JP2008123765A - Membrane switch, and self-running moving body including the same - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a membrane switch, and a self-running moving body including the same, the membrane switch being attached to a substantially cylindrical outer circumferential surface of the moving body, capable of, when obstacles, etc., contact a side surface of the moving body at respective positions from substantially the same direction, making constant an outer force required to become an ON state irrespective of the contacting position. <P>SOLUTION: The membrane switch 1 is provided with an outer electrode 10, an inner electrode 20 disposed to be opposed to the outer electrode 10, and a space 30 disposed between the outer electrode 10 and the inner electrode 20. The spacer 30 has a plurality of openings 32, 33 arranged at intervals in the longitudinal direction. The openings gradually decrease in opening area toward the center portion with respect to the longitudinal direction and gradually increase in opening area toward both end portions. The outer electrode 10 and the inner electrode 20 are capable of contacting each other through the openings. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a membrane switch and a self-propelled moving body including the membrane switch.

  Conventionally, a self-propelled mobile body provided with a contact sensor is known.

  For example, Japanese Patent Laying-Open No. 2004-148021 (Patent Document 1) describes a self-propelled cleaner in which a contact sensor is provided with a belt-like contact sensor on a suction port and a side surface of a main body. The contact sensor has a large number of contacts dispersedly arranged, a first contact element provided on the base plate, a second contact element provided on a strip-shaped contact layer disposed apart from the base plate, It consists of a strip-shaped elastic body arranged on the second contact element.

In the belt-shaped contact sensor, a pattern having a plurality of contacts is printed on the base sheet in order to specify the contact position with the obstacle over a wide range on the suction port and the side surface of the main body.
JP 2004-148021 A

  However, when the belt-like contact sensor disclosed in the above publication is used as a contact detection means for a self-propelled mobile body and attached to the cylindrical side surface of the self-propelled mobile body, the following description will be given. There is a problem.

  When an external force is applied from the direction facing the front of the self-propelled mobile body, that is, from the direction parallel to the traveling direction of the self-propelled mobile body, the contact point of the contact sensor located in front of the mobile body Since the ratio of the force that contributes to turning on the contact sensor switch is large in the applied external force, the contact sensor switch can be turned on with a small external force. On the other hand, when an external force is applied from a direction parallel to the traveling direction of the self-propelled moving body, the contact point of the contact sensor located on the left and right side surfaces of the moving body is out of the applied external force, Since the ratio of the force that contributes to turning on the contact sensor switch is small, a large external force is required to turn on the contact sensor switch. As the both ends of the belt-like contact sensor arranged on the left and right side surfaces of the moving body are approached, a larger external force is required to turn on the contact sensor switch. Therefore, for example, when an external force is applied to each position on the substantially cylindrical side surface of the moving body from a direction parallel to the traveling direction of the self-propelled moving body, that is, an obstacle moves from substantially the same direction. When contacting each position on the side surface of the body, there is a problem that the conventional belt-shaped contact sensor cannot obtain a uniform detection result regardless of the contact position.

  For this reason, for example, when a moving object comes in contact with a light obstacle from the front while traveling, the contact is detected and stopped, but the moving object contacts a light obstacle near the left and right ends. In that case, the contact cannot be detected. In this case, of the external force applied to the vicinity of the left and right ends of the moving body, the ratio of the force that contributes to turning on the contact sensor switch is small, so the contact sensor switch is turned on. For this reason, since the frictional force generated between the light obstacle and the floor surface is small with respect to the force required for this, the contact may not be detected and the moving body may push the obstacle.

  Therefore, an object of the present invention is to attach the switch to the substantially cylindrical outer peripheral side surface of the moving body, and turn on the switch when an obstacle or the like comes in contact with each position on the side surface of the moving body from substantially the same direction. It is an object of the present invention to provide a membrane switch and a self-propelled mobile body equipped with the membrane switch that can make the external force necessary for achieving the state almost constant without depending on the contact position.

  A membrane switch according to the present invention includes a strip-shaped first electrode member, a strip-shaped second electrode member disposed so as to face the first electrode member, a first electrode member, and a second electrode member. A strip-shaped insulating member disposed between the electrode member and the electrode member. In the insulating member, a plurality of openings are arranged side by side in the longitudinal direction. Each of the plurality of openings is formed such that the area of the opening is relatively small as it approaches the central portion in the longitudinal direction, and the area of the opening is relatively large as it approaches both ends in the longitudinal direction. The first electrode member and the second electrode member can be contacted through the opening.

