JP4094222B2 - Shape recognition sensor, robot hand, and shape recognition method - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
  The present invention is a shape recognition sensor., Robot handIn particular, the present invention relates to a sensor for use in contact-type shape measurement.
[0002]
[Prior art]
Conventionally, for shape recognition of parts, etc., shape recognition is performed by scanning a measurement object with a one-dimensional linear distance such as a contact gauge, that is, a linear gauge or a laser length measuring instrument, against the measurement object. I was going. Recently, shape recognition by image processing using a CCD camera has been performed due to the development of image processing technology and the spread of image processing apparatuses. In other words, the measurement object is captured by a CCD camera or the like, and the captured image information is calculated using an image processing device or the like. The current shape recognition technology can be said to be the most abundant application example. The shape recognition technology is becoming mainstream. However, the image processing means by the CCD camera is means for easily recognizing the shape in the two-dimensional direction.
[0003]
[Problems to be solved by the invention]
However, it is extremely difficult to recognize the three-dimensional shape of the measurement target object in the image processing by the CCD camera as well as the linear gauge and the laser length measuring instrument. For example, in order to perform three-dimensional shape recognition using a laser length measuring device, a device that performs two-dimensional scanning along the measurement object is required. There are various methods, but anyway, an extra mechanism is required. Of course, there are many problems in terms of cost. Even in image processing using a CCD camera, three-dimensional shape recognition is difficult even in this method, such as a device for illuminating a measurement object or using a plurality of CCD cameras.
[0004]
  The present invention is for solving these problems, and a shape recognition sensor capable of measuring a three-dimensional shape of a measurement object without causing the above-mentioned difficulties., Robot handIt is another object of the present invention to provide a shape recognition method.
[0005]
  In order to solve the above-mentioned problems, the shape recognition sensor of the present invention includes an electrode member in which electrodes are arranged in a regular arrangement on the surface or inside of a flexible and stretchable insulating film-like electrode member. Use at least 2 sheets and place them in the opposite positionMade into a bag shape by pasting togetherAn electrode part;Depending on the type of material to be measured, the substance replacement control means for controlling the replacement of the substance to be put inside the bag of the electrode part configured in a bag shape, andElectrical output means for outputting an electrical signal of a predetermined value to the electrodes of each electrode member and electrical measurement means for electrically measuring an electrical signal generated between the electrodes of each electrode member are provided. AndControl the replacement of the substance to be put inside the bag of the electrode portion configured in a bag shape by the substance replacement control means,Changes in the electrical signal generated between the electrodes of each electrode member supplied with an electrical signal of a predetermined value from the electrical output means were measured by the electrical measurement means, and contacted with the electrode member based on the measured change in the electrical signal Shape recognition information for recognizing the shape of the measurement object is obtained. Therefore, 3D shape informationStable measurement that eliminates the influence of disturbanceIt becomes possible to take out with an electric signal, and three-dimensional shape recognition is facilitated based on the electric signal.
[0006]
  Also,The shape recognition sensor of the present invention is arranged at the opposite position using at least two electrode members in which electrodes are arranged in a regular arrangement on the surface or inside of a flexible and stretchable insulating film-like electrode member. The amount of material that controls the amount of material that can be placed inside the bag of the electrode part configured in a bag shape according to the type of material such as the electrode part that is formed into a bag shape and the object to be measured Control means, electrical output means for outputting electrical signals of a predetermined value to the electrodes of each electrode member, and electrical measurement means for electrically measuring electrical signals generated between the electrodes of each electrode member are provided. Then, the amount of the substance put into the bag of the electrode part configured in the bag shape by the substance amount control means is controlled according to the kind of the material of the measurement object, and an electric signal of a predetermined value is outputted from the electric output means. Shape recognition information that recognizes the shape of the measurement object in contact with the electrode member based on the change in the measured electrical signal by measuring the change in the electrical signal generated between the electrodes of each supplied electrode member. Get. Therefore, it becomes possible to take out the information of the three-dimensional shape as an electric signal by the stable measurement from which the influence of the disturbance is removed, and the three-dimensional shape recognition becomes easy based on the electric signal..
