JPS6351242B2 - - Google Patents
Info
- Publication number
- JPS6351242B2 JPS6351242B2 JP2901979A JP2901979A JPS6351242B2 JP S6351242 B2 JPS6351242 B2 JP S6351242B2 JP 2901979 A JP2901979 A JP 2901979A JP 2901979 A JP2901979 A JP 2901979A JP S6351242 B2 JPS6351242 B2 JP S6351242B2
- Authority
- JP
- Japan
- Prior art keywords
- light
- receiving element
- distance
- reflecting plate
- light emitting
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired
Links
- 238000001514 detection method Methods 0.000 claims description 10
- 239000004065 semiconductor Substances 0.000 claims description 2
- 230000003287 optical effect Effects 0.000 description 15
- 239000000758 substrate Substances 0.000 description 12
- 238000010586 diagram Methods 0.000 description 6
- 238000009434 installation Methods 0.000 description 2
- 230000001276 controlling effect Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
Landscapes
- Force Measurement Appropriate To Specific Purposes (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Measurement Of Optical Distance (AREA)
Description
【発明の詳細な説明】
本発明は発光・受光素子を利用した触覚センサ
に関するものである。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a tactile sensor using a light emitting/light receiving element.
近年ロボツト等の自動機械の開発が著しいが、
これらの自動機械が所望の動作を実行するために
は、被作用体との関係を正しく検知して動作を決
定しなければならない。特に被作用体との相対距
離を検知し、更に柔軟度等を検知して自動機械か
らの付勢力を制御することが必要になるが、未だ
適切な検知装置が実用化されるまでは到つていな
い。 In recent years, the development of automatic machines such as robots has been remarkable.
In order for these automatic machines to perform a desired operation, they must correctly detect the relationship with the object to be operated and determine the operation. In particular, it is necessary to detect the relative distance to the object to be acted upon, and also to detect the degree of flexibility, etc., to control the biasing force from automatic machines, but it is still not possible to put an appropriate detection device into practical use. Not yet.
本発明は半導体装置を利用して簡単な構成で被
作用体との相対距離を検知すると共に弾性特性を
検知する感圧機能を備えた触覚センサを提供する
もので、次に図面を用いて本発明を詳細に説明す
る。 The present invention provides a tactile sensor that uses a semiconductor device and has a pressure-sensitive function that detects the relative distance to an object to be acted upon and detects elastic properties with a simple configuration. The invention will be explained in detail.
まず第１図及び第２図を用いて本発明の原理を
説明する。発光ダイオード、レーザ、或いはラン
プ等からなる発光素子１から放射された光は被写
体２の反射面に投射され、方向変換した光は光路
に設置された受光素子３に入射されて光出力が形
成される。ここで受光素子３に検知される光出力
は、例えば発光素子１と受光素子３が同一基板に
取付けられている場合、被写体２との距離ｄが無
ければ発光素子１の放射光は受光素子３に届かな
いため光出力はほぼ０である。次に素子基板と被
写体２との距離が増加するに従つて、発光素子１
から出た放射光の内受光素子３に達する光量は光
路が長くなるにも拘わらず増加し、両素子の設置
関係や指向特性によつて決まる距離d1までは光出
力が増大する。最も適切な位置関係になる距離d1
で最大光出力を示した後、距離ｄと共に光出力は
減少し、光出力と距離の関係は結局第２図に示す
ようなピーク値をもつた滑らかな曲線として得ら
れる。該曲線の形状は、発光・受光素子の特性及
び設置関係と被写体の反射面が決定されれば決定
され、光出力を読取ることによつて相対距離ｄを
検知することができる。尚上記曲線はピーク値を
示すため、読取られた光出力に対応する距離の値
は２点で得られ、いずれが真の距離を表わす値で
あるかを決める処置が必要になる。そこで実際の
装置を構成する場合は、検出距離の可能性を考慮
して距離及び光出力共に０の状態からピーク値ま
での増加曲線或いはピーク値を通過した以降の減
衰曲線のいずれか一方を利用し得るように、基板
及び被写体間の移動範囲が規制されることが望ま
しい。 First, the principle of the present invention will be explained using FIGS. 1 and 2. Light emitted from a light emitting element 1 consisting of a light emitting diode, laser, lamp, etc. is projected onto a reflective surface of a subject 2, and the direction-changed light is incident on a light receiving element 3 installed in the optical path to form a light output. Ru. Here, the light output detected by the light-receiving element 3 is, for example, when the light-emitting element 1 and the light-receiving element 3 are mounted on the same board, if there is no distance d from the subject 2, the emitted light from the light-emitting element 1 will be detected by the light-receiving element 3. Since the light does not reach , the light output is almost 0. Next, as the distance between the element substrate and the subject 2 increases, the light emitting element 1
The amount of emitted light reaching the internal light-receiving element 3 increases even though the optical path becomes longer, and the optical output increases up to a distance d 1 determined by the installation relationship and directivity characteristics of both elements. Distance d 1 that provides the most appropriate positional relationship
