WO2012015077A1 - 재료 감별 장치 - Google Patents
재료 감별 장치 Download PDFInfo
- Publication number
- WO2012015077A1 WO2012015077A1 PCT/KR2010/004917 KR2010004917W WO2012015077A1 WO 2012015077 A1 WO2012015077 A1 WO 2012015077A1 KR 2010004917 W KR2010004917 W KR 2010004917W WO 2012015077 A1 WO2012015077 A1 WO 2012015077A1
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- WO
- WIPO (PCT)
- Prior art keywords
- heat
- temperature
- heat generator
- thermal
- controller
- Prior art date
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N25/00—Investigating or analyzing materials by the use of thermal means
- G01N25/18—Investigating or analyzing materials by the use of thermal means by investigating thermal conductivity
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N25/00—Investigating or analyzing materials by the use of thermal means
- G01N25/20—Investigating or analyzing materials by the use of thermal means by investigating the development of heat, i.e. calorimetry, e.g. by measuring specific heat, by measuring thermal conductivity
Definitions
- the present invention relates to a material discrimination apparatus, and more particularly, to a material discrimination apparatus for determining a kind of material by sensing a temperature change according to a thermal conductivity characteristic of a material to be discriminated and extracting a thermal characteristic value of the material. will be.
- tactile transmission is an essential element in the manipulation of objects through prosthetic hands.
- temperature transmission is important not only in terms of functional aspects such as manipulating objects, but also in social aspects of humans and other animals, and plays an important role in judging the material of objects to be touched. Therefore, a means for precisely determining the temperature and the material attached to the robot number is required.
- a force sensor or vision information is used to detect an object to be manipulated, but there is a disadvantage in that the size of the system becomes large. Accordingly, there is a need for the development of a device that is small in size and capable of searching for various objects to discriminate objects of a desired material.
- Another object of the present invention is to provide a material discrimination apparatus which can grasp the thermal characteristic value of a material simply and easily by simply contacting a material to be discriminated.
- a material discrimination apparatus for achieving the above object is a device for discriminating a material by contacting the surface of the material and calculating a thermal characteristic value of the material, a plurality of heat generators for generating heat individually ; A plurality of temperature sensors attached to each of the heat generators to measure varying temperatures of the heat generators; And a controller controlling heat generation of the heat generator and calculating a thermal characteristic value of the material by calculating and processing temperature values measured by the plurality of temperature sensors.
- the controller may include: a storage unit in which unique thermal characteristic values of a plurality of materials are stored in advance; And a comparison unit comparing the thermal characteristic values of the material calculated from the temperature values measured by the plurality of temperature sensors with the data values stored in the storage unit and confirming a matching value.
- the controller may further include a display unit displaying a result of differentiation of the material identified by the comparison unit.
- the material discriminating apparatus may further include a pressure sensor that senses a change in pressure caused by contact when the heat generator contacts a material to be discriminated, and blocks heat generation of the heat generator.
- the controller may calculate the heat ejection rate, which is a thermal characteristic value of the material, by applying the temperature values measured from the temperature sensor to Equation 7 below.
- T s, i is the thermal equilibrium temperature of the i th heat generator
- T s, j is the thermal equilibrium temperature of the j th heat generator
- T i is the i T j is the initial temperature of the j th heat generator
- ⁇ i is the heat ejection rate of the i th heat generator
- ⁇ j is the heat ejection rate of the j th heat generator.
- the material discriminating apparatus of the present invention is a method of detecting a thermal change by simply contacting a material to be discriminated, and thus has an effect of easily and easily grasping a thermal characteristic value of the material.
- 1 is a view for explaining the principle of operation of the material discrimination apparatus of the present invention.
- FIG. 2 is a schematic diagram of a material discrimination apparatus according to an embodiment of the present invention.
- 1 is a view for explaining the principle of operation of the material discrimination apparatus of the present invention.
