JP2021135169A - Fabric type sensor, garment type sensor and robot mounted with garment type sensor - Google Patents

Abstract

To function as a proximity sensor and a pressure sensor.SOLUTION: A fabric type sensor (10) includes a detection part 12 and a controller 14. The detection part 12 is composed of a conductive fabric 20 and an insulating tape 22. The conductive fabric is composed of a fabric 20a on a conductive surface and a fabric 20b on a non-conductive surface. The insulating tape has the same size as the fabric on the conductive surface, and is stuck to the fabric on the conductive surface. When a voltage is applied to the fabric on the conductive surface, an electrostatic capacitance is generated between the fabric on the conductive surface and a conductive body (human) of a ground potential present through at least the insulating tape. The electrostatic capacitance is detected by the controller, a distance between the conductive body and the detection part is detected with the magnitude of the electrostatic capacitance. When the conductive body contacts the detection part, the pressure applied to the detection part from the conductive body is detected with the magnitude of the electrostatic capacitance.SELECTED DRAWING: Figure 2

Description

The present invention relates to a robot equipped with a cloth type sensor, a clothes type sensor and a clothes type sensor, and more particularly to, for example, a robot equipped with a cloth type sensor, a clothes type sensor and a clothes type sensor having a flexible detection unit.

An example of a conventional robot of this type is disclosed in Patent Document 1. The robot disclosed in Patent Document 1 is provided with a touch sensor on the surface for detecting the user's contact with the body surface. More specifically, a second layer touch sensor is installed along the curved surface of the main body frame made of the resin material of the robot, and this second layer touch sensor is sandwiched between the main body frame and the urethane rubber outer skin. Is done. A cloth epidermis is attached to the surface of the exodermis, and a first-layer touch sensor is installed between the exodermis and the exodermis along the curved surface shape of the exodermis.

JP-A-2019-72495

In the robot disclosed in Patent Document 1, a film-like second-layer touch sensor is attached to a hard body frame inside the robot, and a soft outer skin is attached onto the film-like second-layer touch sensor. For this reason, it is difficult for a robot having a more complicated configuration, such as an android robot having a shape very similar to a human, to attach a touch sensor to an internal frame. Further, in the robot disclosed in Patent Document 1, when the touch sensor is damaged (or malfunctions), it is necessary to peel off the epidermis and / and the outer skin for repair, which is troublesome. Further, since the film-shaped touch sensor is used, the robot needs to have a hard main body frame, and cannot be used for a robot having a main body without a frame such as a stuffed animal.

Further, in the robot disclosed in Patent Document 1, when a human (or a user) touches at least the epidermis, it recognizes that the robot has been touched, poked, massaged, or hit. Therefore, before the human touches the robot, it is not possible to detect that the human is approaching the robot based on the output of the touch sensor. Therefore, the robot disclosed in Patent Document 1 is provided with a camera, a sound collecting microphone, a temperature sensor, and the like, and a human approaches the robot from the image, sound, temperature, and the like detected by such other sensors. Was detected. That is, in order to detect that a human is approaching, it is necessary to provide a plurality of sensors, resulting in high cost.

Therefore, a main object of the present invention is to provide a novel cloth type sensor, a garment type sensor, and a robot equipped with a garment type sensor.

Another object of the present invention is to provide a robot equipped with a cloth type sensor, a clothes type sensor and a clothes type sensor, which can function as a proximity sensor and a pressure sensor.

The first invention is a conductive cloth in which a first cloth formed by knitting a conductive thread and a second cloth formed by knitting an insulating thread are overlapped, and the same size as the first cloth. It is a cloth-type sensor that has an insulating sheet that is laminated and attached to the first cloth, and a capacitance sensor IC that is electrically connected to the first cloth.

The second invention is subordinate to the first invention, and the conductive cloth has elasticity.

The third invention is dependent on the first or second invention, and a predetermined pattern of cuts is made in the conductive cloth to which the insulating sheet is attached.

A fourth aspect of the present invention is a conductive cloth obtained by superimposing a capacitance sensor IC, a first cloth formed by knitting a conductive thread, and a second cloth formed by knitting an insulating thread. A plurality of the conductive cloths having the same size as one cloth and having an insulating sheet laminated on the first cloth and having the insulating sheet attached are connected in a plane shape by using the third cloth. Each of the first cloths constituting each of the plurality of conductive cloths was individually connected to the capacitance sensor IC by using an electric wire sewn on the third cloth. It is a cloth type sensor.

The fifth invention is subordinate to the fourth invention, and the conductive cloth has elasticity.

The sixth invention is a robot equipped with the clothing type sensor according to the fourth or fifth invention.

According to the present invention, an insulating tape is attached to the cloth on the conductive surface side of the conductive cloth in which the cloth on the conductive surface side and the cloth on the non-conductive surface side are joined, and the cloth on the conductive surface side and the conductor having a ground potential are attached. It can function as a proximity sensor and a pressure sensor because it detects the presence or absence of a conductor, the approach of a conductor, the contact of a conductor, and the pressure received from the conductor by the magnitude of the capacitance generated between them.

