JP4623765B2 - 3D operation detection device - Google Patents

Description

【００２４】
なお、厳密な極座標変換公式に限らず、おおまかな傾斜方向の判定は信号Ｓｘ，Ｓｙから座標の象限等を判定する簡単なテーブルを用いることによっても行える。また、おおまかな傾斜の大きさ（傾斜角）は、差信号（Ｓｘ，Ｓｙ）を使用せずに、個別の各コイル２１〜２４の出力レベルに基づき判定するようにしてもよい。例えば、各コイル２１〜２４の出力信号レベルのうち最大レベルのコイルの出力電圧値に基づき傾斜角度を判定する。その場合、傾斜方向判定結果を考慮して適宜の修正演算を行なうとよい。
その他、コイル部２の出力信号に基づく具体的な傾斜方向と傾斜量の判定の仕方は、設計上適宜の構成を採用してよい。
【００２５】
別の例として、コイル部２を回転型のレゾルバと見立てて、９０度間隔で配置された４つの２次コイル２１〜２４の極（Ｘ，Ｙ，／Ｘ，／Ｙ）を、サイン相、コサイン相、マイナス・サイン相、マイナス・コサイン相として、サイン及びコサインの２相のレゾルバ出力信号と同様の出力信号を取り出し、該出力信号から位相角データを求めることにより、該位相角データを極座標の偏角θに対応するデータとして得ることができる。
レゾルバ原理を採用する場合、コイル部２の各極（Ｘ，Ｙ，／Ｘ，／Ｙ）に対応する２次コイル２１〜２４に生じる誘導出力交流信号の振幅関数が、サイン関数、コサイン関数、マイナス・サイン関数、マイナス・コサイン関数にそれぞれ相当するものとなるように、各２次コイル２１〜２４の配置及び磁気応答部材３の磁気的性質及び量を、設定する。種々の条件によって、各コイルの配置は微妙に変わり得るし、磁気応答部材３の磁気的性質及び量も変わりうるので、希望の関数特性が得られるように各コイル配置を適宜調整したり、あるいは２次出力レベルを電気的増幅によって調整することにより、希望の振幅関数特性が最終的に得られるようにすることができる。従って、各２次コイル２１〜２４の配置と磁気応答部材３及び量は重要ではあるが、絶対的精度を要求されるわけではなく、設計上適宜に設定若しくは変更できる。
【００２６】
レゾルバ原理を採用する場合、図５に示すように、コイル部２の１次及び２次コイルを回路を構成する。Ｘ軸（サイン相）の２次コイル２１，２３を差動接続し、Ｙ軸（コサイン相）の２次コイル２２，２４を差動接続して、２つの出力信号を取り出すので、基本的なコイル結線は図４と変わらないが、整流回路は設けない。各２次コイル２１〜２４の誘導出力信号は、傾斜方向を示す偏角θに対応して２相の関数特性sinθ，cosθ及びその逆相の関数特性−sinθ，−cosθで振幅変調された状態で夫々出力されるようにすることができる。説明の便宜上、コイルの巻数等、その他の条件に従う係数は省略し、２次コイル２１（サイン相）の出力信号を「sinθ・sinωｔ」で示し、２次コイル２２（コサイン相）の出力信号を「cosθ・sinωｔ」で示す。また、２次コイル２３（マイナス・サイン相）の出力信号を「−sinθ・sinωｔ」で示し、２次コイル２４（マイナス・コサイン相）の出力信号を「−cosθ・sinωｔ」で示す。サイン相とマイナス・サイン相の誘導出力を差動的に合成することによりサイン関数の振幅関数を持つ第１の出力交流信号Ａ（＝２sinθ・sinωｔ）が得られる。また、コサイン相とマイナス・コサイン相の誘導出力を差動的に合成することによりコサイン関数の振幅関数を持つ第２の出力交流信号Ｂ（＝２cosθ・sinωｔ）が得られる。なお、表現の簡略化のために、係数「２」を省略して、以下では、第１の出力交流信号Ａを「sinθ・sinωｔ」で表わし、第２の出力交流信号Ｂを「cosθ・sinωｔ」で表わす。
【００２７】
こうして、偏角θに対応する第１の関数値sinθを振幅値として持つ第１の出力交流信号Ａ＝sinθ・sinωｔと、同じ偏角θに対応する第２の関数値cosθを振幅値として持つ第２の出力交流信号Ｂ＝cosθ・sinωｔとが出力される。このようなコイル構成によれば、回転型位置検出装置として従来知られたレゾルバにおいて得られるのと同様の、同相交流であって２相の振幅関数を持つ２つの出力交流信号Ａ，Ｂ（サイン出力とコサイン出力）をコイル部２から得ることができるようにすることが理解できる。
このコイル部２から出力される２相の出力交流信号（Ａ＝sinθ・sinωｔとＢ＝cosθ・sinωｔ）は、従来知られたレゾルバの出力と同様の使い方をすることができる。例えば、図５に示すように、コイル部２の出力交流信号Ａ，Ｂを適切なディジタル位相検出回路４０に入力し、前記サイン関数sinθとコサイン関数cosθの位相値θをディジタル位相検出方式によって検出し、偏角θのディジタルデータＤθを得るようにすることができる。こうして、レゾルバ原理に従う位相角検出処理によって、極座標の偏角θを示すディジタルデータＤθを得ることができ、これによって検出対象の傾斜方向を検出することができる。
【００２８】
この場合、傾斜の大きさ（傾斜角）は、前記数１に示す極座標公式の応用・変形によって、適宜求めることができる。例えば、図５の判定処理回路２８において、各２次コイル２１〜２４の出力信号を整流した信号を入力し、この入力信号から最大レベルのものを検出し、ここから極座標の象限を判定してこの最大レベル値を直交座標のｘ値又はｙ値とし、かつ、前記ディジタルデータＤθにもとづいて得た偏角θを利用して、極座標公式から動径ρを求めれば、傾斜の大きさ（傾斜角）を検出することができる。
なお、ディジタル位相検出回路４０で採用するディジタル位相検出方式としては、公知のＲ−Ｄ（レゾルバ−ディジタル）コンバータを適用してもよいし、本発明者らによって開発済の新方式を採用してもよい。
なお、収納体１の収納空間は、リング状に限らず、凸曲面又は凹曲面状のような曲面状であってもよい。すなわち、収納体１の収納空間は、傾斜に応答してその内部の流動性の磁気応答部材３が重力に従って適切に変位しうるような形状であればよい。
【００２９】
各実施例において、１次コイルは、各２次コイル２１〜２４に１対１で対応して設ける必要はなく、２次コイル２１〜２４の全体をカバーしうるように１個のみ又は適宜数だけ設けるようにしてよい。図７は、その一例を示すもので、２次コイル２１〜２４の配置の外側を囲んで１つの１次コイル１５を設けたものである。このように１個の１次コイル１５を設ける場合、２次コイル２１〜２４の配置の内側に設けてもよい。
また、コイル部２におけるコイル数及びその配置は上記実施例に示すものに限らず、様々な設計変更が可能である。例えば、上記実施例のような４極からなるコイル構成に限らず、６極あるいは８極あるいは１２極等、任意である。
【００３０】
次に、図６を参照してリニアセンサ２００の一具体例につき説明する。
図６は、図示の都合上、Ｚ軸（上下方向）を横向きにして描いてある。このリニアセンサ２００は、前述の通り、プッシャ２０１に連動する可動部２０４と、この可動部２０４に設けられた磁気応答部材２０３と、所定位置に配置されたコイル部２０２とを含む。可動部２０４が検出対象たるプッシャ２０１に連結されて、該プッシャ２０１の直線位置の変化に連動して直線的にかつ往復的に変位可能であり、これに対して、コイル部２０２の配置は適宜に固定される。かくして、可動部２０４が検出対象たる直線位置に連動してコイル部２０２に対して相対的に直線的に変位する。勿論、その逆に、コイル部２０２をリニア変位検出対象たるプッシャ２０１に連動して変位させ、可動部２０４を固定するようにしてもよい。要するに、このリニアセンサ２００においては、コイル部２０２に対する可動部２０４の相対的に直線位置を検出する。この相対的な直線変位の方向は、図において符号Ｚを伴う矢印で示されている。
【００３１】
コイル部２０２は、１相の交流信号によって励磁される１次コイルＰＷ1〜ＰＷ5と、直線変位方向Ｚに関して異なる位置に配置された複数の２次コイルＳＷ1〜ＳＷ4とを含む。これらの１次及び２次コイル構成を明示するために、図６ではコイル部２０２は断面を含んで示されているが、実際は、点線で補って示されているように、ロッド状の可動部２０４の周囲にて適宜のギャップを空けて、コイルコイルが巻回された状態を成している。１相の交流信号によって共通に励磁されるが故に、１次コイルＰＷ1〜ＰＷ5の数は、１又は適宜の複数であってよく、その配置も適宜であってよい。しかし、複数の１次コイルＰＷ1〜ＰＷ5を適宜に分離して、例えば図６に示されるように各２次コイルＳＷ1〜ＳＷ4をそれぞれの間に挟むように、配置することは、１次コイルによって発生する磁界を個別の２次コイルＳＷ1〜ＳＷ4に対して有効に及ぼし、かつ可動部２０４の磁気応答部材２０３による磁場への影響を有効に及ぼすことができるので、好ましい。
【００３２】
ロッド状の可動部２０４は、その所定範囲において、所定の磁気応答特性を持つ磁気応答部材２０３を直線変位方向に沿って所定のピッチｐで１又は複数繰り返して設けて成るものである。既に知られているように、磁気応答部材２０３の材質を鉄またはニッケルなどのような磁性体、あるいは銅またはアルミニウムなどのような非磁性の導電体とすることにより、透磁率あるいは磁気抵抗あるいは渦電流損失などの所定の磁気応答特性を持たせることができるので、そのように適宜の材質を用いて磁気応答部材２０３を構成してよい。可動部２０４の基部ロッドの材質も、磁性体又は非磁性体又は導電体など適宜の材質を用いてよく、どのような材質を用いるかは、磁気応答部材２０３の材質及び／又は形状等との兼ね合いによって定まる。要するに、磁気応答部材２０３が存在する箇所とそうでない箇所との間では、コイル部２０２に及ぼす磁気的応答特性が異なるようになっていればよいものである。また、可動部２０４の基部ロッドに対する磁気応答部材２０３の形成法も、貼り付け、接着、かしめ止め、切削、めっき、蒸着、焼き付け、など適宜の手法を用いてよい。
【００３３】
検出対象たる直線位置の変化に応じて、可動部２０４の磁気応答部材２０３のコイル部２０２に対する対応位置が変化することにより、１次コイルＰＷ1〜ＰＷ5と各２次コイルＳＷ1〜ＳＷ4間の磁気結合が該検出対象直線位置に応じて変化され、これにより、該検出対象直線位置に応じて振幅変調された誘導出力交流信号が、各２次コイルＳＷ1〜ＳＷ4の配置のずれに応じて異なる振幅関数特性で、各２次コイルＳＷ1〜ＳＷ4に誘起される。各２次コイルＳＷ1〜ＳＷ4に誘起される各誘導出力交流信号は、１次コイルＰＷ1〜ＰＷ5が１相の交流信号によって共通に励磁されるが故に、その電気的位相が同相であり、その振幅関数が磁気応答部材２０３の繰り返しピッチの１ピッチｐに相当する変位量を１サイクルとして周期的にそれぞれ変化する。
【００３４】
４つの２次コイルＳＷ1〜ＳＷ4は、磁気応答部材２０３の繰り返しピッチの１ピッチｐの範囲内において所定の間隔で配置され、各２次コイルＳＷ1〜ＳＷ4に生じる誘導出力交流信号の振幅関数が、所望の特性を示すように設定される。例えば、レゾルバタイプの位置検出装置として構成する場合は、各２次コイルＳＷ1〜ＳＷ4に生じる誘導出力交流信号の振幅関数が、サイン関数、コサイン関数、マイナス・サイン関数、マイナス・コサイン関数、にそれぞれ相当するように設定する。例えば図６に示されるように、１ピッチｐの範囲を４分割し、ｐ／４づつずれた各分割位置に配列する。これにより、各２次コイルＳＷ1〜ＳＷ4に生じる誘導出力交流信号の振幅関数が、サイン関数、コサイン関数、マイナス・サイン関数、マイナス・コサイン関数、にそれぞれ相当するように設定することができる。勿論、種々の条件によって、各コイルの配置は微妙に変わり得るので、希望の関数特性が得られるように各コイル配置を適宜調整したり、あるいは２次出力レベルを電気的増幅によって調整して、希望の振幅関数特性が最終的に得られるようにする。
【００３５】
例えば、２次コイルＳＷ1の出力がサイン関数（図でｓを付記する）に対応するとすると、これに対してｐ／２だけずれて配置された２次コイルＳＷ3の出力はマイナス・サイン関数（図で／ｓ（ｓバー）を付記する）に対応し、この両者の出力を差動的に合成することによりサイン関数の振幅関数を持つ第１の出力交流信号が得られる。また、サイン関数出力に対応する２次コイルＳＷ1からｐ／４ずれて配置された２次コイルＳＷ2の出力はコサイン関数（図でｃを付記する）に対応し、これに対してｐ／２だけずれて配置された２次コイルＳＷ4の出力はマイナス・コサイン関数（図で／ｃ（ｃバー）を付記する）に対応し、この両者の出力を差動的に合成することによりコサイン関数の振幅関数を持つ第２の出力交流信号が得られる。。なお、明細書中では、表記の都合上、反転を示すバー記号は「／（スラッシュ）」で記載するが、これは、図中のバー記号に対応している。
【００３６】
図７はコイル部２０２の回路図であり、１次コイルＰＷ1〜ＰＷ5には共通の励磁交流信号（説明の便宜上、ｓｉｎωｔで示す）が印加される。この１次コイルＰＷ1〜ＰＷ5の励磁に応じて、可動部２０４の磁気応答部材２０３のコイル部２０２に対する対応位置に応じた振幅値を持つ交流信号が各２次コイルＳＷ1〜ＳＷ4に誘導される。夫々の誘導電圧レベルは検出対象直線位置ｘに対応して２相の関数特性sinθ，cosθ及びその逆相の関数特性−sinθ，−cosθを示す。すなわち、各２次コイルＳＷ1〜ＳＷ4の誘導出力信号は、Ｚ軸方向の検出対象直線位置すなわち可動部２０４のＺ軸方向操作量（これを便宜的に“ｘ”とする）に対応して２相の関数特性sinθ，cosθ及びその逆相の関数特性−sinθ，−cosθで振幅変調された状態で夫々出力される。なお、この場合、θはｘに比例しており、例えば、θ＝２π（ｘ／ｐ）のような関係である。説明の便宜上、コイルの巻数等、その他の条件に従う係数は省略し、２次コイルＳＷ1をサイン相として、その出力信号を「sinθ・sinωｔ」で示し、２次コイルＳＷ2をコサイン相として、その出力信号を「cosθ・sinωｔ」で示す。また、２次コイルＳＷ3をマイナス・サイン相として、その出力信号を「−sinθ・sinωｔ」で示し、２次コイルＳＷ4をマイナス・コサイン相として、その出力信号を「−cosθ・sinωｔ」で示す。サイン相とマイナス・サイン相の誘導出力を差動的に合成することによりサイン関数の振幅関数を持つ第１の出力交流信号（２sinθ・sinωｔ）が得られる。また、コサイン相とマイナス・コサイン相の誘導出力を差動的に合成することによりコサイン関数の振幅関数を持つ第２の出力交流信号（２cosθ・sinωｔ）が得られる。なお、表現の簡略化のために、係数「２」を省略して、以下では、第１の出力交流信号を「sinθ・sinωｔ」で表わし、第２の出力交流信号を「cosθ・sinωｔ」で表わす。
なお、このリニアセンサ２０の動作説明においても、傾斜センサ１００の前記説明と同様に、便宜上、位相角の符号を“θ”としているが、傾斜センサ１００の説明で使用する“θ”と、リニアセンサ２０の説明で使用する“θ”とは、べつものであるのは勿論である。すなわち、傾斜センサ１００の説明で使用する“θ”は、前述の通り、Ｘ，Ｙ軸についての傾斜方向を示すものであるのに対して、リニアセンサ２０の説明で使用する“θ”は、前述の通り、Ｚ軸方向のリニア変位に対応している。
【００３７】
こうして、検出対象直線位置ｘに対応する第１の関数値sinθを振幅値として持つ第１の出力交流信号Ａ＝sinθ・sinωｔと、同じ検出対象直線位置ｘに対応する第２の関数値cosθを振幅値として持つ第２の出力交流信号Ｂ＝cosθ・sinωｔとが出力される。このようなコイル構成によれば、回転型位置検出装置である従来知られたレゾルバにおいて得られるのと同様の、同相交流であって２相の振幅関数を持つ２つの出力交流信号（サイン出力とコサイン出力）を直線位置検出装置において得ることができることが理解できる。従って、このリニアセンサ２００から得られる２相の出力交流信号（Ａ＝sinθ・sinωｔとＢ＝cosθ・sinωｔ）は、従来知られたレゾルバの出力と同様の使い方をすることができる。例えば、図５の例と同様に、図７においてもディジタル位相検出回路４０にこれらの２相の出力交流信号Ａ，Ｂを入力してディジタル位相検出によって位相値θに対応するディジタルデータを得て、これをＺ軸方向の操作量の検出データＤｚとすることができる。その場合、ディジタル位相検出回路４０の共通利用可能なハードウェア回路を、傾斜センサ１００とリニアセンサ２００の相方で時分割共用することができる。
なお、上記のように、４つの２次コイルＳＷ1〜ＳＷ4を磁気応答部材２０３の繰り返しピッチの１ピッチｐの範囲内において所定の間隔で配置した構成は、コイル部２０２全体のサイズを磁気応答部材２０３の１ピッチの範囲に略対応する比較的小さなサイズに収めることができるので、リニアセンサ２００全体の構成を小型化することに役立つ。
【００３８】
可動部２０４の一実施形態として、基部ロッドとしてピアノ線を使用し、磁気応答部材２０３として所定の金属片を使用し、ピアノ線からなる可動部２０４の周囲に、磁気応答部材２０３としての該金属片を所定のピッチで１又は複数繰り返して配置してそれぞれの金属片をかしめ止めすることによって、該所定のピッチで繰り返し配置した磁気応答部材２０３を構成するようにするとよい。このような可動部２０４の構成は、単に、所望の長さのピアノ線と所望の数の金属片とを用意し、該金属片を所望のピッチで該ピアノ線にかしめ止めすることだけで、製造することができるので、構成が極めて簡単であり、かつ製造が極めて容易であり、製造コストも極めて安価にすることができるので、かなり有意義である。しかも、可動部２０４つまり可動コア部の径は、ピアノ線の径に金属片（磁気応答部材２０３）の厚みを足した程度の小さなものとなり、これに伴い、コイル部２０２の各コイルの径もかなり小さくすることができるので、全体としてかなり小型化されたリニアセンサ２００を提供することができる。
【００３９】
更にその場合、磁気応答部材２０３としての前記金属片として、既存のスプリングピンを用いてもよく、そのようスプリングピンを用いると、かしめ止め加工作業も極めて容易になり、かつ、かしめ止めも確実になり、しかも安価であるから、極めて有利である。また、磁気応答部材２０３を形成するための前記金属片として展開状態では長方形のものを使用すると、これをロッド（ピアノ線）の周りにかしめ止めしたとき、図６に示すように、磁気応答部材２０３は略円筒形状となる。しかし、これに限らず、磁気応答部材２０３を形成するための前記金属片として展開状態では略円形乃至楕円形の金属片を使用してもよい。その他、磁気応答部材２０３の形状及び材質は任意である。勿論、傾斜センサ１００の磁気応答部材３と同様に流動性の磁性体を用いることができる。
勿論、リニアセンサ２００の検出原理は、上記のようなリニア・レゾルバ原理に従うものに限らず、その他のもの、例えば公知の差動トランスタイプのもの、あるいは、２相交流励磁１相出力タイプのような従来技術の項で説明した位相シフト型誘導リニアセンサでもよい。
【００４０】
図１の例では、Ｚ軸方向の操作は、スティック部１０の本体に対してプッシャ２０１及び可動部２０４を相対的に上下動させることにより行われるようになっている。しかし、これに限らず、スティック部１０の本体そのものを上下動させることによりＺ軸方向の操作を行うようにしてもよい。図８はその場合の一例を示すＺ軸方向一部断面側面図である。
図８において、スティック部１０は、頂部１０ａと棒状部１０ｂとを含む一体部分（側面略図で示す）が握り部１０ｄ（断面で示す）に対してＺ軸方向に相対的に上下動可能な構成となっている。すなわち、握り部１０ｄ内に棒状部１０ｂが下側から挿入されて、バネ１０ｅによって棒状部１０ｂが上向きに付勢され、つば状ストッパ１０ｆによって変位０の初期位置に規制される。操作者が握り部１０ｄを握って頂部１０ａを親指で押すと、頂部１０ａと一体の棒状部１０ｂがＺ軸方向に下向きに動かされる。この場合、傾斜センサ１００は、図１の例と同様に頂部１０ａ内に適宜設けられるてよいが、リニアセンサ２００は、コイル部２０２を握り部１０ｄの内側の所定位置に設け、磁気応答部材２０３を棒状部１０ｂの下側の所定位置の周囲に適宜設ける。
【００４１】
次に、本発明の第２の観点に従う３次元操作検出装置の一実施例につき、図９によって説明する。図９の実施例は、スティック部１０をＺ軸方向に（上下に）振る動作によってＺ軸方向の操作を行えるようにしたものである。
図９において、スティック部１０の頂部１０ａは側面図で示し、この内部には図１と同様に適宜の傾斜センサ１００が設けられる。スティック部１０の棒状部１０ｂはリニアセンサ２００’を内蔵している部分を切り欠いて一部断面で示している。このリニアセンサ２００’は、スティック部１０をＺ軸方向に（上下に）振る動作に基づくＺ軸方向の操作を検出するものである。
リニアセンサ２００’は、棒状部１０ｂの内部においてＺ軸方向に沿って延びた収納空間２０５と、この収納空間２０５の周囲に設けられたコイル部２０２と、この収納空間２０５内にて重力に従って移動自在に収納された磁気応答部材２０３’とを含んでいる。磁気応答部材２０３’としては、空間２０５内を重力に従って自由に動きうる適宜のサイズの磁性体（球体あるいは円板等の適宜の形状であってよい）を使用することができるし、あるいは、適量の磁性流体あるいは磁性粉体等であってもよい。これによって、スティック部１０をＺ軸方向に（上下に）振る動作によって、慣性作用により、収納空間２０５内で磁気応答部材２０３’がコイル部２０２に対して相対的に変位し、Ｚ軸方向の動きに応じた検出出力信号をコイル部２０２から出力することができる。
【００４２】
次に、本発明の第３の観点に従う３次元操作検出装置の一実施例につき、図１０によって説明する。図１０の実施例は、３次元操作入力手段として、手で握るタイプの棒状のスティック部１０を使用せずに、テーブル上等に任意に置いて、又は半固定的に設置して、使用できるようにしたものである。
図１０（ａ）はＸ−Ｙ軸方向に沿う平面図、（ｂ）はＺ軸に沿う断面略図である。この３次元操作検出装置の外観は、上側の操作部１０ａと、下側のベース部１０ｂとからなっている。操作部１０ａは、ベース部１０ｂに対してＸ軸及びＹ軸方向に傾き可能及びＺ軸方向に上下動可能に配置されている。操作部１０ａには、その下側に傾斜センサ１００が設けられていると共に、リニアセンサ２００の可動部２０４が設けられている。可動部２０４の下側の所定箇所には、図１の例と同様に、リニアセンサ２００の磁気応答部材２０３が設けられている。また、ベース部１０ｂの内部の所定箇所には、図１の例と同様に、リニアセンサ２００のコイル部２０２が設けられている。かくして、傾斜センサ１００とリニアセンサ２００の具体的構成は、本明細書で説明する欠く実施例と同様の構成を使用してよい。
【００４３】
上面からみると円形を成している操作部１０ａの略中央が適当に膨らんでいて、ここがＺ軸方向の操作を加えるためのＺプッシャ部１０ｚに相当する。また、操作部１０ａにおけるＺプッシャ部１０ｚの周囲のリング状平面が、Ｘ軸及びＹ軸方向に任意の傾き操作を加えるためのＸＹプッシャ部１０ｘｙに相当する。この操作部１０ａは、リング状のＸＹプッシャ部１０ｘｙの下方において、少なくとも９０度間隔の４点において、バネ１０ｃを介してベース部１０ｂに対して上下動可能に支持されている。
この構成によって、操作部１０ａにおけるリング状のＸＹプッシャ部１０ｘｙの任意の点を指で押すと、操作部１０ａがその押された方向に傾く。この操作部１０ａの傾きは、前述と同様に、傾斜センサ１００によって検出される。また、操作部１０ａにおける中央のＺプッシャ部１０ｚを指で押すと、操作部１０ａの全体が下方に（Ｚ軸方向に）移動する。この操作部１０ａのＺ軸方向の変位は、前述と同様に、リニアセンサ２００によって検出される。
