JP2005063467A - Contact detector - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a contact detector and a running device eliminating the need for providing a through hole for a bumper sensor to a main body at both the ends of its corner section and suffering no vibration during running. <P>SOLUTION: A cord-like pressure sensitive sensor 10-housed bumper sensor unit 26 is fixed to the periphery of the bumper 25 of the running device 20 to detect the contact of an obstacle based on the output signal of the cord-like pressure sensitive sensor 10. In this case, a contact detection means 27 comprises a filtering section 27a removing the vibration frequency component of a contact detection object from the output signal of the cord-like pressure sensitive sensor 10. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  In the present invention, a cord-like pressure sensor is arranged on a contact detection object, and an object or a part of a human body is applied to the contact detection object by a pulse output obtained by applying a force to the cord-like pressure sensor. The present invention relates to a contact detection device that accurately and quickly detects contact, and an automobile equipped with such a contact detection device.

  Conventionally, this type of contact detection device and traveling device has detected whether or not an obstacle has been touched by a bumper sensor formed of a tape switch (see, for example, Patent Document 1).

JP-A-8-58501 (Fig. 1-3)

10A and 10B are diagrams of a traveling device provided with the conventional contact detection device described in Patent Document 1, wherein FIG. 10A is a schematic side view thereof, and FIG.
In FIG. 10, 80 is a traveling device, 81 is a traveling device body, 82 is a carriage, 83 is a driving wheel, 84 is a driven wheel, 84a is a front driven wheel, and 84b is a rear driven wheel. 85 is a bumper. A bumper sensor 86 is a tape switch. As described above, the conventional contact detection device has a configuration in which the tape switch 86 is disposed around the bumper 85, and when an obstacle comes into contact with the bumper 85 while the traveling device 80 is traveling there, the bumper sensor 86. The tape switch was turned on and the contact of the obstacle was detected. When the bumper sensor 86 detects an obstacle contact, the driving of the driving wheel 83 is stopped.

  In addition, since the bumper sensor 86 is a tape switch, if there is a portion with a small R (R) in the arrangement portion, the bumper sensor 86 is turned on, so as shown in the figure, on both sides of the corner portion 85a of the bumper 85. An insertion hole 85b for inserting the bumper sensor 86 is provided, and the bumper sensor 86 needs to be disposed so as to avoid a small R portion such as the corner 85a.

  However, in the configuration of the conventional contact detection device and the conventional traveling device, it is necessary to provide the insertion holes 85b through which the bumper sensor 86 is inserted on both sides of the corner 85a, and further to insert the bumper sensor 86 therethrough. In addition, it takes time and effort, and there is a problem that a hole is formed and the appearance is poor.

  Therefore, in order to solve this problem, the present applicant previously arranged a cord-like pressure sensor, which was also successfully developed by the applicant, around the bumper. The need to provide is eliminated.

Here, the reason why the cord-like pressure sensor is not turned ON even if it is bent at a right angle to the corner of the bumper will be briefly described.
The cord-like pressure sensor is a cable-like sensor using a piezo element material, and its configuration is shown in FIG. In the figure, reference numeral 10 denotes a cord-shaped pressure-sensitive sensor, which has a core wire (center electrode) 1 at the center in the axial direction, a piezo element material 2 around the center electrode 1, and an outer periphery around the piezo element material 2. The electrode 3 is disposed and the outermost periphery is covered with PVC (vinyl chloride resin) 4.

  The cord-shaped pressure sensor 10 uses a resin-based material having a heat resistance which is originally developed by the applicant and can be used up to 120 ° C. for the piezo element material 2, and a conventional typical polymer piezo element material (uniaxial) It can be used in a temperature range (120 ° C. or less) higher than 90 ° C., which is the maximum use temperature of stretched polyvinylidene fluoride) and piezoelectric element materials (piezoelectric element materials of chloroprene and piezoelectric ceramic powder). The piezo element material 2 is composed of a flexible resin and a piezoelectric ceramic, and is composed of a flexible electrode composed of a coiled metal center electrode and a film-shaped outer electrode. Has flexibility.

  Further, the cord-like pressure sensor 10 is as sensitive as a polymer piezo element material, and has a sensitivity as high as that of a polymer piezo element material in a low frequency region (10 Hz or less) in which pinching of a human body is detected. ing. This is because the relative dielectric constant (about 55) of the present piezo element material 2 is larger than that of the polymer piezo element material (about 10), so that the decrease in sensitivity is small even in a low frequency region (10 Hz or less).

