WO2019049412A1

WO2019049412A1 - Contact detection device

Info

Publication number: WO2019049412A1
Application number: PCT/JP2018/015215
Authority: WO
Inventors: 大介森
Original assignee: 株式会社三重ロボット外装技術研究所
Priority date: 2017-09-05
Filing date: 2018-04-11
Publication date: 2019-03-14
Also published as: JP2019045392A; JP6325732B1

Abstract

According to the present invention, a sensor for detecting the amount of physical variation in a volume space detects the amount of physical variation, and whether the sensor itself is normal or abnormal is determined in a sensor signal output circuit and a sensor abnormality determination circuit in order to perform a later detection of physical variation amount. The present invention is provided with: a foamed body 10 configured by forming, into a specific shape, a foamed synthetic resin material or foamed rubber material covering substrates 1 that have been formed into a specific shape; a predetermined volume space 4 which is formed in the foamed body 10 and the substrates 1 facing each other; and a sensor SEN which detects the added pressing-force, applied to the volume space 4 from the outside, as the amount of volume space 4 physical variation generated in the volume space 4. Also, the present invention has: a sensor operation output circuit 31 which in the sensor SEN, detects the added pressing-force, applied to the volume space 4 from the outside, as the amount of volume space 4 physical variation; and a sensor abnormality determination circuit 32 which, on the basis of the detected signal of the sensor SEN, determines the abnormality of the sensor SEN itself within a predetermined time immediately after detecting the operation of the sensor SEN in the sensor operation output circuit 31.

Description

Touch detection device

The present invention comprises a base material formed into a specific shape and a foam cut out from the specific shape with a foamed synthetic resin, and a volume space is formed on one side or both sides between the base material and the foam. The present invention relates to a contact detection device that detects a change in physical quantity of its volume space by a sensor, and in particular, molding or scraping a specific shape with a foamed synthetic resin, or leaks the inner surface of the volume space The present invention relates to a two-dimensional and three-dimensional touch detection device that can detect any position when it is touched.

As a conventional molding method of a foamed synthetic resin molded body and a foamed synthetic resin molded body, there is a method of using a foamed polystyrene obtained by foaming and curing polystyrene with fine bubbles, and applying a paint on the surface thereof. For example, there is a method of applying a woodworking bond to expanded polystyrene and applying a spray when the woodworking bond hardens.
There is also a method of mixing a pigment in an aqueous bond and directly applying it to expanded polystyrene. Then, there is also a method of finely pulverizing Japanese paper, kneading woodworking bonds and Japanese gauze to the powdery ones, sticking it on expanded polystyrene, and coating it with a water-based paint neo-color or a poster color. Furthermore, there is also a method of using FRP polystyrene as a base material and performing FRP modeling thereon.
In any of these cases, the thickness of the coating applied to the foamed synthetic resin molded body is thick, and even though the appearance looks good, it does not withstand practical use.

If a very similar technology is searched, the molding method of the foamed synthetic resin which cuts the foamed synthetic resin material into a specific shape directly and the molded body do not exist, but the technology of the interior part with the foamed layer is disclosed in Patent Document 1 doing.
That is, in the interior part with the foam layer, the skin material is thermoplastic in Patent Document 1 in which the skin material with the foam layer is adsorbed to the substrate by vacuum suction from the air intake path formed dispersed in the substrate and adhered. The skin material has a configuration in which the surface shape is shaped by vacuum suction using a vacuum suction type for skin material when the skin material is softened by heat treatment and adhered to the substrate in that state. Is a technology which is shaped along the mold surface of the vacuum suction mold for the surface material. As a result, not only the surface quality is improved, but also restrictions on the design are reduced, the degree of freedom is expanded, and the substrate can be formed into a non-similar shape to the substrate surface.

The adhesion between the foam layer and the surface material is obtained by forming the interior material with the foam layer in which the surface material with the foam layer is adsorbed to the substrate by vacuum suction from the intake path dispersedly formed in the substrate and adhered. Technology to strengthen the However, Patent Document 1 does not disclose how it can be applied to a thick foam layer. In principle, it would be difficult to cut the foamed synthetic resin material into a specific shape to form the foamed synthetic resin.

In Patent Document 2, a tatami mat is laminated on one side of a core made of a foamed synthetic resin material, a functional agent-containing cushion sheet is laminated on the other side, and a non-slip layer is partially laminated on the cushion sheet. Discloses a technology that is thin and light, excellent in construction, and difficult to slip.

JP 2005-125736 A JP, 2010-236220, A JP, 2014-156523, A JP 2014-188391 Japanese Patent Application No. 2016-180110

However, conventional general foamed synthetic resin molded articles have insufficient mechanical strength, for example, when used for covers of products that are not mass-produced, arm chairs of special chairs, dashboards of special vehicles or modified vehicles, etc. However, it was not possible to make something practical at low cost because Of course, the technique of forming foamed polystyrene as a base material and performing FRP shaping thereon can increase mechanical strength, but has a problem that it lacks elasticity and is expensive.
Moreover, in patent document 1 and patent document 2, making strong the adhesive force of a foamed synthetic resin molded object and a cushion sheet is disclosed. However, although a foamable synthetic resin is used as a raw material for forming a prototype formally, using this technology for a small-quantity product has not been realized. In particular, for example, a foamed synthetic resin molded product such as expanded polystyrene was brittle, and the surface was scraped to be finished into a predetermined shape, and it was not possible to make the surface look good and smooth.

Then, when a hole called a vent hole is present in the foamable synthetic resin, in order to fill the vent hole, the thickness depends on the thickness of the remaining foamable synthetic resin, but efficient molding can not be performed without a skilled person. In addition, when the vent holes are filled, the weight balance of the foamed synthetic resin molded product has a subtle difference, and depending on the use, the weight balance may need to be adjusted.

Furthermore, the prior art documents 3 and 4 solve the above-mentioned problems and use a foamed synthetic resin material as a base material, cut out a specific shape, and increase the thickness of the coated surface as a molded article rich in elasticity. Without it, a good-looking, inexpensive foamed synthetic resin molded body is obtained. However, when the patent document 3 and the patent document 4 use a contact sensor, there is a need to apply a metal electrode, a conductive paint, etc. on the surface, and the use was restricted to the thing whose conductor is a conductor.
In addition, when a commercially available pressure-sensitive switch is used, the pressure-sensitive switch itself at the portion receiving pressure is activated, but the pressure can not be detected at a portion where no other pressure-sensitive switch is provided. Further, the pressure sensitive switch can not be formed three-dimensionally because the insulating substrate (sheet) can not be freely deformed.
However, in general, although mass-produced popular sensors such as contact sensors and pressure-sensitive switches are inexpensive, sensors that are not mass-produced are expensive. For example, pressure sensors or the like using capacitance changes or strain gauges are inexpensively supplied.
On the other hand, where electrical circuits are a mixture of digital circuits and analog circuits, it is highly possible that the pulses of the digital circuits become pulse noise and enter the analog circuits, so it is desirable to use a signal that does not easily enter the analog circuits, It is desirable that the IC be miniaturized and the like.

Therefore, the present inventors invented the contact detection device disclosed in Patent Document 5. That is, a base material formed in a specific shape, a foam formed by forming a sheet of foamed synthetic resin material or foamed rubber material for covering the base material in a specific shape, the base material opposed to the base material, and A space maintaining member having a predetermined volume formed on one side of the foam, an open cell structure disposed in the volume, and compressed air of the space and the space maintaining member And a sensor for detecting the amount of physical change of the volume space and the space maintenance material formed by the reinforcing layer and the reinforcing layer forming the volume space that makes it difficult for the base material and / or the foam to leak to the outside air. And the length of the on time or the off time of the on / off output from the sensor as a detection output, and the base material formed in the specific shape, and a sheet of foamed synthetic resin material for covering the base material or Foam rubber material or We have developed a device having an output circuit in which the foam synthetic resin material or a foam rubber material obtained by forming into a particular shape is buried in a corner to be formed.
By this, it is possible to detect pressure applied to a wide range, and it is possible to apply either a two-dimensional planar configuration or a three-dimensional three-dimensional configuration from the outside of a predetermined size or more. It became a contact detection device that can detect pressure.
However, in the touch detection device which detects as the physical change amount of the volume space, although it is generally designed as fail safe, there is a circuit which enhances the reliability of the sensor which detects as the physical change amount. I did not.