  In the membrane switch of the present invention, in order to bring the first electrode member and the second electrode member into contact with each other through the opening, one of the first electrode member or the second electrode member is pressed and deformed. It is necessary to enter the opening of the insulating member and contact the other part of the first electrode member or the second electrode member. Each of the plurality of openings arranged in the insulating member has a relatively small area of the opening as it approaches the central part in the longitudinal direction, and has a relatively large area of the opening as it approaches both ends in the longitudinal direction. It is formed as follows. For this reason, the first electrode member and the second electrode member must be brought into contact with each other through an opening having a relatively small area on the central side in the longitudinal direction, and relatively large on both end sides in the longitudinal direction. The first electrode member and the second electrode member must be brought into contact through an opening having an area.

  On the central portion side in the longitudinal direction, the amount of deformation of the pressed portion in order to press and enter one portion of the first electrode member or the second electrode member into the opening having a relatively small area. Must be increased. Therefore, in order to bring the first electrode member and the second electrode member into contact through a relatively small opening, a relatively large pressing force is required.

  On the other hand, on both ends in the longitudinal direction, in order to press and enter one part of the first electrode member or the second electrode member into the opening having a relatively large area, the press The amount of deformation of the portion to be performed may be small. Therefore, in order to bring the first electrode member and the second electrode member into contact through a relatively large opening, a relatively small pressing force may be used.

  As a result, in the belt-shaped membrane switch, the pressing force necessary to bring the first and second electrode members into contact with each other is relatively increased on the central portion side in the longitudinal direction, and the first and second end portions are disposed on both end portions in the longitudinal direction. The pressing force required to contact the second electrode member can be relatively reduced.

  Consider a case where the membrane switch of the present invention configured as described above is used by being attached to a substantially cylindrical outer peripheral surface of a moving body.

  When an external force is applied to the moving body by an obstacle from substantially the same direction, for example, from a direction substantially parallel to the traveling direction of the moving body, the membrane switch portion located in front of the moving body, that is, the center of the membrane switch In the portion near the part side, the ratio of the force that contributes to bringing the first and second electrode members into contact with each other out of the applied external force is large, that is, it contributes to turning on the membrane switch. The ratio of power to do is large. At this time, in the membrane switch of the present invention, the pressing force required to bring the first and second electrode members into contact with each other is relatively large on the central portion side in the longitudinal direction.

  On the other hand, when an external force is applied to the moving body by an obstacle or the like from a direction substantially parallel to the traveling direction of the moving body, the membrane switch portions located on the left and right side surfaces of the moving body, that is, close to both ends of the membrane switch In the position portion, the ratio of the force that contributes to bringing the first and second electrode members into contact with each other is small, that is, the ratio of the force that contributes to turn on the membrane switch. Is small. At this time, in the membrane switch of the present invention, the pressing force required to bring the first and second electrode members into contact with each other at both ends in the longitudinal direction is relatively small.

  Thus, by using the membrane switch of the present invention, when an external force is applied to the moving body by an obstacle or the like from substantially the same direction, the first and second electrode members of the applied external force are brought into contact with each other. In the portion where the ratio of the force that contributes to the generation is large, the pressing force required to bring the first and second electrode members into contact with each other is relatively increased. Of the applied external force, the first and second In a portion where the ratio of the force that contributes to bringing the electrode member into contact is small, the pressing force required to bring the first and second electrode members into contact with each other can be made relatively small. Therefore, when an obstacle or the like comes in contact with each position on the side surface of the moving body from substantially the same direction, the external force required to bring the first and second electrode members into contact, that is, the membrane switch is turned on. The external force required to achieve this can be made substantially constant without depending on the contact position.

  The membrane switch according to the present invention includes a first terminal that connects both ends of the first electrode member, and a second terminal that connects both ends of the second electrode member. When the two electrode members come into contact with each other through the opening, the contact position is determined by the electric resistance value between the first terminal and the second terminal, and the electric position increases as the contact position approaches the central part in the longitudinal direction. The electric resistances of the first electrode member and the second electrode member are formed so that the resistance value is relatively large and the electric resistance value becomes relatively small as the contact position approaches both ends in the longitudinal direction. It is preferable.

