KR20230082350A - Head array controller - Google Patents

Abstract

A head array controller according to an embodiment of the present invention relates to a head array controller for controlling the speed and direction of a power wheelchair in conjunction with a power wheelchair, comprising: a head support unit supporting a user's head; and a sensor unit disposed on the head support unit and in contact with the user's head, wherein the sensor unit includes: a pressing unit that is moved in a longitudinal direction by an external force; a magnetic part disposed in a predetermined space within the pressing part; a support portion protruding from the head support portion, forming an inner space therein, and coupled with the pressing portion; and a magnetic sensor unit disposed in an insertion hole formed by the support unit, disposed at a position overlapping the magnetic unit in the longitudinal direction, and sensing a magnetic force of the magnetic unit.

Description

Head array controller {Head array controller}

The present invention relates to a head array controller, and more particularly, to a head array controller capable of controlling the speed and direction of an electric wheelchair worn by a paralyzed or seriously ill patient.

[0002] In recent years, the penetration rate of electric wheelchairs as a means for movement of people with inconvenient arms and legs is increasing year by year.

In particular, when a patient with full body paralysis due to a traffic accident or disaster controls an electric wheelchair, the movement of the head part is grasped and controlled using a CCD camera or an expiration switch using human breath.

However, the exhalation switch using human exhalation is difficult to control by the breathing method (strength and shortness of breath), and the control method using a CCD camera does not require the user to increase the movement of the neck in order for the CCD camera to accurately recognize the movement of the head. If not, it is difficult to recognize, so users with inconvenient necks cannot use it.

On the other hand, Japanese Patent Laid-open Publication No. 2000-070355 A (March 21, 2001) discloses a pressure-sensitive operation switch device that can easily operate a train seat without burdening even a user with inconvenient arms, legs, or neck.

However, when the area to be decompressed (the area commanding forward, backward, etc.) overlaps, there is a problem in that it is difficult to accurately grasp the user's intention depending on the contact area. However, there was a problem of not being able to control more accurately in controlling the speed.

The present invention is to solve the above problems, and an electric wheelchair that can more easily control the speed and direction of the electric wheelchair by using a head for patients (users) with inconvenient arms and legs or general paralysis, and the like. It is intended to provide an interlocked head array controller.

The problem to be solved by the present invention is not limited to the above-mentioned problems, and problems not mentioned will be clearly understood by those skilled in the art from this specification and the accompanying drawings. .

A head array controller according to an embodiment of the present invention relates to a head array controller for controlling the speed and direction of a power wheelchair in conjunction with a power wheelchair, comprising: a head support unit supporting a user's head; and a sensor unit disposed on the head support unit and in contact with the user's head, wherein the sensor unit includes: a pressing unit that is moved in a longitudinal direction by an external force; a magnetic part disposed in a predetermined space within the pressing part; a support portion protruding from the head support portion, forming an inner space therein, and coupled with the pressing portion; and a magnetic sensor unit disposed in an insertion hole formed by the support unit, disposed at a position overlapping the magnetic unit in the longitudinal direction, and sensing a magnetic force of the magnetic unit.

According to the head array controller according to an embodiment of the present invention, patients (users) with inconvenient arms and legs or general paralysis can use the head to more easily control the speed and direction of the electric wheelchair, In addition, there is an advantage in that more precise proportional control of the speed and direction of the electric wheelchair is possible, rather than the well-known ON / OFF method control.

Effects of the present invention are not limited to the above-mentioned effects, and effects not mentioned will be clearly understood by those skilled in the art from this specification and the accompanying drawings.

1 is a perspective view generally illustrating a head array controller according to an embodiment of the present invention;
Figure 2 is a schematic perspective view and partial cross-sectional view for explaining the configuration of the head array controller according to an embodiment of the present invention.
3 is a graph showing that the head array controller proportionally controls the speed of an electric wheelchair according to an embodiment of the present invention.
4 is a perspective view illustrating a sensor unit constituting a head array controller according to an embodiment of the present invention;
5 is a partial cross-sectional view for explaining a first embodiment of a sensor unit constituting a head array controller according to an embodiment of the present invention.
6 is a partial cross-sectional view for explaining a second embodiment of a sensor unit constituting a head array controller according to an embodiment of the present invention.
7 is a partial cross-sectional view for explaining a second embodiment of a sensor unit constituting a head array controller according to an embodiment of the present invention.

