JP2687866B2 - Multi-directional control joystick - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a multi-directional control joystick, and more particularly to a multi-directional control joystick having an operating rod which can be swung in any direction around a base.

[0002]

2. Description of the Related Art A joystick (an example of a multidirectional control switch) is used as an operating means for a micromanipulator for handling fine cells, a manipulator for performing microsampling for extracting fine foreign substances from industrial materials and the like. For example, in the case of injecting a DNA solution into cells, a micromanipulator system including a micromanipulator in which a microneedle is arranged on one side and a capture needle on the other side, and a microscope for observing the operation contents thereof is used. In a general micromanipulator system, an image is displayed on a CRT display or the like by operating a small instrument such as a small needle or a capture needle in a visual field of a microscope, and is placed in a container such as a petri dish while observing the displayed contents. A predetermined process is performed on a minute sample such as a cell. In this type of micromanipulator system, an operator operates the joystick for X and Y axes erected on the operation panel and the rotary dial for Z axis provided on the operation panel with both hands, 3 axis directions of space (X,
The micromanipulator is operated in the Y and Z axis directions.

[0003]

A general friction type micromanipulator is used, and as a movement mode of the micromanipulator, a speed control mode in which an actuator is driven at a speed corresponding to the tilt amount of the operating rod of a joystick is used. It is conceivable that a position control mode in which the actuator is driven by a distance according to the tilt amount of the operating rod is provided, and switching between the control modes is performed by a changeover switch provided on the operation panel.

However, in that structure, when the position control mode is switched to the speed control mode while the joystick is tilted, the arm portion of the micromanipulator automatically starts moving regardless of the operator's intention. (It will be in a runaway state). The purpose of the present invention is
It is to prevent the occurrence of a runaway state at the time of switching between the position control mode and the speed control mode.

[0005]

A multi-directional control joystick according to the present invention comprises an operating rod, a detecting means, a first control signal generating means, a second control signal generating means, a receiving means, and a first switching. Means and second switching means. The operating rod can be swung in any direction around the base. The detection means detects the tilt angle and the neutral point of the operating rod. The first control signal generating means outputs a position control signal based on the detection result of the detecting means. The second control signal generating means outputs a speed control signal based on the detection result of the detecting means. The reception means receives a switching command for switching the functioning one between the first and second control signal generating means. The first switching means functions as the second control signal generating means when the receiving means receives the switching command during the function of the first control signal generating means and the detecting means detects the neutrality of the operating rod. Switch. The second switching unit switches the functioning one to the first control signal generating unit when the receiving unit receives the switching command during the function of the second control signal generating unit.

A rotary knob rotatably attached to the operating rod and a rotation detecting means for detecting a rotation angle and a neutral point of the rotary knob are further provided; the first control signal generating means is the rotation detecting means. Also outputs a position control signal based on the detection result of the second control signal generation means; and outputs a speed control signal based on the detection result of the rotation detection means.
The first switching means functions as the second control signal generating means when the receiving means receives the switching command during the function of the first control signal generating means and the rotation detecting means detects the neutrality of the rotary knob. It is preferable that the second switching means switches the functioning one to the first control signal generating means when the receiving means receives the switching command during the function of the second control signal generating means.

Further, it is preferable that the receiving means is provided on the operating rod. Further, it is preferable that the receiving means has a push button provided at the tip of the operating rod. The multi-directional control joystick is preferably a pair of joysticks for both hands. Further, it is preferably a joystick for operating the micromanipulator.

[0008]

In the multidirectional control joystick according to the present invention, the detecting means detects the tilt angle and the neutral point of the operating rod. Then, based on the detection result of the detection means, the first control signal generation means outputs the position control signal, or the second control signal generation means outputs the speed control signal. On the other hand, the receiving means receives a switching command for switching the functioning one between the first and second control signal generating means. First
When the accepting means accepts the switching command during the function of the control signal generating means and the detecting means detects the neutrality of the operating rod, the first switching means switches the functioning side to the second control signal generating means. Further, when the receiving means receives the switching command during the function of the second control signal generating means, the second switching means switches the functioning side to the first control signal generating means.

Here, not only is the receiving means receiving a switching command during the function of the first control signal generating means,
Only when the detecting means detects the neutrality of the operating rod, the one functioning as the second control signal generating means is switched, so that the occurrence of a runaway state at the time of switching between the position control mode and the speed control mode is prevented. It A rotary knob rotatably attached to the operating rod and a rotation detecting means for detecting a rotation angle and a neutral point of the rotary knob are further provided.
The first control signal generating means outputs the position control signal also based on the detection result of the rotation detecting means; the second control signal generating means outputs the speed control signal also based on the detection result of the rotation detecting means. When the first switching means receives the switching command while the first control signal generating means is functioning and the rotation detecting means detects the neutrality of the rotary knob, the second control signal generating means is activated. When the second switching means receives the switching command while the receiving means receives the switching command while the second control signal generating means is functioning,
When the functioning one is switched to the first control signal generating means, the above effect becomes more remarkable.

