JP2024048841A - DETECTION APPARATUS, DETECTION METHOD, AND DETECTION PROGRAM - Google Patents

Abstract

[Problem] To provide a detection device, detection method, and detection program capable of detecting the state of an object. [Solution] The detection system according to this embodiment includes a pressure-sensing unit 1 that contacts the object S and detects a pressure force from the object S in one axial direction, a vibration unit 2 that applies vibrations to the object S, and a detection unit that detects the state of the object S based on the detection result indicating the change over time in the pressure force detected by the pressure-sensing unit 1. [Selected Figure] Figure 2

Description

This disclosure relates to a detection device, a detection method, and a detection program.

Detection devices that detect the state of an object are known.

The vibration response sensor (detection device) of Patent Document 1 includes a sensor body having a contact surface that is brought into contact with a specimen (target object), a vibrator that supplies vibrations to the specimen or the sensor body in a contact state in which the contact surface is in contact with the specimen, and an extraction unit that extracts a response signal indicating a response to the supply of vibration from an electrode provided in the sensor body. In Patent Document 1, the physical properties of the specimen and the back color state of the sensor body relative to the specimen are determined based on the waveform shape of the response signal.

JP 2021-162485 A

However, there is a need to detect the state of an object. For example, in order to stably grasp an object with a robot arm, it is important to detect the state of the object.

The present disclosure aims to provide a detection device, a detection method, and a detection program that can detect the state of an object.

In order to solve the above problem, a detection device according to one embodiment of the present disclosure includes a pressure-sensing unit that contacts the object and detects pressure from the object in one axial direction, a vibration unit that imparts vibrations to the object, and a detection unit that detects the state of the object based on a detection result indicating a change over time in the pressure detected by the pressure-sensing unit.

According to this disclosure, it is possible to detect the state of an object.

1 is a schematic front view of a detection system according to an embodiment; FIG. 1 is a block diagram of a detection system according to an embodiment. 6 is a graph showing detection timing of a pressure-sensitive unit according to the embodiment. 5A and 5B are schematic diagrams showing an example of an in-plane pressure distribution on a contact surface of a pressure-sensitive portion according to an embodiment. 6A and 6B are schematic diagrams showing another example of an in-plane pressure distribution on the contact surface of the pressure-sensitive portion according to the embodiment. 6A and 6B are schematic diagrams showing another example of an in-plane pressure distribution on the contact surface of the pressure-sensitive portion according to the embodiment. 4 is a flowchart showing the operation of the detection system according to the embodiment.

The following describes in detail an embodiment of the present invention with reference to the drawings. The following description of the preferred embodiment is merely exemplary in nature and is not intended to limit the present invention, its applications, or its uses.

The detection device disclosed herein is configured as part of a detection system, and the detection method and detection program disclosed herein are implemented as one function of the detection system.

(First embodiment)
Fig. 1 is a schematic front view of a detection system according to a first embodiment. In the following description, for convenience, the left-right direction in Fig. 1 is defined as the X direction, the depth direction in Fig. 1 is defined as the Y direction, and the up-down direction in Fig. 1 is defined as the Z direction.

As shown in FIG. 1, the detection system according to the first embodiment includes a pair of pressure-sensing units 1 (1L, 1R), a pair of vibration units 2 (2L, 2R), and a pair of robot hands 3 (3L, 3R). The pair of pressure-sensing units 1, the pair of vibration units 2, and the pair of robot hands 3 are controlled by a control device 4, which will be described later.

The pressure-sensing unit 1 has a pressure-sensing sensor array in which pressure-sensing elements are arranged in an array and come into contact with the object S to detect the pressure from the object S as pressure information in one axis direction. The pressure-sensing elements here may be elements that detect changes in capacitance, or may be elements that detect pressure information in one axis direction as resistance changes or optical changes.

