Operating device and method

Abstract

This operation device comprises: an operation unit which can be movably operated; a sensor which outputs a detection value corresponding to a position of the operation unit; a conversion unit which converts, on the basis of conversion information, the detection value acquired by an acquisition unit into the position information on the operation unit; an adjustment unit capable of adjusting a movement limit position of the operation unit; and a generation unit which, for a plurality of the movement limit positions that are adjustable by the adjustment unit, acquires detection values from the sensor at times when the operation unit has reached the respective movement limit positions, and generates conversion information on the basis of the acquired plurality of detection values and position information indicating the actual positions of the respective plurality of movement limit positions.

Description

[Technical Field]

[0001] The present invention relates to an operating device and method. [Background technology]

[0002] The following Patent Document 1 discloses a technology in an operating device equipped with an operating member that can be operated by pressing, in which the rotation angle detected by a rotation angle detection sensor is converted into the amount of pressing of the operating member, and a motor is controlled according to the amount of pressing, thereby controlling the load of the pressing operation and presenting a tactile sensation to the operator. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2019-219948 Summary of the Invention [Problem to be solved by the invention]

[0004] However, the technology of Patent Document 1 requires a conversion formula for converting the rotation angle detected by the rotation angle detection sensor into the depression amount of the operating member. However, manually setting an appropriate conversion formula for each operating device individually can be time-consuming and labor-intensive. Furthermore, if a common conversion formula is used for multiple operating devices, there is a risk that the conversion accuracy will decrease due to individual differences between operating devices, assembly errors, changes over time, etc. [Means for solving the problem]

[0005] An operating device according to one embodiment includes an operating unit that can be moved, a sensor that outputs a detection value according to the position of the operating unit, a conversion unit that converts the detection value acquired by the acquisition unit into information about the position of the operating unit based on conversion information, an adjustment unit that can adjust a movement limit position of the operating unit, and a generation unit that acquires, from the sensor, a detection value when the operating unit reaches each of a plurality of movement limit positions that can be adjusted by the adjustment unit, and generates conversion information based on the acquired detection values ​​and position information that indicates the actual position of each of the plurality of movement limit positions. [Effects of the Invention]

[0006] According to an operating device according to an embodiment, highly accurate conversion information for converting a detection value of a sensor into a position of an operating part can be easily generated. [Brief explanation of the drawings]

[0007] [Figure 1] 1 is a side view of an operating device according to an embodiment; [Figure 2] FIG. 1 is an external perspective view of an operating device according to an embodiment; [Figure 3] Graph showing an example of load characteristics used for haptic presentation control by an operating device according to an embodiment; [Figure 4] FIG. 2 is a diagram illustrating an example of a functional configuration of a control device included in an operation device according to an embodiment. [Figure 5] 10 is a flowchart illustrating an example of a processing procedure performed by a control device included in an operation device according to an embodiment. [Figure 6] FIG. 1 is a diagram illustrating an example of an adjustment configuration provided in an operation device according to an embodiment. [Figure 7] FIG. 1 is a diagram illustrating a method for detecting the position of an operating axis by a sensor included in an operating device according to an embodiment; [Figure 8] FIG. 10 is a diagram showing an example of position information and detection values ​​for each movement limit position used in an operating device according to an embodiment; [Figure 9] FIG. 10 is a diagram showing an example of generation of conversion information by a control device included in an operation device according to an embodiment; DETAILED DESCRIPTION OF THE INVENTION

[0008] An embodiment will be described below with reference to the drawings. For convenience, in the following description, the Z-axis direction is defined as the up-down direction, the X-axis direction as the front-rear direction, and the Y-axis direction as the left-right direction. However, the positive Z-axis direction is defined as the up direction, the positive X-axis direction as the front direction, and the positive Y-axis direction as the right direction.

[0009] (Configuration of operation device 100) FIG. 1 is a side view of an operating device 100 according to an embodiment. FIG. 2 is a perspective view of the operating device 100 according to an embodiment. The operating device 100 shown in FIGS. 1 and 2 is used in various electronic devices (e.g., game controllers, etc.) and can be moved by a user by pressing, for example. As shown in FIGS. 1 and 2, the operating device 100 has an operating axis 101 (an example of an "operating unit") extending in the vertical direction (Z-axis direction). An operating knob 101B is attached to the operating axis 101. In the example shown in FIGS. 1 and 2, the operating knob 101B is attached to the upper end of the operating axis 101. The operating device 100 can move the operating axis 101 downward by pressing the operating knob 101B downward (an example of a "moving operation"). The amount of downward movement of the operating axis 101 is detected by a sensor 103, and is output from the sensor 103 to the control device 10.