Hereinafter, specific embodiments of the present invention will be described in detail with reference to the drawings. However, the spirit of the present invention is not limited to the presented embodiments, and those skilled in the art who understand the spirit of the present invention may add, change, delete, etc. other elements within the scope of the same spirit, through other degenerative inventions or the present invention. Other embodiments included within the scope of the inventive idea can be easily proposed, but it will also be said to be included within the scope of the inventive concept.

A head array controller according to an embodiment of the present invention relates to a head array controller for controlling the speed and direction of a power wheelchair in conjunction with a power wheelchair, comprising: a head support unit supporting a user's head; and a sensor unit disposed on the head support unit and in contact with the user's head, wherein the sensor unit includes: a pressing unit that is moved in a longitudinal direction by an external force; a magnetic part disposed in a predetermined space within the pressing part; a support portion protruding from the head support portion, forming an inner space therein, and coupled with the pressing portion; and a magnetic sensor unit disposed in an insertion hole formed by the support unit, disposed at a position overlapping the magnetic unit in the longitudinal direction, and sensing a magnetic force of the magnetic unit.

In addition, the sensor unit is disposed in the sensor unit, and an elastic unit for applying a restoring force to the pressing unit; further includes, the pressing unit includes: a pressing body unit receiving an external force from the user's head; and a pressing protrusion extending from the pressing main body and protruding, wherein the pressing protrusion includes: a first protrusion forming a first insertion space into which the magnetic part is inserted; a second protrusion spaced apart from the first protrusion in a height direction and forming a second insertion space into which the elastic part is inserted; And a third protrusion coupled to the outer circumferential surface of the support portion to implement positional movement of the pressing portion in the longitudinal direction by an external force; wherein the elastic portion is inserted into the second insertion space and surrounds the first protrusion. It may be a head array controller.

In addition, the pressing unit, the pressing body portion receiving an external force applied from the user's head; and a pressing protrusion extending from the pressing main body and protruding, wherein the sensor unit further includes an external force transmitting unit coupled to the pressing protruding unit, wherein the pressing protrusion has one end connected to the external force transmitting unit. A first protrusion to be coupled; and a second protrusion that is spaced apart from the first protrusion in a height direction and coupled to an outer circumferential surface of the support portion to realize positional movement of the pressing portion in the longitudinal direction by an external force, wherein the external force transmitting portion comprises the pressurizing portion. a delivery body receiving an external force from the protrusion; and a transfer protrusion extending from and protruding from the transfer body, wherein the transfer protrusion includes: a first transfer protrusion forming an insertion space into which the magnetic unit is inserted; and a second transmission protrusion having an outer circumferential surface coupled to the support portion to realize positional movement of the external force transmission portion in the longitudinal direction by an external force, wherein the support portion includes: a support body portion coupled to the head support portion; and a support protrusion extending from the support body and protruding, wherein the support protrusion forms an inner space into which the elastic part is inserted, and an inner circumferential surface thereof is coupled to the external force transmission part so as to be applied to the external force transmission part by an external force. a first support protrusion that implements positional movement in the longitudinal direction; and a second support protrusion having an inner circumferential surface coupled to the pressing part to implement positional movement of the pressing part in the longitudinal direction by an external force, wherein the magnetic part is horizontally aligned with the height direction by the external force transmitting part. It may be a headarray manipulator that is maintained.

In addition, the elastic part may be a head array controller having one end inserted into the insertion hole and the other end inserted into the insertion space.

In addition, the sensor unit may be a head array controller further comprising: an enclosing portion having one end inserted into and fixed to the insertion hole and the other end inserted into and fixed to the insertion space and enclosing the elastic part.

Elements having the same function within the scope of the same idea appearing in the drawings of each embodiment are described using the same reference numerals.

1 is a perspective view generally illustrating a head array controller according to an embodiment of the present invention.

2 is a schematic perspective view and partial cross-sectional view for explaining the configuration of a head array controller according to an embodiment of the present invention.

3 (a) to (b) are known speed control graphs and graphs showing that the head array controller according to an embodiment of the present invention proportionally controls the speed of an electric wheelchair.

4 is a perspective view for explaining a sensor unit constituting a head array controller according to an embodiment of the present invention.

5 is a partial cross-sectional view for explaining a first embodiment of a sensor unit constituting a head array controller according to an embodiment of the present invention.