Therefore, in order to solve the conventional problems, the present invention is directed to a sensor signal output circuit in which a sensor for detecting a physical change in a volume space detects a physical change and a sensor for detecting a next physical change. It is an object of the present invention to provide a contact detection device capable of determining normality / abnormality of itself by a sensor abnormality determination circuit.

The contact detection device according to the invention of claim 1 comprises a foam having a shape for covering a substrate formed in a specific shape, the opposite substrate, a predetermined volume space formed in the foam, and the volume. A sensor for detecting an external pressing force applied to the space as a physical change amount of the volume space formed by the volume space, and a sensor output detected by the sensor are externally applied to the volume space A sensor signal output circuit that detects a pressing force of the sensor as a physical change amount of the volume space and compares the threshold value with a plurality of threshold values to obtain a binary signal of normality / abnormality as the signal detection output; Immediately after the change of the binary signal from the abnormal state of the sensor output to the steady state, it is processed by the sensor abnormality judging circuit which judges normality / abnormality of the sensor itself within a predetermined time period at a predetermined threshold or less. .

Here, the base material formed into the above specific shape is, for example, one formed by forming one or more thermoplastic resin materials or a thermoplastic resin material obtained by laminating and bonding two or more sheets into a specific shape, or one or more sheets The thermoplastic resin material of the present invention may be a solid type resin or a foam, as long as it has a hardness such that a volume change of the volume space appears.
The foamed synthetic resin material used as the foam may be either a closed cell in which the existing internal cells are not connected or an open cell in which the existing internal cells are connected. In any case, the air in the volume space may be formed so as not to leak to the outside air.
Further, the foam is formed into a specific shape by covering the base material with one or more sheets of foam synthetic resin material laminated and bonded. Usually, the foam is configured to cover the foam from the outside. The base material is, for example, coated on a self-propelled automatic production apparatus such as a robot, and the foam is provided on the base material to make it fail safe.

And the said volume space may form a reinforcement layer in the one side or both sides between the said base material and the said foam. The reinforcing layer makes it difficult for air to leak from the base and / or the foam to the outside air. For that purpose, air is made difficult to pass through by the reinforcing layer. A skin layer cooled by a mold formed by an injection mold or a film formed of another material for reducing air leakage is also one of the reinforcing layers.
It is desirable to provide a reinforcing layer so that when the air in the volume space is compressed by external pressure (external pressure), part of the compressed air does not leak out of the volume space. As the reinforcing layer, some of a filler, a filler, a primer, an overcoat, and a finish can be selected. Further, the skin layer formed by the mold for forming the foam is formed in a specific shape in which one sheet of foam synthetic resin material or foam rubber material for covering the substrate, or plural sheets are laminated and bonded. It can also be a foam.
In addition, the formation of the reinforcing layer described above may be two-dimensional surface or three-dimensional (three-dimensional) processing. In particular, the three-dimensional reinforcing layer enables strength and densification of the volume, rather than the strength of the reinforcing layer alone. The reinforcement may be a synthetic resin sheet.
Here, the volume space in which the air does not easily leak does not mean that the air does not leak at all, but it means that even if the air leaks, it does not reach the extent to which the characteristics of the sensor are changed. Do. The reinforcing layer is not limited to the one having no air leak at all, but may have some leak. Also, a completely leak free one may be manufactured and a leak path of a specific diameter may be formed there.
In the present invention, in particular, the characteristics of the external pressure applied to the volume and its recovery are necessary.

Further, as a sensor for detecting the physical change of the volume space in which the air does not easily leak to the outside air, a physical variable such as a change in contact pressure, air pressure, pressure, etc. is used as a change in strain or capacitance. It measures the amount of physical change detected as air pressure, air flow, air flow velocity, change in air volume, and the like. In addition, as this sensor, a commercially available micro flow sensor (D6F-V03A1; made by OMRON), which generates an air flow called “MEMS flow sensor”, “MEMS air volume sensor”, or “flow velocity sensor”, is used It can also be done. In principle, in the case of practicing the present invention, any commercially available sensor called “MEMS flow sensor”, “MEMS air volume sensor”, “flow velocity sensor” or the like can be used, but the present invention The authors used D6F-V03A1 (manufactured by OMRON) because miniaturization was necessary. In addition to OMRON products, products from Keyence Co., Ltd., Aichi Watch Electric Co., Ltd., Yamatake Co., Ltd. and ASK Co., Ltd. were also implemented as commercially available flow sensors, but in principle, any of them can be implemented. Was confirmed.

In addition, the sensor signal output circuit detects an external pressing force applied to the volume space as a physical change amount of the volume space as air pressure, air flow, air flow velocity, air volume change, etc. Specifically, an external pressing force applied to the volume space is detected as a physical change amount of the volume space, and compared with a plurality of threshold values as a signal detection output thereof. It is a circuit that obtains a normal / abnormal binary signal.
Further, the sensor abnormality judging circuit judges the characteristics within a predetermined time period at a predetermined threshold value or less immediately after the change of the binary signal returning from the abnormal state to the steady state. Judgment of the curve of the quadratic function in the recovery characteristic in which the transient phenomenon of the sensor is occurring in the characteristic within a predetermined time period immediately after the change of the binary signal returning from the abnormal state to the steady state. For example, a method of confirming that it is a quadratic function curve by sampling may be used after entering a steady monitoring state in a time longer than a design time.
That is, the sensor abnormality judging circuit detects a quadratic function curve within a time limit equal to or less than a predetermined threshold immediately after the change of the binary signal from the abnormal state of the sensor output of the sensor signal output circuit to the steady state. Alternatively, a circuit is provided which determines whether the sensor itself is normal or abnormal based on an elapsed time with respect to a predetermined threshold value or the like.

For example, the sensor output is input to an AD conversion circuit attached to the microprocessor for signal processing, and the output is digitally processed and output from the microprocessor.
That is, the sensor for detecting a physical change in the volume space, the pressing force from the outside becomes the first threshold value TH1 or more, and the sensor output by the state continues X ₁ hour, also becomes less than the first threshold value TH1 When the state continues for Y ₁ hour, the sensor output is ended, and the pressure from the outside becomes equal to or greater than the second threshold TH2 (TH1 <TH2) larger than the first threshold TH1, and the state is X _The sensor output is obtained by continuing for ₂ hours, and the sensor output becomes smaller than the second threshold TH2, and the sensor output is detected when the state continues for Y ₂ hours. Further, after detection of the sensor output, check the characteristics of the sensor output after the continuous Z ₁ hour as an input sensor abnormality determination circuit, the pressing force from outside the sensor after the characteristics is applied to the volumetric space To detect the input of
Here, in the embodiment, the first threshold TH1 = 1 [V], the second threshold TH2 = 2.5 [V], and the ground potential threshold TH0 = 0 [V] are set to any positive voltage and negative voltage. May be In addition, the monitoring time limit X ₁ , time limit Y ₁ , time limit Z ₁ , monitoring time limit X ₂ , time limit Y ₂ , time limit Z ₂ is also one or more “0” is set “0” or more Is used. That is, the sensor output detected by the sensor detects the external pressing force applied to the volume space as the amount of physical change of the volume space, compares it with a plurality of threshold values, and detects it normally as the signal detection output. A sensor signal output circuit for obtaining an abnormal binary signal, and immediately after a change of the binary signal returning from the abnormal state of the sensor output of the sensor signal output circuit to the steady state, within a predetermined time limit, at a predetermined threshold or less. A sensor abnormality discrimination circuit for discriminating whether the sensor itself is normal or abnormal is mounted.