The above-mentioned object, other object, feature and advantage of the present invention will be further clarified from the detailed description of the following examples made with reference to the drawings.

FIG. 1 is a diagram showing a cloth type sensor according to an embodiment of the present invention. FIG. 2 is a diagram for explaining the outline of the configuration of the detection unit of the cloth type sensor shown in FIG. 3 (A) is a partially enlarged view of the cloth on the conductive surface side of the conductive cloth constituting the detection unit of the cloth type sensor shown in FIGS. 1 and 2, and FIG. 3 (B) is a partially enlarged view of the cloth on the conductive surface side. It is a partially enlarged view of the cloth on the non-conductive surface side of the conductive cloth which constitutes the detection part of the cloth type sensor shown in 1. FIG. 4 is a partially enlarged view of the conductive cloth constituting the detection unit of the cloth type sensor shown in FIGS. 1 and 2. FIG. 5A is a diagram showing an example of the case where the cloth type sensor shown in FIG. 1 functions as a proximity sensor, and FIG. 5B is a case where the cloth type sensor shown in FIG. 1 functions as a proximity sensor. 5 (C) is a diagram showing an example of a case where the cloth type sensor shown in FIG. 1 functions as a pressure sensor. FIG. 6 is a diagram showing an example of a clothing type sensor having a plurality of detection units shown in FIG. FIG. 7A is a diagram showing the arrangement of a plurality of detection units on the front side of the clothing type sensor, and FIG. 7B is a diagram showing the arrangement of a plurality of detection units on the back side of the clothing type sensor. FIG. 8 is a partially enlarged view of a cloth with a wire for connecting a plurality of detection units constituting the clothing type sensor shown in FIG. FIG. 9 is a diagram for explaining a method of connecting a plurality of detection units constituting the clothing type sensor shown in FIG. FIG. 10 (A) is a diagram for explaining an actuator for moving the eyeball and the eyeball of the android robot equipped with the clothing type sensor shown in FIG. 6, and FIG. 10 (B) is a diagram for moving the forehead, eyebrows and corners of the mouth of the android robot. It is a figure for demonstrating the actuator, and FIG. 10C is a figure for demonstrating the actuator which moves the lips of an android robot. FIG. 11 is a diagram for explaining an actuator that moves the head, shoulders, and hips of an android robot. FIG. 12 (A) is a diagram showing an example of a cloth type sensor mounted on a chamber contracted by draining water, and FIG. 12 (B) is a diagram showing an example of a cloth sensor mounted on a chamber expanded by supplying water. It is a figure which shows an example of the cloth type sensor. FIG. 13 (A) is a diagram showing a detection unit in which the first pattern is cut in the cloth sensor of the first embodiment, and FIG. 13 (B) is a diagram of the second pattern in the cloth sensor of the first embodiment. It is a figure which shows the detection part which made the cut, and FIG. 13C is the figure which shows the detection part which made the cut of the 3rd pattern (composite pattern) in the cloth type sensor of 1st Example.

<First Example>
With reference to FIG. 1, the cloth type sensor 10 of the first embodiment includes a detection unit 12 and a controller 14, and the detection unit 12 and the controller 14 are electrically connected to each other.

FIG. 2 is a diagram showing an outline of the structure of the detection unit 12 shown in FIG. As shown in FIG. 2, the detection unit 12 has a layered structure and includes a conductive cloth 20 and an insulating tape 22. Further, the conductive cloth 20 is configured by connecting the cloth 20a on the conductive surface side (corresponding to the "first cloth") and the cloth 20b on the non-conductive surface side (corresponding to the "second cloth"). .. The insulating tape 22 is attached to the cloth 20a on the conductive surface side. Although not shown, the controller 14 shown in FIG. 1 is connected to the cloth 20a on the conductive surface side of the detection unit 12 by an electric wire.

FIG. 3A is a partially enlarged view of the cloth 20a on the conductive surface side, and FIG. 3B is a partially enlarged view of the cloth 20b on the non-conductive surface side. Further, FIG. 4 is a partially enlarged view of the conductive cloth 20 constituting the detection unit 12 of the cloth type sensor 10. The conductive surface side cloth 20a, the non-conductive surface side cloth 20b, and the conductive cloth 20 of the first embodiment will be specifically described with reference to FIGS. 3 (A), 3 (B), and FIG. .. However, in FIGS. 3 (A), 3 (B) and 4, in order to clearly show the cloth 20a on the conductive surface side and the cloth 20b on the non-conductive surface side, the cloth 20b on the non-conductive surface side is outlined. It is shown by a line. Further, in FIG. 4, the insulating thread 20c is shown by a dotted line.

