

(Predetermined conditions for calibration)
Next, a predetermined condition that triggers the calibration unit 232 according to the present embodiment to start executing the calibration will be described. The calibration performed by the calibration unit 232 will be described later. It is preferable that the calibration unit 232 calibrates when at least one of the predetermined conditions shown in the following (1) to (7) is satisfied. That is, it is preferable that the calibration unit 232 starts the execution of the calibration when at least one of the processes of the following steps S11 to S17 is Yes.

As a result, the calibration is performed when necessary, as compared with the case where the calibration is performed periodically, that is, when a predetermined time and number of days have elapsed, as in the case of the invention described in Patent Document 1. Therefore, power consumption can be suppressed. As a result, unnecessary battery consumption can be prevented. Moreover, accurate grip detection can be performed.

The predetermined condition for the calibration unit 232 to start the execution of the calibration is a predetermined condition in the process performed by any part of the operating device 200 by receiving the voltage supplied from the battery which is the power source. ..

<(1) When the temperature change is above a certain level>
FIG. 28 is a diagram showing a processing flow of the operating device 200 that performs calibration when the temperature change is equal to or higher than a certain level. In this example, it is assumed that the temperature sensor control unit 236 is set in advance with a predetermined range of the amount of change in the temperature sensor value to which fluctuation is allowed, based on the temperature sensor value at the time of the previous calibration. That is, the upper limit value and the lower limit value of the allowable temperature sensor value are set as predetermined values based on the temperature sensor value at the time of the previous calibration.

In the example shown in FIG. 28, the temperature sensor control unit 236 monitors whether or not the amount of change in the temperature sensor value acquired from the temperature sensor 244 is equal to or greater than a preset predetermined range (step S11).

Then, when the temperature sensor control unit 236 determines that the amount of change in the temperature sensor value acquired from the temperature sensor 244 is equal to or greater than a preset predetermined range (Yes in step S11), the calibration unit 232 executes calibration. It is determined that the predetermined condition is satisfied, and the threshold Vth is calibrated for each of the plurality of touch sensors (step S20).

The touch sensor output value acquired by the touch sensor control unit 234 from each touch sensor may have a temperature characteristic. Therefore, even if the temperature sensor value changes when the temperature changes, the temperature sensor value does not cause a malfunction (erroneous detection of contact or non-contact of the operator's finger or the like with each touch sensor). A predetermined value of the amount of change from the previously corrected amount is stored in the temperature sensor control unit 236.

Then, when the temperature sensor control unit 236 determines that the amount of change from the time of correction before the temperature sensor value is equal to or greater than a predetermined range, the calibration unit 232 determines that the predetermined condition for executing the calibration is satisfied. Perform calibration. As a result, even if there is a temperature change, the threshold value Vth of each touch sensor can be calibrated by the calibration unit 232 before causing a malfunction. Further, after calibrating the threshold value, the calibration unit 232 resets (changes) the allowable temperature sensor value range based on the temperature sensor value at the time of calibration.

<(2) When the change in battery voltage is above a certain level>
FIG. 29 is a diagram showing a processing flow of the operating device 200 that performs calibration when the change in battery voltage is equal to or higher than a certain level. In this example, it is assumed that the battery control unit 235 is set in advance within the range of the amount of change in the battery voltage to which fluctuation is allowed, based on the battery voltage at the time of the previous calibration. That is, the upper limit value and the lower limit value of the allowable battery voltage are set as predetermined values based on the battery voltage at the time of the previous calibration.

In the example shown in FIG. 29, the battery control unit 235 monitors whether or not the amount of change in the battery voltage of the battery 243 is equal to or greater than a preset predetermined range (step S12).

Then, when the battery control unit 235 determines that the amount of change in the battery voltage of the battery 243 is equal to or greater than a preset predetermined range (Yes in step S12), the calibration unit 232 satisfies the predetermined condition for executing the calibration. It is determined that the threshold value Vth is calibrated for each of the plurality of touch sensors (step S20).