Although not shown in the figure, multiple pressure-sensitive elements are arranged in an array on the contact surface of the pressure-sensitive unit 1. Each pressure-sensitive element detects pressure in only one axial direction. In FIG. 1, multiple pressure-sensitive elements are arranged side by side in the Y and Z directions on the contact surface of the pressure-sensitive unit 1. Also in FIG. 1, each pressure-sensitive element detects pressure in only the X direction. In the following explanation, it is assumed that the contact surface of the pressure-sensitive unit 1 has a rows of pressure-sensitive elements arranged in the Y direction and b columns (a rows and b columns) in the Z direction.

The pressure-sensing unit 1 outputs (transmits) the pressure from the object S detected by each pressure-sensing element as a detection result to the control device 4. For example, the pressure-sensing unit 1 outputs an electrical signal (detection signal) indicating the detection result to the control device 4 at predetermined time intervals.

The vibration unit 2 is disposed between the pressure-sensing unit 1 and the robot hand 3, and vibrates the pressure-sensing unit 1. For example, the vibration unit 2 includes an actuator, etc., and vibrates the pressure-sensing unit 1 in the X-direction, Y-direction, and Z-direction. The control device 4 controls the vibration unit 2, and is capable of controlling the vibration direction, vibration timing, vibration period, vibration duration, vibration strength, etc., of the pressure-sensing unit 1.

In FIG. 1, as an example, the vibration units 2L and 2R vibrate the pressure-sensitive units 1L and 1R in a direction perpendicular to the contact surfaces of the pressure-sensitive units 1L and 1R (X direction), respectively. At this time, the vibration units 2L and 2R vibrate the pressure-sensitive units 1L and 1R at synchronized timing.

The robot hand 3 is a robot hand for grasping an object S. The robot hand 3 has a pressure-sensing unit 1 and a vibration unit 2 at its tip.

As shown in FIG. 1, the pressure-sensing units 1L, 1R are arranged so that their contact surfaces face each other with the object S in between. The control device 4 then controls the robot hands 3L, 3R so that the contact surfaces of the pressure-sensing units 1L, 1R come into contact with the object S. At this time, the object S is sandwiched between the pressure-sensing units 1L, 1R. The control device 4 then controls the vibration units 2R, 2L to vibrate the pressure-sensing units 1L, 1R. In the first embodiment, the characteristics including the state of the object S are detected based on the time-dependent changes in the detection results of the pressure-sensing units 1L, 1R and the positional changes linked to the pressure sensor array, and various processes are executed.

In addition, the object S to be grasped by the robot hand 3 or the like may include elastic materials made of metals, non-metals, or organic materials such as plastics and rubber.

In addition, in FIG. 1, the contact surface of the pressure-sensitive unit 1 is in direct contact with the object S, but it may be indirectly in contact with the object S via another member.

Figure 2 is a block diagram of the detection system according to the first embodiment. As shown in Figure 2, the control device 4 includes a calculation unit 11, a memory unit 12, and a determination unit 13 (detection unit). In addition, the determination unit 13 of the control device 4 is connected to the execution unit 14.

The calculation unit 11 receives the detection signal output from the pressure-sensing unit 1 (1L, 1R) and stores data indicating the detection result of the pressure-sensing unit 1 in the memory unit 12. The calculation unit 11 also reads out the data stored in the memory unit 12 and performs various calculation processes. The calculation unit 11 also stores the data after various calculation processes in the memory unit 12.

The storage unit 12 is a storage medium configured with a ROM (Read Only Memory), a RAM (Random Access Memory), a HDD (Hard Disk Drive), a SSD (Solid State Drive), etc. The storage unit 12 also stores programs executed by each part of the control device 4.

The memory unit 12 stores data indicating the detection results of the pressure-sensing unit 1. As described above, the pressure-sensing unit 1 transmits the detection results of each pressure-sensing element to the control device 4 (calculation unit 11) at predetermined time intervals. Therefore, the memory unit 12 stores data indicating the detection results of each pressure-sensing element at predetermined time intervals. The memory unit 12 also stores data after various calculation processes.