  The piezoelectric element material 2 is composed of a composite of a resin material and a piezoelectric ceramic powder of 10 μm or less, and vibration detection characteristics are realized by ceramics, and flexibility is realized by resins. This piezo element material 2 has a high heat resistance (120 by combining an amorphous polyethylene resin (molecular weight about 300,000) and an amorphous polyethylene resin (molecular weight about 100,000) as a resin material. ° C) and can be easily formed, and enables a simple manufacturing process that does not require crosslinking.

  Since the cord-like pressure sensor 10 thus obtained does not have piezoelectric performance when the piezo element material 2 is molded, by applying a DC high voltage of several kV / mm to the piezo element material 2, It is necessary to perform a process (polarization process) for imparting piezoelectric performance to the piezo element material 2. This polarization process is performed by forming a central electrode 1 and an outer electrode 3 on the piezoelectric element material 2 and then applying a DC high voltage to both electrodes. When a minute defect such as a crack is inherent in the piezo element material 2, it becomes easy to short-circuit between the two electrodes due to discharge at the defect portion, so that a sufficient polarization voltage cannot be applied. By establishing a unique polarization process using an auxiliary electrode that can be brought into close contact with the piezo element material 2, it is possible to detect and avoid defects and stabilize the polarization, which makes it possible to increase the length of several tens of meters or more.

In the cord-shaped pressure sensitive sensor, a coiled metal center electrode is used for the center electrode 1 and a film electrode (a three-layer laminate film of aluminum-polyethylene terephthalate-aluminum) is used for the outer electrode 3. As well as ensuring the adhesion between the electrode and the electrode, the external lead wire can be easily connected, and a flexible cable-like mounting configuration becomes possible.
The center electrode 1 is a copper-silver alloy coil, the outer electrode 3 is a three-layer laminate film made of aluminum-polyethylene terephthalate-aluminum, the piezo element material 2 is a polyethylene resin + piezoelectric ceramic powder, the outer shell is a thermoplastic, The relative dielectric constant is 55, the charge generation amount is 10-13 C (coulomb) / gf, and the maximum use temperature is 120 ° C.

FIG. 2 is a diagram showing the load applied to the cord-like pressure sensor 10 and sensor output characteristics. As a result of the experiment conducted by the applicant on the relationship between the load of the cord-like pressure sensor 10 and the sensor output, when the bending load as shown in FIG. It becomes a phenomenon.
(1) That is, at time t0, when no load is applied to the cord-like pressure sensitive sensor 10, the sensor output indicates 2 (V).
(2) When a bending load is applied to the cord-shaped pressure-sensitive sensor 10 in a certain direction at time t1, the sensor output increases to 4 (V) from the moment it is applied and then immediately reverses to 0 (V), and then again. Return to 2 (V).
(3) After that, the sensor output still shows 2 (V) even if it is kept bent.
(4) When the cord-shaped pressure sensor 10 is returned to the original state at time t3, the sensor output decreases to 0.8 (V) from that moment, and then immediately reverses to 2.2 (V). After that, it returns to 2 (V) again.
Thus, with this cord-like pressure sensor, a signal is output only at the moment when force is applied, and no longer outputs as long as there is no fluctuation even if force is continuously applied thereafter. Similarly, when the force is removed, the output is output only at that moment. Therefore, even if this cord-like pressure sensor is bent at a right angle to the corner of the bumper, it will be in the ON state at the moment of bending, but no output will be output after the arrangement is completed. After that, an output is output when a force is applied to some part of the cord-shaped pressure sensor.
Thus, if the cord-like pressure sensitive sensor is disposed around the bumper, it is not necessary to provide insertion holes on both sides of the corner.

FIGS. 3A and 3B are diagrams of a traveling device in which the cord-shaped pressure-sensitive sensor is disposed around the bumper. FIG. 3A is a schematic side view thereof, and FIG.
In FIG. 3A, 20 is a traveling device, 21 is a traveling device body, 22 is a carriage, 23 is a pair of left and right drive wheels, 23a is a motor for driving the wheels, 24 is a driven wheel, and 24a is a front driven wheel. , 24b are rear driven wheels. Reference numeral 25 denotes a bumper, and 26 denotes a bumper sensor unit. The bumper sensor unit 26 incorporates the cord-like pressure sensor 10 (FIG. 1).
Further, in FIG. 1B, reference numeral 27 denotes contact detection means for detecting an output from the cord-like pressure sensor 10, and 28 denotes drive control means for a motor 23a for driving a pair of left and right drive wheels 23.

FIG. 4A is a block diagram showing the contact detection means 27 of FIG.
In FIG. 4A, the contact detection means 27 includes a contact detection unit 27b that receives an output signal of the cord-like pressure sensor 10 and detects contact of an obstacle based on this signal. The output signal from the contact detection unit 27b is given to the drive control means 28. Upon receipt of this signal, the drive control means 28 immediately stops the motor 23a and stops the driving of the pair of left and right drive wheels 23.
As described above, the contact detection device 27 includes the bumper sensor unit 26 in which the cord-shaped pressure sensor 10 is incorporated and the contact detection means 27. The bumper sensor unit 26 is attached to a bumper 25 disposed around the traveling device main body 21 as shown in FIG.

