JP7100261B2 - Sensing device and sensing system - Google Patents

Description

The present invention relates to a sensing device and a sensing system.

Oysters are shipped with shells. As shown in FIG. 1, the shipped oysters include a good product with full contents and a defective product called water oysters, which grows slowly and has a large proportion of water, as shown in FIG. The quality of oysters cannot be determined without opening the shell. Since oysters are shipped with shells, it is not possible to determine the contents of the oysters at the time of shipment.

Therefore, even if the oysters to be shipped contain defective oysters, it is necessary to ship extra oysters in order to secure the shipment amount of good oysters.

Although it is not a device for discriminating oysters, a device for measuring the viscosity value and elasticity value of a subject from the amplitude characteristics when the subject is vibrated is disclosed (see, for example, Patent Document 1).

Further, there is disclosed an apparatus for discriminating a state of a subject (solid state, liquid state, etc.) from a vibration change signal when the subject is vibrated (see, for example, Patent Document 2).

Japanese Unexamined Patent Publication No. 2010-19694 Japanese Unexamined Patent Publication No. 7-159356

By the way, for example, depending on the state of the contents of the water oyster (defective product) as a subject, the difference in the amplitude characteristics in the above-mentioned Patent Document 1 and the vibration in the above-mentioned Patent Document 2 between the water oyster and the oyster (good product). There is a problem that the difference in the change signal may be difficult to appear, and the discrimination accuracy of the subject may be lowered.

An object of the present invention is to provide a sensing device and a sensing system capable of improving the discrimination accuracy of a subject.

In order to achieve the above object, the sensing device in the present invention is
A rotating member having a main body capable of reciprocating vibration in a rotational direction around an axis, and a fixed portion provided in the main body at a position separated from the shaft in the centrifugal direction and to which a subject is fixed. ,
An actuator that drives the rotating member to reciprocate in the rotating direction at a plurality of different vibration frequencies, and an actuator that drives the rotating member.
A measuring unit that measures the acceleration in the rotation direction of the rotating member generated by the reciprocating vibration, and a measuring unit.
To prepare for.

The sensing system in the present invention is
With the above sensing device
A discriminating unit that determines the state of the subject by analyzing the reciprocating vibration of the rotating member based on the measured acceleration.
Have.

According to the present invention, the accuracy of discriminating a subject can be improved.

It is a figure which shows the oyster (good product). It is a figure which shows the water oyster (defective product). It is a figure which shows that the centrifugal force acts on a rotating body. It is a figure which shows the relationship between the centrifugal force acting on an oyster and the bias of water of an oyster. It is a front view which conceptually shows the sensing apparatus in embodiment of this invention. It is an exploded perspective view of the sensing apparatus in embodiment of this invention. It is a front view which conceptually shows the actuator in embodiment of this invention. It is a top view which conceptually shows the actuator in embodiment of this invention. It is an exploded perspective view of the actuator in embodiment of this invention. It is a perspective view of the actuator in embodiment of this invention. It is a figure which shows the polar tooth of the S pole which faces the switching position of a magnet. It is a figure which shows the pole tooth of the S pole which faces the magnetic pole surface S of a magnet. It is a figure which shows the polar tooth of N pole facing the switching position of a magnet. It is a figure which shows the pole tooth of the N pole which faces the magnetic pole surface N of a magnet. It is a figure which shows the alternating current of a pulse wave. It is a figure which shows the alternating current of a sine wave. It is a figure which shows the frequency characteristic when a centrifugal force acts on a sample. It is a figure which shows the sample tilted and fixed with respect to the horizontal plane. It is a figure which shows the frequency characteristic when a centrifugal force acts on a sample. It is a figure which shows the change of G value by the damping after the drive stop of an actuator after vibrating a sample reciprocally. It is a partially enlarged view of FIG. It is a figure which shows the characteristic of G value by attenuation. It is a figure which shows the characteristic of G value by attenuation. It is a flowchart which shows an example of the method of acquiring the characteristic of G value by reciprocating vibration. It is a flowchart which shows an example of the method of acquiring the characteristic of G value by attenuation.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 3 is a diagram showing that centrifugal force acts on the rotating body. FIG. 4 is a diagram showing the relationship between the oysters on which centrifugal force acts and the bias of water in the oysters. Hereinafter, oysters will be described as an example of the subject. In the following description, water may include seawater.

As a method of discriminating between water oysters (defective products) and oysters (good products) without opening the shell, there are a method of discriminating oysters by the bias of water and a method of discriminating oysters by the movement of water.

In the case of water oysters, as shown in FIG. 4, water bias occurs due to centrifugal force. On the other hand, in the case of oysters (good products), the contents are clogged, so that the water is not biased due to centrifugal force. That is, the vibration characteristics when a water oyster in which water bias occurs due to centrifugal force is used as a subject (for example, the response to a change in vibration frequency) and the vibration characteristics when a water oyster in which water bias does not occur is used as a subject. By comparing, it becomes possible to distinguish oysters.