- the metal has a high thermal conductivity
- the thermal conductivity is quickly made by hand, so that a person feels a cold touch, and the wood has a low thermal conductivity, and thus the thermal conductivity is slow by a hand, so that a person feels a relatively warm texture.
- the material discriminating apparatus of the present invention is a device which can grasp what kind of material is by calculating the thermal characteristic value of the material by using the above principle generated by the contact of two objects having different temperatures.
- FIG. 2 is a schematic diagram of a material discrimination apparatus according to an embodiment of the present invention.
- the material discrimination apparatus 100 of the present invention includes a measurement unit 10 and a controller 20.
- the measuring unit 10 comprises a heat generator 14 and a temperature sensor 16 and optionally further comprises a pressure sensor 12.
- the measuring unit 10 is connected to the controller 20 and driven under the control of the controller 20. Although three measurement units 10 are illustrated in FIG. 2, the number of measurement units 10 is not limited thereto, and two or more measurement units may be used depending on the purpose of use and measurement reliability.
- the heat generator 14 generates heat individually.
- the plurality of heat generators 14 are arranged at predetermined intervals, and since the controller 20 serves as a heat sink, no interference occurs between the heat generators 14.
- the heat generator 14 may be configured as, for example, a Peltier device or a heat pump, and may be configured to generate heat according to a control signal of the controller 20.
- a temperature sensor 16 is attached to each heat generator 14 to measure the varying temperature of the heat generator 14. Specifically, the temperature sensor 16 measures the temperature before the heat generator 14 contacts the material 200 and measures the temperature when the heat generator 14 contacts the material 200 to reach an equilibrium temperature. Measure The temperature sensor 16 may be composed of, for example, a thermocouple or thermistor.
- the pressure sensor 12 detects a pressure change caused by the contact, and blocks the heat generation of the heat generator 14.
- the temperature sensor 16 can measure the temperature change of the heat generator 14 more accurately.
- a load cell or a force sensor may be used as the pressure sensor 12.
- the controller 20 controls the generation of heat of the heat generator 14, and receives and processes the temperature values measured by the temperature sensor 16 to calculate a thermal characteristic value of the material.
- the controller 20 is a movable frame to which the measuring unit 10 is attached, and performs a heat sink function on the heat generated by the heat generator 14.
- the controller 20 calculates the heat ejection rate, which is a thermal characteristic value of the material, by applying the following equation 1 from the temperature values measured by the temperature sensor 16 according to the least square method.
- T obj is the initial temperature of the material (200), T s, i is the i and thermal equilibrium temperature of the second heat generator (14), T i is i Initial temperature of the second heat generator (14), ⁇ obj is Is the thermal effusivity of the material 200, and ⁇ i is the thermal ejection rate of the ith heat generator 14.
- heat ejection rate ⁇ may be defined according to Equation 2 below.
- Thermal ejection rate ⁇ i of the heat generator 14 in the equation (1) is a value that is determined depending on whether i is composed of any material to the second heat generator 14, it corresponds to a value known in advance.
- Equation 1 since T s, i is the thermal equilibrium temperature of the i-th heat generator 14, and T i is the initial temperature of the i-th heat generator 14, the heat generator 14 in the temperature sensor 16 It can be obtained by measuring the temperature of. Therefore, unknown values in Equation 1 are two T obj and two ⁇ obj .
- Equation 1 the equations such as Equation 1 can be derived through each measurement unit 10 in FIG. 2, n equations are obtained if the number of measurement units 10 is n.
- T obj and ⁇ obj can be calculated if n is two or more.
- ⁇ obj is the heat ejection rate of the material to be discriminated and has a unique heat ejection rate for each material, so knowing the value of ⁇ obj allows us to discriminate what kind of material.
- Equation 1 applies Equation 1 to the j-th measuring unit 10 is as follows.