FIG. 5 is an enlarged cross-sectional view of a bumper sensor unit that is a contact detection device attached to the bumper, and FIG. 5A is a cross-sectional view taken along the line AA in FIG. FIG. 5B is a cross-sectional view of a bumper sensor unit according to the present invention described later.
In FIG. 5A, the bumper sensor unit 26 shown in FIG. 3 is disposed in the elastic mounting body 30 and an elastic mounting body 30 that is mounted on the bumper 25 by mounting screws 39 via mounting plates 38. The cord-shaped pressure sensor 10 shown in FIG. 1 is used.
The cord-shaped pressure sensor 10 is formed by coaxially forming the center electrode 1, the piezo element material 2, and the outer electrode 3 as described in FIG. The piezo element material 2 uses a piezo element material made of a mixture of a resin-based material and a piezoelectric ceramic powder, and the entire sensor has flexibility.

On the other hand, the elastic attachment body 30 is made of rubber, thermoplastic elastomer, or the like, and has a space for accommodating the cord-shaped pressure sensor 10 and a hollow portion 32 for accommodating the attachment plate 38 and a hollow for forming elasticity. A portion 35 is formed inside. The hollow portion 35 has a rib 31 at the center for maintaining its shape so that the elastic mounting body 30 is not deformed by its own weight and is not crushed by the corner portion 25a of the traveling device main body 21. The elastic mounting body 30 is fixed to the bumper 25 in a cantilevered state with a screw 39 by inserting a mounting plate 38 into the gap portion 32. When the cord-like pressure sensor 10 is disposed on the elastic mounting body 30, the cord-like pressure sensor 10 may be slid by turning the tongue 33 and opening the slit 34.
Further, the height dimension L of the elastic mounting body 30 is larger than the distance traveled by the traveling device between the time when the contact detection means 27 detects contact with the obstacle and the time when the control means 28 performs the travel stop control. It is better to set it to be larger.

  With the configuration described above, the traveling device 20 outputs an output signal to the contact detection means 27 when the cord-shaped pressure sensor 10 disposed around the bumper 25 senses contact, and the contact detection means 27 receives this signal. Based on this, it is determined that the obstacle is in contact, and an output signal is issued from the contact detector 27b to the drive control means 28. Upon receipt of this signal, the drive control means 28 immediately stops the motor 23a and drives the pair of left and right drive wheels 23. Since it stops, the traveling apparatus 20 stops while the elastic attachment body 30 deform | transforms, and the collision with the obstacle of the bumper 25 will be prevented beforehand. In this way, the traveling device can be safely used as an unmanned transport vehicle when unloading luggage.

In this way, if the cord-like pressure sensor 10 (FIG. 1) is used instead of the bumper sensor composed of the tape switch described in Patent Document 1, a signal is output only at the moment when the force is applied, and then the force is continuously applied. However, as long as there is no fluctuation, no output is produced any more, so there is a great effect that it is not necessary to provide insertion holes on both sides of the corners of the bumper.
However, since this cord-like pressure sensitive sensor is too sensitive, it sometimes responds to minute vibrations during traveling of the traveling device. In addition, there is a problem in that this is erroneously detected in response to a large impact generated when the traveling device rides on a step or the like.
Although these false detections are rather desirable from the point of fail-safety, it is not preferable from the viewpoint of workability if they stop without being touched.
Accordingly, an object of the present invention is to solve these problems, and to accurately detect contact of an object or a human body, and to detect a vibration of a running vehicle body as much as possible, and a contact detection device with the same The purpose is to provide a car or the like equipped.

The contact detection device for intrusion detection according to the present invention is based on a cord-like pressure sensor disposed on a ridge or a fence and an output signal corresponding to the acceleration of deformation of the cord-like pressure sensor. In the contact detection device including the contact detection means for detecting the contact, the contact detection means includes a filtering unit that removes the vibration frequency component of the ridge or the fence from the output signal.
Since the filtering part removes the vibration frequency component of the ridge or the fence from the output signal, it is not necessary to pick up the vibration of the ridge or the fence or the like, thereby preventing erroneous detection.
The filtering unit may be configured to remove frequency components including the natural frequency of the fence or fence.

