WO2021241342A1 - Dispositif de génération de force de frottement et son procédé de commande - Google Patents

Dispositif de génération de force de frottement et son procédé de commande Download PDF

Info

Publication number
WO2021241342A1
WO2021241342A1 PCT/JP2021/018897 JP2021018897W WO2021241342A1 WO 2021241342 A1 WO2021241342 A1 WO 2021241342A1 JP 2021018897 W JP2021018897 W JP 2021018897W WO 2021241342 A1 WO2021241342 A1 WO 2021241342A1
Authority
WO
WIPO (PCT)
Prior art keywords
frictional force
force generating
state
writing
static electricity
Prior art date
Application number
PCT/JP2021/018897
Other languages
English (en)
Japanese (ja)
Inventor
惇一 清水
真生 近藤
Original Assignee
ソニーグループ株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by ソニーグループ株式会社 filed Critical ソニーグループ株式会社
Publication of WO2021241342A1 publication Critical patent/WO2021241342A1/fr

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B43—WRITING OR DRAWING IMPLEMENTS; BUREAU ACCESSORIES
    • B43L—ARTICLES FOR WRITING OR DRAWING UPON; WRITING OR DRAWING AIDS; ACCESSORIES FOR WRITING OR DRAWING
    • B43L12/00—Means to prevent slippage

