JPH0829516B2 - Contact sensor signal processing circuit - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to a signal processing circuit of a contact sensor that processes signals from a contact sensor attached to various robots or other operating devices to detect contact information. .

[Conventional technology]

Generally, a robot or other operating device often performs a predetermined work while moving within a predetermined area. In such a case, abnormal contact with the installation object in the area may occur. Efficiently avoid such a situation,
The most common means for ensuring the safety of the device is to equip the periphery of the device with a contact sensor such as a proximity sensor. In this case, in order to maximize its function, it is important to mount a large number of contact sensors at a large number of places and in various postures.

There are various types of contact sensors such as ultrasonic type, electrostatic type, light beam type, etc., but they are small, lightweight, robust and highly reliable whisker sensor with whiskers (Whisker-Sensor). ) Is often used.

By the way, as a means for transmitting the ON / OFF information from the contact sensor to the central processing unit, there is a means for transmitting a digital signal as it is. The advantage of this method is that it is noise-resistant and does not require an expensive A / D converter.

[Problems to be solved by the invention]

In the conventional means for transmitting ON / OFF information from each contact sensor to the central processing unit as a digital signal,
While having the advantages described above, there are the following problems. First, in the system of transmitting digital signals serially, the number of transmission lines may be small, but the time required for transmission becomes long, and therefore there is a drawback that the ON / OFF state of the sensor cannot be detected in real time. On the other hand, in the method of transmitting digital signals in parallel, the time required for transmission is short and the ON / OFF state of the sensor can be detected in real time, but a lead wire is used between each contact sensor and the central processing unit. Since it is necessary to connect in a 1: 1 relationship, the number of transmission lines becomes enormous, and the usefulness of using a large number of contact sensor groups is almost offset.

Therefore, the present invention provides a signal processing circuit of a contact sensor capable of detecting the sensor position in real time, with a small lead dose connecting between a large number of contact sensors mounted on a robot or the like and a central processing unit. The purpose is to do.

[Means for solving problems]

The present invention solves the above problems and achieves the object,
It is characterized by taking the following measures.

That is, the signal processing circuit of the contact sensor of the present invention is turned on.
-In a signal processing circuit for processing digital signals from a large number of contact sensors that are turned off and transmitting them to a central processing unit, an address designating signal that is provided between the contact sensor and the central processing unit and is input to an address input terminal. ROM in which a plurality of coded data are written in advance at each address so that coded data corresponding to the above can be output, and the digital signal from the contact sensor is input to the address input terminal of this ROM as an address designating signal. Means for reading coded data corresponding to the input addressing signal from among the plurality of coded data written in, and the coded data read from the ROM by this means via a transmission system. Means for transmitting to the central processing unit.

[Action]

By taking such a measure, the signal is coded and compressed, so that the transmission system can be configured with a very small number of leads, and the transmission time can be shortened.

〔Example〕

FIG. 1 is a circuit diagram showing the configuration of an embodiment of the present invention. In FIG. 1, reference numeral 10 denotes, for example, twelve contact sensors mounted on a walking robot,
It is connected to the address input terminal of ROM20. The ROM 20 is pre-written with a plurality of coded data at each address so that the coded data corresponding to the address designation signal input to the address input terminal can be output. And this ROM2
A digital signal corresponding to the operating state of the contact sensor 10 is input to the address input terminal of 0 as an address designation signal. Thus ROM2 above
When a digital signal corresponding to the operating state of the contact sensor 20 is input to the address input terminal of 0 as an address designation signal, the input address designation signal of the plurality of coded data written in the ROM 20 is input. The coded data of a predetermined pattern corresponding to is read out. This read data is an indicator
It is transmitted to the central processing unit 40 via 30. In addition, 50 is a power supply line.

FIG. 2 is a view showing a state in which the contact sensor 10 is mounted on the leg of the robot. In FIG. 2, 11 is an obstacle leg contact sensor, 12 is a proximity sensor, 13 is an obstacle contact sensor, and 14 is a sole contact sensor. These contact sensors are provided on the assumption that the walking terrain is the following walking terrain, and are capable of performing near-field sensing A, ground sensing B, obstacle contact sensing C, and the like. Since the current robot has a limited walking ability, the walking terrain is designed assuming idealized terrain instead of random terrain. That is, the terrain is basically a combination of horizontal planes having an arbitrary height, has no uneven curved surface, always has an edge, and is basically a pillar-free terrain.

In addition, in consideration of the above terrain, the obstacle leg contact sensor
There are provided two 11s, eight proximity sensors 12, one obstacle contact sensor 13 and one sole ground sensor 14. In other words, there are 12 in total. Therefore, 12-bit information is input to the ROM 20 as an addressing signal.

The ROM 20 has an address of "2 ¹² = 4096" corresponding to the 12-bit address designation signal. This 409
The address of 6 has 9 states and 24 code numbers.

