CN114259724A - Detection device and operating device - Google Patents
Detection device and operating device Download PDFInfo
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- CN114259724A CN114259724A CN202110912322.3A CN202110912322A CN114259724A CN 114259724 A CN114259724 A CN 114259724A CN 202110912322 A CN202110912322 A CN 202110912322A CN 114259724 A CN114259724 A CN 114259724A
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Abstract
本发明提供一种检测装置以及操作装置，检测装置可以提高耐久性，操作装置具有该检测装置。检测装置是对球状体(21)相对于中心轴的动作进行检测的装置，具有由沿着球状体(21)外表面的凹面可进行动作地保持球状体(21)的保持部件(22)。在球状体(21)的外表面形成有凸面状电极(21a)，在保持部件(22)的凹面形成有凹面状电极(22a)。检测装置对利用凸面状电极(21a)及凹面状电极(22a)而形成的电容器的静电容量进行检测，基于检测出的静电容量，对球状体(21)的动作进行检测。操作装置具有检测装置，基于检测装置检测出的球状体(21)的动作，进行对操作对象进行操作的输出。
The present invention provides a detection device and an operation device, the detection device can improve durability, and the operation device has the detection device. The detection device is a device for detecting the movement of the spherical body (21) relative to the central axis, and has a holding member (22) movably holding the spherical body (21) by a concave surface along the outer surface of the spherical body (21). A convex electrode (21a) is formed on the outer surface of the spherical body (21), and a concave electrode (22a) is formed on the concave surface of the holding member (22). The detection device detects the capacitance of the capacitor formed by the convex electrode (21a) and the concave electrode (22a), and detects the movement of the spherical body (21) based on the detected capacitance. The operation device has a detection device, and outputs an operation on an operation object based on the movement of the spherical body (21) detected by the detection device.
Description
Technical Field
The present invention relates to a detection device for detecting an operation, and an operation device using the detection device.
Background
As a manipulation device for manipulating various devices such as a computer game, various toys, and an industrial robot, a manipulation device called a joystick has been widely used. In a joystick-type operation device, a detection device detects the movement of a rod that is tilted in each direction in response to an operation by an operator, and an operation target is operated based on the movement detected by the detection device. As the detection device and the operation device, for example, in patent document 1, a variable resistance type pointing device has been proposed in which a tilt is detected by variable resistors disposed on respective axes X, Y.
Documents of the prior art
Patent document
Patent document 1: taiwan utility model No. 371503
Disclosure of Invention
Technical problem to be solved by the invention
However, in the variable resistance type pointing device described in patent document 1, there is a problem related to durability because a sliding portion of the variable resistance deteriorates due to friction.
The present invention has been made in view of the above problems, and a main object of the present invention is to provide a detection device having improved durability.
In addition, another object of the present invention is to provide an operating device having the above detecting device.
Technical solution for solving technical problem
In order to solve the above problem, a detection device according to the present invention is a detection device for detecting a movement of a spherical body with respect to a center axis, the detection device including: a holding member that is configured to operatively hold the spherical body by a concave surface along an outer surface of the spherical body; a convex electrode formed on an outer surface of the spheroid; a concave electrode formed on a concave surface of the holding member; a capacitance detection unit that detects a capacitance of a capacitor formed by the convex electrode and the concave electrode; and an operation detecting unit that detects an operation of the spheroid based on the capacitance detected by the capacitance detecting unit.
In the above detection device, the capacitance detection unit detects a capacitance determined by an area of the convex electrode and the concave electrode facing each other.
In the detection device, the operation detection unit detects a tilting operation in which the central axis of the spherical body is tilted from a preset reference position, or a rotation operation in which the spherical body rotates about the central axis.
In addition, the detection device is characterized in that the plurality of convex electrodes are formed, and the plurality of convex electrodes are divided by a line segment connecting the intersection point of the central axis and the outer surface of the sphere and along the outer surface of the sphere.
In the detection device, the plurality of concave electrodes are formed, and when the central axis of the spheroid is located at a predetermined reference position, the plurality of concave electrodes are divided into a first concave electrode on one intersection side where the central axis intersects with the outer surface of the spheroid, and a second concave electrode on the other intersection side.
In the detection device, the first concave electrodes are formed in plural numbers, and the plural first concave electrodes are divided by line segments opposing line segments connecting intersection points of the central axis and the outer surface of the spheroid and extending along the outer surface of the spheroid when the central axis of the spheroid is located at a reference position.
