WO2014142596A1 - 에어 쿠션 동작 감지 장치 및 방법 - Google Patents
에어 쿠션 동작 감지 장치 및 방법 Download PDFInfo
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- WO2014142596A1 WO2014142596A1 PCT/KR2014/002148 KR2014002148W WO2014142596A1 WO 2014142596 A1 WO2014142596 A1 WO 2014142596A1 KR 2014002148 W KR2014002148 W KR 2014002148W WO 2014142596 A1 WO2014142596 A1 WO 2014142596A1
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- Prior art keywords
- air cushion
- air
- contact surface
- pattern
- magnitude
- Prior art date
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- 238000001514 detection method Methods 0.000 claims description 23
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Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
- G01L5/16—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force
- G01L5/171—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force using fluid means
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L1/00—Measuring force or stress, in general
- G01L1/24—Measuring force or stress, in general by measuring variations of optical properties of material when it is stressed, e.g. by photoelastic stress analysis using infrared, visible light, ultraviolet
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/16—Measuring arrangements characterised by the use of optical techniques for measuring the deformation in a solid, e.g. optical strain gauge
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B13/00—Measuring arrangements characterised by the use of fluids
- G01B13/24—Measuring arrangements characterised by the use of fluids for measuring the deformation in a solid
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L1/00—Measuring force or stress, in general
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L1/00—Measuring force or stress, in general
- G01L1/02—Measuring force or stress, in general by hydraulic or pneumatic means
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
- G06F3/041—Digitisers, e.g. for touch screens or touch pads, characterised by the transducing means
- G06F3/042—Digitisers, e.g. for touch screens or touch pads, characterised by the transducing means by opto-electronic means
- G06F3/0421—Digitisers, e.g. for touch screens or touch pads, characterised by the transducing means by opto-electronic means by interrupting or reflecting a light beam, e.g. optical touch-screen
Definitions
- the present invention relates to an air cushion motion detection apparatus and method.
- a force sensor is used to measure the pressure applied from the outside.
- the force sensor directly converts the force applied from the outside into an electrical signal of a corresponding magnitude and outputs it.
- the contact portion of the force sensor in contact with the user is made of a solid material such as metal, thereby reducing the user's feeling.
- the contact portion with the user is covered with a soft material such as polyurethane.
- the sensitivity of the force sensor is reduced and the performance of the force sensor is reduced.
- the technical problem to be achieved by the present invention is to accurately detect the operating state of the air cushion and improve the user's convenience.
- an air cushion motion sensing device is configured to output a corresponding air pressure detection signal by sensing an air pressure inside the air cushion, and a plurality of patterns arranged on the inner surface of the air cushion.
- An air pressure sensing unit a temperature sensing unit for sensing a temperature inside the air cushion and outputting a corresponding temperature sensing signal, and outputting a pattern image for each pattern photographed by photographing the plurality of patterns located under the air cushion.
- the air pressure sensor is connected to a photographing unit, the air pressure detecting unit, the temperature sensing unit, and the photographing unit, and determines the air pressure inside the air cushion using the air pressure sensing signal, and uses the temperature sensing signal to determine the air pressure inside the air cushion.
- the magnitude of the force Fv (t) applied in the Y direction is preferably calculated by the following equation.
- Pa (t) is the air pressure of the determined air cushion
- P 0 is the initial air pressure of the air cushion
- Sa is the lower area of the air cushion
- Ka is the virtual modulus of elasticity in the cylinder piston model
- Sh (t) Is the area of the contact surface of the air cushion
- Ta (t) is the temperature of the determined air cushion.
- the air cushion motion detecting apparatus may further include a heat sensing unit or a touch sensing unit located in the air cushion, and the control unit uses an area of the contact surface by using a signal output from the heat sensing unit or the touch sensing unit. Can be calculated.
- the magnitude of the force Fh (t) applied in the X direction may be calculated by the following equation.
- ⁇ x is the amount of movement in the horizontal direction
- ⁇ y is the amount of movement in the vertical direction.
- the control unit calculates the position [X (t)] of the X coordinate of each pattern and the position [Y (t)] of the Y coordinate of each pattern using the following equation, and averages the positions of the X coordinates of the plurality of patterns. And the average value of the position of the Y coordinate for the plurality of patterns as the current coordinate value for the current contact surface, and calculates the difference between the current coordinate value and the previous coordinate value for the contact surface calculated in the previous step, X for the contact surface It is preferable to calculate the movement amounts ⁇ X and ⁇ Y in the directions and the Y directions.