6 is a partial cross-sectional view for explaining a second embodiment of a sensor unit constituting a head array controller according to an embodiment of the present invention.

7 is a partial cross-sectional view for explaining a second embodiment of a sensor unit constituting a head array controller according to an embodiment of the present invention.

In the accompanying drawings, in order to more clearly express the technical idea of the present invention, parts that are not related to the technical idea of the present invention or can be easily derived from those skilled in the art are simplified or omitted.

Throughout the specification, when a part is said to be "connected" to another part, this includes not only the case where it is "directly connected" but also the case where it is "electrically connected" with another element interposed therebetween. . In addition, when a part "includes" a certain component, this means that it may further include other components, not excluding other components, unless otherwise stated, and one or more other characteristics. However, it should be understood that it does not preclude the possibility of existence or addition of numbers, steps, operations, components, parts, or combinations thereof.

In this specification, a "unit" includes a unit realized by hardware, a unit realized by software, and a unit realized using both. Further, one unit may be realized using two or more hardware, and two or more units may be realized by one hardware.

In this specification, some of the operations or functions described as being performed by a terminal or device may be performed instead by a server connected to the terminal or device. Likewise, some of the operations or functions described as being performed by the server may also be performed in a terminal or device connected to the corresponding server.

Hereinafter, a head array controller according to an embodiment of the present invention will be described in detail with reference to FIGS. 1 to 7 .

First, to define terms for directions, as shown in FIG. 2, the x direction is defined as the length direction and the y direction is defined as the height direction.

As an example, as shown in FIG. 1, the head array controller 10 is worn on the user's (patient's) head to sense the pressurization by the user's head, and transmits the information to the control unit (not shown) of the electric wheelchair. The control unit controls a driving motor (not shown) or a steering device (not shown) provided in the electric wheelchair in response to the received sensing information.

The head array 10 and the control unit control the speed and direction of the electric wheelchair by transmitting and receiving information sensed in real time through a known short-distance wireless communication method.

The head array controller 10 may further include an output unit for outputting voice and a microphone unit for recognizing the patient's voice in order to further enhance user convenience.

As can be seen in FIG. 2 , the head array controller 10 includes a head support unit 100 supporting a user's head and a sensor unit 200 disposed on the head support unit 100 or mounted in the head support unit 100. ) is composed of

That is, the user can transmit information on the speed (acceleration) of the electric wheelchair to the control unit by repeatedly pressurizing a specific area (a predetermined radius based on the center of the sensor unit) of the sensor unit 200, and stop pressurization. By doing so, information on speed (deceleration) is transmitted to the control unit.

As can be seen in FIG. 4, the sensor unit 200 protrudes from the pressing unit 210 and the head support unit 100, which are moved in the longitudinal direction by the external force when a user applies an external force through the head, and the sensor unit 200 protrudes from the pressing unit 210. The outer shape is constituted by the support portion 230 coupled to the portion 210.

The pressing part 210 has a sliding protrusion (not shown), and the support part 230 has a sliding groove (not shown) corresponding to the sliding protrusion, respectively. The positional movement of the pressing part 210 in the longitudinal direction by the external force of is implemented.

As can be seen in FIG. 5 , the sensor unit 200 may further include a magnetic unit 220 disposed in a predetermined space within the pressing unit 210, and the magnetic unit 220 may be a kind of magnet. there is.

In addition, as can be seen in FIG. 5 , the support part 230 forms an internal space S1 on the inside, and forms an insertion hole S2 at a position overlapping the magnetic part 220 in the longitudinal direction.

A position where the magnetic part 220 is disposed may be a position overlapping the center of the pressing part 210 in the longitudinal direction.

The sensor unit 200 is inserted into the insertion hole S2 and further includes a magnetic sensor unit 240 that senses the magnetic force of the magnetic unit 220, and the magnetic sensor unit 240 is the magnetic unit ( 220) uses a known magnetic sensor module, such as detecting the magnetic field lines emitted by the.

Here, the magnetic sensor unit 240 is formed on the support unit 230 and is inserted into the insertion hole S2 formed at a position overlapping the magnetic unit 220 in the longitudinal direction, so that the magnetic unit 220 The emitted magnetic field lines are more accurately sensed.

