JPS62102127A - Pressure distribution sensor - Google Patents

Abstract

PURPOSE:To visualize the distribution of pressure by scanning pressure sensitive elements arranged like a matrix and outputting the pressure distribution information obtained by the pressure sensitive elements through switching circuits using FETs as a video signal. CONSTITUTION:A sensor detecting part 1 is constituted by arraying many pressure sensitive elements 3 each of which is formed by arranging pressure sensitive conductive rubber between a pair of electrodes like a matrix consisting of many lines and rows and the distribution of contact pressure of an object contacted with the surface of a detecting part 1 is detected as the change of electric resistance of the conductive rubber. A scanning part 2 for successively scanning the elements 3 is constituted by forming a switching circuit obtained by connecting FETs 6 to be driven based on an address signal outputted from a scanning control circuit, resistors 7 and diodes 8 corresponding to the FETs 6 correspondingly to the elements 3 to output pressure distribution information obtained by the elements 3 through the circuit 5 as a video signal. Thus, the pressure distribution can be visualized by using a monitor TV and the image processing of the distribution can be attained.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a pressure distribution sensor that is suitable for factory automation, particularly for automation of handling and machining of parts by recognizing the shape of parts.

[Prior Art] There are many expectations for tactile sensors for robots, and various research and development efforts are underway to realize intelligent robots. Among them, the tactile sensor that detects pressure distribution information is an important factor in recognizing and determining the shape and material of the object, confirming the grip state, etc. However, another factor is that the method of using the output pressure distribution information, that is, the recognition/judgment and control algorithms using pressure distribution information, is not clear.
One point is that the performance required of the sensor is uncertain.

[Problems to be Solved by the Invention] An object of the present invention is to convert the output signal of a pressure distribution sensor into a video signal, thereby making it possible to visualize pressure distribution information using an ordinary monitor television, and to solve the problem in an advanced manner. The aim is to make it possible to connect to other image processing devices.

[Means for solving the problems] In order to achieve the above object, the pressure distribution sensor of the present invention has the following features:
The sensor detection section is formed by arranging pressure-sensitive elements made of pressure-sensitive conductive rubber in a matrix consisting of a large number of rows and columns. It is configured to be able to output pressure distribution information as a video signal.

[Function] When an object comes into contact with the matrix-shaped pressure-sensitive elements in the sensor detection section, the distribution of the contact pressure is detected as a change in electrical resistance in each pressure-sensitive element, and is detected based on the address signal from the scanning control circuit. By sequentially scanning each pressure-sensitive element using the touch sensor, information regarding the distribution of the contact pressure is outputted as a video signal, thereby making it possible to visualize the pressure distribution on an ordinary television monitor.

[Example] Fig. 1 shows a pressure distribution sensor according to the present invention, which is constructed by arranging the detection parts, and the distribution of the contact pressure of an object that comes into contact with the detection part l is determined by the distribution of the contact pressure of the pressure-sensitive conductive rubber between the electrodes. 0, which can be extracted as a change in electrical resistance
The illustrated pressure sensitive elements 3 are arranged in a 134 x 134 matrix, but in order to finally convert the pressure distribution information obtained by them into a video signal and display it as a single figure on a television monitor, for example, 8 A matrix of approximately 8×8 is insufficient because the measurement points are coarse, and it is necessary to use a relatively large number of pressure sensitive elements of approximately 84×84 as described above.

Further, the scanning unit 2 that sequentially scans each of the pressure sensitive elements 3 includes an FET (electric field -71, pressure distribution information obtained by the closing element 3) which operates based on an address signal from a scanning control circuit, which will be described later with reference to FIG. can be output as a video signal.

That is, to the FET 13 of the switching circuit 5, a row address line 10 is connected to each row of the matrix of pressure sensitive elements via the resistor 7, and a column address line 11 is connected to each column of the matrix through the resistor 7. It is connected via a diode 8. Thus, for each row address line 10, row address signals (84, 5
g, s), and these row address signals are respectively sent sequentially to a series of column address lines 11 as column address signals (
400ns) is in a standing state only while being sent 1
A video signal of pressure distribution information is obtained as an output signal through an output line 12 corresponding to each row address line 10 from the FET fi to which both value codes are sent. can be made possible.

The scan control circuit shown in FIG. 2 is used to obtain address signals for operating the FETs and to process signals output through a large number of output lines 12. The scan control circuit shown in FIG. ) generates clock pulses for the counters in the PLL circuit, and from the two counters, each via a decoder, the column address signal is controlled by the horizontal synchronization signal (HD), and the column address signal is controlled by the vertical synchronization signal (VD). The row address signal is configured to be sent to the switching circuit 5 in the scanning section.

It is also possible to integrate the pressure distribution information output through multiple output lines 12 in the Yaruchiplexer, connect it to a monitor TV through it, and display the image that has been subjected to the necessary processing on the monitor TV. It is also possible to display the sensor output directly on a monitor television.

[Effects of the Invention] As detailed above, according to the pressure distribution sensor of the present invention, pressure distribution information can be output as a video signal, and therefore pressure distribution information can be visualized using an ordinary monitor television. In addition, it can be connected to image processing devices that are advanced in development to perform image processing suitable for various purposes.

Furthermore, it is also possible to use striped electrodes instead of the above-mentioned switching circuit using FETs, but in this case, each pressure-sensitive element would need its own resistance, but according to the switching circuit of the present invention, , more accurate output can be obtained with a relatively compact configuration.

[Brief explanation of drawings]

FIG. 1 is a block diagram showing the configuration of a detection section and an operating section of a pressure distribution sensor according to the present invention, and FIG. 2 is a block diagram of a scanning control circuit connected to the pressure distribution sensor. 1.Sensor detection section, 2.φ scanning section. 3φ・Pressure sensitive element, 5・Switching circuit, 6・・F
E.T. Kyouji Takahashi

Claims (1)

[Claims] 1. The sensor detection section is formed by arranging pressure-sensitive elements made of pressure-sensitive conductive rubber in a matrix consisting of many rows and columns, and a scanning section that sequentially scans each pressure-sensitive element is provided with a scanning section. Using a switching circuit configured by connecting an FET that operates based on an address signal from a control circuit to each pressure-sensitive element, it is possible to output pressure distribution information obtained by each pressure-sensitive element through the switching circuit as a video signal. A pressure distribution sensor characterized by: