WO2021124673A1

WO2021124673A1 - Operation device

Info

Publication number: WO2021124673A1
Application number: PCT/JP2020/039480
Authority: WO
Inventors: 伊藤　正広; 和輝伊藤
Original assignee: 株式会社デンソー
Priority date: 2019-12-19
Filing date: 2020-10-21
Publication date: 2021-06-24
Also published as: JP2021097004A; JP7306257B2

Abstract

An operation device that, when finger-operated, imparts a vibrating sensation to a finger (F) of an operator via an operation panel (120) using suction force from an actuator (130) and counterforce from a spring section (140) wherein: a control unit (160), in order to impart the vibrating sensation, applies an accelerating pulse (Ap) to the actuator for a prescribed period of time, turning energization on and then off; after the accelerating pulse is applied to the actuator, a movable section is returned in the reverse direction by the spring section; after reversing to the pressing direction, the movable section reverses again from a maximum position in the pressing direction; and, during the period (A) when the movable section is returning to a reverse maximum position in the reverse direction, the control unit again applies a brake pulse (Bp) that turns energization on to the actuator so that a peak value of the suction force is generated.

Description

Operating device

Cross-reference of related applications

This application is based on Patent Application No. 2019-229123 filed in Japan on December 19, 2019, and the contents of the basic application are incorporated by reference as a whole.

The present disclosure relates to an operation device that generates a vibrating tactile sensation for a finger when an operator's finger inputs an operation to the operation panel.

As an operating device, for example, the one described in Patent Document 1 is known. The operating device (device that produces a tactile effect) of Patent Document 1 includes an actuator having a coil, a central object (for example, metal), and a spring, and gives tactile feedback by vibration to the operator's finger on the touch-sensitive panel. Is designed to be generated.

The operating device drives the actuator by the input pulse, and generates tactile feedback by the suction force by the coil and the return reaction force by the spring. Then, after removing the input pulse, a brake pulse is generated so as to reduce the damping effect of the tactile feedback generated by the actuator. The brake pulse comprises a descending slope having a slew rate from about 0.2 V / ms to 0.3 V / ms.

This increases the acceleration response and generates a brake pulse to provide a damping effect on the short (rapidly) mechanical type of tactile effect to generate crisp tactile feedback.

Japanese Patent No. 5599657

However, in Patent Document 1, the brake pulse output after the input pulse is provided with a section in which the force in the same direction as the input pulse is continued, and in this section, it is related to the vibration phase of the moving portion. The force is given as a constant value. Therefore, the initial return reaction force by the spring, which is usually effective for obtaining the vibration tactile sensation, is reduced, and the vibration tactile sensation given to the operator's finger is reduced.

In view of the above problems, an object of the present disclosure is to provide an operating device capable of ensuring an effective tactile sensation by the initial return of the spring and giving a sharp tactile sensation by the braking effect.

The operating device according to one aspect of the present disclosure includes a movable portion that can be moved in the pressing direction by a finger operation of the operator.
An actuator that generates suction force in the pressing direction with respect to the moving part when energized,
When the suction force is released, a reaction force is applied to the movable part in the direction opposite to the pressing direction, and the spring part vibrates.
It is equipped with a control unit that controls the on / off of energization of the actuator.
It is an operation device that gives a vibrating tactile sensation to the operator's finger via the movable part by the suction force of the actuator and the reaction force of the spring part when there is a finger operation.
The control unit is used to provide vibration and tactile sensation.
An acceleration pulse is added to the actuator by turning on the power for a predetermined time and then turning it off.
After adding the acceleration pulse to the actuator, the spring part returns the movable part in the opposite direction, further reverses in the pressing direction, then further reverses from the maximum position in the pressing direction, and reverses the maximum position in the opposite direction. While returning to, a brake pulse for energizing the actuator is applied again so that a peak value of the attractive force is generated.

