Detection device and operating device

Abstract

The present invention provides a detection device and an operating device. The detection device can improve durability, and the operating device has the detection device. The detection device is a device for detecting the movement of a spherical body (21) relative to a central axis, and has a holding member (22) that holds the spherical body (21) movably 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 a 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 operating device has the detection device, and performs an output for operating an operation target based on the movement of the spherical body (21) detected by the detection device.

Description

Technical Field

[0001] The present invention relates to a detection device for detecting an action, and an operating device using the above detection device. Background Art

[0002] As an operating device for operating various devices such as computer games, various toys, and industrial robots, an operating device called a joystick has been popularized. In the operating device of the joystick type, a detection device is used to detect the action of a rod body that is tilted in various directions by receiving an operation of an operator, and an operation target is operated based on the action detected by the detection device. As the above detection device and operating device, for example, in Patent Document 1, a variable resistor type pointing device that detects an inclination by variable resistors arranged on the X and Y axes has been proposed.

[0003] Prior Art Documents

[0004] Patent Documents

[0005] Patent Document 1: TW371503U Summary of the Invention

[0006] Technical Problem to be Solved by the Invention

[0007] However, in the variable resistor type pointing device described in Patent Document 1, since the sliding portion of the variable resistor deteriorates due to friction, there is a problem related to durability.

[0008] The present invention has been made in view of the above problems, and a main object thereof is to provide a detection device with improved durability.

[0009] In addition, another object of the present invention is to provide an operating device having the above detection device.

[0010] Technical Solution for Solving the Technical Problem

[0011] In order to solve the above problems, the detection device described in the present application is a detection device for detecting the action of a spherical body relative to a central axis, and is characterized in that it has: a holding member that holds the spherical body movably by a concave surface along the outer surface of the spherical body; a convex electrode formed on the outer surface of the spherical body; a concave electrode formed on the concave surface of the holding member; a capacitance detection unit that detects the capacitance of a capacitor formed by the convex electrode and the concave electrode; and an action detection unit that detects the action of the spherical body based on the capacitance detected by the capacitance detection unit.

[0012] In addition, based on the detection device, it is characterized in that the capacitance detection unit detects the capacitance determined by the areas of the convex electrode and the concave electrode facing each other.

[0013] In addition, based on the detection device, it is characterized in that the motion detection unit detects the tilting motion of the central axis of the spherical body tilting from a preset reference position, or the rotational motion of the spherical body rotating about the central axis.

[0014] In addition, based on the detection device, it is characterized in that a plurality of convex electrodes are formed, and the plurality of convex electrodes are divided by line segments connecting the intersection points of the central axis and the outer surface of the spherical body and along the outer surface of the spherical body.

[0015] In addition, based on the detection device, it is characterized in that a plurality of concave electrodes are formed, and when the central axis of the spherical body is located at a preset reference position, the plurality of concave electrodes are divided into a first concave electrode on one intersection side where the central axis intersects the outer surface of the spherical body, and a second concave electrode on the other intersection side.

[0016] In addition, based on the detection device, it is characterized in that a plurality of the first concave electrodes are formed, and when the central axis of the spherical body is located at the reference position, the plurality of the first concave electrodes are divided by line segments opposite to the line segments connecting the intersection points of the central axis and the outer surface of the spherical body and along the outer surface of the spherical body.

[0017] In addition, based on the detection device, it is characterized in that the capacitance detection unit detects the capacitance between the first concave electrode and the second concave electrode, and has a switching unit for switching the first concave electrode that is the detection object of the capacitance of the capacitance detection unit.

[0018] In addition, based on the detection device, it is characterized in that it has an operation unit that accepts an operation for making the spherical body act.

[0019] The operation device described in the present application is characterized by having: the detection device; an operation unit that accepts an operation for making the spherical body of the detection device act; and an output unit that outputs an operation signal for operating an operation object based on the action of the spherical body detected by the action detection unit.

[0020] The detection device and the operation device described in the present application detect the action of the spherical body based on capacitance.

[0021] Effects of the Invention

[0022] The detection device and the operating device of the present invention detect the operation of the spherical body based on the capacitance of a capacitor formed by using a convex electrode formed on the outer surface of the spherical body and a concave electrode formed on the concave surface of the holding member that holds the spherical body. Therefore, the electrodes do not come into direct contact with each other, and deterioration caused by wear between the electrodes can be suppressed. Thus, there are good effects such as improved durability. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 FIG. is a perspective general view showing an example of the appearance of the operating device described in the present application.