なお、ベース部１０ｂを任意の使用場所に固定して、この検出装置を半固定的に設置するようにしてもよい。もしくは、操作部１０ａ及びベース部１０ｂを含む装置全体を持ち運び可能として、任意の場所でこの検出装置を使用できるようにしてもよい。
【００４４】
なお、上記各実施例では、Ｚ軸方向の操作は、下向きにのみ行うようになっているが、これに限らず、上下両方向に任意に操作できるようにしてもよい。その例を示すと図１１，図１２のようである。
図１１は、図１の変形を示しており、同一符号は同一装置を示す。図１１の例では、スティック部１０の棒状部１０ｂの下端に、上向き操作を行うためのプッシャ２０６が設けられている。プッシャ２０６には可動部２０４の下端が接続されている。プッシャ２０６は、プッシャ２０１と同様に、ゴム等の弾性体からなる。この構成によって、上のプッシャ２０１を押すことによりＺ軸方向の下向き操作を行うことができ、下のプッシャ２０６を押すことによりＺ軸方向の上向き操作を行うことができる。
図１２は、可動部２０４の上端を外部に突出させ、この上端を指で下向きに押したり、指でつまんで上向きに引き上げることができるようにした例を示す。可動部２０４の下端又は適宜箇所にバネ２０７が設けられており、可動部２０４に操作が加えられていないときは中立位置となり、可動部２０４の上向き及び下向きの動き応じて該バネ２０７が伸びたり縮んだりする。なお、可動部２０４の上下動範囲を限界づけるための適宜のストッパ部２０８が設けられる。この構造は、図１のタイプに限らず、図１０のタイプにも応用できる。
【００４５】
次に、傾斜センサ１００の他の実施例について説明する。
図２に示した傾斜センサ１００は、ＸＹ座標面の傾斜を１つのセンサで一挙に検出する例であるが、これに限らず、一方向の（１軸用の）傾斜計を２個組み合わせて２軸傾斜検出を行うようにしてもよい。
図１３は、そのような目的で使用できる１軸用の傾斜計１００Ｘの一例を示す軸方向断面図である。プラスチックあるいはステンレス等の非磁性体からなる収納体１０１は巻軸のような形状をなしており、その軸の内部には、図示のように、下側にわん曲した通路１０１ａが設けられている。この通路１０１ａ内には、適宜のサイズ又は量の磁気応答部材１０３が重力に従って移動自在に収納されている。磁気応答部材１０３は、図１３の例では、球形状をした例えば鉄のような磁性体からなっている。収納体１０１の通路１０１ａの周囲つまり巻軸の周囲には、１又は複数のコイル１１１〜１１５，１２１〜１２４が順次配置されて巻かれている。これらのコイル１１１〜１１５，１２１〜１２４によりコイル部１０２が構成されている。なお、通路１０１ａの両端は閉じられていて、内部の磁気応答部材１０３が飛び出ないようになっている。
【００４６】
上記の構成によって、通路１０１ａ内における磁気応答部材１０３のリニア位置つまり、コイル部１０２に対する磁気応答部材１０３の相対的直線位置に応じて、コイル部１０２における誘導結合が変化し、これに応じた出力信号を該コイル部１０２より得ることができる。従って、通路１０１ａ内における磁気応答部材１０３のリニア位置に応じた検出出力信号をコイル部１０２から得るようにすることができる。
ここで、収納体１０１の通路１０１ａは、下側にわん曲しているため、該収納体１０１が水平位置におかれているとき、該通路１０１ａ内の磁気応答部材１０３は自重により必ず所定の位置（傾斜０に対応する一番低い位置）に位置する。収納体１０１が傾くと、それに応じて通路１０１ａに沿って磁気応答部材１０３がリニアに変位し、該通路１０１ａにおける前記磁気応答部材１０３のリニア位置に応じた検出出力信号が前記コイル部１０２から得られる。従って、コイル部１０２の出力信号は収納体１０１の傾きに応答するものであり、該傾きの検知信号として適宜利用できる。
【００４７】
コイル部１０２による検出原理としては、任意のものを用いることができる。単純な例としては、ピックアップコイル方式があり得る。すなわち通路１０１ａに沿って配置した複数のコイルの出力信号レベルに基づき、磁気応答部材１０３が最も近接したコイルを特定することにより、通路１０１ａにおける磁気応答部材１０３のリニア位置を検出することができ、従って、収納体１０１の傾斜の度合いを検知／検出することができる。より細かく磁気応答部材１０３のリニア位置を検出するための一例として、リニア差動トランス原理に従ってコイル部１０２を構成することができる。すなわち、コイル部１０２として１個又は複数のリニア差動トランスを構成し、該リニア差動トランスの出力電圧値とどのリニア差動トランスから出力が得られたかを示すデータとの組み合わせによって、前記ピックアップコイル方式よりは細かい精度で磁気応答部材１０３のリニア位置を検出することができる。
【００４８】
更に細かい精度で、かつ正確に、磁気応答部材１０３のリニア位置を検出し得るようにするには、レゾルバ原理に従ってコイル部１０２を構成するとよい。
レゾルバ原理に従ってコイル部１０２を構成する場合、１相の交流信号によって励磁される１次コイル１１１〜１１５と、複数の２次コイル１２１〜１２４とを含む。各２次コイル１２１〜１２４は、通路１０１ａに沿って所定の間隔でずらして配置される。一方、１相の交流信号によって共通に励磁されるが故に、１次コイル１１１〜１１５の数は、１又は適宜の複数であってよく、その配置も適宜であってよい。しかし、複数の１次コイル１１１〜１１５を適宜に分離して、例えば図１３に示されるように各２次コイル１２１〜１２４をそれぞれの間に挟むように、配置することは、１次コイルによって発生する磁界を個別の２次コイル１２１〜１２４に対して有効に及ぼし、かつ磁気応答部材１０３による磁場への影響を有効に及ぼすことができるので、好ましい。
【００４９】
通路１０１ａにおける磁気応答部材１０３のリニア位置に応じて、磁気応答部材１０３のコイル部１０２に対する対応位置が変化することにより、１次コイル１１１〜１１５と各２次コイル１２１〜１２４間の磁気結合が該リニア位置に応じて変化され、これにより、該リニア位置に応じて振幅変調された誘導出力交流信号が、各２次コイル１２１〜１２４の配置のずれに応じて異なる振幅関数特性で、各２次コイル１２１〜１２４に誘起される。各２次コイル１２１〜１２４に誘起される各誘導出力交流信号は、１次コイル１１１〜１１５が１相の交流信号によって共通に励磁されるが故に、その電気的位相が同相であり、その振幅関数が各２次コイル１２１〜１２４の配置のずれに応じてずれた位相を有する。
すなわち、４つの２次コイル１２１〜１２４に生じる誘導出力交流信号の振幅関数が、所望の特性を示すように設定することが可能であり、レゾルバタイプの位置検出装置として構成する場合は、各２次コイル１２１〜１２４に生じる誘導出力交流信号の振幅関数が、サイン関数、コサイン関数、マイナス・サイン関数、マイナス・コサイン関数、にそれぞれ相当するように設定することが可能である。種々の条件によって、各コイルの配置は微妙に変わり得るので、希望の関数特性が得られるように各コイルの配置や巻数を適宜調整したり、あるいは２次出力レベルを電気的増幅によって調整して、希望の振幅関数特性が最終的に得られるようにする。
【００５０】
例えば、２次コイル１２１の出力がサイン関数（図でｓを付記する）に対応するとすると、これに対して所定距離（例えばｐ／２とする）だけずれて配置された２次コイル１２３の出力はマイナス・サイン関数（図で／ｓ（ｓバー）を付記する）に相当するように設定し、この両者の出力を差動的に合成することによりサイン関数の振幅関数を持つ第１の出力交流信号を得るようにすることができる。また、サイン関数出力に対応する２次コイル１２１から前記所定距離の半分（例えばｐ／４とする）だけずれて配置された２次コイル１２２の出力はコサイン関数（図でｃを付記する）に対応し、これに対してｐ／２だけずれて配置された２次コイル１２４の出力はマイナス・コサイン関数（図で／ｃ（ｃバー）を付記する）に相当するように設定し、この両者の出力を差動的に合成することによりコサイン関数の振幅関数を持つ第２の出力交流信号を得るようにすることができる。
【００５１】
磁気応答部材１０３の形状は球に限らず、円筒形その他の適宜の形状であってもよい。また、磁気応答部材１０３は固形のものに限らず、例えば磁性流体や磁性粉体のような非固定形状の物体からなるものであってもよい。また、磁気応答部材１０３の材質は磁性体に限らず、銅のような良導電体であってもよい。
図１３では、収納体１０１の外観は、ボビン若しくは巻き軸のようであるが、これに限らず、チューブを曲げた形状からなっていてもよい。その場合は、曲げられたチューブ（収納体１０１）の周りにコイル部１０２を嵌め込むようにすればよい。
勿論、コイル部１０２における１次及び２次コイルの数及び配置も様々な変形や設計変更が可能である。また、２次コイル出力信号の相数もサイン，コサインの２相に限らず、他の形態、例えば１２０度ずれた３相タイプ、であってもよい。
【００５２】
以上のような傾斜計１００Ｘは通路１０１ａの方向に沿う一方向（１軸）のみについての傾斜を検出することができるものである。ＸＹ座標面の傾斜を検出するためには、図示例のような１軸傾斜計１００ＸをＸ軸又はＹ軸について少なくとも１つ設け、他の軸のためには、別のタイプの適当な一方向傾斜計を設けるようにしてもよい。勿論、図１３に示したような同じタイプの１軸傾斜計１００Ｘを２個直交させて設けて、ＸＹ座標面の傾斜を検出するための傾斜センサ１００を構成してもよい。図１４はその一例を略示するものであり、互いに９０度の角度で交差するように２つの傾斜計１００Ｘ，１００Ｙを組み合わせたものである。各傾斜計１００Ｘ，１００Ｙは、図１３の傾斜計１００Ｘと夫々同一構成である。これによって、検出対象のＸ軸方向の傾斜（傾斜成分）を傾斜計１００Ｘで検出することができ、該検出対象のＹ軸方向の傾斜（傾斜成分）を傾斜計１００Ｙで検出することができる。なお、図１４の構成を変形して、Ｘ，Ｙ軸に対応する各傾斜計１００Ｘ，１００Ｙの収納体１０１内の通路１０１ａのわん曲を大きくとるようにしてもよい。
【００５３】
なお、Ｘ軸及びＹ軸の操作を検出するための、第１のコイル部２と磁気応答部材３とを含む第１の検出手段（傾斜センサ１００）は、上記実施例のように、必ずしも傾斜検出装置である必要はない。例えば、Ｘ軸及びＹ軸方向に、スティック部１０を水平移動させるような操作を検出するもの、すなわち加速又は衝撃検出装置であってもよい。そのような加速又は衝撃検出装置は、上述の傾斜センサ１００によっても構成できるし、上述の傾斜センサ１００を適宜一部変形しても構成できる。すなわち、流動性の磁気応答部材３は、そのような瞬間の加速又は衝撃に応答して慣性作用に応じて変位するので、それに応答する出力を発生することができる。また、図１３のような１軸傾斜計１００の通路１０１ａを直線状にしてもそのような瞬間の加速又は衝撃に応答する出力信号を得ることができる。
【００５４】
ところで、本発明に係る３次元操作検出装置を実施するにあたっては、上述の構成すべてを具備する必要はなく、少なくとも１つを具備していても有効である。例えば、Ｘ軸及びＹ軸操作検出用のＸＹ座標面傾斜検出装置すなわち傾斜センサ１００は、上述で例示されたいずれかの構成に従うものとし、Ｚ軸操作検出手段は他の適宜のリニア検出手段（光学式センサ、永久磁石又は磁化パターン利用のリニアセンサ、ポテンショメータ等）を使用してもよい。反対に、Ｚ軸操作検出手段は例示されたリニアセンサ２００のいずれかの構成に従うものとし、Ｘ軸及びＹ軸操作検出手段は、誘導式センサ以外の他の適宜の構成を用いてもよい。Ｘ軸及びＹ軸操作検出手段として利用可能な誘導式センサ以外の検出手段の一例を示すと、図１０の例において、操作部１０ａのリング状のＸＹプッシャ部１０ｘｙの表面をタッチセンサを用いるような変更例が考えられる。勿論、そのような変更例を採用する場合は、図１０における誘導式の傾斜センサ１００を省略する。
【００５５】
次に、図５に示したディジタル位相検出回路４０のいくつかの例について説明する。以下で説明するディジタル位相検出回路４０の各例は、図５に示したディジタル位相検出回路４０に限らず、図７に示したディジタル位相検出回路４０においても適用可能であり、また、図１３に示した１軸傾斜計１００Ｘの出力信号の位相をディジタル測定する場合においても適用可能である。しかし、以下の説明では、便宜的に、図５に示したディジタル位相検出回路４０つまり傾斜センサ１００の出力信号の位相測定のための使用されているものとして説明する。
図１５は、ディジタル位相検出回路４０として、公知のＲ−Ｄ（レゾルバ−ディジタル）コンバータを適用した例を示す。コイル部２の２次コイル２１〜２４から出力されるレゾルバタイプの２相の出力交流信号Ａ＝sinθ・sinωｔとＢ＝cosθ・sinωｔが、それぞれアナログ乗算器３０，３１に入力される。順次位相発生回路３２では位相角φのディジタルデータを発生し、サイン・コサイン発生回路３３から該位相角φに対応するサイン値sinφとコサイン値cosφのアナログ信号を発生する。乗算器３０では、サイン相の出力交流信号Ａ＝sinθ・sinωｔに対してサイン・コサイン発生回路３３からのコサイン値cosφを乗算し、「cosφ・sinθ・sinωｔ」を得る。もう一方の乗算器３１では、コサイン相の出力交流信号Ｂ＝cosθ・sinωｔに対してサイン・コサイン発生回路３３からのサイン値sinφを乗算し、「sinφ・cosθ・sinωｔ」を得る。引算器３４で、両乗算器３０，３１の出力信号の差を求め、この引算器３４の出力によって順次位相発生回路３２の位相発生動作を次のように制御する。すなわち、順次位相発生回路３２の発生位相角φを最初は０にリセットし、以後順次増加していき、引算器３４の出力が０になったとき増加を停止する。引算器３４の出力が０になるのは、「cosφ・sinθ・sinωｔ」＝「sinφ・cosθ・sinωｔ」が成立したときであり、すなわち、φ＝θが成立し、順次位相発生回路３２から位相角φのディジタルデータが出力交流信号Ａ，Ｂの振幅関数の位相角θのディジタル値に一致している。従って、任意のタイミングで周期的にリセットトリガを与えて順次位相発生回路３２の発生位相角φを０にリセットして、該位相角φのインクリメントを開始し、引算器３４の出力が０になったとき、該インクリメントを停止し、位相角θのディジタルデータを得る。
なお、順次位相発生回路３２をアップダウンカウンタ及びＶＣＯを含んで構成し、引算器３４の出力によってＶＣＯを駆動してアップダウンカウンタのアップ／ダウンカウント動作を制御するようにすることが知られており、その場合は、周期的なリセットトリガは不要である。
【００５６】
温度変化等によってコイル部２の１次及び２次コイルのインピーダンスが変化することにより２次出力交流信号における電気的交流位相ωｔに誤差が生じるが、上記のような位相検出回路においては、sinωｔの位相誤差は自動的に相殺されるので、好都合である。これに対して、従来知られた２相交流信号（例えばsinωｔとcosωｔ）で励磁することにより１相の出力交流信号に電気的位相シフトが生じるようにした方式では、そのような温度変化等に基づく出力位相誤差を除去することができない。
ところで、上記のような従来のＲ−Ｄコンバータからなる位相検出回路は、追従比較方式であるため、φを追従カウントするときのクロック遅れが生じ、応答性が悪い、という問題がある。
そこで、本発明者等は、以下に述べるような新規な位相検出回路を開発したので、これを使用すると好都合である。
【００５７】
図１６は、上述の傾斜センサ１００その他において適用可能な新規なディジタル位相検出回路４０の一実施形態を示している。
図１６において、検出回路部４１では、カウンタ４２で所定の高速クロックパルスＣＫをカウントし、そのカウント値に基づき励磁信号発生回路４３から励磁用の交流信号（例えばｓｉｎωｔ）を発生し、コイル部２の１次コイル１１〜１４に与える。カウンタ４２のモジュロ数は、励磁用の交流信号の１周期に対応しており、説明の便宜上、そのカウント値の０は、基準のサイン信号sinωｔの０位相に対応しているものとする。コイル部２の２次コイル２１〜２４から出力される２相の出力交流信号Ａ＝sinθ・sinωｔとＢ＝cosθ・sinωｔは、検出回路部４１に入力される。
【００５８】
検出回路部４１において、第１の交流出力信号Ａ＝sinθ・sinωｔが位相シフト回路４４に入力され、その電気的位相が所定量位相シフトされ、例えば９０度進められて、位相シフトされた交流信号Ａ’＝sinθ・cosωｔが得られる。また、検出回路部４１においては加算回路４５と減算回路４６とが設けられており、加算回路４５では、位相シフト回路４４から出力される上記位相シフトされた交流信号Ａ’＝sinθ・cosωｔとコイル部２の２次コイル２１〜２４から出力され第２の交流出力信号Ｂ＝cosθ・sinωｔとが加算され、その加算出力として、Ｂ＋Ａ’＝cosθ・sinωｔ＋sinθ・cosωｔ＝sin（ωｔ＋θ）なる略式で表わせる第１の電気的交流信号Ｙ１が得られる。減算回路４６では、上記位相シフトされた交流信号Ａ’＝sinθ・cosωｔと上記第２の交流出力信号Ｂ＝cosθ・sinωｔとが減算され、その減算出力として、Ｂ−Ａ’＝cosθ・sinωｔ−sinθ・cosωｔ＝sin（ωｔ−θ）なる略式で表わせる第２の電気的交流信号Ｙ２が得られる。このようにして、収納空間１ａ内の磁気応答部材３の分布に対応して正方向にシフトされた電気的位相角（＋θ）を持つ第１の電気的交流信号Ｙ１＝sin（ωｔ＋θ）と、同じ分布に対応して負方向にシフトされた電気的位相角（−θ）を持つ第２の電気的交流信号Ｙ２＝sin（ωｔ−θ）とが、電気的処理によって夫々得られる。
【００５９】
加算回路４５及び減算回路４６の出力信号Ｙ１，Ｙ２は、夫々ゼロクロス検出回路４７，４８に入力され、それぞれのゼロクロスが検出される。ゼロクロスの検出の仕方としては、例えば、各信号Ｙ１，Ｙ２の振幅値が負から正に変化するゼロクロスつまり０位相を検出する。各回路４７，４８で検出したゼロクロス検出パルスつまり０位相検出パルスは、ラッチパルスＬＰ１，ＬＰ２として、ラッチ回路４９，５０に入力される。ラッチ回路４９，５０では、カウンタ４２のカウント値を夫々のラッチパルスＬＰ１，ＬＰ２のタイミングでラッチする。前述のように、カウンタ４２のモジュロ数は励磁用の交流信号の１周期に対応しており、そのカウント値の０は基準のサイン信号sinωｔの０位相に対応しているものとしたので、各ラッチ回路４９，５０にラッチしたデータＤ１，Ｄ２は、それぞれ、基準のサイン信号sinωｔに対する各出力信号Ｙ１，Ｙ２の位相ずれに対応している。各ラッチ回路４９，５０の出力は誤差計算回路５１に入力されて、「（Ｄ１＋Ｄ２）／２」の計算が行なわれる。なお、この計算は、実際は、「Ｄ１＋Ｄ２」のバイナリデータの加算結果を１ビット下位にシフトすることで行われるようになっていてよい。
【００６０】
ここで、コイル部２と検出回路部４１間の配線ケーブル長の長短による影響や、コイル部２の各１次及び２次コイルにおいて温度変化等によるインピーダンス変化が生じていることを考慮して、その出力信号の位相変動誤差を「±ｄ」で示すと、検出回路部４１における上記各信号は次のように表わされる。
Ａ＝sinθ・sin（ωｔ±ｄ）
Ａ’＝sinθ・cos（ωｔ±ｄ）
Ｂ＝cosθ・sin（ωｔ±ｄ）
Ｙ１＝sin（ωｔ±ｄ＋θ）
Ｙ２＝sin（ωｔ±ｄ−θ）
Ｄ１＝±ｄ＋θ
Ｄ２＝±ｄ−θ
【００６１】
すなわち、各位相ずれ測定データＤ１，Ｄ２は、基準のサイン信号sinωｔを基準位相に使用して位相ずれカウントを行なうので、上記のように位相変動誤差「±ｄ」を含む値が得られてしまう。そこで、誤差計算回路５１において、「（Ｄ１＋Ｄ２）／２」の計算を行なうことにより、

により、位相変動誤差「±ｄ」を算出することができる。
【００６２】
誤差計算回路５１で求められた位相変動誤差「±ｄ」のデータは、減算回路５２に与えられ、一方の位相ずれ測定データＤ１から減算される。すなわち、減算回路５２では、「Ｄ１−（±ｄ）」の減算が行なわれるので、
Ｄ１−（±ｄ）＝±ｄ＋θ−（±ｄ）＝θ
となり、位相変動誤差「±ｄ」を除去した正しい検出位相差θを示すディジタルデータが得られる。このように、本発明によれば、位相変動誤差「±ｄ」が相殺されて、正しい位相差θのみが抽出されることが理解できる。
【００６３】
この点を図１７を用いて更に説明する。図１７においては、位相測定の基準となるサイン信号sinωｔと前記第１及び第２の交流信号Ｙ１，Ｙ２の０位相付近の波形を示しており、同図（ａ）は位相変動誤差がプラス（＋ｄ）の場合、（ｂ）はマイナスの場合（−ｄ）を示す。同図（ａ）の場合、基準のサイン信号sinωｔの０位相に対して第１の信号Ｙ１の０位相は「θ＋ｄ」だけ進んでおり、これに対応する位相差検出データＤ１は「θ＋ｄ」に相当する位相差を示す。また、基準のサイン信号sinωｔの０位相に対して第２の信号Ｙ２の０位相は「−θ＋ｄ」だけ遅れており、これに対応する位相差検出データＤ２は「−θ＋ｄ」に相当する位相差を示す。この場合、誤差計算回路５１では、

により、位相変動誤差「＋ｄ」を算出する。そして、減算回路５２により、
Ｄ１−（＋ｄ）＝＋ｄ＋θ−（＋ｄ）＝θ
が計算され、正しい位相差θが抽出される。
【００６４】
図１７（ｂ）の場合、基準のサイン信号sinωｔの０位相に対して第１の信号Ｙ１の０位相は「θ−ｄ」だけ進んでおり、これに対応する位相差検出データＤ１は「θ−ｄ」に相当する位相差を示す。また、基準のサイン信号sinωｔの０位相に対して第２の信号Ｙ２の０位相は「−θ−ｄ」だけ遅れており、これに対応する位相差検出データＤ２は「−θ−ｄ」に相当する位相差を示す。この場合、誤差計算回路５１では、

により、位相変動誤差「−ｄ」を算出する。そして、減算回路５２により、
Ｄ１−（−ｄ）＝−ｄ＋θ−（−ｄ）＝θ
が計算され、正しい位相差θが抽出される。
なお、減算回路５２では。「Ｄ２−（±ｄ）」の減算を行なうようにしてもよく、原理的には上記と同様に正しい位相差θを反映するデータ（−θ）が得られることが理解できるであろう。
【００６５】
また、図１７からも理解できるように、第１の信号Ｙ１と第２の信号Ｙ２との間の電気的位相差は２θであり、常に、両者における位相変動誤差「±ｄ」を相殺した正確な位相差θの２倍値を示していることになる。従って、図１６におけるラッチ回路４９，５０及び誤差計算回路５１及び減算回路５２等を含む回路部分の構成を、信号Ｙ１，Ｙ２の電気的位相差２θをダイレクトに求めるための構成に適宜変更するようにしてもよい。例えば、ゼロクロス検出回路４７から出力される第１の信号Ｙ１の０位相に対応するパルスＬＰ１の発生時点から、ゼロクロス検出回路４８から出力される第２の信号Ｙ２の０位相に対応するパルスＬＰ２の発生時点までの間を適宜の手段でゲートし、このゲート期間をカウントすることにより、位相変動誤差「±ｄ」を相殺した、電気的位相差（２θ）に対応するディジタルデータを得ることができ、これを１ビット下位にシフトすれば、θに対応するデータが得られる。
【００６６】
