Detection device and operation device

Abstract

To provide a detector that can improve its durability, and an operating device including the detector.SOLUTION: A detector is a device that detects a movement for a central axis of a spherical body 21, and comprises a holding member 22 that movably holds the spherical body 21 on a concave surface along an outer surface of the spherical body 21. A convex surface-like electrode 21a is formed on the outer surface of the spherical body 21, and a concave surface-like electrode 22a is formed on the concave surface of the holding member 22. The detector detects the capacitance of a capacitor formed by using the convex surface-like electrode 21a and the concave surface-like electrode 22a, and detects the movement of the spherical body 21 based on the detected capacitance. An operating device includes the detector, and performs output of operating an operational object based on the movement of the spherical body 21 detected by the detector.SELECTED DRAWING: Figure 11

Description

[Technical field]

[0001] The present invention relates to a detection device that detects an action, and to an operating device that uses such a detection device. [Background technology]

[0002] An operating device called a joystick is widely used as an operating device for operating various devices such as computer games, various toys, and industrial robots. An operating device in the form of a joystick uses a detection device that detects the motion of a stick that tilts in various directions in response to an operator's operation, and operates an operating target based on the motion detected by the detection device. For example, Patent Document 1 proposes a variable resistor type pointing device that detects tilt using variable resistors arranged on each of the X and Y axes as an example of such a detection device and operating device. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Taiwan Utility Model Patent No. 371503 Summary of the Invention [Problem to be solved by the invention]

[0004] However, the variable resistor type pointing device described in Patent Document 1 has a problem regarding durability because the sliding portion of the variable resistor deteriorates due to friction.

[0005] The present invention has been made in view of the above circumstances, and has as its main object to provide a detection device having improved durability.

[0006] Another object of the present invention is to provide an operating device equipped with such a detection device. [Means for solving the problem]

[0007] In order to solve the above problems, the detection device described in the present application is a detection device that detects movement relative to the central axis of a spherical body, and is characterized in that it comprises a holding member that operably holds the spherical body on 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 using the convex electrode and the concave electrode, and a movement detection unit that detects the movement of the spherical body based on the capacitance detected by the capacitance detection unit.

[0008] In the detection device, the capacitance detection section detects a capacitance determined by an area of ​​the opposing convex electrode and concave electrode.

[0009] In addition, in the detection operation device, the motion detection unit is characterized in that it detects a tilting motion in which the central axis of the spherical body tilts from a predetermined reference position, or a rotational motion in which the spherical body rotates around the central axis.

[0010] In addition, in the detection device, the convex electrodes are formed in multiple numbers, and the multiple convex electrodes are divided by a line segment along the outer surface of the spherical body connecting the intersection of the central axis and the outer surface of the spherical body.

[0011] In addition, in the detection device, the concave electrodes are formed in multiple numbers, and when the central axis of the spherical body is located at a predetermined reference position, the multiple concave electrodes are divided into a first concave electrode on one side of the intersection where the central axis and the outer surface of the spherical body intersect, and a second concave electrode on the other side of the intersection.

[0012] Furthermore, in the detection device, the first concave electrode is formed in multiple numbers, and the multiple first concave electrodes are divided by a line segment that is opposite to a line segment along the outer surface of the spherical body connecting the intersection of the central axis and the outer surface of the spherical body when the central axis of the spherical body is located at a reference position.

[0013] In addition, in the detection device, the capacitance detection unit is configured to detect the capacitance between the first concave electrode and the second concave electrode, and is characterized by having a switching unit that switches the first concave electrode that is the target for capacitance detection by the capacitance detection unit.

[0014] The detection device may further include an operation unit that receives an operation to move the spherical body.

[0015] The operating device described in the present application is characterized in that it comprises the detection device, an operating unit that accepts operations to operate a spherical body provided in the detection device, and an output unit that outputs an operation signal that operates an operation object based on the movement of the spherical body detected by the motion detection unit.