Definitions

  • This technology relates to a frictional force generator and its control method, and more specifically to a frictional force generator that generates frictional force on an object in a non-contact manner.
  • Patent Document 1 discloses a technique for physically fixing paper using a paper fixture having an adhesive layer.
  • the purpose of this technology is to generate frictional force appropriately without contacting the object.
  • the concept of this technology is A frictional force generating part that generates frictional force without contacting the object
  • the friction force generating device includes a control unit that controls the frictional force generation timing of the frictional force generating portion based on the state of the object.
  • the frictional force generating part generates frictional force without contacting the object.
  • the frictional force generating unit may generate frictional force on the object by discharging static electricity to charge the object.
  • the control unit controls the frictional force generation timing of the frictional force generating unit based on the state of the object.
  • it may be further provided with a state detection unit for detecting the state of the object.
  • the state detection unit may detect the state of the object based on the output of the sensor.
  • the sensor may include a camera.
  • control unit may be configured to control the frictional force generation amount of the frictional force generating portion as well as the frictional force generation timing of the frictional force generating portion based on the state of the object. Further, for example, the frictional force generating unit recognizes the object based on the feature information of the preset shape or color of the object, and generates the frictional force only on the object based on the recognition result. May be done.
  • a friction force releasing unit for releasing the frictional force generated in the object is further provided, and the control unit controls the frictional force releasing timing of the frictional force releasing unit based on the state of the object. May be done.
  • the frictional force releasing unit may release the frictional force generated in the object by discharging the static electricity charged in the object.
  • control unit may be configured to control the frictional force generating unit to generate frictional force on the object when a predetermined object enters the detection area related to the position of the object.
  • the object may be a writing paper placed on a table or a desk
  • the predetermined object may be a writing instrument for writing on the writing paper.
  • control unit may be configured to control the frictional force generating unit to generate frictional force on the object when the object moves to a specific position. Further, for example, the control unit may be configured to control the frictional force generating unit to generate frictional force on the object when a predetermined object touches a specific area of the object. Further, for example, the control unit may be configured to control the frictional force generating unit to generate the frictional force on the object when the object is rotated by a certain angle.
  • the frictional force generation timing of the frictional force generating portion that generates the frictional force without contacting the object is controlled based on the state of the object, and is appropriate without contacting the object. It is possible to generate a frictional force.
  • FIG. 1 shows a configuration example of the frictional force generating device 10 as the first embodiment.
  • the table 101 has a structure in which the table top plate 101a is supported by the table legs 101b, and is arranged on the floor surface 102. Although the table 101 is used here, the table 101 may be a desk.
  • a metal plate 103 is attached to the lower surface of the table top plate 101a, and the metal plate 103 is grounded to the ground.
  • One end of the flexible arm 104 is fixed to the upper surface of the table top plate 101a.
  • a discharge unit 105 is attached to the other end of the flexible arm 104.
  • the static electricity generating unit 106 and the discharging unit 105 constitute a frictional force generating unit.
  • the cable 107 is also arranged inside the flexible arm 104.
  • the frictional force generating portion is configured to be able to control the amount of static electricity discharged from the object and the discharge time.
  • one end of the joint arm 110 is fixed to the upper surface of the table top plate 101a.
  • a camera 109 is fixed to the other end of the joint arm 110.
  • the camera 109 constitutes a sensor for detecting the state of the object.
  • the sensor for detecting the state of the object is not limited to the camera 109.
  • the image signal obtained by being imaged by the camera 109 is sent to the PC (personal computer) 111 via the signal line 109a.
  • the PC 111 performs image analysis based on the image signal sent from the camera 109 to detect the state of the object.
  • the PC 111 constitutes a state detection unit.
  • the state of the object is not limited to the state of the object itself, but also includes the state of the object related to the object.
  • the object related to the object may be a writing instrument such as a pen, a human hand, or the like.
  • the PC 111 controls the timing of generating static electricity from the static electricity generating unit 106, and therefore the timing of generating frictional force of the object, based on the state of the object. In this sense, the PC 111 constitutes a control unit.
  • FIG. 2 shows an example of the hardware configuration of PC111.
  • the PC 111 includes a CPU 401, a ROM 402, a RAM 403, a bus 404, an input / output interface 405, an input unit 406, an output unit 407, a storage unit 408, a drive 409, a connection port 410, and a communication unit 411.
  • the hardware configuration shown here is an example, and some of the components may be omitted. Further, components other than the components shown here may be further included.