- T obj is the initial temperature of material 200
- T s, j is the thermal equilibrium temperature of j-th heat generator 14
- T j is the initial temperature of j-th heat generator 14
- ⁇ obj is Is the thermal effusivity of the material 200
- ⁇ j is the thermal ejection rate of the j-th heat generator 14.
- Equation 1 and 3 are summarized as follows for T obj .
- Equation 6 is summarized as follows for ⁇ obj .
- Equation 7 Since there is no unknown value in Equation 7, ⁇ obj can be directly obtained, and when ⁇ obj obtained in Equation 4 or 5 is inputted, a T obj value is also calculated.
- controller 20 may include a storage unit (not shown), a comparison unit (not shown), and / or a display unit (not shown) to calculate a material discrimination result.
- the storage stores in advance intrinsic thermal characteristic values for a plurality of materials in a table format.
- the comparison unit compares the thermal characteristic values of the material calculated from the temperature values measured by the plurality of temperature sensors 16 with the data values stored in the storage unit, and confirms the matching values.
- the display unit displays the differentiation result of the material 200 identified in the comparison unit. If there is a match value in the comparison unit, the display unit displays information on the material 200 to the outside. If there is no match value in the comparison unit, the display unit cannot determine what the material 200 is. Can be displayed.
- the material discrimination apparatus 100 of the present invention may be utilized as a microscopic material discrimination apparatus in which the measuring units 10 are arrayed by applying MEMS technology.
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
- General Physics & Mathematics (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Investigating Or Analyzing Materials Using Thermal Means (AREA)
Abstract
Description
Claims (5)
- 재료 표면에 접촉하여, 재료의 열적 특성값을 산출함으로써 재료를 감별하는 재료 감별 장치로서,개별적으로 열을 발생시키는 복수의 열 생성기;상기 각각의 열 생성기에 부착되어, 상기 열 생성기의 변화하는 온도를 측정하는 복수의 온도 센서; 및상기 열 생성기의 열 발생을 제어하며, 상기 복수의 온도 센서에서 측정된 온도 값들을 연산 처리하여, 상기 재료의 열적 특성값을 산출하는 컨트롤러를 포함하는 것을 특징으로 하는 재료 감별 장치.
- 제 1 항에 있어서, 상기 컨트롤러는,다수의 재료들에 대한 고유의 열적 특성값들이 미리 저장된 저장부; 및상기 복수의 온도 센서에서 측정된 온도 값으로부터 산출된 재료의 열적 특성값과 상기 저장부에 저장되어 있는 데이터 값들을 비교하여, 일치하는 값을 확인하는 비교부를 포함하는 것을 특징으로 하는 재료 감별 장치.
- 제 2 항에 있어서, 상기 컨트롤러는 상기 비교부에서 확인된 재료의 감별 결과를 표시하는 디스플레이부를 더 포함하는 것을 특징으로 하는 재료 감별 장치.
- 제 1 항에 있어서, 상기 열 생성기가 감별하자고 하는 재료에 접촉하면, 접촉에 의한 압력 변화를 감지하여, 상기 열 생성기의 열 발생을 차단시키는 압력 센서를 더 포함하는 것을 특징으로 하는 재료 감별 장치.