In the above detection apparatus, the capacitance detection unit detects capacitance between the first concave electrode and the second concave electrode, and includes a switching unit that switches the first concave electrode to be a detection target of the capacitance detection unit.
The detection device is characterized by having an operation unit for receiving an operation to operate the spheroid.
The operating device described in the present application is characterized by having: the detection device; an operation unit that receives an operation to operate a spheroid provided in the detection device; and an output unit that outputs an operation signal for operating an operation target based on the movement of the spherical body detected by the movement detection unit.
The detection device and the operation device described in the present application detect the movement of the spherical body based on the electrostatic capacity.
ADVANTAGEOUS EFFECTS OF INVENTION
The detection device and the operation device of the present invention detect the operation of the spherical body based on the capacitance of the capacitor formed by the convex electrode formed on the outer surface of the spherical body and the concave electrode formed on the concave surface of the holding member holding the spherical body. Therefore, the electrodes do not directly contact each other, and deterioration due to abrasion between the electrodes can be suppressed, so that the durability can be improved.
Drawings
Fig. 1 is a perspective view schematically showing an example of an external appearance of an operation device according to the present application.
Fig. 2 is a perspective view schematically showing an example of a detection device provided in the operation device according to the present application.
Fig. 3 is a schematic sectional view showing an example of a detection device provided in the operation device according to the present application.
Fig. 4 is a perspective exploded schematic view showing an example of a detection device provided in the operation device according to the present application.
Fig. 5 is a schematic sectional view showing an example of a part of a cross section of the detection apparatus according to the present application.
Fig. 6 is a schematic sectional view showing an example of a part of a cross section of the detection apparatus according to the present application.
Fig. 7 is a schematic perspective view showing an example of a spheroid included in the detection apparatus according to the present invention.
Fig. 8 is a schematic development view showing an outer surface of a spheroid of the detection apparatus according to the present invention.
Fig. 9 is a schematic perspective view showing an example of a holding member provided in the detection device according to the present application.
Fig. 10 is a schematic development view showing a concave surface of a holding member of the detection apparatus according to the present invention.
Fig. 11 is a conceptual overview conceptually showing an example of a circuit configuration of a capacitor formed by a convex electrode and a concave electrode of the detection device according to the present application.
Fig. 12 is an equivalent circuit diagram conceptually showing an example of a circuit configuration of a capacitor formed by a convex electrode and a concave electrode provided in the detection device of the present application.
Fig. 13 is an explanatory view conceptually showing a state in which the convex electrodes of the spherical bodies and the concave electrodes of the holding member face each other in the detection device described in the present application.
Fig. 14 is an explanatory view conceptually showing a state in which the convex electrodes of the spherical bodies and the concave electrodes of the holding member face each other in the detection device described in the present application.
Fig. 15 is an explanatory view conceptually showing a state in which the convex electrodes of the spherical bodies and the concave electrodes of the holding member face each other in the detection device described in the present application.
Fig. 16 is an explanatory view conceptually showing a state in which the convex electrodes of the spherical bodies and the concave electrodes of the holding member face each other in the detection device described in the present application.
Fig. 17 is an explanatory view conceptually showing a state in which the convex electrodes of the spherical bodies and the concave electrodes of the holding member face each other in the detection device described in the present application.
Fig. 18 is a conceptual overview conceptually showing an example of a circuit configuration of a capacitor formed by a convex electrode and a concave electrode of the detection device according to the present application.
Fig. 19 is an equivalent circuit diagram conceptually showing an example of a circuit configuration of a capacitor formed by a convex electrode and a concave electrode provided in the detection device of the present application.
Fig. 20 is an explanatory view conceptually showing a state in which the convex electrodes of the spherical bodies and the concave electrodes of the holding member face each other in the detection device described in the present application.
Fig. 21 is an explanatory view conceptually showing a state in which the convex electrodes of the spherical bodies and the concave electrodes of the holding member face each other in the detection device described in the present application.
Fig. 22 is an explanatory view conceptually showing a state in which the convex electrodes of the spherical bodies and the concave electrodes of the holding member face each other in the detection device described in the present application.
Fig. 23 is a functional block diagram overview conceptually showing an example of the functional configuration of the detection device and the operation device described in the present application.