ところで、上記実施例では、＋θをラッチするためのラッチ回路４９と、−θをラッチするためのラッチ回路５０とでは、同じカウンタ４２の出力をラッチするようにしており、ラッチしたデータの正負符号については特に言及していない。しかし、データの正負符号については、本発明の趣旨に沿うように、適宜の設計的処理を施せばよい。例えば、カウンタ４２のモジュロ数が４０９６（１０進数表示）であるとすると、そのディジタルカウント０〜４０９５を０度〜３６０度の位相角度に対応させて適宜に演算処理を行なうようにすればよい。最も単純な設計例は、カウンタ４２のカウント出力の最上位ビットを符号ビットとし、ディジタルカウント０〜２０４７を＋０度〜＋１８０度に対応させ、ディジタルカウント２０４８〜４０９５を−１８０度〜−０度に対応させて、演算処理を行なうようにしてもよい。あるいは、別の例として、ラッチ回路５０の入力データ又は出力データを２の補数に変換することにより、ディジタルカウント４０９５〜０を−３６０度〜−０度の負の角度データ表現に対応させるようにしてもよい。
【００６７】
ところで、傾斜が静止状態のときは特に問題ないのであるが、検出対象傾斜が時間的に変化するときは、それに対応する位相角θも時間的に変動することになる。その場合、加算回路４５及び減算回路４６の各出力信号Ｙ１，Ｙ２の位相ずれ量θが一定値ではなく、移動速度に対応して時間的に変化する動特性を示すものとなり、これをθ(t)で示すと、各出力信号Ｙ１，Ｙ２は、
Ｙ１＝sin｛ωｔ±ｄ＋θ(t)｝
Ｙ２＝sin｛ωｔ±ｄ−θ(t)｝
となる。すなわち、基準信号sinωｔの周波数に対して、進相の出力信号Ｙ１は＋θ(t)に応じて周波数が高くなる方向に周波数遷移し、遅相の出力信号Ｙ２は−θ(t)に応じて周波数が低くなる方向に周波数遷移する。このような動特性の下においては、基準信号sinωｔの１周期毎に各信号Ｙ１，Ｙ２の周期が互いに逆方向に次々に遷移していくので、各ラッチ回路４９，５０における各ラッチデータＤ１，Ｄ２の計測時間基準が異なってくることになり、両データＤ１，Ｄ２を単純に回路５１，５２で演算するだけでは、正確な位相変動誤差「±ｄ」を得ることができない。
【００６８】
このような問題を回避するための最も簡単な方法は、図１６の構成において、検出傾斜が時間的に動いているときの出力を無視し、静止状態のときの出力のみを用いて、静止状態が得られた時の位相角θを測定するように装置の機能を限定することである。すなわち、そのような限定された目的のために本発明を実施するようにしてもよいものである。
しかし、検出対象傾斜が時間的に変化している最中であっても時々刻々の該検出対象傾斜に対応する位相角θを正確に検出できるようにすることが望ましい。そこで、上記のような問題点を解決するために、検出対象傾斜が時間的に変化している最中であっても時々刻々の該検出対象傾斜に対応する位相角θを検出できるようにした改善策について図１８を参照して説明する。
【００６９】
図１８は、図１６の検出回路部４１における誤差計算回路５１と減算回路５２の部分の変更例を抽出して示しており、他の図示していない部分の構成は図１６と同様であってよい。検出対象傾斜が時間的に変化している場合における該傾斜方向に対応する位相角θを、＋θ（ｔ）および−θ（ｔ）で表わすと、各出力信号Ｙ１，Ｙ２は前記のように表わせる。そして、夫々に対応してラッチ回路４９，５０で得られる位相ずれ測定値データＤ１，Ｄ２は、
Ｄ１＝±ｄ＋θ(t)
Ｄ２＝±ｄ−θ(t)
となる。
この場合、±ｄ＋θ(t) は、θの時間的変化に応じて、プラス方向に０度から３６０度の範囲で繰り返し時間的に変化してゆく。また、±ｄ−θ(t) は、θの時間的変化に応じて、マイナス方向に３６０度から０度の範囲で繰り返し時間的に変化してゆく。従って、±ｄ＋θ(t) ≠ ±ｄ−θ(t) のときもあるが、両者の変化が交差するときもあり、そのときは±ｄ＋θ(t) ＝ ±ｄ−θ(t) が成立する。このように、±ｄ＋θ(t) ＝ ±ｄ−θ(t) が成立するときは、各出力信号Ｙ１，Ｙ２の電気的位相が一致しており、かつ、夫々のゼロクロス検出タイミングに対応するラッチパルスＬＰ１，ＬＰ２の発生タイミングが一致していることになる。
【００７０】
図１８において、一致検出回路５３は、各出力信号Ｙ１，Ｙ２ののゼロクロス検出タイミングに対応するラッチパルスＬＰ１，ＬＰ２の発生タイミングが、一致したことを検出し、この検出に応答して一致検出パルスＥＱＰを発生する。一方、時変動判定回路５４では、適宜の手段により（例えば一方の位相差測定データＤ１の値の時間的変化の有無を検出する等の手段により）、検出対象傾斜が時間的に変化するモードであることを判定し、この判定に応じて時変動モード信号ＴＭを出力する。
誤差計算回路５１と減算回路５２との間にセレクタ５５が設けられており、上記時変動モード信号ＴＭが発生されていないとき、つまりＴＭ＝“０”すなわち検出対象傾斜が時間的に変化していないとき、セレクタ入力Ｂに加わる誤差計算回路５１の出力を選択して減算回路５２に入力する。このようにセレクタ５５の入力Ｂが選択されているときの図１８の回路は、図１６の回路と等価的に動作する。すなわち、検出対象が静止しているときは、誤差計算回路５１の出力データがセレクタ５５の入力Ｂを介して減算回路５２に直接的に与えられ、図１６の回路と同様に動作する。
【００７１】
一方、上記時変動モード信号ＴＭが発生されているとき、つまりＴＭ＝“１”すなわち検出対象が時間的に変化しているときは、セレクタ５５の入力Ａに加わるラッチ回路５６の出力を選択して減算回路５２に入力する。上記時変動モード信号ＴＭが“１”で、かつ前記一致検出パルスＥＱＰが発生されたとき、アンドゲート５７の条件が成立して、該一致検出パルスＥＱＰに応答するパルスがアンドゲート５７から出力され、ラッチ回路５６に対してラッチ命令を与える。ラッチ回路５６は、このラッチ命令に応じてカウンタ４２の出力カウントデータをラッチする。ここで、一致検出パルスＥＱＰが生じるときは、カウンタ４２の出力をラッチ回路４９，５０に同時にラッチすることになるので、Ｄ１＝Ｄ２であり、ラッチ回路５６にラッチするデータは、Ｄ１又はＤ２（ただしＤ１＝Ｄ２）に相当している。
【００７２】
また、一致検出パルスＥＱＰは、各出力信号Ｙ１，Ｙ２のゼロクロス検出タイミングが一致したとき、すなわち「±ｄ＋θ(t) ＝ ±ｄ−θ(t)」が成立したとき、発生されるので、これに応答してラッチ回路５６にラッチされるデータは、Ｄ１又はＤ２（ただしＤ１＝Ｄ２）に相当しているが故に、
（Ｄ１＋Ｄ２）／２
と等価である。このことは、

であることを意味し、ラッチ回路５６にラッチされたデータは、位相変動誤差「±ｄ」を正確に示しているものであることを意味する。
【００７３】
こうして、検出対象が時間的に変動しているときは、位相変動誤差「±ｄ」を正確に示すデータが一致検出パルスＥＱＰに応じてラッチ回路５６にラッチされ、このラッチ回路５６の出力データがセレクタ５５の入力Ａを介して減算回路５２に与えられる。従って、減算回路５２では、位相変動誤差「±ｄ」を除去した検出対象傾斜方向に正確に応答するデータθ（時間的に変動する場合はθ(t) ）を得ることができる。
なお、図１８において、アンドゲート５７を省略して、一致検出パルスＥＱＰを直接的にラッチ回路５６のラッチ制御入力に与えるようにしてもよい。
また、ラッチ回路５６には、カウンタ４２の出力カウントデータに限らず、図１６で破線で示すように誤差計算回路５１の出力データ「±ｄ」をラッチするようにしてもよい。その場合は、一致検出パルスＥＱＰの発生タイミングに対して、それに対応する誤差計算回路５１の出力データの出力タイミングが、ラッチ回路４９，５０及び誤差計算回路５１の回路動作遅れの故に、幾分遅れるので、適宜の時間遅れ調整を行なった上で、誤差計算回路５１の出力をラッチ回路５６にラッチするようにするとよい。
また、動特性のみを考慮して検出回路部４１を構成する場合は、図１８の回路５１及びセレクタ５５と図１６の一方のラッチ回路４９又は５０を省略してもよいことが、理解できるであろう。
【００７４】
図１９は、位相変動誤差「±ｄ」を相殺することができる位相差検出演算法についての別の実施例を示す。
コイル部２の２次コイル２１〜２４から出力されるレゾルバタイプの前記第１及び第２の交流出力信号Ａ，Ｂは、検出回路部６０に入力され、図１６の例と同様に、第１の交流出力信号Ａ＝sinθ・sinωｔが位相シフト回路４４に入力され、その電気的位相が所定量位相シフトされて、位相シフトされた交流信号Ａ’＝sinθ・cosωｔが得られる。また、減算回路４６では、上記位相シフトされた交流信号Ａ’＝sinθ・cosωｔと上記第２の交流出力信号Ｂ＝cosθ・sinωｔとが減算され、その減算出力として、Ｂ−Ａ’＝cosθ・sinωｔ−sinθ・cosωｔ＝sin（ωｔ−θ）なる略式で表わせる電気的交流信号Ｙ２が得られる。減算回路４６の出力信号Ｙ２はゼロクロス検出回路４８に入力され、ゼロクロス検出に応じてラッチパルスＬＰ２が出力され、ラッチ回路５０に入力される。
【００７５】
図１９の実施例が図１６の実施例と異なる点は、検出対象に対応する電気的位相ずれを含む交流信号Ｙ２＝sin（ωｔ−θ）から、その位相ずれ量θを測定する際の基準位相が相違している点である。図１６の例では、位相ずれ量θを測定する際の基準位相は、基準のサイン信号sinωｔの０位相であり、これは、傾斜計１０のコイル部２に入力されるものではないので、温度変化等によるコイルインピーダンス変化やその他の各種要因に基づく位相変動誤差「±ｄ」を含んでいないものである。そのために、図１６の例では、２つの交流信号Ｙ１＝sin（ωｔ＋θ）及びＹ２＝sin（ωｔ−θ）を形成し、その電気的位相差を求めることにより、位相変動誤差「±ｄ」を相殺するようにしている。これに対して、図１９の実施例では、コイル部２から出力される第１及び第２の交流出力信号Ａ，Ｂを基にして、位相ずれ量θを測定する際の基準位相を形成し、該基準位相そのものが上記位相変動誤差「±ｄ」を含むようにすることにより、上記位相変動誤差「±ｄ」を排除するようにしている。
【００７６】
すなわち、検出回路部６０において、コイル部２から出力された前記第１及び第２の交流出力信号Ａ，Ｂがゼロクロス検出回路６１，６２に夫々入力され、それぞれのゼロクロスが検出される。なお、ゼロクロス検出回路６１，６２は、入力信号Ａ，Ｂの振幅値が負から正に変化するゼロクロス（いわば０位相）と正から負に変化するゼロクロス（いわば１８０度位相）のどちらにでも応答してゼロクロス検出パルスを出力するものとする。これは信号Ａ，Ｂの振幅の正負極性を決定するsinθとcosθがθの値に応じて任意に正又は負となるため、両者の合成に基づき３６０度毎のゼロクロスを検出するためには、まず１８０度毎のゼロクロスを検出する必要があるためである。両ゼロクロス検出回路６１，６２から出力されるゼロクロス検出パルスがオア回路６３でオア合成され、該オア回路６３の出力が適宜の１／２分周パルス回路６４（例えばＴ−フリップフロップのような１／２分周回路とパルス出力用アンドゲートを含む）に入力されて、１つおきに該ゼロクロス検出パルスが取り出され、３６０度毎のゼロクロスすなわち０位相のみに対応するゼロクロス検出パルスが基準位相信号パルスＲＰとして出力される。この基準位相信号パルスＲＰは、カウンタ６５のリセット入力に与えられる。カウンタ６５は所定のクロックパルスＣＫを絶えずカウントするものであるが、そのカウント値が、前記基準位相信号パルスＲＰに応じて繰返し０にリセットされる。このカウンタ６５の出力がラッチ回路５０に入力され、前記ラッチパルスＬＰ２の発生タイミングで、該カウント値が該ラッチ回路５０にラッチされる。ラッチ回路５０にラッチしたデータＤが、検出対象に対応した位相差θの測定データとして出力される。
【００７７】
コイル部２から出力される第１及び第２の交流出力信号Ａ，Ｂは、それぞれ、Ａ＝sinθ・sinωｔ、Ｂ＝cosθ・sinωｔ、であり、電気的位相は同相である。従って、同じタイミングでゼロクロスが検出されるはずであるが、振幅係数がサイン関数sinθ及びコサイン関数cosθで変動するので、どちらかの振幅レベルが０か又は０に近くなる場合があり、そのような場合は、一方については、事実上、ゼロクロスを検出することができない。そこで、この実施例では、２つの交流出力信号Ａ＝sinθ・sinωｔ、Ｂ＝cosθ・sinωｔのそれぞれについてゼロクロス検出処理を行ない、両者のゼロクロス検出出力をオア合成することにより、どちらか一方が振幅レベル小によってゼロクロス検出不能であっても、他方の振幅レベル大の方のゼロクロス検出出力信号を利用できるようにしたことを特徴としている。
【００７８】
図１９の例の場合、コイル部２のコイルインピーダンス変化等による位相変動誤差が、例えば「−ｄ」であるとすると、減算回路４６から出力される交流信号Ｙ２は、図２０の（ａ）に示すように、Ｙ２＝sin（ωｔ−ｄ−θ）となる。この場合、コイル部２の出力信号Ａ，Ｂは、位相角θに応じた振幅値sinθ及びcosθを夫々持ち、図２０の（ｂ）に例示するように、Ａ＝sinθ・sin（ωｔ−ｄ）、Ｂ＝cosθ・sin（ωｔ−ｄ）、というように位相変動誤差分を含んでいる。従って、このゼロクロス検出に基づいて図２０の（ｃ）のようなタイミングで得られる基準位相信号パルスＲＰは、本来の基準のサイン信号sinωｔの０位相から位相変動誤差−ｄだけずれたものである。従って、この基準位相信号パルスＲＰを基準として、減算回路４６の出力交流信号Ｙ２＝sin（ωｔ−ｄ−θ）の位相ずれ量を測定すれば、位相変動誤差−ｄを除去した正確な値θが得られることになる。
【００７９】
なお、コイル部２の配線長等の装置条件が定まると、そのインピーダンス変化は主に温度に依存することになる。そうすると、上記位相変動誤差±ｄは、この傾斜検出装置が配備された周辺環境の温度を示すデータに相当する。従って、図１６の実施例のような位相変動誤差±ｄを演算する回路５１を有するものにおいては、そこで求めた位相変動誤差±ｄのデータを温度検出データとして適宜出力することができる。従って、そのような本発明の構成によれば、１つの傾斜検出装置によって検出対象の傾斜を検出することができるのみならず、該傾斜検出装置の周辺環境の温度を示すデータをも得ることができる、という優れた効果を有するものである。勿論、温度変化等によるセンサ側のインピーダンス変化や配線ケーブル長の長短の影響を受けることなく、検出対象の傾斜に応答した高精度の検出が可能となる、という優れた効果をも奏するものである。また、図１６や図図１８，図１９の例は、交流信号における位相差を測定する方式であるため、図１５のような検出法に比べて、高速応答性にも優れた検出を行なうことができる、という優れた効果を奏する。
【００８０】
なお、上記各実施例において、コイル部（２，１０２，２０２）と磁気応答部材（３，１０３，２０３）による検出原理を、公知の位相シフトタイプ位置検出原理によって構成してもよい。例えば、図５に示されたコイル部２において、１次コイルと２次コイルの関係を逆にして、サイン相のコイル２１とマイナス・サイン相のコイル２３を互いに逆相のサイン信号ｓｉｎωｔ，−ｓｉｎωｔによって励磁し、コサイン相のコイル２２とマイナス・コサイン相のコイル２４を互いに逆相のコサイン信号ｃｏｓωｔ，−ｃｏｓωｔによって励磁し、コイル１１〜１４から検出対象傾斜に応じた電気的位相シフトθを含む出力信号ｓｉｎ（ωｔ−θ）を得るようにしてもよい。
また、コイル部（２，１０２，２０２）と磁気応答部材（３，１０３，２０３）による検出原理を、公知の差動トランス型の位置検出原理に基づいてアナログ検出出力を得るように構成してもよいことは前述の通りである。
また、Ｘ，Ｙ，Ｚ各軸の操作検出の仕方は、必ずしも正確な操作位置を検出することを要せず、位置検出精度はおおまかであってもよく、また、単純にＸ，Ｙ，Ｚ軸方向に操作されたことを検知するだけであってもよい。
【００８１】
あるいは、上記各実施例において、コイル部（２，１０２，２０２）の構成として、１次コイルと２次コイルの対を含むように構成せずに、１つのコイルのみによって構成し、該１つのコイルを所定の交流信号によって定電圧駆動し、該コイルへの磁性体（磁気応答部材３）の侵入量に応じて生じるインダクタンス変化に基づく電流変化を計測することにより、傾斜検出データを得るようにしてもよい。その場合、該電流変化に応答する出力信号の振幅変化を測定する方法、あるいは該電流変化に応答するコイル各端部での出力信号間の位相変化を測定する方法などによって所要の測定を行うことができる。
また、上記各実施例において、検出データの出力形式、もしくはデータ形成方式は、ディジタルアブソリュートデータまたはアナログ電圧データ等に限らず、インクリメンタルパルスデータあるいはアブソリュート値を周波数変換した繰り返しパルス信号など、あるいは或る方向への操作持続時間をカウントしたデータ形成など、あるいは加速度的な操作衝撃の大きさを検知して対応する大きさの適当なデータを形成するなど、利用目的に応じて適宜の形式としてよい。
【００８２】
【発明の効果】
以上の通り、本発明によれば、スティック部に搭載された第１の検出手段に含まれる第１のコイル部と第１の磁気応答部材において、該スティック部のＸ軸及びＹ軸方向の動きに応じて該磁気応答部材が該コイル部に対して相対的に変位し得る構成を採用しているので、スティック部に該第１の検出手段の全体を搭載していながら、なおかつ該第１の検出手段によって該スティック部のＸ軸及びＹ軸方向の動きを検出することができるものとなる。従って、スティック部のＸ軸及びＹ軸方向の動きを検出するための第１の検出手段が、スティック部とは別に設けられずに、該スティック部にそっくり搭載されるので、構成を非常にコンパクトにすることができる。また、Ｚ軸の操作を検出するための第２の検出手段もスティック部に搭載されるので、すべての軸の検出手段がスティック部に搭載されることになり、該スティック部を固定せずにフリーな状態で持ち歩きながら３次元操作入力を行うこともできるようになる。また、構造的に非接触であるという利点を持つ誘導型の検出装置を使用して、コンパクトな３次元操作検出装置にを提供することができる。
【図面の簡単な説明】
【図１】 本発明に係る３次元操作検出装置の一実施例を示す図。
【図２】 図１におけるＸＹ面の傾斜を検出するための傾斜センサの詳細例を示す図。
【図３】 図２における収納空間内に収納された流動性磁気応答部材の傾斜時の状態を略示する図。
【図４】 図２におけるコイル部の構成例を示す回路図。
【図５】 図２におけるコイル部の別の構成例を示す回路図。
【図６】 図１におけるＺ軸方向の操作を検出するためのリニアセンサの詳細例を示す図。
【図７】 図６におけるコイル部の構成例を示す回路図。
【図８】 本発明に係る３次元操作検出装置の別の実施例を示す図。
【図９】 本発明に係る３次元操作検出装置の更に別の実施例を示す図。
【図１０】 本発明に係る３次元操作検出装置の更に他の実施例を示す図。
【図１１】 本発明に係る３次元操作検出装置の更に他の実施例を示す図。
【図１２】 本発明に係る３次元操作検出装置の更に他の実施例を示す図。
【図１３】 本発明の各実施例におけるＸ軸又はＹ軸の一方向についての傾斜検出に使用できる傾斜計の一例を示す断面略図。
【図１４】 図１３の傾斜計を２軸分直交させて組み合わせて、ＸＹ面の傾斜を検出するための傾斜センサを構成する例を示す図。
【図１５】 本発明に係る検出装置において適用可能な位相検出タイプの測定回路の一例を示すブロック図。
【図１６】 本発明に係る検出装置において適用可能な位相検出タイプの測定回路の別の例を示すブロック図。
【図１７】 図１６の動作説明図。
【図１８】 図１６の回路に付加される変更例を示すブロック図。
【図１９】 本発明に係る検出装置において適用可能な位相検出タイプの測定回路の更に別の例を示すブロック図。
【図２０】 図１９の動作説明図。
【符号の説明】
１０ スティック部
１０ａ 頂部
１０ｂ 棒状部
１００ 傾斜センサ
２００ リニアセンサ
２，１０２，２０２ コイル部
１１〜１５ １次コイル
２１〜２４ ２次コイル
３，１０３，２０３ 磁気応答部材
２７，２８ 判定処理回路
４０ ディジタル位相検出回路
１００Ｘ １軸用の傾斜計[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a three-dimensional operation detection device that detects a three-dimensional operation by a human hand, etc., and can be applied to various fields such as a game machine, a personal computer, and a multimedia device as a three-dimensional input device such as a joy stick. Is.
[0002]
[Prior art]
In a conventionally known three-dimensional operation type input device such as a joy stick, the stick type operation unit can be moved three-dimensionally with respect to the base, and the three-dimensional movement of the stick type operation unit on the base side. A detection element is provided for detecting. As the detection element, a simple switch is generally used. For example, when the operation element is tilted in the plus X-axis direction, the corresponding switch is turned on, and a clock pulse is output for the ON time, which becomes information corresponding to the operation amount.
However, such an operation time correspondence information output type has a problem that response time is delayed when the operation amount is increased. In view of this, recently, a position detecting device such as a potentiometer is used for each of the X, Y, and Z axes to detect an actual operation movement amount. However, the potentiometer has difficulty in durability because of the sliding contact.
[0003]