That is, the user presses the center having a predetermined radius of the pressing unit 210 to transfer information about the speed of the electric wheelchair to the control unit, and the pressing unit 210 moves in the longitudinal direction by an external force caused by the pressurization. As the position is moved, the magnetic sensor unit 240 senses the lines of magnetic force emitted by the magnetic unit 220 and transmits the information to the control unit, so that the user can control the electric wheelchair through the head array controller 10. You will control the speed.

<First Embodiment>

Hereinafter, a method for controlling the speed of an electric wheelchair by the head array controller 10 according to the first embodiment of the present invention will be described in detail with reference to FIG. 5 .

As can be seen in FIG. 5 , the sensor unit 200 is disposed inside the sensor unit 200 and applies a restoring force to the pressing unit 210 moved in the longitudinal direction by an external force applied by the user to move the sensor unit 200 in the longitudinal direction. An elastic part 250 may be further provided to allow the pressing part 210 to return to its original position by being moved, and the elastic part 250 may be an elastic body such as a spring.

The pressing portion 210 includes a pressing body portion 211 receiving an external force from a user's head and a pressing protrusion 212 extending from the pressing body portion 211 and protruding.

The pressing protrusion 212 further includes a first protrusion 213 forming a first insertion space S3 into which the magnetic part 220 is inserted, and the first insertion space S3 is the insertion hole S2. ) and formed at a position overlapping in the longitudinal direction.

In addition, the pressing protrusion 212 is spaced apart from the first protrusion 213 in the height direction, and further includes a second protrusion 214 forming a second insertion space S4 into which the elastic part 250 is inserted. provide

In addition, the pressing protrusion 212 is coupled to the outer circumferential surface of the support portion 230 and further includes a third protrusion 215 configured to move the pressing portion 210 in the longitudinal direction by an external force.

The third protrusion 215 is provided with a sliding protrusion (not shown), and the outer circumferential surface of the support part 230 is provided with a sliding groove corresponding to the sliding protrusion, so that the third protrusion 215 and the support part 230 provide The pressing part 210 is moved in the longitudinal direction by an external force applied by a user.

Therefore, the user presses the center having a predetermined radius of the pressing part 210 in order to transfer information about the speed of the electric wheelchair to the control unit, and the pressing part 210 moves in the longitudinal direction by the external force caused by the pressing. As the position is moved, the magnetic sensor unit 240 senses the lines of magnetic force emitted by the magnetic unit 220 and transmits the information to the control unit, so that the user can control the electric wheelchair through the head array controller 10. You will control the speed.

Meanwhile, as can be seen in FIG. 5 , the elastic part 250 may be inserted into the second insertion space S4 formed by the second protrusion 214, and thus the magnetic part 220 is inserted. It surrounds the first protrusion 213 to be.

Accordingly, the elastic part 250 applies a restoring force to the pressing part 210, which has been moved in the longitudinal direction by the external force applied by the user, to realize the positional movement in the longitudinal direction, and at the same time, the magnetic part 220 By enclosing the magnetic part 220, damage and damage due to external force are prevented.

Therefore, the elastic part 250 allows the magnetic sensor part 240 to more accurately measure the magnetic field lines emitted by the magnetic part 220 .

<Second Embodiment>

Hereinafter, the head array controller 10 according to the second embodiment of the present invention will be described in detail with reference to FIGS. 6 and 7 .

As can be seen in Figure 6, the pressing portion 210 is provided with a pressing body portion 211 receiving an external force from the user's head and a pressing protrusion portion 212 extending from the pressing body portion 211 and protruding. do.

In addition, the pressing protrusion 212 includes a first protrusion 213 and a second protrusion 214 spaced apart from the first protrusion 213 in a height direction but coupled to the support part 230 .

The second protrusion 214 has a sliding protrusion formed on an inner circumferential surface, and the support part 230 has a sliding groove corresponding to the sliding protrusion, so that the pressing part 210 is moved in the longitudinal direction by an external force applied by a user. Position movement to is implemented.

Meanwhile, as shown in FIG. 6 , the sensor unit 200 further includes an external force transmission unit 260 coupled to and interlocking with the first protrusion 212 .

Here, the user (patient) may not be able to accurately press the center having a predetermined radius of the pressing part 210 depending on the affected part.

Therefore, when the external force due to the user's pressing is not accurately directed to the center, the pressing part 210 may be eccentric in a specific direction, and accordingly, the magnetic part 220 due to the external force applied by the user is released. The magnetic sensor unit 240 cannot accurately measure the line of magnetic force.