[0024] Figure 2 FIG. is a perspective general view showing an example of the detection device included in the operating device described in the present application.

[0025] Figure 3 FIG. is a cross-sectional general view showing an example of a part of the cross-section of the detection device included in the operating device described in the present application.

[0026] Figure 4 FIG. is a perspective exploded general view showing an example of the detection device included in the operating device described in the present application.

[0027] Figure 5 FIG. is a cross-sectional general view showing an example of a part of the cross-section of the detection device described in the present application.

[0028] Figure 6 FIG. is a cross-sectional general view showing an example of a part of the cross-section of the detection device described in the present application.

[0029] Figure 7 FIG. is a perspective general view showing an example of the spherical body included in the detection device described in the present application.

[0030] Figure 8 FIG. is a developed general view schematically showing the outer surface of the spherical body included in the detection device described in the present application.

[0031] Figure 9 FIG. is a perspective general view showing an example of the holding member included in the detection device described in the present application.

[0032] Figure 10 FIG. is a developed general view schematically showing the concave surface of the holding member included in the detection device described in the present application.

[0033] Figure 11 FIG. is a conceptual general view showing an example of the circuit structure of a capacitor formed by the convex electrode and the concave electrode included in the detection device described in the present application.

[0034] Figure 12It is an equivalent circuit diagram conceptually showing an example of the circuit structure of a capacitor formed by the convex electrode and the concave electrode of the detection device described in the present application.

[0035] Figure 13 It is an explanatory diagram conceptually showing the state where the convex electrode of the spherical body and the concave electrode of the holding member face each other in the detection device described in the present application.

[0036] Figure 14 It is an explanatory diagram conceptually showing the state where the convex electrode of the spherical body and the concave electrode of the holding member face each other in the detection device described in the present application.

[0037] Figure 15 It is an explanatory diagram conceptually showing the state where the convex electrode of the spherical body and the concave electrode of the holding member face each other in the detection device described in the present application.

[0038] Figure 16 It is an explanatory diagram conceptually showing the state where the convex electrode of the spherical body and the concave electrode of the holding member face each other in the detection device described in the present application.

[0039] Figure 17 It is an explanatory diagram conceptually showing the state where the convex electrode of the spherical body and the concave electrode of the holding member face each other in the detection device described in the present application.

[0040] Figure 18 It is a conceptual overview diagram conceptually showing an example of the circuit structure of a capacitor formed by the convex electrode and the concave electrode of the detection device described in the present application.

[0041] Figure 19 It is an equivalent circuit diagram conceptually showing an example of the circuit structure of a capacitor formed by the convex electrode and the concave electrode of the detection device described in the present application.

[0042] Figure 20 It is an explanatory diagram conceptually showing the state where the convex electrode of the spherical body and the concave electrode of the holding member face each other in the detection device described in the present application.

[0043] Figure 21 It is an explanatory diagram conceptually showing the state where the convex electrode of the spherical body and the concave electrode of the holding member face each other in the detection device described in the present application.

[0044] Figure 22 It is an explanatory diagram conceptually showing the state where the convex electrode of the spherical body and the concave electrode of the holding member face each other in the detection device described in the present application.

[0045] Figure 23It is a schematic diagram of a functional block diagram conceptually showing an example of the functional structure of the detection device and the operation device described in the present application. Detailed implementation

[0046] Hereinafter, with reference to the drawings, embodiments of the present invention will be described. The operation device described in the present application is used, for example, as a joystick-type controller for operating an operation object. By being used as an operation device such as a joystick-type controller, in addition to operation devices for computer games, it can also be used in the operations of various toys, various moving bodies, various measuring devices, industrial robots, and other operation objects. In addition, the operation device has the detection device described in the present application, and the detection device detects the movement of a component that receives the operation of the operator. The detection device itself is not limited to the operation device and can be used in the detection of the movement of each component such as the joints of an industrial robot. Hereinafter, the operation device 1 applied to a joystick-type controller and the detection device 2 used in the operation device 1 will be described.