  • the CPU 401 functions as, for example, an arithmetic processing device or a control device, and controls all or a part of the operation of each component based on various programs recorded in the ROM 402, the RAM 403, the storage unit 408, or the removable recording medium 501. ..
  • the ROM 402 is a means for storing programs read into the CPU 401, data used for calculations, and the like.
  • the RAM 403 for example, a program read into the CPU 401, various parameters that change as appropriate when the program is executed, and the like are temporarily or permanently stored.
  • the CPU 401, ROM 402, and RAM 403 are connected to each other via the bus 404.
  • the bus 874 is connected to various components via the interface 405.
  • a mouse for example, a mouse, keyboard, touch panel, buttons, switches, levers, and the like are used.
  • a remote controller (hereinafter referred to as a remote controller) capable of transmitting a control signal using infrared rays or other radio waves may be used.
  • the output unit 407 receives acquired information from, for example, a display device such as a CRT (Cathode Ray Tube), LCD, or organic EL, an audio output device such as a speaker or headphones, a printer, a mobile phone, or a facsimile. It is a device that can visually or audibly notify the device.
  • a display device such as a CRT (Cathode Ray Tube), LCD, or organic EL
  • an audio output device such as a speaker or headphones
  • printer a printer
  • a mobile phone or a facsimile. It is a device that can visually or audibly notify the device.
  • the storage unit 408 is a device for storing various types of data.
  • a magnetic storage device such as a hard disk drive (HDD), a semiconductor storage device, an optical storage device, an optical magnetic storage device, or the like is used.
  • the drive 409 is a device that reads information recorded on a removable recording medium 501 such as a magnetic disk, an optical disk, a magneto-optical disk, or a semiconductor memory, or writes information on the removable recording medium 501.
  • a removable recording medium 501 such as a magnetic disk, an optical disk, a magneto-optical disk, or a semiconductor memory
  • the removable recording medium 501 is, for example, a DVD media, a Blu-ray (registered trademark) media, an HD DVD media, various semiconductor storage media, and the like.
  • the removable recording medium 501 may be, for example, an IC card equipped with a non-contact type IC chip, an electronic device, or the like.
  • the connection port 410 is a port for connecting an external connection device 502 such as a USB (Universal Serial Bus) port, an IEEE 1394 port, a SCSI (Small Computer System Interface), a RS-232C port, or an optical audio terminal.
  • an external connection device 502 such as a USB (Universal Serial Bus) port, an IEEE 1394 port, a SCSI (Small Computer System Interface), a RS-232C port, or an optical audio terminal.
  • the externally connected device 502 also includes the above-mentioned static electricity generating unit 106 and the camera 109.
  • the communication unit 411 is a communication device for connecting to the network 503, and is, for example, a communication card for wired or wireless LAN, Bluetooth (registered trademark), or WUSB (WirelessUSB), a router for optical communication, and ADSL (Asymmetric). A router for Digital Subscriber Line) or a modem for various communications.
  • the static electricity generating unit 106 when the writing instrument as a predetermined object enters the detection area related to the position of the writing paper 108 as an object, the static electricity generating unit 106 generates static electricity, and the discharging unit 105 generates static electricity. It is controlled so that static electricity is discharged and charged toward the writing paper 108. As a result, a frictional force is generated on the writing paper 108, and the writing paper 108 is in a state of being attached to and fixed to the upper surface of the table top plate 101a.
  • the writing paper 108 before charging is shown by a broken line
  • the writing paper 108 after charging is shown by a solid line.
  • FIG. 3A shows a state in which the writing instrument does not enter the detection area 112 (shown by the broken line) related to the position of the writing paper 108.
  • the central portion of the writing paper 108 is in a state of floating from the upper surface of the table top plate 101a.
  • FIG. 3B shows a state when the writing instrument (pen) 113 enters the detection area 112.
  • the writing paper 108 is in a state of being attached to and fixed to the upper surface of the table top plate 101a by the frictional force generated by charging.
  • the flowchart of FIG. 4 shows an example of the control procedure of the PC 111.
  • the PC 111 determines in step ST1 whether or not the writing tool 113 has entered the detection area 112.
  • the PC 111 charges the writing paper 108 in step ST2, and the writing paper 108 is attached and fixed to the upper surface of the table top plate 101a by the frictional force generated by the charging.
  • the PC 111 controls the static electricity generating unit 106 to generate static electricity, and the discharging unit 105 to discharge and charge the static electricity toward the writing paper 108.
  • the writing paper 108 is charged to generate the frictional force, and this writing is performed.
  • the paper 108 is attached and fixed to the upper surface of the table top plate 101a, and a frictional force can be appropriately generated without contacting the writing paper 108 as an object.
  • FIG. 5A shows, for example, a state in which the user is trying to align the writing paper 108 with a specific position on the grid sheet 121 placed on the upper surface of the table top plate 101a.
  • FIG. 5B shows a state in which the writing sheet 108 is aligned with a specific position on the grid sheet 121.
  • the PC 111 controls the static electricity generating unit 106 to generate static electricity, and the discharging unit 105 to discharge and charge the static electricity toward the writing paper 108.
  • a frictional force is generated on the writing paper 108, and the writing paper 108 is in a state of being stuck and fixed on the grid sheet 121.
  • FIG. 5C shows a state in which the user is trying to align the ruler 122 with a specific position on the square sheet 121 to which the writing paper 108 is stuck and fixed.