Detailed Description
Embodiments of the present invention will be described below with reference to the drawings. The operation device described in the present application is used, for example, as a joystick controller for operating an operation target. The present invention can be used as an operation device such as a joystick controller, and can be used for operating various operation objects such as various toys, various moving bodies, various measuring devices, and industrial robots, in addition to an operation device for a computer game. The operation device includes the detection device described in the present application, and the detection device detects the operation of the member that receives the operation of the operator. The detection device itself is not limited to the operation device, and may be used for detecting the movement of each component such as a joint of an industrial robot. Next, an operation device 1 applied to a joystick controller and a detection device 2 used in the operation device 1 will be described.
Fig. 1 is a perspective view schematically showing an example of an external appearance of an operation device 1 according to the present application. The operation device 1 includes a housing 10, and a detection device 2 (see fig. 2 and the like) is housed in the housing 10. Gripping portions 101, which are gripped by the right hand and the left hand, are formed at both ends of the enclosure 10. When the grip portions 101 at both ends are gripped, a substantially circular opening 102 is opened at a position on the upper surface where a finger touches. The operation unit 20 of the detection device 2 protrudes from the housing 10 through the opening 102, and is used for an operator to operate an operation target. Further, on the upper surface side, a plurality of operation keys 103 are arranged at positions that can be pressed by the fingers of the operator. For convenience of explanation, the side located above when the operator operates in a normal posture, that is, the side where the operation unit 20 located at the reference position protrudes, will be described as the upper side, and the opposite side will be described as the lower side. A detection device 2 (see fig. 2 and the like) for detecting the operation of the spherical body 21 (see fig. 3 and the like) that operates by an operation is housed in the housing 10.
Fig. 2 is a perspective schematic view showing an example of the detection device 2 provided in the operation device 1 according to the present invention. Fig. 3 is a schematic sectional view showing an example of the detection device 2 included in the operation device 1 according to the present invention. Fig. 4 is a perspective exploded schematic view showing an example of the detection device 2 provided in the operation device 1 according to the present invention. Fig. 2, 3 and 4 show the detection device 2 housed in the housing 10 of the operation device 1. Fig. 3 shows a cross section of the detection apparatus 2 cut by a vertical plane passing through a-B shown in fig. 2 as a perspective overview. Fig. 4 is a perspective exploded view showing various configurations of the detection device 2, particularly configurations required for operation.
The housing 10 houses a detection device 2 for detecting the movement of the spherical body 21 that is moved by the operation of the operation unit 20. The detection device 2 includes: various members such as an operation unit 20, a spherical body 21, a holding member 22, a pressing member 24, an urging member 25, a frame 26, and a control unit 27 (see fig. 23) described later. Various members such as the operation portion 20, the spherical bodies 21, the holding member 22, the shaft-shaped bodies 23, the pressing member 24, and the urging member 25 are supported by a frame 26, and the frame 26 is fixed in the housing 10.
The operation unit 20 protrudes from the opening 102 of the housing 10 to the outside, and receives various operations such as a tilting operation and a rotating operation by an operator. The operation portion 20 has a circular plate portion 200 formed in a substantially circular plate shape, and a rotation protrusion 201 used for rotation operation is formed on an upper surface edge portion of the circular plate portion 200. A substantially spherical cap-shaped cover 202 is formed below the disk 200 to cover the spherical body 21 and above the holding member 22 for holding the spherical body 21. The circular plate 200 and the rotary protrusion 201 of the operation unit 20 are located outside the housing 10, and the lid 202 closes the opening 102 opened in the housing 10 from the inside. The operation portion 20 includes a shaft-like body 23 penetrating from the center of the disc portion 200 formed in a disc shape through the center CP of the spherical body 21, and a pressed portion 23a formed in a disc shape is formed at the tip of the shaft-like body 23.
The spherical body 21 is formed into a substantially spherical shape and is operatively held by the holding member 22. A shaft-shaped body 23 formed in a shaft shape penetrates the spherical body 21. Since the shaft-shaped body 23 passes through the center CP of the spherical body 21, the axis of the shaft-shaped body 23 coincides with the central axis CA of the spherical body 21. When the operator operates the operation unit 20 to perform the tilting operation for tilting the shaft-like bodies 23, the spherical bodies 21 perform the tilting operation for tilting the central axis CA from the reference position. The tilting operation can tilt from the reference position in all directions of 360 degrees around the center CP of the sphere 21 as the tilting center. When the operator operates the operation unit 20 to rotate the shaft-like body 23 in the circumferential direction, the spherical body 21 rotates about the central axis CA. The rotation operation may be rotation in either a right direction (clockwise rotation) or a left direction (counterclockwise rotation) about the center axis CA. Further, a convex electrode 21a (see fig. 7 and the like) used for detecting the operation is formed on the outer surface of the spherical body 21. The surface of the convex electrode 21a is covered with a dielectric protective film.