Further, since the movement of water differs depending on the reciprocating vibration between the defective oyster and the good oyster, the oyster can be discriminated by comparing the rising characteristic due to the reciprocating vibration or the falling characteristic due to the damping.

Therefore, in the embodiment of the present invention, the vibration characteristics when the centrifugal force acts on the oysters are measured. In addition, the oysters are vibrated back and forth to measure the rising characteristics. Alternatively, the falling characteristic due to damping after the oyster is vibrated back and forth is measured.

FIG. 5 is a front view conceptually showing the sensing device 1 according to the embodiment of the present invention. FIG. 6 is an exploded perspective view of the sensing device 1 according to the embodiment of the present invention. In addition, the X-axis and the Y-axis are drawn in FIG. In the following description, the vertical direction in FIG. 5 refers to the axial direction or the X direction, the upper direction is referred to as the upper side or the "+ X direction", and the lower direction is referred to as the lower side or the "-X direction". The left-right direction in FIG. 5 is referred to as a radial direction or a Y direction, the left direction is referred to as a centrifugal direction or "+ Y direction", and the right direction is referred to as a central direction or "-Y direction". Both of the axial rotation directions in FIG. 5 are referred to as forward and reverse directions, one clockwise direction is forward rotation direction, clockwise direction or "CW1 direction", and one counterclockwise direction is reverse direction and counterclockwise direction. It is called clockwise or "CW2 direction".

As shown in FIGS. 5 and 6, the sensing device 1 includes a support base 2, a rotating member 3, an acceleration sensor 4 (corresponding to the “measurement unit” of the present invention), an actuator 100, and a control unit 200. And have.

The support base 2 has a top plate 2a. A fixed body 110 (described later) of the actuator 100 is fixed to the top plate 2a.

FIG. 7 is a front view conceptually showing the actuator 100. FIG. 8 is a plan view conceptually showing the actuator 100. FIG. 9 is an exploded perspective view of the actuator 100. FIG. 10 is a perspective view of the actuator 100.

As shown in FIGS. 6 to 10, the actuator 100 includes a fixed body 110, a movable body 120, and a spring material 150.

As shown in FIG. 9, the fixed body 110 has a base plate 111, an AC input portion 112, a bearing 113, a coil portion 114, and upper and lower yokes 115 and 116.

The base plate 111 has a hollow cylindrical portion 1111 protruding upward (+ X direction). The tubular portion 1111 has a tubular portion main body 1111a and a pedestal portion 1111b having a larger outer diameter than the tubular portion main body 1111a. The upper surface of the tubular portion 1111 constitutes the upper surface of the fixed body 110.

The AC input unit 112 connects the coil unit 114 to an external terminal.

The bearing 113 is press-fitted into the tubular portion 1111 from the lower surface side of the base plate 111. The base end portion of the bearing 113 engages with the lower surface side of the pedestal portion 1111b when the bearing 113 is pressed against the tubular portion 1111. The bearing 113 is a magnetic material.

The coil portion 114 has a bobbin 114a and a coil 114b. A coil 114b is wound around the bobbin 114a. The axis of the bobbin 114a is the same axis as the axis of the rotating shaft 122 and the coil 114b.

An AC power supply (AC voltage) is supplied to the coil 114b from an AC supply unit (not shown) via an AC input unit 112.

The upper and lower yokes 115 and 116 are arranged in a non-contact manner so as to sandwich the coil portion 114 from the axial direction. The upper and lower yokes 115 and 116 are magnetic materials. The upper and lower yokes 115 and 116 have an annular main body plate portions 115a and 116a and a plurality of polar teeth 115b and 116b. The number of poles of the pole teeth 115b and 116b is equal to the number of magnetic poles of the magnet 123. The upper and lower yokes 115 and 116 are magnetized by an alternating current wave input to the coil portion 114 to generate a magnetic attraction force and a magnetic repulsion force.

Cylindrical core inner peripheral portions 115c and 116c are formed in the central portion of the main body plate portions 115a and 116a so as to surround the opening. The core inner peripheral portion 115c is formed so as to project in the same direction (downward) as the pole teeth 115b. The core inner peripheral portion 116c is formed so as to project in the same direction (upward direction) as the pole teeth 116b.

The plurality of polar teeth 115b and 116b extend vertically from the outer peripheral edges of the main body plate portions 115a and 116a, respectively, and have a comb-teeth shape. The plurality of pole teeth 115b and 116b are alternately arranged in the circumferential direction so as to surround the outer peripheral surface of the coil portion 114.

The core inner peripheral portion 115c of the upper yoke 115 is inserted from above into the opening of the bobbin 114a of the coil portion 114. The plurality of pole teeth 115b are located in a comb-teeth shape along the outer peripheral surface of the coil portion 114.