The determination unit 13 controls the operation of the vibration unit 2. Specifically, the determination unit 13 transmits an electrical signal (vibration signal) to the vibration unit 2 for controlling its operation. This vibration signal contains data indicating the vibration direction, vibration timing, vibration period, vibration duration, vibration strength, etc. of the pressure-sensing unit 1. The vibration unit 2 vibrates the pressure-sensing unit 1 in accordance with the vibration signal.

The determination unit 13 also performs a determination process to determine (detect) the state of the object S. Specifically, the determination unit 13 detects information such as the rotational torque acting on the object S based on the calculation results of the calculation unit 11, which will be described later. As a result, the determination unit 13 may also determine the state of the object S, such as whether it is stably grasped or unstable.

The execution unit 14 performs execution processing to control an external device based on the judgment result of the object S by the judgment unit 13. Although not shown in Figures 1 and 2, an external device may be connected to this detection system. This external device is, for example, a display device, a robot hand, or an image recognition system. The execution unit 14 communicates with this external device and controls the external device. For example, if the external device is a display device, the execution unit 14 displays the state of the object S on the display device.

(Regarding detection timing of the pressure sensor)
The detection timing of the pressure sensitive section 1 will be described.

Figure 3(a) is a graph showing the vibration state of the pressure-sensing unit according to the first embodiment, and Figure 3(b) is a graph showing the detection results (detection timing) of the pressure-sensing unit according to the first embodiment. Note that Figure 3(b) shows the detection results of the pressure-sensing element in the mth row and nth column out of the multiple pressure-sensing elements arranged on the contact surface of the pressure-sensing unit 1.

With the object S sandwiched between the contact surface of the pressure-sensitive unit 1, the determination unit 13 transmits the vibration signal shown in FIG. 3(a) to the vibration unit 2. This causes the pressure-sensitive unit 1 to vibrate, and vibrations of vibration frequency f are applied to the object S for the vibration time T (see FIG. 3(a)). At this time, the pressure-sensitive element of the pressure-sensitive unit 1 detects the pressing force from the object S at the vibration start time t0 and the vibration end time t1 (see FIG. 3(b)). FIG. 3(b) shows that the detected pressure of the pressure-sensitive element in the mth row and nth column of 1 has changed due to the vibration for the vibration time T. In this way, the detection information of the pressure-sensitive elements that detect pressure in one axis direction is arranged in an array in correspondence with the address positions of the pressure-sensitive elements, allowing the in-plane pressure distribution described below to be calculated.

Note that FIG. 3(b) is merely one example of the detection timing of the pressure-sensing unit 1, and the pressure-sensing element of the pressure-sensing unit 1 may detect the pressing force from the object S according to the detection timing shown in FIG. 3(c). Specifically, the pressure-sensing unit 1 may detect the pressing force from the object S in accordance with the vibration period of the pressure-sensing unit 1.

The vibration strength of the pressure-sensing unit 1 does not need to be constant as in Figure 3(a) and may be a combination of large and small intensities. The detection timing is also not limited to the examples in Figures 3(b) and (c) and can be set at any timing.

(Regarding the judgment process of the judgment unit)
Next, the determination process of the determination unit 13 will be described.

As described above, the determination unit 13 determines the state of the object S based on the calculation results related to the time-dependent changes and positional changes due to the vibration of the calculation unit 11. Specifically, the calculation unit 11 calculates the in-plane pressure distribution of the pressing force of the object S against the contact surface of the pressure-sensing unit 1 for each predetermined time period, and stores the data in the memory unit 12. The determination unit 13 reads out the data stored in the memory unit 12, and determines the state of the object S based on the information on the time-dependent changes in the in-plane pressure distribution calculated by the calculation unit 11. Specifically, the determination unit 13 can detect information such as the rotational torque acting on the object S.