The holding member 22 has a concave surface along the outer surface of the spherical body 21, and covers the concave surface, and operatively holds the spherical body 21. A concave electrode 22a (see fig. 9, etc.) for detecting the movement of the spherical body 21 is formed in the concave surface of the holding member 22. The surface of the concave electrode 22a is covered with a dielectric protective film. Therefore, even when the spherical body 21 is held by the holding member 22 so as to be operable, the convex electrode 21a and the concave electrode 22a do not directly contact each other with the protective film covering both surfaces. The electrodes are not limited to being covered with a protective film as long as the electrodes do not directly contact each other. For example, the electrodes may be formed to be isolated from each other in various ways such as recessing a region where the electrode surface is formed from other regions and burying the electrodes in the recessed region. The shape of the electrode and the detection of the movement of the spheroid 21 using the electrode will be described later.
The pressing member 24 is a member that presses the pressed portion 23a in the direction toward the tilt center upward, and is held by the frame 26 so as to be movable upward and downward. The pressing member 24 has a disc-shaped upper portion and a cylindrical lower portion. The pressing member 24 is disposed so as to close the central hole 260 formed in the frame 26, and abuts against the pressed portion 23a on the upper surface. The lower portion formed in a cylindrical shape is vertically movable and loosely fitted in an annular groove portion 261 formed around the central hole 260 of the frame 26 with little play. The lower end of the pressing member 24 is fitted into the groove 261 of the frame 26, and the groove 261 guides the pressing member 24 to move up and down, thereby stabilizing the operation of the pressing member 24. In the annular groove 261, an urging member 25 such as a compression coil spring is disposed so as to surround the groove 261. The urging member 25 has a lower end fixed to the inner bottom surface of the groove 261 and an upper end abutting against the pressing member 24 to urge the pressing member 24 upward.
Next, the operation of the detection device 2 described in the present application will be described. Fig. 5 and 6 are schematic cross-sectional views showing examples of a part of cross-sections of the detection device 2 according to the present invention. Fig. 5 shows a state in which the shaft-like body 23 of the operation unit 20 through which the center axis CA of the spherical body 21 passes is positioned at the reference position, and fig. 6 shows a state in which the shaft-like body 23 is tilted from the reference position upon receiving an operation by the operator. The pressing member 24 urged by the urging member 25 presses the pressed portion 23a of the operating portion 20 from below upward. As shown in fig. 5, when the shaft-shaped body 23 is located at the reference position, the pressing member 24 presses the vicinity of the flat center of the pressed portion 23a toward the center CP of the spherical body 21, so that the operating portion 20 is in a stable posture. As shown in fig. 6, when the shaft-like body 23 is tilted, the pressing member 24 presses the peripheral edge side of the pressed portion 23a toward the center CP of the spherical body 21, and therefore, a force acts in the rotational direction in which the operation portion 20 is returned to the reference position. Therefore, when the shaft-shaped body 23 is located at the reference position, the spherical body 21 is stabilized. When the shaft-like body 23 falls from the reference position, a force acts in a direction of returning to the reference position, and the force is unstable. Therefore, when the force for tilting is released by the operator, the operation portion 20 is returned to the reference position.