The touch sensor output value acquired by the touch sensor control unit 234 from each touch sensor may change when the battery voltage changes. Since the battery 243 supplies electric power to each part, the battery voltage deteriorates (decreases) due to the use of the operating device 200. Therefore, the battery control unit 235 stores a predetermined range in which fluctuations of the battery voltage, which does not cause a malfunction even when the battery voltage drops, are allowed.

Then, when the battery control unit 235 determines that the amount of change in the battery voltage is equal to or greater than a predetermined range, the calibration unit 232 determines that the predetermined condition for executing the calibration is satisfied, and executes the calibration. As a result, even if there is a change in the battery voltage, the threshold value Vth of each touch sensor can be calibrated by the calibration unit 232 before causing a malfunction. Further, after calibrating the threshold value, the calibration unit 232 resets (changes) the allowable battery voltage range based on the battery voltage at the time of calibration.

<(3) When the number of operations of the operation unit 280 or the number of notifications of the notification unit 245 is equal to or more than a certain value>
FIG. 30 is a diagram showing a processing flow of the operation device 200 that performs calibration when the number of operations of the operation unit 280 is a certain number or more.

In this example, the counter 237 counts the number of times the operation unit 280 is operated (the number of operations). Further, it is assumed that a predetermined number of operations of the operation unit 280 is set in advance on the counter 237.

In the example shown in FIG. 30, the counter 237 monitors whether or not the number of operations of the operation unit 280, for example, the number of times the main switch 210 or the option switch 220 is pressed is equal to or greater than a preset predetermined number of operations. (Step S13).

Then, when the counter 237 determines that the number of operations of the operation unit 280, for example, the number of times the main switch 210 or the option switch 220 is pressed is equal to or more than a preset predetermined number of operations (Yes in step S13), calibration is performed. The unit 232 calibrates the threshold value Vth for each touch sensor (step S20).

Alternatively, the counter 237 may be set in advance with the number of times the notification unit 245 has performed a predetermined notification operation.

In this case, in step S13 of FIG. 30, the counter 237 monitors whether or not the number of times the notification operation of the notification unit 245 is performed exceeds a preset predetermined number of notifications (step S13).

Then, when the counter 237 determines that the number of times the notification operation of the notification unit 245 has been performed is equal to or greater than the predetermined number of notifications (Yes in step S13), the calibration unit 232 says that the predetermined condition for executing the calibration is satisfied. The determination is made, and the threshold value Vth is calibrated for each touch sensor (step S20).

When the operation unit 280 is operated, it is detected that the control unit 230 has been operated. Therefore, the battery voltage is lowered by the operation of the operation unit 280. In addition, the battery voltage drops due to the notification operation by the notification unit 245. Therefore, the relationship between the number of operations of the operation unit 280 and the degree of decrease in the battery voltage, or the relationship between the number of notification operations by the notification unit 245 and the degree of decrease in the battery voltage is grasped in advance. Then, the number of operations of the operation unit 280 or the number of notification operations of the notification unit 245 that does not cause a malfunction even when the battery voltage drops due to the operation of the operation unit 280 or the notification operation of the notification unit 245 is determined in advance. Store it in the counter 237.

Then, when the counter 237 determines that the number of operations of the operation unit 280 is equal to or greater than the predetermined number of operations or the number of notification operations of the notification unit 245 is equal to or greater than the predetermined number of notifications, the calibration unit 232 determines to execute the calibration. It is determined that the conditions of are satisfied, and calibration is executed.

As a result, even if the battery voltage drops due to the operation of the operation unit 280 or the notification operation of the notification unit 245, the calibration unit 232 can calibrate the threshold value Vth of each touch sensor before causing a malfunction.

Further, even when the operating device 200 does not have a battery voltage sensor for detecting the battery voltage, that is, even when the battery control unit 235 does not have the function of monitoring the battery voltage, it is simulated by software processing. In addition, the battery control unit 235 can also predict the amount of decrease in the battery voltage.