On the other hand, the generally known inductive position detection device includes a differential transformer as a linear position detection device and a resolver as a rotation position detection device. The differential transformer excites one primary winding in one phase, and differentially varies according to the linear position of the iron core that is linked to the detection target position at each of the two secondary windings that are differentially connected. The reluctance which changes continuously is produced, and the voltage amplitude level of the one-phase induction output AC signal obtained as a result indicates the linear position of the iron core. The resolver excites a plurality of primary windings in one phase, extracts an output AC signal indicating the amplitude function characteristics of the sine phase from the secondary winding for extracting the sine phase, and extracts from the secondary winding for extracting the cosine phase. An output AC signal indicating the amplitude function characteristic of the cosine phase is extracted. The two-phase resolver output is processed using a conversion circuit called a known R / D converter, and the phase value corresponding to the detected rotational position can be measured digitally.
Also, an output AC signal obtained by exciting a plurality of primary windings by a plurality of phases of AC signals such as a sine phase and a cosine phase, and electrically shifting the AC signal in accordance with a detection target linear position or rotation position. Is also known, which measures the linear position or rotational position of the detection object digitally by measuring the electrical phase shift amount of the output AC signal (for example, Japanese Patent Laid-Open No. 49-107758, JP-A-53-106065, JP-A-55-13891, JP-A-1-25286, etc.).
[0004]
[Problems to be solved by the invention]
Since the above-described guidance type detection device is structurally non-contact, it is preferable that it can be applied to a three-dimensional operation type input device such as a joy stick. However, the structure that allows one stick to move three-dimensionally with respect to the base and detects the movement of this stick with respect to the three axes X, Y, and Z by electromagnetic induction is complicated. Yes, yet that kind of device was not considered.
In addition, there has been no conventional three-dimensional operation type input device that allows an input operation while freely carrying around without fixing the stick to the base.
The present invention has been made in view of the above points, and an object of the present invention is to provide a new and useful guidance type three-dimensional operation detection device which has not been available. It is another object of the present invention to provide an epoch-making three-dimensional operation detection device that can be operated while being carried freely.
[0005]
[Means for Solving the Problems]
[0008]
  A three-dimensional operation detection device according to the present invention is arranged such that a main body part that can be held by a human hand and a linear displacement relatively vertically within a storage space formed in the main body part. A movable member that linearly displaces the storage space in response to an operation of moving the housing up and down, and mounted on the main body,AboveA linear position detecting means for detecting a linear displacement relative to the main body of the movable member; and mounted on the main body,The movable memberX-axis and Y-axis on the XY coordinate plane orthogonal to the linear movement axisDirectionTwo-dimensional inclination detection means for detecting the inclination of the main body is provided.
  According to the three-dimensional operation detecting device according to the present invention, the main body can be held by a human hand, and the two-dimensional inclination of the main body itself is detected by the two-dimensional inclination detecting means mounted on the main body. The movable member is linearly displaced in the storage space in response to the operation of moving the main body up and down, and the linear displacement relative to the main body of the movable member is detected by the linear position detecting means. Therefore, two-dimensional operation input along the X-axis and Y-axis can be performed by two-dimensionally tilting the main body held by a human hand, and the main body can be moved in the Z-axis direction ( An operation input along the Z axis can be performed by a motion of shaking up and down, and a three-dimensional operation can be performed as a whole, and a detection signal corresponding to the three-dimensional operation can be generated. That is, the movable member is displaced in the storage space by the operation of swinging the main body portion in the Z-axis direction (up and down), and a detection signal corresponding to the movement in the Z-axis direction can be generated.
  Further, the three-dimensional detection means for all the axes is mounted on the main body, and it is possible to perform a three-dimensional operation input while carrying the free main state without fixing the main body. In addition, since the Z-axis direction operation input is performed by moving the main body part in the Z-axis direction (up and down), the structure is simple (that is, the operator can move up and down with respect to the main body part in all directions). It is not necessary to have a universally operable configuration).
  As an example, the movable member includes a magnetic response member that is movably stored in the storage space according to gravity, and the linear position detection unit includes a coil portion provided around the storage space. The magnetic response member is displaced with respect to the coil part in accordance with the vertical movement of the main body part, and a detection signal corresponding to the movement is output from the coil part.
[0010]
  According to an embodiment of the present invention, the linear position detecting means includes a coil portion and a magnetic response member that is displaceable relative to the coil portion, and according to an operation of the linear motion operator. By detecting a linear displacement of one of the coil part and the magnetic response member relative to the other, a detection signal corresponding to the operation of the linear motion operator is output from the coil part.
  According to an embodiment of the present invention, the two-dimensional inclination detecting means is a magnetic response that is displaced relative to the coil portion and the coil portion according to the movement of the main body portion in the X-axis and Y-axis directions. A detection signal corresponding to the movement of the main body portion in the X-axis and Y-axis directions is output from the coil portion.
  According to an embodiment of the present invention, the magnetic response member of the two-dimensional tilt detection means is movably accommodated in a predetermined accommodation space, and according to the movement of the main body in the X-axis and Y-axis directions. It is displaced relative to the coil part by moving in the storage space..
  According to an embodiment of the present invention, the two-dimensional tiltThe detection means is disposed corresponding to the storage space in the storage body having a ring-shaped storage space, a fluid magnetic response member stored in the storage space so as to be movable according to gravity. The magnetic response member moves in the ring-shaped storage space according to the inclination in the X-axis and Y-axis directions, and outputs an output signal that responds to the distribution of the magnetic response member in the storage space. It is generated from the coil part, and detects the inclination in the X-axis and Y-axis directions.is there. thisAs described above, a configuration in which a fluid magnetic response member is stored in a storage space of a storage body having a ring-shaped storage space, the inclinations in the X-axis and Y-axis directions are detected all at once, and based on this, X Operation detection signals in the axis and Y axis directions are output.thingCan provide a new configuration for detecting operations in the X-axis and Y-axis directions, and the configuration can be made compact.The
[0011]
  According to an embodiment of the present invention, the two-dimensional tilt detection means isA coil part, and is movably stored in a predetermined storage space,BodyAt least one detection device including a magnetic response member that is displaced relative to the coil portion by moving in the storage space in accordance with at least one movement of the portion in the X-axis and Y-axis directions, An operation detection signal in the X-axis and Y-axis directions is output based on the detection device detecting the inclination of the operation unit in the X-axis and Y-axis directions.To do. thisAs described above, the storage unit is movably stored in a predetermined storage space, and moves relative to the coil unit by moving in the storage space according to at least one movement of the operation unit in the X-axis and Y-axis directions. And at least one detection device including a magnetic response member. With such a special configuration, it is possible to detect the inclination corresponding to the movement in the X-axis and Y-axis directions, and to output operation detection signals in the X-axis and Y-axis directions based on this. This can provide a new configuration for detecting operations in the X-axis and Y-axis directions.The
[0012]
  According to an embodiment of the present invention, the two-dimensional tilt detection means is  A coil portion;BodyA detecting device including a magnetic response member that is displaced relative to the coil portion in accordance with one movement of the portion in the X-axis and Y-axis directions, corresponding to the X-axis and the Y-axis. Outputs an operation detection signal in the X-axis and Y-axis directions based on detecting the inclination of the operation unit in the X-axis and Y-axis directions, respectively.The thisCan provide a new configuration for detecting operations in the X-axis and Y-axis directions.The
[0013]
  Main departureAccording to M., various other embodiments can be taken, the details of which are given below by way of example.