[0010] As shown in FIGS. 1 and 2, the operating device 100 includes an operating shaft 101, a force-sense generator 102, a sensor 103, an adjustment unit 104, an electric unit 105, and a control device 10.

[0011] The operating shaft 101 is a rod-shaped member extending in the vertical direction (Z-axis direction). The operating shaft 101 is provided so as to penetrate the inside of the force-sense generator 102. The operating shaft 101 is capable of linear movement in the vertical direction (Z-axis direction) inside the force-sense generator 102. A hemispherical tip 101A is formed at the lower end (end on the negative side of the Z-axis) of the operating shaft 101. The tip 101A protrudes downward from the bottom surface of the force-sense generator 102. The upper end (end on the positive side of the Z-axis) of the operating shaft 101 protrudes upward from the top surface of the force-sense generator 102. An operating knob 101B is attached to the upper end (end on the positive side of the Z-axis) of the operating shaft 101.

[0012] The force sense generator 102 is an example of a "load applying unit" and supports the operation shaft 101 that penetrates the inside of the force sense generator 102 so that it can move linearly in the vertical direction (Z-axis direction), and applies a force to the operation shaft 101. In this way, the force sense generator 102 applies a load in response to a pressing operation of the operation knob 101B. The force sense generator 102 can be operated under control of the control device 10. In this embodiment, a voice coil motor is used as the force sense generator 102. However, the force sense generator 102 is not limited to this, and other devices (for example, a linear motor, a device using magnetorheological fluid, etc.) may also be used.

[0013] The sensor 103 outputs a detection value corresponding to the position of the operating axis 101. The sensor 103 acquires a detection value corresponding to the position of the operating axis 101 and outputs the acquired detection value to the control device 10. The sensor 103 outputs a detection value corresponding to at least the position of the operating axis 101 in the axial direction. In this embodiment, the sensor 103 is provided in the force-sense generator 102, and outputs a detection value corresponding to the distance to a reflector 101C attached to the operating axis 101. The sensor 103 may be, for example, a photosensor.

[0014] The adjustment unit 104 is a member capable of adjusting the movement limit position of the operating shaft 101. The adjustment unit 104 has, for example, a disk shape when viewed in the X-axis direction. The upper surface of the adjustment unit 104 is a contact surface 104A against which the tip 101A of the operating shaft 101 contacts. As shown in FIGS. 1 and 2, the contact surface 104A is formed in a spiral staircase shape, with the lowest height position as the height position increases stepwise counterclockwise in the circumferential direction. Furthermore, a rod-shaped rotation shaft 104B extending in the vertical direction (Z-axis direction) is provided at the center of the adjustment unit 104 in the X-axis and Y-axis directions. This allows the adjustment unit 104 to rotate around the rotation shaft 104B. The rotation shaft 104B is offset to the right (positive Y-axis direction) from the operating shaft 101. As a result, the operating device 100 according to one embodiment is capable of bringing the tip 101A of the operating shaft 101 into contact with the contact surface 104A.

[0015] The electric motor 105 is a device that can change the movement limit position of the operating shaft 101 to the adjustment unit 104 by moving the adjustment unit 104. Specifically, the electric motor 105 rotates the adjustment unit 104 to change the movement limit position of the operating shaft 101 to the adjustment unit 104. The electric motor 105 has a rod-shaped rotation shaft 105A that extends in the vertical direction (Z-axis direction) and a rotation drive body 105B that can rotate the rotation shaft 105A. The rotation drive body 105B can be operated under the control of the control device 10. For example, a stepping motor is used for the rotation drive body 105B. The rotation shaft 105A is provided coaxially with the rotation shaft 104B of the adjustment unit 104 and below the rotation shaft 104B. The rotation shaft 105A is connected to the rotation shaft 104B. As a result, the motorized unit 105 is capable of rotating the adjustment unit 104 by rotating the rotation shaft 105A through the driving of the rotation drive body 105B.