<(4) When the battery is replaced>
FIG. 31 is a diagram showing a processing flow of the operating device 200 that performs calibration when the battery effect is applied. It is assumed that the battery control unit 235 is set in advance in a predetermined range in which fluctuation is allowed, based on the battery voltage at the time of the previous calibration.

In the example shown in FIG. 31, the battery control unit 235 monitors whether or not the battery 243 has been replaced (step S14). Specifically, the battery control unit 235 monitors whether or not the battery voltage has risen above a predetermined range stored in advance.

Then, when the battery control unit 235 determines that the battery 243 has been replaced (Yes in step S14), that is, when the battery control unit 235 determines that the battery voltage has risen above the upper limit of the predetermined range, the calibration unit 232 , It is determined that the predetermined condition for executing the calibration is satisfied, and the threshold Vth calibration is executed for each touch sensor (step S20).

When the battery 243 that has deteriorated and the battery voltage has dropped is replaced with another battery that has not deteriorated, the battery voltage rises. Therefore, the touch sensor output value acquired from each touch sensor by the touch sensor control unit 234 may change due to the battery replacement.

Therefore, a predetermined range (particularly the upper limit value) of the battery voltage that does not cause a malfunction even when the battery voltage rises due to battery replacement is stored in the battery control unit 235. Then, when the battery control unit 235 determines that the amount of change in the battery voltage is equal to or greater than the upper limit of the predetermined range, the calibration unit 232 determines that the predetermined condition for executing the calibration is satisfied, and determines that the predetermined condition for executing the calibration is satisfied, and the threshold value Vth is determined for each touch sensor. Perform the calibration of.

As a result, even if there is a change in the battery voltage, the threshold value Vth of each touch sensor can be calibrated by the calibration unit 232 before causing a malfunction.

As a result, calibration can be performed at a required timing, and battery life can be extended.

<(5) When the power of the X-ray imaging apparatus 2 is turned on>
FIG. 32 is a diagram showing a processing flow of the operating device 200 that performs calibration when the device power of the X-ray imaging device 2 is turned on. In this example, when the device power of the X-ray imaging device 2 is turned on and the stopped X-ray imaging device 2 is activated, a signal is sent to notify that the device power of the X-ray imaging device 2 is turned on. , The communication unit 101 on the X-ray imaging apparatus 2 side is set to transmit to the communication unit 231 on the operation device 200 side.

In the example shown in FIG. 32, the communication unit 231 on the operation device 200 side receives power from the communication unit 101 on the X-ray imaging device 2 side intermittently at predetermined time intervals from the sleep state. It monitors whether or not a signal notifying that the signal has been input is transmitted (step S15).

Then, when the communication unit 231 on the operating device 200 side receives the signal notifying that the device power of the X-ray imaging device 2 is turned on from the communication unit 101 on the X-ray imaging device 2, that is, the X-ray imaging device. When it is determined that the device power of 2 is turned on (Yes in step S15), the calibration unit 232 determines that the predetermined condition for executing the calibration is satisfied, and executes the calibration of the threshold Vth for each touch sensor (step S20). ).

The timing at which the device power of the X-ray imaging device 2 is turned on is often a certain amount of time has passed since the device power of the X-ray imaging device 2 was turned off the night before, such as in the morning. Therefore, while the power of the X-ray imaging device 2 is turned off, the ambient temperature of the operating device 200 may change significantly, or the battery voltage of the battery 243 may change significantly. As a result, the touch sensor output value acquired by the touch sensor control unit 234 from each touch sensor changes, which may lead to a malfunction.

Therefore, according to the above configuration, even if the touch sensor output value acquired from each touch sensor by the touch sensor control unit 234 changes as a certain time elapses after the device power of the X-ray imaging device 2 is turned off, The threshold Vth of each touch sensor can be calibrated by the calibration unit 232 before causing a malfunction.