[0016] The detection and manipulation devices described herein detect the motion of a spherical object based on capacitance. Effect of the Invention

[0017] The detection device and operation device according to the present invention detect the movement of a spherical body based on the capacitance of a capacitor formed using a convex electrode formed on the outer surface of the spherical body and a concave electrode formed on the concave surface of a holding member that holds the spherical body. Therefore, the electrodes do not come into direct contact with each other, and deterioration due to wear between the electrodes can be suppressed, thereby achieving excellent effects such as improved durability. [Brief description of the drawings]

[0018] [Figure 1] 1 is a schematic perspective view showing an example of the appearance of an operating device described in the present application. [Diagram 2] FIG. 2 is a schematic perspective view showing an example of a detection device included in the operating device described in the present application. [Diagram 3] 2 is a schematic cross-sectional view showing an example of a detection device included in the operating device described in the present application. [Figure 4] FIG. 2 is a schematic exploded perspective view showing an example of a detection device included in the operating device described in the present application. [Diagram 5] 1 is a schematic cross-sectional view showing an example of a portion of a cross section of a detection device described herein. [Figure 6] 1 is a schematic cross-sectional view showing an example of a portion of a cross section of a detection device described herein. [Figure 7] FIG. 2 is a schematic perspective view showing an example of a spherical body provided in the detection device described in the present application. [Figure 8] 2 is a schematic development view showing the outer surface of a spherical body provided in the detection device described in the present application. FIG. [Figure 9] 2 is a schematic perspective view showing an example of a holding member included in the detection device described in the present application. FIG. [Figure 10] 2 is a schematic development view showing a concave surface of a holding member provided in the detection device described in the present application. FIG. [Figure 11] 1 is a schematic conceptual diagram conceptually illustrating an example of a circuit configuration of a capacitor formed by a convex electrode and a concave electrode provided in a detection device described in the present application. [Figure 12] 3 is an equivalent circuit diagram conceptually illustrating an example of a circuit configuration using a capacitor formed by a convex electrode and a concave electrode provided in the detection device described in the present application. FIG. [Figure 13] 1 is an explanatory diagram conceptually showing the opposing state of a convex electrode of a spherical body and a concave electrode of a holding member in the detection device described in the present application. FIG. [Figure 14] 1 is an explanatory diagram conceptually showing the opposing state of a convex electrode of a spherical body and a concave electrode of a holding member in the detection device described in the present application. FIG. [Figure 15] 1 is an explanatory diagram conceptually showing the opposing state of a convex electrode of a spherical body and a concave electrode of a holding member in the detection device described in the present application. FIG. [Figure 16] 1 is an explanatory diagram conceptually showing the opposing state of a convex electrode of a spherical body and a concave electrode of a holding member in the detection device described in the present application. FIG. [Figure 17] 1 is an explanatory diagram conceptually showing the opposing state of a convex electrode of a spherical body and a concave electrode of a holding member in the detection device described in the present application. FIG. [Figure 18]1 is a schematic conceptual diagram conceptually illustrating an example of a circuit configuration of a capacitor formed by a convex electrode and a concave electrode provided in a detection device described in the present application. [Figure 19] 3 is an equivalent circuit diagram conceptually illustrating an example of a circuit configuration using a capacitor formed by a convex electrode and a concave electrode provided in the detection device described in the present application. FIG. [Figure 20] 1 is an explanatory diagram conceptually showing the opposing state of a convex electrode of a spherical body and a concave electrode of a holding member in the detection device described in the present application. FIG. [Figure 21] 1 is an explanatory diagram conceptually showing the opposing state of a convex electrode of a spherical body and a concave electrode of a holding member in the detection device described in the present application. FIG. [Figure 22] 1 is an explanatory diagram conceptually showing the opposing state of a convex electrode of a spherical body and a concave electrode of a holding member in the detection device described in the present application. FIG. [Diagram 23] 1 is a schematic functional block diagram conceptually illustrating an example of a functional configuration of a detection device and an operation device described in the present application. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0019] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. The operating device described in the present application is used, for example, as a joystick-type controller for operating an operation object. By using the operating device as an operating device such as a joystick-type controller, it can be used to operate various operation objects such as various toys, various moving objects, various measuring devices, and industrial robots in addition to operating devices for computer games. In addition, the operating device is provided with the detection device described in the present application, and the detection device detects the operation of a member that accepts an operation by an operator. The detection device itself can be used not only for operating devices but also for detecting the operation of various members such as joints of industrial robots. Below, an operating device 1 applied to a joystick-type controller and a detection device 2 used in such an operating device 1 will be described.