[0047] Figure 1 It is a three-dimensional schematic diagram showing an example of the appearance of the operation device 1 described in the present application. The operation device 1 has a housing 10, and the detection device 2 (refer to Figure 2 etc.) is housed in the housing 10. Gripping portions 101 that are each gripped by the right hand and the left hand are formed at both ends of the housing 10. When gripping the gripping portions 101 at both ends respectively, a substantially circular opening 102 is provided at the position where the fingers on the upper surface contact. The operation portion 20 of the detection device 2 projects from the housing 10 through the opening 102 for the operator to operate the operation object. In addition, on the upper surface side, a plurality of operation buttons 103 are arranged at positions where they can be pressed by the operator's fingers. In the present application, for the sake of convenience of description, the side that is above when the operator operates in a normal posture, that is, the side where the operation portion 20 at the reference position projects, is referred to as the upper side, and the opposite side is referred to as the lower side for description. A detection device 2 (refer to Figure 3 etc.) that detects the movement of a spherical body 21 (refer to Figure 2 etc.) that moves by operation is housed in the housing 10.

[0048] Figure 2 It is a three-dimensional schematic diagram showing an example of the detection device 2 included in the operation device 1 described in the present application. Figure 3 It is a schematic cross-sectional diagram showing an example of the detection device 2 included in the operation device 1 described in the present application. Figure 4 It is a three-dimensional exploded schematic diagram showing an example of the detection device 2 included in the operation device 1 described in the present application. Figure 2 , Figure 3 and Figure 4 show the detection device 2 housed in the housing 10 of the operation device 1.Figure 3 Shown as a three-dimensional general view is a cross-section of the detection device 2 cut by the vertical plane A-B shown in Figure 2 . Figure 4 Shown as a three-dimensional exploded general view are the various structures of the detection device 2, particularly the structures required for operation.

[0049] Within the housing 10 is housed a detection device 2 that detects the movement of a spherical body 21 that moves by the operation of an operation unit 20. The detection device 2 includes: an operation unit 20, a spherical body 21, a holding member 22, a pressing member 24, a biasing member 25, a frame 26, and a control unit 27 (refer to Figure 23 ) and other various components. Various components such as the operation unit 20, the spherical body 21, the holding member 22, the shaft body 23, the pressing member 24, and the biasing member 25 are supported by the frame 26, and the frame 26 is fixed within the housing 10.

[0050] The operation unit 20 projects outward from the opening 102 of the housing 10 and is a component that receives various operations from the operator, such as a tilting operation and a rotating operation. The operation unit 20 has a disk portion 200 formed in a substantially disk shape, and a rotation protrusion 201 used in the rotating operation is formed at the upper surface edge portion of the disk portion 200. A substantially spherical crown-shaped cover portion 202 that covers the spherical body 21 and the upper part of the holding member 22 that holds the spherical body 21 is formed below the disk portion 200. The disk portion 200 and the rotation protrusion 201 of the operation unit 20 are located outside the housing 10, and the cover portion 202 closes the opening 102 formed in the housing 10 from the inside. In addition, the operation unit 20 has a shaft body 23 that passes through the center of the spherical body 21 from the center of the disk portion 200 formed in a disk shape, and a pressed portion 23a formed in a disk shape is formed at the front end of the shaft body 23.

[0051] The spherical body 21 is formed into a substantially spherical shape and is movably held by the holding member 22. An axially shaped shaft body 23 penetrates through the spherical body 21. Since the shaft body 23 passes through the center CP of the spherical body 21, the axis of the shaft body 23 coincides with the central axis CA of the spherical body 21. When the operator operates the operation unit 20 to perform a tilting operation for tilting the shaft body 23, the spherical body 21 performs a tilting action in which the central axis CA tilts from the reference position. The tilting action can be tilted around the center CP of the spherical body 21 in all directions of 360 degrees around from the reference position. When the operator operates the operation unit 20 to perform a rotation operation for rotating the shaft body 23 in the circumferential direction, the spherical body 21 performs a rotation action of rotating around the central axis CA. The rotation action can also be a rotation in either the right (clockwise rotation) or left (counterclockwise rotation) direction around the central axis CA. In addition, a convex electrode 21a (refer to Figure 7 etc.) used for detecting the action 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.

[0052] The holding member 22 has a concave surface along the outer surface of the spherical body 21, covers it with the concave surface, and movably holds the spherical body 21. A concave electrode 22a (refer to Figure 9 etc.) for detecting the action of the spherical body 21 is formed on 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 holding member 22 movably holds the spherical body 21, the convex electrode 21a and the concave electrode 22a do not directly contact each other by the protective films covering both surfaces. It should be noted that as long as the electrodes do not directly contact each other, it is not limited to covering with a protective film. For example, it can be formed in various ways such as making the area where the electrode surface is formed recessed compared to other areas and burying the electrode in the recessed area to isolate the electrodes from each other. The shape of the electrodes and the detection of the action of the spherical body 21 using the electrodes will be described later.