[0007]
Furthermore, by putting a substance such as gas, liquid, powder or fluid into the bag of the electrode part configured in a bag shape, the contact part of the electrode part can be made compliant and flexible contact is made. Enable.
[0008]
In addition, by putting a substance having a clear resistivity into the bag of the electrode portion configured in a bag shape, the interelectrode distance can be calculated as a linear value from the interelectrode resistance.
[0009]
Furthermore, by putting a substance having a clear dielectric constant into the bag of the electrode portion configured in a bag shape, the interelectrode distance can be calculated as a linear value from the interelectrode capacitance.
[0011]
  Furthermore, the inside of the bag of the electrode part configured in a bag shapeMaterialDetect pressureSensorInsideMaterial pressureBy providing the detection means, various pressure measurement ranges can be set by measuring the contact pressure.
[0012]
  Also,The substance pressure detection means in the sensor isViscosity of the substance to be put inside the bag of the electrode part configured in a bag shapeBased on Sn and the distance d between the electrodes determined from the change of the electrical signal generated between the electrodes of each electrode member measured by the electrical measuring means,Inside the bag of the electrode part configured in a bag shapeMaterial pressureBy calculating the value, if the viscosity of the substance inside the sensor is known,MaterialThe pressure can be determined.
[0013]
  Further, a robot hand as another invention is characterized by using the shape recognition sensor. Therefore, it is possible to provide a highly versatile robot hand capable of measuring shape recognition with the same sensor for measurement objects such as many quality parts.
[0015]
  MoreAccording to the shape recognition method as another invention, at least two electrode members in which electrodes are arranged in a regular arrangement on the surface or inside of a flexible and stretchable insulating film-like electrode member are used. Placed in the opposite positionUsing the electrode part that has a bag-like shape by bonding together, it controls the replacement of the substance put into the bag-shaped bag according to the type of material to be measured., Shape recognition that measures the change in the electrical signal generated between the electrodes of each electrode member supplied with the electrical signal of a predetermined value and recognizes the shape of the measurement object in contact with the electrode member based on the measured change in the electrical signal It is characterized by obtaining information. Therefore, 3D shape informationStable measurement that eliminates the influence of disturbanceIt becomes possible to take out with an electric signal, and three-dimensional shape recognition is facilitated based on the electric signal.
[0016]
  According to the shape recognition method as another invention, at least two electrode members in which electrodes are arranged in a regular arrangement on the surface or inside of a flexible and stretchable insulating film-like electrode member are provided. Using the electrode part made into a bag shape by arranging it at the opposite position and bonding it together, the amount of substance put in the bag shaped bag according to the type of material etc. to be measured is controlled And measuring the change of the electric signal generated between the electrodes of each electrode member supplied with the electric signal of a predetermined value, and recognizing the shape of the measurement object in contact with the electrode member based on the measured change of the electric signal It is characterized by obtaining recognition information. Therefore, it becomes possible to take out the information of the three-dimensional shape as an electric signal by stable measurement in which the influence of the disturbance is removed, and the three-dimensional shape recognition is facilitated based on the electric signal.
[0017]
In addition, by putting a substance such as gas, liquid, powder, or fluid into a bag formed by laminating at least two electrode members facing each other, the contact portion of the electrode portion is made compliant. It can be held and flexible contact is possible.
[0018]
Furthermore, the distance between electrodes can be calculated as a linear value from the resistance between electrodes by putting a substance having a clear resistivity into a bag formed by bonding at least two electrode members opposed to each other.
[0019]
Further, by putting a substance having a clear dielectric constant into a bag formed by bonding at least two electrode members facing each other, the interelectrode distance can be calculated as a linear value from the interelectrode capacitance.
[0021]
  Moreover, the inside of the bag constituted by bonding using at least two electrode members opposed to each otherMaterialBy detecting the pressure, various pressure measurement ranges can be set by measuring the contact pressure.