  • FIG. 5D shows a state in which the ruler 122 is aligned with a specific position on the grid sheet 121 to which the writing paper 108 is stuck and fixed.
  • the PC 111 controls the static electricity generating unit 106 to generate static electricity, and the discharging unit 105 to discharge and charge the static electricity toward the ruler 122.
  • a frictional force is generated on the ruler 122, and the ruler 122 is in a state of being stuck and fixed on the grid sheet 121 to which the writing paper 108 is stuck and fixed.
  • the flowchart of FIG. 6 shows an example of the control procedure of the PC 111.
  • the PC 111 determines in step ST11 whether or not the position of the writing paper 108 is a specific position on the grid sheet 121.
  • the PC 111 When the position of the writing paper 108 becomes a specific position on the square sheet 121, the PC 111 charges the writing paper 108 in step ST12, and the frictional force generated by this charging causes the writing paper 108 to be placed on the square sheet 121. Paste and fix to.
  • the PC 111 controls the static electricity generating unit 106 to generate static electricity, and the discharging unit 105 to discharge and charge the static electricity toward the writing paper 108.
  • step ST13 the PC 111 determines whether or not the position of the ruler 122 is a specific position on the grid sheet 121.
  • the PC 111 charges the ruler 122 in step ST14, and the ruler 122 is fixed to the ruler 122 by the frictional force generated by the charging. It is attached and fixed on the square sheet 121.
  • the PC 111 controls the static electricity generating unit 106 to generate static electricity, and the discharging unit 105 to discharge and charge the static electricity toward the ruler 122.
  • the frictional force generating device of the second embodiment when the writing paper 108 or the ruler 122 is at a specific position on the grid sheet 121, the writing paper 108 or the ruler 122 is charged and rubbed. A force is generated to attach and fix the writing paper 108 or the jug 122 on the grid sheet 121, and it is possible to appropriately generate a frictional force without contacting the writing paper 108 or the jug 122 as an object. can.
  • a horizontal line 131 is shown on the upper surface of the table top plate 101a, and a vertical line 132 is shown along the horizontal line 131 at a certain distance.
  • Each position of P0 to P4 indicates a position where the vertical line 132 exists.
  • the human hand wears gloves as an insulator, and the index finger 133 portion is configured to be chargeable.
  • the user moves the index finger 133 from the P0 position in the arrow direction (right direction) while touching the table top plate 101a, and enters the vicinity of the P1 position where the vertical line 132 exists, that is, within a certain distance from the P1 position.
  • the PC 111 controls the static electricity generating unit 106 to generate static electricity, and the discharging unit 105 to discharge the static electricity toward the index finger 133 to charge the static electricity.
  • the discharge amount is reduced or the discharge time is shortened to weakly charge the battery.
  • a weak frictional force is generated on the index finger 133, and the movement of the index finger 133 is weakly braked.
  • the PC 111 controls the static electricity generating unit 106 to generate static electricity and the discharging unit 105 to discharge and charge the static electricity toward the index finger 133. do.
  • the discharge amount is increased or the discharge time is lengthened to strongly charge the battery.
  • a strong frictional force is generated on the index finger 133, the movement of the index finger 133 is strongly braked, and the index finger 133 is stopped at the P1 position.
  • the PC 111 dissipates static electricity charged in the index finger 133 by a static eliminator (not shown).
  • the electric discharge is discharged to eliminate static electricity, and the frictional force generated on the index finger 133 is released.
  • the index finger 133 can smoothly move in the arrow direction (right direction) while touching the upper surface of the table top plate 101a. For example, it is possible to eliminate static electricity by blowing water vapor toward the index finger 133.
  • the index finger 133 moves in the direction of the arrow (to the right) along the horizontal line 131 while touching the table top plate 101a, the same as described above is related to the position of each vertical line 132.
  • the state is repeated. That is, when the index finger 133 enters the vicinity of the position of the vertical line 132, it is weakly charged and a weak frictional force is generated to apply a weak brake, and then the index finger 133 is placed on the vertical line 132. When it moves to the position, it is strongly charged and a strong frictional force is generated, and the brake is strongly applied to stop, and then when the index finger 133 moves away from the position of the vertical line 132, it is against the index finger 133. The static electricity is removed, the frictional force is released, and the vehicle can move smoothly.
  • the flowchart of FIG. 8 shows an example of the control procedure of the PC 111.
  • the PC 111 determines in step ST21 whether or not the index finger 133 has entered the vicinity of the position of the vertical line 132.
  • the PC 111 weakly charges the index finger 133 in step ST22, and the weak frictional force generated by this charging weakly brakes the movement of the index finger 133.
  • the PC 111 determines whether or not the index finger 133 has moved to the position of the vertical line 132 in step ST23.
  • the PC 111 strongly charges the index finger 133 in step ST24, and the strong frictional force generated by this charging strongly brakes the movement of the index finger 133 to cause the index finger 133. Is stopped at the position of the vertical line 132.
  • the PC 111 determines in step ST25 whether or not the index finger 133 has moved away from the position of the vertical line 132.
  • the PC 111 performs static elimination on the index finger 133 in step ST26 to release the frictional force and enable smooth movement.