[0053] The pressing member 24 presses the pressed portion 23a in the direction of the tipping center upward and is held vertically movably by the frame 26. The upper portion of the pressing member 24 is formed in a disc shape, and the lower portion is formed in a cylindrical shape. The pressing member 24 is disposed to block 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 is loosely fitted in an annular groove portion 261 formed around the central hole 260 of the frame 26 with a little play. By loosely fitting the lower portion of the pressing member 24 in the groove portion 261 of the frame 26, the groove portion 261 guides the vertical movement of the pressing member 24 and stabilizes the operation of the pressing member 24. A biasing member 25 such as a compression coil spring is disposed around the annular groove portion 261 in the groove portion 261. The lower end of the biasing member 25 is fixed to the inner bottom surface of the groove portion 261 and abuts against the pressing member 24 at the upper end to bias the pressing member 24 upward.

[0054] Next, the operation of the detection device 2 described in the present application will be described. Figure 5 and Figure 6 is a cross-sectional overview diagram showing an example of a part of the cross-section of the detection device 2 described in the present application. Figure 5 shows a state in which the shaft body 23 of the operation portion 20 through which the central axis CA of the spherical body 21 passes is located at the reference position. Figure 6 shows a state in which the shaft body 23 is tilted from the reference position by receiving an operation by an operator. The pressing member 24 biased by the biasing member 25 presses the pressed portion 23a of the operation portion 20 upward from below. As Figure 5 shown, when the shaft body 23 is located at the reference position, since 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, the operation portion 20 is in a stable posture. As Figure 6 shown, when the shaft body 23 is tilted, since the pressing member 24 presses the peripheral edge side of the pressed portion 23a toward the center CP of the spherical body 21, a force acts in the rotational direction in which the operation portion 20 returns to the reference position. Therefore, when the shaft body 23 is located at the reference position, the spherical body 21 is stable. When the shaft body 23 is tilted from the reference position, a force acts in the direction of returning to the reference position and it is unstable. Therefore, when the force that tilts it is released by the operator, the operation portion 20 returns to the reference position.

[0055] Next, the detection method of the detection device 2 described in the present application will be described. Figure 7 is a three-dimensional overview diagram showing an example of the spherical body 21 included in the detection device 2 described in the present application. Figure 8 is a developed overview diagram schematically showing the outer surface of the spherical body 21 included in the detection device 2 described in the present application. In Figure 7The spheroid 21 and the shaft body 23 are shown. In Figure 8 , the outer surface projection of the spheroid 21 is represented as a circle. The center of the circle corresponds to the intersection of the outer surface of the spheroid 21 and the upper part of the central axis CA, and the circumference corresponds to the intersection of the outer surface of the spheroid 21 and the lower part of the central axis CA. The dashed line represents a great circle centered on the central axis CA of the spheroid 21. Figure 8 , the substantially fan-shaped region surrounded by the solid line is the convex electrode 21a. The convex electrode 21a formed by molding a thin plate of a conductor is formed on the outer surface of the spheroid 21. The convex electrode 21a is formed in a spherical belt shape along the rotation direction of the spheroid 21. The convex electrode 21a formed in a spherical belt shape is divided into two by a line segment connecting the intersection of the central axis CA and the outer surface of the spheroid 21 and along the outer surface of the spheroid 21. In Figure 8 , the divided convex electrodes 21a are represented as B1 and B2. In the following description, when the convex electrodes 21a are distinguished and represented, they are also represented as B1 and B2.