[0014]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.
FIG. 1A is a schematic external view showing an embodiment of a three-dimensional operation detection device according to the first aspect of the present invention, and FIG. 1B is a schematic cross-sectional view along the X-axis and the Z-axis. This three-dimensional operation detection device can be applied as a three-dimensional operation type input device such as a joy stick, for example, and the stick portion 10 consisting of a single operator as a whole has a substantially disk-shaped top portion 10a. And a rod-like portion 10b extending thereunder, and is operated by being grasped by a human hand as indicated by a broken line in the figure. The lower end 10c of the stick part 10 is simply terminated as shown in the figure, and the stick part 10 may be freely carried and swung. Of course, the present invention is not limited to this, and the lower end 10c may be pivotally supported by appropriate means so that it can be freely and universally tilted in the X and Y axis directions, as in a conventional joystick. The direction in which the rod-like portion 10b of the stick portion 10 extends is the Z axis, the disk surface of the top portion 10a perpendicular to the Z axis is the XY coordinate plane, and the orthogonal coordinate axes set appropriately on the plane are the X axis and the Y axis, respectively. And
[0015]
In the stick part 10, an inclination sensor (first detection means) 100 for detecting the inclination of the XY coordinate plane in the X-axis and Y-axis directions is mounted on the top part 10a. The operation of the stick unit 10 in the X-axis direction and the Y-axis direction is performed by arbitrarily tilting the stick unit 10 in the X-axis direction and the Y-axis direction. Accordingly, the tilt sensor 100 detects the inclination of the stick portion 10 in the X-axis direction and the Y-axis direction, and based on this, the operation (movement) in the X-axis direction and the Y-axis direction is detected.
The tilt sensor 100 mainly includes a coil portion 2 and a magnetic response member 3 that is displaced relative to the coil portion 2 in accordance with the movement of the stick portion 10 in the X-axis and Y-axis directions. As will be described in detail later, the magnetic response member 3 moves in accordance with the inclination of the stick portion 10 in the X-axis and Y-axis directions, whereby the relative positional relationship between the coil portion 2 and the magnetic response member 3 changes. In response to this change, the magnetic coupling between the coil portion 2 and the magnetic response member 3 changes, and an induction output signal corresponding to the inclination of the stick portion 10 in the X-axis and Y-axis directions is output from the coil portion 2. .
[0016]
A linear sensor (second detection means) 200 for detecting an operation in the Z-axis direction is mounted on the approximate center of the top portion 10a of the stick portion 10 and the portion of the rod-like portion 10b. That is, a dome-shaped pusher 201 for pressing with a finger in the Z-axis direction is provided at the top of the top portion 10a, and a rod-shaped movable member is provided inside the rod-shaped portion 10b as shown in FIG. A portion 204 is inserted, and the pusher 201 is coupled to the movable portion 202, and the movable portion 204 moves in the Z-axis direction (vertical direction) in response to a pressing operation of the pusher 201. A predetermined magnetic response member (for example, a magnetic body) 203 is provided in the entire movable unit 204 or at least in a predetermined range near the tip, and the magnetic unit 204 moves according to the movement of the movable unit 204 according to the pressing operation of the pusher 201. The response member 203 is displaced linearly. The coil part 202 is fixed at a predetermined position inside the rod-like part 10b. In the linear sensor 200, the coil unit 202 includes one or a plurality of coils. For example, the magnetic response member 203 of the movable unit 204 enters the coil space, and the coil unit is moved according to the movement of the movable unit 204. The relative linear position of 202 and the magnetic response member 203 changes. In response to this change, the magnetic coupling between the coil unit 202 and the magnetic response member 203 changes, and an induction output signal corresponding to the linear position, that is, the operation position in the Z-axis direction, is output from the coil unit 202. When the pusher 201 is made of elastic rubber and no pressing operation is applied by the elastic action, the pusher 201 returns to the neutral position (position of linear displacement 0). Of course, other neutral position return springs may be provided.
[0017]
With the above configuration, when the operator grasps the stick unit 10 and arbitrarily tilts it in the X-axis and Y-axis directions, a guidance output signal corresponding to the tilt is output from the coil unit 2 of the tilt sensor 100, and based on this. Operation detection signals in the X-axis and Y-axis directions can be obtained. Further, when the operator presses the pusher 201 on the upper part of the stick unit 10, an induction output signal corresponding to the operation in the Z-axis direction is output from the coil unit 204 of the linear sensor 200, and based on this, the Z-axis direction signal is output. An operation detection signal can be obtained.
[0018]
Next, a specific example of the tilt sensor 100 will be described with reference to FIG.
The tilt sensor 100 shown in FIG. 2 is a multi-directional tilt detection device that can detect tilt in all directions on the XY coordinate plane with one sensor. The tilt sensor 100 stores a fluid magnetic response member 3 in a storage body 1. 2A is a schematic side view of the whole, FIG. 2B is a schematic perspective view of the storage body 1, FIG. 2C is a cross-sectional view of the storage body 1, and FIG. Figure.
As shown in FIGS. 2B and 2C, the storage body 1 has a ring-shaped storage space 1a, and an appropriate amount of a fluid magnetic response member 3 in the ring-shaped storage space 1a. Is stored. As the magnetic response member 3, for example, a magnetic fluid or a magnetic powder is used. The magnetic powder is not limited to fine powder and may be iron sand. FIG. 2C is a schematic cross-sectional view of the storage body 1 placed horizontally, in which case the fluid magnetic response members 3 are evenly distributed in the ring-shaped storage space 1a. Of course, the storage body 1 is made of a non-magnetic material. Reference numeral 4 denotes a mounting base.
[0019]
As shown in FIG. 2A, the coil portion 2 is provided on the lower side of the storage body 1. The coil part 2 consists of suitable coil arrangement | positioning which can detect distribution of the magnetic response member 3 in the storage space 1a. For example, in the example of FIG. 2D, the coils 21 to 24 are provided so as to configure four poles at equal intervals (90 degree intervals) along the circumferential direction of the ring-shaped storage space 1a. For example, the coils 21 to 24 are secondary coils, and the primary coils 11 to 14 may be provided for each pole corresponding to the secondary coils 21 to 24.
When the primary coils 11 to 14 are excited with appropriate AC signals, AC signals having levels corresponding to the respective inductive coupling degrees or magnetic coupling degrees are induced from the corresponding secondary coils 21 to 24. This inductive coupling or magnetic coupling is variably controlled by the presence of the magnetic response member 3.
The tilt sensor 100 having the above configuration is attached to an appropriate position in the detection target. In order to be able to detect the inclination as the detection target surface in all directions, the ring of the storage space 1a is installed so as to be parallel to the detection target surface. That is, it is installed so that the radial direction of the circular ring is parallel to the detection target surface. Here, the detection target surface need not actually form a surface but may be a virtual surface. That is, the tilt sensor 100 can detect tilts in all directions of the detection target surface in all directions.
[0020]
When the storage body 1 is placed horizontally (that is, when the detection target surface has an inclination of 0), the fluid magnetic response members 3 are evenly distributed in the ring-shaped storage space 1a. Output signals of the same level are also obtained from the secondary coils 21 to 24. Therefore, it can be detected that the inclination is 0 based on the fact that the output signal of the same level is obtained from any of the secondary coils 21 to 24.
When the storage body 1 tilts in any direction (that is, when the detection target surface tilts in any direction), the fluid magnetic response member 3 moves in the storage space 1a according to gravity, and the magnetic response in the storage space 1a. The distribution of the members 3 is biased. For example, FIG. 3 is a schematic diagram illustrating an example of a state in which the storage body 1 is inclined, in which (a) is a side view and (b) is a plan view. In this case, the magnetic response member 3 is inclined in the direction of the coil 23 and the largest amount of the magnetic response members 3 are gathered corresponding to the position of the secondary coil 23. The amount of the magnetic response member 3 corresponding to the position of the secondary coils 22 and 24 is small, and the amount of the magnetic response member 3 corresponding to the position of the secondary coil 21 is zero. In this way, an output signal that responds to the distribution of the magnetic response member 3 in the storage space 1a can be obtained from the coil portion 2, and based on this, the direction of the inclination can be detected, and the magnitude of the inclination ( (Tilt angle) can be detected.
[0021]
The configuration of the coil unit 2 to be used for detecting the distribution of the magnetic response member 3 in the storage space 1a is not limited as long as the distribution of the magnetic response member 3 can be detected in some form. It may be configured.
For example, assuming the X and Y coordinates with the origin 0 as the center O of the circumferential coil (pole) arrangement as shown in FIG. 2D, the direction of the inclination is omnidirectionally determined by the X and Y coordinates. Can be represented. For example, if the coils 21 and 23 correspond to the X axis and the coils 22 and 24 correspond to the Y axis, the coil 21 is in the plus X direction, the coil 22 is in the plus Y direction, and the coil 23 is in the minus X direction. The coil 24 is positioned in the minus Y direction. Therefore, the pole where the secondary coil 21 is arranged is the plus X pole (x in the figure), the pole where the secondary coil 22 is arranged is the plus Y pole (y in the figure), and the pole where the secondary coil 23 is arranged. The minus X pole (/ x in the figure) is represented as the minus Y pole (/ y in the figure).
In the specification, for convenience of description, a bar symbol indicating inversion is described as “/ (slash)”, which corresponds to the bar symbol in the figure.
[0022]
By obtaining the difference between the positive and negative coil output signals of the same axis, the coordinate value for the axis can be obtained. For example, when the output amplitude levels of the secondary coils 22 and 24 are the same, the Y-axis coordinate value is 0, indicating that the gradient component in the Y-axis direction is 0.
Therefore, an example of a circuit related to each coil in the coil unit 2 is as shown in FIG. That is, all the primary coils 11 to 14 are excited with a common AC signal (for example, abbreviated as sin ωt), and the difference between the output signals of the secondary coils 21 and 23 along the X axis is obtained by the difference circuit 25 (difference) The X-axis coordinate detection signal Sx is obtained as the difference signal. Further, the difference between the output signals of the secondary coils 22 and 24 along the Y axis is obtained by a difference circuit 26 (differential connection may be used), and a Y axis coordinate detection signal Sy is obtained as the difference signal. Since the quadrants and polar coordinates of the coordinates are determined from the signals Sx and Sy of the X and Y coordinate values obtained in this way, the direction and magnitude of the inclination are obtained by appropriately processing these signals Sx and Sy by the determination processing circuit 27. The thickness (tilt angle) can be detected. A rectifier circuit is provided on either the input side or the output side of the difference circuits 25 and 26, and the output signals Sx and Sy indicating the X and Y coordinate values are set to DC voltage level values. This voltage level value does not need to be an analog value, and may be appropriately digitally converted. Therefore, the determination processing circuit 27 may be an analog arithmetic circuit or a digital circuit.
[0023]
In general, the polar coordinate declination θ corresponds to the direction of inclination, and the radius ρ corresponds to the magnitude of the inclination (inclination angle). Therefore, in the determination processing circuit 27, for example, a known orthogonal coordinate-polar coordinate represented by the following equation: By using the conversion formula, the polar coordinate declination θ and the radial ρ are obtained from the signals Sx and Sy of the X and Y coordinate values, and based on this, data for detecting the direction and magnitude (tilt angle) of the tilt is obtained. can do. In the following formula, x and y are X and Y coordinate values indicated by the signals Sx and Sy.
[Expression 1]

[0024]
It should be noted that not only a strict polar coordinate conversion formula but also a rough inclination direction can be determined by using a simple table for determining a quadrant of coordinates from the signals Sx and Sy. Moreover, you may make it determine rough magnitude | size (inclination angle) based on the output level of each coil 21-24, without using a difference signal (Sx, Sy). For example, the inclination angle is determined based on the output voltage value of the maximum level coil among the output signal levels of the coils 21 to 24. In that case, an appropriate correction calculation may be performed in consideration of the inclination direction determination result.
In addition, as a specific method of determining the tilt direction and the tilt amount based on the output signal of the coil unit 2, an appropriate configuration in design may be employed.
[0025]
As another example, assuming that the coil unit 2 is a rotary resolver, the poles (X, Y, / X, / Y) of four secondary coils 21 to 24 arranged at intervals of 90 degrees are represented by sine phase, As the cosine phase, minus sine phase, and minus cosine phase, the same output signal as the two-phase resolver output signal of sine and cosine is taken out, and the phase angle data is obtained from the output signal, so that the phase angle data is polar coordinates. Can be obtained as data corresponding to the deviation angle θ.
When the resolver principle is adopted, the amplitude function of the inductive output AC signal generated in the secondary coils 21 to 24 corresponding to each pole (X, Y, / X, / Y) of the coil unit 2 is a sine function, cosine function, The arrangement of the secondary coils 21 to 24 and the magnetic property and amount of the magnetic response member 3 are set so as to correspond to the minus sine function and the minus cosine function, respectively. Depending on various conditions, the arrangement of each coil can be changed slightly, and the magnetic properties and amount of the magnetic response member 3 can also be changed, so that the arrangement of each coil can be adjusted appropriately to obtain a desired function characteristic, or By adjusting the secondary output level by electrical amplification, a desired amplitude function characteristic can be finally obtained. Therefore, although the arrangement of the secondary coils 21 to 24 and the magnetic response member 3 and the amount are important, absolute accuracy is not required and can be set or changed as appropriate in design.
[0026]
When the resolver principle is adopted, as shown in FIG. 5, the primary and secondary coils of the coil unit 2 constitute a circuit. The X-axis (sine phase) secondary coils 21 and 23 are differentially connected, and the Y-axis (cosine phase) secondary coils 22 and 24 are differentially connected to take out two output signals. The coil connection is the same as in FIG. 4, but no rectifier circuit is provided. Inductive output signals of the secondary coils 21 to 24 are amplitude-modulated with the two-phase function characteristics sinθ and cosθ and the opposite-phase function characteristics −sinθ and −cosθ corresponding to the deflection angle θ indicating the tilt direction. Can be output respectively. For convenience of explanation, coefficients according to other conditions such as the number of turns of the coil are omitted, and the output signal of the secondary coil 21 (sine phase) is indicated by “sinθ · sinωt”, and the output signal of the secondary coil 22 (cosine phase) is indicated. It is indicated by “cos θ · sin ωt”. Further, the output signal of the secondary coil 23 (minus / sine phase) is indicated by “−sin θ · sin ωt”, and the output signal of the secondary coil 24 (minus / cosine phase) is indicated by “−cos θ · sin ωt”. A first output AC signal A (= 2sinθ · sinωt) having an amplitude function of a sine function is obtained by differentially combining the induction outputs of the sine phase and the minus sine phase. Further, a second output AC signal B (= 2 cos θ · sin ωt) having an amplitude function of a cosine function is obtained by differentially combining the induction outputs of the cosine phase and the minus cosine phase. In order to simplify the expression, the coefficient “2” is omitted, and in the following, the first output AC signal A is represented by “sinθ · sinωt”, and the second output AC signal B is represented by “cosθ · sinωt”. ".
[0027]
Thus, the first output AC signal A = sinθ · sinωt having the first function value sinθ corresponding to the declination angle θ as the amplitude value and the second function value cosθ corresponding to the same declination angle θ as the amplitude value. The second output AC signal B = cos θ · sin ωt is output. According to such a coil configuration, two output AC signals A and B (signatures) having an in-phase AC and a two-phase amplitude function similar to those obtained in a resolver conventionally known as a rotary position detecting device. It can be understood that an output and a cosine output can be obtained from the coil section 2.
The two-phase output AC signals (A = sin θ · sin ωt and B = cos θ · sin ωt) output from the coil unit 2 can be used in the same manner as the output of a conventionally known resolver. For example, as shown in FIG. 5, the output AC signals A and B of the coil unit 2 are input to an appropriate digital phase detection circuit 40, and the phase value θ of the sine function sin θ and the cosine function cos θ is detected by a digital phase detection method. Thus, the digital data Dθ of the deflection angle θ can be obtained. Thus, the digital data Dθ indicating the polar angle θ can be obtained by the phase angle detection process according to the resolver principle, and the tilt direction of the detection target can be detected.
[0028]
In this case, the magnitude of the inclination (inclination angle) can be determined as appropriate by application and modification of the polar coordinate formula shown in Equation 1 above. For example, in the determination processing circuit 28 of FIG. 5, a signal obtained by rectifying the output signals of the secondary coils 21 to 24 is input, the signal of the maximum level is detected from this input signal, and the quadrant of the polar coordinates is determined therefrom. If the maximum level value is the x value or y value of the Cartesian coordinates, and the radial angle ρ is obtained from the polar coordinate formula using the deviation angle θ obtained based on the digital data Dθ, the magnitude of the inclination (inclination) Corner) can be detected.
As the digital phase detection method adopted in the digital phase detection circuit 40, a known RD (resolver-digital) converter may be applied, or a new method developed by the present inventors is adopted. Also good.
The storage space of the storage body 1 is not limited to a ring shape, but may be a curved surface shape such as a convex curved surface or a concave curved surface. That is, the storage space of the storage body 1 only needs to have a shape that allows the fluid magnetic response member 3 therein to be appropriately displaced in accordance with gravity in response to the inclination.
[0029]
In each embodiment, the primary coils do not have to be provided in one-to-one correspondence with the secondary coils 21 to 24, and only one or a suitable number is provided so as to cover the entire secondary coils 21 to 24. It may be provided only. FIG. 7 shows an example thereof, in which one primary coil 15 is provided so as to surround the outside of the arrangement of the secondary coils 21 to 24. Thus, when providing the one primary coil 15, you may provide inside the arrangement | positioning of the secondary coils 21-24.
Further, the number of coils and the arrangement of the coils in the coil unit 2 are not limited to those shown in the above embodiments, and various design changes can be made. For example, the configuration is not limited to the coil configuration including four poles as in the above-described embodiment, and may be arbitrary such as 6 poles, 8 poles, or 12 poles.
[0030]
Next, a specific example of the linear sensor 200 will be described with reference to FIG.
FIG. 6 is drawn with the Z-axis (vertical direction) sideways for convenience of illustration. As described above, the linear sensor 200 includes a movable portion 204 that is interlocked with the pusher 201, a magnetic response member 203 provided in the movable portion 204, and a coil portion 202 that is disposed at a predetermined position. The movable part 204 is connected to the pusher 201 to be detected, and can be displaced linearly and reciprocally in conjunction with the change in the linear position of the pusher 201. On the other hand, the coil part 202 is appropriately arranged. Fixed to. Thus, the movable unit 204 is linearly displaced relative to the coil unit 202 in conjunction with the linear position to be detected. Needless to say, conversely, the movable portion 204 may be fixed by displacing the coil portion 202 in conjunction with the pusher 201 which is a linear displacement detection target. In short, the linear sensor 200 detects the linear position of the movable unit 204 relative to the coil unit 202. The direction of this relative linear displacement is indicated by an arrow with the symbol Z in the figure.