The cloth 20a on the conductive surface side is made by circularly knitting a conductive thread. In this first embodiment, the conductive thread is a nylon silver-plated thread. The cloth 20b on the non-conductive surface side is made by circularly knitting an insulating thread. In this first embodiment, the insulating thread is a polyester thread.

As shown in FIG. 4, the conductive cloth 20 is made by knitting with a knot. That is, the conductive cloth 20 is a cloth on the conductive surface side by knitting the cloth 20a on the conductive surface side and the cloth 20b on the non-conductive surface side and knitting between them with an insulating thread 20c such as a polyester thread. The 20a and the cloth 20b on the non-conductive surface side are joined together. Therefore, the conductive cloth 20 has a three-layer structure consisting of a cloth 20a on the conductive surface side, a cloth 20b on the non-conductive surface side, and an insulating thread 20c between them. However, in FIG. 2, the layer of the insulating thread 20c for connecting the cloth 20a on the conductive surface side and the cloth 20b on the non-conductive surface side is omitted.

In this first embodiment, the conductive cloth 20 is made by knitting with a knotted fabric, but two cloths, a cloth 20a on the conductive surface side and a cloth 20b on the non-conductive surface side, are made separately. Insulating threads 20c may be used to attach them so that they are aligned on the surface.

Further, in this first embodiment, in order to give the conductive cloth 20 elasticity, the cloth 20a on the conductive surface side and the cloth 20b on the non-conductive surface side are made by circular knitting, but the present invention is limited to this. There is no need to. The cloth 20a on the conductive surface side and the cloth 20b on the non-conductive surface side may be made by weft (horizontal) knitting or warp (vertical) knitting. Even in such a case, the conductive cloth 20 can be made elastic.

The insulating tape 22 is obtained by applying an adhesive on one side of an insulating sheet. The insulating sheet is made of nylon. As the insulating tape 22, as an example, a “nylon repair sheet seal type” manufactured by KAWAGUCHI can be used.

The controller 14, also called a capacitance sensor IC, detects the capacitance generated between the cloth 20a on the conductive surface side and the conductive object having the ground potential. A DC voltage is supplied to the controller 14 from a power source, and this is used to detect the capacitance. Briefly, the controller 14 detects the capacitance every predetermined period (for example, 5 seconds), and in the later period (for example, 2.5 seconds) of the predetermined period, the cloth on the conductive surface side. The capacitance is calculated by applying a DC voltage of a predetermined value to 20a and detecting the voltage value when the cloth 20a on the conductive surface side is discharged in the remaining period of the predetermined period. As an example of the controller 14 having a function of calculating the capacitance, a microcontroller (model number: PIC16F1847) manufactured by Microchip Technology Japan Co., Ltd. can be used.

The cloth type sensor 10 having the above configuration can function as a proximity sensor and a pressure sensor. FIG. 5 (A) shows an example of the case of functioning as a proximity sensor, FIG. 5 (B) shows another example of the case of functioning as a proximity sensor, and FIG. 5 (C) shows an example of the case of functioning as a pressure sensor. show. However, in FIGS. 5A-5C, the controller 14 is omitted.

As shown in FIG. 5 (A), when a human (human hand or finger in the figure) having a ground potential approaches the insulating tape 22 of the detection unit 12, the cloth 20a (detection unit 12) on the conductive surface side and the human Capacitance C is generated between them. The area S of the detection unit 12 is 5 cm × 10 cm, and in the experiment, it was confirmed that the capacitance C is generated when the distance D between the detection unit 12 and the human hand is about 50 cm.

When a human approaches the detection unit 12, the capacitance C increases, and as shown in FIG. 5B, when the human touches the detection unit 12, the capacitance C reaches the maximum value C _max . This is clear from the mathematical formula (Equation 1) for obtaining the capacitance C. However, ε is a dielectric constant, which is determined by air and the material of the insulating tape 22 in the first embodiment.

[Number 1]
C = ε × S / D
As described above, when the capacitance C is generated, it is detected that a conductor such as a human being exists within a predetermined range near the detection unit 12, and as the capacitance C increases, the distance D from the conductor D Is detected to be shortened (approaching). That is, the cloth type sensor 10 functions as a proximity sensor. Further, when the capacitance C reaches the maximum value C _max , it is detected that a human has come into contact with the detection unit 12. That is, the cloth type sensor 10 also functions as a contact sensor.

However, even when the capacitance C reaches the maximum value C _max , as described above, since the detection unit 12 has the insulating tape 22, the distance D between the human and the cloth 20a on the conductive surface side is D. Is not 0. Therefore, as shown in FIG. 5C, when a human presses the detection unit 12, the thickness of the insulating tape 22 changes slightly, that is, the distance D becomes smaller. Therefore, when a human is in contact with the detection unit 12, the pressure applied to the detection unit 12 by the human is detected by further changing the capacitance C. That is, the cloth type sensor 10 also functions as a pressure sensor. Therefore, as will be described later, when the clothing sensor 50 is attached to the robot 100, it is possible to know the strength of the force when a human hits the robot 100 or grasps the arm or the like of the robot 100.