[0056] Figure 9 is a three-dimensional schematic view showing an example of the holding member 22 included in the detection device 2 described in the present application. Figure 10 is a developed schematic view schematically showing the concave surface of the holding member 22 included in the detection device 2 described in the present application. Figure 9 A part of the concave surface inside the holding member 22 is visibly cut away for illustration. In Figure 10 , the concave surface of the holding member 22 is projected and represented 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 spheroid 21 is in the reference position, the concave electrodes 22a of the holding member 22 are divided into a first concave electrode 22a1 on the side of the intersection above the intersection of the central axis CA and the outer surface of the spheroid 21, and a second concave electrode 22a2 on the side of the intersection below. As shown in Figure 10 , the concave electrodes 22a of the holding member 22 are divided into a first concave electrode 22a1 on the upper side and a second concave electrode 22a2 on the lower side. When the central axis CA of the spheroid 21 is in the reference position, the first concave electrode 22a1 on the upper side is divided into a plurality of first concave electrodes 22a1 by a line segment opposite to the line segment connecting the intersection of the central axis CA and the outer surface of the spheroid 21 and along the outer surface of the spheroid 21. In Figure 10 In the example shown, the first concave electrode 22a1 is divided into four by the longitudinal line segments. The second concave electrode 22a2 on the lower side is formed in a spherical belt shape. In Figure 10In [the figure], the first concave electrode 22a1 to be divided is denoted as XP, YP, XN, and YN, and the second concave electrode 22a2 is denoted as G. In the following description, when the respective concave electrodes 22a are distinguished and represented, for each of the first concave electrodes 22a1, they are also denoted as XP, YP, XN, and YN, and for the second concave electrode 22a2 that is the GND electrode, it is also denoted as G.

[0057] In the detection device 2 described in the present application, the convex electrode 21a of the spherical body 21 approaches the concave electrode 22a, and a capacitor is formed by the convex electrode 21a and the concave electrode 22a. The convex electrode 21a and the concave electrode 22a are isolated without direct contact by methods such as covering the surface with a protective film and forming irregularities where the electrode region on the surface is lower than other regions. The convex electrode 21a functions as a bridge electrode connecting to the concave electrode 22a formed in the concave surface of the holding member 22. Since the holding member 22 is fixed by the frame 26, it is suitable for combination with terminals for detecting the capacitance between electrodes. The detection device 2 described in the present application detects the combined capacitance between the concave electrodes 22a as the capacitance of a plurality of capacitors formed by using a plurality of convex electrodes 21a formed on the outer surface of the spherical body 21 and a plurality of concave electrodes 22a formed in the concave surface of the holding member 22. Based on the combined capacitance, the detection device 2 detects actions such as the tilting action and rotational action of the spherical body 21.

[0058] First, the detection of the tilting action will be described. Figure 11 is a conceptual overview diagram conceptually showing an example of the circuit structure of the capacitor formed by the convex electrode 21a and the concave electrode 22a of the detection device 2 described in the present application. As Figure 11 shown in the example, a first capacitor with a capacitance of C is formed by the second concave electrode 22a2 (G) formed in the concave surface on the lower side of the holding member 22 and the convex electrode 21a (B1) formed on the outer surface of the spherical body 21 opposite to the second concave electrode 22a2 (G). A second capacitor with a capacitance of C is formed by the second concave electrode 22a2 (G) and the convex electrode 21a (B2). A third capacitor with a capacitance of C is formed by the first concave electrode 22a1 (YP) on the upper side of the holding member 22 and the convex electrode 21a (B1). A fourth capacitor with a capacitance of C is formed by the first concave electrode 22a1 (YP) and the convex electrode 21a (B2). G-B1 shown in the example, a first capacitor with a capacitance of C is formed by the second concave electrode 22a2 (G) formed in the concave surface on the lower side of the holding member 22 and the convex electrode 21a (B1) formed on the outer surface of the spherical body 21 opposite to the second concave electrode 22a2 (G). A second capacitor with a capacitance of C is formed by the second concave electrode 22a2 (G) and the convex electrode 21a (B2). A third capacitor with a capacitance of C is formed by the first concave electrode 22a1 (YP) on the upper side of the holding member 22 and the convex electrode 21a (B1). A fourth capacitor with a capacitance of C is formed by the first concave electrode 22a1 (YP) and the convex electrode 21a (B2). G-B2 shown in the example, a first capacitor with a capacitance of C is formed by the second concave electrode 22a2 (G) formed in the concave surface on the lower side of the holding member 22 and the convex electrode 21a (B1) formed on the outer surface of the spherical body 21 opposite to the second concave electrode 22a2 (G). A second capacitor with a capacitance of C is formed by the second concave electrode 22a2 (G) and the convex electrode 21a (B2). A third capacitor with a capacitance of C is formed by the first concave electrode 22a1 (YP) on the upper side of the holding member 22 and the convex electrode 21a (B1). A fourth capacitor with a capacitance of C is formed by the first concave electrode 22a1 (YP) and the convex electrode 21a (B2). YP-B1 shown in the example, a first capacitor with a capacitance of C is formed by the second concave electrode 22a2 (G) formed in the concave surface on the lower side of the holding member 22 and the convex electrode 21a (B1) formed on the outer surface of the spherical body 21 opposite to the second concave electrode 22a2 (G). A second capacitor with a capacitance of C is formed by the second concave electrode 22a2 (G) and the convex electrode 21a (B2). A third capacitor with a capacitance of C is formed by the first concave electrode 22a1 (YP) on the upper side of the holding member 22 and the convex electrode 21a (B1). A fourth capacitor with a capacitance of C is formed by the first concave electrode 22a1 (YP) and the convex electrode 21a (B2). YP-B2 shown in the example, a first capacitor with a capacitance of C is formed by the second concave electrode 22a2 (G) formed in the concave surface on the lower side of the holding member 22 and the convex electrode 21a (B1) formed on the outer surface of the spherical body 21 opposite to the second concave electrode 22a2 (G). A second capacitor with a capacitance of C is formed by the second concave electrode 22a2 (G) and the convex electrode 21a (B2). A third capacitor with a capacitance of C is formed by the first concave electrode 22a1 (YP) on the upper side of the holding member 22 and the convex electrode 21a (B1). A fourth capacitor with a capacitance of C is formed by the first concave electrode 22a1 (YP) and the convex electrode 21a (B2).