If the receiving means is provided on the operating rod, the operability is high. Further, when the receiving means has a push button provided at the tip of the operating rod, the operability is further enhanced. If this multi-directional control joystick is a pair of joysticks for both hands,
The above action is more effective. Further, it is more effective when it is a joystick for operating the micromanipulator.

[0011]

In Embodiment] FIG. 1 showing a micromanipulator system employing an embodiment of the micromanipulator system present invention, the micromanipulator system includes a base 1, a microscope 2 placed on the base 1, both sides of the microscope 2 It has a pair of micromanipulators 3 and 4 arranged in one direction and a control device 5 for controlling the microscope 2 and the micromanipulators 3 and 4.

The microscope 2 has an operation table 6 at the center thereof, and the operation table 6 is provided with a petri dish 7 for accommodating a micro sample such as cells. An objective lens (not shown) is arranged below the operation table 6, and a TV camera 9 is connected to the lower end of the objective lens. The operation console 6 can be driven in a horizontal direction (X, Y axis directions) and a vertical direction (Z axis direction) by a drive mechanism (not shown).

The micromanipulators 3 and 4 are mounted on the base 1.
0, 11 and drive unit 1 mounted on the bases 10, 11.
2 and 13 are mainly included. The drive units 12 and 13 can move in units of 1 μm in the X-, Y-, and Z-axis directions, respectively. The drive unit 1 is attached to the ends of the drive units 12 and 13 on the microscope 2 side.
Arms 16 and 17 driven by 2 and 13 are provided. Attached to the arms 16 and 17 are microdevices 18 and 19 such as probes for processing the sample.

The control device 5 mainly has a monitor 24, an operation panel 25, and a control unit 26. The operation panel 25 includes a joystick 2 for operating the two micromanipulators 3 and 4 separately in the X, Y, and Z axis directions.
A key group 33 including 7, 28 and various keys is provided. The control unit 26, as shown in FIG.
The control unit 40 includes a microcomputer including M, ROM and the like. The control unit 40 includes a TV camera 9,
The operation panel 25, the drive units 41 and 42 for driving the micromanipulators 3 and 4 in the three-axis directions, the memory 43 for storing various setting values, and the monitor for displaying the captured image of the TV camera 9. 24 is connected.

Next, the control function of the control unit 26 is shown in FIG.
A description will be given according to the control flowchart of FIG. First, initial setting is performed in step S1 of FIG. Here, for example, the drive units 12 and 13 are set to the initial position. In step S2, it is determined whether any one of the joysticks 27 and 28 has been operated. Joystick 27,2
While 8 is not operated, the process directly proceeds to step S6 and general processing is executed.

If it is determined in step S2 that one of the joysticks 27 and 28 has been operated, the process proceeds to step S3. In step S2, it is determined whether or not the joysticks 27, 28 have been operated based on the presence / absence of control signals from the joysticks 27, 28 described later. In step S3, the joystick 2
It is determined whether the operation mode 7 or 28 is the position control mode or the speed control mode. Here, it is determined whether the control signal is a position control signal or a speed control signal based on a mode signal from joysticks 27 and 28 described later. If it is determined that the operation mode is the position control mode, the process proceeds to step S4. In step S4, according to the operating direction of the operated joysticks 27, 28, the drive unit 1
2 and 13 are position-controlled and driven in the X-, Y-, and Z-axis directions. If it is determined that the speed control mode is set in step S3, the process proceeds to step S5. Step S5
Then, the drive units 12 and 13 are speed-controlled driven in the X-, Y-, and Z-axis directions.

Joysticks The joysticks 27 and 28 are constructed as shown in FIGS. 4 and 5. The support part 50 is attached to the operation panel 25. A sphere 51 is rotatably held on the support portion 50. At the upper end of the sphere 51, a rod-shaped portion 52 that constitutes the operating rod 53 is erected. A grip portion 54 is attached to the upper portion of the rod portion 52. A rotary knob 55 and a push button switch 56 are provided on the upper end of the grip portion 54. An X-axis direction detection unit 57 and a Y-axis direction detection unit 58 for detecting the tilt angle of the operating rod 53 are provided inside the support unit 50. This X-axis direction detection unit 57
The Y-axis direction detection unit 58 is configured by a potentiometer or the like that detects a rotation angle of the operating rod 53 around the sphere 51 in the X-axis direction and the Y-axis direction. The rotation angle of the rotary knob 55 is detected by the Z-axis direction detector 59. The Z-axis direction detecting section 59 is arranged inside the grip section 54, and is configured by a potentiometer or a rotary encoder that outputs a detection signal according to the rotation angle of the rotary knob 55.