According to this, by turning on the actuator for a predetermined time and then turning it off once, it is possible to generate a sharp vibration tactile sensation that makes use of the return vibration in the reverse direction by the spring portion. Then, while the movable part is further inverted from the maximum position in the pressing direction and returns to the reverse maximum position in the opposite direction, the movable part is turned on again so that the peak value of the attractive force is generated. It is possible to generate an attractive force in the direction opposite to the vibration phase of the above, and it is possible to effectively stop the vibration (obtain a braking effect). Due to this braking effect, residual vibration can be suppressed, a pure click feeling with less vibration and unpleasant taste can be given to the operator's finger, and operating noise can be reduced.

It is explanatory drawing which shows the whole structure of the operation device. It is a block diagram which shows the operation device. It is an operation diagram which shows the operation in the operation device. It is explanatory drawing which shows the acceleration pulse and the brake pulse in the input waveform applied to the actuator. It is a flowchart which shows the control procedure in 1st Embodiment. It is a flowchart (first half) which shows the control procedure in 2nd Embodiment. It is a flowchart (the latter half) which shows the control procedure in 2nd Embodiment. It is explanatory drawing which shows the brake pulse in 3rd Embodiment.

Hereinafter, a plurality of forms for carrying out the present disclosure will be described with reference to the drawings. In each form, the same reference numerals may be attached to the parts corresponding to the items described in the preceding forms, and duplicate explanations may be omitted. When only a part of the configuration is described in each form, the other forms described above can be applied to the other parts of the configuration. Not only the combination of the parts that clearly indicate that the combination is possible in each embodiment, but also the combination of the embodiments even if it is not specified if there is no particular problem in the combination. It is also possible.

(First Embodiment)
The operation device 100 of the first embodiment is shown in FIGS. 1 to 5. The operation device 100 of the present embodiment is applied to, for example, a switch unit for input operation (press operation) by a finger F of an operator (user) in a vehicle air conditioner. The switch unit of the vehicle air conditioner includes, for example, an air conditioner on switch, an auto (automatic control) switch, a fan air volume setting switch, and an outlet selection switch. As shown in FIGS. 1 to 3, the operation device 100 includes a fixing unit 110, an operation panel 120, an actuator 130, a spring unit 140, a gap distance sensor 150, a control unit 160, and the like.

The fixing portion 110 is a member for fixing the actuator 130, the spring portion 140, the gap distance sensor 150, and the like, and is shown here as a member corresponding to the bottom portion of the housing. The fixing portion 110 is formed of, for example, a resin material.

The operation panel 120 is a member (switch unit) that can be moved in the pressing direction by the operator's finger operation, and is arranged on the operator side of the fixing unit 110. The operation panel 120 corresponds to the movable portion of the present disclosure. The operation panel 120 is made of, for example, a resin material. A plate member made of a magnetic metal material is fixed to the surface of the operation panel 120 on the fixing portion 110 side so as to face the actuator 130.

The actuator 130 has, for example, a drive circuit 131 and a winding coil 132. The winding coil 132 is a coil wound around a core member of a magnetic metal material. When the actuator 130 receives the reproduction start signal Ps (described later) from the control unit 160, the drive circuit 131 energizes the winding coil 132 to function as an electromagnet. The actuator 130 is a suction type actuator that generates a suction force in the pressing direction with respect to the operation panel 120 (a plate member made of a magnetic metal material).

The actuator 130 is not limited to the suction type actuator described above, but is also a bidirectional actuator that is an electromagnet type and uses a permanent magnet, or a repulsive type that is bidirectional and uses only one-sided movement. An actuator or the like may be used.

The spring portion 140 is an elastic member that vibrates by applying a reaction force to the operation panel 120 in the direction opposite to the pressing direction when the suction force by the actuator 130 is released. For example, a leaf spring or a coil spring is used as the spring portion 140, one end of which is fixed to the fixed portion 110 and the other end of which is connected to the operation panel 120, so that the operation panel 120 is elastic with respect to the fixed portion 110. It has come to support the target.