[0059] Figure 12This is an equivalent circuit diagram conceptually showing an example of the circuit structure of a capacitor formed by the convex electrode 21a and the concave electrode 22a of the detection device 2 described in the present application. Four capacitors formed by the convex electrode 21a of the spherical body 21 and the concave electrode 22a of the holding member 22 act as bridge electrodes connecting the concave electrodes 22a to the convex electrode 21a (B1, B2) of the spherical body 21 and function as a single capacitor. The circuit between the second concave electrode 22a2 (G) and the first concave electrode 22a1 (YP) constituted by the first capacitor C Figure 11 illustrated G-B1 , the second capacitor C YP-B2 , the third capacitor C YP-B1 and the fourth capacitor C YP-B2 can be represented as the equivalent circuit of Figure 12 and functions as a single capacitor. In addition, the combined capacitance C between the second concave electrode 22a2 (G) and the first concave electrode 22a1 (YP) can be derived from Equation 1 below.

[0060] C = C G－B1 ·C YP－B1 / (C G－B1 + C YP－B1 ) + C G－B2 ·C YP－B2 / (C G－B2 + CY P－B2 )

[0061] Equation 1

[0062] Similarly, the combined capacitance between the second concave electrode 22a2 (G) and each of the first concave electrodes 22a1 (XP, YN, XN) can also be derived.

[0063] Figures 13 to 17 This is an explanatory diagram conceptually showing the relative state of the convex electrode 21a of the spherical body 21 and the concave electrode 22a of the holding member 22 in the detection device 2 described in the present application. Figures 13 to 17 This is a developed view of the concave electrode 22a of the holding member 22 and shows the relative position of the convex electrode 21a of the spherical body 21 as a developed view. In Figures 13 to 17 , the developed view of the holding member 22 is represented by a thin line, and the area of the opposing concave electrode 22a is represented by a slanted line. In addition, the relative position of the convex electrode 21a of the spherical body 21 is represented by a dashed line. Figure 13 This represents the state in which the central axis CA of the spherical body 21 is located at the reference position. Figures 14 to 17 This is the state in which the central axis CA of the spherical body 21 has tilted, and each figure shows the states of tilting upward, downward, to the left, and to the right. AsFigures 13 to 17 For example, the areas of the opposing convex electrodes 21a and concave electrodes 22a change according to the tilting state. As the areas change, the capacitance between the electrodes changes. Therefore, by detecting the capacitance between the second concave electrode 22a2(G) and each of the first concave electrodes 22a1(YP, XP, YN, XN), the relative areas between the electrodes can be derived, and based on the derived areas, the tilting state such as the tilting direction and tilting angle of the central axis CA can be derived.