- a method for detecting an air cushion including measuring air pressure inside an air cushion, measuring a temperature inside the cushion, and displaying a pattern image of each of a plurality of patterns arranged in the air cushion. Acquiring, comparing the photographed pattern image with the initial pattern image, and the area of the contact surface between the air cushion and a pressure applying unit applying pressure to the outside of the air cushion and the amount of movement in the X and Y directions relative to the contact surface; Determining the magnitude of the force applied in the Y direction to the air cushion using the determined temperature, the air pressure and the area of the contact surface, and the determined amount of movement of the contact surface. Determining the magnitude of the force applied in the X direction.
- Pa (t) is the air pressure of the determined air cushion
- P 0 is the initial air pressure of the air cushion
- Sa is the lower area of the air cushion
- Ka is the virtual modulus of elasticity in the cylinder piston model
- Sh (t) Is the area of the contact surface of the air cushion
- Ta (t) is the temperature of the determined air cushion.
- ⁇ x is the amount of movement in the horizontal direction
- ⁇ y is the amount of movement in the vertical direction. to be.
- the step of determining the magnitude of the force applied in the X direction calculating the position [X (t)] of the X coordinate and the position [Y (t)] of the Y coordinate of each pattern by using the following equation; Calculating the average value of the position of the X coordinate with respect to the pattern and the average value of the position of the Y coordinate with respect to the plurality of patterns as the current coordinate values for the current contact surface, and the transfer of the current coordinate value and the contact surface calculated in the previous step.
- the method may further include calculating a difference between coordinate values to calculate movement amounts ⁇ X and ⁇ Y in the X direction and the Y direction with respect to the contact surface.
- the direction and magnitude of the force applied to the air cushion filled with air are accurately determined. For this reason, the operation state of an air cushion is correctly determined, the operation
- FIG. 1 is a block diagram of an air cushion motion detection apparatus according to an embodiment of the present invention.
- FIG. 2 is a view schematically showing an air cushion device according to an embodiment of the present invention.
- FIG. 3 is a flowchart illustrating an operation of an air cushion motion detecting apparatus according to an exemplary embodiment of the present invention.
- FIG. 4 is a view showing a state change of the air cushion when a force is applied in the vertical direction to the air cushion according to an embodiment of the present invention, (a) is a view showing a state change of the air cushion device schematically; , (b) is a view schematically showing a change of a plurality of patterns located on the inner surface of the air cushion.
- FIG. 5 is a view showing a state change of the air cushion when a force is applied to the air cushion in the horizontal direction according to an embodiment of the present invention
- (a) is a view showing a state change of the air cushion device schematically
- (b) is a view schematically showing a change of a plurality of patterns located on the inner surface of the air cushion.
- FIG. 6 is a diagram illustrating a relationship between a position of a pattern at an actual position of an inner surface of an air cushion and a length of a long axis of a pattern image displayed on a display unit, according to an exemplary embodiment.
- FIG. 7 illustrates a change in the shape of the air cushion and a change in the position of the pattern when the air cushion is positioned in the pressure applying unit according to an embodiment of the present invention, and (a) illustrates a change in the shape of the air cushion. , (b) is a view showing a change in the position of the pattern according to the change of the shape of the air cushion.
- Figure 8 (a) is the initial shape of the pattern located on the inner surface when the pressure applying unit is not located in the air cushion according to an embodiment of the present invention, (b) is the pattern of the pattern when the pressure applying unit is located in the air cushion It is a figure which shows the shape of a changing pattern.
- FIG. 9 is a view showing a state change of the air cushion when a force is applied in the vertical direction to the air cushion according to an embodiment, (a) is a view schematically showing a state change of the air cushion, (b) (A) is a figure which expressed the piston cylinder model.
- FIG. 10 is a view showing a state change of the air cushion when a force is applied in the horizontal direction to the air cushion according to an embodiment.
- FIGS. 1 and 2 an air cushion motion sensing device according to an exemplary embodiment of the present invention will be described in detail.
- an air cushion motion detecting apparatus includes an air cushion device 100 having an air cushion 110, and air in the air cushion 110.
- (temperature sensor) 13 a photographing unit 15 for photographing the pattern 111 formed in the air cushion 110 and outputting a photographed image, and an air pressure sensing unit 11, a temperature sensing unit 13, and
- the control unit 20 is connected to the photographing unit 15.