Moreover, a cord-like pressure-sensitive sensor can be arrange | positioned in the said ridge or a fence via the support means which has a vibration characteristic different from the natural vibration characteristic which a ridge or a fence has.
The support means having a vibration characteristic different from the natural vibration characteristic of the fence or fence eliminates the possibility of picking up the vibration vibration of the fence or fence and prevents false detection.
Further, it is possible to employ a configuration in which a sounding device is provided and the sounding device is sounded based on the output of the contact detection means.
The contact detection device for intrusion detection according to the present invention is applied to security (intrusion detection), and when a cord-like pressure sensor is touched by a part of an intruder's body, clothes, or a tool, the cord-like pressure is detected. The sensor detects and notifies the residents in the premises with a crime prevention bell or the like constituting the ringing device.

  According to the present invention, it is possible to detect an intruder with high accuracy while preventing erroneous detection.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.
(Embodiment 1)
FIG. 4B is a block diagram of the contact detection unit 27 according to Embodiment 1 of the present invention. In the figure, the contact detection means 27 is provided with a filtering unit 27a for removing the vibration frequency component during traveling of the traveling device 20 from the output signal of the cord-like pressure sensor 10, which is different from FIG. The subsequent configuration is the same, and a contact detection unit 27b that detects the contact of an obstacle based on the output signal of the filtering unit 27a is provided.
With such a configuration, when the contact detection means 27 receives the output signal of the cord-like pressure sensitive sensor 10, the contact detection means 27 removes the filtering unit 27a based on the vibration frequency component during traveling of the traveling device 20, and is a true obstacle. Only the contact signal is sent to the contact detector 27b. The contact detection unit 27b gives an output signal to the drive control means 28. Upon receipt of this signal, the drive control means 28 immediately stops the motor 23a and stops driving the pair of left and right drive wheels 23.

FIG. 6 is a characteristic diagram showing the filtering frequency characteristic of the filtering unit 27a.
In FIG. 6, the vertical axis P is the signal intensity, and the horizontal axis f is the frequency. The filtering unit 27a shown in FIG. 4 has a filtering characteristic that removes the vibration frequency component f3 during traveling of the traveling device 20. Although f3 can be obtained experimentally, normally, since f3 includes the natural frequency f0 of the main body 1, the natural frequency of the main body 1 is obtained before the experiment, and the natural frequency or the natural frequency is calculated. The filtering characteristics may be determined so as to selectively remove frequency components in a specific frequency band including the frequency components. At this time, for example, it is preferable to determine the filtering characteristics in consideration of the actual use state by changing the weight of the load loaded on the traveling device 20 or changing the height of the load carrying portion of the traveling device 20.
Specifically, as shown in FIG. 6, for example, when considering unnecessary radiation such as high frequency noise in a commercial power supply or factory, wireless noise for communication, etc., as a filtering characteristic, for example, a frequency component of 10 Hz or more is removed. To.
Further, a filtering characteristic is added as a natural frequency band of the traveling device 20 so as to remove a frequency in a specific band of, for example, several tens of Hz or more.

Further, in order to remove the beat and slow vibration of the traveling device 20 loaded with a load during traveling, for example, as shown in FIG. 6, a filtering characteristic for removing a frequency component in the low frequency region f1 from the vibration frequency component is provided. For example, it is preferable to remove frequency components of 1 Hz or less.
Also, in the case of a traveling device with a suspension or pneumatic tire, in order to remove the vibration component in the low frequency region f1 due to the movement of the suspension or pneumatic tire that occurs during traveling, the frequency component in the low frequency region f1 is changed in the same manner as described above. It is desirable to add filtering characteristics to be removed.

The operation and action of the contact detection means 27 (FIG. 4B) provided with the filtering portion (27a in FIG. 4B) having the filtering characteristics as shown in FIG. 6 will be described with reference to FIG.
7A and 7B are diagrams for explaining the operation and action of the contact detecting means by the cord-like pressure sensor 10, where FIG. 7A shows the output signal VS of the cord-like pressure sensor 10, and FIG. 7B shows the output signal Vf of the filtering unit 27a. (C) shows the determination output J of the contact detection means 27, and (d) shows characteristic diagrams showing the applied voltage Vm to the motor 23a. The horizontal axis is time t in common for all.
Hereinafter, the output signal VS of the cord-like pressure-sensitive sensor 10 when the traveling device 20 touches an obstacle after passing through the step, the output signal Vf of the filtering unit 27a, the determination output J of the contact detection means 27, and the motor 23a. Each behavior of the applied voltage Vm will be described.