[0020] FIG. 1 is a schematic perspective view showing an example of the appearance of an operating device 1 described in the present application. The operating device 1 includes a housing 10, and a detection device 2 (see FIG. 2, etc.) is housed in the housing 10. The housing 10 has gripping parts 101 at both ends to be gripped by the right and left hands, respectively. When the gripping parts 101 at both ends are gripped, respectively, a substantially circular opening 102 is opened at a position on the top surface where the fingers touch. From the opening 102, the operating part 20 of the detection device 2 protrudes from inside the housing 10 and is used by the operator to operate an object to be operated. Furthermore, on the top surface side, a plurality of operating buttons 103 are arranged at positions that can be pressed by the operator's fingers. In the present application, for convenience of explanation, the side that is located on the top when the operator operates in a normal posture, that is, the side where the operating part 20 located in the reference position protrudes, is described as the upper side, and the opposite side is described as the lower side. Housing 10 accommodates detection device 2 (see FIG. 2, etc.) that detects the movement of spherical body 21 (see FIG. 3, etc.) that moves in response to an operation.

[0021] FIG. 2 is a schematic perspective view showing an example of the detection device 2 included in the operating device 1 described in the present application. FIG. 3 is a schematic cross-sectional view showing an example of the detection device 2 included in the operating device 1 described in the present application. FIG. 4 is a schematic exploded perspective view showing an example of the detection device 2 included in the operating device 1 described in the present application. FIGS. 2, 3, and 4 show the detection device 2 housed in the housing 10 of the operating device 1. FIG. 3 shows a schematic perspective view of a cross section of the detection device 2 cut along a vertical plane passing through AB shown in FIG. 2. FIG. 4 shows a schematic exploded perspective view of the configuration required for operation, among various configurations included in the detection device 2.

[0022] Housing 10 contains detection device 2 that detects the movement of spherical body 21, which is operated by operation of operating unit 20. Detection device 2 includes various members such as operating unit 20, spherical body 21, holding member 22, pressing member 24, biasing member 25, frame 26, and control unit 27 (see FIG. 23 ), which will be described later. Various members such as operating unit 20, spherical body 21, holding member 22, shaft-shaped body 23, pressing member 24, biasing member 25, etc. are supported by frame 26, and frame 26 is fixed inside housing 10.

[0023] The operation unit 20 is a member that protrudes to the outside from the opening 102 of the housing 10 and accepts various operations such as tilting operation and rotation operation by the operator. The operation unit 20 has a disk part 200 that is approximately disk-shaped, and a rotation protrusion 201 used for rotation operation is formed on the upper surface edge of the disk part 200. A cover part 202 that is approximately spherical crown-shaped and covers the upper part of the spherical body 21 and the holding member 22 that holds the spherical body 21 is formed below the disk part 200. Of the operation unit 20, the disk part 200 and the rotation protrusion 201 are located outside the housing 10, and the cover part 202 blocks the opening 102 opened in the housing 10 from the inside. Furthermore, the operation unit 20 has a shaft-shaped body 23 that penetrates from the center of the disk-shaped disk part 200 through the center CP of the spherical body 21, and a disk-shaped pressed part 23a is formed at the tip of the shaft-shaped body 23.

[0024] The spherical body 21 is substantially spherical and is held movably by the holding member 22. An axial body 23 penetrates the spherical body 21. The axial body 23 passes through the center CP of the spherical body 21, so the axis of the axial body 23 and the central axis CA of the spherical body 21 coincide with each other. When the operator operates the operating unit 20 to perform a tilting operation to tilt the axial body 23, the spherical body 21 performs a tilting motion in which the central axis CA tilts from a reference position. The tilting motion can be performed in all directions around the reference position, 360 degrees around the center CP of the spherical body 21 as the tilt center. When the operator operates the operating unit 20 to perform a rotation operation to rotate the axial body 23 in the circumferential direction, the spherical body 21 performs a rotational motion to rotate around the central axis CA. The rotational motion can be in either the right (clockwise) or left (counterclockwise) direction about the central axis CA. Furthermore, a convex electrode 21a (see FIG. 7, etc.) used for motion detection 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.

[0025] The holding member 22 has a concave surface along the outer surface of the spherical body 21, and holds the spherical body 21 in an operable manner by covering it with the concave surface. A concave electrode 22a (see FIG. 9, etc.) for detecting the motion 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 if the holding member 22 holds the spherical body 21 in an operable manner, the convex electrode 21a and the concave electrode 22a do not come into direct contact with each other due to the protective film covering both surfaces. Note that the method is not limited to covering with a protective film as long as the electrodes do not come into direct contact with each other. For example, the electrodes can be formed to be separated from each other in various forms, such as by recessing the surface area on which the electrodes are formed from other areas and embedding the electrodes in the recessed area. The shape of the electrodes and the detection of the motion of the spherical body 21 using the electrodes will be described later.