[0016] (Operation of the operation device 100) In an operating device 100 according to one embodiment, when an operating knob 101B is pressed, the operating shaft 101 moves downward. At this time, the amount of movement of the operating shaft 101 is detected by a sensor 103. At this time, the operating device 100 is capable of applying a driving force to the operating shaft 101 in the vertical direction (Z-axis direction) by a force-sense generator 102. In the operating device 100, the tip end 101A of the operating shaft 101 abuts against an abutment surface 104A of an adjustment unit 104, thereby limiting the amount of downward movement of the operating shaft 101.

[0017] In one embodiment, the operating device 100 is capable of adjusting the movement limit position of the operating axis 101 to each of a plurality of movement limit positions by rotating the adjustment unit 104 under the control of the control device 10.

[0018] In other words, in one embodiment of the operating device 100, the lower the height position of the abutment surface 104A located directly below the tip end 101A, the greater the maximum amount of depression of the operating shaft 101 can be, and the higher the height position of the abutment surface 104A located directly below the tip end 101A, the smaller the maximum amount of depression of the operating shaft 101 can be.

[0019] (An example of tactile presentation control by the control device 10) Fig. 3 is a graph showing an example of load characteristics used for tactile presentation control by the operating device 100 according to an embodiment. The graph shown in Fig. 3 represents load characteristics used for controlling the load of a pressing operation by the operating knob 101B by the control device 10 included in the operating device 100. In the graph shown in Fig. 3, the vertical axis represents the load of the pressing operation, and the horizontal axis represents the pressing amount of the pressing operation (i.e., the amount of downward movement of the operating axis 101). Furthermore, in the graph shown in Fig. 3, P1 represents the "first pressing position" (pressing amount 448), P2 represents the "second pressing position" (pressing amount 880), and P3 represents the "third pressing position" (pressing amount 1024).

[0020] As shown in FIG. 3, until the pushing position of the operating knob 101B reaches the first pushing position P1, the force applied to the operating shaft 101 by the force sense generator 102 is controlled by the control device 10, and the load of the pushing operation is adjusted so that it gradually increases as the pushing amount gradually increases.

[0021] 3, when the pressed position of the operation knob 101B reaches the first pressed position P1, the force applied to the operation shaft 101 by the force sense generator 102 is controlled by the control device 10, and the load of the pressing operation is suddenly reduced from the first maximum value (150) to the first minimum value (-100). At this time, the pressing operation load is suddenly reduced, and the operation knob 101B is urged in the same direction as the operation direction (i.e., downward). This allows the operation device 100 to present a clicking sensation to the operator.

[0022] Next, as shown in FIG. 3, from the first pushing position P1 until the pushing position of the operating knob 101B reaches the second pushing position P2, the force applied to the operating shaft 101 by the force sense generator 102 is controlled by the control device 10, and the load of the pushing operation is adjusted so that it gradually increases as the pushing amount gradually increases.

[0023] 3, when the pressed position of the operation knob 101B reaches the second pressed position P2, the force applied to the operation shaft 101 by the force sense generator 102 is controlled by the control device 10, and the load of the pressing operation is suddenly weakened from the second maximum value (255) to the second minimum value (-255). This allows the operation device 100 to present a clicking sensation to the operator.

[0024] Next, as shown in FIG. 3, from the second pushing position P2 until the pushing position of the operating knob 101B reaches the third pushing position P3, the force applied to the operating shaft 101 by the force sense generator 102 is controlled by the control device 10, and the load of the pushing operation is adjusted so that it gradually increases as the pushing amount gradually increases.

[0025] Then, as shown in FIG. 3, when the pressed position of the operation knob 101B reaches the third pressed position P3, the load of the pressing operation is controlled to a second maximum value (255).

[0026] (An example of the functional configuration of the control device 10) 4 is a diagram illustrating an example of the functional configuration of the control device 10 included in the operation device 100 according to an embodiment. As illustrated in FIG. 4, the control device 10 includes a measurement unit 11, an acquisition unit 12, a conversion unit 13, a conversion information storage unit 14, a load characteristic storage unit 15, a load control unit 16, a generation unit 17, and a detection value acquisition control unit 18.

[0027] The measurement unit 11 repeatedly measures the time until a sensor reading trigger occurs. In the control device 10, the sensor reading trigger occurs repeatedly at predetermined time intervals.

[0028] The acquisition unit 12 acquires the detection value output from the sensor 103 every time a sensor reading trigger occurs.

[0029] The conversion unit 13 converts the detection value acquired by the acquisition unit 12 into the stroke position of the operating axis 101 (an example of the "position of the operating part") based on the conversion information stored in the conversion information storage unit .