When the sensor signal output circuit returns to a steady state for detecting an external pressing force applied to the volume space, the sensor abnormality determination circuit may return to a steady state the detection signal of the sensor as the ground potential. The normality / abnormality of the sensor itself is determined based on the characteristic of the next function. As a result, if it is possible to enter the operation of the sensor signal output circuit through the quadratic function characteristic, it is judged as normal.

The contact detection device according to the invention of claim 1 comprises a substrate formed in a specific shape facing each other, a specific volume space for covering a substrate formed in a specific shape, and an exterior added to the volume space. And a sensor for detecting the pressure from the body as a physical variation formed in the volume space, and the sensor signal output circuit is configured to physically apply the pressure from the outside applied to the volume space to the physical space of the volume space. The amount of change is detected by the sensor. Further, the sensor abnormality judging circuit is for judging the normality / abnormality of the sensor itself based on the sensor output within a predetermined time period from the detection time point of the ground potential of the sensor signal output circuit. In the present embodiment, the ground potential is used as the threshold, but another threshold may be used.

Therefore, a predetermined volume space formed on one side of a foam formed by laminating and bonding a foamed synthetic resin material or a foamed rubber material laminated and bonded to a substrate having a specific shape, and the volume Air compressed in the space is formed in the volume space which is less likely to leak from the base material and / or the foam to the outside air, and pressure from the outside of the base material and the foam is generated in the volume space. A sensor detects the amount of physical change, and the time limit of the sensor output is used as a detected output.

For example, compressed air in the leak-proof volume volume gets a physical change in the sensor due to the pressure applied to the substrate and one or both sides of the foam. The amount of physical change is detected as air pressure, air flow, air flow rate, change in air volume, or the like.
As described above, since the physical variable in the leak-proof volume is detected as the physical change amount from the base material and / or the foam, the pressure applied to a wide range is detected. Even if it is a two-dimensional planar configuration, it can be applied even if it is a three-dimensional three-dimensional configuration, it is possible to detect an external pressure above a predetermined level.
Further, a sensor that detects a physical change in the volume space detects an external pressing force applied to the volume space of the sensor signal output circuit by the sensor as a physical change amount of the volume space. It is detected as a contact pressure or the like applied to the normal volume space. However, since the sensor abnormality discrimination circuit discriminates normality / abnormality of the sensor itself based on the sensor output within a predetermined time immediately after detection of the sensor output of the sensor signal output circuit, the operation of the sensor signal output circuit At the end of the test, the sensor malfunction discrimination circuit clearly guarantees that the sensor is not malfunctioning.
In particular, the sensor output for detecting the amount of physical change of the volume space is an external force which is gradually applied with the passage of time, that is, an external force which gently rises or falls and an external force which is rapidly applied in a short time. Can be distinguished and monitored, and contact can be determined in a short time.
That is, the sensor for detecting the physical change of the volume space according to the present invention detects the physical change, and the sensor signal output circuit for detecting the physical change next time The present invention can be provided as a contact detection device that can be determined by a circuit, and in particular, it can be determined whether an air flow sensor abnormality has not occurred at a timing immediately before contact which does not know when it occurs next time.

The sensor abnormality judging circuit is a sensor until the sensor signal output circuit returns to the steady state with the detection signal of the sensor as the ground potential when the sensor signal output circuit returns to the steady state for detecting an external pressure applied to the volume space. The normality / abnormality of the sensor itself is determined based on the output characteristics of the sensor.
Therefore, every time the sensor signal output circuit operates, the normality / abnormality of the sensor is confirmed, and in particular, if the sensor abnormality discrimination circuit does not operate before the next operation, it operates safely next time. means.
In particular, when the sensor signal output circuit returns to a steady state for detecting an external pressing force applied to the volume space, based on a quadratic function characteristic until the sensor detection signal is returned to the steady state with the ground potential. In addition, it determines the normality / abnormality of the sensor itself. As a result, it is normal if it is possible to enter the operation of the sensor signal output circuit through the quadratic function characteristic.

FIG. 1 is an exemplary perspective view of a substrate formed in a specific shape of a touch detection device according to an embodiment of the present invention. FIG. 2 is an explanatory view of a state in which foams of the contact detection device according to the embodiment of the present invention are laminated and bonded. FIG. 3 is an explanatory view of a cross section of the contact detection device according to the embodiment of the present invention in a state where the base material and the foam are attached. FIG. 4 is a cross-sectional explanatory view for explaining the structure of the touch detection device in the embodiment of the present invention. FIG. 5 is an explanatory view of another example of the space maintenance material used in the touch detection device in the embodiment of the present invention. FIG. 6 is an overall perspective view of a doll robot to which the touch detection device according to the embodiment of the present invention is attached. FIG. 7 is an overall perspective view of the chest of the doll robot to which the touch detection device according to the embodiment of the present invention is attached. FIG. 8 is a perspective view of an essential part in which the contact detection device in the embodiment of the present invention is disposed inside the chest of the doll robot. FIG. 9 is a perspective view of an essential part of the touch detection device according to the embodiment of the present invention when the outside of the chest of the doll robot is pressed. FIG. 10 is an entire circuit diagram of a sensor signal output circuit and a sensor malfunction discrimination circuit used in the contact detection device according to the embodiment of the present invention. FIG. 11 is a timing chart in which sequential contact states used in the touch detection device according to the embodiment of the present invention increase. FIG. 12 is a timing chart in the case where there is an external force application used in the contact detection device according to the embodiment of the present invention. FIG. 13 is a timing chart of a general touch state used in the touch detection device according to the embodiment of the present invention. FIG. 14 is a flowchart of control of the touch detection device according to the embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described based on the drawings. Note that, in the present embodiment, the same symbols and symbols in the drawings are the same or corresponding functional parts, and therefore the description thereof will not be repeated here.

Embodiment
In FIGS. 1 to 9, a substrate 1 used in the contact detection device according to the embodiment of the present invention is a protector used for a doll (human) robot 50. The substrate 1 is made of, for example, a solid type or foamable thermoplastic resin material. Before cutting this base material 1, it is formed in a bowl shape with the size of the flange part 2 secured for bonding. That is, when the outer surface 1A of the base material 1 is made of the opposing foam 10, the volume space 4 in which the cutting process is performed is formed only on one side. Of course, machining of the volume space 4 can be performed on only one of the substrate 1 or the foam 10 side, or both of the substrate 1 and the foam 10.
The flange portion 2 of the outer surface 1A of the base 1 and the inner surface 10B of the foam 10 are bonded with an adhesive or a double-sided tape. Or you may join according to joining of the opening of the base material 1, and the opening of the foam body 10. FIG.

In the present embodiment, the base material 1 is a synthetic resin material formed in a specific shape, but in the case of practicing the present invention, a solid type synthetic resin is used as an aluminum plate, stainless steel plate, iron plate, copper plate, etc. It can also be formed as a foamed synthetic resin material. When viewed from the opposing foam 10, the outer surface 1A forms the volume space 4 in which the cutting process is performed on only one side, but in the case of practicing the present invention, the foam 10 side may be cut. Alternatively, both sides of the substrate 1 and the foam 10 may be cut. In any case, the volume space 4 may be formed on one side or both sides of the opposing base 1 and the foam 10. The thickness of the volume space 4 is usually about 3 to 15 mm.