Taking the external force applied to the pressing part 210 by the user as a relative value, for example, when the user accurately applies 4N (Newton) to the center of the pressing part 210, the pressing part 210 moves in the longitudinal direction by 4N. Assuming that the position is moved and the speed of the electric wheelchair increases by 8 km/h, when the user applies a force of 4 N from the center of the pressing part 210 in a specific direction, an eccentricity occurs in a specific direction, resulting in the pressing part 210 ) is that the pressure portion 210 is moved in the longitudinal direction through an external force relatively less than 4 N, for example, 2 N, so that the speed of the electric wheelchair increases by 4 km/h.

Therefore, even if the user applies the same external force to the pressing unit 210, the speed of the electric wheelchair is controlled differently when eccentricity occurs than when eccentricity does not occur.

Therefore, in order to prevent such eccentricity from occurring, the sensor unit 200 further includes the external force transmission unit 260 so that the magnetic unit 220 is horizontally aligned with the height direction by the external force transmission unit 260. to keep this

However, the above-described relative values for force and speed are only examples for helping understanding, and the relative values can be changed, of course.

In order to implement that the external force transmission unit 260 is maintained horizontally with the height direction, as shown in FIG. 6, the external force transmission unit 260 is coupled to and interlocked with the first protrusion 213, and the 1 further comprising a delivery body 261 receiving external force from the user from the protrusion 213 and a delivery projection 262 extending from the delivery body 261 and protruding.

The transfer protrusion 262 has a first transfer protrusion 263 forming an insertion space S3 into which the magnetic part 220 is inserted and an outer circumferential surface of the external force transmission unit 260 that is slidably coupled to the support part. It further includes a second transmission protrusion 264 that implements positional movement in the longitudinal direction of the.

As can be seen in FIG. 6, the support part 230 also includes a support body part 231 coupled to the head support part 100 and a support protrusion part 232 extending from the support body part 231 and protruding from it. do.

The support protrusion 232 forms an inner space S1 into which the elastic part 250 is inserted, and an inner circumferential surface thereof is slidably coupled to the external force transmission portion to realize positional movement of the external force transmission portion in the longitudinal direction by an external force. The first support protrusion 233 and the inner circumferential surface are slidably coupled to the pressing portion 210 to further include a second support protrusion 234 for realizing positional movement of the pressing portion 210 in the longitudinal direction by an external force. do.

That is, when the user applies an external force to the pressing portion 210, the pressing portion 210 is moved in the longitudinal direction, and the external force transmission portion 260 interlocked with the pressing portion 210 also It is moved in the longitudinal direction by an external force.

Here, the external force transmission unit 260 is slidably coupled to the first support protrusion 233 to maintain a horizontal level in the height direction by the first support protrusion 233, and thus, an external force caused by a user's pressure Even if it is not accurately directed to the center, eccentricity does not occur, so that the magnetic sensor unit 240 more accurately measures the magnetic force lines emitted by the magnetic unit 220.

The elastic part 250 may be inserted into the inner space S1, and when the user's external force is not applied, a restoring force is applied to the pressing part 210 to move the position in the longitudinal direction, so that the pressing part ( 210) to return to its original position.

Meanwhile, as another example, the elastic part 250 may have one end inserted into the insertion hole S2 and the other end inserted into the insertion space S3.

Accordingly, even when the external force caused by the user's pressure is not accurately directed toward the center, the magnetic part 220 inserted into the external force transmission part 260 can be accurately positioned in the longitudinal direction within the spring, This is to allow the magnetic sensor unit 240 to more accurately measure the lines of magnetic force emitted by the magnetic unit 220 .

Furthermore, as can be seen in FIG. 7 , the sensor unit 200 has one end inserted into and fixed to the insertion hole S2 and the other end inserted into the insertion space S3 to surround the elastic part 250. A unit 270 may be further provided.

Here, the enclosing portion 270 may mean a known corrugated pipe, and is interlocked with the elastic portion 250 to contract in the longitudinal direction by a user's external force or by the restoring force of the elastic portion 250. It can be stretched based on the length direction.

This can be implemented because one end of the enclosing portion 270 can be inserted into the insertion hole S2 and fixed by an adhesive, and the other end can be inserted into the insertion space S3 and fixed by an adhesive.