[0030] The load characteristic storage unit 15 stores the load characteristic (see FIG. 3) for controlling the load of the pressing operation of the operation knob 101B.

[0031] The load control unit 16 determines the load corresponding to the stroke position of the operating axis 101 obtained by the conversion unit 13 as the load to be applied to the operating axis 101 (i.e., the pushing operation of the operating knob 101B) based on the load characteristics stored in the load characteristics storage unit 15. Then, the load control unit 16 controls the force-sense generator 102 so as to apply the determined load to the operating axis 101 (i.e., the pushing operation of the operating knob 101B).

[0032] The generation unit 17 acquires, for each of the plurality of movement limit positions adjusted by the adjustment unit 104, a detection value when the operating axis 101 reaches the movement limit position from the sensor 103, and generates conversion information to be used by the conversion unit 13 based on the acquired plurality of detection values ​​and position information indicating the actual position of each of the plurality of movement limit positions. The conversion information generated by the generation unit 17 is stored in the conversion information storage unit 14.

[0033] In this embodiment, the generating unit 17 generates an approximation formula for calculating the stroke position of the operating axis 101 from the detection value of the sensor 103 as an example of conversion information.

[0034] When the generation unit 17 generates the conversion information, the detection value acquisition control unit 18 rotates the adjustment unit 104 to sequentially adjust the movement limit position of the operating axis 101 to each of the plurality of movement limit positions. Each time the movement limit position of the operating axis 101 is adjusted, the detection value acquisition control unit 18 causes the operating axis 101 to reach the movement limit position and causes the generation unit 17 to acquire the detection value of the sensor 103 corresponding to the movement limit position.

[0035] The control device 10 is configured to include, for example, a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), etc. Each of the functional units of the control device 10 described above is realized, for example, by the CPU executing a program stored in the ROM in the control device 10.

[0036] (An example of a processing procedure by the control device 10) FIG. 5 is a flowchart showing an example of a procedure of processing by the control device 10 included in the operation device 100 according to an embodiment.

[0037] First, the detection value acquisition control unit 18 controls the electric unit 105 to rotate the adjustment unit 104, thereby adjusting the movement limit position of the operating axis 101 to one of a plurality of predetermined movement limit positions (i.e., one of the multiple steps of the abutment surface 104A) (step S501).

[0038] Next, the detection value acquisition control unit 18 controls the force-sense generator 102 to apply force to the operating axis 101, thereby moving the operating axis 101 downward and causing the operating axis 101 to reach the movement limit position (step S502). At this time, the force-sense generator 102 functions as a movement control unit that can control the movement of the operating axis 101.

[0039] At this time, the detection value acquisition control unit 18 can determine that the operating axis 101 has reached the movement limit position, for example, when the output value of the sensor 103 no longer changes. However, this is not limiting, and the detection value acquisition control unit 18 may determine that the operating axis 101 has reached the movement limit position by other methods.

[0040] Next, the generation unit 17 acquires a detection value corresponding to the movement limit position from the sensor 103 (step S503).

[0041] Next, the detection value acquisition control unit 18 determines whether or not the detection values ​​have been acquired for all of a predetermined plurality of movement limit positions (step S504).

[0042] In step S504, if it is determined that the detection values ​​have not been acquired for all of the predetermined plurality of movement limit positions (step S504: No), the control device 10 returns the process to step S501.

[0043] On the other hand, if it is determined in step S504 that detection values ​​have been acquired for all of the predetermined plurality of movement limit positions (step S504: Yes), the generation unit 17 generates conversion information to be used by the conversion unit 13 based on the plurality of detection values ​​acquired in step S503 and position information indicating the actual position of each of the predetermined plurality of movement limit positions (step S505).

[0044] Then, the generating unit 17 stores the conversion information generated in step S505 in the conversion information storage unit 14 (step S506). After that, the control device 10 ends the series of processes shown in FIG.

[0045] (An example of the configuration of the adjustment unit 104) FIG. 6 is a diagram illustrating an example of the configuration of the adjustment unit 104 included in the operating device 100 according to an embodiment. As illustrated in FIG. 6, the adjustment unit 104 has a contact surface 104A in the shape of a spiral staircase. As a result, by rotating the adjustment unit 104, the adjustment unit 104 can gradually change the contact position on the contact surface 104A at which the tip 101A of the operating shaft 101 abuts, thereby gradually changing the movement limit position of the operating shaft 101. In particular, in the example illustrated in FIG. 6, the contact surface 104A has a 10-step spiral staircase shape. Therefore, the operating device 100 according to an embodiment can sequentially change the step on the contact surface 104A at which the tip 101A of the operating shaft 101 abuts, by rotating the adjustment unit 104 in 36° increments.