[0026] The pressing member 24 is a member that presses the pressed portion 23a in a direction toward the tilt center at the top, and is held by the frame 26 so as to be movable up and down. The pressing member 24 has a disk-shaped upper portion and a cylindrical lower portion. The pressing member 24 is arranged so as to close a central hole 260 formed in the frame 26, and the upper surface of the pressing member 24 abuts against the pressed portion 23a. The cylindrical lower portion is loosely fitted with a small amount of play in an annular groove portion 261 formed around the central hole 260 of the frame 26 so as to be movable up and down. By loosely fitting the lower portion of the pressing member 24 into the groove portion 261 of the frame 26, the groove portion 261 guides the up and down movement of the pressing member 24, and the operation of the pressing member 24 is stabilized. In the annular groove portion 261, a biasing member 25 such as a compression coil spring is arranged so as to rotate around the groove portion 261. The biasing member 25 has a lower end fixed to the inner bottom surface of the groove 261, and an upper end abuts against the pressing member 24, biasing the pressing member 24 upward.

[0027] Next, the operation of the detection device 2 described in the present application will be described. FIG. 5 and FIG. 6 are schematic cross-sectional views showing an example of a part of the cross section of the detection device 2 described in the present application. FIG. 5 shows a state in which the shaft-shaped body 23 of the operation unit 20, through which the central axis CA of the spherical body 21 passes, is in a reference position, and FIG. 6 shows a state in which the shaft-shaped body 23 is tilted from the reference position by the operation of the operator. The pressing member 24, which is biased by the biasing member 25, presses the pressed portion 23a of the operation unit 20 from below to above. When the shaft-shaped body 23 is in the reference position as shown in FIG. 5, the pressing member 24 presses the flat center vicinity of the pressed portion 23a toward the center CP of the spherical body 21, so that the operation unit 20 is in a stable position. When the shaft-shaped body 23 is tilted as shown in FIG. 6, the pressing member 24 presses the peripheral side of the pressed portion 23a toward the center CP of the spherical body 21, so that a force acts in the rotation direction in which the operation unit 20 returns to the reference position. Therefore, when the shaft body 23 is located at the reference position, the spherical body 21 is stable. If the shaft body 23 is tilted from the reference position, a force acts in the direction returning it to the reference position, making it unstable. Therefore, when the tilting force applied by the operator is released, the operation unit 20 returns to the reference position.

[0028] 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 included in the detection device 2 described in the present application. FIG. 8 is a schematic development view showing the outer surface of the spherical body 21 included in the detection device 2 described in the present application. FIG. 7 shows the spherical body 21 and the shaft-shaped body 23. FIG. 8 shows the outer surface of the spherical body 21 projected onto a circle. The center of the circle corresponds to the upper intersection point between the outer surface of the spherical body 21 and the central axis CA, and the circumference corresponds to the lower intersection point between the outer surface of the spherical body 21 and the central axis CA. The dashed line indicates a great circle centered on the central axis CA of the spherical body 21. In FIG. 8, the approximately sector-shaped area surrounded by a solid line is the convex electrode 21a. The convex electrode 21a formed from a thin conductive plate 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 band shape is divided into two by a line segment along the outer surface of the spherical body 21 that connects the intersection of the central axis CA and the outer surface of the spherical body 21. In Fig. 8, the divided convex electrodes 21a are indicated as B1 and B2. In the following description, when each convex electrode 21a is shown separately, it is indicated as B1 and B2.