The above maximum value C _max is the maximum value when the cloth type sensor 10 functions as a proximity sensor, and the maximum value when the cloth type sensor 10 functions as a pressure sensor is larger than the _{maximum value C max.} ..

The cloth type sensor 10 of the first embodiment can be used alone, but the clothes type sensor 50 can be made by using a plurality of cloth type sensors 10.

FIG. 6A is an example of a schematic view of the clothing sensor 50 viewed from the front side, and FIG. 6B is an example of a schematic view of the clothing sensor 50 viewed from the back side. FIG. 6A. And in FIG. 6 (B), the plurality of detection units 12 are described on the outside (front side) of the clothes (here, the long-sleeved outerwear), but in reality, the inside of the clothes is not spoiled in order not to spoil the design. The detection unit 12 is provided on the (back side). Further, the detection unit 12 is arranged so as to fit inside the clothes. However, the plurality of detection units 12 may be provided on the outside of the clothes, and the plurality of detection units 12 may be provided. 12 may be provided between the outer and inner fabrics of the garment.

As shown in FIGS. 6 (A) and 6 (B), in the first embodiment, the clothing type sensors 50 are nine (or channels) on each arm portion of the long-sleeved outerwear, and the outerwear is provided with nine (or channels). A total of 80 cloth-type sensors 10 are provided, 33 on the front side of the fuselage and 29 on the back side of the fuselage of the jacket. However, since a maximum of nine detection units 12 can be connected to the microcontroller used in the first embodiment, the clothing sensor 50 is composed of 80 detection units 12 and nine controllers 14. Will be done. If a microcontroller capable of connecting 80 or more detection units 12 is used, the number of controllers 14 may be one.

In this first embodiment, the detection unit 12 having the same size is used in order to reduce the processing load, but the size and / and shape of the detection unit 12 can be changed as appropriate.

Nine detection units 12 are connected in a row to the left arm portion and the right arm portion, respectively. On the front side of the torso, 27 detection parts 12 are connected so as to form a rectangular surface in the part corresponding to the chest and abdomen, and 6 detection parts 12 in the part corresponding to the clavicle and shoulder are rectangular. Connected to the top of the face. On the back side of the fuselage, 27 detection units 12 are connected so as to form a rectangular surface in a portion corresponding to the back, and two detection units 12 are connected side by side on the upper part of the rectangular surface. Will be done.

Although omitted in FIGS. 6A and 6B, an elastic strip-shaped cloth 60 (corresponding to the “third cloth”) is provided between the adjacent detection units 12, and the strip-shaped cloth 60 (corresponding to the “third cloth”) is provided. The adjacent detection units 12 are joined (or joined) in a plane shape (or side by side) via the cloth 60 to form a cloth-like detection unit 12 group. However, each of the arms, the front side of the torso, and the cloth-like detection unit 12 groups on the rear side of the torso are individually attached to the inside of the outerwear or sewn to be fixed. Further, the plurality of detection units 12 are fixed to clothes so that the insulating tape 22 faces outward and the non-conductive cloth 20b faces inward. Further, the strip-shaped cloth 60 is an insulating cloth.

As shown in FIG. 1, the detection unit 12 is connected to the controller 14 by an electric wire. Therefore, the electric wire 62 is sewn on some of the above-mentioned strip-shaped cloths 60.

FIG. 7 is a diagram showing an example of a strip-shaped cloth 60 to which the electric wire 62 is sewn. As shown in FIG. 7, four electric wires 62 each having a wavy line shape are sewn on the cloth 60. However, in FIG. 7, the black dotted line is the thread 64 in which the electric wire 62 is sewn to the cloth 60.

Further, as shown in FIG. 7, the four electric wires 62 are divided into two sets of two each, and in each set, the two electric wires 62 are arranged so as to be overlapped in the shape of a wave having opposite phases, and a band-shaped cloth is used. When 60 is viewed vertically, they are lined up in two rows. Each of the four electric wires 62 is coated with an insulating resin such as polyvinyl chloride and is electrically independent.

FIG. 8 shows an example of a state in which each detection unit 12 is connected by a strip-shaped cloth 60 to which the electric wire 62 is sewn. In FIG. 8, the detection unit 12 is shaded in order to distinguish the detection unit 12 from the strip-shaped cloth 60. Further, in order to distinguish each electric wire 62, the type of the electric wire is shown differently. In FIG. 8, the thread 64 for sewing the electric wire 62 is omitted.