  In a conventional belt-shaped contact sensor, a pattern having a plurality of contacts is printed on a base sheet in order to specify a contact position with an obstacle in a wide range on the suction port and the side surface of the main body. When a wide range of contact detection is realized using a plurality of contacts using this conventional belt-shaped contact sensor, the electrode pattern becomes complicated. Further, when it is desired to detect the contact position, it is necessary to perform independent wiring for each electrode pattern of the plurality of membrane switches, and there is a problem that the number of wirings must be increased according to the resolution.

  On the other hand, since the membrane switch of the present invention is configured as described above, the contact position can be detected by measuring the electric resistance value between the first terminal and the second terminal. it can. Therefore, compared with the conventional belt-shaped contact sensor, it is not necessary to make the electrode pattern complicated, and the contact position can be detected with a simplified wiring without increasing the number of wirings.

  A self-propelled mobile body according to the present invention includes a mobile body having a substantially cylindrical outer peripheral surface, and a membrane switch having the above-described characteristics, which is attached to the outer peripheral surface of the mobile body, and is provided from a certain direction. When an external force is applied to the outer peripheral side surface of the moving body, the external force necessary for the first electrode member and the second electrode member to contact each other through each of the plurality of openings is affected by the position of each of the openings. It is almost constant.

  By configuring the self-propelled moving body in this way, when an obstacle or the like comes in contact with each position on the side surface of the moving body from substantially the same direction, the first and second electrode members are brought into contact with each other. The required external force, that is, the external force required to turn on the membrane switch can be made almost constant without depending on the contact position. Therefore, when an obstacle or the like comes into contact with each position on the side surface of the moving body from substantially the same direction, a uniform detection result can be obtained regardless of the contact position.

  As described above, according to the present invention, when an obstacle or the like comes in contact with each position on the side surface of the moving body from substantially the same direction, the external force necessary to turn on the membrane switch is set to the contact position. It can be made almost constant without depending on it. As a result, when the membrane switch of the present invention is used by being attached to the substantially cylindrical outer peripheral side surface of the moving body, when an obstacle or the like comes in contact with each position on the side surface of the moving body from substantially the same direction, Regardless, a uniform detection result can be obtained.

  An embodiment of the present invention will be described below with reference to the drawings.

  FIG. 1 is a perspective view showing a schematic configuration of a membrane switch as one embodiment of the present invention. FIG. 2 is an exploded perspective view showing a schematic internal structure of a membrane switch as one embodiment of the present invention.

  As shown in FIG. 1, the membrane switch 1 includes an external electrode 10 as a strip-shaped first electrode member, and an internal electrode 20 as a strip-shaped second electrode member disposed so as to face the external electrode 10. , And a spacer 30 as a strip-like insulating member disposed between the external electrode 10 and the internal electrode 20.

  The external electrode 10 and the internal electrode 20 are sheet-like members formed by applying a carbon paste as a conductive material to the surface of an insulating material and forming a long strip shape. For example, in this embodiment, the length of the external electrode 10 and the internal electrode 20 is 400 mm and the width is 30 mm. As shown in FIGS. 1 and 2, both end portions 11 and 12 of the external electrode 10 are connected to the first terminal 13 through wiring. Further, both end portions 21 and 22 of the internal electrode 20 are connected to the second terminal 23 through wiring. These wirings may be formed in a pattern on the same surface as the surface of the insulating material to which the carbon paste is applied, using a material having a low electrical resistance such as silver paste.

  As shown in FIG. 2, in the spacer 30 disposed between the external electrode 10 and the internal electrode 20, a plurality of openings 32 and 33 are arranged at intervals in the longitudinal direction on a sheet-like member 31 made of an insulating material. Is arranged in. Each of the plurality of openings is formed such that the area of the opening is relatively small as it approaches the central portion in the longitudinal direction, and the area of the opening is relatively large as it approaches both ends in the longitudinal direction. For example, the opening 32 near the center in the longitudinal direction has a relatively small area, and the opening 33 near both ends in the longitudinal direction has a relatively large area. The external electrode 10 and the internal electrode 20 can be contacted through the opening. Specifically, as shown in FIG. 2, when the external electrode 10 is pressed toward the internal electrode 20 in the direction indicated by the arrow P, the external electrode 10 and the internal electrode 20 come into contact at the contact position 40 through the opening 32p. It is possible.