The volume space 4 formed between the substrate 1 and the foam 10 is a space in which the volume space 4 itself is closed. Therefore, when a pressure is applied to the foam 10 from the outside, a recess is generated in response to the applied pressure, a volume change of the volume space 4 occurs, and a pressure change occurs. Since the volume change of the volume space 4 becomes air pressure and enters the sensor SEN, the sensor SEN becomes a detection of the pressure applied to the foam 10.
When a commercially available micro flow sensor (D6F-V03A1; manufactured by OMRON) is used as the sensor SEN, it is necessary to form a flow of wind in the sensor SEN. Therefore, a flow of air is generated from the auxiliary space 20 to the outside so that the volume change of the volume space 4 occurs. Further, when the external force applied to the volume space 4 formed between the substrate 1 and the foam 10 is released, the restoring force of the volume space 4 causes air to flow in the reverse direction to the sensor SEN. Although the external force applied to the volume space 4 is not applied by the sensor SEN, it may be described only after the sensor SEN.

The foam 10 used in the contact detection device according to the present embodiment is formed of one or more thermoplastic resin materials, or foam

synthetic resin materials

11 and 12 as thermoplastic resin materials obtained by laminating and bonding two or more sheets with the adhesive agent 15. , 13 are formed in a specific shape. One or more foam

synthetic resin materials

11, 12 and 13 have a hardness that causes a volume change of the volume space 4 to appear in the foam 10. In particular, in the foam 10, the existing internal bubbles are connected to each other. It may be either a closed cell or an open cell in which the existing internal cells are connected. However, in order to reduce air leakage, it is preferable to use an extremely soft and recoverable closed cell, and the expansion ratio of these foams 10 is about 10 to 50 times. The sponge hardness is preferably in the range of 10 to 50 (JIS-k-6253), and usually, the sponge hardness is more preferably 15 to 45, and changes somewhat depending on the structure.

The inventors of the present invention, as shown in FIG. 2, foamed

synthetic resin materials

11, 12, which are made of standardized polyethylene of three specific vertical, horizontal and height (1200 × 900 × 60 mm), which are commercially available. I used 13. The foamed

synthetic resin materials

11, 12 and 13 made of polyethylene are each foam-formed as a single standardized size, and the surface is a skin layer having a high foam density. The vent hole Z is a material of about φ2 to 10 mm. In order to obtain a product thicker than 50 mm in this embodiment, the surface of the standardized foamed

synthetic resin materials

11, 12 and 13 is a skin layer, so a rubber adhesive is applied to the adhesive surfaces of both surfaces thereof. It apply | coated and laminated | stacked adhesion. The adhesive 15 is a rubber adhesive.

The rubber adhesive (15) may be thinly coated on both sides to which a rubber paste (containing non-toluene can (round powder oil business)) or a bond (GSEN 0 X 7 (Konishi stock)) which is a rubber paste is adhered and dried. Were compressed and bonded. The rubber-based adhesive 15 is a bond (GSEN0X7 (Konishi stock)), and cyclohexane, n-heptane, and acetone are main components.
Here, the thickness of the adhesive 15 should be as thin as possible so that its presence can not be visually recognized, and only the adhesive function can be maintained. The adhesive agent 15 which consists of synthetic resins, such as the same polyethylene as the

synthetic foam materials

11, 12 and 13 as a base material, can also be used for the rubber paste used here.

Next, the foam 10 in the embodiment of the present invention will be described in detail.
In the case of practicing the present invention, the substrate 1 is generally coated with a robot such as a doll robot or a housing of various devices formed of an aluminum plate, a stainless steel plate, an iron plate, a copper plate or the like. In the case of a synthetic resin, although a foamed synthetic resin is also used, it is mainly formed by injection molding or the like. Most of the base material 1 formed by injection molding is made of one block of thermoplastic resin material, but in the contact detection device of the present embodiment, the base material of one block formed by injection molding or the like This will be described in case 1.
Of course, the base material 1 in which one or more thermoplastic resin materials or foamed

synthetic resin materials

11, 12 and 13 in which two or more sheets are laminated and bonded is formed in a specific shape is also one solid type synthetic resin material or plural The basic configuration of the base material 1 formed by forming a sheet of solid type synthetic resin sheet into a specific shape is not different from that of the base structure formed by injection molding or the like.

As a foamed synthetic resin material used in the present embodiment, polyurethane (PUR), polystyrene (PS), polyolefin (mainly polyethylene (PE) and polypropylene (PP)), phenol resin (PF), polychloride Foamed resin such as vinyl (PVC), urea resin (UF), silicone (SI), polyimide (PI), melamine resin (MF) can be used, and open cells or internal cells in which internal cells are connected to each other It is possible to use a closed cell where there is no connection. However, in order to form the volume space 4 in which air does not easily leak from the foam 10 and the base material 1 to the outside air, it is preferable to use a closed cell in which internal cells are not connected.

In the present embodiment, the base material 1 is the same material as the foam 10 and the same treatment as the box-shaped inner frame 6 facing them. The periphery of the substrate 1 is cut to form the outer surface 1A. On the outer surface 10A and the inner surface 10B of the foam 10, a box-shaped inner frame 6 described later is formed as a three-dimensional structure. Moreover, the box-shaped inner frame 6 mentioned later is three-dimensionally comprised also by the outer surface 1A of the base material 1, and the inner surface 1B. Of course, on the outer surface 10A and the inner surface 10B of the foam 10, a box-shaped inner frame 6 described later may be formed in a two-dimensional configuration also on the outer surface 1A and the inner surface 1B of the base material 1.

The box-shaped inner frame 6 is a box formed by injection molding and guides the air pressure to the inlet of the sensor SEN by the stable installation position, and the change in volume of the volumetric space 4 and the change in pressure are accurately transmitted to the sensor SEN It is like that. The fact that the inner frame 6 is in the form of a box with a square frame prevents the inner frame 6 from moving in the horizontal and vertical directions, making it easier to obtain changes in external force. On the opening side of the inner frame 6, a flat sealing plate (sponge) 8 composed of open cells of a foamed synthetic resin material is disposed. The space formed by the inner frame 6 and the flat sealing plate 8 is an auxiliary space 20. The auxiliary space 20 may temporarily absorb a change in volume of the volume 4 or a change in pressure, or may be a completely independent space. Usually, the pressure of the volume space 4 changes, but an air flow is formed so that the auxiliary space 20 may be at atmospheric pressure.
Therefore, the auxiliary space 20 does not introduce dirty air into the volume space 4 and therefore does not pollute the sensor SEN. In addition, the inner frame 6 which becomes a square box shape can carry out metal mold processing of a metal plate or a metal.

That is, since the auxiliary space 20 is formed by the flat plate sealing plate 8 made of open cells of a foamed synthetic resin material, the air pressed from the volume space 4 flows to the inflow port of the sensor SEN via the guide path 5 . At this time, the substantially air pressure of the auxiliary space 20 maintains the atmospheric pressure. However, at this time, since the auxiliary space 20 is subjected to distortion of the atmospheric pressure and the external pressure, in principle, the auxiliary space 20 is higher than the outside air, so the sensor SEN is transmitted through the flat sealing plate 8 made of an open cell. Can leak air from the inlet of the Further, when the pressing force of the volume space 4 is released, the volume space 4 introduces the insufficient air amount to the outside air via the guide path 5 and the sensor SEN. At this time, since the entire surface of the flat sealing plate 8 is a filter, it is extremely less likely that dust is partially introduced from the outside or clogged.
In addition, although described just in case, the auxiliary | assistant space 20 formed from the flat sealing plate 8 consists of an open-cell body of foaming synthetic resin material, and it is formed so that it may become equal to atmospheric pressure. Here, even though the sensor SEN is a pressure sensor, the method of use is the same whether it is a commercially available micro flow sensor (D6F-V03A1; manufactured by OMRON) that detects the flow of air. At this time, air must flow from the volume space 4 to the auxiliary space 20.