The gap distance sensor 150 is a position sensor that detects the position of the operation panel 120 in the pressing direction, and is provided on the upper surface of the fixing portion 110. As the gap distance sensor 150, for example, a reflection type light amount sensor is used. The gap distance sensor 150 emits light toward the operation panel 120, reflects it on the operation panel 120, and returns based on the photoimaging position (the principle of triangular distance measurement that differs depending on the distance of the detected object). The distance signal Ds corresponding to the distance between the fixed portion 110 and the operation panel 120 is detected. The gap distance sensor 150 outputs the detected distance signal Ds to the control unit 160.

The control unit 160 is a part that receives the distance signal Ds from the gap distance sensor 150 and controls the on / off of the energization of the actuator 130. When the operator's finger is operated on the operation panel 120, the control unit 160 vibrates and tactilely touches the operator's finger F via the operation panel 120 by the suction force of the actuator 130 and the reaction force of the spring unit 140. Is to be given.

The control unit 160 has a CPU, RAM, a storage medium, and the like. The control unit 160 stores in advance a plurality of ID input waveforms (reproduction start signals Ps) for performing feed forward control for the actuator 130. One of the plurality of ID input waveforms is selected and set by the vehicle manufacturer, or is selected and set by the operator before or during use of the vehicle. The ID input waveform corresponds to the set waveform of the present disclosure.

The ID input waveform becomes the reproduction start signal Ps output to the actuator 130. As shown in FIG. 4, the ID input waveform is a preset energization pattern (a voltage waveform is used here) for the actuator 130. For the ID input waveform, first, the acceleration pulse Ap for turning on / off the actuator 130 and the vibration behavior of the operation panel 120 by the spring portion 140 are grasped in advance, and then the brake pulse Bp for effectively stopping this vibration behavior. And include. The ID input waveform is not limited to the voltage waveform, and may be a waveform indicating a current value.

The acceleration pulse Ap has a rectangular waveform in which the actuator 130 is energized for a predetermined time and then temporarily turned off (voltage is set to 0). The acceleration pulse Ap may be a sin wavy waveform or a combination of a sin wavy waveform and a rectangular waveform.

Further, the brake pulse Bp is applied to the actuator 130 again so that the peak value of the attractive force is generated in the section A (phase of the brake input range) in FIG. 4 after the acceleration pulse Ap to the actuator 130 is turned off. On the other hand, it is a mountain-shaped pulse that turns on electricity. In the section A, after the acceleration pulse Ap was turned off, the operation panel 120 was returned in the opposite direction (front side in FIG. 4) by the spring portion 140, and further reversed in the pressing direction (back side in FIG. 4). Later, it is a section that further reverses from the maximum position in the pressing direction (top dead center Td in FIG. 4) and returns to the reverse maximum position in the opposite direction (bottom dead center Bd in FIG. 4).

The skirt of the brake pulse Bp is acceptable when it is within the section A or when it slightly protrudes. Further, after the peak of the brake pulse Bp, the pulse output is set to be gradually (smoothly) reduced (gradual descending portion S). The degree of reduction of the pulse output is, for example, about 0.5 to 2 V / ms. After the peak of the brake pulse Bp, the brake pulse Bp may be gradually lowered in steps. Further, the brake pulse Bp is not limited to the mountain-shaped pulse, and may be a rectangular waveform.

Further, the control unit 160 stores in advance the pressing threshold value for the distance signal Ds output from the gap distance sensor 150. The pressing threshold is a value for determining whether or not there is a finger operation when the operation panel 120 is pressed and moved by the operator's finger F.

The control unit 160 and its method described in the present disclosure are provided by a processor programmed to perform one or more functions embodied by a computer program, and a dedicated computer provided by configuring memory. , May be realized.