  In the membrane switch 1 of the present invention, in order to bring the external electrode 10 and the internal electrode 20 into contact with each other through the opening 32p, one part of the external electrode 10 or the internal electrode 20 is pressed and deformed, and the opening of the spacer 30 32p needs to be brought into contact with the other part of the external electrode 10 or the internal electrode 20. Each of the plurality of openings arranged in the spacer 30 has a relatively small area of the opening as it approaches the central portion in the longitudinal direction, and has a relatively large area of the opening as it approaches both ends in the longitudinal direction. It is formed as follows. For this reason, the external electrode 10 and the internal electrode 20 must be brought into contact with each other through the opening 32 having a relatively small area on the central side in the longitudinal direction, and the opening having a relatively large area on both ends in the longitudinal direction. The external electrode 10 and the internal electrode 20 must be brought into contact with each other through the portion 33.

  On the central portion side in the longitudinal direction, a portion of one of the external electrode 10 or the internal electrode 20, or a portion of the external electrode 10 in FIG. The amount of deformation of the part to be done must be increased. Therefore, in order to bring the external electrode 10 and the internal electrode 20 into contact through the relatively small opening 32, a relatively large pressing force is required.

  On the other hand, on both end sides in the longitudinal direction, one part of the external electrode 10 or the internal electrode 20, in FIG. 2, a part of the external electrode 10 is pressed into the opening 33 having a relatively large area. Therefore, the amount of deformation of the pressed portion may be small. Therefore, in order to bring the external electrode 10 and the internal electrode 20 into contact through the relatively large opening 33, a relatively small pressing force may be used.

  Thereby, in the strip-shaped membrane switch 1, the pressing force necessary to bring the external electrode 10 and the internal electrode 20 into contact with each other is relatively increased on the central side in the longitudinal direction, and the external electrode 10 is disposed on both end sides in the longitudinal direction. The pressing force required to bring the internal electrode 20 into contact with each other can be made relatively small.

  As shown in FIG. 2, the membrane switch 1 of the present invention includes a first terminal 13 that connects both ends of the external electrode 10 and a second terminal 23 that connects both ends of the internal electrode 20. When the external electrode 10 and the internal electrode 20 come into contact with each other through the opening 32p, the contact position 40 can be determined by the electric resistance value between the first terminal 13 and the second terminal 23. When the external electrode 10 and the internal electrode 20 come into contact with each other through the opening 32p, the electrical resistance value is relatively large as the contact position 40 approaches the central portion in the longitudinal direction, and the contact position 40 approaches the both ends in the longitudinal direction. An electric resistor 24 (overall electric resistance value R) is formed on each of the external electrode 10 and the internal electrode 20 so that the electric resistance value becomes relatively small.

  Specifically, in FIG. 2, when the external electrode 10 and the internal electrode 20 are in contact with each other through the opening 32p, the electrical resistance value between the first terminal 13 and the second terminal 23 is as follows: The case where it is located at the center is the maximum, and the case where it is located at the left and right ends is the minimum. Assume that the external electrode 10 is pressed toward the internal electrode 20 in the direction indicated by the arrow P, and the external electrode 10 and the internal electrode 20 are in contact at the contact position 40. The electrical resistance value from the contact position 40 to the end portion 12 in the external electrode 10 and the electrical resistance value from the contact position 40 to the end portion 22 in the internal electrode 20 are Ra. Here, if the electrical resistance values in the entire length direction of the external electrode 10 and the internal electrode 20 are R, respectively, the electrical resistance value from the contact position 40 to the end 11 in the external electrode 10, and from the contact position 40 in the internal electrode 20. The electric resistance values up to the end 21 are (R-Ra), respectively.

  FIG. 3 is a diagram showing a configuration of a schematic electric circuit for detecting the contact position in the membrane switch as one embodiment of the present invention.

As shown in FIG. 3, the contact position 40 is detected when an electric resistor R ₀ is connected to the second terminal 23 and a voltage V is applied between the electric resistor R ₀ and the first terminal 13. , Based on the voltage V ₀ at the second terminal 23. When the external electrode 10 and the internal electrode 20 are not in contact with each other, the voltage at the second terminal 23 is 0. However, when the external electrode 10 and the internal electrode 20 are in contact with each other, the electric power as shown in FIG. When the combined resistance value of the electrical resistance value (R-Ra) and the electrical resistance value Ra connected in parallel is Rx to constitute the circuit, the first electrode is in contact with the external electrode 10 and the internal electrode 20. The electrical resistance value Rs between the terminal 13 and the second terminal 23 is expressed by the following equation.