  • the PC 111 returns to step ST21 and repeats the same process as described above.
  • the index finger 133 of the user when the index finger 133 of the user enters the vicinity of the position of the vertical line 132, the index finger 133 is weakly charged to generate a weak frictional force.
  • the index finger 133 When the index finger 133 is moved to the position of the vertical line 132, the index finger 133 is strongly charged to generate a strong frictional force and the brake is applied strongly to stop. It is in a state, and a frictional force can be appropriately generated without contacting the index finger 133 as an object.
  • the index finger 133 when the index finger 133 is separated from the position of the vertical line 132, the index finger 133 is statically eliminated to release the frictional force and can move smoothly. The frictional force can be appropriately released without contacting the index finger as an object.
  • FIG. 9A shows a state in which the user is moving the ring 142 placed on the upper surface of the table top plate 101a toward the mark 141 by the index finger 143.
  • the static electricity generating unit 106 when the ring 142 moves to the position of the mark 141, in the PC 111, the static electricity generating unit 106 generates static electricity, and the discharging unit 105 discharges static electricity toward the ring 142. It is controlled to be charged. In this case, the discharge amount is increased or the discharge time is lengthened to strongly charge the battery. As a result, a strong frictional force is generated on the ring 142, the movement of the ring 142 is strongly braked, and the ring 142 is stopped at the position of the mark 142.
  • the flowchart of FIG. 10 shows an example of the control procedure of the PC 111.
  • the PC 111 determines in step ST31 whether or not the ring 142 has entered the vicinity of the position of the mark 141.
  • the PC 111 weakly charges the ring 142 in step ST32, and the weak frictional force generated by this charging weakly brakes the movement of the ring 142.
  • the PC 111 determines whether or not the ring 142 has moved to the position of the mark 141 in step ST33.
  • the PC 111 strongly charges the ring 142 in step ST34, and the strong frictional force generated by this charging strongly brakes the movement of the ring 142 to cause the ring 142 to move. Stop at the position of the mark 141.
  • the frictional force generator of the fourth embodiment when the ring 142 enters the vicinity of the position of the mark 141, the ring 142 is weakly charged to generate a weak frictional force to weaken it.
  • the ring 142 moves to the position of the mark 141, the ring 142 is strongly charged to generate a strong frictional force, and the brake is strongly applied to stop the ring 142. Therefore, a frictional force can be appropriately generated without contacting the ring 142 as an object.
  • FIG. 11A shows, for example, a state in which a circular object placed on the upper surface of the table top plate 101a, here, a paper cup 151 is placed.
  • PC111 Controls the static electricity generation unit 106 to generate static electricity, and the discharge unit 105 to discharge and charge the static electricity toward the paper cup 151.
  • the discharge amount is reduced or the discharge time is shortened to weakly charge the battery.
  • a weak frictional force is generated in the paper cup 151, and the rotational movement of the paper cup 151 is weakly braked.
  • the PC 111 discharges the static electricity charged in the paper cup 151 by a static eliminator (not shown) to eliminate static electricity, and the paper cup 151 is generated. Release the frictional force that was being used. As a result, the paper cup 151 can rotate smoothly. For example, it is possible to eliminate static electricity by blowing water vapor toward the paper cup 151.
  • the flowchart of FIG. 12 shows an example of the control procedure of the PC 111.
  • the PC 111 determines in step ST41 whether or not the rotation angle of the paper cup 151 is in the vicinity of ⁇ .
  • the PC 111 When the rotation angle of the paper cup 151 is in the vicinity of ⁇ , the PC 111 weakly charges the paper cup 151 in step ST42, and the weak frictional force generated by this charging weakly applies the brake to the rotational movement of the paper cup 151. Hang.
  • the PC 111 determines in step ST43 whether or not the rotation angle of the paper cup 151 has become ⁇ .
  • the PC 111 strongly charges the paper cup 151 in step ST44, and the strong frictional force generated by this charging strongly brakes the rotational movement of the paper cup 151. , Stop the paper cup 151.
  • step ST45 determines in step ST45 whether or not the paper cup 151 has been further rotated.
  • the PC 111 performs static elimination on the paper cup 151 in step ST46 to release the frictional force and enable smooth rotation.
  • step ST46 the PC 111 returns to step ST41 and repeats the same process as described above.
  • the frictional force generator of the fifth embodiment when the rotation angle of the paper cup 151 is in the vicinity of ⁇ , the paper cup 151 is weakly charged to generate a weak frictional force.
  • the rotation angle of the paper cup 151 becomes ⁇ , the paper cup 151 is strongly charged to generate a strong frictional force, and the paper cup 151 is strongly braked and stopped. Therefore, it is possible to appropriately generate a frictional force without contacting the paper cup 151 as an object.
  • the frictional force generating device of the fifth embodiment when the paper cup 151 is further rotated, the paper cup 151 is statically eliminated to release the frictional force so that the paper cup 151 can rotate smoothly. Therefore, the frictional force can be appropriately released without contacting the paper cup 151 as an object.
  • FIG. 13A shows, for example, a state in which two disk-shaped objects, here, the first coin 161 and the second coin 162 are arranged apart from each other on the upper surface of the table top plate 101a.
  • the static electricity generating unit 106 generates static electricity
  • the discharging unit 105 discharges the static electricity toward the first coin 161 to charge the PC 111.