[0022]
  In addition, the viscosity of the substance to be put inside the bag formed by bonding at least two electrode members facing each otherSnWhenBased on the distance d between the electrodes obtained from the change in the electrical signal generated between the electrodes of each measured electrode memberIt consists of a bag-like shapeBagInsideMaterial pressureBy calculating the value, if the viscosity of the substance inside the sensor is known,MaterialThe pressure can be determined.
[0026]
DETAILED DESCRIPTION OF THE INVENTION
  The shape recognition sensor of the present invention is arranged at the opposite position using at least two electrode members in which electrodes are arranged in a regular arrangement on the surface or inside of a flexible and stretchable insulating film-like electrode member. do itMade into a bag shape by pasting togetherAn electrode part;Depending on the type of material to be measured, the substance replacement control means for controlling the replacement of the substance to be put inside the bag of the electrode part configured in a bag shape, andElectrical output means for outputting an electrical signal of a predetermined value to the electrodes of each electrode member, and electrical measurement means for electrically measuring an electrical signal generated between the electrodes of each electrode member.
[0027]
【Example】
FIG. 1 is a perspective view showing a schematic configuration of a shape recognition sensor according to a first embodiment of the present invention. In the figure, the shape recognition sensor 1 of the present embodiment is configured by disposing a matrix electrode film 11 and a matrix electrode film 12 at opposing positions as shown in the figure. A connection cable 14 is connected to a shape recognition sensor controller 15 having electrical output means and electrical measurement means through electrode connection terminals 13 mounted on the matrix electrode film 11. Similarly, the connection cable 17 is connected to the shape recognition sensor controller 15 through the electrode connection terminals 16 mounted on the matrix electrode film 12. The shape recognition sensor controller 15 generates a potential difference between the matrix electrode films 11 and 12 and measures the potential difference for each matrix electrode. In the shape recognition sensor 1 having such a configuration, when the measurement object 18 comes into contact with the matrix electrode film 11 as shown in FIG. 2, the shape of the matrix electrode film 11 changes along the measurement object 18. . The measurement object 18 in contact with the matrix electrode film 11 is deformed, and the inter-electrode distance 19 between the matrix electrode films 11 and 12 changes as shown in FIG. Then, the shape recognition line sensor controller 15 outputs a two-dimensional potential difference measurement result corresponding to each matrix electrode film 11, 12.
[0028]
FIG. 3 is a perspective view showing a schematic configuration of a shape recognition sensor according to the second embodiment of the present invention. The shape recognition sensor 2 of the present embodiment is a shape recognition sensor in which the periphery or all of the periphery of at least one side of two matrix electrode films are bonded together. By bonding the two matrix-like electrode films by the bonding unit 20, the bag-like shape is formed so that a substance can be put inside the sensor. The electrode connection terminal 21 is connected to the shape recognition sensor controller via a connection cable (not shown). Actually, by providing the injection part 22 and the discharge part 23 as shown in FIG. 4, substances such as gas, liquid, powder and fluid can be put into the bag. When a material with a clear resistivity is injected into the internal material, the shape of the matrix-like electrode film of the shape recognition sensor changes due to contact with the object to be measured, and the resistance between the electrodes also changes due to the change in the gap between the electrodes. Therefore, the potential difference is also changed by the shape recognition sensor controller. The change in resistance value occurs in proportion to the gap, and the shorter the gap, the smaller the resistance value. In addition, when a substance with a clear dielectric constant is injected, the interelectrode capacitance changes due to the change in the interelectrode gap caused by the contact of the measurement object as described above. The change in the capacitance value occurs in inverse proportion to the gap, and the capacitance value increases as the gap becomes shorter.
[0029]
As described above, by replacing the material to be placed in the bag shape of the shape recognition sensor 2 of the present embodiment, it is possible to configure shape recognition sensors having different compliance properties. For example, if the object to be measured is soft and needs more delicate measurement with higher compliance, this can be done by putting gas inside the sensor bag. When a large pressure is applied, it becomes possible to lower the compliance of the portion that comes into contact with the powder or fluid and to weaken the impact force at the time of contact. Even if the measurement object of the shape recognition sensor is changed, various substances can be measured by controlling the substance to be inserted in the sensor bag.