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
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PCT/KR2010/004917 WO2012015077A1 (ko) | 2010-07-27 | 2010-07-27 | 재료 감별 장치 |
KR1020137001602A KR101402862B1 (ko) | 2010-07-27 | 2010-07-27 | 재료 감별 장치 |
US13/812,290 US9329145B2 (en) | 2010-07-27 | 2010-07-27 | Material screening apparatus |
Applications Claiming Priority (1)
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PCT/KR2010/004917 WO2012015077A1 (ko) | 2010-07-27 | 2010-07-27 | 재료 감별 장치 |
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WO2012015077A1 true WO2012015077A1 (ko) | 2012-02-02 |
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PCT/KR2010/004917 WO2012015077A1 (ko) | 2010-07-27 | 2010-07-27 | 재료 감별 장치 |
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US (1) | US9329145B2 (ko) |
KR (1) | KR101402862B1 (ko) |
WO (1) | WO2012015077A1 (ko) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
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WO2016200164A1 (ko) * | 2015-06-09 | 2016-12-15 | 한양대학교 산학협력단 | 촉각 인지 시스템, 및 그 데이터베이스 구축 방법 |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
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EP3372340A1 (de) * | 2017-03-10 | 2018-09-12 | Scheppach Fabrikation von Holzbearbeitungsmaschinen GmbH | Verfahren zur steuerung eines elektrowerkzeugs und zur durchführung des verfahrens eingerichtetes elektrowerkzeug |
CN111999341B (zh) * | 2020-08-19 | 2023-04-07 | 之江实验室 | 一种基于微纳光纤的柔性热导检测装置和方法 |
Citations (4)
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JPH09192473A (ja) * | 1996-01-25 | 1997-07-29 | Snow Brand Milk Prod Co Ltd | 高圧処理装置 |
US20050058178A1 (en) * | 2003-09-11 | 2005-03-17 | Shih Chih C. | Thermal interface material characterizing system |
KR200380052Y1 (ko) * | 2004-12-21 | 2005-03-25 | 주식회사 태크녹스 | 열전도율 측정장치 |
JP2008051744A (ja) * | 2006-08-28 | 2008-03-06 | National Institute Of Advanced Industrial & Technology | 熱電材料の熱物性値を測定する方法および熱電材料測定装置 |
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AU521261B2 (en) * | 1979-03-28 | 1982-03-25 | Unisearch Limited | Distinguishing gemstones |
JP3501746B2 (ja) | 1992-10-27 | 2004-03-02 | 株式会社半導体エネルギー研究所 | 流体の計測方法 |
KR960001733A (ko) * | 1994-06-14 | 1996-01-25 | 이기방 | 물체 표면 온도 측정 장치 |
EP2010868B1 (en) | 2006-03-28 | 2017-01-18 | University of Southern California | Biomimetic tactile sensor |
KR100912669B1 (ko) * | 2008-01-17 | 2009-08-17 | 한국원자력연구원 | 열전달률 측정 소자 |
-
2010
- 2010-07-27 WO PCT/KR2010/004917 patent/WO2012015077A1/ko active Application Filing
- 2010-07-27 US US13/812,290 patent/US9329145B2/en active Active
- 2010-07-27 KR KR1020137001602A patent/KR101402862B1/ko not_active IP Right Cessation
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
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JPH09192473A (ja) * | 1996-01-25 | 1997-07-29 | Snow Brand Milk Prod Co Ltd | 高圧処理装置 |
US20050058178A1 (en) * | 2003-09-11 | 2005-03-17 | Shih Chih C. | Thermal interface material characterizing system |
KR200380052Y1 (ko) * | 2004-12-21 | 2005-03-25 | 주식회사 태크녹스 | 열전도율 측정장치 |
JP2008051744A (ja) * | 2006-08-28 | 2008-03-06 | National Institute Of Advanced Industrial & Technology | 熱電材料の熱物性値を測定する方法および熱電材料測定装置 |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2016200164A1 (ko) * | 2015-06-09 | 2016-12-15 | 한양대학교 산학협력단 | 촉각 인지 시스템, 및 그 데이터베이스 구축 방법 |
US11288501B2 (en) | 2015-06-09 | 2022-03-29 | Iucf-Hyu (Industry-University Cooperation Foundation Hanyang University) | Tactile perception system and method of building a database thereof |
Also Published As
Publication number | Publication date |
---|---|
KR101402862B1 (ko) | 2014-06-03 |
US20130156063A1 (en) | 2013-06-20 |
US9329145B2 (en) | 2016-05-03 |
KR20130060257A (ko) | 2013-06-07 |
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