In the joystick 27 shown in FIG. 4, the spherical body 51 is held by the support portion 50 by frictional force. When the operating rod 53 is tilted, this frictional force maintains the tilted posture. A frictional force is also present between the rotary knob 55 and the grip portion 54, and this frictional force holds the operation position even when the rotary knob 55 is operated.

X-axis direction detector 57, Y-axis direction detector 5
8, the outputs of the Z-axis direction detecting section 59 and the push button switch 56 are input to the control signal generating means 60. The control signal generating means 60 includes a computer having a CPU and a memory, and outputs the signals of the X-axis direction detecting section 57, the Y-axis direction detecting section 58, and the Z-axis direction detecting section 59 to X, respectively.
It is converted into a control signal in the Y and Z axis directions and output. Further, according to the operation of the push button switch 56, a mode signal for distinguishing whether the output control signal is the position control signal or the speed control signal is output. Further, the control signal generating means 60 has an XY axis neutral point flag indicating that the operating rod 53 has returned to the neutral point and a Z axis neutral point flag indicating that the rotary knob 55 has returned to the neutral point.

FIG. 6 shows a control flowchart of the control signal output of the joystick 27. In step S11,
It is determined whether the push button switch 56 is pressed. When it is determined that the push button switch 56 is pressed, the process proceeds to step S12. Step S
In 12, whether the XY axis neutral point flag is "0" or "1"
Is determined. When it is determined in step S12 that the XY axis neutral point flag is "0", the process proceeds to step S13. In step S13, the operating rod 5
It is determined whether or not 3 is the XY axis neutral point. Here, when it is determined that the operating rod 53 is located at the XY axis neutral point, the process proceeds to step S14 and "1" is set to the XY axis neutral point flag. After this, the process proceeds to step S15 and X
Based on the input signals from the axial direction detecting section 57 and the Y axis direction detecting section 58, the control signals in the X and Y axis directions are output as the speed control signal. At the same time, a mode signal indicating the speed control mode is output at the same time.

If the XY axis neutral point flag is "1" in step S12, the process proceeds to step S15. When it is determined in step S13 that the operating rod 53 is not at the XY axis neutral point, the process proceeds to step S16 and the output of the control signal in the XY axis directions is stopped. Step S1
From 5 and step S16, the process proceeds to step S17. In step S17, it is determined whether the Z-axis neutral point flag is "0" or "1". If it is determined that the Z-axis neutral point flag is "0", step S1
Move to 8. In step S18, the rotary knob 55
, It is determined whether or not it is at the Z-axis neutral point. Here, when it is detected that the rotary knob 55 is the Z-axis neutral point, the process proceeds to step S19. In step S19,
Set "1" to the Z-axis neutral point flag. Then step S
In step 20, the control signal in the Z-axis direction is output as the speed control signal.

If it is determined in step S17 that the Z-axis neutral point flag is "1", the flow advances to step S20 to output a Z-axis direction control signal as a speed control signal. Further, in step S18, the rotary knob 55 is set to Z
When it is detected that the axis is not at the neutral point, step S21
And the control output signal in the Z-axis direction is stopped. When the push button switch 56 is not pressed in step S11, the process proceeds to step S22. In step S22, the XY axis neutral point flag and the Z axis neutral point flag are set to "0". After this, the process proceeds to step S23,
The output control signal is output as a position control signal. At the same time, a mode signal indicating the position control mode is output.

After completion of steps S20, S21 and S23, the process returns to step S11 to repeat the above operation. An example of using the example of use described embodiment will be described below. The sample in the petri dish 7 is photographed by the TV camera 9 and displayed on the monitor 24. The operator looks at the monitor 24 and looks at the various key groups 33 on the operation panel 25 and the joysticks 27, 28.
Is operated to drive both micromanipulators 3 and 4 to perform cell treatment by the microdevices 18 and 19. In this processing operation, the joysticks 28, 28 are operated by the operator holding each of the left and right hands.

Since the operations of both joysticks 27 and 28 are the same, the joystick 27 will be described below. An operator holds the grip portion 54 with his right hand and performs an operation. If the push button 56 is not pushed, it means the designation of the position control mode, and the neutral point flag is "0" (step S22). Therefore, the control signal generating means 60
Outputs a position control signal according to the operation amount of the operating rod 53 and the rotary knob 55 from the current position (step S
23). In the micromanipulator 3, the coarse moving unit 12 and the fine moving unit 14 are driven and operate based on the position control signal output from the control signal generating means 60.