The core inner peripheral portion 116c of the lower yoke 116 is inserted from below into the opening of the bobbin 114a of the coil portion 114. The plurality of pole teeth 116b are located in a comb-teeth shape along the outer peripheral surface of the coil portion 114. Each polar tooth 116b is uniformly arranged between the polar teeth 115b adjacent in the circumferential direction.

The core inner peripheral portions 115c and 116c are arranged so as to abut inside the coil portion 114. As a result, in addition to the bearing 113 and the tubular portion 1111, the core inner peripheral portions 115c and 116c are interposed between the bobbin 114a and the rotating shaft 122. The inner peripheral portions 115c and 116c of the core and the tubular portion 1111 form a magnetic path.

With the above configuration, when an alternating current is supplied to the coil 114b, the pole teeth 115b and 116b are excited with different polarities. The polarities of the pole teeth 115b are alternately changed by supplying a current in the forward direction and the reverse direction to the coil portion 114. Further, the polarities of the pole teeth 116b are alternately changed by supplying a current in the forward direction and the reverse direction to the coil portion 114.

The movable body 120 includes a rotation shaft 122, a magnet 123, and a rotor cover portion 124.

The rotating shaft 122 is inserted into the bearing 113. The rotary shaft 122 is rotatably supported by the bearing 113. The rotating shaft 122 is preferably a non-magnetic material. The rotating shaft 122 inserts a shaft hole of a tubular portion 1111 formed in the base plate 111. The tip portion 122a of the rotating shaft 122 is provided with a key portion 122c. The base end portion 122b of the rotating shaft 122 extends to the lower surface side of the base plate 111.

The rotor cover portion 124 and the rotating shaft 122 are fixed by welding. The magnet 123 is fixed to the inner peripheral surface of the rotor cover portion 124.

The magnets 123 face the plurality of polar teeth 115b and 116b and are arranged at predetermined intervals. The magnet 123 is formed in a cylindrical shape. The magnet 123 has multiple poles (here, 16 poles) alternately magnetized in the circumferential direction. The magnet 123 has magnetic pole surfaces having different curves alternately from N pole, S pole, N pole, S pole, N pole, ... Along the circumferential direction on the peripheral surface corresponding to the pole teeth 115b, 116b. It is magnetized. The magnet 123 is fixed to the rotating shaft 122 via the rotor cover portion 124.

11A to 11D are views schematically showing a part of the magnet 123 and the pole teeth 115b and 116b. 11A to 11D show the magnets 123 and the pole teeth 115b and 116b arranged in the circumferential direction expanded in the linear direction. Further, in FIGS. 11A to 11D, the magnet 123 and the magnet 123 of the polar teeth 115b and 116b located in the radial direction about the rotation axis 122 are shown in the upper row, and the polar teeth 115b and 116b are shown in the lower row.
The switching position (the position indicated by the broken line in FIGS. 11A to 11D) at which the N magnetic pole surface (magnetized surface N) and the S magnetic pole surface (magnetized surface S) of the magnet 123 are switched is in the circumferential direction of the pole teeth 115b and 116b. The center position overlaps on the same straight line in the radial direction. Hereinafter, this switching position will be referred to as a “center position”.

The spring material 150 elastically supports the movable body 120 with respect to the fixed body 110. Here, a torsion coil spring is applied as the spring material 150. A rotary shaft 122 is rotatably inserted inside the torsion coil spring. A rotary shaft 122 is located on the shaft of the torsion coil spring. It is preferable that the axis of the rotating shaft 122 coincides with the central axis of the torsion coil spring in the torsion direction.

One end portion 152 of the torsion coil spring is fixed to the base end portion 122b of the rotating shaft 122 via the shaft fixing component 162. The other end 154 of the torsion coil spring is fixed to the base plate 111 via the base fixing portion 164.

The spring material 150 is positioned so that the switching position of the magnet 123 is located at the center position in the circumferential direction of the pole teeth 115b and 116b. The spring material 150 has a constant spring constant with respect to the rotation direction of the magnet 123. As a result, the movable body 120 is urged to the center position (switching position) by the spring material 150.

Next, the specific operation of the actuator 100 will be described with reference to FIGS. 11A to 11D, 12A, and 12B. From FIGS. 11A to 11D, the forward rotation direction (CW1 direction) is indicated by an arrow in the left direction, and the reverse rotation direction (CW2 direction) is indicated by an arrow in the right direction. 12A and 12B show the alternating current flowing through the coil 114b via the alternating current input unit 112.

The alternating current flowing through the coil 114b may be a pulse wave having a frequency f0 as shown in FIG. 12A, or a sine wave having a frequency f0 shown in FIG. 12B. As shown in FIGS. 12A and 12B, a forward current is supplied to the coil 114b at time point t1. At time point t3, a reverse current is supplied to the coil 114b.