4(a) and (b) show schematic diagrams of an example of the in-plane pressure distribution on the contact surface of the pressure-sensitive parts 1L and 1R at the vibration start time t0, and FIG. 4(c) and (d) show schematic diagrams of an example of the in-plane pressure distribution on the contact surface of the pressure-sensitive parts 1L and 1R at the vibration end time t1. In each of the following figures such as FIG. 4, a pressure-sensitive element that detects a pressure equal to or greater than the first predetermined value is displayed with a black square, a pressure-sensitive element that detects a pressure less than the first predetermined value or equal to or greater than the second predetermined value is displayed with a gray square, and a pressure-sensitive element that detects a pressure less than the second predetermined value is displayed with a white square. The first and second predetermined values can be set arbitrarily, but in this embodiment, the first predetermined value is set to about 80% of the maximum pressure value of the in-plane pressure distribution, and the second predetermined value is set to about 60% of the maximum pressure value.

For example, a change ΔFL _{t1-t0_mn} in the pressure value of the pressure-sensitive element in the mth row and nth column on the contact surface of the pressure-sensitive unit 1L can be expressed as ΔFL _{t1-t0_mn} =FL _{t1_mn} -FL _{t0_mn} . Note that FL _{t1_mn} is the pressure value of the pressure-sensitive element in the mth row and nth column of the pressure-sensitive unit 1L at vibration end time t1, and FL _{t0_mn} is the pressure value of the pressure-sensitive element in the mth row and nth column of the pressure-sensitive unit 1L at vibration start time t0. Similarly, a change ΔFR _{t1-t0_mn} in the pressure value of the pressure-sensitive element in the mth row and nth column on the contact surface of the pressure-sensitive unit 1R can be expressed as ΔFR _{t1-t0_mn} =FR _{t1_mn} -FR _{t0_mn} . Here, FR _{t1_mn} is the pressure value of the pressure-sensitive element in the mth row and nth column of the pressure-sensitive unit 1R at the vibration end time t1, and FR _{t0_mn} is the pressure value of the pressure-sensitive element in the mth row and nth column of the pressure-sensitive unit 1R at the vibration start time t0. By determining the change in pressure value of each pressure-sensitive element on the contact surface of the pressure-sensitive units 1L, 1R, the state of the target object S can be determined.

Specifically, when comparing Figs. 4(a) and (c), the area A1 showing a pressure value equal to or greater than the second predetermined value in the in-plane pressure distribution of the pressure-sensitive part 1L shifts down by one square from the vibration start time t0 to the vibration end time t1. Similarly, when comparing Figs. 4(b) and (d), the area A2 showing a pressure value equal to or greater than the second predetermined value in the in-plane pressure distribution of the pressure-sensitive part 1R shifts down by one square from the vibration start time t0 to the vibration end time t1. That is, in the examples of Figs. 4(a) to (d), in the in-plane pressure distribution of the pressure-sensitive parts 1L and 1R, the areas showing a pressure value equal to or greater than the second predetermined value both move in the same direction (downward) by the same amount (one square) from the vibration start time t0 to the vibration end time t1. In this case, the shape of the area showing a pressure value equal to or greater than the second predetermined value remains unchanged, and the position of the area moves by the same amount in the same direction. Therefore, the determination unit 13 determines that the object S is moving based on the information output from the pressure-sensing units 1R and 1L that the areas A1 and A2 are changing in phase. The determination unit 13 also determines that the object S is in a steady state based on the information output from the pressure-sensing units 1R and 1L that the time change is equal to or less than a second predetermined value.

Figures 5(a) and (b) show schematic diagrams of other examples of in-plane pressure distribution on the contact surfaces of pressure-sensitive units 1L and 1R at vibration start time t0, and Figures 5(c) and (d) show schematic diagrams of other examples of in-plane pressure distribution on the contact surfaces of pressure-sensitive units 1L and 1R at vibration end time t1.