Next, a detection method of the detection device 2 described in the present application will be described. Fig. 7 is a schematic perspective view showing an example of the spherical body 21 of the detection device 2 according to the present application. Fig. 8 is a schematic development view showing an outline of an outer surface of the spheroid 21 of the detection device 2 according to the present invention. Fig. 7 shows the spherical body 21 and the shaft body 23. In fig. 8, the outer surface of the spheroid 21 is shown as a circle in projection. The center of the circle corresponds to the intersection of the outer surface of the spheroid 21 and the upper side of the central axis CA, and the circumference corresponds to the intersection of the outer surface of the spheroid 21 and the lower side of the central axis CA. The dotted line indicates a great circle centered on the center axis CA of the spheroid 21. In fig. 8, a substantially fan-shaped region surrounded by a solid line is a convex electrode 21 a. A convex electrode 21a formed by molding a thin plate of a conductor is formed on the outer surface of the spherical body 21. The convex electrode 21a is formed in a spherical band shape along the rotation direction of the spherical body 21. The convex electrode 21a formed in a spherical strip shape is divided into two by a line segment connecting the intersection of the central axis CA and the outer surface of the spherical body 21 and extending along the outer surface of the spherical body 21. In fig. 8, the divided convex electrodes 21a are denoted as B1 and B2. In the following description, when the convex electrodes 21a are shown separately, they are also shown as B1 and B2.
Fig. 9 is a perspective schematic view showing an example of the holding member 22 provided in the detection device 2 according to the present invention. Fig. 10 is a schematic development view showing a concave surface of the holding member 22 of the detection apparatus 2 according to the present invention. Fig. 9 is a partially cut-away view of the concave surface of the inner side of the holding member 22. In fig. 10, the concave projection of the holding member 22 is shown as a circle. The center of the circle corresponds to the upper end of the virtual sphere along the concave surface of the holding member 22, and the circumference corresponds to the lower end of the virtual sphere. A plurality of concave electrodes 22a formed by molding a thin plate of a conductor are formed on the concave surface of the holding member 22. When the central axis CA of the spherical body 21 is located at the reference position, the concave electrode 22a of the holding member 22 is divided into a first concave electrode 22a1 located on the upper intersection side where the central axis CA intersects the outer surface of the spherical body 21 and a second concave electrode 22a2 located on the lower intersection side. As illustrated in fig. 10, the concave electrode 22a of the holding member 22 is divided into the first concave electrode 22a1 on the upper side and the second concave electrode 22a2 on the lower side. When the central axis CA of the spherical body 21 is located at the reference position, the upper first concave electrode 22a1 is divided into a plurality of first concave electrodes 22a1 by a line segment that faces a line segment connecting the intersection of the central axis CA and the outer surface of the spherical body 21 and running along the outer surface of the spherical body 21. In the example shown in fig. 10, the first concave electrode 22a1 is divided into four by vertical line segments. The second concave electrode 22a2 on the lower side is formed in a spherical strip shape. In fig. 10, the divided first concave electrode 22a1 is denoted by XP, YP, XN, and YN, and the second concave electrode 22a2 is denoted by G. In the following description, when the concave electrodes 22a are shown separately, XP, YP, XN, and YN are also shown for the first concave electrodes 22a1, and G is also shown for the second concave electrodes 22a2 which are GND electrodes.
In the detection device 2 described in the present application, the convex electrode 21a and the concave electrode 22a of the spherical body 21 are close to each other, and the convex electrode 21a and the concave electrode 22a form a capacitor. The convex electrode 21a and the concave electrode 22a are not directly isolated from each other by a method such as covering the surface with a protective film, forming an electrode area on the surface having a lower unevenness than other areas, and the like. The convex electrode 21a functions as a bridge electrode connected to the concave electrode 22a formed on the concave surface of the holding member 22. Since the holding member 22 is fixed by the frame 26, it is suitable for connection to a terminal for detecting electrostatic capacity between the electrodes. The detection device 2 according to the present invention detects the capacitance of the capacitors formed by the plurality of convex electrodes 21a formed on the outer surface of the spherical body 21 and the plurality of concave electrodes 22a formed on the concave surface of the holding member 22 as the combined capacitance between the concave electrodes 22 a. The detection device 2 detects the movement such as the tilting movement and the rotating movement of the spherical body 21 based on the synthesized electrostatic capacity.
First, the detection of the toppling operation will be described. Fig. 11 is a conceptual schematic diagram conceptually showing an example of a circuit configuration of a capacitor formed by the convex electrode 21a and the concave electrode 22a of the detection device 2 described in the present application. As illustrated in fig. 11, the second concave electrode 22 is formed of a concave surface on the lower side of the holding member 22a2(G), and a convex electrode 21a (B1) formed on the outer surface of the spherical body 21 so as to face the second concave electrode 22a2(G), and has a capacitance CG-B1The first capacitor of (1). The second concave electrode 22a2(G) and the convex electrode 21a (B2) form a capacitor CG-B2The second capacitor of (2). The first concave electrode 22a1(YP) and the convex electrode 21a (B1) on the upper side of the holding member 22 form a capacitor CYP-B1And a third capacitor. The first concave electrode 22a1(YP) and the convex electrode 21a (B2) form a capacitor CYP-B2The fourth capacitor of (1).