After the maximum optical output is shown at , the optical output decreases as the distance d increases, and the relationship between the optical output and the distance is finally obtained as a smooth curve with a peak value as shown in FIG. The shape of the curve is determined once the characteristics and installation relationship of the light emitting and light receiving elements and the reflective surface of the subject are determined, and the relative distance d can be detected by reading the light output. Note that since the above curve shows a peak value, the distance value corresponding to the read optical output is obtained at two points, and it is necessary to determine which value represents the true distance. Therefore, when constructing an actual device, consider the possibility of detection distance and use either an increase curve from a state of 0 to the peak value for both distance and optical output, or an attenuation curve after passing the peak value. It is desirable that the range of movement between the substrate and the subject be regulated so that the movement of the substrate and the subject can be controlled.
第３図は本発明による一実施例を示し、１０は
発光素子１１及び受光素子１３が一体的に取付け
られた基板で、該基板１０に対向する関係に反射
板１２が設けられて、上記発光素子１１から放射
された光を反射させて受光素子１３に入射させ
る。相対向する上記基板１０と反射板１２の間に
は両者間をフレキシブルに連結するための支持体
１４が設けられている。該支持体１４はゴム、ス
ポンジ等の弾性体或いはスプリングが用いられ、
塑性変形し難い形態に設けられている。ここで上
記支持体１４は、発光素子１１以外から照射され
た光が受光素子１３に検出されるのを阻止するた
め、少なくとも発光素子１１から受光素子１３に
達する光路部分は外部から遮光されている。該遮
光材は上記支持体１４と一体或いは別体のいずれ
でも構成し得る。 FIG. 3 shows an embodiment according to the present invention, in which reference numeral 10 denotes a substrate on which a light emitting element 11 and a light receiving element 13 are integrally attached, and a reflecting plate 12 is provided in a relationship facing the substrate 10. The light emitted from the element 11 is reflected and made to enter the light receiving element 13. A support 14 is provided between the substrate 10 and the reflection plate 12 which face each other to flexibly connect them. The support body 14 is made of an elastic body such as rubber or sponge, or a spring.
It is provided in a form that is difficult to be plastically deformed. Here, in order to prevent light emitted from sources other than the light-emitting element 11 from being detected by the light-receiving element 13, the support 14 shields at least a portion of the optical path from the light-emitting element 11 to the light-receiving element 13 from the outside. . The light shielding material may be formed integrally with the support 14 or separately.
上記装置において、発光素子１１から放射され
た光は反射板１２で反射された後受光素子１３に
入射され光出力として検出されるが、該光出力は
前述のように基板１０と反射板１２との離間距離
に対応した値として出力されるため、上記装置に
おいて予め光出力と距離との関係を対応させてお
くことにより、光出力から距離を求めることがで
きる。光出力及び距離の関係を示す第２図の曲線
を予め記憶装置にプログラムし、支持体１４の移
動によつて光出力が変化した状態で、該変化後の
光出力を読取つて上記記憶装置の内容と比較し、
比較出力を表示装置に導出することにより光出力
に対応する距離、発光・受光素子と反射板との位
置関係を検知することができる自動位置検知装置
を得る。 In the above device, the light emitted from the light emitting element 11 is reflected by the reflecting plate 12 and then enters the light receiving element 13, where it is detected as a light output. Since the distance is output as a value corresponding to the separation distance, the distance can be determined from the optical output by making the relationship between the optical output and the distance correspond in advance in the above device. The curve shown in FIG. 2 showing the relationship between light output and distance is programmed into the storage device in advance, and with the light output changed by the movement of the support 14, the light output after the change is read and stored in the storage device. Compared to the content,
By outputting the comparison output to a display device, an automatic position detection device is obtained which can detect the distance corresponding to the light output and the positional relationship between the light emitting/light receiving element and the reflecting plate.