First, when a voltage of + Vd is applied to the motor 23a by the control means 27 at time t1, the traveling device 20 starts traveling. During traveling, the cord-like pressure sensor 10 vibrates due to running vibration of the traveling device 20, and the cord-like pressure sensor 10 deforms from the cord-like pressure sensor 10 as shown in FIG. A signal corresponding to the acceleration is output. That is, a fine fluctuation component is superimposed on the reference potential V0 in VS.
In FIG. 7A, a signal exceeding a predetermined large amplitude D0 is generated when climbing a step at time t2. Then, when the passage through the step is completed at time t3, a large signal is issued again. As described above, since a large vibration is applied to the cord-like pressure sensor 10 due to an impact upon climbing a step and completion of passage, a signal having a large amplitude is generated in VS.
Thereafter, when the obstacle comes into contact with the bumper 25 at time t4, the cord-shaped pressure sensor 10 is deformed by the pressing of the obstacle, and a signal having a large amplitude is generated in VS.

  The output V0 from the filtering unit 27a at this time filters the output signal of the cord-like pressure sensitive sensor 10 based on the filtering characteristics of FIG. As shown in FIG. 7 (b), f3 is removed, and low vibration components such as when climbing the step of the traveling device 20 of f1 are also removed. Finally, when f3 comes into contact with the obstacle shown by f2 in FIG. Only frequency components are passed.

  If the cord-like pressure sensor 10 is simply arranged on the bumper 25 when contacting the obstacle, the cord-like pressure sensor 10 is slightly deformed when contacting, but in the present embodiment, In this case, as shown in FIG. 5, the cord-like pressure sensor 10 is disposed via the elastic attachment body 30, and the cord-like pressure sensor 10 can be deformed together with the elastic attachment body 30 when contacting the obstacle. The amount of deformation of the cord-like pressure sensor 10 increases. And since the hollow part 35 is also crushed in the case of a contact, the deformation amount of the cord-shaped pressure-sensitive sensor 10 further increases. As described above, the cord-like pressure sensor 10 can obtain a large amount of deformation, and the acceleration, which is the second derivative value of the amount of deformation, also increases. As a result, the output signal of the cord-like pressure sensor 10 also increases, thereby detecting an obstacle. Sensitivity can be improved.

If the amplitude | V−V0 | is greater than D0 from V0 of Vf, the contact detection unit 27b determines that an obstacle has contacted, and outputs a pulse signal of Lo → Hi → Lo as a determination output at time t4. In this way, even if the amplitude | V−V0 | from V0 of VS is larger than D0, the contact determination is made based on the signal Vf from which unnecessary frequency components are removed by the filtering unit 27a. Absent.
Since the control means 28 (FIG. 4) stops applying the voltage + Vd to the motor 23a when the pulse signal is present, the traveling of the traveling device 20 stops at time t4. D0 can be arbitrarily set. For example, D0 is set in advance based on the magnitude of the output signal of the cord-like pressure sensor 10 when the obstacle is in contact with the traveling speed, the shape of the elastic mounting body 30, and the like.

The cord-like pressure sensor 10 is a contactless sensor and generates an output signal corresponding to the acceleration of deformation as described above. Therefore, a piezoelectric sensor is provided along the corner 25a of the traveling device 20. However, no erroneous detection occurs as in the configuration using the conventional tape switch.
Further, since a tape switch is not used as in the prior art, there is no need to provide an insertion hole in the corner portion 25a of the traveling device 20, and it does not take time and effort in manufacturing.
As described above, in the present embodiment, the flexible cord-like pressure sensor 10 that can be disposed along the periphery of the self-propelled traveling device body, and the output of the cord-like pressure sensor 10 Contact detecting means 27 for detecting that the traveling device 20 has come into contact with an obstacle based on the signal is added, and the contact detecting means 27 calculates the vibration frequency component during traveling of the traveling device 20 from the output signal of the cord-like pressure sensor 10. By providing the filtering portion 27a to be removed, the cord-like pressure sensor 10 is a contactless sensor and generates an output signal corresponding to the acceleration of deformation, so that the cord-like pressure sensor 10 is formed along the corner portion 25a of the traveling device 20. Even if the pressure-sensitive sensor 10 is provided, a contact detection device without erroneous detection can be realized.

In addition, since the filtering unit 27a removes the vibration frequency component during traveling of the traveling device 20 from the output signal of the cord-like pressure-sensitive sensor 10, the contact detection means 27 is not erroneously detected by vibration during traveling.
In addition, since the contact detection device as described above is provided and the control means 28 for controlling the travel based on the output signal of the contact detection device is provided, the through hole 85b is provided in the corner 25a of the travel device as in the conventional case. Since it is not necessary, it does not take time and effort to manufacture.