- the air cushion device 100 includes an air cushion 110, a transparent substrate 120 positioned below the air cushion 110, and a lower portion of the transparent substrate 120. Positioned on the substrate 130 to support the transparent substrate 120.
- the air cushion 110 has an airtight space 110 filled with air, and the elasticity of the outer surface of the air cushion 110 exposed to the outside is determined according to the magnitude of the pressure applied from the outside. It is made of a material having.
- the air cushion 110 is covered with a corresponding material to form an upper part, but the lower part is open.
- the air cushion 110 is made of a material having elasticity that increases or decreases according to a pressure applied from the outside, and may be made of, for example, a rubber material.
- the inner surface of the air cushion 110 (that is, the inner surface of the upper portion opposite to the outer surface) includes a plurality of patterns 111 arranged to be spaced apart in the horizontal and vertical directions at predetermined intervals.
- a plurality of patterns 111 arranged to be spaced apart in the horizontal and vertical directions at predetermined intervals.
- nine patterns 111 are arranged in a 3 ⁇ 3 matrix structure, the number and spacing of the patterns 111 located on the inner surface of the air cushion 110 are adjusted as necessary.
- each pattern 111 is made of a color contrasted with the color of the air cushion 110, the shape change and the size change of each pattern 111 in the image taken by the photographing unit 15 can be more easily distinguished As an example, each pattern 111 may be white.
- each pattern 111 is circular, so that the deformed size can be easily determined according to the pressure change applied from the outside.
- the transparent substrate 120 is in contact with the lower portion of the air cushion 110 and completely covers the opened lower portion, whereby the air cushion 110 has a structure sealed by the transparent substrate 120.
- the plurality of patterns 111 disposed on the inner surface of the air cushion 110 are exposed to the outside through the transparent substrate 120.
- the transparent substrate 120 is made of a transparent material such as plastic or glass.
- the pedestal 130 is positioned directly below the transparent substrate 120 to support the transparent substrate 120 on which the air cushion 110 is located.
- An empty space is located inside the pedestal 130, and the imaging unit 15 is located in the space.
- the photographing unit 15 is positioned to correspond to the plurality of patterns 111, and changes depending on the pressure applied to the air cushion 110 from the outside and photographs the pattern 111 reflected to the outside through the transparent substrate 120. do.
- the air pressure detector 11 is connected to the inside of the air cushion 110 filled with air, and detects the air pressure inside the air cushion 110 to output an air pressure detection signal corresponding to the detected air pressure.
- the temperature detector 13 is located inside the air cushion 110, and detects a temperature inside the air cushion 110 to output a temperature detection signal corresponding to the detected temperature.
- the photographing unit 15 captures a plurality of patterns 111 mounted in the pedestal 130 and changes according to external pressure, and then outputs the captured image to the controller 20.
- the control unit 20 uses a signal and an image output from the air pressure detecting unit 11, the temperature detecting unit 13, and the image capturing unit 15 in a direction perpendicular to the horizontal force applied to the air cushion 110. To determine the power.
- the direction (horizontal direction and vertical direction) of the force applied to the air cushion 110 and the magnitude of the force are determined without using an expensive force sensor.
- the control unit 20 reads the air pressure detection signal output from the air pressure detecting unit 11 (S11), and determines the internal air pressure in the air cushion 110 (S13).
- control unit 20 reads the temperature sensing signal output from the temperature sensing unit 13 (S15), and determines the temperature in the air cushion 110 (S17).
- the controller 20 reads an image output from the photographing unit 15 (S19), and performs a pattern image processing operation on the obtained image (S21).
- an image signal corresponding to an image photographed by the controller 20 from the photographing unit 15 may be transmitted through a universal serial bus.
- the control unit 20 removes the noise component included in the image transmitted through the imaging unit 15 and displays the obtained color image in black and white (for example, white on a black background).
- the shape of the pattern image is determined.
- the contour processing for each pattern image may be performed using an application programming interface (API) of open-CV (open source computer vision library).
- API application programming interface
- control unit 20 determines the center point for each pattern image to obtain the center point coordinates for each pattern image, and uses the center point coordinates and the shape of each pattern image to form a major axis and a short axis ( pattern image processing to determine the size of the minor axis).