[0031]
Coil unit 202 includes primary coils PW1 to PW5 excited by a one-phase AC signal and a plurality of secondary coils SW1 to SW4 arranged at different positions with respect to linear displacement direction Z. In order to clarify these primary and secondary coil configurations, the coil portion 202 is shown to include a cross section in FIG. 6, but actually, as shown supplemented by a dotted line, a rod-shaped movable portion. An appropriate gap is formed around the periphery of the coil 204, and the coil is wound. Since the excitation is commonly performed by the one-phase AC signal, the number of primary coils PW1 to PW5 may be one or an appropriate plural number, and the arrangement thereof may be appropriate. However, the primary coils PW1 to PW5 are appropriately separated and arranged so that the secondary coils SW1 to SW4 are sandwiched between them as shown in FIG. 6, for example. This is preferable because the generated magnetic field can be effectively exerted on the individual secondary coils SW1 to SW4 and the magnetic response member 203 of the movable portion 204 can be effectively affected on the magnetic field.
[0032]
The rod-shaped movable portion 204 is formed by repeatedly providing one or more magnetic response members 203 having a predetermined magnetic response characteristic at a predetermined pitch p along the linear displacement direction within the predetermined range. As already known, the magnetic response member 203 is made of a magnetic material such as iron or nickel, or a non-magnetic conductor such as copper or aluminum, so that the magnetic permeability, magnetic resistance, or vortex can be obtained. Since a predetermined magnetic response characteristic such as current loss can be provided, the magnetic response member 203 may be configured using an appropriate material as such. As the material of the base rod of the movable portion 204, an appropriate material such as a magnetic material, a non-magnetic material, or a conductor may be used, and what kind of material is used depends on the material and / or shape of the magnetic response member 203. It depends on the balance. In short, it is only necessary that the magnetic response characteristics exerted on the coil portion 202 are different between the place where the magnetic response member 203 exists and the place where the magnetic response member 203 does not exist. In addition, as a method of forming the magnetic response member 203 on the base rod of the movable portion 204, an appropriate method such as sticking, bonding, caulking, cutting, plating, vapor deposition, or baking may be used.
[0033]
The magnetic coupling between the primary coils PW1 to PW5 and the secondary coils SW1 to SW4 is achieved by changing the corresponding position of the magnetic response member 203 of the movable part 204 with respect to the coil part 202 in accordance with the change of the linear position as the detection target. Is changed in accordance with the detection target linear position, whereby the induction output AC signal whose amplitude is modulated in accordance with the detection target linear position varies depending on the displacement of the arrangement of the secondary coils SW1 to SW4. Due to the characteristics, it is induced in each of the secondary coils SW1 to SW4. Each induction output AC signal induced in each of the secondary coils SW1 to SW4 has the same electrical phase because the primary coils PW1 to PW5 are commonly excited by the one-phase AC signal, and the amplitude thereof. The displacement of the function periodically changes with one cycle corresponding to one pitch p of the repetitive pitch of the magnetic response member 203.
[0034]
The four secondary coils SW1 to SW4 are arranged at a predetermined interval within a range of 1 pitch p of the repetition pitch of the magnetic response member 203, and the amplitude function of the induction output AC signal generated in each secondary coil SW1 to SW4 is It is set to show the desired characteristics. For example, when configured as a resolver type position detection device, the amplitude function of the induction output AC signal generated in each secondary coil SW1 to SW4 is sine function, cosine function, minus sine function, minus cosine function, respectively. Set to correspond. For example, as shown in FIG. 6, the range of 1 pitch p is divided into four and arranged at each divided position shifted by p / 4. Thereby, the amplitude function of the induction output AC signal generated in each of the secondary coils SW1 to SW4 can be set so as to correspond to the sine function, the cosine function, the minus sine function, and the minus cosine function, respectively. Of course, depending on various conditions, the arrangement of each coil can change slightly, so that each coil arrangement can be adjusted appropriately to obtain the desired function characteristics, or the secondary output level can be adjusted by electrical amplification, A desired amplitude function characteristic is finally obtained.
[0035]
For example, if the output of the secondary coil SW1 corresponds to a sine function (indicated by s in the figure), the output of the secondary coil SW3 arranged so as to be shifted by p / 2 with respect to this is a minus sine function (see FIG. The first output AC signal having the amplitude function of the sine function can be obtained by differentially combining the outputs of both. In addition, the output of the secondary coil SW2 that is arranged by shifting p / 4 from the secondary coil SW1 corresponding to the sine function output corresponds to the cosine function (indicated by c in the figure), and only p / 2 for this. The output of the shifted secondary coil SW4 corresponds to a minus cosine function (/ c (c bar) is added in the figure), and the amplitude of the cosine function is obtained by differentially synthesizing both outputs. A second output AC signal having a function is obtained. . In the specification, for convenience of description, a bar symbol indicating inversion is described as “/ (slash)”, which corresponds to the bar symbol in the figure.
[0036]
FIG. 7 is a circuit diagram of the coil unit 202, and a common excitation AC signal (indicated by sin ωt for convenience of description) is applied to the primary coils PW1 to PW5. In response to the excitation of the primary coils PW1 to PW5, an AC signal having an amplitude value corresponding to the corresponding position of the magnetic response member 203 with respect to the coil part 202 of the movable part 204 is induced in each of the secondary coils SW1 to SW4. The respective induced voltage levels indicate two-phase function characteristics sinθ and cosθ and opposite phase function characteristics −sinθ and −cosθ corresponding to the detection target linear position x. That is, the induction output signals of the secondary coils SW1 to SW4 correspond to the detection target linear position in the Z-axis direction, that is, 2 corresponding to the operation amount of the movable unit 204 in the Z-axis direction (this is referred to as “x” for convenience). It is output in a state where it is amplitude-modulated by the phase function characteristics sinθ, cosθ and its opposite phase function characteristics -sinθ, -cosθ. In this case, θ is proportional to x, and for example, θ = 2π (x / p). For convenience of explanation, coefficients according to other conditions such as the number of turns of the coil are omitted, and the output signal is indicated as “sinθ · sinωt” with the secondary coil SW1 as the sine phase, and the output is indicated with the secondary coil SW2 as the cosine phase. The signal is indicated by “cos θ · sin ωt”. Further, the output signal is indicated by “−sin θ · sin ωt” with the secondary coil SW 3 as a minus / sine phase, and the output signal is indicated by “−cos θ · sin ωt” with the secondary coil SW 4 as a minus / cosine phase. A first output AC signal (2 sin θ · sin ωt) having an amplitude function of a sine function is obtained by differentially combining the induction outputs of the sine phase and the minus sine phase. Further, a second output AC signal (2 cos θ · sin ωt) having an amplitude function of a cosine function is obtained by differentially combining the cosine phase and the minus cosine phase induction outputs. In order to simplify the expression, the coefficient “2” is omitted, and in the following, the first output AC signal is represented by “sinθ · sinωt”, and the second output AC signal is represented by “cosθ · sinωt”. Represent.
In the description of the operation of the linear sensor 20, as in the description of the tilt sensor 100, the sign of the phase angle is “θ” for convenience, but “θ” used in the description of the tilt sensor 100 is linear. Of course, “θ” used in the description of the sensor 20 is unique. That is, “θ” used in the description of the tilt sensor 100 indicates the tilt direction about the X and Y axes as described above, whereas “θ” used in the description of the linear sensor 20 is As described above, this corresponds to the linear displacement in the Z-axis direction.
[0037]
Thus, the first output AC signal A = sinθ · sinωt having the first function value sinθ corresponding to the detection target linear position x as the amplitude value and the second function value cosθ corresponding to the same detection target linear position x are obtained. A second output AC signal B = cos θ · sin ωt having an amplitude value is output. According to such a coil configuration, two output AC signals (sine output and sine output) having an in-phase AC and a two-phase amplitude function similar to those obtained in a conventionally known resolver which is a rotary position detecting device are used. It can be seen that a cosine output) can be obtained in a linear position detector. Therefore, the two-phase output AC signals (A = sin θ · sin ωt and B = cos θ · sin ωt) obtained from the linear sensor 200 can be used in the same manner as the output of a conventionally known resolver. For example, as in the example of FIG. 5, in FIG. 7, digital data corresponding to the phase value θ is obtained by inputting these two-phase output AC signals A and B to the digital phase detection circuit 40 and detecting the digital phase. This can be used as the detection data Dz of the operation amount in the Z-axis direction. In this case, a hardware circuit that can be commonly used for the digital phase detection circuit 40 can be shared in time division between the tilt sensor 100 and the linear sensor 200.
Note that, as described above, the configuration in which the four secondary coils SW1 to SW4 are arranged at a predetermined interval within the range of 1 pitch p of the magnetic response member 203 is that the size of the entire coil portion 202 is reduced to the magnetic response member. Since it can be accommodated in a relatively small size that substantially corresponds to the range of 1 pitch of 203, it is useful for reducing the overall configuration of the linear sensor 200.
[0038]
As one embodiment of the movable portion 204, a piano wire is used as the base rod, a predetermined metal piece is used as the magnetic response member 203, and the metal as the magnetic response member 203 is disposed around the movable portion 204 made of piano wire. The magnetic response members 203 arranged repeatedly at the predetermined pitch may be configured by repeatedly disposing one or more pieces at a predetermined pitch and caulking each metal piece. The structure of such a movable part 204 is simply to prepare a piano wire of a desired length and a desired number of metal pieces, and only caulk the metal pieces to the piano wire at a desired pitch. Since it can be manufactured, the configuration is very simple, the manufacturing is very easy, and the manufacturing cost can be extremely low, which is quite significant. In addition, the diameter of the movable portion 204, that is, the movable core portion, is small enough to add the thickness of the metal piece (magnetic response member 203) to the diameter of the piano wire. Accordingly, the diameter of each coil of the coil portion 202 is also increased. Since it can be made quite small, it is possible to provide the linear sensor 200 that is considerably miniaturized as a whole.
[0039]
Further, in that case, an existing spring pin may be used as the metal piece as the magnetic response member 203. When such a spring pin is used, it is possible to very easily perform the caulking process, and also to secure the caulking. Moreover, it is very advantageous because it is inexpensive. When the metal piece for forming the magnetic response member 203 is a rectangular piece in a developed state, when the metal piece is caulked around a rod (piano wire), as shown in FIG. 6, the magnetic response member 203 becomes a substantially cylindrical shape. However, the present invention is not limited to this, and the metal piece for forming the magnetic response member 203 may be a substantially circular or elliptical metal piece in the developed state. In addition, the shape and material of the magnetic response member 203 are arbitrary. Of course, a fluid magnetic material can be used in the same manner as the magnetic response member 3 of the tilt sensor 100.
Of course, the detection principle of the linear sensor 200 is not limited to that according to the linear resolver principle as described above, but other types such as a known differential transformer type or a two-phase AC excitation one-phase output type. The phase-shift type inductive linear sensor described in the related art section may be used.
[0040]
In the example of FIG. 1, the operation in the Z-axis direction is performed by moving the pusher 201 and the movable unit 204 relatively up and down relative to the main body of the stick unit 10. However, the present invention is not limited to this, and an operation in the Z-axis direction may be performed by moving the main body of the stick unit 10 up and down. FIG. 8 is a partial sectional side view in the Z-axis direction showing an example in that case.
In FIG. 8, the stick part 10 is configured such that an integral part (shown in a schematic side view) including a top part 10a and a rod-like part 10b can move up and down relatively in the Z-axis direction with respect to a grip part 10d (shown in cross section). It has become. That is, the rod-shaped portion 10b is inserted into the grip portion 10d from below, the rod-shaped portion 10b is biased upward by the spring 10e, and is regulated to the initial position of displacement 0 by the collar-shaped stopper 10f. When the operator holds the grip portion 10d and pushes the top portion 10a with the thumb, the rod-like portion 10b integrated with the top portion 10a is moved downward in the Z-axis direction. In this case, the tilt sensor 100 may be appropriately provided in the top portion 10a as in the example of FIG. 1, but the linear sensor 200 is provided with the coil portion 202 at a predetermined position inside the grip portion 10d, and the magnetic response member 203. Is appropriately provided around a predetermined position below the rod-like portion 10b.
[0041]
Next, one embodiment of a three-dimensional operation detection apparatus according to the second aspect of the present invention will be described with reference to FIG. In the embodiment of FIG. 9, the operation in the Z-axis direction can be performed by the operation of swinging the stick portion 10 in the Z-axis direction (up and down).
In FIG. 9, the top portion 10a of the stick portion 10 is shown in a side view, and an appropriate inclination sensor 100 is provided in the inside as in FIG. The rod-like portion 10b of the stick portion 10 is shown in a partial cross-section by cutting out a portion in which the linear sensor 200 'is built. The linear sensor 200 'detects an operation in the Z-axis direction based on an operation of swinging the stick unit 10 in the Z-axis direction (up and down).
The linear sensor 200 'moves in accordance with gravity in the storage space 205 extending along the Z-axis direction inside the rod-shaped portion 10b, the coil portion 202 provided around the storage space 205, and the storage space 205. And a magnetic response member 203 ′ that is freely stored. As the magnetic response member 203 ′, a magnetic body of an appropriate size (may be an appropriate shape such as a sphere or a disk) that can freely move in the space 205 according to gravity can be used, or an appropriate amount can be used. The magnetic fluid or magnetic powder may be used. As a result, the magnetic response member 203 ′ is displaced relative to the coil portion 202 in the storage space 205 due to the inertial action by the operation of swinging the stick portion 10 in the Z-axis direction (up and down). A detection output signal corresponding to the movement can be output from the coil unit 202.
[0042]
Next, an embodiment of a three-dimensional operation detection apparatus according to the third aspect of the present invention will be described with reference to FIG. The embodiment of FIG. 10 can be used as a three-dimensional operation input means by arbitrarily placing it on a table or the like, or semi-fixedly, without using a hand-held stick-shaped stick portion 10. It is what I did.
FIG. 10A is a plan view along the XY axis direction, and FIG. 10B is a schematic cross-sectional view along the Z axis. The appearance of this three-dimensional operation detection apparatus is composed of an upper operation unit 10a and a lower base unit 10b. The operation unit 10a is disposed so as to be tiltable in the X-axis and Y-axis directions and vertically movable in the Z-axis direction with respect to the base unit 10b. The operation unit 10 a is provided with the tilt sensor 100 on the lower side and the movable unit 204 of the linear sensor 200. A magnetic response member 203 of the linear sensor 200 is provided at a predetermined position below the movable portion 204 as in the example of FIG. Moreover, the coil part 202 of the linear sensor 200 is provided in the predetermined location inside the base part 10b similarly to the example of FIG. Thus, the specific configurations of the tilt sensor 100 and the linear sensor 200 may use the same configurations as those of the missing embodiments described in this specification.
[0043]
When viewed from the top, the approximate center of the circular operation portion 10a swells appropriately, and this corresponds to the Z pusher portion 10z for applying an operation in the Z-axis direction. A ring-shaped plane around the Z pusher portion 10z in the operation portion 10a corresponds to the XY pusher portion 10xy for applying an arbitrary tilting operation in the X-axis and Y-axis directions. The operation portion 10a is supported below the ring-shaped XY pusher portion 10xy so as to be movable up and down with respect to the base portion 10b via springs 10c at least at four points spaced by 90 degrees.
With this configuration, when an arbitrary point of the ring-shaped XY pusher portion 10xy in the operation portion 10a is pressed with a finger, the operation portion 10a is tilted in the pressed direction. The inclination of the operation unit 10a is detected by the inclination sensor 100 as described above. Further, when the center Z pusher portion 10z in the operation portion 10a is pressed with a finger, the entire operation portion 10a moves downward (in the Z-axis direction). The displacement of the operation unit 10a in the Z-axis direction is detected by the linear sensor 200 as described above.
The base unit 10b may be fixed at an arbitrary place of use, and the detection device may be installed semi-fixed. Alternatively, the entire apparatus including the operation unit 10a and the base unit 10b may be portable, and the detection apparatus may be used at an arbitrary place.
[0044]
In each of the above embodiments, the operation in the Z-axis direction is performed only in the downward direction. However, the present invention is not limited to this, and the operation may be arbitrarily performed in both the upper and lower directions. Examples thereof are as shown in FIGS.
FIG. 11 shows a modification of FIG. 1, and the same reference numerals denote the same devices. In the example of FIG. 11, a pusher 206 for performing an upward operation is provided at the lower end of the rod-like portion 10 b of the stick portion 10. The pusher 206 is connected to the lower end of the movable portion 204. Similar to the pusher 201, the pusher 206 is made of an elastic body such as rubber. With this configuration, a downward operation in the Z-axis direction can be performed by pressing the upper pusher 201, and an upward operation in the Z-axis direction can be performed by pressing the lower pusher 206.
FIG. 12 shows an example in which the upper end of the movable portion 204 is protruded to the outside, and the upper end can be pushed downward with a finger or lifted upward by pinching with a finger. A spring 207 is provided at the lower end of the movable portion 204 or at an appropriate place. When the movable portion 204 is not operated, the spring 207 is in a neutral position, and the spring 207 extends according to the upward and downward movement of the movable portion 204. It shrinks. An appropriate stopper portion 208 for limiting the vertical movement range of the movable portion 204 is provided. This structure is applicable not only to the type of FIG. 1 but also to the type of FIG.
[0045]
Next, another embodiment of the tilt sensor 100 will be described.
The tilt sensor 100 shown in FIG. 2 is an example in which the tilt of the XY coordinate plane is detected at once by one sensor. However, the tilt sensor 100 is not limited to this, and two tilt meters for one direction (for one axis) are combined. Biaxial tilt detection may be performed.
FIG. 13 is an axial cross-sectional view showing an example of a uniaxial inclinometer 100X that can be used for such a purpose. A storage body 101 made of a non-magnetic material such as plastic or stainless steel has a shape like a winding shaft, and a passage 101a bent downward is provided inside the shaft as shown in the figure. . A magnetic response member 103 having an appropriate size or amount is accommodated in the passage 101a so as to be movable according to gravity. In the example of FIG. 13, the magnetic response member 103 is made of a magnetic material such as iron having a spherical shape. One or a plurality of coils 111 to 115 and 121 to 124 are sequentially arranged and wound around the passage 101a of the storage body 101, that is, around the winding shaft. The coil part 102 is comprised by these coils 111-115, 121-124. Note that both ends of the passage 101a are closed so that the magnetic response member 103 inside does not pop out.
[0046]
With the above configuration, the inductive coupling in the coil portion 102 changes according to the linear position of the magnetic response member 103 in the passage 101a, that is, the relative linear position of the magnetic response member 103 with respect to the coil portion 102, and the output corresponding to this. A signal can be obtained from the coil unit 102. Therefore, a detection output signal corresponding to the linear position of the magnetic response member 103 in the passage 101a can be obtained from the coil section 102.
Here, since the passage 101a of the storage body 101 is bent downward, when the storage body 101 is placed in a horizontal position, the magnetic response member 103 in the passage 101a always has a predetermined weight due to its own weight. It is located at the position (the lowest position corresponding to inclination 0). When the storage body 101 is tilted, the magnetic response member 103 is linearly displaced along the passage 101a accordingly, and a detection output signal corresponding to the linear position of the magnetic response member 103 in the passage 101a is obtained from the coil section 102. It is done. Therefore, the output signal of the coil unit 102 responds to the inclination of the storage body 101 and can be appropriately used as a detection signal of the inclination.