The sensor SEN used here detects the pressure of the volume space 4 formed so that air does not easily leak to the outside air by the reinforcing layer (not shown). The sensor SEN may be any sensor that incorporates a commercially available strain cage, a sensor that detects via a diaphragm, a sensor that uses a piezo effect element, or a capacitive sensor.
The sensor SEN used in the present embodiment uses the SMC compact pneumatic pressure sensor PSE 540A. The relationship between the pressure of the input and the output voltage V is approximately proportional and has a good sensitivity.
The output of the sensor SEN comprises a total of three lines of two power supply lines and one output signal line OUT. In the present embodiment, it is used as a signal for rapidly stopping the danger of the doll robot 50.

Next, a reinforcing layer which is preferably disposed on the foam 10 will be described.
The foam 10 is a foamed thermoplastic resin, and the main synthetic resin raw materials are polyurethane (PUR), polystyrene (PS), polyolefin (mainly polyethylene (PE) and polypropylene (PP)), and others Also, phenol resin (PF), polyvinyl chloride (PVC), urea resin (UF), silicone (SI), polyimide (PI), melamine resin (MF) and the like can be used after foaming. However, on the premise that the cutting surface of the foam 10 is cured by heating, it is desirable to use a synthetic resin material that deforms at a temperature in the range of 80 to 200 ° C. In the practice of the present invention, although the foaming rate is not limited, there are some which maintain elasticity depending on the use, but are limited in the foaming rate in order to finish hard.

A box-shaped inner frame 6 is disposed on the inner surface 1B of the base 1 by bonding using an adhesive. The inner frame 6 joins the sensor SEN having a characteristic in which the output is proportional to the external force, and applies the pressure of the volume space 4 to the inflow port of the guide passage 5 which leads the air from the volume space 4. At this time, since the pressure of the volume space 4 is introduced to the inlet of the guide path 5 of the sensor SEN, the auxiliary space 20 is preferably at atmospheric pressure.
The output of the sensor SEN is led to an operational amplifier OP or the like built in the microprocessor 30 via a lead wire L, if necessary, via a connector or the like, and the output of the operational amplifier OP is “H (on)”, “L Converted to (off). Further, the detection output of "H" and "L" of the signal detection output AC is judged according to the long and short conditions of the on time or the off time.
In the present embodiment, the output of the microprocessor 30 is described as “H” for normal and “L” for pulse generation to describe negative pulse generation, but in the case of practicing the present invention, the output of the NOT circuit and NAND circuit is Since the result is the same if the configuration is added, the case of signal conversion from “H” to “L” will be described.

In FIG. 6 to FIG. 9, the doll robot 50 attached with the contact detection device according to the embodiment of the present invention has general-purpose hardware and software installed inside. Moreover, the external appearance of the chest 51 and the shoulder part 52 of the doll robot 50 is shown with the principal part perspective view of FIG. The corner (corner) 55 of FIG. 8 forms a space two-dimensionally or three-dimensionally, and the microprocessor 30 placed at a distance from the sensor SEN may be attached thereto. Also, a battery may be disposed there as needed. A flexible film 56 is bonded on a flat sealing plate 8 (not shown), and constitutes a base material 1 (doll robot 50) and a foam 10 for covering it.

The doll robot 50 of the present embodiment inserts the foam synthetic

resin material plates

4A, 4B, 4C of open cells not shown inside the chest 51 to secure a volume, and covers the base material 1 (doll robot 50). A volume space 4 is formed between the two foams 10, and air that closes the volume space 4 is not allowed to pass, and pressure is applied only to the sensor SEN. As a result, since the substrate 1 (doll robot 50) is metal, the sensor SEN is fixed.
The lead wire stopper 57 is for wiring the lead wire L.

Here, as shown in FIG. 9, when pressing the corner on the outside of the chest 51 of the doll robot 50, only the corner is in contact with the finger, and it appears as if it is recessed. Focusing on the weak part of the formed mechanical strength, the volume 4 causes a volume change which can be detected by the sensor SEN.
As a result, the external force applied to the chest 51 of the doll robot 50 can be detected. In the doll robot 50 according to the present embodiment, the contact of the shoulder portion 52 is not detected, but as shown in FIG. 8, even if it is not provided entirely, it operates when stress (strain) is partially applied. It has been found.
Therefore, on one side or both sides between the base material 1 and the foam 10, a volume space 4 in which air from the base material 1 and the foam 10 is hardly leaked to the outside air is formed, and the output space of the sensor SEN The pressure is applied to any of the base material 1 and the foam 10 by determining whether or not the external force is applied, and the presence of the factor that the volume of the volume space 4 has changed is grasped, and the base material 1 and the foam 10 are It is determined that the human body or the like has come into contact with one side or both sides of the space.

The base material 1 formed in a specific shape is made of one foamed synthetic resin material or foamed rubber material, or a foamed synthetic resin material or foamed rubber material obtained by laminating and bonding a plurality of sheets. Alternatively, it can be a part of the doll robot 50 as in the present embodiment.
Therefore, since the base material 1 and the foam 10 can be made to the material of the same characteristic, the opposing base material 1 and the foam 10 become the same material, and weight reduction and processing become easy. Also, it is possible to use a non-stretchable sheet, that is, a non-stretch sheet, which can extend the application of the substrate 1.

Also, in the volume space 4, an elastic body is formed by punching or alternately forming a lattice, quadrilateral, scaly pattern, circular polka dots, or checkered pattern with an air-permeable foam synthetic resin material plate on the inner surface thereof. Are housed.
Therefore, the volume space 4 is formed by punching or forming any of lattice-like, square-like, wrinkle-like, circular water-ball-like, and checkerboard-like shapes with an elastic and air-permeable foam synthetic resin material plate on the inner surface Therefore, it is possible to maintain the self-holding elastic force etc. instead of a space in which nothing enters the volume space 4, and it is sufficient to obtain the volume change of the volume space 4. Even in the original space, detection similar to that in the two-dimensional space is possible.

The sensor SEN is for introducing the pressure of air to the inlet. Therefore, air is passed through the inlet, the magnitude of the pressure is detected by the sensor SEN, the output is amplified, and the magnitude of the analog input causes “H” below the threshold when it is greater than the threshold value. Sometimes it will be "L" output. When the phototransistor is turned on, the ground potential becomes the ground potential of the third threshold TH3 = TH0 = 0 [V], and the control of the doll robot 50 is stopped. Therefore, there is no possibility that the wiring of the sensor SEN causes a short circuit under robot control which is not predicted, or the ground potential of the sensor SEN falls to the ground potential of the third threshold TH3 = TH0 = 0 [V].

For example, the microprocessor 30 has an analog input such as an attached AD conversion circuit, and its output has a function to be a digitally processed output. That is, as shown in FIG. 11 and FIG. 12, the sensor SEN, which detects the amount of physical change of the volume space, increases the pressing force from the outside gently (for example, 5 mm / s). The sensor output ES gradually rises. At this time, when the detection output time of the sensor output ES reaches the continuation time limit X ₁ to be detected, the signal of the signal detection output AC is output.
In addition, when the pressing force from the outside obtains a gradual increase in pressing force and it exceeds the first threshold TH1 at the timing t1, the sensor output ES detected as the physical change amount of the volume space 4 is from the outside to obtain an increase in the pressing force gentle pressure, when it exceeds the first threshold value TH1, which starts measurement only timed timed X ₁ to be monitored since then, became timed timed X _1, signal detection The output AC changes from "H" to "L".