When it is desired to operate the micromanipulator 3 by speed control, the push button switch 56 provided on the head of the operating rod 53 is pushed. However, speed control is not started until the joystick 27 is positioned at the neutral point (steps S13 and S1).
8). This prevents the occurrence of a runaway state when switching from the position control mode to the speed control mode.

When the operating rod 53 is moved to the neutral position while pressing the push button switch 56, the neutral point flag becomes "1".
(Step S14), the speed control mode is set in the XY axis directions (step S15). After that, as long as the push button switch 56 is kept pressed, the speed control mode is maintained. In speed control mode,
When the operating rod 53 is tilted in a desired direction, a speed control signal corresponding to the tilting angle of the operating rod 53 produces a control signal generating means 60.
The micromanipulator 3 operates in the XY axis directions at a speed corresponding to the speed control signal.

On the other hand, when the rotary knob 55 is returned to the neutral position while pressing the push button switch 56, the neutral point flag becomes "1" in the Z-axis direction (step S1.
9) The speed control mode is set (step S20). After that, as long as the push button switch 56 is kept pressed, the speed control mode is maintained. In the speed control mode, when the rotary knob 55 is rotated, a speed control signal in the Z-axis direction corresponding to this rotation angle is output from the control signal generating means 60, and the micromanipulator 3 is driven at a speed corresponding to the speed control signal. Operates in the Z-axis direction.

When the push button switch 56 is released, the speed control mode is returned to the position control mode (steps S22 and S23). In the above-described embodiment, one joystick 27 (28) is used for 3
It is possible to control the dimensional direction, and it is possible to switch the output of the position control signal and the speed control signal.
Further, when switching from the position control mode to the speed control mode, the detection of return to the neutral point is a condition, so that the runaway is surely prevented. Further, since the friction system in which the operating positions of the operating rod 53 and the rotary knob 55 are held by the frictional force is used, the device configuration is simplified and the size can be reduced. [Other Embodiments] A) In the above embodiments, the push button switch 56 can be provided in the middle portion of the grip portion 54 of the operating rod 53. B) Immediately after the pressing of the push button switch 56 is released, the output of the control signal is stopped, and the operating rod 53 and the rotary knob 5
The position control signal may be output after the signal 5 once returns to the neutral point. C) As the operating rod 53, it is also possible to employ one that can switch between a friction system and a spring return system. Then, as the push button switch 56, a switch that can be locked in a pressed state may be adopted. In this case, when the push button switch 56 is pressed and locked, the operating rod 53 is of a spring return type, and when the push button switch 56 is unlocked, the operating rod 53 is of a friction type.

When speed control is performed, if the push button switch 56 is pressed and locked, the operating rod 53 is switched to the spring return system, so that the speed control operation in the XY axis directions is the same as a normal spring return system joystick. Can be done Further, when performing position control, the push button switch 56 is unlocked. D) The neutral point may be detected by software.

[0030]

In the multi-directional control joystick according to the present invention, not only the receiving means receives the switching command during the function of the first control signal generating means, but also the detecting means detects the neutrality of the operating rod. Since the one that functions to the second control signal generating means is switched, occurrence of a runaway state at the time of switching between the position control mode and the speed control mode is prevented.

[Brief description of the drawings]

FIG. 1 is a perspective view of a micromanipulator system in which an embodiment of the present invention is adopted.

FIG. 2 is a control block diagram of the micromanipulator system.

FIG. 3 is a control flowchart of the micromanipulator system.

FIG. 4 is a perspective view of one embodiment of the present invention.

FIG. 5 is a control block diagram of the embodiment.

FIG. 6 is a control flowchart of the embodiment.

[Explanation of symbols]

 53 Operation Rod 55 Rotation Knob 56 Push Button Switch 57 X-Axis Direction Detection Section 58 Y-Axis Direction Detection Section 59 Z-Axis Direction Detection Section 60 Control Signal Generation Means

Claims (1)

(57) [Claims] 1. An operating rod capable of swinging in an arbitrary direction around a base, a detecting means for detecting an inclination angle and a neutral point of the operating rod, and a position control signal based on a detection result of the detecting means. A first control signal generating means for outputting, a second control signal generating means for outputting a speed control signal based on the detection result of the detecting means, and a method which functions between the first and second control signal generating means Receiving means for receiving a switching command for switching, and the first control when the receiving means receives the switching command during the function of the first control signal generating means and the detecting means detects the neutrality of the operating rod. First switching means for switching the functioning from the signal generating means to the second control signal generating means, and when the receiving means receives a switching command during the function of the second control signal generating means Said second control signal multidirectional control joystick having a second switching means, a to the generating means switches the direction which serves to said first control signal generating means.