As shown in FIG. 8, each of the four electric wires 62 sewn on the strip-shaped cloth 60 is cut to an appropriate length, and one end thereof is a different detection unit 12 (of the conductive surface). It is connected to cloth 20a). In the example shown in FIG. 8, the electric wires 62 sewn on the strip-shaped cloth 60 are individually connected to a plurality of detection units 12 (four in FIG. 8) arranged on the left side of the strip-shaped cloth 60. Of the four wires 62, the two wires 62 in the left column are connected to the second and third detection units 12 from the top, respectively, and one of the two wires 62 in the right row. Is connected to the first detection unit 12 from the top, and although not shown, the other one of the two wires 62 in the right column is connected to the detection unit 12 further above.

Although not shown, the other end of each electric wire 62 is connected to the controller 14. However, the port of the controller 14 connected to each electric wire 62 (or the detection unit 12) is different. Therefore, the clothing sensor 50 individually detects the capacitance generated between each detection unit 12 and the conductor having the ground potential.

The connection method of the electric wire 62 shown in FIG. 8 is an example and does not need to be limited. In this first embodiment, since the nine detection units 12 are connected so as to be arranged in the vertical direction as described above, the electric wire 62 sewn on the strip-shaped cloth 60 extending along the row is connected. I just did.

Further, FIG. 8 shows a case where four electric wires 62 are connected to the four detection units 12 for the sake of simplicity, but the electric wires 62 are sewn in a strip shape according to the number of the detection units 12. A plurality of cloths 60 may be arranged between adjacent detection units 12.

Such a clothing sensor 50 can be attached to an android robot (hereinafter, simply referred to as “robot”) 100 which is an example of an agent existing in a physical space (or a real space). The robot 100 is a humanoid robot having a shape (appearance, etc.) that closely resembles a human being (see FIGS. 9 (A), (B), (C), and FIG. 10), and an operation (behavior, behavior) that closely resembles a human being. , Speaking).

As an example of this robot 100, Erica (registered trademark) developed by the applicant can be used. Hereinafter, the robot 100 will be briefly described. However, instead of the conventional tactile sensor, the clothing type sensor 50 of the present application is provided.

9 (A), 9 (B), 9 (C) and 10 show an example of the appearance and configuration of the robot 100. Specifically, FIG. 9A is a diagram for explaining the eyelids (128a, 128b) of the robot 100 and actuators A1, A2, A3, A4, and A5 for moving the eyeball, and FIG. 9B is a diagram for explaining the robot. It is a figure for demonstrating the actuators A6, A7, A8, A9 which move the forehead, the eyebrows and the mouth angle 130 of 100, and FIG. It is a figure. Further, FIG. 10 is a diagram for explaining actuators A14, A15, A16, A17, A18, and A19 for moving the head 126, shoulder 132, and waist 134 of the robot 100. Hereinafter, the appearance and configuration of the robot 100 will be briefly described with reference to FIGS. 9 (A) to 9 (C) and FIG. 10.

The robot 100 shown in FIGS. 9 (A) to 9 (C) and FIG. 10 is an example, and any android robot having another appearance and configuration can be used. Further, the robot 100 does not have to be limited to the android robot, and other robots can be used as long as the robot has a human-like appearance. As an example, a communication robot capable of communicating with a human or other robot with which it is communicating by body movement and / and voice can be used. Specifically, Roboby (registered trademark), which is an example of a communication robot developed by the applicant, can be used. Unlike humans, this roboby is configured to be movable on wheels, but has a head, torso, and arms, and has a human-like appearance. In this roboby, the contact (tactile) sensor can be omitted by attaching the clothing type sensor 50 of the present application.

The robot 100 includes a body portion 124 and a head 126 provided on the body portion 124 thereof. The upper eyelid 128a and the lower eyelid 128b are formed on the head 126 above and below the eyes (eyeballs), and the eyes are opened and closed by controlling the vertical movement of the upper eyelid 128a and the lower eyelid 128b. Operation is possible. Lips are further formed on the head 126, and both ends thereof have corners of the mouth 130. The mouth angle 130 can also move up and down in the same manner.

The upper end (lower part of the head) of the body portion 124 is the shoulder 132, and the middle of the body portion 124 is the waist 134. The shoulder 132 can move up and down, the waist 134 can be twisted (rotated) to the left and right, and can bend forward and backward.

In this first embodiment, the actuators described below for moving each of the above-mentioned parts of the robot 100 are stepping motors driven by pulse power, and the amount of rotation of the stepping motor is determined by the number of pulses. The number of pulses is given as a command value. An initial value is given to the actuator in a normal state, and when the target portion is displaced, a command value of the number of pulses according to the direction and magnitude is given to the corresponding actuator. In this first embodiment, each actuator is operated with a command value of "0-255", and any value of "0-255" is given as an initial value.

The actuator A1 is a control actuator for controlling the vertical movement of the upper eyelid 128a. Actuators A2, A3 and A4 are actuators for moving the eyeball left, right, up and down. The actuator A5 is an actuator that controls the vertical movement of the lower eyelid 128b. Therefore, the actuators A1 and A5 open and close the eyes.