When the physical change of the volume 4 becomes the movement limit and the physical change of the volume 4 is not detected, the value of the sensor output ES decreases, and when it falls below the first threshold TH1 at the timing t3, the timing measures the timed timed Y ₁ in t4, during which the sensor output ES is earth potential, that is, whether becomes ground potential threshold TH0. When the sensor output ES reaches the ground potential threshold TH0, after the sensor output ES is continued for the time limit Z1 or more, the sensor output ES settles from the ground potential threshold TH0 to "L" of the signal detection output AC.
The detection signal of the sensor output ES is used as the ground potential threshold TH0 to detect a change in accordance with a quadratic function characteristic before returning to the steady state. When returning to the steady-state detection signal of the said sensor output ES as a ground potential threshold TH0 is immediately after the detection of the sensor output ES to a predetermined time period Z ₁ or more continuously been timed in sensor output ES of normal or abnormal sensor itself Is determined by the detection signal.
For example, when the sensor output ES indicates that the physical change amount of the volume space 4 is a positive pressure, the sensor output ES is pressed by a negative pressure when the positive pressure is released.

The sensor output ES when returning to the steady state detects the external pressing force applied to the volume space 4 as the amount of physical change formed in the volume space 4, and then returns the detected force to the opposing substrate 1. Outside air is introduced into a predetermined volume space 4 formed in the foam 10, and its characteristic is usually a change of a quadratic curve having a sharp rise. Therefore, by calculating the time for the sensor output ES to return to 0.5 V, it is possible to determine whether it is a change that draws a quadratic curve by comparison with the time required for it. Of course, if the time during which the sensor output ES returns to 0.5 V is long, the probability of being a change of a quadratic curve is high. The time taken for the recovery time of the sensor output ES to return to 0.5 V is longer in the case of drawing a quadratic curve. Therefore, normality / abnormality may be determined from the recovery time of the sensor output ES by determining the time period in the experiment.
Then, since the recovery time of the sensor output ES is substantially determined, it may be subject to set timed Z ₁ to a criterion only time.
Also, when the sensor output ES changing to 0 to 0.5 V is sampled 5 to 100 times, and the difference between the sampled voltages is large, the probability of being a change of a quadratic curve is high. In the case of this comparison, reliable results are obtained. Of course, sampling may be performed a plurality of times, and the normality / abnormality of recovery of the sensor output ES may be determined from the sampled voltage.
That is, the sensor SEN that detects the physical change amount of the volume space as the signal detection output AC not only detects the physical change amount, but also confirms its own performance, and enables fail-safe contact detection.

As shown in FIG. 13, when the external pressure increases rapidly (for example, 250 mm / s), the sensor output S E rises sharply as shown in FIG. Do. In this case, beyond the sensor output ES is the second threshold TH2 at a timing t1, when time t2 has been reached on the time X ₂ for monitoring, the signal detection output AC is changed to "L" to "H". That is, the sensor output ES detected as the physical change amount of the volume space 4 becomes a pressing force where the pressing force from the outside suddenly becomes large and exceeds the second threshold TH2 (timing t1), and from that time, time limit X ₂ the measurement was started, when it is timed timed X ₂ at the timing t1, the signal detection output AC becomes "H" to "L".

In addition, when the physical change amount of the volume space 4 becomes the movable limit and the detection of the physical change amount of the volume space 4 is not detected, the sensor output ES decreases and becomes smaller than the second threshold TH2 at timing t3. Measurement of Y ₂ is started, and it is determined whether the sensor output ES becomes the ground potential threshold TH 0 during that time, and when the sensor output ES becomes the ground potential threshold TH 0 at timing t 4, the sensor output ES is over the time limit Z ₂ After being continued, the sensor output ES settles to the original voltage "L" from the ground potential threshold TH0 and the signal detection output AC. The detection signal of the sensor output ES is changed to a ground potential threshold TH0 in accordance with a quadratic function characteristic before returning to the steady state.
When the detection signal of the sensor output ES is returned from the ground potential threshold TH0 to a steady state voltage, the sensor SEN itself is within a time duration continued for a predetermined time period Z2 or more immediately after detection of the ground potential threshold TH0 of the sensor output ES. The normal / abnormal state is detected by the sensor output ES of its own detection output to discriminate.
For example, when the sensor output ES indicates that the physical change amount of the volume space 4 is a positive pressure, the sensor output ES is pressed by a negative pressure when the positive pressure is released.

The sensor output ES when returning to the steady state detects the external pressing force applied to the volume space 4 as a physical change amount of the volume space 4 and then returns the opposing substrate 1 and the foam. The outside air is introduced in a predetermined volume space 4 formed in 10, which is usually a change of a quadratic curve. Therefore, by comparing the time required for the sensor output ES to return to 0.5 V and the time required for that, it is determined whether or not it is a change that draws a quadratic curve, and the sensor output ES is 0. If the time to return to 5 V is long, it is possible to judge normal / abnormal as the probability of being a change of the quadratic curve is high. In addition, when the sensor output ES changing to 0 to 0.5 V is sampled a plurality of times, and it is judged by the sampled peak voltage, the probability of the change of the quadratic curve becomes high. Furthermore, the time limit for signal conversion from “H” to “L” and “L” to “H” is determined, and in particular, when “L” to “H” is signal converted, the maximum time limit is at timing t3. Since the time period after reaching the second threshold TH2 is uniquely determined to be less than or equal to the predetermined value, it is possible to use only that time period.

Here, the sensor signal output circuit 31 that detects the external pressing force applied to the volume space 4 by the sensor SEN as a physical change amount of the volume space 4 detects the first threshold TH1 of the sensor output ES and It comprises a time limit X ₁ for measuring the continuation of the operation, a timer for measuring the time limit of the time limit Y ₁ , and a time limit X _{2 for} the time limit Y ₂ .
In addition, the sensor abnormality determination circuit 32 that determines normality / abnormality of the sensor SEN itself by detection of the sensor output ES within a predetermined time immediately after detection of the sensor output ES has become the ground potential threshold TH0 of the sensor output ES Is detected and the time limit of time limit Z1 or time limit Z2 is measured, and it is determined whether the sensor output ES is a characteristic of return after detection as a physical change amount of the volume 4 and normality of the sensor SEN itself An abnormality is determined by the detection signal of the sensor output ES.
Therefore, the sensor SEN that detects the physical change amount of the volume space as the signal detection output AC not only detects the physical change amount, but also confirms its own performance, and enables fail-safe contact detection.

Next, control by the microprocessor 30 will be described.
In this routine, another power is turned on before the target doll robot 50 or the like is turned on or the power is turned on to repeatedly operate.
After powering on the microprocessor 30, initialization is performed in step S00. In the initial setting of this embodiment, the first threshold TH1 = 1 [V], the second threshold TH2 = 2.5 [V], and the third threshold TH3 = TH0 = 0 [V] which is the ground potential threshold are monitored. Write a time limit of time limit X ₁ , time limit Y ₁ , time limit Z ₁ , time limit X _{2 to be} monitored, time limit Y ₂ , time limit Z ₂ . Also, the signal detection output AC, which is the detection output of the microprocessor 30, is initialized to "H".
Next, in step S01, it is determined whether or not the first threshold value TH1 = 1 [V] for detecting a gradual change of the sensor output SE. If it is determined that the first threshold value TH1 = 1 [V] or more, it is determined in step S02 whether or not the second threshold value TH2 = 2.5 [V] or more for detecting a rapid change of the sensor output SE. If it is determined in step S01 that the first threshold TH1 is less than 1 [V] to detect a gradual change in the sensor output SE, the process proceeds to step S01 until the first threshold TH1 = 1 [V] or more is reached. Wait for the sensor output SE to rise.