  • a frictional force is generated on the first coin 161 and the first coin 161 is attached to and fixed to the upper surface of the table top plate 101a.
  • the flowchart of FIG. 14 shows an example of the control procedure of the PC 111.
  • the PC 111 determines in step ST51 whether or not the first coin 161 has been rotated clockwise.
  • the PC 111 charges the first coin 161 in step ST52, and the first coin 161 is attached to the upper surface of the table top plate 101a by the frictional force generated by this charging. Attach and fix it to make it immovable.
  • the PC 111 determines whether or not the first coin 161 has been rotated counterclockwise in step ST53.
  • the PCT 111 performs static elimination on the first coin 161 to release the frictional force in step ST54, and makes the first coin 161 movable.
  • the PC 111 returns to step ST51 and repeats the same process as described above.
  • the frictional force generator of the sixth embodiment when the first coin 161 is rotated clockwise, the first coin 161 is charged to generate a frictional force, and the first coin 161 is rotated to the right.
  • the coin 161 is attached and fixed to the upper surface of the table top plate 101a, and a frictional force can be appropriately generated without contacting the first coin 161 as an object.
  • static elimination is performed on the first coin 161 to release the frictional force and the coin moves smoothly. This is a possible state, and the frictional force can be appropriately released without contact with the first coin 161 as an object.
  • FIG. 15A shows the display screen 171 of the projector.
  • the writing paper 172 is displayed on the display screen 171.
  • the writing paper 172 includes a writing area 172a and a moving area 172b. Writing is performed in the writing area 172a of the writing paper 172 in the display screen 171 using the writing instrument 173 also displayed on the display screen of the projector. Further, in the display screen 171 as shown in FIG. 15B, the writing paper 172 is moved by touching the moving area 172b of the writing paper 172 with the writing instrument 173.
  • the description area 175a and the moving area 175b are included on the display screen 171 of the projector, similarly to the writing paper 172 displayed on the display screen 171 of the projector described above.
  • the static electricity generating unit 106 generates static electricity and the discharging unit 105 discharges static electricity toward the writing paper 175 to charge the PC 111. Control to let.
  • a frictional force is generated on the writing paper 175, and the writing paper 175 is in a state of being stuck and fixed on the display screen 171 of the projector. In this state, the user can write in the description area 175a by using the writing instrument 176.
  • the PC 111 When the writing on the writing area 175a of the writing paper 175 is completed and the user touches the moving area 175b of the writing paper 175 with the writing instrument 176, the PC 111 generates static electricity charged on the writing paper 175 by a static eliminator (not shown). It discharges and eliminates static electricity, and releases the frictional force generated on the writing paper 175. As a result, as shown in FIG. 15D, the user can easily move the writing paper 175 to an arbitrary position.
  • the static electricity generating unit 106 generates static electricity and the discharging unit 105 discharges the static electricity toward the writing paper 175 in the PC 111. It is controlled to be charged. As a result, a frictional force is generated on the writing paper 175, and the writing paper 175 is in a state of being stuck and fixed on the display screen 171 of the projector at this arbitrary position.
  • the flowchart of FIG. 16 shows an example of the control procedure of the PC 111.
  • the PC 111 determines in step ST61 whether or not the writing instrument 176 touches the writing area 175a of the writing paper 175.
  • the PC 111 charges the writing paper 175 in step ST62, and the writing paper 175 is attached onto the display screen 171 of the projector by the frictional force generated by the charging. Attach and fix.
  • the PC 111 determines in step ST63 whether or not the writing instrument 176 touches the moving area 175b of the writing paper 175.
  • the PC 111 performs static elimination on the writing paper 175 in step ST64 to release the frictional force and enable smooth movement.
  • step ST65 the PC 111 determines whether or not the writing instrument 176 has left the moving area 175b of the writing paper 175.
  • the PC 111 charges the writing paper 175 in step ST66, and the writing paper 175 is attached onto the display screen 171 of the projector by the frictional force generated by this charging. Attach and fix.
  • the frictional force generator of the seventh embodiment when the writing instrument 176 touches the writing area 175a of the writing paper 175, or when the writing instrument 176 moves away from the moving area 175b of the writing paper 175.
  • the writing paper 108 is charged to generate a frictional force, and the writing paper 108 is attached and fixed on the display screen 171 of the projector.
  • the writing paper 108 is not in contact with the writing paper 175 as an object, and the frictional force is appropriately applied. Can be generated.
  • the frictional force generating device of the seventh embodiment when the writing instrument 176 touches the moving area 175b of the writing paper 175, static elimination is performed on the writing paper 175 to release the frictional force and smooth. The frictional force can be appropriately released without contacting the writing paper 175 as an object.
  • FIG. 17A shows, for example, a state in which the coin group 181 is arranged at the Q0 position on the upper surface of the table top plate 101a.
  • This coin group 181 is a stack of five coins 181-1 to 181-5.
  • the PC 111 controls the static electricity generating unit 106 to generate static electricity and the discharging unit 105 to discharge the static electricity toward the coin group 181 to charge the coin group 181.
  • a frictional force is generated on the lowest coin 181-1 of the coin group 108, and the coin 181-1 is in a state of being stuck and fixed at the Q0 position on the upper surface of the table top plate 101a.