In a state where no current flows through the coil 114, as shown in FIG. 11A, the switching position in the magnet 123 is located at the center position in the circumferential direction of the pole teeth 115b or the pole teeth 116b.

From the above state, for example, when a forward current is supplied to the coil 114b (time point t1), the pole teeth 115b of the upper yoke 115 are excited and have polarity (for example, the S pole), and the pole teeth of the lower yoke 116 116b is excited and has polarity (eg, north pole). As a result, the N magnetic pole surface of the magnet 123 is attracted to the polar tooth 115b, which is the S pole, and repels the polar tooth 116b, which is the N pole. Further, the S magnetic pole surface of the magnet 123 is attracted to the polar tooth 116b which is the N pole and repels the polar tooth 116b which is the S pole. As a result, torque in the normal rotation direction (leftward in FIG. 11A) is generated on the entire inner circumference of the magnet 123, and the magnet 123 rotates in the normal direction.

As shown in FIG. 11B, the N magnetic pole surface of the magnet 123 rotated to the left repels the polar tooth 116b which is the N pole. Further, as shown in FIG. 11B, the S magnetic pole surface of the magnet 123 repels the polar tooth 115b which is the S pole. As a result, torque in the reverse direction (right direction in FIG. 11B) is generated on the entire inner circumference of the magnet 123, and the magnet 123 reverses. Further, the magnet 123 is urged to the center position by the restoring force of the spring material 150.

As shown in FIG. 11C, when the switching position of the magnet 123 rotated to the right is located at the center position in the circumferential direction of the pole teeth 115b and 116b, a current in the direction opposite to the forward direction is supplied to the coil 114b. (Time point t3). As a result, the pole teeth 115b of the upper yoke 115 are excited and have polarity (for example, N pole), and the pole teeth 116b of the lower yoke 116 are excited and have polarity (for example, S pole). As a result, the N magnetic pole surface of the magnet 123 is attracted to the polar tooth 116b which is the S pole and repels the polar tooth 115b which is the N pole. Further, the S magnetic pole surface of the magnet 123 is attracted to the polar tooth 115b which is the N pole and repels the polar tooth 115b which is the S pole. As a result, torque in the reverse direction (right direction in FIG. 11C) is generated on the entire inner circumference of the magnet 123, and the magnet 123 reverses.

As shown in FIG. 11D, the N magnetic pole surface of the magnet 123 rotated to the right repels the polar tooth 115b which is the N pole. Further, as shown in FIG. 11D, the S magnetic pole surface of the magnet 123 repels the polar tooth 116b which is the S pole. As a result, torque in the normal rotation direction (leftward in FIG. 11D) is generated on the entire inner circumference of the magnet 123, and the magnet 123 rotates in the normal direction. Further, the magnet 123 is urged to the center position by the restoring force of the spring material 150. As a result, the magnet 123 rotated to the left returns to the position shown in FIG. 11A, and a forward current is supplied to the coil 114b (time point t5).

As described above, the magnet 123 (movable body 120) is supplied to the coil 114b alternately in the forward direction and the reverse direction, so that the magnet 123 (movable body 120) has a predetermined angular range (for example, vibration shown in FIG. 8) around the center position in the rotation direction. Repeat the reciprocating vibration within an angle of about 10 degrees). The time T from the time point t1 to the time point t5 is the vibration cycle [s]. (1 / T) is the vibration frequency [Hz].

The actuator 100 of the present embodiment is driven based on the equation of motion represented by the following equation (1) and the circuit equation represented by the following equation (2).

Ｊ：慣性モーメント［ｋｇｍ^２］
ｄ（ｔ）：角度［ｒａｄ］
Ｋ_ｔ：トルク定数［Ｎｍ／Ａ］
ｉ（ｔ）：電流［Ａ］
Ｋ_ｓｐ：バネ定数［Ｎｍ／ｒａｄ］
Ｄ：減衰係数［Ｎｍ／（ｒａｄ／ｓ）］
Ｔ_ｌｏaｄ：負荷トルク［Ｎｍ］

J: Moment of inertia [kgm ² ]
d (t): angle [rad]
K _t : Torque constant [Nm / A]
i (t): current [A]
K _sp : Spring constant [Nm / rad]
D: Attenuation coefficient [Nm / (rad / s)]
T _load : Load torque [Nm]

ｅ（ｔ）：電圧［Ｖ］
Ｒ：抵抗［Ω］
Ｌ：インダクタンス［Ｈ］
Ｋ_ｅ：逆起電力定数［Ｖ／（ｒａｄ／ｓ）］

e (t): Voltage [V]
R: Resistance [Ω]
L: Inductance [H]
_Ke : Back electromotive force constant [V / (rad / s)]

That is, the moment of inertia J [kgm ² ], the rotation angle θ (t) [rad], the torque constant K _t [Nm / A], and the current i of the rotation unit 3A (rotation member 3, subject S1 and movable body 120). (T) [A], spring constant K _sp [Nm / rad], damping coefficient D [Nm / (rad / s)], load torque T _load [Nm], etc. are appropriately set within the range satisfying the equation (1). Can be changed. Further, the voltage e (t) [V], the resistance R [Ω], the inductance L [H], and the counter electromotive force constant K _e [V / (rad / s)] are appropriately set within the range satisfying the equation (2). Can be changed.