<(6) When the operation device 200 is not operated for a certain period of time>
FIG. 33 is a diagram showing a processing flow of the operating device 200 for calibrating when the operating device 200 is not operated for a certain period of time.

In this example, the counter 237 is the elapsed time from the previous operation of the operation unit 280 to the next operation (that is, after one of the main switch 210 and the option switch 220 is pressed and released. Next, the time until one of the main switch 210 and the option switch 220 is pressed) shall be measured. Further, on the counter 237, a predetermined time after the operation unit 280 is previously operated (that is, one of the main switch 210 and the option switch 220 is pressed, and then one of the main switch 210 and the option switch 220 is pressed. It is assumed that a predetermined time until it is pressed) is set.

In the example shown in FIG. 33, the counter 237 monitors whether or not the operation unit 280 has been operated for a predetermined time after the operation unit 280 was operated before (step S16). For example, the counter 237 monitors whether the elapsed time since one of the main switch 210 and the option switch 220 was pressed and released last time is equal to or longer than a predetermined time stored in advance.

Then, when the counter 237 determines that the operation unit 280 has not been operated for a certain period of time (Yes in step S16), for example, after one of the main switch 210 and the option switch 220 is pressed and released last time. When the counter 237 determines that the elapsed time in the state where the main switch 210 and the option switch 220 have not been pressed or released has exceeded the predetermined time stored in advance, the calibration unit 232 is used for each of the plurality of touch sensors. The threshold value Vth is calibrated (step S20).

As described above, if a finger or the like touches the touch sensor while the calibration unit 232 is performing the calibration, accurate calibration cannot be performed.

Therefore, if the operation unit 280 is not operated for a predetermined time, there is a possibility that the operator does not touch the touch sensor for a predetermined time without holding the operation device 200 for a predetermined time.

Therefore, accurate calibration can be performed by performing calibration at a timing when the operator has not operated the operation unit 280 for a predetermined time. As a result, calibration can be performed at a required timing, and battery life can be extended.

In addition, it is possible to prevent erroneous calibration from being performed by touching the touch sensor with a hand or the like during calibration, which causes a malfunction. Further, the number of recalibrations when the operating device 200 does not operate correctly can be reduced, and the battery life can be extended.

Further, if the operation unit 280 is not operated for a predetermined time, the touch sensor control unit 234 may not perform the grip detection for a certain period of time. Therefore, as described above, when the operator does not operate the operation unit 280 for a predetermined time, the calibration unit 232 calibrates the threshold value Vth of each touch sensor before causing a malfunction by performing the calibration. Can be done.

An example of the case where the operation unit 280 is not operated for a predetermined time is a case where the operation device 200 is left in a place other than the holder 100.

The predetermined time stored in the counter 237 may be a predetermined time in the elapsed time from the end of the operation of the operation unit 280 (when one of the main switch 210 and the option switch 220 is released). It may be the elapsed time of the time when the operation unit 280 is not operated (one of the main switch 210 and the option switch 220 is not pressed) after the operation device 200 is started.

<(7) When the touch sensor output value is constant for a certain period of time>
FIG. 34 is a diagram showing a processing flow of the operating device 200 that performs calibration when the touch sensor output value is constant for a certain period of time.

In this example, the touch sensor control unit 234 measures the time during which the touch sensor output value of each touch sensor is within a predetermined range. Further, it is assumed that the touch sensor control unit 234 is set to a predetermined time when the touch sensor output value of each touch sensor is within a predetermined range.

In the example shown in FIG. 34, the touch sensor control unit 234 monitors whether or not the touch sensor output value is constant for each of the plurality of touch sensors (step S17). Specifically, the touch sensor control unit 234 monitors for each touch sensor whether the time during which the touch sensor output value is within the predetermined range is equal to or longer than the predetermined time stored in advance.