[0047]
Any detection principle by the coil unit 102 can be used. As a simple example, there can be a pickup coil system. That is, the linear position of the magnetic response member 103 in the passage 101a can be detected by specifying the coil closest to the magnetic response member 103 based on the output signal levels of the plurality of coils arranged along the passage 101a. Therefore, the degree of inclination of the storage body 101 can be detected / detected. As an example for detecting the linear position of the magnetic response member 103 more finely, the coil unit 102 can be configured according to the linear differential transformer principle. That is, one or a plurality of linear differential transformers are configured as the coil unit 102, and the pickup is obtained by combining the output voltage value of the linear differential transformer and data indicating from which linear differential transformer the output is obtained. The linear position of the magnetic response member 103 can be detected with a finer accuracy than the coil method.
[0048]
In order to be able to detect the linear position of the magnetic response member 103 with a finer accuracy and more accurately, the coil unit 102 may be configured according to the resolver principle.
When the coil unit 102 is configured according to the resolver principle, it includes primary coils 111 to 115 that are excited by a one-phase AC signal and a plurality of secondary coils 121 to 124. The secondary coils 121 to 124 are arranged at predetermined intervals along the passage 101a. On the other hand, since it is commonly excited by a one-phase AC signal, the number of primary coils 111 to 115 may be one or an appropriate plural number, and the arrangement thereof may be appropriate. However, if the primary coils 111 to 115 are appropriately separated and arranged such that the secondary coils 121 to 124 are sandwiched between the primary coils 121 to 124, for example, as shown in FIG. This is preferable because the generated magnetic field can be effectively applied to the individual secondary coils 121 to 124 and the magnetic response member 103 can be effectively affected by the magnetic field.
[0049]
Depending on the linear position of the magnetic response member 103 in the passage 101a, the corresponding position of the magnetic response member 103 with respect to the coil portion 102 changes, so that the magnetic coupling between the primary coils 111 to 115 and the secondary coils 121 to 124 is achieved. The inductive output AC signal that is changed according to the linear position and is amplitude-modulated according to the linear position has different amplitude function characteristics depending on the displacement of the respective secondary coils 121 to 124, and each 2 It is induced in the next coils 121-124. The inductive output AC signals induced in the secondary coils 121 to 124 have the same electrical phase and the same amplitude because the primary coils 111 to 115 are commonly excited by the one-phase AC signal. The function has a phase shifted according to the displacement of the arrangement of the secondary coils 121 to 124.
That is, the amplitude function of the inductive output AC signal generated in the four secondary coils 121 to 124 can be set so as to exhibit desired characteristics, and when configured as a resolver type position detection device, each 2 The amplitude function of the induction output AC signal generated in the next coils 121 to 124 can be set so as to correspond to a sine function, a cosine function, a minus sine function, and a minus cosine function, respectively. Depending on various conditions, the arrangement of each coil can change slightly, so the arrangement and number of turns of each coil can be adjusted as appropriate to obtain the desired functional characteristics, or the secondary output level can be adjusted by electrical amplification. The desired amplitude function characteristic is finally obtained.
[0050]
For example, if the output of the secondary coil 121 corresponds to a sine function (indicated by s in the figure), the output of the secondary coil 123 arranged so as to deviate by a predetermined distance (for example, p / 2). Is set to correspond to a minus sine function (/ s (s bar) is added in the figure), and a first output having an amplitude function of a sine function is obtained by differentially synthesizing both outputs. An AC signal can be obtained. In addition, the output of the secondary coil 122 arranged so as to be shifted from the secondary coil 121 corresponding to the sine function output by a half of the predetermined distance (for example, p / 4) is a cosine function (indicated by c in the figure). Correspondingly, the output of the secondary coil 124 arranged so as to be shifted by p / 2 is set so as to correspond to a minus cosine function (/ c (c bar) is added in the figure). The second output AC signal having an amplitude function of a cosine function can be obtained by differentially synthesizing the outputs.
[0051]
The shape of the magnetic response member 103 is not limited to a sphere, and may be a cylindrical shape or other appropriate shape. Further, the magnetic response member 103 is not limited to a solid member, and may be formed of an unfixed object such as a magnetic fluid or a magnetic powder. The material of the magnetic response member 103 is not limited to a magnetic material, and may be a good electrical conductor such as copper.
In FIG. 13, the appearance of the storage body 101 is like a bobbin or a winding shaft, but is not limited thereto, and may be formed by bending a tube. In that case, the coil portion 102 may be fitted around the bent tube (housing body 101).
Of course, the number and arrangement of the primary and secondary coils in the coil portion 102 can be variously modified and changed in design. Further, the number of phases of the secondary coil output signal is not limited to the two phases of sine and cosine, but may be another form, for example, a three-phase type shifted by 120 degrees.
[0052]
The inclinometer 100X as described above can detect the inclination in only one direction (one axis) along the direction of the passage 101a. In order to detect the inclination of the XY coordinate plane, at least one uniaxial inclinometer 100X as shown in the figure is provided for the X axis or the Y axis, and for the other axes, another type of suitable one direction. An inclinometer may be provided. Of course, two uniaxial inclinometers 100X of the same type as shown in FIG. 13 may be provided so as to be orthogonal to each other to constitute the inclination sensor 100 for detecting the inclination of the XY coordinate plane. FIG. 14 schematically shows an example thereof, in which two inclinometers 100X and 100Y are combined so as to cross each other at an angle of 90 degrees. Each inclinometer 100X, 100Y has the same configuration as the inclinometer 100X in FIG. As a result, the tilt (tilt component) in the X-axis direction of the detection target can be detected by the inclinometer 100X, and the tilt (tilt component) in the Y-axis direction of the detection target can be detected by the inclinometer 100Y. 14 may be modified so that the curvature of the passage 101a in the storage body 101 of each of the inclinometers 100X and 100Y corresponding to the X and Y axes may be increased.
[0053]
The first detecting means (tilt sensor 100) including the first coil part 2 and the magnetic response member 3 for detecting the operation of the X axis and the Y axis is not necessarily tilted as in the above embodiment. It need not be a detection device. For example, an apparatus that detects an operation that horizontally moves the stick unit 10 in the X-axis and Y-axis directions, that is, an acceleration or impact detection device may be used. Such an acceleration or impact detection device can be configured by the tilt sensor 100 described above, or can be configured by appropriately modifying the tilt sensor 100 described above. That is, the fluid magnetic response member 3 is displaced according to the inertial action in response to such momentary acceleration or impact, and can generate an output in response thereto. Further, even if the passage 101a of the uniaxial inclinometer 100 as shown in FIG. 13 is linear, an output signal that responds to such instantaneous acceleration or impact can be obtained.
[0054]
By the way, in implementing the three-dimensional operation detection apparatus according to the present invention, it is not necessary to have all the above-described configurations, and it is effective to have at least one. For example, the XY coordinate plane inclination detecting device for detecting the X-axis and Y-axis operations, that is, the inclination sensor 100, follows one of the configurations exemplified above, and the Z-axis operation detecting means is another appropriate linear detecting means ( An optical sensor, a permanent magnet, a linear sensor using a magnetization pattern, a potentiometer, or the like may be used. On the contrary, the Z-axis operation detection means may follow any configuration of the illustrated linear sensor 200, and the X-axis and Y-axis operation detection means may use other appropriate configurations other than the inductive sensor. An example of detection means other than the inductive sensor that can be used as the X-axis and Y-axis operation detection means is as follows. In the example of FIG. 10, the surface of the ring-shaped XY pusher portion 10xy of the operation portion 10a is used as a touch sensor. Possible examples of changes are possible. Of course, when such a modified example is adopted, the inductive tilt sensor 100 in FIG. 10 is omitted.
[0055]
Next, some examples of the digital phase detection circuit 40 shown in FIG. 5 will be described. Each example of the digital phase detection circuit 40 described below is applicable not only to the digital phase detection circuit 40 shown in FIG. 5 but also to the digital phase detection circuit 40 shown in FIG. The present invention can also be applied to the case where the phase of the output signal of the shown single-axis inclinometer 100X is digitally measured. However, in the following description, for the sake of convenience, it will be described as being used for measuring the phase of the output signal of the digital phase detection circuit 40, that is, the tilt sensor 100 shown in FIG.
FIG. 15 shows an example in which a known RD (resolver-digital) converter is applied as the digital phase detection circuit 40. Resolver type two-phase output AC signals A = sin θ · sin ωt and B = cos θ · sin ωt output from the secondary coils 21 to 24 of the coil unit 2 are input to the analog multipliers 30 and 31, respectively. The sequential phase generation circuit 32 generates digital data having a phase angle φ, and the sine / cosine generation circuit 33 generates analog signals having a sine value sinφ and a cosine value cosφ corresponding to the phase angle φ. The multiplier 30 multiplies the sine-phase output AC signal A = sinθ · sinωt by the cosine value cosφ from the sine / cosine generation circuit 33 to obtain “cosφ · sinθ · sinωt”. The other multiplier 31 multiplies the output AC signal B = cosθ · sinωt of the cosine phase by the sine value sinφ from the sine / cosine generation circuit 33 to obtain “sinφ · cosθ · sinωt”. The subtractor 34 obtains the difference between the output signals of the multipliers 30 and 31 and sequentially controls the phase generation operation of the phase generation circuit 32 by the output of the subtractor 34 as follows. That is, the generated phase angle φ of the sequential phase generation circuit 32 is first reset to 0, and then increases sequentially, and stops increasing when the output of the subtractor 34 becomes 0. The output of the subtractor 34 becomes zero when “cosφ · sinθ · sinωt” = “sinφ · cosθ · sinωt” is satisfied, that is, φ = θ is satisfied, and the phase generation circuit 32 sequentially The digital data of the phase angle φ coincides with the digital value of the phase angle θ of the amplitude function of the output AC signals A and B. Accordingly, a reset trigger is periodically applied at an arbitrary timing to sequentially reset the generated phase angle φ of the phase generation circuit 32 to 0, and the increment of the phase angle φ is started, and the output of the subtractor 34 is set to 0. Then, the increment is stopped and digital data of the phase angle θ is obtained.
It is known that the sequential phase generating circuit 32 includes an up / down counter and a VCO, and the VCO is driven by the output of the subtractor 34 to control the up / down counting operation of the up / down counter. In that case, a periodic reset trigger is not necessary.
[0056]
An error occurs in the electrical AC phase ωt in the secondary output AC signal due to changes in the impedance of the primary and secondary coils of the coil unit 2 due to temperature change or the like. In the phase detection circuit as described above, sinωt Convenient because the phase error is automatically canceled out. On the other hand, in a system in which an electrical phase shift is generated in a one-phase output AC signal by exciting with a conventionally known two-phase AC signal (for example, sinωt and cosωt), such a temperature change is caused. The output phase error based on it cannot be removed.
By the way, since the phase detection circuit composed of the conventional RD converter as described above is a follow-up comparison method, there is a problem that a clock delay occurs when φ is followed up and the response is poor.
Therefore, the present inventors have developed a novel phase detection circuit as described below, and it is convenient to use it.
[0057]
FIG. 16 shows an embodiment of a novel digital phase detection circuit 40 applicable to the tilt sensor 100 and others described above.
In FIG. 16, in the detection circuit unit 41, a counter 42 counts a predetermined high-speed clock pulse CK, and based on the count value, an excitation AC signal (for example, sinωt) is generated from the excitation signal generation circuit 43, and the coil unit 2 To the primary coils 11-14. The modulo number of the counter 42 corresponds to one cycle of the excitation AC signal. For convenience of explanation, it is assumed that 0 of the count value corresponds to 0 phase of the reference sine signal sinωt. Two-phase output AC signals A = sin θ · sin ωt and B = cos θ · sin ωt output from the secondary coils 21 to 24 of the coil unit 2 are input to the detection circuit unit 41.
[0058]
In the detection circuit unit 41, the first AC output signal A = sin θ · sin ωt is input to the phase shift circuit 44, and its electrical phase is phase-shifted by a predetermined amount, for example, advanced by 90 degrees, and phase-shifted AC signal A ′ = sin θ · cos ωt is obtained. In addition, the detection circuit unit 41 is provided with an addition circuit 45 and a subtraction circuit 46. In the addition circuit 45, the phase-shifted AC signal A ′ = sinθ · cosωt output from the phase shift circuit 44 and the coil The second AC output signal B = cos θ · sin ωt output from the secondary coils 21 to 24 of the unit 2 is added, and the added output is expressed by an abbreviated expression B + A ′ = cos θ · sin ωt + sin θ · cos ωt = sin (ωt + θ). A first electrical AC signal Y1 is obtained. In the subtracting circuit 46, the phase-shifted AC signal A ′ = sin θ · cos ωt and the second AC output signal B = cos θ · sin ωt are subtracted, and as a subtraction output, B−A ′ = cos θ · sin ωt− A second electrical AC signal Y2 that can be expressed by the following equation is obtained: sinθ · cosωt = sin (ωt−θ). Thus, the first electrical AC signal Y1 = sin (ωt + θ) having the electrical phase angle (+ θ) shifted in the positive direction corresponding to the distribution of the magnetic response member 3 in the storage space 1a, A second electrical AC signal Y2 = sin (ωt−θ) having an electrical phase angle (−θ) shifted in the negative direction corresponding to the same distribution is obtained by electrical processing.
[0059]
The output signals Y1 and Y2 of the adder circuit 45 and the subtractor circuit 46 are input to zero cross detection circuits 47 and 48, respectively, and the respective zero crosses are detected. As a method of detecting the zero cross, for example, a zero cross in which the amplitude values of the signals Y1 and Y2 change from negative to positive, that is, zero phase is detected. Zero-cross detection pulses detected by the circuits 47 and 48, that is, zero phase detection pulses are input to the latch circuits 49 and 50 as latch pulses LP1 and LP2. The latch circuits 49 and 50 latch the count value of the counter 42 at the timing of the respective latch pulses LP1 and LP2. As described above, the modulo number of the counter 42 corresponds to one cycle of the excitation AC signal, and the count value 0 corresponds to the 0 phase of the reference sine signal sinωt. The data D1 and D2 latched in the latch circuits 49 and 50 correspond to the phase shifts of the output signals Y1 and Y2 with respect to the reference sine signal sinωt, respectively. The outputs of the latch circuits 49 and 50 are input to the error calculation circuit 51 to calculate “(D1 + D2) / 2”. Note that this calculation may actually be performed by shifting the addition result of the binary data “D1 + D2” one bit lower.
[0060]
Here, in consideration of the influence of the length of the wiring cable between the coil unit 2 and the detection circuit unit 41 and the impedance change caused by the temperature change or the like in each primary and secondary coil of the coil unit 2, When the phase fluctuation error of the output signal is indicated by “± d”, the above signals in the detection circuit unit 41 are expressed as follows.
A = sin θ · sin (ωt ± d)
A ′ = sin θ · cos (ωt ± d)
B = cos θ · sin (ωt ± d)
Y1 = sin (ωt ± d + θ)
Y2 = sin (ωt ± d−θ)
D1 = ± d + θ
D2 = ± d−θ
[0061]
That is, since each phase shift measurement data D1, D2 performs phase shift count using the reference sine signal sinωt as a reference phase, a value including the phase variation error “± d” is obtained as described above. . Therefore, by calculating “(D1 + D2) / 2” in the error calculation circuit 51,

Thus, the phase variation error “± d” can be calculated.
[0062]
The data of the phase fluctuation error “± d” obtained by the error calculation circuit 51 is given to the subtraction circuit 52, and is subtracted from one phase shift measurement data D1. That is, in the subtraction circuit 52, “D1− (± d)” is subtracted.
D1− (± d) = ± d + θ− (± d) = θ
Thus, digital data indicating the correct detected phase difference θ from which the phase fluctuation error “± d” has been removed is obtained. Thus, according to the present invention, it can be understood that the phase variation error “± d” is canceled out and only the correct phase difference θ is extracted.
[0063]
This point will be further described with reference to FIG. FIG. 17 shows a waveform near the zero phase of the sine signal sinωt, which is a reference for phase measurement, and the first and second AC signals Y1 and Y2, and FIG. 17A shows a positive phase fluctuation error ( In the case of + d), (b) shows the case of minus (-d). In the case of FIG. 5A, the zero phase of the first signal Y1 advances by “θ + d” with respect to the zero phase of the reference sine signal sinωt, and the corresponding phase difference detection data D1 becomes “θ + d”. The corresponding phase difference is shown. Further, the zero phase of the second signal Y2 is delayed by “−θ + d” with respect to the zero phase of the reference sine signal sinωt, and the corresponding phase difference detection data D2 is a phase difference corresponding to “−θ + d”. Indicates. In this case, the error calculation circuit 51

Thus, the phase fluctuation error “+ d” is calculated. Then, by the subtraction circuit 52,
D1 − (+ d) = + d + θ − (+ d) = θ
Is calculated, and the correct phase difference θ is extracted.
[0064]
In the case of FIG. 17B, the zero phase of the first signal Y1 is advanced by “θ-d” with respect to the zero phase of the reference sine signal sinωt, and the corresponding phase difference detection data D1 is “θ -D "represents the phase difference. Further, the 0 phase of the second signal Y2 is delayed by “−θ−d” with respect to the 0 phase of the reference sine signal sinωt, and the corresponding phase difference detection data D2 becomes “−θ−d”. The corresponding phase difference is shown. In this case, the error calculation circuit 51

Thus, the phase fluctuation error “−d” is calculated. Then, by the subtraction circuit 52,
D1 − (− d) = − d + θ − (− d) = θ
Is calculated, and the correct phase difference θ is extracted.
In the subtracting circuit 52. It will be understood that “D2− (± d)” may be subtracted, and in principle, data (−θ) reflecting the correct phase difference θ can be obtained in the same manner as described above.
[0065]
Also, as can be understood from FIG. 17, the electrical phase difference between the first signal Y1 and the second signal Y2 is 2θ, and it is always accurate to cancel the phase fluctuation error “± d” between the two. This indicates a double value of the phase difference θ. Accordingly, the configuration of the circuit portion including the latch circuits 49 and 50, the error calculation circuit 51, the subtraction circuit 52, and the like in FIG. 16 is appropriately changed to a configuration for directly obtaining the electrical phase difference 2θ of the signals Y1 and Y2. It may be. For example, from the generation time point of the pulse LP1 corresponding to the 0 phase of the first signal Y1 output from the zero cross detection circuit 47, the pulse LP2 corresponding to the 0 phase of the second signal Y2 output from the zero cross detection circuit 48 is generated. Digital data corresponding to the electrical phase difference (2θ) that offsets the phase fluctuation error “± d” can be obtained by gating the period up to the point of occurrence by appropriate means and counting the gate period. If this is shifted down by 1 bit, data corresponding to θ can be obtained.
[0066]
In the above embodiment, the latch circuit 49 for latching + θ and the latch circuit 50 for latching −θ latch the output of the same counter 42, and the sign of the latched data is positive or negative. Is not specifically mentioned. However, an appropriate design process may be applied to the positive and negative signs of the data in accordance with the spirit of the present invention. For example, assuming that the modulo number of the counter 42 is 4096 (decimal number display), the digital counts 0 to 4095 may be appropriately processed according to the phase angle of 0 degrees to 360 degrees. In the simplest design example, the most significant bit of the count output of the counter 42 is a sign bit, the digital counts 0 to 2047 correspond to +0 degrees to +180 degrees, and the digital counts 2048 to 4095 are set to −180 degrees to −0 degrees. Correspondingly, arithmetic processing may be performed. Alternatively, as another example, by converting the input data or output data of the latch circuit 50 into a two's complement, the digital count 4095-0 can correspond to a negative angle data expression of -360 degrees to -0 degrees. May be.