When it is determined in step S01 that the sensor output SE is equal to or higher than the first threshold TH1 = 1 [V] and the output of the sensor output SE is not equal to or higher than the second threshold TH2 = 2.5 [V] in step S02, The physical change amount of 4 is gradually increased, which indicates that the leading edge of the sensor output ES is gradually increased.
That is, when it is determined in step S02 that the output of the sensor output SE is not the second threshold TH2 = 2.5 [V] or more, the output of the sensor output SE is the first threshold TH1 = 1 [V] or more, the second threshold Since TH2 is less than 2.5 [V], the processing of step S03 is entered, assuming that the physical change amount of the volume space 4 is gradually increasing.
However, if it is determined in step S02 that the output of the sensor output SE is equal to or higher than the second threshold TH2 = 2.5 [V], this means that the amount of physical change of the volume 4 has rapidly increased. The signal detection output AC changes from "H" to "L" in step S15 by the output of the sensor output ES in step S14.

The output of the sensor output SE is determined to be equal to or greater than the first threshold TH1 = 1 [V] in step S01, and it is determined that the output of the sensor output SE is not equal to or greater than the second threshold TH2 = 2.5 [V] in step S02. If, when it becomes more than the length of the time period _{X 1} for monitoring the sensor output ES in step S03, changes from "H" to "L" signal detection output AC at step S04.
After that, when the physical change amount of the volume space 4 is increased, the output of the sensor output SE stops increasing the physical change amount which gradually increases, and the physical change amount starts to decrease, and the sensor output SE output the first threshold value TH1 = 1 is judged less than [V] in step S05, the signal detection output AC until timed _{Y 1} at step S06 is not changed from "H" to "L". Determining an elapsed timed _{Y 1} at step S06, to check the course of timed Y1 by routine in step S06 from step S04, the end of the timed Y1, to "H" from the signal detection output AC "L" in the step S07 Change.

Sensor output ES is determined whether the turned third threshold TH3 = TH0 = 0 [V] is a ground potential threshold in step S08, When it is confirmed in step S08, it is determined the course of timed _{Z 1} in step S09 After determining the progress, it is determined in step S10 whether or not there is a recovery characteristic of the sensor SEN, and when the recovery characteristic of the sensor SEN is confirmed, there is no abnormality in the sensor detection operation in step S11, the sensor SEN Judge that there is no abnormality in, and continue the operation as it is.
When the recovery characteristic of the sensor SEN is not confirmed in step S10, the counter N is incremented by "1" in step S12 to count the number of times the abnormality is detected, and the LED of the monitor abnormality display output 17 is lit in step S13. Display the output to that effect. This output may be a control signal of the doll robot or other display means.

Here, the case where the pressing force from the outside gradually increases the pressing force (5 mm / s) has been described, but in the case where the pressing force from the outside is rapid (250 mm / s), as shown in FIG. This is suitable when the sensor output ES changes rapidly.
In the present embodiment, although the change of 5 mm / s and the change of 250 mm / s are divided into the case where the external pressure is moderate and the case where the external pressure is rapid, the present invention is implemented. A single setting may be used, or three or more pressing values may be set. However, if it is a safety issue for human beings, the one with high responsiveness is preferable, but it passes 1 mm / s change and 500 mm / s change range test in mild and rapid cases. What is necessary.
The first threshold TH1 is 1 [V] or more for detecting a gradual change of the sensor output SE in step S01, or the second threshold TH2 for detecting a rapid change in the sensor output SE in step S02 Determine if there is. When the sensor output SE is determined to change more than the second threshold TH2 in step S02, the output of the sensor output SE determines whether to continue timed X ₂ or more in step S14, timed X ₂ or more, when the continued In step S15, the signal detection output AC is changed from "H" to "L". In step S16, it is determined whether the sensor output SE is less than the second threshold TH2, and the process remains in steps S15 and S16 until the sensor output SE becomes less than the second threshold TH2.
When the sensor output SE becomes less than the second threshold value TH2, it is determined whether to continue until timed Y2 in step S17, it is determined to be continued until timed _{Y 2} at step S17, timed _{Y 2} from the step S15 in step S17 The signal detection output AC does not change from "L" to "H" until Is determined to be continued until timed _{Y 2} at step S18 if the signal detection output AC changes from "H" to "L".
Sensor output SE in step S19 the time period _{Y 2} has elapsed, it is determined whether the ground potential or not the third threshold value TH3 = TH0 = 0 [V] is a ground potential threshold, the sensor output SE is at ground potential threshold step S19 determining whether has a certain third threshold value TH3 = TH0 = 0 [V] , When it is confirmed in step S19, it is determined the course of timed _{Z 2} at step S20, after determining the elapsed, in step S10 It is determined whether or not there is a recovery characteristic of the sensor SEN, and when the recovery characteristic of the sensor SEN is confirmed, it is determined whether or not the detection operation of the sensor SEN is abnormal in step S11. To continue.

Determining an elapsed timed Z ₂ in course or step S20 timed Z ₁ at step S09, after determining the elapsed, it is determined whether there is a recovery characteristics of the sensor SEN at step S10, the recovery characteristics of the sensor SEN When it is confirmed that there is no abnormality in the sensor detection operation in step S11, the operation is continued as it is.
When the recovery characteristic of the sensor SEN is not confirmed in step S10, the counter N is incremented by "1" in step S12, and the number of times of detection of abnormality is added. Output to the photocoupler 17 in step S13, the LED output is outputted as the abnormality sensor abnormality determination circuit 32 via a resistor R ₅ to the phototransistor of the sensor SEN itself.
Further, as shown in FIG. 11, when the pressing force applied to the volume space 4 from the outside gradually increases the pressing force as shown by the sensor output ES, as shown in FIG. The external force addition P (disturbance) is rapidly applied to the sensor output ES when the pressing force is rapidly applied, but since the second threshold TH2 is exceeded at this time, the same as in the case where the pressing force is steep. Operate.
When the timed X ₁ is "0", the first threshold value TH1 is greater than at least once, the signal detection output AC is changed from "H" to "L" at the time thereof exceeded. In particular, in this case, to calculate the time period after the external force applying P from the remaining timed X _1, may be modified timed X _1.
If timed X ₁ and timed X ₂ sets the time limit "0", it is possible to increase the response speed.

As described above, the sensor signal output circuit 31 that detects the external pressing force applied to the volume space 4 as the physical change amount of the volume space 4 by the sensor SEN detects the first threshold TH1 of the sensor output ES and It comprises a timer for measuring time durations of X ₁ and Y ₁ for measuring the continuation of the operation.
In addition, the sensor abnormality determination circuit 32 that determines normality / abnormality of the sensor SEN itself by detecting the sensor output ES within a predetermined time immediately after the detection of the sensor output ES has become less than the second threshold TH2 of the sensor output ES After detecting the time limit of time limit Z ₁ , it is determined whether the sensor output ES is a characteristic of return after detection as a physical change amount of the volume space 4, and normality of the sensor SEN itself An abnormality is determined by the detection signal of the sensor output ES.

The sensor SEN consisting of the pressure sensor shown in FIG. 10 is inputted to the microprocessor 30 via the resistor R _1. The output of the microprocessor 30, outputs to the photocoupler 16 via a current limiting resistor R _2, the LED outputs are output as a signal detection output AC from the sensor signal output circuit 31 via the resistor R ₃ to the phototransistor There is.
In the case of an abnormal display of the sensor SEN itself, sensors SEN are input to the microprocessor 30 via the resistor _{R 1.} The output of the microprocessor 30, outputs to the photocoupler 17 via a current limiting resistor R _4, the LED outputs are outputted as the abnormality sensor abnormality determination circuit 32 via a resistor R ₅ to the phototransistor of the sensor SEN itself There is.
As described above, the detection output of the sensor SEN is obtained in an isolated state from the doll robot 50, and the wiring between the sensor signal output circuit 31 including the sensor SEN and the sensor abnormality determination circuit 32 is not shorted under control.