Alternatively, the control unit 160 and its method described in the present disclosure may be realized by a dedicated computer provided by configuring a processor by one or more dedicated hardware logic circuits.

Alternatively, the control unit 160 and its method described in the present disclosure include a processor and memory programmed to perform one or more functions, and a processor composed of one or more hardware logic circuits. It may be realized by one or more dedicated computers configured by a combination.

Further, the computer program may be stored in a computer-readable non-transition tangible recording medium as an instruction executed by the computer.

Here, the flowchart described in the present embodiment or the processing of the flowchart is composed of a plurality of sections (or referred to as steps), and each section is expressed as, for example, step S100. Further, each section can be divided into a plurality of subsections, while a plurality of sections can be combined into one section. Also, each section thus constructed can be referred to as a device, module, or means.

The configuration of the operating device 100 of the present embodiment is as described above, and the operation and the effect of the operation will be described below with reference to FIG.

As a preparatory step before the operating device 100 is used, any one of the plurality of ID input waveforms stored in the control unit 160 can be used as a standard input waveform by the vehicle manufacturer or as desired by the operator. It is appropriately selected and set as the input waveform.

In step S100 of the flowchart shown in FIG. 5, the control unit 160 acquires the distance signal Ds from the gap distance sensor 150.

Next, in step S110, the control unit 160 determines whether or not the position (distance signal Ds) of the operation panel 120 with respect to the fixed unit 110 exceeds a predetermined pressing threshold value. If an affirmative determination is made in step S110, the control unit 160 proceeds to step S120 assuming that the position of the operation panel 120 exceeds the pressing threshold value and is finger-operated by the operator. Further, if a negative determination is made in step S110, it is assumed that there is no finger operation by the operator, and steps S100 and S110 are repeated.

In step S120, the control unit 160 outputs the reproduction start signal Ps for reproducing the ID input waveform already selected and set to the actuator 130. Along with this, the drive circuit 131 of the actuator 130 energizes the winding coil 132 so as to have an ID input waveform (the voltage waveform of FIG. 4 is applied).

As shown by the alternate long and short dash line (displacement of the operation panel 120) in FIG. 4, the operation panel 120 is attracted to the actuator 130 side (back side) by turning on the acceleration pulse Ap in the ID input waveform, and the acceleration pulse Ap is generated. When it is turned off (once turned off), it returns to the opposite direction (front side) by the spring portion 140. This is the first return vibration due to the spring portion 140. Therefore, the operating device 100 can generate a sharp vibration tactile sensation that maximizes the acceleration of the first return vibration. Further, while the acceleration pulse Ap is off, the operation panel 120 is inverted from the bottom dead center Bd1 and displaced to the back side based on the spring characteristics.

Next, while the operation panel 120 reaches the top dead center Td on the back side, is further inverted from this top dead center Td, and returns to the bottom dead center Bd on the front side (section A), in the ID input waveform, Brake pulse Bp is generated in advance. Therefore, it is possible to generate a suction force in the direction opposite to the vibration phase of the operation panel 120, and it is possible to effectively stop the vibration (obtain the braking effect). By this braking effect, residual vibration can be suppressed, a pure click feeling (a sharp click feeling) with less vibration miscellaneous taste can be given to the operator's finger F, and the operating noise can be reduced.

Further, by using the ID input waveform (set waveform), the control unit 160 can respond by feed forward control based on the ID input waveform. Feed forward control can be inexpensively supported for feedback control.

Further, the control unit 160 is designed to determine the presence / absence of finger operation based on the position of the operation panel 120 by the gap distance sensor 150, whereby the presence / absence of finger operation can be clearly determined.

Further, when the brake pulse Bp is applied to the actuator 130, the control unit 160 is designed to gradually reduce the pulse output after the peak output (gradual descending unit S). As a result, when the operation panel 120 is stopped, a sudden braking action can be avoided and the operation panel 120 can be stopped smoothly.