Next, the rotating member 3 will be described with reference to FIGS. 6, 9 and 10.

The rotating member 3 has a long plate 31 (corresponding to the "main body" of the present invention) and a sample fixing base 32 (corresponding to the "fixing portion" of the present invention). A keyway hole 31c is provided at one end 31a of the elongated plate 31 in the elongated direction. The key portion 122c provided at the tip portion 122a of the rotating shaft 122 is fitted in the key groove hole 31c.

The sample fixing base 32 is screwed to the other end portion 31b in the longitudinal direction of the long plate portion 31. The sample fixing table 32 fixes the subject. FIG. 8 shows the positions of the sample fixing table 32 and the subject S1.

The rotating member 3 and the subject can rotate integrally with the movable body 120 by fitting the key portion 122c into the key groove hole 31c. In the following description, the rotating member 3, the subject S1 and the movable body 120 that rotate integrally are collectively referred to as a rotating unit 3A (see FIG. 6).

The acceleration sensor 4 is provided at a predetermined position in the longitudinal direction of the rotating member 3. The predetermined position is a position different from both the rotation shaft 122 and the sample fixing table 32 (the subject fixed to the rotating shaft 122) in the longitudinal direction. Further, the predetermined position is the same position as the sample fixing base 32 in the rotation direction. The acceleration sensor 4 measures the acceleration in the rotation direction of the rotating member 3. The accelerometer 4 is a piezo resistance type and has a structure in which a weight body is supported by a beam. The beam extends in the direction of rotation and includes four piezo resistance elements that are detection elements. The piezoresistive element has a property (piezoresistive effect) in which the resistance value changes depending on the applied strain. The resistance value increases in the case of tensile strain and decreases in the case of compressive strain. The change in the resistance value of the four piezo resistance elements is detected as the output voltage of the Wheatstone bridge.

In the present embodiment, the piezo resistance type is given as an example of the acceleration sensor 4, but the present invention is not limited to this, and a strain gauge type that converts strain into voltage may be used, and changes with displacement of the moving portion. It may be a capacitance type that measures the capacitance to be applied.

The control unit 200 has a function of executing sensing of vibration characteristics. Specifically, the control unit 200 includes a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), an input unit, and an output unit. The ROM stores the control program. The CPU executes sensing of vibration characteristics by expanding the control program stored in the ROM into the RAM.

<Measurement of frequency characteristics when centrifugal force acts on the sample>
Next, an example of measuring the frequency characteristics when a centrifugal force acts on the sample using the sensing device 1 having the above configuration will be described with reference to FIG. 13. FIG. 13 is a diagram showing frequency characteristics when a centrifugal force acts on a sample (solid, water). In FIG. 13, the horizontal axis shows the vibration frequency and the vertical axis shows the G value. Here, the G value means the acceleration (grains per pound: Gpp) in the rotation direction measured by the acceleration sensor 4. The sample (solid) is a container containing ice. The sample (water) is a container filled with water.

Each sample (solid, water) is fixed to the sample fixing base 32 of the rotating member 3 of the sensing device 1. The container of the sample (water) is fixed parallel to the horizontal plane as shown in FIG. 5, for example. The center of gravity and weight of each sample (solid, water) are the same. The case of measuring the characteristics of the G value will be described below with reference to a plurality of examples, but since the fixing of the sample, the center of gravity and the weight of the sample are the same, the description thereof will be omitted.

When measuring the frequency characteristics, the G value is measured for each vibration frequency. For example, the measurement is performed in 1 Hz increments. When measuring the G value, the G value is acquired at the same vibration frequency for a certain period of time.

From the measurement result of the G value shown in FIG. 13, the resonance frequency of the sample (solid) is about 45 [Hz]. The resonance frequency of the sample (water) is about 42 [Hz].

The reason why the resonance frequency of the sample (water) is lower than the resonance frequency of the sample (solid) will be described below.

When the moment of inertia J of the rotating unit 3A and the spring constant Ksp in the torsional direction are set, the rotating unit 3A reciprocates at the resonance frequency fr [Hz] calculated by the following equation (3).

ｆ_ｒ：共振周波数［Ｈｚ］

_fr : Resonance frequency [Hz]

When the centrifugal force acts on the sample (water), the water is biased in the centrifugal direction (+ Y direction), so that the moment of inertia J of the rotating unit 3A becomes large. On the other hand, when centrifugal force acts on the sample (solid), the moment of inertia J of the rotating unit 3A does not change because the ice is not biased in the centrifugal direction. Therefore, the resonance frequency of the sample (water) is lower than the resonance frequency of the sample (solid).