The contact detection device according to the present embodiment includes a substrate 1 formed in a specific shape, and a foam 10 formed by forming a foamed synthetic resin material or a foamed rubber material for covering the substrate 1 in a specific shape, The sensor SEN includes a predetermined volume space 4 formed in the base material 1 and the foam 10 facing each other, and a sensor pressing force applied to the volume space 4 from the outside as a physical change amount. Sensor signal output circuit 31 that detects external pressure applied to volume 4 as a physical change of volume 4 by sensor SEN, and immediately after detection of signal detection output AC of sensor signal output circuit 31 Within a predetermined time period, the sensor abnormality discrimination circuit 32 is mounted which discriminates normality / abnormality of the sensor SEN itself by the detection signal of the sensor output ES.

The contact detection device of the present embodiment is added to a specific volume space 4 for covering a base material 1 formed in a specific shape facing each other, a base material 1 formed in a specific shape, and the volume space 4 And a sensor SEN that detects the external pressing force as a physical change of the volume 4 formed in the volume 4, the sensor SEN physically detects the external pressing applied to the volume 4. The sensor signal output circuit 31 detected by the sensor SEN as a temporary change amount and the sensor abnormality determination circuit 32 detect normality / abnormality of the sensor SEN itself within a predetermined time immediately after detection of the sensor output ES of the sensor signal output circuit 31. Is determined by the sensor output.

Therefore, a predetermined volume space 4 formed on one side of a foam 10 formed by laminating and bonding a foamed synthetic resin material or a foamed rubber material laminated and bonded to cover a substrate 1 formed into a specific shape is formed, The air compressed in the volume space 4 is formed in the volume space 4 in which leakage of air from the substrate 1 and / or the foam 10 is less likely to occur, and the pressure from the outside of the substrate 1 and the foam 10 It is detected by the sensor SEN as the amount of physical change of the space 4 and is used as a detection output with a time limit of the sensor output ES.

For example, compressed air in the leakproof volume 4 gets a physical change in the sensor SEN due to the pressure applied to one or both sides of the substrate 1 and the foam 10. The amount of physical change is detected as air pressure, air flow, air flow rate, change in air volume, or the like.
In this manner, since the physical variable in the leak-proof volume 4 is detected as the amount of physical change from the substrate 1 and / or the foam 10, the pressure applied to a wide range is detected. Even if it is a two-dimensional planar composition, it can construct even if it is a three-dimensional three-dimensional composition, and can detect the pressure from the outside more than predetermined.
Further, the sensor SEN detected as a physical change of the volume space 4 detects a pressing force from the outside applied to the volume space 4 of the sensor signal output circuit 31 by the sensor SEN as a physical change amount of the volume 4 , As a contact pressure applied to the normal volume space 4 or the like. However, since the sensor abnormality discrimination circuit 32 discriminates normality / abnormality of the sensor itself based on the sensor output within a predetermined time immediately after detection of the sensor output ES of the sensor signal output circuit 31, At the end of the operation, the sensor abnormality determination circuit 32 can compensate for the absence of an abnormality in the sensor SEN.
In particular, the sensor output ES for detecting the physical change of the volume space 4 can distinguish and monitor the external force which is gradually applied as time passes and the external force which is rapidly applied, and the contact can be determined in a short time .

When the sensor abnormality determination circuit 32 of the contact detection device of the present embodiment returns to the steady state where the sensor signal output circuit 32 detects an external pressure applied to the volume space 4, the sensor abnormality determination circuit 32 The normality / abnormality of the sensor SEN itself is determined based on the characteristics before returning to the steady state as three threshold values (TH0).
When the sensor abnormality determination circuit 32 of the contact detection device according to the present embodiment returns to a steady state in which the sensor signal output circuit 31 detects an external pressure applied to the volume space 4, the sensor abnormality determination circuit 32 The normality / abnormality of the sensor SEN itself is determined based on the output characteristics of the sensor SEN until returning to the steady state as three threshold values (TH0).

Therefore, the sensor output ES detected by the sensor SEN detects an external pressing force applied to the volume space 4 as a physical change amount of the volume space 4, and the sensor output ES detected by the sensor SEN is the volume space 4 External pressing force is detected as a physical change of the volume 4 and compared with a plurality of thresholds such as the third threshold TH0 (TH3), the first threshold TH1, the second threshold TH2, etc. A sensor signal output circuit 31 for obtaining a binary signal of normality / abnormality as a signal detection output, and a third threshold TH0 immediately after the change of the binary signal for returning from the abnormal state of the sensor output ES of the sensor signal output circuit 31 to the steady state. TH3), the first threshold TH1, at less than a predetermined threshold value, such as the second threshold value TH2, the predetermined time period _X 1, in _{X 2,} the sensor abnormality determination circuit 32 to determine the normal or abnormal by the signal detection output 31 In addition, every time the sensor signal output circuit 31 operates, normality / abnormality of the sensor SEN is confirmed, and in particular, if the sensor abnormality determination circuit 32 does not operate under the next operation, it operates safely. means.
In particular, when the sensor signal output circuit 31 returns to a steady state for detecting an external pressing force applied to the volume space 4, a secondary signal until the sensor SEN detection signal is returned to the steady state as a third threshold (TH 0) Based on the function characteristics, the normality / abnormality of the sensor SEN itself is judged. As a result, it is normal if the operation of the sensor signal output circuit 31 can be entered through the quadratic function characteristic.

In the case of practicing the present invention, a fan of another configuration is disposed in the volume space 4, and the volume space 4 is physically determined by changing predetermined physical variables as air pressure, air flow, air flow rate, air volume change, etc. The amount of change can be measured. However, installing a fan (not shown) increases the number of parts and requires fan management. However, in the present embodiment, the number of parts does not increase. However, air pressure, air flow, air flow velocity, air volume change, etc. can also be set as the threshold of the physical variable of the volume space 4 by the fan.
The plurality of threshold values, the first threshold value, the second threshold value, and the third threshold value may be two or three or more, and may be at least two or three or more. The third threshold (TH0) used for the detection signal of the sensor SEN may be the ground potential, but may be another negative voltage or a voltage lower than the positive first threshold.
The binary signal used in the present embodiment is not an analog value, and is from "H" to "L" or "L" to "H", "1" to "0" or "0" to "1". It may be any digital signal.

DESCRIPTION OF SYMBOLS 1 base material 4

volume space

4A, 4B, 4C space maintenance material 10

foam

11, 12, 13, foam synthetic resin material 30 microprocessor 31 sensor signal output circuit 32 sensor abnormality discrimination circuit 50 doll robot SEN sensor TH0 = TH3 third threshold (Earth potential threshold)
TH1 first threshold TH2 second threshold X ₁ , Y ₁ , Z ₁ time limit X, Y ₂ , Z ₂ time limit AC signal detection output ES sensor output

Claims

A substrate formed in a specific shape,
A foam obtained by forming a foamed synthetic resin material or a foamed rubber material for covering the substrate into a specific shape;
The opposed base material and a predetermined volume space formed in the foam;
A contact detection device comprising: a sensor that detects an external pressing force applied to the volume space as a physical change amount formed in the volume space,
The sensor output detected by the sensor detects an external pressing force applied to the volume space as a physical change amount of the volume space, and compares it with a plurality of threshold values, and detects normal / abnormal as its signal detection output A sensor signal output circuit for obtaining a binary signal of
Immediately after the change of the binary signal from the abnormal state of the sensor output of the sensor signal output circuit returns to the steady state, the sensor determines normality / abnormality of the sensor itself with a predetermined threshold value and within a predetermined time period. And a sensor abnormality discrimination circuit,
The sensor malfunction discrimination circuit is characterized by the sensor signal output circuit being returned to the steady state with the detection signal of the sensor as the ground potential when the sensor signal output circuit is returned to the steady state for detecting an external pressure applied to the volume space. A contact detection device characterized by judging normality / abnormality of said sensor itself based on.