Rs = 2Rx (1)
here,
From 1 / Rx = 1 / (R−Ra) + 1 / Ra Rx = Ra (R−Ra) / R = − (Ra ² −RaR) / R
^{= {- (Ra 2 -RaR +} 0.25R 2) + 0.25R 2} / R
Rx = − (Ra−0.5R) ² /R+0.25R (2)
From the formula (1) and the formula (2), Rs = 2Rx = −2 (Ra−0.5R) ² /R+0.5R (3)
From this equation (3), Rs is represented by a quadratic function having a maximum value of 0.5R when Ra = 0.5R. Therefore, in the membrane switch 1 of the present invention, when the external electrode 10 contacts the internal electrode 20 at the longitudinal center, the electrical resistance value Rs is large, and the external electrode 10 contacts the internal electrode 20 at both longitudinal ends. It is understood that the electrical resistance value Rs becomes smaller.

  Since the membrane switch 1 of the present invention is configured as described above, the contact position 40 can be detected by measuring the electrical resistance value Rs between the first terminal 13 and the second terminal 23. it can. Therefore, compared with the conventional belt-shaped contact sensor, it is not necessary to make the electrode pattern complicated, and the contact position can be detected with a simplified wiring without increasing the number of wirings.

  Next, an embodiment when the membrane switch of the present invention is attached to a self-propelled moving body will be described below.

  FIG. 4 is a perspective view showing a schematic configuration of a self-propelled movable body to which the membrane switch of the present invention is attached.

  As shown in FIG. 4, the self-propelled moving body 100 includes a main body 110 and two drive wheels 121 and 122 attached to the main body 110, and is a moving body capable of autonomous action by built-in control means. is there. The moving body 100 can go straight and turn by the left and right independent drive wheels 121 and 122, but here, the traveling direction when going straight is the direction indicated by the arrow S.

  The main body 110 of the moving body 100 has a substantially cylindrical outer peripheral side surface 111, and the membrane switch 1 is attached to the front surface of the arc shape so that contact with an obstacle or the like on the traveling direction side can be detected. it can.

  FIG. 5 is an exploded perspective view showing a portion where the membrane switch is attached in the self-propelled moving body of FIG.

  As shown in FIG. 5, the membrane switch 1 is configured by stacking the buffer material 50, the external electrode 10, the spacer 30, and the internal electrode 20 in this order from the outside, and is attached to the outer peripheral side surface 111 of the main body 110 of the moving body 100. Yes. A plurality of protrusions 112 are formed at intervals on the outer peripheral side surface 111 of the main body 110. In the spacer 30, a total of 12 circular openings 32 to 37 are formed side by side in the longitudinal direction on a sheet-like member 31 made of an insulating material. The area of the opening, that is, the diameter of the opening is relatively small as it approaches the central part in the longitudinal direction, and relatively increases as it approaches both ends in the longitudinal direction. That is, the diameter of the opening 32 located at the center in the longitudinal direction is the smallest, the diameter of the opening 33 located at both ends in the longitudinal direction is the largest, and the diameter increases in the order of the openings 34, 35, 36 and 37. It has become.

  The spacer 30 is sandwiched between the external electrode 10 and the internal electrode 20. At any part of the openings 32 to 37, at least one of the external electrode 10 and the internal electrode 20 is deformed by an external force and the external electrode 10 and the internal electrode 20 come into contact with each other, so that the switch is turned on. At this time, as described above, when the electrical resistance value Rs between the first terminal 13 and the second terminal 23 (FIG. 3) changes and the external electrode 10 and the internal electrode 20 are not in contact with each other. It is in a released state.

  The plurality of protrusions 112 formed on the outer peripheral side surface 111 of the main body 110 are disposed at positions corresponding to the centers of the openings 32 to 37 of the spacer 30. The protrusion 112 concentrates the force applied to the internal electrode 20 by the external force applied to the external electrode 10 from the outside of the buffer material 50, and reduces the pressing force required to bring the external electrode 10 and the internal electrode 20 into contact with each other. And the effect of reducing the blind spot portion (the portion that does not come into contact with the pressing force) of the switch.

  When contact with an obstacle or the like occurs from a direction parallel to the traveling direction of the moving body 100, the contact position in the membrane switch 1 arranged in a semi-cylindrical surface out of the same external force F given by the contact of the obstacle or the like As a result, the magnitude of the force acting in the direction in which the external electrode 10 and the internal electrode 20 are brought into contact with each other (the center direction of the arc formed by the membrane switch 1 arranged in a semi-cylindrical surface) changes.