[0064] Next, the detection of the rotational movement will be described. Figure 18 is a conceptual overview diagram conceptually showing an example of the circuit structure of a capacitor formed by the convex electrode 21a and the concave electrode 22a provided in the detection device 2 described in the present application. As Figure 18 For example, a fifth capacitor with a capacitance of C is formed by a first concave electrode 22a1(YP) formed by a concave surface on the upper side of the holding member 22 and a convex electrode 21a(B2) formed on the outer surface of the spherical body 21 opposing the first concave electrode 22a1(YP). YP-B2 A sixth capacitor with a capacitance of C is formed by the first concave electrode 22a1(XP) and the convex electrode 21a(B2). XP-B2

[0065] Figure 19 is an equivalent circuit diagram conceptually showing an example of the circuit structure of a capacitor formed by the convex electrode 21a and the concave electrode 22a provided in the detection device 2 described in the present application. The circuit between the first concave electrode 22a1(YP) and the first concave electrode 22a1(XP) constituted by the fifth capacitor C Figure 18 illustrated by YP-B2 and the sixth capacitor C XP-B2 can be represented as an equivalent circuit as Figure 19 shown, and functions as a single capacitor. In addition, the combined capacitance C between the first concave electrode 22a1(YP) and the first concave electrode 22a1(XP) can be derived from the following formula 2.

[0066] C = C YP－B2 ·C XP－B2 / (C YP－B2 + C XP－B2 ) Formula 2

[0067] Similarly, the capacitance between other adjacent first concave electrodes 22a1 can also be derived.

[0068] Figures 20 to 22It is an explanatory diagram conceptually showing the state in which the convex electrode 21a of the spherical body 21 and the concave electrode 22a of the holding member 22 face each other in the detection device 2 described in the present application. Figures 20 to 22 It is a diagram showing the relative position of the convex electrode 21a of the spherical body 21 with respect to the concave electrode 22a of the holding member 22. In Figures 20 to 22 it, the developed view of the holding member 22 is represented by a thin line, and the area of the opposing concave electrode 22a is represented by a slanted region. In addition, the relative position of the convex electrode 21a of the spherical body 21 is represented by a dashed line. Figure 20 It shows the state in which the central axis CA of the spherical body 21 is located at the reference position. Figure 21 It is the state in which the central axis CA of the spherical body 21 rotates to the right (clockwise rotation) as shown by the arrow, Figure 22 and it shows the state of rotating to the left (counterclockwise rotation) as shown by the arrow. The areas of the opposing convex electrode 21a and concave electrode 22a change depending on the rotation state, and the capacitance between the electrodes changes accordingly. Therefore, by detecting the capacitance between adjacent first concave electrodes 22a1, the relative area between each electrode can be derived, and based on the derived areas, the rotation state of the spherical body 21, such as the rotation direction and rotation angle, can be derived.

[0069] The theory of the detection device 2 described in the present application for detecting the tilting state and rotation state of the spherical body 21 from the reference position is as described above.

[0070] Next, a structural example of the detection device 2 and the operation device 1 described in the present application will be described. Figure 23This is a functional block diagram overview diagram conceptually showing an example of the functional structure of the detection device 2 and the operation device 1 described in the present application. The detection device 2 has a control unit 27, which is composed of various electronic components such as various elements, various circuits, and a microcomputer, and functions as a switching unit 271, a capacitance detection unit 272, an AD conversion unit 273, an action detection unit 270, etc. The action detection unit 270 is composed of electronic components 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 capacitance under the control of the action detection unit 270. The capacitance detection unit 272 detects the capacitance between the electrodes selected by the switching unit 271 and outputs analog data representing the detected result to the AD conversion unit 273. The AD conversion unit 273 converts the capacitance input as analog data into digital data and outputs it to the action detection unit 270. The action detection unit 270 detects the tilting state and rotation state of the spherical body 21 based on the input capacitance. The detection device 2 detects the tilting action and rotation action based on the detected changes in the tilting state and rotation state over time, and outputs the detected actions of the spherical body 21 to the output unit 11 of the operation device 1. The output unit 11 of the operation device 1 outputs an operation signal for operating an operation object based on the action of the spherical body 21 to an external device such as a game machine main body (such as a game machine main body).

[0071] As described above, the detection device 2 and the operation device 1 described in the present application detect the action of the spherical body 21 based on the capacitance of a capacitor formed by using 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 that holds the spherical body 21. Thus, in the detection device 2 and the operation device 1 described in the present application, the electrodes do not directly contact each other, and deterioration caused by wear between the electrodes can be suppressed, so there are good effects such as improved durability.