The actuator A6 is an actuator for moving the forehead, and the actuator A7 is an actuator for moving the eyebrows.

The actuator A8 is an actuator for raising the mouth angle 130. Actuator A9 is an actuator for moving the tongue upward and downward. The actuator A10 is an actuator that spreads the lips to the left and right, and the actuator A11 is an actuator for projecting the lips forward.

Actuator A13 is an actuator for protruding and pulling the jaw. The mouth is opened and closed by the actuator A13.

Actuator A14 is an actuator for tilting the head 126 to the left and right, actuator A15 is an actuator for raising and lowering the head 126, and actuator A16 is an actuator for rotating the head to the left and right. ..

The actuator A17 is an actuator for moving the shoulder 132 up and down. The actuator A18 is an actuator for bending the waist 134 forward or backward, and the actuator A19 is an actuator for rotating (twisting) the waist 134 left and right.

As shown in FIG. 11, the robot 100 includes a processor (CPU in this first embodiment) 150 that controls the entire robot 100. The CPU 150 is connected to the communication module 156 through the bus 152, and thus the CPU 150 is communicably connected to the network via the communication module 156, either wired or wirelessly.

The CPU 150 can also access the RAM 154 through the bus 152, gives a command value to the actuator control circuit 158 through the bus 152 according to a program or data stored in the RAM 154, and controls the operation of each actuator A1-An.

The RAM 154 is used as a buffer area and a work area of the CPU 150. However, an HDD can be used instead of the RAM 154. The actuator control circuit 158 drives each actuator A1-An by generating a number of pulse powers corresponding to a command value given by the CPU 150 and applying the pulse power to the corresponding stepping motor.

However, as the actuator, in addition to the actuator using such a stepping motor, any actuator such as an actuator using a servo motor and a fluid actuator can be used.

The sensor I / F (interface) 162 is connected to the CPU 150 via the bus 152 and receives outputs from the clothing sensor 50 and the eye camera 166, respectively.

The output (detection data) from the clothing type sensor 50 (nine controllers 14 in the first embodiment) is given to the CPU 150 via the sensor I / F 160. As described above, in the clothing type sensor 50, since each detection unit 12 and the controller 14 function as a proximity sensor and a pressure sensor, by storing the arrangement position of each detection unit 12 in advance, humans and other conductivity can be obtained. It is possible to know the place (site) or / and the strength of being touched by a sex object or the like. That is, the clothing type sensor 50 constitutes a part of the tactile sensation of the robot 100.

When the clothing sensor 50 is attached to the robot 100, a capacitance C may be generated between the parts constituting the robot 100 equipped with the clothing sensor 50 and each detection unit 12. In this case, the capacitance C increases when the human approaches the robot 100 or when the human 100 touches the clothing sensor 50. Therefore, it is possible to detect that a human is approaching or touching the robot 100 equipped with the clothing sensor 50. It is also possible to detect the strength with which a human touches or hits the robot 100 equipped with the clothing sensor 50.

The eye camera 166 is an image sensor and constitutes a part of the vision of the robot 100. That is, the eye camera 166 is used to detect an image or an image seen from the eyes of the robot 100. In this first embodiment, the data (image data) corresponding to the captured image (moving image or still image) of the eye camera 66 is given to the CPU 150 via the sensor I / F 160. The CPU 150 stores the image data in the RAM 154 or transmits the image data to an external computer via the communication module 156 and the network.

Further, the speaker 168 and the microphone 170 are connected to the input / output I / F 162. The speaker 168 outputs voice when the robot 100 speaks. The microphone 170 is a sound sensor and constitutes a part of the hearing of the robot 100. The microphone 170 has directivity and is mainly used for detecting human voice, which is a communication target that interacts (communicates) with the robot 100.

The robot 100 shown in FIGS. 9 to 11 has a configuration in which the elbow joint and the fingers do not move, but actuators may also be provided on the elbow joint and the fingers to move them.

In this first embodiment, the clothing sensor 50 is attached to the robot 100, but a human may attach (wear) it. In this case, the capacitance C is generated between the person wearing the clothes sensor 50 and each detection unit 12, but another person may approach the person wearing the clothes sensor 50 or the other person may wear clothes. By touching the mold sensor 50, the capacitance C becomes large. Therefore, it is possible to detect that another person is approaching or touching a person wearing the clothing sensor 50. It is also possible to detect the strength with which another person touches or hits a person wearing the clothing sensor 50.

According to this first embodiment, an insulating tape is attached to the cloth on the conductive surface side of the conductive cloth in which the cloth on the conductive surface side and the cloth on the non-conductive surface side are joined, and the cloth on the conductive surface side and the ground potential are measured. The magnitude of the capacitance generated between the conductors detects the presence or absence of the conductor, the approach of the conductor, the contact of the conductor, and the pressure received from the conductor, so that it can function as a proximity sensor and a pressure sensor. can.