FIG. 3 is a diagram showing the above 9 states (1 state is not shown).

(A) Free leg state: When the leg is returned, the tip of the leg is in the air.

(B) One-sided state: a state in which the sole of the foot only partially rides on the step. In this case, there are 16 vectors depending on which direction is higher, so there are 16 types of codes.

(C) Intermediate state: The proximity sensor is ON and the sole contact sensor is OFF. (D) Stable state ... The returned free leg is in a completely grounded state.

(E) Obstacle contact state: When the idle leg is returned, there is an obstacle on the trajectory of the leg, and the obstacle is in contact with the obstacle.

(F) Obstacle leg contact state (table) ... The state where the "shin" is in contact with the step during the return of the idle leg or the movement of the center of gravity of the standing leg.

(G) Obstacle leg contact state (back side): The "calf" portion is in contact with the step while the idle leg is returning or the center of gravity of the standing leg is moving.

(H) With sole of foot ... Proximity sensor is OFF and sole contact sensor is ON, for example, when a leg gets on a pebble.

Although not shown, the ninth state is an abnormal state in which the (f) obstacle leg contact state (front) and (g) obstacle leg contact state (back) occur at the same time.

If such a state occurs independently, the code number indicating the state may be output. But it does not always happen alone. Therefore, in such a case, it is arranged to give priority to any of the states that have occurred at the same time and classify into any of the above nine states.

In the present circuit thus configured, when any of the twelve contact sensors 10 is turned on, the signal from that sensor is input to the ROM 20 as an addressing signal. Then, the ROM 20 outputs data corresponding to the address designation signal, and the data is input to the central processing unit 40 via the indicator 30.

For example, suppose that the state shown in FIG. The vector setting method in this case is shown in FIG.
There are four possible patterns as shown in (d). That is, as shown in (a), when only one sensor is ON, the direction is as shown by the arrow, when (b) is two sensors is in the middle direction, as shown in (c) and (d). ON or OF in the middle
When some F sensors are interposed and two sensors at both ends are ON, the vector is output in the intermediate direction indicated by the arrow.

Thus, according to this circuit, since the signal to be transmitted is a digital signal, it is essentially resistant to noise and is unlikely to malfunction, and the signal is encoded using the ROM 20 and transmitted to the central processing unit 40. By setting the content of data to a predetermined content in advance, there is an advantage that the central processing unit 40 can perform various controls.

The present invention is not limited to the above-mentioned one embodiment. For example, in the above-described embodiment, an example in which a plurality of sensors 10 are directly connected to the address input terminal of the ROM 20 is shown.
A logic circuit may be provided between the ROM 20 and the ROM 20, and a large number of ROM inputs may be temporally shifted by this logic circuit to perform so-called chip selection. If you do this,
Although the output time is slightly delayed, the number of sensors that can be connected to one ROM 20 can be increased, and a large number of sensors that are equal to or more than the number of address input terminals of the ROM 20 can be connected. Of course, various modifications can be made without departing from the scope of the present invention.

〔The invention's effect〕

According to the present invention, a plurality of contact sensors are connected to the address input terminal of the ROM, the data corresponding to the contact sensors written in the ROM is read, and the data is transmitted to the central processing unit. The signal is compressed by coding, the transmission system can be constructed with very few leads, and the transmission time is shortened. As a result, it is possible to provide a signal processing circuit of a contact sensor capable of detecting the sensor position in real time, with a small lead dose connecting between a large number of contact sensors mounted on a robot or the like and the central processing unit.

[Brief description of drawings]

1 to 4 are views showing an embodiment of the present invention, FIG. 1 is a circuit diagram showing the entire configuration, and FIG. 2 is a view showing a state in which a contact sensor is attached to a leg of a robot. FIG. 3 is a diagram showing a walking state of the robot, and FIG. 4 is a diagram showing a vector setting method in the untidy state. 10 …… Contact sensor, 20 …… ROM, 30 …… Indicator, 4
0 ... Central processing unit, 50 ... Power line, 11 ... Obstacle leg contact sensor, 12 ... Proximity sensor, 13 ... Obstacle contact sensor, 14 ... Foot sole grounding sensor.

Claims (1)

[Claims] 1. A signal processing circuit for processing digital signals from a large number of ON-OFF operated contact sensors and transmitting the digital signals to a central processing unit, the signal processing circuit being provided between the contact sensors and the central processing unit.
A ROM in which a plurality of coded data has been written in advance at each address so that the coded data corresponding to the address designation signal input to the address input terminal can be output, and an address input terminal of this ROM is connected to the ROM from the contact sensor. Input a digital signal as an addressing signal, and
Means for reading the coded data corresponding to the input addressing signal from the plurality of coded data written in M, and the coded data read from the ROM by this means via a transmission system. A signal processing circuit for a contact sensor, comprising: a means for transmitting to the central processing unit.