Specifically, comparing Figures 5(a) and (c), the region A3 showing pressure values equal to or greater than the second predetermined value in the in-plane pressure distribution of the pressure-sensitive unit 1L shifts up by one square from the vibration start time t0 to the vibration end time t1. Similarly, comparing Figures 5(b) and (d), the region A4 showing pressure values equal to or greater than the second predetermined value in the in-plane pressure distribution of the pressure-sensitive unit 1R shifts down by one square from the vibration start time t0 to the vibration end time t1. That is, in the examples of Figures 4(a) to (d), in the in-plane pressure distribution of the pressure-sensitive units 1L and 1R, the regions showing pressure values equal to or greater than the first predetermined value both move by the same amount (one square) in opposite directions (up and down in the drawing) from the vibration start time t0 to the vibration end time t1. In this case, the shape of the area showing a pressure value equal to or greater than the second predetermined value remains unchanged, and the position of the area moves the same amount in the opposite direction. Therefore, the determination unit 13 determines that the object S is rotating based on the information output from the pressure-sensing units 1R and 1L that areas A3 and A4 are changing in opposite phases. The determination unit 13 also determines that the object S is in a steady state based on the information output from the pressure-sensing units 1R and 1L that the time change is equal to or less than the second predetermined value.

This example shows that by applying vibration to a pressure sensor array (pressure sensing unit 1) that detects pressure information only in one axial direction, it is possible to detect information such as rotational torque acting on the detection target.

Figures 6(a) and (b) show schematic diagrams of other examples of in-plane pressure distribution on the contact surfaces of pressure-sensitive units 1L and 1R at vibration start time t0, and Figures 6(c) and (d) show schematic diagrams of other examples of in-plane pressure distribution on the contact surfaces of pressure-sensitive units 1L and 1R at vibration end time t1.

6(a) and (c), the shape of the area A5 showing a pressure of the second predetermined value or more in the in-plane pressure distribution of the pressure-sensitive part 1L has changed, but the area A6 showing a pressure of the first predetermined value or more has not moved. Moreover, the area A6 occupies a predetermined percentage (here, 30%) or more of the area A5. Similarly, when comparing FIG. 6(b) and (d), the shape of the area A7 showing a pressure of the second predetermined value or more in the in-plane pressure distribution of the pressure-sensitive part 1R has changed, but the area A8 showing a pressure of the first predetermined value or more has not moved. Moreover, the area A8 occupies a predetermined percentage (here, 30%) or more of the area A7. That is, in the example of FIG. 6(a) to (d), in the in-plane pressure distribution of the pressure-sensitive parts 1L and 1R, the area showing a pressure of the first predetermined value or more, which is a high pressure value, has not moved from the vibration start time t0 to the vibration end time t1, and occupies a certain percentage (about 30%) or more of the area showing the second predetermined value or more (the area in contact with the object S). Therefore, the determination unit 13 determines that the object S is a deformed object. Furthermore, the determination unit 13 determines that the object S is in a steady state based on the information output from the pressure-sensing units 1R and 1L that the time change is equal to or less than a second predetermined value.

In the example of FIG. 6, the first predetermined value can be the average value of the in-plane pressure distribution of the pressure-sensitive sections 1L and 1R. The proportion of the area showing a pressure value equal to or greater than the first predetermined value to the area showing a pressure value equal to or greater than the second predetermined value can be set arbitrarily (preferably 30% or more).

(Detection system operation)
7 is a flowchart showing the operation of the detection system according to the present embodiment. Specifically, FIG. 7 shows an example of the operation of the control device 4.

First, the control device 4 controls the robot hand 3 so that the target S is sandwiched between the contact surfaces of the pressure-sensing units 1L, 1R. Then, at vibration start time t0, the control device 4 receives a detection signal (an electrical signal indicating the detection result of the pressure applied by the pressure-sensing units 1L, 1R from the target S) from the pressure-sensing units 1L, 1R (step S1). Based on the received detection signal, the calculation unit 11 stores data indicating the detection result in the memory unit 12 (step S2).

The control device 4 transmits a vibration signal (an electrical signal for controlling the operation of the vibration units 2L and 2R) to the vibration units 2L and 2R, causing the pressure-sensitive units 1L and 1R to start vibrating (step S3). This causes the target object S to vibrate.

The control device 4 receives detection signals from the pressure-sensing units 1L and 1R at the vibration end time t1 (step S4). The calculation unit 11 stores data indicating the detection results in the memory unit 12 based on the received detection signals (step S5).