The measurement results for the sample (solid, water) have been described above, but in the case of water oysters, as shown in FIG. 4, water bias due to centrifugal force occurs. On the other hand, in the case of oysters (good products), the contents are clogged, so that the water is not biased due to centrifugal force. That is, when the same measurement as the above sample (solid, water) is performed on the oyster, the resonance frequency of the water oyster (defective product) is lower than the resonance frequency of the oyster (good product). Therefore, if the resonance frequency is equal to or higher than a predetermined value, the oyster can be identified as a non-defective product, and if the resonance frequency is less than the predetermined value, the oyster can be identified as a water oyster (defective product). The predetermined numerical value can be obtained from experimental results and simulations.

Next, another example in which the frequency characteristic of the sample on which the centrifugal force acts is measured by using the sensing device 1 having the above configuration will be described with reference to FIGS. 14 and 15. In the above embodiment shown in FIG. 5, the container of the sample (solid, water) is fixed parallel to the horizontal plane, but here, the mounting surface of the sample fixing table 32 is fixed with respect to the rotation axis 122. It tilts so that it descends from a distant position to a near position. As a result, the rotation shaft 122 is tilted and fixed to the axis side with respect to the horizontal plane.

FIG. 14 is a diagram showing a sample (solid, water) (subject S1) in which the container is tilted and fixed with respect to the horizontal plane. Here, as in the above embodiment, when measuring the frequency characteristics, the G value is measured for each vibration frequency. For example, the measurement is performed in 1 Hz increments. When measuring the G value, the G value is acquired at the same vibration frequency for a certain period of time.

FIG. 15 is a diagram showing frequency characteristics when a centrifugal force acts on a sample (solid, water). In FIG. 15, the horizontal axis indicates the vibration frequency, and the vertical axis indicates the G value.

From the measurement results of the G value shown in FIG. 15, when the centrifugal force acting on the water of the sample (water) is smaller than the gravity acting on the water, the G value of the sample (water) is almost the same as the G value of the sample (solid). It will be the same. When the centrifugal force increases and the centrifugal force acting on the water of the sample (water) becomes larger than the gravity acting on the water, the water of the sample (water) is biased in the centrifugal direction, so that the resonance frequency of the sample (solid) Is about 45 [Hz], while the resonance frequency of the sample (water) is about 42 [Hz]. The reason why the resonance frequency of the sample (water) is lower than the resonance frequency of the sample (solid) is that the water is biased in the centrifugal direction due to the centrifugal force, whereas the ice is not biased in the centrifugal direction, as in the above embodiment. Because.
Further, from the measurement result of the G value shown in FIG. 15, the G value of the sample (water) starts to decrease from around the resonance frequency and rises sharply when the vibration frequency reaches about 55 [Hz]. It is almost the same as the G value of the sample (solid). After that, it decreases in almost the same manner as the G value of the sample (solid). The reason why the G value of the sample (water) rises sharply is that when the vibration frequency reaches about 55 [Hz], the centrifugal force decreases, and the centrifugal force acting on water becomes smaller than the gravity acting on water. This is to return to the state before the bias. In the case of a sample (solid), the G value does not rise sharply as in the sample (water).

The measurement results for the sample (solid, water) have been described above, but in the case of water oysters, as with the sample (water), when the centrifugal force acting on water becomes smaller than the gravity acting on water, before the water is biased. In order to return to the state of, the value of G value rises sharply. On the other hand, in the case of oysters (good products), there is no sharp increase in G value unlike water oysters. Therefore, it is possible to discriminate oysters by measuring whether or not there is a sudden increase in the G value in the region of the vibration frequency higher than the resonance frequency.

<Measurement of falling characteristic of G value due to attenuation>
Next, an example of measuring the falling characteristic of the G value due to attenuation using the sensing device 1 having the above configuration will be described with reference to FIGS. 16 and 17. FIG. 16 is a diagram showing changes in the G value due to attenuation after vibrating a sample (water, ice, egg white). FIG. 17 is a partially enlarged view of FIG. In FIGS. 16 and 17, the horizontal axis indicates the time [sec], and the vertical axis indicates the G value. The sample (ice) is a container containing ice.

The vibration frequency to be measured shall be any frequency. Here, the resonance frequency will be described as an example. The actuator 100 drives the rotating member 3 (energizes the coil portion 114) so as to vibrate the sample reciprocating for a certain period of time, and measures the falling characteristic of the G value after the drive of the actuator 100 is stopped.