次に上記第３図に示した実施例が距離検知から
圧力検知機能を備えることを説明する。第３図装
置の基板１０或いは反射板１２のいずれか一方を
位置不変の固定端とし、他端を支持体１４の弾性
に抗して可動させることにより、該可動端に外力
Ｆを作用させた状態で距離ｄを検知する。一方支
持体１４の弾性係数ｋは装置設計の段階で既に測
定されているため、弾性係数ｋを予めプログラム
させて演算処理装置を設け、記憶装置に予めプロ
グラムされた曲線情報から検知された光出力に対
応する距離情報を読み出し、それらを演算処理す
ることにより外力Ｆ即ち圧力を得ることができ
る。 Next, it will be explained that the embodiment shown in FIG. 3 has a distance detection function and a pressure detection function. FIG. 3: Either the substrate 10 or the reflector 12 of the device is a fixed end whose position does not change, and the other end is moved against the elasticity of the support 14, so that an external force F is applied to the movable end. The distance d is detected in the state. On the other hand, since the elastic modulus k of the support body 14 has already been measured at the stage of device design, the elastic modulus k is programmed in advance and an arithmetic processing unit is provided, and the light output detected from the curve information pre-programmed in the storage device is used. The external force F, that is, the pressure can be obtained by reading the distance information corresponding to the distance information and calculating the information.
更に上記第３図装置によつて物体の柔軟度（弾
性）を検知することができる。即ち、支持体１４
で結合された上記装置の基板１０と反射板１２と
の間に、例えば光路の障害とならないように支持
体１４と並設させて被弾性検知物体を挾み基板１
０或いは反射板１２の一方から既知圧力ｆを作用
させる。該圧力ｆが作用した状態の光出力を読取
ることにより距離ｄを知ることができ、被弾性検
知物がない場合、及び被弾性検知物が存在する場
合でもその弾性によつて距離ｄは異なり、距離ｄ
及び支持体の弾性係数ｋ更に外力ｆ（ｆ＝ｄ・ｋ
で示される）から被検知物体の弾性即ち物体の柔
軟度を演算により求めることができる。 Furthermore, the flexibility (elasticity) of an object can be detected by the apparatus shown in FIG. That is, the support 14
Between the substrate 10 and the reflector 12 of the above-mentioned device, which are coupled together, the substrate 1 is placed in parallel with a support 14 to sandwich the object to be detected so as not to obstruct the optical path.
0 or a known pressure f is applied from one side of the reflecting plate 12. The distance d can be found by reading the optical output when the pressure f is applied, and even when there is no elastic detection object and when there is an elastic detection object, the distance d differs depending on its elasticity. distance d
and the elastic modulus k of the support and the external force f (f=d・k
), the elasticity of the object to be detected, that is, the degree of flexibility of the object, can be determined by calculation.
即ち第４図のブロツク図に示すように、反射板
１２からの光入力が受光素子１３に入射されて光
出力が形成され、適宜増幅器１５を介して上記光
出力信号のレベルが調整された後、演算回路１６
に入力される。該演算回路１６において物体の柔
軟度が演算されるが、演算に必要な係数を与える
ため記憶回路１７が設けられ、該記憶回路１７に
予め収納されている光出力と距離の関係を示す特
性曲線及び支持体１４の弾性係数ｋが演算回路１
６に読み出される。演算回路１６にはまた既知圧
力ｆが入力され、この圧力ｆによつて基板１０又
は反射板１２を移動させた際に、両板間に被測定
物が接した後の外力ｆの大きさと距離ｄの変化か
ら被測定物の柔軟度が演算される。 That is, as shown in the block diagram of FIG. 4, the light input from the reflector 12 is incident on the light receiving element 13 to form a light output, and after the level of the light output signal is adjusted appropriately via the amplifier 15. , arithmetic circuit 16
is input. The degree of flexibility of the object is calculated in the calculation circuit 16, and a storage circuit 17 is provided to provide coefficients necessary for the calculation, and a characteristic curve indicating the relationship between light output and distance is stored in advance in the storage circuit 17. and the elastic modulus k of the support body 14 is determined by the calculation circuit 1.