Further, according to the first embodiment, since the detection unit is composed of the conductive cloth and the insulating tape, the sensor can be easily manufactured. In addition, since the conductive cloth is made by knitting, it has excellent durability.

Further, according to the first embodiment, by fixing a plurality of cloth type sensors to clothes, it is possible to make a clothes type sensor that functions as a proximity sensor and a pressure sensor.

Furthermore, according to the first embodiment, since the clothing sensor is made of cloth, the degree of freedom in the appearance (three-dimensional surface) of the robot can be increased. In addition, it can be flexibly deformed by following the movement of the robot. Further, since both the conductive surface side cloth and the non-conductive surface side cloth constituting the conductive cloth are made of circular knitting, they have high elasticity, and therefore can be provided on the refracted portion of the robot. .. Furthermore, it can be applied to a stuffed toy robot having a main body without a frame simply by fixing it to the outer skin (or outer cover).

In this first embodiment, the conductive cloth 20 has a three-layer structure, but when focusing only on functioning as a proximity sensor and a pressure sensor, the cloth 20b on the non-conductive surface side may be omitted. can. Therefore, the detection unit 12 may have the insulating tape 22 attached to the cloth 20a on the conductive surface side. Further, for the same reason, only the conductive cloth 20 is used without using the insulating tape 22, and a conductor approaching and coming into contact with the cloth 20b on the non-conductive side can be detected, or the pressure due to the conductor can be applied. It can also be detected.

Further, in the first embodiment, the clothing type sensor 50 is provided with a plurality of detection units 12 so as to cover the entire arm, the entire chest and abdomen, and the entire back, but the present invention is limited to this. There is no need to. Some detection units 12 may be omitted.

Further, in the first embodiment, the clothes type sensor 50 for the long-sleeved outerwear is configured by using the plurality of cloth type sensors 10 (detection unit 12), but the clothes type sensor for the trousers (or pants) is formed. You may do so. Further, it is not necessary to be limited to clothes, and it is also possible to configure a sock, a supporter, or a sensor in which a plurality of cloth-type sensors 10 are arranged on a belly band.

<Second Example>
The cloth type sensor 10a of the second embodiment is the same as the cloth type sensor 10 of the first embodiment except that the detection unit 12 has an elongated strip shape.

The cloth type sensor 10a of the second embodiment can be applied to a water-driven flexible (soft) robot as an example. For details on the water-driven soft robot, see Reference 1A (Kyotaro Hamachi, Takashi Takuma: "Realization of movement with large deformation by hydraulically driven robot", 2017 Young Researcher, Kansai Branch of the Society of Instrument and Control Engineers, System Control Information Society Since it will be disclosed in the presentation proceedings, C2-4, pp.102-106, 2017), detailed explanation will be omitted.

Briefly, the water-driven soft robot disclosed in Reference 1 has two chambers (water balloons) in front of and behind the direction of travel, and controls the amount of water in the two chambers, that is, water. By changing the weight distribution using, it moves in the direction of travel and vice versa. This water-driven soft robot is capable of slipping through gaps (or obstacles). It is also possible to detect whether the chamber is in contact with an obstacle by detecting the water pressure in the chamber.

FIG. 12A is a diagram showing an example of a cloth type sensor 10a mounted on a chamber contracted by draining water, and FIG. 12B is a diagram showing an example of a cloth sensor 10a mounted on a chamber expanded by supplying water. It is a figure which shows an example of the attached cloth type sensor 10a. However, in FIGS. 12A and 12B, only the detection unit 12 is shown, and the controller 14 is omitted.

Although not shown in the drawing, the detection unit 12 is attached in a ring shape around the chamber so that the cloth 20b on the non-conductive surface of the conductive cloth 20 is on the chamber side.

Since the cloth type sensor 10a can be expanded and contracted, as shown in FIGS. 12A and 12B, even when the chamber contracts and expands, it follows the change in its shape and peels off from the chamber. There is no inconvenience such as spilling.

The cloth type sensor 10a can at least detect that the chamber has come into contact with an obstacle by its pressure change. In this second embodiment, the water supplied to the chamber is mixed with a conductive substance, and when this water is supplied to the chamber and the chamber is inflated, the pressure that the chamber comes into contact with an obstacle is applied. It can be detected by the change of (water pressure). That is, the pressure detected by the cloth sensor 10a when the chamber is not in contact with the obstacle is increased by the chamber coming into contact with the obstacle. In this case, the capacitance C generated between the conductive water in the chamber and the cloth 20a on the conductive surface is changed by sandwiching the cloth 20b on the non-conductive surface.

However, when the obstacle is a conductor having a ground potential, the cloth type sensor 10a also functions as a proximity sensor, so that the presence of the obstacle, the approach of the obstacle, and the contact of the obstacle are also detected. Can be done.

In the second embodiment as well, the proximity sensor and the pressure sensor can function as in the first embodiment.