  • the static electricity generating unit 106 of the PC 111 generates static electricity every time the user moves a certain distance d.
  • the discharge unit 105 is controlled to discharge and charge the static electricity toward the coin group 181.
  • the frictional force is sequentially applied to the bottom coins 181-2, 181-3, 181-4, 181-5 of the coin group 181.
  • the coin is generated, and the coin is attached to and fixed to the positions Q1, Q2, Q3, and Q4 on the upper surface of the table top plate 101a.
  • the flowchart of FIG. 18 shows an example of the control procedure of the PC 111.
  • the PC 111 determines in step ST71 whether or not the user's index finger 182 touches the coin group 181.
  • the PC 111 charges the coin group 181 in step ST72, and the frictional force generated by this charging causes the lowest coin 181-1 to be placed on the upper surface of the table top plate 101a. Paste and fix.
  • the PC 111 determines in step ST73 whether or not the coin group 181 (index finger 182) has moved by a certain distance d.
  • the PC 111 charges the coin group 181 in step ST74, and the lowest coin is attached to and fixed to the upper surface of the table top plate 101a by the frictional force generated by this charging. do.
  • the PC 111 determines whether or not all the coins have been fixed in step ST75. If all the coins are not fixed, the PC 111 returns to step ST73 and repeats the same process as described above.
  • the frictional force generator of the eighth embodiment when the user's index finger 182 touches the coin group 181 or the coin group 181 moves by a certain distance d, the coin group 181 is contacted.
  • the coins at the bottom are charged and attached to the upper surface of the table top plate 101a to be fixed, and a frictional force can be appropriately generated without contacting the coin group 181 as an object.
  • the frictional force generating unit recognizes an arbitrary object based on the feature information of the preset shape or color of the object, and is arbitrary based on the recognition result. It is also conceivable to discharge static electricity only to the object of. As a result, for example, even if there are a plurality of objects around an arbitrary object, the frictional force is generated only on the arbitrary object, and further, the frictional force according to the arbitrary object is generated. Can be generated. Further, in this case, by making the frictional force generating portion, particularly the discharging portion, a movable configuration, it becomes easy to discharge and charge static electricity only to an arbitrary object.
  • the frictional force generating unit is shown to generate frictional force in a non-contact manner by discharging static electricity to the object and charging the object.
  • the configuration of the frictional force generating portion is not limited to this.
  • this technology can also have the following configurations.
  • a frictional force generating part that generates frictional force without contacting the object
  • a frictional force generating device including a control unit that controls the frictional force generation timing of the frictional force generating portion based on the state of the object.
  • the frictional force generating device according to (1) above wherein the frictional force generating unit generates frictional force on the object by discharging static electricity to charge the object.
  • the friction force generating device according to (4) above, wherein the sensor includes a camera.
  • the control unit controls the frictional force generation amount of the frictional force generating portion together with the frictional force generation timing of the frictional force generating portion based on the state of the object.
  • the frictional force generator according to any one.
  • the frictional force generating unit recognizes the object based on the feature information of the preset shape or color of the object, and generates frictional force only on the object based on the recognition result.
  • the frictional force generator according to any one of (1) to (6).
  • the frictional force generating device according to any one of (1) to (7) above, wherein the control unit controls the frictional force release timing of the frictional force release unit based on the state of the object. (9) The frictional force generating device according to (8) above, wherein the frictional force releasing unit releases the frictional force generated in the object by discharging static electricity charged in the object. (10) The control unit controls the friction force generating unit to generate frictional force on the object when a predetermined object enters the detection area related to the position of the object (1). ) To (9). (11) The object is a writing sheet placed on a table or a desk. The frictional force generating device according to (10) above, wherein the predetermined object is a writing instrument for writing on the writing paper.
  • the control unit controls any of the above (1) to (9) so that the frictional force generating unit generates frictional force on the object when the object moves to a specific position.
  • the frictional force generator according to. (13) The control unit controls the friction force generating unit to generate frictional force on the object when a predetermined object touches a specific area of the object (1) to (9).
  • the frictional force generator according to any one of. (14) Any of the above (1) to (9), the control unit controls the friction force generating unit to generate frictional force on the object when the object is rotated by a certain angle. Friction force generator described in Crab.
  • Friction force generator 101 ... Table 101a ... Table top plate 101b ... Table legs 102 ... Floor surface 103 ... Metal plate 104 ... Flexible arm 105 ... Discharge unit 106 ⁇ ⁇ ⁇ Static electricity generating part 107 ⁇ ⁇ ⁇ Cable 108 ⁇ ⁇ ⁇ Writing paper 109 ⁇ ⁇ ⁇ Camera 109a ⁇ ⁇ ⁇ Signal line 110 ⁇ ⁇ ⁇ Joint arm 111 ⁇ ⁇ ⁇ PC 112 ... Detection area 113 ... Writing instrument 121 ... Square sheet 122 ... Pointing 131 ... Horizontal line 132 ... Vertical line 133 ... Index finger 141 ... Mark 142 ...