Therefore, the enclosing portion 270 surrounds the elastic portion 250 even when the external force caused by the user's pressure is not accurately directed toward the center, and the elastic portion 250 and the inside of the elastic portion 250 have a length. While preventing the magnetic part 220 from being moved in the direction, the external force transmission part 260 and the support part 230 are directly connected, so that the user's external force is transmitted more accurately.

Therefore, as can be seen in (a) of FIG. 3, the head array controller 10 according to the present invention does not control the ON/OFF type (stepped) speed of the electric wheelchair by the known head array controller, but the self It is possible for the magnetic sensor unit 240 to more accurately measure the magnetic field lines emitted by the unit 220, so that proportional speed control of the electric wheelchair as shown in FIG. 3 (b) is possible.

In the above, the configuration and characteristics of the present invention have been described based on the embodiments according to the present invention, but the present invention is not limited thereto, and various changes or modifications can be made within the spirit and scope of the present invention. It is apparent to those skilled in the art, and therefore such changes or modifications are intended to fall within the scope of the appended claims.

100: head support, 200: sensor
210: pressing part, 220: magnetic part, 230: support part, 240: magnetic sensor part
250: elastic part, 260: external force transmission part, 270: enclosing part
S1: inner space, S2: insertion hole, S3: insertion space

Claims (5)

In the head array controller for controlling the speed and direction of the electric wheelchair,
a head support for supporting a user's head; and
Doedoe disposed on the head support, a sensor unit in contact with the user's head; includes,
The sensor unit,
a pressing unit that is moved in a longitudinal direction by an external force;
a magnetic part disposed in a predetermined space within the pressing part;
a support portion protruding from the head support portion, forming an inner space therein, and coupled with the pressing portion; and
A magnetic sensor unit disposed in the insertion hole formed by the support unit, disposed at a position overlapping the magnetic unit in the longitudinal direction, and sensing the magnetic force of the magnetic unit;
Head Array Controller.
According to claim 1,
The sensor unit,
An elastic unit disposed in the sensor unit to apply a restoring force to the pressing unit; further comprising:
The pressing part,
Pressing body portion receiving an external force from the user's head; and
It has a; pressing protrusion extending from the pressing body and protruding,
The pressing protrusion,
a first protrusion forming a first insertion space into which the magnetic part is inserted;
a second protrusion spaced apart from the first protrusion in a height direction and forming a second insertion space into which the elastic part is inserted; and
A third protrusion coupled to the outer circumferential surface of the support portion to realize positional movement of the pressing portion in the longitudinal direction by an external force; further comprising,
The elastic part,
Inserted into the second insertion space and surrounding the first protrusion,
Head Array Controller.
According to claim 1,
The pressing part,
Pressing body portion receiving an external force from the user's head; and
It has a; pressing protrusion extending from the pressing body and protruding,
The sensor unit,
Further comprising an external force transmission unit coupled to the pressing protrusion,
The pressing protrusion,
a first protrusion having one end coupled to the external force transmission unit; and
A second protrusion that is spaced apart from the first protrusion in the height direction and is coupled to the outer circumferential surface of the support to realize the positional movement of the pressing part in the longitudinal direction by an external force;
The external force transmission unit,
a transmission body receiving an external force from the first protrusion; and
A delivery protrusion extending from the delivery body and protruding; further comprising,
The delivery protrusion,
a first transmission protrusion forming an insertion space into which the magnetic part is inserted; and
A second transmission protrusion having an outer circumferential surface coupled to the support portion to realize positional movement of the external force transmission portion in the longitudinal direction by an external force; further comprising,
the support,
a support body coupled to the head support; and
Further comprising a support protrusion extending from the support body and protruding from the support body;
The support protrusion,
a first support protrusion that forms an inner space into which an elastic part is inserted, and whose inner circumferential surface is coupled to the external force transmission part to realize positional movement of the external force transmission part in a longitudinal direction by an external force; and
A second support protrusion having an inner circumferential surface coupled to the pressing portion to realize positional movement of the pressing portion in the longitudinal direction by an external force; further comprising,
the magnetic part,
The height direction and horizontality are maintained by the external force transmission unit,
Head Array Controller.
According to claim 3,
The elastic part,
One end is inserted into the insertion hole and the other end is inserted into the insertion space,
Head Array Controller.
According to claim 4,
The sensor unit,
One end is inserted into the insertion hole and fixed, and the other end is inserted and fixed into the insertion space, and an enclosing portion surrounding the elastic part; further comprising,
Head Array Controller.

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