As can be seen from the measurement results of the falling characteristic of the G value shown in FIGS. 16 and 17, the sample (water, Egg white) is faster than sample (ice). The same phenomenon applies to water oysters and oysters (good products). In other words, water oysters converge faster than oysters (good products). Therefore, it is possible to discriminate oysters by measuring the speed of convergence.

Next, another example in the case of measuring the falling characteristic of the G value due to attenuation by using the sensing device 1 having the above configuration will be described with reference to FIG. FIG. 18 is a diagram showing the characteristics of the G value due to attenuation. In FIG. 18, the horizontal axis shows time and the vertical axis shows G value. The sample (solid) is, for example, ice in a container. The sample (liquid) is, for example, a container filled with water.

The vibration frequency to be measured shall be any frequency. Here, the resonance frequency will be described as an example.

The actuator 100 drives the rotating member 3 (energizes the coil portion 114) so as to reciprocate the sample at the resonance frequency for a certain period of time, and after the drive of the actuator 100 is stopped, the characteristics of the G value due to attenuation (falling period, convergence). (Speed) is measured.

As can be seen from the measurement results of the characteristics of the G value due to attenuation shown in FIG. 18, the falling cycle of the G value due to attenuation is shorter in the sample (liquid) than in the sample (solid). Speaking of the viscosity of oyster water, the sample (liquid) corresponds to water oyster (defective product), and the sample (solid) corresponds to oyster (good product). Therefore, water oyster and oyster (good product) are the above samples. When measured under the same conditions as above, the falling cycle of the G value due to attenuation is shorter for water oysters than for oysters (good products). Therefore, it is possible to discriminate oysters by measuring the falling cycle.

Next, an example of measuring the falling characteristic of the G value using an egg (solid, water) as a subject will be described with reference to FIG. 19. FIG. 19 is a diagram showing the characteristics of the G value due to attenuation. In FIG. 19, the horizontal axis indicates the time [sec], and the vertical axis indicates the G value. The sample (solid) is, for example, a boiled egg. The sample obtained (water) is, for example, a raw egg.

The sample is vibrated reciprocating at a resonance frequency for a certain period of time, and the speed of convergence of the G value due to attenuation is measured after the drive of the actuator 100 is stopped (after the energization of the coil portion 114 is stopped).

As can be seen from the measurement results of the characteristics of the G value due to attenuation shown in FIG. 19, the speed of convergence of the G value due to attenuation is faster in the egg (water) than in the egg (solid). This makes it possible to determine whether the egg as the subject is a boiled egg or a raw egg by measuring the speed of convergence of the G value due to attenuation.

Next, the falling characteristic of the G value depending on the amount of water will be described.
The following experiment was conducted to confirm the falling characteristic of the G value depending on the amount of water.
As a sample, a sample containing a plurality of different amounts of water in a plurality of containers was used. In addition, a plurality of containers were made the same.

The above sensing device was used as the experimental device.
The sample was fixed on the sample fixing table. The center of gravity and weight of each sample were the same.
The vibration frequency to be measured was the resonance frequency.
The actuator drives the rotating member so that the sample is reciprocally vibrated at the resonance frequency for a certain period of time, and the characteristic of the G value due to attenuation is measured after the drive of the actuator is stopped.
From the experiment, it was confirmed that the difference in the amount of water affects the falling cycle of the G value. It was also confirmed that the difference in the amount of water did not affect the speed of convergence.

Next, a method of acquiring a change in the G value due to vibration will be described with reference to FIG. FIG. 20 is a flowchart showing an example of a method of acquiring a change in G value due to vibration. This flow is started by operating the execute button.

First, in step S100, the control unit 200 acquires a control program.

Next, in step S110, the control unit 200 drives and controls the actuator 100 while increasing the vibration frequency.

Next, in step S120, the control unit 200 acquires the G value measured by the acceleration sensor 4.

Next, in step S130, the control unit 200 transmits the G value. After that, the flow shown in FIG. 20 ends.

Next, a method of acquiring the characteristics of the G value due to attenuation will be described with reference to FIG. FIG. 21 is a flowchart showing an example of a method of acquiring the characteristics of the G value due to attenuation. This flow is started by operating the execute button (not shown).

First, in step S200, the control unit 200 acquires a control program.

Next, in step S210, the control unit 200 drives and controls the actuator 100 at an arbitrary vibration frequency.

Next, in step S220, the control unit 200 acquires the G value measured by the acceleration sensor 4. Thereby, the rising characteristic of the G value can be acquired.

Next, in step S230, the control unit 200 determines whether or not a predetermined time has elapsed since the drive of the actuator 10 was started. When the predetermined time has elapsed (step S230: YES), the process proceeds to step S240. If the predetermined time has not elapsed (step S230: NO), the process returns to the previous step S220.

In step S240, the control unit 200 stops energizing the coil unit 114.

Next, in step S250, the control unit 200 acquires the G value. Thereby, the falling characteristic of the G value can be acquired.