(Second Embodiment)
The second embodiment is shown in FIGS. 6 and 7. The operation device 100 of the second embodiment has the same configuration as that of the first embodiment, but the control content is changed. In the second embodiment, the brake pulse Bp is applied by feedback control. Step S100 and step S110 of FIG. 6 are the same as steps S100 and S110 described with reference to FIG.

After step S100 and step S110, in step S125, the control unit 160 outputs the reproduction start signal Ps for reproducing the portion of the acceleration pulse Ap of the already set ID input waveform to the actuator 130. .. Along with this, the drive circuit 131 of the actuator 130 energizes the winding coil 132 so as to be the acceleration pulse Ap of the ID input waveform (the voltage waveform of the acceleration pulse Ap of FIG. 4 is applied). As a result, the operation panel 120 is displaced (one-dot chain line in FIG. 4).

With the occurrence of this displacement, in step S130, the control unit 160 acquires the distance signal Ds from the gap distance sensor 150 as in step S100.

Next, in step S140, the control unit 160 calculates (converts) the vibration phase, vibration amplitude, and vibration cycle of the operation panel 120 from the distance signal Ds.

Next, in step S150, the control unit 160 determines the profile of the waveform of the brake pulse Bp. The waveform of the brake pulse Bp is determined by the brake voltage duty, the voltage application time, and the downward slope (duty, time) after the peak.

Next, it is determined whether or not the waveform of the brake pulse Bp determined in step S160 of FIG. 7 is within the allowable range for the predetermined correction. The permissible range determines whether or not the brake pulse Bp can be used.

If an affirmative determination is made in step S160, in step S170, the control unit 160 updates the waveform of the brake pulse Bp originally set in the ID input waveform to the waveform of the new brake pulse Bp set in step S150, and steps S190. Move to.

On the other hand, if a negative determination is made in step S160, in step S180, the control unit 160 shifts to step S190 without updating (prohibiting) the waveform of the brake pulse Bp that was originally set.

Then, in step S190, the control unit 160 determines whether or not the position of the operation panel 120 exceeds the bottom dead center Bd1 in the first return vibration and exceeds the top dead center Td on the retracting side (back side). Then, if affirmative determination is made, the process proceeds to step S200. If a negative determination is made in step S190, the process returns to step S130, and steps S130 to S190 are repeated.

Then, in step S200, the control unit 160 regenerates the actuator 130 so that the waveform of the brake pulse Bp updated in step S170 is obtained or the waveform of the brake pulse Bp originally set is obtained. The start signal Ps is output. Along with this, the drive circuit 131 of the actuator 130 energizes the winding coil 132 so as to have the waveform of the updated (or original) brake pulse Bp.

As described above, in the present embodiment, the control unit 160 determines whether or not there is a finger operation and grasps the phase of the operation panel 120 based on the position of the operation panel 120 by the gap distance sensor 150. .. As a result, the presence or absence of finger operation and the phase of the operation panel 120 can be clearly grasped based on the position of the operation panel 120 by the gap distance sensor 150.

Further, the control unit 160 sets the timing of adding the brake pulse Bp according to the phase of the operation panel 120 after adding the acceleration pulse Ap to the actuator 130, so that the brake pulse Bp is added. This enables feedback control based on the phase of the operation panel 120 when the brake pulse Bp is added.

Further, the control unit 160 determines the input waveform when the brake pulse Bp is added based on the vibration phase, vibration amplitude, and vibration cycle of the operation panel 120 by the gap distance sensor 150. Then, it is determined whether or not the determined input waveform is within the predetermined allowable range, and when the positive determination is made, the determined input waveform is updated and used, and when the negative determination is made, the determined input waveform is updated. Is prohibited. Thereby, the quality of the determined input waveform (brake pulse Bp) can be determined, and an appropriate input waveform can be used.

(Third Embodiment)
A third embodiment is shown in FIG. In the third embodiment, the addition of the brake pulse Bp is divided into a plurality of times (here, two times) in the ID input waveform.