[0046] The contact surface 104A is not limited to a spiral staircase shape, and may be a smooth spiral shape. In this case, the operating device 100 according to one embodiment can continuously change the height position of the contact surface 104A with which the tip portion 101A contacts by rotating the adjustment unit 104. The contact surface 104A may be a spiral staircase shape with 9 or fewer steps, or may be a spiral staircase shape with 11 or more steps.

[0047] Furthermore, the shape of the contact surface 104A is not limited to the above-mentioned shape. The adjustment unit 104 may have a contact surface with a plurality of contact positions along the axial direction of the operating shaft 101, and may rotate around the axial direction to change the contact position at which the tip end 101A of the operating shaft 101 contacts, thereby adjusting the movement limit position of the operating shaft 101 as the operating unit.

[0048] (Method for detecting the position of the operating axis 101 by the sensor 103) FIG. 7 is a diagram for explaining a method for detecting the position of the operating axis 101 by the sensor 103 provided in the operating device 100 according to one embodiment.

[0049] 7, operating device 100 according to one embodiment is provided with adjustment unit 104 directly below operating shaft 101. Therefore, operating device 100 according to one embodiment can move operating shaft 101 downward and bring tip 101A of operating shaft 101 into contact with contact surface 104A of adjustment unit 104, thereby causing operating shaft 101 to reach the movement limit position, as shown in FIG. 7(b).

[0050] 7, the operating device 100 according to one embodiment has a reflector 101C provided directly below the sensor 103. The reflector 101C is fixed to the operating shaft 101 and therefore moves in the vertical direction (Z-axis direction) together with the operating shaft 101. Therefore, as shown in FIG. 7(b), when the operating shaft 101 reaches the movement limit position, the sensor 103 detects the distance to the reflector 101C and can output a detection value corresponding to the movement limit position.

[0051] The contact surface 104A of the adjustment unit 104 has a spiral staircase shape. Therefore, in the operating device 100 according to one embodiment, by rotating the adjustment unit 104, the step on the contact surface 104A at which the tip 101A of the operating shaft 101 contacts can be changed, and thus the movement limit position of the operating shaft 101 can be adjusted.

[0052] (Example of position information and detection values ​​for each movement limit position) FIG. 8 is a diagram showing an example of position information and detection values ​​for each movement limit position used in the operating device 100 according to an embodiment.

[0053] As shown in FIG. 8, in the operating device 100 according to one embodiment, for each of a plurality of movement limit positions, position information indicating the actual position of the movement limit position (in this embodiment, this is expressed as the stroke amount of the operating axis 101) is set in advance.

[0054] As shown in FIG. 8, the operating device 100 according to one embodiment acquires, for each of a plurality of movement limit positions, a detection value of the sensor 103 corresponding to the position of the operating axis 101 when the operating axis 101 reaches the movement limit position.

[0055] In the example shown in Figure 8, the contact surface 104A of the adjustment part 104 has a 10-step spiral staircase shape, and position information is set in advance for each of the 10 movement limit positions determined by the contact surface 104A, and the detection value of the sensor 103 is acquired.

[0056] 8, the position information "0" indicates the stroke amount of the operating axis 101 when no pushing operation is performed, i.e., the initial position of the operating axis 101. In the example shown in FIG. 8, the detection value of the sensor 103 is also acquired for this initial position of the operating axis 101.

[0057] (Example of generating conversion information) 9 is a diagram showing an example of generation of conversion information by the control device 10 included in the operating device 100 according to an embodiment. The graph shown in FIG. 9 represents an approximation formula generated by the generation unit 17 of the control device 10, with the vertical axis representing the stroke position of the operating axis 101 and the horizontal axis representing the detection value of the sensor 103.

[0058] As shown in FIG. 9, the generation unit 17 of the control device 10 can generate an approximation formula for calculating the stroke position of the operating axis 101 from the detection value of the sensor 103, based on the position information of each of the multiple movement limit positions and the detection value of each of the multiple movement limit positions shown in FIG. 8.