[0030]
In addition, as shown in FIG. 5, by providing the sensor internal substance replacement device 24 that replaces the substance inside the sensor bag shape, the substance replacement inside the sensor bag shape can be controlled. A method of controlling the substance exchange inside the sensor by providing the sensor inside substance exchange device 24 in this way will be described below according to the operation flow shown in FIG. First, a database in which material information and shape information are registered in advance for various measurement objects is constructed. Then, the operator inputs type data such as the attribute of the measurement object and the model number to the host device (step S101). Based on the input type data of the measurement object, internal substance data appropriate for the measurement object is acquired from the database (step S102). It is determined whether or not the acquired internal substance and the internal substance already remaining in the sensor are matched, and if they match, shape recognition is performed with the remaining internal substance (step S103; YES, steps S105 and S104). ). On the other hand, if they do not match, the sensor internal substance replacement device 24 in FIG. 5 replaces the internal substance with an appropriate internal substance, records the replaced internal substance data in the storage unit in the host apparatus, and recognizes the shape with the replaced internal substance. (Step S103; NO, Steps S105 and S106). In this way, the replacement of the substance inside the sensor can be controlled based on the type data of the measurement object from the database, and the substance inside the sensor can be replaced with a substance suitable for the measurement object. For example, if the object to be measured is a soft material, replace it with a substance that has low viscosity and can handle subtle changes, or inject a large amount of a substance with high viscosity into the object to be measured that is hard and can withstand high pressure. A sensor can be obtained. When the shape recognition sensor of the present invention is employed in an automated line robot hand that performs assembly or disassembly, the shape recognition for multi-quality parts can be measured by the same sensor.
[0031]
  Here, conventionally, as shown in FIG. 7, a pressure gauge 25 is attached to a valve or the like of an injection part or a discharge part to the sensor and the internal pressure is directly measured by the pressure gauge 25. On the other hand, in the shape recognition sensor 2 shown in FIG. 8 of the present invention, a sensor internal substance pressure detection sensor 26 for detecting the pressure of the sensor internal substance is attached to a portion connecting the sensor internal exchange device 24 and the sensor. Is. The sensor internal substance pressure detection sensor 26 is connected to a pressure measuring device 28 by a sensor connection cable 27, and the sensor bag-like internalofBy measuring the pressure of the substance, the inside of the sensor bag can beMaterialThe pressure changes and the amount of change is measured. Specifically, the correlation between the viscosity of the substance inside the sensor and the sensor output is taken, and the calculation is made from the sensor output value, that is, the distance between the electrode films. When the viscosity of the substance inside the sensor is Sn [cps], the distance d [mm] between the electrodes and the pressure P [Pa] have the following relationship.
[0032]
P = a / (d · Sn)
However, a is a constant [Pa / (mm · cps)], d> 0, Sn> 0.
[0033]
  Thus, pressure is inversely proportional to material viscosity and distance. Therefore, if the viscosity of the substance in Sen is known,MaterialSince the pressure can be measured, the area of the contact portion can be obtained from the shape recognition measurement data, and the contact force to the measurement object can be measured. In addition, since the pressure measurement range can be selected depending on the substance in the sensor bag shape, it is possible to have various pressure measurement ranges with one sensor.