[0029] FIG. 9 is a schematic perspective view showing an example of the holding member 22 included in the detection device 2 described in the present application. FIG. 10 is a schematic development view showing the concave surface of the holding member 22 included in the detection device 2 described in the present application. FIG. 9 shows a part cut away so that the inner concave surface of the holding member 22 can be seen. In FIG. 10, the concave surface of the holding member 22 is projected onto a circle. The center of the circle corresponds to the upper end of a 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 from a thin conductive plate 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 and the outer surface of the spherical body 21 intersect, 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 a first concave electrode 22a1 on the upper side and a second concave electrode 22a2 on the lower side. 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 a line segment along the outer surface of the spherical body 21 that connects the intersection of the central axis CA and the outer surface of the spherical body 21 when the central axis CA of the spherical body 21 is located at a reference position. In the example illustrated in FIG. 10, the first concave electrode 22a1 is divided into four by a vertical line segment. The second concave electrode 22a2 on the lower side is formed in a spherical band shape. In FIG. 10, the divided first concave electrodes 22a1 are indicated as XP, YP, XN, and YN, and the second concave electrode 22a2 is indicated as G. In the following description, when each concave electrode 22a is individually indicated, the first concave electrodes 22a1 are indicated as XP, YP, XN and YN, and the second concave electrode 22a2 serving as a GND electrode is indicated as G.

[0030] 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 separated from each other so as not to come into direct contact with each other by a method such as covering the surface with a protective film or forming an uneven surface that makes the electrode area on the surface lower than other areas. The convex electrode 21a functions as a bridge electrode connecting the concave electrodes 22a formed on the concave surface of the holding member 22. The holding member 22 is fixed by a frame 26, so that it is suitable for connecting terminals for detecting the electrostatic capacitance between the electrodes. The detection device 2 described in the present application detects the electrostatic capacitance of a plurality of capacitors formed using 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 a composite electrostatic capacitance between the concave electrodes 22a. The detection device 2 detects the tilting, rotation, and other movements of the spherical body 21 based on the composite capacitance.

[0031] First, detection of the tilting motion will be described. Fig. 11 is a schematic conceptual 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 shown in Fig. 11, a capacitance of C is generated by a second concave electrode 22a2(G) formed on the concave surface on the lower side of the holding member 22 and a convex electrode 21a(B1) formed on the outer surface of the spherical body 21 facing the second concave electrode 22a2(G). G-B1 The first capacitor is formed by the second concave electrode 22a2(G) and the convex electrode 21a(B2). G-B2 The first concave electrode 22a1 (YP) on the upper side of the holding member 22 and the convex electrode 21a (B1) form a second capacitor having a capacitance of C YP-B1 The first concave electrode 22a1 (YP) and the convex electrode 21a (B2) form a third capacitor having a capacitance of C YP-B2 A fourth capacitor is formed.

[0032] 12 is an equivalent circuit diagram conceptually illustrating an example of a circuit configuration using capacitors 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 electrode 21a of the spherical body 21 and the concave electrode 22a of the holding member 22 function as a single capacitor, with the convex electrodes 21a (B1, B2) of the spherical body 21 functioning as bridge electrodes connecting the respective concave electrodes 22a. The first capacitor C illustrated in FIG. G-B1 , the second capacitor C YP-B2 , the third capacitor C YP-B1 and the fourth capacitor C YP-B2 The circuit between the second concave electrode 22a2(G) and the first concave electrode 22a1(YP) can be shown as an equivalent circuit in Fig. 12, and functions as a capacitor. The combined capacitance C between the second concave electrode 22a2(G) and the first concave electrode 22a1(YP) can be derived by the following formula 1.

[0033] C=C G-B1 C YP-B1 / (C G-B1 +C YP-B1 )+C G-B2 C YP-B2 / (C G-B2 +C YP-B2 ) ...Formula 1

[0034] In the same manner, 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.

[0035] 13 to 17 are explanatory diagrams 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. FIG. 13 to FIG. 17 are views showing the relative position of the convex electrode 21a of the spherical body 21 to the development of the concave electrode 22a of the holding member 22 as a development. In FIG. 13 to FIG. 17, the development of the holding member 22 is shown by thin lines, and the corresponding concave electrode 22a is shown as a shaded area. Also, the relative position of the convex electrode 21a of the spherical body 21 is shown by dashed lines. FIG. 13 shows a state in which the central axis CA of the spherical body 21 is in a reference position. FIG. 14 to FIG. 17 show a state in which the central axis CA of the spherical body 21 is tilted, and tilted upward, downward, left, and right, respectively, in the figures. 13 to 17, the areas of the opposing convex electrode 21a and concave electrode 22a change depending on the tilt state, and the capacitance between the electrodes changes with the change in area. 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 opposing areas between the electrodes can be derived, and the tilt state of the central axis CA, such as the tilt direction and tilt angle, can be derived from each of the derived areas.