[0059] The approximate equation generated in this manner is stored in the conversion information storage unit 14 of the control device 10. Thereafter, the conversion unit 13 of the control device 10 can convert the detection value of the sensor 103 acquired by the acquisition unit 12 into the stroke position of the operating axis 101 using the approximate equation stored in the conversion information storage unit 14.

[0060] The approximate formula shown in Fig. 9 is highly accurate and is generated based on a plurality of actual measurement values ​​(detection values ​​of a plurality of sensors 103) that take into account individual differences between the operating device 100. Therefore, the operating device 100 according to one embodiment calculates the stroke position of the operating axis 101 using the approximate formula shown in Fig. 9, thereby making it possible to calculate the stroke position of the operating axis 101 with high accuracy while suppressing the influence of individual differences between the operating device 100, assembly errors, changes over time, and the like.

[0061] The operation device 100 may generate the conversion information at a predetermined timing (for example, at the time of shipping from the factory, at the time of first use, at predetermined intervals, at predetermined usage times, etc.), or at a timing designated by the user. Furthermore, by periodically generating the conversion information, the operation device 100 can periodically generate highly accurate conversion information that can suppress the influence of changes in the operation device 100 over time.

[0062] In addition, in this embodiment, an approximate formula is generated as an example of conversion information, but this is not limiting. For example, a conversion table for converting the detection value of the sensor 103 into the stroke position of the operating axis 101 may be generated as conversion information.

[0063] (effect) As described above, the operating device 100 according to one embodiment includes an operating axis 101 that can be moved, a sensor 103 that outputs a detection value corresponding to the position of the operating axis 101, an acquisition unit 12 that acquires the detection value output from the sensor 103, a conversion unit 13 that converts the detection value acquired by the acquisition unit 12 into the position of the operating axis 101 based on conversion information, an adjustment unit 104 that can adjust the movement limit position of the operating axis 101, and a generation unit 17 that acquires, from the sensor 103, a detection value when the operating axis 101 reaches each of a plurality of movement limit positions that can be adjusted by the adjustment unit 104, and generates conversion information based on the acquired detection values ​​and position information that indicates the actual position of each of the plurality of movement limit positions.

[0064] As a result, according to the operating device 100 according to one embodiment, highly accurate conversion information for converting the detection value of the sensor 103 into the position of the operating axis 101 can be easily generated.

[0065] In particular, according to the operating device 100 of one embodiment, by obtaining the detection value from the sensor 103 when the operating axis 101 reaches the movement limit position, it is possible to obtain the detection value of the sensor 103 when the position of the operating axis 101 is stable, and therefore it is possible to generate conversion information with higher accuracy.

[0066] Moreover, in the operating device 100 according to an embodiment, the generating unit 17 generates an approximation formula for calculating the position of the operating axis 101 from the detection value of the sensor 103 as the conversion information.

[0067] As a result, according to the operating device 100 of one embodiment, the conversion unit 13 can use the approximation formula generated by the generation unit 17 to calculate with high accuracy the position of the operating axis 101 from the detection value of the sensor 103. Furthermore, according to the operating device 100 of one embodiment, by using the approximation formula, the position of the operating axis 101 can also be calculated with high accuracy for intermediate positions where detection values ​​are not measured when generating the conversion information.

[0068] Moreover, the operating device 100 according to one embodiment includes a detection value acquisition control unit 18 that, when the generation unit 17 generates the conversion information, sequentially adjusts the adjustment unit 104 to each of a plurality of movement limit positions, and each time a movement limit position is adjusted, causes the operating axis 101 to reach the movement limit position, and causes the generation unit 17 to acquire the detection value of the sensor 103 corresponding to the movement limit position.

[0069] As a result, according to the operating device 100 of one embodiment, the detection values ​​of the multiple movement limit positions can be automatically acquired under the control of the detection value acquisition control unit 18, thereby reducing the effort required by the user.

[0070] Moreover, the operating device 100 according to one embodiment includes a force sense generator 102 (load applying unit) that applies a load to the movement operation of the operating axis 101, and the detection value acquisition control unit 18 drives the force sense generator 102 to cause the operating axis 101 to reach the movement limit position.

[0071] As a result, according to the operating device 100 of one embodiment, the operating axis 101 can be automatically caused to reach the movement limit position by the control of the detection value acquisition control unit 18, thereby reducing the effort required by the user.