[0072] In addition, the detection device 2 and the operation device 1 described in the present application can appropriately set the capacitor formed by the convex electrode 21a and the concave electrode 22a, which are the detection objects of the capacitance, by switching the concave electrode 22a for detecting capacitance. Moreover, by appropriately setting the capacitor that is the detection object of the capacitance, states such as the tilting state and rotation state of the spherical body 21, which are the detection objects of the action, can be set. That is, the detection device 2 and the operation device 1 described in the present application have good effects such as being able to detect rotation states that cannot be detected in Patent Document 1 described as a prior art document, such as the rotation direction and rotation angle. And the state to be detected can be corresponded only by the switching process performed by the control unit 27.

[0073] The present invention is not limited to the embodiments described above and can be implemented in various other ways. Therefore, the above embodiments are merely illustrative in all aspects and are not limitative descriptions. The technical scope of the present invention is defined by the scope of the claims and is not limited to the text of the specification. In addition, modifications and changes within the scope equivalent to the scope of the claims are included in the scope of the present invention.

[0074] For example, in the above embodiment, an example of applying the operation device 1 described in the present application to a joystick-type controller is shown, but the present invention is not limited thereto. For example, it can be implemented in operation devices 1 for operating various operation objects such as various toys, various moving bodies, various measuring devices, and industrial robots. In addition, the detection device 2 described in the present application is not limited to being applied in the operation device 1 and can be applied in various devices such as spherical joints of joints of industrial robots that can be assembled. In addition, when the operation device 1 described in the present application is applied to a joystick-type controller, it is not limited to a two-handed operation controller. That is, it can be appropriately designed to accommodate a detection device 2 in a single housing 10 and can also be applied as a single-handed operation controller.

[0075] Description of reference numerals

[0076] 1 Operation device; 11 Output unit; 2 Detection device; 20 Operation unit; 21 Spherical body; 21a Convex electrode; 22 Holding member; 22a Concave electrode; 22a1 First concave electrode; 22b1 Second concave electrode; 23 Shaft body; 24 Pressing member; 25 Biasing member; 27 Control unit; 270 Motion detection unit; 271 Switching unit; 272 Capacitance detection unit; 273 AD conversion unit; CA Central axis; CP Center.

Claims

1. A detection device for detecting the movement of a spherical body relative to a central axis, characterized in that it has: A holding member that holds the spherical body movably by a concave surface along the outer surface of the spherical body; A convex electrode formed on the outer surface of the spherical body; Concave electrodes are formed in plurality on the concave surface of the holding member. When the central axis of the spherical body is located at a preset reference position, the plurality of concave electrodes are divided into a first concave electrode on the intersection side where the central axis intersects the outer surface of the spherical body and a second concave electrode on the other intersection side; A capacitance detection unit that detects the capacitance of a capacitor formed by the convex electrode and the concave electrode; A movement detection unit that detects the movement of the spherical body based on the capacitance detected by the capacitance detection unit.

2. The detection device according to claim 1, characterized in that The capacitance detection unit detects the capacitance determined by the areas of the opposing convex electrode and concave electrode.

3. The detection device according to claim 1 or 2, characterized in that The movement detection unit detects the tilting movement of the central axis of the spherical body from a preset reference position or the rotational movement of the spherical body around the central axis.

4. The detection device according to claim 1 or 2, characterized in that A plurality of convex electrodes are formed, The plurality of convex electrodes are divided by a line segment connecting the intersection of the central axis and the outer surface of the spherical body and along the outer surface of the spherical body.

5. The detection device according to claim 1 or 2, characterized in that A plurality of the first concave electrodes are formed, When the central axis of the spherical body is located at the reference position, the plurality of the first concave electrodes are divided by a line segment opposite to the line segment connecting the intersection of the central axis and the outer surface of the spherical body and along the outer surface of the spherical body.

6. The detection device according to claim 5, characterized in that The capacitance detection unit detects the capacitance between the first concave electrode and the second concave electrode, It has a switching unit that switches the first concave electrode that is the detection object of the capacitance of the capacitance detection unit.

7. The detection device according to claim 1 or 2, characterized in that It has an operation unit that accepts an operation for moving the spherical body.

8. An operating device, characterized in that, It has: The detection device according to claim 7; An operation unit that accepts an operation for moving the spherical body of the detection device; An output unit that outputs an operation signal for operating an operation object based on the movement of the spherical body detected by the movement detection unit.

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