[0036] Next, detection of rotational motion will be described. Fig. 18 is a schematic conceptual diagram conceptually illustrating 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, a capacitance of C is obtained by a first concave electrode 22a1(YP) formed on the 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 opposite the first concave electrode 22a1(YP). YP-B2 The fifth capacitor is formed by the first concave electrode 22a1 (XP) and the convex electrode 21a (B2). XP-B2 A sixth capacitor is formed.

[0037] 19 is an equivalent circuit diagram conceptually illustrating an example of a circuit configuration using a capacitor formed by the convex electrode 21a and the concave electrode 22a included in the detection device 2 described in the present application. YP-B2 and the sixth capacitor C XP-B2 The circuit between the first concave electrode 22a1(YP) and the first concave electrode 22a1(XP) configured as above can be shown as an equivalent circuit in Fig. 19, and functions as one capacitor. In addition, the combined capacitance C between the first concave electrode 22a1(YP) and the first concave electrode 22a1(XP) can be derived by the following formula 2.

[0038] C=C YP-B2 C XP-B2 / (C YP-B2 +C XP-B2 )...Equation 2

[0039] In the same manner, the capacitance between the other adjacent first concave electrodes 22a1 can be derived.

[0040] 20 to 22 are explanatory diagrams conceptually illustrating 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. FIG. 20 to FIG. 22 are diagrams illustrating 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 FIG. 20 to FIG. 22, the development of the holding member 22 is shown by thin lines, and the opposing concave electrode 22a is shown as a shaded area. In addition, the relative position of the convex electrode 21a of the spherical body 21 is shown by dashed lines. FIG. 20 shows a state in which the central axis CA of the spherical body 21 is in a reference position. FIG. 21 shows a state in which the central axis CA of the spherical body 21 is rotated rightward (clockwise) as indicated by the arrow, and FIG. 22 shows a state in which the central axis CA of the spherical body 21 is rotated leftward (counterclockwise) as indicated 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 opposing areas between the electrodes can be derived, and the rotation state of spherical body 21, such as the direction and angle of rotation, can be derived from the derived areas.

[0041] The theory behind how the detection device 2 described in the present application detects the tilt and rotation state of the spherical body 21 from the reference position has been described above.

[0042] Next, a configuration example of the detection device 2 and the operation device 1 described in the present application will be described. FIG. 23 is a schematic functional block diagram conceptually showing an example of the functional configuration of the detection device 2 and the operation device 1 described in the present application. The detection device 2 includes a control unit 27, which is configured using electronic components such as various elements, various circuits, and a microcomputer, and functions as a configuration of a switching unit 271, a capacitance detection unit 272, an AD conversion unit 273, a motion detection unit 270, and the like. The motion detection unit 270 is configured using 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 that detect the capacitance under the control of the motion detection unit 270. The capacitance detection 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 conversion unit 273 converts the capacitance input as analog data into digital data and outputs it to the motion detection unit 270. The motion detection unit 270 detects the tilt and rotation states of the spherical body 21 from the input capacitance. The detection device 2 detects the tilt and rotation motions from changes over time in the detected tilt and rotation states, and outputs the detected motion of the spherical body 21 to the output unit 11 included in the controller 1. The output unit 11 included in the controller 1 outputs an operation signal for operating an operation target based on the motion of the spherical body 21 to an external device (such as a game console main unit) such as a game console main unit.

[0043] As described above, the detection device 2 and operation device 1 described in the present application detect the movement of the spherical body 21 based on the capacitance of a capacitor formed 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. As a result, the detection device 2 and operation device 1 described in the present application have excellent effects such as improved durability because the electrodes do not come into direct contact with each other and deterioration due to wear between the electrodes can be suppressed.

[0044] Furthermore, 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 that is the target of capacitance detection by switching the concave electrode 22a that detects the capacitance. Then, by appropriately setting the capacitor that is the target of capacitance detection, it is possible to set the state of the spherical body 21, such as the tilted state and the rotation state, that is the target of the motion detection. In other words, the detection device 2 and the operation device 1 described in the present application have an excellent effect of being able to detect the rotation state, such as the rotation direction and the rotation angle, which could not be detected in Patent Document 1 described as a prior art document. Moreover, the state to be detected can be handled only by switching processing by the control unit 27.