Further, since the filtering unit 27b removes the vibration frequency component during traveling of the traveling device 20 from the output signal of the cord-like pressure-sensitive sensor 10, the contact detection means 27 detects erroneously due to vibration during traveling and stops traveling. There is no malfunction.
Further, since the filtering unit 27b is configured to remove the frequency component including the natural frequency of the traveling device 20, the filtering characteristic of the filtering unit can be easily determined by examining the natural frequency of the traveling device 20. Can do.
In the above-described embodiment, the elastic mounting body 30 is fixed to the bumper 25. However, the bumper 25 may also be used as the elastic mounting body 30. With this configuration, since the bumper 25 also serves as the elastic mounting body 30, the parts can be rationalized.

  Also, as shown in FIG. 3, the dimension L of the elastic mounting body 30 indicates that the travel device 20 is in a period from when the contact detection means 27 detects contact with an obstacle until the control means 28 performs travel stop control. Since the travel distance is set to be larger than the travel distance, even if the obstacle contacts or presses the travel device, the travel device stops before the elastic mounting body 30 is completely crushed. An excessive load is not applied to the apparatus, and safety can be improved.

  Further, when traveling from a stopped state, the traveling may be controlled so as to travel once in the direction opposite to the traveling direction and then travel in the original traveling direction. With this configuration, even if the obstacle is already in contact with the traveling device 20 from the traveling direction in a stopped state and the cord-like pressure sensor 10 cannot be deformed any more, it moves in the direction opposite to the traveling direction. Then, the deformation of the cord-like pressure sensor 10 is released, and then the cord-like pressure sensor 10 is deformed by coming into contact with the obstacle again when traveling in the original traveling direction. Therefore, safety can be further improved.

(Embodiment 2)
Next, Embodiment 2 of the present invention will be described with reference to FIG.
FIG.5 (b) is sectional drawing (corresponding to the AA line of FIG. 3) of the bumper sensor unit 14 of the traveling apparatus in Embodiment 2 of this invention.
The difference between the second embodiment and the configuration of the first embodiment is that the cord-shaped pressure-sensitive sensor 10 is provided with a bumper 25 by an elastic mounting body 30 having vibration characteristics different from the natural vibration characteristics of the traveling device 20 (FIG. 3). It is a point attached to.
Components other than those described above are the same as those in the first embodiment, and a detailed description thereof is omitted.
In order for the elastic mounting body 30 to have vibration characteristics different from the natural vibration characteristics of the traveling device 20 (FIG. 3), for example, a different material in the partial space 40 in the elastic mounting body 30 is inserted, or an air layer Or in a trial experiment.
With the above configuration, the elastic mounting body 30 removes vibration during traveling that propagates from the traveling device 20, and no noise is applied to the cord-like pressure-sensitive sensor 10. Therefore, the contact detecting means 27 (in this case, FIG. 4 (a) is also not erroneously detected.

FIG. 8 is an illustration of the elastic mounting body 30 having a vibration characteristic different from the natural vibration characteristic of the traveling device 20 (FIG. 3).
In FIG. 8, reference numeral 30 denotes an elastic mounting body 30 including the cord-like pressure sensor 10, and a gap 35 is provided between the mounting portion (shown by hatching) and the cord-like pressure sensor 10. (A) is a small gap 35 ', (b) is a larger gap 35 ", and (c) is provided with the largest gap 35'".
In the case of the elastic mounting body 30 of (a), since the waist is strong, the sensitivity of the cord-shaped pressure sensor 10 is low.
On the contrary, in the case of the elastic mounting body 30 of (c), since the waist is weak, the sensitivity is improved, and this is erroneously detected by resonating with normal idling of an automobile.
(B) is in the middle of (a) and (c), and is in the range employed in the second embodiment. The specific size of the gap 35 is determined by the relationship of the natural vibration characteristics of the traveling device 20.

As described above, according to the second embodiment, the elastic mounting body 30 removes the vibration during traveling that propagates from the traveling device 20, so that the vibration during traveling is not erroneously detected.
Further, when the first embodiment is used in combination, an excessive impact is applied to the traveling device 20 during traveling, and even if the elastic mounting body 30 cannot fully attenuate the vibration due to the impact, the filtering portion 27a of FIG. However, since the vibration frequency component during traveling of the traveling device 20 is removed from the output signal of the cord-like pressure sensor 10, the contact detection means 27 is not erroneously detected by vibration during traveling, so that it is more reliable.

  In Embodiments 1 and 2 described above, the contact detection device and the traveling device are applied to an automated guided vehicle for cargo transportation. However, the contact detection device and the traveling device are applied to a moving body such as an automobile, a go-kart, or a playground equipment. Alternatively, obstacles can be detected by arranging piezoelectric sensors along various shapes of the moving body.