Fig. 12 is an equivalent circuit diagram conceptually showing an example of a circuit configuration of a capacitor formed by the convex electrode 21a and the concave electrode 22a of the detection device 2 described in the present application. The four capacitors formed by the convex electrodes 21a of the spherical bodies 21 and the concave electrodes 22a of the holding member 22 function as bridge electrodes connecting the convex electrodes 21a (B1, B2) of the spherical bodies 21 to the concave electrodes 22a, and function as one capacitor. By using the first capacitor C illustrated in FIG. 11G-B1A second capacitor CYP-B2A third capacitor CYP-B1And a fourth capacitor CYP-B2The circuit between the second concave electrode 22a2(G) and the first concave electrode 22a1(YP) can be represented as an equivalent circuit in fig. 12, and functions as one capacitor. The combined capacitance C between the second concave electrode 22a2(G) and the first concave electrode 22a1(YP) can be derived from the following equation 1.
C＝CG－B1·CYP－B1/(CG－B1+CYP－B1)+CG－B2·CYP－B2/(CG－B2+CYP－B2)
Similarly, the combined capacitance between the second concave electrode 22a2(G) and each first concave electrode 22a1(XP, YN, XN) can also be derived.
Fig. 13 to 17 are explanatory views conceptually showing a state in which the convex electrodes 21a of the spherical bodies 21 and the concave electrodes 22a of the holding member 22 face each other in the detection device 2 described in the present application. Fig. 13 to 17 are developed views of the concave electrodes 22a of the holding member 22, and show the relative positions of the convex electrodes 21a of the spherical bodies 21 as developed views. In fig. 13 to 17, the holding member 22 is shown in a thin line in an expanded view, and the opposing concave-shaped electrodes 22a are shown as hatched regions. The relative position of the convex electrode 21a of the spherical body 21 is indicated by a broken line. Fig. 13 shows a state where the center axis CA of the spherical body 21 is located at the reference position. Fig. 14 to 17 show the spherical body 21 with the central axis CA tilted, and show the spherical body tilted upward, downward, leftward, and rightward in the respective views. As illustrated in fig. 13 to 17, the areas of the opposing convex electrodes 21a and concave electrodes 22a change due to the falling state, and the capacitance between the electrodes changes with the change in the areas. Therefore, by detecting the capacitance between the second concave electrode 22a2(G) and each first concave electrode 22a1(YP, XP, YN, XN), the relative area between the electrodes can be derived, and the tilting state such as the tilting direction and the tilting angle of the central axis CA can be derived from the derived areas.
Next, the detection of the rotational operation will be described. Fig. 18 is a conceptual overview conceptually showing an example of a circuit configuration of a capacitor formed by the convex electrode 21a and the concave electrode 22a of the detection device 2 described in the present application. As illustrated in fig. 18, the first concave electrode 22a1(YP) formed on the concave surface of the upper portion of the holding member 22 and the convex electrode 21a (B2) formed on the outer surface of the spherical body 21 so as to face the first concave electrode 22a1(YP) form a capacitance CYP-B2And a fifth capacitor. The first concave electrode 22a1(XP) and the convex electrode 21a (B2) form a capacitor CXP-B2The sixth capacitor of (1).
Fig. 19 is an equivalent circuit diagram conceptually showing an example of a circuit configuration of a capacitor formed by the convex electrode 21a and the concave electrode 22a of the detection device 2 described in the present application. By using the fifth capacitor C illustrated in FIG. 18YP-B2And a sixth capacitor CXP-B2The first concave electrode 22a1(YP) andthe circuit between the first concave electrodes 22a1(XP) can be represented as an equivalent circuit in fig. 19, and functions as one capacitor. The combined capacitance C between the first concave electrode 22a1(YP) and the first concave electrode 22a1(XP) can be derived from equation 2 below.
C＝CYP－B2·CXP－B2/(CYP－B2+CXP－B2) Formula 2
Similarly, the capacitance between the other adjacent first concave electrodes 22a1 can also be derived.