[0034]
Further, the shape recognition sensor 2 shown in FIG. 9 is connected to a measurement electric signal calculation device 31 for calculating an electric signal measured by an electric measurement means. The measurement electric signal calculation device 31 can calculate the measurement value for each matrix electrode as three-dimensional data. That is, the shape change of the matrix electrode film is calculated as three-dimensional data from the electrode positions and the measured values at the respective positions, and the shape of the contact portion of the measurement object is calculated. For example, if 100 × 100 electrodes of the shape recognition sensor in this embodiment are arranged, the sensor output is detected with a value of 100 × 100 matrix. The value of each component of the 100 × 100 matrix is obtained from the interelectrode resistance value or interelectrode capacitance value of the shape recognition sensor. The value of each component is data representing the shape of the workpiece in contact. For example, when measuring the measurement target surface 32 having a shape as shown in FIG. 10, if the reference resistance value in the non-contact state of the contact type sensor is set to 100, and the resistance value decreases by 10 with respect to the protruding 1 mm of the shape at that time. To do. FIG. 11 illustrates a sensor output image when the shape of FIG. 10 is measured. In the blank portion of FIG. 11, 100, which is the reference resistance value, is output. The sensor output is made in the range 35 of the outer shape (30 mm × 16 mm) of the measurement target surface. When the resistance value of this portion is measured as 95, the contact depth of the outer shape portion can be defined as 0.5 mm. In this case, a protruding portion having a shape of 6 mm × 7 mm × 2.5 mm appears as an output as a portion 33 in FIG. 11, and the resistance value is 2.5 mm + 0.5 mm = 3 mm, so that a resistance value 70 is output. Further, the shape portion of 4 mm × 10 mm × 1 mm appears as an output like the portion 34 in FIG. 11 and the resistance value is 1.5 mm, so that the resistance value 85 is output. That is, since the change in resistance value of the sensor output is shape data and depth data, it is calculated as three-dimensional data.
[0035]
Moreover, the structure which connected the contact shape temporal change calculating device 36 which can calculate the temporal change at the time of contact of a measurement object by performing such calculation data continuously is shown in FIG. This contact shape temporal change calculation device 36 can continuously calculate the contact shape of the measurement object described above and measure the temporal change amount at the time of contact. Therefore, by calculating the temporal change at the time of contact, it is possible to control the contact amount of the contact portion, and it is possible to perform shape measurement with the contact portion controlled even in a measurement object in which the contact portion is limited.
[0036]
In addition, this invention is not limited to the said Example, It cannot be overemphasized that various deformation | transformation and substitution are possible if it is description in a claim.
[0037]
【The invention's effect】
  As described above, the shape recognition sensor of the present invention has at least two electrode members in which electrodes are arranged in a regular arrangement on the surface or inside of an insulating film-like electrode member that is flexible and stretchable. Use to place in the opposite positionMade into a bag shape by pasting togetherAn electrode part;Depending on the type of material to be measured, the substance replacement control means for controlling the replacement of the substance to be put inside the bag of the electrode part configured in a bag shape, andElectrical output means for outputting an electrical signal of a predetermined value to the electrodes of each electrode member and electrical measurement means for electrically measuring an electrical signal generated between the electrodes of each electrode member are provided. AndControl the replacement of the substance to be put inside the bag of the electrode portion configured in a bag shape by the substance replacement control means,Changes in the electrical signal generated between the electrodes of each electrode member supplied with an electrical signal of a predetermined value from the electrical output means were measured by the electrical measurement means, and contacted with the electrode member based on the measured change in the electrical signal Shape recognition information for recognizing the shape of the measurement object is obtained. Therefore, 3D shape informationStable measurement that eliminates the influence of disturbanceIt becomes possible to take out with an electric signal, and three-dimensional shape recognition is facilitated based on the electric signal.
[0038]
  Also,The shape recognition sensor of the present invention is arranged at the opposite position using at least two electrode members in which electrodes are arranged in a regular arrangement on the surface or inside of a flexible and stretchable insulating film-like electrode member. The amount of material that controls the amount of material that can be placed inside the bag of the electrode part configured in a bag shape according to the type of material such as the electrode part that is formed into a bag shape and the object to be measured Control means, electrical output means for outputting electrical signals of a predetermined value to the electrodes of each electrode member, and electrical measurement means for electrically measuring electrical signals generated between the electrodes of each electrode member are provided. Then, the amount of the substance put into the bag of the electrode part configured in the bag shape by the substance amount control means is controlled according to the kind of the material of the measurement object, and an electric signal of a predetermined value is outputted from the electric output means. Shape recognition information that recognizes the shape of the measurement object in contact with the electrode member based on the change in the measured electrical signal by measuring the change in the electrical signal generated between the electrodes of each supplied electrode member. Get. Therefore, it becomes possible to take out the information of the three-dimensional shape as an electric signal by the stable measurement from which the influence of the disturbance is removed, and the three-dimensional shape recognition becomes easy based on the electric signal..