[0067]
By the way, there is no particular problem when the tilt is stationary, but when the tilt to be detected changes with time, the corresponding phase angle θ also varies with time. In that case, the phase shift amount θ of each of the output signals Y1 and Y2 of the adder circuit 45 and the subtractor circuit 46 is not a constant value, but shows a dynamic characteristic that changes with time according to the moving speed, t), each output signal Y1, Y2 is
Y1 = sin {ωt ± d + θ (t)}
Y2 = sin {ωt ± d−θ (t)}
It becomes. That is, with respect to the frequency of the reference signal sinωt, the fast-phase output signal Y1 transitions in a frequency increasing direction according to + θ (t), and the slow-phase output signal Y2 according to −θ (t). The frequency transitions in the direction of decreasing frequency. Under such dynamic characteristics, the period of each signal Y1, Y2 transitions in the opposite direction one after another for each period of the reference signal sin ωt, so that each latch data D1, The measurement time reference for D2 is different, and an accurate phase variation error “± d” cannot be obtained by simply calculating both data D1 and D2 by the circuits 51 and 52.
[0068]
The simplest method for avoiding such a problem is that in the configuration of FIG. 16, the output when the detected inclination is moving in time is ignored, and only the output in the stationary state is used, and the stationary state is used. Is to limit the function of the device so as to measure the phase angle θ. That is, the present invention may be implemented for such a limited purpose.
However, it is desirable to be able to accurately detect the phase angle θ corresponding to the detection target inclination every moment even when the detection target inclination is changing over time. Therefore, in order to solve the above-described problems, the phase angle θ corresponding to the detection target inclination can be detected every moment even when the detection target inclination is changing over time. An improvement measure will be described with reference to FIG.
[0069]
FIG. 18 shows an example of modification of the error calculation circuit 51 and the subtraction circuit 52 in the detection circuit unit 41 of FIG. 16, and the configuration of other parts not shown is the same as FIG. Good. When the phase angle θ corresponding to the inclination direction when the detection target inclination changes with time is represented by + θ (t) and −θ (t), the output signals Y1 and Y2 can be expressed as described above. The The phase shift measured value data D1 and D2 obtained by the latch circuits 49 and 50 corresponding to the
D1 = ± d + θ (t)
D2 = ± d−θ (t)
It becomes.
In this case, ± d + θ (t) repeatedly changes in time in the plus direction in the range of 0 ° to 360 ° in accordance with the time change of θ. Further, ± d−θ (t) repeatedly changes in time in the minus direction in the range of 360 degrees to 0 degrees in accordance with the time change of θ. Therefore, there are cases where ± d + θ (t) ≠ ± d−θ (t), but there are also cases where the changes of both intersect, and in this case, ± d + θ (t) = ± d−θ (t) holds. . As described above, when ± d + θ (t) = ± d−θ (t) is satisfied, the electrical phases of the output signals Y1 and Y2 coincide with each other, and the latch corresponding to the respective zero-cross detection timings. The generation timings of the pulses LP1 and LP2 are the same.
[0070]
In FIG. 18, the coincidence detection circuit 53 detects that the generation timings of the latch pulses LP1 and LP2 corresponding to the zero cross detection timings of the output signals Y1 and Y2 coincide, and in response to this detection, the coincidence detection pulse. Generate an EQP. On the other hand, the time variation determination circuit 54 is a mode in which the detection target inclination changes with time by an appropriate means (for example, by detecting the presence or absence of temporal change in the value of one phase difference measurement data D1). It is determined that the time variation mode signal TM is output in accordance with this determination.
A selector 55 is provided between the error calculation circuit 51 and the subtraction circuit 52. When the time variation mode signal TM is not generated, that is, TM = “0”, that is, the detection target inclination changes with time. If not, the output of the error calculation circuit 51 applied to the selector input B is selected and input to the subtraction circuit 52. Thus, the circuit of FIG. 18 when the input B of the selector 55 is selected operates equivalently to the circuit of FIG. That is, when the detection target is stationary, the output data of the error calculation circuit 51 is directly given to the subtraction circuit 52 via the input B of the selector 55, and operates in the same manner as the circuit of FIG.
[0071]
On the other hand, when the time variation mode signal TM is generated, that is, when TM = “1”, that is, the detection target is temporally changing, the output of the latch circuit 56 applied to the input A of the selector 55 is selected. To the subtracting circuit 52. When the time variation mode signal TM is “1” and the coincidence detection pulse EQP is generated, the condition of the AND gate 57 is satisfied, and a pulse responding to the coincidence detection pulse EQP is output from the AND gate 57. A latch instruction is given to the latch circuit 56. The latch circuit 56 latches the output count data of the counter 42 in response to the latch instruction. Here, when the coincidence detection pulse EQP is generated, the output of the counter 42 is simultaneously latched in the latch circuits 49 and 50, so that D1 = D2, and the data latched in the latch circuit 56 is D1 or D2 ( However, this corresponds to D1 = D2).
[0072]
The coincidence detection pulse EQP is generated when the zero cross detection timings of the output signals Y1 and Y2 coincide, that is, when “± d + θ (t) = ± d−θ (t)” is established. Since the data latched in the latch circuit 56 in response to D1 corresponds to D1 or D2 (where D1 = D2),
(D1 + D2) / 2
Is equivalent to This means

This means that the data latched by the latch circuit 56 accurately indicates the phase fluctuation error “± d”.
[0073]
Thus, when the detection target fluctuates in time, data accurately indicating the phase fluctuation error “± d” is latched by the latch circuit 56 in accordance with the coincidence detection pulse EQP, and the output data of the latch circuit 56 is The signal is supplied to the subtraction circuit 52 via the input A of the selector 55. Accordingly, the subtracting circuit 52 can obtain data θ (or θ (t) in the case of temporal variation) that accurately responds to the detection target inclination direction from which the phase variation error “± d” has been removed.
In FIG. 18, the AND gate 57 may be omitted, and the coincidence detection pulse EQP may be directly applied to the latch control input of the latch circuit 56.
Further, the latch circuit 56 may latch not only the output count data of the counter 42 but also the output data “± d” of the error calculation circuit 51 as indicated by a broken line in FIG. In this case, the output timing of the output data of the error calculation circuit 51 corresponding to the generation timing of the coincidence detection pulse EQP is somewhat delayed because of the circuit operation delay of the latch circuits 49 and 50 and the error calculation circuit 51. Therefore, it is preferable to latch the output of the error calculation circuit 51 in the latch circuit 56 after performing an appropriate time delay adjustment.
In addition, it can be understood that when the detection circuit unit 41 is configured in consideration of only dynamic characteristics, the circuit 51 and selector 55 in FIG. 18 and one latch circuit 49 or 50 in FIG. 16 may be omitted. I will.
[0074]
FIG. 19 shows another embodiment of the phase difference detection calculation method that can cancel the phase fluctuation error “± d”.
The first and second AC output signals A and B of the resolver type output from the secondary coils 21 to 24 of the coil unit 2 are input to the detection circuit unit 60, and in the same manner as in the example of FIG. The AC output signal A = sin θ · sin ωt is input to the phase shift circuit 44, and the electrical phase is phase-shifted by a predetermined amount to obtain the phase-shifted AC signal A ′ = sin θ · cos ωt. The subtracting circuit 46 subtracts the phase-shifted AC signal A ′ = sin θ · cos ωt and the second AC output signal B = cos θ · sin ωt, and outputs B−A ′ = cos θ · An electrical AC signal Y2 can be obtained that can be expressed by the following equation: sinωt−sinθ · cosωt = sin (ωt−θ). The output signal Y2 of the subtraction circuit 46 is input to the zero cross detection circuit 48, and the latch pulse LP2 is output in response to the zero cross detection and input to the latch circuit 50.
[0075]
The embodiment of FIG. 19 differs from the embodiment of FIG. 16 in that a reference for measuring the phase shift amount θ from the AC signal Y2 = sin (ωt−θ) including the electrical phase shift corresponding to the detection target. The phase is different. In the example of FIG. 16, the reference phase when measuring the phase shift amount θ is the zero phase of the reference sine signal sinωt, and this is not input to the coil unit 2 of the inclinometer 10. This does not include a phase variation error “± d” based on a change in coil impedance due to a change or the like or other various factors. For this purpose, in the example of FIG. 16, two AC signals Y1 = sin (ωt + θ) and Y2 = sin (ωt−θ) are formed, and the phase difference error “± d” is obtained by obtaining the electrical phase difference. I try to offset it. On the other hand, in the embodiment of FIG. 19, a reference phase for measuring the phase shift amount θ is formed based on the first and second AC output signals A and B output from the coil unit 2. The phase fluctuation error “± d” is eliminated by making the reference phase itself include the phase fluctuation error “± d”.
[0076]
That is, in the detection circuit unit 60, the first and second AC output signals A and B output from the coil unit 2 are input to the zero cross detection circuits 61 and 62, respectively, and each zero cross is detected. Note that the zero cross detection circuits 61 and 62 respond to both the zero cross (so-called 0 phase) in which the amplitude values of the input signals A and B change from negative to positive and the zero cross (so-called 180 degree phase) in which the amplitude changes from positive to negative. A zero cross detection pulse is output. This is because sin θ and cos θ that determine the positive / negative polarity of the amplitudes of the signals A and B are arbitrarily positive or negative depending on the value of θ, and in order to detect a zero cross every 360 degrees based on the combination of both, This is because it is necessary to detect a zero cross every 180 degrees. The zero-cross detection pulses output from both the zero-cross detection circuits 61 and 62 are OR-combined by an OR circuit 63, and the output of the OR circuit 63 is an appropriate ½ frequency-dividing pulse circuit 64 (for example, 1 such as a T-flip-flop). / 2 frequency dividing circuit and pulse output AND gate), and every other zero cross detection pulse is taken out, and zero cross every 360 degrees, that is, zero cross detection pulse corresponding to only 0 phase is a reference phase signal. Output as a pulse RP. This reference phase signal pulse RP is given to the reset input of the counter 65. The counter 65 continuously counts a predetermined clock pulse CK, and the count value is repeatedly reset to 0 according to the reference phase signal pulse RP. The output of the counter 65 is input to the latch circuit 50, and the count value is latched in the latch circuit 50 at the generation timing of the latch pulse LP2. Data D latched in the latch circuit 50 is output as measurement data of the phase difference θ corresponding to the detection target.
[0077]
The first and second AC output signals A and B output from the coil unit 2 are A = sin θ · sin ωt and B = cos θ · sin ωt, respectively, and the electrical phases are the same. Therefore, the zero crossing should be detected at the same timing, but since the amplitude coefficient varies with the sine function sinθ and the cosine function cosθ, either amplitude level may be 0 or close to 0. If on the other hand, virtually no zero cross can be detected. Therefore, in this embodiment, zero cross detection processing is performed for each of the two AC output signals A = sin θ · sin ωt and B = cos θ · sin ωt, and one of the two zero cross detection outputs is OR-synthesized so that one of the amplitude levels is amplitude level. Even if the zero cross detection is impossible due to the small size, the zero cross detection output signal having the larger amplitude level on the other side can be used.
[0078]
In the case of the example in FIG. 19, if the phase fluctuation error due to the coil impedance change or the like of the coil unit 2 is “−d”, for example, the AC signal Y2 output from the subtraction circuit 46 is as shown in FIG. As shown, Y2 = sin (ωt−d−θ). In this case, the output signals A and B of the coil unit 2 have amplitude values sinθ and cosθ corresponding to the phase angle θ, respectively, and A = sinθ · sin (ωt−d) as illustrated in FIG. ), B = cos θ · sin (ωt−d), and the like includes a phase variation error. Accordingly, the reference phase signal pulse RP obtained at the timing shown in FIG. 20C based on this zero cross detection is shifted from the 0 phase of the original reference sine signal sinωt by the phase variation error −d. . Therefore, if the phase shift amount of the output AC signal Y2 = sin (ωt−d−θ) of the subtracting circuit 46 is measured using the reference phase signal pulse RP as a reference, an accurate value θ with the phase fluctuation error −d removed. Will be obtained.
[0079]
In addition, if apparatus conditions, such as the wiring length of the coil part 2, are determined, the impedance change will depend mainly on temperature. Then, the phase fluctuation error ± d corresponds to data indicating the temperature of the surrounding environment where the tilt detection device is provided. Therefore, in the circuit having the circuit 51 for calculating the phase fluctuation error ± d as in the embodiment of FIG. 16, the data of the phase fluctuation error ± d obtained there can be appropriately output as temperature detection data. Therefore, according to such a configuration of the present invention, not only the inclination of the detection target can be detected by one inclination detection device, but also data indicating the temperature of the surrounding environment of the inclination detection device can be obtained. It has an excellent effect of being able to. Of course, there is also an excellent effect that high-precision detection is possible in response to the inclination of the detection target without being affected by the impedance change on the sensor side due to temperature change or the length of the wiring cable. . In addition, since the examples of FIGS. 16, 18 and 19 are methods for measuring a phase difference in an AC signal, detection with excellent high-speed response is performed compared to the detection method as shown in FIG. There is an excellent effect of being able to.
[0080]
In each of the above embodiments, the detection principle by the coil portions (2, 102, 202) and the magnetic response members (3, 103, 203) may be configured by a known phase shift type position detection principle. For example, in the coil section 2 shown in FIG. 5, the relationship between the primary coil and the secondary coil is reversed, and the sine phase coil 21 and the minus sine phase coil 23 are connected to the sine signals sin ωt, − Excited by sin ωt, the cosine phase coil 22 and the minus cosine phase coil 24 are excited by cosine signals cos ωt and -cos ωt having opposite phases, and an electrical phase shift θ corresponding to the detection target inclination is generated from the coils 11-14. An output signal sin (ωt−θ) including this may be obtained.
Also, the detection principle by the coil part (2, 102, 202) and the magnetic response member (3, 103, 203) is configured to obtain an analog detection output based on the known differential transformer type position detection principle. As described above, it is also possible.
In addition, the method of detecting the operation of each axis of X, Y, and Z does not necessarily need to detect an accurate operation position, and the position detection accuracy may be roughly, or simply X, Y, Z It may only be detected that the operation is performed in the axial direction.
[0081]
Alternatively, in each of the above-described embodiments, the coil unit (2, 102, 202) is configured by only one coil without including a pair of a primary coil and a secondary coil. Tilt detection data is obtained by driving a coil at a constant voltage with a predetermined AC signal and measuring a current change based on an inductance change that occurs according to the amount of magnetic material (magnetic response member 3) entering the coil. May be. In that case, the required measurement is performed by a method of measuring the amplitude change of the output signal in response to the current change or a method of measuring the phase change between the output signals at each end of the coil in response to the current change. Can do.
In each of the above embodiments, the detection data output format or data formation method is not limited to digital absolute data or analog voltage data, but may be incremental pulse data or a repetitive pulse signal obtained by frequency conversion of an absolute value or the like. An appropriate format may be used depending on the purpose of use, such as data formation in which the operation duration in the direction is counted, or appropriate data having a corresponding size is formed by detecting the magnitude of the acceleration operation shock.
[0082]
【The invention's effect】
As described above, according to the present invention, in the first coil unit and the first magnetic response member included in the first detection unit mounted on the stick unit, the movement of the stick unit in the X-axis and Y-axis directions. Accordingly, the magnetic response member can be displaced relative to the coil portion. Therefore, the first detection means is mounted on the stick portion while the first detection means is mounted. The movement of the stick portion in the X-axis and Y-axis directions can be detected by the detecting means. Therefore, since the first detection means for detecting the movement of the stick portion in the X-axis and Y-axis directions is not provided separately from the stick portion but is mounted on the stick portion, the configuration is very compact. Can be. In addition, since the second detection means for detecting the operation of the Z axis is also mounted on the stick portion, all the axis detection means are mounted on the stick portion, and the stick portion is not fixed. It is also possible to perform 3D operation input while carrying around in a free state. In addition, a compact three-dimensional operation detection device can be provided by using an inductive detection device that has the advantage of being structurally non-contact.
[Brief description of the drawings]
FIG. 1 is a diagram showing an embodiment of a three-dimensional operation detection apparatus according to the present invention.
2 is a diagram showing a detailed example of a tilt sensor for detecting the tilt of an XY plane in FIG. 1;
3 is a diagram schematically showing the state of the fluid magnetic response member stored in the storage space in FIG. 2 when tilted. FIG.
4 is a circuit diagram showing a configuration example of a coil section in FIG. 2. FIG.
FIG. 5 is a circuit diagram showing another configuration example of the coil section in FIG. 2;
6 is a diagram showing a detailed example of a linear sensor for detecting an operation in the Z-axis direction in FIG. 1. FIG.
7 is a circuit diagram showing a configuration example of a coil section in FIG. 6. FIG.
FIG. 8 is a diagram showing another embodiment of the three-dimensional operation detection apparatus according to the present invention.
FIG. 9 is a diagram showing still another embodiment of the three-dimensional operation detection apparatus according to the present invention.
FIG. 10 is a diagram showing still another embodiment of the three-dimensional operation detection apparatus according to the present invention.
FIG. 11 is a diagram showing still another embodiment of the three-dimensional operation detection apparatus according to the present invention.
FIG. 12 is a diagram showing still another embodiment of the three-dimensional operation detection apparatus according to the present invention.
FIG. 13 is a schematic cross-sectional view showing an example of an inclinometer that can be used for detecting an inclination in one direction of the X axis or the Y axis in each embodiment of the present invention.
FIG. 14 is a diagram showing an example in which an inclination sensor for detecting the inclination of the XY plane is configured by combining the inclinometers of FIG. 13 orthogonally by two axes.
FIG. 15 is a block diagram showing an example of a phase detection type measurement circuit applicable to the detection apparatus according to the present invention.
FIG. 16 is a block diagram showing another example of a phase detection type measurement circuit applicable to the detection apparatus according to the present invention.
FIG. 17 is an operation explanatory diagram of FIG. 16;
FIG. 18 is a block diagram showing a modification example added to the circuit of FIG. 16;
FIG. 19 is a block diagram showing still another example of a phase detection type measurement circuit applicable to the detection apparatus according to the present invention.
FIG. 20 is an operation explanatory diagram of FIG. 19;
[Explanation of symbols]
10 Stick part
10a top
10b Bar-shaped part
100 Tilt sensor
200 linear sensor
2,102,202 Coil part
11-15 Primary coil
21-24 Secondary coil
3,103,203 Magnetic response member
27, 28 judgment processing circuit
40 Digital phase detection circuit
Inclinometer for 100X single axis

Claims (4)

A body that can be held by human hands,
A movable member that is linearly displaceable up and down in a storage space formed in the main body, and that linearly displaces the storage space in response to an operation of moving the main body up and down;
Is mounted on the main body portion, and a linear position detecting means for detecting a relative linear displacement with respect to the main portion of the movable member,
Three-dimensional provided with two-dimensional inclination detecting means mounted on the main body and detecting the inclination of the main body in the X-axis and Y-axis directions on the XY coordinate plane orthogonal to the linear movement axis of the movable member. Operation detection device.   The movable member is a magnetic response member housed in a movable manner in accordance with gravity in the housing space, and the linear position detecting means is a coil portion provided around the housing space. 2. The three-dimensional operation detection according to claim 1, wherein the magnetic response member is displaced with respect to the coil portion according to a vertical movement, and a detection signal corresponding to the movement is output from the coil portion. apparatus.   The two-dimensional inclination detecting means includes a coil part and a magnetic response member that is displaced relative to the coil part in accordance with the movement of the main body part in the X-axis and Y-axis directions. The three-dimensional operation detection apparatus according to claim 1 or 2, wherein a detection signal corresponding to the movement in the axial direction and the Y-axis direction is output from the coil unit. The two-dimensional inclination detecting means is movably accommodated in a coil portion and a predetermined storage space, and moves in the storage space according to one movement of the main body portion in the X-axis and Y-axis directions. Two detection devices including a magnetic response member that is displaced relative to the coil portion are provided so as to be orthogonal to each other , and the detection device detects the inclination of the main body portion in the X-axis and Y-axis directions. 3. The three-dimensional operation detection device according to claim 1, which outputs an operation detection signal in the Y-axis direction.

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