Fig. 20 to 22 are explanatory views conceptually showing a state in which the convex electrodes 21a of the spherical bodies 21 and the concave electrodes 22a of the holding member 22 face each other in the detection device 2 described in the present application. Fig. 20 to 22 are diagrams showing relative positions of the convex electrodes 21a of the spherical bodies 21 with respect to the concave electrodes 22a of the holding member 22. In fig. 20 to 22, the holding member 22 is shown in a thin line in an expanded view, and the opposing concave electrodes 22a are shown as hatched regions. The relative position of the convex electrode 21a of the spherical body 21 is indicated by a broken line. Fig. 20 shows a state where the center axis CA of the spherical body 21 is located at the reference position. Fig. 21 shows a state in which the center axis CA of the spherical body 21 rotates rightward (clockwise rotation) as indicated by an arrow, and fig. 22 shows a state in which the center axis CA rotates leftward (counterclockwise rotation) as indicated by an arrow. The areas of the opposing convex electrodes 21a and concave electrodes 22a change with the rotation state, and the capacitance between the electrodes changes with the change. Therefore, by detecting the capacitance between the adjacent first concave electrodes 22a1, the area of the electrodes facing each other can be derived, and the rotation state, for example, the rotation direction and the rotation angle of the spherical body 21 can be derived from the derived areas.
The detection device 2 described in the present application detects the tilting state and the rotation state of the spherical body 21 from the reference position in theory as described above.
Next, a description will be given of a configuration example of the detection device 2 and the operation device 1 described in the present application. Fig. 23 is a functional block diagram schematically showing an example of the functional configuration of the detection device 2 and the operation device 1 according to the present application. The detection device 2 includes a control unit 27, and the control unit 27 is configured by various elements, various circuits, and electronic components such as a microcomputer, and functions as a configuration such as a switching unit 271, a capacitance detection unit 272, an AD conversion unit 273, and an operation detection unit 270. The operation detection unit 270 is configured by an electronic component such as a microcomputer, and controls the entire control unit 27. The switching unit 271 is an electronic component such as a multiplexer that switches the electrodes for detecting the capacitance by the control of the operation detecting unit 270. The capacitance detecting unit 272 detects the capacitance between the electrodes selected by the switching unit 271, and outputs analog data indicating the detection result to the AD conversion unit 273. The AD converter 273 converts the capacitance input as analog data into digital data and outputs the digital data to the operation detector 270. The operation detector 270 detects the falling state and the rotation state of the spherical body 21 based on the input capacitance. The detection device 2 detects the tilting operation and the rotation operation based on the temporal change in the detected tilting state and the detected rotation state, and outputs the detected movement of the spherical body 21 to the output unit 11 provided in the operation device 1. The output unit 11 of the operation device 1 outputs an operation signal for operating an operation target based on the movement of the spherical body 21 to an external device (game machine body or the like) such as a game machine body.
As described above, the detection device 2 and the operation device 1 according to the present invention detect the operation of the spherical body 21 based on the capacitance of the capacitor formed by the convex electrode 21a formed on the outer surface of the spherical body 21 and the concave electrode 22a formed on the concave surface of the holding member 22 holding the spherical body 21. Thus, in the detection device 2 and the operation device 1 according to the present invention, the electrodes do not directly contact each other, and deterioration of the electrodes due to abrasion can be suppressed, so that the detection device has an excellent effect of improving durability and the like.
In the detection device 2 and the operation device 1 described in the present application, the capacitance formed by the convex electrode 21a and the concave electrode 22a to be detected of the capacitance can be appropriately set by switching the concave electrode 22a to detect the capacitance. By appropriately setting the capacitor to be detected for the electrostatic capacitance, the state of the spheroid 21 to be detected for the operation, such as the falling state or the rotation state, can be set. That is, the detection device 2 and the operation device 1 described in the present application have an excellent effect of being able to detect a rotation state, for example, a rotation direction, a rotation angle, and the like, which cannot be detected in the patent document 1 described as a related art document. The state of the detection target may be handled only by the switching process performed by the control unit 27.
The present invention is not limited to the above-described embodiments, and may be implemented in other various ways. Therefore, the above embodiments are merely exemplary in all aspects and are not to be construed as limiting. The technical scope of the present invention is defined by the scope of claims, and is not limited to the description herein. Further, variations and modifications falling within the scope equivalent to the scope of the claims are included in the scope of the present invention.