In the operation device 100, the displacement characteristics of the operation panel 120 can change according to the settings of the operation panel 120, the actuator 130, and the spring portion 140. Therefore, if the operation panel 120 cannot be stopped by one brake pulse Bp due to the displacement characteristics of the operation panel 120, it is preferable to provide a plurality of brake pulses Bp (in sections A and B) in advance. As a result, the operation panel 120 can be appropriately stopped according to the displacement characteristics.

(Other embodiments)
Disclosure in this specification, drawings and the like is not limited to the illustrated embodiments. The disclosure includes exemplary embodiments and modifications by those skilled in the art based on them. For example, disclosure is not limited to the parts and / or element combinations shown in the embodiments. Disclosure can be carried out in various combinations. The disclosure can have additional parts that can be added to the embodiments. Disclosures include those in which the parts and / or elements of the embodiment are omitted. Disclosures include the replacement or combination of parts and / or elements between one embodiment and another. The technical scope disclosed is not limited to the description of the embodiments. Some technical scopes disclosed are indicated by the claims description and should be understood to include all modifications within the meaning and scope equivalent to the claims statement.

In the present embodiment, an example in which the operation device 100 is applied to, for example, various switch units of a vehicle air conditioner is shown, but the present invention is not limited to this, for example, a switch unit for audio equipment and a touch pad for remote control. Etc. may be applied.

Claims

A movable part (120) that can be moved in the pressing direction by the operator's finger operation,
An actuator (130) that generates a suction force in the pressing direction with respect to the moving portion when energized.
When the suction force is released, a reaction force is applied to the movable portion in a direction opposite to the pressing direction, and the spring portion (140) vibrates.
A control unit (160) for controlling the on / off of energization of the actuator is provided.
An operating device that imparts a vibrating tactile sensation to the operator's finger (F) via the movable portion by the suction force of the actuator and the reaction force of the spring portion when the finger operation is performed. There,
The control unit is used to impart the vibration and tactile sensation.
An acceleration pulse (Ap) is added to the actuator by turning on the power for a predetermined time and then turning off the power once.
After the addition of the acceleration pulse to the actuator, the spring portion causes the movable portion to return in the opposite direction, further reverse in the pressing direction, and then further reverse from the maximum position in the pressing direction. An operating device for applying a brake pulse (Bp) that turns on the actuator again so that a peak value of the attractive force is generated while returning to the reverse maximum position in the reverse direction (A).
The operating device according to claim 1, wherein the control unit adds the acceleration pulse to the actuator and the brake pulse based on a preset waveform.
A position sensor (150) for detecting the position of the movable portion in the pressing direction is provided.
The operating device according to claim 2, wherein the control unit determines the presence or absence of the finger operation based on the position of the movable unit by the position sensor.
A position sensor (150) for detecting the position of the movable portion in the pressing direction is provided.
The operating device according to claim 1, wherein the control unit determines the presence or absence of a finger operation and grasps the phase of the movable portion based on the position of the movable portion by the position sensor.
The fourth aspect of claim 4, wherein the control unit sets the timing of the addition of the brake pulse according to the phase of the movable unit after the addition of the acceleration pulse to the actuator, and adds the brake pulse. Operating device.
The control unit determines the input waveform when the brake pulse is applied based on the vibration phase, vibration amplitude, and vibration cycle of the movable portion by the position sensor, and the determined input waveform is within a predetermined allowable range. The operation device according to claim 5, wherein it is determined whether or not the above is true, and when a positive determination is made, the determined input waveform is updated and used, and when a negative determination is made, updating of the determined input waveform is prohibited. ..
The operating device according to any one of claims 1 to 6, wherein the control unit gradually reduces the pulse output after the peak output when the brake pulse is applied to the actuator.
The operating device according to any one of claims 1 to 7, wherein the control unit applies the brake pulse to the actuator in a plurality of times.