The calculation unit 11 reads out the data stored in the memory unit 12 and calculates the in-plane pressure distribution of the pressing force of the object S against the contact surface of the pressure-sensitive unit 1L (1R) at the vibration start time t0 and the vibration end time t1 (step S6).

The determination unit 13 determines the state of the object S based on the calculation results of the calculation unit 11 (step S7).

The execution unit 14 executes the execution process (controls the external device) based on the judgment result of the object S by the judgment unit 13 (step S8).

As described above, the detection system according to this embodiment includes a pressure-sensing unit 1 that comes into contact with the object S and detects the pressure from the object S, a vibration unit 2 that applies vibrations to the object S, and a determination unit 13 (detection unit) that determines (detects) the state of the object S based on the detection results that indicate the change over time in the pressure detected by the pressure-sensing unit 1.

When vibration is applied to the object S, the pressure applied to the pressure-sensitive unit 1 changes over time depending on the state of the object S (whether it is stably or unstably gripped, whether it is a solid object or a deformed object, etc.). Therefore, the state of the object S can be determined by referring to the detection results that indicate the change over time in the pressure applied to the pressure-sensitive unit 1.

In this way, using the pressure-sensing unit 1, it is possible to detect (determine) the state of the object S based on detection results that indicate active changes in time and position that are difficult to obtain using only a pressure sensor that detects pressure in one axial direction.

REFERENCE SIGNS LIST 1 (1L, 1R) Pressure sensing unit 2 (2L, 2R) Vibration unit 3 (3L, 3R) Robot hand 4 Control device 11 Calculation unit 12 Memory unit 13 Determination unit (detection unit)
14. Executive Department

Claims (13)

A detection device that detects a state of an object,
a pressure sensing unit that contacts the object and detects a pressure in one axial direction from the object;
A vibration unit that applies vibration to the object;
A detection device comprising: a detection unit that detects a state of the object based on a detection result indicating a temporal change in the pressure detected by the pressure sensitive unit. The pressure-sensing unit has pressure-sensing elements that can detect pressure in one axial direction arranged in an array,
The detection device according to claim 1 , further comprising a detection unit configured to detect a state of the object based on a detection result indicating a temporal change and a positional change of the pressure detected by the pressure-sensing unit. The pressure-sensing unit further includes two of the pressure-sensing units,
The detection device according to claim 1 , wherein the two pressure-sensitive portions contact the object at different positions from each other. The detection device according to claim 3, wherein the two pressure-sensitive parts are arranged to face each other. The detection device according to any one of claims 1 to 4, wherein the detection unit controls the vibration unit based on the detection result. The detection device according to any one of claims 1 to 4, wherein the detection unit controls an external device connected to the detection device based on the detection result. The detection device according to claim 6, wherein the external device is at least one of a display device, a robot hand, and an image recognition system. The detection device according to any one of claims 1 to 4, wherein the detection unit determines whether the object is in a steady state based on the detection result. The detection device according to any one of claims 1 to 4, wherein the detection unit determines whether the object is a deformed object based on the detection result. the pressure sensing unit detects a pressure distribution of the pressure received from the object as the detection result,
The detection device according to claim 1 , wherein the detection section detects a first region in the pressure distribution where a change over time is equal to or smaller than a predetermined value. The detection device according to claim 10, wherein the detection unit determines that the object is in a steady state when the area of the first region relative to the contact area between the object and the pressure-sensitive unit is equal to or greater than a predetermined value. A method for detecting a state of an object, comprising:
A step of contacting a pressure sensitive unit with the object;
applying vibration to the object;
detecting a pressure from the object to the pressure sensitive unit;
and detecting a state of the object based on a detection result indicating a change over time in the pressure detected by the pressure-sensing unit. On the computer,
A step of contacting a pressure sensitive unit with an object;
applying vibration to the object;
detecting a pressure from the object to the pressure sensitive unit;
Detecting a state of the object based on a detection result indicating a temporal change in the pressure detected by the pressure sensing unit;
A program that executes the following.