Then, when the touch sensor control unit 234 determines that the touch sensor output values are within the predetermined range for all of the plurality of touch sensors for a predetermined time (Yes in step S17), the calibration unit 232 determines that the calibration is executed. It is determined that the condition is satisfied, and the threshold Vth is calibrated for each touch sensor (step S20).

As described above, if a finger or the like touches the touch sensor while the calibration unit 232 is performing the calibration, accurate calibration cannot be performed.

Therefore, when all the touch sensor output values of the touch sensor are within the predetermined range for a predetermined time, there is a possibility that the operator does not touch the touch sensor for a predetermined time without holding the operation device 200 for the predetermined time.

Therefore, accurate calibration can be performed by performing calibration at a timing when the operator has not operated the operation unit 280 for a certain period of time. As a result, calibration can be performed at a required timing, and battery life can be extended.

In addition, it is possible to prevent erroneous calibration from being performed by touching the touch sensor with a hand or the like during calibration, which causes a malfunction. Further, the number of recalibrations when the operating device 200 does not operate correctly can be reduced, and the battery life can be extended.

Further, if the operation unit 280 is not operated for a predetermined time, the touch sensor control unit 234 may not perform the grip detection for a predetermined time. Therefore, as described above, when the operator does not operate the operation unit 280 for a predetermined time, the calibration unit 232 calibrates the threshold value Vth of each touch sensor before causing a malfunction by performing the calibration. Can be done.

An example of the case where the operation unit 280 is not operated for a predetermined time is a case where the operation device 200 is left in a place other than the holder 100.

Although it depends on the resolution of the touch sensor, even if the operator stands still while holding the operating device 200, one of the touch sensors detects a slight movement and the touch sensor output value of the touch sensor changes. To do.

(Calibration by calibration unit 232)
The calibration process by the calibration unit 232 described with reference to FIGS. 14 to 23 in the first embodiment may be applied to the calibration unit 232 according to the present embodiment. That is, when at least one of steps S11 to S17 described above is Yes, the calibration unit 232 may execute the calibration process shown in FIGS. 14 to 23. Further, the calibration unit 232 may omit the processing of steps S11 to S17 and execute the calibration processing shown in FIGS. 14 to 23.

For example, if the calibration unit 232 executes the process shown in FIG. 15, the touch sensor output value is acquired during the actual calibration, and the touch sensor output value causes the finger to touch the touch sensor. The presence or absence will be determined. Thereby, for example, the determination can be made more accurately than the processing of step S16 (FIG. 33) and step S17 (FIG. 34).

[Example of realization by software]
The control block (particularly the control unit 230) of the operation device 200 may be realized by a logic circuit (hardware) formed in an integrated circuit (IC chip) or the like, or may be realized by software.

In the latter case, the operating device 200 includes a computer that executes instructions of a program that is software that realizes each function. The computer includes, for example, one or more processors and a computer-readable recording medium that stores the program. Then, in the computer, the processor reads the program from the recording medium and executes it, thereby achieving the object of the present invention. As the processor, for example, a CPU (Central Processing Unit) can be used. As the recording medium, a "non-temporary tangible medium", for example, a ROM (Read Only Memory) or the like, a tape, a disk, a card, a semiconductor memory, a programmable logic circuit, or the like can be used. Further, a RAM (Random Access Memory) for expanding the above program may be further provided. Further, the program may be supplied to the computer via an arbitrary transmission medium (communication network, broadcast wave, etc.) capable of transmitting the program. It should be noted that one aspect of the present invention can also be realized in the form of a data signal embedded in a carrier wave, in which the above program is embodied by electronic transmission.

The present invention is not limited to the above-described embodiments, and various modifications can be made within the scope of the claims, and the embodiments obtained by appropriately combining the technical means disclosed in the different embodiments. Is also included in the technical scope of the present invention.