For example, in the above-described embodiment, an example in which the operation device 1 described in the present application is applied to a joystick type controller is shown, but the present invention is not limited thereto. For example, the present invention can be applied to the operation device 1 for operating various operation objects such as various toys, various moving bodies, various measuring devices, and industrial robots. The detection device 2 described in the present application is not limited to the application to the operation device 1, and may be applied to various devices in which a spherical joint such as a joint of an industrial robot can be assembled. Further, the operating device 1 described in the present application is not limited to a two-hand operation controller in the case of application to a joystick type controller. That is, the detection device 2 may be appropriately designed to be accommodated in one housing 10, and may be applied to a controller for one-handed operation.
Description of the reference numerals
1 operating the device; 11 an output section; 2, a detection device; 20 an operation part; 21a spheroid; 21a convex electrode; 22a holding member; 22a concave electrode; 22a 1a first concave electrode; 22b1 second concave electrode; 23a shaft-shaped body; 24 a pressing member; 25 a force application member; 27 a control unit; 270 an operation detection unit; 271 a switching unit; 272 a capacitance detecting section; 273AD conversion unit; a CA center axis; the CP center.
Claims (9)
1. A detection device for detecting the movement of a spherical body with respect to a central axis, the detection device comprising:
a holding member that is configured to operatively hold the spherical body by a concave surface along an outer surface of the spherical body;
a convex electrode formed on an outer surface of the spheroid;
a concave electrode formed on a concave surface of the holding member;
a capacitance detection unit that detects a capacitance of a capacitor formed by the convex electrode and the concave electrode;
and an operation detecting unit that detects an operation of the spheroid based on the capacitance detected by the capacitance detecting unit.
2. The detection apparatus of claim 1,
the capacitance detection unit detects capacitance determined by the area of the convex electrode and the concave electrode facing each other.
3. The detection apparatus according to claim 1 or 2,
the motion detection unit detects a tilting motion in which the center axis of the spherical body is tilted from a preset reference position, or a rotation motion in which the spherical body rotates about the center axis.
4. The detection apparatus according to claim 1 or 2,
a plurality of the convex-shaped electrodes are formed,
the plurality of convex electrodes are divided by a line segment connecting the intersection point of the central axis and the outer surface of the sphere and extending along the outer surface of the sphere.
5. The detection apparatus according to claim 1 or 2,
a plurality of the concave electrodes are formed,
when the center axis of the spheroid is located at a predetermined reference position, the plurality of concave electrodes are divided into a first concave electrode on one intersection side where the center axis intersects with the outer surface of the spheroid, and a second concave electrode on the other intersection side.
6. The detection apparatus of claim 5,
a plurality of first concave electrodes are formed,
the plurality of first concave electrodes are divided by line segments opposing line segments connecting intersection points of the central axis and the outer surface of the spheroid and extending along the outer surface of the spheroid when the central axis of the spheroid is located at a reference position.
7. The detection apparatus of claim 6,
the capacitance detection unit detects capacitance between the first concave electrode and the second concave electrode,
the electrostatic capacitance detecting device includes a switching unit that switches the first concave electrode to be detected by the electrostatic capacitance detecting unit.
8. The detection apparatus according to claim 1 or 2,
the ball-shaped body has an operation portion for receiving an operation for operating the ball-shaped body.
9. An operating device, comprising:
the detection device of claim 8;
an operation unit that receives an operation to operate a spheroid provided in the detection device;
and an output unit that outputs an operation signal for operating an operation target based on the movement of the spherical body detected by the movement detection unit.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2020155263A JP7615579B2 (en) | 2020-09-16 | 2020-09-16 | Detection device and operation device |
| JP2020-155263 | 2020-09-16 |
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| Publication Number | Publication Date |
|---|---|
| CN114259724A true CN114259724A (en) | 2022-04-01 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110912322.3A Pending CN114259724A (en) | 2020-09-16 | 2021-08-10 | Detection device and operating device |
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| JP (1) | JP7615579B2 (en) |
| CN (1) | CN114259724A (en) |
Cited By (1)
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| CN117258273A (en) * | 2023-09-28 | 2023-12-22 | 深圳市达实智控科技股份有限公司 | Capacitance rocker, game handle and game control method |
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Also Published As
| Publication number | Publication date |
|---|---|
| JP2022049186A (en) | 2022-03-29 |
| JP7615579B2 (en) | 2025-01-17 |
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