[0072] Although one embodiment of the present invention has been described in detail above, the present invention is not limited to these embodiments, and various modifications and changes are possible within the scope of the gist of the present invention described in the claims.

[0073] In one embodiment, an example of application of the present invention to an operation device capable of a push operation has been described as an example of "movement operation by an operation unit." However, the present invention is not limited to this, and can also be applied to an operation device capable of other operations (for example, a rotation operation, a slide operation, etc.) as "movement operation by an operation unit."

[0074] In addition, in one embodiment, the detection value of the sensor 103 is acquired for each of a plurality of predetermined positions of the operating axis 101, and conversion information is generated based on the acquired plurality of detection values. However, for example, the position of the operating axis 101 may be measured for each of a plurality of predetermined detection values ​​of the sensor 103, and conversion information may be generated based on the measured plurality of positions.

[0075] In one embodiment, the detection value acquisition control unit 18 drives the force-sense generator 102 (movement control unit) to automatically cause the operating axis 101 (operation unit) to reach the movement limit position. However, this is not limiting, and the user may manually move the operating axis 101 to cause the operating axis 101 to reach the movement limit position.

[0076] This international application claims priority to Japanese Patent Application No. 2022-081739, filed on May 18, 2022, the entire contents of which are incorporated herein by reference. [Explanation of symbols]

[0077] 10 Control device 11 Measurement section 12 Acquisition Department 13 Conversion unit 14 Conversion information storage unit 15 Load characteristic memory section 16 Load control section 17 Generation part 18. Detection value acquisition control section 100 Operating device 101 Operation axis (operation part) 101A Tip 101B Operation Knob 101C Reflector 102 Force generator (load application unit) 103 Sensors 104 Adjustment section 104A Contact surface 104B Rotating shaft 105 Electric part 105A Rotating shaft 105B Rotational driver P1 First push position P2 Second push position P3 Third push position

Claims

1. A movable operation unit; a sensor that outputs a detection value according to the position of the operation unit; a conversion unit that converts the detection value into information about the position of the operation unit based on conversion information; an adjustment unit capable of adjusting a movement limit position of the operation unit; a generation unit that acquires, for each of the plurality of movement limit positions adjustable by the adjustment unit, the detection value when the operation unit reaches the movement limit position from the sensor, and generates the conversion information based on the acquired plurality of detection values ​​and position information indicating an actual position of each of the plurality of movement limit positions; An operating device comprising:

2. The generation unit generates, as the conversion information, an approximation formula for calculating the position of the operation unit from the detection value.

2. The operating device according to claim 1 .

3. The apparatus further includes a detection value acquisition control unit that, when the generation unit generates the conversion information, sequentially adjusts the adjustment unit to each of the plurality of movement limit positions, and each time the movement limit position is adjusted, causes the operation unit to reach the movement limit position, and causes the generation unit to acquire the detection value corresponding to the movement limit position.

2. The operating device according to claim 1 .

4. Further, a movement control unit capable of controlling the movement of the operation unit is provided, The detection value acquisition control unit drives the movement control unit to cause the operation unit to reach the movement limit position.

4. The operating device according to claim 3.

5. The movement control unit is a load applying unit that applies a load to the movement operation of the operation unit.

5. The operating device according to claim 4.

6. the operating unit has an operating shaft that moves in an axial direction by a moving operation, The adjustment unit has an abutment surface, and is capable of adjusting the movement limit position of the operation unit by changing the abutment position of the tip of the operation shaft on the abutment surface.

2. The operating device according to claim 1 .

7. The adjustment unit has a contact surface having a plurality of contact positions along the axial direction as the contact surface, and is capable of adjusting the movement limit position of the operation unit by rotating around the axial direction to change the contact position at which the tip end of the operation shaft contacts.

7. The operating device according to claim 6.

8. The sensor outputs a detection value corresponding to a distance to a position in the axial direction of the operation unit.

2. The operating device according to claim 1 .

9. A method using an operating device including an operating unit that can be moved and an adjustment unit that can adjust a movement limit position of the operating unit, outputting a detection value according to the position of the operation unit; converting the detected value into information about the position of the operation unit based on conversion information; acquiring the detection value when the operation unit reaches each of the plurality of movement limit positions adjustable by the adjustment unit, and generating the conversion information based on the acquired detection values ​​and position information indicating an actual position of each of the plurality of movement limit positions; A method comprising:

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