  FIG. 6 is a diagram conceptually showing the magnitude of the force applied to the membrane switch arranged in a semi-cylindrical surface.

As shown in FIG. 6, when a force is applied to the membrane switch 1 with an external force F from the angle θ direction with respect to the traveling direction S of the moving body 100 with respect to the center of the circle indicating the outer peripheral side surface 111 of the moving body, The force that contributes to the contact between the external electrode 10 and the internal electrode 20 arranged on the circumference of the circle is represented by F ₀ , and this force F ₀ is the same as the component of the external force F in the center direction of the circle. When considered, it is expressed by the following formula.

F ₀ = Fcos θ (4)
For this reason, in FIG. 6, the contact point 111a (angle θ = 0 °), the contact point 111b (angle θ = 30 °), and the contact point 111c (angle θ = 60 °) are shown by circles indicating the outer peripheral side surface 111 of the moving body. ), F ₀ = F, 0.87F, and 0.5F, respectively, and the force F ₀ that contributes to the contact between the external electrode 10 and the internal electrode 20 decreases as the angle θ increases.

On the other hand, when a pressing force is applied to the membrane switch 1 toward the center of the circle indicating the outer peripheral side surface 111 of the moving body, the force required until the membrane switch 1 is turned on, that is, the external electrode the pressing force necessary for up to 10 and the internal electrode 20 contacts the F _1. As described above, in the membrane switch 1 of the present invention, the pressing force F ₁ can be changed according to the position to which the pressing force is applied, depending on the size of the area of the openings 32 to 37 of the spacer 30. Thereby, for example, in the moving body 100 shown in FIG. 4, since the membrane switch 1 covers the outer peripheral side surface 111 in the range of 140 ° on the front surface of the moving body 100, the pushing angle is set in the range of 0 ° to 70 °. pressure F ₁ is expressed by the following equation.

F ₁ = X cos θ (5) (X: constant)
Here, of the external force F, the force that contributes to the contact between the external electrode 10 and the internal electrode 20, that is, the force F ₀ that is a component toward the center of the circle in FIG. Then, the force F ₀ is equal to the pressing force F ₁ required until the external electrode 10 and the internal electrode 20 come into contact with each other, and is expressed by the following equation.

F ₀ = F ₁
Assuming that the external force when the membrane switch 1 is in the ON state is Fα, it is expressed by the following equation using Equation (4) and Equation (5).

Fα · cos θ = X cos θ
Therefore,
Fα = X
Thus, the variable of the angle θ disappears, and the contact can be detected with the uniform external force X from the traveling direction S regardless of the position of the contact.

  Therefore, considering the case where the membrane switch 1 of the present invention is used by being attached to the substantially cylindrical outer peripheral side surface 111 of the moving body 100, the following operational effects can be obtained.

When the external force F is applied to the moving body 100 by an obstacle from substantially the same direction, for example, a direction substantially parallel to the traveling direction S of the moving body 100, the membrane switch 1 portion positioned in front of the moving body 100; That is, in the portion near the center side of the membrane switch 1, the ratio of the force F ₀ that contributes to bringing the external electrode 10 and the internal electrode 20 into contact with each other in the applied external force F is large. The ratio of the force F ₀ that contributes to turning on the switch 1 is large. At this time, in the membrane switch 1 of the present invention, the pressing force F ₁ required to bring the external electrode 10 and the internal electrode 20 into contact with each other is relatively large on the central side in the longitudinal direction.

On the other hand, when an external force F is applied to the moving body 100 by an obstacle or the like from a direction substantially parallel to the traveling direction S of the moving body 100, the portion of the membrane switch 1 located on the left and right side surfaces of the moving body 100, that is, the membrane switch In the portion close to both ends of 1, the ratio of the force F ₀ that contributes to bringing the external electrode 10 and the internal electrode 20 into contact is small in the applied external force F, that is, the membrane switch is turned on. The ratio of the force F ₀ that contributes to the state is small. At this time, in the membrane switch 1 of the present invention, the pressing force F ₁ necessary for bringing the external electrode 10 and the internal electrode 20 into contact with each other at both ends in the longitudinal direction is relatively small.