6. A known pressure f is also input to the calculation circuit 16, and when the substrate 10 or the reflecting plate 12 is moved by this pressure f, the magnitude and distance of the external force f after the object to be measured comes into contact between the two plates is calculated. The degree of flexibility of the object to be measured is calculated from the change in d.
一般的に、ｆ＝ｄ・ｋであつて、並列関係にあ
る組合せばね係数ｋは
ｋ＝k1＋k2＋k3＋……
と表わされる。 Generally, f=d·k, and the combined spring coefficients k in parallel relationship are expressed as k=k 1 +k 2 +k 3 +...
従つて例えば、両板間に被測定物が接するまで
の距離をd0、支持体１４の概知の弾性係数をｋ、
被測定物の弾性係数をkxとして、接した後の概知
圧力にf1、f2の２種類与え、それぞれのときの距
離をd1、d2とすれば、
f1−d0k＝（d1−d0）（ｋ＋kx） ……
f2−d0k＝（d2−d0）（ｋ＋kx） ……
であるので、式−式より
f2−f1＝（d2−d1）（ｋ＋kx） ……
の関係が得られ、
kx＝f2−f1／d2−d1−ｋ ……
の演算により被測定物の弾性係数kxが得られる。
もちろん、外力をかけない状態で被測定物が接し
ていてもよく、この場合、式又は式でf1＝
０、d1＝０で、１つの概知圧力f2を与えるだけで
kxが得られる。 Therefore, for example, the distance between the two plates until the object to be measured is in contact is d 0 , the known elastic modulus of the support 14 is k,
Let k x be the elastic modulus of the object to be measured, give two types of approximate pressure after contact, f 1 and f 2 , and let the respective distances be d 1 and d 2 , then f 1 − d 0 k = (d 1 - d 0 ) (k + kx) ... f 2 - d 0 k = (d 2 - d 0 ) (k + kx) ... Therefore, from equation - equation, f 2 - f 1 = (d 2 - The following relationship is obtained, and the elastic modulus kx of the object to be measured is obtained by calculating kx= f2 - f1 / d2 - d1 -k.
Of course, the object to be measured may be in contact with the object without applying any external force, and in this case, f 1 =
0, d 1 = 0, and by just giving one known pressure f 2
kx is obtained.
本例は上述した如くであつて、距離、弾性係
数、圧力の相関関係により被測定物の柔軟度が演
算され、反射板１２（被弾性検知物体に設置され
た場合を含めて）と基板１０との相対距離を一定
に保つ必要があるロボツト等の握力部において
は、上記光出力から距離を検知して付勢外力を制
御することにより、柔軟な物体の場合にも破損等
を防いで操作するセンサ機能を具備させることが
できる。 In this example, as described above, the degree of flexibility of the object to be measured is calculated based on the correlation between distance, elastic coefficient, and pressure, and the degree of flexibility of the object to be measured is calculated based on the relationship between the reflector 12 (including the case where it is installed on the elasticity detection object) and the substrate 10. In the gripping parts of robots, etc., where it is necessary to maintain a constant relative distance from the object, by detecting the distance from the above optical output and controlling the biasing external force, it is possible to operate the object without damaging it even when the object is flexible. It can be equipped with a sensor function to
以上本発明によれば、相対距離が可変自在にな
るように発光・受光素子体と反射体とを設け、光
出力と相対距離とを予め対応させることにより、
光出力により発光・受光素子と反射体との位置関
係を極めて簡単な構成で検知することができる。 As described above, according to the present invention, by providing the light-emitting/light-receiving element body and the reflector so that the relative distance is variable, and by making the light output correspond to the relative distance in advance,
The positional relationship between the light emitting/light receiving element and the reflector can be detected with an extremely simple configuration based on the optical output.