Furthermore, as shown in FIG. 9, the present invention can also be applied to a cord-like pressure sensor disposed in a place where it is difficult to be partially caught by a human body. FIG. 9A shows an example applied to a power window of an automobile, and FIG. 9B shows an example applied to an automatic door of an elevator.
In FIG. 9A, reference numeral 50 denotes an automobile door, and the window glass 51 rises and is stored in the door frame 52. In this case, if the cord-like pressure sensor 10 is arranged inside the door frame 52, even if a child's finger touches the window glass 51, the window glass 51 rises and the finger is touched before touching the door frame 52. Since the code-like pressure sensor 10 detects, the rising of the window glass 51 can be stopped and the motor can be reversed to quickly release the finger from the contact between the window glass 51 and the door frame 52.
In such an apparatus, when the door 50 on the driver side of the automobile is tightened and the window glass 51 is raised, if the door on the passenger's seat side is tightly tightened, the impact vibration is detected by the driver of the automobile. The cord-like pressure sensor 10 of the door 50 on the side is detected, and the ascent of the window glass 51 is stopped and the motor is reversed.
However, even in such a case, if the first and second embodiments of the present invention are adopted, the door 50 on the driver side of the automobile is tightened and the window glass 51 is raised. Even if the cord-like pressure-sensitive sensor 10 of the door 50 on the driver side of the automobile detects the impact vibration when the passenger seat side door is strongly tightened, the filtering unit 27b according to the first embodiment and This impact vibration is ignored by the elastic mounting body 30 according to the second embodiment having vibration characteristics different from the natural vibration characteristics of the automobile, and the window glass 51 continues to rise without being erroneously detected. be able to. Therefore, according to the present invention, such an unnecessary malfunction can be prevented. In addition, although the said Example was applied to the power window of a motor vehicle, you may apply to an electric slide door, an electric sunroof, a power hatch door, an electric trunk, etc.

Next, in FIG. 9B, 60 is an elevator, 61 is an automatic door thereof, and 10 is a cord-like pressure sensor applied to the automatic door 61 disposed at the tip.
9B, when the automatic door 61 of the elevator 60 is closed, even if a part of the human body or clothes are about to be sandwiched between the automatic door 61, the cord-like pressure sensor 10 detects this before that. Therefore, by stopping the closing operation of the automatic door 61 and reversing the motor to the opening operation again, a part of the human body and clothes can be quickly opened.
In such an apparatus, when a large impact vibration occurs inside or outside the elevator when the automatic door 61 of the elevator 60 is closed, the cord-like pressure sensor 10 detects this sensitively, so the automatic door The closing operation of 61 is stopped and the motor is reversely rotated to open again.
However, if the first and second embodiments of the present invention are employed, when a large impact vibration occurs inside or outside the elevator when the automatic door 61 of the elevator 60 is closed, the cord shape Even if the pressure-sensitive sensor 10 detects this sensitively, it relates to the second embodiment having a vibration characteristic different from the natural vibration characteristic of the filtering unit 27b and / or the elevator 60 according to the first embodiment. Since this impact vibration is ignored by the elastic mounting body 30, and the closing operation of the automatic door 61 is continued without erroneous detection, according to the present invention, such an unnecessary malfunction can be prevented.

  In addition, in the present invention, even in an automatic door provided at the entrance / exit of a department store, a supermarket, a convenience store, etc., where the cord-shaped pressure sensor 10 is disposed, a large impact sound having a low frequency is also generated during the closing operation of the automatic door. Unnecessary malfunctions such as sensing and reversing to an open operation (although this malfunction may be from the point of fail-safety) can be prevented.

The above examples are all examples in which the cord-like pressure sensor 10 is provided on a moving object or at a position facing the moving object. However, the present invention can be applied to other cases as well. It is. For example, the present invention can be applied even in the case of security (intrusion detection) in which the cord-like pressure sensor 10 is disposed on a fence or fence of a site. This is because when the cord-like pressure sensor 10 disposed on the fence or fence of the site touches a part of an intruder's human body, clothes or tools, the cord-like pressure sensor 10 detects this and a crime prevention bell or the like. This is to inform residents on the site.
Even in this case, the cord-like pressure sensor 10 erroneously detects the vibration caused by the vibration of the vehicle passing through this area and causes the crime prevention bell or the like to ring. However, according to the present invention, the vibration or the like is erroneously detected. Since it can be prevented from being detected, the crime prevention bell and the like are not erroneously sounded.

  As described above, the contact detection device for intrusion detection according to the present invention is based on a cord-like pressure sensor disposed on a fence or a fence and an output signal corresponding to the acceleration of deformation of the cord-like pressure sensor. Or a contact detection means for detecting contact of an object with the fence, and the contact detection means includes a filtering unit for removing the vibration frequency component of the ridge or the fence from the output signal. Since the cord-shaped pressure sensor generates an output signal corresponding to the deformation acceleration, it is no longer possible to pick up vibration during traveling of the traveling device by the filtering unit that removes the vibration frequency component of the fence or fence, so that false detection is not performed. .