- control unit 20 calculates the movement amounts ⁇ X and ⁇ Y in the X direction (that is, the planar direction) and the Y direction (that is, the depth direction) by using the data of the contact surface calculated in the previous step, and the air cushion 110 In order to press the area of the contact surface with the pressure applying unit, such as a finger in contact with the outer surface of the upper air cushion 110 is calculated (S23).
- the plurality of patterns 111 attached to the upper inner surface of the air cushion 110 are lowered in the vertical direction so that the upper portion of the upper cushion of the air cushion 110 is positioned in the pedestal 130. To the side.
- the air cushion 110 is made of a rubber material having elasticity, the upper inner surface is increased by the applied pressure, so that the position of each pattern 111 is also at the edge of the air cushion 110, that is, in FIG. 4. Move in all directions as indicated by the arrow in (b).
- the photographing unit 15 when the air cushion 110 is pressed when compared with the initial image of each pattern 111, that is, the initial pattern image OI, which is photographed when the air cushion 110 is in an initial state before the air cushion 110 is pressed, the photographing unit 15 when the air cushion 110 is pressed.
- the size of the pattern image MI captured by the display unit 30 and displayed on the display unit 30 increases, and the distance between adjacent pattern images MI also increases.
- each pattern 111 is moved in one of the left direction, the right direction, the forward direction and the backward direction in the plane to move in the X direction, wherein the direction of the force applied and the magnitude of the force is horizontal It is called the direction of force applied to the direction and the magnitude of the force.
- each pattern 111 is moved in the X direction.
- the pattern image MI obtained by the photographing unit 15 and displayed on the display unit 30 is displayed on the plane.
- the position is moved in the corresponding direction, and the size of each pattern image MI is also increased.
- the controller 20 compares the pattern image photographed by the photographing unit 15 with the initial pattern image to determine the moving direction and the moving amount of each pattern 110.
- FIG. 6 shows the relationship between the position of the pattern 110 at the actual position of the inner surface of the air cushion 110 and the length of the long axis of the pattern image displayed on the display portion 30 (ie, the image display surface).
- d is the initial diameter of each pattern (ie, the diameter of each pattern 110 when no pressure is applied to the upper surface of the air cushion 111 by the pressure applying unit) and a (t) is obtained.
- the length of the major axis and L is the focal length.
- the X coordinates of the plurality of patterns 111 are calculated.
- the mean value for the position [X (t)] and the mean value for the position [X (t)] of the Y coordinate for the plurality of patterns 111 are the present coordinate values [X (t), Y (t) for the current contact surface. )].
- the difference between the current coordinate values [X (t), Y (t)] and the previous coordinate values [X (t) ', Y (t)'] with respect to the contact surface calculated in the previous step is calculated.
- the current movement amounts ⁇ X and ⁇ Y in the X and Y directions that is, the change amount ⁇ X of the coordinate value in the X coordinate and the change amount ⁇ Y of the coordinate value in the Y coordinate are calculated.
- the controller 20 determines the current state of the air cushion 110 by using signals and images output from the air pressure sensor 11, the temperature sensor 13, and the photographing unit 15.
- the control unit 20 is provided with a storage unit (not shown), and the storage unit has a position of the contact surface calculated in the previous step, a previous position with respect to the contact surface [X (t) ', Y (t)'], and a contact surface.
- the previous shift amounts ⁇ X ', ⁇ Y' for the above are stored.
- control unit 20 uses the movement amounts ⁇ X and ⁇ Y of the patterns 111 and the contact surfaces of the air cushion 110 in contact with the outer surface of the air cushion 110 using the lengths of the long and short axes of the patterns 111. Calculate the area of.
- the shape of the portion where the pressure applying unit 500 is located that is, the pattern 111 existing at the reference position has a circular shape or an approximate circular shape
- the pattern located around the pressure applying unit 500 the circular shape is changed into an elliptical shape by the balloon effect.
- the portion having the mountain ridge shape has a pattern 111 shape which is close to the circular shape which is the initial shape again.
- each elliptic ratio i.e., short axis length / long axis length in each pattern
- the elliptic ratio of the pattern located immediately before the pattern located at the portion of the mountain floor shape is minimal.
- the contact area of the pressure applying unit 500 may be roughly estimated to be a portion surrounded by a ridge on the basis of a reference position where the pressure applying unit 500 is located.
- the contact area of the pressure applying unit 500 has an elliptic ratio value (that is, a short axis length d2 / long axis length in each pattern) centered on a reference pattern, that is, the pattern pressed deepest at the reference position.