1 X-ray imaging device main unit 2 X-ray imaging device (device to be operated)
100 holder (holding mechanism)
101, 231 Communication section 120 Wall section (contact prevention section)
131 Projection 132 Spring 133 Hole 134 L-shaped hook 135 Solenoid 200 Operating device 201 1st switch member 202 2nd switch member 210 Main switch 220 Option switch 230 Control unit 232 Calibration unit 233 Holding detection unit 234 Touch sensor control unit (contact judgment) Department)
235 Battery control unit 236 Temperature sensor control unit 237 Counter 241 First touch sensor (touch sensor)
242 Second touch sensor (touch sensor)
243 Battery 244 Temperature sensor 245 Notification unit (calibration notification unit, error notification unit)
250 Front case 250a Hole 260 Rear case 270 Lower cap 280 Operation unit 290 Step 300 X-ray imaging unit V1out 1st touch sensor output value (touch sensor output value)
V2out 2nd touch sensor output value (touch sensor output value)
Vout touch sensor output value Vth threshold

Claims (13)

An operation device that is detachably held by a holding mechanism provided in the operation target device and remotely controls the operation target device.
With one or more touch sensors,
A contact determination unit that determines whether or not the human body is in contact with the touch sensor based on the touch sensor output values and the threshold values from the one or more touch sensors.
A holding detection unit that detects that the holding state is in the state of being attached to the holding mechanism, and
An operation device including a calibration unit that calibrates the threshold value when the holding detection unit detects that the holding state has been reached. The operation device according to claim 1, wherein the calibration unit starts calibration of the threshold value after a predetermined time has elapsed after detecting that the holding detection unit is in the holding state. Claim 1 or 2 characterized in that the calibration unit does not start the calibration of the threshold value when it is determined that the human body is in contact with the touch sensor when the calibration of the threshold value is started. The operating device described in. The calibration unit according to any one of claims 1 to 3, wherein when it is determined that the human body comes into contact with the touch sensor during the calibration of the threshold value, the calibration of the threshold value is stopped. The operating device according to any one item. The calibration unit
A touch sensor output value acquisition step of acquiring a plurality of touch sensor output values a predetermined number of times from the one or a plurality of touch sensors,
A calibration process including a calibration value calculation step of calculating a calibration value for calibrating the threshold value for each touch sensor from the plurality of touch sensor output values acquired in the touch sensor output value acquisition step is executed. The operating device according to any one of claims 1 to 4, wherein the calibration is performed in the above. After starting the execution of the calibration process, the calibration unit
The difference between the plurality of touch sensor output values acquired in the touch sensor output value acquisition step is within a predetermined range, or the calibration value calculated in the calibration value calculation step is the calibration value when previously calibrated. The operation device according to claim 5, wherein if the difference from the threshold value is within a predetermined range, the threshold value is changed to the calibration value. In the calibration unit, the difference between the plurality of touch sensor output values acquired in the touch sensor output value acquisition step is out of a predetermined range, or the difference between the calibration value calculated in the calibration value calculation step and the threshold value. The operating device according to claim 5 or 6, wherein the threshold value is not changed if is out of the predetermined range. The calibration unit according to any one of claims 1 to 7, wherein the calibration is stopped when the operation device is removed from the holding mechanism during the execution of the calibration. Operating device. The operating device according to any one of claims 1 to 8, further comprising a calibration notification unit that notifies that the calibration unit is calibrating the threshold value. The operating device according to any one of claims 1 to 9, further comprising an error notification unit for notifying that the threshold value has not been calibrated correctly. The operation target device is an X-ray imaging device.
An X-ray imaging unit including the operation target device and the operation device according to any one of claims 1 to 10. The X-ray imaging unit according to claim 11, wherein the holding mechanism has a contact prevention unit that prevents the human body from coming into contact with the one or more touch sensors in the holding state. The X-ray imaging unit according to claim 11 or 12, wherein the holding mechanism has a removal blocking unit that prevents the operating device from being removed during calibration by the calibration unit.

Images