[0045] The present invention is not limited to the above-described embodiment, and can be implemented in various other forms. Therefore, the above-described embodiment is merely illustrative in all respects and should not be interpreted as being restrictive. The technical scope of the present invention is described by the claims, and is not restricted in any way by the text of the specification. Furthermore, all modifications and changes within the equivalent scope of the claims are within the scope of the present invention.

[0046] For example, in the above embodiment, the operating device 1 described in the present application is applied to a joystick-type controller, but the present invention is not limited to this. For example, the operating device 1 can be deployed to operate various operation objects such as various toys, various moving objects, various measuring devices, and industrial robots. Furthermore, the detection device 2 described in the present application is not limited to application to the operating device 1, but can be applied to various devices in which a spherical joint such as a joint of an industrial robot can be incorporated. Furthermore, even when the operating device 1 described in the present application is applied to a joystick-type controller, it is not limited to a controller for two-handed operation. In other words, it is possible to design it appropriately, such as by accommodating one detection device 2 in one housing 10 and applying it as a controller for one-handed operation. [Explanation of symbols]

[0047] 1 Operating device 11 Output section 2. Detection device 20 Control section 21 Spherical body 21a Convex electrode 22 Retaining member 22a concave electrode 22a1 1st concave electrode 22b1 Second concave electrode 23 Axial body 24 Pressing member 25 Pressing member 27 Control Unit 270 Motion detection unit 271 Switching section 272 Capacitance detection unit 273 AD conversion section CA center axis CP center

Claims

1. A detection device for detecting a motion of a spherical body relative to a central axis, a holding member that operably holds the spherical body at a concave surface along an 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 using the convex electrode and the concave electrode; a motion detection unit that detects a motion of the spherical body based on the capacitance detected by the capacitance detection unit; Equipped with The concave electrode is formed in plurality, 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 side of an intersection point where the central axis and the outer surface of the spherical body intersect, and a second concave electrode on the other side of the intersection point. A detection device comprising:

2. A detection device for detecting a motion of a spherical body relative to a central axis, an operation unit that receives an operation by an operator to operate the spherical body; a holding member that operably holds the spherical body at a concave surface along an 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 using the convex electrode and the concave electrode; a motion detection unit that detects a motion of the spherical body based on the capacitance detected by the capacitance detection unit; Equipped with The convex electrode is formed in plurality, The plurality of convex electrodes are divided by line segments along the outer surface of the spherical body that connect the intersections of the central axis and the outer surface of the spherical body. A detection device comprising:

3. A detection device for detecting a motion of a spherical body relative to a central axis, comprising: an operation unit that receives an operation by an operator to operate the spherical body; a holding member that operably holds the spherical body at a concave surface along an 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 using the convex electrode and the concave electrode; a motion detection unit that detects a motion of the spherical body based on the capacitance detected by the capacitance detection unit; Equipped with The concave electrode is formed in plurality, 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 side of an intersection point where the central axis and the outer surface of the spherical body intersect, and a second concave electrode on the other side of the intersection point. A detection device comprising:

4. The detection device according to any one of claims 1 to 3, The capacitance detection unit detects a capacitance determined by the areas of the convex electrode and the concave electrode facing each other. A detection device comprising:

5. The detection device according to any one of claims 1 to 4, The motion detection unit detects a tilt motion in which the central axis of the spherical body tilts from a preset reference position, or a rotation motion in which the spherical body rotates around the central axis. A detection device comprising:

6. The detection device according to claim 1 or 3, The convex electrode is formed in plurality, The plurality of convex electrodes are divided by line segments along the outer surface of the spherical body that connect the intersections of the central axis and the outer surface of the spherical body. The detection device is characterized by the above.

7. The detection device according to claim 1 or 3, The first concave electrode is formed in plurality, The plurality of first concave electrodes are separated by a line segment that is opposite to a line segment along the outer surface of the spherical body that connects an intersection of the central axis and the outer surface of the spherical body when the central axis of the spherical body is located at a reference position. A detection device comprising:

8. 8. The detection device according to claim 7, the capacitance detection unit is configured to detect a capacitance between the first concave electrode and the second concave electrode, a switching unit that switches the first concave electrode that is the object of capacitance detection by the capacitance detection unit; A detection device comprising:

9. A detection device according to any one of claims 1 to 8, an output unit that outputs an operation signal for operating an operation target based on the motion of the spherical body detected by the motion detection unit; An operating device comprising:

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