- d1 is estimated as the area of the portion formed by the pattern having the smallest value.
- a plurality of patterns 111 having a circular shape are located on the inner surface of the air cushion 110 in a shape as shown in FIG. 8A.
- the pattern shape photographed by the photographing unit 15 when the reference pattern image 111a is formed from among the plurality of pattern images according to the position of the pressure applying unit, the plurality of pattern images positioned around the reference pattern image 111a are elliptical pattern images 111b.
- the elliptic ratio value of the pattern image 111b is reduced from the initial state (i.e., the circular pattern image), but is partially separated from the reference pattern image 111a, that is, the ridge.
- the controller 20 determines the reference pattern image 111a by using each pattern image photographed by the photographing unit 15, and has an oval pattern having a minimum elliptic ratio value centering on the reference pattern image 111a.
- the image 111b is determined.
- the valid elliptic pattern image 111b is recognized by the valid elliptic ratio value, and the elliptic ratio value of the measured elliptic pattern image 111b is within the range defined as [minimum elliptic ratio value ⁇ valid value ( ⁇ )]. It is assumed to have a ratio value.
- the area of the portion surrounded by the elliptical pattern image 111b (that is, the portion surrounded by the pattern image 111b hatched in Fig. 8B) is measured, and the measured area is used.
- the contact area between the pressure applying unit and the air cushion 110 is calculated.
- the controller 20 can know the X coordinate and the Y coordinate of each pattern image 111a, 111b, and 111c, the distance d1 and d2 between the reference pattern image 111a and the elliptical pattern image 111b. ), So the contact area can be calculated from the measured distance.
- the correction value may be applied to the measured area to improve the reliability of the contact area.
- the correction value is the difference between the area of the inner surface of the actual inner cushion and the inner surface by the image taken when the inner surface of the air cushion 110 and the inner surface is photographed by the photographing unit 15 and displayed as a plane Can be calculated based on this.
- control unit 20 adjusts the area of the contact surface between the pressure applying unit and the air cushion 110. Can be calculated.
- the heat detection unit outputs a corresponding heat detection signal according to the detected heat, and calculates the area of the contact surface by using the distribution of the heat detection signal, and the contact detection unit is a sensor in which the output signal changes according to whether the force is applied.
- the touch sensing signal can be output using
- the control unit 20 calculates the current The position of the contact surface, the position with respect to the contact surface [X (t), Y (t)], the movement amount ⁇ X, ⁇ Y with respect to the contact surface, the position of the previous contact surface, the previous position with respect to the contact surface [X (t) ', Y (t) ) '], And the previous movement amounts ( ⁇ X', ⁇ Y ') with respect to the contact surface.
- the order of the air pressure determination operation and the temperature sensing operation can be changed, and the order of the area determination operation of the contact surface and the movement amount determination operation can also be changed.
- control unit 20 determines the magnitude of the force applied in the vertical direction by using the determined air pressure, temperature and the area of the contact surface (S25).
- FIG. 7A When a force Fv (t) in the vertical direction is applied to the air cushion 110 by a pressure applying unit such as a user's hand as shown in FIG. 7A, the coefficient acting on the air cushion 110 is shown in FIG. It may be represented by a cylinder piston model such as (b) of (7).
- Pa (t) is the current air pressure in the air cushion 110 determined using the air pressure detecting unit 11
- Sa is a lower area of the air cushion 110
- the air cushion 110 includes an open portion.
- the area of the contact portion of the transparent substrate 120 is a constant
- Ps (t) is atmospheric pressure
- f ko is an initial elastic force element of the material constituting the air cushion 110
- h (t) is the imaginary thickness of the air cushion 110 that varies with the air pressure (Va (t)) inside the air cushion 110 in the cylinder piston model, Fv (t) of the air cushion 110
- P 0 is the initial pressure (ie, initial air pressure) in the air cushion 1100 measured before pressing the air cushion 110.
- Equation 7 Since it is difficult to calculate the virtual thickness [h (t)] of the air cushion 110 in Equation 6 directly, the value of the virtual thickness [h (t)] of the air cushion 110 is determined by the air cushion ( Using the relationship between the lower area Sa of the 110 and the air pressure Va (t) inside the air cushion 110, it is calculated indirectly as shown in Equation 7 below.