  Also, the filtering section can be configured to remove frequency components including the natural frequency of the fence or fence. By examining the natural frequency of the ridge or fence, the filtering characteristics of the filtering section can be easily determined.

  Further, the cord-shaped pressure sensitive sensor can be disposed on the ridge or the fence via a supporting means having a vibration characteristic different from the natural vibration characteristic of the ridge or the fence. The support means having a vibration characteristic different from the natural vibration characteristic of the fence or fence eliminates picking up vibrations of the fence or fence and prevents false detection.

The contact detection device for intrusion detection according to the present invention is applied to security (intrusion detection), and when a cord-like pressure sensor is touched by a part of an intruder's body, clothes, or a tool, the cord-like pressure is detected. The sensor detects and notifies the residents in the premises with a crime prevention bell or the like constituting the ringing device. When a part of the intruder's body, clothes, or tools touch the cord-like pressure sensor, the cord-like pressure sensor detects this and notifies a resident in the site with a security bell or the like.
Even in this case, the cord-like pressure sensor erroneously detects the vibration caused by the vibration when the vehicle passes through this area and causes the crime prevention bell to ring. However, according to the present invention, these vibrations are erroneously detected. It can be prevented so that the crime prevention bell will not be mistakenly sounded.

  The contact detection device for intrusion detection according to the present invention detects an intruder with high accuracy while preventing erroneous detection.

It is a figure which shows the structure of the cord-shaped pressure sensor used by this invention. It is a diagram which shows the load and sensor output characteristic which are applied to a cord-like pressure sensor. It is a figure of the traveling apparatus formed by arrange | positioning this cord-shaped pressure-sensitive sensor around a bumper, (a) is the side schematic diagram, (b) is the plane cross-sectional schematic diagram. It is a block diagram which shows a contact detection means. 1A and 1B are enlarged cross-sectional views of a bumper sensor unit that is a contact detection device, in which FIG. 5A is a cross-sectional view taken along line AA in FIG. 1B, and FIG. FIG. It is the characteristic view which showed the filtering frequency characteristic of the filtering part. It is a figure explaining operation | movement and an effect | action of the contact detection means by a cord-like pressure sensor, (a) is the output signal VS of the cord-like pressure sensor 10, (b) is the output signal Vf of the filter part 27a, (c) is The determination outputs J and (d) of the contact detection means 27 are characteristic diagrams showing the applied voltage Vm to the motor 23a, respectively, and the horizontal axis is time t in common for all. It is an illustration of the elastic attachment body which has a vibration characteristic different from the natural vibration characteristic which a traveling apparatus has. In another example in which the cord-like pressure sensor is applied, (a) is an example applied to a power window of an automobile, and (b) is an example applied to an automatic door of an elevator. It is a figure of the traveling apparatus provided with the conventional contact detection apparatus described in patent document 1, (a) is the side surface schematic diagram, (b) is the plane cross-sectional schematic diagram.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Center electrode 2 Piezo element material 3 Outer electrode 4 Outermost periphery coating | coated part 10 Code-like pressure sensor 20 Traveling apparatus 21 Traveling apparatus main body 22 Carriage 23 A pair of left and right drive wheels 23a Drive motor 24 Driven wheel 24a Front driven wheel 24b Back driven Driving wheel 25 Bumper 25a Corner portion 27 Contact detection means 27a Filter portion 27b Contact detection portion 28 Motor drive control means 30 Elastic attachment body 31 Rib 32 Gap portion 33 Tongue portion 34 Slit portion 35 Hollow portion 38 Mounting plate 39 Mounting screw 50 Automotive door 51 Window Glass 52 Door Frame 60 Elevator 61 Automatic Door

Claims (4)

A cord-like pressure sensor disposed on the fence or fence;
In a contact detection device comprising contact detection means for detecting contact of an object with the fence or fence based on an output signal corresponding to the acceleration of deformation of the cord-shaped pressure sensor,
The contact detection means is a contact detection device for intrusion detection, comprising a filtering unit that removes a vibration frequency component of the ridge or fence from the output signal.   The contact detection device for intrusion detection according to claim 1, wherein the filtering unit removes a frequency component including a natural frequency of the fence or fence.   The intrusion detection contact according to claim 1 or 2, wherein the cord-like pressure-sensitive sensor is disposed on the ridge or the fence via a support means having a vibration characteristic different from the natural vibration characteristic of the ridge or the fence. Detection device.   The contact detection device for intrusion detection according to claim 1, further comprising a sounding device, wherein the sounding device is sounded based on an output of the contact detection means.

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