[0039]
Furthermore, by putting a substance such as gas, liquid, powder or fluid into the bag of the electrode part configured in a bag shape, the contact part of the electrode part can be made compliant and flexible contact is made. Enable.
[0040]
In addition, by putting a substance having a clear resistivity into the bag of the electrode portion configured in a bag shape, the interelectrode distance can be calculated as a linear value from the interelectrode resistance.
[0041]
Furthermore, by putting a substance having a clear dielectric constant into the bag of the electrode portion configured in a bag shape, the interelectrode distance can be calculated as a linear value from the interelectrode capacitance.
[0043]
  Furthermore, the inside of the bag of the electrode part configured in a bag shapeMaterialDetect pressureSensorInsideMaterial pressureBy providing the detection means, various pressure measurement ranges can be set by measuring the contact pressure.
[0044]
  Also,The substance pressure detection means in the sensor isViscosity of the substance to be put inside the bag of the electrode part configured in a bag shapeBased on Sn and the distance d between the electrodes determined from the change of the electrical signal generated between the electrodes of each electrode member measured by the electrical measuring means,Inside the bag of the electrode part configured in a bag shapeMaterial pressureBy calculating the value, if the viscosity of the substance inside the sensor is known,MaterialThe pressure can be determined.
[0045]
  Further, a robot hand as another invention is characterized by using the shape recognition sensor. Therefore, it is possible to provide a highly versatile robot hand capable of measuring shape recognition with the same sensor for measurement objects such as many quality parts.
[0047]
  MoreAccording to the shape recognition method as another invention, at least two electrode members in which electrodes are arranged in a regular arrangement on the surface or inside of a flexible and stretchable insulating film-like electrode member are used. Placed in the opposite positionUsing the electrode part that has a bag-like shape by bonding together, it controls the replacement of the substance put into the bag-shaped bag according to the type of material to be measured., Shape recognition that measures the change in the electrical signal generated between the electrodes of each electrode member supplied with the electrical signal of a predetermined value and recognizes the shape of the measurement object in contact with the electrode member based on the measured change in the electrical signal It is characterized by obtaining information. Therefore, 3D shape informationStable measurement that eliminates the influence of disturbanceIt becomes possible to take out with an electric signal, and three-dimensional shape recognition is facilitated based on the electric signal.
[0048]
  According to the shape recognition method as another invention, at least two electrode members in which electrodes are arranged in a regular arrangement on the surface or inside of a flexible and stretchable insulating film-like electrode member are provided. Using the electrode part made into a bag shape by arranging it at the opposite position and bonding it together, the amount of substance put in the bag shaped bag according to the type of material etc. to be measured is controlled And measuring the change of the electric signal generated between the electrodes of each electrode member supplied with the electric signal of a predetermined value, and recognizing the shape of the measurement object in contact with the electrode member based on the measured change of the electric signal It is characterized by obtaining recognition information. Therefore, it becomes possible to take out the information of the three-dimensional shape as an electric signal by stable measurement in which the influence of the disturbance is removed, and the three-dimensional shape recognition is facilitated based on the electric signal.
[0049]
In addition, by putting a substance such as gas, liquid, powder, or fluid into a bag formed by laminating at least two electrode members facing each other, the contact portion of the electrode portion is made compliant. It can be held and flexible contact is possible.
[0050]
Furthermore, the distance between electrodes can be calculated as a linear value from the resistance between electrodes by putting a substance having a clear resistivity into a bag formed by bonding at least two electrode members opposed to each other.