- Equation 7 the air pressure Va (t) inside the air cushion 110 is indirectly calculated using Equation 8 using Boyle-Charles' Law. .
- T 0 is an initial temperature value inside the air cushion 110, and may be a temperature measured in advance by using the temperature sensor 13 before the air cushion 110 is operated by an external pressure.
- Ta (t) is the current temperature in the air cushion 110 determined using the temperature sensor 13
- P 0 is the initial air pressure inside the air cushion 110
- V 0 is inside the air cushion 110 Initial air volume.
- Equation 9 the force Fv (t) applied in the vertical direction to the air cushion 110 is expressed again by the following Equation 9.
- Equations 8 and 9 as described above, Pa (t) and Ta (t) are measured using the air pressure sensor 11 and the temperature sensor 13, and P 0 , V 0. , T 0 and S 0 are also measured.
- Ka (t) is a parameter that changes with time, and is influenced by the stretch force of the material forming the air cushion 110. At this time, the stretching force of the material is affected by the air pressure inside the air cushion 110 and the area of the contact surface between the pressure applying portion and the upper portion of the air cushion 110.
- Ka (t) is expressed as a function of the air pressure [Pa (t)] inside the air cushion 110 and the area [Sh (t)] of the contact surface between the pressure applying unit, as shown in Equation 10 below. .
- Equation 9 is expressed again as in Equation 11 below, and the force [Fv () applied to the air cushion 110 in the vertical direction according to Equation 11 is obtained. t)] is calculated.
- Ta (t) is a temperature in the air cushion 110 determined using the temperature sensor 13.
- 't' means time.
- control unit 20 applies the force Fv (t) in the vertical direction of the air cushion 110 according to [Equation 11] by using the determined air pressure, temperature, and area of the contact surface in the air cushion 110. ] Is measured.
- the controller 20 measures the force Fh (t) applied in the horizontal direction of the air cushion 110 (S27).
- control unit 20 uses the movement amounts ⁇ Y and ⁇ Y determined at the present stage, and the force [Fh (t) applied to the air cushion 110 in the horizontal direction through the equation (12). )].
- a1, a2, a3, a4 and a5 are coefficients for determining the elasticity of the material constituting the air cushion 110 and are constants. At this time, a1, a2, a3, a4 and a5 are calculated by the least-squares method and have different values.
- control unit 20 measures the magnitude of the force applied in the vertical direction and the horizontal direction when the air cushion 110 is pressed by a finger or the like to determine the direction and magnitude of the force applied to the air cushion 110. do.
- steps S11 to 27 are performed at predetermined time periods, so that the control unit 20 detects the air pressure sensing signal of the air pressure sensing unit 11 and the temperature sensing signal of the temperature sensing unit 13 at predetermined time periods.
- the image acquired by the photographing unit 15 is acquired to calculate the force Fv (t) applied in the vertical direction and the force Fh (t) applied in the horizontal direction.
- the air cushion 110 in which the direction and magnitude of the force application is determined in this manner is used instead of an input device such as a mouse such as a computer, or as an auxiliary device of the input device, or wirelessly accesses an object such as a robot. Can be used as a device to adjust by wire.
- the direction of movement of the cursor or the object of the display device may be determined by using the force of the air cushion 110 in the direction of applying force, and the degree of movement may be determined according to the magnitude of the force applied in the determined direction.
- the material of the air cushion 110 is made of a cold, hard metal or plastic, instead of a soft and elastic rubber material and the inside is filled with air.
- the air cushion 110 is used rather than an input device such as a mouse, a trackball, a joystick, or the like, the touch and cushioning on the skin are improved, and the usability is improved.
- the cursor or the object is controlled in a desired state even by the direction of movement and the degree of movement or the pressure of the finger or the like positioned on the air cushion 110 without the operation of greatly moving or rotating the finger in the desired direction. This is possible and the fatigue of the user is greatly reduced.
- an air cushion is used in an embodiment of the present invention as a switching switch such as an on state and an off state or a switch for controlling an operation amount
- the operation of a desired device is precisely driven with little movement.
- fatigue of the user is reduced and accurate control of the control object is achieved.