Thus, by using the membrane switch 1 of the present invention, when the external force F is applied to the moving body 100 by an obstacle or the like from substantially the same direction, the external electrode 10 and the internal electrode among the external force F applied. In the portion where the ratio of the force F ₀ contributing to contact with the electrode 20 is large, the pressing force F ₁ necessary for bringing the external electrode 10 and the internal electrode 20 into contact with each other is relatively increased. In a portion where the ratio of the force F ₀ that contributes to contact with the electrode 20 is small, the pressing force F ₁ required to bring the external electrode 10 and the internal electrode 20 into contact with each other can be relatively reduced. Therefore, when an obstacle or the like comes in contact with each position on the side surface of the moving body 100 from substantially the same direction, the external force Fα required to bring the external electrode 10 and the internal electrode 20 into contact, that is, the membrane switch is turned on. The external force Fα necessary for achieving this state can be set to a substantially constant value X without depending on the contact position.

  With the above configuration, the moving body 100 can detect the contact with the obstacle or the like and the position where the contact has occurred on the cylindrical outer peripheral side surface of the moving body 100 by the membrane switch 1. By realizing these detections using a single membrane switch formed in a strip shape, it is possible to expect an improvement in reliability due to simplification of wiring and a reduction in blind spots in obstacle detection.

  Further, by changing the size of the area of the opening of the spacer 30 to make the external force necessary for contact detection from the advancing direction uniform, the behavior of the self-propelled moving body at the time of contact with the obstacle is changed. Variations, for example, a moving object presses an obstacle without actually detecting the contact even though it is actually in contact with an obstacle, or the moving object is not in contact with an obstacle. Occurrence of a phenomenon such as moving as if to avoid an object or the like can be reduced.

  In the above embodiment, the opening is circular, but it may be a quadrangle such as a square or a rectangle, or a shape such as an ellipse.

  The embodiment disclosed above should be considered as illustrative in all points and not restrictive. The scope of the present invention is shown not by the above embodiments but by the scope of claims, and includes all modifications and variations within the meaning and scope equivalent to the scope of claims.

It is a perspective view showing a schematic structure of a membrane switch as one embodiment of this invention. It is a disassembled perspective view which shows the schematic internal structure of the membrane switch as one embodiment of this invention. It is a figure which shows the structure of the typical electric circuit for detecting a contact position in the membrane switch as one embodiment of this invention. It is a perspective view which shows the schematic structure of the self-propelled movable body to which the membrane switch of this invention was attached. It is a disassembled perspective view which shows the part to which the membrane switch was attached in the self-propelled movable body of FIG. It is a figure which shows notionally the magnitude | size of the force applied to the membrane switch arrange | positioned at a semi-cylindrical surface shape.

Explanation of symbols

  1: membrane switch, 10: external electrode, 13: first terminal, 20: internal electrode, 23: second terminal, 30: spacer, 32-37: opening, 40: contact position, 100: self-propelled Mobile body, 111: outer peripheral side surface.

Claims (3)

A band-shaped first electrode member;
A strip-shaped second electrode member disposed to face the first electrode member;
A strip-shaped insulating member disposed between the first electrode member and the second electrode member;
In the insulating member, a plurality of openings are arranged side by side in the longitudinal direction, and the area of the opening is relatively small as it approaches the center in the longitudinal direction, and approaches both ends in the longitudinal direction. Accordingly, each of the plurality of openings is formed so that the area of the opening becomes relatively large, and the first electrode member and the second electrode member can be contacted through the opening. , Membrane switch. A first terminal that connects both ends of the first electrode member; and a second terminal that connects both ends of the second electrode member, the first electrode member and the second electrode. When the member contacts through the opening, the contact position is determined by the electrical resistance value between the first terminal and the second terminal,
The electrical resistance value is relatively large as the contact position approaches the central portion in the longitudinal direction, and the first electrical resistance value is relatively small as the contact position approaches both end portions in the longitudinal direction. The membrane switch according to claim 1, wherein an electrical resistor of the electrode member and the second electrode member is formed. A moving body having a substantially cylindrical outer peripheral side surface;
The membrane switch according to claim 1 or 2, which is mounted on an outer peripheral side surface of the movable body,
When an external force is applied to the outer peripheral side surface of the movable body from a certain direction, the external force necessary for the first electrode member and the second electrode member to contact each other through each of the plurality of openings. A self-propelled moving body that is substantially constant regardless of the position of each of the openings.

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