[0051]
Further, by putting a substance having a clear dielectric constant into a bag formed by bonding at least two electrode members facing each other, the interelectrode distance can be calculated as a linear value from the interelectrode capacitance.
[0053]
  Moreover, the inside of the bag constituted by bonding using at least two electrode members opposed to each otherMaterialBy detecting the pressure, various pressure measurement ranges can be set by measuring the contact pressure.
[0054]
  In addition, the viscosity of the substance to be put inside the bag formed by bonding at least two electrode members facing each otherSnWhenBased on the distance d between the electrodes obtained from the change in the electrical signal generated between the electrodes of each measured electrode memberIt consists of a bag-like shapeBagInsideMaterial pressureBy calculating the value, if the viscosity of the substance inside the sensor is known,MaterialThe pressure can be determined.
[Brief description of the drawings]
FIG. 1 is a perspective view showing a schematic configuration of a shape recognition sensor according to a first embodiment of the present invention.
FIG. 2 is a schematic cross-sectional view showing a state when a measurement object is brought into contact with the shape recognition sensor of the first embodiment.
FIG. 3 is a perspective view showing a schematic configuration of a shape recognition sensor according to a second embodiment of the present invention.
FIG. 4 is a schematic perspective view showing a configuration of a shape recognition sensor provided with an inlet / outlet port into a bag-like interior.
FIG. 5 is a schematic perspective view showing a configuration of a shape recognition sensor including a sensor internal substance replacement device.
FIG. 6 is a flowchart showing an operation of sensor internal substance replacement control.
FIG. 7 is a schematic perspective view showing the configuration of pressure measurement inside a conventional sensor.
FIG. 8 is a schematic perspective view showing a configuration of a shape recognition sensor including a pressure measuring device.
FIG. 9 is a schematic perspective view illustrating a configuration of a shape recognition sensor including a measurement electric signal calculation device.
FIG. 10 is a diagram showing a state in which a measurement object is placed in a bag-like shape recognition sensor.
FIG. 11 is a diagram showing an output image of a shape recognition sensor.
FIG. 12 is a schematic perspective view showing a configuration of a shape recognition sensor including a contact shape temporal change calculation device.
[Explanation of symbols]
1, 2; shape recognition sensor, 11, 12; matrix electrode film,
13, 16, 21; electrode connection terminal, 14, 17, 29; connection cable,
15; shape recognition sensor controller; 18; measurement object;
19; distance between electrodes, 20; bonding portion, 22; injection portion, 23; discharge portion,
24; substance changing device inside the sensor; 25; pressure gauge;
26; sensor pressure sensor inside the sensor,
27; sensor connection cable, 28; pressure measuring device,
31: Measurement electric signal calculation device, 36: Contact shape temporal change calculation device.