Landscapes

  • Charge And Discharge Circuits For Batteries Or The Like (AREA)

Abstract

Selon la présente invention, une force de frottement est générée de manière appropriée sans entrer en contact avec un objet.　La force de frottement est générée par une unité de génération de force de frottement sans entrer en contact avec l'objet. Par exemple, l'unité de génération de force de frottement génère une force de frottement sur l'objet par décharge d'électricité statique et charge de l'objet. Une unité de commande commande une synchronisation de génération de force de frottement de l'unité de génération de force de frottement sur la base d'un état de l'objet.
PCT/JP2021/018897 2020-05-29 2021-05-19 Dispositif de génération de force de frottement et son procédé de commande WO2021241342A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2020093952 2020-05-29
JP2020-093952 2020-05-29

Publications (1)

Publication Number Publication Date
WO2021241342A1 true WO2021241342A1 (fr) 2021-12-02

Family

ID=78744560

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2021/018897 WO2021241342A1 (fr) 2020-05-29 2021-05-19 Dispositif de génération de force de frottement et son procédé de commande

Country Status (1)

Country Link
WO (1) WO2021241342A1 (fr)

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6110890U (ja) * 1984-06-25 1986-01-22 株式会社 オ−デイオテクニカ ペ−パ−ホルダ−
JP2008205154A (ja) * 2007-02-20 2008-09-04 Matsushita Electric Ind Co Ltd 校正用の標体及びこれを用いた部品実装装置の校正方法
JP2018107308A (ja) * 2016-12-27 2018-07-05 株式会社ディスコ 静電チャック装置及び静電吸着方法
US20180297392A1 (en) * 2015-10-15 2018-10-18 Sanford, L.P. Generating mechanically rendered objects from digital input

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6110890U (ja) * 1984-06-25 1986-01-22 株式会社 オ−デイオテクニカ ペ−パ−ホルダ−
JP2008205154A (ja) * 2007-02-20 2008-09-04 Matsushita Electric Ind Co Ltd 校正用の標体及びこれを用いた部品実装装置の校正方法
US20180297392A1 (en) * 2015-10-15 2018-10-18 Sanford, L.P. Generating mechanically rendered objects from digital input
JP2018107308A (ja) * 2016-12-27 2018-07-05 株式会社ディスコ 静電チャック装置及び静電吸着方法

Similar Documents

Publication Publication Date Title
US10955983B2 (en) Interaction sensing
CN104838352B (zh) 在多表面装置中的动作初始化
EP2913739B1 (fr) Identification d'entrée dans un dispositif électronique
CN103677561B (zh) 用于提供由便携式装置使用的用户接口的系统
US9727149B2 (en) Stylus settings
CN101727240B (zh) 信息处理装置、信息处理方法和程序
CN112269529B (zh) 用于提供用户界面的方法和设备
US9052813B2 (en) Information-processing apparatus and programs used in information-processing apparatus
US6424338B1 (en) Speed zone touchpad
KR100739747B1 (ko) 터치 스크린의 사용자 인터페이스장치 및 방법
US20130342480A1 (en) Apparatus and method for controlling a terminal using a touch input
RU2598780C2 (ru) Способ управления вращением экрана и поддерживающие его терминал и воспринимающая касания система
CN102473032A (zh) 使用用户交互来控制电子装置的方法和设备
CN1794215A (zh) 将计算机与外围设备无线连接的方法和系统
WO2016072823A2 (fr) Dispositif d'entrée tactile multipoint en forme de boucle, gestes, et procédé à cet effet
WO2015198688A1 (fr) Dispositif de traitement d'informations, procédé de traitement d'informations et programme
JP2011028555A (ja) 情報処理装置および情報処理方法
JP2011048665A (ja) 情報処理装置、情報処理方法、及びプログラム
JP2010176332A (ja) 情報処理装置、情報処理方法およびプログラム
JP5927872B2 (ja) 情報処理装置、情報処理方法およびプログラム
US20150097771A1 (en) Information processing apparatus and operation method of information processing apparatus
CN105867790A (zh) 终端设备及其控制方法和装置
JP6103835B2 (ja) 情報処理装置およびその制御方法
CN110083486A (zh) 与外部终端交互的方法、装置和记录介质
WO2021241342A1 (fr) Dispositif de génération de force de frottement et son procédé de commande

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 21812150

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 21812150

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: JP