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Abstract
Description
Claims (9)
- 내부에 공기가 충진되어 있고 내부면에 복수의 패턴이 배열되어 있는 에어 쿠션,상기 에어 쿠션 내부의 공기압을 감지하여 해당하는 공기압 감지 신호를 출력하는 공기압 감지부,상기 에어 쿠션 내부의 온도를 감지하여 해당하는 온도 감지 신호를 출력하는 온도 감지부,상기 에어 쿠션 하부에 위치하여 상기 복수의 패턴을 촬영하여 촬영된 각 패턴에 대한 패턴 영상을 출력하는 촬영부, 그리고상기 공기압 감지부, 상기 온도 감지부 및 상기 촬영부에 연결되어 있고, 상기 공기압 감지 신호를 이용해 상기 에어 쿠션 내부의 공기압을 판정하고, 상기 온도 감지 신호를 이용하여 상기 에어 쿠션 내부의 온도를 판정하며, 촬영된 상기 패턴 영상과 초기 패턴 영상을 비교하여 상기 에어 쿠션과 상기 에어 쿠션 외부에 압력을 인가하는 압력 인가부와의 접촉면의 면적과 상기 접촉면에 대한 X 방향과 Y 방향에 대한 이동량을 판정하고, 판정된 상기 온도, 상기 공기압 및 상기 접촉면의 면적을 이용하여 상기 에어 쿠션에 Y 방향으로 인가되는 힘의 크기를 판정하고, 판정된 상기 접촉면의 이동량을 이용하여 상기 에어 쿠션에 X 방향으로 인가되는 힘의 크기를 판정하는 제어부를 포함하는 에어 쿠션 동작 감지 장치.
- 제1항에서,상기 에어 쿠션에 위치하는 열 감지부 또는 접촉 감지부를 더 포함하고,상기 제어부는 상기 열 감지부나 상기 접촉 감지부에서 출력되는 신호를 이용하여 접촉면의 면적을 산출하는에어 쿠션 동작 감지 장치.
- 제4항에서,상기 제어부는,다음의 식을 이용하여 각 패턴의 X 좌표의 위치[X(t)]와 Y 좌표의 위치[Y(t)]를 산출하고,상기 복수의 패턴에 대한 X 좌표의 위치에 대한 평균값과 복수의 패턴에 대한 Y 좌표의 위치에 대한 평균값을 현재 접촉면에 대한 현재 좌표값으로 산출하고,현재 좌표값과 이전 단계에서 산출된 접촉면에 대한 이전 좌표값의 차이를 산출하여 접촉면에 대한 X 방향과 Y 방향에 대한 이동량(ΔX, ΔY)을 산출하는에어 쿠션 동작 감지 장치.
- 에어 쿠션 내부의 공기압을 측정하는 단계,상기 쿠션 내부의 온도를 측정하는 단계,상기 에어 쿠션 내부에 배열되어 있는 복수의 패턴 각각에 대한 패턴 영상을 획득하는 단계,촬영된 상기 패턴 영상과 초기 패턴 영상을 비교하여 상기 에어 쿠션과 상기 에어 쿠션 외부에 압력을 인가하는 압력 인가부와의 접촉면의 면적과 상기 접촉면에 대한 X 방향과 Y 방향에 대한 이동량을 판정하는 단계,판정된 상기 온도, 상기 공기압 및 상기 접촉면의 면적을 이용하여 상기 에어 쿠션에 Y 방향으로 인가되는 힘의 크기를 판정하는 단계, 그리고판정된 상기 접촉면의 이동량을 이용하여 상기 에어 쿠션에 X 방향으로 인가되는 힘의 크기를 판정하는 단계를 포함하는 에어 쿠션 동작 감지 방법.
- 제8항에서,상기 X 방향으로 인가되는 힘의 크기 판정 단계는 다음의 식을 이용하여 각 패턴의 X 좌표의 위치[X(t)]와 Y 좌표의 위치[Y(t)]를 산출하는 단계,상기 복수의 패턴에 대한 X 좌표의 위치에 대한 평균값과 복수의 패턴에 대한 Y 좌표의 위치에 대한 평균값을 현재 접촉면에 대한 현재 좌표값으로 산출하는 단계, 그리고현재 좌표값과 이전 단계에서 산출된 접촉면에 대한 이전 좌표값의 차이를 산출하여, 접촉면에 대한 X 방향과 Y 방향에 대한 이동량(ΔX, ΔY)을 산출하는 단계를 더 포함하는 에어 쿠션 동작 감지 방법.
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JP6009699B2 (ja) | 2016-10-19 |
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JP2016510419A (ja) | 2016-04-07 |
US10060810B2 (en) | 2018-08-28 |
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