Claims (15)

A bag-like by attaching and bonding at least two electrode members with electrodes arranged in a regular arrangement on the surface or inside of a flexible and stretchable insulating film-like electrode member An electrode part having the shape of
Depending on the type of material to be measured, etc., a substance replacement control means for controlling the replacement of the substance to be put into the bag of the electrode part configured in a bag shape,
Electrical output means for outputting an electrical signal of a predetermined value to the electrode of each electrode member;
An electrical measuring means for electrically measuring an electrical signal generated between the electrodes of each electrode member;
The substance replacement control means controls the replacement of the substance put into the bag of the electrode portion configured in a bag shape, and between the electrodes of each electrode member to which an electrical signal of a predetermined value is supplied from the electrical output means. The shape recognition is characterized in that a change in the generated electric signal is measured by the electric measuring means, and shape recognition information for recognizing the shape of the measurement object in contact with the electrode member is obtained based on the change in the measured electric signal. Sensor. A bag-like by attaching and bonding at least two electrode members with electrodes arranged in a regular arrangement on the surface or inside of a flexible and stretchable insulating film-like electrode member An electrode part having the shape of
Depending on the type of material to be measured, etc., a substance amount control means for controlling the amount of substance to be put inside the bag of the electrode part configured in a bag shape,
Electrical output means for outputting an electrical signal of a predetermined value to the electrode of each electrode member;
An electrical measuring means for electrically measuring an electrical signal generated between the electrodes of each electrode member;
The amount of the substance put into the bag of the electrode part configured in a bag shape by the substance amount control means is controlled according to the kind of material of the measurement object, and an electric signal of a predetermined value from the electric output means A shape in which a change in an electric signal generated between the electrodes of each electrode member to which the electrode is supplied is measured by the electric measuring means, and a shape of a measurement object in contact with the electrode member is recognized based on the change in the measured electric signal. A shape recognition sensor characterized by obtaining recognition information . The shape recognition sensor according to claim 1 or 2, wherein a substance such as gas, liquid, powder, or fluid is placed inside the bag of the electrode portion configured in a bag shape. The shape recognition sensor according to any one of claims 1 to 3, wherein a substance having a clear resistivity is placed inside the bag of the electrode portion configured in a bag shape. The shape recognition sensor according to any one of claims 1 to 3, wherein a substance having a clear dielectric constant is placed inside the bag of the electrode portion configured in a bag shape. The shape recognition sensor according to any one of claims 1 to 5, further comprising an in-sensor substance pressure detecting means for detecting a pressure of a substance inside the bag of the electrode portion configured in a bag shape. The substance pressure detection means in the sensor includes a viscosity Sn of the substance to be put inside the bag of the electrode portion configured in a bag shape, and an electric signal generated between the electrodes of each electrode member measured by the electric measurement means. The shape recognition sensor according to claim 6, wherein the pressure value of the substance inside the bag of the electrode portion configured in a bag shape is obtained based on the distance d between the electrodes obtained from the change of the electrode . A robot hand using the shape recognition sensor according to claim 1 . A bag-like by attaching and bonding at least two electrode members with electrodes arranged in a regular arrangement on the surface or inside of a flexible and stretchable insulating film-like electrode member A shape recognition method using an electrode part having a shape of
Depending on the type of material to be measured, the replacement of the substance to be put into the bag configured in the bag shape is controlled, and the electric signal generated between the electrodes of each electrode member that supplies the electric signal of a predetermined value is controlled. A shape recognition method characterized by measuring a change and obtaining shape recognition information for recognizing a shape of a measurement object in contact with an electrode member based on the measured change in an electrical signal . A bag-like by attaching and bonding at least two electrode members with electrodes arranged in a regular arrangement on the surface or inside of a flexible and stretchable insulating film-like electrode member A shape recognition method using an electrode part having a shape of
Depending on the type of material to be measured, etc., the amount of the substance put into the bag configured in the bag shape is controlled, and the electric signal generated between the electrodes of each electrode member that supplied the electric signal of the predetermined value is controlled. A shape recognition method characterized by measuring a change and obtaining shape recognition information for recognizing a shape of a measurement object in contact with an electrode member based on the measured change in an electrical signal . The shape recognition method according to claim 9 or 10, wherein a substance such as a gas, a liquid, a powder, or a fluid is put into a bag formed by bonding at least two electrode members facing each other . The shape recognition method according to any one of claims 9 to 11, wherein a substance with a clear resistivity is placed inside a bag formed by bonding at least two electrode members facing each other . The shape recognition method according to any one of claims 9 to 11, wherein a substance having a clear dielectric constant is placed in a bag formed by bonding at least two electrode members facing each other . The shape recognition method according to any one of claims 9 to 13 , wherein the pressure of a substance in a bag formed by bonding at least two electrode members facing each other is detected . Between the electrodes determined from the viscosity Sn of the substance to be put in the bag constituted by bonding the electrode members facing each other using at least two sheets, and the change in the electrical signal generated between the electrodes of each measured electrode member The shape recognition method according to claim 14 , wherein a pressure value of a substance inside a bag formed by bonding at least two electrode members facing each other is determined based on the distance d .

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