Next, in step S260, the control unit 200 transmits the G value. After that, the flow shown in FIG. 21 ends.

According to the sensing device 1 in the above embodiment, the long plate portion 31 capable of reciprocating vibration in the rotation direction around the axis and the long plate portion 31 are provided at positions separated from the axis in the centrifugal direction. The rotating member 3 is driven so as to reciprocate the rotating member 3 having the sample fixing table 32 on which the subject is fixed and the rotating member 3 in the rotating direction at a plurality of different vibration frequencies. It includes an actuator 100 and an acceleration sensor 4 that measures the acceleration in the rotation direction of the rotating member 3 generated by the reciprocating vibration. As a result, it is possible to detect the bias of the water of the subject in the centrifugal direction due to the centrifugal force with the measured acceleration, and to detect the change in the acceleration due to the damping with the measured acceleration. As a result, it is possible to improve the discrimination accuracy of the subject.

Further, according to the sensing system according to the above embodiment, the sensing device 1 and the discriminating unit for discriminating the state of the subject by analyzing the reciprocating vibration of the rotating member 3 based on the measured acceleration. Have. For example, the discriminating unit can determine whether or not the water of the subject is biased depending on whether or not the resonance frequency of the rotating member 3 is equal to or higher than the threshold value. Further, the discriminating unit can discriminate whether or not the water of the subject moves depending on whether or not the rising characteristic of the G value in the reciprocating vibration at the resonance frequency is equal to or higher than the threshold value. In addition, the discriminating unit can discriminate whether or not the water of the subject moves depending on whether or not the characteristics of the G value due to attenuation (falling period, speed of convergence) are equal to or greater than the threshold value. ..

In the above embodiment, oysters and eggs are mentioned as examples of the subject to be discriminated by the sensing device 1, but the present invention is not limited to this, and for example, the liquid in the outer shell and the outer skin has viscosity. It may be a food product (for example, a fruit), or a food product in which the liquid in the container is viscous.

In addition, the above embodiments are merely examples of embodiment of the present invention, and the technical scope of the present invention should not be construed in a limited manner by these. That is, the present invention can be implemented in various forms without departing from its gist or its main features.

INDUSTRIAL APPLICABILITY The present invention is suitably used for a sensing device that is required to improve the discrimination accuracy of a subject.

S1 Subject 1 Sensing device 2 Support stand 3 Rotating member 4 Acceleration sensor 31 Long plate part 31a Longitudinal end part 31b Longitudinal end part 31c Key groove hole 32 Sample fixing base 100 Actuator 110 Fixed body 111 Base plate 112 AC input Part 113 Bearing 114 Coil part 114a Bobbin 114b Coil 115 Upper yoke 115a Main body plate part 115b Polar tooth 115c Core inner peripheral part 116 Lower yoke 116a Main body plate part 116b Polar tooth 116c Core inner peripheral part 120 Movable body 122 Rotating shaft 122a Tip part 122b Base end 122c Key part 123 Magnet 124 Rotor cover part 150 Spring material 152 One end part 154 End part 162 Shaft fixing part 164 Base fixing part 200 Control part 1111 Cylindrical part 1111a Cylindrical part Main body 1111b Pedestal part

Claims (8)

A rotating member having a main body capable of reciprocating vibration in a rotational direction around an axis, and a fixed portion provided in the main body at a position separated from the shaft in the centrifugal direction and to which a subject is fixed. ,
An actuator that drives the rotating member to reciprocate in the rotating direction at a plurality of different vibration frequencies, and an actuator that drives the rotating member.
A measuring unit that measures the acceleration in the rotation direction of the rotating member generated by the reciprocating vibration, and a measuring unit.
A sensing device equipped with. The measuring unit measures the acceleration for each vibration frequency in the reciprocating vibration of the rotating member while the actuator is being driven.
The sensing device according to claim 1. The measuring unit measures the acceleration that changes with time in the reciprocating vibration of the rotating member after the drive of the actuator is stopped.
The sensing device according to claim 1. The body extends in the centrifugal direction and
The measuring unit is provided at a predetermined position on the main body, and the measuring unit is provided at a predetermined position.
The predetermined position is a position different from that of the axis and the subject in the centrifugal direction.
The sensing device according to any one of claims 1 to 3. The predetermined position is the same position as the fixed portion in the rotation direction.
The sensing device according to claim 4. The fixing portion has a mounting surface on which the subject is placed.
The above-mentioned mounting surface is inclined so as to descend from a position far from the axis to a position close to the axis.
The sensing device according to claim 1 or 2. The actuator comprises an urging member that urges the rotating member to a central position of the reciprocating vibration in the rotating direction.
The sensing device according to any one of claims 1 to 6. The sensing device according to any one of claims 1 to 7.
A discriminating unit that determines the state of the subject by analyzing the reciprocating vibration of the rotating member based on the measured acceleration.
Sensing system with.

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