更に演算処理によつて、発光・受光素子と反射
板に作用する弾性体の弾性係数、圧力及び光出力
に対応した相対距離の関係を求め、発光・受光素
子と反射板との位置関係を圧力、距離、弾性係数
を要因として制御することができ、用途に応じた
因子で制御し得る応用範囲の広い触覚センサを得
ることができる。特に柔軟な被作用体に対して柔
軟度に応じたセンサ出力を形成することができ、
検知範囲の広い触覚センサを得ることができる。 Furthermore, through arithmetic processing, the relationship between the elastic coefficient of the elastic body acting on the light emitting/light receiving element and the reflecting plate, the pressure, and the relative distance corresponding to the light output is determined, and the positional relationship between the light emitting/light receiving element and the reflecting plate is calculated based on the pressure. It is possible to obtain a tactile sensor with a wide range of applications, which can be controlled using factors such as , distance, and elastic modulus, and can be controlled using factors depending on the application. In particular, it is possible to form a sensor output according to the degree of flexibility for a flexible workpiece,
A tactile sensor with a wide detection range can be obtained.
第１図は本発明の原理を説明するための模型
図、第２図は同原理の動作を説明するための光出
力−距離の関係を示す図、第３図は本発明による
一実施例を示す構成図、第４図は同実施例を説明
するためのブロツク図である。
１０：基板、１１：発光素子、１２：反射板、
１３：受光素子、１４：支持体。
FIG. 1 is a model diagram for explaining the principle of the present invention, FIG. 2 is a diagram showing the relationship between light output and distance for explaining the operation of the same principle, and FIG. 3 is a diagram showing an example of the present invention. The configuration diagram shown in FIG. 4 is a block diagram for explaining the same embodiment. 10: Substrate, 11: Light emitting element, 12: Reflector,
13: Light receiving element, 14: Support body.
Claims (1)
て反射光を形成する反射板と、該反射板からの反
射光を受光して対応する光出力を形成する受光素
子と、上記発光・受光素子と反射板との相対距離
を可変自在に弾性的に支持する支持体と、予め記
憶した光出力と距離との関係から上記受光素子の
光出力に対応する相対距離を導出する手段と、該
導出した相対距離、発光・受光素子と反射板間に
作用する力及び発光・受光素子と反射板とに作用
する弾性体の弾性係数との相関関係を演算する演
算処理装置とを備えてなり、既知圧力と上記支持
体の既知弾性係数と上記既知圧力の作用による相
対距離とにより、上記発光・受光素子と反射板に
作用する被弾性検知物体の柔軟度を演算する手段
とを有することを特徴とするロボツト等の握力部
における半導体装置を用いた触覚センサ。1. A light emitting element, a reflecting plate that is irradiated with light emitted from the light emitting element to form reflected light, a light receiving element that receives the reflected light from the reflecting plate and forms a corresponding light output, and the light emitting/receiving device described above. a support that elastically supports the relative distance between the element and the reflecting plate; a means for deriving a relative distance corresponding to the light output of the light receiving element from a pre-stored relationship between the light output and the distance; comprising a calculation processing device that calculates the correlation between the derived relative distance, the force acting between the light emitting/light receiving element and the reflecting plate, and the elastic coefficient of the elastic body acting on the light emitting/light receiving element and the reflecting plate, It is characterized by comprising means for calculating the degree of flexibility of the elastic detection object acting on the light emitting/light receiving element and the reflecting plate based on the known pressure, the known elastic coefficient of the support, and the relative distance due to the action of the known pressure. A tactile sensor using a semiconductor device in the grip part of a robot, etc.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2901979A JPS55121113A (en) | 1979-03-12 | 1979-03-12 | Tactile sensor using semiconductor device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2901979A JPS55121113A (en) | 1979-03-12 | 1979-03-12 | Tactile sensor using semiconductor device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS55121113A JPS55121113A (en) | 1980-09-18 |
| JPS6351242B2 true JPS6351242B2 (en) | 1988-10-13 |
Family
ID=12264692
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2901979A Granted JPS55121113A (en) | 1979-03-12 | 1979-03-12 | Tactile sensor using semiconductor device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS55121113A (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6064288A (en) * | 1983-09-19 | 1985-04-12 | Tokico Ltd | industrial robot equipment |
| JPH0422948Y2 (en) * | 1985-04-25 | 1992-05-27 | ||
| JPH01140104U (en) * | 1988-03-22 | 1989-09-26 | ||
| JP2009236799A (en) * | 2008-03-28 | 2009-10-15 | Univ Waseda | Optical force sensor |
-
1979
- 1979-03-12 JP JP2901979A patent/JPS55121113A/en active Granted
Also Published As
| Publication number | Publication date |
|---|---|
| JPS55121113A (en) | 1980-09-18 |
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