<Third Example>
Since the cloth type sensor 10b of the third embodiment is the same as the cloth type sensor 10 of the first embodiment except that the detection unit 12 is cut with a predetermined pattern, duplicate description will be omitted.

13 (A) is a diagram showing the detection unit 12 having the notch of the first pattern, FIG. 13 (B) is a diagram showing the detection unit 12 having the notch of the second pattern, and FIG. 13 (C) is a diagram showing the detection unit 12 having the notch of the second pattern. It is a figure which shows the detection part 12 which has the notch of the 3rd pattern. However, in FIGS. 13 (A) to 13 (C), the detection unit 12 is shown in black and the notch is shown in white. Further, in FIGS. 13 (A) to 13 (C), the controller 14 is omitted.

In the notch of the first pattern shown in FIG. 13 (A), three rows of notches arranged at predetermined intervals in the long side direction are arranged in the short side direction, and the middle row is cut at a position shifted from the upper and lower rows. Is formed. The length of the cuts in the upper and lower rows is one-third the length of the short sides, and the length of the cuts in the middle row is less than one-third the length of the short sides. A little long. Therefore, when the detection unit 12 shown in FIG. 13A is pulled in the longitudinal direction, the shape of the detection unit 12 changes in a mesh shape.

The second pattern of cuts shown in FIG. 13B is a cut made from one long side toward the other long side and a cut made from the other long side toward one long side in the long side direction. It is formed alternately side by side. Both cuts are made leaving a small edge. Therefore, the detection unit 12 shown in FIG. 13B changes its shape into an elongated strip shape when both ends (in FIG. 13B, the upper left corner portion and the upper right corner portion) are pulled in opposite directions.

The notch of the third pattern shown in FIG. 13C is a pattern in which the notch of the first pattern and the notch of the second pattern are combined. Specifically, in the longitudinal direction of the detection unit 12, cuts of the first pattern are made in both end portions, and cuts of the second pattern are made in the central portion. Therefore, when the detection unit 12 shown in FIG. 13C is pulled in the longitudinal direction, both end portions thereof change in shape in a mesh shape, and the central portion thereof changes in shape in an elongated strip shape.

Even if the detection unit 12 has a notch in any of the patterns shown in FIGS. 13 (A) to 13 (C), the detection unit 12 itself extends due to the change in shape, so that the detection unit 12 is attached to an object having a large change in shape. Can be used (pasted). As an example, the detection unit 12 (cloth type sensor 10) of the third embodiment can be mounted on the chamber of the water-driven soft robot shown in the second embodiment.

Further, since the detection unit 12 is made of the conductive cloth 20 and the insulating tape 22, the detection unit 12 as shown in FIGS. 13 (A) to 13 (C) can be easily made by simply making a notch with scissors. Can be made into.

According to this third embodiment, the detection unit itself can be changed and can function as a proximity sensor and a pressure sensor.

The specific numerical values shown in the above-mentioned examples are merely examples, and need not be limited, and can be appropriately changed depending on the actual product and the environment to which the product is applied.

10 ... Cloth type sensor 12 ... Detection unit 14 ... Controller 20 ... Conductive cloth 20a ... Cloth on the conductive surface side 20b ... Cloth on the non-conductive surface side 22 ... Insulation tape 50 ... Clothes type sensor 60 ... Cloth 62 ... Electric wire 100 ... Robot 126… Head 128a… Upper eyelid 128b… Lower eyelid 130… Mouth angle 132… Shoulder 134… Waist 150… CPU
154 ... RAM
156 ... Communication module 164 ... Antenna sensor 166 ... Eye camera 168 ... Speaker 170 ... Microphone

Claims (6)

A conductive cloth in which a first cloth formed by knitting a conductive thread and a second cloth formed by knitting an insulating thread are overlapped with each other.
An insulating sheet having the same size as the first cloth and laminated on the first cloth,
A cloth-type sensor including a capacitance sensor IC electrically connected to the first cloth. The cloth-type sensor according to claim 1, wherein the conductive cloth has elasticity. The cloth type sensor according to claim 1 or 2, wherein a predetermined pattern of cuts is made in the conductive cloth to which the insulating sheet is attached. Capacitance sensor IC and
A conductive cloth in which a first cloth formed by knitting a conductive thread and a second cloth formed by knitting an insulating thread are overlapped with each other.
It has the same size as the first cloth, and is provided with an insulating sheet that is laminated and attached to the first cloth.
A plurality of the conductive cloths to which the insulating sheet is attached are joined in a plane shape using a third cloth and fixed to clothes, and each of the first cloths constituting each of the plurality of conductive cloths is formed. Is individually connected to the capacitance sensor IC using an electric wire sewn on the third cloth. The clothing sensor according to claim 4, wherein the conductive cloth has elasticity. A robot equipped with the clothing type sensor according to claim 4 or 5.

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